Rotary clamping mechanism and humanoid robot

Abstract

The invention provides a rotary clamping mechanism and a humanoid robot, the rotary clamping mechanism comprises a bearing piece, a driving assembly fixed to the bearing piece, a first clamping piece and a second clamping piece, one side of the first clamping piece is rotatably connected with the bearing piece, the other side of the first clamping piece is rotatably connected with the second clamping piece, and the driving assembly is fixed to the bearing piece. The driving assembly is used for driving the first clamping piece and the second clamping piece to rotate, the first clamping piece and the second clamping piece can clamp the upper edge structure in an included angle shape, and the bearing piece is provided with a second bearing face used for abutting against the first bearing face. According to the rotary clamping mechanism and the humanoid robot, the upper edge structure of the box body is clamped while the box body is supported, so that the box body is kept stable in the carrying state, and the rotary clamping mechanism and the humanoid robot can be suitable for box bodies of different specifications.

Description

Technical Field

[0001] The invention belongs to the technical field of robots, and more specifically, relates to a rotating clamping mechanism and a humanoid robot. Background Art

[0002] Humanoid robots are entering a period of rapid development. Some humanoid robots are beginning to enter industrial fields such as automobile manufacturing to replace humans in high-intensity, high-risk, and high-repetitive labor. Compared with traditional industrial robotic arms or traditional composite robots, the application of humanoid robots is more suitable for unstructured scenes in industrial scenes. Among them, material box handling in workshops has become one of the scenarios for the industrial application of humanoid robots.

[0003] Because bipedal humanoid robots cannot maintain stable movement like humans when walking, especially when the center of gravity of the box is offset, the box will swing violently during the humanoid robot's moving process, affecting the humanoid robot's walking gait and causing the risk of the material in the box to scatter. At the same time, the size of the box varies, and the end handling mechanism of the humanoid robot is generally only suitable for boxes of a specific size, with poor compatibility. Summary of the invention

[0004] The purpose of the embodiments of the present invention is to provide a rotating clamping mechanism and a humanoid robot to solve the technical problems existing in the prior art that the robot can only carry boxes of a specific size and the boxes are prone to violent swinging.

[0005] To achieve the above-mentioned purpose, the technical solution adopted by the present invention is: to provide a rotating clamping mechanism for clamping a box body, the box body having an upper edge structure and a first supporting surface spaced apart from the upper edge structure, the rotating clamping mechanism comprising a supporting member, a driving assembly fixed to the supporting member, a first clamping member and a second clamping member, one side of the first clamping member being rotatably connected to the supporting member, the other side of the first clamping member being rotatably connected to the second clamping member, the driving assembly being used to drive the first clamping member and the second clamping member to rotate, the first clamping member and the second clamping member being able to clamp the upper edge structure at an angle, and the supporting member having a second supporting surface for abutting against the first supporting surface.

[0006] In the above scheme, the rotary clamping mechanism includes a supporting member, a driving assembly, a first clamping member and a second clamping member. The two sides of the first clamping member are rotatably connected to the supporting member and the second clamping member respectively, and the driving assembly is used to drive the first clamping member to rotate relative to the supporting member. When clamping the box, the rotary clamping mechanism can be moved until the supporting member abuts against the first supporting surface, and then the driving assembly drives the first clamping member and the second clamping member so that the first clamping member and the second clamping member clamp the upper edge structure at an angle. In this way, the upper edge structure of the box is clamped while being supported, so that the box remains stable during transportation, and it can be suitable for boxes of different specifications.

[0007] Optionally, the driving assembly includes a driving member and a first connecting rod, the driving member is used to drive the first clamping member to rotate relative to the supporting member, one end of the first connecting rod is rotatably connected to the supporting member, and the other end of the first connecting rod is rotatably connected to the second clamping member.

[0008] In the above scheme, the supporting member and the second clamping member are connected by the first connecting rod, so that when the rotating clamping mechanism is working, when the position of the first clamping member is determined, the position of the second clamping member is also determined accordingly, so that the first clamping member and the second clamping member are always kept in a stable motion state.

[0009] Optionally, the rotational connection axis between the supporting member and the first clamping member is a first hinge axis, the rotational connection axis between the first clamping member and the second clamping member is a second hinge axis, the rotational connection axis between the supporting member and the first connecting rod is a third hinge axis, and the rotational connection axis between the first connecting rod and the second clamping member is a fourth hinge axis; when the first clamping member and the second clamping member clamp the upper edge structure, the first hinge axis is arranged close to the box body relative to the third hinge axis, and the fourth hinge axis is arranged close to the box body relative to the second hinge axis.

