CN106737584A - A kind of anthropomorphic robot based on hollow driver, mini drive - Google Patents
A kind of anthropomorphic robot based on hollow driver, mini drive Download PDFInfo
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- CN106737584A CN106737584A CN201611241510.3A CN201611241510A CN106737584A CN 106737584 A CN106737584 A CN 106737584A CN 201611241510 A CN201611241510 A CN 201611241510A CN 106737584 A CN106737584 A CN 106737584A
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- hollow
- joint
- brushless motor
- speed reducer
- robot
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- 210000002414 leg Anatomy 0.000 claims abstract description 111
- 210000001624 hip Anatomy 0.000 claims abstract description 77
- 210000002310 elbow joint Anatomy 0.000 claims abstract description 59
- 210000000323 shoulder joint Anatomy 0.000 claims abstract description 59
- 210000003857 wrist joint Anatomy 0.000 claims abstract description 59
- 210000000629 knee joint Anatomy 0.000 claims abstract description 58
- 210000000544 articulatio talocruralis Anatomy 0.000 claims abstract description 55
- 210000004394 hip joint Anatomy 0.000 claims abstract description 50
- 210000000245 forearm Anatomy 0.000 claims abstract description 36
- 210000000689 upper leg Anatomy 0.000 claims abstract description 36
- 210000002683 foot Anatomy 0.000 claims abstract description 27
- 239000003638 chemical reducing agent Substances 0.000 claims description 133
- 238000005452 bending Methods 0.000 claims description 21
- 230000005611 electricity Effects 0.000 claims description 13
- 238000004891 communication Methods 0.000 claims description 9
- WHXSMMKQMYFTQS-UHFFFAOYSA-N Lithium Chemical compound [Li] WHXSMMKQMYFTQS-UHFFFAOYSA-N 0.000 claims description 7
- 238000006073 displacement reaction Methods 0.000 claims description 7
- 229910052744 lithium Inorganic materials 0.000 claims description 7
- 230000007246 mechanism Effects 0.000 claims description 6
- 230000009467 reduction Effects 0.000 claims description 5
- 210000003423 ankle Anatomy 0.000 claims description 4
- 238000009434 installation Methods 0.000 claims description 4
- 210000003127 knee Anatomy 0.000 claims 1
- 230000000694 effects Effects 0.000 abstract description 5
- 230000008901 benefit Effects 0.000 abstract description 3
- 230000009471 action Effects 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 3
- 210000004247 hand Anatomy 0.000 description 2
- 240000007594 Oryza sativa Species 0.000 description 1
- 235000007164 Oryza sativa Nutrition 0.000 description 1
- 210000003484 anatomy Anatomy 0.000 description 1
- 230000000712 assembly Effects 0.000 description 1
- 238000000429 assembly Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 235000009566 rice Nutrition 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0006—Exoskeletons, i.e. resembling a human figure
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/08—Programme-controlled manipulators characterised by modular constructions
Abstract
The invention discloses a kind of anthropomorphic robot based on hollow driver, mini drive, it includes robot chest component, robot head parts, robot waist crotch component, the left and right leg assembly of robot and robot left hand and right hand arm component；Robot chest component includes chest housing, robot controller, robot head parts include head body, shake the head mini drive, nod mini drive, robot waist crotch component includes that waist installs housing, housing is installed by crotch, turn the hollow driver of waist and a left side, the right hollow driver of leg, bend over hollow driver, robot is left, right leg assembly includes thigh respectively, shank, foot, the hollow driver in hip joint, the hollow driver of knee joint, the hollow driver of ankle-joint, robot is left, right hand arm component includes large arm, forearm, hand, the hollow driver of shoulder joint, elbow joint mini drive, wrist joint mini drive.The present invention has that human-like simulated effect is good, futuramic advantage.
Description
Technical field
The present invention relates to robotics, more particularly to it is a kind of based on hollow driver, mini drive it is humanoid
Robot.
Background technology
With scientific and technical constantly progress, automatic technology development is also very rapid；As automatic technology
Representative, robot is just being widely used in industrialized production and campaign processes.
Need to be explained further, in the prior art the robot product of existence form various kinds；However, for existing robot
For, design is unreasonable and simulated effect is poor.
The content of the invention
It is an object of the invention to provide a kind of anthropomorphic robot based on hollow driver, mini drive, this is based on
Hollow driver, mini drive the human-like simulated effect of anthropomorphic robot it is good, novel in structural design.
To reach above-mentioned purpose, the present invention is achieved through the following technical solutions.
A kind of anthropomorphic robot based on hollow driver, mini drive, includes robot chest component, robot
Head assembly, robot waist crotch component, the left leg assembly of robot, the right leg assembly of robot, robot left hand arm component, machine
People's right hand arm component；
Robot chest component includes chest housing, and the inside of chest housing forms chest accommodating cavity, in chest accommodating cavity
It is embedded with robot controller；
Robot head parts include the head body that can be installed in chest housing upper end side relative motion, head body with
Head drive mechanism is equiped between chest housing, head drive mechanism includes mini drive of shaking the head, micro drives of nodding
Device, mini drive of shaking the head includes and is anchored on the micro-driving motor of shaking the head of chest housing upper end, is installed in and shakes the head miniature
Motor and by the shaft-driven driving harmonic speed reducer of shaking the head of power output of micro-driving motor of shaking the head, micro drives of nodding
Device includes to be installed in shake the head and drives the micro-driving motor of nodding of harmonic speed reducer output end, is installed in micro drives electricity of nodding
Machine and by the shaft-driven driving harmonic speed reducer of nodding of power output of micro-driving motor of nodding, driving harmonic speed reducer of nodding
Output end be connected with head body, micro-driving motor of shaking the head, nod micro-driving motor respectively with robot controller electricity
Connection；
Robot waist crotch component include positioned at chest housing lower end side waist install housing, positioned at waist install housing under
Housing is installed by the crotch of side, and the bottom of chest housing is equiped with and turns the hollow driver of waist, and crotch installs housing and is equiped with a left side
The right symmetrical and spaced apart hollow driver of left leg, the hollow driver of right leg, the left hollow driver of leg are located at the hollow drive of right leg
The left end side of dynamic device, the upper end that housing is installed by crotch is equiped with hollow driver of bending over, turns the hollow driver of waist and include tightly
It is fixed in turning the hollow DC brushless motor of waist, being installed in and turn the hollow DC brushless motor of waist and empty by turning waist for chest housing bottom
The output end and waist mounting shell that turn the hollow harmonic speed reducer of waist, turn the hollow harmonic speed reducer of waist of heart driven by Brush-Less DC motor
Body connect, hollow driver of bending over include be anchored on crotch install housing hollow DC brushless motor of bending over, be installed in it is curved
The hollow DC brushless motor of waist and by the shaft-driven hollow harmonic reduction of bending over of power output of hollow DC brushless motor of bending over
