CN203109948U - Humanoid robot - Google Patents
Humanoid robot Download PDFInfo
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- CN203109948U CN203109948U CN 201220696130 CN201220696130U CN203109948U CN 203109948 U CN203109948 U CN 203109948U CN 201220696130 CN201220696130 CN 201220696130 CN 201220696130 U CN201220696130 U CN 201220696130U CN 203109948 U CN203109948 U CN 203109948U
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Abstract
The utility model relates to a humanoid robot which is a mobile mechanical device. The mobile mechanical device is formed by a head part, a body part, arm parts and leg parts, and is provided with a circuit control system and a sensing system, which are matched, to realize the humanoid moving. Each moving joint of the humanoid robot is realized by tightly matching the torque outputted by a motor with each moving assembly. The humanoid robot disclosed by the utility model can replace people to finish various works, is capable of expanding the human capacity in multiple aspects and can be widely used in various fields such as service, medical care, education and entertainment.
Description
Technical field
The utility model belongs to the anthropomorphic robot field, has human outward appearance, can adapt to human live and work environment, replace the human operation of finishing various danger, and can aspect a lot of, expand human ability, in service, medical treatment, education, be used widely in a plurality of fields such as amusement.
Background technology
Present scientific and technological level improves gradually, people to the requirement of quality of life not in continuous lifting, thereby make anthropomorphic robot replace human work's field constantly to enlarge, therefore, strengthen day by day for the demand of anthropomorphic robot.Simultaneously, in medical treatment, service, manufacture field, use anthropomorphic robot, also realized the function that many mankind can't realize.Present existing apery machine volume is big, weight is big, operating difficulties, action are owed flexibly, flexible poor, can't reach anthropomorphic attitude and move, more can not finish its required motion with state independently.The utility model anthropomorphic robot can independently be finished anthropomorphic action, and can use in a plurality of fields, and its weight is far smaller than robot in the past, and has realized the optimization of structure under prerequisite cheaply.Flexibility ratio and the continuity of action improve greatly, have also improved service life simultaneously; The utility model anthropomorphic robot is also easier on operating system, moves quicklyer, and the precision of action is higher, and stability is better.And information processing capability has also obtained significantly promoting to external world.
Summary of the invention
The utility model anthropomorphic robot is made of head, body part, arm segment, shank, is realized the personification action of anthropomorphic robot by the motor-driven of each member; The utility model anthropomorphic robot can be according to the elemental motion such as squat, raise one's hand of different program settings, and by with the setting of program and the coordination of a plurality of servomotors, realize specific holding function.
The technical scheme that the utility model adopts is: comprise head (1), health (2), arm (3), leg (4), head is connected on the head link (201), uses bolting; Arm is connected with body structure by big arm swing support (301); Shank is connected with thigh swinging mounting (224) by shank knuckle support (501).
The utility model anthropomorphic robot by have five independently the joint formed, each joint has independently motion, each health junction is formed with movable part, makes the action of robot more pliable and tougher.
The utility model anthropomorphic robot is the tunable action under computer control, cooperatively interacts.This robot adopts apery structure, and is compact, volume is little, in light weight, the joint is flexible, intensity is big, convenient disassembly, and is safe and reliable, and motor lines, pickup wire are arranged regular, and drive connection is short and sweet, and information processing capability is more smooth to be stablized.In addition, it also has the characteristics of robot humanoid, namely range of movement big, keep away that the barrier ability is strong, controllability strong, be widely used, operation consumption is low, can replace human manual labor in following each field, reduces the generation of peril, the safety that guarantee is personal.
Description of drawings
Fig. 1 is that the mechanical arm of the utility model anthropomorphic robot rotates schematic diagram, Fig. 2 is the integral body assembling schematic diagram of the utility model anthropomorphic robot, Fig. 3 is the body structure schematic diagram of the utility model anthropomorphic robot, and Fig. 4 is the arm structure schematic diagram, and Fig. 5 is the leg structure schematic diagram.
