Self-adaptive balance humanoid device

Abstract

The utility model discloses a self-adaptive balance human-shaped device, which belongs to the technical field of human-shaped devices, and comprises a device main body and a clamping arm rotationally connected with the device main body, and further comprises a telescopic rod which is fixedly arranged in the clamping arm, and the inner wall of the telescopic rod is connected with an inner sliding column in a sliding manner; a containing groove is formed in the inner sliding column. The telescopic rod drives the inner sliding column to slide so that the first suction cup can be attached to a product, meanwhile, the protective cover is driven to slide so that the second suction cup in the protective cover can be attached to the product, and when the product is carried to a designated position, the first suction cup keeps adsorbing the product; the inner sliding columns are retracted through the telescopic rods, so that the first suction cups extrude the connecting springs, the inner sliding columns can be retracted, meanwhile, the blocking rods slide out of the pressure relief holes to enable the first suction cups to be restored, product adsorption is relieved, carrying is completed, the products are adsorbed, friction force is increased, and product damage caused by sliding is prevented.

Description

TECHNICAL FIELD

[0001] The utility model relates to human type device technical field especially relates to a self -adaptation balance humanoid device. BACKGROUND

[0002] The self-adaptive balance humanoid device can move and operate freely in complex factory environments, adapt to uneven ground and variable work scenes, and complete high-difficulty tasks such as carrying heavy objects and assembling parts. For example, in an automobile manufacturing factory, it can stably carry large vehicle frames to ensure efficient production processes.

[0003] After searching, the patent with the patent number CN214030792U discloses a self-adaptive balance humanoid device, which comprises an industrial automatic carrying robot, the surface of the industrial automatic carrying robot is provided with two carrying clamps, the carrying clamp comprises an outer frame, the inner surface of the outer frame is provided with two clamping frames, a plurality of adjusting mechanisms are arranged in the clamping frames, the adjusting mechanism comprises a sealing cylinder, a piston is arranged in the sealing cylinder, and the left side of the piston is fixedly connected with the right side of the connecting plate through a sliding rod. The self-adaptive balance humanoid device in the above-mentioned patent has the following disadvantages: when the device carries products made of glass, the surface is relatively smooth, which is easy to slide during carrying and cause damage to the products. UTILITY MODEL CONTENT

[0004] The utility model aims at solving the problem that in the prior art, when carrying products made of glass, the surface is relatively smooth, which is easy to slide during carrying and cause damage to the products, and provides a self-adaptive balance humanoid device.

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

[0006] A self-adaptive balance humanoid device, comprising a device main body and a clamping arm rotatably connected with the device main body, further comprising a telescopic rod fixedly installed in the interior of the clamping arm, an inner sliding column slidably connected with the inner wall of the telescopic rod, an accommodating groove opened in the interior of the inner sliding column, and a limiting groove opened in the inner wall of the accommodating groove; a first suction cup slidably connected with the inner wall of the limiting groove; a protective cover fixedly installed on the outer wall of the inner sliding column, a sliding groove opened in the interior of the protective cover, and a second suction cup slidably connected with the inner wall of the sliding groove.

[0007] Further, the limiting groove is fixedly connected with a connecting spring in the interior, and the end of the connecting spring away from the inner wall of the limiting groove is fixedly connected with the outer wall of the first suction cup.

[0008] Further, the interior of the first suction cup is provided with a pressure relief hole, and the inner wall of the accommodating groove is fixedly connected with a plug rod corresponding to the pressure relief hole.

[0009] Further, the inner wall of the chute is fixedly connected with a plug, and the inner wall of the second suction disc is provided with a pressure relief groove corresponding to the plug.

[0010] Further, the outer wall of the clamping arm is fixedly connected with a gas storage block, the inner wall of the gas storage block is slidably connected with a piston, the outer wall of the piston is fixedly connected with a connecting rod, and one end of the connecting rod away from the piston is fixedly installed on the outer wall of the inner sliding column.

[0011] Further, the outer wall of the gas storage block is fixedly connected with a connecting ring, and the connecting ring is provided with a ventilation groove in the inside.

[0012] Further, a plurality of dust blowing ports are uniformly fixedly installed on the outer wall of the connecting ring.

[0013] Further, the outer wall of the connecting ring is fixedly connected with a fixing ring, and the fixing ring is slidably connected with the outer wall of the protective cover.

[0014] Compared with the prior art, the self-adaptive balance humanoid device has the following beneficial effects:

[0015] 1. The self-adaptive balance humanoid device drives the inner sliding column to slide through the telescopic rod, so that the first suction disc is attached to the product, and simultaneously drives the protective cover to slide, so that the second suction disc in the protective cover is attached to the product. When the product is carried to a designated position, the first suction disc remains adsorbed to the product, the telescopic rod retracts the inner sliding column to make the first suction disc extrude the connecting spring, so that the inner sliding column can be retracted, and the plug rod slides out of the pressure relief hole to restore the first suction disc, thereby releasing the adsorption to the product and completing the carrying. The product is adsorbed, the friction force is increased, and the product is prevented from being damaged due to sliding.

