CN106272459A - A kind of anthropomorphic robot - Google Patents
A kind of anthropomorphic robot Download PDFInfo
- Publication number
- CN106272459A CN106272459A CN201610796148.XA CN201610796148A CN106272459A CN 106272459 A CN106272459 A CN 106272459A CN 201610796148 A CN201610796148 A CN 201610796148A CN 106272459 A CN106272459 A CN 106272459A
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- China
- Prior art keywords
- robot
- motor
- upper arm
- output shaft
- arm
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/0005—Manipulators having means for high-level communication with users, e.g. speech generator, face recognition means
- B25J11/0015—Face robots, animated artificial faces for imitating human expressions
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
- B25J17/02—Wrist joints
- B25J17/0258—Two-dimensional joints
Abstract
The invention discloses a kind of anthropomorphic robot, the robot head of motion driving mechanism it is separately installed with including inside, robot arm, robot waist, robot leg and by robot interior radome structure at internal robot outer housing, this passes through robot head, robot arm, robot waist, robot leg and the setting of robot outer housing, anthropomorphic robot is made to realize the Rotation of eyeball of robot head by the driving of each drive mechanism, mouth opening and closing, nod, rotary head action, the swing of robot arm, rotational action and the action of bending over of robot waist, robot outer housing makes the image of robot more life-like vividly, this anthropomorphic robot freedom of motion is many, compact conformation, lifelike image, this invention is for bio-robot field.
Description
Technical field
The present invention relates to bio-robot field, particularly relate to a kind of anthropomorphic robot.
Background technology
Along with improving constantly of people's educational level, fewer and feweri people is ready to be engaged in low technical, low value-added service trade,
As welcome, seek advice from, the work such as reception；Meanwhile, increasingly mature along with robotics, especially anthropomorphic robot field is transported
The exploitation application of the technology such as dynamic control, voice semantics recognition, image recognition, intelligent interaction, gradually highlights apery service type machine
The developing prospect of device people, because of the aggravation of population in the world aging, the extensive market of service type robot, anthropomorphic robot is also
Progressively become a focus of research application.
Anthropomorphic robot imitates the action of the mankind, has needed to include Rotation of eyeball, mouth opening and closing, rotary head of nodding, arm
Swing flexibly and rotate, a series of actions such as action of bending over, freedom of motion high, and kinematic accuracy require height.
Summary of the invention
For solving the problems referred to above, the present invention provides that a kind of freedom of motion is many, the apery machine of compact conformation, lifelike image
People.
The technical solution adopted for the present invention to solve the technical problems is:
A kind of anthropomorphic robot, including
Robot head, robot head includes that driven machine head part carries out Rotation of eyeball, mouth opening and closing, nods and rotary head
Head drive mechanism and head drive mechanism is covered on inside face shield；
Two, left and right below robot head robot arm, robot arm includes that driven machine human arm carries out shoulder pendulum
Dynamic, upper arm swing, upper arm rotate, front arm swing and the arm drive mechanism of palm motion；
Robot waist below robot head, robot waist includes that driven machine people is carried out bending over the electricity of bending over of action
Machine；
Robot leg below robot waist portion；And
Each robot arm and robot waist are covered on the robot outer housing of inside.
As the further improvement of technique scheme, head drive mechanism includes
Eyeball mechanism, eyeball mechanism includes two eyeballs and drives each oculogyral eyeball motor by drive mechanism；
The mouth open/close mechanism being connected with below eyeball mechanism, mouth open/close mechanism includes being fixedly installed on below eyeball mechanism
Head seat, the lower jaw pedestal that can rotate around head seat and drive lower jaw pedestal to rotate to open realizing mouth open/close mechanism mouth
The mouth opening and closing motor of conjunction action；
The neck mechanism being connected with mouth open/close mechanism, neck mechanism includes nod mechanism and swing mechanism, and mechanism of nodding includes
By rotating the motor of nodding driving neck mechanism to carry out nodding action, swing mechanism includes driving neck mechanism to enter by rotation
The rotary head motor of row rotary head action.
As the further improvement of technique scheme, the output shaft of eyeball motor connects driving gear, is additionally provided with
Two driven gears all engaged with driving gear, each eyeball is respectively arranged with the eyeball rotating shaft being connected with each driven gear.
As the further improvement of technique scheme, it is provided with eyelid above each eyeball, is additionally provided with connection two
The eyelid rotating shaft of eyelid, eyelid rotating shaft is provided with the permanent magnet of strip driving eyelid axis of rotation, one end of permanent magnet with
Eyelid rotating shaft connects, and the lower section of the permanent magnet other end is provided with copper coil, by the operation of the power on/off of copper coil is realized permanent magnetism
Body drives the rotation of eyelid rotating shaft to realize action nictation.
As the further improvement of technique scheme, the output shaft axis of mouth opening and closing motor and the output of motor of nodding
Axle axis is parallel to each other, and the output shaft axis of rotary head motor is mutually perpendicular to the output shaft axis of motor of nodding, rotary head motor
Output shaft axis direction is vertical direction.
As the further improvement of technique scheme, arm drive mechanism includes
Shoulder swing mechanism, shoulder swing mechanism includes the shoulder oscillating motor driving shoulder swing；
The upper arm swing mechanism being connected with shoulder swing mechanism, upper arm swing mechanism includes driving the inside and outside upper arm pendulum swung of upper arm
Galvanic electricity machine；
The upper arm rotating mechanism being connected with upper arm swing mechanism, upper arm rotating mechanism includes that the upper arm driving upper arm to rotate rotates electricity
Machine and the upper arm body being connected with the output shaft of upper arm rotary electric machine；
The forearm swing mechanism being connected with upper arm body, forearm swing mechanism include driving front arm swing forearm oscillating motor and
The front arm body being connected with the output shaft of forearm oscillating motor；And
The palm motion being connected with front arm body, palm motion includes the wrist motor driving palm motion.
