Humanoid robot electric cylinder based on built-in pressure sensor structure

Abstract

The utility model belongs to the technical field of electric cylinders, and particularly relates to a humanoid robot electric cylinder based on a built-in pressure sensor structure, which comprises a humanoid robot. The device comprises a fixing box, an electric cylinder, a connecting buckle, a threaded rod and a threaded sleeve. The fixing box is fixedly connected to the bottom of the humanoid robot, the electric cylinder is movably connected to the bottom of the fixing box, the number of the connecting buckles is two, the two connecting buckles are symmetrically and fixedly connected to the top of the electric cylinder, the tops of the connecting buckles extend into the fixing box, and clamping grooves are formed in the sides, close to each other, of the two connecting buckles. The threaded rod is rotationally connected to the inner wall of the fixing box, and the left side of the threaded rod extends to the exterior of the fixing box. Through the simple structure, the effect of conveniently disassembling and assembling the electric cylinder is achieved, the electric cylinder can be conveniently disassembled, replaced or maintained, operation is easy and convenient, and good practicability and convenience are achieved.

Description

Technical Field

[0001] The utility model relates to the technical field of electric cylinders, in particular to an electric cylinder for a humanoid robot based on a built-in pressure sensor structure. Background Art

[0002] Humanoid robots, also known as humanoid robots, are robots with humanoid shapes. Electric cylinders are products specifically designed for continuous motion, low to high loads (usually high speed), and can be used multiple times in their service life. These products have extremely high positioning accuracy and controllability, and can achieve precise motion control under loads ranging from several kilograms to 50 tons. The hands and legs of humanoid robots are usually controlled by electric cylinders.

[0003] In the prior art, the humanoid robot electric cylinder based on the built-in pressure sensor structure is usually connected to the humanoid robot by welding and bolting during actual use. This connection method is cumbersome and laborious to disassemble and assemble when the electric cylinder needs to be maintained or replaced, and is inconvenient to use. Therefore, we propose a humanoid robot electric cylinder based on the built-in pressure sensor structure to solve the above-mentioned problems. Utility Model Content

[0004] The purpose of the utility model is to solve the problem that in the prior art, the electric cylinder is usually connected to the humanoid robot by welding and bolting during actual use. This connection method is cumbersome and laborious to disassemble and assemble when the electric cylinder needs to be maintained or replaced, and is inconvenient to use. A humanoid robot electric cylinder based on a built-in pressure sensor structure is proposed to solve the problem.

[0005] In order to achieve the above purpose, the utility model adopts the following technical solutions:

[0006] A humanoid robot electric cylinder based on a built-in pressure sensor structure, comprising

[0007] Humanoid robots;

[0008] Fixed box, electric cylinder, connecting buckle, threaded rod and threaded sleeve;

[0009] The fixed box is fixedly connected to the bottom of the humanoid robot, the electric cylinder is movably connected to the bottom of the fixed box, the number of the connecting buckles is two, the two connecting buckles are symmetrically fixedly connected to the top of the electric cylinder, and the top of the connecting buckle extends to the inside of the fixed box, and the two connecting buckles are close to each other. The side is provided with a card slot, the threaded rod is rotatably connected to the inner wall of the fixed box, and the left side of the threaded rod extends to the outside of the fixed box, the threaded sleeve is slidably connected to the inner wall of the fixed box, and the inner wall of the threaded sleeve is threadedly connected to the outer wall of the threaded rod;

[0010] A fixing mechanism is connected to the threaded sleeve and is used to fix the electric cylinder.

[0011] As a preferred solution of the utility model, the fixing mechanism includes: a push rod, a transmission plate, two hollow rods, two hollow plates and two clamping blocks;

[0012] The push rod is rotatably connected to the front side of the threaded sleeve, the transmission plate is movably connected to the inner wall of the fixed box, and the front side of the transmission plate is rotatably connected to the rear side of the push rod, the two hollow rods are symmetrically rotatably connected to the inner wall of the fixed box, the two hollow plates are symmetrically slidably connected to the inner wall of the fixed box, the two clamping blocks are respectively fixedly connected to the sides of the two hollow plates away from each other, the two clamping blocks are adapted to the corresponding clamping grooves, and the inner walls of the two hollow plates are slidably connected to the outer walls of the corresponding hollow rods.

[0013] As a preferred solution of the utility model, the inner wall of the fixed box is fixedly connected to a limiting frame, and the limiting frame passes through the transmission plate.

