CN108214510A - Children accompany robot - Google Patents
Children accompany robot Download PDFInfo
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- CN108214510A CN108214510A CN201810045837.6A CN201810045837A CN108214510A CN 108214510 A CN108214510 A CN 108214510A CN 201810045837 A CN201810045837 A CN 201810045837A CN 108214510 A CN108214510 A CN 108214510A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/0005—Manipulators having means for high-level communication with users, e.g. speech generator, face recognition means
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- Engineering & Computer Science (AREA)
- Health & Medical Sciences (AREA)
- Audiology, Speech & Language Pathology (AREA)
- General Health & Medical Sciences (AREA)
- Human Computer Interaction (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
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Abstract
The present invention provides a kind of children and accompanies robot, including sequentially connected top, trunk, lower part and bottom；The top includes head and neck, and the head and the neck drive the top；The trunk includes chest and waist, and the chest and the waist drive the trunk；The lower part includes hip；The bottom includes leg；The head, the neck, the chest, the waist, the hip and the leg, which are sequentially connected, makes the head, the neck, the chest, the waist and the hip be respectively provided at least one freedom of motion.Present invention control is easy, at low cost, system is easy to build, simple in structure but to can guarantee that there are multiple degree of freedom in robot, flexible limb action can be achieved.
Description
Technical field
The present invention relates to robot field, more particularly to children accompany robot.
Background technology
At present, robot is used widely in all trades and professions, either military, manufacture, space flight or education, joy
Pleasure, medical treatment, rescue and relief work, home services and community service, robot can play very important effect.With man and wife both employed family
Front yard is more and more, and more and more children lack necessary company and formative education during the growth of early stage.This allows for society
Emotion can be accompanied and the demand of the home-services robot of early education class is more and more vigorous.
Along with the development of artificial intelligence technology, the interactive experience of robot can become it is more intelligent, more rich in emotion.It is existing
Company class robot in technology focus on interactive voice mostly in terms of intelligence and emotional culture, but have ignored in machine human body
Structure personalizes, and limb action is limited, stiff in the movements.This is because accompany class robot usually to make humanoid appearance with
Attracting attention, but organization of human body is sufficiently complex, if indiscriminately imitating the joints such as arm, the leg for imitating human body, needs with very
More motors, of high cost, control is complicated, and structure is also not compact enough.
Invention content
The purpose of the present invention is to solve limb action in the prior art it is limited, stiff in the movements the technical issues of, propose
A kind of children accompany robot.
In order to solve the above technical problems, the present invention uses following technical scheme：
Children accompany robot, including sequentially connected top, trunk, lower part and bottom；The top include head and
Neck, the head and the neck drive the top；The trunk includes chest and waist, the chest and the waist
Drive the trunk；The lower part includes hip；The bottom includes leg；The head, the neck, the chest, institute
Stating waist, the hip and the leg and being sequentially connected makes the head, the neck, the chest, the waist and described
Hip is respectively provided at least one freedom of motion.
In some preferred embodiments, the head, the neck, the chest, the waist, the hip and
Connection mode between the leg includes one or more of following：Rotation connection, translation connection or vibration connection.
In further preferred embodiment, the rotation connection is realized by belt wheel and synchronous belt, the belt wheel with
The synchronous band connection drives the belt wheel and the synchronous belt by motor.
In some preferred embodiments, the head, the neck, the chest, the waist, the hip and
The direction of motion between the leg is adjacent is different.
In some preferred embodiments, the head, the neck, the chest, the waist, the hip and
Connection mode between the leg is rotation connection；The axis in the head rotation direction on the head and the neck of the neck
Into the first angle between the axis of rotation direction；The axis in the neck rotation direction and the chest rotation direction of the chest
Into the second angle between axis；Between the axis of the chest rotation direction and the axis of the waist rotation direction of the waist into
Third angle；Into the 4th angle between the axis of the waist rotation direction and the axis in the hip pivot direction of the hip.
