CN106272459B - A kind of anthropomorphic robot - Google Patents
A kind of anthropomorphic robot Download PDFInfo
- Publication number
- CN106272459B CN106272459B CN201610796148.XA CN201610796148A CN106272459B CN 106272459 B CN106272459 B CN 106272459B CN 201610796148 A CN201610796148 A CN 201610796148A CN 106272459 B CN106272459 B CN 106272459B
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- robot
- motor
- upper arm
- arm
- eyeball
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Classifications
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- 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
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Health & Medical Sciences (AREA)
- Audiology, Speech & Language Pathology (AREA)
- General Health & Medical Sciences (AREA)
- Human Computer Interaction (AREA)
- Toys (AREA)
- Manipulator (AREA)
- Rehabilitation Tools (AREA)
Abstract
The invention discloses a kind of anthropomorphic robot, the robot head of motion driving mechanism is separately installed with including inside, robot arm, robot waist, robot leg and the robot outer cover by robot interior radome structure internally, this passes through robot head, robot arm, robot waist, the setting of robot leg and robot outer cover, anthropomorphic robot is set to realize the Rotation of eyeball of robot head by the driving of each drive mechanism, mouth opening and closing, nod, rotary head acts, the swing of robot arm, rotational action and robot waist bend over to act, robot outer cover makes the vivid more life-like lively of robot, the anthropomorphic robot freedom of motion is more, it is compact-sized, lifelike image, this is invented for bio-robot field.
Description
Technical field
The present invention relates to bio-robot field, more particularly to a kind of anthropomorphic robot.
Background technology
With the continuous improvement of people's level of education, fewer and fewer people is ready to be engaged in low technical, low value-added service trade,
Such as welcome, consulting, reception work；Meanwhile it is increasingly mature with robot technology, especially transported in anthropomorphic robot field
The development and application of the technologies such as dynamic control, voice semantics recognition, image recognition, intelligent interaction, gradually highlight apery service type machine
The developing prospect of device people, because of the aggravation of population in the world aging, service the extensive market of humanoid robot, anthropomorphic robot
Progressively turn into a focus of research application.
Anthropomorphic robot imitates the action of the mankind, it is necessary to complete to include Rotation of eyeball, mouth opening and closing, rotary head of nodding, arm
Flexible swing and rotation, a series of actions such as action of bending over, freedom of motion is high, and kinematic accuracy requires high.
The content of the invention
To solve the above problems, the present invention provides a kind of more, compact-sized, lifelike image apery machines of freedom of motion
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, which includes driving robot head, to carry out Rotation of eyeball, mouth opening and closing, nods and turn
The head drive mechanism of head and the mask that head drive mechanism is covered on to inside；
The robot arm of left and right two below robot head, robot arm include driving robot arm and carry out shoulder
The arm drive mechanism of portion's swing, upper arm swing, upper arm rotation, preceding arm swing and palm motion；
Robot waist below robot head, robot waist are bent over including what driving robot carried out bending over to act
Motor；
Robot leg below robot waist portion；And
Each robot arm and robot waist are covered on to the robot outer cover of inside.
As the further improvement of above-mentioned technical proposal, head drive mechanism includes
Eyeball mechanism, eyeball mechanism include two eyeballs and the eyeball motor of each Rotation of eyeball are driven by transmission mechanism；
With the mouth open/close mechanism being connected below eyeball mechanism, mouth open/close mechanism includes being fixedly installed under eyeball mechanism
The head seat of side, the lower jaw pedestal that can be rotated around head seat and driving lower jaw pedestal are rotated to realize mouth open/close mechanism mouth
The mouth opening and closing motor of portion's opening and closing action；
The neck mechanism being connected with mouth open/close mechanism, neck mechanism include nod mechanism and swing mechanism, mechanism of nodding
Motor of nodding including carrying out nodding action by rotating driving neck mechanism, swing mechanism are included by rotating driving neck machine
Structure carries out the rotary head motor of rotary head action.
As the further improvement of above-mentioned technical proposal, the output shaft of eyeball motor is connected with driving gear, is additionally provided with
Two driven gears engaged with driving gear, each eyeball are respectively arranged with the eyeball rotating shaft being connected with each driven gear.
As the further improvement of above-mentioned technical proposal, eyelid is provided with above each eyeball, is additionally provided with connection two
The eyelid rotating shaft of eyelid, is provided with the permanent magnet for the strip for driving eyelid axis of rotation in eyelid rotating shaft, one end of permanent magnet with
Eyelid rotating shaft connects, and is provided with copper coil below the permanent magnet other end, permanent magnetism is realized by the way that the break-make to copper coil is electrically operated
Body drive eyelid rotating shaft rotation with realize blink act.
As the further improvement of above-mentioned technical proposal, the output of the output shaft axis of mouth opening and closing motor and 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 for motor of nodding, rotary head motor
Output shaft axis direction is vertical direction.
