CN105014662A - Two-degree-of-freedom shoulder joint driving device of clothes model robot - Google Patents

Two-degree-of-freedom shoulder joint driving device of clothes model robot Download PDF

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Publication number
CN105014662A
CN105014662A CN201510501169.XA CN201510501169A CN105014662A CN 105014662 A CN105014662 A CN 105014662A CN 201510501169 A CN201510501169 A CN 201510501169A CN 105014662 A CN105014662 A CN 105014662A
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CN
China
Prior art keywords
shoulder joint
shoulder
steering wheel
pedestal
drive
Prior art date
Application number
CN201510501169.XA
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Chinese (zh)
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CN105014662B (en
Inventor
乔徽
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哈尔滨工大服务机器人有限公司
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Priority to CN201510501169.XA priority Critical patent/CN105014662B/en
Publication of CN105014662A publication Critical patent/CN105014662A/en
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Publication of CN105014662B publication Critical patent/CN105014662B/en

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Abstract

The invention discloses structural design of a two-degree-of-freedom shoulder joint driving device of a clothes model robot. The two-degree-of-freedom shoulder joint driving device of the clothes model robot comprises a shoulder connecting base, a shoulder joint, a rear arm connecting base, steering engines, driving wheels, roller components and dowel screw components; after the first steering engine rotates, an output shaft drives the first driving wheel to rotate; the first driving wheel is fixedly connected with the shoulder joint through a first pin component, the shoulder connecting base is connected with the shoulder joint in a rolling manner, and then the shoulder connecting base can rotate around the first steering engine; after the second steering engine rotates, the output shaft drives a second driving wheel to rotate; and the second driving wheel is fixedly connected with the shoulder joint through the second pin component, the rear arm connecting base is connected with the shoulder joint in a rolling manner, and then the rear arm connecting base can rotate around the second steering engine. Therefore, when the two steering engines work at the same time, the rotation at two degrees of freedom can be achieved.

Description

A kind of Yi Mo robot two-freedom shoulder joint drive unit

(1) technical field

The invention belongs to anthropomorphic robot technical field, particularly the structural design of a kind of Yi Mo robot two-freedom shoulder joint drive unit.

(2) background technology

Along with the progress of society and the development of science and technology, people's living standard is improving day by day, and clothes have not just been used by people to hide body, the warming and general decoration of work, have formed a kind of culture and have been used by people to beautify life, abundant life.Now, people walk show mainly through model's catwalk and the design concept of designer and the intension of dress ornament are showed common consumer by human body clothing mould Window Display, cause the desire to purchase of consumer.Although model's catwalk walk elegant beat mode more can to the clear and intuitive impression of people, this mode organizing cost is higher, directly towards spectators little.By contrast, most market then adopts the mode of human body clothing mould Window Display to show style and the style of clothes to client.Clothing moulds most is in the market all to show a pose designed, but the style of clothes is but ever-changing, well can not show the characteristic of different style by this way.Therefore, there is incomparable advantage in Yi Mo robot in the clothes of low cost, the various style of Dynamic Display, has the very large market demand.Yi Mo robot two-freedom shoulder joint drive unit realizes the mobility of human body shoulder joint, and its research and development and design are and necessity.

(3) summary of the invention

The present invention is intended to, for the design of clothing mould robot shoulder joint, provide a kind of drive assembly design of two-freedom.Be used for simulating human body postbrachium has two frees degree rotation around shoulder.Technical scheme of the present invention is as follows: a kind of Yi Mo robot of the present invention two-freedom shoulder joint drive unit, comprises shoulder and connects pedestal, shoulder joint, postbrachium connection pedestal, the first steering wheel, the first drive, the first roller assembly, the second steering wheel, the second drive, the second roller assembly, the first dowel screw assembly and the second dowel screw assembly; Described first steering wheel is fixed on shoulder and connects on pedestal, the output shaft of the first steering wheel is connected with the first drive, first drive is fixedly connected with shoulder joint by the first dowel screw assembly, first roller assembly is arranged in the groove that shoulder connects pedestal, realizes shoulder connection pedestal and is connected with the rolling of shoulder joint; Described second steering wheel is fixed on postbrachium and connects on pedestal, the output shaft of the second steering wheel is connected with the second drive, second drive is fixedly connected with shoulder joint by the second dowel screw assembly, second roller assembly is arranged in the groove that postbrachium connects pedestal, realizes postbrachium connection pedestal and is connected with the rolling of shoulder joint.