The specific embodiment
Consult Fig. 1, Fig. 2, Fig. 3, the utility model anthropomorphic robot is made up of five unitary part, comprising head, body part, arm segment, foot section; Head is connected on the head link 201, uses bolting, and neck deep groove ball bearing 203 is installed on the neck shaft bearing 208, and is fixing with neck bearing (ball) cover 202, constitutes the moving link with revolute pair; Cervical fixation plate 204 is fixed by bolts on the health housing 205, and neck shaft coupling 210 is fixed by bolts on the cervical rotation axle 209, and two neck shaft couplings 211,210 cooperate with first motor 010, constitutes rotatablely moving of neck; First motor, 010 usefulness bolting is connected on the health inner casing 212; Second motor 020 is fixedlyed connected with big arm electric rotating machine support 213, and big arm electric rotating machine support 213 is connected with health inner casing 212 usefulness bolts; Big arm shaft coupling 214 is used bolting with big arm rotating shaft 215, and shoulder deep groove ball bearing 207 is installed on the big arm axle bearing 206, is fixed on the big arm gripper shoe 205 with big arm axle socket end lid 215; The 3rd motor 030 is installed in that 217, the three motor shafts are connected with waist shaft coupling 218 on the lumbar support plate, and the waist of formation rotates; Waist shaft coupling 218 is connected with thigh rotating shaft 219 usefulness bolting, the deep groove ball bearing 220 of thigh root is installed on the waist bearing block 221, fixing with waist bearing (ball) cover 222, waist bearing (ball) cover 222 is connected and fixed with lumbar support bar 223, thigh swinging mounting 224 is fixed by bolts on the waist bearing block 221, constitutes the part of anthropomorphic robot health.
Consult Fig. 4, the arm structure of the utility model anthropomorphic robot is to be connected with body structure by big arm swing support 301, the 4th motor 040 laterally is connected with big arm shell 305, bolt is fixed, big arm deep groove ball bearing 302 is installed on the big arm shell 305, connecting end cap 303 with the big arm outside fixes with the inboard end cap 304 that is connected of big arm, constitute the moving link with revolute pair, the 5th motor 050 vertically is connected with big arm shell 305, ancon turning cylinder 308 is connected with the ancon sleeve, be fixed by bolts on the wrist swinging mounting 311, ancon deep groove ball bearing 309 is installed between ancon bearing (ball) cover 307 and the ancon bearing block 310, with bolt ancon bearing block 310 is fixed on the big arm shell 305, the 6th motor 060 laterally is connected with wrist housing 315, wrist deep groove ball bearing 312 is installed between wrist housing 315 and the wrist swinging mounting 311, and connection end cap 314 in the wrist outside is connected end cap 313 with the wrist inboard and is connected, and is fixed on the wrist swinging mounting 311 with bolt.
Consult Fig. 5, the leg structure of the utility model anthropomorphic robot is to be connected with thigh swinging mounting 224 by shank knuckle support 501, the 7th motor 070 is fixed on the thigh housing 504, big leg joint deep groove ball bearing 503 is installed between thigh housing 504 and the thigh swinging mounting 501, connecting end cap 502 and big leg joint link lid 505 with shank fixes in both sides, and with bolt two end cap is fixed on the shank knuckle support 501, the 8th motor 080 is installed on the shank housing 507, knee joint deep groove ball bearing 509 is installed between shank housing 507 and the thigh housing 504, both sides are connected end cap 508 with outside knee joint connection end cap 506 with inboard knee joint fixing, shank housing 507 is connected with ankle knuckle support 512 usefulness bolting, ankle joint deep groove ball bearing 511 is installed between shank housing 507 and the ankle knuckle support 512, two ends are fixed with being connected end cap 513 with connecting end cap 510, and foot's ankle-joint connects end cap 514 ankle knuckle support 512 is connected with foot stand 515.
Claims (4)
1. anthropomorphic robot, it is characterized in that: comprise head (1), health (2), arm (3), leg (4), head is connected on the head link (201), uses bolting; Arm is connected with body structure by big arm swing support (301); Shank is connected with thigh swinging mounting (224) by shank knuckle support (501).
