Clamping carrying mechanism and humanoid robot

Abstract

The clamping carrying mechanism comprises a fixing piece, a first connecting rod, a second connecting rod, a pressing piece and a connecting structure, the fixing piece is provided with a bearing structure used for making contact with a to-be-clamped part, the pressing piece comprises a connecting rod part and a pressing part which are connected with each other, the first connecting rod is rotationally connected with the fixing piece, and the second connecting rod is rotationally connected with the second connecting rod. The two second connecting rods are parallel to each other, one end of each second connecting rod is rotationally connected with the first connecting rod, the other end of each second connecting rod is rotationally connected with the connecting rod part, and the connecting structure is used for connecting one second connecting rod and the fixing piece. According to the clamping carrying mechanism and the humanoid robot, the first pressing face is pressed and connected in an abutting mode through the abutting face, the bearing structure makes contact with the to-be-clamped part, the box can be more stable in the carrying process, and the clamping carrying mechanism and the humanoid robot can be suitable for boxes of various sizes.

Description

Technical Field

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

[0002] Some humanoid robots have begun to enter 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, handling material boxes 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 clamping and carrying mechanism and a humanoid robot to solve the technical problems 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 clamping and transporting mechanism for clamping a box body, the box body having a first clamping surface and a to-be-clamped portion spaced apart from each other in the vertical direction, the clamping and transporting mechanism comprising a fixing member, a first connecting rod, a second connecting rod, a clamping member and a connecting structure, the fixing member having a supporting structure for contacting the to-be-clamped portion, the clamping member comprising a connecting rod portion and a clamping portion connected to each other, the clamping portion having an abutting surface for clamping the first clamping surface, the first connecting rod being rotatably connected to the fixing member, the number of the second connecting rods being two and being parallel to each other, one end of the second connecting rod being rotatably connected to the first connecting rod, the other end of the second connecting rod being rotatably connected to the connecting rod portion, the first connecting rod, the two second connecting rods and the connecting rod portion forming a parallel four-bar mechanism, and the connecting structure being used to connect one of the second connecting rods and the fixing member.

[0006] In the above scheme, the clamping and transporting mechanism includes a fixed part, a first connecting rod, a second connecting rod and a pressing part that are connected and rotated in sequence. The first connecting rod, two second connecting rods and the connecting rod part of the pressing part form a parallel four-bar mechanism, which allows the pressing part to rotate relative to the fixed part. Among them, the connecting structure connects one of the second connecting rods and the fixed part, so that the parallel four-bar mechanism always remains in a stable motion state. The supporting structure of the fixed part is used to connect with the part to be clamped and held of the box body. When the abutting surface of the pressing part presses the first pressing surface of the box body, one side of the box body can be clamped and held. When multiple clamping and transporting mechanisms clamp different positions of the box body together, the box body can be lifted. By pressing and abutting the first pressing surface with the abutting surface, and contacting the part to be clamped and held by the supporting structure, the box body can be made more stable during the transportation process, and it can be suitable for boxes of various sizes.

[0007] Optionally, the connection structure includes an elastic member, one end of the elastic member is connected to the second connecting rod, and the other end of the elastic member is connected to the fixing member.

[0008] In the above scheme, by setting the elastic member, the movement trajectory of the first connecting rod and the second connecting rod can be made unique, the stability of the movement of the clamping and transporting mechanism can be maintained, and the distance between the supporting surface and the abutting surface can be changed, which is suitable for clamping boxes of different sizes.

[0009] Optionally, the connecting structure includes a driving member, a third connecting rod and a fourth connecting rod, the driving member is fixed to the fixing member, the motion output end of the driving member is fixedly connected to the third connecting rod, one end of the fourth connecting rod is rotationally connected to the third connecting rod, and the other end of the fourth connecting rod is rotationally connected to one of the second connecting rods.

[0010] In the above scheme, by setting the driving member, the third connecting rod and the fourth connecting rod, the movement trajectory of the first connecting rod and the second connecting rod can be made unique, so as to maintain the stability of the movement of the clamping and transporting mechanism. Moreover, the distance between the supporting surface and the abutting surface can also be changed, which is suitable for clamping boxes of different sizes.

[0011] Optionally, the connecting structure includes a fifth connecting rod and a sixth connecting rod, one end of the fifth connecting rod is rotatably connected to the fixing member, one end of the sixth connecting rod is damped rotationally connected to the fifth connecting rod, and the other end is rotatably connected to one of the second connecting rods.

[0012] In the above scheme, by setting the fifth link and the sixth link damping rotation connection, the movement trajectory of the first link and the second link can be made unique, the stability of the movement of the clamping and transporting mechanism can be maintained, and the distance between the supporting surface and the abutting surface can also be changed, which is suitable for clamping boxes of different sizes.