Device, output end and the waist of hollow harmonic speed reducer of bending over are installed housing and are connected, and the left hollow driver of leg is included and is anchored on hip
Portion install housing the hollow DC brushless motor of left leg, be installed in the hollow DC brushless motor of left leg and by the hollow direct current of left leg without
The shaft-driven left hollow harmonic speed reducer of leg of power output of brush motor, the output end of the left hollow harmonic speed reducer of leg is equiped with a left side
Leg installed part；The right hollow driver of leg includes and is anchored on the hollow DC brushless motor of right leg of crotch's installation housing, is installed in
The right hollow DC brushless motor of leg and subtracted by the shaft-driven right hollow harmonic wave of leg of power output of the hollow DC brushless motor of right leg
Fast device, the output end of the right hollow harmonic speed reducer of leg is equiped with right leg installed part；Turn the hollow DC brushless motor of waist, to turn waist hollow
DC brushless motor, the hollow DC brushless motor of left leg, the hollow DC brushless motor of right leg are electrically connected with robot controller respectively
Connect；
The left leg assembly of robot includes left side thigh, left side shank, the left side foot for arranging successively from top to bottom, and left leg is installed
The hollow driver in left side hip joint is equiped between part and left side thigh upper end, is equiped between left side thigh and left side shank
The hollow driver of left side knee joint, is equiped with the left side hollow driver of ankle-joint, left side hip between left side shank and left side foot
The hollow driver in joint includes and is anchored on the hollow DC brushless motor in left side hip joint of left leg installed part, is installed in left side hip
The hollow DC brushless motor in joint and closed by the shaft-driven left side hip of power output of the hollow DC brushless motor in left side hip joint
Hollow harmonic speed reducer is saved, the output end of the hollow harmonic speed reducer in left side hip joint is connected with the upper end of left side thigh, left side
The hollow driver of knee joint includes and is anchored on the hollow DC brushless motor of left side knee joint of left side shank upper end, is installed in
The hollow DC brushless motor of left side knee joint and by the shaft-driven left side of power output of the hollow DC brushless motor of left side knee joint
The hollow harmonic speed reducer of side knee joint, the output end of the hollow harmonic speed reducer of left side knee joint connects with the bottom of left side thigh
Connect, ankle-joint hollow driver in left side includes the hollow brush DC electricity of left side ankle-joint for being anchored on left side shank bottom
Machine, it is installed in the left side hollow DC brushless motor of ankle-joint and by the power output shaft of the hollow DC brushless motor of left side ankle-joint
The hollow harmonic speed reducer of left side ankle-joint of driving, the output end of the hollow harmonic speed reducer of left side ankle-joint is upper with left side foot
End connects；The hollow DC brushless motor in left side hip joint, the hollow DC brushless motor of left side knee joint, left side ankle-joint are hollow
DC brushless motor is electrically connected with robot controller respectively；
The right leg assembly of robot includes right lateral thigh, right side shank, the right side foot for arranging successively from top to bottom, and right leg is installed
The hollow driver in right side hip joint is equiped between part and right lateral thigh upper end, is equiped between right lateral thigh and right side shank
The hollow driver of right side knee joint, is equiped with the right side hollow driver of ankle-joint, right side hip between right side shank and right side foot
The hollow driver in joint includes and is anchored on the hollow DC brushless motor in right side hip joint of right leg installed part, is installed in right side hip
The hollow DC brushless motor in joint and closed by the shaft-driven right side hip of power output of the hollow DC brushless motor in right side hip joint
Hollow harmonic speed reducer is saved, the output end of the hollow harmonic speed reducer in right side hip joint is connected with the upper end of right lateral thigh, right side
The hollow driver of knee joint includes and is anchored on the hollow DC brushless motor of right side knee joint of right side shank upper end, is installed in
The hollow DC brushless motor of right side knee joint and by the shaft-driven right side of power output of the hollow DC brushless motor of right side knee joint
The hollow harmonic speed reducer of side knee joint, the output end of the hollow harmonic speed reducer of right side knee joint connects with the bottom of right lateral thigh
Connect, ankle-joint hollow driver in right side includes the hollow brush DC electricity of right side ankle-joint for being anchored on right side shank bottom
Machine, it is installed in the right side hollow DC brushless motor of ankle-joint and by the power output shaft of the hollow DC brushless motor of right side ankle-joint
The hollow harmonic speed reducer of right side ankle-joint of driving, the output end of the hollow harmonic speed reducer of right side ankle-joint is upper with right side foot
End connects；The hollow DC brushless motor in right side hip joint, the hollow DC brushless motor of right side knee joint, right side ankle-joint are hollow
DC brushless motor is electrically connected with robot controller respectively；
Robot left hand arm component includes left side large arm, left side forearm, the left side hand arranged successively from top to bottom, and left side is big
The hollow driver of left shoulder joint, left side large arm and left side forearm are equiped between the upper end of arm and the upper end of chest housing
Between be equiped with left side elbow joint mini drive, be equiped between left side forearm and left side hand left side wrist joint micro drives
Device, the hollow driver of left shoulder joint includes the hollow brush DC electricity of left shoulder joint for being anchored on chest housing upper end
Machine, it is installed in the hollow DC brushless motor of left shoulder joint and by the power output shaft of the hollow DC brushless motor of left shoulder joint
The hollow harmonic speed reducer of left shoulder joint of driving, the output end of the hollow harmonic speed reducer of left shoulder joint is upper with left side large arm
End connects, and left side elbow joint mini drive includes the left side elbow joint micro drives electricity for being anchored on left side large arm bottom
Machine, it is installed in left side elbow joint micro-driving motor and by the shaft-driven left side of power output of left side elbow joint micro-driving motor
Side elbow joint harmonic speed reducer, the output end of left side elbow joint harmonic speed reducer is connected with the upper end of left side forearm, left side wrist
Joint mini drive includes and is anchored on the left side wrist joint micro-driving motor of left side forearm upper end, is installed in left side wrist
Joint micro-driving motor and subtracted by the shaft-driven left side wrist joint harmonic wave of power output of left side wrist joint micro-driving motor
Fast device, the output end of left side wrist joint harmonic speed reducer is connected with the upper end of left side hand, the hollow direct current of left shoulder joint without
Brush motor, left side elbow joint micro-driving motor, left side wrist joint micro-driving motor are electrically connected with robot controller respectively；
