CN215511065U - Clamping device for humanoid robot - Google Patents
Clamping device for humanoid robot Download PDFInfo
- Publication number
- CN215511065U CN215511065U CN202121328419.1U CN202121328419U CN215511065U CN 215511065 U CN215511065 U CN 215511065U CN 202121328419 U CN202121328419 U CN 202121328419U CN 215511065 U CN215511065 U CN 215511065U
- Authority
- CN
- China
- Prior art keywords
- clamping plate
- rod
- clamping device
- clamping
- robot
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 230000005540 biological transmission Effects 0.000 claims description 26
- 230000000149 penetrating effect Effects 0.000 claims description 5
- 238000010276 construction Methods 0.000 claims description 2
- 230000001681 protective effect Effects 0.000 description 3
- 230000000694 effects Effects 0.000 description 2
- 230000004075 alteration Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
Images
Landscapes
- Manipulator (AREA)
Abstract
The utility model discloses a clamping device for a humanoid robot, which comprises a robot body, wherein the robot body is arranged on the top of the ground in parallel, a connecting block is rotatably arranged at the bottom of the robot body, and a lifting cylinder is embedded and arranged at the bottom of the connecting block. This clamping device for humanoid robot, adjust the pole through setting up, make the user rotate the driving gear through adjusting the pole at any time, and then drive driven gear and rotate, come to adjust the angle that first grip block and second grip block formed with this, make this clamping device can carry out the centre gripping to the article of more kinds of shapes, arc hole through setting up, make the driving gear can not lead to the fact the influence to the connecting axle when rotating, annular plate and gag lever post through setting up, make that the angle modulation of grip block can be firmly fixed adjusting the pole after finishing, the condition emergence that the driving gear suddenly takes place to rotate and cause article to drop when having avoided clamping device to carry out the centre gripping to article.
Description
Technical Field
The utility model relates to the technical field of clamping devices, in particular to a clamping device for a humanoid robot.
Background
Humanoid robot generally refers to the robot at imitative human outward appearance and action, especially refer in particular to the robot kind that has with the similar organism of mankind, humanoid robot generally uses special clamping device to carry out the centre gripping to various article at the during operation, but general clamping device is not convenient for adjust the angle of grip block, lead to the robot can only carry out the centre gripping to the article of fixed shape unidimensional, and then greatly reduced clamping device's practicality, and general clamping device does not have protective structure, lead to clamping device very easily use too fiercely when carrying out the centre gripping to article, cause the article surface to receive wearing and tearing or article to take place deformation, and also lead to article to take place to drop easily when clamping device is with strength lighter, and then there is certain use defect.
In order to solve the above problems, innovative design based on the structure of the clamping device for the original humanoid robot is urgently needed.
SUMMERY OF THE UTILITY MODEL
The utility model aims to provide a clamping device for a humanoid robot, which solves the problems that the angle of a clamping plate is inconvenient to adjust and a protective structure is not provided in the prior art.
In order to achieve the purpose, the utility model provides the following technical scheme: clamping device for humanoid robot includes:
the robot comprises a robot body, a first transmission rod, a second transmission rod, a first transmission rod and a second transmission rod, wherein the robot body is arranged on the top of the ground in parallel, the bottom of the robot body is rotatably provided with a connecting block, the bottom of the connecting block is embedded with a lifting cylinder, the bottom of the lifting cylinder is fixedly connected with a fixed support, the inside of the fixed support is vertically and rotatably connected in a penetrating manner, and the inside of the fixed support is vertically and rotatably connected in a penetrating manner;
the first clamping plate is rotatably connected to the side of the second transmission rod, the inside of the first clamping plate vertically penetrates through and is rotatably connected with a connecting shaft, the inside of the first clamping plate vertically penetrates through and is rotatably connected with an adjusting rod, and the end part of the connecting shaft is movably provided with the second clamping plate;
and the buffer spring is embedded and installed on the side of the second clamping plate, the end part of the buffer spring is fixedly connected with a rubber anti-skid buffer plate, and the side of the rubber anti-skid buffer plate is embedded and installed with a pressure sensor.
