Humanoid robot support stand

Abstract

This utility model relates to the field of robot support technology, specifically a humanoid robot support frame, comprising a base, a lifting device, and a fixing component. The lifting device is mounted on the base and is used to adjust and limit the vertical height of the fixing component. The bottom of the base is provided with several casters. The fixing component includes a lifting block and a limiting member. The lifting block is mounted on the output end of the lifting device. The limiting member is detachably connected to the lifting block and includes a pad, a first limiting block, and a second limiting block. The pad has a horizontal support surface. The first limiting block and the second limiting block are respectively provided at the front and rear ends of the pad. The horizontal support surface is used to fit against the bottom of the humanoid robot's crotch area, solving the problems of cumbersome operation and difficult transportation of current humanoid robot fixing methods.

Description

Technical Field

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

[0002] A humanoid robot is a robot that mimics the appearance and behavior of a human. It has multiple joints, such as the neck, shoulders, elbows, waist, hips, knees, ankles, and wrists. These joints provide multiple degrees of freedom, enabling it to perform movements similar to those of a human.

[0003] When placing idle robots or using them for exhibitions, humanoid robots need to be fixed in place. Currently, the feet of the humanoid robot are usually fixed to the position to be placed or exhibited, corresponding to the holes. This requires multiple adjustments to the position of the robot, which is cumbersome. Alternatively, ropes can be used to directly connect the head or shoulders of the robot to achieve the purpose of fixation. However, this fixation method has a certain impact on the internal structure of the robot. At the same time, when transporting humanoid robots, due to their own weight, manual handling is difficult, and it is not possible to achieve a convenient conversion between moving and fixing on the ground. Utility Model Content

[0004] To address the aforementioned shortcomings, the purpose of this utility model is to propose a humanoid robot support frame that solves the problems of cumbersome fixed operation and difficult transportation of current humanoid robots. It is particularly suitable for humanoid robots with no solid horizontal surface in the crotch area or with a horizontally set arc surface, or humanoid robots with a narrow crotch area.

[0005] To achieve this objective, the present invention adopts the following technical solution:

[0006] Humanoid robot support frame, including base, lifter and fixing components;

[0007] The lifting device is mounted on the base and is used to adjust and limit the vertical height of the fixing component; the bottom of the base is provided with several casters.

[0008] The fixing component includes a lifting block and a limiting member. The lifting block is installed at the output end of the elevator. The limiting member is detachably connected to the lifting block. The limiting member includes a pad, a first limiting block, and a second limiting block. The pad has a horizontal support surface. The first limiting block and the second limiting block are respectively provided at the front and rear ends of the pad. The horizontal support surface is used to fit against the bottom of the crotch of the humanoid robot.

[0009] Preferably, the first limiting block is provided with a plurality of fixing holes, the axis of the fixing holes is located in the horizontal plane and the axis of the fixing holes extends in the left and right direction, and the fixing holes are used to fix the crotch of the humanoid robot.

[0010] Preferably, the lifting block includes a fixing member, an inclined beam, and a support plate. The fixing member is installed at the output end of the lifting device, and the support plate is horizontally installed on the lower outer side of the fixing member. The support plate and the fixing member are distributed in a "Z" shape, and the top of the support plate is connected to the outer side of the fixing member through the inclined beam.

[0011] Furthermore, the support plate is provided with a first positioning hole, and the limiting member is provided with a corresponding second positioning hole. The limiting member is detachably installed on the support plate by using screws through the second positioning hole and the first positioning hole.

[0012] Preferably, the base is in the shape of "[", the vertical projection of the fixing component is located inside the opening of the base, and the number of the movable wheels is four, with the movable wheels respectively located at the four bottom corners of the base.

[0013] Preferably, the lifting device includes a fixed rod, a lifting rod, and a crank handle. The crank handle is located at the lower part of the fixed rod, and the lower part of the fixed rod is provided with a rotatable rotating shaft. The crank handle is fixedly connected to the rotating shaft, and the rotating shaft is connected to a lead screw inside the lifting device via a bevel gear transmission. The lead screw is provided with a threaded nut, and the nut is fixedly connected to the lifting rod. The lifting rod is slidably disposed inside the fixed rod.

[0014] Preferably, it also includes a push rod, which is fixed to the top of the lifting device. The push rod is in the shape of "[" and the inner angle A of the push rod is 105°-115°. The push rod is inclined towards the fixing component and the inclination angle B of the push rod is 5°-10°.