[0010] In the above scheme, when clamping the box body, the first hinge axis is arranged close to the box body relative to the third hinge axis, and the fourth hinge axis is arranged close to the box body relative to the second hinge axis, so that the connecting line of the first hinge axis and the second hinge axis and the connecting line of the third hinge axis and the fourth hinge axis intersect. In this way, when the rotating clamping structure is converted from the open state to the clamping state, the rotation directions of the first clamping member and the second clamping member are opposite (the first clamping member rotates clockwise, and the second clamping member rotates counterclockwise), so that the angle between the first clamping member and the second clamping member gradually decreases, and the upper edge structure can be clamped.

[0011] Optionally, the supporting member includes a supporting part, a connecting part and a first hinged part connected in sequence, the supporting part has the second supporting surface, the connection between the first hinged part and the connecting part is the first hinge axis, and the end of the first hinged part away from the connecting part is the third hinge axis.

[0012] In the above solution, by configuring the supporting member to include a supporting portion, a connecting portion and a first hinged portion connected in sequence, the supporting member can support the box body and be conveniently rotatably connected to the first clamping member and the first connecting rod.

[0013] Optionally, the second clamping member includes a second clamping portion and a second hinged portion connected to each other, the second clamping portion is used to abut against the upper edge structure, the connection between the second clamping portion and the second hinged portion is the second hinge axis, and the end of the second hinged portion away from the second clamping portion is the fourth hinge axis.

[0014] In the above solution, by configuring the second clamping member as the second clamping portion and the second hinged portion, the first clamping member can be in contact with the upper edge structure and can be rotatably connected with the first clamping member and the first connecting rod.

[0015] Optionally, the driving assembly further includes a second connecting rod and a third connecting rod, the motion output end of the driving member is fixedly connected to the second connecting rod, one end of the third connecting rod is rotatably connected to the second connecting rod, and the other end of the third connecting rod is rotatably connected to the first clamping member.

[0016] In the above solution, the second connecting rod and the third connecting rod are arranged to drive the first clamping member to swing, thereby driving the second clamping member and the first connecting rod to swing.

[0017] Optionally, the first clamping member includes a first clamping portion and a third hinged portion, the first clamping portion is used to abut against the upper edge structure, the rotational connection axis of the first clamping member and the supporting member is the first hinged axis, the connection between the first clamping portion and the third hinged portion is the first hinged axis, and the end of the third hinged portion away from the first clamping portion is rotationally connected to the third connecting rod.

[0018] In the above solution, by configuring the first clamping member as the first clamping portion and the third hinged portion, the first clamping member can not only clamp the upper edge structure but also be rotatably connected to the third connecting rod.

[0019] Optionally, the first clamping member further includes an axial extension portion, the axial extension portion extends along the direction of the first hinge axis, and two axial ends of the axial extension portion are respectively connected to the first clamping portion and the third hinge portion.

[0020] In the above scheme, by providing the axial extension portion, the first clamping portion and the third hinge portion are spaced apart in the axial direction of the first hinge shaft, thereby avoiding the first connecting rod and the third connecting rod and preventing the first connecting rod and the third connecting rod from interfering with each other.

[0021] Optionally, a non-slip pad is provided on one side of the first clamping member and the second clamping member for contacting the upper edge structure.

[0022] In the above solution, by arranging anti-skid pads on the first clamping member and the second clamping member facing the upper edge structure, the sliding friction between the clamping member and the upper edge structure can be increased, and the upper edge structure can also be protected.

[0023] The present invention also provides a humanoid robot, comprising a robot body, two mechanical arms connected to the robot body, and two of the above-mentioned rotating clamping mechanisms, wherein the two rotating clamping mechanisms are respectively connected to the ends of the two mechanical arms.

[0024] In the above scheme, the rotary clamping mechanism includes a supporting member, a driving assembly, a first clamping member and a second clamping member. The two sides of the first clamping member are rotatably connected to the supporting member and the second clamping member respectively, and the driving assembly is used to drive the first clamping member to rotate relative to the supporting member. When clamping the box, the rotary clamping mechanism can be moved until the supporting member abuts against the first supporting surface, and then the driving assembly drives the first clamping member and the second clamping member so that the first clamping member and the second clamping member clamp the upper edge structure at an angle. In this way, the upper edge structure of the box is clamped while being supported, so that the box remains stable during transportation, and it can be suitable for boxes of different specifications. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0026] Figure 1 A schematic diagram of the matching structure of the rotating clamping mechanism and the box body provided in an embodiment of the present invention;

[0027] Figure 2 A diagram showing the coordination structure between the rotating clamping mechanism provided by an embodiment of the present invention and the box body in an open state;

[0028] Figure 3 A diagram showing the coordination structure between the rotating clamping mechanism provided by an embodiment of the present invention and the box body in the clamping state;

