Humanoid robot carrying gripper

Abstract

The invention belongs to the field of machine manufacturing, and particularly relates to a pair of humanoid robot carrying grippers which are matched with a humanoid robot for use. Comprising a palm grabbing part, a supporting bottom and a penetrating device, the palm grabbing part comprises a palm center, a connecting rod and a supporting device, the palm center is connected with the connecting rod through a hinge and a torsional spring, and the connecting rod is connected with the supporting device through the hinge and the torsional spring; the two connecting rods and the two supporting devices are located on the two sides of the center of the palm respectively. The inserting device is arranged on the lower side of the palm center of the palm grabbing part and used for being inserted into a gap between goods. Supporting bases are arranged on the two sides of the lower portion of the center of the palm and provided with racks. A motor, gears and a flange plate are arranged in the center of the palm, the flange plate is arranged on the side connected with a robot rotating shaft, the motor is arranged on the lower side of the center of the palm and is a double-shaft motor, and the gears are arranged at the tail ends of the rotating shafts on the two sides of the motor and matched with racks on the supporting bottom to control the supporting bottom to move horizontally.

Description

Technical Field

[0001] The invention belongs to the field of mechanical manufacturing, in particular to a humanoid robot handling gripper, wherein the humanoid robot gripper is a pair and is used in conjunction with the humanoid robot. Background Art

[0002] With the development of intelligence, robot technology has become more mature. Today, humanoid robots are no longer the content of science fiction works decades ago, but have become practical mechanical devices. Humanoid robots imitate the human body structure and copy human behaviors to achieve the purpose of completing human work. Humanoid robots have many uses, but it is difficult to ensure the professionalism of robots in completing work by simply copying human hands. Therefore, the design of humanoid robot grippers is an important topic.

[0003] There are many types of grippers for humanoid robots at present, but these grippers are not very effective when it comes to carrying box-shaped goods. Not only are their structures complex, but the goods can easily slip during handling, causing unnecessary losses. Summary of the invention

[0004] The purpose of the present invention is to solve the deficiencies in the prior art. The present invention provides a humanoid robot carrying gripper installed on the rotating wrist at the end of the humanoid robot arm. It is intended to be used for carrying small and medium-sized box-shaped goods and has the characteristics of simple structure, stable carrying, and good grasping effect.

[0005] To achieve the above object, the present invention provides the following technical solutions: A pair of humanoid robot handling grippers are used in conjunction with a humanoid robot and comprise gripper palms, a supporting bottom and an interpenetrator.

[0006] The palm of the gripper includes a palm center, a connecting rod and a supporter. The palm center is connected to the connecting rod through a hinge and a torsion spring, and the connecting rod is connected to the supporter through a hinge and a torsion spring. There are two connecting rods and two supporters, which are respectively located on both sides of the palm center. The supporter and the palm center are both provided with a protective pad. The inserter is arranged on the lower side of the palm center of the gripper palm, and is used to insert into the gap between the goods to separate the box-shaped goods. The pressure sensor is arranged in the protective pad of the supporter, which is connected to the robot controller through a wire, and can detect the size of the clamping force to allow the robot PLC to determine what movement to make next.

[0007] Two bottom supports are installed on the lower side of the center of a single palm, and racks are provided on the bottom supports. The bottom supports are T-shaped crossbeams, which cooperate with the T-shaped slide grooves at the lower part of the center of the palm and can slide along the T-shaped slide grooves. Limit switches 1 and 2 are provided on the bottom supports, which are connected to the robot controller through wires to control the movement of the bottom supports.

[0008] The center of the palm is provided with a motor, a gear and a flange. The flange is provided on the side connected to the rotation axis of the robot. The motor is provided on the lower side of the center of the palm and is a dual-axis motor. Gears are provided at the ends of the rotation axes on both sides of the motor, which cooperate with the racks on the bottom to control the horizontal movement of the bottom.

[0009] The humanoid robot handling gripper is a pair, which is used in conjunction with the humanoid robot and is installed on the robot rotating wrist at the front of the humanoid robot arm. A flange is provided in the center of the palm. The entire gripper is connected to the robot rotating wrist through the flange and is controlled by a robot controller; the robot controller is provided with a PLC programmable controller, and is also equipped with control devices such as forward relay 1, forward relay 2, reverse relay 1 and reverse relay 2.

