CN208375297U - A kind of tiltable robot of waist - Google Patents
A kind of tiltable robot of waist Download PDFInfo
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- CN208375297U CN208375297U CN201820920804.7U CN201820920804U CN208375297U CN 208375297 U CN208375297 U CN 208375297U CN 201820920804 U CN201820920804 U CN 201820920804U CN 208375297 U CN208375297 U CN 208375297U
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Abstract
The utility model discloses a kind of tiltable robot of waist, head is fixed on waist by neck, and left arm and right arm are fixed on waist by lumbar support plate；Waist is flexibly connected with skirt section, and waist straight line driving mechanism is equipped between waist and skirt section, and waist straight line driving mechanism is rotated by moving back and forth driving waist around skirt section, realizes that robot bends over to act.Skirt section is fixed on the base by skirt section rotating mechanism, and waist and skirt section can be rotated jointly with skirt section rotating mechanism.The supporting pin axis connection of the right elastomer of the left elastomer in the skirt section in skirt section and skirt section and waist persistently provides opposite force in waist rotary course, reduces the backlass of waist straight line driving mechanism.As it can be seen that the tiltable robot of waist provided by the utility model, can reduce drive gap, driving is realized with skirt section and waist internal structure, driving torque is big, and structure is simple, space hold is small, and by being closely driven cooperation, transmission accuracy and speed can be improved.
Description
Technical field
The utility model relates to field of automated mechanical technology more particularly to a kind of tiltable robots of waist.
Background technique
With scientific and technical continuous development, economic condition increasing today, automated production has been daily life
Indispensable part in production.For example, being used to the functions such as replace artificial realization carrying, reason material and pile up in food or medical industry
Robot.
Robot in the prior art includes upper part of the body trunk, head, arm and waist, when work, is driven by a motor and subtracts
Fast mechanism, driving robot waist rotation realize waist rotation so that waist drives upper part of the body trunk, head, arm.It is this
Structure be usually synchronous belt slow down or deceleration harmonic reduction gear, synchronous belt slow down and harmonic speed reducer slow down and drive waist into
Row bends over to act, and for this driving method the disadvantage is that retarder is directly connected to waist, occupied space is big, harmonic speed reducer and motor
Movement clearance can be generated in transmission process, and can not eliminate backlass in this mechanical transmission course.
Also, upper part of the body trunk, head, arm are driven by robot waist, realize that waist rotation, rotation load are compared
Greatly, to realize that symmetrical damper must be arranged in waist rotation reliability on swaying direction；In addition, existing robot turns
Turning moment can only be acted on rotatable parts by shaft by kinetic moment, and the rotation arm of force is limited bigger by rotation axis radius.It can
To see, when carrying out waist rotation, there are drive shaft, structure is complicated for existing robot, space hold is excessive, rotating torque is insufficient,
The problem that speed is not high, drive gap is excessive.
Utility model content
The utility model provides a kind of tiltable robot of waist, when solving the rotation of existing robot waist,
Structure is complicated for drive shaft, the problem that space hold is excessive, rotating torque is insufficient, speed is not high, drive gap is excessive.
