CN214081467U

CN214081467U - Humanoid robot with good climbing and ridge-crossing performance

Info

Publication number: CN214081467U
Application number: CN202023262126.6U
Authority: CN
Inventors: 张海; 季光
Original assignee: Xuzhou Silaite Intelligent Technology Co ltd
Current assignee: Xuzhou Silaite Intelligent Technology Co ltd
Priority date: 2020-12-30
Filing date: 2020-12-30
Publication date: 2021-08-31
Anticipated expiration: 2030-12-30

Abstract

The utility model discloses a climbing, cross bank functional humanoid robot relates to the humanoid robot field, including the robot, the top of robot is fixed with the head, and the both sides of robot all are connected with the arm, and the mounting groove has been seted up to the surface below of robot, and the internally mounted of mounting groove has infrared sensor of seeking marks, and bearing, electro-magnet and fixed block are installed respectively to the surface of robot, and the internally mounted of bearing has the rotation axis. The utility model discloses a be provided with baffle, electro-magnet, magnetic path, rotation axis, draw-in groove, kelly and connect the rope, when needs use infrared mark sensor of seeking, the user closes the electro-magnet through the operation panel, then through upwards rotating the baffle, the baffle rotates and drives the magnetic path and rotates, and after draw-in groove on the baffle aligns with the present draw-in groove of robot, the user inserts the kelly to the draw-in groove in, alright carry on spacing fixedly to the baffle, and infrared mark sensor of seeking then exposes in the air so that use.

Description

Humanoid robot with good climbing and ridge-crossing performance

Technical Field

The utility model relates to a humanoid robot field specifically is a climbing, cross bank functional humanoid robot.

Background

The humanoid robot is a robot simulating human appearance and behaviors, most of the humanoid robots have limbs similar to human beings, so that a plurality of actions identical to the human beings are completed, and meanwhile, the humanoid robot frequently appears in the field of vision of the public along with the development of times.

Chinese patent according to publication number CN209579623U discloses a seek mark and keep away barrier anthropomorphic robot, including anthropomorphic robot body, anthropomorphic robot body is from last to including trunk, arm, shank and foot down in proper order, the trunk lower extreme rotates and is connected with the pivot, arm and shank joint department are provided with the steering wheel, and trunk front end fixedly connected with infrared sensor of seeking mark.

The tracing obstacle avoidance humanoid robot enables the humanoid robot to move forward according to a set route, and can detect the obstacle in front, so that the humanoid robot is prevented from colliding with the obstacle, and unnecessary loss is caused; when the robot is not needed to be used, the infrared tracking sensor is exposed in the external environment, and if the robot is impacted, the infrared tracking sensor can be damaged, so that the service life of the infrared tracking sensor is easily reduced; meanwhile, the ultrasonic obstacle avoidance sensor in the robot can detect whether an obstacle exists in the front or not, but when the ultrasonic obstacle avoidance sensor does not transmit information to the operation table in time, the foot of the robot collides with the obstacle, and the robot is not provided with a buffer structure, so that the robot and the ultrasonic obstacle avoidance sensor are damaged to a certain extent, and the safety of the robot during operation is reduced.

SUMMERY OF THE UTILITY MODEL

The utility model aims to provide a: in order to solve the problem that the infrared tracing sensor is easy to damage when being exposed to the external environment and the service life of the ultrasonic obstacle avoidance sensor can be shortened if the infrared tracing sensor collides with an obstacle, the humanoid robot with good climbing and threshold passing performance is provided.

In order to achieve the above object, the utility model provides a following technical scheme: a humanoid robot with good climbing and bank passing performance comprises a robot body, wherein a head is fixed at the top of the robot body, arms are connected to two sides of the robot body, a mounting groove is formed below the outer surface of the robot body, an infrared tracing sensor is installed inside the mounting groove, a bearing, an electromagnet and a fixing block are installed on the outer surface of the robot body respectively, a rotating shaft is installed inside the bearing, a baffle is fixed at the top of the rotating shaft, clamping grooves are formed in the outer surface of the baffle and one side of the outer surface of the robot body respectively, clamping rods are clamped inside the clamping grooves, connecting ropes are connected between the clamping rods and the fixing block, a magnetic block is installed at the back of the baffle, a supporting leg is installed at the bottom of the robot body, a foot is installed at the bottom of the robot body, and a plurality of idler wheels are installed inside the supporting leg, the outer surface of foot installs two telescopic links, buffer spring and ultrasonic wave respectively and keeps away barrier sensor, telescopic link and buffer spring's one end is connected with the buffer board, the surface mounting of buffer board has crashproof lug.

