Rotary clamping mechanism and humanoid robot

Abstract

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

Description

Technical Field

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

[0002] With China vigorously promoting the development of new productivity, especially humanoid robots, humanoid robots are entering a period of rapid growth. Some are beginning to enter industrial fields such as automotive manufacturing, replacing humans in high-intensity, high-risk, and highly repetitive tasks. Compared to traditional industrial robotic arms or composite robots, humanoid robots are more suitable for unstructured industrial scenarios. Bin handling in workshops is one such application.

[0003] Because bipedal humanoid robots cannot maintain the same smooth motion as humans during walking, especially when the center of gravity of a box is offset, the box will swing violently while being moved, affecting the robot's gait and risking the contents being scattered. Furthermore, boxes come in a variety of sizes, and the end-of-line handling mechanisms of humanoid robots are generally only suitable for boxes of a specific size, resulting in poor compatibility. Utility Model Content

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

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

[0006] In the above solution, the rotary clamping mechanism includes a supporting member, a drive assembly, a first clamping member, and a second clamping member. The first clamping member is rotatably connected to the supporting member and the second clamping member on both sides, and the drive assembly is used to drive the first clamping member to rotate relative to the supporting member. When clamping a box, the rotary clamping mechanism can be moved until the supporting member abuts the first supporting surface. The drive assembly then drives the first and second clamping members to clamp the upper edge structure at an angle. In this way, the upper edge structure of the box is clamped while being supported, ensuring stability during transportation. Furthermore, the mechanism is suitable for boxes of different sizes.

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

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

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

[0010] In the above embodiment, when clamping the case, the first hinge axis is positioned closer to the case relative to the third hinge axis, and the fourth hinge axis is positioned closer to the case relative to the second hinge axis, such that the line connecting the first and second hinge axes, and the line connecting the third and fourth hinge axes, intersect. Thus, when the rotating clamping structure transitions from an open state to a clamped state, the first clamping member and the second clamping member rotate in opposite directions (the first clamping member rotates clockwise, the second clamping member rotates counterclockwise), thereby gradually reducing the angle between the first clamping member and the second clamping member, enabling clamping of the upper edge structure.

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

[0012] In the above solution, by arranging the supporting member as a supporting portion, a connecting portion and a first hinge portion connected in sequence, the supporting member can not only support the box body but also be conveniently connected to the first clamping member and the first connecting rod for rotation.

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

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

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

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

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

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

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

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

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

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

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

[0024] In the above solution, the rotary clamping mechanism includes a supporting member, a drive assembly, a first clamping member, and a second clamping member. The first clamping member is rotatably connected to the supporting member and the second clamping member on both sides, and the drive assembly is used to drive the first clamping member to rotate relative to the supporting member. When clamping a box, the rotary clamping mechanism can be moved until the supporting member abuts the first supporting surface. The drive assembly then drives the first and second clamping members to clamp the upper edge structure at an angle. In this way, the upper edge structure of the box is clamped while being supported, ensuring stability during transportation. Furthermore, the mechanism is suitable for boxes of different sizes. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the embodiments or descriptions of the prior art. 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 any creative work.

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

[0027] Figure 2 This is a diagram showing the coordination between the rotary clamping mechanism and the box body in the open state provided by an embodiment of the utility model;

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

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

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

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

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

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

[0034] Figure 9 A three-dimensional structural diagram of a second clamping member provided in an embodiment of the present utility model;

[0035] Figure 10 A three-dimensional structural diagram of a first clamping member provided in an embodiment of the present utility model;

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

[0037] Figure 12 This is a three-dimensional structural diagram of a humanoid robot provided in an embodiment of the present utility model.

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

[0039] 100 - Rotating clamping mechanism; 10 - Supporting member; 11 - Supporting portion; 111 - Second supporting surface; 12 - Connecting portion; 13 - First hinged portion; 20 - Driving assembly; 21 - First connecting rod; 22 - Second connecting rod; 23 - Third connecting rod; 24 - Driving member; 30 - First clamping member; 31 - First clamping portion; 32 - Third hinged portion; 33 - Axial extension portion; 40 - Second clamping member; 41 - Second clamping portion; 42 - Second hinged portion; 50 - Anti-slip pad; 60 - Mounting plate; 71 - First hinge axis; 72 - Second hinge axis; 73 - Third hinge axis; 74 - Fourth hinge axis;

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

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

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

[0043] It should be understood that the terms "length", "width", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc., indicating the orientation or position relationship, are based on the orientation or position relationship shown in the accompanying 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 operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention.

