CN201154481Y - Improvement for lower limb joint of small-sized robot - Google Patents
Improvement for lower limb joint of small-sized robot Download PDFInfo
- Publication number
- CN201154481Y CN201154481Y CNU200720309587XU CN200720309587U CN201154481Y CN 201154481 Y CN201154481 Y CN 201154481Y CN U200720309587X U CNU200720309587X U CN U200720309587XU CN 200720309587 U CN200720309587 U CN 200720309587U CN 201154481 Y CN201154481 Y CN 201154481Y
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- joint
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- connection unit
- robot
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Abstract
The utility model relates to the improvement of the joints of lower limbs of a mini robot. The lower limbs which can bend and rotate is formed by the connection and combination of joints; wherein, each group of the joint comprises a connecting unit and a driving unit, four or less than four groups of the joints combine the lower limbs. The number of the joints of the lower limbs can be shortened so as to reduce the body size of the robot and save the cost without affecting the movements (such as walking, dancing, moving, etc.) of the robot. In addition, the number of the joints of the lower limbs and the arrangement of connecting units and drive units of each group of the joint can also be changed to meet the demands of different movements of different robots.
Description
Technical field
The utility model provides a kind of utilization to reduce joint of lower extremity quantity to reach reduction robot build size, save cost and do not influence it and can move the miniaturization robot of purpose (as walking, dancing, motion etc.).
Background technology
Along with development in science and technology is maked rapid progress, robot is from early stage manufacturing industry and science purposes robot, extend to and assist the human domestic robot that manages one's household, be amusement masses' toy robot thereupon, and the attraction people's of the automaticity of robot motion sight and some players' attention, so robot will hold in our daily life gradually in future, many robots are generally appearring on the market, but figure is big and expensive, does not meet the limit of power of ordinary consumer, and unfavorable collection.
See also shown in Figure 1, habit has robot 8 to be the difference action demand in response to various customers, unit (constituting) the whole foot that links (joint 9 and lower limb 81) that often needs similar joint 9 more than five or five by linking part 91 and motor 92, wherein one group of joint 9 at top is fixedly arranged on the waist 82, and then constitute thigh 83 parts with two groups of joints 9 again, 9 in the joint that is connected to thigh 83 belows is shank 84 parts, moreover, form sole 85 parts by last joint 9, constitute complete lower limb with this.
Only, these lower limb constitute with five groups of joints 9 at least, so whole robot 8 is comparatively complicated in assembling, and the motor 92 in each joint 9 be vertical the placement, build greatly, relatively be not easy balance in the activity, relative power consumption demand is bigger, manufacturing cost is higher, inconvenience especially on carrying, and because of one group of joint 9 at the top of its lower limb 81 for being fixedly arranged on the waist 82, can't do significantly and rotate, flexibility ratio is also relatively poor.
The utility model content
In view of this, the technical problem that solves of the utility model is to provide a kind of utilization to reduce joint of lower extremity quantity to reach reduction robot build size, save cost and do not influence it and can move the miniaturization robot of purpose (as walking, dancing, motion etc.).
Moreover the technical problem that the utility model solves more is to provide a kind of waist can make the miniaturization robot that various different angles are rotated even can be rotated significantly.
The utility model is that the technical scheme of the joint of lower extremity improvement of miniaturization robot is, it is by the link lower limb of a bent rotation start of each joint, and each group joint comprises a connection unit and a driver element, wherein, these lower limb are combined by the binding of the joint below four groups or four groups, utilize reduction joint of lower extremity quantity to reach reduction robot build size, save cost and do not influence it and can move purpose (as walking, dance, motion etc.), and different by the difference of those joint of lower extremity quantity and each joint connection unit and driver element set-up mode, come must reach the demands of different actions in response to various robots.
In addition, the lower limb of those robots further connect by a plate and trunk and establish, and more can in trunk, be provided with a driver element and connect and establish with connecting plate, make this driver element can drive the lower limb rotary oscillation that connecting plate drives robot, to constitute the miniaturization robot architecture that a waist can rotate arbitrarily.
