Manipulator and humanoid robot

Abstract

The invention relates to the technical field of humanoid robots, in particular to a manipulator and a humanoid robot, the manipulator comprises an arm mechanism and a clamping mechanism, the clamping mechanism comprises a fixing seat, a clamping piece, a bearing piece, a first elastic piece and a second elastic piece, the fixing seat is connected with the arm mechanism, the clamping piece is movably connected with the fixing seat, and the bearing piece is movably connected with the fixing seat. The bearing part comprises a connecting body and a bearing main body, the bearing main body comprises a limiting part facing the clamping part, the connecting body is movably connected with the fixing seat, and the clamping part and the bearing main body jointly form a clamping space; the first elastic piece applies elastic force towards the second side of the first direction to the clamping piece; when the second elastic piece is in an elastic deformation state, the bearing piece is kept in a bearing state; when the bearing piece is in the bearing state, the limiting part abuts against the fixing base. In the process that the humanoid robot carries the box, if the gravity center of the box is offset, the clamping piece and the bearing piece can always clamp one part of the box, and the risk that the box swings is reduced.

Description

Technical Field

[0001] The present application relates to the technical field of humanoid robots, and in particular to a manipulator and a humanoid robot. Background Art

[0002] Humanoid robots are increasingly being used in industrial scenarios. For example, humanoid robots are entering industrial fields such as automobile manufacturing to replace humans in high-intensity, high-risk, and highly repetitive labor. Compared with traditional industrial robotic arms or traditional composite robots, the application of humanoid robots is more suitable for unstructured scenarios in industrial scenarios. Among them, box handling in the workshop has become a scenario for the industrial application of humanoid robots.

[0003] In the related art, since bipedal humanoid robots cannot maintain steady movement like humans when walking, when the humanoid robots are moving boxes, especially when the center of gravity of the boxes is offset, the boxes will swing, which will affect the walking gait of the humanoid robots and there is a risk of causing objects in the boxes to scatter. Summary of the invention

[0004] In view of this, the embodiments of the present application hope to provide a manipulator and a humanoid robot, in which the clamping member and the supporting member can always clamp a part of the box, thereby reducing the risk of the box swinging.

[0005] In order to achieve the above-mentioned purpose, the technical solution of the embodiment of the present application is implemented as follows:

[0006] The present application provides a robot arm, comprising:

[0007] Arm mechanism;

[0008] The clamping mechanism comprises a fixed seat, a clamping member, a supporting member, a first elastic member and a second elastic member, wherein the fixed seat is connected to the arm mechanism, the clamping member is movably connected to the fixed seat, the clamping member is located at a first side of the supporting member along a first direction, the supporting member comprises a connecting body and a supporting body, the supporting body is connected to the connecting body, the supporting body comprises a limiting portion facing the clamping member, the connecting body is movably connected to the fixed seat, the clamping member and the supporting body together constitute a clamping space; the first elastic member applies an elastic force to the clamping member toward the second side of the first direction; when the second elastic member is in a state of elastic deformation, the supporting member remains in a supporting state; when the supporting member is in the supporting state, the limiting portion abuts against the fixed seat.

[0009] In some embodiments, the connector is rotatably connected to the fixing seat.

[0010] In some embodiments, the second elastic member includes a torsion spring, the torsion spring connects the supporting member and the fixing seat, and the supporting member rotates around the axis of the torsion spring.

[0011] In some embodiments, the supporting body includes a lifting body and an abutment body, the lifting body is connected to the side of the abutment body away from the fixed seat, the lifting body and the clamping member together constitute the clamping space, the abutment body has the limiting portion, the two torsion springs are arranged on opposite sides of the abutment body, and when the two torsion springs are in a state of elastic deformation, the limiting portion abuts the fixed seat.

[0012] In some embodiments, the clamping mechanism includes a rotating shaft, and at least a portion of the rotating shaft passes through the fixing seat, the connecting body and the torsion spring.

[0013] In some embodiments, the fixing seat includes a receiving portion, the receiving portion and the connecting body are relatively buckled to form a receiving cavity, and at least a portion of the torsion spring is accommodated in the receiving cavity.

[0014] In some embodiments, the clamping member is slidably connected to the fixing seat along a first direction.

[0015] In some embodiments, the clamping mechanism includes a guide member disposed on the fixing seat, and the clamping member slides along the guide member.

[0016] In some embodiments, the clamping mechanism includes a stop member disposed on the guide member, and the stop member is located on a first side of the clamping member along the first direction.

[0017] In some embodiments, the first elastic member includes a tension spring, and the tension spring connects the clamping member and the fixing seat.

[0018] In some embodiments, the fixing seat includes a seat body and a mounting plate, two opposite ends of the mounting plate are respectively connected to the arm mechanism and the seat body, and the clamping member and the connecting body are both movably connected to the seat body.

[0019] In some embodiments, the arm mechanism includes an arm body and a force sensor, the force sensor is connected to the wrist of the arm body, and the fixing base is connected to the force sensor.

[0020] The present application also provides a humanoid robot, comprising:

[0021] trunk;

[0022] In any one of the above-mentioned manipulators, the arm mechanism of the manipulator is connected to the torso.