[0044] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of the technical features being referred to. Thus, a feature specified as "first" or "second" may explicitly or implicitly include one or more of such features. In the description of this utility model, "plurality" means two or more, unless otherwise specifically defined.

[0045] With China vigorously promoting the development of new productivity, especially humanoid robots, humanoid robots are entering a period of rapid growth. Some are beginning to enter industrial fields such as automotive manufacturing, replacing humans in high-intensity, high-risk, and highly repetitive tasks. Compared to traditional industrial robotic arms or composite robots, humanoid robots are more suitable for unstructured industrial scenarios. Bin handling in workshops is one such application.

[0046] Because bipedal humanoid robots cannot maintain the same smooth motion as humans during walking, especially when the center of gravity of a box is offset, the box will swing violently while being moved, affecting the robot's gait and risking the contents being scattered. Furthermore, boxes come in a variety of sizes, and the end-of-line handling mechanisms of humanoid robots are generally only suitable for boxes of a specific size, resulting in poor compatibility.

[0047] To solve the above technical problems, the present invention provides a rotary clamping mechanism 100 and a robot. The rotary clamping mechanism 100 includes a supporting member 10, a driving assembly 20, a first clamping member 30, and a second clamping member 40. When a box 200 needs to be clamped, at least two rotary clamping mechanisms 100 respectively support different positions of the box 200, thereby lifting the box 200. Specifically, in one of the rotary clamping mechanisms 100, when clamping the box 200, the supporting member 10 is located below and abuts against the first supporting surface 202, thereby bearing the gravity of the box 200. At the same time, the driving assembly 20 drives the first clamping member 30 and the second clamping member 40 to rotate to an angle, clamping the upper edge structure 201 of the box 200, thereby making the box 200 more stable during transportation. Moreover, the specification of the box 200 is less restricted, and the robot is suitable for transporting boxes 200 of different specifications.

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

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

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

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

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

[0053] The steps for the rotating clamping mechanism 100 to transport the box 200 are as follows: the rotating clamping mechanism 100 moves near the box 200 and causes the supporting member 10 to rest on the first supporting surface 202 of the box 200. The driving assembly 20 operates to cause the first clamping member 30 and the second clamping member 40 to flip over to clamp the upper edge structure 201. Finally, the rotating clamping mechanism 100 moves as a whole to lift the box 200. The steps for the rotating clamping mechanism 100 to release the box 200 are as follows: the rotating clamping mechanism 100 and the box 200 move together to place the box 200 on a platform or the ground. The driving assembly 20 then operates to cause the first clamping member 30 and the second clamping member 40 to release the upper edge structure 201. Finally, the rotating clamping mechanism 100 moves away from the box 200.

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

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

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

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

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

[0059] When clamping the housing 200, the first hinge axis 71 is positioned closer to the housing 200 relative to the third hinge axis 73, and the fourth hinge axis 74 is positioned closer to the housing 200 relative to the second hinge axis 72, so that the line connecting the first hinge axis 71 and the second hinge axis 72 and the line connecting the third hinge axis 73 and the fourth hinge axis 74 intersect. Thus, when the rotating clamping structure transitions from the open state to the clamping state, the first clamping member 30 and the second clamping member 40 rotate in opposite directions (the first clamping member 30 rotates clockwise, and the second clamping member 40 rotates counterclockwise), thereby gradually reducing the angle between the first clamping member 30 and the second clamping member 40, thereby enabling the upper edge structure 201 to be clamped.