The utility model provides a kind of tiltable robot of waist, comprising: head, neck, left arm, right arm,
Waist, skirt section, skirt section rotating mechanism and pedestal, wherein
The head and one end of neck connect, and the other end of the neck and one end of waist connect；The left arm
It is fixed on waist with right arm；The axis of the left arm and the axis of right arm are overlapped；
The other end of the waist is flexibly connected with the one end in skirt section, and waist straight line is equipped between the waist and skirt section and is driven
Motivation structure, the waist straight line driving mechanism are rotated by moving back and forth driving waist around skirt section；
The skirt section includes skirt section bottom plate, skirt section left support plate, skirt section right support plate, the first skirt section support shaft and the second skirt
Portion's support shaft；The skirt section left support plate and skirt section right support plate are fixed on the both ends of skirt section bottom plate, form the fixed support in skirt section
Mechanism；The one end of the skirt section left support plate and skirt section right support plate far from skirt section bottom plate passes through the first skirt section support shaft and second
Skirt section supports axis connection, forms skirt section static housing；The skirt section left support plate is equipped with the left elastomer in skirt section, and the skirt section is right
Support plate is equipped with the right elastomer in skirt section, and the left elastomer in the skirt section and the right elastomer in skirt section are oppositely arranged；
The waist includes lumbar support cabinet, and the first lumbar support pin shaft of the lumbar support bottom of box is arranged in
With the second lumbar support pin shaft；The first lumbar support pin shaft and the second lumbar support pin shaft respectively with the left elastomer in skirt section and
The right elastomer connection in skirt section, provides opposite force in waist rotation, to reduce the drive gap of waist straight line driving mechanism；
The other end in the skirt section is mounted on the rotating mechanism of skirt section, and the skirt section and waist and skirt section rotating mechanism are common
Rotation；The skirt section rotating mechanism is fixed on the base, and there are two front driving wheels for installation on the pedestal；Before being equipped in pedestal
Driving motor and power supply, the preceding driving motor are connect with power supply and front driving wheel respectively, and front driving wheel passes through preceding driving motor
Realize moving forward and backward for robot.
Optionally, the skirt section further include: skirt section fixed pin shaft, fixed guide and skirt section cover axis；The skirt section set axis is logical
The inside that screw is fixed on skirt section right support plate is crossed, skirt section fixed pin shaft is located at skirt section left support plate and skirt section right support plate
Between, the skirt section fixed pin shaft is close to skirt section bottom plate side；The fixed guide is located at the downside of skirt section fixed pin shaft, described solid
Rationed marketing set and skirt section fixed pin shaft form rotational motion pair；The lower part of the waist straight line driving mechanism passes through skirt section fixed pin shaft
It is fixed, is limited by fixed pin set.
Optionally, the lumbar support cabinet includes: waist box plate and waist Box Cover, the waist box plate and waist
Portion's Box Cover is parallel to each other；Pass through the first lumbar support pin shaft and the second waist between the waist box plate and waist Box Cover
Supporting pin axis connection, the first lumbar support pin shaft and the second lumbar support pin shaft are parallel to each other.
Optionally, the waist further include: lumbar support plate, waist fixing axle, waist shaft set, waist shaft bearing and
Straight-line feed axis；
The lumbar support plate is fixed on lumbar support cabinet, for fixing left arm and right arm；The waist is solid
Dead axle runs through lumbar support cabinet, positioned at the downside of lumbar support plate；The waist shaft set is located under lumbar support cabinet
End, the waist shaft bearing are located in waist shaft set, and the connection of waist and skirt section is realized by waist shaft bearing；It is described
One end of straight-line feed axis and the fixed axis connection of waist, the other end of the straight-line feed axis are connect with waist shaft bearing.
Optionally, the neck includes: neck bottom plate and neck upper cover, is equipped between the neck bottom plate and neck upper cover
First neck column, second neck column, third neck column and the 4th neck column；The top of the neck upper cover is equipped with neck
Portion's speed reducer, the neck speed reducer are fixed on neck on lid by neck brace, the upper end fixing head of the neck brace
Portion；
Neck motor cabinet is fixed in the lower part of the neck upper cover, is fixed with neck motor on the neck motor cabinet, described
Neck motor is connect with neck speed reducer；The lower end of the neck motor is equipped with neck band-type brake；The lower end of the neck bottom plate with
Waist connection.
Optionally, further includes: the bottom of pedestal is arranged in two driven wheels, the driven wheel.
Optionally, further includes: spatially map sensor, the spatially map sensor are set on the lateral wall of pedestal.
Optionally, further includes: the bottom of collision prevention device, the collision prevention device and pedestal connects；The anticollision dress
It sets and surrounds pedestal, front driving wheel and driven wheel.