In some preferred embodiments, it is connected between the head and the neck for nested type；The chest with
It is connected between the waist for nested type；It is connected between the waist and the hip for nested type.
In further preferred embodiment, the leg carries the hip, and the waist is nested in the hip
Inside, the chest is nested in the inside of the waist, and the neck is nested in the inside on the head.
In some preferred embodiments, the leg includes big belt wheel, fixed disc and bottom synchronous belt；The hip
Portion includes hip small pulley；The big belt wheel is mounted on the fixed disc, and the big belt wheel passes through the bottom synchronous belt
Coordinate with the hip small pulley and be driven.
In some preferred embodiments, the waist includes waist synchronous belt and waist big belt wheel；The hip packet
Include waist small pulley；The waist big belt wheel is connected with the waist synchronous belt, the waist synchronous belt and the waist small band
Wheel connection.
In further preferred embodiment, tensioning wheel is further included, the tensioning wheel is used to adjust the synchronous belt
Cornerite.
Compared with prior art, beneficial effects of the present invention have：
Present invention simulation organization of human body, top, trunk, lower part and bottom, top master are driven by six big organizations of human body
It to be driven by head and neck, trunk is mainly driven by chest and waist, and lower part is then driven by hip.Six big organization of human body heads
Portion, neck, chest, waist, hip and leg, are sequentially connected, and for the mechanical structure of series connection, are easy to implement linkage, it can be achieved that extremely
Few five degree of freedom.It sees on the whole, respectively at least there are two freedom of motion for top and trunk, and there are one move certainly for lower part tool
By spending the limb action, it can be achieved that flexibly, complicated, such as the action of dancing etc, so as to which robot be enable preferably to accompany
It is virgin.
In addition, the action of six big organizations of human body is embodied by top, trunk and lower part, compact-sized, class is connected in addition
Mechanical structure so that entire children's company robot is easily controllable, and system is easy to build, so as to reduce cost.
In a preferred embodiment, the present invention also has the advantages that：
Further, the connection between six big organization of human body heads, neck, chest, waist, hip and leg is using nested
Formula connects so that the structure of robot is compacter.
Description of the drawings
Fig. 1 is that the children of the present invention accompany the overall structure diagram of robot；
Fig. 2 is that the children of the present invention accompany the internal structure schematic diagram of robot；
Fig. 3 is the exploded view that the children of the present invention accompany the internal structure of robot；
Fig. 4 is the structural exploded view that the children of the present invention accompany the leg of robot；
Fig. 5 is the structural exploded view that the children of the present invention accompany the hip of robot；
Fig. 6 is the structural exploded view that the children of the present invention accompany the waist of robot；
Fig. 7 a are the structural exploded view that the children of the present invention accompany the chest of robot；
Fig. 7 b are the structure diagram of another angle of the a-quadrant of Fig. 7 a；
Fig. 8 is the structural exploded view that the children of the present invention accompany the neck of robot；
The children of Fig. 9 present invention accompany the structural exploded view on the head of robot.
Specific embodiment
It elaborates below to embodiments of the present invention.It is emphasized that the description below is only exemplary,
The range being not intended to be limiting of the invention and its application.
Referring to figs. 1 to Fig. 3, children accompany robot to include top 100, trunk 200, lower part 300 and bottom 400, top
100 include head 100H and neck 100N, and trunk 200 includes chest 200C and waist 200W, and lower part 300 includes hip 300K,
Bottom 400 include leg 400B, head 100H, neck 100N, chest 200C, waist 200W, hip 300K and leg 400B according to
Secondary connection makes head 100H, neck 100N, chest 200C, waist 200W and hip 300K be respectively provided at least one freedom of motion
Degree.Certainly, top 100, trunk 200, lower part 300 and bottom 400 all include respective shell (not shown).