Yi Mo robot of the present invention two-freedom shoulder joint drive unit, is characterized in that: the first steering wheel is fixed on shoulder and connects on pedestal, and its output shaft drives the first drive, and the first drive is fixedly connected with shoulder joint by the first dowel screw assembly.

Yi Mo robot of the present invention two-freedom shoulder joint drive unit, is characterized in that: the second steering wheel is fixed on postbrachium and connects on pedestal, and its output shaft drives the second drive, and the second drive is fixedly connected with shoulder joint by the second dowel screw assembly.

Yi Mo robot of the present invention two-freedom shoulder joint drive unit, is characterized in that: shoulder connects pedestal and can rotate around the first steering wheel axis direction, and postbrachium connects pedestal and can rotate around the second steering wheel axis direction.

Yi Mo robot of the present invention two-freedom shoulder joint drive unit, is characterized in that: shoulder connection pedestal is connected pedestal with shoulder joint, postbrachium and shoulder joint all adopts rolling connected mode.

Yi Mo robot of the present invention two-freedom shoulder joint drive unit, is characterized in that: the rotation of the first steering wheel and the second steering wheel forms interaction relation, and the angle that they rotate respectively is n1, n2, wherein the positive number that set by user of n2=k × n1, k.K can be preferably 0.618 or 0.475.

The invention has the beneficial effects as follows: the present invention, as a kind of Yi Mo robot two-freedom shoulder joint drive unit, can realize clothing mould robot shoulder two-freedom and rotate, can meet the requirement of robot to shoulder freedom of movement.

(4) accompanying drawing explanation

Below in conjunction with drawings and Examples, the present invention is further described.

Accompanying drawing 1 is outside drawing right view of the present invention

Accompanying drawing 2 is outside drawing front views of the present invention

Accompanying drawing 3 is right view of the present invention (hiding shoulder joint)

Accompanying drawing 4 is front view of the present invention (hiding shoulder joint)

(5) detailed description of the invention

As shown in drawings, the present invention includes shoulder and connect pedestal 1, shoulder joint 2, postbrachium connection pedestal 3, first dowel screw assembly 4, first drive 5, first steering wheel 6, first roller assembly 7, second dowel screw assembly 8, second drive 9, second steering wheel 10 and the second roller assembly 11.

Operation principle of the present invention is as follows: after the first steering wheel 6 rotates, output shaft drives the first drive 5 to rotate, by the first dowel screw assembly 4, first drive 5 is fixedly connected with shoulder joint 2, shoulder connection pedestal 1 is connected by the first roller assembly 7 with shoulder joint 2, can realize shoulder connection pedestal 1 like this and rotate around the first steering wheel 6 axis.

After second steering wheel 10 rotates, output shaft drives the second drive 9 to rotate, by the second dowel screw assembly 11, second drive 9 is fixedly connected with shoulder joint 2, postbrachium connection pedestal 3 is connected by the second roller assembly 11 with shoulder joint 2, can realize postbrachium connection pedestal 3 like this and rotate around the second steering wheel axle 10 line

Therefore, two steering wheels work simultaneously, just can realize the rotation of two frees degree.

In order to improve the efficiency of rotation, the rotation of the rotation of the first steering wheel 6 and the second steering wheel 10 is formed interaction relation, arrange the proportionate relationship k of the rotational angle n1 of the first steering wheel 6 and the rotational angle n2 of the second steering wheel 10, wherein k is positive number, and n2=k × n1.That is, when the first steering wheel rotates as a angle by user, the second steering wheel corresponding rotation k × a angle, thus improve rotational efficienty.When arranging k and being 0.618 or 0.475, after two frees degree can be made to rotate, the shoulder of Shi Yi mould robot can present preferably visual impression, improve the facility that user arranges Yi Mo robot.

Above content is in conjunction with concrete preferred embodiment further description made for the present invention, can not assert that specific embodiment of the invention is confined to these explanations.For general technical staff of the technical field of the invention, without departing from the inventive concept of the premise, some simple deduction or replace can also be made, all should be considered as belonging to protection scope of the present invention.