Preferably, an operation panel is installed to the surface top of robot body, the operation panel keeps away barrier sensor, infrared sensor and the electro-magnet electric connection of seeking track with the ultrasonic wave respectively.

Preferably, the length of the baffle is greater than that of the mounting groove, and the baffle is made of PVC materials.

Preferably, the baffle is rotatably connected with the robot body through a rotating shaft and a bearing.

Preferably, the length of the bump is greater than that of the ultrasonic obstacle avoidance sensor, and the bump is made of a rubber material.

Preferably, the telescopic rod is located inside the buffer spring, and the ultrasonic obstacle avoidance sensor is located between the two telescopic rods.

Preferably, the clamping rod is matched with the clamping groove.

Compared with the prior art, the beneficial effects of the utility model are that:

1. the utility model discloses a be provided with the baffle, the electro-magnet, the magnetic path, the rotation axis, the draw-in groove, the kelly and connect the rope, when needs use infrared mark seeking sensor, the user closes the electro-magnet through the operation panel, then through upwards rotating the baffle, the baffle rotates and drives the magnetic path rotation, and after draw-in groove on the baffle aligns with the draw-in groove on the robot originally, the user inserts the kelly into the draw-in groove, can carry out spacing fixed to the baffle, and infrared mark seeking sensor exposes in the air so that use, if need not use infrared mark seeking sensor, the user takes out the kelly from the draw-in groove earlier, then rotates the baffle, the baffle rotates and drives the magnetic path rotation, so that magnetic path and electro-magnet are laminated mutually, then the user makes the electro-magnet circular telegram through the operation panel, alright adsorb the magnetic path, thereby can fix the baffle, and the baffle covers infrared mark seeking sensor completely, the infrared tracing sensor is prevented from being exposed in the air, the infrared tracing sensor can be prevented from being damaged due to collision with other objects, and the service life of the infrared tracing sensor is prolonged.

2. The utility model discloses a be provided with buffer spring, the buffer board, telescopic link and bump protection piece, because the buffer board is located the dead ahead of foot, when bump protection piece bumps with the barrier, can promote the buffer board and remove behind the bump protection piece atress, and then make buffer board extrusion telescopic link and buffer spring, the compression of buffer spring atress, the telescopic link atress is shrink simultaneously, thereby can cushion the impact force, the striking dynamics has been alleviateed, avoid the barrier direct with the foot bump and cause the inside electron device's of robot damage, can keep away the barrier sensor to the ultrasonic wave simultaneously and protect, and the protective effect to the robot has been improved.

Drawings

Fig. 1 is a schematic view of the front structure of the robot body of the present invention;

FIG. 2 is a schematic view of a side-cut partial structure of the foot of the present invention;

FIG. 3 is a schematic view of the structure of the closed part of the baffle plate of the present invention;

FIG. 4 is a schematic side-sectional view of the baffle of the present invention;

fig. 5 is an enlarged view of a portion a in fig. 2 according to the present invention.

In the figure: 1. a robot body; 2. a head portion; 3. an arm; 4. an operation table; 5. a clamping rod; 6. a baffle plate; 7. a rotating shaft; 8. mounting grooves; 9. an infrared tracking sensor; 10. supporting legs; 11. a foot section; 12. a roller; 13. an ultrasonic obstacle avoidance sensor; 14. an anti-collision bump; 15. a card slot; 16. a buffer spring; 17. a telescopic rod; 18. a buffer plate; 19. a fixed block; 20. connecting ropes; 21. an electromagnet; 22. a magnetic block; 23. and a bearing.

Detailed Description

The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention.

