Clamping device for humanoid robot

Abstract

The utility model is suitable for the technical field of robot clamping, and provides a clamping device for a humanoid robot. A forearm; the rotating part is movably mounted on the front side of the small arm; the positioning plate is fixedly mounted at the front end of the rotating part; the first clamping fingers are hinged to the left side of the positioning plate in an array mode; the second clamping fingers are hinged to the right side of the positioning plate in an array mode; and the stabilizing structures are arranged on the first clamping finger and the second clamping finger, so that the stability is improved. Compared with the prior art, the clamping device has the advantages that when the clamping device is used, the first clamping finger and the second clamping finger are matched to clamp an object, and then the stabilizing structure is started to enable the first clamping finger and the second clamping finger to be connected with each other, so that the situation that the clamping device is mistakenly opened due to external force collision in the working process is avoided, and the working efficiency is improved. And the situation that the articles fall off is avoided.

Description

Technical Field

[0001] The utility model belongs to the technical field of robot clamping, and in particular relates to a clamping device for a humanoid robot. Background Art

[0002] Humanoid robots generally refer to robots that imitate human appearance and behavior, especially robots with bodies similar to humans.

[0003] When working, humanoid robots generally use special clamping devices to clamp various objects. However, the clamping devices installed on existing humanoid robots are not flexible during the clamping process due to the rigid claws, and the clamping effect is general, which in turn leads to unstable clamping effect. As a result, when subjected to external force collision, the clamping parts are easily dropped, and the workpiece is damaged, affecting normal work.

[0004] Therefore, how to provide a clamping device for a humanoid robot is an urgent problem to be solved by those skilled in the art. Utility Model Content

[0005] The utility model aims to provide a clamping device for a humanoid robot, aiming to solve the problems mentioned in the background technology.

[0006] The utility model is implemented as follows: a clamping device for a humanoid robot comprises:

[0007] forearm;

[0008] A rotating member, the rotating member being movably mounted on the front side of the forearm;

[0009] A positioning plate, the positioning plate is fixedly mounted on the front end of the rotating member;

[0010] A first clamping finger, wherein the first clamping finger array is hinged on the left side of the positioning plate;

[0011] A second clamping finger array is hinged on the right side of the positioning plate;

[0012] A stabilizing structure is provided on the first clamping finger and the second clamping finger to improve stability.

[0013] Preferably, an extrusion structure is provided in the middle part of the forearm, and the extrusion structure includes a movable groove and a bidirectional screw. The movable groove is opened in the middle part of the positioning plate, and the bidirectional screw is movably arranged at the rear end of the movable groove. A slider is symmetrically threadedly installed on the surface of the bidirectional screw, and a hinge plate is movably hinged on the outer side of the slider, and a hinge block is movably hinged on the outer end of the hinge plate, and an extrusion plate is fixedly installed on the outer ends of the two hinge blocks.

[0014] Preferably, the stabilizing structure includes a tooth groove, a receiving groove, a telescopic rod and a positioning cone, the tooth groove is opened at the top of the second clamping finger, the receiving groove is opened at the front end of the first clamping finger, the telescopic rod is fixedly installed inside the receiving groove, and the positioning cone is fixedly installed at the bottom of the telescopic rod.

[0015] Preferably, three first clamping fingers are provided, and two second clamping fingers are provided.

[0016] Preferably, the first clamping fingers and the second clamping fingers are arranged alternately, and the length of the first clamping fingers is greater than the length of the second clamping fingers.

[0017] Preferably, the positioning cone is configured to be in the shape of a quadrangular pyramid, and the shape and size of the positioning cone are adapted to the shape and size of the tooth groove.

[0018] Preferably, the cross-sectional size of the extrusion plate is equal to the cross-sectional size of the movable groove, and a rubber pad is provided on the surface of the extrusion plate.

[0019] Compared with the prior art, the utility model has the following beneficial effects: when in use, the first clamping finger and the second clamping finger cooperate to clamp the object, and then the stabilizing structure is activated to connect the first clamping finger and the second clamping finger to each other, thereby avoiding the situation in which the object falls due to accidental opening caused by external force collision during operation.

[0020] At the same time, by arranging an extrusion structure on the positioning plate, when the above-mentioned stabilizing structure is fixed, the extrusion plate is controlled to be pushed out, so as to squeeze the surface of the grasped object, so that the gap between the grasped object and the first clamping finger and the second clamping finger is further reduced, and the stability of grasping is further improved. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] The accompanying drawings are used to provide a further understanding of the present invention and constitute a part of the specification. Together with the embodiments of the present invention, they are used to explain the present invention and do not constitute a limitation of the present invention. In the accompanying drawings:

[0022] Figure 1 A schematic diagram of the overall appearance structure of a clamping device for a humanoid robot provided in an embodiment of the utility model;

[0023] Figure 2 A schematic diagram of a left-side cross-sectional structure of a clamping device for a humanoid robot provided in an embodiment of the utility model;

[0024] Figure 3 A schematic diagram of a partially enlarged structure of the lower end of a right side cross-section of a clamping device for a humanoid robot provided by an embodiment of the utility model;

[0025] Figure 4The embodiment of the utility model provides Figure 2 A schematic diagram of the enlarged structure of part A;

[0026] Figure 5 The embodiment of the utility model provides Figure 3 Schematic diagram of the enlarged structure of part B.

