CN205996982U - Single-degree-of-freedom humanoid show robot - Google Patents
Single-degree-of-freedom humanoid show robot Download PDFInfo
- Publication number
- CN205996982U CN205996982U CN201620898166.4U CN201620898166U CN205996982U CN 205996982 U CN205996982 U CN 205996982U CN 201620898166 U CN201620898166 U CN 201620898166U CN 205996982 U CN205996982 U CN 205996982U
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- axis
- fixed
- rocking bar
- crank
- connecting rod
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Abstract
This utility model provides a kind of single-degree-of-freedom humanoid show robot, including：Head, left arm, right arm, drive mechanism, trunk and base；Wherein head and drive mechanism are connected by screw fixation；The axis left end of drive mechanism passes through left sleeve and left flange plate centre bore to pass through pin and is connected；Right-hand member passes through right sleeve and right ring flange mesopore to pass through pin and is connected；Left sleeve passes through fixing on the left of screw and the trunk main body of trunk；Right sleeve passes through fixing on the right side of screw and the trunk main body of trunk；Trunk main body and the base through screws of trunk are fixed.This utility model running part structure is simply it is easy to processing, assembling, single Motor drive, stable.This robot novel in appearance, reliability are high, can be used for article display, promotion etc., suitable large-scale promotion.
Description
Technical field
This utility model is related to field of mechanical technique, refers in particular to a kind of single-degree-of-freedom humanoid show robot.
Background technology
With the development of technicalization, information age, roboticses have also obtained developing on a large scale very much.In robot field,
Humanoid robot is the representative of the most intuitively robot, is just more and more coming into and incorporating the life of masses.Due to imitative
Anthropomorphic robot, for the action of preferably simulated human, is required for very many assemblies；So controlling humanoid robot
When be accomplished by each writing control program for each parts and carry out motor control, lead to Motion Errors to be accumulated, reliable
Property and stability reduce.It can thus be seen that existing humanoid robot is various due to assembly, lead to control difficulty larger.
Utility model content
For problems of the prior art, the technical problems to be solved in the utility model is to provide a kind of single-degree-of-freedom
Humanoid show robot, can reduce the complexity of establishment, thus reducing the complexity of control.
In order to solve the above problems, this utility model embodiment proposes a kind of single-degree-of-freedom linkage, including motor,
Axis, fixed side, arm drive mechanism, head drive mechanism；Wherein axis interts and is arranged on fixed side and being capable of phase
Fixed side is rotated；And one end of axis connects handle-driving mechanism, the other end connects head drive mechanism；
Wherein arm drive mechanism includes the first crank, first connecting rod, the first rocking bar；Wherein the power output shaft of motor with
Axis is parallel, to drive the first crank complete cycle revolution；One end of first crank is fixed on the power output shaft of motor, the other end
The one end connecting first connecting rod rotates pair to constitute；And the other end of first connecting rod connects one end of the first rocking bar to constitute rotation
Pair, the other end of the first rocking bar is fixed on axis, so that drive the first song thereon when the power output shaft of motor rotates
Handle rotates around power output shaft and drives axis to do reciprocating rotation by first connecting rod, the first rocking bar；
Wherein head drive mechanism includes the second crank, second connecting rod, the second rocking bar, connecting shaft, head connector；Wherein
One end of second crank is fixed on axis with central axis, and the other end of the second crank connect one end of second connecting rod with
Constitute and rotate pair；One end that the other end of second connecting rod connects the second rocking bar rotates pair to constitute；Head connector is fixed on
The other end of two rocking bars；Connecting shaft interference fit is fixed on the other end of the second rocking bar, and connecting shaft is extended in parallel with axis；
Second crank, second connecting rod, the second rocking bar are done with axis both facing to the direction extension away from axis and pass through second during reciprocating rotation
Crank, second connecting rod, the second rocking bar drive head connector to move up and down.
Wherein, first connecting rod be respectively arranged at two ends with connecting hole to connect the first crank and the first rocking bar；And first rocking bar
Two ends be designed with being provided with connecting hole to connect first connecting rod and axis；Wherein, one end of the first crank is fixed on by jackscrew
On the power output shaft of motor, the connecting hole that the other end connects one end of first connecting rod by connecting hole forms rotation pair；The
It is secondary that the connecting hole of the one connecting rod other end constitutes rotation by the connecting hole that Screw connects first rocking bar one end；First rocking bar
The connecting hole of the other end is socketed on axis and is connected and fixed by jump ring with the draw-in groove of axis one end.
Wherein, one end of the wherein second crank is provided with connecting hole and leads to be socketed on axis and with the draw-in groove of the axis other end
Cross jump ring to connect and fix.