[0013] Optionally, the portion to be clamped is a second pressing surface, and the supporting structure has a supporting surface for supporting the second pressing surface;

[0014] The supporting surface is the upper surface of the fixing member, or the fixing member has a supporting plate at the bottom, and the supporting surface is the upper surface of the supporting plate.

[0015] In the above scheme, the pallet is an optional structure, and the user can choose to use the pallet or not according to the specific conditions of the box to be clamped.

[0016] Optionally, the portion to be clamped is a hanging rope, and the supporting structure has a hanging plate for passing the hanging rope.

[0017] In the above scheme, the box body is provided with a hanging rope, the hanging plate can pass through the hanging rope, and then the clamping and carrying mechanism moves upward as a whole, and the pressing member presses the first pressing surface, so that the box body can be carried.

[0018] Optionally, the first connecting rod has a limiting portion for abutting against the fixing member, the abutting surface presses the first pressing surface, and when the supporting structure and the portion to be clamped are in contact with each other, the limiting portion abuts against the fixing member.

[0019] In the above solution, by providing a limiting portion on the first connecting rod, the rotation angle of the first connecting rod can be limited to prevent the first connecting rod from being out of position, and the clamping plate transport mechanism can stably clamp the box body.

[0020] Optionally, the fixing member includes a first vertical wall and two second vertical walls, the first vertical wall is used to face the side wall of the box body, the two second vertical walls are respectively connected to opposite sides of the first vertical wall, the number of the first connecting rod and the connecting rod part are both two, and the two first connecting rods are respectively rotatably connected to the two second vertical walls.

[0021] In the above solution, by setting the fixing member as the first vertical wall and the two second vertical walls, the fixing member can be installed with two first connecting rods, and the pressing member is controlled by two sets of connecting rod mechanisms, so that the movement of the pressing member is more stable.

[0022] Optionally, an anti-slip pad for abutting against the side wall of the box body is provided on the fixing member.

[0023] In the above scheme, when the clamping and carrying mechanism is clamping, the anti-skid pad contacts the side wall of the box body, which can increase the friction between the fixing member and the box body, making the box body more stable when clamped.

[0024] 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 clamping and conveying mechanisms, wherein the two clamping and conveying mechanisms are respectively connected to the ends of the two mechanical arms.

[0025] In the above scheme, the clamping and transporting mechanism includes a fixed part, a first connecting rod, a second connecting rod and a pressing part that are connected and rotated in sequence. The first connecting rod, two second connecting rods and the connecting rod part of the pressing part form a parallel four-bar mechanism, which allows the pressing part to rotate relative to the fixed part. Among them, the connecting structure connects one of the second connecting rods and the fixed part, so that the parallel four-bar mechanism always remains in a stable motion state. The supporting structure of the fixed part is used to connect with the part to be clamped and held of the box body. When the abutting surface of the pressing part presses the first pressing surface of the box body, one side of the box body can be clamped and held. When multiple clamping and transporting mechanisms clamp different positions of the box body together, the box body can be lifted. By pressing and abutting the first pressing surface with the abutting surface, and contacting the part to be clamped and held by the supporting structure, the box body can be made more stable during the transportation process, and it can be suitable for boxes of various sizes. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] 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.

[0027] Figure 1 A schematic diagram of the structure of the clamping and carrying mechanism provided in an embodiment of the present invention when preparing to clamp a box;

[0028] Figure 2 A schematic diagram of the structure of the clamping and transporting mechanism provided in an embodiment of the present invention when clamping a box;

[0029] Figure 3 The three-dimensional structure of the first clamping and transporting mechanism provided by the embodiment of the present invention Figure 1 ;

[0030] Figure 4 The three-dimensional structure of the first clamping and transporting mechanism provided by the embodiment of the present invention Figure 2 ;

[0031] Figure 5 A three-dimensional structural diagram of a second clamping and transporting mechanism provided in an embodiment of the present invention;

[0032] Figure 6 A three-dimensional structural diagram of a fixing member provided in an embodiment of the present invention;

[0033] Figure 7A three-dimensional structural diagram of a clamping and transporting mechanism and a mechanical arm provided in an embodiment of the present invention;

[0034] Figure 8 A three-dimensional structural diagram of a humanoid robot carrying box provided by an embodiment of the present invention.

[0035] Among them, the reference numerals in the figure are:

[0036] 100-clamping and carrying mechanism; 10-fixing member; 11-first vertical wall; 12-second vertical wall; 121-fixing column; 13-anti-slip pad; 14-supporting plate; 15-supporting surface; 16-supporting structure; 20-first connecting rod; 21-limiting part; 30-second connecting rod; 40-pressing member; 41-pressing part; 411-abutting surface; 42-connecting rod part; 50-connecting structure; 51-elastic member; 521-driving member; 522-third connecting rod; 523-fourth connecting rod;

[0037] 200-box body; 201-first pressing surface; 202-second pressing surface; 203-part to be clamped;

[0038] 300- six-dimensional force sensor; 400- robotic arm; 500- robot body. DETAILED DESCRIPTION

[0039] 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.