[0029] Figure 4 The three-dimensional structure of the rotary clamping mechanism provided by the embodiment of the present invention in the open state Figure 1 ;

[0030] Figure 5 The three-dimensional structure of the rotary clamping mechanism provided by the embodiment of the present invention in the open state Figure 2 ;

[0031] Figure 6 A three-dimensional structural diagram of the rotary clamping mechanism provided by an embodiment of the present invention in a clamping state;

[0032] Figure 7 An exploded structural diagram of a rotary clamping mechanism provided in an embodiment of the present invention;

[0033] Figure 8 A three-dimensional structural diagram of a supporting member provided in an embodiment of the present invention;

[0034] Fig. 9 A three-dimensional structural diagram of a second clamping member provided in an embodiment of the present invention;

[0035] Fig.10 A three-dimensional structural diagram of a first clamping member provided in an embodiment of the present invention;

[0036] Fig.11 A three-dimensional structural diagram of a mechanical arm and a rotating clamping mechanism provided in an embodiment of the present invention;

[0037] Fig.12 A three-dimensional structural diagram of a humanoid robot provided in an embodiment of the present invention.

[0038] Among them, the reference numerals in the figure are:

[0039] 100-rotating clamping mechanism; 10-supporting member; 11-supporting part; 111-second supporting surface; 12-connecting part; 13-first hinged part; 20-driving assembly; 21-first connecting rod; 22-second connecting rod; 23-third connecting rod; 24-driving member; 30-first clamping member; 31-first clamping part; 32-third hinged part; 33-axial extension part; 40-second clamping member; 41-second clamping part; 42-second hinged part; 50-anti-slip pad; 60-mounting plate; 71-first hinge shaft; 72-second hinge shaft; 73-third hinge shaft; 74-fourth hinge shaft;

[0040] 200 - box body; 201 - upper edge structure; 202 - first supporting surface; 300 - mechanical arm; 400 - six-dimensional force sensor; 500 - robot body. DETAILED DESCRIPTION

[0041] In order to make the technical problems, technical solutions and beneficial effects to be solved by the present invention more clearly understood, the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention.

[0042] It should be noted that when an element is referred to as being "fixed to" or "disposed on" another element, it can be directly on the other element or indirectly on the other element. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or indirectly connected to the other element.

[0043] It should be understood that the orientation or position relationship indicated by terms such as "length", "width", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside" and "outside" are based on the orientation or position relationship shown in the drawings, and are only for the convenience of describing the present invention 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 operate in a specific orientation, and therefore cannot be understood as a limitation on the present invention.

[0044] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features. In the description of the present invention, the meaning of "plurality" is two or more, unless otherwise clearly and specifically defined.

[0045] Humanoid robots are entering a period of rapid development. Some humanoid robots are beginning to enter industrial fields such as automobile manufacturing to replace humans in high-intensity, high-risk, and high-repetitive labor. Compared with traditional industrial robotic arms or traditional composite robots, the application of humanoid robots is more suitable for unstructured scenes in industrial scenes. Among them, material box handling in workshops has become one of the scenarios for the industrial application of humanoid robots.

[0046] Because bipedal humanoid robots cannot maintain stable movement like humans when walking, especially when the center of gravity of the box is offset, the box will swing violently during the humanoid robot's moving process, affecting the humanoid robot's walking gait and causing the risk of the material in the box to scatter. At the same time, the size of the box varies, and the end handling mechanism of the humanoid robot is generally only suitable for boxes of a specific size, with poor compatibility.

[0047] In order to solve the above technical problems, the embodiment of the present invention proposes a rotating clamping mechanism 100 and a robot, wherein the rotating clamping mechanism 100 includes a supporting member 10, a driving assembly 20, a first clamping member 30 and a second clamping member 40. When the box 200 needs to be clamped, at least two rotating clamping mechanisms 100 respectively support different positions of the clamped box 200, thereby lifting the box 200. Specifically, in one of the rotating clamping mechanisms 100, when clamping the box 200, the supporting member 10 is located below the first supporting surface 202 and abuts against the first supporting surface 202, thereby bearing the gravity of the box 200. At the same time, the driving assembly 20 drives the first clamping member 30 and the second clamping member 40 to rotate to an angle setting, clamping the upper edge structure 201 of the box 200, so that the box 200 can be more stable during the handling process, and the specification restrictions on the box 200 are relatively small, and it can be suitable for handling boxes 200 of different specifications.