The beneficial effects of the utility model are: the utility model robot height Miniaturizable is to only in 16 centimeters, and can edit out action above 65,000 kinds, assembly and disassembly is easy, the allocation position in those joints of user's variation capable of automatic assembling and pattern are to reach the purpose that can do different actions, the utility model robot is double feet walking such as, play soccer, somersaults, shake one's fists, jackknife, go down on one's knees, dance, pushup, even taijiquan all can't beat it, the user can surf the Net and download outside the action that configures, can also adjust voluntarily with PC, editor's action, in the design in trick joint, have flexibility concurrently and keep fixing action and the again little advantage of power consumption for a long time, the utility model robot is not only light, easy to carry, most economical on the market especially, the lightest and the handiest and the most lasting miniaturization robot.
Description of drawings
Fig. 1 has the robot structural representation for practising;
Fig. 2 is the stereoscopic figure of the utility model first embodiment;
Fig. 3 is the structural representation of the utility model first embodiment;
Fig. 4 A is the action schematic diagram of the utility model first embodiment;
Fig. 4 B is the action schematic diagram of the utility model second embodiment;
Fig. 5 is the structural representation of the utility model the 3rd embodiment;
Fig. 6 is the structural representation of the utility model the 4th embodiment;
Fig. 7 is the structural representation of the utility model the 5th embodiment;
Fig. 8 A is the side-looking structural representation of the utility model the 6th embodiment;
Fig. 8 B is the side-looking structural representation of the utility model the 7th embodiment;
Fig. 8 C is the action schematic diagram of the utility model the 7th embodiment;
Fig. 8 D is the side-looking structural representation of the utility model the 8th embodiment;
Fig. 9 is the structural perspective of the utility model the 9th embodiment;
Figure 10 is the structural perspective of the utility model the tenth embodiment;
Figure 11 is the structural perspective of the utility model the 11 embodiment;
Figure 12 is the structural perspective of the utility model the 12 embodiment;
Figure 13 is the structural perspective of the utility model the 13 embodiment.
[figure number explanation]
1 first joint 101, joint
The 4th joint 104 connection unit 11
Thigh 21 shanks 22
Sole 23 trunks 3
Connecting plate 31 driver elements 32
Waist 82 thighs 83
Shank 84 soles 85
Joint 9 linking parts 91
The specific embodiment
Characteristics of the present utility model can be consulted the detailed description of the graphic and embodiment of this case and obtained to be well understood to.
The joint of lower extremity improvement of the utility model miniaturization robot, as shown in Figures 2 and 3, it is by each joint 1 lower limb 2 that can do bending rotation start that link, and each group joint 1 comprises a connection unit 11 and a driver element 12, wherein, these lower limb 2 are combined by 1 binding of the joint below four groups or four groups, utilize reduction joint of lower extremity quantity to reach reduction robot build size (especially height is good) in 16 centimeters, save cost and do not influence it and can move purpose (as walking, dance, motion etc.) purpose, and the allocation position and the pattern in those joints of user's variation capable of automatic assembling, different with by the difference of those joint of lower extremity quantity and each joint connection unit 11 and driver element 12 set-up modes come must reach in response to various robots the demands of different actions.
Wherein, this driver element 12 can be parallel or vertical mode be arranged at connection unit 11 1 ends, and this connection unit 11 is a ㄇ type connecting rod, and this connection unit 11 can be located at above or below the driver element 12,12 of this driver elements comprise a motor 121 and a power transmission shaft 122, this power transmission shaft 122 is connected with connection unit 11 and driven and rotation mutually by motor 121, and motor 121 can be gear motor, d.c. motor, alternating current motor, stepper motor or be servo motor, drive the rotation (as shown in Figures 3 and 4) that its power transmission shaft 122 is done various different directions to control each motor 121 by the built-in control program of robot, make each connection unit 11 that is subjected to each motor 121 transmission make double feet walking, play soccer, somersaults, go down on one's knees, actions such as dancing.