Referring to figs. 1 to Fig. 3, the present invention simulation organization of human body, by be arranged on robot interior six big organizations of human body come
Top 100, trunk 200, lower part 300 and the bottom 400 of outside are driven, top 100 is mainly driven by head 100H and neck 100N
Dynamic, trunk 200 is mainly driven by chest 200C and waist 200W, and lower part 300 is then driven by hip 300K.Six big organization of human body heads
Portion 100H, neck 100N, chest 200C, waist 200W, hip 300K and leg 400B, are sequentially connected, the machinery knot for series connection
Structure is easy to implement linkage, it can be achieved that at least five degree of freedom.It sees on the whole, top 100 and trunk 200 respective at least two
A freedom of motion, lower part 300 have there are one freedom of motion the limb action, it can be achieved that flexibly, complicated, for example dance etc
Action, so as to which robot be enable preferably to accompany children.
Connection mode between head 100H, neck 100N, chest 200C, waist 200W, hip 300K and leg 400B
Including one or more of following：Rotation connection, translation connection or vibration connection.Human motion is imitated from simple structure
Angle is set out, and connection mode is preferable using rotation connection, because actually the movement of human body is all much around joint exhibition
It opens, based on rotating, rotation connection can preferably imitate human motion for human motion.
The operation principle of the present invention is further described with reference to rotation connection：
Referring to figs. 1 to Fig. 3, specifically, children accompany the structure of robot can be arranged such that：From the inside of robot
It sees, chest 200C rotations drive head 100H and neck 100N, and waist 200W rotations drive head 100H, neck 100N and chest
200C, hip 300K rotation drive head 100H, neck 100N, chest 200C and waist 200W；Leg 400B is positioned over level
On face, it can be arranged to according to actual use situation movable or no motion of.In this way, hip 300K rotations drive head
100H, neck 100N, chest 200C and waist 200W rotations, and head 100H, neck 100N, chest 200C and waist 200W
It can individually rotate simultaneously, children accompany robot that can realize linkage.In terms of the outside of robot, lower part 300 drives for this linkage
Trunk 200 and top 100 rotate, and trunk 200 itself also has at least two rotational freedoms, in this way, trunk 200 is in addition under
It is rotated under the drive in portion 300, trunk 200 itself can also be rotated at least two directions, be superimposed rotational motion, be realized
Multi-motion, robot can preferably imitate human motion.Top 100 is also in this way, lower part 300 and trunk 200 can be right simultaneously
It drives, and is superimposed more rotational motions, so as to preferably imitate the movement of human body.
Certainly, children accompany the structure of robot that can also have other settings, such as：Chest 200C rotations drive neck
100N, waist 200W rotation drive chest 200C, hip 300K rotation to drive chest 200C and waist 200W, and the present invention is not with this
It is limited.
To imitate human motion as much as possible by simple structure, six big organization of human body head 100H, neck 100N,
Chest 200C, waist 200W, hip 300K and leg 400B it is adjacent between the direction of motion it is different, specifically from the point of view of, six big human bodies
The direction of motion of structure can be to differ or part is identical.It illustrates how to set by taking rotation connection as an example：Head 100H
Head rotation direction axis and neck 100N neck rotation direction axis between into the first angle；Neck rotation direction
Axis and chest 200C chest rotation direction axis between into the second angle；The axis and waist of chest rotation direction
Into third angle between the axis of the waist rotation direction of 200W；The axis of waist rotation direction and the hip pivot of hip 300K
Into the 4th angle between the axis in direction.With reference to figure 2, more specifically, for the movement of proper simulation human body, the head of head 100H
The axis of portion's rotation direction is parallel with horizontal plane or less parallel, and top 100 is lifted and put down to realize；The neck of neck 100N
The axis of rotation direction is parallel with vertical direction or less parallel, and top 100 is rotated to realize；The chest rotation side of chest 200C
To axis with horizontal plane parallel or less parallel and the vertical or near normal with the axis in head rotation direction, with realize left and right
Swing trunk 200；The axis of the waist rotation direction of waist 200W is parallel with horizontal plane or less parallel and with chest rotation side
To axis is vertical or near normal, protracted and layback trunk 200 with realizing；The axis in the hip pivot direction of hip 300K with
Vertical direction is parallel or less parallel, and trunk 200 is rotated to realize.