Robot right hand arm component includes right side large arm, right side forearm, the right side hand arranged successively from top to bottom, and right side is big
The hollow driver of right shoulder joint, right side large arm and right side forearm are equiped between the upper end of arm and the upper end of chest housing
Between be equiped with right side elbow joint mini drive, be equiped between right side forearm and right side hand right side wrist joint micro drives
Device, the hollow driver of right shoulder joint includes the hollow brush DC electricity of right shoulder joint for being anchored on chest housing upper end
Machine, it is installed in the hollow DC brushless motor of right shoulder joint and by the power output shaft of the hollow DC brushless motor of right shoulder joint
The hollow harmonic speed reducer of right shoulder joint of driving, the output end of the hollow harmonic speed reducer of right shoulder joint is upper with right side large arm
End connects, and right side elbow joint mini drive includes the right side elbow joint micro drives electricity for being anchored on right side large arm bottom
Machine, it is installed in right side elbow joint micro-driving motor and by the shaft-driven right side of power output of right side elbow joint micro-driving motor
Side elbow joint harmonic speed reducer, the output end of right side elbow joint harmonic speed reducer is connected with the upper end of right side forearm, right side wrist
Joint mini drive includes and is anchored on the right side wrist joint micro-driving motor of right side forearm upper end, is installed in right side wrist
Joint micro-driving motor and subtracted by the shaft-driven right side wrist joint harmonic wave of power output of right side wrist joint micro-driving motor
Fast device, the output end of right side wrist joint harmonic speed reducer is connected with the upper end of right side hand, the hollow direct current of right shoulder joint without
Brush motor, right side elbow joint micro-driving motor, right side wrist joint micro-driving motor are electrically connected with robot controller respectively.
Wherein, the head body is equiped with high-definition camera, speech recognition device, loudspeaker, and high-definition camera, voice are known
Other device, loudspeaker are electrically connected with the robot controller respectively.
Wherein, the robot controller is fitted with gyroscope, and gyroscope is electrically connected with robot controller.
Wherein, the robot controller is fitted with wireless communication module, wireless communication module and robot controller electricity
Connection.
Wherein, the wireless communication module is bluetooth module or WIFI module.
Wherein, the left side foot or the right side foot are equiped with pressure sensor, velocity sensor, displacement sensing
Device, pressure sensor, velocity sensor, displacement transducer are electrically connected with the robot controller respectively.
Wherein, lithium battery is embedded with the chest accommodating cavity, lithium battery is electrically connected with the robot controller.
Beneficial effects of the present invention are：A kind of humanoid based on hollow driver, mini drive of the present invention
Device people, it includes robot chest component, robot head parts, robot waist crotch component, the left leg assembly of robot, machine
The right leg assembly of people, robot left hand arm component, robot right hand arm component；Robot chest component includes chest housing, machine
People's controller, robot head parts include head body, mini drive of shaking the head, mini drive of nodding, robot waist hip
Parts include that waist installs housing, crotch and installs housing, turns the hollow driver of waist, the hollow driver of left leg, the hollow drive of right leg
Dynamic device, hollow driver of bending over, the left leg assembly of robot include that left side thigh, left side shank, left side foot, left side hip joint are empty
Heart driver, the hollow driver of left side knee joint, the hollow driver of left side ankle-joint, the right leg assembly of robot include that right side is big
Leg, right side shank, right side foot, the hollow driver in right side hip joint, the hollow driver of right side knee joint, right side ankle-joint are hollow
Driver, robot left hand arm component includes left side large arm, left side forearm, left side hand, the hollow driver of left shoulder joint, a left side
Side elbow joint mini drive, left side wrist joint mini drive, robot right hand arm component include that right side large arm, right side are small
Arm, right side hand, the hollow driver of right shoulder joint, right side elbow joint mini drive, right side wrist joint mini drive.It is logical
Cross said structure design, the present invention has the advantages that human-like simulated effect is good, novel in structural design.
Brief description of the drawings
The present invention is further detailed below with accompanying drawing, but the embodiment in accompanying drawing is not constituted to this hair
Bright any limitation.
Fig. 1 is structural representation of the invention.
Fig. 2 is generalized section of the invention.
Include in fig. 1 and 2：
1 --- robot chest component 11 --- chest housing
2 --- robot head parts 21 --- head bodies
221 --- micro-driving motor 222 of shaking the head --- driving harmonic speed reducers of shaking the head
231 --- micro-driving motor 232 of nodding --- driving harmonic speed reducers of nodding
3 --- robot waist crotch component 31 --- waists install housing
32 --- housing is installed by crotch
331 --- turn the hollow DC brushless motor of waist
332 --- turn the hollow harmonic speed reducer of waist
341 --- hollow DC brushless motor of bending over
342 --- hollow harmonic speed reducer of bending over
351 --- the left hollow DC brushless motor of leg
352 --- the left hollow harmonic speed reducer of leg
361 --- the right hollow DC brushless motor of leg
362 --- the right hollow harmonic speed reducer 371 of leg --- left leg mounting brackets
372 --- right leg installed part 4 --- left leg assemblies of robot
41 --- left side thigh 42 --- left side shanks
43 --- left side foot
441 --- the hollow DC brushless motor in left side hip joint
442 --- the hollow harmonic speed reducer in left side hip joint
451 --- the hollow DC brushless motor of left side knee joint
452 --- the hollow harmonic speed reducer of left side knee joint
461 --- the hollow DC brushless motor of left side ankle-joint
462 --- the hollow harmonic speed reducer of left side ankle-joint
5 --- the right leg assembly 51 of robot --- right lateral thighs
52 --- right side shank 53 --- right side foots
541 --- the hollow DC brushless motor in right side hip joint
542 --- the hollow harmonic speed reducer in right side hip joint
551 --- the hollow DC brushless motor of right side knee joint
552 --- the hollow harmonic speed reducer of right side knee joint
561 --- the hollow DC brushless motor of right side ankle-joint
562 --- the hollow harmonic speed reducer of right side ankle-joint
6 --- robot left hand arm component 61 --- left side large arm
62 --- left side forearm 63 --- left side hands
641 --- the hollow DC brushless motor of left shoulder joint
642 --- the hollow harmonic speed reducer of left shoulder joint
651 --- left side elbow joint micro-driving motor
652 --- left side elbow joint harmonic speed reducer
661 --- left side wrist joint micro-driving motor
662 --- left side wrist joint harmonic speed reducer
7 --- robot the right hand arm component 71 --- right side large arm
72 --- right side forearm 73 --- right side hands
741 --- the hollow DC brushless motor of right shoulder joint
742 --- the hollow harmonic speed reducer of right shoulder joint
751 --- right side elbow joint micro-driving motor
752 --- right side elbow joint harmonic speed reducer
761 --- right side wrist joint micro-driving motor
762 --- right side wrist joint harmonic speed reducer.