In first embodiment shown in Fig. 2 to Fig. 4 A, this robot has two groups lower limb 2, every group of lower limb 2 are combined by 1 binding of four groups of joints, and motor 121 is a configured in parallel, wherein top constitutes thigh 21 parts by first, second joint 101,102, then constitutes shank 22 parts by the 3rd joint 103, constitutes soles 23 parts with the 4th joint 104 at last, in addition, those lower limb 2 are fixed in a plate 31 bottoms again and connect with trunk 3 and establish.
Wherein, each joint 1 configuration mode of present embodiment is as follows:
1, the connection unit 11 in this first joint 101 is located at its driver element 12 tops, makes these thigh 21 parts be fixed in connecting plate 31 bottoms by connection unit 11.
2,11 of the connection unit of this second joint 102 are located at driver element 12 belows, and two driver elements 12 in this first, second joint 101,102 then interconnect.
3,11 of the connection unit in the 3rd joint 103 are located at driver element 12 belows, and the driver element 12 in the 3rd joint 103 then interconnects with the connection unit 11 of second joint 102.
4,11 of the connection unit in the 4th joint 104 are located at driver element 12 tops, and two connection unit 11 in the 3rd, the 4th joint 103,104 then interconnect.
Configuration mode by above-mentioned first each joint of embodiment, can form the action of the robot shown in Fig. 4 A, if change quantity or the connection unit 11 in each joint 1 and the mode that is oppositely arranged of driver element 12 in joint 1, can make robot reach the demand of different actions, shown in Fig. 4 B, the mode that is oppositely arranged that it changes joint connection unit 11 wherein and driver element 12 then forms different actions, and each joint 1 configuration mode of this second embodiment is as follows:
1, the connection unit 11 in this first joint 101 is located at driver element 12 tops, makes these thigh 21 parts be fixed in connecting plate 31 bottoms by connection unit 11.
2,11 of the connection unit of this second joint 102 are located at driver element 12 tops, and the connection unit 11 of this second joint 102 then interconnects with the driver element 12 in first joint 101.
3,11 of the connection unit in the 3rd joint 103 are located at driver element 12 belows, and two driver elements 12 in this second, third joint 102,103 then interconnect.
4,11 of the connection unit in the 4th joint 104 are located at driver element 12 tops, and two connection unit 11 in the 3rd, the 4th joint 103,104 then interconnect.
By above-mentioned two embodiment as can be known, the mode that is oppositely arranged of connection unit and driver element in this joint, for example this connection unit is located at above or below the driver element, all can influence the connection unit and the driver element arrangement mode of whole robot lower limb, so its arrangement mode can have the 2n kind, wherein n is the quantity in joint.
Moreover, being illustrated in figure 5 as the 3rd embodiment of the utility model joint of lower extremity 1, each joint 1 configuration mode is as follows:
1, the connection unit 11 in this first joint 101 is located at driver element 12 belows, makes these thigh 21 parts be fixed in connecting plate 31 bottoms by driver element 12.
2,11 of the connection unit of this second joint 102 are located at driver element 12 tops, and two connection unit 11 in this first, second joint 101,102 then interconnect.
3,11 of the connection unit in the 3rd joint 103 are located at driver element 12 belows, and two driver elements 12 in this second, third joint 102,103 then interconnect.
4,11 of the connection unit in the 4th joint 104 are located at driver element 12 tops, and two connection unit 11 in the 3rd, the 4th joint 103,104 then interconnect.
Again,, be the 4th embodiment of the present utility model and the 5th embodiment, form thigh 21 parts and shank 22 parts by three groups of connection unit 11 and the identical joint 1 of driver element 12 configuration modes as Fig. 6 and shown in Figure 7.