[0010] The bottom support is controlled to move horizontally by motors arranged at the lower sides of the palms of the two grippers. When grabbing goods, the motor is started to rotate forward, the gear drives the rack in a forward direction, and the transmission bottom support is moved horizontally outward. When lifting goods, the motor is started to rotate reversely, the gear drives the rack in a reverse direction, and the transmission bottom support is retracted horizontally inward to protect the goods from falling.

[0011] The surface of the bottom support is provided with a rack, and the motor in the palm of the gripper rotates through the gear to replace the rack movement, so as to realize the horizontal movement of the bottom support.

[0012] The base is made of carbon fiber, which ensures strength while meeting the need for lightweight.

[0013] The protective pad is a rubber buffer pad, which can ensure the safety of the goods.

[0014] The inserter is made of elastic material to ensure elasticity and ensure that the goods are intact.

[0015] As a preferred technical solution of a humanoid robot carrying gripper of the present invention, the support base is connected to the palm of the gripper through a T-slot, and a motor is provided on the support base and the palm of the gripper, and the motor drives the gear to rotate to control the extension and retraction of the support base.

[0016] As a preferred technical solution of a humanoid robot handling gripper of the present invention, the interposer is fixed on the lower side of the palm of the gripper, and the two sides of the interposer are the supporting bottoms. The interposer is an interposer plate.

[0017] A humanoid robot handling gripper has a reasonable design and a compact structure. The humanoid robot gripper is a pair and is used in conjunction with a humanoid robot. The most prominent advantage of the present invention is that it makes up for the instability of current humanoid robots in handling goods. The present invention is consistent with the appearance characteristics of box-type goods, and through torsion spring extrusion and bottom support, and with the help of a protective pad, it perfectly ensures that the goods will not slip or have surface damage during the handling process.

[0018] Since the protective pad is provided with a pressure sensor, which is connected to the robot controller through a wire, the size of the clamping force can be detected to allow the robot PLC to determine the next movement, which can speed up the handling speed and ensure the quality of the box-type goods handled by the humanoid robot handling gripper. The present invention is based on the PLC forward and reverse program, uses the signal received by the robot and the signal provided by the pressure sensor as the trigger point, and uses a limit switch to ensure that the motor stops when the bottom support runs to the end. The structure is simple and distinct, and programming is convenient. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] The accompanying drawings are used to provide a further understanding of the present invention and constitute a part of the specification. Together with the embodiments of the present invention, they are used to explain the present invention and do not constitute a limitation of the present invention. In the accompanying drawings: Figure 1 A schematic diagram of a humanoid robot handling gripper in use; Figure 2 It is a structural schematic diagram of a humanoid robot handling gripper; Figure 3 This is a schematic diagram of the structure of a humanoid robot handling gripper motor, gear and rack.

[0020] Figure 4 This is a PLC control schematic diagram of a humanoid robot handling gripper.

[0021] The reference numerals in the drawings are: 1. palm center, 11. motor, 12. gear, 13. rack, 14. motor shaft, 2. connecting rod, 3. supporter, 4. inserter, 5. bottom support, 51. limit switch one, 52. limit switch two, 6. protection pad, 71. hinge, 72. torsion spring, 81. humanoid robot arm, 82. humanoid robot rotating wrist, 83. flange, 84. pressure sensor. DETAILED DESCRIPTION

[0022] The following article will introduce the implementation steps of the specific technical solution of the present invention. This introduction is only a demonstration of one method of the present invention, and other methods of use also belong to the protection scope of the present invention.

[0023] Reference Figure 1 , a pair of humanoid robot grippers are used in conjunction with the humanoid robot.

[0024] See attached Figure 1-3 A humanoid robot handling gripper includes a gripper palm, a supporting bottom and an interposer.

