CN106956277A - A kind of mechanical structure of intelligent entertainment robot - Google Patents
A kind of mechanical structure of intelligent entertainment robot Download PDFInfo
- Publication number
- CN106956277A CN106956277A CN201710224421.6A CN201710224421A CN106956277A CN 106956277 A CN106956277 A CN 106956277A CN 201710224421 A CN201710224421 A CN 201710224421A CN 106956277 A CN106956277 A CN 106956277A
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- upper body
- bending over
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- 230000007246 mechanism Effects 0.000 claims abstract description 65
- 238000005452 bending Methods 0.000 claims abstract description 29
- 230000033001 locomotion Effects 0.000 claims abstract description 16
- 210000000245 forearm Anatomy 0.000 claims description 42
- 238000005096 rolling process Methods 0.000 claims description 19
- 230000009471 action Effects 0.000 claims description 7
- 239000003381 stabilizer Substances 0.000 claims description 6
- XAGFODPZIPBFFR-UHFFFAOYSA-N aluminium Chemical compound [Al] XAGFODPZIPBFFR-UHFFFAOYSA-N 0.000 claims description 5
- 229910052782 aluminium Inorganic materials 0.000 claims description 5
- 238000003780 insertion Methods 0.000 claims description 3
- 230000037431 insertion Effects 0.000 claims description 3
- 230000005540 biological transmission Effects 0.000 claims description 2
- 239000004411 aluminium Substances 0.000 claims 1
- 239000007787 solid Substances 0.000 claims 1
- 230000021715 photosynthesis, light harvesting Effects 0.000 abstract 1
- 230000006872 improvement Effects 0.000 description 10
- 238000005516 engineering process Methods 0.000 description 6
- 238000001125 extrusion Methods 0.000 description 4
- 230000000694 effects Effects 0.000 description 3
- 230000008859 change Effects 0.000 description 2
- 238000010276 construction Methods 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012545 processing Methods 0.000 description 2
- 238000013461 design Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000011065 in-situ storage Methods 0.000 description 1
- 238000009776 industrial production Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/003—Manipulators for entertainment
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled 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
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
- Toys (AREA)
Abstract
The invention discloses a kind of intelligent entertainment robot.Including swing mechanism, upper body, arm mechanism, body chassis, turn round mechanism and mechanism of bending over, the swing mechanism is connected with upper body upper end, the arm mechanism is arranged on the both sides of upper body, the mechanism of bending over is connected with upper body lower end by turning round mechanism, the body chassis is arranged on lower body lower end, and the mechanical structure for the robot that the present invention is designed, move mode is moved from four-wheel, its translational speed is fast, and its energy dissipation is relatively fewer；Mechanism of bending over selects linkage, harmony is good, make robot that there are simple bodily fuctions, dance movement can be simulated, complete the elemental motion of simple human body dancing, can be with forward-reverse, left and right skidding, left and right is turned and swing arm, behavior, is turn-taked, flexible movements, coordination, motion is accurately and reliably.
Description
Technical field
The present invention relates to robotics, the machinery knot of more particularly to a kind of intelligent entertainment robot
Structure.
Background technology
Robot there occurs with rapid changepl. never-ending changes and improvements as one of 20th century of the mankind greatest invention within short decades
Change, robot was as strategic objective representative in high-tech sector, the appearance of robot technology and hair in recent years
Exhibition, not only makes traditional industrial production looks occur essence change, and will produce far-reaching influence to human society, with
Social production technology is developed rapidly, and the application field of robot constantly extends, the spy from automatic production line to marine resources
Rope, or even the field such as space operation, robot is ubiquitous, and current machine has come into the life and work of people,
Robot has replaced the work of the mankind in many fields, plays more and more important effect, and people are increasingly
Robot is be unable to do without to help.Robot is the competent assistant of the mankind, the reliable friend that can be kept in, and we can be appreciated that people in the future
Can exist with robot inside a space, as mutual an assistant and friend, with the development of modern science and technology, robot
Technology, which is widely used to the every field of human society life, particularly Dancing Robot, has human appearance feature, lovely
Appearance have technology content concurrently again, pole is liked by teen-age.In the prior art there are problems in Dancing Robot, such as
Walking Dancing Robot is unable to original place rotation, and the speed of travel is slow, and control is complicated, and mobile difficult, maneuverability is poor, and machinery is complicated,
Motor performance requirement is strict, expensive；Crawler type Dancing Robot processing and fabricating is cumbersome, the frictional force of crawler belt is very big,
Energy loss is big；In engineering of bending over, because front and rear startup inertia is different, cause the imbalance of robot, and processing is compared
Difficulty, is unfavorable for fixing, cost is also very high.