Specific embodiment
With reference to specific embodiment, the present invention will be described.
As depicted in figs. 1 and 2, a kind of anthropomorphic robot based on hollow driver, mini drive, it is characterised in that：
Include robot chest component 1, robot head parts 2, the left leg assembly 4, machine of robot waist crotch component 3, robot
The right leg assembly 5 of people, robot left hand arm component 6, robot right hand arm component 7.
Robot chest component 1 includes chest housing 11, and the inside of chest housing 11 forms chest accommodating cavity, chest
Robot controller is embedded with accommodating cavity.
Robot head parts 2 include the head body 21 that can be installed in the upper end side of chest housing 11 relative motion,
Head drive mechanism is equiped between head body 21 and chest housing 11, head drive mechanism includes micro drives of shaking the head
Device, mini drive of nodding, mini drive of shaking the head include the micro drives electricity of shaking the head for being anchored on the upper end of chest housing 11
Machine 221, it is installed in shake the head and micro-driving motor 221 and shaft-driven is shaken the head by the power output of micro-driving motor 221 of shaking the head
Harmonic speed reducer 222, mini drive of nodding is driven to include to be installed in shake the head and drive nodding for the output end of harmonic speed reducer 222
Micro-driving motor 231, it is installed in the micro-driving motor 231 and by the power output shaft of micro-driving motor 231 of nodding of nodding
The driving harmonic speed reducer 232 of nodding for driving, nods and drives the output end of harmonic speed reducer 232 to be connected with head body 21, shakes
Head micro-driving motor 221, micro-driving motor 231 of nodding are electrically connected with robot controller respectively.
Robot waist crotch component 3 include positioned at the lower end side of chest housing 11 waist install housing 31, positioned at waist
Housing 32 is installed by the crotch for installing the lower end side of housing 31, and the bottom of chest housing 11 is equiped with and turns the hollow driver of waist, crotch
Housing 32 is installed and is equiped with the hollow driver of symmetrical and spaced apart left leg, the hollow driver of right leg, the left hollow drive of leg
Dynamic device is located at the left end side of the hollow driver of right leg, and the upper end that housing 32 is installed by crotch is equiped with hollow driver of bending over, and turns
The hollow driver of waist is included and is anchored on turning the hollow DC brushless motor 331 of waist, being installed in and turn waist for the bottom of chest housing 11
Hollow DC brushless motor 331 and turn the hollow harmonic speed reducer 332 of waist by turn that the hollow DC brushless motor 331 of waist drives, turn
The output end of the hollow harmonic speed reducer 332 of waist is installed housing 31 and is connected with waist, and hollow driver of bending over is included and is anchored on hip
The hollow DC brushless motor 341 of bending over of housing 32 is installed, the hollow DC brushless motor 341 and by sky of bending over of bending over is installed in portion
The shaft-driven hollow harmonic speed reducer 342 of bending over of the power output of heart DC brushless motor 341, hollow harmonic speed reducer of bending over
342 output end is installed housing 31 and is connected with waist, and the left hollow driver of leg is included and is anchored on the left side that housing 32 is installed by crotch
The hollow DC brushless motor 351 of leg, it is installed in the hollow DC brushless motor 351 of left leg and by the hollow DC brushless motor of left leg
The 351 shaft-driven left hollow harmonic speed reducer 352 of leg of power output, the output end installing of the left hollow harmonic speed reducer 352 of leg
There is left leg installed part；The right hollow driver of leg is included and is anchored on the hollow DC brushless motor of right leg that housing 32 is installed by crotch
361st, it is installed in the hollow DC brushless motor 361 of right leg and is driven by the power output shaft of the hollow DC brushless motor 361 of right leg
The hollow harmonic speed reducer 362 of right leg, the output end of the right hollow harmonic speed reducer 362 of leg is equiped with right leg installed part 372；Turn waist
Hollow DC brushless motor 331, to turn the hollow DC brushless motor 331 of waist, the hollow DC brushless motor 351 of left leg, right leg hollow
DC brushless motor 361 is electrically connected with robot controller respectively.
The left leg assembly 4 of robot includes left side thigh 41, left side shank 42, the left side foot for arranging successively from top to bottom
43, the hollow driver in left side hip joint, left side thigh 41 and a left side are equiped between left leg installed part and the upper end of left side thigh 41
The left side hollow driver of knee joint is equiped between side shank 42, left side ankle is equiped between left side shank 42 and left side foot 43
The hollow driver in joint, the hollow driver in left side hip joint includes the hollow direct current in left side hip joint for being anchored on left leg installed part
Brushless electric machine 441, it is installed in the left side hollow DC brushless motor 441 in hip joint and by the hollow DC brushless motor in left side hip joint
The 441 hollow harmonic speed reducer 442 in the shaft-driven left side hip joint of power output, the hollow harmonic speed reducer 442 in left side hip joint
Output end be connected with the upper end of left side thigh 41, the hollow driver of left side knee joint include be anchored on left side shank 42 on
The hollow DC brushless motor 451 of left side knee joint of end, it is installed in the left side hollow DC brushless motor 451 of knee joint and by a left side
The power output hollow harmonic speed reducer 452 of shaft-driven left side knee joint of the hollow DC brushless motor 451 of side knee joint, left side
The output end of the hollow harmonic speed reducer 452 of knee joint is connected with the bottom of left side thigh 41, the hollow driver of left side ankle-joint
Include and be anchored on the hollow DC brushless motor 461 of left side ankle-joint of the left side bottom of shank 42, be installed in left side ankle-joint
Hollow DC brushless motor 461 and by the shaft-driven left side ankle of power output of the hollow DC brushless motor 461 of left side ankle-joint
The hollow harmonic speed reducer 462 in joint, the output end of the hollow harmonic speed reducer 462 of left side ankle-joint and the upper end of left side foot 43
Connection；The hollow DC brushless motor 441 in left side hip joint, the hollow DC brushless motor 451 of left side knee joint, left side ankle-joint are empty
Heart DC brushless motor 461 is electrically connected with robot controller respectively.
