Material box clamping device, humanoid robot and material conveying system

Abstract

The invention relates to the field of robots, and provides a material box clamping device, a humanoid robot and a material conveying system. The material box clamping device is used for grabbing a material box, limiting grooves are symmetrically formed in the two side walls of the material box, and the material box clamping device comprises at least one pair of symmetrically-arranged connecting modules used for being installed at preset positions; the clamping jaw module is arranged corresponding to the connecting module, the clamping jaw module comprises a connecting frame, a supporting block and a pressing plate, and the connecting frame is used for being connected with the connecting module; the supporting block is connected with the connecting frame and forms a limiting protrusion, and the limiting protrusion is used for being inserted into the limiting groove. The pressing plate is used for being fixed to the material box in a limiting mode so that the limiting protrusion can be prevented from being disengaged from the limiting groove. According to the material box clamping device, the precision requirement during material box carrying is lowered, and the material transferring efficiency is improved.

Description

Technical Field

[0001] This application relates to the field of robotics, and more particularly to a bin clamping device, a humanoid robot, and a material conveying system. Background Technology

[0002] Humanoid robots have been gradually applied in factory settings, replacing manual labor in heavy and repetitive tasks such as material handling, reducing human workload and enabling flexible deployment of production lines. Material handling tasks in factory warehousing are labor-intensive and significantly deplete human physical strength, while standardized material bins (also known as material containers) provide a basis for robotic arms to be equipped with end effectors for grasping and handling.

[0003] Currently, end-effectors for this type of material box on the market mainly include flat clamps and snap-on lifting clamps. However, these still have certain limitations in practical applications. They place high demands on the relative positioning accuracy between the robotic arm and the material box, as well as the parallel posture control between the clamp and the material box. Furthermore, they require a large clamping force to achieve stable gripping. These requirements not only increase the control difficulty of the robotic arm but may also affect the transfer efficiency due to positioning or posture deviations, making it difficult to fully adapt to the efficient and flexible material transfer needs in factory scenarios. Summary of the Invention

[0004] This application aims to at least solve one of the technical problems existing in the related art. To this end, this application proposes a material box clamping device to reduce the precision requirements when handling material boxes and improve material transfer efficiency.

[0005] This application also proposes a humanoid robot.

[0006] This application also proposes a material conveying system.

[0007] A material box clamping device according to a first aspect embodiment of this application is used to grip a material box, wherein limit grooves are symmetrically formed on both side walls of the material box, and the material box clamping device includes: Connecting modules, at least one pair symmetrically arranged for installation in a preset position; A claw module corresponding to the connecting module is provided. The claw module includes a connecting frame, a support block, and a pressure plate. The connecting frame is used to connect to the connecting module. The support block is connected to the connecting frame and forms a limiting protrusion. The limiting protrusion is used to insert into the limiting groove. The pressure plate is used to limit and fix the material box to prevent the limiting protrusion from coming out of the limiting groove.

[0008] According to one embodiment of this application, the claw module further includes an elastic element; One end of the elastic element is connected to the support block, and the other end is connected to the pressure plate, providing an elastic preload force that brings the support block and the pressure plate closer to each other; The pressure plate abuts against the wall of the material box under the action of the elastic pre-tightening force, so as to prevent the limiting protrusion from dislodging from the limiting groove.

[0009] According to one embodiment of this application, the claw module further includes a guide shaft; The pressure plate includes a connected abutting part and a sliding part. The abutting part is used to abut against the wall of the material box, and a channel is formed between the support block and the connecting frame for the sliding part to slide. The support block is provided with a first guide hole, the sliding part is provided with a second guide hole, and the guide shaft passes through the first guide hole and the second guide hole; The elastic element is sleeved on the outside of the guide shaft.

[0010] According to one embodiment of this application, the hopper clamping device further includes a connecting member, which is mounted on the connecting frame and has a first connecting end; The connecting module is provided with a first rotating hole, and the first connecting end passes through the first rotating hole, so that the connecting module and the claw module are connected, and the connecting module can rotate relative to the first connecting end.

[0011] According to one embodiment of this application, the hopper clamping device further includes a limiting member; the first connecting end is provided with a connecting hole; The first connecting end is inserted into the first rotating hole from one side; the limiting member is inserted into the connecting hole from the other side of the first rotating hole to prevent the first connecting end from coming out of the first rotating hole.

[0012] According to one embodiment of this application, the hopper clamping device further includes a connecting member, which is mounted on the connecting module and has a second connecting end and a third connecting end; The connecting frame is provided with a second rotating hole and a third rotating hole. The second connecting end passes through the second rotating hole, and the third connecting end passes through the third rotating hole, so that the connecting module and the claw module are connected, and the connecting module can rotate relative to the second connecting end and the third connecting end.

[0013] According to one embodiment of this application, the connecting frame includes a first bracket and a second bracket, the first bracket being provided with a second rotating hole, and the second bracket being provided with a third rotating hole; Both the first bracket and the second bracket are mounted on the support block. The first bracket and the second bracket are opposite to each other and spaced apart, so that the second rotating hole and the third rotating hole are coaxial. The connecting member is located between the first bracket and the second bracket to achieve a rotatable connection.