[0048] The rotating clamping mechanism 100 provided in the embodiment of the present invention is now described. The rotating clamping mechanism 100 is used to clamp the box body 200. Generally speaking, at least two rotating clamping mechanisms 100 are required to support and clamp the box body 200 at different positions, so that the box body 200 can be lifted. The box body 200 has an upper edge structure 201 and a first supporting surface 202. The upper edge structure 201 and the first supporting surface 202 are arranged at intervals from each other, and the upper edge structure 201 is generally arranged above the first supporting surface 202. The upper edge structure 201 can be a skirt structure, a thin-walled structure, etc. at the top of the box body 200, and the first supporting surface 202 can be the lower surface of a structure such as a buckle position.

[0049] Please also read Figures 1 to 6 The rotating clamping mechanism 100 includes a supporting member 10 , a driving assembly 20 , a first clamping member 30 and a second clamping member 40 .

[0050] The supporting member 10 is the main structure of the rotating clamping structure. The supporting member 10 has a second supporting surface 111 for abutting against the first supporting surface 202. When the first supporting surface 202 of the box body 200 and the second supporting surface 111 of the supporting member 10 abut against each other, the second supporting surface 111 is located below the first supporting surface 202, and the supporting member 10 bears the gravity of the box body 200.

[0051] The driving assembly 20 is fixed to the supporting member 10 . The driving assembly 20 is a power component. The driving assembly 20 is used to drive the first clamping member 30 and the second clamping member 40 to move.

[0052] One side of the first clamping member 30 is rotatably connected to the supporting member 10, and the first clamping member 30 is driven by the driving assembly 20 to rotate relative to the supporting member 10. The other side of the first clamping member 30 is rotatably connected to the second clamping member 40, and under the driving action of the driving assembly 20, the second clamping member 40 can rotate relative to the first clamping member 30. The first clamping member 30 and the second clamping member 40 are both used to clamp the upper edge structure 201. The first clamping member 30 and the second clamping member 40 can clamp the upper edge structure 201 at an angle. It can be understood that when the rotating clamping mechanism 100 is in the clamping state, the clamping sides of the first clamping member 30 and the second clamping member 40 for clamping are set at an angle, and the two clamping sides clamp the upper edge structure 201. The first clamping member 30 and the second clamping member 40 respectively clamp the opposite sides of the upper edge structure 201, so that the box body 200 can be more stable during transportation.

[0053] The steps of the rotating clamping mechanism 100 to carry the box 200 are as follows: the rotating clamping mechanism 100 moves to the vicinity of the box 200, and the supporting member 10 is supported on the first supporting surface 202 of the box 200, the driving assembly 20 works, the first clamping member 30 and the second clamping member 40 are turned over to clamp the upper edge structure 201, and finally, the rotating clamping mechanism 100 moves as a whole to lift the box 200. The steps of the rotating clamping mechanism 100 to release the box 200 are as follows: the rotating clamping mechanism 100 and the box 200 move together, so that the box 200 is placed on a platform or the ground, and then the driving assembly 20 works, so that the first clamping member 30 and the second clamping member 40 release the upper edge structure 201, and finally the rotating clamping mechanism 100 is away from the box 200.

[0054] The rotary clamping mechanism 100 in the above embodiment includes a supporting member 10, a driving assembly 20, a first clamping member 30 and a second clamping member 40. The two sides of the first clamping member 30 are rotatably connected to the supporting member 10 and the second clamping member 40 respectively, and the driving assembly 20 is used to drive the first clamping member 30 to rotate relative to the supporting member 10. When clamping the box body 200, the rotary clamping mechanism 100 can be moved until the supporting member 10 abuts against the first supporting surface 202, and then the driving assembly 20 drives the first clamping member 30 and the second clamping member 40 to clamp the upper edge structure 201 at an angle. In this way, the upper edge structure 201 of the box body 200 is clamped while being supported, so that the box body 200 remains stable during transportation, and can be applied to boxes 200 of different specifications.

[0055] In some embodiments of the present invention, the first supporting surface 202 is a horizontal surface, and accordingly, the second supporting surface 111 is also a horizontal surface. Alternatively, the first supporting surface 202 is an inclined surface, and the end of the first supporting surface 202 close to the side wall of the box body 200 is lower than the end away from the side wall of the box body 200. Accordingly, the second supporting surface 111 is also a horizontal surface and has the same inclination trend as the first supporting surface 202.

