Humanoid collaborative robot

Abstract

The utility model relates to the technical field of collaborative robots, and discloses a humanoid collaborative robot which comprises a robot body, and the left side and the right side of the robot body are fixedly connected with connecting rods. According to the human-like collaborative robot, when the robot grabs, connecting arms on the two sides of a robot body rotate and lift up at the top of a connecting column to drive movable arms below the connecting arms, rotating pieces A and arm lifting hydraulic rods which can rotate and lift up are installed in the movable arms, the arms are close to the robot according to the position of an external object needing to be grabbed, and then the robot can grab the external object. Then, a grabbing clamp is installed below the movable arm, a clamping piece A and a clamping piece B are converted to an angle facilitating grabbing by rotating a grabbing piece, then a clamping hydraulic rod at the bottom of the inner side of the clamping piece A contracts to drive the clamping piece B to contract inwards, external objects are grabbed, the effect of facilitating grabbing is achieved, and the situation that due to the fact that no good arm grabbing activity exists, the clamping piece A and the clamping piece B are damaged is avoided. Therefore, some things cannot be helped to be taken, and the utilization rate in the collaboration aspect is reduced.

Description

Technical Field

[0001] This utility model relates to the field of collaborative robot technology, and in particular to a humanoid collaborative robot. Background Technology

[0002] Humanoid collaborative robots are robots with human-like form and function, capable of working collaboratively with and interacting with humans. These robots not only mimic human appearance but also possess a degree of intelligence, enabling them to understand and perform complex tasks to a certain extent. In daily life, when people are alone and need help and collaboration but cannot obtain it, collaborative robots are essential.

[0003] Existing collaborative robots rarely play a role in actual collaborative assistance. Most collaborative robot arm movements are relatively simple and limited, making them unable to effectively grasp objects. Therefore, it is necessary to install more portable grasping devices to help people grab things and increase the convenience of their lives. In addition, existing collaborative robots are relatively slow in movement and lack flexibility in their movement trajectory, making it difficult to change direction in time. Therefore, it is necessary to install devices that are more convenient and flexible in movement to increase the robot's flexibility and speed. Utility Model Content

[0004] (a) Technical problems to be solved

[0005] The purpose of this invention is to provide a humanoid collaborative robot to solve the problems mentioned in the background art, such as the fact that existing collaborative robots rarely play a role in actual collaborative assistance, and that most collaborative robot arm movements are relatively simple and limited, making them unable to effectively assist in grasping. Therefore, it is necessary to install more portable grasping devices to facilitate the grabbing of objects and increase the convenience of people's lives. In addition, existing collaborative robots are relatively slow in movement and lack flexibility in their movement trajectory, making it difficult to change direction in a timely manner. Therefore, it is necessary to install devices that allow for more convenient and flexible movement, thereby increasing the robot's flexibility and speed.

[0006] (II) Technical Solution

[0007] To achieve the above objectives, this utility model provides the following technical solution: A humanoid collaborative robot includes a robot body 1. Connecting rods are fixedly connected to the left and right sides of the robot body 1. A gripping mechanism is rotatably connected to the outer top of the connecting rods. A bottom cover is installed at the bottom of the robot body. A cavity is formed inside the bottom cover. A column is fixedly connected to the top of the cavity. A sliding mechanism is fixedly connected to the bottom of the column. The gripping mechanism includes a connecting arm rotatably connected to the outer top of the connecting rods. A movable arm is rotatably connected to the bottom of the connecting arm. A gripper is rotatably connected to the bottom of the movable arm. The sliding mechanism includes a rotating component fixedly connected to the bottom of the column. A connecting rod is fixedly connected to the bottom of the rotating component. A cavity is formed inside the connecting rod. A dual-drive motor is installed inside the cavity. Pullers are fixedly connected to both sides of the dual-drive motor.

[0008] As a further embodiment of this utility model, a rotating component A is rotatably connected to the top of the movable arm, and a rotary motor is installed on the top of the rotating component A. The rotary motor is used to control the rotation angle.