[0014] According to one embodiment of this application, the connecting member is a T-shaped member.

[0015] According to a second aspect of this application, a humanoid robot is provided, comprising: Trunk module; Multiple robotic arms are configured and installed on the torso module; The aforementioned hopper clamping device has a connecting module that is connected to the robotic arm.

[0016] According to one embodiment of this application, the bin clamping device is mounted on the end joint of the robotic arm; or, the humanoid robot further includes a robotic hand, which is mounted on the end joint of the robotic arm, and the bin clamping device is mounted on a joint of the robotic arm adjacent to the end joint.

[0017] A material conveying system according to a third aspect of this application includes the aforementioned humanoid robot.

[0018] The above-described one or more technical solutions in the embodiments of this application have at least one of the following technical effects: The material box clamping device provided in this application includes a claw module comprising a support block and a pressure plate. A limiting protrusion is formed on the support block, allowing the limiting protrusion to insert into a limiting groove in the material box to grip it. This method of inserting the limiting protrusion into the limiting groove has relatively low precision requirements, eliminating the need for constant clamping as in traditional flat clamping devices and the high precision requirements of traditional snap-lock lifting devices. Furthermore, the cooperation between the pressure plate and the limiting protrusion prevents the limiting protrusion from disengaging from the limiting groove, improving the reliability of the material box clamping device when gripping the material box.

[0019] Furthermore, during the gripping process, after the limiting protrusion is inserted into the limiting groove of the material box, the pressure plate naturally abuts against the wall of the material box under the action of elastic pre-tightening force. The limiting protrusion is blocked from detaching through flexible pressing, which not only avoids damage to the material box caused by rigid pressing, but also adapts to slight size deviations of the material box or slight posture deviations during gripping through elastic deformation, making the anti-detachment cooperation between the limiting protrusion and the pressure plate more adaptable.

[0020] Additional aspects and advantages of this application will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of this application. Attached Figure Description

[0021] To more clearly illustrate the technical solutions in the embodiments or related technologies of this application, the accompanying drawings used in the description of the embodiments or related technologies will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0022] Figure 1 This is a schematic diagram of the structure of the hopper clamping device provided in the embodiments of this application. Figure 1 .

[0023] Figure 2 This is a schematic diagram of the structure of the hopper clamping device provided in the embodiments of this application. Figure 2 .

[0024] Figure 3 This is a schematic diagram of the structure of the hopper clamping device provided in the embodiments of this application. Figure 3 .

[0025] Figure 4 This is an exploded view of the hopper clamping device provided in the embodiments of this application. Figure 1 .

[0026] Figure 5 This is an exploded view of the hopper clamping device provided in the embodiments of this application. Figure 2 .

[0027] Figure 6 This is a structural schematic diagram of the connecting member provided in the embodiment of this application.

[0028] Figure 7 This is a schematic diagram of the rotation of the hopper clamping device provided in the embodiments of this application. Figure 1 (The connecting module and the gripper module rotate relative to the Z-axis).

[0029] Figure 8 This is a schematic diagram of the rotation of the hopper clamping device provided in the embodiments of this application. Figure 2 (The connecting module and the gripper module rotate relative to the Y-axis).

[0030] Figure 9 This is a schematic diagram of the structure of the hopper clamping device provided in this application embodiment installed on the robotic arm. Figure 1 .

[0031] Figure 10 This is a schematic diagram of the structure of the hopper clamping device provided in this application embodiment installed on the robotic arm. Figure 2 .

[0032] Figure 11 This is a schematic diagram of the structure of the humanoid robot provided in the embodiments of this application. Figure 1 .

[0033] Figure 12 This is a schematic diagram of the structure of the humanoid robot provided in the embodiments of this application. Figure 2 .

[0034] Figure 13 This is a schematic diagram of the structure of the humanoid robot provided in the embodiments of this application. Figure 3 .

[0035] Figure 14 This is a schematic diagram of the process of the material box clamping device provided in the embodiment of this application gripping the material box.

[0036] Figure 15 This is a schematic diagram of the process of the material box clamping device provided in the embodiment of this application lowering the material box.

[0037] Figure label: 1. Connecting module; 11. Support frame; 111. First rotating hole; 12. Six-dimensional force sensor; 2. Claw module; 21. Connecting frame; 211. First bracket; 212. Second rotating hole; 213. Second bracket; 214. Third rotating hole; 22. Support block; 221. Limiting protrusion; 222. First guide hole; 23. Pressure plate; 231. Abutting part; 232. Sliding part; 233. Second guide hole; 24. Elastic element; 25. Guide shaft; 26. Channel; 3. Connecting component; 31. First connecting end; 311. Connecting hole; 32. Second connecting end; 33. Third connecting end; 4. Limiting components; 5. Material box; 51. Limiting groove; 61. Torso module; 62. Robotic arm; 63. Robotic hand. Detailed Implementation

[0038] The embodiments of this application will be described in further detail below with reference to the accompanying drawings and examples. The following examples are used to illustrate this application, but should not be used to limit the scope of this application.