As the further improvement of technique scheme, the output shaft axis of shoulder oscillating motor and upper arm oscillating motor
Output shaft axis is mutually perpendicular to, and the output shaft axis of upper arm rotary electric machine is the most vertical with the output shaft axis of upper arm oscillating motor
Directly.
As the further improvement of technique scheme, the output shaft of motor of bending over connects decelerator of bending over, and bends over to subtract
The reducer output shaft of speed device connects transmission frame of bending over, and the output shaft of motor of bending over drives, via decelerator of bending over, transmission of bending over
Frame realizes the action of bending over of robot.
As the further improvement of technique scheme, leg includes two thighs in left and right and hinged with each thigh little
Lower limb, the upper end of thigh is hinged with robot waist.
As the further improvement of technique scheme, outer housing include with the upper body outer housing being connected below robot head,
Robot waist is covered on the waist outer housing of inside and each robot arm is covered on the arm outer housing of inside, waist outer housing upper
Lower two ends are connected with upper body outer housing and robot leg respectively, and each arm outer housing left and right sides with upper body outer housing respectively is connected.
Beneficial effects of the present invention: this anthropomorphic robot passes through robot head, robot arm, robot waist, machine
Device people's leg and the setting of robot outer housing, make anthropomorphic robot realize the eye of robot head by the driving of each drive mechanism
Ball rotation, mouth opening and closing, nod, rotary head action, the swing of robot arm, rotational action and robot waist bend over move
Making, robot outer housing makes the image of robot more life-like vividly, and this anthropomorphic robot freedom of motion is many, compact conformation, shape
As true to nature.
Accompanying drawing explanation
The invention will be further described below in conjunction with the accompanying drawings:
Fig. 1 is anthropomorphic robot overall schematic；
Fig. 2 is anthropomorphic robot unitary side view；
Fig. 3 is anthropomorphic robot internal structure schematic diagram；
Fig. 4 is the overall explosive view that anthropomorphic robot removes head；
Fig. 5 is arm cover structure schematic diagram；
Fig. 6 is robot head overall schematic；
Fig. 7 is the explosive view of face shield and head drive mechanism；
Fig. 8 is the overall structure schematic diagram of head drive mechanism；
Fig. 9 is the overall structure explosive view of head drive mechanism；
Figure 10 is the explosive view of mouth open/close mechanism；
Figure 11 is the explosive view of mechanism of nodding；
Figure 12 is the explosive view of swing mechanism；
Figure 13 is arm drive mechanism overall schematic；
Figure 14 is the explosive view of shoulder swing mechanism；
Figure 15 is upper arm swing mechanism and the explosive view of upper arm rotating mechanism；
Figure 16 is the explosive view of forearm swing mechanism；
Figure 17 is the explosive view of palm motion；
Figure 18 is the overall structure schematic diagram of robot waist；
Figure 19 is the explosive view of robot waist.
Detailed description of the invention
With reference to Fig. 1～Figure 19, the present invention is a kind of anthropomorphic robot, including
Robot head 1, robot head 1 includes that driven machine head part 1 carries out Rotation of eyeball, mouth opening and closing, nods and turn
Head head drive mechanism and head drive mechanism is covered on inside face shield 15；
Two, left and right below robot head 1 robot arm 2, robot arm 2 includes that driven machine human arm 2 is takeed on
Portion's swing, upper arm swing, upper arm rotation, front arm swing and the arm drive mechanism of palm motion；
Robot waist 3 below robot head 1, robot waist 3 includes that driven machine people is carried out bending over the bending over of action
Motor 37；
Robot leg 4 below robot waist 3；And
Each robot arm 2 and robot waist 3 are covered on the robot outer housing 5 of inside.
By setting of robot head 1, robot arm 2, robot waist 3, robot leg 4 and robot outer housing 5
Put, make anthropomorphic robot by the driving of each drive mechanism realize the Rotation of eyeball of robot head 1, mouth opening and closing, nod, turn
Head action, the swing of robot arm 2, rotational action and the action of bending over of robot waist 3, robot outer housing 5 makes robot
Image more life-like vividly, this anthropomorphic robot freedom of motion is many, compact conformation, lifelike image.
As preferred embodiment, head drive mechanism includes
Eyeball mechanism 11, eyeball mechanism 11 includes two eyeballs 112 and the eyeball driving each eyeball 112 to rotate by drive mechanism
Motor 117；
The mouth open/close mechanism 12 being connected with below eyeball mechanism 11, mouth open/close mechanism 12 includes being fixedly installed on eyeball mechanism
Head seat 125 below 11, the lower jaw pedestal 121 that can rotate around head seat 125 and driving lower jaw pedestal 121 rotate with reality
The mouth opening and closing motor 122 of existing mouth open/close mechanism 12 mouth opening and closing action；
The neck mechanism being connected with mouth open/close mechanism 12, neck mechanism includes nod mechanism 13 and swing mechanism 14, machine of nodding
Structure 13 includes that, by rotating the motor 136 of nodding driving neck mechanism to carry out nodding action, swing mechanism 14 includes by rotating
Neck mechanism is driven to carry out the rotary head motor 142 of rotary head action.
As preferred embodiment, the output shaft of eyeball motor 117 connects driving gear 116, be additionally provided with all with
Two driven gears 115 of driving gear 116 engagement, each eyeball 112 is respectively arranged with the eyeball being connected with each driven gear 115
Rotating shaft.
As preferred embodiment, above each eyeball 112, it is provided with eyelid 111, is additionally provided with connection two eyelids 111
Eyelid rotating shaft, eyelid rotating shaft is provided with the permanent magnet 113 of strip driving eyelid axis of rotation, the one of permanent magnet 113
End is connected with eyelid rotating shaft, and the lower section of permanent magnet 113 other end is provided with copper coil 114, by the power on/off to copper coil 114
Operation realizes permanent magnet 113 and drives the rotation of eyelid rotating shaft to realize action nictation.