As the further improvement of above-mentioned technical proposal, arm drive mechanism includes
Shoulder swing mechanism, shoulder swing mechanism include the shoulder oscillating motor of driving shoulder swing；
The upper arm swing mechanism being connected with shoulder swing mechanism, upper arm swing mechanism include the upper of the inside and outside swing of driving upper arm
Arm swing motor；
The upper arm rotating mechanism being connected with upper arm swing mechanism, upper arm rotating mechanism include the upper arm that driving upper arm rotates and turned
Dynamic motor and the upper arm body with the output axis connection of upper arm rotary electric machine；
The forearm swing mechanism being connected with upper arm body, forearm swing mechanism include the preceding arm swing electricity of arm swing before driving
Machine and the preceding arm body with the output axis connection of forearm oscillating motor；And
The palm motion being connected with preceding arm body, palm motion include the wrist motor of driving palm motion.
As the further improvement of above-mentioned technical proposal, output shaft axis and the upper arm oscillating motor of shoulder oscillating motor
Output shaft axis is mutually perpendicular to, and the output shaft axis of upper arm rotary electric machine mutually hangs down with the output shaft axis of upper arm oscillating motor
Directly.
As the further improvement of above-mentioned technical proposal, the output shaft for motor of bending over is connected with decelerator of bending over, and bends over to subtract
The reducer output shaft of fast device is connected with transmission frame of bending over, and the output shaft for motor of bending over bends over to transmit via decelerator driving of bending over
Frame realizes that robot bends over to act.
As the further improvement of above-mentioned technical proposal, leg includes two thighs in left and right and is hinged with each thigh small
Leg, the upper end of thigh are hinged with robot waist.
As the further improvement of above-mentioned technical proposal, outer cover include with robot head below be connected upper body outer cover,
By robot waist cover on inside waist outer cover and by each robot arm cover on inside arm outer cover, waist outer cover it is upper
Lower both ends are connected with upper body outer cover and robot leg respectively, and the left and right sides of each arm outer cover respectively with upper body outer cover is connected.
Beneficial effects of the present invention：This anthropomorphic robot passes through robot head, robot arm, robot waist, machine
Device people leg and the setting of robot outer cover, anthropomorphic robot is set to 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 to move
Make, robot outer cover makes the vivid more life-like lively of robot, and the anthropomorphic robot freedom of motion is more, compact-sized, shape
As true to nature.
Brief description of the drawings
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 entirety 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 mask and head drive mechanism；
Fig. 8 is the overall structure diagram of head drive mechanism；
Fig. 9 is the overall structure of the explosion figure 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 the explosive view of upper arm swing mechanism and 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 diagram of robot waist；
Figure 19 is the explosive view of robot waist.
Embodiment
1~Figure 19 of reference picture, the present invention is a kind of anthropomorphic robot, including
Robot head 1, robot head 1, which includes driving robot head 1, to carry out Rotation of eyeball, mouth opening and closing, nods
The mask 15 of inside is covered on the head drive mechanism of rotary head and by head drive mechanism；
The robot arm 2 of left and right two of the lower section of robot head 1, robot arm 2 include driving robot arm 2 and entered
The arm drive mechanism of the swing of row shoulder, upper arm swing, upper arm rotation, preceding arm swing and palm motion；
The robot waist 3 of the lower section of robot head 1, robot waist 3 include driving robot and carry out action of bending over
Bend over motor 37；
The robot leg 4 of the lower section of robot waist 3；And
Each robot arm 2 and robot waist 3 are covered on to the robot outer cover 5 of inside.
Pass through setting for robot head 1, robot arm 2, robot waist 3, robot leg 4 and robot outer cover 5
Put, anthropomorphic robot realized the Rotation of eyeball of robot head 1, mouth opening and closing by the driving of each drive mechanism, nodded, turn
Head action, the swing of robot arm 2, rotational action and robot waist 3 bend over to act, and robot outer cover 5 makes robot
It is vivid more life-like lively, the anthropomorphic robot freedom of motion is more, compact-sized, lifelike image.
As preferred embodiment, head drive mechanism includes
Eyeball mechanism 11, eyeball mechanism 11 include two eyeballs 112 and drive what each eyeball 112 rotated by transmission mechanism
Eyeball motor 117；
The mouth open/close mechanism 12 being connected with below eyeball mechanism 11, mouth open/close mechanism 12 include being fixedly installed on eyeball
The head seat 125 of the lower section of mechanism 11, the lower jaw pedestal 121 that can be rotated around head seat 125 and driving lower jaw pedestal 121 rotate
To realize the mouth opening and closing motor 122 of the mouth opening and closing of mouth open/close mechanism 12 action；
The neck mechanism being connected with mouth open/close mechanism 12, neck mechanism include nod mechanism 13 and swing mechanism 14, point
Head mechanism 13 includes carrying out the motor 136 of nodding of nodding action by rotating driving neck mechanism, and swing mechanism 14 includes passing through
Rotate the rotary head motor 142 that driving neck mechanism carries out rotary head action.
As preferred embodiment, the output shaft of eyeball motor 117 is connected with driving gear 116, be additionally provided with
Two driven gears 115 that driving gear 116 engages, each eyeball 112 are respectively arranged with the eyeball being connected with each driven gear 115
Rotating shaft.
