CN107685321A

CN107685321A - A kind of autobalance machine people

Info

Publication number: CN107685321A
Application number: CN201710791032.1A
Authority: CN
Inventors: 刘哲
Original assignee: Individual
Current assignee: Individual
Priority date: 2017-09-05
Filing date: 2017-09-05
Publication date: 2018-02-13

Abstract

The invention discloses a kind of autobalance machine people,Including autobalance machine human agent and autobalance foot stressing device,The left and right sides in front of the autobalance machine human agent is provided with fixator,The front end of the fixator is provided with connect band,Connect band is fixedly connected with fixator by viscose,It is provided with the circulator in " cylinder " shape,And insertion is arranged on the connection arm of " recessed " shape,After manipulator, which is grabbed, has clamped clothes,The running that can be stretched out by circulator,So that clothes is completely nested in robot,It is provided with the built-in roller of " annulus " shape and the spring of " wave " shape,Can just allow telescopic resilience arm to possess by these built-in rollers and spring has certain flexible toughness,So when manipulator grab clamping clothes carry out to trap the running stretched when,Can carries out flexible running by built-in roller and spring by telescopic resilience arm,And autobalance foot stressing device improves the stationarity in walking process.

Description

A kind of autobalance machine people

Technical field

The present invention relates to robotic technology field, specially a kind of autobalance machine people.

Background technology

Robot (Robot) is the automatic installations for performing work, and it can both receive mankind commander, and can run again The program of advance layout, can also be according to the principle guiding principle action formulated with artificial intelligence technology, and its task is to assist or take Typically used for the work of human work, such as production industry, construction industry, or dangerous work, i.e. robot body, its arm Space open chain linkage, kinematic pair (revolute pair or prismatic pair) therein are frequently referred to joint, and joint number is generally machine The number of degrees of freedom, of people, according to joint configuration and the difference of coordinates of motion form, robot actuating mechanism can be divided into right angle seat The types such as mark formula, circular cylindrical coordinate formula, polar coordinates type and joint coordinates formula, for the consideration to personalize, often by robot body Relevant position is referred to as pedestal, waist, arm, wrist, hand (clamper or end effector) and running part (for movement Robot) etc..

Existing robot does not have the function of self wearable garment, it is necessary to be robot personally by staff Wearable garment is carried out, so not only adds the pressure and burden of work people, also allowing existing robot not possess has preferably Function so that widely application and accreditation can not be commercially available in existing robot.And the pin of robot foot section Harden structure lacks damping, buffer unit, substantially reduces the stationarity of robot ambulation.

The content of the invention

It is an object of the invention to provide a kind of autobalance machine people, is asked with solve to propose in above-mentioned background technology Topic.

To achieve the above object, the present invention provides following technical scheme：A kind of autobalance machine people, including autobalance Robot body and autobalance foot stressing device, the left and right sides in front of the autobalance machine human agent are provided with Fixator, the front end of the fixator is provided with connect band, and connect band is fixedly connected with fixator by viscose, the connection The side of band is provided with fixed card buckle, and the left and right ends of the autobalance machine human agent are provided with sliding recess and connection Arm, and connect arm and be arranged on by sliding recess insertion in autobalance machine human agent, the side of the connection arm Circulator is provided with, and circulator insertion is arranged in connection arm, and telescopic resilience arm is provided with above the circulator. Autobalance foot stressing device includes ankle and vola, and the both ends in the vola are mounted on pedal plate neck.And the pedal plate The both sides of neck are respectively connected with pedal plate, and one end of the pedal plate is provided with pedal plate connecting shaft, and in the pedal plate connecting shaft Between position be respectively connected with pole, one end of the pole is mounted on pole contiguous block, and the side of the pole contiguous block is equal Branch bar is provided with, the both sides in the vola are provided with auxiliary spring, and the bottom of the auxiliary spring is respectively connected with hound, institute The bottom for stating hound is mounted on rubber support, and the inner bottom of the ankle is provided with sliding shoe, and the sliding shoe Both ends are respectively connected with guide groove, and the top position of the sliding shoe is provided with main spring, if the top position of the ankle is provided with Dry connecting pole, and the connecting pole is internally provided with pin hole, the bottom of the ankle is provided with round contiguous block.