Claims (8)

1. a Zhong Yi mould robot two-freedom shoulder joint drive unit, comprises shoulder and connects pedestal (1), shoulder joint (2), postbrachium connection pedestal (3), the first steering wheel (6), the first drive (5), the first roller assembly (7), the second steering wheel (10), the second drive (9), the second roller assembly (11), the first dowel screw assembly (4) and the second dowel screw assembly (8); Described first steering wheel (6) is fixed on shoulder and connects on pedestal (1), the output shaft of the first steering wheel (6) is connected with the first drive (5), first drive (5) is fixedly connected with shoulder joint (2) by the first dowel screw assembly (4), first roller assembly (7) is arranged in the groove that shoulder connects pedestal (1), realizes shoulder connection pedestal (1) and is connected with the rolling of shoulder joint (2); Described second steering wheel (10) is fixed on postbrachium and connects on pedestal (3), the output shaft of the second steering wheel (10) is connected with the second drive (9), second drive (9) is fixedly connected with shoulder joint (2) by the second dowel screw assembly (8), second roller assembly (11) is arranged in the groove that postbrachium connects pedestal (3), realizes postbrachium connection pedestal (3) and is connected with the rolling of shoulder joint (2).
2. Yi Mo robot according to claim 1 two-freedom shoulder joint drive unit; it is characterized in that: the first steering wheel (6) is fixed on shoulder and connects on pedestal (1); its output shaft drives the first drive (5), and the first drive (5) is fixedly connected with shoulder joint (2) by the first dowel screw assembly (4).
3. require described Yi Mo robot two-freedom shoulder joint drive unit according to right 1; it is characterized in that: the second steering wheel (10) is fixed on postbrachium and connects on pedestal (3); its output shaft drives the second drive (9), and the second drive (9) is fixedly connected with shoulder joint (2) by the second dowel screw assembly (8).
4. require described Yi Mo robot two-freedom shoulder joint drive unit according to right 1; it is characterized in that: shoulder connects pedestal (1) and can rotate around the first steering wheel (6) axis direction, postbrachium connects pedestal (3) and can rotate around the second steering wheel (10) axis direction.
5. require described Yi Mo robot two-freedom shoulder joint drive unit according to right 1, it is characterized in that: shoulder connection pedestal (1) is connected pedestal (3) and all adopts rolling connected mode with shoulder joint (2) with shoulder joint (2), postbrachium.
6. Yi Mo robot according to claim 1 two-freedom shoulder joint drive unit; it is characterized in that: the rotation of the first steering wheel (6) and the second steering wheel (10) forms interaction relation; the angle that they rotate respectively is n1, n2; the wherein positive number that set by user of n2=k × n1, k.
7. Yi Mo robot two-freedom shoulder joint drive unit according to claim 6, wherein k=0.618.
8. Yi Mo robot two-freedom shoulder joint drive unit according to claim 6, wherein k=0.475.
CN201510501169.XA 2015-08-14 2015-08-14 Two-degree-of-freedom shoulder joint driving device of clothes model robot CN105014662B (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201510501169.XA CN105014662B (en) 2015-08-14 2015-08-14 Two-degree-of-freedom shoulder joint driving device of clothes model robot

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201510501169.XA CN105014662B (en) 2015-08-14 2015-08-14 Two-degree-of-freedom shoulder joint driving device of clothes model robot

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CN105014662A true CN105014662A (en) 2015-11-04
CN105014662B CN105014662B (en) 2017-03-22

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Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN202477113U (en) * 2012-01-17 2012-10-10 戴济舜 Model robot
JP2014226258A (en) * 2013-05-21 2014-12-08 株式会社京屋 System torso
CN203993890U (en) * 2014-01-13 2014-12-10 西北农林科技大学 A kind of ten seven freedom anthropomorphic robots
CN104440873A (en) * 2014-11-03 2015-03-25 贵州亿丰升华科技机器人有限公司 Robot arm with six degrees of freedom
CN204295698U (en) * 2014-11-27 2015-04-29 北京萝卜科技有限公司 Anthropomorphic robot shoulder joint kinesitherapy control device

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN202477113U (en) * 2012-01-17 2012-10-10 戴济舜 Model robot
JP2014226258A (en) * 2013-05-21 2014-12-08 株式会社京屋 System torso
CN203993890U (en) * 2014-01-13 2014-12-10 西北农林科技大学 A kind of ten seven freedom anthropomorphic robots
CN104440873A (en) * 2014-11-03 2015-03-25 贵州亿丰升华科技机器人有限公司 Robot arm with six degrees of freedom
CN204295698U (en) * 2014-11-27 2015-04-29 北京萝卜科技有限公司 Anthropomorphic robot shoulder joint kinesitherapy control device

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