[0039] In the description of the embodiments of this application, it should be noted that the terms "center," "longitudinal," "lateral," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing the embodiments of this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the embodiments of this application. In addition, the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0040] In the description of the embodiments of this application, it should be noted that, unless otherwise explicitly specified and limited, the terms "connected" and "linked" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium. Those skilled in the art can understand the specific meaning of the above terms in the embodiments of this application based on the specific circumstances.

[0041] In the embodiments of this application, unless otherwise expressly specified and limited, "above" or "below" the second feature can mean that the first feature is in direct contact with the second feature, or that the first feature is in indirect contact with the second feature through an intermediate medium. Furthermore, "above," "on top of," and "over" the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply that the first feature is at a lower horizontal level than the second feature.

[0042] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., refer to specific features, structures, materials, or characteristics described in connection with that embodiment or example, which are included in at least one embodiment or example of the embodiments of this application. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Furthermore, without contradiction, those skilled in the art can combine and combine the different embodiments or examples described in this specification, as well as the features of different embodiments or examples. "A plurality of" should be understood as two or more.

[0043] A material box clamping device according to an embodiment of the first aspect of this application is used to grip a material box 5, wherein limit grooves 51 are symmetrically formed on both side walls of the material box 5; as Figures 1 to 4 As shown, the material box clamping device includes at least one pair of symmetrically arranged connecting modules 1 and corresponding claw modules 2. The connecting modules 1 are used to install to a preset position. The claw modules 2 include a connecting frame 21, a support block 22 and a pressure plate 23. The connecting frame 21 is used to connect to the connecting module 1. The support block 22 is connected to the connecting frame 21 and forms a limiting protrusion 221, which is used to insert into the limiting groove 51. The pressure plate 23 is used to limit and fix the material box 5 to prevent the limiting protrusion 221 from falling out of the limiting groove 51.

[0044] The material box clamping device is used to achieve "positioning and gripping + anti-detachment limiting". The connecting module 1 serves as the installation reference and is used to fix it to a pre-set device (e.g., robotic arm 62), providing stable support for the overall device. The claw module 2 corresponds to the symmetrical limiting grooves 51 on both sides of the material box 5, ensuring balanced force on the material box 5 during gripping. In the claw module 2, the connecting frame 21 bears the load and connects, achieving a stable connection between the support block 22, the pressure plate 23, and the connecting module 1. The limiting protrusion 221 on the support block 22 is the core gripping structure, forming mechanical positioning by inserting into the limiting groove 51 of the material box 5, replacing the traditional clamping or snap-on gripping method. The pressure plate 23 forms a limiting fit with the material box 5, blocking the path of the limiting protrusion 221 from detaching from the limiting groove 51, and together with the limiting protrusion 221, forms a collaborative structure of "insertion positioning + anti-detachment fixing", ensuring the stability of the gripping process.

[0045] By using the insertion and engagement of the limiting protrusion 221 and the limiting groove 51, the requirements for the positioning accuracy and attitude control of the robotic arm 62 are significantly reduced. It eliminates the need for the continuous clamping force of traditional flat-plate grippers and avoids the high-precision adaptation requirements of traditional snap-lock lifting clamps, simplifying the control logic of the device. The synergistic effect of the pressure plate 23 and the limiting protrusion 221 effectively prevents the limiting protrusion 221 from disengaging from the limiting groove 51, improving the reliability of the gripping process, reducing the risk of detachment due to transport swaying or slight positioning deviations, and lowering the barrier to entry and maintenance costs of the device. It is also more suitable for the heavy and repetitive material handling needs in factory settings.

[0046] It is easy to understand that the material box clamping device is used to grab the material box 5, and this "grabbing" also includes moving the material box 5 after it is grabbed, that is, including transportation.

[0047] The connecting frame 21 and the support block 22 can be separate structures, or in some cases, they can be integrated components.

[0048] According to one embodiment of this application, such as Figures 1 to 3 As shown, the claw module 2 also includes an elastic element 24; one end of the elastic element 24 is connected to the support block 22, and the other end is connected to the pressure plate 23, providing an elastic preload force that brings the support block 22 and the pressure plate 23 closer together; under the action of the elastic preload force, the pressure plate 23 abuts against the wall of the material box 5 to prevent the limiting protrusion 221 from dislodging from the limiting groove 51. The "connection" at both ends of the elastic element 24 can be an abutment.

[0049] The newly added elastic element 24 in the claw module 2 provides adaptive power support for the anti-detachment limiting structure. The elastic element 24 is connected to the support block 22 and the pressure plate 23 at both ends, providing a continuous elastic preload force that drives the support block 22 and the pressure plate 23 to move closer together, forming a flexible clamping force on the material box 5. During the gripping process, after the limiting protrusion 221 inserts into the limiting groove 51 of the material box 5, the pressure plate 23 naturally abuts against the wall of the material box 5 under the action of the elastic preload force. This flexible clamping method blocks the path of the limiting protrusion 221 from detaching, avoiding damage to the material box 5 from rigid clamping. Furthermore, it can adapt to slight dimensional deviations or slight posture deviations during gripping through elastic deformation, making the anti-detachment cooperation between the limiting protrusion 221 and the pressure plate 23 more adaptable.