[0023] The manipulator provided in the embodiment of the present application, on the one hand, the clamping member and the supporting member are both movably connected to the fixed seat, and the clamping member and the supporting member can move relative to the fixed seat to change the size of the clamping space, so as to adapt to boxes of different sizes and / or different shapes, and improve the versatility and compatibility of the manipulator. In the process of the humanoid robot carrying a box, if the center of gravity of the box is offset, the clamping member and the supporting member can always clamp a part of the box, reducing the risk of the box swinging. On the other hand, compared with the clamping structure driven by a driving source in the related art, the present application uses the first elastic member, the second elastic member, and the supporting member and the fixed seat and other structural members to cooperate to clamp a part of the box, which is a passive structure, and can save the control circuit that drives the clamping action, with fewer structural parts and simpler operation. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 This is a structural schematic diagram of a humanoid robot carrying boxes in one embodiment of the present application;

[0025] Figure 2 This is a schematic diagram of the structure of a manipulator in one embodiment of the present application;

[0026] Figure 3 for Figure 2 The enlarged schematic diagram of point A in the middle;

[0027] Figure 4 This is a schematic diagram of a clamping mechanism loading a box in one embodiment of the present application;

[0028] Figure 5 A schematic diagram of a transporting portion of a box clamped by a clamping mechanism in an embodiment of the present application;

[0029] Figure 6 A schematic structural diagram of a clamping mechanism in one embodiment of the present application from one perspective;

[0030] Figure 7 for Figure 6 A schematic diagram of the structure of the middle clamping mechanism from another perspective;

[0031] Figure 8 for Figure 6 Explosion diagram of the middle clamping mechanism;

[0032] Fig. 9 for Figure 6 A structural diagram of the middle clamping mechanism from another perspective;

[0033] Fig.10 for Fig. 9 Schematic cross-sectional view along the BB direction.

[0034] Description of Reference Numerals

[0035] 1. Manipulator; 11. Arm mechanism; 111. Arm body; 112. Force sensor; 12. Clamping mechanism; 12a. Clamping space; 121. Fixed seat; 1211. Storage part; 1211a. First storage slot; 1212. Seat body; 1212a. Groove; 1213. Mounting plate; 1214. Second component; 122. Clamping member; 122a. Guide hole; 1221. First component; 123. Support member; 12 30. Supporting body; 1231. Lifting body; 1232. Abutting body; 123a. Limiting part; 1233. Connecting body; 1233a. Second receiving groove; 124. First elastic member; 125. Second elastic member; 126. Rotating shaft; 1261. Axle body; 1262. End plate; 127. Guide member; 128. Stop member; 129. Stop member; 2. Trunk; 3. Mechanical legs; 100. Box; 110. Transporting unit. DETAILED DESCRIPTION

[0036] The following embodiments of the technical solution of the present application are described in detail in conjunction with the accompanying drawings. The following embodiments are only used to more clearly illustrate the technical solution of the present application, and are therefore only used as examples, and cannot be used to limit the scope of protection of the present application.

[0037] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by technicians in the technical field to which this application belongs; the terms used herein are only for the purpose of describing specific embodiments and are not intended to limit this application.

[0038] Reference to "embodiments" herein means that a particular feature, structure, or characteristic described in conjunction with the embodiments may be included in at least one embodiment of the present application. The appearance of the phrase in various locations in the specification does not necessarily refer to the same embodiment, nor is it an independent or alternative embodiment that is mutually exclusive with other embodiments. It is explicitly and implicitly understood by those skilled in the art that the embodiments described herein may be combined with other embodiments.

[0039] It should be noted that in the embodiments of the present application, down refers to the direction where the ground is located, and up is opposite to down; front refers to the direction in which the humanoid robot moves forward, and back is opposite to front; left is the side where the left hand of the humanoid robot is located, and right is opposite to left; the up-down direction, the front-back direction, and the left-right direction are perpendicular to each other. In the embodiments of the present application, the orientation or position relationship of "up", "down", "front", "back", "left", and "right" is based on the orientation or position relationship shown in the accompanying drawings. It should be understood that these orientation terms are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present application. The present application will be further described in detail below in conjunction with the accompanying drawings and specific embodiments.

[0040] See also Figure 2 , an embodiment of the present application provides a manipulator 1, and the manipulator 1 is used for a humanoid robot.

[0041] See also Figure 1 An embodiment of the present application also provides a humanoid robot, which includes a trunk 2 and a manipulator 1 in any one of the embodiments of the present application, wherein an arm mechanism 11 of the manipulator 1 is connected to the trunk 2 .

[0042] A humanoid robot, also known as a humanoid robot, is a robot that imitates human appearance and behavior.

[0043] The number of manipulators 1 included in the humanoid robot is not limited, and illustratively, the manipulators 1 may be multiple. For example, the manipulators 1 may be two, three, four or five, and so on.

[0044] For example, if the number of robot 1 is two, please refer to Figure 1 The two manipulators 1 can be respectively arranged on the left and right sides of the torso 2, wherein one of the manipulators 1 is the left hand and the other manipulator 1 is the right hand.

[0045] It should be noted that, in the present application, a plurality includes a number of two and more than two.

[0046] The arm mechanism 11 can be connected to the trunk 2 through a shoulder joint, and the shoulder joint can drive the arm mechanism 11 to complete the action. For example, the arm mechanism 11 can achieve actions such as lowering and lifting, and the arm mechanism 11 can also achieve actions such as moving left and right. For example, two arm mechanisms 11 can be relatively close to achieve hugging or move away from each other to achieve opening and other actions. These actions are only examples, and the arm mechanism 11 can also complete other actions, which will not be repeated here.

[0047] The humanoid robot generally further includes a walking mechanism disposed on the trunk 2, and the walking mechanism drives the humanoid robot to move, thereby moving its position.