[0015] Furthermore, the grip portion of the push rod is wrapped with a sponge tube.

[0016] Preferably, the system further includes a lifting device fixing seat, which includes a connecting seat and a support column. The support column is hollow inside to accommodate the lifting device. The connecting seat is fixed to the top of the support column and is fixed to the lifting device by bolts. The support column is fixedly connected to the base.

[0017] The technical solution provided by this utility model can include the following beneficial effects:

[0018] A limiting component is incorporated, which fits snugly against the crotch area of ​​the humanoid robot, restricting its movement in the forward and backward directions. This allows for quick positioning of the robot onto the support frame, significantly reducing the difficulty of positioning compared to vertical holes used for fixed connections. Further fixation is achieved via horizontally positioned fixing holes, further simplifying the robot's attachment. Simultaneously, the included lifting mechanism and casters reduce the difficulty of moving the robot, enabling convenient transitions between movement and ground-based fixation. Attached Figure Description

[0019] Figure 1 This is a structural schematic diagram of one embodiment of the present invention.

[0020] Figure 2 This is a structural schematic diagram of the lifting block and limiting member according to one embodiment of the present invention.

[0021] Figure 3 This is a structural schematic diagram of one embodiment of the present invention.

[0022] Figure 4 yes Figure 3 Cross-sectional view of CC.

[0023] The components include: base 1, lifting device 2, lifting block 3, limiting component 4, moving wheel 5, push rod 6, lifting device fixing seat 7, crank handle 21, fixing rod 22, lifting rod 23, lead screw 221, nut 222, fixing component 31, support plate 32, first positioning hole 321, inclined beam 33, first limiting block 41, pad 42, second positioning hole 421, second limiting block 43, fixing hole 411, connecting seat 71, and support column 72. Detailed Implementation

[0024] The embodiments of this utility model are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain this utility model, and should not be construed as limiting this utility model.

[0025] In the description of this utility model, it should be understood that the terms "longitudinal," "lateral," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," and "outer," etc., indicating the orientation or positional relationship, are based on the orientation or positional relationship shown in the accompanying drawings and are only for the convenience of describing this utility model and simplifying the description. They do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation on this utility model. Furthermore, features defined with "first" and "second" may explicitly or implicitly include one or more of these features, used to distinguish and describe features, without any order or emphasis.

[0026] In the description of this utility model, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "joining" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this utility model based on the specific circumstances.

[0027] A humanoid robot support frame, comprising a base 1, a lifter 2, and a fixing assembly;

[0028] The lifting device 2 is installed on the base 1, and the lifting device 2 is used to adjust and limit the height position of the fixing component in the vertical direction; the bottom of the base 1 is provided with several casters 5;

[0029] The fixing component includes a lifting block 3 and a limiting member 4. The lifting block 3 is installed at the output end of the elevator 2. The limiting member 4 is detachably connected to the lifting block 3. The limiting member 4 includes a pad 42, a first limiting block 41 and a second limiting block 43. The pad 42 is provided with a horizontal support surface. The first limiting block 41 and the second limiting block 43 are respectively provided at the front and rear ends of the pad 42. The horizontal support surface is used to fit against the bottom of the crotch of the humanoid robot.

[0030] To address the problems of cumbersome operation and difficulty in transferring humanoid robots in existing technologies, this technical solution proposes a humanoid robot, such as... Figure 2As shown, the limiting member 4 includes a pad 42, a first limiting block 41, and a second limiting block 43. The limiting member 4 fits against the crotch of the humanoid robot. The pad 42 has a horizontal support surface. The first limiting block 41 and the second limiting block 43 are respectively raised upward at the front and rear ends of the pad 42, that is, the pad 42 provides upward support force. Together with the first limiting block 41 and the second limiting block 43 located at both ends, the pad 42 limits the humanoid robot in the front and rear direction. Compared with the prior art, which requires multiple adjustments to the position of the humanoid robot until the required installation hole is aligned, especially for humanoid robots with no solid horizontal surface in the crotch, no horizontally set arc surface, or a narrow crotch, the crotch lacks a flat contact surface. If ordinary fasteners such as screws, positioning pins, and rivets are used for fixing, the pressure cannot be evenly distributed, and the fastening effect is not ideal. For those with a small contact surface, multiple adjustments are required, which is not conducive to the operator's fixing operation. The limiting component 4 in this technical solution can directly fit into the crotch of the humanoid robot, achieving rapid positioning and then fixation, and is easy to operate.