Above the present invention is described, but the present invention can also have the form of some modifications, such as：
Connection mode between head 100H, neck 100N, chest 200C, waist 200W, hip 300K and leg 400B
It is connected, realize flexible or moved left and right using translation；
Connection mode between head 100H, neck 100N, chest 200C, waist 200W, hip 300K and leg 400B
It is connected, realize vibration or swung using vibration；
Connection mode between head 100H, neck 100N, chest 200C, waist 200W, hip 300K and leg 400B
Using the combination of rotation connection, translation connection or vibration connection, such as in addition to rotation connection between head 100H and neck 100N
Except also using translation connection, head 100H can realize rotation and flexible, and head is made to have multiple freedom of motion, other portions
Position is it is also possible that setting.
With reference to figure 1, the action of six big organizations of human body is showed by top 100, trunk 200 and hip 300, compact-sized,
In addition the mechanical structure connected so that entire children accompany robot easily controllable, so as to reduce cost.
Referring to figs. 2 and 3, so that structure is compacter, the connection between six big organizations of human body is connected using nested type.
Specifically, being connected between head 100H and neck 100H for nested type, connected between chest 200C and waist 200W for nested type,
It is connected between waist 200W and hip 200K for nested type.This nested type connects so that a mechanism surrounds or semi-surrounding is another
A mechanism, is collapsed overall structure, so that structure is compacter.
Specifically, in the present invention, leg 300B carryings hip 300K, waist 200W are nested in the inside of hip 300K,
Chest 200C is nested in the inside of waist 200W, and neck 100N is nested in the inside of head 100H.Certainly, according to actual needs,
There can also be other nested types to connect, for example hip 300K is nested in the inside of waist 200W, waist 200W is nested in chest
The inside of 200C, the present invention are not limited.
In the present invention, rotation connection is realized by belt wheel and synchronous belt, and belt wheel and synchronous band connection are driven by motor
Belt wheel and synchronous belt.Specifically use synchronous pulley and stepper motor.Tensioning wheel can be also set, for adjusting the cornerite of synchronous belt.
It is driven using stepper motor, is transmitted and moved using synchronous pulley, and increase synchronous belt cornerite using tensioning wheel so that robot exists
Speed is steady during movement, and noise is few.
Below to the specific knot of head 100H, neck 100N, chest 200C, waist 200W, hip 300K and leg 400B
Structure is further described：
With reference to figure 4, leg 300B include chassis B8, fixing bracket B7, fixed disc B6, bearing inner end cap B5, outside bearing
End cap B4, ball bearing B3, big belt wheel B2, bottom synchronous belt B1；Fixing bracket B7 is installed on the B8 of chassis；Fixed disc B6 pacifies
Loaded on fixing bracket B7；Bearing inner end cap B5 is installed in the outrigger shaft (not shown) of the centre of hip chassis K7；Axis
Outer end cap B4 is held to be fixed on big belt wheel B2；Ball bearing B3 is installed between big belt wheel B2 and bearing outer end cap B4；Big belt wheel
B2 is mounted on fixed disc B6, is driven by bottom synchronous belt B1 and hip small pulley K9 cooperations, and big belt wheel B2, bottom synchronize
The joint between hip 300K and leg 300B is formed with B1 and hip small pulley K9, realizes turning for hip 300K and leg 300B
Dynamic connection.