[0048] See also Figure 1 The walking mechanism may include two mechanical legs 3, and the two mechanical legs 3 are connected to the trunk 2, for example, the two mechanical legs 3 are connected to the trunk 2 through a hip joint. The two mechanical legs 3 can be respectively arranged on the left and right sides of the trunk 2, one of the mechanical legs 3 is a left leg, and the other mechanical leg 3 is a right leg. During the walking process of the humanoid robot, the two mechanical legs 3 alternately contact with a contact surface such as the ground to drive the humanoid robot to walk, thereby moving the position. This type of humanoid robot can also be called a bipedal humanoid robot.

[0049] For example, the mechanical leg 3 can drive the humanoid robot to move forward or backward, and the mechanical leg 3 can also include multiple motion joints, such as knee joints and / or ankle joints, so that the mechanical leg 3 can also perform squatting, standing up, bending the legs, and raising the legs. These actions are only examples, and the mechanical leg 3 can also perform other actions, which will not be repeated here.

[0050] It can be understood that the manipulator 1 and the humanoid robot provided in the embodiment of the present application can be used to transport objects to be transported, including but not limited to the box 100. For the sake of ease of description, the embodiment of the present application is described as a humanoid robot including two manipulators 1 and two mechanical legs 3, and the object to be transported is a box 100.

[0051] In the related art, a driving source is used to drive the clamping structure to move to grab the box, thereby moving the box. The driving source refers to a power source that uses electrical energy or other energy sources, for example, the driving source is a motor, etc. The clamping structure driven by the driving source belongs to the active control type. The controller sends instructions to the driving source to drive the clamping structure to grab the box, which requires the controller, driving source and clamping structure to work together. In this way, when the load is heavy, such as the box and the object contained in it are of large mass, the driving source needs to drive the clamping structure to generate a large clamping force, which is too large for the box to be easily deformed, and at the same time, the power requirements of the joints of the manipulator of the humanoid robot are greater.

[0052] See also Figure 2 , Figure 3 and Figure 8 The robot 1 provided in the embodiment of the present application includes an arm mechanism 11 and a clamping mechanism 12 , and the clamping mechanism 12 includes a fixed seat 121 , a clamping member 122 , a supporting member 123 , a first elastic member 124 and a second elastic member 125 .

[0053] The fixing seat 121 is connected to the arm mechanism 11. The arm mechanism 11 drives the clamping mechanism 12 to move as a whole through the fixing seat 121.

[0054] See also Figures 4 to 8The clamping member 122 is movably connected to the fixing seat 121. The clamping member 122 is located at the first side of the supporting member 123 along the first direction. The supporting member 123 includes a connecting body 1233 and a supporting body 1230. The supporting body 1230 is connected to the connecting body 1233. The supporting body 1230 includes a limiting portion 123a facing the clamping member 122. The connecting body 1233 is movably connected to the fixing seat 121. The clamping member 122 and the supporting body 1230 together constitute a clamping space 12a. In other words, the clamping member 122 can move relative to the fixing seat 121, and the supporting member 123 can move relative to the fixing seat 121. The clamping space 12a is located between the clamping member 122 and the supporting body 1230. The clamping space 12a can be used to accommodate a part of the object to be transported. For example, the clamping space 12a can be used to accommodate the transporting portion 110 of the box 100.

[0055] The first elastic member 124 applies an elastic force to the clamping member 122 toward the second side of the first direction. That is, the elastic force generated by the elastic deformation of the first elastic member 124 is directed toward the supporting body 1230. For example, the first elastic member 124 applies a downward elastic force to the clamping member 122. That is, the elastic force generated by the elastic deformation of the first elastic member 124 is directed downward. For example, when the clamping member 122 clamps the transport portion 110, the first elastic member 124 is elastically deformed to generate an elastic force, and the elastic force of the first elastic member 124 is directed downward, and the first elastic member 124 drives the clamping member 122 to press the clamped transport portion 110 downward.

[0056] See also Figure 5 and Figure 6 , when the second elastic member 125 is in the elastically deformed state, the supporting member 123 is maintained in the supporting state; when the supporting member 123 is in the supporting state, the limiting portion 123a abuts against the fixing seat 121. In other words, the elastic force of the second elastic member 125 keeps the supporting member 123 in the supporting state, and when the supporting member 123 is in the supporting state, part of the upper surface of the supporting member 123 abuts against the fixing seat 121. When the supporting member 123 is in the supporting state, another part of the upper surface of the supporting member 123 can be supported below the transporting portion 110 to lift the box 100 upward.

[0057] If the supporting member 123 is subjected to other forces, causing the limiting portion 123a to separate from the fixing seat 121, the second elastic member 125 undergoes elastic deformation to generate elastic force. When the other forces are cancelled, the elastic force of the second elastic member 125 drives the supporting member 123 to return to the supporting state, and the limiting portion 123a returns to abutting the fixing seat 121.

[0058] In the present application, the first side and the second side are two sides opposite to the first direction. During the process of moving boxes, the first direction can be consistent with the up and down direction. In this case, the first side can be the upper side and the second side can be the lower side.