[0009] As a further embodiment of this utility model, a fixing member is fixedly connected to the left side of the rotating component A, and a lifting arm hydraulic rod is rotatably connected inside the fixing member. The lifting arm hydraulic rod is designed to lift and lower the component, thereby increasing the mobility.

[0010] As a further embodiment of this utility model, the bottom of the lifting arm hydraulic rod is rotatably connected to a rotating shaft, and the two sides of the rotating shaft are fixedly connected to the inner sides of the movable arm. The rotating shaft facilitates angle adjustment.

[0011] As a further embodiment of this utility model, a rotating gripper is rotatably connected to the top of the gripper, a gripping motor is installed on the rotating gripper, a connecting plate is rotatably connected to the bottom of the rotating gripper, a clamping piece A is fixedly connected to the bottom left side of the connecting plate, a clamping hydraulic rod is fixedly connected to the bottom inner side of the clamping piece A, and a clamping piece B is fixedly connected to the end of the clamping hydraulic rod. By setting the clamping hydraulic rod, the length can be adjusted to achieve the function of clamping objects.

[0012] As a further embodiment of this utility model, a rotating sliding component is fixedly connected to the bottom of the rotating assembly, and a sliding motor is installed at the bottom of the rotating sliding component. The sliding motor is externally installed inside the top of the column. By setting the rotating sliding component, it can rotate and change the angle of sliding.

[0013] As a further embodiment of this utility model, brackets are fixedly connected to both the upper and lower ends of the column, and a camera is rotatably connected to the top of the robot body. The brackets serve to support the robot body.

[0014] (III) Beneficial Effects

[0015] This utility model provides a humanoid collaborative robot with the following advantages:

[0016] 1. This type of humanoid collaborative robot, through the setting of the grasping mechanism, when the robot grasps, the connecting arms on both sides of the robot body rotate and lift at the top of the connecting column, driving the movable arm below the connecting arm. The movable arm is equipped with a rotating component A and a lifting hydraulic rod that can rotate and lift. The arm moves closer to the position of the external object to be grasped. Then, the gripper installed below the movable arm rotates the gripping component to change the gripping plate A and gripping plate B to a convenient gripping angle. Afterwards, the gripping hydraulic rod at the bottom of the inner side of gripping plate A retracts, causing gripping plate B to retract inward, thus grasping the external object. This achieves the function of convenient grasping and avoids the inability to help pick up things due to the lack of good arm grasping movement, which would reduce the utilization rate of collaboration.

[0017] 2. This type of humanoid collaborative robot, through its sliding mechanism, first scans its surroundings using a camera on top of its body to locate the desired destination and objects to grasp. Then, wheels inside the base are driven forward by two centrally mounted dual-drive motors. Connecting rods are mounted on the outside of these motors. A rotating component at the top of the connecting rod allows for directional movement. This rotating component houses rotating sliding parts and a sliding motor, enabling the wheels to change angles and directions, thus preventing slow, untimely, and inflexible movement. Attached Figure Description

[0018] Figure 1 This is a schematic diagram of the overall structure of this utility model;

[0019] Figure 2 This is a schematic diagram of the gripping mechanism of this utility model;

[0020] Figure 3 This is a schematic diagram of the sliding mechanism structure of this utility model;

[0021] Figure 4 This is a schematic diagram of the robotic arm structure of this utility model.

[0022] In the diagram: 1. Machine body; 2. Connecting rod; 3. Gripping mechanism; 301. Connecting arm; 302. Movable arm; 303. Gripper; 4. Base cover; 5. Column; 6. Sliding mechanism; 601. Connecting rod; 602. Dual drive motor; 603. Pulley; 604. Rotating assembly; 7. Rotating component A; 8. Rotary motor; 9. Fixing component; 10. Lifting arm hydraulic rod; 11. Rotating shaft; 12. Rotating gripper; 13. Gripping motor; 14. Clamping plate A; 15. Clamping hydraulic rod; 16. Clamping plate B; 17. Rotating sliding component; 18. Sliding motor; 19. Bracket; 20. Camera. Detailed Implementation

[0023] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. All other embodiments obtained by those skilled in the art based on the embodiments of the present utility model without creative effort are within the scope of protection of the present utility model.