The content of the invention
In view of the shortcomings of the prior art, it is an object of the invention to provide a kind of machinery knot of intelligent entertainment robot
Structure, compact conformation, motion are accurate so that coordination when robot is performed, flexibly.
To achieve the above object, the invention provides following technical scheme：A kind of mechanical structure of intelligent entertainment robot,
Including swing mechanism, upper body, arm mechanism, body chassis, turn round mechanism and mechanism of bending over；The swing mechanism include head,
Neck and rotary electric machine, the rotary electric machine are arranged in neck, and the head and neck are rotatably connected, the rotary electric machine
Output end be connected with head, the swing mechanism is connected with upper body upper end；The arm mechanism is arranged on the both sides of upper body, institute
Stating arm mechanism includes two large arm, two forearms being connected respectively with large arm, and the both sides of the upper body upper end are respectively arranged with
Large arm motor is driven, the output end of the driving large arm motor is connected with large arm, and connector is passed through between the large arm and forearm
It is connected, driving forearm motor is provided with the connector, the output end of the driving forearm motor is connected with forearm；The bottom
Disc mechanism includes support frame, two driving wheels and two universal wheels, and the driving wheel and universal wheel are arranged on the bottom of support frame；
The mechanism of bending over is connected with upper body lower end by turning round mechanism, and the mechanism that turns round includes rolling bearing, driving member and driving
Motor is turned round, the driving turns round motor and is arranged on upper body lower end, and the driving turns round motor output end and passes through driving member and rolling
Dynamic bearing is connected, and the rolling bearing is connected with mechanism of bending over；The mechanism of bending over bends over motor, mounting bracket and company including driving
Lever apparatus, driving motor of bending over is arranged on support frame, and the mounting bracket and support frame are hinged by connecting shaft, the company
The bend over output end of motor of lever apparatus one end and driving is connected, the other end and the movable connection of mounting bracket.
As a further improvement on the present invention, support frame as described above includes square underframe, is symmetricly set on underframe both sides
Side frame, the side frame includes support bar and two stabiliser bars for being symmetricly set on support bar both sides, and the support bar is vertically connected
On the side of underframe one, described stabiliser bar one end is connected with support bar, and the other end is connected with underframe.
As a further improvement on the present invention, the mounting bracket is located between the side frame of both sides, the mounting bracket and support
Bar is hinged by connecting shaft, is vertically arranged with rectangular slot on the side of mounting bracket one, and the driving is bent over motor setting
On support bar, the linkage includes drive link and catch bar, and the driving is bent over rotating shaft, drive link and the promotion of motor
Bar successively it is stepped be connected, the catch bar other end be located at rectangular slot in, when driving bend over motor rotate, pass through transmission
Bar drives catch bar to rotate, and the catch bar is up and down in the rectangular slot of mounting bracket, drives mechanism of bending over curved before and after doing
Waist is acted.
As a further improvement on the present invention, the upper body bottom and supporting bar top are respectively arranged with retainer ring with
Retainer ring, is connected between fixed ring and lower retainer ring by rubber strip, action of being bent over before and after mechanism of bending over is done, described
Rubber strip deforms upon to hold upper body.