Meanwhile, this utility model embodiment also proposed a kind of single-degree-of-freedom linkage utilizing as described in front any one
Single-degree-of-freedom humanoid show robot, also include trunk, head, left arm, right arm；Wherein said trunk includes trunk originally
Body, described single-degree-of-freedom linkage is arranged on trunk, and this is internal, and the head connector of described single-degree-of-freedom linkage from
Described trunk body is stretched out at the top of described trunk body, and described head is fixed on described head connector；In wherein said
Axle stretches out described trunk from the side wall of described trunk and described left arm and/or right arm are fixed on described axis.
Wherein, also include base, described base includes the big base positioned at bottom being fixed together and is located at top
Small footprint, this small footprint bottom is provided with installing hole to be connected with big base through screws；Wherein trunk body bottom portion is fixed
Small footprint top in base.
Wherein, described left arm and/or right arm include：Palm, forearm, large arm；Wherein bottom palm is provided with fixing hole with solid
Be scheduled on the fixing hole of forearm one end, and the other end of forearm also be provided with fixing hole to be fixed on one end of large arm, large arm another
One end is connected on ring flange by fixed plate.
The having the beneficial effect that of technique scheme of the present utility model：Technique scheme proposes a kind of single-degree-of-freedom
Humanoid show robot, can drive to drive single-degree-of-freedom linkage by the power output of motor, with joystick
Drive mechanism and head drive mechanism work, drive left arm or right arm to swing, and drive head to do nodding action simultaneously.So may be used
So that humanoid action is realized by very simple structure, to realize the purpose shown.
Brief description
Fig. 1 is the overall structure figure of the single-degree-of-freedom humanoid show robot of this utility model embodiment；
Fig. 2 is the structural representation of the single-degree-of-freedom linkage in Fig. 1；
Fig. 3 is the overall structure figure of the trunk in Fig. 1；
Fig. 4 is the overall structure figure of the head in Fig. 1；
Fig. 5 is the overall structure figure of the left arm in Fig. 1；
Fig. 6 is the overall structure figure of the base in Fig. 1.
Specific embodiment
For making the technical problems to be solved in the utility model, technical scheme and advantage clearer, below in conjunction with accompanying drawing
And specific embodiment is described in detail.
This utility model embodiment proposes a kind of single-degree-of-freedom linkage, single-degree-of-freedom humanoid show robot.
As shown in Figure 1, this single-degree-of-freedom humanoid show robot includes：Head A as shown in Figure 4, left arm B as shown in Figure 5,
Right arm C, single-degree-of-freedom linkage D as shown in Figure 2, trunk E as shown in Figure 3, base F as shown in Figure 6.
Wherein, left arm B can be identical structure or different structure with right arm C.In a reality of the present utility model
Apply in example, the structure of this left arm B and right arm C can be all as shown in Figure 5, including palm 18, forearm 19, large arm 20；Wherein handss
Slap 18 bottoms and be provided with fixing hole to be fixed on the fixing hole of one end of forearm 19 and the other end of forearm 19 also is provided with fixing hole
To be fixed on one end of large arm 20, the other end of large arm 20 is connected on ring flange by fixed plate.Specifically, palm 18 bottom
Two fixing holes pass through two fixing holes cooperations on screw and forearm 19 top and fix；Four installing holes of forearm 19 bottom lead to
Four installing hole cooperations crossing screw with large arm 20 left side are fixed；Two connecting holes on large arm 20 right side pass through screw with fixed plate
It is fixedly connected；Four installing holes on the right side of fixed plate are fixedly connected by screw with ring flange.
As shown in Figure 1 and Figure 2, this single-degree-of-freedom linkage D includes motor 1, axis 6, upper mounted plate 13, lower fixation
Plate 14, fixed side 12, axis mounting flange 7, arm drive mechanism, head drive mechanism.As shown in Figure 2, axis 6 interts
It is arranged on fixed side 12 and can rotate with respect to fixed side 12；And one end of axis 6 connects handle-driving mechanism, separately
One end connects head drive mechanism.
Wherein arm drive mechanism includes the first crank 2, first connecting rod 3, the first rocking bar 4.As shown in Figure 2, wherein electricity
The power output shaft of machine 1 is parallel with axis 6, to drive the first crank 2 complete cycle to turn round；One end of first crank 2 is fixed on motor 1
Power output shaft on, the other end connect one end of first connecting rod 3 with constitute rotate secondary；And the other end of first connecting rod 3 connects
One end of first rocking bar 4 rotates pair to constitute, and the other end of the first rocking bar 4 is fixed on axis 6.Power output in motor 1
When axle rotates, the first crank 2 thereon is driven to rotate around power output shaft；And the first crank 2 passes through first connecting rod 3, first
Rocking bar 4 drives axis 6 to do reciprocating rotation.Wherein, the ring flange of this left arm B is fixed on axis 6, does reciprocating rotation in axis 6
When can realize the action waved in front and back.