[0050] According to one embodiment of this application, such as Figure 1 and Figure 2 As shown, the claw module 2 also includes a guide shaft 25; the pressure plate 23 includes a connected abutment portion 231 and a sliding portion 232, the abutment portion 231 abuts against the wall of the material box 5, and a channel 26 is formed between the support block 22 and the connecting frame 21 for the sliding portion 232 to slide up and down; the support block 22 is provided with a first guide hole 222, the sliding portion 232 is provided with a second guide hole 233, and the guide shaft 25 passes through the first guide hole 222 and the second guide hole 233; the elastic element 24 is sleeved on the outside of the guide shaft 25. The limiting protrusion 221 extends toward the abutment portion 231.

[0051] In some embodiments, fasteners such as nuts may be provided at the end of the guide shaft 25 to prevent the guide shaft 25 from coming out of the first guide hole 222 and the second guide hole 233.

[0052] The guide shaft 25 provides precise guidance and support for the sliding of the pressure plate 23. The abutment part 231 of the pressure plate 23 is integrally connected with the sliding part 232. The abutment part 231 directly acts on the wall of the material box 5 to achieve anti-detachment and limiting. The sliding part 232 is adapted to the channel 26 formed between the support block 22 and the connecting frame 21 to ensure that the pressure plate 23 moves stably in the preset direction. The first guide hole 222 of the support block 22 and the second guide hole 233 of the sliding part 232 are coaxially arranged. The guide shaft 25 passes through the above-mentioned guide holes to limit the movement trajectory of the pressure plate 23 and avoid deviation or jamming during the sliding process. The elastic element 24 is sleeved on the outside of the guide shaft 25. It does not interfere with the guiding function of the guide shaft 25, and can maintain its own axial extension and contraction direction stability with the limiting effect of the guide shaft 25. It avoids radial deformation or deviation of the elastic element 24 when subjected to force, so that the elastic preload is always transmitted along the movement direction of the pressure plate 23. It forms a "guiding + preload" synergy with the guide structure to ensure that the pressure plate 23 moves accurately and stably.

[0053] The cooperation between the guide shaft 25 and the first guide hole 222 and the second guide hole 233 precisely limits the movement trajectory of the pressure plate 23, effectively preventing the pressure plate 23 from shifting or tilting during sliding, ensuring that the contact part 231 always remains in contact with the wall of the material box 5, and further improving the reliability of the limit protrusion 221 in preventing it from falling off. The guide structure makes the movement of the pressure plate 23 smoother, reduces uneven local force caused by the offset of the pressure plate 23, reduces the risk of damage to the material box 5, and makes the preload transmission of the elastic element 24 more accurate, achieving stable contact without additional adjustment of the posture of the pressure plate 23. The above structure further reduces the dependence on the positioning accuracy of the robotic arm 62, enabling the material box clamping device to maintain good consistency during repeated transfer, adapting to the high-frequency, high-stability material transfer needs in factory scenarios.

[0054] According to one embodiment of this application, such as Figures 3 to 5 As shown, the material box clamping device also includes a connecting member 3, which is installed on the connecting frame 21 and has a first connecting end 31. The connecting module 1 is provided with a first rotating hole 111, and the first connecting end 31 passes through the first rotating hole 111, so that the connecting module 1 and the claw module 2 are connected, and the connecting module 1 can rotate relative to the first connecting end 31.

[0055] It is easy to understand that the connecting module 1 can rotate relative to the first connecting end 31, which actually means that the connecting module 1 and the claw module 2 can rotate relative to each other.

[0056] The connecting component 3 is fixedly installed on the connecting frame 21 of the claw module 2, with one end extending to form the first connecting end 31, serving as the core structure for rotational engagement. The first rotating hole 111 on the connecting module 1 is adapted to the first connecting end 31, and the first connecting end 31 passes through the first rotating hole 111, realizing the rotational connection between the connecting module 1 and the claw module 2. This structural design allows for a small relative rotation between the connecting module 1 and the claw module 2, with the axis of rotation being the first connecting end 31. During the gripping of the material box 5, when the limiting protrusion 221 on the support block 22 is not fully aligned with the limiting groove 51 of the material box 5, the force generated after the support block 22 contacts the material box 5 can drive the claw module 2 to rotate slightly around the first connecting end 31, thereby causing the limiting protrusion 221 to automatically return to its original position, ensuring that the limiting protrusion 221 and the limiting groove 51 are precisely aligned. This works in conjunction with the previous guide structure and elastic element 24 to ensure the continuity of the gripping action.

[0057] The small-amplitude relative rotation function between the connecting module 1 and the gripper module 2 gives the material box clamping device adaptive alignment capability. When the limiting protrusion 221 is not precisely aligned with the limiting groove 51, it can automatically return to center through the contact force between the support block 22 and the material box 5, significantly reducing the positioning accuracy requirements of the robotic arm 62 and avoiding gripping failure or damage to the material box 5 caused by positioning deviations in traditional clamps. This rotating structure, together with the limiting protrusion 221, the anti-detachment structure of the pressure plate 23, and the guiding structure of the guide shaft 25, forms a synergistic effect, making the insertion of the limiting protrusion 221 into the limiting groove 51 smoother and eliminating the need for manual posture adjustment. At the same time, the rotating connection method has a simple structure and does not require additional power to drive the return to center, which lowers the threshold for use and further improves the practicality and environmental adaptability of the material box clamping device.