Preferably, the inside of fixed bolster contains slide, rack and centre gripping gear, and sliding connection has the slide about the inside of fixed bolster to the avris fixedly connected with rack of slide, the tip meshing of rack is connected with the centre gripping gear moreover, and the tip of centre gripping gear and the outer wall fixed connection of first transfer line.
Preferably, the outer wall of the fixed support is movably connected with the end part of the second transmission rod, and the fixed support and the first clamping plate form a rotating structure through the second transmission rod.
Preferably, the adjusting lever further comprises:
the driving gear is fixedly arranged on the outer wall of the adjusting rod;
the arc-shaped hole is formed in the driving gear, and a connecting shaft is movably arranged in the arc-shaped hole;
a driven gear engaged with the side of the driving gear;
the fixed rod vertically penetrates through the driven gear and is fixedly connected to the inside of the driven gear;
the annular plate is fixedly arranged on the outer wall of the adjusting rod;
the limiting rod is vertically penetrated and movably connected inside the annular plate, and the end part of the limiting rod is connected with the side of the first clamping plate in a clamping mode.
Preferably, the driven gear and the second clamping plate form a fixed structure through the fixed rod, the interior of the driven gear is fixedly connected with the outer wall of the fixed rod, and the end of the fixed rod is fixedly connected with the side of the second clamping plate.
Preferably, the quantity of buffer spring is two, and two buffer spring use the perpendicular bisector of second grip block as symmetry axis symmetry setting to the second grip block passes through buffer spring and constitutes elastic construction with rubber antiskid buffer board.
Compared with the prior art, the utility model has the beneficial effects that: the clamping device for the humanoid robot;
1. the clamping device is provided with an adjusting rod, an angle adjusting structure consisting of a driving gear and a driven gear, and through the adjusting rod, a user can rotate the driving gear through the adjusting rod at any time, so that the driven gear is driven to rotate, the angle formed by a first clamping plate and a second clamping plate is adjusted, the clamping device can clamp articles in more shapes, through the arc-shaped holes, the driving gear cannot influence a connecting shaft when rotating, and through the annular plate and the limiting rod, the adjusting rod can be firmly fixed after the angle adjustment of the clamping plates is finished, so that the situation that the articles fall off due to the fact that the driving gear suddenly rotates when the clamping device clamps the articles is avoided;
2. be provided with buffer spring, the protective structure that rubber antiskid buffer board and pressure sensors are constituteed, buffer spring and rubber antiskid buffer board through setting up, make the grip block can give good protection effect for article when snatching article, avoided the grip block excessively violent to cause wearing and tearing or cause the condition of article deformation to take place to the article surface, the article that rubber antiskid buffer board can effectually avoid snatching drop down from the grip block simultaneously, through the pressure sensors who sets up, make the grip block can sense the grip block constantly and act on the power for article when snatching article, avoid the grip block excessively violent or excessively low condition emergence of exerting oneself with this.
Drawings
FIG. 1 is a schematic front view of the present invention;
FIG. 2 is a front cross-sectional structural view of the fixing bracket of the present invention;
FIG. 3 is an enlarged view of the structure at A in FIG. 2 according to the present invention;
FIG. 4 is an enlarged view of the structure at B in FIG. 2 according to the present invention;
FIG. 5 is a schematic cross-sectional view of the first clamping plate according to the present invention.