[0040] 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.

[0041] 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.

[0042] 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.

[0043] 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.

[0044] 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.

[0045] In order to solve the above technical problems, the present invention proposes a clamping and transporting mechanism 100 and a humanoid robot. The clamping and transporting mechanism 100 includes a fixing member 10, a first connecting rod 20, a second connecting rod 30, a clamping member 40 and a connecting structure 50. The first connecting rod 20 is rotatably connected to the fixing member 10, the second connecting rod 30 is rotatably connected to the first connecting rod 20, the clamping member 40 is rotatably connected to the second connecting rod 30, and the connecting structure 50 connects the fixing member 10 and the second connecting rod 30, so that the fixing member 10, the first connecting rod 20, the second connecting rod 30 and the second connecting rod 30 form a stable connecting rod mechanism. The first connecting rod 20, the two second connecting rods 30 and the connecting rod part 42 form a parallel four-bar mechanism, so that the abutting surface 411 of the clamping part 41 can clamp the first clamping surface 201 of the box body 200. The fixing part 10 has a supporting structure 16 for contacting the part to be clamped 203. Through the mutual crimping of the abutting surface 411 and the first clamping surface 201, and the mutual cooperation of the supporting structure 16 and the part to be clamped 203, the box body 200 can be clamped to maintain the stability of the box body 200. Moreover, the distance between the abutting surface 411 and the supporting structure 16 is variable, which can be suitable for boxes 200 of different sizes.

[0046] The clamping and carrying mechanism 100 provided in the embodiment of the present invention is now described. The clamping and carrying mechanism 100 is used for clamping and carrying a box body 200. The box body 200 has a first pressing surface 201 and a portion to be clamped 203. The first pressing surface 201 and the portion to be clamped 203 are arranged at intervals in the vertical direction. The first pressing surface 201 can be arranged to be higher than the portion to be clamped 203. The pressing member 40 of the clamping and carrying mechanism 100 is used to abut against the first pressing surface 201, and the supporting structure 16 of the fixing member 10 is used to contact the portion to be clamped 203. By at least two clamping and carrying mechanisms 100 acting on different positions of the box body 200 respectively, the box body 200 can be stably clamped. The first pressing surface 201 and the portion to be clamped 203 are both located at the edge of the box body 200. In some boxes 200, the first pressing surface 201 may be the upper surface of the box 200, and the portion to be clamped 203 may be a hand buckle, a hanging rope, etc. of the box 200. The first pressing surface 201 and the portion to be clamped 203 are both edge structures of the box 200, and the specific structures on which they are arranged are not limited here.

[0047] Please also read Figures 1 to 5 The clamping and transporting mechanism 100 includes a fixing member 10 , a first connecting rod 20 , a second connecting rod 30 , a pressing member 40 and a connecting structure 50 .

[0048] The fixing member 10 is the main frame structure of the clamping and carrying mechanism 100. The fixing member 10 can be a single-piece structure or a structure formed by installing multiple pieces. The fixing member 10 has a supporting structure 16 for contacting the clamping portion 203. When the clamping and carrying mechanism 100 remains stationary as a whole, the supporting structure 16 also remains stationary.

[0049] The pressing member 40 is used to abut against the first pressing surface 201 of the box body 200. The pressing member 40 includes a connecting rod portion 42 and a pressing portion 41 connected to each other, wherein the pressing portion 41 has an abutting surface 411 for pressing the first pressing surface 201. The abutting surface 411 of the pressing member 40 presses the first pressing surface 201 from top to bottom, and the supporting structure 16 supports the portion to be clamped from bottom to top, so that one position of the box body 200 can be clamped. Multiple clamping and transporting mechanisms 100 clamp different positions of the box body 200 respectively, so that the clamping and transporting mechanisms 100 can be moved as a whole, and then the box body 200 can be moved.