[0016] 2. The self-adaptive balance humanoid device drives the inner sliding column to slide through the telescopic rod, so that the connecting rod pushes the piston, the piston slides in the inner wall of the gas storage block, and then the gas in the gas storage block is discharged through the dust blowing port through the ventilation groove, so that the product surface dust is cleaned, and the adsorption effect is improved. BRIEF DESCRIPTION OF DRAWINGS

[0017] Figure 1 A three-dimensional front view structural schematic diagram of the self-adaptive balance humanoid device is provided for the utility model;

[0018] Figure 2 A structure schematic diagram of the clamping arm part in the self-adaptive balance humanoid device is provided for the utility model;

[0019] Figure 3 A structure schematic diagram of the telescopic rod part in the self-adaptive balance humanoid device is provided for the utility model;

[0020] Figure 4 A structure schematic view of a protective cover section in the self-adaptive balancing humanoid device is provided in the utility model.

[0021] Figure 5 A structure schematic view of a gas storage block section in the self-adaptive balancing humanoid device is provided in the utility model.

[0022] Figure 6 A structure schematic view of a protective cover section in the self-adaptive balancing humanoid device is provided in the utility model.

[0023] In the figure: 1, device main body; 2, clamping arm; 3, telescopic rod; 4, inner slide column; 5, containing groove; 6, limiting groove; 7, connecting spring; 8, first suction cup; 9, pressure relief hole; 10, plugging rod; 11, protective cover; 12, second suction cup; 13, sliding groove; 14, plugging block; 15, pressure relief groove; 16, connecting rod; 17, piston; 18, gas storage block; 19, connecting ring; 20, air passage; 21, dust blowing port; 22, fixing ring. DETAILED DESCRIPTION

[0024] The technical solutions in the embodiments of the utility model will be apparently and completely described below with reference to the drawings in the embodiments of the utility model, and obviously, the described embodiments are only part of the embodiments of the utility model, rather than all the embodiments.

[0025] In the description of the utility model, it needs to be understood that the terms "upper", "lower", "front", "rear", "left", "right", "top", "bottom", "inner", "outer" and the like indicate the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the utility model and simplifying the description, and therefore cannot be understood as limiting the utility model in that the indicated device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the utility model.

[0026] Reference Figures 1-6 A self-adaptive balancing humanoid device, comprising a device main body 1 and a clamping arm 2 rotationally connected with the device main body 1, further comprising a telescopic rod 3 fixedly installed inside the clamping arm 2, an inner slide column 4 slidingly connected with the inner wall of the telescopic rod 3, a containing groove 5 opened in the inner part of the inner slide column 4, a limiting groove 6 opened in the inner wall of the containing groove 5, a first suction cup 8 slidingly connected with the inner wall of the limiting groove 6, a protective cover 11 fixedly installed on the outer wall of the inner slide column 4, a sliding groove 13 opened in the inner part of the protective cover 11, a second suction cup 12 slidingly connected with the inner wall of the sliding groove 13, the first suction cup 8 is adhered to the product by driving the inner slide column 4 to slide through the telescopic rod 3, at the same time, the protective cover 11 is driven to slide, the second suction cup 12 in the inner part of the protective cover 11 is adhered to the product, so as to adsorb the product, increase the friction force and prevent the product from being damaged due to sliding.

[0027] The inside of the limiting groove 6 is fixedly connected with a connecting spring 7, one end of the connecting spring 7 away from the inner wall of the limiting groove 6 is fixedly connected with the outer wall of the first suction cup 8, when the product is carried to the designated position, the first suction cup 8 keeps adsorbing the product, the inner slide column 4 is retracted through the extension rod 3 to make the first suction cup 8 extrude the connecting spring 7, so that the inner slide column 4 can be retracted.

[0028] The inside of the first suction cup 8 is provided with a pressure relief hole 9, the inner wall of the containing groove 5 is fixedly connected with a plug rod 10 corresponding to the pressure relief hole 9, when the inner slide column 4 is retracted by a distance, the plug rod 10 slides out of the pressure relief hole 9 to restore the first suction cup 8, and the adsorption of the product is released to complete the carrying.

[0029] The inner wall of the sliding groove 13 is fixedly connected with a plug 14, the inner wall of the second suction cup 12 is provided with a pressure relief groove 15 corresponding to the plug 14, the inner slide column 4 is retracted through the extension rod 3 to drive the protective cover 11 to slide, at the same time, the plug 14 slides out of the pressure relief groove 15 to make the second suction cup 12 and the product release the adsorption state.

