CN109866232A - Chest skeleton texture and robot of robot - Google Patents
Chest skeleton texture and robot of robot Download PDFInfo
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- CN109866232A CN109866232A CN201910157515.5A CN201910157515A CN109866232A CN 109866232 A CN109866232 A CN 109866232A CN 201910157515 A CN201910157515 A CN 201910157515A CN 109866232 A CN109866232 A CN 109866232A
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Abstract
The utility model relates to a chest skeleton texture and robot of robot, chest skeleton texture include inner frame (10) and exoskeleton (20), exoskeleton (20) are injectd the thorax of robot, inner frame (10) set up in the thorax, inner frame (10) are used for the installation actuating mechanism of robot, exoskeleton (20) are used for supporting the outward appearance covering of the chest of robot, and exoskeleton (20) construct so that the chest has anthropomorphic appearance shape. Through the technical scheme, the inner framework is mainly used for installing the driving mechanism of the robot, the outer framework is mainly used for enabling the chest of the robot to construct an anthropomorphic appearance shape, the outer framework can play a role in protecting the inner framework and the driving mechanism and connecting the appearance skin, and when the appearance shape of the robot needs to be changed, the robot can have different appearances only by changing the appearance shapes of the outer framework and the appearance skin.
Description
Technical field
This disclosure relates to robot manufacturing technology field, and in particular, to a kind of chest skeleton structure of robot
With the robot for using the chest skeleton structure.
Background technique
With the development of science and technology robot gradually appears in people's daily life.Robot executes work as automatic
The installations of work, it can not only receive mankind commander, but also can run the program of preparatory layout, can also be according to artificial intelligence
The principle program action that energy technology is formulated, to assist or replace the work of the mankind.How the structure of design robot, make its tool
There is anthropomorphic face shaping and the movement of the mankind can be imitated, is one of robot building field problem to be solved.
In the prior art, the main body of robot is mainly by the skeleton at each position, such as head skeleton, trunk skeleton, hand
Arm skeleton, leg skeleton etc. are constituted, and driving mechanism, sensor, circuit board etc. are provided on skeleton, and appearance illiteracy is covered with outside skeleton
Skin, to make robot, appearance is more beautiful.Since appearance skin thickness is relatively thin, it is easy breakage, it can if appearance covering breakage
Driving mechanism on skeleton and skeleton etc. can be caused to damage.Also, since the shape of appearance covering is designed as the shape with skeleton
It is adapted, if skeleton does not have anthropomorphic face shaping, robot will not have anthropomorphic face shaping, in addition, if needing more
Change the face shaping of robot, then needs the shape for changing entire skeleton.
Summary of the invention
Purpose of this disclosure is to provide a kind of chest skeleton structure of robot and use the machine of the chest skeleton structure
People, which can ensure that robot has anthropomorphic face shaping, and make the face shaping of robot convenient for more
Change.
To achieve the goals above, the chest skeleton structure that the disclosure provides a kind of robot includes inner frame and dermoskeleton
Frame, the outer skeleton limit the thoracic cavity of the robot, and the inner frame is arranged in the thoracic cavity, and the inner frame is used for
The driving mechanism of the robot is installed, the outer skeleton is used to support the appearance covering of the chest of the robot, and institute
Stating outer skeleton construction is so that the chest has anthropomorphic face shaping.
Optionally, the driving mechanism includes arm driving mechanism and waist driving mechanism, which includes
For driving the first arm driving mechanism of the arm side-to-side movement of the robot and for driving the arm to move forward and backward
The second arm driving mechanism, the waist driving mechanism is for driving the chest skeleton structure side-to-side movement, the in-seam
The left and right ends of frame are used to be arranged for the first arm driving mechanism to be respectively set between the first arm driving mechanism
The second arm driving mechanism, the lower end of the inner frame is for being arranged the waist driving mechanism.
Optionally, the outer skeleton includes the outer skeleton of anterior part of chest and the outer skeleton of back part, and the outer skeleton of the anterior part of chest is fixed
In the front side of the inner frame, the outer skeleton of the back part is fixed on the rear side of the inner frame, and the outer skeleton of the anterior part of chest
The front side of the outer skeleton of rear side and the back part be bonded, the dermoskeleton frame be arranged so that the first arm driving mechanism with
The respective at least driving end exposure of waist driving mechanism.