As preferred embodiment, the output shaft axle of the output shaft axis of mouth opening and closing motor 122 and motor 136 of nodding
Line is parallel to each other, and the output shaft axis of rotary head motor 142 is mutually perpendicular to the output shaft axis of motor 136 of nodding, rotary head motor
The output shaft axis direction of 142 is vertical direction.
As preferred embodiment, arm drive mechanism includes
Shoulder swing mechanism 21, shoulder swing mechanism 21 includes the shoulder oscillating motor 212 driving shoulder swing；
The upper arm swing mechanism 22 being connected with shoulder swing mechanism 21, upper arm swing mechanism 22 includes driving the inside and outside swing of upper arm
Upper arm oscillating motor 222；
The upper arm rotating mechanism 23 being connected with upper arm swing mechanism 22, upper arm rotating mechanism 23 includes the upper arm driving upper arm to rotate
Rotary electric machine 232 and the upper arm body 238 being connected with the output shaft of upper arm rotary electric machine 232；
The forearm swing mechanism 24 being connected with upper arm body 238, forearm swing mechanism 24 includes that the forearm driving front arm swing is put
Galvanic electricity machine 242 and the front arm body 246 being connected with the output shaft of forearm oscillating motor 242；And
The palm motion 25 being connected with front arm body 246, palm motion 25 includes the wrist electricity driving palm motion
Machine 252.
As preferred embodiment, the output shaft axis of shoulder oscillating motor 212 and the output of upper arm oscillating motor 222
Axle axis is mutually perpendicular to, and the output shaft axis of upper arm rotary electric machine 232 is the most vertical with the output shaft axis of upper arm oscillating motor 222
Directly.
As preferred embodiment, the output shaft of motor 37 of bending over connects decelerator 36 of bending over, decelerator 36 of bending over
Reducer output shaft 361 connect have transmission frame 33 of bending over, the output shaft of motor 37 of bending over drives curved via decelerator 36 of bending over
Waist transmission frame 33 realizes the action of bending over of robot.
As preferred embodiment, leg 4 includes two thighs 41 in left and right and the shank 42 hinged with each thigh 41, greatly
The upper end of lower limb 41 is hinged with robot waist 3.
As preferred embodiment, outer housing 5 include with the upper body outer housing 51 being connected below robot head 1, by machine
People's waist 3 covers on the waist outer housing 52 of inside and each robot arm 2 covers on the arm outer housing 53 of inside, waist outer housing 52
Up and down two ends are connected with upper body outer housing 51 and robot leg 4 respectively, each arm outer housing 53 respectively with the left and right of upper body outer housing 51
Both sides connect.
As preferred embodiment, eyeball mechanism 11 includes eyeball installing plate 118, is positioned at above eyeball installing plate 118
Two eyeballs 112 and drive the driven gear 115 that each eyeball 112 rotates respectively, be additionally provided with and all nibble with two driven gears 115
Close the driving gear 116 connected and the eyeball motor 117 driving driving gear 116 to rotate.By two driven gears 115 and master
The setting of moving gear 116, is driven driving gear 116 to rotate by eyeball motor 117, the rotation of driving gear 116 and then drive two
Driven gear 115 rotates, and then drives the rotational motion of two eyeballs 112, it is achieved the rotation of eyeball 112, each driven gear 115
For incomplete gear mechanism, one end of driven gear 115 is provided with the gear teeth being engaged with driving gear 116, driven tooth
The other end of wheel 115 is provided with connecting hole, and the lower end of each eyeball 112 is provided with the eyeball rotating shaft penetrated in connecting hole.Driven
Gear 115 is while being provided with the taper of connecting hole, for arranging cogged circular arc, and the setting of incomplete gear mechanism
The inside having saved mechanism takes up room.The cross section of eyeball rotating shaft is oval, and the connecting hole of driven gear 115 is and eyeball
The slotted eye that rotating shaft cross section is identical.The cross section of eyeball rotating shaft can also be circular, and certainly, the cross section of eyeball rotating shaft is also
Can be the shapes such as polygon, the connecting hole cross section of each driven gear 115 is set to the horizontal stroke identical with this polygonal shape
Cross section, passes motion to each eyeball 112 by the rotation of each driven gear 115.The axis of two eyeball rotating shafts is parallel to each other, and protects
The angle having demonstrate,proved two eyeballs 112 rotations is identical, and rotation direction keeps consistent.Two bearings it are provided with on eyeball installing plate 118
Pedestal, is separately installed with eyeball bearing in each bearing base, through the eyeball rotating shaft in each connecting hole respectively with each eyeball bearing
Fixing connection, eyeball bearing is Yi Gesi bearing, to realize more preferable motion transmission effect.Arrange on eyeball installing plate 118
Through hole, driving gear 116 and eyeball motor 117 is had to be separately positioned on the two ends up and down of eyeball installing plate 118, eyeball motor 117
For steering wheel, steering wheel outfan connects has eyeball motor steering wheel, eyeball motor steering wheel to be connected with driving gear 116, eyeball motor
117 can also be other servomotor, stretches out output shaft to drive driving gear by the through hole on eyeball installing plate 118
116.Steering wheel is threaded connection and is fixed on eyeball installing plate 118, and fixing mode has multiple, is not limited to the connection that is screwed
Mode.It is provided with electronic display on each eyeball 112, is additionally provided with control electronic display screen displays expression in the eyes in each eyeball 112 and becomes
The eyeball controller changed.