[0050] One end of the first connecting rod 20 is rotatably connected to the fixing member 10, the other end of the first connecting rod 20 is rotatably connected to the second connecting rod 30, and one end of the second connecting rod 30 away from the first connecting rod 20 is rotatably connected to the connecting rod portion 42. The first connecting rod 20, the second connecting rod 30 and the connecting rod portion 42 can all be rod-shaped or in other shapes, and can be identified as connecting rods as long as there are two hinge positions on the connecting rod. Among them, the number of second connecting rods 30 is two and they are parallel to each other, and the two second connecting rods 30 are parallel to each other, which means that the two ends of the second connecting rod 30 have two hinge positions, the line connecting the two hinge positions is the connecting rod line, and the two connecting rod lines are parallel to each other. The rotational connection between the second connecting rod 30 and the first connecting rod 20 is one of the hinge positions, and the rotational connection between the second connecting rod 30 and the connecting rod portion 42 is the other hinge position. The first connecting rod 20, the two second connecting rods 30 and the connecting rod portion 42 form a parallel four-bar mechanism, so that the movements of the two second connecting rods 30 are always the same, the movements of the first connecting rod 20 and the connecting rod portion 42 (clamping member 40) are the same, and when the movement trajectory of the first connecting rod 20 is determined, the movement trajectory of the clamping member 40 is also determined accordingly.

[0051] The fixing member 10, the first connecting rod 20 and the second connecting rod 30 are connected in series in sequence, which is an unstable state. One of the second connecting rods 30 and the fixing member 10 is connected by a connecting structure 50, so that the fixing member 10, the first connecting rod 20, the second connecting rod 30 and the connecting structure 50 are equivalent to a four-bar mechanism, so that the motion trajectory of each connecting rod is determined and unique.

[0052] When the box body 200 needs to be clamped, the supporting structure 16 of the fixing member 10 supports the portion to be clamped 203, and the abutting surface 411 of the pressing member 40 presses the first pressing surface 201, so that the clamping and transporting mechanism 100 can clamp the box body 200. The order in which the pressing member 40 presses the first pressing surface 201 and the supporting structure 16 supports the portion to be clamped 203 is not limited here.

[0053] The clamping and transporting mechanism 100 in the above embodiment includes a fixed member 10, a first connecting rod 20, a second connecting rod 30 and a pressing member 40 which are connected and rotated in sequence. The first connecting rod 20, two second connecting rods 30 and the connecting rod portion 42 of the pressing member 40 form a parallel four-bar mechanism, so that the pressing member 40 rotates relative to the fixed member 10. The connecting structure 50 connects one of the second connecting rods 30 and the fixed member 10, so that the parallel four-bar mechanism always maintains a stable motion state. The supporting structure 16 of the fixed member 10 is used to connect with the to-be-clamped portion 203 of the box body 200. When the abutting surface 411 of the pressing portion 41 presses the first pressing surface 201 of the box body 200, one side of the box body 200 can be clamped. When multiple clamping and transporting mechanisms 100 clamp different positions of the box body 200 together, the box body 200 can be lifted. By pressing and abutting the first pressing surface 201 through the abutting surface 411 and contacting the to-be-clamped portion 203 through the supporting structure 16, the box body 200 can be more stable during transportation and can be applicable to boxes 200 of various sizes.

[0054] In some embodiments of the present invention, see Figure 1 and Figure 2 , the portion to be clamped 203 is the second pressing surface 202, and the supporting structure 16 has a supporting surface 15 for supporting the second pressing surface 202. The second pressing surface 202 can be any surface below the first pressing surface 201, such as the lower surface of the hand-clasping position. For the convenience of description and understanding, the following embodiments are all described with the portion to be clamped 203 as the second pressing surface 202, and the supporting structure 16 having a supporting surface 15 for supporting the second pressing surface 202.

[0055] When the clamping and transporting mechanism 100 clamps the box body 200 , the pressing member 40 abuts against the first pressing surface 201 from top to bottom, and the supporting surface 15 of the fixing member 10 abuts against the second pressing surface 202 from bottom to top.

[0056] Optionally, see Figure 1 and Figure 2 , the supporting surface 15 is the upper surface of the fixing member 10, that is, when the box body 200 is clamped, the upper surface of the fixing member 10 abuts against the second pressing surface 202 of the box body 200. In this embodiment, the bottom of the fixing member 10 does not extend out of the supporting plate 14 of the fixing member 10. This embodiment is generally applicable to the case where the distance between the first pressing surface 201 and the second pressing surface 202 is small.

[0057] Optionally, see Figures 3 to 6 The bottom of the fixing member 10 has a support plate 14, and the supporting surface 15 is the upper surface of the support plate 14, that is, when the box body 200 is clamped, the upper surface of the support plate 14 abuts against the second pressing surface 202 of the box body 200. This embodiment is generally suitable for the case where the distance between the first pressing surface 201 and the second pressing surface 202 is large.

[0058] Optionally, the support plate 14 may be provided at other positions of the fixing member 10 . The support plate 14 may be detachably connected to different positions of the fixing member 10 , and the support plate 14 may be installed at a corresponding position according to the size of the box body 200 .

[0059] It should be noted that the support plate 14 is an optional structure, and the user can select the support plate 14 or not according to the specific size of the box 200 to be clamped.