The right leg assembly 5 of robot includes right lateral thigh 51, right side shank 52, the right side foot for arranging successively from top to bottom
53, be equiped with right side hip joint hollow driver between right leg installed part 372 and the upper end of right lateral thigh 51, right lateral thigh 51 with
The right side hollow driver of knee joint is equiped between right side shank 52, right side is equiped between right side shank 52 and right side foot 53
The hollow driver of ankle-joint, the hollow driver in right side hip joint includes the right side hip joint sky for being anchored on right leg installed part 372
Heart DC brushless motor 541, be installed in right side the hollow DC brushless motor 541 in hip joint and by the hollow direct current in right side hip joint without
The hollow harmonic speed reducer 542 in the shaft-driven right side hip joint of power output of brush motor 541, the hollow harmonic reduction in right side hip joint
The output end of device 542 is connected with the upper end of right lateral thigh 51, the hollow driver of right side knee joint include be anchored on right side it is small
The hollow DC brushless motor 551 of right side knee joint of the upper end of leg 52, be installed in right side the hollow DC brushless motor 551 of knee joint
And by the shaft-driven hollow harmonic speed reducer of right side knee joint of power output of the hollow DC brushless motor 551 of right side knee joint
552, the output end of the hollow harmonic speed reducer 552 of right side knee joint is connected with the bottom of right lateral thigh 51, and right side ankle-joint is empty
Heart driver includes and is anchored on the hollow DC brushless motor 561 of right side ankle-joint of the right side bottom of shank 52, is installed in the right side
The hollow DC brushless motor 561 of side ankle-joint and by the hollow DC brushless motor 561 of right side ankle-joint power output shaft drive
The hollow harmonic speed reducer 562 of right side ankle-joint, the output end of the hollow harmonic speed reducer 562 of right side ankle-joint and right side foot 53
Upper end connection；The hollow DC brushless motor 541 in right side hip joint, the hollow DC brushless motor 551, right side of right side knee joint
The hollow DC brushless motor 561 of ankle-joint is electrically connected with robot controller respectively.
Robot left hand arm component 6 includes left side large arm 61, left side forearm 62, the left side hand arranged successively from top to bottom
Portion 63, is equiped with the hollow driver of left shoulder joint between the upper end of left side large arm 61 and the upper end of chest housing 11, left
Left side elbow joint mini drive is equiped between side large arm 61 and left side forearm 62, between left side forearm 62 and left side hand 63
Left side wrist joint mini drive is equiped with, the hollow driver of left shoulder joint is included and is anchored on the upper end of chest housing 11
The hollow DC brushless motor 641 of left shoulder joint, it is installed in the hollow DC brushless motor 641 of left shoulder joint and by left side shoulder joint
Save the hollow harmonic speed reducer 642 of the shaft-driven left shoulder joint of power output of hollow DC brushless motor 641, left side shoulder joint
The output end for saving hollow harmonic speed reducer 642 is connected with the upper end of left side large arm 61, and left side elbow joint mini drive includes
Have and be anchored on the left side elbow joint micro-driving motor 651 of left side large arm 61 bottom, be installed in left side elbow joint micro drives
Motor 651 and by the shaft-driven left side elbow joint harmonic speed reducer of power output of left side elbow joint micro-driving motor 651
652, the output end of left side elbow joint harmonic speed reducer 652 is connected with the upper end of left side forearm 62, the miniature drive of left side wrist joint
Dynamic device includes and is anchored on the left side wrist joint micro-driving motor 661 of left side forearm 62 upper end, is installed in left side wrist joint
Micro-driving motor 661 and by the shaft-driven left side wrist joint harmonic wave of power output of left side wrist joint micro-driving motor 661
Decelerator 662, the output end of left side wrist joint harmonic speed reducer 662 is connected with the upper end of left side hand 63, left shoulder joint
Hollow DC brushless motor 641, left side elbow joint micro-driving motor 651, left side wrist joint micro-driving motor 661 respectively with
Robot controller is electrically connected.
Robot right hand arm component 7 includes right side large arm 71, right side forearm 72, the right side hand arranged successively from top to bottom
Portion 73, is equiped with the hollow driver of right shoulder joint between the upper end of right side large arm 71 and the upper end of chest housing 11, right
Right side elbow joint mini drive is equiped between side large arm 71 and right side forearm 72, between right side forearm 72 and right side hand 73
Right side wrist joint mini drive is equiped with, the hollow driver of right shoulder joint is included and is anchored on the upper end of chest housing 11
The hollow DC brushless motor 741 of right shoulder joint, it is installed in the hollow DC brushless motor 741 of right shoulder joint and by right side shoulder joint
Save the hollow harmonic speed reducer 742 of the shaft-driven right shoulder joint of power output of hollow DC brushless motor 741, right shoulder joint
The output end of hollow harmonic speed reducer 742 is connected with the upper end of right side large arm 71, and right side elbow joint mini drive is included
It is anchored on the right side elbow joint micro-driving motor 751 of right side large arm 71 bottom, is installed in right side elbow joint micro drives electricity
Machine 751 and by the shaft-driven right side elbow joint harmonic speed reducer 752 of power output of right side elbow joint micro-driving motor 751,
The output end of right side elbow joint harmonic speed reducer 752 is connected with the upper end of right side forearm 72, right side wrist joint mini drive
Include and be anchored on the right side wrist joint micro-driving motor 761 of right side forearm 72 upper end, to be installed in right side wrist joint miniature
Motor 761 and by the shaft-driven right side wrist joint harmonic reduction of power output of right side wrist joint micro-driving motor 761
Device 762, the output end of right side wrist joint harmonic speed reducer 762 is connected with the upper end of right side hand 73, and right shoulder joint is hollow
DC brushless motor 741, right side elbow joint micro-driving motor 751, right side wrist joint micro-driving motor 761 respectively with machine
People's controller is electrically connected.