Preferably, the lower section telescopic mast of the telescopic resilience arm, and telescopic mast insertion is arranged in telescopic resilience arm.

Preferably, inner attaching plate is provided with above the telescopic mast, and inner attaching plate closely welds with telescopic mast.

Preferably, the left and right ends of the inner attaching plate are provided with built-in roller, below the inner attaching plate Left and right ends are provided with spring, and the middle part above the telescopic resilience arm is provided with manipulator and grabbed.

Preferably, it is in " cylinder " shape that the circulator, which is set, and half embedded be arranged on is connected in arm, the telescopic resilience Arm is flexibly connected with being connected arm by circulator.

Preferably, it is in " annulus " shape that the built-in roller, which is set, and is provided with four, and is symmetricly set on two-by-two built-in solid The left and right ends of fixed board.

Preferably, it is in " recessed " shape that the connection arm, which is set, and circulator is by the groove of this " recessed " word, embedded It is arranged on the connection arm.

Preferably, it is in " wave " shape that the spring, which is set, and is provided with two, and is symmetricly set on the left and right two of telescopic mast Side.

Preferably, the pedal plate connecting shaft insertion is arranged in one end of pedal plate, and the centre position of the pedal plate is equal Closely welded with pole, the one end of the pole with pole contiguous block is fixedly connected, and one end of the branch bar with branch The other end of bar contiguous block is closely welded, and the other end of the branch bar is fixedly connected with the side of sliding shoe, the cunning The top of motion block and the bottom of main spring are closely welded, and the top of the main spring and the inner upper end of ankle are closely welded.

Preferably, the one end of the both sides in the vola with pedal plate neck is closely welded, and the both ends of the pedal plate neck It is flexibly connected with pedal plate, the quantity of the pedal plate is 2, and the round contiguous block insertion is arranged at the bottom of ankle, and described The bottom of round contiguous block and the tight in vola weld.

Preferably, the embedded both sides for being arranged at vola of the auxiliary spring, and the bottom of the auxiliary spring is and hound Tight welding, and the bottom of the hound is fixedly connected with the surface of rubber support.

Preferably, overhead surface of the bottom of the connecting pole with ankle is closely welded, and the pin hole insertion is set It is placed in the inside of connecting pole.

Compared with prior art, the beneficial effects of the invention are as follows：This kind of autobalance machine people, it is rational in infrastructure, it is provided with In the circulator of " cylinder " shape, and insertion is arranged on the connection arm of " recessed " shape, is so grabbed when manipulator and has been clamped clothes Afterwards, it becomes possible to the running stretched out by this circulator so that clothes can be completely nested in robot, set There are the built-in roller of " annulus " shape and the spring of " wave " shape, telescopic resilience hand can be just allowed by these built-in rollers and spring Arm possesses and has certain flexible toughness, so when manipulator grab clamping clothes carry out to trap the running stretched when, it is possible to pass through Built-in roller and spring carry out flexible running by telescopic resilience arm, prevent the effect for bursting clothes, such robot is with regard to energy It is enough voluntarily carry out wearing running, allow this kind of robot device that widely application and accreditation can be commercially available.