[0056] In some embodiments of the present invention, please refer to Figures 4 to 6 The driving assembly 20 includes a driving member 24 and a first connecting rod 21. The driving member 24 is used to drive the first clamping member 30 to rotate relative to the supporting member 10. One end of the first connecting rod 21 is rotatably connected to the supporting member 10, and the other end of the first connecting rod 21 is rotatably connected to the second clamping member 40. The driving member 24 is a power component that can provide power. The driving member 24 is fixed to the supporting member 10. When the driving member 24 is working, the first clamping member 30 can be rotated relative to the supporting member 10, so that the first connecting rod 21 and the second clamping member 40 can be rotated accordingly, and then the first clamping member 30 and the second clamping member 40 can clamp the upper edge structure 201. When the rotating clamping structure is converted from an open state to a clamping state, the rotation directions of the first clamping member 30 and the second clamping member 40 are opposite (the first clamping member 30 rotates clockwise, and the second clamping member 40 rotates counterclockwise), so that the angle between the first clamping member 30 and the second clamping member 40 gradually decreases, and the upper edge structure 201 can be clamped.

[0057] The supporting member 10 and the second clamping member 40 are connected by the first connecting rod 21, so that when the rotating clamping mechanism 100 is working, when the position of the first clamping member 30 is determined, the position of the second clamping member 40 is also determined accordingly, so that the first clamping member 30 and the second clamping member 40 are always kept in a stable motion state.

[0058] In some embodiments of the present invention, please refer to Figures 4 to 6The rotation connection axis between the supporting member 10 and the first clamping member 30 is the first hinge axis 71, the rotation connection axis between the first clamping member 30 and the second clamping member 40 is the second hinge axis 72, the rotation connection axis between the supporting member 10 and the first connecting rod 21 is the third hinge axis 73, and the rotation connection axis between the first connecting rod 21 and the second clamping member 40 is the fourth hinge axis 74; when the first clamping member 30 and the second clamping member 40 clamp the upper edge structure 201, the first hinge axis 71 is arranged close to the box body 200 relative to the third hinge axis 73, and the fourth hinge axis 74 is arranged close to the box body 200 relative to the second hinge axis 72. The first clamping member 30 rotates around the first hinge axis 71, the second clamping member 40 rotates around the second hinge axis 72, the first hinge axis 71 to the third hinge axis 73, the third hinge axis 73 to the fourth hinge axis 74, the fourth hinge axis 74 to the second hinge axis 72, the second hinge axis 72 to the first hinge axis 71 form a four-bar mechanism, wherein the first hinge axis 71 and the third hinge axis 73 are fixed axes.

[0059] When clamping the box body 200, the first hinge axis 71 is arranged close to the box body 200 relative to the third hinge axis 73, and the fourth hinge axis 74 is arranged close to the box body 200 relative to the second hinge axis 72, so that the connecting line of the first hinge axis 71 and the second hinge axis 72 and the connecting line of the third hinge axis 73 and the fourth hinge axis 74 intersect. In this way, when the rotating clamping structure is converted from the open state to the clamping state, the rotation directions of the first clamping member 30 and the second clamping member 40 are opposite (the first clamping member 30 rotates clockwise, and the second clamping member 40 rotates counterclockwise), so that the angle between the first clamping member 30 and the second clamping member 40 gradually decreases, and the upper edge structure 201 can be clamped.

[0060] In some embodiments, when the rotating clamping mechanism 100 is in the open state, the clamping surfaces of the first clamping member 30 and the second clamping member 40 for clamping the upper edge structure 201 are parallel to each other, and when the supporting member 10 abuts against the first supporting surface 202, the first clamping member 30 and the second clamping member 40 will not interfere with the box body 200.

[0061] In some embodiments, when the rotating clamping mechanism 100 is in the clamping state, the first clamping member 30 and the second clamping member 40 are arranged at an angle, and the first clamping member 30 and the second clamping member 40 are respectively clamped on opposite sides of the upper edge structure 201. The angle between the first clamping member 30 and the second clamping member 40 can be an acute angle or an obtuse angle, and the angle between the first clamping member 30 and the second clamping member 40 is related to the thickness of the upper edge structure 201.

[0062] In some embodiments of the present invention, see Figure 7 and Figure 8The supporting member 10 includes a supporting portion 11, a connecting portion 12 and a first hinged portion 13 which are connected in sequence. The supporting portion 11 has a second supporting surface 111. The connection between the first hinged portion 13 and the connecting portion 12 is a first hinged axis 71. The end of the first hinged portion 13 away from the connecting portion 12 is a third hinged axis 73. When the supporting member 10 abuts against the first supporting surface 202 of the box body 200, the second supporting surface 111 of the supporting portion 11 abuts against the first supporting surface 202 of the box body 200. The first hinged axis 71 and the third hinged axis 73 are respectively located at the two ends of the first hinged portion 13.

[0063] By configuring the supporting member 10 to include a supporting portion 11 , a connecting portion 12 and a first hinge portion 13 connected in sequence, the supporting member 10 can support the box body 200 and be conveniently rotatably connected to the first clamping member 30 and the first connecting rod 21 .