[0014] As a preferred solution of the utility model, a push spring is fixedly connected to the inner wall of the bottom of the fixed box, and the top of the push spring is fixedly connected to the bottom of the transmission plate.

[0015] As a preferred solution of the utility model, the rear side of the transmission plate is symmetrically fixedly connected with a transmission shaft, and the number of the transmission shafts is two, and the outer walls of the two transmission shafts are slidably connected to the inner walls of the corresponding hollow rods.

[0016] As a preferred solution of the utility model, the inner wall of the fixed box is symmetrically fixedly connected to the limiting frames, and the number of the limiting frames is two, and the inner walls of the two limiting frames are slidably connected to the outer walls of the corresponding hollow plates.

[0017] As a preferred solution of the utility model, the inner walls of the two limit frames are fixedly connected with return springs, and the sides of the two hollow plates that are far away from each other are respectively fixedly connected to the sides of the two return springs that are close to each other.

[0018] As a preferred solution of the utility model, the inner wall of the fixed box is symmetrically fixedly connected with a connecting frame, and the number of the connecting frames is two, and the inner walls of the two connecting frames are adapted to the outer walls of the corresponding connecting buckles.

[0019] Beneficial effects:

[0020] 1. The electric cylinder is conveniently fixed to the humanoid robot through the fixing box, and the connecting buckle is conveniently inserted into the fixing box. The threaded sleeve is conveniently driven to move by the rotation of the threaded rod, and the fixing mechanism is conveniently driven to fix the electric cylinder through the threaded sleeve;

[0021] 2. The movement of the push rod will push the transmission plate down. At this time, the movement of the transmission plate will push the hollow rod to rotate. At this time, the two hollow rods rotate and drive the two hollow plates to move closer to each other. When the hollow plates move, the card block will move horizontally. The movement of the card block makes it easier to fix the connecting buckle and thus the electric cylinder.

[0022] The utility model realizes the effect of convenient disassembly and assembly of the electric cylinder through a simple structure, so that the electric cylinder can be disassembled, replaced or maintained, the operation is simple and convenient, and the utility model has good practicality and convenience. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 It is the front view of the utility model;

[0024] Figure 2 It is a front cross-sectional view of the utility model;

[0025] Figure 3 It is a front cross-sectional view of the fixed box of the utility model;

[0026] Figure 4 It is a three-dimensional diagram of the hollow rod, hollow plate and clamping block of the utility model.

[0027] In the figure: 1. humanoid robot; 2. fixing box; 3. electric cylinder; 4. connecting buckle; 5. threaded rod; 6. threaded sleeve; 7. push rod; 8. transmission plate; 9. push spring; 10. hollow rod; 11. hollow plate; 12. reset spring; 13. block. DETAILED DESCRIPTION

[0028] The technical solutions in the embodiments of the present invention will be described clearly and completely below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all of the embodiments.

[0029] Example

[0030] Reference Figure 1-Figure 4 , a humanoid robot electric cylinder based on a built-in pressure sensor structure, comprising

[0031] Humanoid robot 1;

[0032] A fixed box 2, an electric cylinder 3, a connecting buckle 4, a threaded rod 5 and a threaded sleeve 6; the fixed box 2 is fixedly connected to the bottom of the humanoid robot 1, the electric cylinder 3 is movably connected to the bottom of the fixed box 2, there are two connecting buckles 4, the two connecting buckles 4 are symmetrically fixedly connected to the top of the electric cylinder 3, and the top of the connecting buckle 4 extends to the inside of the fixed box 2, and the two connecting buckles 4 are close to each other. The side is provided with a card slot, the threaded rod 5 is rotatably connected to the inner wall of the fixed box 2, and the left side of the threaded rod 5 extends to the outside of the fixed box 2, the threaded sleeve 6 is slidably connected to the inner wall of the fixed box 2, and the inner wall of the threaded sleeve 6 is threadedly connected to the outer wall of the threaded rod 5;

[0033] The fixing mechanism is connected to the threaded sleeve 6 and is used to fix the electric cylinder 3 .

[0034] By means of the above mechanism: the electric cylinder 3 is conveniently fixed to the humanoid robot 1 through the fixing box 2, and is conveniently inserted into the fixing box 2 through the connecting buckle 4, and the threaded sleeve 6 is conveniently driven to move by the rotation of the threaded rod 5, and the fixing mechanism is conveniently driven by the threaded sleeve 6 to fix the electric cylinder 3.