[0059] For example, see Figure 5 and Figure 6 When the humanoid robot carries the box 100 , the carrying portion 110 of the box 100 is accommodated in the clamping space 12a , the clamping member 122 is located above the carrying portion 110 and abuts against the carrying portion 110 , and the supporting body 1230 is located below the carrying portion 110 and abuts against the carrying portion 110 . The first elastic member 124 applies a downward elastic force to the clamping member 122, and the first elastic member 124 drives the clamping member 122 to press the conveying part 110 downward. The elastic force of the second elastic member 125 keeps the supporting member 123 in a supporting state, and the limiting portion 123a abuts against the fixed seat 121. Since the limiting portion 123a remains abutted against the fixed seat 121, the upper surface of the supporting member 123 can always abut against the conveying part 110. Therefore, during the process of the humanoid robot conveying the box 100, if the center of gravity of the box 100 is offset, the clamping member 122 and the supporting member 123 can always clamp the conveying part 110, thereby reducing the risk of the box 100 swinging.

[0060] In the manipulator 1 provided in the embodiment of the present application, on the one hand, the clamping member 122 and the supporting member 123 are both movably connected to the fixed seat 121, and the clamping member 122 and the supporting member 123 can move relative to the fixed seat 121 to change the size of the clamping space 12a, so as to adapt to boxes 100 of different sizes and / or shapes, and improve the versatility and compatibility of the manipulator 1. In the process of the humanoid robot carrying the box 100, if the center of gravity of the box 100 is offset, the clamping member 122 and the supporting member 123 can always clamp a part of the box 100, reducing the risk of the box 100 swinging. On the other hand, compared with the clamping structure driven by a driving source in the related art, the present application uses the first elastic member 124, the second elastic member 125, and the supporting member 123 and the fixed seat 121 and other structural members to clamp a part of the box 100, which is a passive structure, and can save the control circuit for driving the clamping action, with fewer structural members and simpler control.

[0061] In one embodiment, please refer to Figure 3 The arm mechanism 11 includes an arm body 111 and a force sensor 112, the force sensor 112 is connected to the wrist of the arm body 111, and the fixing seat 121 is connected to the force sensor 112. The other end of the arm body 111 away from the wrist can be movably connected to the trunk 2. For example, the other end of the arm body 111 away from the wrist is connected to the trunk 2 through a shoulder joint.

[0062] The force sensor 112 may be used to detect force and / or torque and generate an electrical signal. Exemplarily, the control device of the humanoid robot may control the posture of the humanoid robot according to the electrical signal generated by the force sensor 112 .

[0063] Exemplarily, the force sensor 112 can send load information to the control device, and the load information includes but is not limited to whether the clamping mechanism 12 is loaded (for example, clamping the box 100 or releasing the box 100). The control device can control the posture of the humanoid robot according to the load information, such as controlling the movement of the arm mechanism 11 and / or the mechanical leg 3, and carrying the box 100 in a humanoid manner through posture drive.

[0064] In this embodiment, the force and / or torque generated by the box 100 and the objects contained therein are transmitted to the force sensor 112 through the clamping mechanism 12, and the humanoid robot can control the movement of the arm 111 according to the electrical signal sent by the force sensor 112. For example, the humanoid robot can realize the carrying function of the box 100 in a human-like manner through posture drive according to the electrical signal sent by the force sensor 112.

[0065] In some embodiments, the force sensor 112 may be a multi-dimensional force sensor 112, for example, a six-dimensional force sensor 112 (6-Dimension Force Torque Sensor). Multi-dimensional force sensing can simultaneously measure multi-dimensional forces and / or torques, and convert multi-dimensional force and / or torque signals into electrical signals, which can be used to monitor forces and torques with changing directions and magnitudes, and can measure acceleration or inertial force and detect the magnitude and point of action of contact forces. It is understandable that the six-dimensional force sensor 112 can measure forces and / or torques in multiple directions, such as up and down, front and back, and left and right.

[0066] In some embodiments, the arm 111 may have multiple motion joints, such as elbow joints and wrist joints, to achieve more diverse arm movements. For example, the arm 111 may achieve movements such as bending the elbow and bending the wrist. These movements are only examples, and the arm 111 may also perform other movements, which will not be described in detail here.

[0067] In one embodiment, please refer to Figure 3 The fixing seat 121 includes a seat body 1212 and a mounting plate 1213. The two opposite ends of the mounting plate 1213 are respectively connected to the arm mechanism 11 and the seat body 1212. The clamping member 122 and the connecting body 1233 are both movably connected to the seat body 1212. The mounting plate 1213 can increase the distance between the clamping member 122 and the supporting member 123 and the end of the arm mechanism 11, thereby preventing the arm mechanism 11 from interfering with the clamping member 122 and the supporting member 123 clamping the transporting portion 110 of the box 100 to a certain extent.

[0068] In one embodiment, please refer to Figure 3 , the mounting plate 1213 may be a plate-shaped structure. The seat body 1212 and the arm mechanism 11 may be connected to opposite ends of the length direction of the mounting plate 1213, respectively. For example, the seat body 1212 and the arm mechanism 11 may be located on opposite sides of the thickness direction of the mounting plate 1213. In this way, the mounting plate 1213 is light in weight, so as to reduce the dead weight of the clamping mechanism 12.

[0069] In one embodiment, please refer to Figures 6 to 8 The seat body 1212 may be a plate-shaped structure, and one end of the seat body 1212 in the length direction is connected to the mounting plate 1213. The seat body 1212 is light in weight to reduce the dead weight of the clamping mechanism 12.

[0070] In one embodiment, please refer to Figure 3 The fixing base 121 is fixed to the arm mechanism 11. Exemplarily, the fixing base 121 can be detachably connected or non-detachably connected to the force sensor 112. For example, the mounting plate 1213 can be detachably connected or non-detachably connected to the force sensor 112.

[0071] Non-detachable connections include but are not limited to welding or riveting, etc. Detachable connections include but are not limited to screw connections, bolt connections, threaded connections or clamping connections, etc.