For robot head parts 2 of the invention, during work, micro-driving motor 221 of shaking the head is through driving harmonic wave of shaking the head
Decelerator 222 can drive micro-driving motor 231 of nodding after slowing down, nod driving harmonic speed reducer 232, head body 21180
Degree is rotated, to realize robot head shaking movement；After micro-driving motor 231 of nodding drives harmonic speed reducer 232 to slow down through nodding
Can 2190 degree of drive head main body rotate upwardly and downwardly, to realize robot nodding action.
For robot waist crotch of the invention component 3, during work, turn the hollow DC brushless motor 331 of waist through turning
The hollow harmonic speed reducer 332 of waist drives waist to install housing 31 and rotates after slowing down, and then realizes turning waist action；Bend over hollow direct current
Brushless electric machine 341 drives waist to install housing 31 and rotates after slowing down through hollow harmonic speed reducer 342 of bending over, and then realization bends over to move
Make；In addition, the left hollow DC brushless motor 351 of leg is through the hollow left leg group of deceleration rear-guard mobile robot of harmonic speed reducer 352 of left leg
Part 4 is acted, and the right hollow DC brushless motor 361 of leg is through the hollow right leg group of deceleration rear-guard mobile robot of harmonic speed reducer 362 of right leg
Part 5 is acted, and then realizes walking motion.
For the left leg assembly 4 of robot of the invention, the hollow DC brushless motor 441 in left side hip joint is through left side hip
The hollow harmonic speed reducer 442 in joint drives left side thigh 41 to rotate after slowing down, knee joint hollow DC brushless motor 451 in left side is passed through
Knee joint hollow harmonic speed reducer 452 in left side drives left side shank 42 to rotate after slowing down, the hollow brush DC electricity of left side ankle-joint
Machine 461 drives left side foot 43 to rotate after slowing down through the hollow harmonic speed reducer 462 of left side ankle-joint.Likewise, for the present invention
The right leg assembly 5 of robot for, the hollow DC brushless motor 541 in right side hip joint is through the hollow harmonic speed reducer in right side hip joint
Right lateral thigh 51 is driven to rotate after 542 decelerations, knee joint hollow DC brushless motor 551 in right side is through the hollow harmonic wave of right side knee joint
Decelerator 552 drives right side shank 52 to rotate after slowing down, ankle-joint hollow DC brushless motor 561 in right side is empty through right side ankle-joint
Heart harmonic speed reducer 562 drives right side foot 53 to rotate after slowing down.
For robot left hand arm component 6 of the invention, the hollow DC brushless motor 641 of left shoulder joint is through left side
The hollow harmonic speed reducer 642 of shoulder joint drives left side large arm 61 to rotate after slowing down, left side elbow joint micro-driving motor 651 is passed through
Left side elbow joint harmonic speed reducer 652 drives left side forearm 62 to rotate after slowing down, left side wrist joint micro-driving motor 661 is through a left side
Side wrist joint harmonic speed reducer 662 drives left side hand 63 to rotate after slowing down；Likewise, for robot right arm of the invention
For component 7, the hollow DC brushless motor 741 of right shoulder joint is through the hollow deceleration rear-guard of harmonic speed reducer 742 of right shoulder joint
Dynamic right side large arm 71 is rotated, and right side elbow joint micro-driving motor 751 drives after slowing down through right side elbow joint harmonic speed reducer 752
Right side forearm 72 is rotated, and right side wrist joint micro-driving motor 761 drives right after slowing down through right side wrist joint harmonic speed reducer 762
Side hand 73 is rotated
Summary situation understands, by said structure design, the present invention has human-like simulated effect good, novel in structural design
Advantage, and the present invention can be used for service trade, express delivery, industrial automation, education and instruction, housekeeping nurse, Aero-Space, military affairs,
The various fields such as agricultural.In addition, the present invention can realize the emulation to elderly population from children to youth, from 80 centimeters to two
Rice arbitrary height, the anthropomorphic robot of male or female anatomy can be made, reach refreshing shape have both, inside and outside integrative.
Used as preferred embodiment, head body 21 is equiped with high-definition camera, speech recognition device, loudspeaker, high definition
Camera, speech recognition device, loudspeaker are electrically connected with robot controller respectively.By setting up high-definition camera, speech recognition
Device and loudspeaker, the present invention can realize human-computer interaction function.
Used as preferred embodiment, robot controller is fitted with gyroscope, and gyroscope is electrically connected with robot controller
Connect.By setting up gyroscope arrangement, the present invention can realize preventing from falling down function, with realize robot under various road conditions from
By taking action.
Used as preferred embodiment, robot controller is fitted with wireless communication module, wireless communication module and machine
People's controller is electrically connected；Wherein, wireless communication module is bluetooth module or WIFI module.In the course of work of the present invention, this
Invention can realize controlled in wireless.In addition, chest housing 11 of the invention can install touch-screen, during work, user can lead to
Touch-screen is crossed to be programmed.
Used as preferred embodiment, left side foot 43 or right side foot 53 are equiped with pressure sensor, velocity pick-up
Device, displacement transducer, pressure sensor, velocity sensor, displacement transducer are electrically connected with robot controller respectively.By increasing
If pressure sensor, velocity sensor, displacement transducer, the present invention can realize acting on one's own for anthropomorphic robot.
As preferred embodiment, lithium battery is embedded with chest accommodating cavity, lithium battery is electrically connected with robot controller
Connect.Lithium battery has automatic charging function, and All Drives operating voltage is also 24 volts of direct current, can with the safety for reaching absolute
Lean on.
Above content is only presently preferred embodiments of the present invention, for one of ordinary skill in the art, according to of the invention
Thought, will change in specific embodiments and applications, and this specification content should not be construed as to the present invention
Limitation.