Optionally, the outer skeleton of the anterior part of chest includes the outer skeleton of the first anterior part of chest, and the outer skeleton of the back part includes first
The outer skeleton of back part, the outer skeleton of first anterior part of chest and the outer skeleton of first back part are both secured to the inner frame,
The lower end of the outer skeleton of first anterior part of chest is configured to be suitable for covering the side of the waist driving mechanism in front,
The lower end of the outer skeleton of first back part is configured to be suitable for covering the side of the waist driving mechanism at rear.
Optionally, the outer skeleton of the anterior part of chest further includes the outer skeleton of the second anterior part of chest, and the outer skeleton of the back part further includes
The outer skeleton of second back part, the outer skeleton of second anterior part of chest are fixed on skeleton outside first anterior part of chest in rear side, and described the
The outer skeleton of two back parts is fixed on skeleton outside first back part in front side,
The outer skeleton of second anterior part of chest and the outer skeleton of second back part all have the arc external side outwardly protruded,
It rises and falls so that the face shaping has in front side and rear side.
Optionally, the outer skeleton further includes the outer skeleton of front waist and the outer skeleton of rear waist, and the outer skeleton of the front waist connects
It connects outside first anterior part of chest on skeleton and positioned at skeleton lower end outside second anterior part of chest, the outer skeleton connection of the rear waist
On skeleton and be located at skeleton lower end outside second back part outside first back part, with front side and rear side at least partly
Ground covers the front-end and back-end of the waist driving mechanism,
The outer skeleton of the front waist has the arc external side outwardly protruded, the arc external side and second anterior part of chest
The arc external side of outer skeleton is adjacent and seamlessly transits,
The outer skeleton of the rear waist all has the arc external side outwardly protruded, the arc external side and second back
The arc external side of skeleton is adjacent outside portion and seamlessly transits.
Optionally, the outer skeleton of the anterior part of chest and the outer skeleton of back part are configured to avoid corresponding institute in left and right side
State moving forward and backward for arm.
Optionally, the outer skeleton further includes the outer skeleton of the first shoulder, and the first shoulder dermoskeleton frame is set as appropriate for hiding
Cover the side of the first arm driving mechanism, the outer skeleton of first shoulder and the first arm driving mechanism and the second-hand
The driving end of arm driving mechanism connects, to drive the arm to move forward and backward, the driving end of the first arm driving mechanism with
The arm connection, to drive the arm side-to-side movement.
Optionally, it is additionally provided with the support ring for being used to support the outer skeleton of first shoulder on the inner frame, described the
The outer skeleton of one shoulder passes through the support ring and connect with the driving end of the second arm driving mechanism.
Optionally, the outer skeleton further includes the outer skeleton of the second shoulder, and the outer skeleton of second shoulder is fixed on described the
On the outer skeleton of one shoulder, and set up outside the outside of the support ring, the second shoulder of institute in the right and left of the robot
Skeleton is supported close to the side of the support ring and the end face of the support ring.
Optionally, the outer skeleton further includes the outer skeleton of third shoulder, and the outer skeleton of the third shoulder is fixed on described the
On the outer skeleton of one shoulder, and set up in the right and left of the robot in the inside of the support ring, the third shoulder
Outer skeleton is protruded into the support ring close to the side of the support ring and is supported with the inner surface of the support ring, to fill
State the space between support ring and the first arm driving mechanism.
Optionally, the outer skeleton of first shoulder is formed as the U-shaped structure being open towards the inner frame, first shoulder
The front and rear sides of skeleton are provided with the outer skeleton of second shoulder and the outer skeleton of third shoulder outside portion.
Optionally, the first positioning knot is configured between the outer skeleton of first shoulder and the second arm driving mechanism
Structure, to limit the relative position of the two,
First location structure includes the positioning pin and location hole matched, in the positioning pin and the location hole
One is set to the outer skeleton of first shoulder, and the other of the positioning pin and the location hole are set to the second-hand
The driving end of arm driving mechanism.
Optionally, the outer skeleton further includes the shield line skeleton for protecting conducting wire, and the shield line skeleton is located at described
The outside of the outer skeleton of third shoulder, so that the conducting wire is located between the shield line skeleton and the outer skeleton of the third shoulder.