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

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

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

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

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

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

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

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

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

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

[0070] In some embodiments of the present invention, please refer to Figure 9 The second clamping member 40 includes a second clamping portion 41 and a second hinged portion 42 that are interconnected. The second clamping portion 41 is configured to abut against the upper edge structure 201. The connection between the second clamping portion 41 and the second hinged portion 42 forms a second hinge axis 72, and the end of the second hinged portion 42 away from the second clamping portion 41 forms a fourth hinge axis 74. The connection between the second clamping portion 41 and the second hinged portion 42 and the end of the first clamping member 30 near the second clamping portion 41 overlap, allowing the second hinge axis 72 to pass through. The end of the second hinged portion 42 away from the second clamping portion 41 and the end of the first connecting rod 21 near the second hinged portion 42 overlap, allowing the fourth hinge axis 74 to pass through.

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

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

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

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

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

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

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

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

[0079] In some embodiments of the present invention, please refer to Figure 7 and Figure 10 The first clamping member 30 includes a first clamping portion 31 and a third hinge portion 32. The first clamping portion 31 is configured to abut against the upper edge structure 201. The first hinge axis 71 is the rotational connection axis between the first clamping member 30 and the supporting member 10. The first hinge axis 71 is located at the connection point between the first clamping portion 31 and the third hinge portion 32. The end of the third hinge portion 32, which is remote from the first clamping portion 31, is rotationally connected to the third connecting rod 23. The first clamping portion 31 is configured to clamp the upper edge structure 201. The end of the first clamping portion 31, which is closer to the supporting member 10, is rotationally connected to the supporting member 10 via the first hinge axis 71. The third hinge portion 32 is disposed at the end of the first clamping portion 31 closer to the supporting member 10.

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

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

[0082] In some embodiments of the present invention, please refer to Figure 10 The first clamping member 30 further includes an axially extending portion 33 that extends in the direction of the first hinge axis 71. The axial ends of the axially extending portion 33 are respectively connected to the first clamping portion 31 and the third hinge portion 32. The axially extending portion 33 connects the first clamping portion 31 and the third hinge portion 32, so that the first clamping portion 31 and the third hinge portion 32 are spaced apart in the axial direction of the first hinge axis 71.

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

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

[0085] In some embodiments of the present invention, please refer to Figure 4 and Figure 6 The first clamping member 30 and the second clamping member 40 are each provided with an anti-slip pad 50 on their sides for contact with the upper edge structure 201. The anti-slip pad 50 is sheet-shaped and fixed to the clamping side of the first clamping member 30 and the clamping side of the second clamping member 40. Compared to the clamping members, the anti-slip pad 50 has a rougher surface, which increases the friction between the clamping members and the upper edge structure 201, providing an anti-slip effect.

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

[0087] In some embodiments, the anti-slip pad 50 is a soft pad. When pressed against the upper edge structure 201 , the anti-slip pad 50 will deform, resulting in greater friction with the upper edge structure 201 without scratching the upper edge structure 201 .

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

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

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

[0091] See also Figure 11 and Figure 12The present invention further provides a humanoid robot, comprising a robot body 500, two robotic arms 300 connected to the robot body 500, and two rotating clamping mechanisms 100 according to any of the above embodiments, wherein the two rotating clamping mechanisms 100 are respectively connected to the ends of the two robotic arms 300. When the robot is carrying a box 200, the two robotic arms 300 of the robot move to opposite sides of the box 200, and then the two rotating clamping mechanisms 100 respectively clamp the opposite sides of the box 200, thereby stably lifting the box 200.

[0092] The humanoid robot provided by the present invention utilizes the aforementioned rotating clamping mechanism 100. The rotating clamping mechanism 100 includes a supporting member 10, a driving assembly 20, a first clamping member 30, and a second clamping member 40. The first clamping member 30 is rotatably connected to the supporting member 10 and the second clamping member 40 on both sides, and the driving assembly 20 is used to drive the first clamping member 30 to rotate relative to the supporting member 10. When clamping a box 200, the rotating clamping mechanism 100 can be moved until the supporting member 10 abuts against the first supporting surface 202. The driving assembly 20 then drives the first clamping member 30 and the second clamping member 40 to clamp the upper edge structure 201 at an angle. In this way, while the box 200 is supported, its upper edge structure 201 is clamped, ensuring that the box 200 remains stable during transportation. Furthermore, the rotating clamping mechanism 100 is adaptable to boxes 200 of different specifications.

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

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

Claims

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

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

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

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

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

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

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

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

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

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

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