[0035] As a preferred solution of the utility model, the fixing mechanism includes: a push rod 7, a transmission plate 8, two hollow rods 10, two hollow plates 11 and two clamping blocks 13; the push rod 7 is rotatably connected to the front side of the threaded sleeve 6, the transmission plate 8 is movably connected to the inner wall of the fixed box 2, and the front side of the transmission plate 8 is rotatably connected to the rear side of the push rod 7, the two hollow rods 10 are symmetrically rotatably connected to the inner wall of the fixed box 2, the two hollow plates 11 are symmetrically slidably connected to the inner wall of the fixed box 2, and the two clamping blocks 13 are respectively fixedly connected to the two hollow plates 1 1, two clamping blocks 13 are matched with corresponding clamping grooves, and the inner walls of the two hollow plates 11 are slidably connected with the outer walls of the corresponding hollow rods 10. The movement of the push rod 7 will push the transmission plate 8 to move downward. At this time, the movement of the transmission plate 8 will push the hollow rod 10 to rotate. At this time, the two hollow rods 10 rotate and drive the two hollow plates 11 to move toward the side close to each other. When the hollow plates 11 move, the clamping blocks 13 will move horizontally. The movement of the clamping blocks 13 facilitates the fixing of the connecting buckle 4 and thus the fixing of the electric cylinder 3.

[0036] As a preferred solution of the utility model, the inner wall of the fixed box 2 is fixedly connected to a limiting frame, and the limiting frame passes through the transmission plate 8. The limiting frame is used to conveniently limit the transmission plate 8 so that the transmission plate 8 can move vertically stably.

[0037] As a preferred solution of the utility model, a push spring 9 is fixedly connected to the bottom inner wall of the fixed box 2, and the top of the push spring 9 is fixedly connected to the bottom of the transmission plate 8. Through the elastic force of the push spring 9, the transmission plate 8 is conveniently pushed upward and reset.

[0038] As a preferred solution of the utility model, the rear side of the transmission plate 8 is symmetrically fixedly connected with a transmission shaft, and the number of the transmission shafts is two. The outer walls of the two transmission shafts are slidingly connected to the inner walls of the corresponding hollow rods 10. The movement of the transmission plate 8 can conveniently drive the movement of the transmission shaft, and the transmission shaft can conveniently push the hollow rod 10 to rotate.

[0039] As a preferred solution of the utility model, the inner wall of the fixed box 2 is symmetrically fixedly connected to the limit frame, and the number of the limit frames is two. The inner walls of the two limit frames are slidably connected to the outer walls of the corresponding hollow plates 11. The limit frames are used to conveniently limit the hollow plates 11, so that the hollow plates 11 can move stably laterally.

[0040] As a preferred solution of the utility model, the inner walls of the two limit frames are fixedly connected with reset springs 12, and the sides of the two hollow plates 11 that are far away from each other are respectively fixedly connected to the sides of the two reset springs 12 that are close to each other. The elastic force of the reset springs 12 can conveniently push the hollow plates 11 to move horizontally and reset.

[0041] As a preferred solution of the utility model, the inner wall of the fixed box 2 is symmetrically fixedly connected with a connecting frame, and the number of the connecting frames is two, the inner walls of the two connecting frames are adapted to the outer walls of the corresponding connecting buckles 4, and the two connecting frames are convenient for limiting the connecting buckles 4 so that the card slot is aligned with the card block 13.

[0042] It should be noted that the specific types of humanoid robot 1 and electric cylinder 3 to be used are selected by relevant technicians familiar with the field, and the above-mentioned humanoid robot 1 and electric cylinder 3 belong to the existing technology and will not be elaborated in this solution.

[0043] The working principle of the utility model is as follows: in actual use, the fixed box 2 is fixed to the appropriate position of the humanoid robot 1 by welding, such as the bottom of the arm and leg joints. When the electric cylinder 3 needs to be installed, the threaded rod 5 is first rotated, and the threaded sleeve 6 connected by the threaded rod 5 is conveniently driven to move horizontally. At this time, the rightward movement of the threaded sleeve 6 will push the push rod 7, and the movement of the push rod 7 will push the transmission plate 8 down. At this time, the movement of the transmission plate 8 will compress the push spring 9 and push the hollow rod 10 to rotate. At this time, the two hollow rods 10 rotate and drive the two hollow plates 11 to move toward the side close to each other. When the hollow plate 11 moves, the reset spring 12 will be compressed. At the same time, the movement of the hollow plate 11 will drive the card block 13 to move horizontally. At this time, the two card blocks 13 move toward the side close to each other. At this time, the electric cylinder 3 can be placed at the bottom of the fixed box 2, and the connecting buckle 4 is inserted into the fixed box 2, so that When the lever 1 is in the locked position, the spring 9 pushes the lever 10 and the lever 12 is in the locked position, and the two levers 13 are in the locked position, so that the lever 10 can be locked in place.