The insertion of pedal plate connecting shaft is arranged in one end of pedal plate, and the centre position of the pedal plate is closely welded with pole Connect, the one end of the pole with pole contiguous block is fixedly connected, and one end of the branch bar is another with pole contiguous block One end is closely welded, and the other end of the branch bar is fixedly connected with the side of sliding shoe, the top of the sliding shoe with The bottom of main spring is closely welded, and the top of the main spring and the inner upper end of ankle are closely welded, when robot side by When power tilts, pedal plate one end is pressurized, pressure by pole and pole contiguous block, make branch bar promote sliding shoe to move up so as to Main spring is promoted to compress upwards, and spring has damping and damping action, so that the reversal rate of pedal plate slows down, improves machine Stationarity in device people's walking process, the one end of the both sides in the vola with pedal plate neck is closely welded, and the pedal plate card The both ends of groove are flexibly connected with pedal plate, and the quantity of the pedal plate is 2, and the round contiguous block insertion is arranged at the bottom of ankle Portion, and the tight in the bottom of the round contiguous block and vola welds, and is provided with pedal plate by front and rear, robot is existed Lean forward and have protection and glissando when hypsokinesis, and ankle is connected with vola by round contiguous block, round contiguous block In " arch ", and arch has the peptizaiton of power, so that vola and two pedal plate stress more balance, the auxiliary spring is equal The embedded both sides for being arranged at vola, and tight of the bottom of the auxiliary spring with hound welds, and the hound Bottom be fixedly connected with the surface of rubber support, when robot is tilting by a small margin to the left and right, pressure passes through rubber branch Seat is delivered on auxiliary spring, so that auxiliary spring compresses, by pressure dissipation in the compression process of auxiliary spring, so as to play a branch Support acts on, and by playing damping fixation to the left and right of robot, can further improve the stability of robot, the connection The bottom of post is closely welded with the overhead surface of ankle, the embedded inside for being arranged at connecting pole of the pin hole, pass through by In pin hole in latch insertion connecting pole, the bascule can be quickly dismounted, it is more convenient with repairing and cleaning.

Brief description of the drawings

Fig. 1 is autobalance machine human agent's structural representation of the present invention；

Fig. 2 is telescopic resilience arm partial structural diagram of the present invention；

Fig. 3 is the autobalance foot stressing device structural representation of the present invention；

Fig. 4 is the movable pulley partial structural diagram of the autobalance foot stressing device of the present invention；

Fig. 5 is that the autobalance machine human agent of the present invention illustrates with the mounting structure of autobalance foot stressing device Figure.

In figure：1st, autobalance machine human agent, 101, connection arm, 1011, circulator, 102, telescopic resilience arm, 1021st, manipulator is grabbed, 1022, built-in roller, 1023, inner attaching plate, 1024, spring, 1025, telescopic mast, 103, slide it is recessed Groove, 2, fixator, 201, connect band, 202, fixed card buckle, 1a- ankles；2a- volas；3a- pedal plates；4a- pedal plate connecting shafts；5a- Pole；6a- pole contiguous blocks；7a- branch bars；8a- pedal plate necks；9a- sliding shoes；10a- main springs；11a- connecting poles；12a- Pin hole；13a- auxiliary springs；14a- guide grooves；15a- hounds；16a- rubber supports；The round contiguous blocks of 17a-.

Embodiment

Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is carried out clear, complete Site preparation describes, it is clear that described embodiment is only part of the embodiment of the present invention, rather than whole embodiments.It is based on Embodiment in the present invention, those of ordinary skill in the art are obtained every other under the premise of creative work is not made Embodiment, belong to the scope of protection of the invention.