[0072] In some embodiments, the seat body 1212 may be an integrally formed structure. In other words, the seat body 1212 may be a structure manufactured using an integrally formed process.

[0073] In some embodiments, the mounting plate 1213 may be an integrally formed structure. In other words, the mounting plate 1213 may be a structure manufactured using an integrally formed process.

[0074] In one embodiment, the seat body 1212 may be detachably connected or non-detachably connected to the mounting plate 1213. For example, the seat body 1212 and the mounting plate 1213 may be threadedly connected.

[0075] In one embodiment, the fixing seat 121 may be an integrally formed structure, that is, the seat body 1212 and the mounting plate 1213 may be structures manufactured using an integrally formed process.

[0076] In one embodiment, please refer to Figure 6 The connecting body 1233 is rotatably connected to the fixing seat 121. In other words, the supporting member 123 can rotate relative to the fixing seat 121.

[0077] For example, see Figures 5 to 10 The supporting member 123 rotates around the first axis P of the rotating shaft 126. Figure 6 and Figure 8 , with the center of the rotating shaft 126 as the first axis P, see Figure 6and Fig.10 The supporting body 1230 includes a lifting body 1231 and an abutting body 1232. The abutting body 1232 has a limiting portion 123a. Figure 6 The lifting body 1231 is connected to the side of the abutting body 1232 away from the fixing seat 121, see Figure 5 The lifting body 1231 is used to lift the transporting portion 110 of the box 100. The supporting member 123 is in the supporting state, and the first axis P is parallel to the horizontal plane. Figure 6 The lifting body 1231 and the abutting body 1232 are located on both radial sides of the first axis P, and the lifting body 1231 and the abutting body 1232 constitute a lever structure rotating around the first axis P.

[0078] For example, see Figure 4 ,as well as Figures 6 to 10 If the lifting body 1231 is subjected to an upward force, the lifting body 1231 rotates upward relative to the fixed seat 121, and the abutting body 1232 rotates downward under the action of the lever, causing the limiting portion 123a of the abutting body 1232 to separate from the fixed seat 121, and the second elastic member 125 undergoes elastic deformation to generate an elastic force. If the upward force is removed, the elastic force of the second elastic member 125 drives the lifting body 1231 to rotate downward relative to the fixed seat 121, and the abutting body 1232 rotates upward under the action of the lever until the limiting portion 123a abuts against the fixed seat 121. Please refer to Figure 5 ,as well as Figures 6 to 10 If the lifting body 1231 is subjected to a downward force, the limiting portion 123a of the abutting body 1232 abuts against the fixing seat 121, and the abutting body 1232 is limited by the fixing seat 121 and cannot rotate upward, so the lifting body 1231 cannot rotate downward. In other words, the angle between the lifting body 1231 and the fixing seat 121 is not greater than 90°, and the rotation angle of the lifting body 1231 is limited. For example, when the supporting member 123 is in the supporting state, the angle between the lifting body 1231 and the fixing seat 121 is 90°, and when the supporting member 123 is subjected to an upward force, the angle between the lifting body 1231 and the fixing seat 121 is less than 90°.

[0079] When the lifting body 1231 lifts the box 100 upward, the gravity of the box 100 and the objects contained therein are downward, that is, the box 100 and the objects contained therein exert a downward force on the lifting body 1231, and the limiting portion 123a of the abutment body 1232 abuts against the fixed seat 121. The abutment body 1232 is limited by the fixed seat 121 and cannot rotate upward, and the lifting body 1231 cannot rotate downward. Therefore, the structural limit between the abutment body 1232 and the fixed seat 121 can be used to bear the gravity of the box 100 and the objects contained therein, and the second elastic member 125 can only be responsible for driving the lifting body 1231 to reset, which is more reliable.

[0080] In this embodiment, the supporting member 123 is rotatably connected to the fixed seat 121, and the supporting member 123 constitutes a lever structure that rotates around its first axis. The structural limit between the supporting member 123 and the fixed seat 121 is used to withstand the gravity of the box 100 and the objects contained therein. The second elastic member 125 can be only responsible for driving the supporting member 123 to reset, which has higher reliability.

[0081] In some embodiments, the supporting member 123 may be an integrally formed structure. In other words, the supporting member 123 may be a structure manufactured using an integrally formed process.

[0082] In one embodiment, please refer to Figure 8 The second elastic member 125 includes a torsion spring, which connects the supporting member 123 and the fixing seat 121, and the supporting member 123 rotates around the axis of the torsion spring.

[0083] Exemplarily, the torsion spring includes a first support rod, a second support rod and a spiral portion, the first support rod and the second support rod are connected to opposite axial sides of the spiral portion, the first support rod is connected to the fixing seat 121 , and the second support rod is connected to the supporting member 123 .

[0084] In this embodiment, the axis of the torsion spring coincides with the first axis. The torsion spring undergoes elastic deformation to provide torque to drive the supporting member 123 to remain in the supporting state.

[0085] Exemplarily, the torsion spring may be an integrally formed structure, that is, the torsion spring may be a structure manufactured using an integrally formed process.

[0086] In one embodiment, please refer to Figure 8 and Fig.10 The supporting body 1230 includes a lifting body 1231 and an abutting body 1232. The lifting body 1231 is connected to a side of the abutting body 1232 away from the fixed seat 121. The lifting body 1231 and the clamping member 122 together form a clamping space 12a. The abutting body 1232 has a limiting portion 123a. Two torsion springs are arranged on opposite sides of the abutting body 1232. When the two torsion springs are in an elastically deformed state, the limiting portion 123a abuts against the fixed seat 121. In other words, the elastic force of the two torsion springs causes the limiting portion 123a to abut against the fixed seat 121. Specifically, the two torsion springs are arranged on opposite sides of the abutting body 1232 along the axial direction of the first axis.