[0060] For the convenience of understanding and description, the following embodiments are specifically described with the support surface 15 being the upper surface of the fixing member 10 .

[0061] In some embodiments of the present invention, see Figure 3 and Figure 4 The connection structure 50 includes an elastic member 51, one end of which is connected to the second connecting rod 30, and the other end of which is connected to the fixing member 10. The elastic member 51 is a structure that can be telescopically deformed, one end of the elastic member 51 is connected to the second connecting rod 30, and the end of the elastic member 51 and the second connecting rod 30 always maintain a relatively fixed state, and the other end of the elastic member 51 is connected to the fixing member 10, and the end of the elastic member 51 and the fixing member 10 always maintain a relatively fixed state.

[0062] When preparing to clamp the box 200, the clamping and transporting mechanism 100 moves as a whole to the box 200, so that the abutting surface 411 and the first pressing surface 201 abut each other, and then the clamping and transporting mechanism 100 moves down as a whole, and the elastic member 51 is stretched until the fixing member 10 moves to the point where the abutting surface 411 is lower than the second pressing surface 202, and then the clamping and transporting mechanism 100 starts to clamp, that is, the clamping and transporting mechanism 100 moves up as a whole and moves toward the box 200 (to the left or right), and at the same time, the elastic member 51 contracts until the supporting surface 15 of the fixing member 10 abuts against the second pressing surface 202. The distances between the first pressing surface 201 and the second pressing surface 202 of different boxes 200 are different, and the setting of the elastic member 51 can be used to clamp boxes 200 of different sizes.

[0063] When the box 200 is ready to be released, the clamping and transporting mechanism 100 moves the box 200 to the ground or the table, and then moves away from the box 200 in the horizontal direction (to the left or right, Figure 2 Then, the elastic member 51 contracts and the clamping and transporting mechanism 100 returns to its initial state.

[0064] By setting the elastic member 51, the movement trajectory of the first connecting rod 20 and the second connecting rod 30 can be made unique, so as to maintain the stability of the movement of the clamping and transporting mechanism 100. Moreover, the distance between the supporting surface 15 and the abutting surface 411 can be changed, so as to be suitable for clamping boxes 200 of different sizes.

[0065] In some embodiments, the elastic member 51 is a spring.

[0066] In some embodiments, there are multiple elastic members 51 , which are arranged side by side. The multiple elastic members 51 can improve the stability of the connection between the second connecting rod 30 and the fixing member 10 .

[0067] In some embodiments, both the fixing member 10 and the second connecting rod 30 are provided with fixing columns 121 , and both ends of the elastic member 51 are connected to the two fixing columns 121 , respectively.

[0068] In some embodiments of the present invention, see Figure 5 The connection structure 50 includes a driving member 521, a third connecting rod 522 and a fourth connecting rod 523. The driving member 521 is fixed to the fixing member 10. The motion output end of the driving member 521 is fixedly connected to the third connecting rod 522. One end of the fourth connecting rod 523 is rotationally connected to the third connecting rod 522. The other end of the fourth connecting rod 523 is rotationally connected to one of the second connecting rods 30. The driving member 521 is fixed to the fixing member 10, which means that the non-moving parts such as the housing of the driving member 521 are fixed to the fixing member 10, and its motion output end can still generate motion. The driving member 521 can output rotational motion, the third connecting rod 522 rotates with the motion output end of the driving member 521, and the fourth connecting rod 523 swings accordingly, driving the second connecting rod 30 and the first connecting rod 20 to swing, thereby realizing the clamping of the first clamping surface 201 by the clamping member 40.

[0069] When preparing to clamp the box 200, the clamping and transporting mechanism 100 moves as a whole close to the box 200, so that the supporting surface 15 and the second pressing surface 202 abut against each other, and then the driving member 521 works to drive the first connecting rod 20, the second connecting rod 30 and the pressing member 40 to swing, so that the abutting surface 411 of the pressing member 40 abuts against the first pressing surface 201, thereby clamping the box 200. The distance between the first pressing surface 201 and the second pressing surface 202 of different boxes 200 is different. Through the arrangement of the third connecting rod 522 and the fourth connecting rod 523, it can be suitable for clamping boxes 200 of different sizes.

[0070] When preparing to release the box 200, the clamping and transporting mechanism 100 moves the box 200 to the ground or the table, and then the driving member 521 works to move the clamping member 40 away from the first clamping surface 201, and then the clamping and transporting mechanism 100 moves away from the box 200 in the horizontal direction (moving left or right).

[0071] By setting the driving member 521, the third connecting rod 522 and the fourth connecting rod 523, the movement trajectories of the first connecting rod 20 and the second connecting rod 30 can be made unique, so as to maintain the stability of the movement of the clamping and transporting mechanism 100. Moreover, the distance between the supporting surface 15 and the abutting surface 411 can also be changed, which is suitable for clamping boxes 200 of different sizes.