2. anthropomorphic robot according to claim 1, it is characterized in that the structure of body part is: neck deep groove ball bearing (203) is installed on the neck shaft bearing (208), and is fixing with neck bearing (ball) cover (202), constitutes the moving link with revolute pair; Cervical fixation plate (204) is fixed by bolts on the health housing (205), and neck shaft coupling (210) is fixed by bolts on the cervical rotation axle (209); Second motor (020) is fixedlyed connected with big arm electric rotating machine support (213), and big arm electric rotating machine support (213) is connected with bolt with health inner casing (212); Big arm shaft coupling (214) is used bolting with big arm rotating shaft (215), and shoulder deep groove ball bearing (207) is installed on the big arm axle bearing (206), is fixed on the big arm gripper shoe (205) with big arm axle socket end lid (215); The 3rd motor (030) is installed in (217) on the lumbar support plate, and the 3rd motor shaft is connected with waist shaft coupling (218), constitutes waist and rotates; Waist shaft coupling (218) is connected with bolting with thigh rotating shaft (219), thigh root deep groove ball bearing (220) is installed on the waist bearing block (221), fixing with waist bearing (ball) cover (222), waist bearing (ball) cover (222) is connected and fixed with lumbar support bar (223), and thigh swinging mounting (224) is fixed by bolts on the waist bearing block (221).
3. anthropomorphic robot according to claim 1, it is characterized in that arm structure is: the 4th motor (040) laterally is connected with big arm shell (305), be fixed with bolt, big arm deep groove ball bearing (302) is installed on the big arm shell (305), the 5th motor (050) vertically is connected with big arm shell (305), ancon turning cylinder (308) is connected with the ancon sleeve, be fixed by bolts on the wrist swinging mounting (311), ancon deep groove ball bearing (309) is installed between ancon bearing (ball) cover (307) and the ancon bearing block (310), with bolt ancon bearing block (310) is fixed on the big arm shell (305), the 6th motor (060) laterally is connected with wrist housing (315), and wrist deep groove ball bearing (312) is installed between wrist housing (315) and the wrist swinging mounting (311).
4. anthropomorphic robot according to claim 1, it is characterized in that leg structure is that the 7th motor (070) is fixed on the thigh housing (504), big leg joint deep groove ball bearing (503) is installed between thigh housing (504) and the thigh swinging mounting (501), connecting end cap (502) with shank fixes in both sides with big leg joint link lid (505), and with bolt two end cap is fixed on the shank knuckle support (501), the 8th motor (080) is installed on the shank housing (507), knee joint deep groove ball bearing (509) is installed between shank housing (507) and the thigh housing (504), both sides are connected end cap (508) with outside knee joint connection end cap (506) with inboard knee joint fixing, shank housing (507) is connected with bolting with ankle knuckle support (512), ankle joint deep groove ball bearing (511) is installed between shank housing (507) and the ankle knuckle support (512), two ends are fixed with being connected end cap (513) with connecting end cap (510), and foot's ankle-joint connects end cap (514) ankle knuckle support (512) is connected with foot stand (515).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201220696130 CN203109948U (en) | 2012-12-05 | 2012-12-05 | Humanoid robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201220696130 CN203109948U (en) | 2012-12-05 | 2012-12-05 | Humanoid robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN203109948U true CN203109948U (en) | 2013-08-07 |
Family
ID=48890325
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 201220696130 Expired - Fee Related CN203109948U (en) | 2012-12-05 | 2012-12-05 | Humanoid robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN203109948U (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103029130A (en) * | 2012-12-05 | 2013-04-10 | 长春工业大学 | Humanoid robot |
| CN105034009A (en) * | 2015-09-22 | 2015-11-11 | 邱炳辉 | Robot and control method |
| CN107444515A (en) * | 2017-09-15 | 2017-12-08 | 吴兰岸 | A kind of leg structure of new education robot |
| CN110774287A (en) * | 2019-06-12 | 2020-02-11 | 酷至家(广州)智能科技发展有限公司 | Teenagers' family education robot |
-
2012
- 2012-12-05 CN CN 201220696130 patent/CN203109948U/en not_active Expired - Fee Related
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103029130A (en) * | 2012-12-05 | 2013-04-10 | 长春工业大学 | Humanoid robot |
| CN105034009A (en) * | 2015-09-22 | 2015-11-11 | 邱炳辉 | Robot and control method |
| CN107444515A (en) * | 2017-09-15 | 2017-12-08 | 吴兰岸 | A kind of leg structure of new education robot |
| CN110774287A (en) * | 2019-06-12 | 2020-02-11 | 酷至家(广州)智能科技发展有限公司 | Teenagers' family education robot |
| CN110774287B (en) * | 2019-06-12 | 2023-12-05 | 酷智家机器人(广州)有限公司 | Teenager family education robot |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20130807 Termination date: 20151205 |
|
| EXPY | Termination of patent right or utility model |