[0044] The above description is only a preferred specific implementation manner of the present invention, but the protection scope of the present invention is not limited thereto. Any technician familiar with the technical field can make equivalent replacements or changes within the technical scope disclosed by the present invention according to the technical scheme and the utility model concept of the present invention, which should be covered by the protection scope of the present invention.

Claims

1. A humanoid robot electric cylinder based on a built-in pressure sensor structure, characterized in that: include Humanoid robots (1); A fixing box (2), an electric cylinder (3), a connecting buckle (4), a threaded rod (5) and a threaded sleeve (6); The fixed box (2) is fixedly connected to the bottom of the humanoid robot (1), the electric cylinder (3) is movably connected to the bottom of the fixed box (2), the number of the connecting buckles (4) is two, the two connecting buckles (4) are symmetrically fixedly connected to the top of the electric cylinder (3), and the top of the connecting buckle (4) extends to the inside of the fixed box (2), and the two connecting buckles (4) are provided with a card slot on the side close to each other, the threaded rod (5) is rotatably connected to the inner wall of the fixed box (2), and the left side of the threaded rod (5) extends to the outside of the fixed box (2), the threaded sleeve (6) is slidably connected to the inner wall of the fixed box (2), and the inner wall of the threaded sleeve (6) is threadedly connected to the outer wall of the threaded rod (5); A fixing mechanism is connected to the threaded sleeve (6), and is used to fix the electric cylinder (3).

2. The humanoid robot electric cylinder based on a built-in pressure sensor structure according to claim 1, characterized in that: The fixing mechanism comprises: a push rod (7), a transmission plate (8), two hollow rods (10), two hollow plates (11) and two clamping blocks (13); The push rod (7) is rotatably connected to the front side of the threaded sleeve (6), the transmission plate (8) is movably connected to the inner wall of the fixed box (2), and the front side of the transmission plate (8) is rotatably connected to the rear side of the push rod (7), the two hollow rods (10) are symmetrically rotatably connected to the inner wall of the fixed box (2), the two hollow plates (11) are symmetrically slidably connected to the inner wall of the fixed box (2), the two clamping blocks (13) are respectively fixedly connected to the sides of the two hollow plates (11) away from each other, the two clamping blocks (13) are adapted to the corresponding clamping grooves, and the inner walls of the two hollow plates (11) are slidably connected to the outer walls of the corresponding hollow rods (10).

3. The humanoid robot electric cylinder based on a built-in pressure sensor structure according to claim 1, characterized in that: The inner wall of the fixed box (2) is fixedly connected to a limiting frame, and the limiting frame passes through the transmission plate (8).

4. The humanoid robot electric cylinder based on a built-in pressure sensor structure according to claim 1, characterized in that: A push spring (9) is fixedly connected to the inner wall of the bottom of the fixed box (2), and the top of the push spring (9) is fixedly connected to the bottom of the transmission plate (8).

5. The humanoid robot electric cylinder based on a built-in pressure sensor structure according to claim 2, characterized in that: The rear side of the transmission plate (8) is symmetrically fixedly connected with a transmission shaft, and the number of the transmission shafts is two, and the outer walls of the two transmission shafts are slidably connected to the inner walls of the corresponding hollow rods (10).

6. The humanoid robot electric cylinder based on a built-in pressure sensor structure according to claim 1, characterized in that: The inner wall of the fixed box (2) is symmetrically fixedly connected to the limiting frames, and the number of the limiting frames is two, and the inner walls of the two limiting frames are slidably connected to the outer walls of the corresponding hollow plates (11).

7. The humanoid robot electric cylinder based on a built-in pressure sensor structure according to claim 6, characterized in that: The inner walls of the two limit frames are fixedly connected with return springs (12), and the sides of the two hollow plates (11) that are far away from each other are respectively fixedly connected to the sides of the two return springs (12) that are close to each other.

8. The humanoid robot electric cylinder based on a built-in pressure sensor structure according to claim 1, characterized in that: The inner wall of the fixed box (2) is symmetrically fixedly connected with a connecting frame, and the number of the connecting frames is two, and the inner walls of the two connecting frames are adapted to the outer walls of the corresponding connecting buckles (4).

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