[0025] The palm of the gripper includes a palm center 1, a connecting rod 2 and a supporter 3. The palm center 1 is connected to the connecting rod 2 through a hinge 71 and a torsion spring 72, and the connecting rod 2 is connected to the supporter 3 through a hinge 71 and a torsion spring 72. There are two connecting rods 2 and two supporters 3, which are respectively located on both sides of the palm center 1. The supporter 3 and the palm center 1 are both provided with a protective pad 6. A pressure sensor 84 is provided in the protective pad 6, which is connected to the robot controller through a wire. The size of the clamping force can be detected to allow the robot PLC to determine what movement to make next. The inserter 4 is provided on the lower side of the palm of the gripper to insert into the gap between the goods, so that a certain distance is generated between the two vertically stacked goods, and at the same time the entire gripper is located close to the bottom of the goods, so that the bottom support can move along the bottom of the goods.

[0026] Two bottom supports 5 are installed at the lower part of a single palm center 1, and racks 13 are arranged on the bottom supports 5. The bottom supports are T-shaped crossbeams, which cooperate with the T-shaped slide grooves at the lower part of the palm center 1 and can slide along the T-shaped slide grooves. Limit switches 1 51 and 2 52 are arranged on the bottom supports, which are connected to the robot controller through wires to control the movement of the bottom supports.

[0027] The palm center 1 is provided with a motor 11 and a gear 12 at the lower part, and a flange 83 is provided on the side connected to the humanoid robot rotating wrist 82. The palm center 1 is installed on the humanoid robot rotating shaft at the end of the humanoid robot arm and connected through the flange 83. The motor 11 is provided at the lower side of the palm center and is a double-axis motor. The ends of the motor shafts 14 on both sides are provided with gears 12. The gears 12 cooperate with the racks 13 provided on the bottom support 5 at the lower part of the palm center 1 to control the horizontal movement of the bottom support 5. The motor 11 is connected to a low-voltage DC power supply through a wire and is controlled by the robot controller.

[0028] The support base 5 is a T-shaped crossbeam, which is respectively arranged on the lower side of the palms of the two grippers through motors 11 that can control horizontal movement. When grabbing goods, the motor 11 rotates, driving the gear 12 to rotate, and the gear 12 then drives the rack 13 to rotate. The rack 13 causes the support base 5 to move horizontally outward. When lifting goods, the motor 11 reverses, the gear also reverses, and the rack moves in the opposite direction to drive the support base 5 inward to protect the goods from falling.

[0029] The humanoid robot handling gripper is a pair, which cooperates with the humanoid robot and can be installed on the robot rotating wrist at the front of the humanoid robot arm 81. The center of the palm is provided with a flange 83. The whole gripper is connected to the robot rotating wrist 82 through the flange 83 and is controlled by the robot controller. The robot controller is provided with a PLC programmable controller, and is also equipped with control devices such as forward relay 1, forward relay 2, reverse relay 1, reverse relay 2, etc.

[0030] The support base 5 is controlled to move horizontally by motors 11 respectively arranged on the lower sides of the palms of the two grippers. When grabbing goods, the motor 11 is started to rotate forward, the gear 12 drives the rack 13 in a forward direction, and the transmission support base 5 moves horizontally outward. When lifting goods, the motor 11 is started to rotate reversely, the gear 12 drives the rack 13 in a reverse direction, and the transmission support base 5 is retracted horizontally inward to protect the goods from falling.

[0031] A rack 13 is provided on the surface of the support base 5. The motor 11 in the palm of the gripper drives the rack 13 and the support base 5 to move through the rotation of the gear 12, so as to realize the horizontal movement of the support base.

[0032] Reference Figure 4 A control method for a humanoid robot handling gripper includes: a grab signal, a drop signal, a forward relay 1, a forward relay 2, a reverse relay 1, a reverse relay 2, a limit switch 1 51 and a limit switch 2 52. The grab signal, the drop signal, and the pressure sensor signal are touch switches, the forward relay 1 and the reverse relay 1 are normally open, the forward relay 2, the reverse relay 2, the limit switch 1 51 and the limit switch 2 52 are normally closed.