From the above technical scheme, the tiltable robot of a kind of waist provided by the embodiment of the utility model, head
It is fixed on waist by neck, provides driving force by waist, realize the rotation of neck；Left arm and right arm pass through waist branch
Fagging is fixed on waist, can be carried out five axis and the rotation of six axis, be realized the space free movement of two arms；Waist and skirt section activity
Connection is equipped with waist straight line driving mechanism between waist and skirt section, waist straight line driving mechanism is by moving back and forth driving waist
It is rotated around skirt section, realizes that robot bends over to act.Skirt section is mounted on the rotating mechanism of skirt section, and skirt section rotating mechanism is fixed on bottom
On seat, waist and skirt section can be rotated jointly with skirt section rotating mechanism.The right elastomer of the left elastomer in the skirt section in skirt section and skirt section and waist
The supporting pin axis connection in portion persistently provides opposite force in waist rotary course, reversed during waist movement to eliminate
Power reduces the backlass of waist straight line driving mechanism.As it can be seen that the tiltable robot of waist provided by the utility model, it can
To reduce drive gap, driving is realized with skirt section and waist internal structure, driving torque is big, and structure is simple, and space accounts for
With small, by being closely driven cooperation, transmission accuracy and speed can be improved.
Detailed description of the invention
It, below will be to attached drawing needed in the embodiment in order to illustrate more clearly of the technical solution of the utility model
It is briefly described, it should be apparent that, for those of ordinary skills, in the premise of not making the creative labor property
Under, it is also possible to obtain other drawings based on these drawings.
Fig. 1 is the overall structure diagram of the tiltable robot of waist provided by the embodiment of the utility model；
Fig. 2 is the overall structure signal of another angle of the tiltable robot of waist provided by the embodiment of the utility model
Figure；
Fig. 3 is the overall structure signal of the another angle of the tiltable robot of waist provided by the embodiment of the utility model
Figure；
Fig. 4 is the structural schematic diagram in skirt section provided by the embodiment of the utility model；
Fig. 5 is the structural schematic diagram of waist provided by the embodiment of the utility model；
Fig. 6 is the structural schematic diagram of lumbar support cabinet provided by the embodiment of the utility model；
Fig. 7 is the structural schematic diagram of neck provided by the embodiment of the utility model.
It illustrates:
Wherein, the head 1-, 2- neck, 3- left arm, 4- right arm, 5- waist, the skirt section 6-, the skirt section 7- rotating mechanism, 8-
Pedestal, 9- front driving wheel, 10- power supply, driving motor before 11-, spatially map sensor, 13- collision prevention device, 14- are driven by 12-
Wheel, 15- waist straight line driving mechanism, the skirt section 16- fixed pin shaft, the fixed guide of 17-, 18- waist fixing axle, 19- straight-line feed
Axis, the first skirt section 20- support shaft, the second skirt section 21- support shaft, 22- waist shaft set, 23- waist shaft bearing, the skirt section 24-
Cover axis, the left elastomer in the skirt section 25-, the right elastomer in the skirt section 26-, the skirt section 27- bottom plate, the skirt section 28- left support plate, the right branch in the skirt section 29-
Fagging, 30- the first lumbar support pin shaft, 31- the second lumbar support pin shaft, 32- lumbar support plate, 33- lumbar support cabinet,
34- waist box plate, 35- waist Box Cover, 36- neck speed reducer, 37- neck brace, 38- first neck column, 39- second
Neck column, 40- third neck column, the 4th neck column of 41-, 42- neck motor cabinet, 43- neck motor, 44- neck are embraced
Lock, 45- neck bottom plate, 46- neck upper cover.
Specific embodiment
Fig. 1 is the overall structure diagram of the tiltable robot of waist provided by the embodiment of the utility model；Fig. 2 is this
The overall structure diagram of another angle for the tiltable robot of waist that utility model embodiment provides；Fig. 3 is that this is practical
The overall structure diagram of the another angle for the tiltable robot of waist that new embodiment provides.
Referring to figure 1, figure 2 and figure 3, the tiltable robot of waist provided by the embodiment of the utility model is, it can be achieved that trunk
Uprightly, fixed translation, and waist can be rotated horizontally along vertical axis, it is most important that it apish can also act, it is such as curved
The compound actions such as waist and layback.Specifically, the tiltable robot of waist provided in this embodiment includes: head 1, neck 2, a left side
Arm 3, right arm 4, waist 5, skirt section 6, skirt section rotating mechanism 7 and pedestal 8.The construction of robot and the construction of people are similar, with
Accuracy when imitating human action can be reached.
