Moment push rod structure of humanoid robot
By designing a humanoid robot torque push rod structure with a multi-layer buffering system, the fracture problem caused by the lack of buffer components of the push rod structure in the prior art is solved, and effective buffering of the weight of the cargo and protection of the push rod body is achieved.
Patent Information
- Application Number
- CN202422031498.X
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2024-08-21
- Publication Date
- 2025-05-30
- Estimated Expiration
- 2034-08-21
AI Technical Summary
The existing robot push rod structure lacks auxiliary buffer components, which causes the weight of the cargo to directly act on the push rod structure when the push rod is lifted, which may cause the push rod body to break.
A humanoid robot torque push rod structure is designed, adopting a multi-layer buffering system, including a second spring, a third spring and a first spring. Through the cooperation of the roller, triangle plate and slider, multiple buffering is achieved to reduce the downforce of the vertical rod.
It effectively avoids breaking of the push rod structure due to excessive cargo, ensuring the stability and reliability of the push rod main body.
Smart Images
Figure CN222924861U_ABST
Abstract
Description
Technical Field
[0001] The utility model relates to the technical field of robot push rods, in particular to a torque push rod structure for a humanoid robot. Background Technique
[0002] A robot is an intelligent machine that can work semi-autonomously or fully autonomously. Robots can perform tasks such as operations or movements through programming and automatic control.
[0003] Existing robots generally have a push rod structure provided on their arms or tops. The push rod is used to make the robot more smoothly lift goods and carry out handling of the goods. However, the existing push rod structure lacks an auxiliary buffer component. When the push rod just lifts the goods, the weight of the goods will directly act on the rod body of the push rod structure, which may cause the rod body of the push rod to break, affecting the normal use of the robot. Therefore, a relatively perfect robot push rod structure is needed to solve the above-mentioned problems. Content of the Utility Model
[0004] The purpose of the utility model is to provide a torque push rod structure for a humanoid robot.
[0005] To achieve the above purpose, the utility model provides the following technical solution: A torque push rod structure for a humanoid robot, including a push rod main body. The top surface of the push rod main body is fixedly connected with a bottom plate. Two symmetrically arranged grooves are opened on the top surface of the bottom plate. An empty groove is opened inside the bottom plate between the two grooves. A plurality of uniformly distributed second springs are fixedly connected to the bottom of the inner wall of the empty groove. A concave plate is fixedly connected to the top surface of the second spring. A first chute is opened on the top surface of the concave plate. Two symmetrically arranged triangular plates are slidably inserted into the first chute. A plurality of uniformly distributed third springs are fixedly connected between the two sides of the inner wall of the empty groove and the mutually remote sides of the two triangular plates. A vertical rod is movably inserted into the top surface of the bottom plate between the two grooves. The top of the vertical rod is fixedly connected with a top plate. The bottom of the vertical rod is located in the empty groove, and rollers are rotatably installed on both sides of the bottom surface of the vertical rod. When the vertical rod moves downward, the two rollers will push the two triangular plates to move to both sides. A cross bar is fixedly connected between the two sides of the inner wall of the groove. A slider is slidably sleeved on the surface of the cross bar. A first spring is movably sleeved on the surface of the cross bar outside the slider. Two symmetrically arranged mounting plates are fixedly connected to both sides of the vertical rod. An adapter rod is rotatably installed between the two mounting plates. The bottom end of the adapter rod is rotatably inserted into the corresponding slider.
[0006] As a further solution of the utility model: Limiting grooves are opened on the front and rear sides of the inner wall of the first chute. Limiting blocks located in the limiting grooves are fixedly connected to the front and rear sides of the triangular plate.
[0007] As a further solution of the present utility model: second chutes matching with the rollers are provided on the inclined surfaces of the two triangular plates close to each other.
[0008] As a further solution of the present utility model: the vertical rod is a rectangular column.
[0009] As a further solution of the present utility model: a rubber pad is fixedly connected to the top surface of the top plate.
[0010] Adopting the above technical solution, compared with the prior art, the beneficial effects of the present utility model are as follows:
[0011] The present utility model buffers the force received by the robot push rod structure through a buffer structure, avoiding the situation of rod body breakage of the push rod structure caused by overweight goods. The specific operation is as follows: when the push rod main body lifts the goods, the first to contact the goods will be the top plate, and the top plate will lift the goods. When the top plate lifts the goods, the vertical rod will receive a downward force. At this time, the vertical rod will move into the empty slot. During the moving process, the roller will push the two triangular plates to move to both sides. The movement of the triangular plates can make the third spring contract inward, thereby performing the first buffer on the downward pressure received by the vertical rod. When the triangular plates cannot move, the vertical rod will push the entire concave plate downward. The downward movement of the concave plate can make the third spring contract inward, thereby performing the second buffer on the downward pressure of the vertical rod. During the first buffer and the second buffer, the connecting rod will push the slider to move on the cross bar. The movement of the slider can make the first spring contract inward, and the first spring will perform an auxiliary buffer process on the downward pressure received by the vertical rod throughout the process. By the above three buffer methods, the downward pressure received by the vertical rod is reduced, so that the downward pressure will not directly act on the push rod main body.