[0033] The humanoid robot handling gripper, when grabbing goods, obtains a grabbing signal, so that the forward relay is closed, the forward relay is disconnected, the motor 11 rotates forward, the support base 5 extends outward, and when the limit switch is reached, the limit switch is disconnected, the motor 11 stops rotating, and the forward relay is restored to normally open, and the forward relay is restored to normally closed; When clamping the goods, the pressure sensor 84 can detect the size of the clamping force: 2μF=mgK, then F=mgK / 2μ, where F is the clamping force, μ is the sliding friction coefficient, K is the safety factor, m is the mass, and g is the acceleration of gravity. When the clamping force F reaches mg / 2μ, the pressure sensor 84 provides a signal, the robot controls the gripper to slowly rise, and the gripper continues to clamp. When the clamping force F reaches mgK / 2μ, the pressure sensor 84 provides a pressure sensor signal, causing the reversing relay to close one, the reversing relay two to disconnect, the motor 11 to reverse, and the bottom support 5 to retract. When the limit is reached, the limit switch two is disconnected, and the motor 11 stops rotating. At this time, the reversing relay one returns to normally open, and the reversing relay two returns to normally closed; When putting down the goods, the robot obtains the putting down signal, so that the forward relay is closed, the forward relay is disconnected, the motor 11 rotates forward, the support 5 extends outward, and when the limit switch is reached, the limit switch is disconnected, the motor 11 stops rotating, and the forward relay is restored to normally open and the forward relay is restored to normally closed. Then the robot puts down the goods and releases the gripper. Example

[0034] When grabbing goods, the robot obtains the grabbing signal, so that the forward relay is closed, the forward relay is disconnected, the motor 11 rotates forward, the support 5 extends outward, and when the limit is reached, the limit switch 51 is disconnected, the motor 11 stops rotating, and the forward relay 1 is restored to normally open, and the forward relay 2 is restored to normally closed. When the goods are clamped, the pressure sensor 84 can detect the size of the clamping force: 2μF=mgK, then F=mgK / 2μ, where F is the clamping force, μ is the sliding friction coefficient, K is the safety factor, m is the mass, and g is the acceleration of gravity.

[0035] When the goods are clamped, the pressure sensor 84 can detect the magnitude of the clamping force F: 2μF=mgK, then F=mgK / 2μ, where F is the clamping force, μ is the sliding friction coefficient, K is the safety factor, m is the mass, and g is the acceleration of gravity. If the sliding friction coefficient μ is 0.4, the safety factor K is 1.2, and the goods to be grasped are 2-4kg, the specific values ​​of the clamping force F are shown in the following table:

[0036] Taking grabbing 2kg of goods as an example, when the clamping force reaches 25N, the pressure sensor 84 provides a signal, the robot controls the gripper to rise slowly, and the gripper continues to clamp. When the clamping force reaches 30N, the pressure sensor 84 provides a pressure sensor signal, so that the reversing relay is closed one, the reversing relay two is disconnected, the motor 11 is reversed, and the bottom support 5 is retracted. When the limit is reached, the limit switch 2 52 is disconnected, and the motor 11 stops rotating. At this time, the reversing relay 1 is restored to normally open, and the reversing relay 2 is restored to normally closed. When putting down the goods, the robot obtains the putting down signal, so that the forward relay is closed one, the forward relay 2 is disconnected, the motor 11 rotates forward, and the bottom support 5 extends outward. When the limit is reached, the limit switch 1 51 is disconnected, and the motor 11 stops rotating. At this time, the forward relay 1 is restored to normally open, and the forward relay 2 is restored to normally closed. The robot then puts down the goods and releases the gripper.

[0037] The base 5 is made of carbon fiber, which ensures strength while meeting the need for lightness.

[0038] The protection pad 6 is a rubber cushion, which can ensure the safety of the goods.

[0039] The inserter 4 is made of elastic material to ensure elasticity and ensure that the goods are intact.

[0040] As a preferred technical solution of a humanoid robot carrying gripper of the present invention, the support base is connected to the palm of the gripper through a T-slot, and a motor is provided on the support base and the palm of the gripper, and the motor drives the gear to rotate to control the extension and retraction of the support base.

[0041] As a preferred technical solution of a humanoid robot handling gripper of the present invention, the interposer 4 is fixed on the lower side of the gripper palm, and its two sides are the supporting bottom 5. The interposer 4 is an interposer plate.