In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplification of description, but do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance. In the description of the present invention, it is to be noted that, unless otherwise explicitly specified or limited, the terms "mounted", "connected" and "disposed" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present invention can be understood in specific cases to those skilled in the art. The following describes an embodiment of the present invention according to its overall structure.

The utility model discloses in, infrared sensor model of seeking marks is TCRT50000, and the model that the ultrasonic wave kept away the barrier sensor is HC-SR 04.

Referring to fig. 1-5, a humanoid robot with good climbing and threshold crossing performance comprises a robot body 1, a head 2, arms 3, an operation table 4, a clamping rod 5, a baffle 6, a rotating shaft 7, a mounting groove 8, an infrared tracing sensor 9, a supporting leg 10, a foot 11, a roller 12, an ultrasonic obstacle avoidance sensor 13, an anti-collision bump 14, a clamping groove 15, a buffer spring 16, a telescopic rod 17, a buffer plate 18, a fixing block 19, a connecting rope 20, an electromagnet 21, a magnet 22 and a bearing 23, wherein the head 2 is fixed on the top of the robot body 1, the arms 3 are connected on both sides of the robot body 1, the mounting groove 8 is formed below the outer surface of the robot body 1, the infrared tracing sensor 9 is mounted inside the mounting groove 8, the bearing 23, the electromagnet 21 and the fixing block 19 are respectively mounted on the outer surface of the robot body 1, the rotating shaft 7 is mounted inside the bearing 23, baffle 6 is fixed with at the top of rotation axis 7, draw-in groove 15 has all been seted up to the surface of baffle 6 and the surface one side of robot body 1, the inside joint of draw-in groove 15 has kelly 5, be connected with between kelly 5 and the fixed block 19 and be connected rope 20, magnetic path 22 is installed at the back of baffle 6, supporting leg 10 is installed to robot body 1's bottom, foot 11 is installed to the bottom of supporting leg 10, the internally mounted of foot 11 has a plurality of gyro wheels 12, two telescopic links 17 are installed respectively to foot 11's surface, barrier sensor 13 is kept away to buffer spring 16 and ultrasonic wave, telescopic link 17 and buffer spring 16's one end is connected with buffer board 18, buffer board 18's surface mounting has crashproof lug 14, because of being provided with and connecting rope 20, can hang kelly 5, prevent that kelly 5 from losing at will.

Please refer to fig. 1-4, an operation console 4 is installed above the outer surface of the robot body 1, the operation console 4 is electrically connected with the ultrasonic obstacle avoidance sensor 13, the infrared tracking sensor 9 and the electromagnet 21 respectively, so that a user can open or close the ultrasonic obstacle avoidance sensor 13, the infrared tracking sensor 9 and the electromagnet 21 through the operation console 4 conveniently; baffle 6's length is greater than the length of mounting groove 8, and baffle 6 adopts the PVC material preparation to form, and baffle 6 can cover mounting groove 8, prevents that the ultrasonic wave from keeping away barrier sensor 13 and barrier from colliding.

Please refer to fig. 1-5, the baffle 6 is rotatably connected to the robot body 1 through the rotating shaft 7 and the bearing 23, so as to facilitate the rotation of the baffle 6, and thus the position of the baffle 6 can be adjusted; the length of the bump 14 is greater than that of the ultrasonic obstacle avoidance sensor 13, and the bump 14 is made of rubber materials, so that the direct collision of the obstacle with the foot 11 is prevented, and the protection capability of the foot 11 is improved.

Please refer to fig. 1, fig. 2, fig. 4 and fig. 5, the telescopic rods 17 are located inside the buffer spring 16, and the ultrasonic obstacle avoidance sensor 13 is located between the two telescopic rods 17, so as to prevent the buffer spring 16 from being deformed and bent left and right and improve the service life of the buffer spring 16; the clamping rod 5 is matched with the clamping groove 15, so that the clamping rod 5 can be clamped into the clamping groove 15, and the baffle 6 can be limited and fixed.