Certainly, the set-up mode of connection unit 11 and the relative link position of driver element 12 in these upper and lower two joints, also can influence the angle rotatable scope of motor 121 and connection unit 11, shown in the 6th embodiment shown in Fig. 8 A, the connection unit 11 in these upper and lower two joints 1 is identical with the link position of driver element 12 separately, that is two connection unit 11 to be located at driver element 12 equally same in right-hand position, make the motor 121 and the angle rotatable scope of connection unit 11 be about 90 degree; In addition shown in the 7th embodiment of Fig. 8 B, on being somebody's turn to do, down the connection unit 11 in two joints is inequality with the link position of driver element 12 separately, that is two driver element 12 be located at the staggered positions of connection unit 11 fore-and-aft directions separately, and two connection unit 11 are located at corresponding position up and down as shown in the figure, and dislocation before and after driver element 12 forms separately, again please be simultaneously with reference to Fig. 8 C, when the motor 121 driving power transmission shafts 122 of driver element 12 drive connection unit 11 mutual rotations, can place the angle rotatable scope that increases motor 121 and connection unit 11 because of its fore-and-aft direction staggers; Certainly, also two driver elements 12 can be located at corresponding position up and down, shown in the 8th embodiment of Fig. 8 D, and dislocation before and after connection unit 11 forms separately, can increase the angle rotatable scope of motor 121 and connection unit 11 equally, so can be according to the required mode that is oppositely arranged up and down of selecting connection unit in upper and lower two joints 1 11 and driver element 12, and the front and back of connection unit 11 and driver element 12 are oppositely arranged or are arranged side by side mode in this single joint 1, to form several arrangement modes.
Moreover, the motor 121 of this driver element 12 except as the various embodiments described above for be arrangeding in parallel, also can the 9th embodiment as shown in Figure 9 in, the motor 121 of this driver element 12 is connected with vertical mode and connection unit 11.
Moreover those lower limb 2 described herein also can be directly fixed on trunk 3 belows, as described in the 9th embodiment of Fig. 9.
And the lower limb 2 of robot also can be combined by 1 binding of the joint below four groups, and among the tenth embodiment as shown in figure 10, its lower limb 2 are only combined by 1 binding of three groups of joints; Or among the 11 embodiment as shown in figure 11,2 in its lower limb are linked by two groups of joints 1 and combine; Certainly the driver element 12 of these two kinds of embodiment and the arrangement mode of connection unit 11 as the narration of front, have multiple compound mode.
Moreover, see also shown in the 12 embodiment of Figure 12, those lower limb 2 interconnect by a plate 31, and are provided with a driver element 32 in this trunk 3, itself and connecting plate 31 connect to be established, and uses and drive connecting plate 31 and drive those lower limb 2 and do and significantly wave spinning movement; Perhaps, shown in the 13 embodiment of Figure 13, wherein those lower limb 2 connect by driver element 32 and trunk 3 respectively and establish, two lower limb, 2 tops are respectively equipped with two driver elements 32 among the figure, and those lower limb 2 connect by driver element 32 and trunk 3 respectively and establish, and be provided with in the trunk 3 with two fixing driver elements 32 of connecting plate 31, and use and drive those lower limb 2 and do and independently wave spinning movement, so robot is except that the action that can jackknife, when robot drops to, can rotate strength by trunk 3 and robot is propped up and straighten health immediately; Certainly, this trunk 3 and the different embodiment (with or above driver element 32) that lower limb 2 connect also can be applicable in 1 configuration structure of the different joints of above-mentioned each upper limbs (as mentioned above shown in the 11 embodiment of first embodiment to Figure 11 of Fig. 2).