Head 1 is connect with one end of neck 2, and the other end of neck 2 is connect with one end of waist 5；Head 1 and neck 2 are living
Dynamic connection, so as to the apish rotary head of robot, the movement nodded or face upward head.Neck 2 is flexibly connected with waist 5, is mentioned by waist 5
For driving force, the rotation of neck 2 is realized.
As shown in fig. 7, neck 2 includes: neck bottom plate 45 and neck upper cover 46, it is supported by the two, i.e. neck upper cover
46 are used to support head 1, and neck bottom plate 45 is for connecting waist 5.The first neck is equipped between neck bottom plate 45 and neck upper cover 46
Portion's column 38, second neck column 39, third neck column 40 and the 4th neck column 41, each column are evenly arranged on neck
Four corners of lid 46 and neck bottom plate 45, to improve the stability of neck bottom plate 45 and the connection of neck upper cover 46.
The top of neck upper cover 46 is equipped with neck speed reducer 36, and neck speed reducer 36 is fixed on neck by neck brace 37
In upper cover 46, the upper end fixing head 1 of neck brace 37.Neck brace 37 is in box that is semi-shaped, can also being open in one side
Type, neck speed reducer 36 are located in the inner space of neck brace 37, on the one hand neck brace 37 can protect neck speed reducer 36
The influence by external force is avoided, the strength and stability of itself is on the other hand kept, supports the head 1 of robot, improves machine
The stability and total quality of people；In addition, space utilization rate also can be improved.
Neck motor cabinet 42 is fixed in the lower part of neck upper cover 46, is fixed with neck motor 43, neck on neck motor cabinet 42
Motor 43 is mechanically connected by neck motor cabinet 42 with neck speed reducer 36, reduces space utilization, to realize neck motor
43 are electrically connected with neck speed reducer 36.The lower end of neck motor 43 is equipped with neck band-type brake 44, realizes that the corner on head 1 is fixed.
The lower end of neck bottom plate 45 is connect with waist 5, in order to which waist 5 applies driving force to neck 2, realizes the rotation on head 1.
In the present embodiment, neck 2 realizes the rotation function on head 1 by neck motor 43 and neck speed reducer 36, i.e., sharp
The rotation that robot waist 5 is driven with neck motor 43 and neck speed reducer 36, realizes the banking motion of waist 5.
Left arm 3 and right arm 4 are fixed on waist 5；The axis of left arm 3 and the axis of right arm 4 are overlapped, and form one
Font.The left arm 3 and right arm 4 are able to realize five axis and the rotation of six axis, realize the space free movement of two arms.
The other end of waist 5 is flexibly connected with the one end in skirt section 6, when robot waist 5 rotates, by skirt section 6 as fixation
Supporting mechanism；Waist straight line driving mechanism 15 is equipped between waist 5 and skirt section 6, waist straight line driving mechanism 15 is by back and forth transporting
Dynamic driving waist 5 rotates around skirt section 6, realizes that robot bends over to act.
As shown in figure 4, skirt section 6 includes skirt section bottom plate 27, skirt section left support plate 28, skirt section right support plate 29, the first skirt section
Support shaft 20 and the second skirt section support shaft 21.
Skirt section left support plate 28 and skirt section right support plate 29 are fixed on the both ends of skirt section bottom plate 27, can be consolidated by screw
It is fixed, form the fixed supporting mechanism in skirt section；The one end of skirt section left support plate 28 and skirt section right support plate 29 far from skirt section bottom plate 27 is logical
The first skirt section support shaft 20 and the connection of the second skirt section support shaft 21 are crossed, skirt section static housing is formed；The one end contacted with waist 5
It is fixed with the first skirt section support shaft 20 and the second skirt section support shaft 21, to support by the first skirt section support shaft 20 and the second skirt section
The supporting role of axis 21 realizes the flexible connection of waist 5 and skirt section 6, so that waist 5 can be rotated around skirt section 6.