The working principle is as follows: firstly, when the infrared tracking sensor 9 is needed, the user turns off the electromagnet 21 through the operation table 4, then the baffle 6 is rotated upwards to drive the magnetic block 22 to rotate, when the clamping groove 15 on the baffle 6 is aligned with the clamping groove 15 on the robot body 1, the user inserts the clamping rod 5 into the clamping groove 15 to limit and fix the baffle 6, the infrared tracking sensor 9 is exposed in the air for use, if the infrared tracking sensor 9 is not needed, the user takes the clamping rod 5 out of the clamping groove 15, then rotates the baffle 6, the baffle 6 rotates to drive the magnetic block 22 to rotate, so that the magnetic block 22 is attached to the electromagnet 21, then the user energizes the electromagnet 21 through the operation table 4 to adsorb the magnetic block 22, thereby fixing the baffle 6, and the baffle 6 completely covers the infrared tracking sensor 9, the infrared tracing sensor 9 is prevented from being exposed in the air; simultaneously because buffer board 18 is located the dead ahead of foot 11, when bump lug 14 bumps with the barrier, bump lug 14 atress back can promote buffer board 18 and remove, and then makes buffer board 18 extrusion telescopic link 17 and buffer spring 16, and buffer spring 16 atress compression, telescopic link 17 atress shrink simultaneously to can cushion the impact force, avoid the barrier direct with the foot bump and cause the damage of the inside electron device of robot.

It is obvious to a person skilled in the art that the invention is not restricted to details of the above-described exemplary embodiments, but that it can be implemented in other specific forms without departing from the spirit or essential characteristics of the invention. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned.

Claims

1. The utility model provides a climbing, cross bank humanoid robot that performance is good, includes robot body (1), its characterized in that: the top of robot body (1) is fixed with head (2), the both sides of robot body (1) all are connected with arm (3), mounting groove (8) have been seted up to the surface below of robot body (1), the internally mounted of mounting groove (8) has infrared sensor (9) of seeking marks, bearing (23), electro-magnet (21) and fixed block (19) are installed respectively to the surface of robot body (1), the internally mounted of bearing (23) has rotation axis (7), the top of rotation axis (7) is fixed with baffle (6), draw-in groove (15) have all been seted up to the surface of baffle (6) and surface one side of robot body (1), the inside joint of draw-in groove (15) has kelly (5), be connected with between kelly (5) and fixed block (19) and be connected rope (20), magnetic path (22) are installed to the back of baffle (6), supporting leg (10) are installed to the bottom of robot body (1), foot (11) are installed to the bottom of supporting leg (10), the internally mounted of foot (11) has a plurality of gyro wheels (12), two telescopic link (17), buffer spring (16) and ultrasonic wave are installed respectively to the surface of foot (11) and are kept away barrier sensor (13), the one end of telescopic link (17) and buffer spring (16) is connected with buffer board (18), the surface mounting of buffer board (18) has anticollision lug (14).

2. The humanoid robot of claim 1, wherein the humanoid robot has good climbing and threshold-crossing performance, and is characterized in that: operation panel (4) are installed to the surface top of robot body (1), operation panel (4) keep away barrier sensor (13), infrared sensor (9) and electro-magnet (21) electric connection with the ultrasonic wave respectively.

3. The humanoid robot of claim 1, wherein the humanoid robot has good climbing and threshold-crossing performance, and is characterized in that: the length of baffle (6) is greater than the length of mounting groove (8), baffle (6) adopt the PVC material preparation to form.

4. The humanoid robot of claim 1, wherein the humanoid robot has good climbing and threshold-crossing performance, and is characterized in that: the baffle (6) is rotatably connected with the robot body (1) through a rotating shaft (7) and a bearing (23).

5. The humanoid robot of claim 1, wherein the humanoid robot has good climbing and threshold-crossing performance, and is characterized in that: the length of the anti-collision bump (14) is larger than that of the ultrasonic obstacle avoidance sensor (13), and the anti-collision bump (14) is made of rubber materials.

6. The humanoid robot of claim 1, wherein the humanoid robot has good climbing and threshold-crossing performance, and is characterized in that: the telescopic rods (17) are located inside the buffer springs (16), and the ultrasonic obstacle avoidance sensor (13) is located between the two telescopic rods (17).

7. The humanoid robot of claim 1, wherein the humanoid robot has good climbing and threshold-crossing performance, and is characterized in that: the clamping rod (5) is matched with the clamping groove (15).