As a further improvement on the present invention, the rolling bearing includes inner circular, outer circle and ball, the inner circular
It is arranged concentrically with outer circle, the ball is arranged between inner circular and outer circle in gap, the inner circular is consolidated with mounting bracket
Some mounting grooves and fixture are provided with fixed connection, the outer circle, the mounting groove is distributed in outer circle, the fixation
Part is in " 7 " shape, and described fixture one end is hinged on the bottom land of mounting groove, and may be reversed to outside mounting groove, under the driving member
End, which is provided with some connecting poles, the connecting pole, is provided with neck, and in the connecting pole insertion mounting groove, the fixture is another
One end is caught in neck；During motor rotation is turned round in driving, the rotation that motor rotarily drives outer circle, machine are turned round in driving
Device upper part of human body turns round motion around rolling bearing center.
As a further improvement on the present invention, elastic collar is arranged with outside the outer circle, the elastic collar can be relative
Outer circle is moved up and down, when being moved to outside fixture, prevents fixture from being overturn to outside mounting groove.
As a further improvement on the present invention, the connector include the first connecting plate and two be oppositely arranged and perpendicular to
Second connecting plate of the first connecting plate, the large arm lower end is provided with mounting hole, and first connecting plate passes through mounting hole, described
Second connecting plate is connected by bolt with large arm, and the forearm upper end is located between two the second connecting plates, the forearm and one
It is hinged between the connecting plate of side second, the driving forearm motor is arranged on the outside of the connecting plate of opposite side second, is set on the forearm
It is equipped with butt hole, the butt hole section is in crosswise, the shape of the shaft end of the driving forearm motor and butt hole
Shape is engaged, and the driving forearm motor, which is rotated, drives forearm swing.
As a further improvement on the present invention, the upper body, large arm, forearm, support frame and mounting bracket use hollow rectangle
Cross-section mechanism, is formed by aluminum profile extrusion.
The mechanical structure for the robot that the present invention is designed, move mode is moved from four-wheel, and its translational speed is fast, and its energy
Amount consume is relatively fewer；Mechanism of bending over selects linkage, and harmony is good, robot is had simple bodily fuctions, can simulate
Dance movement, completes the elemental motion of simple human body dancing, can be turned and swing with forward-reverse, left and right skidding, left and right
Arm, behavior, turn-takes, flexible movements, coordination, and motion is accurately and reliably.
Brief description of the drawings
Fig. 1 is structural representation of the invention；
Fig. 2 is the structural representation of support frame of the present invention；
Fig. 3 is the structural representation of rolling bearing of the present invention；
Fig. 4 is the structural representation of driving member of the present invention and rolling bearing；
Fig. 5 is the structural representation of connector of the present invention.
Embodiment
The present invention is described in further detail below in conjunction with the embodiment given by accompanying drawing.
Shown in reference picture 1-5, a kind of mechanical structure of intelligent entertainment robot of the present embodiment, it is characterised in that：Including
Swing mechanism 1, upper body 2, arm mechanism 3, body chassis 4, turn round mechanism 5 and mechanism 6 of bending over；Swing mechanism 1 include head 11,
Neck 12 and rotary electric machine 13, rotary electric machine 13 are arranged in neck 12, and head 11 and neck 12 are rotatably connected, rotary electric machine
13 output end is connected with head 11, and swing mechanism 1 is connected with the upper end of upper body 2；Arm mechanism 3 is arranged on the both sides of upper body, hand
Two forearms 32 that arm mechanism 3 includes two large arm 31, is connected respectively with large arm 31, the both sides of the upper end of upper body 2 are respectively arranged with
Large arm motor 33 is driven, the output end of driving large arm motor 33 is connected with large arm 31, passes through connection between large arm 31 and forearm 32
Part 35 is connected, and driving forearm motor 34 is provided with connector 35, and the output end of driving forearm motor 34 is connected with forearm 32；Bottom
Disc mechanism 4 includes support frame 41, two driving wheels 42 and two universal wheels 43, and driving wheel 42 and universal wheel 43 are arranged on support frame
41 bottom, can rotate in situ to obtain different directions, universal wheel 43 is used to balance；Mechanism of bending over 6 and the lower end of upper body 2 are logical
Cross and turn round mechanism 5 and be connected, turn round mechanism 5 and turn round motor 53 including rolling bearing 51, driving member 52 and driving, drive and turn round motor
53 are arranged on the lower end of upper body 2, and driving is turned round the output end of motor 53 and connected by driving member 52 and rolling bearing 51, rolling bearing 51
Mechanism 6 is connected with bending over；Mechanism of bending over 6 is bent over motor 61, mounting bracket 62 and linkage 63 including driving, and driving is bent over motor
61 are arranged on support frame 41, and mounting bracket 62 and support frame 41 are hinged by connecting shaft 7, and the one end of linkage 63 and driving are bent over
The output end of motor 61 is connected, the other end and the movable connection of mounting bracket 62, as the waist of anthropomorphic robot, mechanism of bending over 6
The weight on top has mainly been accepted, has been connected by turning round the mechanism 6 that makes to bend over of mechanism 5 with upper body 2, the mechanism 6 that enables to bend over accomplishes
The rotation of level, it is ensured that the balance of whole robot.