As preferred embodiment, each eyeball 112 is provided above eyelid 111, and two eyelids 111 are by eyelid rotating shaft even
Being connected together, be additionally provided with the permanent magnet 113 of the strip driving eyelid axis of rotation, one end of permanent magnet 113 turns with eyelid
Axle connects, and the lower section of permanent magnet 113 other end is provided with copper coil 114, realizes forever by operating the power on/off of copper coil 114
Magnet 113 drives the rotation of eyelid rotating shaft to realize action nictation.Permanent magnet 113 can be various shape, permanent magnet 113 and eye
The position that the link position of eyelid rotating shaft and permanent magnet 113 are driven by copper coil 114 should be respectively at the two ends of permanent magnet 113, so
Just can realize permanent magnet 13 and drive the effect of eyelid axis of rotation, therefore permanent magnet 113 more preferably strip bulk Magnet,
Copper coil 114 is plate-like copper coil.Being provided with eyelid between two eyelids 111 and support seat, eyelid rotating shaft and eyelid support seat and rotate even
Connecing, eyelid rotating shaft can be that various ways is rotationally connected with eyelid support seat, can be and be arranged in eyelid support seat
The through hole in portion is rotationally connected, it is also possible to be that the outside with eyelid support seat is rotationally connected, it is of course also possible to be by eye
Eyelid rotating shaft is divided into two sections, left and right, is rotationally connected with eyelid rotating shaft respectively.Eyelid 111 is spherical shell or hemispherical shell,
Mainly imitating the profile of true man's eyelid, two eyelids 111 are provided with eyelid connecting hole, and two eyelids 111 are respectively by eyelid even
Connect hole to be connected with eyelid rotating shaft, typically eyelid connecting hole is arranged on each eyelid 111 and is connected the middle position of side with eyelid rotating shaft
Put, so can precisely realize rotating upwardly and downwardly of eyelid 111 but it also may this eyelid connecting hole is arranged on each eyelid 111
Rear portion or other positions.The two ends of eyelid rotating shaft are provided with eyelid bearing, and two eyelids 111 are respectively by eyelid bearing and eyelid
Rotating shaft is attached.Eyelid supports seat and includes upper cover plate and fix the bottom base being connected, upper cover plate and bottom base with upper cover plate
Link position is provided with the shaft hole realizing eyelid axis of rotation, and the bottom base left and right sides is provided be connected fixing with upper cover plate
Side plate, bottom base is additionally provided with the transverse slat placing copper coil 114, upper cover plate arrange primarily to side when mounted
Just.Bottom base is fixedly installed on eyeball installing plate 118, eyeball installing plate 118 is provided with two bearing blocks, in each bearing block
Installing eyeball bearing, the lower end of each eyeball 112 is respectively arranged with the connecting shaft being connected with eyeball bearing, certainly, here can also
The effect master that top base, bottom base and eyeball installing plate 118 are played as an entirety, bottom base and eyeball installing plate 118
If supporting or installing fixing effect.The display screen imitating pupil change it is provided with, in each eyeball 112 on each eyeball 112
It is additionally provided with the pupil controller controlling display screen display change.It is provided with eyelash on two eyelids 111.On two eyelids 111
The spring resetted after being additionally provided with nictation or rubber band, so producing in eyelid rotating shaft can be by this spring when fault cannot rotate
Or rubber band makes each eyelid 111 reset automatically, and keep normal eyelid situation, simply cannot blink, and then not affect product
The most attractive in appearance and using effect.Eyeball bearing and eyelid bearing are Yi Gesi bearing.
As preferred embodiment, mouth open/close mechanism 12 includes lower jaw pedestal 121, head seat 125 and is fixed on
Mouth opening and closing motor 122 on head seat 125, mouth opening and closing motor 122 is steering wheel, the output shaft of mouth opening and closing motor 122
Being connected with mouth motor steering wheel 123, the two ends of lower jaw pedestal 121 are provided with lower jaw rotation hole, and two lower jaw rotation holes are respectively
It is rotationally connected with head seat 125 by mouth motor steering wheel 123 and the imaginary axis 126 being arranged on head seat 125, mouth
Mouth bearing 124 it is additionally provided with in portion's connecting shaft 126.The two ends of lower jaw pedestal 121 are provided with connecting plate, and connecting plate is all provided with
Being equipped with and pedestal of nodding carries out the lower jaw shaft hole that is rotationally connected, mouth opening and closing motor 122 is steering wheel, mouth opening and closing motor 122
Output shaft connect have mouth opening and closing motor steering wheel 123, pedestal 125 of nodding is additionally provided with connecting shaft 126, in connecting shaft 126
Connect have mouth bearing 124, the connecting plate at lower jaw pedestal 121 two ends by each lower jaw shaft hole respectively with mouth opening and closing motor rudder
Dish 123 and mouth bearing 124 are attached, and lower jaw pedestal 121 is fixedly installed lower artificial tooth, and upper artificial tooth is fixedly installed on eyeball
On installing plate 118, upper artificial tooth is fixedly installed on the bottom base on eyeball installing plate 118.
As preferred embodiment, mouth open/close mechanism 12 lower end connects mechanism 13 of nodding, and mechanism 13 of nodding includes
Nodding motor 136, the lower end of head seat 125 is fixedly installed transmission plate 134 of nodding, and transmission plate 134 of nodding is by electricity of nodding
The output shaft of machine 136 drives and realizes rotating to complete nodding action, is additionally provided with the pedestal 131 of nodding of fixing motor 136 of nodding,
Nodding and be provided with motor fixing plate of nodding on pedestal 131, motor 136 of nodding is for steering wheel, and transmission plate 134 of nodding includes and head base
Fixing two, the left and right transmission plate connected of seat 125, two, left and right transmission plate is separately positioned on the both sides of motor 136 of nodding, nods
Motor 136 is connected by motor steering wheel 135 of nodding is fixing with the transmission plate on the left side, and transmission plate in two, left and right is provided with bearing
Connecting shaft, pedestal 131 of nodding is provided with two some head bearing supports 132, two, left and right bearing connecting shaft be separately positioned on each
Point head bearing 133 in some head bearing support 132 is fixedly connected.Mechanism 13 connection of nodding has swing mechanism 14, swing mechanism
14 include rotary head motor 142, the output shaft of rotary head motor 142 be fixedly installed on the flange output shaft 144 nodded on pedestal 131
It is attached, drives flange output shaft 144 to rotate the rotation driving pedestal 131 of nodding to realize turning by rotary head motor 142
Head action, rotary head motor 142 is steering wheel, and rotary head motor 142 is connected with flange output shaft 144 by rotary head motor steering wheel 143, method
Blue output shaft 144 is fixed with pedestal 131 of nodding and is connected, and is additionally provided with the rotary head pedestal 141 of fixing rotary head motor 142, rotary head base
The upper end of seat 141 is fixedly installed rotary head bearing block 145, is fixedly installed rotary head bearing 146, flange in rotary head bearing block 145
Output shaft 144 is attached with rotary head bearing 146.