As shown in Figure 2, first connecting rod 3 be respectively arranged at two ends with connecting hole to connect the first crank 2 and the first rocking bar 4；
And first the two ends of rocking bar 4 be designed with being provided with connecting hole to connect first connecting rod 3 and axis 6.Wherein, one end of the first crank 2
It is fixed on the power output shaft of motor 1 by jackscrew, the other end connects the connecting hole of one end of first connecting rod 3 by connecting hole
Rotate pair to be formed.The connecting hole of first connecting rod 3 other end connects the connecting hole of the first rocking bar 4 one end with structure by Screw
Become to rotate secondary.The connecting hole of the first rocking bar 4 other end is socketed on axis 6 and passes through jump ring clamping with the draw-in groove of axis 6 one end
Fixing.
Wherein head drive mechanism includes the second crank 5, second connecting rod 8, the second rocking bar 9, connecting shaft 10, head connector
11.One end of wherein second crank 5 is fixed on axis 6 with central axis, and the other end of the second crank 5 connects second even
One end of bar 8 rotates pair to constitute；One end that the other end of second connecting rod 8 connects the second rocking bar 9 rotates pair to constitute；Head is even
Fitting 11 is fixed on the other end of the second rocking bar 9；Connecting shaft 10 interference fit is fixed on the other end of the second rocking bar 9, and even
Spindle 10 is extended in parallel with axis 6.As shown in Figure 2, the second crank 5, second connecting rod 8, the second rocking bar 9 are both facing to away from axis
6 direction extends, with supporting head part A.Specifically, when axis 6 does reciprocating rotation, by the second crank 5, second connecting rod 8,
Two rocking bar 9 drives head connector 11 to move up and down, to drive head A to move up and down.
As shown in Figure 2, one end of the wherein second crank 5 is provided with connecting hole to be socketed on axis 6 and another with axis 6
The draw-in groove at end is connected and fixed by jump ring.
As shown in Figure 2, this fixed side 12 be provided with upper mounted plate 13, bottom plate 14, fixed side 12, on solid
Fixed board 13, bottom plate 14 are provided with lightening hole.
As shown in Figure 1, this single-degree-of-freedom linkage D is arranged in trunk E.As shown in Figure 3, this trunk E includes
Trunk body 16, in trunk body 16 open top so that head connector 15 stretches out trunk body 16 at this opening.As Fig. 4
Shown, head A includes a head body 17, and head body 17 passes through fixing hole and described head on head connector 15
Connector 15 is fixed together.
The small footprint 31 including the big base 32 positioned at bottom being fixed together and being located at top as Fig. 6, base F, should
Small footprint 31 bottom is provided with installing hole to be connected by screw fixation with big base 32.As shown in Figure 1, the trunk of trunk E is originally
Body 16 bottom is fixed on small footprint 31 top of base F.
Wherein, the left end of the axis 6 of single-degree-of-freedom linkage D is passed through through left sleeve with the ring flange center hole of left arm
Bayonet fittings are fixed；Axis 6 right-hand member of single-degree-of-freedom linkage D passes through right sleeve and the ring flange center hole of right arm to pass through pin
Nail cooperation is fixed.It is fixing with the trunk body 16 of trunk E that the all-round fixing hole of left sleeve passes through screw；The all-round fixation of right sleeve
It is fixing with the trunk body 16 of trunk E that screw is passed through in hole.
The above is preferred implementation of the present utility model it is noted that ordinary skill for the art
For personnel, on the premise of without departing from principle described in the utility model, some improvements and modifications can also be made, these improvement
Also should be regarded as protection domain of the present utility model with retouching.