Fig. 1-2 is referred to, the present invention provides a kind of technical scheme：A kind of autobalance machine people, including automatic balancing machine Device human agent 1, autobalance foot stressing device, connection arm 101, circulator 1011, telescopic resilience arm 102, manipulator Grab 1021, built-in roller 1022, sliding recess 103, inner attaching plate 1023, spring 1024, telescopic mast 1025, fixator 2, company Tape splicing 201, fixed card buckle 202, the left and right sides in the front of autobalance machine human agent 1 are provided with fixator 2, fixator 2 Front end be provided with connect band 201, and connect band 201 is fixedly connected with fixator 2 by viscose, and the side of connect band 201 is set Fixed card buckle 202 is equipped with, the left and right ends of autobalance machine human agent 1 are provided with sliding recess 103 and connection arm 101, and connect arm 101 and be arranged on by the insertion of sliding recess 103 in autobalance machine human agent 1, connection arm 101 Side is provided with circulator 1011, is provided with the circulator 1011 in " cylinder " shape, and the embedded connection for being arranged on " recessed " shape On arm 101, so after manipulator, which grabs 1021, has clamped clothes, it becomes possible to stretched out by this circulator 1011 Running so that clothes can be completely nested in robot, and circulator 1011 insertion be arranged on connection arm 101 in, rotation The top for turning device 1011 is provided with telescopic resilience arm 102, the lower section telescopic mast 1025 of telescopic resilience arm 102, and telescopic mast 1025 insertions are arranged in telescopic resilience arm 102, and the top of telescopic mast 1025 is provided with inner attaching plate 1023, and built-in solid Fixed board 1023 closely welds with telescopic mast 1025, and the left and right ends of inner attaching plate 1023 are provided with built-in roller 1022, interior The left and right ends for putting the lower section of fixed plate 1023 are provided with spring 1024, are provided with the built-in roller 1022 and " ripple of " annulus " shape The spring 1024 of wave " shape, can just allow telescopic resilience arm 102 to possess by these built-in rollers 1022 and spring 1024 has one Fixed flexible toughness, so when manipulator grab 1021 clamping clothes carry out to trap the running stretched when, it is possible to pass through built-in rolling Wheel 1022 and spring 1024 allow telescopic resilience hand 102 to carry out flexible running, prevent the effect for bursting clothes, telescopic resilience arm The middle part of 102 tops is provided with manipulator and grabs 1021.

As shown in Figure 3-4, autobalance foot stressing device includes ankle 1a and vola 2a, and the both ends of the vola 2a are equal Pedal plate neck 8a is installed.And the both sides of the pedal plate neck 8a are respectively connected with pedal plate 3a, one end of the pedal plate 3a is respectively provided with There is pedal plate connecting shaft 4a, and the centre position of the pedal plate connecting shaft 4a is respectively connected with pole 5a, one end of the pole 5a is equal Pole contiguous block 6a is installed, and the side of the pole contiguous block 6a is provided with branch bar 7a, the both sides of the vola 2a Auxiliary spring 13a is provided with, and the bottom of the auxiliary spring 13a is respectively connected with hound 15a, the bottom of the hound 15a The inner bottom for being mounted on rubber support 16a, the ankle 1a is provided with sliding shoe 9a, and the both ends of the sliding shoe 9a are equal The top position for being connected with guide groove 14a, the sliding shoe 9a is provided with main spring 10a, the ankle 1a top position setting There is several connecting poles 11a, and the connecting pole 11a is internally provided with pin hole 12a, the bottom of the ankle 2a is provided with Round contiguous block 17a.

Further, the pedal plate connecting shaft 4a insertions are arranged in pedal plate 3a one end, and in the pedal plate 3a Between position closely welded with pole 5a, the one end of the pole 5a with pole contiguous block 6a is fixedly connected, and the branch The other end of the bar 7a one end with pole contiguous block 6a closely welds, and the other end of the branch bar 7a with sliding shoe 9a Side be fixedly connected, the top of the sliding shoe 9a is closely welded with main spring 10a bottom, the top of the main spring 10a The inner upper end with ankle 1a is held closely to weld, when robot side stress tilts, pedal plate 3a one end is pressurized, and pressure passes through branch Bar 5a and pole contiguous block 6a, branch bar 7a is set to promote sliding shoe 9a to move up so as to promote main spring 10a to compress upwards, and Spring has damping and damping action, so that pedal plate 3a reversal rate slows down, improves flat during robot ambulation Stability.

Further, the one end of the both sides of the vola 2a with pedal plate neck 8a is closely welded, and the pedal plate neck 8a both ends are flexibly connected with pedal plate 3a, and the quantity of the pedal plate 3a is 2, and the round contiguous block 17a insertions are arranged at foot Ankle 1a bottom, and the bottom of the round contiguous block 17a and vola 2a tight are welded, and foot is provided with by front and rear Plate 3a, robot is set to have protection and glissando when leaning forward with hypsokinesis, and ankle 1a and vola 2a pass through round company Block 17a connections are connect, round contiguous block 17a is in " arch ", and arch has the peptizaiton of power, so that vola 2a and two foots Plate 3a stress more balances.