As preferred embodiment, eyeball mechanism 11, mouth open/close mechanism 12, nod mechanism 13 and swing mechanism 14 covers
The inside of face shield 15, face shield 15 are respectively arranged with the eyes hole corresponding with each eyeball 112 position, face shield 15 is additionally provided with
Mouth perforate.Be additionally provided with the artificial tooth 127 corresponding with mouth position of opening on lower jaw pedestal 121, artificial tooth 127 include artificial tooth and
Lower artificial tooth, upper artificial tooth is fixedly installed on eyeball installing plate 118, and lower artificial tooth is fixedly installed on lower jaw pedestal 121.Face shield 15 wraps
Including radiator grille 151 and the rear mask 152 removably connected with radiator grille 151, radiator grille 151 is hollow shell, and two eyes holes set
Putting in the pit caved inward on radiator grille 151 top, the two ends, left and right of face shield 15 are provided with ear, on radiator grille 151 also
It is provided with nose.It is provided with some connection posts in radiator grille 151, is provided with corresponding with each connection post respectively in rear mask 152
Connect post holes, be attached with the corresponding connection connected between post holes by each connection post between radiator grille 151 and rear mask 152.Before
Being additionally provided with some radiator grille fixing holes on face shield 151, radiator grille 151 is fixedly installed on eyeball by each radiator grille fixing hole pacifies
On dress plate 118, rear mask 152 being provided with some rear masks and fixes post, each rear mask is fixed and is provided with through hole on post, rear mask
It is fixedly installed on head seat 125 by each through hole.
As preferred embodiment, shoulder oscillating motor 212, upper arm oscillating motor 222, upper arm rotary electric machine 232, front
Arm swing motor 242 and wrist motor 252 are steering wheel, and the output shaft of each motor is connected to shoulder oscillating motor steering wheel
213, upper arm oscillating motor steering wheel 225, upper arm rotary electric machine steering wheel 233, forearm oscillating motor steering wheel 243 and wrist motor steering wheel
253, shoulder oscillating motor steering wheel 213 connects has shoulder to swing flange 214, and shoulder swings before and after flange 214 connection has undertaking and puts
The shoulder of dynamic action swings bearing plate 218, drives shoulder to swing flange 214 by shoulder oscillating motor 212 and rotates drive shoulder
Swing bearing plate 218 to rotate to realize shoulder swing action.It is additionally provided be connected fixing with upper arm oscillating motor steering wheel 225
Can around upper arm oscillating motor 222 output shaft axis rotate upper arm swing transmission frame 224, the output of upper arm oscillating motor 222
Axle axis and the output shaft axis perpendicular of shoulder oscillating motor 212, drive upper arm swing to transmit by upper arm oscillating motor 222
Frame 224 rotates to realize wobbling action inside and outside upper arm.Upper arm rotary electric machine steering wheel 233 is also associated with being connected with upper arm body 238
Upper arm rotary electric machine flange 234, the output shaft axis of upper arm rotary electric machine 232 and the output shaft axle of upper arm oscillating motor 222
Line is perpendicular, drives upper arm body 238 to rotate to realize upper arm rotational action by upper arm rotary electric machine 232.Upper arm body 238
Lower end connects has the forearm of fixing forearm oscillating motor 242 to prop up bearing 241, and forearm oscillating motor steering wheel 243 is fixedly connected with can
The forearm transmission plate 245 rotated around the output shaft axis of forearm oscillating motor 242, before the lower end connection of forearm transmission plate 245 has
Arm body 246, the output shaft axis of forearm oscillating motor 242 and the output shaft axis perpendicular of upper arm rotary electric machine 232, pass through
Forearm oscillating motor 242 drives forearm transmission plate 245 to rotate with the wobbling action of arm body 246 before realizing.Front arm body 246
Lower end connects the wrist support seat 251 having fixing wrist motor 252, and wrist motor steering wheel 253 is fixedly connected with wrist transmission plate
255, wrist transmission plate 255 can rotate around the output shaft axis of wrist motor 252, and the output shaft axis of wrist motor 252 is with front
The output shaft axis perpendicular of arm swing motor 242, the lower end of wrist transmission plate 255 connects palm.Palm includes and wrist
The fixing palm body 256 connected of transmission plate 255 and the some fingers 257 being connected on palm body 256, each finger 257 can
Rotate around palm body 256.Each finger 257 includes hinged in series some finger-joints 2571 together, each finger-joint
Between 2571 rotatably.