As preferred embodiment, each top of eyeball 112 is provided with eyelid 111, is additionally provided with two eyelids 111 of connection
Eyelid rotating shaft, be provided with the permanent magnet 113 of the strip for driving eyelid axis of rotation in eyelid rotating shaft, the one of permanent magnet 113
End is connected with eyelid rotating shaft, is provided with copper coil 114 below the other end of permanent magnet 113, is passed through the power on/off to copper coil 114
Operation realize permanent magnet 113 drive eyelid rotating shaft rotation with realize blink act.
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 the output shaft axis of rotary head motor 142 and motor 136 of nodding is mutually perpendicular to, rotary head motor
142 output shaft axis direction is vertical direction.
As preferred embodiment, arm drive mechanism includes
Shoulder swing mechanism 21, shoulder swing mechanism 21 include the shoulder oscillating motor 212 of driving shoulder swing；
The upper arm swing mechanism 22 being connected with shoulder swing mechanism 21, upper arm swing mechanism 22 include the inside and outside pendulum of driving upper arm
Dynamic upper arm oscillating motor 222；
The upper arm rotating mechanism 23 being connected with upper arm swing mechanism 22, upper arm rotating mechanism 23 include what driving upper arm rotated
Upper arm rotary electric machine 232 and the upper arm body 238 with the output axis connection of upper arm rotary electric machine 232；
The forearm swing mechanism 24 being connected with upper arm body 238, forearm swing mechanism 24 are included before driving before arm swing
Arm swing motor 242 and the preceding arm body 246 with the output axis connection of forearm oscillating motor 242；And
The palm motion 25 being connected with preceding arm body 246, palm motion 25 include the wrist of driving palm motion
Portion's motor 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 mutually hangs down with the output shaft axis of upper arm oscillating motor 222
Directly.
As preferred embodiment, the output shaft for motor 37 of bending over is connected with decelerator 36 of bending over, decelerator 36 of bending over
Reducer output shaft 361 be connected with 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 that robot bends over to act.
As preferred embodiment, leg 4 includes two thighs 41 in left and right and the shank 42 being hinged with each thigh 41, greatly
The upper end of leg 41 is be hinged with robot waist 3.
As preferred embodiment, upper body outer cover 51 that outer cover 5 includes being connected with the lower section of robot head 1, by machine
People's waist 3 covers on the waist outer cover 52 of inside and each robot arm 2 is covered on to the arm outer cover 53 of inside, waist outer cover 52
Upper and lower ends are connected with upper body outer cover 51 and robot leg 4 respectively, each arm outer cover 53 left and right with upper body outer cover 51 respectively
Both sides connect.
As preferred embodiment, eyeball mechanism 11 includes eyeball installing plate 118, above eyeball installing plate 118
Two eyeballs 112 and the driven gear 115 that drives each eyeball 112 to rotate respectively, be additionally provided with and nibbled with two driven gears 115
Close the eyeball motor 117 that the driving gear 116 of connection and driving driving gear 116 rotate.Pass through two driven gears 115 and master
The setting of moving gear 116, driving gear 116 is driven to rotate by eyeball motor 117, the rotation and then drive two of driving gear 116
Driven gear 115 rotates, and then drives the rotational motion of two eyeballs 112, realizes 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.It is driven
Gear 115 is the taper that one side is provided with connecting hole, while to set cogged circular arc, the setting of incomplete gear mechanism
The inside space-consuming of mechanism is saved.The cross section of eyeball rotating shaft is ellipse, and the connecting hole of driven gear 115 is and eyeball
Rotating shaft cross section identical slotted eye.The cross section of eyeball rotating shaft can also be circle, certainly, the cross section of eyeball rotating shaft
It can be the shapes such as polygon, the connecting hole cross section of each driven gear 115 is arranged to horizontal with the polygonal shape identical
Section, each eyeball 112 is passed motion to by the rotation of each driven gear 115.The axis of two eyeball rotating shafts is parallel to each other, and protects
It is identical the angle of two eyeballs 112 rotation is demonstrate,proved, and rotation direction is consistent.Two bearings are provided with eyeball installing plate 118
Pedestal, be separately installed with eyeball bearing in each bearing base, through the eyeball rotating shaft in each connecting hole respectively with each eyeball bearing
It is fixedly connected, eyeball bearing is Yi Gesi bearings, to realize preferably motion transmission effect.Set on eyeball installing plate 118
There is through hole, driving gear 116 and eyeball motor 117 are separately positioned on the upper and lower ends of eyeball installing plate 118, eyeball motor 117
For steering wheel, steering wheel output end is connected with eyeball motor steering wheel, and eyeball motor steering wheel is connected with driving gear 116, eyeball motor
117 can also be other servomotors, stretch out output shaft by the through hole on eyeball installing plate 118 to drive driving gear
116.Steering wheel, which is connected through a screw thread, to be fixed on eyeball installing plate 118, and fixed mode has a variety of, is not limited to the connection that is screwed
Mode.Electronic display is provided with each eyeball 112, control electronic display screen displays expression in the eyes is additionally provided with each eyeball 112 and is become
The eyeball controller of change.