As a kind of improved embodiment, support frame 41 includes square underframe 411, is symmetricly set on underframe
The side frame 412 of 411 both sides, side frame 412 includes support bar 413 and two stabiliser bars for being symmetricly set on the both sides of support bar 413
414, support bar 413 is vertically connected on the side of underframe 411 1, and the one end of stabiliser bar 414 is connected with support bar 413, the other end and
Underframe 411 is connected, and the support frame 41 of this structure is simple in construction, and the premise of supporting role well is played in guarantee body chassis 4
Under, overall balance and stability is can guarantee that again in motion.
As a kind of improved embodiment, mounting bracket 62 is located between the side frame 412 of both sides, mounting bracket 62 and branch
Strut 413 is hinged by connecting shaft 7, and rectangular slot 621 is vertically arranged with the side of mounting bracket 62 1, drives motor 61 of bending over
It is arranged on support bar 413, linkage 63 includes drive link 631 and catch bar 632, drives the rotating shaft for motor 61 of bending over, passes
Lever 631 with catch bar 632 is stepped successively is connected, the other end of catch bar 632 is located in rectangular slot 621, curved when driving
Waist motor 61 is rotated, and drives catch bar 632 to rotate by drive link 631, rectangular slot 621 of the catch bar 632 in mounting bracket 62
In it is up and down, drive bend over mechanism 6 do before and after bend over action.Linkage 63 of the present invention is simple in construction, easily realizes, heavier
What is wanted is the principle that its characteristics of motion conforms exactly to human motion, and motion is flexible, and balance is good.
As a kind of improved embodiment, the bottom of upper body 2 and the top of support bar 413 are respectively arranged with retainer ring
8 and lower retainer ring 9, connected between upper retainer ring 8 and lower retainer ring 9 by rubber strip 10, bend over to move before and after mechanism 6 of bending over is done
Make, rubber strip 10 deforms upon to hold upper body 2.The one side of rubber strip 10 can ensure the balance of upper body 2, on the one hand can be with
So that robot bend over during action, the weight of the part of upper body 2 is born, it is to avoid the mistake weight of upper body 2 falls curved in driving
In the rotating shaft of waist motor 61, so as to protect driving to bend over motor 61, extend its service life.
As a kind of improved embodiment, rolling bearing 51 includes inner circular 511, outer circle 512 and ball
513, inner circular 511 and outer circle 512 are arranged concentrically, and ball 513 is arranged between inner circular 511 and outer circle 512 in gap,
Inner circular 511 is fixedly connected with mounting bracket 62, and some mounting grooves 514 and fixture 515, mounting groove are provided with outer circle 512
514 are distributed in outer circle 512, and fixture 515 is in " 7 " shape, and the one end of fixture 515 is hinged on the bottom land of mounting groove 514, and
It may be reversed to outside mounting groove 514, the lower end of driving member 52 is provided with some connecting poles 516, connecting pole 516 and is provided with neck 517,
In the insertion mounting groove 514 of connecting pole 516, the other end of fixture 515 is caught in neck 517；The rotation of motor 53 is turned round in driving
During, the rotation that motor 53 rotarily drives outer circle 512 is turned round in driving, and machine upper part of human body turns around the center of rolling bearing 51
Body is moved.The compact conformation of rolling bearing 51 of the present invention, can be stably connected with upper body 2 by driving member 52, ensure that again
The flexible rotating of body 2.