[0027] In the figure: 1-small arm, 2-rotating member, 3-positioning plate, 4-first clamping finger, 5-second clamping finger, 6-tooth groove, 7-storage groove, 8-telescopic rod, 9-positioning cone, 10-movable groove, 11-bidirectional screw, 12-slider, 13-hinge plate, 14-hinge block, 15-extrusion plate. DETAILED DESCRIPTION

[0028] In order to make the purpose, technical solution and advantages of the utility model more clear, the utility model is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described here are only used to explain the utility model and are not used to limit the utility model.

[0029] The specific implementation of the present utility model is described in detail below in conjunction with specific embodiments.

[0030] like Figure 1 , Figure 2 , Figure 3 , Figure 4 and Figure 5 FIG. 1 is a schematic diagram of a structure of a clamping device for a humanoid robot provided by an embodiment of the utility model, comprising:

[0031] Forearm 1;

[0032] A rotating member 2, the rotating member 2 is movably mounted on the front side of the forearm 1;

[0033] A positioning plate 3, the positioning plate 3 is fixedly mounted on the front end of the rotating member 2;

[0034] A first clamping finger 4, wherein the first clamping finger 4 array is hinged on the left side of the positioning plate 3;

[0035] The second clamping finger 5, the second clamping finger 5 array is hinged on the right side of the positioning plate 3;

[0036] A stable structure is provided on the first clamping finger 4 and the second clamping finger 5 to improve stability.

[0037] In the embodiment of the utility model, when in use, the small arm 1 is moved so that the positioning plate 3 is close to the clamped object, and then the rotating member 2 is started to adjust the clamping angle, and then the first clamping finger 4 and the second clamping finger 5 are started to alternately clamp the clamped object, and then reinforced with a stable structure;

[0038] The first clamping finger 4 and the second clamping finger 5 cooperate to clamp the object, and then the stabilizing structure is activated to connect the first clamping finger 4 and the second clamping finger 5 to each other, thereby preventing the object from falling due to accidental opening due to external force collision during operation.

[0039] like Figure 1 , Figure 2 , Figure 3 and Figure 5 As shown, as a preferred embodiment of the utility model, an extrusion structure is provided in the middle of the forearm 1, and the extrusion structure includes a movable groove 10 and a bidirectional screw 11. The movable groove 10 is opened in the middle of the positioning plate 3, and the bidirectional screw 11 is movably arranged at the rear end of the movable groove 10. A slider 12 is symmetrically threadedly installed on the surface of the bidirectional screw 11, and a hinge plate 13 is movably hinged on the outer side of the slider 12. A hinge block 14 is movably hinged on the outer end of the hinge plate 13, and an extrusion plate 15 is fixedly installed on the outer ends of the two hinge blocks 14.

[0040] In the embodiment of the utility model, when in use, the bidirectional screw 11 in the movable groove 10 is started, so that the sliders 12 on the upper and lower sides are close to each other, and then the hinge plate 13 is pushed outward, so that the extrusion plate 15 is pushed out through the hinge block 14, and then the surface of the grasped object is squeezed;

[0041] By providing the squeezing structure, the gap between the grasped object and the first clamping finger 4 and the second clamping finger 5 is further reduced, thereby further improving the grasping stability.

[0042] like Figure 1 , Figure 2 and Figure 4 As shown, as a preferred embodiment of the utility model, the stabilizing structure includes a tooth groove 6, a receiving groove 7, a telescopic rod 8 and a positioning cone 9, the tooth groove 6 is opened at the top of the second clamping finger 5, the receiving groove 7 is opened at the front end of the first clamping finger 4, the telescopic rod 8 is fixedly installed inside the receiving groove 7, and the positioning cone 9 is fixedly installed at the bottom of the telescopic rod 8.

[0043] In the embodiment of the utility model, when the gripping is completed, the telescopic rod 8 in the receiving groove 7 in the first clamping finger 4 is activated, and then the positioning cone 9 is lowered, and then contacts the tooth groove 6 at the top of the second clamping finger 5, so that it forms a clamping connection;

[0044] By setting up a stable structure, it is possible to avoid the situation where the items fall due to accidental opening due to external force during work.

[0045] like Figure 1 , Figure 2 and Figure 3As shown, as a preferred embodiment of the utility model, three first clamping fingers 4 are provided, two second clamping fingers 5 are provided, the first clamping fingers 4 and the second clamping fingers 5 are staggered, and the length of the first clamping fingers 4 is greater than the length of the second clamping fingers 5.