[0072] In some embodiments, the driving member 521 is a motor that can output rotational motion.

[0073] In some embodiments, see Figure 5 The third connecting rod 522 is in a teardrop shape, the larger end of the third connecting rod 522 is fixedly connected to the motion output end of the driving member 521, and the shorter end of the third connecting rod 522 is rotatably connected to the fourth connecting rod 523. By setting the third connecting rod 522 in a teardrop shape, the connection strength between the third connecting rod 522 and the motion output end of the driving member 521 can be strengthened.

[0074] In some embodiments, see Figure 5 The fourth connecting rod 523 is rotatably connected to the second connecting rod 30 at the middle part of the second connecting rod 30. The movement of the fourth connecting rod 523 can drive the second connecting rod 30 to rotate, thereby driving the parallel four-bar mechanism to work.

[0075] Optionally, the second connecting rod 30 is provided with a mounting hole, the hinge shaft is installed at the mounting hole, and the second connecting rod 30 and the fourth connecting rod 523 are hinged by the hinge shaft. All the second connecting rods 30 are provided with mounting holes, and two second connecting rods 30 on the same parallel four-bar mechanism can be interchangeably installed without designing different second connecting rods 30.

[0076] In some embodiments of the present invention, the connection structure 50 includes a fifth link and a sixth link, one end of the fifth link is rotatably connected to the fixing member 10, one end of the sixth link is rotatably connected to the fifth link, and the other end is rotatably connected to one of the second links 30. One end of the sixth link is rotatably connected to the fifth link, which means that the sixth link is rotatably connected to the fifth link, and has a damping effect when the sixth link and the fifth link rotate relative to each other, that is, the sixth link and the fifth link can be maintained at any angle when not subject to external force, and can rotate relative to each other when subject to external force.

[0077] When preparing to clamp the box 200, the clamping and transporting mechanism 100 moves as a whole to the box 200, so that the abutting surface 411 and the first pressing surface 201 abut each other, and then the clamping and transporting mechanism 100 moves down as a whole, and the fifth connecting rod and the sixth connecting rod rotate until the fixing member 10 moves to the abutting surface 411 below the second pressing surface 202, and the clamping and transporting mechanism 100 starts to clamp, that is, the clamping and transporting mechanism 100 moves up as a whole and moves toward the box 200 (to the left or right), and the fifth connecting rod and the sixth connecting rod rotate until the supporting surface 15 of the fixing member 10 abuts against the second pressing surface 202. The distance between the first pressing surface 201 and the second pressing surface 202 of different boxes 200 is different. Through the setting of the fifth connecting rod and the sixth connecting rod, it can be suitable for clamping boxes 200 of different sizes.

[0078] When preparing to release the box 200, the clamping and transporting mechanism 100 moves the box 200 to the ground or the desktop, and then moves away from the box 200 in the horizontal direction (moving to the left or right), and then the elastic member 51 contracts and the clamping and transporting mechanism 100 returns to the initial state.

[0079] By setting up the damped rotation connection between the fifth link and the sixth link, the movement trajectory of the first link 20 and the second link 30 can be made unique, maintaining the stability of the movement of the clamping and transporting mechanism 100. In addition, the distance between the supporting surface 15 and the abutting surface 411 can also be changed, which is suitable for clamping boxes 200 of different sizes.

[0080] In other embodiments of the present invention, the portion to be clamped 203 is a hanging rope, and the supporting structure 16 has a hanging plate for passing the hanging rope. In other words, the box 200 has a hanging rope, and the hanging plate can pass through the hanging rope, and then the clamping and carrying mechanism 100 moves upward as a whole, and the pressing member 40 presses the first pressing surface 201, so that the box 200 can be carried.

[0081] Optionally, the hanging plate is the supporting plate 14 in the above embodiment.

[0082] In some embodiments of the present invention, see Figure 3 and Figure 4The first connecting rod 20 has a limiting portion 21 for abutting against the fixing member 10. When the abutting surface 411 presses the first pressing surface 201, and the supporting structure 16 and the part to be clamped 203 are in contact with each other, the limiting portion 21 abuts against the fixing member 10. When the first connecting rod 20 rotates to a predetermined angle, the limiting portion 21 abuts against the fixing member 10. Therefore, the setting of the limiting portion 21 can limit the rotation angle of the first connecting rod 20 and prevent the first connecting rod 20 from being offside. Moreover, when the clamping and transporting mechanism 100 is in a state of clamping the box body 200 (when the abutting surface 411 presses the first pressing surface 201, and the supporting surface 15 and the part to be clamped 203 are in contact with each other), the limiting portion 21 abuts against the fixing member 10, so that the clamping and transporting mechanism 100 remains in a state of clamping the box body 200.