In the figure: 1. a robot body; 2. connecting blocks; 3. a lifting cylinder; 4. fixing a bracket; 41. a slide plate; 42. a rack; 43. clamping the gear; 5. a first drive lever; 6. a second transmission rod; 7. a first clamping plate; 8. a connecting shaft; 9. adjusting a rod; 91. a driving gear; 92. an arc-shaped hole; 93. a driven gear; 94. fixing the rod; 95. an annular plate; 96. a limiting rod; 10. a second clamping plate; 11. a buffer spring; 12. a rubber anti-skid buffer plate; 13. a pressure sensor.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 1-5, the present invention provides a technical solution: clamping device for humanoid robot includes: the robot comprises a robot body 1, a connecting block 2, a lifting cylinder 3, a fixed support 4, a sliding plate 41, a rack 42, a clamping gear 43, a first transmission rod 5, a second transmission rod 6, a first clamping plate 7, a connecting shaft 8, an adjusting rod 9, a driving gear 91, an arc-shaped hole 92, a driven gear 93, a fixed rod 94, an annular plate 95, a limiting rod 96, a second clamping plate 10, a buffer spring 11, a rubber anti-skid buffer plate 12 and a pressure sensor 13;
the robot comprises a robot body 1, a lifting cylinder 3, a fixed support 4 and a second transmission rod 6, wherein the robot body 1 is arranged on the top of the ground in parallel, the bottom of the robot body 1 is rotatably provided with a connecting block 2, the bottom of the connecting block 2 is embedded and provided with the lifting cylinder 3, the bottom of the lifting cylinder 3 is fixedly connected with the fixed support 4, the inside of the fixed support 4 is vertically, penetratingly and rotatably connected with the first transmission rod 5, and the inside of the fixed support 4 is vertically, penetratingly and rotatably connected with the second transmission rod 6;
the first clamping plate 7 is rotatably connected to the side of the second transmission rod 6, a connecting shaft 8 vertically penetrates through the inside of the first clamping plate 7 and is rotatably connected with the inside of the first clamping plate 7, an adjusting rod 9 vertically penetrates through the inside of the first clamping plate 7 and is rotatably connected with the inside of the first clamping plate, and a second clamping plate 10 is movably mounted at the end part of the connecting shaft 8;
and a buffer spring 11 which is embedded and installed on the side of the second clamping plate 10, wherein a rubber anti-skid buffer plate 12 is fixedly connected to the end part of the buffer spring 11, and a pressure sensor 13 is embedded and installed on the side of the rubber anti-skid buffer plate 12.
The inside of the fixed support 4 comprises a sliding plate 41, a rack 42 and a clamping gear 43, the sliding plate 41 is connected to the inside of the fixed support 4 in a vertical sliding manner, the rack 42 is fixedly connected to the side of the sliding plate 41, the clamping gear 43 is connected to the end of the rack 42 in a meshing manner, the end of the clamping gear 43 is fixedly connected to the outer wall of the first transmission rod 5, and the lifting cylinder 3 can drive the first clamping plate 7 and the second clamping plate 10 to clamp an article when lifting through the arranged sliding plate 41, the rack 42 and the clamping gear 43;
the outer wall of the fixed support 4 is movably connected with the end part of the second transmission rod 6, the fixed support 4 and the first clamping plate 7 form a rotating structure through the second transmission rod 6, and the first clamping plate 7 can be very conveniently rotated to clamp an article through the fixed support 4 and the first clamping plate 7 which are arranged into the rotating structure;
the adjustment lever 9 further comprises:
a driving gear 91 fixedly mounted on an outer wall of the adjusting lever 9;
the arc-shaped hole 92 is formed in the driving gear 91, the connecting shaft 8 is movably arranged in the arc-shaped hole 92, and the driving gear 91 cannot influence the connecting shaft 8 when rotating through the arranged arc-shaped hole 92;
a driven gear 93 engaged with the side of the driving gear 91, wherein the driven gear 93 is provided to enable a user to drive the second clamping plate 10 to rotate when the driving gear 91 is rotated;
a fixing rod 94 vertically penetrating and fixedly connected to the inside of the driven gear 93;
an annular plate 95 fixedly installed on an outer wall of the adjusting lever 9;
the limiting rod 96 vertically penetrates through the annular plate 95 in a movable mode, the end portion of the limiting rod 96 is connected with the side edge of the first clamping plate 7 in a clamping mode, and the position of the adjusting rod 9 can be firmly limited after the adjusting rod 9 rotates through the arranged limiting rod 96, so that the adjusting rod 9 is prevented from moving;
the driven gear 93 and the second clamping plate 10 form a fixed structure through the fixed rod 94, the interior of the driven gear 93 is fixedly connected with the outer wall of the fixed rod 94, the end part of the fixed rod 94 is fixedly connected with the side of the second clamping plate 10, and the driven gear 93 and the second clamping plate 10 which are arranged into the fixed structure enable the driven gear 93 to directly drive the second clamping plate 10 to rotate when the driven gear 93 rotates;
the quantity of buffer spring 11 is two, and two buffer spring 11 use the perpendicular bisector of second grip block 10 to set up as symmetry axis symmetry, and second grip block 10 passes through buffer spring 11 and constitutes elastic structure with rubber antiskid buffer board 12, through setting to elastic structure's second grip block 10 and rubber antiskid buffer board 12, makes first grip block 7 and second grip block 10 can not cause the damage to the article surface when carrying out the centre gripping to article.