Further, the embedded both sides for being arranged at vola 2a of the auxiliary spring 13a, and the bottom of the auxiliary spring 13a Tight with hound 15a welds, and the bottom of the hound 15a is fixed with rubber support 16a surface and connected Connect, when robot is tilting by a small margin to the left and right, pressure is delivered on auxiliary spring 13a by rubber support 16a, so that secondary Spring 13a compresses, by pressure dissipation in auxiliary spring 13a compression process, so as to play a supporting role, by robot Left and right play damping fixation, can further improve the stability of robot.

Further, overhead surface of the bottom of the connecting pole 11a with ankle 1a closely welds, the pin hole The embedded inside for being arranged at connecting pole 11a of 12a, can be quick by the way that latch is inserted in the pin hole 12a in connecting pole 11a The dismounting bascule, it is more convenient with maintenance and to clean.

Fig. 5 is that the autobalance machine human agent of the present invention illustrates with the mounting structure of autobalance foot stressing device Figure.Two autobalance foot stressing devices are wherein shared on robot body, to put it more simply, only showing one in Fig. 5 Individual foot.

Operation principle：Staff opens fixed card buckle 202 first, and two connect bands 201 are centered around into robot With, and merge by fixed card buckle 202, this kind of wearable device can just be come into operation, and autobalance machine human agent 1 is first led to Cross after two manipulators grab 1021 clamping dress or cap, telescopic resilience arm 102 will be entered by circulator 1011 360 degree of rotations of row vertical direction, connection arm 101 will do slide downward by sliding recess 103 while rotating Running, when telescopic resilience arm 101 flips over running, telescopic mast 1025 will pass through built-in roller 1022 and two bullets Spring 1024 carries out contraction running, can thus add the certain flexible toughness of telescopic resilience arm 102, reaching prevents clothes In the switching process of telescopic resilience arm 102, there is the phenomenon of breakage, when the anglec of rotation of telescopic resilience arm 102 is more than 90 degree Afterwards, then telescopic mast 1025 will be launched telescopic resilience arm 102 downwards by the elasticity of two springs 1024, allow clothing Clothes faster can be worn on the body of robot.

When robot side stress tilts, pedal plate 3a one end is pressurized, and pressure is made by pole 5a and pole contiguous block 6a Branch bar 7a promotes sliding shoe 9a to move up so as to promote main spring 10a to compress upwards, and there is spring damping and damping to make With, so that pedal plate 3a reversal rate slows down, the stationarity during robot ambulation is improved, and by being provided with two Pedal plate 3a, make robot when leaning forward with hypsokinesis have protection and glissando, and ankle 1a and vola 2a pass through it is round Contiguous block 17a connections, round contiguous block 17a is in " arch ", and arch has the peptizaiton of power, so that vola 2a and two Pedal plate 3a stress is more balanced, and then, when robot is tilting by a small margin to the left and right, pressure is transmitted by rubber support 16a Onto auxiliary spring 13a, so that auxiliary spring 13a compresses, by pressure dissipation in auxiliary spring 13a compression process, so as to play one Individual supporting role, the stability of robot is can further improve, finally, pass through the pin hole for inserting latch in connecting pole 11a In 12a, the bascule can be quickly dismounted, it is more convenient with repairing and cleaning.

Although an embodiment of the present invention has been shown and described, for the ordinary skill in the art, can be with A variety of changes, modification can be carried out to these embodiments, replace without departing from the principles and spirit of the present invention by understanding And modification, the scope of the present invention is defined by the appended.