Optionally, the outer skeleton further includes the outer skeleton of the 4th shoulder, and the 4th shoulder dermoskeleton frame setting is described the
The two sides up and down of the outer skeleton of one shoulder, and be located at outside the first arm driving mechanism and the outer skeleton of the anterior part of chest and back part
Between skeleton, the lateral surface of the outer skeleton of the 4th shoulder is outer convex globoidal.
Optionally, it is constructed between the outer skeleton of the 4th shoulder and the outer skeleton of the anterior part of chest and/or the outer skeleton of back part
There is the second location structure,
Second location structure includes the locating slot and positioning convex platform matched, in the locating slot and positioning convex platform
One is set to the outer skeleton of the 4th shoulder, and the other of the locating slot and positioning convex platform are set to outside the anterior part of chest
Skeleton and/or the outer skeleton of back part.
Optionally, the outer skeleton is at least partly configured to truss structure.
Optionally, the inner frame is made of metal material, and the outer skeleton is made of plastic material.
Through the above technical solutions, inner frame is mainly used in the chest skeleton structure for the robot that the disclosure provides
The driving mechanism of mounting robot provides the installation foundation of driving mechanism, and outer skeleton is mainly used for the chest of construction robot
Face shaping, the appearance covering of the chest of robot is covered on outer skeleton so that robot has smooth appearance,
The shape of appearance covering is corresponding with the shape of outer skeleton.Based on this, outer skeleton can not only be played on inner frame and inner frame
The effect protected of driving mechanism, and also act as the effect of connection appearance covering.Based on the disclosure provide it is this in,
The chest skeleton structure of outer skeleton, when the face shaping of robot needs to change, without changing inner frame, it is only necessary to change outer
The face shaping of skeleton can make robot have different shapes, consequently facilitating meeting the needs of different, be beneficial to reduce material
Expect cost, human cost design difficulty and enforcement difficulty.
According to another aspect of the present disclosure, a kind of robot is provided, the chest skeleton structure including above-mentioned robot.
Other feature and advantage of the disclosure will the following detailed description will be given in the detailed implementation section.
Detailed description of the invention
Attached drawing is and to constitute part of specification for providing further understanding of the disclosure, with following tool
Body embodiment is used to explain the disclosure together, but does not constitute the limitation to the disclosure.In the accompanying drawings:
Fig. 1 is the main view of the chest skeleton structure for the robot that a kind of illustrative embodiments of the disclosure provide；
Fig. 2 is the rearview of the chest skeleton structure for the robot that a kind of illustrative embodiments of the disclosure provide；
Fig. 3 is the explosive view of the chest skeleton structure for the robot that a kind of illustrative embodiments of the disclosure provide；
Fig. 4 is the explosive view for the outer skeleton that a kind of illustrative embodiments of the disclosure provide；
Fig. 5 is the main view for the inner frame that a kind of illustrative embodiments of the disclosure provide；
Fig. 6 is the partial schematic diagram for the inner frame that a kind of illustrative embodiments of the disclosure provide；
Fig. 7 is the schematic perspective view for the outer skeleton of the first shoulder that a kind of illustrative embodiments of the disclosure provide；
Fig. 8 is outside the inner frame that a kind of illustrative embodiments of the disclosure provide and the outer skeleton of the second shoulder and third shoulder
The schematic front view assembled between skeleton；
Fig. 9 is outside the inner frame that a kind of illustrative embodiments of the disclosure provide and the outer skeleton of the second shoulder and third shoulder
The schematic perspective view assembled between skeleton；
Figure 10 is assembled between a kind of illustrative embodiments of disclosure inner frame provided and the outer skeleton of third shoulder
Schematic perspective view；
Figure 11 is the assembling schematic diagram for the outer skeleton of the 4th shoulder that a kind of illustrative embodiments of the disclosure provide.
Description of symbols
10 inner frame, 11 support ring
The outer skeleton of 20 outer 21 anterior part of chest of skeleton
The outer skeleton of 211 first anterior part of chest, 212 second anterior part of chest of outer skeleton
The outer skeleton of 22 back part of positioning convex platform of the outer skeleton of 213 anterior part of chest
The outer skeleton of 221 first back parts, 222 second back part of outer skeleton
The outer skeleton of 23 front waist of positioning convex platform of the outer skeleton of 223 back parts
The outer skeleton of 24 rear waists, 25 first shoulder of outer skeleton
The outer skeleton of 251 positioning pin, 26 second shoulder
The outer skeleton 28 of 27 third shoulders protects line skeleton
29 the 4th shoulders, 291 locating slot of outer skeleton
31 waist driving mechanism, 32 first arm driving mechanism
33 second arm driving mechanisms 331 drive end ontology
332 driving 333 location holes of end wrap member
Specific embodiment
It is described in detail below in conjunction with specific embodiment of the attached drawing to the disclosure.It should be understood that this place is retouched
The specific embodiment stated is only used for describing and explaining the disclosure, is not limited to the disclosure.