[0024] Please see Figures 1 to 4 This utility model provides a technical solution: a humanoid collaborative robot, including a robot body 1, with connecting rods 2 fixedly connected to the left and right sides of the robot body 1, and a gripping mechanism 3 rotatably connected to the outer top of the connecting rods 2, a bottom cover 4 installed at the bottom of the robot body 1, a cavity opened inside the bottom cover 4, a column 5 fixedly connected to the top of the cavity, and a sliding mechanism fixedly connected to the bottom of the column 5, the gripping mechanism 3 including a connecting arm 301 rotatably connected to the outer top of the connecting rods 2, a movable arm 302 rotatably connected to the bottom of the connecting arm 301, and a gripper rotatably connected to the bottom of the movable arm 302, the sliding mechanism 6 including a rotating component 604 fixedly connected to the bottom of the column 5, a connecting rod 601 fixedly connected to the bottom of the rotating component 604, a cavity opened inside the connecting rod 601, a dual drive motor 602 installed inside the cavity, and pulleys fixedly connected to the left and right sides of the dual drive motor 602;

[0025] Please see Figure 4 The top of the movable arm 302 is rotatably connected to a rotating component A7, and a rotary motor 8 is installed on the top of the rotating component A7. The rotary motor 8 is used to control the rotation angle.

[0026] Please see Figure 4 A fixing member 9 is fixedly connected to the left side of the rotating part A7. The lifting arm hydraulic rod 10 is rotatably connected inside the fixing member 9. The lifting arm hydraulic rod 10 is used to lift and lower the arm, thereby increasing the mobility.

[0027] Please see Figure 4The bottom of the lifting arm hydraulic rod 10 is rotatably connected to a rotating shaft 11. The two sides of the rotating shaft 11 are fixedly connected to the inside sides of the movable arm 302. The rotating shaft 11 facilitates the adjustment of the angle.

[0028] Please see Figure 4 The top of the gripper 303 is rotatably connected to a rotating gripper 12, and a gripping motor 13 is installed on the rotating gripper 12. The bottom of the rotating gripper 12 is rotatably connected to a connecting plate, and a clamping piece A14 is fixedly connected to the bottom left side of the connecting plate. A clamping hydraulic rod 15 is fixedly connected to the bottom inner side of the clamping piece A14, and a clamping piece B16 is fixedly connected to the end of the clamping hydraulic rod 15. The clamping hydraulic rod 15 is designed to extend and adjust its length to clamp objects.

[0029] Please see Figure 3 The bottom of the rotating component 604 is fixedly connected to a rotating sliding component 17, and a sliding motor 18 is installed at the bottom of the rotating sliding component 17. The sliding motor 18 is externally installed inside the top of the column 5. The rotating sliding component 17 enables the component to rotate and change angles while sliding.

[0030] Please see Figure 1 The upper and lower ends of the column 5 are fixedly connected to the brackets 19, and the top of the robot body 1 is rotatably connected to the camera 20. The brackets 19 serve to support the robot body.

[0031] In this invention, the working steps of the device are as follows:

[0032] First step: The connecting arms 301 on both sides of the machine body 1 rotate and lift at the top of the connecting column 2, driving the movable arm 302 below the connecting arm 301. The movable arm 302 is equipped with a rotating component A7 and a lifting hydraulic rod 10 that can rotate and lift. The arm moves closer to the position of the external object to be grabbed. Then, the gripper 303 installed below the movable arm 302 rotates the gripping component 12 to change the gripping plate A14 and gripping plate B16 to a convenient gripping angle. After that, the gripping hydraulic rod 15 at the bottom of the inner side of the gripping plate A14 retracts, causing the gripping plate B16 to retract inward, grabbing the external object.