Skirt section left support plate 28 is equipped with the left elastomer 25 in skirt section, and skirt section right support plate 29 is equipped with the right elastomer in skirt section
26, the right elastomer 26 of the left elastomer 25 in skirt section and skirt section is oppositely arranged；The right elastomer 26 of the left elastomer 25 in skirt section and skirt section and waist
The supporting pin axis connection in portion 5 persistently provides opposite force in waist rotary course, reversed in 5 motion process of waist to eliminate
Power reduces the backlass of waist straight line driving mechanism 15.
In addition, in order to improve the support force in skirt section 6 and driving force, skirt section 6 further include: skirt section fixed pin shaft 16, fixed pin
Set 17 and skirt section cover axis 24.Skirt section set axis 24 is fixed by screws in the inside of skirt section right support plate 29, skirt section fixed pin shaft 16
Between skirt section left support plate 28 and skirt section right support plate 29, for skirt section fixed pin shaft 16 close to 27 side of skirt section bottom plate, skirt section is solid
Rationed marketing axis 16 is used to improve the stability of skirt section left support plate 28 and skirt section right support plate 29.
Fixed guide 17 is located at the downside of skirt section fixed pin shaft 16, i.e., skirt section fixed pin shaft 16 and skirt section bottom plate 27 it
Between, fixed guide 17 and skirt section fixed pin shaft 16 form rotational motion pair, and fixed guide 17 is for playing position-limiting action；Waist is straight
The lower part of line driving mechanism 15 passes through skirt section fixed pin shaft 16 and is fixed, and is limited by fixed guide 17, avoids robot
During operation, waist straight line driving mechanism 15 influences operation precision because of sliding.
In order to improve the fitness between waist 5 and skirt section 6, reduces occupied space, increase driving torque, and then improve waist
The rotation precision in portion 5, the waist 5 of robot provided in this embodiment should have the structure matched with skirt section 6.
As shown in figure 5, specifically, waist 5 includes lumbar support cabinet 33, and is arranged in 33 bottom of lumbar support cabinet
The first lumbar support pin shaft 30 and the second lumbar support pin shaft 31, the first lumbar support pin shaft 30 and the second lumbar support pin shaft
About 31 are set side by side, and reduce occupied space.
Wherein, as shown in fig. 6, lumbar support cabinet 33 includes: waist box plate 34 and waist Box Cover 35, waist cabinet
Plate 34 and waist Box Cover 35 are parallel to each other；Pass through the first lumbar support pin shaft between waist box plate 34 and waist Box Cover 35
30 and second lumbar support pin shaft 31 connect, form closed box, the first lumbar support pin shaft 30 and the second lumbar support pin shaft
31 are parallel to each other.
First lumbar support pin shaft 30 and the second lumbar support pin shaft 31 respectively with the left elastomer 25 in skirt section and the right bullet in skirt section
Property body 26 connect, waist 5 rotate when opposite force is provided, to reduce the drive gap of waist straight line driving mechanism 15.
During exercise, the right elastomer 26 of the left elastomer 25 in the skirt section in skirt section 6 and skirt section is respectively acting on the first waist to waist 5
It supports on pin shaft 30 and the second lumbar support pin shaft 31, to utilize the reaction of skirt section left elastomer 25 and the right elastomer 26 in skirt section
Power eliminates the backlass being also easy to produce when waist 5 moves.
In order to improve the kinematic accuracy of waist 5, waist 5 further include: lumbar support plate 32, waist fixing axle 18, waist turn
Axle sleeve 22, waist shaft bearing 23 and straight-line feed axis 19.
Lumbar support plate 32 is fixed on lumbar support cabinet 33, for fixing left arm 3 and right arm 4, so that left hand
Arm 3 and right arm 4 are fixed on waist 5 by lumbar support plate 32.Waist fixing axle 18 runs through lumbar support cabinet 33, is located at
The downside of lumbar support plate 32, waist fixing axle 18 is for realizing the rotation between neck 2 and waist 5.