[0030] The outer wall of the clamping arm 2 is fixedly connected with a gas storage block 18, the inner wall of the gas storage block 18 is slidingly connected with a piston 17, the outer wall of the piston 17 is fixedly connected with a connecting rod 16, one end of the connecting rod 16 away from the piston 17 is fixedly installed on the outer wall of the inner slide column 4, the connecting rod 16 drives the piston 17 to slide in the gas storage block 18 by sliding the inner slide column 4 through the extension rod 3.

[0031] The outer wall of the gas storage block 18 is fixedly connected with a connecting ring 19, the inside of the connecting ring 19 is provided with a ventilation groove 20.

[0032] A plurality of dust blowing ports 21 are uniformly fixedly installed on the outer wall of the connecting ring 19, the gas in the gas storage block 18 is discharged through the dust blowing ports 21 through the ventilation groove 20 to clean the dust on the surface of the product, and the adsorption effect is improved.

[0033] The outer wall of the connecting ring 19 is fixedly connected with a fixed ring 22, the fixed ring 22 is slidingly connected with the outer wall of the protective cover 11, so as to avoid the dust blowing port 21 from being offset due to the resistance of the product during clamping, which affects the use.

[0034] The utility model discloses, through telescopic link 3 drive inner slide post 4 slide and make first sucking disc 8 with product adhesion, simultaneously drive the sliding of protective cover 11, make the second sucking disc 12 in the inside of protective cover 11 with product adhesion, when carrying product to the specified position, first sucking disc 8 keeps adsorbing with product, through telescopic link 3 retract inner slide post 4 make first sucking disc 8 extrude connecting spring 7, make inner slide post 4 can retract, simultaneously plug bar 10 slip out pressure relief hole 9 make first sucking disc 8 restore, remove the adsorption of product and complete carrying, to the adsorption of product, increase friction force and prevent the product damage caused by slide, and through telescopic link 3 drive inner slide post 4 slide make connecting rod 16 push piston 17, make piston 17 slide in the inner wall of gas storage block 18, then through the air groove 20 of gas storage block 18 inside gas is discharged through dust blowing port 21 to product surface dust carries out cleaning, improves adsorption effect.

[0035] The above is only the preferred embodiment of the utility model, but the protection scope of the utility model is not limited to this, any skilled person in the art in the technical range disclosed by the utility model, according to the technical scheme of the utility model and the utility model concept, carries out equivalent replacement or change, should be covered in the protection scope of the utility model.

Claims

1. An adaptive balancing humanoid device comprising a device body (1) and a clamping arm (2) rotatably connected to the device body (1), characterized in that, Also include: Telescopic rod (3), fixedly installed in the inside of the clamping arm (2), the inner wall of the telescopic rod (3) is slidably connected with inner slide column (4), the inside of the inner slide column (4) is provided with accommodating groove (5), the inner wall of the accommodating groove (5) is provided with limiting slot (6); First suction cup (8), slidably connected in the inner wall of the limiting slot (6); Protective cover (11), fixedly installed on the outer wall of the inner slide column (4), the inside of the protective cover (11) is provided with sliding groove (13), the inner wall of the sliding groove (13) is slidably connected with second suction cup (12).

2. The self-adapting balancing humanoid device according to claim 1, wherein, The inside of the limiting slot (6) is fixedly connected with connecting spring (7), one end of the connecting spring (7) away from the inner wall of the limiting slot (6) is fixedly connected with the outer wall of the first suction cup (8).

3. The self-adapting balancing humanoid device according to claim 1, wherein, The inside of the first suction cup (8) is provided with pressure relief hole (9), the inner wall of the accommodating groove (5) is fixedly connected with plug rod (10) corresponding to pressure relief hole (9).

4. The self-adapting balancing humanoid device according to claim 1, wherein, The inner wall of the sliding groove (13) is fixedly connected with plug block (14), the inner wall of the second suction cup (12) is provided with pressure relief groove (15) corresponding to plug block (14).

5. The self-adapting balancing humanoid device according to claim 1, wherein, The outer wall of the clamping arm (2) is fixedly connected with gas storage block (18), the inner wall of the gas storage block (18) is slidably connected with piston (17), the outer wall of the piston (17) is fixedly connected with connecting rod (16), one end of the connecting rod (16) away from the piston (17) is fixedly installed on the outer wall of the inner slide column (4).

6. The self-adapting balancing humanoid device according to claim 5, wherein, The outer wall of the gas storage block (18) is fixedly connected with connecting ring (19), the inside of the connecting ring (19) is provided with air passage (20).

7. The self-adapting counterbalance humanoid device according to claim 6, wherein, The outer wall of the connecting ring (19) is uniformly fixedly installed with a plurality of dust blowing ports (21).

8. The self-adapting balancing humanoid device according to claim 6, wherein, The outer wall of the connecting ring (19) is fixedly connected with fixed ring (22), the fixed ring (22) is slidably connected with the outer wall of the protective cover (11).

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