[0042] The present invention provides the following technical solutions: a humanoid robot carrying gripper, comprising a gripper palm 1, connecting rods 2 on both sides of the palm center connected to a supporter 3, and the palm center 1, the connecting rod 2 and the supporter 3 are all connected by hinges 71 and torsion springs 72. Supporting bases 5 are provided on both sides of the lower part of the palm center 1, and racks 13 are provided on the supporting bases 5. An interposer 4 is fixed on the lower side of the palm center 1, and the interposer 4 is provided between the two supporting bases 5. The palm center 1 is provided with a gear 12 at the end of a motor shaft 14 on both sides of a motor 11, and the gear 12 cooperates with the racks 13 provided on the two supporting bases 5 at the lower part of the palm center 1 to control the horizontal movement of the supporting bases 5.

[0043] A protective pad 6 is provided at the center 1 of the palm and inside the two supporters 3 .

[0044] A humanoid robot handling gripper grasping method: A humanoid robot handling gripper is used in conjunction with a humanoid robot and can be installed on the robot rotating wrist at the front of the humanoid robot arm 81. A flange 83 is provided at the center of the palm, and the entire gripper is connected to the robot rotating wrist 82 through the flange 83.

[0045] When transporting goods, the motor 11 rotates forward and controls the gear 12 to rotate, thereby driving the rack 13 of the support base 5 to move outward, and the rack drives the two support bases 5 to insert into the bottom of the box-shaped goods to be transported, and the insertion plate 4 is then inserted into the gap between the stacked goods. After that, the gripper moves horizontally inward as a whole, and the center of the palm 1 is squeezed inward to cause the torsion spring 72 to deform, so that a pair of four supporters 3 can clamp the goods.

[0046] When grasping the goods, the supporters 3 on both sides contact the goods first. As the humanoid robot carrying gripper moves inward as a whole, the palm center 1 is squeezed inward to cause the torsion spring 72 to deform, and the elastic potential generated enables the supporters 3 to clamp the goods tightly.

[0047] After the goods are clamped, the gripper rises slowly as a whole, and the goods are clamped during the rising process. After rising for a certain distance, the motor 11 reverses, and the gear 12 drives the rack 13 to control the bottom 5 to retract and move it under the goods to ensure that the goods will not slip easily.

[0048] When putting down the goods, the motor 11 rotates forward, controlling the gear 12 to rotate, thereby driving the rack 13 of the bottom support 5 to move outward, and then placing the goods at the designated position, the gripper as a whole slowly moves outward horizontally, so that the inserter 4 gradually moves away from the goods to ensure that the goods will not be impacted.

[0049] The protective pad 6 protects the palm center 1 and the support 3 from damage when the goods are clamped. A pressure sensor is provided inside the palm center 1 and the support 3 to detect the clamping force so as to determine the next movement of the robot PLC.

[0050] The bottom support 5 is a T-shaped crossbeam, which can reduce material consumption and also reduce deadweight.

[0051] The base 5 is made of carbon fiber, which ensures strength while meeting the need for lightweight.

[0052] The inserter 4 is made of elastic material and has a certain elasticity so that the surface of the goods will not be damaged due to mistakes when inserting into the gap between the goods.

[0053] A control method for a humanoid robot handling gripper, comprising: a grabbing signal, a putting down signal, a forward relay 1, a forward relay 2, a reverse relay 1, a reverse relay 2, a limit switch 1 51, and a limit switch 2 52, wherein the grabbing signal, the putting down signal, and the pressure sensor signal are touch switches, the forward relay 1 and the reverse relay 1 are normally open, and the forward relay 2, the reverse relay 2, the limit switch 1 51, and the limit switch 2 52 are normally closed.

[0054] The humanoid robot carrying gripper, when grabbing goods, the humanoid robot obtains a grabbing signal, so that the forward relay one is closed, the forward relay two is disconnected, the motor 11 rotates forward, and the control gear 12 rotates, thereby driving the rack 13 of the bottom support 5 to move outward, and the rack drives the two bottom supports 5 to insert into the bottom of the box-shaped goods to be transported, and the insertion plate 4 is then inserted into the gap between the stacked goods. After that, the gripper moves horizontally inward as a whole, and the palm center 1 is squeezed inward to cause the torsion spring 72 to deform, so that a pair of four supporters 3 can clamp the goods. When the limit is reached, the limit switch 1 51 is disconnected, and the motor 11 stops rotating. At this time, the forward relay one returns to normally open, and the forward relay two returns to normally closed.