Waist shaft set 22 is located at the lower end of lumbar support cabinet 33, and waist shaft set 22 is fixed by screws in waist branch
It supports on cabinet 33；Waist shaft bearing 23 is located in waist shaft set 22, realizes waist 5 and skirt section by waist shaft bearing 23
6 connection；One end of straight-line feed axis 19 is connect with waist fixing axle 18, the other end and waist shaft axis of straight-line feed axis 19
23 connections are held, realize the rotation of waist 5.
The other end in skirt section 6 is mounted on skirt section rotating mechanism 7, and the skirt section 6 of robot is mounted on skirt section rotating mechanism 7
On, skirt section 6 and waist 5 can be made to rotate jointly with skirt section rotating mechanism 7.
Skirt section rotating mechanism 7 is fixed on pedestal 8, and installation makes there are two front driving wheel 9 in order to keep balancing on pedestal 8
Robot energy stable operation, two front driving wheels 9 may be provided at two sides of the pedestal along center line；Preceding driving is installed in pedestal 8
Motor 11 and power supply 10, preceding driving motor 11 are connect with power supply 10 and front driving wheel 9 respectively, and front driving wheel 9 passes through preceding driving electricity
Machine 11 realizes moving forward and backward for robot.
In order to improve the kinetic stability of robot, when being walked using front driving wheel 9, also using auxiliary wheel.Specifically
Ground, the tiltable robot of waist provided in this embodiment further include: pedestal 8 is arranged in two driven wheels 14, driven wheel 14
Bottom.
Two front driving wheels 9 and two driven wheels are arranged side by side, be located at four corners of pedestal 8, i.e. pedestal 8
Two front driving wheels 9 are arranged in front end, and two driven wheels 14 are arranged in the rear end of pedestal 8, to guarantee the stability of robot motion.
The tiltable robot of waist provided in this embodiment further include: spatially map sensor 12, space map sensing
Device 12 is set on the lateral wall of pedestal 8, and is located at the front end of pedestal 8.Spatially map sensor 12 is connect with power supply 10, spatially
Map sensor 12 is used for the run trace of real-time detection robot during exercise, and outside the real-time data transmission ground that will test
Controller, space map is established according to run trace by the controller.
The tiltable robot of waist provided in this embodiment further include: collision prevention device 13, collision prevention device 13 and bottom
The bottom connection of seat 8；Collision prevention device 13 surrounds pedestal 8, front driving wheel 9 and driven wheel 14.
Collision prevention device 13 is for preventing robot during exercise by the collision of external object, for this purpose, collision prevention device
13 size is greater than the overall dimensions of pedestal 8 and front driving wheel 9, so that collision prevention device 13 can integrally wrap up robot
Firmly, it when some object of robot motion, is first contacted by collision prevention device 13 with the object, avoids robot itself and the object
Contact, prevent the fuselage of object Ke Huai robot.
From the above technical scheme, the tiltable robot of a kind of waist provided by the embodiment of the utility model, head 1
It is fixed on waist 5 by neck 2, provides driving force by waist 5, realize the rotation of neck 2；Left arm 3 and right arm 4 pass through
Lumbar support plate 32 is fixed on waist 5, can be carried out five axis and the rotation of six axis, be realized the space free movement of two arms；Waist 5
It is flexibly connected with skirt section 6, waist straight line driving mechanism 15 is equipped between waist 5 and skirt section 6, waist straight line driving mechanism 15 passes through
It moves back and forth driving waist 5 to rotate around skirt section 6, realizes that robot bends over to act.Skirt section 6 is mounted on skirt section rotating mechanism 7,
Skirt section rotating mechanism 7 is fixed on pedestal 8, and waist 5 and skirt section 6 can be rotated jointly with skirt section rotating mechanism 7.The skirt section in skirt section 6
The supporting pin axis connection of left elastomer 25 and skirt section right elastomer 26 and waist 5, it is lasting to provide reversely in waist rotary course
Power reduces the backlass of waist straight line driving mechanism 15 to eliminate the opposite force in 5 motion process of waist.As it can be seen that this is practical
The tiltable robot of the waist of novel offer, can reduce drive gap, real with 5 internal structure of skirt section 6 and waist
It now drives, driving torque is big, and structure is simple, and space hold is small, and by being closely driven cooperation, transmission accuracy and speed can be improved
Degree.