[0046] In the embodiment of the utility model, when in use, by providing three first clamping fingers 4 and two second clamping fingers 5, and staggeredly arranging the first clamping fingers 4 and the second clamping fingers 5, it is convenient to clamp the object, and the length of the first clamping finger 4 is greater than the length of the second clamping finger 5, so as to facilitate picking up.

[0047] like Figure 1 , Figure 2 and Figure 3 As shown, as a preferred embodiment of the present utility model, the positioning cone 9 is configured to be in the shape of a quadrangular pyramid, and the shape and size of the positioning cone 9 are adapted to the shape and size of the tooth groove 6 .

[0048] In the embodiment of the utility model, when in use, the positioning cone 9 is set to a quadrangular pyramid shape, and the shape and size of the positioning cone 9 are matched with the shape and size of the tooth groove 6, so as to facilitate the clamping and firm connection.

[0049] like Figure 1 , Figure 2 , Figure 3 and Figure 5 As shown, as a preferred embodiment of the present utility model, the cross-sectional size of the extrusion plate 15 is equal to the cross-sectional size of the movable groove 10 , and a rubber pad is provided on the surface of the extrusion plate 15 .

[0050] In the embodiment of the utility model, when in use, the cross-sectional size of the squeezing plate 15 is made equal to the cross-sectional size of the movable groove 10, thereby facilitating storage, and a rubber pad is provided on the surface of the squeezing plate 15 to reduce squeezing damage to the surface of the clamped object.

[0051] The above embodiment of the utility model provides a gripping device for a humanoid robot, when gripping, the first gripping finger 4 and the second gripping finger 5 are activated to alternately grip the object;

[0052] In order to improve the stability of gripping and avoid the situation of accidental opening when impacted by external force, after gripping is completed, the telescopic rod 8 in the receiving groove 7 in the first gripping finger 4 is activated, and then the positioning cone 9 is lowered, and then contacts with the tooth groove 6 at the top of the second gripping finger 5 to form a clamping connection, thereby avoiding the situation of accidental opening due to impact by external force during work, resulting in the falling of items;

[0053] After the fixation is completed, the bidirectional screw 11 in the movable groove 10 is started, so that the sliders 12 on the upper and lower sides are close to each other, and then the hinge plate 13 is pushed outward, so that the extrusion plate 15 is pushed out through the hinge block 14, and then the surface of the grasped object is squeezed, so that the gap between the grasped object and the first clamping finger 4 and the second clamping finger 5 is further reduced, and the stability of the grasping is further improved.

[0054] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A gripping device for a humanoid robot, characterized in that: include; Forearm (1); A rotating member (2), wherein the rotating member (2) is movably mounted on the front side of the forearm (1); A positioning plate (3), wherein the positioning plate (3) is fixedly mounted on the front end of the rotating member (2); First clamping fingers (4), wherein the first clamping fingers (4) array is hinged on the left side of the positioning plate (3); A second clamping finger (5), wherein the second clamping finger (5) array is hinged on the right side of the positioning plate (3); A stabilizing structure is provided on the first clamping finger (4) and the second clamping finger (5) to improve stability.

2. A gripping device for a humanoid robot according to claim 1, characterized in that: The middle part of the forearm (1) is provided with an extrusion structure, and the extrusion structure includes a movable groove (10) and a bidirectional screw (11). The movable groove (10) is opened in the middle part of the positioning plate (3), and the bidirectional screw (11) is movably arranged at the rear end of the movable groove (10). The surface of the bidirectional screw (11) is symmetrically threaded with a slider (12) installed in an upper and lower manner. The outer side of the slider (12) is movably hinged with a hinge plate (13), and the outer end of the hinge plate (13) is movably hinged with a hinge block (14), and an extrusion plate (15) is fixedly installed at the outer ends of the two hinge blocks (14).

3. The clamping device for a humanoid robot according to claim 1, characterized in that: The stabilizing structure comprises a tooth groove (6), a receiving groove (7), a telescopic rod (8) and a positioning cone (9); the tooth groove (6) is arranged at the top of the second clamping finger (5); the receiving groove (7) is arranged at the front end of the first clamping finger (4); the telescopic rod (8) is fixedly installed inside the receiving groove (7); and the positioning cone (9) is fixedly installed at the bottom of the telescopic rod (8).

4. The clamping device for a humanoid robot according to claim 1, characterized in that: The number of the first clamping fingers (4) is three, and the number of the second clamping fingers (5) is two.

5. The clamping device for a humanoid robot according to claim 3, characterized in that: The first clamping fingers (4) and the second clamping fingers (5) are arranged in an alternating manner, and the length of the first clamping fingers (4) is greater than the length of the second clamping fingers (5).

6. The clamping device for a humanoid robot according to claim 3, characterized in that: The positioning cone (9) is configured in the shape of a quadrangular pyramid, and the shape and size of the positioning cone (9) are adapted to the shape and size of the tooth groove (6).

7. The clamping device for a humanoid robot according to claim 2, characterized in that: The cross-sectional size of the extrusion plate (15) is equal to the cross-sectional size of the movable groove (10), and a rubber pad is provided on the surface of the extrusion plate (15).

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