With reference to figure 5, hip 300K includes tensioning stent K1, hip tensioning wheel K2, belt wheel fixed frame K3, waist driving motor
Fixed plate K4, waist small pulley K5, waist driving motor K6, hip chassis K7, hip driving motor fixed plate K8, hip small band
Take turns K9, hip driving motor K10, bearing fixed frame K11；Tensioning stent K1 is for fixing hip tensioning wheel K2, mounted on belt wheel
On fixed frame K3；Belt wheel fixed frame K3 is installed on the K7 of hip chassis；Waist driving motor fixed plate K4 is fixed mounted on belt wheel
On frame K3, for fixing waist driving motor K6；Waist driving motor K6 is mounted on band by waist driving motor fixed plate K4
It takes turns on fixed frame K3；Hip chassis K7 is connected with bottom 300B by bearing (not shown)；Hip driving motor fixed plate
K8 is mounted on the K7 of hip chassis；Hip driving motor K10 is mounted on hip chassis K7 by hip driving motor fixed plate K8
On；Bearing fixed frame K11 is mounted on the K7 of hip chassis, for fixing the spring bearing that hip 300K is connected with waist 200W
W15。
With reference to figure 6, waist 200W includes waist synchronous belt W1, waist big belt wheel W2, Bearing with wheel W3, Bearing with wheel outer end
Cover W4, Bearing with wheel inner end cap W5, chest support W6, chest fixed frame W7, chest driving motor fixed plate W8, chest tensioning
Take turns W9, chest tensioning stent W10, chest driving motor W11, chest small pulley W12, spring bearing inner end cap W13, spring bearing
Outer end cap W14, spring bearing W15, lumbar support stent W16；Waist synchronous belt W1 is used for the transmission of waist 200W, one end connection
In waist big belt wheel W2, the other end is connect with the waist small pulley K5 that hip 300K is installed；It is big that Bearing with wheel W3 is installed on waist
Within belt wheel W2；Bearing with wheel outer end cap W4 is used for the outer diameter of fixed pulley bearing W3；Bearing with wheel inner end cap W5 is used to fix
The internal diameter of Bearing with wheel W3；Chest support W6 is used to support chest part；Chest fixed frame W7 is used to fix chest part；Chest
Portion driving motor fixed plate W8 is installed on for fixing chest driving motor W11 on chest fixed frame W7；Chest tensioning wheel W9 is used
In the transmission cornerite of increase chest big belt wheel C14, stent W10 is tensioned by chest and is installed on chest fixed frame W7；Chest
Locking bracket W10 is for fixing chest tensioning wheel W9, on chest fixed frame W7；Chest driving motor W11 is driven by chest
Dynamic motor fixing plate W8 is mounted on chest fixed frame W7；Chest small pulley W12 is installed on chest driving motor W11, is used for
Transmit chest exercise；Spring bearing inner end cap W13 is used for the internal diameter of fixed pulley bearing W3, is installed on lumbar support stent W16
On；Bearing support outer end cap W14 is used for the outer diameter of fixed bearing bearing W15, is installed on chest fixed frame W7；Bearing support
W15 is used to support waist 200W movements, is installed between bearing support outer end cap W14 and lumbar support stent W16；Lumbar support
Stent W16 is used to fix spring bearing W15, and pass through screw and with chest support W6 and chest fixed frame W7 be connected；Waist is big
Belt wheel W2 is used to be driven for waist driving motor K6, is connected with waist synchronous belt W1, waist synchronous belt W1 and waist small pulley K5
Connection, waist synchronous belt W1, waist big belt wheel W2 and waist small pulley K5 form the joint between waist 200W and hip 300K,
Realize the rotation connection of waist 200W and hip 300K.