As preferred embodiment, each top of eyeball 112 is provided with eyelid 111, and two eyelids 111 are connected by eyelid rotating shaft
It is connected together, is additionally provided with the permanent magnet 113 for the strip for driving eyelid axis of rotation, one end and the eyelid of permanent magnet 113 turns
Axis connection, copper coil 114 is provided with below the other end of permanent magnet 113, by the electrically operated realization of the break-make to copper coil 114 forever
Magnet 113 drive eyelid rotating shaft rotation with realize blink act.Permanent magnet 113 can be various shapes, permanent magnet 113 and eye
The position that the link position and permanent magnet 113 of eyelid rotating shaft are driven by copper coil 114 should be respectively at the both ends of permanent magnet 113, so
It can just realize that permanent magnet 13 drives the effect of eyelid axis of rotation, therefore permanent magnet 113 is more preferably strip bulk magnet,
Copper coil 114 is plate-like copper coil.Eyelid support base is provided between two eyelids 111, eyelid rotating shaft rotates with eyelid support base to be connected
Connect, eyelid rotating shaft can be that various ways are rotatablely connected with eyelid support base, can be with being arranged in eyelid support base
The through hole in portion is rotatablely connected or is rotatablely connected with the outside of eyelid support base, it is of course also possible to be by eye
Eyelid rotating shaft is divided into two sections of left and right, is rotatablely connected respectively with eyelid rotating shaft.Eyelid 111 is spherical shell or hemispherical shell,
The profile of true man's eyelid is mainly imitated, two eyelids 111 are provided with eyelid connecting hole, and two eyelids 111 are connected by eyelid respectively
Connect hole with eyelid rotating shaft to be connected, eyelid connecting hole is typically arranged on to the middle position of each eyelid 111 and eyelid rotating shaft connecting side
Put, so can precisely realize rotating upwardly and downwardly for eyelid 111, but the eyelid connecting hole can also be arranged on to each eyelid 111
Rear portion or other positions.The both ends of eyelid rotating shaft are provided with eyelid bearing, and two eyelids 111 pass through eyelid bearing and eyelid respectively
Rotating shaft is attached.Eyelid support base includes upper cover plate and the bottom base that is fixedly connected with upper cover plate, upper cover plate and bottom base
Link position is provided with the shaft hole for realizing eyelid axis of rotation, is provided with left and right sides of bottom base and is fixedly connected with upper cover plate
Side plate, be additionally provided with the transverse slat for placing copper coil 114 on bottom base, the setting of upper cover plate is primarily to side when mounted
Just.Bottom base is fixedly installed on eyeball installing plate 118, is provided with two bearing blocks on eyeball installing plate 118, in each bearing block
Eyeball bearing is installed, the lower end of each eyeball 112 is respectively arranged with the connecting shaft being connected with eyeball bearing, certainly, here can also
Play a part of master using top base, bottom base and eyeball installing plate 118 as an entirety, bottom base and eyeball installing plate 118
If support or the effect of installation fixation.It is provided with each eyeball 112 and imitates the display screen that pupil changes, in each eyeball 112
It is additionally provided with the pupil controller of control display screen display change.Eyelash is provided with two eyelids 111.On two eyelids 111
The spring or rubber band resetted after blink is additionally provided with, so being produced in eyelid rotating shaft can be by the spring when failure can not rotate
Or rubber band automatically resets each eyelid 111, and normal eyelid situation is kept, can not simply blinked, entered without influenceing product
Normal attractive in appearance and using effect.Eyeball bearing and eyelid bearing are Yi Gesi bearings.