Claims (6)
1. a kind of single-degree-of-freedom linkage is it is characterised in that include motor, axis, fixed side, arm drive mechanism, head
Portion's drive mechanism；Wherein axis interts and is arranged on fixed side and can rotate with respect to fixed side；And one end of axis
Connect handle-driving mechanism, the other end connects head drive mechanism；
Wherein arm drive mechanism includes the first crank, first connecting rod, the first rocking bar；The wherein power output shaft of motor and axis
Parallel, to drive the first crank complete cycle revolution；One end of first crank is fixed on the power output shaft of motor, and the other end connects
One end of first connecting rod rotates pair to constitute；And the other end of first connecting rod connects one end of the first rocking bar to constitute rotation pair,
The other end of the first rocking bar is fixed on axis so that drive when the power output shaft of motor rotates the first crank thereon around
Power output shaft to rotate and drive axis to do reciprocating rotation by first connecting rod, the first rocking bar；
Wherein head drive mechanism includes the second crank, second connecting rod, the second rocking bar, connecting shaft, head connector；Wherein second
One end of crank is fixed on axis with central axis, and the other end of the second crank connects one end of second connecting rod to constitute
Rotate secondary；One end that the other end of second connecting rod connects the second rocking bar rotates pair to constitute；Head connector is fixed on second and shakes
The other end of bar；Connecting shaft interference fit is fixed on the other end of the second rocking bar, and connecting shaft is extended in parallel with axis；Second
Crank, second connecting rod, the second rocking bar both facing to away from axis direction extend with axis do during reciprocating rotation pass through the second crank,
Second connecting rod, the second rocking bar drive head connector to move up and down.
2. single-degree-of-freedom linkage according to claim 1 is it is characterised in that the company of being respectively arranged at two ends with of first connecting rod
Connect hole to connect the first crank and the first rocking bar；And first rocking bar two ends be designed with being provided with connecting hole with connect first connecting rod and
Axis；Wherein, one end of the first crank is fixed on the power output shaft of motor by jackscrew, and the other end is connected by connecting hole
The connecting hole of one end of first connecting rod rotates pair to be formed；The connecting hole of the first connecting rod other end connects first by Screw
The connecting hole of rocking bar one end rotates pair to constitute；The connecting hole of the first rocking bar other end be socketed on axis and with axis one end
Draw-in groove is connected and fixed by jump ring.
3. single-degree-of-freedom linkage according to claim 2 is it is characterised in that one end of the wherein second crank is provided with even
Connect hole to connect and fix by jump ring to be socketed on axis and with the draw-in groove of the axis other end.
4. a kind of single-degree-of-freedom humanoid display machine using the single-degree-of-freedom linkage as described in any one of claim 1-3
Device people is it is characterised in that also include trunk, head, left arm, right arm；Wherein said trunk includes trunk body, described single free
Degree linkage is arranged on trunk, and this is internal, and the head connector of described single-degree-of-freedom linkage is from described trunk body
Described trunk body is stretched out at top, and described head is fixed on described head connector；Wherein said axis is from described trunk
Side wall stretches out described trunk and described left arm and/or right arm are fixed on described axis.
5. single-degree-of-freedom humanoid show robot according to claim 4 is it is characterised in that also including base, described
The small footprint that base includes the big base positioned at bottom being fixed together and is located at top, this small footprint bottom is provided with installing hole
To be connected with big base through screws；Wherein trunk body bottom portion is fixed on the small footprint top of base.
6. single-degree-of-freedom humanoid show robot according to claim 4 is it is characterised in that described left arm and/or the right side
Arm includes：Palm, forearm, large arm；Wherein bottom palm is provided with fixing hole to be fixed on the fixing hole of forearm one end, and forearm
The other end also be provided with fixing hole and be connected on ring flange by fixed plate with being fixed on one end of large arm, the other end of large arm.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620898166.4U CN205996982U (en) | 2016-08-17 | 2016-08-17 | Single-degree-of-freedom humanoid show robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620898166.4U CN205996982U (en) | 2016-08-17 | 2016-08-17 | Single-degree-of-freedom humanoid show robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN205996982U true CN205996982U (en) | 2017-03-08 |
Family
ID=58199041
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201620898166.4U Withdrawn - After Issue CN205996982U (en) | 2016-08-17 | 2016-08-17 | Single-degree-of-freedom humanoid show robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN205996982U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106217388A (en) * | 2016-08-17 | 2016-12-14 | 北京品飞天高科技有限公司 | Single-degree-of-freedom humanoid show robot |
-
2016
- 2016-08-17 CN CN201620898166.4U patent/CN205996982U/en not_active Withdrawn - After Issue
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106217388A (en) * | 2016-08-17 | 2016-12-14 | 北京品飞天高科技有限公司 | Single-degree-of-freedom humanoid show robot |
| CN106217388B (en) * | 2016-08-17 | 2019-05-17 | 北京一品飞天高科技有限公司 | Single-degree-of-freedom humanoid show robot |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| AV01 | Patent right actively abandoned | ||
| AV01 | Patent right actively abandoned |
Granted publication date: 20170308 Effective date of abandoning: 20190517 |