A humanoid robot having a stabilizing mechanism

Abstract

This utility model relates to the field of robotics technology and discloses a humanoid robot with a stabilizing mechanism. The humanoid robot with a stabilizing mechanism includes a rectangular torso, on which a movable mechanism is provided. The movable mechanism includes an asynchronous motor, which is fixedly mounted at the top of the rectangular torso. A mechanical head is fixedly mounted at the output end of the asynchronous motor, and an electronic eye is fixedly mounted at the top of the mechanical head. To achieve the robot's mobility and ensure its standing stability, this humanoid robot with a stabilizing mechanism incorporates a motor and hinge block assembly, a hinged installation of mechanical legs and a U-shaped block, a fixed connection between the mechanical legs and a support plate, and a motor driving the hinge block to rotate, thereby causing the mechanical legs to swing. This enables the robot to walk. Simultaneously, the support plate increases the contact area with the ground, and combined with the support of the mechanical legs, achieves stable movement and prevents the robot from tipping over.

Description

Technical Field

[0001] This utility model relates to the field of robotics technology, specifically to a humanoid robot with a stable mechanism. Background Technology

[0002] With the rapid development of technologies such as artificial intelligence and mechanical engineering, humanoid robots are being used more and more widely in fields such as industrial production, medical services, family companionship, and disaster relief. In industrial production, humanoid robots can simulate humans to complete tasks such as precision assembly and handling. In the medical field, they can assist medical staff in patient care and drug delivery. In disaster relief scenarios, they can go deep into dangerous areas to perform search and exploration tasks.

[0003] Existing humanoid robots cannot effectively control the friction between their mechanical legs and the ground when walking on slopes, making them prone to slipping and greatly affecting their stability during movement.

[0004] In view of this, we propose a humanoid robot with a stable mechanism. Utility Model Content

[0005] The purpose of this invention is to provide a humanoid robot with a stable mechanism to solve the problems mentioned in the background art.

[0006] To achieve the above objectives, this utility model provides the following technical solution: A humanoid robot with a stabilizing mechanism includes a rectangular torso, on which a movable mechanism is provided, the movable mechanism comprising: An asynchronous motor is fixedly installed at the top of the rectangular body, a mechanical head is fixedly installed at the output end of the asynchronous motor, and an electronic eye is fixedly installed at the top of the mechanical head; The robotic arm has a rectangular torso sidewall hinged to one end, and a hand guard rotatably mounted on the other end. The rectangular torso has a U-shaped block fixedly installed at the bottom, and a mechanical leg is hinged to the bottom end of the U-shaped block. A support plate is fixedly installed at the bottom end of the mechanical leg.

[0007] In a further embodiment, the robotic arm is provided in two sets, with each set consisting of a first hinge block hinged to a first motor.

[0008] In a further embodiment, the mechanical leg is provided in two sets, with each set consisting of a second hinge block hinged to a second motor.

[0009] In a further embodiment, the hand guard is equipped with an auxiliary mechanism. A rectangular plate is fixedly installed on the inner wall of the hand guard, a protrusion is fixedly installed on the outer wall of the rectangular plate, a sliding rod is fixedly installed inside the protrusion, the outer wall of the sliding rod is slidably installed on one end of a curved plate, a clamping plate is fixedly installed on the other end of the curved plate, an asynchronous motor is fixedly installed on the outer wall of the rectangular plate, the output end of the asynchronous motor is fixedly installed on one end of a threaded rod, the outer wall of the threaded rod is rotatably installed inside the rectangular plate through a bearing, a limit block is fixedly installed on the other end of the threaded rod, and a movable block is threadedly fitted onto the arc-shaped outer wall of the threaded rod. The movable block is hinged inside the curved plate through a connecting plate.

[0010] In a further embodiment, the slide bar is provided in two sets, making the movement more stable.

[0011] In a further embodiment, the diameter of the threaded rod cross-section is equal to the diameter of the threaded hole inside the movable block.

[0012] In a further embodiment, the connecting plate is provided in two sets.