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 are steering wheel, the output shaft of mouth opening and closing motor 122
It is connected with mouth motor steering wheel 123, the both ends of lower jaw pedestal 121 are provided with lower jaw rotation hole, two lower jaw rotation hole difference
It is rotatablely connected by mouth motor steering wheel 123 and the imaginary axis 126 being arranged on head seat 125 with head seat 125, mouth
Mouth bearing 124 is additionally provided with portion's connecting shaft 126.The both ends of lower jaw pedestal 121 are provided with connecting plate, are all provided with connecting plate
The lower jaw shaft hole that the pedestal that is equipped with and nods is rotatablely connected, mouth opening and closing motor 122 are steering wheel, mouth opening and closing motor 122
Output shaft be connected with mouth opening and closing motor steering wheel 123, connecting shaft 126 is additionally provided with pedestal 125 of nodding, in connecting shaft 126
Be connected with mouth bearing 124, the connecting plate at the both ends of lower jaw pedestal 121 by each lower jaw shaft hole respectively with mouth opening and closing motor rudder
Disk 123 and mouth bearing 124 are attached, and lower artificial tooth is fixedly installed on lower jaw pedestal 121, 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, the lower end of mouth open/close mechanism 12 is connected with mechanism 13 of nodding, and mechanism of nodding 13 includes
Nod motor 136, the lower end of head seat 125 is fixedly installed transmission board 134 of nodding, and transmission board of nodding 134 is by electricity of nodding
The pedestal 131 of nodding for rotating and to complete nodding action, being additionally provided with fixed motor 136 of nodding is realized in the output shaft driving of machine 136,
Nod and be provided with motor fixing plate of nodding on pedestal 131, motor 136 of nodding is steering wheel, and transmission board of nodding 134 includes and head base
The transmission board of left and right two that seat 125 is fixedly connected, the transmission board of left and right two are separately positioned on the both sides for motor 136 of nodding, nodded
Motor 136 is fixedly connected by motor steering wheel 135 of nodding with the transmission board on the left side, and bearing is provided with the transmission board of left and right two
Connecting shaft, is provided with two head bearing supports 132 on pedestal 131 of nodding, and the bearing connecting shaft of left and right two and is separately positioned on each
Bearing 133 of nodding in point head bearing support 132 is fixedly connected.Mechanism of nodding 13 is connected with swing mechanism 14, swing mechanism
14 include rotary head motor 142, and the output shaft of rotary head motor 142 is with being fixedly installed on the flange output shaft 144 nodded on pedestal 131
It is attached, is rotated by the driving flange output shaft 144 of rotary head motor 142 and turned to drive the rotation for pedestal 131 of nodding with realizing
Head action, rotary head motor 142 is steering wheel, and rotary head motor 142 is connected by rotary head motor steering wheel 143 with flange output shaft 144, method
Blue output shaft 144 is fixedly connected with pedestal 131 of nodding, and is additionally provided with the rotary head pedestal 141 of fixed rotary head motor 142, rotary head base
The upper end of seat 141 is fixedly installed rotary head bearing block 145, and rotary head bearing 146, flange are fixedly installed 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, mechanism of nodding 13 and swing mechanism 14 cover
In the inside of mask 15, the eyes hole with each position correspondence of eyeball 112 is respectively arranged with mask 15, is additionally provided with mask 15
Mouth perforate.Be additionally provided with artificial tooth 127 corresponding with mouth position of opening on lower jaw pedestal 121, artificial tooth 127 include upper artificial tooth and
Lower artificial tooth, upper artificial tooth are fixedly installed on eyeball installing plate 118, and lower artificial tooth is fixedly installed on lower jaw pedestal 121.Mask 15 wraps
Radiator grille 151 and the rear mask being detachably connected with radiator grille 151 152 are included, radiator grille 151 is hollow shell, and two eyes holes are set
Put in the pit to cave inward on the top of radiator grille 151, the left and right ends of mask 15 are provided with ear, are gone back on radiator grille 151
It is provided with nose.Some connecting poles are provided with radiator grille 151, are provided with rear mask 152 corresponding with each connecting pole respectively
Post holes is connected, is attached between radiator grille 151 and rear mask 152 by the connection between each connecting pole and corresponding connection post holes.Before
Some radiator grille fixing holes are additionally provided with mask 151, radiator grille 151 is fixedly installed on eyeball by each radiator grille fixing hole pacifies
In loading board 118, some rear mask fixed columns are provided with rear mask 152, through hole, rear mask are provided with each rear mask fixed column
It is fixedly installed on by each through hole on head seat 125.
It is shoulder oscillating motor 212, upper arm oscillating motor 222, upper arm rotary electric machine 232, preceding as preferred embodiment
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
213rd, 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 is connected with shoulder and swings flange 214, and shoulder swings flange 214 and is connected with the front and rear pendulum of undertaking
The shoulder of action swings bearing plate 218, drives shoulder swing flange 214 to rotate by shoulder oscillating motor 212 and drives shoulder
Bearing plate 218 is swung to rotate to realize that shoulder swing acts.It is additionally provided with and is fixedly connected with upper arm oscillating motor steering wheel 225
Can around the output shaft axis of upper arm oscillating motor 222 rotate upper arm swing transmission frame 224, the output of upper arm oscillating motor 222
The output shaft axis perpendicular of axle axis and shoulder oscillating motor 212, upper arm swing is driven to transmit by upper arm oscillating motor 222
Frame 224 is rotated 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 is connected with the forearm fulcrum bearing 241 of fixed forearm oscillating motor 242, and forearm oscillating motor steering wheel 243 is fixedly connected with can
The forearm transmission board 245 rotated around the output shaft axis of forearm oscillating motor 242, before the lower end of forearm transmission board 245 is connected with
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 board 245 to rotate with the wobbling action of arm body before realization 246.Preceding arm body 246
Lower end is connected with the wrist support seat 251 of fixed wrist motor 252, and wrist motor steering wheel 253 is fixedly connected with wrist transmission board
255, wrist transmission board 255 can rotate around the output shaft axis of wrist motor 252, and the output shaft axis of wrist motor 252 is with before
The output shaft axis perpendicular of arm swing motor 242, the lower end of wrist transmission board 255 are connected with palm.Palm includes and wrist
The palm body 256 that transmission board 255 is fixedly connected and some fingers 257 being connected in palm body 256, each finger 257 can
Rotated around palm body 256.Each finger 257 includes some finger-joints 2571 hinged in series together, each finger-joint
It is rotatable between 2571.