As preferred embodiment, shoulder installing plate 211 is connected with upper body outer housing 51, and shoulder oscillating motor 212 is fixed
Being arranged on shoulder installing plate 211, shoulder swings the shoulder undertaking post being provided with cylinder on bearing plate 218, and shoulder accepts post
It is provided with and swings the shoulder undertaking post connecting hole that flange 214 is connected with shoulder, accept post connecting hole by shoulder and swing with shoulder
The connection of flange 214, swings flange 214 by the torque of shoulder oscillating motor 212 by shoulder and is transferred to shoulder swing bearing plate
218, to realize shoulder swing action.It is additionally provided with shoulder swinging axle bearing 217, arranges in shoulder swinging axle bearing 217
Having shoulder oscillation bearing 216, shoulder is accepted post nesting and is arranged in shoulder oscillation bearing 216, and the benefit so arranged is by weight
Power is mainly carried on shoulder oscillation bearing 216, to reduce the gravity impact on shoulder oscillating motor 212.It is additionally provided with shoulder
Portion's oscillation bearing 216 carries out spacing shoulder swinging bush 215, shoulder oscillation bearing 216 more preferably Yi Gesi bearing.
Shoulder installing plate 211 includes shoulder installing plate body and is fixedly installed on the shoulder installing plate header board of shoulder installing plate body both sides
With shoulder installing plate back plate.The cross section of output shaft cross section and shoulder undertaking post connecting hole that shoulder swings flange 214 is
Identical polygon, in order to connect and the transmission of rotational motion.It is provided with shoulder oscillating motor on shoulder installing plate 211 to install
Groove and the shoulder connecting hole being connected with shoulder.Upper arm supports seat 221 and is fixed together with shoulder swing bearing plate 218, on
Arm swing motor 222 is fixedly installed on upper arm and props up in bearing 221, upper arm oscillating motor 222 drive upper arm swing transmission frame 224 around
The output shaft rotation of upper arm oscillating motor 222 to realize the inside and outside wobbling action of upper arm, the output shaft axle of upper arm oscillating motor 222
Line is vertical with the output shaft axis of shoulder oscillating motor 212, and the specially output shaft axis direction of shoulder oscillating motor 212 is left
Right horizontal direction, and the output shaft axis direction of upper arm oscillating motor 222 is anterior-posterior horizontal direction, so makes the robot arm can
Realize swing action and inside and outside wobbling action respectively.The lower end of upper arm swing transmission frame 224 is fixedly installed upper arm and rotates
Motor 232, the output shaft direction of upper arm rotary electric machine 232 is vertical direction, and the output shaft of upper arm rotary electric machine 232 connects upper arm
Body 238, drives upper arm body 238 to rotate to realize the rotational motion of upper arm by upper arm rotary electric machine 232, compact conformation,
Kinematic accuracy is high and motion is flexible.Upper arm oscillating motor 222 is fixed on upper arm and props up in bearing 221, and this upper arm props up and goes back in bearing 221
It is provided with upper arm oscillating motor mounting groove and upper arm oscillation bearing articulated column, the upper arm oscillation bearing 223 of upper arm oscillating motor 222
Being connected on upper arm oscillation bearing articulated column, upper arm swing transmission frame 224 is U-shaped support, the upper arm swing transmission frame of U-shaped support
224 two ends are connected with upper arm oscillating motor steering wheel 225 and upper arm oscillation bearing 223 respectively, so upper arm oscillating motor 222 turns
Arm swing transmission frame 224 can be driven time dynamic to swing to realize the inside and outside wobbling action of upper arm.Upper arm rotary electric machine flange 234 with
Being also associated with upper arm stacker 239 between upper arm body 238, the upper end of upper arm stacker 239 is the cylinder of circular cross-section, and lower end is opened
Be provided with and the fixing upper arm stacker connecting hole being connected of upper arm body 238, be provided with in the upper end cylinder of upper arm stacker 239 and
Upper arm oscillating motor flange 234 output shaft is fixed the upper arm of connection and is rotated flange connecting hole, and the top of upper arm stacker 239 also sets
It is equipped with upper arm rotary shaft bearing 236, upper arm rolling bearing 237, upper arm stacker 239 are installed in upper arm rotary shaft bearing 236
The cylinder nesting of upper end is arranged in upper arm rolling bearing 237, and the two ends of upper arm swing transmission frame 224 are also installed with fixing
Outside plate 231, outside plate is fixed on fixing 231 points of left sides of outside plate and outside plate is fixed on the right side, and upper arm rotary shaft bearing 236 is fixedly installed on outside fixing
On plate 231, the weight of lower end so can be made to be concentrated mainly in upper arm rotary shaft bearing 236, without upper arm is rotated electricity
Machine 232 causes excessive loads and pressure, is also equipped with the upper arm axle sleeve 235 of position-limiting action.Forearm oscillating motor 242 fixedly mounts
Propping up in bearing 241 at forearm, forearm props up and is additionally provided with forearm bearing hinge connection seat in bearing 241, and forearm bearing hinge connection seat is arranged
Having a forearm oscillation bearing 244, forearm transmission plate 245 be U-shaped plate, forearm transmit the two ends of plate 245 respectively with forearm oscillating motor
Steering wheel 243 and forearm oscillation bearing 244 link together, and the output shaft axis of forearm oscillating motor 242 is left and right horizontal direction,
So forearm transmission plate 245 is driven to realize oscillating motion before and after forearm when rotating at forearm oscillating motor 242.The most less preferred
For, upper arm body 238 and front arm body 246 are carbon fiber pipe, alleviate the weight of arm.Palm motion 25 include with
Wrist support seat 251 and the wrist motor 252 being fixed on wrist support seat 251, the wrist of connection is fixed in front arm body 246 lower end
The output shaft direction of portion's motor 252 is anterior-posterior horizontal direction, and wrist support seat 251 is additionally provided with wrist bearing articulated column, wrist
Being provided with wrist bearing 254 on portion's articulated column, wrist transmission plate 255 be U-shaped plate, wrist transmit the two ends of plate 255 respectively with wrist
Portion's motor steering wheel 253 and wrist bearing 254 link together.The lower end of wrist transmission plate 255 is fixing connects palm body 256,
Being also associated with 5 fingers 257 on palm body 256, each finger 257 includes several hinged finger-joints 2571,
So driving wrist transmission plate 255 to carry out swinging to realize palm oscillating motion at wrist motor 252, each finger 257 is also
The flexible motion of finger 257 can be realized according to the controller being arranged in palm body 256.