[0033] The second step: First, the camera 20 on the top of the machine body 1 scans the surrounding objects to lock the place to go and the external objects to be grabbed. Then, the pulley 603 in the bottom cover 4 is driven forward by two dual drive motors 602 installed in the middle. Since the dual drive motors 602 are connected by a connecting rod 601, and the top of the connecting rod 601 is equipped with a rotating component 604 that can rotate in different directions, and the rotating component 604 is equipped with a rotating sliding component 17 and a sliding motor 18, the pulley 603 can change the angle of travel.

[0034] It should be noted that the device structure and accompanying drawings of this utility model mainly describe the principle of this utility model. In terms of the technical aspects of this design principle, the setting of the power mechanism, power supply system and control system of the device is not fully described. However, under the premise that those skilled in the art understand the principle of the above utility model, the specific details of its power mechanism, power supply system and control system can be clearly understood. The control method in the application document is automatic control through a controller. The control circuit of the controller can be implemented by those skilled in the art through simple programming.

[0035] All standard parts used can be purchased from the market, and can be customized according to the instructions and drawings. The specific connection methods of each part adopt conventional methods such as bolts, rivets, and welding that are mature in the existing technology. The machinery, parts and equipment adopt conventional models in the existing technology, and the structure and principle of the components known to those skilled in the art can be known by those skilled in the art through technical manuals or conventional experimental methods.

[0036] Although embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the present invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A humanoid collaborative robot, comprising a robot body (1), characterized in that: Connecting rods (2) are fixedly connected to the left and right sides of the machine body (1). A gripping mechanism (3) is rotatably connected to the outer top of the connecting rods (2). A bottom cover (4) is installed at the bottom of the machine body (1). A cavity is opened inside the bottom cover (4). A column (5) is fixedly connected to the top of the cavity. A sliding mechanism (6) is fixedly connected to the bottom of the column (5). The gripping mechanism (3) includes a connecting arm (301) rotatably connected to the outer end of the connecting rod (2), a movable arm (302) rotatably connected to the bottom of the connecting arm (301), and a gripper (303) rotatably connected to the bottom of the movable arm (302). The sliding mechanism (6) includes a rotating component (604) fixedly connected to the bottom of the column (5). A connecting rod (601) is fixedly connected to the bottom of the rotating component (604). A cavity is opened inside the connecting rod (601). A dual drive motor (602) is installed inside the cavity. Pulleys (603) are fixedly connected to both the left and right sides of the dual drive motor (602).

2. The humanoid collaborative robot according to claim 1, characterized in that: The top end of the movable arm (302) is rotatably connected to a rotating component A (7), and a rotary motor (8) is mounted on the top of the rotating component A (7).

3. The humanoid collaborative robot according to claim 2, characterized in that: A fixing member (9) is fixedly connected to the left side of the rotating part A (7), and a lifting arm hydraulic rod (10) is rotatably connected inside the fixing member (9).

4. A humanoid collaborative robot according to claim 3, characterized in that: The bottom of the lifting arm hydraulic rod (10) is rotatably connected to a rotating shaft (11), and the two sides of the rotating shaft (11) are fixedly connected to the inside sides of the movable arm (302).

5. A humanoid collaborative robot according to claim 1, characterized in that: The top of the gripper (303) is rotatably connected to a rotating gripper (12), the rotating gripper (12) is equipped with a gripping motor (13), the bottom of the rotating gripper (12) is rotatably connected to a connecting plate, the bottom left side of the connecting plate is fixedly connected to a clamping piece A (14), the bottom inner side of the clamping piece A (14) is fixedly connected to a clamping hydraulic rod (15), and the end of the clamping hydraulic rod (15) is fixedly connected to a clamping piece B (16).

6. A humanoid collaborative robot according to claim 1, characterized in that: The bottom of the rotating assembly (604) is fixedly connected to a rotating sliding component (17), and a sliding motor (18) is installed at the bottom of the rotating sliding component (17). The sliding motor (18) is externally installed inside the top of the column (5).

7. A humanoid collaborative robot according to claim 1, characterized in that: The upper and lower ends of the column (5) are fixedly connected to brackets (19), and the top of the machine body (1) is rotatably connected to a camera (20).

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