The utility model robot height Miniaturizable is to only in 16 centimeters, and assembly and disassembly is easy, the allocation position in those joints of user's variation capable of automatic assembling and pattern are to reach the purpose that can do different actions, the utility model robot is double feet walking such as, play soccer, somersaults, shake one's fists, jackknife, go down on one's knees, dance, pushup, even taijiquan all can't beat it, in the design in trick joint, have flexibility concurrently and keep fixing action and the again little advantage of power consumption for a long time, not only light, easy to carry, most economical on the market especially, the lightest and the handiest and the most lasting design robot.
Claims (10)
1, the joint of lower extremity of a kind of miniaturization robot improvement, it is by the link lower limb of a bent rotation start of each joint, and each group joint comprises a connection unit and a driver element, it is characterized in that: these lower limb are combined by the binding of the joint below four groups or four groups.
2, the joint of lower extremity of miniaturization as claimed in claim 1 robot improvement is characterized in that this driver element is arranged at connection unit one end with parallel or vertical direction.
3, the joint of lower extremity of miniaturization as claimed in claim 1 robot improvement, it is characterized in that, the connection unit in each joint is located at above or below the driver element in this joint, and the connection unit of lower limb and driver element arrangement mode have the 2n kind, and wherein n is the quantity in joint.
4, the joint of lower extremity of miniaturization as claimed in claim 1 robot improvement, it is characterized in that, this driver element comprises a motor and a power transmission shaft, this power transmission shaft and connection unit are connected and driven by motor and rotation mutually, and this motor is gear motor, d.c. motor, alternating current motor, stepper motor or servo motor.
5, the joint of lower extremity of miniaturization as claimed in claim 1 robot improvement, wherein this robot lower limb has at least two group joints.
As the joint of lower extremity improvement of claim 1,2,3 or 5 described miniaturization robots, it is characterized in that 6, those lower limb connect by a plate and trunk and establish.
7, as the joint of lower extremity improvement of claim 1,2,3 or 5 described miniaturization robots, it is characterized in that those lower limb interconnect by a plate, establish and on the connecting plate and further connect by a driver element and trunk.
As the joint of lower extremity improvement of claim 1,2,3 or 5 described miniaturization robots, it is characterized in that 8, those lower limb connect by driver element and trunk respectively and establish.
As the joint of lower extremity improvement of claim 1,2,3 or 5 described miniaturization robots, it is characterized in that 9, the connection unit in these upper and lower two joints is identical with the link position of driver element separately.
As the joint of lower extremity improvement of claim 1,2,3 or 5 described miniaturization robots, it is characterized in that 10, the connection unit in these upper and lower two joints is the staggered positions of fore-and-aft direction with the link position of driver element separately.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNU200720309587XU CN201154481Y (en) | 2007-12-29 | 2007-12-29 | Improvement for lower limb joint of small-sized robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNU200720309587XU CN201154481Y (en) | 2007-12-29 | 2007-12-29 | Improvement for lower limb joint of small-sized robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN201154481Y true CN201154481Y (en) | 2008-11-26 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CNU200720309587XU Expired - Fee Related CN201154481Y (en) | 2007-12-29 | 2007-12-29 | Improvement for lower limb joint of small-sized robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN201154481Y (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| USD736669S1 (en) | 2013-09-20 | 2015-08-18 | Design Ideas, Ltd. | Model |
| USD745927S1 (en) | 2011-07-22 | 2015-12-22 | Design Ideas, Ltd. | Human model |
| USD747772S1 (en) | 2012-01-09 | 2016-01-19 | Design Ideas Ltd. | Human model |
-
2007
- 2007-12-29 CN CNU200720309587XU patent/CN201154481Y/en not_active Expired - Fee Related
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| USD745927S1 (en) | 2011-07-22 | 2015-12-22 | Design Ideas, Ltd. | Human model |
| USD747772S1 (en) | 2012-01-09 | 2016-01-19 | Design Ideas Ltd. | Human model |
| USD736669S1 (en) | 2013-09-20 | 2015-08-18 | Design Ideas, Ltd. | Model |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| C17 | Cessation of patent right | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20081126 Termination date: 20101229 |