[0087] In this embodiment, two torsion springs are disposed on opposite sides of the abutment body 1232 , and both axial sides of the abutment body 1232 along the first axis are subjected to the restoring force provided by the torsion springs, so that the supporting member 123 can rotate reliably and stably.

[0088] In one embodiment, please refer to Figure 5 and Figure 8, the lifting body 1231 can be a plate-shaped structure. In this way, the lifting body 1231 is easy to shape and light in weight. When the supporting member 123 is in the supporting state, the upper surface of the lifting body 1231 is flat and parallel to the horizontal plane, which is convenient for stably lifting the transporting part 110 of the box 100.

[0089] In one embodiment, please refer to Figure 8 The abutment body 1232 can be a plate-shaped structure. The abutment body 1232 is easy to shape and light in weight.

[0090] In one embodiment, please refer to Figure 8 The axial dimension of the abutting body 1232 along the first axis is smaller than the axial dimension of the lifting body 1231 along the first axis. In this way, it is convenient to arrange two torsion springs on both sides of the abutting body 1232 along the axial direction of the first axis.

[0091] In one embodiment, please refer to Figures 6 to 9 The clamping mechanism 12 includes a rotating shaft 126, at least part of which is inserted through the fixing seat 121, the connecting body 1233 and the torsion spring. Exemplarily, the rotating shaft 126 is inserted through the spiral portion. With such a design, the supporting member 123 and the fixing seat 121 are rotatably connected through the rotating shaft 126, the axis of the rotating shaft 126 is the first axis, and the supporting member 123 can rotate around the axis of the rotating shaft 126. The rotating shaft 126 can also provide a positioning function for the torsion spring, reducing the risk of displacement of the torsion spring.

[0092] In one embodiment, please refer to Figures 6 to 8 The fixing seat 121 includes a receiving portion 1211, and the receiving portion 1211 and the connecting body 1233 are relatively buckled to form a receiving cavity, and at least a part of the torsion spring is accommodated in the receiving cavity.

[0093] For example, see Figures 6 to 8 The two connecting bodies 1233 are located at opposite sides of the abutting body 1232 along the axial direction, and the connecting body 1233 can be connected to the lifting body 1231. The connecting body 1233 can be roughly cylindrical. The two receiving parts 1211 can connect the opposite sides of the seat body 1212 along the axial direction, and the receiving part 1211 can be roughly cylindrical.

[0094] For example, see Figure 8 The receiving portion 1211 forms a first receiving groove 1211a opening toward the connecting body 1233, and the connecting body 1233 forms a second receiving groove 1233a opening toward the receiving portion 1211. The receiving portion 1211 and the connecting body 1233 are relatively buckled, and the first receiving groove 1211a and the second receiving groove 1233a together constitute a receiving cavity. For example, part of the spiral portion can be accommodated in the receiving cavity. The shape of the receiving cavity can be adapted to the shape of the spiral portion.

[0095] In this embodiment, at least part of the torsion spring is accommodated in the storage cavity, that is, at least part of the torsion spring is sandwiched between the storage portion 1211 and the connecting body 1233. The storage portion 1211 and the connecting body 1233 can not only protect the torsion spring, but also reduce the exposure of the torsion spring, thereby improving the aesthetics.

[0096] In one embodiment, please refer to Figures 6 to 10 The clamping mechanism 12 includes a stopper 129, the rotating shaft 126 includes a shaft body 1261 and an end plate 1262, the end plate 1262 is arranged at one axial end of the shaft body 1261, the shaft body 1261 can pass through the receiving portion 1211, the torsion spring and the connecting body 1233 in sequence, the end plate 1262 can be located at a side of the receiving portion 1211 away from the connecting body 1233 in the axial direction, the stopper 129 is sleeved outside the shaft body 1261, and the stopper 129 is located at a side of the connecting body 1233 away from the receiving portion 1211 in the axial direction. Taking the plane perpendicular to the axial direction as the cross section, the cross-sectional area of ​​the end plate 1262 and the cross-sectional area of ​​the stopper 129 are both larger than the cross-sectional area of ​​the shaft body 1261. The receiving portion 1211 and the connecting body 1233 are clamped between the end plate 1262 and the stopper 129. The end plate 1262 and the stopper 129 can reduce axial movement and prevent the shaft 1261 from axially escaping from the receiving portion 1211 and the connecting body 1233.

[0097] The specific structure of the stopper 129 is not limited. Exemplarily, the stopper 129 may be a retaining spring.

[0098] In one embodiment, please refer to Figures 6 to 8 The clamping member 122 is slidably connected to the fixing seat 121 along the first direction. In other words, the clamping member 122 can perform reciprocating linear motion relative to the fixing seat 121 along the first direction.

[0099] As an example, the clamping member 122 is slidably connected to the fixing seat 121 along the up-down direction. In other words, the clamping member 122 can slide relative to the fixing seat 121 along the up-down direction.

[0100] In this embodiment, the clamping member 122 can slide relative to the fixing seat 121 along the first direction, thereby changing the size of the clamping space 12a along the first direction, so as to adapt to boxes 100 of different shapes and / or sizes.