[0013] Compared with the prior art, this utility model provides a humanoid robot with a stable mechanism, which has the following beneficial effects: 1. This humanoid robot with a stabilizing mechanism, in order to realize the robot's movement function and ensure its standing stability, is equipped with a motor and hinge block assembly, which, together with the hinged installation of the mechanical legs and U-shaped blocks, the fixed connection between the mechanical legs and the support plate, and the motor drives the hinge block to rotate, thereby causing the mechanical legs to swing, so that the robot can walk and move; at the same time, the support plate increases the contact area with the ground, which, together with the support of the mechanical legs, achieves the purpose of stable robot movement and is not easy to tip over.

[0014] 2. This humanoid robot with a stabilizing mechanism enhances the stability and adaptability of its hand in grasping objects by incorporating an auxiliary mechanism. This mechanism works in conjunction with an asynchronous motor driving a threaded rod to rotate, the threaded rod engaging with a movable block, the movable block driving a curved plate to slide along a sliding rod via a connecting plate, and the fixed connection between the curved plate and the clamping plate. This allows the clamping plate to adapt to the shape and size of the object and securely grasp it, thereby improving the robot's efficiency in completing grasping tasks. Attached Figure Description

[0015] Figure 1 This is a schematic diagram of the overall structure of this utility model; Figure 2 This is a schematic diagram of the overall structure of the present invention from another perspective; Figure 3 This is a cross-sectional view of part of the structure of this utility model; Figure 4 This utility model Figure 3 Enlarged structural diagram of region A in the middle; Figure 5 This is a partial structural schematic diagram of the rectangular plate of this utility model.

[0016] Explanation of icon numbers: 1. Rectangular torso; 2. Motion mechanism; 21. Asynchronous motor; 22. Mechanical head; 23. Electronic eye; 24. Mechanical arm; 25. Hand guard; 26. U-shaped block; 27. Mechanical leg; 28. Support plate; 3. Auxiliary mechanism; 31. Rectangular plate; 32. Protrusion; 33. Slide rod; 34. Bend plate; 35. Clamping plate; 36. Asynchronous motor; 37. Threaded rod; 38. Limiting block; 39. Movable block; 310. Connecting plate. Detailed Implementation

[0017] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0018] In this application, the term "above" indicates the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. It is primarily used to better describe this application and its embodiments, and is not intended to limit the indicated device, element, or component to having a specific orientation, or to construct and operate in a specific orientation. Furthermore, the term "above" may also be used in certain circumstances to indicate a dependency or connection relationship. Those skilled in the art can understand the specific meaning of these terms in this application according to the specific circumstances.

[0019] Please see Figures 1-5 This utility model provides a technical solution: A humanoid robot with a stable mechanism includes a rectangular torso 1.

[0020] In one embodiment of this utility model, a movable mechanism 2 is provided on a rectangular torso 1. The movable mechanism 2 includes an asynchronous motor 21. The asynchronous motor 21 is fixedly installed at the top of the rectangular torso 1. A mechanical head 22 is fixedly installed at the output end of the asynchronous motor 21. An electronic eye 23 is fixedly installed at the top of the mechanical head 22. The side wall of the rectangular torso 1 is hinged to one end of a robotic arm 24. The robotic arm 24 is provided in two sets. Each set of robotic arms 24 is composed of a first hinge block and a first motor hinged together. A hand guard 25 is rotatably installed at the other end of the robotic arm 24. A U-shaped block 26 is fixedly installed at the bottom of the rectangular torso 1. A robotic leg 27 is hinged to the bottom end of the U-shaped block 26. There are two sets of robotic legs 27. Each set of robotic legs 27 is composed of a second hinge block and a second motor hinged together. A support plate 28 is fixedly installed at the bottom end of the robotic leg 27.