[0064] In some embodiments, see Figure 8 The supporting portion 11 is plate-shaped, and the upper surface of the supporting portion 11 is the second supporting surface 111. When the supporting portion 11 is plate-shaped, the contact area with the first supporting surface 202 of the box body 200 is larger, and when supporting the box body 200, the box body 200 is more stable.

[0065] In some embodiments, see Figure 8 The connection part 12 is used to connect the supporting part 11 and the first hinge part 13. The setting of the connection part 12 can make the position setting of the hinge axis more flexible. The connection part 12 is plate-shaped, and the connection area with the supporting part 11 is large, which can increase the connection strength between the connection part 12 and the supporting part 11.

[0066] In some embodiments, see Figure 8 Both ends of the first hinged portion 13 have hinged holes for the hinged shaft to pass through. The first hinged portion 13 can be in a strip shape or a plate shape.

[0067] In some embodiments, see Figure 8 The supporting portion 11 is vertically connected to the connecting portion 12. When the supporting portion 11 contacts the first supporting surface 202, the supporting portion 11 can be horizontally arranged, and the connecting portion 12 is correspondingly vertically arranged, and will not interfere with the side wall of the box body 200. At the same time, it also has a limiting function to limit the horizontal position of the supporting portion 11 relative to the box body 200.

[0068] The driving member 24 is fixed on the side of the connecting portion 12 facing away from the box body 200 , and the driving member 24 will not interfere with the box body 200 , so that the distance between the connecting portion 12 and the side wall of the box body 200 is small.

[0069] In some embodiments, see Figures 4 to 8There are two first connecting rods 21 and two first hinged parts 13. The two first hinged parts 13 are respectively arranged on opposite sides of the connecting part 12. The two first connecting rods 21 are respectively connected to the two first hinged parts 13, so that the two sides of the connecting part 12 are connected to the first connecting rod 21, so that the rotation of the first connecting rod 21, the first clamping part 31 and the second clamping part is smoother.

[0070] In some embodiments of the present invention, see Fig. 9 The second clamping member 40 includes a second clamping portion 41 and a second hinged portion 42 connected to each other. The second clamping portion 41 is used to abut against the upper edge structure 201. The connection between the second clamping portion 41 and the second hinged portion 42 is a second hinged shaft 72, and the end of the second hinged portion 42 away from the second clamping portion 41 is a fourth hinged shaft 74. The connection between the second clamping portion 41 and the second hinged portion 42 and the end of the first clamping member 30 close to the second clamping portion 41 overlap each other, allowing the second hinged shaft 72 to pass through. The end of the second hinged portion 42 away from the second clamping portion 41 and the end of the first connecting rod 21 close to the second hinged portion 42 are charged with each other, allowing the fourth hinged shaft 74 to pass through.

[0071] By configuring the second clamping member 40 as the second clamping portion and the second hinged portion 42 , the first clamping member 30 can be in contact with the upper edge structure 201 and can be rotatably connected with the first clamping member 30 and the first connecting rod 21 .

[0072] In some embodiments, the second clamping portion 41 is plate-shaped and has a larger contact area with the upper edge structure 201 , so that the box body 200 can be more stable when the second clamping portion 41 clamps the box body 200 .

[0073] In some embodiments, the second clamping portion 41 and the second hinge portion 42 are connected at an angle, and the position of the first connecting rod 21 can be adjusted so that the first clamping member 30 and the second clamping member 40 can clamp the upper edge structure 201 in a clamping state.

[0074] In some embodiments of the present invention, see Figures 4 to 7 The driving assembly 20 further includes a second connecting rod 22 and a third connecting rod 23. The motion output end of the driving member 24 is fixedly connected to the second connecting rod 22. One end of the third connecting rod 23 is rotationally connected to the second connecting rod 22. The other end of the third connecting rod 23 is rotationally connected to the first clamping member 30. The driving member 24, the second connecting rod 22, and the third connecting rod 23 are sequentially connected in transmission. The third connecting rod 23 drives the first clamping member 30 to swing relative to the supporting member 10. The first clamping member 30 drives the first connecting rod 21 and the second clamping member 40 to swing, thereby realizing the clamping of the upper edge structure 201 by the first clamping member 30 and the second clamping member 40.

[0075] The second connecting rod 22 and the third connecting rod 23 can be used to drive the first clamping member 30 to swing, thereby driving the second clamping member 40 and the first connecting rod 21 to swing.

[0076] In other embodiments, the motion output end of the driving member 24 can also directly drive the first clamping member 30 to swing.

[0077] In some embodiments, the driving member 24 is a motor.