As a kind of improved embodiment, elastic collar 518 is arranged with outside outer circle 512, elastic collar 518 can
Opposite outer circle 512 is moved up and down, be moved to fixture 515 it is outer when, prevent fixture 515 from being overturn to outside mounting groove 514.Elasticity
The setting of the collar 518 can further make the connection between rolling bearing 51 and upper body 2 more stable.
As a kind of improved embodiment, connector 35 include the first connecting plate 351 and two be oppositely arranged and
Perpendicular to the second connecting plate 352 of the first connecting plate 351, the lower end of large arm 31 is provided with mounting hole 36, and the first connecting plate 351 is passed through
Mounting hole 36, the second connecting plate 352 is connected by bolt with large arm 31, the upper end of forearm 31 be located at two the second connecting plates 352 it
Between, it is hinged between forearm 32 and the second connecting plate of side 352, driving forearm motor 34 is arranged on the second connecting plate of opposite side 352
Butt hole 37 is provided with outside, forearm 32, the section of butt hole 37 is in crosswise, the shape of the shaft end of driving forearm motor 34
The shape of shape and butt hole 37 is engaged, and driving forearm motor 34, which is rotated, drives the swing of forearm 32.Arm mechanism 3 is machine
The overall important link of people, many actions of robot are all embodied by arm mechanism 3, large arm 31 and the institute of forearm 32
The free degree having is more, and the space of activity is bigger during action, and the action done is finer, and the task of completion is more multiple
Miscellaneous, large arm 31 of the invention can do front and rear 360 degree of rotation, be hinged between large arm 31 and forearm 32, and forearm 32 can be with respect to large arm
31 swing.Connector 35 both can guarantee that robotic movement got up nimbly and freely, act smooth steady, has again and certain bears to bear
Loading capability.
As a kind of improved embodiment, upper body 2, large arm 31, forearm 32, support frame 41 and mounting bracket 62 are used
Hollow rectangle cross-section mechanism, is formed by aluminum profile extrusion.
Multiple positions of accompanying dancer robot will all be moved, upper body 2 of the invention, large arm 31, forearm 32, support frame 41
Formed with mounting bracket 62 by aluminum profile extrusion.Material section applies important influence to component quality and rigidity, therefore by closing
The section of reason selected member can preferably meet the use requirement of robot, commonly used in the prior art to have hollow circular section,
Hollow rectangle section, H-section etc..Formed by aluminum profile extrusion.If it is a that hollow rectangle section, which is the length of side, wall thickness is t pros
Shape, the outside diameter of hollow circular section is also a, and wall thickness is also t, and makes t=0.2a, can be drawn by calculating, in same wall
Under conditions of thickness, square hollow section is higher than the moment of inertia of hollow circular section by 69%~84%, and quality only increases by 27%.Wall
Thick thinner, then effect is more obvious.If it is equal that comparison condition is changed to hollow rectangle section and the section of open circles section section bar, and D0
=a, if open circles section wall thickness tD=0.2a, the wall thickness that can calculate square hollow section is tF=0.147a.Now,
Square hollow section improves 40%~60% than the rigidity of hollow circular section.Therefore no matter weigh from what angle, it is hollow
Rigidity of the square-section all than hollow circular section is superior.From the perspective of design, assembling, square-section also have it is certain it is convenient it
Place.
The above is only the preferred embodiment of the present invention, and protection scope of the present invention is not limited merely to above-mentioned implementation
Example, all technical schemes belonged under thinking of the present invention belong to protection scope of the present invention.It should be pointed out that for the art
Those of ordinary skill for, some improvements and modifications without departing from the principles of the present invention, these improvements and modifications
It should be regarded as protection scope of the present invention.