[0083] By providing the limiting portion 21 on the first connecting rod 20 , the rotation angle of the first connecting rod 20 can be limited to prevent the first connecting rod 20 from being out of position, and the clamping and transporting mechanism 100 can clamp the box 200 stably.

[0084] In some embodiments, when the clamping and transporting mechanism 100 is in the state of clamping the box 200, the first connecting rod 20 is vertically arranged, the connecting rod portion 42 is also vertically arranged, and the clamping portion 41 and the connecting rod portion 42 are vertically connected, which is convenient for the processing and manufacturing of the clamping member 40 and also convenient for checking whether the clamping is in place.

[0085] Optionally, when the limiting portion 21 and the fixing member 10 abut against each other, the lower surface of the limiting portion 21 abuts against the upper surface of the fixing member 10, so that the first connecting rod 20 is kept in a vertical state. The upper surface of the fixing member 10 may be parallel to the horizontal plane, and accordingly, when the lower surface of the limiting portion 21 abuts against the fixing member 10, the lower surface of the limiting portion 21 is also parallel to the horizontal plane.

[0086] In some embodiments, the first link 20 has a first hinge region and two second hinge regions, the first link 20 and the fixing member 10 are rotatably connected in the first hinge region, the two second links 30 are connected to the first link 20 in the two second hinge regions respectively, and the limiter 21 is located between the first hinge region and the second hinge regions adjacent thereto. The two second links 30 and a fixing member 10 are both rotatably connected to the first link 20, the portion where the first link 20 and the second link 30 are rotatably connected is the second hinge region, and the portion where the first link 20 and the fixing member 10 are rotatably connected is the first hinge region. The limiter 21 is disposed between the first hinge region and the second hinge regions adjacent thereto, and will not affect the movement of the two second links 30.

[0087] In some embodiments of the present invention, see Figure 6The fixing member 10 includes a first vertical wall 11 and two second vertical walls 12. The first vertical wall 11 is used to face the side wall of the box body 200. The two second vertical walls 12 are respectively connected to the opposite sides of the first vertical wall 11. The number of the first connecting rod 20 and the connecting rod part 42 are both two. The two first connecting rods 20 are respectively rotatably connected to the two second vertical walls 12. The first vertical wall 11 and the two second vertical walls 12 are connected to each other in a U-shape. The first vertical wall 11 can abut against the side wall of the box body 200 to increase the stability of the box body 200 when clamped. The two second vertical walls 12 are respectively used to connect with the two first connecting rods 20.

[0088] By configuring the fixing member 10 as the first vertical wall 11 and the two second vertical walls 12 , the fixing member 10 can be installed with two first connecting rods 20 , and the pressing member 40 is controlled by two sets of connecting rod mechanisms, so that the movement of the pressing member 40 is more stable.

[0089] In some embodiments, see Figure 3 and Figure 4 There are two elastic members 51 , and one end of the two elastic members 51 is connected to the two second vertical walls 12 respectively.

[0090] In some embodiments, see Figure 5 The driving member 521 is fixed to the side of the first vertical wall 11 facing away from the box body 200 .

[0091] In some embodiments, see Figure 4 The clamping member 40 includes a clamping portion 41 and two connecting rod portions 42. The two connecting rod portions 42 are respectively connected to opposite sides of the clamping portion 41. Each connecting rod portion 42 forms a parallel four-bar mechanism with two second connecting rods 30 and one first connecting rod 20. By designing two parallel four-bar mechanisms, the movement of the clamping member 40 can be made more stable.

[0092] In some embodiments of the present invention, see Figure 6 The fixing member 10 is provided with an anti-skid pad 13 for contacting the side wall of the box body 200. When the clamping and carrying mechanism 100 is clamping, the anti-skid pad 13 contacts the side wall of the box body 200, which can increase the friction between the fixing member 10 and the box body 200, making the clamping and carrying mechanism 100 more stable.

[0093] In some embodiments, the anti-skid pad 13 is fixed to the side of the first vertical wall 11 of the fixing member 10 facing the box 200. The anti-skid pad 13 can be fixed to the first vertical wall 11 by adhesive fixing or screw fixing.

[0094] In some embodiments, the anti-slip pad 13 can be made of materials such as rubber and silicone, which not only has a greater friction with the box body 200, but also can protect the box body 200 without scratching the box body 200.

[0095] See also Figure 7 and Figure 8 The present invention further provides a humanoid robot, which includes a robot body 500, two mechanical arms 400 connected to the robot body 500, and two clamping and carrying mechanisms 100 in any of the above embodiments, wherein the two clamping and carrying mechanisms 100 are respectively connected to the ends of the two mechanical arms 400. When the robot carries a box 200, the two mechanical arms 400 of the robot move to opposite sides of the box 200, and then the two clamping and carrying mechanisms 100 clamp opposite sides of the box 200, and stably lift the box 200.