[0031] When it is necessary to position the humanoid robot on the limiting member 4, the lifting device 2 is adjusted, thereby adjusting the height of the fixing component until its height is lower than the crotch of the humanoid robot. Then, the humanoid robot support frame is moved by several moving wheels 5 set at the bottom of the base 1. The position of the humanoid robot support frame and the height of the fixing component can be quickly adjusted so that the limiting member 4 can quickly fit with the crotch of the humanoid robot, realizing the rapid positioning of the humanoid robot and solving the problem of cumbersome operation and easy damage to the internal structure of humanoid robots in the prior art.

[0032] Meanwhile, the limiting member 4 is detachably connected to the lifting block 3. For different crotch sizes of different humanoid robots, the size of the pad 42 can be changed accordingly. The first limiting block 41 and the second limiting block 43 of different pads 42 can be designed according to the specific structure of the humanoid robot's crotch, so that the humanoid robot support frame can be applied to different humanoid robots, thus expanding the applicability of the support frame.

[0033] In addition, such as Figure 1As shown, the lifting device 2 is installed on the base 1. The lifting device 2 is used to adjust and limit the vertical height of the fixing component. The bottom of the base 1 is provided with several casters 5. When fixing the humanoid robot, the lifting device 2 adjusts the height of the fixing component, so that the limiting member 4 fits against the crotch of the humanoid robot for quick positioning, thereby fixing the humanoid robot on the support. Then, the height of the humanoid robot can be limited by the lifting device 2 to allow the humanoid robot to reach the required height. The setting of the casters 5 allows the support to be moved after the humanoid robot is fixed on the support, thereby transferring the humanoid robot and solving the problem in the prior art that manual handling is difficult and that it is not possible to easily switch between moving and landing the humanoid robot.

[0034] Preferably, the type of the moving wheel 5 is a fuma wheel. The fuma wheel can reduce the contact area between the base 1 and the ground, and distribute the weight evenly on the fuma wheel installed at the bottom of the base 1. It integrates the functions of moving and fixing, and can realize the purpose of moving the support and transporting the humanoid robot. It can also meet the needs of fixing the humanoid robot when it is exhibited or idle, improve the working efficiency of fixing and moving the humanoid robot, and facilitate its use.

[0035] Preferably, the first limiting block 41 is provided with a plurality of fixing holes 411, the axis of the fixing holes 411 is located in the horizontal plane, and the axis of the fixing holes 411 extends in the left and right direction. The fixing holes 411 are used to fix the crotch of the humanoid robot.

[0036] Specifically, after the position of the humanoid robot is determined using the limiting member 4, the first limiting block 41 is provided with a plurality of fixing holes 411. The axis of the fixing holes 411 is located in the horizontal plane and extends in the left-right direction. Through the fixing holes 411, screws are used to connect and fix the humanoid robot to the corresponding through holes in the crotch area, thereby further fixing the crotch area of ​​the humanoid robot. Furthermore, because the axis of the fixing holes 411 is located in the horizontal plane and extends in the left-right direction, it is suitable for humanoid robots whose crotch area has no solid horizontal surface, no horizontally set arc surface, or a narrow crotch area. Specifically, the corresponding through holes in the crotch area of ​​the humanoid robot can be set on the vertical surface of the crotch area, and when fixing the humanoid robot, it effectively reduces the bending or squatting movements, improving the comfort of the operator.

[0037] Preferably, the lifting block 3 includes a fixing member 31, an inclined beam 33, and a support plate 32. The fixing member 31 is installed at the output end of the lifting device 2, and the support plate 32 is horizontally installed on the lower outer side of the fixing member 31. The support plate 32 and the fixing member 31 are distributed in a "Z" shape, and the top of the support plate 32 is connected to the outer side of the fixing member 31 through the inclined beam 33.