As preferred embodiment, shoulder installing plate 211 is connected with upper body outer cover 51, and shoulder oscillating motor 212 is fixed
It is arranged on shoulder installing plate 211, shoulder swings the shoulder undertaking post that cylinder is provided with bearing plate 218, and shoulder accepts post
The shoulder undertaking post connecting hole for swinging flange 214 with shoulder and being connected is provided with, passes through shoulder and accepts post connecting hole and shoulder swing
The connection of flange 214, the torque of shoulder oscillating motor 212 is swung into flange 214 by shoulder and is transferred to shoulder swing bearing plate
218, to realize that shoulder swing acts.Shoulder swinging axle bearing 217 is additionally provided with, is set in shoulder swinging axle bearing 217
There is shoulder oscillation bearing 216, shoulder is accepted post nesting and is arranged in shoulder oscillation bearing 216, and the benefit so set is will weight
Power is mainly carried on shoulder oscillation bearing 216, to reduce influence of the gravity to shoulder oscillating motor 212.It is additionally provided with to shoulder
Portion's oscillation bearing 216 carries out spacing shoulder swinging bush 215, and shoulder oscillation bearing 216 is more preferably Yi Gesi bearings.
Shoulder installing plate 211 includes shoulder installing plate body and is fixedly installed on the shoulder installing plate foreboard of shoulder installing plate body both sides
With shoulder installing plate back plate.Shoulder swings the output shaft cross section of flange 214 and the cross section of shoulder undertaking post connecting hole
Identical polygon, in order to connect the transmission with rotational motion.The installation of shoulder oscillating motor is provided with shoulder installing plate 211
Groove and the shoulder connecting hole being connected with shoulder.Upper arm support base 221 swings bearing plate 218 with shoulder and is fixed together, on
Arm swing motor 222 is fixedly installed in upper arm fulcrum bearing 221, the upper arm swing transmission frame 224 of the driving of upper arm oscillating motor 222 around
The output shaft rotation of upper arm oscillating motor 222 is 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 specially the output shaft axis direction of shoulder oscillating motor 212 is a left side
Right horizontal direction, and the output shaft axis direction of upper arm oscillating motor 222 is anterior-posterior horizontal direction, so makes robot arm can
Swing action and inside and outside wobbling action are realized respectively.The lower end of upper arm swing transmission frame 224 is fixedly installed upper arm rotation
Motor 232, the output direction of principal axis of upper arm rotary electric machine 232 are vertical direction, the output axis connection upper arm of upper arm rotary electric machine 232
Body 238, upper arm body 238 is driven to rotate to realize the rotational motion of upper arm by upper arm rotary electric machine 232, it is compact-sized,
Kinematic accuracy is high and motion is flexible.Upper arm oscillating motor 222 is fixed in upper arm fulcrum bearing 221, in the upper arm fulcrum bearing 221 also
It is provided with the upper arm oscillating motor mounting groove and upper arm oscillation bearing articulated column of upper arm oscillating motor 222, upper arm oscillation bearing 223
It is 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 both ends are connected with upper arm oscillating motor steering wheel 225 and upper arm oscillation bearing 223 respectively, so in 222 turns of upper arm oscillating motor
Arm swing transmission frame 224 can be driven to swing when dynamic to realize the inside and outside wobbling action of upper arm.Upper arm rotary electric machine flange 234 with
Upper arm stacker 239 is also associated 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
Provided with the upper arm stacker connecting hole being fixedly connected with upper arm body 238, be provided with the upper end cylinder of upper arm stacker 239 with
The upper arm that the output shaft of upper arm oscillating motor flange 234 is fixedly connected rotates flange connecting hole, and the top of upper arm stacker 239 is also set
Upper arm rotary shaft bearing 236 is equipped with, upper arm rolling bearing 237, upper arm stacker 239 are installed in upper arm rotary shaft bearing 236
The cylinder of upper end is nested to be arranged in upper arm rolling bearing 237, and the both ends of upper arm swing transmission frame 224 are also installed with fixation
Outside plate 231, fixed outside plate 231 divide left fixed outside plate and right fixed outside plate, and upper arm rotary shaft bearing 236 is fixedly installed on fixed outer
On plate 231, the weight of lower end can so be concentrated mainly in upper arm rotary shaft bearing 236, without rotating electricity to upper arm
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 is fixedly mounted
In forearm fulcrum bearing 241, forearm bearing hinge connection seat is additionally provided with forearm fulcrum bearing 241, is set on forearm bearing hinge connection seat
Have a forearm oscillation bearing 244, forearm transmission board 245 is U-shaped board, the both ends of forearm transmission board 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,
The swing campaign of forearm is so realized when forearm oscillating motor 242 drives forearm transmission board 245 to rotate.It is less preferred again
For upper arm body 238 and preceding arm body 246 are carbon fiber pipe, alleviate the weight of arm.Palm motion 25 include with
The wrist support seat 251 that the preceding lower end of arm body 246 is fixedly connected and the wrist motor 252 being fixed on wrist support seat 251, wrist