In the disclosure, in the absence of explanation to the contrary, the noun of locality used such as " up, down, left, right, before and after " is logical
Often to be defined based on robot itself, specifically, towards the direction of robot head be it is upper, towards robot foot
Under the direction in portion is, robot towards orientation be before, otherwise after being, when robot face forward, left hand institute, robot
Orientation be a left side, orientation where the robot right hand is the right side, and " inside and outside " then refers to the interior of the profile of corresponding component or structure
Outside.The above-mentioned noun of locality is only used for the explanation and illustration disclosure, is not construed as the limitation to the disclosure.In addition, used art
Language such as " first ", " second " is that do not have succession and importance to distinguish an element and another element.In addition,
In the description of reference attached drawing, the same label in different attached drawings indicates identical element.
As shown in Figure 1 to 11, the disclosure provides a kind of chest skeleton structure of robot, including inner frame 10 and dermoskeleton
Frame 20, outer skeleton 20 limit the thoracic cavity of robot, and inner frame 10 is arranged in the thoracic cavity, and inner frame 10 is used for mounting robot
Driving mechanism, outer skeleton 20 is used to support the appearance covering of the chest of robot, and outer skeleton 20 is constructed so that machine
The chest of people has anthropomorphic face shaping.
Through the above technical solutions, inner frame 10 is mainly used in the chest skeleton structure for the robot that the disclosure provides
In the driving mechanism of mounting robot, the installation foundation of driving mechanism is provided, and outer skeleton 20 is mainly used for construction robot's
The face shaping of chest, the appearance covering of the chest of robot are covered on outer skeleton 20, so that robot is with smooth
Appearance, the shape of appearance covering is corresponding with the shape of outer skeleton 20.Based on this, outer skeleton 20 can not only be played to inner frame
10 and inner frame 10 on the effect protected of driving mechanism, and also act as the effect of connection appearance covering.Based on this public affairs
The chest skeleton structure that this inside and outside skeleton of offer is provided, when the face shaping of robot needs to change, without changing in-seam
Frame 10, it is only necessary to which the face shaping for changing outer skeleton 20 can make robot have different shapes, consequently facilitating meeting different
Demand, be beneficial to reduce material cost, human cost design difficulty and enforcement difficulty.
Herein it is to be understood that the thoracic cavity that outer skeleton 20 limits refers to the cavity structure that outer skeleton 20 surrounds, the sky
Cavity configuration is for accommodating and installing inner frame 10.In addition, the thoracic cavity for the robot that the application mentions and referring not only in traditional sense
Human body thoracic cavity (cavity that thoracic vertebrae and rib cage surround), also may include abdominal cavity, the chest skeleton structure that the application mentions is simultaneously
The chest skeleton structure for referring not only to traditional human body also may include the skeleton structure of back, waist and shoulder, that is,
Trunk skeleton structure without a head, without neck, without four limbs.Driving mechanism can include but is not limited to for driving robot arm to move
Driving mechanism, for drive Robot neck move driving mechanism, the driving mechanism for driving robot waist movement
Deng.