[0038] Specifically, the lifting block 3 includes a fixing member 31 and a support plate 32. The limiting member 4 is located on the upper part of the support plate 32. The fixing member 31 is fixedly connected to the output end of the lifting device 2. Under the drive of the lifting device 2, the lifting block 3 moves in the vertical direction, thereby driving the limiting member 4 to move. The support plate 32 and the fixing member 31 are in a "Z" shape. The top of the support plate 32 is connected to the outer side of the fixing member 31 through the inclined beam 33. When the support plate 32 is subjected to force, because it is in a "Z" shape, the downward torque is effectively offset by the lifting device 2, ensuring the overall stability and reliability of the support. Moreover, the inclined beam 33 can effectively enhance the bending resistance of the support plate 32, making it more stable when subjected to large bending moments, changing the force transmission path, dispersing stress, reducing the local stress on the support plate 32, and improving the load-bearing capacity of the support plate 32 for the humanoid robot.

[0039] Furthermore, the support plate 32 is provided with a first positioning hole 321, and the limiting member 4 is provided with a corresponding second positioning hole 421. By using screws through the second positioning hole 421 and the first positioning hole 321, the limiting member 4 is detachably installed on the support plate 32.

[0040] The limiting member 4 is fixed to the support plate 32 by screws passing through the first positioning hole 321 and the second positioning hole 421. When replacing the limiting member 4 with different sizes for different humanoid robots, the limiting member 4 can be quickly removed from the support plate 32, achieving quick assembly and disassembly of the limiting member 4. Furthermore, the second positioning hole 421 is set corresponding to the first positioning hole 321, so the other structure of the support frame does not need to be changed except for the limiting member 4, which can accommodate different types of humanoid robots, making it more convenient to use.

[0041] Preferably, the base 1 is in the shape of "[", the projection of the fixing component in the vertical direction is located in the opening of the base 1, and the number of the movable wheels 5 is four, which are respectively arranged at the four corners of the bottom of the base 1.

[0042] Specifically, the base 1 is in the shape of "[", and the movable wheels 5 are respectively located at the four corners of the bottom of the base 1, that is, the four movable wheels 5 are symmetrically distributed, which can provide better bending and torsional resistance, and can evenly distribute the weight and load of the base 1, preventing the humanoid robot support frame from tilting or becoming unstable due to uneven load, and improving the overall stability of the support frame.

[0043] Preferably, such as Figure 4As shown, the lifting device 2 includes a fixed rod 22, a lifting rod 23, and a crank 21. The crank 21 is located at the lower part of the fixed rod 22. The lower part of the fixed rod 22 is provided with a rotatable rotating shaft. The crank 21 is fixedly connected to the rotating shaft. The rotating shaft is connected to the lead screw 221 inside the lifting device 2 via a bevel gear transmission. The lead screw 221 is provided with a threaded nut 222. The nut 222 is fixedly connected to the lifting rod 23. The lifting rod 23 is slidably disposed inside the fixed rod 22.

[0044] Specifically, when adjusting the lifting device 2, rotating the crank handle 21 drives the rotating shaft to rotate. Since the rotating shaft is connected to the lead screw 221 via a bevel gear transmission, the rotation of the rotating shaft drives the bevel gear on the rotating shaft to rotate, which in turn drives the bevel gear on the lead screw 221 to rotate, thereby driving the lead screw 221 to rotate. The lead screw 221 is threadedly engaged with the nut 222, converting the rotational motion of the lead screw 221 into the linear motion of the nut 222. The nut 222 is fixedly connected to the lifting rod 23. The linear motion of the nut 222 then drives the linear motion of the fixing component, that is, the height of the fixing component changes. The operation is smooth and reliable through bevel gear transmission, and the required height can be accurately adjusted. Moreover, the structure is compact, occupies little space, and is suitable for installation in limited spaces.

[0045] Preferably, it also includes a push rod 6, which is fixed to the top of the lifting device 2. The push rod 6 is in the shape of "[", and the inner angle A of the push rod 6 is 105°-115°. The push rod 6 is inclined towards the fixing component, and the inclination angle B of the push rod 6 is 5°-10°.

[0046] Specifically, when transporting the humanoid robot, the push rod 6 facilitates the user in pushing the humanoid robot support frame;

[0047] like Figure 3 and Figure 4 As shown, the push rod 6 is in the shape of "[", with an opening angle A of 105°-115°, which makes it easy for users to grasp the two sides of the push rod 6 to push the entire support, resulting in high comfort. In addition, the push rod 6 is tilted towards the fixed component, and the tilt angle B of the armrest is 5°-10°, which makes it easier for users to exert force to achieve the purpose of moving the support and fixing the humanoid robot on the support.