Claims (8)
1. a kind of mechanical structure of intelligent entertainment robot, it is characterised in that：Including swing mechanism (1), upper body (2), arm machine
Structure (3), body chassis (4), turn round mechanism (5) and mechanism of bending over (6)；The swing mechanism (1) includes head (11), neck
(12) and rotary electric machine (13), the rotary electric machine (13) is arranged in neck (12), and the head (11) and neck (12) can
Connection is rotated, the output end of the rotary electric machine (13) is connected with head (11), the swing mechanism (1) and upper body (2) upper end
It is connected；The arm mechanism (3) is arranged on the both sides of upper body, the arm mechanism (3) include two large arm (31), respectively with greatly
Two forearms (32) of arm (31) connection, the both sides of upper body (2) upper end are respectively arranged with driving large arm motor (33), described
The output end of driving large arm motor (33) is connected with large arm (31), and connector is passed through between the large arm (31) and forearm (32)
(35) it is connected, driving forearm motor (34), the output end of the driving forearm motor (34) is provided with the connector (35)
It is connected with forearm (32)；The body chassis (4) includes support frame (41), two driving wheels (42) and two universal wheels (43),
The driving wheel (42) and universal wheel (43) are arranged on the bottom of support frame (41)；The mechanism of bending over (6) and upper body (2) lower end
It is connected by turning round mechanism (5), the mechanism (5) that turns round turns round motor including rolling bearing (51), driving member (52) and driving
(53), the driving turns round motor (53) and is arranged on upper body (2) lower end, and the driving turns round motor (53) output end and passes through transmission
Part (52) and rolling bearing (51) connection, the rolling bearing (51) are connected with mechanism of bending over (6)；Mechanism of bending over (6) bag
Include driving to bend over motor (61), mounting bracket (62) and linkage (63), driving motor (61) of bending over is arranged on support frame
(41) on, the mounting bracket (62) and support frame (41) are hinged by connecting shaft (7), described linkage (63) one end and driving
Bend over motor (61) output end be connected, the other end and the movable connection of mounting bracket (62).
2. a kind of mechanical structure of intelligent entertainment robot according to claim 1, it is characterised in that：Support frame as described above
(41) include square underframe (411), be symmetricly set on the side frame (412) of underframe (411) both sides, the side frame (412) includes
Support bar (413) and two stabiliser bars (414) for being symmetricly set on support bar (413) both sides, the support bar (413) vertically connect
It is connected on the side of underframe (411) one, described stabiliser bar (414) one end is connected with support bar (413), the other end and underframe (411)
It is connected.
3. a kind of mechanical structure of intelligent entertainment robot according to claim 2, it is characterised in that：The mounting bracket
(62) between the side frame (412) of both sides, the mounting bracket (62) and support bar (413) are hinged by connecting shaft (7), described
Rectangular slot (621) is vertically arranged with the side of mounting bracket (62) one, it is described to drive motor (61) of bending over to be arranged on support bar
(413) on, the linkage (63) includes drive link (631) and catch bar (632), described to drive turning for motor (61) of bending over
Axle, drive link (631) with catch bar (632) is stepped successively is connected, catch bar (632) other end is located at rectangular slot
(621) in, when driving bend over motor (61) rotate, pass through drive link (631) drive catch bar (632) rotate, the catch bar
(632) up and down in the rectangular slot (621) of mounting bracket (62), drive bends over to bend over to act before and after mechanism (6) is done.
4. a kind of mechanical structure of intelligent entertainment robot according to claim 3, it is characterised in that：The upper body (2)
Bottom and support bar (413) top are respectively arranged with retainer ring (8) and lower retainer ring (9), fixed ring (8) and lower solid
Determine to connect by rubber strip (10) between ring (9), action of bending over before and after mechanism of bending over (6) is done, the rubber strip (10) occurs
Deformation is so as to hold upper body (2).