[0021] In this embodiment, when the robot needs to move, the control system sends a start command to the second motor, which then starts running. The torque output by the second motor is transmitted to the second hinge block. Since the second hinge block is fixedly connected to the mechanical leg 27, and the mechanical leg 27 is hinged to the bottom of the U-shaped block 26, under the action of torque, the second hinge block drives the mechanical leg 27 to swing around the hinge point with the U-shaped block 26 in a circular motion. During the specific movement, the two sets of mechanical legs 27 swing alternately. Taking forward movement as an example, the second motor of one set of mechanical legs 27 starts, driving the mechanical leg 27 to swing forward. At this time, the support plate 28 at the bottom of the mechanical leg 27 contacts the ground. With the continuous operation of the motor, the mechanical leg 27 pushes the rectangular body 1 forward a certain distance. Meanwhile, the second motor of the other set of mechanical legs 27 starts to move, driving it to swing backward in preparation for the next forward step. Through the alternating swinging of the two sets of mechanical legs 27, the robot can walk continuously. During the robot's movement, the support plate 28 plays a key stabilizing role. The support plate 28 increases the contact area between the mechanical legs 27 and the ground, increasing the friction between the robot and the ground, thereby improving the stability of the robot's movement. Furthermore, during the swinging of the mechanical legs 27, the two sets of mechanical legs 27 and the support plate 28 form a stable support structure. In coordination with the swinging rhythm of the mechanical legs 27, the robot's center of gravity is always kept within a stable range, preventing the robot from tipping over and ensuring the robot's stability during movement.

[0022] In one embodiment of this utility model, an auxiliary mechanism 3 is provided on the hand guard 25. A rectangular plate 31 is fixedly installed on the inner wall of the hand guard 25, and a protrusion 32 is fixedly installed on the outer wall of the rectangular plate 31. A slide rod 33 is fixedly installed inside the protrusion 32. Two sets of slide rods 33 are provided to make the movement of the component more stable. The outer wall of the slide rod 33 is slidably installed on one end of the curved plate 34. A clamping plate 35 is fixedly installed on the other end of the curved plate 34. An asynchronous motor 36 is fixedly installed on the outer wall of the rectangular plate 31. The output end of the asynchronous motor 36 is fixedly installed on one end of the threaded rod 37. The outer wall of the threaded rod 37 is rotatably installed inside the rectangular plate 31 through a bearing. A limit block 38 is fixedly installed on the other end of the threaded rod 37. A movable block 39 is threadedly fitted on the arc-shaped outer wall of the threaded rod 37. The diameter of the cross section of the threaded rod 37 is equal to the diameter of the cross section of the threaded hole inside the movable block 39. The movable block 39 is hinged inside the curved plate 34 through a connecting plate 310. Two sets of connecting plates 310 are provided.

[0023] In this embodiment, when the robot detects an object to be grasped, the control system sends a start signal to the asynchronous motor 36. The asynchronous motor 36 is powered on and begins to work. The output shaft of the asynchronous motor 36 drives the threaded rod 37 to rotate. Since the threaded rod 37 is rotatably mounted inside the rectangular plate 31 through bearing components, and a limit block 38 is fixedly mounted on the other end of the threaded rod 37, the limit block 38 prevents the movable block 39 from disengaging from the threaded rod 37, allowing the threaded rod 37 to rotate stably within the rectangular plate 31. When the threaded rod 37 rotates, because its arc-shaped outer wall cooperates with the threaded hole inside the movable block 39, the movable block 39 will move along the axial direction of the threaded rod 37. The movement of the movable block 39 is transmitted to the bent plate 34 through two sets of connecting plates 310. Since one end of the bent plate 34 is slidably mounted on the slide rod 33, and the slide rod 33 is provided in two sets, it facilitates the movement of the bent plate 34. It provides stable guidance, allowing the curved plate 34 to slide smoothly along the slide bar 33. As the curved plate 34 slides, the clamping plate 35, which is fixedly connected to the other end of the curved plate 34, also moves accordingly. According to the shape and size of the object, the control system precisely controls the number of rotations and direction of the asynchronous motor 36, thereby controlling the moving distance and direction of the movable block 39. This allows the clamping plate 35 to adaptively adjust its position and angle, ultimately clamping the object stably. For example, when grasping a small object, the asynchronous motor 36 rotates forward, driving the threaded rod 37 to rotate, causing the movable block 39 to move closer to the object. Through the connecting plate 310, the curved plate 34 and the clamping plate 35 are pushed inward to clamp the object. When it is necessary to release the object, the asynchronous motor 36 rotates in reverse, driving the movable block 39 to move in the opposite direction. The clamping plate 35 then opens outward to release the object, thus efficiently completing the grasping task.