[0096] The humanoid robot provided by the present invention adopts the above-mentioned clamping and carrying mechanism 100, which includes a fixed member 10, a first connecting rod 20, a second connecting rod 30 and a pressing member 40 that are connected in rotation in sequence. The first connecting rod 20, two second connecting rods 30 and the connecting rod portion 42 of the pressing member 40 form a parallel four-bar mechanism, so that the pressing member 40 rotates relative to the fixed member 10. Among them, the connecting structure 50 connects one of the second connecting rods 30 and the fixed member 10, so that the parallel four-bar mechanism always remains in a stable motion state. The supporting structure 16 of the fixed member 10 is used to connect with the to-be-clamped portion 203 of the box body 200. When the abutting surface 411 of the pressing portion 41 presses the first pressing surface 201 of the box body 200, one side of the box body 200 can be clamped. When multiple clamping and carrying mechanisms 100 clamp different positions of the box body 200 together, the box body 200 can be lifted. By pressing and abutting the first pressing surface 201 through the abutting surface 411 and contacting the to-be-clamped portion 203 through the supporting structure 16, the box body 200 can be more stable during transportation and can be applicable to boxes 200 of various sizes.

[0097] In some embodiments, the end of the robotic arm 400 has a six-dimensional force sensor 300 that can detect the position and force conditions of the end of the robotic arm 400.

[0098] 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 clamping and carrying mechanism for clamping a box, wherein the box has a first pressing surface and a portion to be clamped and arranged spaced apart from each other in the vertical direction, characterized in that: The clamping and transporting mechanism includes a fixing member, a first connecting rod, a second connecting rod, a clamping member and a connecting structure, the fixing member has a supporting structure for contacting the part to be clamped, the clamping member includes a connecting rod part and a clamping part connected to each other, the clamping part has a contact surface for clamping the first clamping surface, the first connecting rod is rotatably connected to the fixing member, the number of the second connecting rods is two and they are parallel to each other, one end of the second connecting rod is rotatably connected to the first connecting rod, and the other end of the second connecting rod is rotatably connected to the connecting rod part, the first connecting rod, the two second connecting rods and the connecting rod part form a parallel four-bar mechanism, and the connecting structure is used to connect one of the second connecting rods and the fixing member.

2. The clamping and transporting mechanism according to claim 1, characterized in that: The connection structure comprises an elastic member, one end of which is connected to the second connecting rod, and the other end of which is connected to the fixing member.

3. The clamping and transporting mechanism according to claim 1, characterized in that: The connecting structure includes a driving member, a third connecting rod and a fourth connecting rod. The driving member is fixed to the fixing member, the motion output end of the driving member is fixedly connected to the third connecting rod, one end of the fourth connecting rod is rotationally connected to the third connecting rod, and the other end of the fourth connecting rod is rotationally connected to one of the second connecting rods.

4. The clamping and transporting mechanism according to claim 1, characterized in that: The connection structure includes a fifth connecting rod and a sixth connecting rod, wherein one end of the fifth connecting rod is rotationally connected to the fixing member, one end of the sixth connecting rod is rotationally connected to the fifth connecting rod in a damping manner, and the other end is rotationally connected to one of the second connecting rods.

5. The clamping and transporting mechanism according to any one of claims 1 to 4, characterized in that: The portion to be clamped is a second pressing surface, and the supporting structure has a supporting surface for supporting the second pressing surface; The supporting surface is the upper surface of the fixing member, or the fixing member has a supporting plate at the bottom, and the supporting surface is the upper surface of the supporting plate.

6. The clamping and transporting mechanism according to any one of claims 1 to 4, characterized in that: The part to be clamped is a hanging rope, and the supporting structure has a hanging plate for passing the hanging rope.

7. The clamping and transporting mechanism according to any one of claims 1 to 4, characterized in that: The first connecting rod has a limiting portion for abutting against the fixing member, the abutting surface presses the first pressing surface, and when the supporting structure and the to-be-clamped portion contact each other, the limiting portion abuts against the fixing member.

8. The clamping and transporting mechanism according to any one of claims 1 to 4, characterized in that: The fixing member includes a first vertical wall and two second vertical walls, the first vertical wall is used to face the side wall of the box body, the two second vertical walls are respectively connected to the opposite sides of the first vertical wall, the number of the first connecting rod and the connecting rod part are both two, and the two first connecting rods are respectively rotatably connected to the two second vertical walls.

9. The clamping and transporting mechanism according to any one of claims 1 to 4, characterized in that: The fixing member is provided with an anti-slip pad for abutting against the side wall of the box body.

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

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