[0055] When clamping the goods, the pressure sensor 84 can detect the size of the clamping force F: 2μF=mgK, then F=mgK / 2μ, where F is the clamping force, μ is the sliding friction coefficient, K is the safety factor, m is the mass, and g is the acceleration of gravity. Taking the friction coefficient μ as 0.4, the safety factor K as 1.2, and grabbing 2kg of goods as an example, when the clamping force F reaches 25N, the pressure sensor 84 provides a signal, the robot controls the gripper to slowly rise, and the gripper continues to clamp. When the clamping force F reaches 30N, the pressure sensor 84 provides a pressure sensor signal, so that the reversing relay 1 is closed, the reversing relay 2 is disconnected, the motor 11 reverses, the gear 12 drives the rack 13, and controls the bottom 5 to retract, so that it moves under the goods to ensure that the goods will not slip easily. When the limit is reached, the limit switch 2 52 is disconnected, and the motor 11 stops rotating. At this time, the reversing relay 1 returns to normally open, and the reversing relay 2 returns to normally closed.

[0056] When putting down the goods, the robot obtains the putting down signal, so that the forward relay 1 is closed, the forward relay 2 is disconnected, the motor 11 rotates forward, and the control gear 12 rotates, thereby driving the rack 13 of the bottom support 5 to move outward. When the limit is reached, the limit switch 1 51 is disconnected, and the motor 11 stops rotating. At this time, the forward relay 1 returns to normal opening, and the forward relay 2 returns to normal closing. Then the robot puts down the goods, and slowly moves the gripper outward horizontally as a whole, so that the inserter 4 gradually moves away from the goods to ensure that the goods will not be impacted.

[0057] Finally, it should be noted that the above shows and describes the basic principles, main features and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited to the above embodiments. The above embodiments and descriptions are only for explaining the principles of the present invention. Without departing from the spirit and scope of the present invention, the present invention may have various changes and improvements, which fall within the scope of the present invention. The scope of protection of the present invention is defined by the attached claims and their equivalents.

Claims

1. A humanoid robot handling gripper, characterized in that: It includes a gripper palm, a support base and an interpenetrator; The palm portion of the gripper includes a palm center, a connecting rod and a supporter. The palm center is connected to the connecting rod through a hinge and a torsion spring, and the connecting rod is connected to the supporter through a hinge and a torsion spring. Two connecting rods and two supporters are provided, respectively located on both sides of the palm center. The inserter is located at the lower side of the center of the palm of the gripper to insert into the gap between the goods; A bottom support is arranged on both sides of the lower part of the center of the palm, and a rack, a limit switch 1 and a limit switch 2 are arranged on the bottom support; A motor, gears and a flange are provided in the center of the palm. The flange is provided on the side connected to the rotating axis of the robot. The motor is provided on the lower side of the center of the palm. It is a dual-axis motor. Gears are provided at the ends of the rotating axis on both sides of the motor, which cooperate with the racks on the support to control the horizontal movement of the support.

2. The humanoid robot handling gripper according to claim 1, characterized in that: The support and the center of the palm are both equipped with protective pads.

3. The humanoid robot handling gripper according to claim 2, characterized in that: The protective pad is a rubber buffer pad to ensure the safety of the goods.

4. The humanoid robot handling gripper according to claim 2, characterized in that: The pressure sensor is installed in the protective pad of the support and connected to the robot controller through a wire. It can detect the size of the clamping force to help the robot PLC determine what movement to make next.

5. The humanoid robot handling gripper according to claim 1, characterized in that: The support bottom is a T-shaped crossbeam, which cooperates with the T-shaped slide groove at the lower center of the palm and can slide along the T-shaped slide groove; the support bottom is provided with limit switch 1 and limit switch 2, which are connected to the robot controller through wires to control the movement of the support bottom.