The output direction of principal axis of portion's motor 252 is anterior-posterior horizontal direction, and wrist bearing articulated column, wrist are additionally provided with wrist support seat 251
Be provided with wrist bearing 254 on portion's articulated column, wrist transmission board 255 is U-shaped board, the both ends of wrist transmission board 255 respectively with wrist
Portion's motor steering wheel 253 and wrist bearing 254 link together.The lower end of wrist transmission board 255 is fixedly connected with palm body 256,
5 fingers 257 are also associated with palm body 256, each finger 257 includes several hinged finger-joints 2571,
So wrist transmission board 255 is driven to be swung in wrist motor 252 to realize palm oscillating motion, 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 the motor 37 of bending over that driving robot carries out bending over to act
With the motor mount 39 of bending over of fixed motor 37 of bending over, it is additionally provided with motor mount 39 of bending over and carries out rotation company with leg
The two leg connecting shafts 38 connect.The bend over output shaft of motor 37 is connected with decelerator 36 of bending over, the deceleration for decelerator 36 of bending over
Device output shaft 361 is left and right horizontal direction, and further preferably, motor 37 of bending over is stepper motor, and decelerator 36 of bending over is worm gear
Worm reducer.The both ends of reducer output shaft 361 connect bearing 34 of bending over respectively, and two bearings 34 of bending over are separately mounted to set
Two in the left and right sides of motor mount 39 of bending over are bent in bearing block 35, and reducer output shaft 361 is also associated with bending over to pass
Defeated frame 33, bend over transmission frame 33 include two be connected respectively with the both ends of reducer output shaft 361 bend over transmission board 332 and consolidate
Surely the transmission frame pedestal 331 of bending over of transmission board of bending over 332, transmission frame 33 of bending over is located at the top for motor mount 39 of bending over, curved
Lumbar support bar 32 is further fixedly arranged on waist transmission frame pedestal 331, controller installation is fixedly installed on lumbar support bar 32
Frame 31, controller mounting bracket 31 include the controller installation pedestal 314 being fixed on lumbar support bar 32 and are arranged on controller
Bend over to control component 313 in installation pedestal 314, two loudspeakers 311, two loudspeakers are additionally provided with lumbar support bar 32
The 311 loudspeaker mounting bracket 312 by being fixed on lumbar support bar 32 links together.
As preferred embodiment, each thigh 41 enters with being arranged on the leg connecting shaft 38 bent on motor mount 39
Row rotation connection, is mutually rotatablely connected between thigh 41 and shank 42.
As preferred embodiment, arm outer cover 53 includes covering shoulder swing mechanism 21 and upper arm swing mechanism 22
Shoulder outer cover 531, the upper arm outer cover 532 for covering upper arm rotating mechanism 23 and forearm swing mechanism 24, cover palm motion
25 forearm outer cover 533.
Certainly, the invention is not limited in above-mentioned embodiment, those skilled in the art are without prejudice to the present invention
Equivalent variations or replacement can be also made on the premise of spirit, these equivalent deformations or replacement are all contained in the application claim
In limited range.
Claims (9)
- A kind of 1. anthropomorphic robot, it is characterised in that：IncludingRobot head (1), the robot head (1) include driving robot head (1) and carry out Rotation of eyeball, mouth The mask (15) close, nodded with the head drive mechanism of rotary head and head drive mechanism is covered on to inside；The head drive mechanism includes eyeball mechanism (11), and the eyeball mechanism (11) includes two eyeballs (112) and passed through Transmission mechanism drives the eyeball motor (117) that each eyeball (112) rotates；The robot arm (2) of left and right two below the robot head (1), the robot arm (2) include driving machine Device human arm (2) carries out the arm drive mechanism of shoulder swing, upper arm swing, upper arm rotation, preceding arm swing and palm motion；Robot waist (3) below the robot head (1), the robot waist (3) include driving robot and carried out Bend over action motor of bending over (37)；Robot leg (4) below the robot waist (3)；AndEach robot arm (2) and robot waist (3) are covered on to the robot outer cover (5) of inside；The output shaft of the eyeball motor (117) is connected with driving gear (116), is additionally provided with the equal and driving gear (116) two driven gears (115) of engagement, each eyeball (112) are respectively arranged with what is be connected with each driven gear (115) Eyeball rotating shaft.
- 2. anthropomorphic robot according to claim 1, it is characterised in that：With the mouth open/close mechanism (12) being connected below the eyeball mechanism (11), the mouth open/close mechanism (12) includes fixing Be arranged on head seat (125) below eyeball mechanism (11), the lower jaw pedestal (121) that can be rotated around head seat (125) and Driving lower jaw pedestal (121) is rotated to realize the mouth opening and closing motor (122) of mouth open/close mechanism (12) mouth opening and closing action；The neck mechanism being connected with the mouth open/close mechanism (12), the neck mechanism include nod mechanism (13) and rotary head machine Structure (14), the mechanism of nodding (13) include carrying out the motor of nodding (136) of nodding action, institute by rotating driving neck mechanism State the rotary head motor (142) that swing mechanism (14) includes carrying out rotary head action by rotating driving neck mechanism.