Those skilled in the art are considering specification and after practicing utility model disclosed herein, will readily occur to practical
Novel other embodiments.This application is intended to cover any variations, uses, or adaptations of the utility model, these
Variations, uses, or adaptations follow the general principle of the utility model and including undocumented skills of the utility model
Common knowledge or conventional techniques in art field.The description and examples are only to be considered as illustrative, the utility model
True scope and spirit are pointed out by the attached claims.
It should be understood that the utility model is not limited to the accurate knot for being described above and being shown in the accompanying drawings
Structure, and various modifications and changes may be made without departing from the scope thereof.The scope of the utility model is only wanted by appended right
It asks to limit.
Claims (8)
1. a kind of tiltable robot of waist characterized by comprising head (1), neck (2), left arm (3), right arm
(4), waist (5), skirt section (6), skirt section rotating mechanism (7) and pedestal (8), wherein
The head (1) connect with one end of neck (2), and the other end of the neck (2) is connect with one end of waist (5)；Institute
It states left arm (3) and right arm (4) is fixed on waist (5)；The axis of the left arm (3) and the axis weight of right arm (4)
It closes；
The other end of the waist (5) is flexibly connected with the one end of skirt section (6), and waist is equipped between the waist (5) and skirt section (6)
Portion's straight line driving mechanism (15), the waist straight line driving mechanism (15) are revolved by moving back and forth driving waist (5) around skirt section (6)
Turn；
The skirt section (6) includes skirt section bottom plate (27), skirt section left support plate (28), skirt section right support plate (29), the first skirt section branch
Support axis (20) and the second skirt section support shaft (21)；The skirt section left support plate (28) and skirt section right support plate (29) are fixed on skirt section
The both ends of bottom plate (27) form the fixed supporting mechanism in skirt section；The skirt section left support plate (28) and skirt section right support plate (29) are remote
One end from skirt section bottom plate (27) is connected by the first skirt section support shaft (20) and the second skirt section support shaft (21), and it is solid to form skirt section
Determine cabinet；The skirt section left support plate (28) is equipped with the left elastomer in skirt section (25), and the skirt section right support plate (29) is equipped with
The right elastomer in skirt section (26), the left elastomer in skirt section (25) and the right elastomer in skirt section (26) are oppositely arranged；
The waist (5) includes lumbar support cabinet (33), and setting is in the first waist of lumbar support cabinet (33) bottom
Support pin shaft (30) and the second lumbar support pin shaft (31)；The first lumbar support pin shaft (30) and the second lumbar support pin shaft
(31) it is connect respectively with the right elastomer of the left elastomer in skirt section (25) and skirt section (26), provides opposite force when waist (5) rotate, with
Reduce the drive gap of waist straight line driving mechanism (15)；
The other end of the skirt section (6) is mounted on skirt section rotating mechanism (7), and the skirt section (6) and waist (5) and skirt section rotate
Mechanism (7) rotates jointly；The skirt section rotating mechanism (7) is fixed on pedestal (8), and installation is there are two before on the pedestal (8)
Driving wheel (9)；Preceding driving motor (11) and power supply (10) be installed in pedestal (8), the preceding driving motor (11) respectively with electricity
Source (10) and front driving wheel (9) connection, front driving wheel (9) realize moving forward and backward for robot by preceding driving motor (11).
2. the tiltable robot of waist according to claim 1, which is characterized in that the skirt section (6) further include: skirt section
Fixed pin shaft (16), fixed guide (17) and skirt section set axis (24)；Skirt section set axis (24) is fixed by screws in the skirt section right side
The inside of support plate (29), the skirt section fixed pin shaft (16) be located at skirt section left support plate (28) and skirt section right support plate (29) it
Between, the skirt section fixed pin shaft (16) is close to skirt section bottom plate (27) side；The fixed guide (17) is located at skirt section fixed pin shaft
(16) downside, the fixed guide (17) and skirt section fixed pin shaft (16) form rotational motion pair；The waist linear drives
The lower part of mechanism (15) passes through skirt section fixed pin shaft (16) and is fixed, and is limited by fixed guide (17).