Claims

A kind of 1. autobalance machine people, it is characterised in that：Including autobalance machine human agent (1) and autobalance foot by Power apparatus, the left and right sides in front of the autobalance machine human agent (1) are provided with fixator (2), the fixator (2) Front end be provided with connect band (201), and connect band (201) is fixedly connected with fixator (2) by viscose, the connect band (201) side is provided with fixed card buckle (202), and the left and right ends of the autobalance machine human agent (1) are provided with cunning Dynamic groove (103) and connection arm (101), and connect arm (101) and autobalance is arranged on by sliding recess (103) insertion In robot body (1), the side of the connection arm (101) is provided with circulator (1011), and circulator (1011) is embedded It is arranged in connection arm (101), telescopic resilience arm (102) is provided with above the circulator (1011)；

Autobalance foot stressing device includes ankle (1a) and vola (2a), it is characterised in that：The both ends of the vola (2a) Pedal plate neck (8a) is mounted on, and the both sides of the pedal plate neck (8a) are respectively connected with pedal plate (3a), the pedal plate (3a) One end is provided with pedal plate connecting shaft (4a), and the centre position of the pedal plate connecting shaft (4a) is respectively connected with pole (5a), institute The one end for stating pole (5a) is mounted on pole contiguous block (6a), and the side of the pole contiguous block (6a) is provided with branch Bar (7a), the both sides of the vola (2a) are provided with auxiliary spring (13a), and the bottom of the auxiliary spring (13a) is respectively connected with Hound (15a), the bottom of the hound (15a) are mounted on rubber support (16a), the inner bottom of the ankle (1a) Sliding shoe (9a) is installed, and the both ends of the sliding shoe (9a) are respectively connected with guide groove (14a), the top of the sliding shoe (9a) Position is provided with main spring (10a), and the top position of the ankle (1a) is provided with several connecting poles (11a), and the company Connect post (11a) is internally provided with pin hole (12a), and the bottom of the ankle (2a) is provided with round contiguous block (17a).
A kind of 2. autobalance machine people according to claim 1, it is characterised in that：The telescopic resilience arm (102) Lower section be telescopic mast (1025), and telescopic mast (1025) insertion is arranged in telescopic resilience arm (102).
A kind of 3. autobalance machine people according to claim 2, it is characterised in that：The top of the telescopic mast (1025) Inner attaching plate (1023) is provided with, and inner attaching plate (1023) closely welds with telescopic mast (1025)；It is described built-in fixed The left and right ends of plate (1023) are provided with built-in roller (1022), and the left and right ends below the inner attaching plate (1023) are equal It is provided with spring (1024), the middle part above the telescopic resilience arm (102) is provided with manipulator and grabbed (1021).
A kind of 4. autobalance machine people according to claim 3, it is characterised in that：The circulator (1011) is set " cylinder " shape, and half embedded be arranged on is connected in arm (101), the telescopic resilience arm (102) is logical with being connected arm (101) Cross circulator (1011) flexible connection.
A kind of 5. autobalance machine people according to claim 4, it is characterised in that：The built-in roller (1022) is set In " annulus " shape, and four are provided with, and are symmetricly set on the left and right ends of inner attaching plate (1023) two-by-two.
A kind of 6. autobalance machine people according to claim 5, it is characterised in that：The connection arm (101) is set In " recessed " shape, and circulator (1011) is by the groove of this " recessed " word, embedded to be arranged on the connection arm (101) On.
A kind of 7. autobalance machine people according to claim 6, it is characterised in that：The spring (1024) is set " wave " shape, and two are provided with, and it is symmetricly set on the left and right sides of telescopic mast (1025).
A kind of 8. autobalance machine people according to claim 1, it is characterised in that：The pedal plate connecting shaft (4a) is embedding In the one end for entering to be arranged at pedal plate (3a), and the centre position of the pedal plate (3a) is closely welded with pole (5a), the branch The one end of bar (5a) with pole contiguous block (6a) is fixedly connected, and one end of the branch bar (7a) with pole contiguous block The other end of (6a) is closely welded, and side of the other end of the branch bar (7a) with sliding shoe (9a) is fixedly connected.
A kind of 9. autobalance machine people according to claim 8, it is characterised in that：The top of the sliding shoe (9a) with The bottom of main spring (10a) is closely welded, and the top of the main spring (10a) and the inner upper end of ankle (1a) are closely welded.
A kind of 10. autobalance machine people according to claim 9, it is characterised in that：The both sides of the vola (2a) are equal Closely welded with one end of pedal plate neck (8a), and the both ends of the pedal plate neck (8a) are flexibly connected with pedal plate (3a).