[0058] Furthermore, the rotation function of the connecting module 1 around the first connecting end 31 allows the material box 5 to automatically maintain a vertical state under its own gravity after being grasped, achieving stable transfer without the need for complex posture adjustments by the robotic arm 62. This significantly reduces the requirements for posture control of the robotic arm 62 and simplifies the operation logic of the control system. This rotational characteristic, in conjunction with the adaptive return and anti-detachment limit structure of the material box clamping device, can compensate for slight posture deviations during the grasping process, avoiding the risk of the material box 5 falling off due to tilting and improving transfer stability. At the same time, it reduces the frequency of movement adjustments by the robotic arm 62, shortens the single transfer cycle, and is more suitable for the high-frequency, repetitive material transfer needs in factory scenarios.

[0059] According to one embodiment of this application, such as Figures 3 to 5 As shown, the material box clamping device also includes a limiting member 4; the first connecting end 31 is provided with a connecting hole 311; the first connecting end 31 is inserted into the first rotating hole 111 from one side; the limiting member 4 is inserted into the connecting hole 311 from the other side of the first rotating hole 111 to restrict the first connecting end 31 from coming out of the first rotating hole 111.

[0060] The limiting component 4 serves as an axial limiting structure for the rotatable connection between the connecting module 1 and the claw module 2, and adapts to the connecting hole 311 of the first connecting end 31 to achieve an anti-detachment function. During assembly, the first connecting end 31 is inserted into the hole from one side of the first rotating hole 111. After the rotatable engagement assembly of the connecting module 1 and the claw module 2 is completed, the limiting component 4 is inserted into the connecting hole 311 of the first connecting end 31 from the other side of the first rotating hole 111, restricting the first connecting end 31 from axially disengaging from the first rotating hole 111. This structural design does not affect the small-amplitude relative rotation between the connecting module 1 and the claw module 2, achieving reliable limiting while ensuring the rotational function. It works in synergy with the rotatable engagement structure of the connecting component 3 to ensure the connection stability of the connecting module 1 and the claw module 2 during the gripping and transfer processes of the material box clamping device.

[0061] The limiting component 4 provides reliable axial limiting for the rotational connection between the connecting module 1 and the claw module 2, effectively preventing the first connecting end 31 from dislodging from the first rotating hole 111. This avoids the hopper clamping device from failing to grip or being damaged due to loose connection, significantly improving the overall connection reliability. This limiting structure uses a plug-in assembly method, resulting in a simple and compact structure that does not interfere with the relative rotation function of the two components, ensuring that the self-adaptive return effect is unaffected. It also simplifies the assembly and disassembly process, reducing maintenance difficulty.

[0062] According to one embodiment of this application, such as Figures 4 to 6 As shown, the material box clamping device also includes a connecting member 3, which is installed on the connecting module 1 and has a second connecting end 32 and a third connecting end 33. The connecting frame 21 is provided with a second rotating hole 212 and a third rotating hole 214. The second connecting end 32 passes through the second rotating hole 212, and the third connecting end 33 passes through the third rotating hole 214, so that the connecting module 1 and the claw module 2 are connected, and the connecting module 1 can rotate relative to the second connecting end 32 and the third connecting end 33.

[0063] The connecting component 3 is fixedly installed on the connecting module 1. The connecting component 3 extends to form a second connecting end 32 and a third connecting end 33, which are parallel and coaxially arranged, serving as the core structure for two-point rotational engagement. The connecting frame 21 of the claw module 2 has corresponding second rotating holes 212 and third rotating holes 214, which are adapted to the second connecting end 32 and the third connecting end 33. During assembly, the second connecting end 32 passes through the second rotating hole 212, and the third connecting end 33 passes through the third rotating hole 214, realizing a two-point rotational connection between the connecting module 1 and the claw module 2. The rotation center is the common axis of the second connecting end 32 and the third connecting end 33. This structure works in conjunction with the previous guide structure, elastic element 24 and limiting element 4. When gripping the material box 5, if the limiting protrusion 221 is not aligned with the limiting groove 51, the contact force between the support block 22 and the material box 5 can drive the claw module 2 to rotate slightly around the double connection end, causing the limiting protrusion 221 to automatically return to the correct position, ensuring the gripping action is continuous.

[0064] The dual-point rotation connection structure makes the relative rotation between the connecting module 1 and the gripper module 2 smoother, avoiding the wobbling or offset that may occur with single-point rotation, improving the accuracy of adaptive return, and further reducing the positioning accuracy requirements of the robotic arm 62. The cooperation between the dual connecting ends and the dual rotating holes enhances the connection strength, better supporting the weight of the material box 5 and the forces during the transfer process, reducing the risk of structural deformation. This structure does not affect the preload transmission of the elastic element 24 and the guiding function of the guide shaft 25, forming a complete collaborative system with the anti-detachment limiting structure. This ensures the reliability of gripping, simplifies the control logic, and adapts to the high-frequency, multi-condition material transfer needs of factories.