In the specific embodiment that the disclosure provides, refering to what is shown in Fig. 5, above-mentioned driving mechanism may include arm driving
Mechanism and waist driving mechanism 31, the arm driving mechanism include the first arm for driving the arm side-to-side movement of robot
Driving mechanism 32 and the second arm driving mechanism 33 for driving arm to move forward and backward, waist driving mechanism 31 is for driving chest
Portion's skeleton structure entirety side-to-side movement, that is, the side-to-side movement of the robot upper part of the body, the left and right ends of inner frame 10 for setting respectively
The first arm driving mechanism 32 is set, is used to that the second arm driving mechanism 33, inner frame be arranged between the first arm driving mechanism 32
10 lower end is for being arranged waist driving mechanism 31.Here, driving mechanism can have a rotary shaft also can have it is multiple
Rotary shaft makes robot arm rotate about the driving mechanism that axis swings for example, the first arm driving mechanism 32 can be,
Second arm driving mechanism 33 can be the driving mechanism for making robot arm rotate about axis swing, waist driving mechanism
31 can be the chest skeleton structure of robot is made to rotate about the driving mechanism that axis swings.Wherein, the first arm drives
The rotary shaft of mechanism 32 can be parallel with the rotary shaft of waist driving mechanism 31, such as extends along the longitudinal direction, and the second arm drives
The rotary shaft of motivation structure 33 can be perpendicular with the rotary shaft of the first arm driving mechanism 32, such as along oblique updip from inside to outside
Oblique left and right directions extends, as shwon in Figures 5 and 6.In another embodiment that the disclosure provides, the first arm driving machine
Structure may be such that the driving mechanism that the arm of robot translates in left-right direction, in such as transport operation.Similarly,
Two arm driving mechanisms can also be such that the driving mechanism that the arm of robot translates along the longitudinal direction, make for for example carrying
In industry.In addition, waist driving mechanism 31 can be make chest skeleton structure of robot or so reverse driving mechanism, i.e., so that
The chest skeleton structure of robot is around the rotary shaft rotation vertically extended.In this regard, the disclosure is not specifically limited, not
It, can be according to actual needs to above-mentioned arm driving mechanism and waist driving mechanism in the case where being detached from the disclosed invention design
Accordingly it is arranged.
In a kind of illustrative embodiments that the disclosure provides, as shown in Figure 3 and Figure 4, outer skeleton 20 includes anterior part of chest
Outer skeleton 21 and the outer skeleton 22 of back part, the outer skeleton 21 of anterior part of chest are fixed on the front side of inner frame 10, and the outer skeleton 22 of back part is solid
It is scheduled on the rear side of inner frame 10, and the rear side of the outer skeleton 21 of anterior part of chest is bonded with the front side of the outer skeleton 22 of back part, and before making
The outer skeleton 21 of chest and the outer skeleton 22 of back part surround the thoracic cavity of above-mentioned robot from front and rear sides.Wherein, the outer skeleton of anterior part of chest
The front side of the outer skeleton 22 of 21 rear side and back part can be the conjunction of face face paste, in this way, the outer skeleton 21 of anterior part of chest and back part dermoskeleton
It is plane-plane contact between frame 22, the effect of power if it exists between the two then can be avoided the phenomenon that stress is concentrated, to be beneficial to
Keep the relative position of the two.As depicted in figs. 1 and 2, outer skeleton 20 is arranged so that the first arm driving mechanism 32 and waist
The respective at least driving end exposure of driving mechanism 31, that is to say, that the first arm driving mechanism 32 and waist driving mechanism 31 are each
From at least driving end from the thoracic cavity that skeleton 22 surrounds outside anterior part of chest dermoskeleton frame 21 and back part exposure, in order to the first arm
The driving end of driving mechanism 32 and the arm of robot connect, and the driving end of waist driving mechanism 31 and the lower limb of robot connect
It connects.
Further, the outer skeleton 21 of anterior part of chest and the outer skeleton 22 of back part are configured to avoid corresponding hand in left and right side
Arm moves forward and backward, and is moving forward and backward to avoid arm, for example, during swing with skeleton 21 and back outside anterior part of chest
Mechanical interference occurs for the left and right sides of skeleton 22 outside portion, prevents the outer skeleton 21 of anterior part of chest and the outer skeleton 22 of back part from influencing arm
Swing.For example, as shown in Figures 1 and 2, outer skeleton 20 (is specifically as follows the outer skeleton 21 of anterior part of chest and back part dermoskeleton
Frame 22) it is so structured that inverted triangle structure, the figure for having anthropomorphic shoulder breadth waist thin, can not only move to avoid with arm
Interference, but also can be improved aesthetics.