The working principle is as follows: when the clamping device for the humanoid robot is used, according to the figures 1, 2, 3 and 5, a user grasps the adjusting rod 9 and rotates the adjusting rod, so that the driving gear 91 rotates, the driving gear 91 rotates to drive the driven gear 93 to rotate correspondingly, meanwhile, the influence of the driving gear 91 on the connecting shaft 8 during rotation is avoided through the arranged arc-shaped hole 92, when the driven gear 93 rotates, the fixing rod 94 and the connecting shaft 8 are matched with each other to drive the second clamping plate 10 to rotate, so that the angle between the second clamping plate 10 and the first clamping plate 7 is adjusted, and after the angle is adjusted, the limiting rod 96 is inserted into the annular plate 95 by the user, so that the driving gear 91 is prevented from rotating suddenly;
according to fig. 1, 2 and 4, the lifting cylinder 3 at the bottom of the connecting block 2 is turned on by the battery power in the robot body 1, the lifting cylinder 3 drives the sliding plate 41 to slide downwards in the fixed bracket 4, the first transmission rod 5 is driven to rotate through the mutual matching of the rack 42 and the clamping gear 43, meanwhile, the first clamping plate 7 and the second clamping plate 10 are driven to carry out clamping operation on the article through the matching of the second transmission rod 6, when the first clamping plate 7 and the second clamping plate 10 clamp the object, the rubber antiskid buffer plate 12 moves towards the second clamping plate 10 through the buffer spring 11, when the pressure sensor 13 touches the second clamping plate 10, the lifting cylinder 3 stops moving, and at the moment, the clamping force of the first clamping plate 7 and the second clamping plate 10 on the article just cannot make the article fall off or damage the surface of the article, meanwhile, the rubber antiskid buffer plate 12 and the buffer spring 11 can also give good protection effect to the articles.
Those not described in detail in this specification are within the skill of the art.
Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the utility model, the scope of which is defined in the appended claims and their equivalents.
Claims (6)
1. Clamping device for humanoid robot, its characterized in that includes:
the robot comprises a robot body, a first transmission rod, a second transmission rod, a first transmission rod and a second transmission rod, wherein the robot body is arranged on the top of the ground in parallel, the bottom of the robot body is rotatably provided with a connecting block, the bottom of the connecting block is embedded with a lifting cylinder, the bottom of the lifting cylinder is fixedly connected with a fixed support, the inside of the fixed support is vertically and rotatably connected in a penetrating manner, and the inside of the fixed support is vertically and rotatably connected in a penetrating manner;
the first clamping plate is rotatably connected to the side of the second transmission rod, the inside of the first clamping plate vertically penetrates through and is rotatably connected with a connecting shaft, the inside of the first clamping plate vertically penetrates through and is rotatably connected with an adjusting rod, and the end part of the connecting shaft is movably provided with the second clamping plate;
and the buffer spring is embedded and installed on the side of the second clamping plate, the end part of the buffer spring is fixedly connected with a rubber anti-skid buffer plate, and the side of the rubber anti-skid buffer plate is embedded and installed with a pressure sensor.
2. The clamping device for a humanoid robot as set forth in claim 1, wherein: the inside of fixed bolster contains slide, rack and centre gripping gear, and sliding connection has the slide about the inside of fixed bolster to the avris fixedly connected with rack of slide, the tip meshing of rack is connected with the centre gripping gear moreover, and the tip of centre gripping gear and the outer wall fixed connection of first transfer line.
3. The clamping device for a humanoid robot as set forth in claim 1, wherein: the outer wall of the fixed support is movably connected with the end part of the second transmission rod, and the fixed support and the first clamping plate form a rotating structure through the second transmission rod.