[0065] According to one embodiment of this application, such as Figure 3 As shown, the connecting frame 21 includes a first bracket 211 and a second bracket 213. The first bracket 211 is provided with a second rotating hole 212, and the second bracket 213 is provided with a third rotating hole 214. The first bracket 211 and the second bracket 213 are both mounted on the support block 22. The first bracket 211 and the second bracket 213 are arranged opposite to each other and spaced apart, so that the second rotating hole 212 and the third rotating hole 214 are coaxial. The connecting member 3 is located between the first bracket 211 and the second bracket 213 to achieve a rotatable connection. Figure 5 The diagram illustrates the location of the second rotating hole 212, which is located on the lower surface of the first bracket 211.

[0066] The connecting frame 21 provides stable support for the two-point rotational connection through the combination structure of the first bracket 211 and the second bracket 213. Both the first bracket 211 and the second bracket 213 are fixedly mounted on the support block 22, arranged in a relatively spaced manner to ensure precise coaxiality of the second rotation hole 212 and the third rotation hole 214, providing a reference for the rotational engagement of the connecting member 3. The connecting member 3 is located between the first bracket 211 and the second bracket 213, with its second connecting end 32 passing through the second rotation hole 212 of the first bracket 211 and its third connecting end 33 passing through the third rotation hole 214 of the second bracket 213, forming a stable two-point rotational structure. This layout provides lateral limiting for the connecting member 3, preventing radial offset during rotation, while not hindering the relative rotation of the connecting module 1 and the claw module 2. It works in conjunction with the elastic element 24, the guide shaft 25, and the limiting element 4 to ensure smooth automatic return of the limiting protrusion 221 during gripping. Figure 7 As shown.

[0067] The relative spacing and coaxial hole design of the first bracket 211 and the second bracket 213 ensure the precision of the dual-point rotation connection, making the rotation of the claw module 2 smoother, reducing the swaying that may occur with single-point support, and improving the reliability of adaptive return. The clamping support of the connecting component 3 by the two side brackets enhances the load-bearing capacity of the rotating structure, better resists the weight of the material box 5 and the impact force during the transfer process, and reduces the risk of structural deformation.

[0068] According to one embodiment of this application, such as Figure 6 As shown, connecting member 3 is a T-shaped member.

[0069] The T-shaped component, as a specific implementation of the connecting component 3, forms a second connecting end 32 and a third connecting end 33 at its vertical ends, and a first connecting end 31 at its horizontal end, all three being integrally formed. The vertical second connecting end 32 and third connecting end 33 correspond one-to-one with the second rotating hole 212 of the first bracket 211 and the third rotating hole 214 of the second bracket 213, while the horizontal first connecting end 31 is adapted to the first rotating hole 111 of the connecting module 1. The integrated structure fixes the relative positions of the three connecting ends, naturally ensuring the coaxiality of the second connecting end 32 and the third connecting end 33. It meets the assembly requirements of the two-point rotating connection without additional positioning processes and adapts to the relative spacing layout of the first bracket 211 and the second bracket 213.

[0070] The integrated design of the T-shaped component effectively reduces the number of parts, avoids assembly deviations associated with split connection ends, and improves the overall integrity of the connection between connection module 1 and claw module 2. The vertically arranged second connection end 32 and third connection end 33 fit better with the rotation holes of the bracket in the direction of force, smoothly transmitting rotational force and making the adaptive return action of claw module 2 more precise, further reducing the positioning accuracy requirements of the robotic arm 62. The overall structural rigidity is superior to the split design, better resisting vibration and impact during transport, while simplifying the assembly process, reducing processing costs, and adapting to the high-frequency material handling needs of factories.

[0071] In some embodiments, such as Figure 5 As shown, the connection module 1 includes a support frame 11 and a six-dimensional force sensor 12.

[0072] The connection module 1 includes a support frame 11 and a six-dimensional force sensor 12; wherein, the support frame 11 includes a mounting part and a connecting part, the mounting part is in the shape of a disc, which matches the shape of the six-dimensional force sensor 12 and both are provided with through holes; the connecting part has a first rotating hole 111, which is used to cooperate with the first connecting end 31 of the connecting member 3 to realize the rotating connection with the claw module 2.

[0073] The six-dimensional force sensor 12 can detect force and torque signals in real time during the grasping and transfer process, and feed them back to the control system to adjust the posture. In conjunction with the rotation function of the first rotating hole 111, it reduces the impact of positioning deviation, improves grasping stability and operation accuracy, and is suitable for complex working conditions of material transfer in factories.

[0074] The material box clamping device provided in this embodiment has low requirements for the relative position positioning of the material box 5 and allows for an offset space of about ±10mm; the parallel posture requirements between the material box clamping device and the material box 5 are low, with a deviation redundancy of ±25°; and the material box clamping device has no requirements for clamping force.

[0075] A humanoid robot according to a second aspect embodiment of this application, such as Figures 11 to 13As shown, the humanoid robot includes: a torso module 61, a robotic arm 62, and the aforementioned bin gripping device; wherein, multiple robotic arms 62 are configured and installed on the torso module 61; the connecting module 1 in the aforementioned bin gripping device is connected to the robotic arm 62 and can grasp bins 5 of different heights.