[0012] Other advantages, objectives and features of the present utility model will be described to some extent in the subsequent description, and to some extent, will be obvious to those skilled in the art based on the study of the following text, or can be taught from the practice of the present utility model. BRIEF DESCRIPTION OF THE DRAWINGS
[0013] Figure 1 is the structural schematic diagram of the front view of the present utility model;
[0014] Figure 2 is the sectional structural schematic diagram of the front view of the present utility model;
[0015] Figure 3 is the structural schematic diagram of the top view of the concave plate of the present utility model;
[0016] Figure 4 is the sectional structural schematic diagram of the side view of the concave plate of the present utility model.
[0017] In the figure: 1, push rod main body; 2, bottom plate; 3, vertical rod; 4, top plate; 5, rubber pad; 6, connecting rod; 7, groove; 8, cross bar; 9, first spring; 10, slider; 11, mounting plate; 12, empty slot; 13, second spring; 14, concave plate; 15, triangular plate; 16, roller; 17, third spring; 18, first chute; 19, second chute; 20, limiting slot; 21, limiting block. Detailed implementation mode
[0018] The following further describes the detailed implementation mode of the present utility model in conjunction with the attached drawings. It should be noted here that the description of these implementation modes is used to help understand the present utility model, but does not constitute a limitation to the present utility model.
[0019] In addition, the technical features involved in the various implementation modes of the present utility model described below can be combined with each other as long as they do not conflict with each other.
[0020] Please refer to the attached Figure 1 - attached Figure 4 , the present utility model includes a torque push rod structure for a humanoid robot, including a push rod main body 1. The top surface of the push rod main body 1 is fixedly connected with a bottom plate 2. Two symmetrically arranged grooves 7 are opened on the top surface of the bottom plate 2. An empty slot 12 is opened inside the bottom plate 2 between the two grooves 7. A plurality of uniformly distributed second springs 13 are fixedly connected to the bottom of the inner wall of the empty slot 12. A concave plate 14 is fixedly connected to the top surface of the second spring 13. A first chute 18 is opened on the top surface of the concave plate 14. Two symmetrically arranged triangular plates 15 are slidably inserted into the first chute 18. A plurality of uniformly distributed third springs 17 are fixedly connected between the mutually remote sides of the two triangular plates 15 and the two sides of the inner wall of the empty slot 12. A vertical rod 3 is movably inserted into the top surface of the bottom plate 2 between the two grooves 7. The top end of the vertical rod 3 is fixedly connected with a top plate 4. The bottom end of the vertical rod 3 is located in the empty slot 12, and two rollers 16 are rotatably installed on both sides of the bottom surface of the vertical rod 3. When the vertical rod 3 moves downward, the two rollers 16 will push the two triangular plates 15 to move to both sides. A cross bar 8 is fixedly connected between the two sides of the inner wall of the groove 7. A slider 10 is slidably sleeved on the surface of the cross bar 8. A first spring 9 is movably sleeved on the surface of the cross bar 8 outside the slider 10. Two symmetrically arranged mounting plates 11 are fixedly connected to both sides of the vertical rod 3. A connecting rod 6 is rotatably installed between the two mounting plates 11. The bottom end of the connecting rod 6 is rotatably inserted into the corresponding slider 10.
[0021] In an implementation mode of the present utility model: limiting slots 20 are opened on the front and rear sides of the inner wall of the first chute 18. Limiting blocks 21 located in the limiting slots 20 are fixedly connected to the front and rear sides of the triangular plate 15. The setting of the limiting blocks 21 and the limiting slots 20 can prevent the triangular plate 15 from disengaging from the first chute 18.
[0022] In an embodiment of the present utility model: Second sliding grooves 19 that match the rollers 16 are provided on the inclined surfaces of the two triangular plates 15 close to each other, and the second sliding grooves 19 can limit the positions of the rollers 16.
[0023] In an embodiment of the present utility model: The vertical rod 3 is a rectangular column, and the outer shape of the rectangular column can prevent the vertical rod 3 from being misaligned.
[0024] In an embodiment of the present utility model: A rubber pad 5 is fixedly connected to the top surface of the top plate 4, and the rubber pad 5 can protect the goods lifted by the top plate 4.