Claims (7)
1. a kind of anthropomorphic robot based on hollow driver, mini drive, it is characterised in that：Include robot chest group
Part（1）, robot head parts（2）, robot waist crotch component（3）, the left leg assembly of robot（4）, the right leg assembly of robot
（5）, robot left hand arm component（6）, robot right hand arm component（7）；
Robot chest component（1）Include chest housing（11）, chest housing（11）Inside form chest accommodating cavity, chest
Robot controller is embedded with portion's accommodating cavity；
Robot head parts（2）Including can be installed in chest housing relative motion（11）The head body of upper end side
（21）, head body（21）With chest housing（11）Between be equiped with head drive mechanism, head drive mechanism is included shakes the head
Mini drive, mini drive of nodding, mini drive of shaking the head are included and are anchored on chest housing（11）Upper end is shaken the head
Micro-driving motor（221）, be installed in micro-driving motor of shaking the head（221）And by micro-driving motor of shaking the head（221）Power
The shaft-driven driving harmonic speed reducer of shaking the head of output（222）, mini drive of nodding include be installed in shake the head driving harmonic wave subtract
Fast device（222）The micro-driving motor of nodding of output end（231）, be installed in micro-driving motor of nodding（231）And it is micro- by nodding
Type motor（231）The shaft-driven driving harmonic speed reducer of nodding of power output（232）, driving harmonic speed reducer of nodding
（232）Output end and head body（21）Connection, micro-driving motor of shaking the head（221）, micro-driving motor of nodding（231）Point
Do not electrically connected with robot controller；
Robot waist crotch component（3）Include positioned at chest housing（11）The waist of lower end side installs housing（31）, positioned at waist
Portion is installed by housing（31）Housing is installed by the crotch of lower end side（32）, chest housing（11）Bottom be equiped with and turn the hollow driving of waist
Housing is installed by device, crotch（32）The hollow driver of symmetrical and spaced apart left leg, the hollow driver of right leg are equiped with, it is left
The hollow driver of leg is located at the left end side of the hollow driver of right leg, and housing is installed by crotch（32）Upper end be equiped with and bend over hollow
Driver, turns the hollow driver of waist and includes to be anchored on chest housing（11）Bottom turns the hollow DC brushless motor of waist
（331）, be installed in and turn the hollow DC brushless motor of waist（331）And by turning the hollow DC brushless motor of waist（331）What is driven turns waist
Hollow harmonic speed reducer（332）, turn the hollow harmonic speed reducer of waist（332）Output end and waist housing is installed（31）Connection, it is curved
The hollow driver of waist is included and is anchored on crotch's installation housing（32）Hollow DC brushless motor of bending over（341）, be installed in it is curved
The hollow DC brushless motor of waist（341）And by hollow DC brushless motor of bending over（341）The shaft-driven sky of bending over of power output
Heart harmonic speed reducer（342）, hollow harmonic speed reducer of bending over（342）Output end and waist housing is installed（31）Connection, left leg
Hollow driver is included and is anchored on crotch's installation housing（32）The hollow DC brushless motor of left leg（351）, be installed in left leg
Hollow DC brushless motor（351）And by the hollow DC brushless motor of left leg（351）The shaft-driven left leg of power output it is hollow
Harmonic speed reducer（352）, the left hollow harmonic speed reducer of leg（352）Output end be equiped with left leg installed part；The right hollow driving of leg
Device is included and is anchored on crotch's installation housing（32）The hollow DC brushless motor of right leg（361）, be installed in the hollow direct current of right leg
Brushless electric machine（361）And by the hollow DC brushless motor of right leg（361）The shaft-driven right hollow harmonic reduction of leg of power output
Device（362）, the right hollow harmonic speed reducer of leg（362）Output end be equiped with right leg installed part（372）；Turn the hollow brush DC of waist
Motor（331）, turn the hollow DC brushless motor of waist（331）, the left hollow DC brushless motor of leg（351）, the right hollow direct current of leg without
Brush motor（361）Electrically connected with robot controller respectively；
The left leg assembly of robot（4）Include the left side thigh arranged successively from top to bottom（41）, left side shank（42）, left side pin
Portion（43）, left leg installed part and left side thigh（41）The hollow driver in left side hip joint, left side thigh are equiped between upper end
（41）With left side shank（42）Between be equiped with left side the hollow driver of knee joint, left side shank（42）With left side foot（43）It
Between be equiped with the left side hollow driver of ankle-joint, the hollow driver in left side hip joint includes the left side for being anchored on left leg installed part
The hollow DC brushless motor in hip joint（441）, be installed in left side hip joint hollow DC brushless motor（441）And closed by left side hip
Save hollow DC brushless motor（441）The shaft-driven hollow harmonic speed reducer in left side hip joint of power output（442）, left side hip
The hollow harmonic speed reducer in joint（442）Output end and left side thigh（41）Upper end connection, the hollow driving of left side knee joint
Device is included and is anchored on left side shank（42）The hollow DC brushless motor of left side knee joint of upper end（451）, be installed in left side
The hollow DC brushless motor of knee joint（451）And by the hollow DC brushless motor of left side knee joint（451）Power output shaft drive
The dynamic hollow harmonic speed reducer of left side knee joint（452）, the hollow harmonic speed reducer of left side knee joint（452）Output end and left side
Thigh（41）Bottom connection, the hollow driver of left side ankle-joint include be anchored on left side shank（42）The left side of bottom
The hollow DC brushless motor of ankle-joint（461）, be installed in left side the hollow DC brushless motor of ankle-joint（461）And closed by left side ankle
Save hollow DC brushless motor（461）The shaft-driven hollow harmonic speed reducer of left side ankle-joint of power output（462）, left side ankle
The hollow harmonic speed reducer in joint（462）Output end and left side foot（43）Upper end connection；The hollow direct current in left side hip joint
Brushless electric machine（441）, the hollow DC brushless motor of left side knee joint（451）, the hollow DC brushless motor of left side ankle-joint（461）
Electrically connected with robot controller respectively；
The right leg assembly of robot（5）Include the right lateral thigh arranged successively from top to bottom（51）, right side shank（52）, right side pin
Portion（53）, right leg installed part（372）With right lateral thigh（51）The hollow driver in right side hip joint, right side are equiped between upper end
Thigh（51）With right side shank（52）Between be equiped with right side the hollow driver of knee joint, right side shank（52）With right side foot
（53）Between be equiped with the right side hollow driver of ankle-joint, the hollow driver in right side hip joint includes and is anchored on right leg installed part
（372）The hollow DC brushless motor in right side hip joint（541）, be installed in right side hip joint hollow DC brushless motor（541）
And by the hollow DC brushless motor in right side hip joint（541）The shaft-driven hollow harmonic speed reducer in right side hip joint of power output
（542）, the hollow harmonic speed reducer in right side hip joint（542）Output end and right lateral thigh（51）Upper end connection, right side knee