[0076] There may be two robotic arms 62; in some embodiments, there may also be more robotic arms 62.

[0077] The humanoid robot's structural design revolves around the factory's material handling needs. The torso module 61 serves as the core support, providing installation references and power transmission interfaces for multiple robotic arms 62, ensuring the stability of their movement. Multiple robotic arms 62 are mounted on the torso module 61, allowing them to work independently or collaboratively according to handling requirements, expanding the operational coverage and improving processing efficiency. The material box gripper, as the end effector of the robotic arm 62, is fixedly connected to the robotic arm 62 via its connection module 1, enabling the robotic arm 62 to drive the material box gripper to achieve multi-directional movement and grasping actions. The material box gripper's dual-point rotation structure, adaptive return function, elastic pre-tensioning anti-detachment structure, and guiding structure work synergistically with the robotic arm 62's movement functions. When the robotic arm 62 moves the gripper close to the material box 5, the gripper can compensate for positioning deviations through its own structure, completing a stable grasp, after which the robotic arm 62 performs operations such as transferring and stacking the material box 5.

[0078] The low-precision adaptability of the material box gripping device reduces the requirements for the motion positioning accuracy of the robotic arm 62, thereby reducing the debugging difficulty and operational load of the robot control system. The stable gripping function of the gripping device, combined with the flexible movement of the robotic arm 62, prevents the material box 5 from falling off or being damaged during transfer, improving operational reliability. Compared to traditional single robotic arm 62 or dedicated transfer equipment, this structure combines flexibility and versatility, adapting to standardized material boxes 5 of different specifications without frequent replacement of the end effector, thus expanding the application range of humanoid robots in factory scenarios.

[0079] According to one embodiment of this application, such as Figure 9 As shown, the hopper gripping device is mounted on the end joint (i.e., the seventh joint) of the robotic arm 62, allowing for a greater range of motion; or, as... Figure 10 As shown, the humanoid robot also includes a robotic arm 63, which is mounted on the end joint of the robotic arm 62. The hopper gripping device is mounted on the joint adjacent to the end joint of the robotic arm 62 (i.e., the sixth joint). The shorter lever arm allows for a greater load capacity.

[0080] The robotic arm 62 has multiple joints. When the end joint (seventh joint) of the robotic arm 62 is equipped with a robotic hand 63, the hopper clamping device is installed at the position of the previous joint of the robotic arm 62 (i.e., the sixth joint).

[0081] The material box clamping device offers two installation methods suitable for different scenarios: The first is directly installed at the end of the robotic arm 62, serving as the core end effector, directly receiving power transmission and motion control from the robotic arm 62, focusing on completing the gripping and transfer of the material box 5; the second is a composite installation achieved by adding a robotic arm 63, with the robotic arm 63 installed at the end of the robotic arm 62 and the material box clamping device fixed near the end of the robotic arm 62, forming a collaborative structure of "robotic arm 63 + clamping device". The robotic arm 63 can assist in completing operations such as positioning and posture adjustment of the material box 5, while the clamping device is responsible for the core gripping and fixing. Both installation methods are compatible with the adaptive return and anti-detachment limit structure of the material box clamping device.

[0082] Two installation methods offer flexible options for different operational needs. The direct installation method features a simple structure, reduces intermediate transmission links, lowers energy consumption, and is suitable for high-efficiency scenarios involving simple material transfer. The installation method with the robotic arm 63 expands the functional boundaries. The robotic arm 63 can assist in correcting the posture of the material box 5, and combined with the low-precision adaptation characteristics of the gripping device, further improves the success rate of grasping. Neither installation method affects the core function of the material box gripping device, enabling the humanoid robot to meet both single transfer needs and complex scenarios requiring multi-action coordination, enhancing the robot's scenario adaptability and usage flexibility.

[0083] Figure 14 and Figure 15 A schematic diagram of a humanoid robot carrying goods is shown. Figure 14 As shown, the material box clamping device moves horizontally toward the limiting groove 51 of the material box 5, and then moves vertically downward, so that the pressure plate 23 abuts against the upper surface of the material box 5. Then the material box clamping device continues to move downward (the pressure plate 23 is fixed because it abuts against the upper surface of the material box 5), overcoming the elastic pre-tightening force of the elastic element 24 and increasing the distance between the pressure plate 23 and the limiting protrusion 221. The material box clamping device continues to move horizontally toward the material box 5, so that the limiting protrusion 221 moves to the opening of the limiting groove 51. Then the material box clamping device moves upward (the pressure plate 23 still abuts against the upper surface of the material box 5 and is fixed), so that the limiting protrusion 221 is inserted into the limiting groove 51, completing the gripping of the material box 5. Figure 15 The diagram illustrates the process of the material box clamping device releasing material box 5. Figure 14 The process is the reverse, and will not be repeated here.

[0084] A material conveying system according to a third aspect of this application includes the aforementioned humanoid robot.

[0085] The material conveying system uses the aforementioned humanoid robot as the core execution unit, integrating the humanoid robot's torso module 61, multiple robotic arms 62, and a material box clamping device. By leveraging the humanoid robot's flexible movement capabilities and the material box clamping device's stable gripping function, a complete material transfer link is constructed to meet the material conveying needs in factory and warehousing scenarios.