[0048] Furthermore, the grip portion of the push rod 6 is wrapped with a sponge tube.

[0049] Specifically, the softness of the sponge tube provides a comfortable grip, reducing fatigue from prolonged operation. The sponge tube also has a certain degree of elasticity, which can adapt to the shape of the hand, providing better fit and comfort when holding the push rod 6 to move and operate the humanoid robot support frame.

[0050] Preferably, it also includes a lifting device fixing seat 7, which includes a connecting seat 71 and a support column 72. The support column 72 is hollow inside to accommodate the lifting device 2. The connecting seat 71 is fixed to the top of the support column 72. The connecting seat 71 is fixed to the lifting device 2 by bolts. The support column 72 is fixedly connected to the base 1.

[0051] The lifting device mounting base 7 connects the lifting device 2 and the base 1 more securely, providing the stable support required for the lifting device 2 during lifting operations.

[0052] The technical principles of this utility model have been described above with reference to specific embodiments. These descriptions are merely for explaining the principles of this utility model and should not be construed as limiting the scope of protection of this utility model in any way. Based on this explanation, those skilled in the art can readily conceive of other specific embodiments of this utility model without any inventive effort, and these embodiments will all fall within the scope of protection of this utility model.

Claims

1. A support frame for a humanoid robot, characterized in that: Includes base, lifting mechanism, and fixing components; The lifting device is mounted on the base and is used to adjust and limit the vertical height of the fixing component; the bottom of the base is provided with several casters. The fixing component includes a lifting block and a limiting member. The lifting block is installed at the output end of the elevator. The limiting member is detachably connected to the lifting block. The limiting member includes a pad, a first limiting block, and a second limiting block. The pad has a horizontal support surface. The first limiting block and the second limiting block are respectively provided at the front and rear ends of the pad. The horizontal support surface is used to fit against the bottom of the crotch of the humanoid robot.

2. The humanoid robot support frame according to claim 1, characterized in that: The first limiting block is provided with a plurality of fixing holes, the axis of the fixing holes is located in the horizontal plane and the axis of the fixing holes extends in the left and right direction, and the fixing holes are used to fix the crotch of the humanoid robot.

3. The humanoid robot support frame according to claim 1, characterized in that: The lifting block includes a fixing component, an inclined beam, and a support plate. The fixing component is installed at the output end of the lifting device, and the support plate is horizontally installed on the lower outer side of the fixing component. The support plate and the fixing component are distributed in a "Z" shape, and the top of the support plate is connected to the outer side of the fixing component through the inclined beam.

4. The humanoid robot support frame according to claim 3, characterized in that: The support plate is provided with a first positioning hole, and the limiting member is provided with a corresponding second positioning hole. The limiting member is detachably installed on the support plate by using screws through the second positioning hole and the first positioning hole.

5. A humanoid robot support frame according to claim 1, characterized in that: The base is shaped like "[", and the vertical projection of the fixing component is located inside the opening of the base. There are four movable wheels, which are respectively located at the four corners of the bottom of the base.

6. The humanoid robot support frame according to claim 1, characterized in that: The lifting device (2) includes a fixed rod (22), a lifting rod (23), and a rocker (21). The rocker (21) is located at the lower part of the fixed rod (22). The lower part of the fixed rod (22) is provided with a rotatable rotating shaft. The rocker (21) is fixedly connected to the rotating shaft. The rotating shaft is connected to the lead screw (221) inside the lifting device (2) through a bevel gear transmission. The lead screw (221) is provided with a threaded nut (222). The nut (222) is fixedly connected to the lifting rod (23). The lifting rod (23) is slidably located inside the fixed rod (22).

7. A humanoid robot support frame according to claim 1, characterized in that: It also includes a push rod, which is fixed to the top of the lifting device. The push rod is in the shape of "[" and the inner angle A of the push rod is 105°-115°. The push rod is inclined towards the fixed component and the inclination angle B of the push rod is 5°-10°.

8. A humanoid robot support frame according to claim 7, characterized in that: The grip part of the push rod is wrapped with a sponge tube.

9. A humanoid robot support frame according to claim 1, characterized in that: It also includes a lifting device mounting base, which includes a connecting seat and a support column. The support column is hollow inside to accommodate the lifting device. The connecting seat is fixed to the top of the support column and is fixed to the lifting device by bolts. The support column is fixedly connected to the base.

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