[0078] In some embodiments, the second connecting rod 22 is in the shape of a teardrop, with one end of the second connecting rod 22 being larger and the other end being smaller. The larger end of the second connecting rod 22 is fixedly connected to the motion output end of the driving member 24. Therefore, the connection area between the second connecting rod 22 and the motion output end of the driving member 24 is larger, and the connection is more stable.

[0079] In some embodiments of the present invention, see Figure 7 and Fig.10 The first clamping member 30 includes a first clamping portion 31 and a third hinged portion 32. The first clamping portion 31 is used to abut against the upper edge structure 201. The rotation connection axis between the first clamping member 30 and the supporting member 10 is the first hinged axis 71. The connection between the first clamping portion 31 and the third hinged portion 32 is the first hinged axis 71. The end of the third hinged portion 32 away from the first clamping portion 31 is rotationally connected to the third connecting rod 23. The first clamping portion 31 is used to clamp the upper edge structure 201. The end of the first clamping portion 31 close to the supporting member 10 is rotationally connected to the supporting member 10, and the rotation connection axis is the first hinged axis 71. The third hinged portion 32 is arranged at the end of the first clamping portion 31 close to the supporting member 10.

[0080] By configuring the first clamping member 30 as the first clamping portion 31 and the third hinged portion 32 , the first clamping member 30 can not only clamp the upper edge structure 201 , but also be rotatably connected to the third connecting rod 23 .

[0081] In some embodiments, the first clamping portion 31 is plate-shaped, and has a larger contact area with the upper edge structure 201 and a greater friction force.

[0082] In some embodiments of the present invention, see Fig.10 The first clamping member 30 further includes an axial extension portion 33, which extends in the direction of the first hinge shaft 71, and the axial ends of the axial extension portion 33 are respectively connected to the first clamping portion 31 and the third hinge portion 32. The axial extension portion 33 connects the first clamping portion 31 and the third hinge portion 32, so that the first clamping portion 31 and the third hinge portion 32 are spaced apart in the axial direction of the first hinge shaft 71.

[0083] By providing the axial extension portion 33 , the first clamping portion 31 and the third hinge portion 32 are spaced apart in the axial direction of the first hinge shaft 71 , thereby avoiding the first link 21 and the third link 23 and preventing the first link 21 and the third link 23 from interfering with each other.

[0084] In some embodiments, the axial extension portion 33 is cylindrical and is provided with a hinge hole, which runs through both axial ends thereof to facilitate the installation of the hinge shaft.

[0085] In some embodiments of the present invention, see Figure 4 and Figure 6 The first clamping member 30 and the second clamping member 40 are both provided with an anti-skid pad 50 on one side thereof for contacting with the upper edge structure 201. The anti-skid pad 50 is in the form of a sheet and is fixed to the clamping side of the first clamping member 30 and the clamping side of the second clamping member 40. The anti-skid pad 50 has a larger surface roughness than the clamping member, which can increase the friction between the clamping member and the upper edge structure 201 and has an anti-skid effect.

[0086] By arranging the anti-skid pad 50 on the side of the first clamping member 30 and the second clamping member 40 facing the upper edge structure 201 , the sliding friction between the clamping member and the upper edge structure 201 can be increased, and the upper edge structure 201 can also be protected.

[0087] In some embodiments, the anti-skid pad 50 is a soft pad. When pressed against the upper edge structure 201 , the anti-skid pad 50 will be deformed, and the friction force with the upper edge structure 201 will be greater without scratching the upper edge structure 201 .

[0088] In some embodiments, the anti-slip pad 50 is fixed to the corresponding clamping member by a fixing structure such as an adhesive member, a screw member, etc., wherein the adhesive member can be adhesive backing, glue, etc.

[0089] In some embodiments of the present invention, see Figure 4 and Figure 6 The rotating clamping mechanism 100 also includes a mounting plate 60 , which is fixed to the supporting member 10 , and the mounting plate 60 is used to mount the entire rotating clamping mechanism 100 to the end of the robot arm 300 .

[0090] In some embodiments, the mounting plate 60 is fixed to the side wall of the connecting portion 12 to facilitate connection with the robot arm 300 .

[0091] See also Fig.11 and Fig.12The present invention further provides a humanoid robot, which includes a robot body 500, two mechanical arms 300 connected to the robot body 500, and two rotating clamping mechanisms 100 in any of the above embodiments, wherein the two rotating clamping mechanisms 100 are respectively connected to the ends of the two mechanical arms 300. When the robot carries a box 200, the two mechanical arms 300 of the robot move to opposite sides of the box 200, and then the two rotating clamping mechanisms 100 clamp opposite sides of the box 200, and stably lift the box 200.