As preferred embodiment, robot waist 3 includes that driven machine people is carried out bending over the motor 37 of bending over of action
With the motor mount 39 of bending over of fixing motor 37 of bending over, motor mount 39 of bending over is additionally provided with and carries out, with leg, the company of rotation
Two the leg connecting shafts 38 connect.Bend over motor 37 output shaft connect have decelerator 36 of bending over, the deceleration of decelerator 36 of bending over
Device output shaft 361 is left and right horizontal direction, and further preferably, motor 37 of bending over is for motor, and decelerator 36 of bending over is worm gear
Worm reducer.The two ends of reducer output shaft 361 connect bearing 34 of bending over respectively, and two bearings 34 of bending over are separately mounted to arrange
Bending in bearing block 35 in two of motor mount 39 left and right sides of bending over, reducer output shaft 361 is also associated with bending over to pass
Defeated frame 33, transmission frame 33 of bending over include two respectively bending over of being connected of two ends with reducer output shaft 361 transmit plate 332 and consolidate
Surely bending over to transmit the transmission frame pedestal 331 of bending over of plate 332, transmission frame 33 of bending over is positioned at the top of motor mount 39 of bending over, curved
It is further fixedly arranged on lumbar support bar 32 on waist transmission frame pedestal 331, lumbar support bar 32 is fixedly installed controller and installs
Frame 31, controller installing rack 31 includes that the controller being fixed on lumbar support bar 32 is installed pedestal 314 and is arranged on controller
Bending on pedestal 314 is installed and controls components and parts 313, lumbar support bar 32 is additionally provided with two microphones 311, two microphones
311 are linked together by the microphone installing rack 312 being fixed on lumbar support bar 32.
As preferred embodiment, each thigh 41 enters with being arranged on the leg connecting shaft 38 bent on motor mount 39
Row is rotationally connected, and is mutually rotationally connected between thigh 41 and shank 42.
As preferred embodiment, arm outer housing 53 includes covering shoulder swing mechanism 21 and upper arm swing mechanism 22
Shoulder outer housing 531, cover the upper arm outer housing 532 of upper arm rotating mechanism 23 and forearm swing mechanism 24, cover palm motion
The forearm outer housing 533 of 25.
Certainly, the invention is not limited in above-mentioned embodiment, those of ordinary skill in the art are without prejudice to the present invention
Also can make equivalent variations or replacement on the premise of spirit, deformation or the replacement of these equivalents are all contained in the application claim
In limited range.
Claims (10)
1. an anthropomorphic robot, it is characterised in that: include
Robot head (1), described robot head (1) includes that driven machine head part (1) carries out Rotation of eyeball, mouth is opened
Close, nod and the head drive mechanism of rotary head and head drive mechanism is covered on inside face shield (15)；
Two, the left and right robot arm (2) of described robot head (1) lower section, described robot arm (2) includes driving machine
Device human arm (2) carries out shoulder swing, upper arm swing, upper arm rotation, front arm swing and the arm drive mechanism of palm motion；
The robot waist (3) of described robot head (1) lower section, described robot waist (3) includes that driven machine people is carried out
Bend over the motor of bending over (37) of action；
The robot leg (4) of described robot waist (3) lower section；And
Each described robot arm (2) and robot waist (3) are covered on the robot outer housing (5) of inside.
Anthropomorphic robot the most according to claim 1, it is characterised in that: described head drive mechanism includes
Eyeball mechanism (11), described eyeball mechanism (11) includes two eyeballs (112) and drives each eyeball by drive mechanism
(112) the eyeball motor (117) rotated；
The mouth open/close mechanism (12) being connected with described eyeball mechanism (11) lower section, described mouth open/close mechanism (12) includes fixing
Be arranged on eyeball mechanism (11) lower section head seat (125), the lower jaw pedestal (121) that can rotate around head seat (125) and
Lower jaw pedestal (121) is driven to rotate with mouth opening and closing motor (122) realizing the opening and closing action of mouth open/close mechanism (12) mouth；
The neck mechanism being connected with described mouth open/close mechanism (12), described neck mechanism includes nod mechanism (13) and rotary head machine
Structure (14), described in mechanism (13) of nodding include driving neck mechanism to carry out the motor of nodding (136) of nodding action, institute by rotating
State swing mechanism (14) to include by rotating the rotary head motor (142) driving neck mechanism to carry out rotary head action.
3. according to the anthropomorphic robot described in right 2, it is characterised in that: the output shaft of described eyeball motor (117) connects master
Moving gear (116), is additionally provided with two driven gears (115) all engaged, each described eyeball with described driving gear (116)
(112) the eyeball rotating shaft being connected with each driven gear (115) it is respectively arranged with.
Anthropomorphic robot the most according to claim 2, it is characterised in that: each described eyeball (112) top is provided with eye
Eyelid (111), is additionally provided with and connects the eyelid rotating shaft of eyelid (111) described in two, described eyelid rotating shaft is provided with drive eyelid and turns
The permanent magnet (113) of the strip that axle rotates, one end of described permanent magnet (113) is connected with eyelid rotating shaft, described permanent magnet
(113) lower section of the other end is provided with copper coil (114), by the operation of the power on/off of described copper coil (114) is realized permanent magnetism
Body (113) drives the rotation of eyelid rotating shaft to realize action nictation.
Anthropomorphic robot the most according to claim 2, it is characterised in that: the output shaft of described mouth opening and closing motor (122)
Axis is parallel to each other with the output shaft axis of motor of nodding (136), the output shaft axis of described rotary head motor (142) and electricity of nodding
The output shaft axis of machine (136) is mutually perpendicular to, and the output shaft axis direction of described rotary head motor (142) is vertical direction.