[0086] Integrating humanoid robots with low-precision adaptability and stable grasping characteristics into the system can efficiently complete heavy and repetitive material transfer tasks in the factory, reducing manual workload and physical exertion. The system requires no complex positioning and debugging, can adapt to the batch transfer of standardized material boxes, improves conveying efficiency and reliability, and increases the flexibility of production line deployment.

[0087] Finally, it should be noted that the above embodiments are only used to illustrate this application and are not intended to limit this application. Although this application has been described in detail with reference to the embodiments, those skilled in the art should understand that various combinations, modifications, or equivalent substitutions of the technical solutions of this application do not depart from the spirit and scope of the technical solutions of this application and should be covered within the scope of the claims of this application.

Claims

1. A material box clamping device, characterized in that, For gripping material bins (5), the material bins (5) have symmetrically provided limit grooves (51) on both sides, including: At least one pair of symmetrically arranged connecting modules (1) are used for installation into a preset position; A claw module (2) is provided corresponding to the connection module (1). The claw module (2) includes a connecting frame (21), a support block (22), and a pressure plate (23). The connecting frame (21) is used to connect with the connection module (1). The support block (22) is connected to the connecting frame (21) and forms a limiting protrusion (221). The limiting protrusion (221) is used to insert into the limiting groove (51). The pressure plate (23) is used to limit and fix the material box (5) to prevent the limiting protrusion (221) from coming out of the limiting groove (51).

2. The material box clamping device according to claim 1, characterized in that, The claw module (2) also includes an elastic element (24); One end of the elastic element (24) is connected to the support block (22), and the other end is connected to the pressure plate (23), providing an elastic preload force that brings the support block (22) and the pressure plate (23) closer to each other; The pressure plate (23) abuts against the wall of the material box (5) under the action of the elastic pre-tightening force to prevent the limiting protrusion (221) from coming out of the limiting groove (51).

3. The material box clamping device according to claim 2, characterized in that, The claw module (2) also includes a guide shaft (25); The pressure plate (23) includes a connecting abutment (231) and a sliding part (232). The abutment (231) is used to abut against the wall of the material box (5). A channel (26) is formed between the support block (22) and the connecting frame (21) for the sliding part (232) to slide. The support block (22) is provided with a first guide hole (222), the sliding part (232) is provided with a second guide hole (233), and the guide shaft (25) passes through the first guide hole (222) and the second guide hole (233); The elastic element (24) is sleeved on the outside of the guide shaft (25).

4. The material box clamping device according to claim 1, characterized in that, It also includes a connecting member (3), which is mounted on the connecting frame (21) and has a first connecting end (31). The connecting module (1) is provided with a first rotating hole (111), and the first connecting end (31) passes through the first rotating hole (111) so that the connecting module (1) and the claw module (2) are connected, and the connecting module (1) can rotate relative to the first connecting end (31).

5. The material box clamping device according to claim 4, characterized in that, It also includes a limiting member (4); the first connecting end (31) is provided with a connecting hole (311); The first connecting end (31) is inserted into the first rotating hole (111) from one side; the limiting member (4) is inserted into the connecting hole (311) from the other side of the first rotating hole (111) to restrict the first connecting end (31) from coming out of the first rotating hole (111).

6. The material box clamping device according to claim 1, characterized in that, It also includes a connecting member (3), which is mounted on the connecting module (1) and has a second connecting end (32) and a third connecting end (33). The connecting frame (21) is provided with a second rotating hole (212) and a third rotating hole (214). The second connecting end (32) passes through the second rotating hole (212), and the third connecting end (33) passes through the third rotating hole (214), so that the connecting module (1) and the claw module (2) are connected, and the connecting module (1) can rotate relative to the second connecting end (32) and the third connecting end (33).

7. The material box clamping device according to claim 6, characterized in that, The connecting frame (21) includes a first bracket (211) and a second bracket (213). The first bracket (211) is provided with a second rotating hole (212), and the second bracket (213) is provided with a third rotating hole (214). The first bracket (211) and the second bracket (213) are both mounted on the support block (22). The first bracket (211) and the second bracket (213) are opposite to each other and spaced apart, so that the second rotating hole (212) and the third rotating hole (214) are coaxial. The connecting member (3) is located between the first bracket (211) and the second bracket (213) to achieve a rotatable connection.

8. The hopper clamping device according to any one of claims 4 to 7, characterized in that, The connecting member (3) is a T-shaped member.

9. A humanoid robot, characterized in that, include: Trunk module (61); Multiple robotic arms (62) are configured and installed on the torso module (61). The hopper clamping device according to any one of claims 1 to 8, wherein the connecting module (1) is connected to the robotic arm (62).

10. The humanoid robot according to claim 9, characterized in that, The hopper clamping device is mounted on the end joint of the robotic arm (62); or The humanoid robot also includes a robotic arm (63), which is mounted on the end joint of the robotic arm (62), and the hopper clamping device is mounted on the joint of the robotic arm (62) adjacent to the end joint.

11. A material conveying system, characterized in that, Including the humanoid robot as described in claim 9 or 10.

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