With reference to figure 7a and Fig. 7 b, chest 200C includes neck driving motor C1, neck small pulley C2, neck driving motor and consolidates
Fixed board C3, one C4 of shell supporting rack, two C5 of shell supporting rack, neck driving motor fixed frame C6, chest fixed frame C7, chest branch
Support bearing C8, spring bearing outer end cap C9, spring bearing inner end cap C10, Bearing with wheel inner end cap C11, Bearing with wheel outer end cap
C12, Bearing with wheel C13, chest big belt wheel C14, chest synchronous belt C15；Neck driving motor C1 leads to for driving neck 200N
Neck driving motor fixed plate C3 is crossed to be installed on neck driving motor fixed frame C6；Neck small pulley C2 is installed on neck driving
On motor C1；One C4 of shell supporting rack and two C5 of shell supporting rack is installed on neck driving motor for connecting fixing shell body
On fixing bracket C6；Chest fixed frame C7 is installed on for fixing chest part on chest support W6；Chest supporting bearing C8
For Auxiliary support chest part；Spring bearing outer end cap C9 and spring bearing inner end cap C10 is respectively intended to fixed chest supporting
The outer diameter and internal diameter of bearing C8；Bearing with wheel outer end cap C12 and Bearing with wheel inner end cap C11 are respectively intended to fixed pulley bearing
The outer diameter and internal diameter of C13；Bearing with wheel C13 is installed between chest big belt wheel C14；Chest big belt wheel C14 is installed on chest and consolidates
Determine on frame C7, chest big belt wheel C14 is used for the transmission of chest driving motor W11, is connected with chest synchronous belt C15, and chest synchronizes
Band C15 is connect with chest small pulley W12, and chest big belt wheel C14, chest synchronous belt C15 and chest small pulley W12 form chest
The rotation connection of chest 200C and waist 200W is realized in joint between 200C and waist 200W.
With reference to figure 8, neck 100N includes head driving motor fixed frame N1, head driving motor N2, head driving motor
Fixed plate N3, neck support N4, neck Bearing with wheel inner end cap N5, neck Bearing with wheel outer end cap N6, neck Bearing with wheel
N7, neck belt wheel N8, neck synchronous belt N9；Head driving motor fixed frame N1 is used for fixing head driving motor N2, and head is driven
The lower end connecting neck portion supporting rack N4 of dynamic motor fixing frame N1, upper end are then used to connect headset；Head driving motor N2 is used
In drive head 100H, it is installed on the driving motor fixed frame N1 of head by head driving motor fixed plate N3；Neck support
Frame N4 is used to support and connecting neck portion 100N and headset；Neck Bearing with wheel inner end cap N5 and neck Bearing with wheel outer end cap
N6 is used to fix neck Bearing with wheel N7；Neck Bearing with wheel N7 is installed in neck belt wheel N8；Neck support N4 and neck
Belt wheel N8 connections, neck Bearing with wheel outer end cap N6 are mounted on neck belt wheel N8, and neck Bearing with wheel inner end cap N5 is installed on
On neck driving motor fixed frame C6, neck Bearing with wheel N7；Neck belt wheel N8 is used to be driven for neck driving motor C1, with neck
Portion synchronous belt N9 is connected, and neck synchronous belt N9 is connect with neck small pulley C2, and neck belt wheel N8, neck synchronous belt N9 and neck are small
Belt wheel C2 forms the joint between neck 200N and chest 200C, realizes the rotation connection of neck 200N and chest 200C.
With reference to figure 9, head 100H includes head Bearing with wheel inner end cap H1, head Bearing with wheel outer end cap H2, head band
Wheel bearing H3, head belt wheel H4, head synchronous belt H5, head supporting frame H6, head spring bearing H7, head spring bearing outer end
Cover H8, head spring bearing inner end cap H9；Head Bearing with wheel inner end cap H1 and head Bearing with wheel outer end cap H2 is used to fix
Head Bearing with wheel H3, head Bearing with wheel H3 are installed in the belt wheel H4 of head；Head belt wheel H4 is used for as head driving motor
N2 is driven, and is connected with head synchronous belt H5, and head synchronous belt H5 is connect with the belt wheel of head driving motor N2, head belt wheel H4,
The belt wheel of head synchronous belt H5 and head driving motor N2 form the joint between head 100H and neck 100N, realize head
The rotation connection of 100H and neck 100N.