Anthropomorphic robot the most according to claim 1, it is characterised in that: described arm drive mechanism includes
Shoulder swing mechanism (21), described shoulder swing mechanism (21) includes the shoulder oscillating motor driving shoulder swing
(212)；
The upper arm swing mechanism (22) being connected with described shoulder swing mechanism (21), described upper arm swing mechanism (22) includes driving
The inside and outside upper arm oscillating motor (222) swung of upper arm；
The upper arm rotating mechanism (23) being connected with described upper arm swing mechanism (22), described upper arm rotating mechanism (23) includes driving
Upper arm rotary electric machine (232) that upper arm rotates and the upper arm body (238) that is connected with the output shaft of upper arm rotary electric machine (232)；
The forearm swing mechanism (24) being connected with described upper arm body (238), before described forearm swing mechanism (24) includes driving
The forearm oscillating motor (242) of arm swing and the front arm body (246) being connected with the output shaft of forearm oscillating motor (242)；With
And
The palm motion (25) being connected with described front arm body (246), described palm motion (25) includes driving hands
The wrist motor (252) of palm motion.
Anthropomorphic robot the most according to claim 6, it is characterised in that: the output shaft of described shoulder oscillating motor (212)
Axis is mutually perpendicular to the output shaft axis of upper arm oscillating motor (222), the output shaft axis of described upper arm rotary electric machine (232)
It is mutually perpendicular to the output shaft axis of upper arm oscillating motor (222).
Anthropomorphic robot the most according to claim 1, it is characterised in that the output shaft of motor (37) of bending over described in: connects to be had
Bend over decelerator (36), described in the bend over reducer output shaft (361) of decelerator (36) connect and have transmission frame of bending over (33), described
The bend over output shaft of motor (37) drives transmission frame (33) of bending over to realize the action of bending over of robot via decelerator of bending over (36).
Anthropomorphic robot the most according to claim 1, it is characterised in that: described leg (4) includes two thighs in left and right
(41) and the shank (42) hinged with each thigh (41), the upper end of described thigh (41) is hinged with robot waist (3).
10. according to the anthropomorphic robot described in claim 1～9 any one, it is characterised in that: described outer housing (5) include with
The upper body outer housing (51) that robot head (1) lower section connects, the waist outer housing (52) that robot waist (3) is covered on inside and general
Each robot arm (2) covers on the arm outer housing (53) of inside, outside the two ends up and down of described waist outer housing (52) are respectively with upper body
Cover (51) and robot leg (4) connection, each described arm outer housing (53) left and right sides with upper body outer housing (51) respectively is connected.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610796148.XA CN106272459B (en) | 2016-08-31 | 2016-08-31 | A kind of anthropomorphic robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610796148.XA CN106272459B (en) | 2016-08-31 | 2016-08-31 | A kind of anthropomorphic robot |
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| CN106272459A true CN106272459A (en) | 2017-01-04 |
| CN106272459B CN106272459B (en) | 2018-01-19 |
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| CN201610796148.XA Expired - Fee Related CN106272459B (en) | 2016-08-31 | 2016-08-31 | A kind of anthropomorphic robot |
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| CN106985149A (en) * | 2017-06-06 | 2017-07-28 | 江苏金刚文化科技集团股份有限公司 | Robot of a kind of half body robot and remote control half body |
| CN107414844A (en) * | 2017-04-11 | 2017-12-01 | 上海电机学院 | Home-services robot |
| CN107598938A (en) * | 2017-09-21 | 2018-01-19 | 广州市华科尔科技股份有限公司 | A kind of Grapple Robots |
| CN107650118A (en) * | 2017-09-21 | 2018-02-02 | 广州市华科尔科技股份有限公司 | A kind of robot arm |
| CN107972046A (en) * | 2017-12-23 | 2018-05-01 | 华南理工大学广州学院 | A kind of feast robot |
| CN108000529A (en) * | 2017-12-08 | 2018-05-08 | 子歌教育机器人（深圳）有限公司 | Intelligent robot |
| CN108044637A (en) * | 2017-12-26 | 2018-05-18 | 杭州欢乐飞机器人科技股份有限公司 | A kind of anthropomorphic robot |
| CN108044636A (en) * | 2017-12-26 | 2018-05-18 | 杭州欢乐飞机器人科技股份有限公司 | A kind of detachable anthropomorphic robot |
| CN108044638A (en) * | 2018-01-16 | 2018-05-18 | 深圳艾比仿生机器人科技有限公司 | adjustable robot and its shoulder |
| CN108818560A (en) * | 2018-07-06 | 2018-11-16 | 宣城南巡智能科技有限公司 | A kind of emulated robot |
| CN108858227A (en) * | 2018-07-20 | 2018-11-23 | 上海楷沃机器人科技有限公司 | A kind of humanoid robot head movement mechanism |
| CN109773801A (en) * | 2018-12-11 | 2019-05-21 | 深圳市优必选科技有限公司 | Robot and its arm structure |
| WO2019237996A1 (en) * | 2018-06-14 | 2019-12-19 | 丁英卓 | Head structure of 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 |
| EP3702116A1 (en) * | 2019-03-01 | 2020-09-02 | Cloudminds (Beijing) Technologies Co., Ltd. | Robot waist skeleton and robot |
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| WO2019237996A1 (en) * | 2018-06-14 | 2019-12-19 | 丁英卓 | Head structure of 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 |
| CN108818560A (en) * | 2018-07-06 | 2018-11-16 | 宣城南巡智能科技有限公司 | A kind of emulated robot |
| CN108858227A (en) * | 2018-07-20 | 2018-11-23 | 上海楷沃机器人科技有限公司 | A kind of humanoid robot head movement mechanism |
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