CN107639648A - A kind of robot waist structure - Google Patents
A kind of robot waist structure Download PDFInfo
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- CN107639648A CN107639648A CN201711023617.5A CN201711023617A CN107639648A CN 107639648 A CN107639648 A CN 107639648A CN 201711023617 A CN201711023617 A CN 201711023617A CN 107639648 A CN107639648 A CN 107639648A
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- China
- Prior art keywords
- rotating disc
- wing plate
- waist structure
- robot
- robot waist
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Abstract
The invention discloses a kind of robot waist structure, including rotating disc, the rotating disc surrounding is tiltedly installed with multiple wing plates, the wing plate is provided centrally with fixing hole, the mounting rod of wing plate plane is provided perpendicular to through the fixing hole, the both ends of the mounting rod are arranged with round table-like roller, the power set of its rotation of driving are connected with below rotating disc, the robot waist structure of the present invention in rotating disc surrounding by setting inclined wing plate, and roller is installed on wing plate, can be when rotating disc band mobile robot rotates, by on waist structure and robot, rolling friction is changed into from sliding friction between the lower part of the body, greatly reduce its frictional force, make revolute more flexible.
Description
Technical field
The present invention relates to a kind of transmission mechanism of robot, particularly a kind of robot waist structure.
Background technology
At present, robot is used widely in people live.Waist structure be in robot architecture one it is important
Part, it plays the pivotal role for accepting machine upper part of human body and the lower part of the body, is to ensure that robot possesses high flexibility and height certainly
By the key point spent, common robot waist structure is more complicated currently on the market, and frictional force during its rotation is larger,
Cause robot can not flexible rotating, action is clumsy.
The content of the invention
It is contemplated that at least solves one of above-mentioned technical problem in correlation technique to a certain extent.Therefore, this hair
It is bright to propose that frictional force is smaller during a kind of rotation, rotate flexible robot waist structure.
The technical solution adopted for the present invention to solve the technical problems is：
A kind of robot waist structure, including rotating disc, the rotating disc surrounding are tiltedly installed with multiple wing plates, in the wing plate
The heart is provided with fixing hole, and the mounting rod of wing plate plane is provided perpendicular to through the fixing hole, and the both ends of the mounting rod are equal
Round table-like roller is arranged with, the power set of its rotation of driving are connected with below rotating disc.
As the improvement of above-mentioned technical proposal, the multiple wing plate uniform intervals are set, and the angle of inclination of wing plate is identical.
As the further improvement of above-mentioned technical proposal, the upper and lower ends of the wing plate are equipped with and both sides above and below rotating disc
The carrier of edge even transition.
Further, the wing plate is integrally formed making with rotating disc.
Further, mounting groove and mounting hole are offered on the rotating disc.
Further, the power set are steering wheel.
The beneficial effects of the invention are as follows：The robot waist structure of the present invention in rotating disc surrounding by setting the inclined wing
Plate, and roller is installed on wing plate, can be when rotating disc band mobile robot rotates, by waist structure and the upper and lower half body of robot
Between rolling friction is changed into from sliding friction, greatly reduce its frictional force, make revolute more flexible.
Brief description of the drawings
The present invention is further described with reference to the accompanying drawings and examples.
Fig. 1 is the overall structure diagram of the embodiment of the present invention；
Fig. 2 is the explosive view of the embodiment of the present invention；
Fig. 3 is the rotating disc structural representation of the embodiment of the present invention；
Fig. 4 is the embodiment of the present invention and the upper and lower half body connection relationship diagram of robot.
In figure：1st, rotating disc, 2, wing plate, 21, fixing hole, 22, carrier, 3, mounting rod, 4, roller, 5, power set.
Embodiment
Referring to figs. 1 to Fig. 3, a kind of robot waist structure of the invention, including rotating disc 1, the surrounding of rotating disc 1 are inclined
Multiple wing plates 2 are tiltedly provided with, the wing plate 2 is provided centrally with fixing hole 21, and the wing is provided perpendicular to through the fixing hole 21
The mounting rod 3 of the plane of plate 2, the both ends of the mounting rod 3 are arranged with round table-like roller 4, and the lower section of rotating disc 1 is connected with driving
Its power set 5 rotated, robot waist structure of the invention by setting inclined wing plate 2 in the surrounding of rotating disc 1, and
Roller 4 is installed on wing plate 2, can be when rotating disc 1 rotates with mobile robot, by between the upper and lower half body of waist structure and robot
Rolling friction is changed into from sliding friction, greatly reduces its frictional force, makes revolute more flexible.
In the present embodiment, it is preferred that the multiple uniform intervals of wing plate 2 are set, and the angle of inclination of wing plate 2 is identical,
Robot uniform force and is consistent everywhere, be more beneficial for reducing frictional force.
In the present embodiment, it is preferred that the upper and lower ends of the wing plate 2 be equipped with rotating disc about 1 two edges it is uniform
The carrier 22 of transition, even transition between each part, reduces unnecessary friction or collision.
In the present embodiment, it is preferred that the wing plate 2 is integrally formed making with rotating disc 1, is easy to processing and fabricating, reduces
Production cost.
In the present embodiment, it is preferred that mounting groove and mounting hole are offered on the rotating disc 1, mitigates the weight of rotating disc 1
Amount, material is saved, and be easy to the installation of waist structure and robot miscellaneous part.
In the present embodiment, it is preferred that the power set 5 are steering wheel, and its speed can constantly change and keep controllable, into
This is low.
Reference picture 4, waist structure of the invention is with robot upper and lower half body annexation as illustrated, robot is upper and lower
Half body is provided with the groove that can accommodate its each part, and it can be driven to carry out flexible rotating by waist structure.