[0092] The humanoid robot provided by the present invention adopts the above-mentioned rotating clamping mechanism 100, which includes a supporting member 10, a driving assembly 20, a first clamping member 30 and a second clamping member 40. The two sides of the first clamping member 30 are respectively connected to the supporting member 10 and the second clamping member 40 for rotation, and the driving assembly 20 is used to drive the first clamping member 30 to rotate relative to the supporting member 10. When clamping the box body 200, the rotating clamping mechanism 100 can be moved to the supporting member 10 and the first supporting surface 202, and then the driving assembly 20 drives the first clamping member 30 and the second clamping member 40 to clamp the upper edge structure 201 at an angle. In this way, the upper edge structure 201 of the box body 200 is clamped while being supported, so that the box body 200 remains stable in the state of transportation, and can be applied to boxes 200 of different specifications.

[0093] In some embodiments of the present invention, the end of the robotic arm 300 has a six-dimensional force sensor 400, which is arranged between the end of the robotic arm 300 and the rotating clamping mechanism 100, and can detect the position and force condition of the end of the robotic arm 300.

[0094] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A rotating clamping mechanism for clamping a box, wherein the box has an upper edge structure and a first supporting surface spaced apart from the upper edge structure, characterized in that: The rotary clamping mechanism includes a supporting member, a driving assembly fixed to the supporting member, a first clamping member and a second clamping member, one side of the first clamping member is rotatably connected to the supporting member, and the other side of the first clamping member is rotatably connected to the second clamping member, the driving assembly is used to drive the first clamping member and the second clamping member to rotate, the first clamping member and the second clamping member can clamp the upper edge structure at an angle, and the supporting member has a second supporting surface for abutting against the first supporting surface.

2. The rotary clamping mechanism according to claim 1, characterized in that: The driving assembly includes a driving member and a first connecting rod, wherein the driving member is used to drive the first clamping member to rotate relative to the supporting member, one end of the first connecting rod is rotatably connected to the supporting member, and the other end of the first connecting rod is rotatably connected to the second clamping member.

3. The rotary clamping mechanism according to claim 2, characterized in that: The rotational connection axis between the supporting member and the first clamping member is the first hinge axis, the rotational connection axis between the first clamping member and the second clamping member is the second hinge axis, the rotational connection axis between the supporting member and the first connecting rod is the third hinge axis, and the rotational connection axis between the first connecting rod and the second clamping member is the fourth hinge axis; when the first clamping member and the second clamping member clamp the upper edge structure, the first hinge axis is arranged close to the box body relative to the third hinge axis, and the fourth hinge axis is arranged close to the box body relative to the second hinge axis.

4. The rotary clamping mechanism according to claim 3, characterized in that: The supporting member includes a supporting portion, a connecting portion and a first hinged portion connected in sequence, the supporting portion has the second supporting surface, the connection between the first hinged portion and the connecting portion is the first hinge axis, and the end of the first hinged portion away from the connecting portion is the third hinge axis.

5. The rotary clamping mechanism according to claim 3, characterized in that: The second clamping member includes a second clamping portion and a second hinged portion connected to each other, the second clamping portion is used to abut against the upper edge structure, the connection between the second clamping portion and the second hinged portion is the second hinge axis, and the end of the second hinged portion away from the second clamping portion is the fourth hinge axis.

6. The rotary clamping mechanism according to claim 2, characterized in that: The driving assembly also includes a second connecting rod and a third connecting rod. The motion output end of the driving member is fixedly connected to the second connecting rod, one end of the third connecting rod is rotationally connected to the second connecting rod, and the other end of the third connecting rod is rotationally connected to the first clamping member.

7. The rotary clamping mechanism according to claim 6, characterized in that: The first clamping member includes a first clamping portion and a third hinged portion, the first clamping portion is used to abut against the upper edge structure, the rotation connection axis of the first clamping member and the supporting member is the first hinged axis, the connection between the first clamping portion and the third hinged portion is the first hinged axis, and the end of the third hinged portion away from the first clamping portion is rotationally connected to the third connecting rod.

8. The rotary clamping mechanism according to claim 7, characterized in that: The first clamping member further includes an axial extension portion, which extends along the direction of the first hinge axis, and axial ends of the axial extension portion are respectively connected to the first clamping portion and the third hinge portion.

9. The rotary clamping mechanism according to any one of claims 1 to 8, characterized in that: The first clamping member and the second clamping member are both provided with anti-slip pads on one side thereof for contacting with the upper edge structure.

10. A humanoid robot, characterized in that: It comprises a robot body, two mechanical arms connected to the robot body, and two rotating clamping mechanisms as described in any one of claims 1 to 9, wherein the two rotating clamping mechanisms are respectively connected to the ends of the two mechanical arms.

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