- 3. anthropomorphic robot according to claim 2, it is characterised in that：Eye is provided with above each eyeball (112) Eyelid (111), the eyelid rotating shaft of two eyelids (111) of connection is additionally provided with, is provided with the eyelid rotating shaft and drives eyelid to turn The permanent magnet (113) for the strip that axle rotates, one end of the permanent magnet (113) are connected with eyelid rotating shaft, the permanent magnet (113) copper coil (114) is provided with below the other end, permanent magnetism is realized by the way that the break-make to the copper coil (114) is electrically operated Body (113) drive eyelid rotating shaft rotation with realize blink act.
- 4. anthropomorphic robot according to claim 2, it is characterised in that：The output shaft of the mouth opening and closing motor (122) The output shaft axis of axis and motor of nodding (136) is parallel to each other, the output shaft axis of the 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 the rotary head motor (142) is vertical direction.
- 5. anthropomorphic robot according to claim 1, it is characterised in that：The arm drive mechanism includes shoulder oscillating machine Structure (21), the shoulder swing mechanism (21) include the shoulder oscillating motor (212) of driving shoulder swing；The upper arm swing mechanism (22) being connected with the shoulder swing mechanism (21), the upper arm swing mechanism (22) include driving The inside and outside upper arm oscillating motor (222) swung of upper arm；The upper arm rotating mechanism (23) being connected with the upper arm swing mechanism (22), the upper arm rotating mechanism (23) include driving The upper arm rotary electric machine (232) that upper arm rotates and the upper arm body (238) with the output axis connection of upper arm rotary electric machine (232)；The forearm swing mechanism (24) being connected with the upper arm body (238), before the forearm swing mechanism (24) includes driving The forearm oscillating motor (242) of arm swing and the preceding arm body (246) with the output axis connection of forearm oscillating motor (242)；With AndThe palm motion (25) being connected with the preceding arm body (246), the palm motion (25) include driving hand Slap the wrist motor (252) of motion.
- 6. anthropomorphic robot according to claim 5, it is characterised in that：The output shaft of the shoulder oscillating motor (212) The output shaft axis of axis and upper arm oscillating motor (222) is mutually perpendicular to, the output shaft axis of the upper arm rotary electric machine (232) It is mutually perpendicular to the output shaft axis of upper arm oscillating motor (222).
- 7. anthropomorphic robot according to claim 1, it is characterised in that：The output shaft of the motor of bending over (37) is connected with Bend over decelerator (36), the reducer output shaft (361) of the decelerator of bending over (36) is connected with transmission frame of bending over (33), described The bend over output shaft of motor (37) realizes that robot bends over to act via bend over transmission frame (33) of decelerator of bending over (36) driving.
- 8. anthropomorphic robot according to claim 1, it is characterised in that：The leg (4) includes two thighs in left and right (41) shank (42) and with each thigh (41) being hinged, the upper end of the thigh (41) and robot waist (3) are be hinged.
- 9. according to the anthropomorphic robot described in claim 1~8 any one, it is characterised in that：The outer cover (5) includes and machine The upper body outer cover (51) of connection below device head part (1), the waist outer cover (52) that robot waist (3) is covered on to inside and will be each Robot arm (2) covers on the arm outer cover (53) of inside, the upper and lower ends of the waist outer cover (52) respectively with upper body outer cover (51) connected with robot leg (4), the left and right sides of each arm outer cover (53) respectively with upper body outer cover (51) is connected.
Priority Applications (1)
| 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 CN106272459A (en) | 2017-01-04 |
| CN106272459B true 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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Families Citing this family (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107414844A (en) * | 2017-04-11 | 2017-12-01 | 上海电机学院 | Home-services robot |
| 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 |
| CN107598938B (en) * | 2017-09-21 | 2023-11-21 | 广州市华科尔科技股份有限公司 | Fighting robot |
| CN108000529A (en) * | 2017-12-08 | 2018-05-08 | 子歌教育机器人（深圳）有限公司 | Intelligent robot |
| CN107972046B (en) * | 2017-12-23 | 2024-03-19 | 华南理工大学广州学院 | Feast robot |
| CN108044637B (en) * | 2017-12-26 | 2023-10-20 | 陕西捷泰智能传动有限公司 | Humanoid robot |
| CN108044636B (en) * | 2017-12-26 | 2023-08-15 | 南京南华航空产业有限公司 | Detachable humanoid 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 |
| 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 |
| CN108568806B (en) * | 2018-06-14 | 2024-02-13 | 深圳埃米电子科技有限公司 | Head structure of robot |
| 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 |
| CN109773801B (en) * | 2018-12-11 | 2021-04-20 | 深圳市优必选科技有限公司 | Robot and arm structure thereof |
| CN109895110B (en) * | 2019-03-01 | 2021-05-04 | 达闼科技（北京）有限公司 | Robot waist skeleton and robot |
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