The above content is combine specific/preferred embodiment further description made for the present invention, it is impossible to recognize
The specific implementation of the fixed present invention is confined to these explanations.For those of ordinary skill in the art to which the present invention belongs,
Without departing from the inventive concept of the premise, some replacements or modification can also be made to the embodiment that these have been described,
And these are substituted or variant should all be considered as belonging to protection scope of the present invention.
Claims (10)
1. children accompany robot, it is characterised in that：Including sequentially connected top, trunk, lower part and bottom；The top packet
Head and neck are included, the head and the neck drive the top；The trunk include chest and waist, the chest and
The waist drives the trunk；The lower part includes hip；The bottom includes leg；It is the head, the neck, described
Chest, the waist, the hip and the leg, which are sequentially connected, makes the head, the neck, the chest, the waist
At least one freedom of motion is respectively provided with the hip.
2. children according to claim 1 accompany robot, it is characterised in that：The head, the neck, the chest
Connection mode between portion, the waist, the hip and the leg includes one or more of following：Rotation connection, translation
Connection or vibration connection.
3. children according to claim 2 accompany robot, it is characterised in that：It is described rotation connection by belt wheel with it is synchronous
Band realizes that the belt wheel and the synchronous band connection drive the belt wheel and the synchronous belt by motor.
4. children according to claim 1 accompany robot, it is characterised in that：The head, the neck, the chest
Portion, the waist, the hip and the leg it is adjacent between the direction of motion it is different.
5. children according to claim 1 accompany robot, it is characterised in that：The head, the neck, the chest
Connection mode between portion, the waist, the hip and the leg is rotation connection；The head rotation direction on the head
Axis and the neck neck rotation direction axis between into the first angle；The axis in the neck rotation direction and institute
It states between the axis of the chest rotation direction of chest into the second angle；The axis of the chest rotation direction and the waist of the waist
Into third angle between the axis of portion's rotation direction；The axis of the waist rotation direction and the hip pivot direction of the hip
Axis between into the 4th angle.
6. the children according to claim 1 or 4 accompany robot, it is characterised in that：Between the head and the neck
It is connected for nested type；It is connected between the chest and the waist for nested type；It is nested between the waist and the hip
Formula connects.
7. children according to claim 6 accompany robot, it is characterised in that：The leg carries the hip, described
Waist is nested in the inside of the hip, and the chest is nested in the inside of the waist, and the neck is nested in the head
Inside.
8. children according to claim 1 accompany robot, it is characterised in that：The leg includes big belt wheel, fixed circle
Disk and bottom synchronous belt；The hip includes hip small pulley；The big belt wheel is mounted on the fixed disc, the big band
Wheel is driven by the bottom synchronous belt and hip small pulley cooperation.
9. children according to claim 1 accompany robot, it is characterised in that：The waist includes waist synchronous belt and waist
Portion's big belt wheel；The hip includes waist small pulley；The waist big belt wheel is connected with the waist synchronous belt, and the waist is same
Step band is connect with the waist small pulley.
10. children according to claim 3 accompany robot, it is characterised in that：Tensioning wheel is further included, the tensioning wheel is used
In the cornerite for adjusting the synchronous belt.
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|---|---|---|---|
| CN201810045837.6A CN108214510A (en) | 2018-01-17 | 2018-01-17 | Children accompany robot |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201810045837.6A CN108214510A (en) | 2018-01-17 | 2018-01-17 | Children accompany robot |
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| CN108214510A true CN108214510A (en) | 2018-06-29 |
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| CN201810045837.6A Pending CN108214510A (en) | 2018-01-17 | 2018-01-17 | Children accompany robot |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2019140568A1 (en) * | 2018-01-17 | 2019-07-25 | 深圳市共进电子股份有限公司 | Child companion robot |
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