[0101] In one embodiment, please refer to Figures 6 to 8 The clamping mechanism 12 includes a guide member 127 disposed on the fixing seat 121, and the clamping member 122 slides along the guide member 127. For example, the clamping member 122 slides up and down along the guide member 127. In other words, the clamping member 122 and the guide member 127 are slidably matched.

[0102] In this embodiment, the guide member 127 plays a guiding role, guiding the clamping member 122 to perform reciprocating linear motion along the guide member 127, thereby reducing the risk of the clamping member 122 being offset during the sliding process.

[0103] For example, in one embodiment, one of the clamping member 122 and the guide member 127 is formed with a guide groove, and the other of the clamping member 122 and the guide member 127 is formed with a guide rail, at least one of the guide rail and the guide groove extends in the up-down direction, and at least a portion of the guide rail is slidably accommodated in the guide groove. In this way, the guide rail is limited by the groove wall surface of the guide groove, and the clamping member 122 is guided to slide in a directional manner.

[0104] For example, in one embodiment, please refer to Figures 6 to 8 The clamping member 122 is formed with a guide hole 122a, and the guide member 127 is disposed in the guide hole 122a. Thus, the hole wall surface of the guide hole 122a and the outer surface of the guide member 127 are slidably matched to guide the clamping member 122 to slide in a directional manner.

[0105] In one embodiment, please refer to Figure 8 The guide member 127 may be a columnar structure extending in the up-down direction. The columnar structure may be cylindrical, elliptical or prism-shaped. The structure is simple and easy to manufacture.

[0106] In one embodiment, the clamping member 122 may also be provided with a linear bearing or a linear bushing. The guide member 127 cooperates with the linear bearing or the guide member 127 cooperates with the linear bushing to achieve up and down sliding guidance.

[0107] In one embodiment, please refer to Figures 6 to 8 The clamping mechanism 12 includes a stopper 128 disposed on the guide member 127, and the stopper 128 is located on the first side of the clamping member 122 along the first direction. For example, the stopper 128 is located above the clamping member 122. The clamping member 122 can abut against the stopper 128 when sliding upward to the maximum stroke.

[0108] In this embodiment, the stop member 128 is used to limit the maximum upward sliding stroke of the clamping member 122. The clamping member 122 slides toward the first side along the guide member 127 until it abuts against the stop member 128. The stop member 128 prevents the clamping member 122 from continuing to slide toward the first side, thereby limiting the maximum upward sliding stroke of the clamping member 122.

[0109] The specific position of the stop member 128 on the guide member 127 can be set according to the requirements. Figures 6 to 8 The stop member 128 can be disposed on the end surface of the guide member 127 facing the first side, for example, the upper end surface of the guide member 127 .

[0110] For example, see Figure 8The area of ​​the stop member 128 may be larger than the area of ​​the guide hole 122 a , so that the stop member 128 may abut against the surrounding area of ​​the guide hole 122 a to stop the clamping member 122 .

[0111] In one embodiment, please refer to Figures 6 to 8 , the first elastic member 124 can be located on a side of the base 1212 away from the clamping space 12a. Exemplarily, a groove 1212a is formed on the side of the base 1212 away from the clamping space 12a, and at least a portion of the first elastic member 124 is accommodated in the groove 1212a. In this way, the box 100 can be prevented from contacting the first elastic member 124, reducing the risk of the box 100 interfering with the first elastic member 124.

[0112] In one embodiment, please refer to Figures 6 to 8 The first elastic member 124 includes a tension spring, and the tension spring connects the clamping member 122 and the fixing seat 121. In other words, the tension spring provides elastic force by means of tensile deformation.

[0113] The number of the tension springs is not limited. For example, the number of the tension springs includes but is not limited to one or more. For example, the plurality of tension springs may be arranged at intervals along the length direction of the seat body 1212 .

[0114] In one embodiment, please refer to Figure 8 The clamping member 122 can form a first component 1221, the fixing seat 121 can form a second component 1214, the tension spring can be located below the clamping member 122, and the two ends of the tension spring can hook the first component 1221 and the second component 1214 respectively.

[0115] In some embodiments, the first elastic member 124 may include a compression spring, which may provide elastic force by compression deformation. The compression spring may be located above the clamping member 122 , for example, the compression spring may connect the clamping member 122 and the stop member 128 .

[0116] In a specific embodiment, please refer to Figures 4 to 10 The connecting body 1233 is rotatably connected to the fixed seat 121, the clamping member 122 is slidably connected to the fixed seat 121 along the up and down directions, the supporting member 123 rotates around the first axis, the supporting member 123 includes a lifting body 1231 and abutting body 1232, the lifting body 1231 is connected to the side of the abutting body 1232 away from the fixed seat 121, and the first elastic member 124 applies a downward elastic force to the clamping member 122; the elastic force of the second elastic member 125 keeps the supporting member 123 in a supporting state, and when the supporting member 123 is in the supporting state, the limiting portion 123a on the upper surface of the abutting body 1232 abuts against the fixed seat 121, and the lifting body 1231 is used to lift the transporting part 110 of the box 100.