Above concrete structure and sized data are that presently preferred embodiments of the present invention is illustrated, but present invention wound
Make and be not limited to the embodiment, those skilled in the art can also make kind on the premise of without prejudice to spirit of the invention
The equivalent variations or replacement, these equivalent deformations or replacement of kind are all contained in the application claim limited range.
Claims (6)
- A kind of 1. robot waist structure, it is characterised in that：Including rotating disc, the rotating disc surrounding is tiltedly installed with multiple wings Plate, the wing plate are provided centrally with fixing hole, and the mounting rod of wing plate plane, the peace are provided perpendicular to through the fixing hole The both ends of dress bar are arranged with round table-like roller, and the power set of its rotation of driving are connected with below rotating disc.
- A kind of 2. robot waist structure according to claim 1, it is characterised in that：The multiple wing plate uniform intervals are set Put, and the angle of inclination of wing plate is identical.
- A kind of 3. robot waist structure according to claim 1 or 2, it is characterised in that：The upper and lower ends of the wing plate It is equipped with the carrier with two edges even transition above and below rotating disc.
- A kind of 4. robot waist structure according to claim 3, it is characterised in that：The wing plate and rotating disc one into Type makes.
- A kind of 5. robot waist structure according to claim 1, it is characterised in that：Installation is offered on the rotating disc Groove and mounting hole.
- A kind of 6. robot waist structure according to claim 1, it is characterised in that：The power set are steering wheel.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711023617.5A CN107639648A (en) | 2017-10-27 | 2017-10-27 | A kind of robot waist structure |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711023617.5A CN107639648A (en) | 2017-10-27 | 2017-10-27 | A kind of robot waist structure |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107639648A true CN107639648A (en) | 2018-01-30 |
Family
ID=61124729
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711023617.5A Pending CN107639648A (en) | 2017-10-27 | 2017-10-27 | A kind of robot waist structure |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107639648A (en) |
Citations (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN201144960Y (en) * | 2007-12-20 | 2008-11-05 | 比亚迪股份有限公司 | Biserial self-aligning roller bearing |
| CN203818914U (en) * | 2014-05-15 | 2014-09-10 | 成都航发液压工程有限公司 | Heavy-load 45-degree omnidirectional wheel |
| CN104097706A (en) * | 2014-04-14 | 2014-10-15 | 上海大学 | Mecanum-wheel-driven type spherical mobile robot |
| CN104228456A (en) * | 2014-10-09 | 2014-12-24 | 中国矿业大学 | Middle supporting type Mecanum wheel hub |
| CN204712057U (en) * | 2015-05-07 | 2015-10-21 | 华南理工大学广州学院 | A kind of service robot being applied to working hall |
| CN205117987U (en) * | 2015-12-03 | 2016-03-30 | 新昌县利利红轴承有限公司 | Roller bearing |
| CN105881550A (en) * | 2016-05-17 | 2016-08-24 | 洪炳镕 | Advanced humanoid dancing robot |
| CN106050913A (en) * | 2015-04-09 | 2016-10-26 | 斯凯孚公司 | Bearing and bearing arrangement |
| CN106426269A (en) * | 2016-11-24 | 2017-02-22 | 深圳市旗瀚云技术有限公司 | Waist structure for humanoid robot and control method |
| CN106985864A (en) * | 2016-12-29 | 2017-07-28 | 比亚迪股份有限公司 | Single-track vehicle bogie and single-track vehicle |
| CN107089274A (en) * | 2017-03-21 | 2017-08-25 | 坎德拉（深圳）科技创新有限公司 | A kind of ball shape robot |
| CN207402774U (en) * | 2017-10-27 | 2018-05-25 | 黄国彬 | A kind of robot waist structure |
-
2017
- 2017-10-27 CN CN201711023617.5A patent/CN107639648A/en active Pending
Patent Citations (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN201144960Y (en) * | 2007-12-20 | 2008-11-05 | 比亚迪股份有限公司 | Biserial self-aligning roller bearing |
| CN104097706A (en) * | 2014-04-14 | 2014-10-15 | 上海大学 | Mecanum-wheel-driven type spherical mobile robot |
| CN203818914U (en) * | 2014-05-15 | 2014-09-10 | 成都航发液压工程有限公司 | Heavy-load 45-degree omnidirectional wheel |
| CN104228456A (en) * | 2014-10-09 | 2014-12-24 | 中国矿业大学 | Middle supporting type Mecanum wheel hub |
| CN106050913A (en) * | 2015-04-09 | 2016-10-26 | 斯凯孚公司 | Bearing and bearing arrangement |
| CN204712057U (en) * | 2015-05-07 | 2015-10-21 | 华南理工大学广州学院 | A kind of service robot being applied to working hall |
| CN205117987U (en) * | 2015-12-03 | 2016-03-30 | 新昌县利利红轴承有限公司 | Roller bearing |
| CN105881550A (en) * | 2016-05-17 | 2016-08-24 | 洪炳镕 | Advanced humanoid dancing robot |
| CN106426269A (en) * | 2016-11-24 | 2017-02-22 | 深圳市旗瀚云技术有限公司 | Waist structure for humanoid robot and control method |
| CN106985864A (en) * | 2016-12-29 | 2017-07-28 | 比亚迪股份有限公司 | Single-track vehicle bogie and single-track vehicle |
| CN107089274A (en) * | 2017-03-21 | 2017-08-25 | 坎德拉（深圳）科技创新有限公司 | A kind of ball shape robot |
| CN207402774U (en) * | 2017-10-27 | 2018-05-25 | 黄国彬 | A kind of robot waist structure |
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