The hollow driver in joint is included and is anchored on right side shank（52）The hollow DC brushless motor of right side knee joint of upper end
（551）, be installed in right side the hollow DC brushless motor of knee joint（551）And by the hollow DC brushless motor of right side knee joint
（551）The shaft-driven hollow harmonic speed reducer of right side knee joint of power output（552）, the hollow harmonic speed reducer of right side knee joint
（552）Output end and right lateral thigh（51）Bottom connection, the hollow driver of right side ankle-joint include be anchored on right side
Shank（52）The hollow DC brushless motor of right side ankle-joint of bottom（561）, be installed in right side the hollow brush DC of ankle-joint
Motor（561）And by the hollow DC brushless motor of right side ankle-joint（561）The shaft-driven right side ankle-joint of power output it is hollow
Harmonic speed reducer（562）, the hollow harmonic speed reducer of right side ankle-joint（562）Output end and right side foot（53）Upper end connect
Connect；The hollow DC brushless motor in right side hip joint（541）, the hollow DC brushless motor of right side knee joint（551）, right side ankle-joint
Hollow DC brushless motor（561）Electrically connected with robot controller respectively；
Robot left hand arm component（6）Include the left side large arm arranged successively from top to bottom（61）, left side forearm（62）, left side
Hand（63）, left side large arm（61）Upper end and chest housing（11）Upper end between be equiped with the hollow drive of left shoulder joint
Dynamic device, left side large arm（61）With left side forearm（62）Between be equiped with left side elbow joint mini drive, left side forearm（62）With
Left side hand（63）Between be equiped with left side wrist joint mini drive, the hollow driver of left shoulder joint includes and is anchored on chest
Portion's housing（11）The hollow DC brushless motor of left shoulder joint of upper end（641）, be installed in the hollow direct current of left shoulder joint without
Brush motor（641）And by the hollow DC brushless motor of left shoulder joint（641）The shaft-driven left shoulder joint of power output it is empty
Heart harmonic speed reducer（642）, the hollow harmonic speed reducer of left shoulder joint（642）Output end and left side large arm（61）Upper end
Portion is connected, and left side elbow joint mini drive is included and is anchored on left side large arm（61）The left side elbow joint micro drives of bottom
Motor（651）, be installed in left side elbow joint micro-driving motor（651）And by left side elbow joint micro-driving motor（651）'s
The shaft-driven left side elbow joint harmonic speed reducer of power output（652）, left side elbow joint harmonic speed reducer（652）Output end with
Left side forearm（62）Upper end connection, left side wrist joint mini drive include be anchored on left side forearm（62）Upper end
Left side wrist joint micro-driving motor（661）, be installed in left side wrist joint micro-driving motor（661）And it is micro- by left side wrist joint
Type motor（661）The shaft-driven left side wrist joint harmonic speed reducer of power output（662）, left side wrist joint harmonic reduction
Device（662）Output end and left side hand（63）Upper end connection, the hollow DC brushless motor of left shoulder joint（641）, it is left
Side elbow joint micro-driving motor（651）, left side wrist joint micro-driving motor（661）It is electrically connected with robot controller respectively
Connect；
Robot right hand arm component（7）Include the right side large arm arranged successively from top to bottom（71）, right side forearm（72）, right side
Hand（73）, right side large arm（71）Upper end and chest housing（11）Upper end between be equiped with the hollow drive of right shoulder joint
Dynamic device, right side large arm（71）With right side forearm（72）Between be equiped with right side elbow joint mini drive, right side forearm（72）With
Right side hand（73）Between be equiped with right side wrist joint mini drive, the hollow driver of right shoulder joint includes and is anchored on chest
Portion's housing（11）The hollow DC brushless motor of right shoulder joint of upper end（741）, be installed in the hollow direct current of right shoulder joint without
Brush motor（741）And by the hollow DC brushless motor of right shoulder joint（741）The shaft-driven right shoulder joint of power output it is empty
Heart harmonic speed reducer（742）, the hollow harmonic speed reducer of right shoulder joint（742）Output end and right side large arm（71）Upper end
Connection, right side elbow joint mini drive is included and is anchored on right side large arm（71）The right side elbow joint micro drives electricity of bottom
Machine（751）, be installed in right side elbow joint micro-driving motor（751）And by right side elbow joint micro-driving motor（751）It is dynamic
The right side elbow joint harmonic speed reducer that power output shaft drives（752）, right side elbow joint harmonic speed reducer（752）Output end with it is right
Side forearm（72）Upper end connection, right side wrist joint mini drive include be anchored on right side forearm（72）The right side of upper end
Side wrist joint micro-driving motor（761）, be installed in right side wrist joint micro-driving motor（761）And it is miniature by right side wrist joint
Motor（761）The shaft-driven right side wrist joint harmonic speed reducer of power output（762）, right side wrist joint harmonic speed reducer
（762）Output end and right side hand（73）Upper end connection, the hollow DC brushless motor of right shoulder joint（741）, right side
Elbow joint micro-driving motor（751）, right side wrist joint micro-driving motor（761）Electrically connected with robot controller respectively.
2. a kind of anthropomorphic robot based on hollow driver, mini drive according to claim 1, its feature exists
In：The head body（21）Be equiped with high-definition camera, speech recognition device, loudspeaker, high-definition camera, speech recognition device,
Loudspeaker is electrically connected with the robot controller respectively.
3. a kind of anthropomorphic robot based on hollow driver, mini drive according to claim 1, its feature exists
In：The robot controller is fitted with gyroscope, and gyroscope is electrically connected with robot controller.
4. a kind of anthropomorphic robot based on hollow driver, mini drive according to claim 1, its feature exists
In：The robot controller is fitted with wireless communication module, and wireless communication module is electrically connected with robot controller.
5. a kind of anthropomorphic robot based on hollow driver, mini drive according to claim 4, its feature exists
In：The wireless communication module is bluetooth module or WIFI module.
6. a kind of anthropomorphic robot based on hollow driver, mini drive according to claim 1, its feature exists
In：The left side foot（43）Or the right side foot（53）It is equiped with pressure sensor, velocity sensor, displacement sensing
Device, pressure sensor, velocity sensor, displacement transducer are electrically connected with the robot controller respectively.
7. a kind of anthropomorphic robot based on hollow driver, mini drive according to claim 1, its feature exists
In：Lithium battery is embedded with the chest accommodating cavity, lithium battery is electrically connected with the robot controller.
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| CN201611241510.3A CN106737584A (en) | 2016-12-29 | 2016-12-29 | A kind of anthropomorphic robot based on hollow driver, mini drive |
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| CN109015696A (en) * | 2018-09-10 | 2018-12-18 | 广东宏穗晶科技服务有限公司 | A kind of stage performance robot |
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Application publication date: 20170531 |