4. The clamping device for a humanoid robot as set forth in claim 1, wherein: the regulation pole still includes:
the driving gear is fixedly arranged on the outer wall of the adjusting rod;
the arc-shaped hole is formed in the driving gear, and a connecting shaft is movably arranged in the arc-shaped hole;
a driven gear engaged with the side of the driving gear;
the fixed rod vertically penetrates through the driven gear and is fixedly connected to the inside of the driven gear;
the annular plate is fixedly arranged on the outer wall of the adjusting rod;
the limiting rod is vertically penetrated and movably connected inside the annular plate, and the end part of the limiting rod is connected with the side of the first clamping plate in a clamping mode.
5. A gripping device for a humanoid robot as claimed in claim 4, characterized in that: the driven gear and the second clamping plate form a fixing structure through the fixing rod, the interior of the driven gear is fixedly connected with the outer wall of the fixing rod, and the end portion of the fixing rod is fixedly connected with the side of the second clamping plate.
6. The clamping device for a humanoid robot as set forth in claim 1, wherein: the quantity of buffer spring is two, and two buffer spring use the perpendicular bisector of second grip block as symmetry axis symmetry setting to the second grip block passes through buffer spring and constitutes elastic construction with rubber anti-skidding buffer board.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202121328419.1U CN215511065U (en) | 2021-06-15 | 2021-06-15 | Clamping device for humanoid robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202121328419.1U CN215511065U (en) | 2021-06-15 | 2021-06-15 | Clamping device for humanoid robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN215511065U true CN215511065U (en) | 2022-01-14 |
Family
ID=79808217
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202121328419.1U Active CN215511065U (en) | 2021-06-15 | 2021-06-15 | Clamping device for humanoid robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN215511065U (en) |
-
2021
- 2021-06-15 CN CN202121328419.1U patent/CN215511065U/en active Active
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN110978007B (en) | Automatic brick carrying manipulator | |
| CN215511065U (en) | Clamping device for humanoid robot | |
| CN211627255U (en) | Steel strength detection device for building detection | |
| CN206183092U (en) | Walnut cracker pincers | |
| CN218634787U (en) | Leaf picking mechanism | |
| CN107251711B (en) | Convenient to use's jujube is picked ware | |
| CN110744468A (en) | Reducing pipe slope clamping device for tip cutting convenient to angle modulation | |
| CN211769228U (en) | Paper tube clamping device for laminating paper tube | |
| CN214135653U (en) | Positioning device for machining wind power tower cylinder | |
| CN210505395U (en) | Lifting device for logistics storage | |
| CN221092765U (en) | Lifting device for automobile sheet metal parts | |
| CN207812054U (en) | The intelligent foot pedal apparatus of computer controlled sewing machine | |
| CN217901881U (en) | Photovoltaic board intelligent power detection overhauls device | |
| CN213757313U (en) | Mirror cabinet with multi-angle door body | |
| CN215109340U (en) | Silent type inflator pump | |
| CN216624236U (en) | Cell clamping device of automatic series welding machine for solar cells | |
| CN213696648U (en) | Handle and container with same | |
| CN210872853U (en) | Head-wearing type vision rehabilitation training instrument | |
| CN204931124U (en) | A kind of portable multi-function neckpillow | |
| CN211842070U (en) | Free rotation robot wrist | |
| CN108500909B (en) | Hollow long handle up-down transmission device | |
| CN208692113U (en) | A kind of outlet mechanism of closed fishing lines reel | |
| CN215883151U (en) | Convex hitting mechanism for service card adhesive dot pasting machine | |
| CN216869364U (en) | Size detection device for clothing production | |
| AU2018101500A4 (en) | Footrest for Assisting in Touching Car Roof |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20240103 Address after: Room 402-135, 4th Floor, West District, No. 258 Nantong Street, Nangang District, Harbin City, Heilongjiang Province, 150000 Patentee after: Harbin Shenqian Technology Co.,Ltd. Address before: 430050 206, floor 2, building 4, shekai apartment, No. 220, Checheng Avenue, Wuhan Economic and Technological Development Zone, Hubei Province Patentee before: Wuhan Huaxin Technology Co.,Ltd. |
|
| TR01 | Transfer of patent right |