5. a kind of mechanical structure of intelligent entertainment robot according to claim 4, it is characterised in that：The rolling bearing
(51) inner circular (511), outer circle (512) and ball (513) are included, the inner circular (511) and outer circle (512) are set with one heart
Put, the ball (513) is arranged between inner circular (511) and outer circle (512) in gap, the inner circular (511) and peace
Shelve (62) to be fixedly connected, some mounting grooves (514) and fixture (515) are provided with the outer circle (512), it is described to install
Groove (514) is distributed in outer circle (512), and the fixture (515) is in " 7 " shape, and described fixture (515) one end is hinged on
The bottom land of mounting groove (514), and may be reversed to mounting groove (514) outside, driving member (52) lower end is provided with some connecting poles
(516), it is provided with the connecting pole (516) in neck (517), connecting pole (516) the insertion mounting groove (514), it is described
Fixture (515) other end is caught in neck (517)；During motor (53) rotation is turned round in driving, motor is turned round in driving
(53) rotation of outer circle (512) is rotarily driven, machine upper part of human body turns round motion around rolling bearing (51) center.
6. a kind of mechanical structure of intelligent entertainment robot according to claim 5, it is characterised in that：The outer circle
(512) be arranged with elastic collar (518) outside, the elastic collar (518) can opposite outer circle (512) move up and down, be moved to
When fixture (515) is outer, fixture (515) is prevented to be overturn outside to mounting groove (514).
7. a kind of mechanical structure of intelligent entertainment robot according to claim 6, it is characterised in that：The connector
(35) include the first connecting plate (351) and two are oppositely arranged and perpendicular to the second connecting plate of the first connecting plate (351)
(352), large arm (31) lower end is provided with mounting hole (36), and first connecting plate (351) passes through mounting hole (36), described
Second connecting plate (352) is connected by bolt with large arm (31), and forearm (31) upper end is located at two the second connecting plates (352)
Between, it is hinged between the forearm (32) and the connecting plate of side second (352), the driving forearm motor (34) is arranged on another
On the outside of the connecting plate of side second (352), butt hole (37) is provided with the forearm (32), butt hole (37) section is in cross
Shape, the shape of the shaft end of the driving forearm motor (34) and the shape of butt hole (37) are engaged, the driving forearm
Motor (34), which is rotated, drives forearm (32) swing.
8. a kind of mechanical structure of intelligent entertainment robot according to claim any one of 1-7, it is characterised in that：It is described
Upper body (2), large arm (31), forearm (32), support frame (41) and mounting bracket (62) use hollow rectangle cross-section mechanism, by aluminium plus
Work is formed.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201710224421.6A CN106956277B (en) | 2017-04-07 | 2017-04-07 | A kind of mechanical structure of intelligent entertainment robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710224421.6A CN106956277B (en) | 2017-04-07 | 2017-04-07 | A kind of mechanical structure of intelligent entertainment robot |
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| CN106956277A true CN106956277A (en) | 2017-07-18 |
| CN106956277B CN106956277B (en) | 2019-07-05 |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110680137A (en) * | 2019-11-06 | 2020-01-14 | 杭州富阳富创大数据产业创新研究院有限公司 | Model robot |
| CN112847302A (en) * | 2020-12-28 | 2021-05-28 | 深圳华侨城卡乐技术有限公司 | Robot |
| CN116394277A (en) * | 2023-06-08 | 2023-07-07 | 之江实验室 | Robot is played to imitative people piano |
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| CN112847302A (en) * | 2020-12-28 | 2021-05-28 | 深圳华侨城卡乐技术有限公司 | Robot |
| CN112847302B (en) * | 2020-12-28 | 2022-08-16 | 深圳华侨城卡乐技术有限公司 | Robot |
| CN116394277A (en) * | 2023-06-08 | 2023-07-07 | 之江实验室 | Robot is played to imitative people piano |
| CN116394277B (en) * | 2023-06-08 | 2023-08-25 | 之江实验室 | Robot is played to imitative people piano |
Also Published As
| Publication number | Publication date |
|---|---|
| CN106956277B (en) | 2019-07-05 |
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