[0117] See also Figure 4The process of the clamping mechanism 12 loading the box 100 can be as follows: the humanoid robot can move the clamping mechanism 12 close to the box 100, the lifting body 1231 first contacts the transporting portion 110 of the box 100, the clamping mechanism 12 moves downward, the lifting body 1231 moves downward relative to the transporting portion 110 and is subjected to an upward force applied by the transporting portion 110, the lifting body 1231 rotates upward, the second elastic member 125 undergoes elastic deformation to generate an elastic force, and the abutting body 1232 rotates downward so that the limiting portion 123a of the abutting body 1232 is separated from the fixing seat 121; please refer to Figure 5 , the clamping mechanism 12 continues to move downward until the lifting body 1231 is disengaged from the transporting part 110, and the transporting part 110 no longer applies an upward force to the lifting body 1231. The elastic force of the second elastic member 125 drives the supporting member 123 to return to the supporting state, the limiting portion 123a of the abutting body 1232 abuts against the fixed seat 121, and the second elastic member 125 restores the elastic deformation. In this case, the transporting part 110 enters the clamping space 12a, and there may be a gap between the upper surface of the lifting body 1231 and the transporting part 110. The clamping mechanism 12 can move upward so that the upper surface of the lifting body 1231 abuts against the lower surface of the transporting part 110, and the clamping member 122 presses the upper surface of the transporting part 110. In this way, the clamping member 122 and the lifting body 1231 clamp the transporting part 110, completing the loading of the box 100.

[0118] When the clamping member 122 and the lifting body 1231 clamp the transporting part 110, the humanoid robot can lift the manipulator 1 to make the box 100 leave the supporting surface such as a table or the ground, and can move the box 100 to the target position by walking alternately with the two mechanical legs 3. After the box 100 is transported, the manipulator 1 can be opened in a horizontal direction such as a left-right direction, so that the transporting part 110 escapes from the clamping space 12a through the opening between the clamping member 122 and the lifting body 1231, and the unloading of the box 100 is completed.

[0119] In this embodiment, the supporting member 123 is rotatably connected to the fixing seat 121, and the supporting member 123 constitutes a lever structure that rotates around its first axis. The structural limit between the supporting member 123 and the fixing seat 121 is used to bear the gravity of the box 100 and the objects contained therein, and the second elastic member 125 can only be responsible for driving the lifting body 1231 to reset, which is more reliable. During the process of the humanoid robot carrying the box 100, if the center of gravity of the box 100 is offset, the clamping member 122 and the supporting member 123 can always clamp the carrying part 110 of the box 100, reducing the risk of the box 100 swinging.

[0120] The above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit them. Although the present application has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or replace some or all of the technical features therein by equivalents. These modifications or replacements do not make the essence of the corresponding technical solutions deviate from the scope of the technical solutions of the embodiments of the present application. In particular, as long as there is no structural conflict, the technical features mentioned in each embodiment can be combined in any way.

Claims

1. A robot, characterized in that: include: Arm mechanism; The clamping mechanism comprises a fixed seat, a clamping member, a supporting member, a first elastic member and a second elastic member, wherein the fixed seat is connected to the arm mechanism, the clamping member is movably connected to the fixed seat, the clamping member is located at a first side of the supporting member along a first direction, the supporting member comprises a connecting body and a supporting body, the supporting body is connected to the connecting body, the supporting body comprises a limiting portion facing the clamping member, the connecting body is movably connected to the fixed seat, the clamping member and the supporting body together constitute a clamping space; the first elastic member applies an elastic force to the clamping member toward the second side of the first direction; when the second elastic member is in a state of elastic deformation, the supporting member remains in a supporting state; when the supporting member is in the supporting state, the limiting portion abuts against the fixed seat.

2. The robot according to claim 1, characterized in that: The connecting body is rotatably connected to the fixing seat.

3. The robot according to claim 2, characterized in that: The second elastic member includes a torsion spring, the torsion spring connects the supporting member and the fixing seat, and the supporting member rotates around the axis of the torsion spring.

4. The robot according to claim 3, characterized in that: The supporting body includes a lifting body and an abutment body, the lifting body is connected to the side of the abutment body away from the fixed seat, the lifting body and the clamping member together constitute the clamping space, the abutment body has the limiting portion, the two torsion springs are arranged on opposite sides of the abutment body, and when the two torsion springs are in an elastically deformed state, the limiting portion abuts against the fixed seat.

5. The robot according to claim 3, characterized in that: The clamping mechanism comprises a rotating shaft, at least a portion of which passes through the fixing seat, the connecting body and the torsion spring.

6. The robot according to claim 3, characterized in that: The fixing seat comprises a receiving portion, the receiving portion and the connecting body are relatively buckled to form a receiving cavity, and at least a part of the torsion spring is accommodated in the receiving cavity.

7. The robot according to any one of claims 1 to 6, characterized in that: The clamping member is slidably connected to the fixing seat along a first direction.

8. The robot according to claim 7, characterized in that: The clamping mechanism comprises a guide member arranged on the fixing seat, and the clamping member slides along the guide member.

9. The robot according to claim 8, characterized in that: The clamping mechanism includes a stopper disposed on the guide member, and the stopper is located at a first side of the clamping member along a first direction.

10. The robot according to claim 7, characterized in that: The first elastic member includes a tension spring, and the tension spring connects the clamping member and the fixing seat.

11. The robot according to any one of claims 1 to 6, characterized in that: The fixing seat comprises a seat body and a mounting plate, the opposite ends of the mounting plate are respectively connected to the arm mechanism and the seat body, and the clamping member and the connecting body are both movably connected to the seat body.

12. The robot according to any one of claims 1 to 6, characterized in that: The arm mechanism comprises an arm body and a force sensor, wherein the force sensor is connected to the wrist of the arm body, and the fixing seat is connected to the force sensor.

13. A humanoid robot, characterized in that: include: trunk; The manipulator described in any one of claims 1 to 12, wherein the arm mechanism of the manipulator is connected to the torso.

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