6. The humanoid robot handling gripper according to claim 1, characterized in that: The humanoid robot handling gripper is a pair, which is used in conjunction with the humanoid robot and is installed on the robot rotating wrist at the front of the humanoid robot arm. A flange is provided in the center of the palm. The entire gripper is connected to the robot rotating wrist through the flange and is controlled by a robot controller; the robot controller is provided with a PLC programmable controller, and is also equipped with forward relay 1, forward relay 2, reverse relay 1 and reverse relay 2.

7. The humanoid robot handling gripper according to claim 1, characterized in that: The bottom support moves horizontally through motors controlled by the lower sides of the palms of the two grippers. When grabbing goods, the motor is started to rotate forward, the gear drives the rack in a positive direction, and the transmission bottom support moves horizontally outward. When lifting goods, the motor is started to rotate reversely, the gear drives the rack in a reverse direction, and the transmission bottom support moves horizontally inward to protect the goods from falling. When putting down the goods, the motor is started to rotate forward again, the gear drives the rack in a positive direction, and the transmission bottom support moves horizontally outward.

8. The humanoid robot handling gripper according to claim 1, characterized in that: The inserter is made of elastic material to ensure elasticity and ensure that the goods are intact; the inserter adopts an inserting plate.

9. A humanoid robot handling gripper according to claims 1-8, characterized in that: When grabbing goods, the robot obtains the grabbing signal, which makes the forward relay 1 closed, the forward relay 2 disconnected, the motor rotates forward, and the bottom is extended outward. When the limit is reached, the limit switch 1 is disconnected, and the motor stops rotating. At this time, the forward relay 1 returns to normally open, and the forward relay 2 returns to normally closed. When clamping the goods, the pressure sensor can detect the size of the clamping force: 2μF=mgK, then F=mgK / 2μ, where F is the clamping force, μ is the sliding friction coefficient, K is the safety factor, m is the mass, and g is the acceleration of gravity; when the clamping force F reaches mg / 2μ, the pressure sensor provides a signal, the robot controls the gripper to slowly rise, and the gripper continues to clamp; when the clamping force F reaches mgK / 2μ, the pressure sensor provides a pressure sensor signal, so that the reversing relay 1 is closed, the reversing relay 2 is disconnected, the motor reverses, the bottom is retracted, and when the limit is reached, the limit switch 2 is disconnected, the motor stops rotating, and at this time the reversing relay 1 returns to normally open, and the reversing relay 2 returns to normally closed; When putting down the goods, the robot receives the putting down signal, which makes the forward relay 1 closed, the forward relay 2 disconnected, the motor rotates forward, and the bottom is extended. When the limit is reached, the limit switch 1 is disconnected, and the motor stops rotating. At this time, the forward relay 1 returns to normally open, and the forward relay 2 returns to normally closed. Then the robot puts down the goods and releases the gripper.

10. A humanoid robot handling gripper grasping method according to claims 1-9, characterized in that ， A humanoid robot handling gripper is used in conjunction with a humanoid robot and can be installed on the robot rotating wrist at the front of the humanoid robot arm. A flange is provided at the center of the palm, and the entire gripper is connected to the robot rotating wrist through the flange. When carrying goods, the motor rotates forward, controlling the gear to rotate, thereby driving the rack of the bottom support to move outward, and the rack drives the two bottom supports to insert into the bottom of the box-shaped goods to be carried, and the insertion plate is then inserted into the gap between the stacked goods. After that, the gripper moves horizontally inward as a whole, and the center of the palm is squeezed inward to cause the torsion spring to deform, so that a pair of four supporters can clamp the goods; When grasping the goods, the supporters on both sides first contact the goods. As the overall inward movement of the humanoid robot handling gripper, the center of the palm is squeezed inward to cause the torsion spring to deform, and the elastic potential generated enables the supporters to tightly clamp the goods. After the goods are clamped, the gripper rises slowly as a whole, and the goods are clamped during the rising process. After rising for a certain distance, the motor reverses, and the gear drives the rack to control the bottom support to move inward and move it under the goods to ensure that the goods will not slip easily. When putting down the goods, the motor rotates forward, controlling the gear to rotate, thereby driving the rack at the bottom to move outward, and then placing the goods at the designated position. The gripper as a whole slowly moves outward horizontally, allowing the inserter to gradually move away from the goods to ensure that the goods will not be impacted.

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