3. the tiltable robot of waist according to claim 1, which is characterized in that lumbar support cabinet (33) packet
Include: waist box plate (34) and waist Box Cover (35), the waist box plate (34) and waist Box Cover (35) are parallel to each other；
Pass through the first lumbar support pin shaft (30) and the second lumbar support between the waist box plate (34) and waist Box Cover (35)
Pin shaft (31) connection, the first lumbar support pin shaft (30) and the second lumbar support pin shaft (31) are parallel to each other.
4. the tiltable robot of waist according to claim 3, which is characterized in that the waist (5) further include: waist
Support plate (32), waist fixing axle (18), waist shaft set (22), waist shaft bearing (23) and straight-line feed axis (19)；
The lumbar support plate (32) is fixed on lumbar support cabinet (33), for fixing left arm (3) and right arm (4)；
The waist fixing axle (18) runs through lumbar support cabinet (33), is located at the downside of lumbar support plate (32)；The waist shaft
Set (22) is located at the lower end of lumbar support cabinet (33), and the waist shaft bearing (23) is located in waist shaft set (22), leads to
Cross the connection that waist shaft bearing (23) realize waist (5) and skirt section (6)；One end of the straight-line feed axis (19) and waist are solid
Dead axle (18) connection, the other end of the straight-line feed axis (19) are connect with waist shaft bearing (23).
5. the tiltable robot of waist according to claim 1, which is characterized in that the neck (2) includes: neck bottom
Plate (45) and neck upper cover (46), between the neck bottom plate (45) and neck upper cover (46) be equipped with first neck column (38),
Second neck column (39), third neck column (40) and the 4th neck column (41)；The top of the neck upper cover (46) is set
Have neck speed reducer (36), the neck speed reducer (36) is fixed on neck upper cover (46) by neck brace (37), described
The upper end fixing head (1) of neck brace (37)；
The lower part of the neck upper cover (46) is fixed neck motor cabinet (42), and neck electricity is fixed on the neck motor cabinet (42)
Machine (43), the neck motor (43) connect with neck speed reducer (36)；It is embraced equipped with neck the lower end of the neck motor (43)
Lock (44)；The lower end of the neck bottom plate (45) is connect with waist (5).
6. the tiltable robot of waist according to claim 1, which is characterized in that further include: two driven wheels (14),
Bottom of driven wheel (14) setting in pedestal (8).
7. the tiltable robot of waist according to claim 1, which is characterized in that further include: spatially map sensor
(12), the spatially map sensor (12) is set on the lateral wall of pedestal (8).
8. the tiltable robot of waist according to claim 6, which is characterized in that further include: collision prevention device (13),
The collision prevention device (13) connect with the bottom of pedestal (8)；The collision prevention device (13) is by pedestal (8), front driving wheel (9)
It is surrounded with driven wheel (14).
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| CN201820920804.7U CN208375297U (en) | 2018-06-14 | 2018-06-14 | A kind of tiltable robot of waist |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110076796A (en) * | 2019-04-30 | 2019-08-02 | 航天时代电子技术股份有限公司 | A kind of variable topology multi-joint collaboration passive robot |
| CN110605710A (en) * | 2018-06-14 | 2019-12-24 | 中瑞福宁机器人（沈阳）有限公司 | Robot with inclinable waist |
-
2018
- 2018-06-14 CN CN201820920804.7U patent/CN208375297U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110605710A (en) * | 2018-06-14 | 2019-12-24 | 中瑞福宁机器人（沈阳）有限公司 | Robot with inclinable waist |
| CN110076796A (en) * | 2019-04-30 | 2019-08-02 | 航天时代电子技术股份有限公司 | A kind of variable topology multi-joint collaboration passive robot |
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