[0025] Working principle:
[0026] When the push rod main body 1 lifts the goods, the first to come into contact with the goods will be the top plate 4, and the top plate 4 will lift the goods. When the top plate 4 lifts the goods, the vertical rod 3 will receive a downward force. At this time, the vertical rod 3 will move into the empty groove 12. During the movement, the rollers 16 will push the two triangular plates 15 to move to both sides. The movement of the triangular plates 15 can cause the third spring 17 to contract inward, thereby performing the first buffering on the downward force received by the vertical rod 3. When the triangular plates 15 cannot move, the vertical rod 3 will push the entire concave plate 14 to move downward. The downward movement of the concave plate 14 can cause the third spring 17 to contract inward, thereby performing the second buffering on the downward force of the vertical rod 3. During the first buffering and the second buffering, the connecting rod 6 will push the slider 10 to move on the cross bar 8. The movement of the slider 10 can cause the first spring 9 to contract inward, and the first spring 9 will perform an auxiliary buffering process on the downward force received by the vertical rod 3 throughout the process. By the above three buffering methods, the downward force received by the vertical rod 3 is reduced, so that the downward force will not directly act on the push rod main body 1, thereby protecting the rod body of the push rod main body 1 and preventing it from breaking. Thus, the entire working process ends.
[0027] The above front, back, left, right, up, and down are all based on the Figure 1 description in the attached drawings of the specification. Taking the perspective of the observer as the standard, the side of the device facing the observer is defined as the front, and the left side of the observer is defined as the left, and so on.
[0028] In the description of the present utility model, it should be understood that the orientation or positional relationship indicated by the terms "center", "longitudinal", "transverse", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. is based on the orientation or positional relationship shown in the drawings. It is only for the convenience of describing the present utility model and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation. Therefore, it should not be construed as a limitation on the protection scope of the present utility model.
[0029] It should be noted that the device structure and drawings of the present utility model mainly describe the principle of the present utility model. Based on the technical principle of this design, the settings of the power mechanism, power supply system, control system, etc. of the device are not fully described. However, on the premise that those skilled in the art understand the principle of the above-mentioned utility model, the specific details of its power mechanism, power supply system, and control system can be clearly known. The control method of the application document is to automatically control through a controller, and the control circuit of the controller can be realized by simple programming by those skilled in the art.
[0030] The standard parts used therein can all be purchased from the market, and can also be customized according to the records of the specification and drawings. The specific connection methods of each part all adopt conventional means such as bolts, rivets, welding, etc. that are mature in the prior art. The machinery, parts, and equipment all adopt conventional models in the prior art, and for the components known to those skilled in the art, their structures and principles can all be learned by those skilled in the art through technical manuals or through conventional experimental methods.
[0031] The above has described in detail the embodiments of the present utility model in conjunction with the drawings, but the present utility model is not limited to the described embodiments.
[0032] For those skilled in the art, without departing from the principle and spirit of the present utility model, various changes, modifications, substitutions, and variations made to these embodiments still fall within the protection scope of the present utility model.
Claims
1. A humanoid robot torque push rod structure, comprising a push rod body (1), characterized in that: The top surface of the push rod body (1) is fixedly connected to a bottom plate (2), and two left-right symmetrical grooves (7) are provided on the top surface of the bottom plate (2). An empty groove (12) is provided inside the bottom plate (2) between the two grooves (7). A plurality of evenly distributed second springs (13) are fixedly connected to the bottom of the inner wall of the empty groove (12). A concave plate (14) is fixedly connected to the top surface of the second spring (13). A first slide groove (18) is provided on the top surface of the concave plate (14). Two left-right symmetrical triangular plates (15) are slidably inserted in the first slide groove (18). A plurality of evenly distributed third springs (17) are fixedly connected between the sides of the two triangular plates (15) that are away from each other and the two sides of the inner wall of the empty groove (12). A vertical spring (17) is movably inserted on the top surface of the bottom plate (2) between the two grooves (7). The rod (3) is fixed with a top plate (4) on the top of the vertical rod (3), the bottom end of the vertical rod (3) is located in the empty groove (12), and rollers (16) are rotatably installed on both sides of the bottom surface of the vertical rod (3). When the vertical rod (3) moves downward, the two rollers (16) will push the two triangular plates (15) to move to both sides. A cross bar (8) is fixed between the two sides of the inner wall of the groove (7), a slider (10) is slidably sleeved on the surface of the cross bar (8), and a first spring (9) is movably sleeved on the surface of the cross bar (8) located on the outer side of the slider (10). Two front-to-back symmetrical mounting plates (11) are fixedly connected on both sides of the vertical rod (3), and a connecting rod (6) is rotatably installed between the two mounting plates (11), and the bottom end of the connecting rod (6) is rotatably inserted into the corresponding slider (10).
2. The humanoid robot torque push rod structure according to claim 1, characterized in that: Limiting grooves (20) are provided on both the front and rear sides of the inner wall of the first sliding groove (18), and limiting blocks (21) located in the limiting grooves (20) are fixedly connected to both the front and rear sides of the triangular plate (15).
3. The humanoid robot torque push rod structure according to claim 1, characterized in that: The inclined surfaces of the two triangular plates (15) close to each other are both provided with second sliding grooves (19) matching the rollers (16).
4. The humanoid robot torque push rod structure according to claim 1, characterized in that: The upright pole (3) is a rectangular column.
5. The humanoid robot torque push rod structure according to claim 1, characterized in that: A rubber pad (5) is fixedly connected to the top surface of the top plate (4).