[0024] All electrical components mentioned in this application are electrically connected to the PLC controller and 220V AC mains power. The PLC controller is a conventional and known device capable of controlling the asynchronous motor 21 and the asynchronous motor 36. All standard parts used in this application can be purchased from the market. The specific connection methods of each part are all conventional methods such as riveting and welding, which are mature in the prior art. The standard parts are all conventional models in the prior art, and the circuit connection adopts conventional connection methods in the prior art. It should be noted that the above electrical components are all prior art products. Those skilled in the art should select, install, and complete the circuit debugging work according to the needs of use to ensure that all electrical components can work normally. The components are all general standard parts or components known to those skilled in the art. Their structure and principle can be learned by those skilled in the art through technical manuals or conventional experimental methods, and will not be described in detail here.

[0025] The present invention has been described in detail above. However, modifications or improvements can be made to it, which will be obvious to those skilled in the art. Therefore, any modifications or improvements that do not depart from the spirit of the present invention are within the protection scope of the present invention.

Claims

1. A humanoid robot with a stabilizing mechanism, comprising a rectangular torso (1), characterized in that: The rectangular torso (1) is provided with a movable mechanism (2), which includes: An asynchronous motor (21) is fixedly installed at the top of the rectangular body (1), and a mechanical head (22) is fixedly installed at the output end of the asynchronous motor (21). An electronic eye (23) is fixedly installed at the top of the mechanical head (22). The robotic arm (24) has a rectangular torso (1) hinged to one end of the robotic arm (24), and a hand guard (25) is rotatably mounted on the other end of the robotic arm (24). U-shaped block (26), the bottom of the rectangular body (1) is fixedly installed with U-shaped block (26), the bottom end of the U-shaped block (26) is hinged with mechanical leg (27), the bottom end of the mechanical leg (27) is fixedly installed with support plate (28).

2. The humanoid robot with a stabilizing mechanism according to claim 1, characterized in that: The robotic arm (24) is provided in two sets, and each set of the robotic arm (24) is composed of a first hinge block and a first motor hinged together.

3. A humanoid robot with a stabilizing mechanism according to claim 1, characterized in that: The mechanical leg (27) is provided in two sets, and each set of the mechanical leg (27) is composed of a second hinge block and a second motor hinged together.

4. A humanoid robot with a stabilizing mechanism according to claim 1, characterized in that: An auxiliary mechanism (3) is provided on the hand guard (25). A rectangular plate (31) is fixedly installed on the inner wall of the hand guard (25). A protrusion (32) is fixedly installed on the outer wall of the rectangular plate (31). A slide rod (33) is fixedly installed inside the protrusion (32). The outer wall of the slide rod (33) is slidably installed on one end of the curved plate (34). A clamping plate (35) is fixedly installed on the other end of the curved plate (34). An asynchronous motor (36) is fixedly installed on the outer wall of the rectangular plate (31). The output end of the asynchronous motor (36) is fixedly installed on one end of the threaded rod (37). The outer wall of the threaded rod (37) is rotatably installed inside the rectangular plate (31) through a bearing. A limit block (38) is fixedly installed on the other end of the threaded rod (37). A movable block (39) is threadedly fitted on the arc-shaped outer wall of the threaded rod (37). The movable block (39) is hinged inside the curved plate (34) through a connecting plate (310).

5. A humanoid robot with a stabilizing mechanism according to claim 4, characterized in that: The slide bar (33) is provided in two sets.

6. A humanoid robot with a stabilizing mechanism according to claim 5, characterized in that: The diameter of the threaded rod (37) is equal to the diameter of the threaded hole inside the movable block (39).

7. A humanoid robot with a stabilizing mechanism according to claim 5, characterized in that: The connecting plate (310) is provided in two sets.

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