Wherein, with reference to shown in Fig. 3 and Fig. 4, the outer skeleton 21 of anterior part of chest may include the outer skeleton 211 of the first anterior part of chest, back
Skeleton 22 includes the outer skeleton 221 of the first back part outside portion, and the outer skeleton 211 of the first anterior part of chest and the outer skeleton 221 of the first back part are
It is fixed on inner frame 10, the lower end of the outer skeleton 211 of the first anterior part of chest is configured to be suitable for covering waist driving mechanism 31 in front
Side, the lower end of the outer skeleton 221 of the first back part are configured to be suitable for covering the side of waist driving mechanism 31 at rear.Here it needs
It is explained that the used noun of locality " side " refers to that the peripheral surface of waist driving mechanism 31 (can be understood as surrounding
The peripheral surface of the rotary shaft of waist).The lower end of the outer skeleton 211 of first anterior part of chest and the lower end of the outer skeleton 221 of the first back part
On the one hand the side for covering waist driving mechanism 31 can play a protective role to waist driving mechanism 31, another party can be so as to
It is connected in the lower limb of robot with the lower end of skeleton 22 outside skeleton 21 outside anterior part of chest and back part, that is, the waist phase with robot
Even.
In addition, the outer skeleton 21 of anterior part of chest further includes the outer skeleton 212 of the second anterior part of chest, the outer skeleton 22 of back part further includes second
The outer skeleton 222 of back part, the outer skeleton 212 of the second anterior part of chest are fixed on skeleton 211 outside the first anterior part of chest, the second back part in rear side
Outer skeleton 222 is fixed on skeleton 221 outside the first back part in front side, that is, the outer skeleton 211 of the first anterior part of chest be located at inner frame 10 and
Between the outer skeleton 212 of second anterior part of chest, the outer skeleton 221 of the first back part is located at inner frame 10 and the outer skeleton 222 of the second back part
Between, the outer skeleton 212 of the second anterior part of chest and the outer skeleton 222 of the second back part all have the arc external side outwardly protruded, so that
The face shaping for obtaining the chest of robot has in front side and rear side to rise and fall, and to simulate the shirtfront of human body and the fluctuating of back, makes
The chest appearance of robot is more anthropomorphic.Here, the shape of the outer skeleton 211 of the first anterior part of chest and the outer skeleton 221 of the first back part
It can be adapted with the shape of inner frame 10, to protect inner frame 10 and cover the side of waist driving mechanism 31, the second shirtfront
Skeleton 212 and the outer skeleton 222 of the second back part can be configured such that the chest of robot has anthropomorphic face shaping outside portion,
And appearance covering is supported, in this way, even if the outer skeleton 212 of the second anterior part of chest and outer 222 bending of the skeleton damage of the second back part, first
The outer skeleton 211 of anterior part of chest and the outer skeleton 221 of the first back part also can protect the inner frame 10 being located therein and driving mechanism.
In addition, outer skeleton 20 can also include the outer skeleton 23 of front waist and the outer skeleton 24 of rear waist, the outer skeleton 23 of front waist
It is connected on the outer skeleton 211 of the first anterior part of chest and is located at outer 212 lower end of skeleton of the second anterior part of chest, the outer skeleton 24 of rear waist is connected to
On the outer skeleton 221 of first back part and it is located at outer 222 lower end of skeleton of the second back part, at least partly to hide in front side and rear side
The front-end and back-end of lid waist driving mechanism 31, construct the lumbar curve of robot.Outside the outer skeleton 23 of front waist and rear waist
May exist gap between skeleton 24 and the front-end and back-end of waist driving mechanism 31, to avoid skeleton 23 and low back outside front waist
Skeleton 24 interferes the operating of waist driving mechanism 31 outside portion.Further, the outer skeleton 23 of front waist has the arc outwardly protruded
The arc external side of the outer skeleton 212 of lateral surface, the arc external side and the second anterior part of chest is adjacent and seamlessly transits, rear waist dermoskeleton
Frame 24 all has the arc external side outwardly protruded, the arc external side of the arc external side and the outer skeleton 222 of the second back part
Adjacent and smooth transition, so that the face shaping of robot is more beautiful, anthropomorphic.
In a kind of specific embodiment that the disclosure provides, the outer skeleton 211 of the first anterior part of chest has along robot
Symmetrical first left side of axis and the first right side, the outer skeleton 221 of the first back part have along central axes bilateral symmetry
The second left side and the second right side, the first left side and the second left side are adjacent and seamlessly transit, to form robot
Left side, the first right side and the second right side are adjacent and seamlessly transit, to form the right side of robot.Outside second anterior part of chest
Skeleton 212 is configured with the front principle face of robot, and the outer skeleton 222 of the second back part is configured with the back principle face of robot, left side
Face and right side abut against between front principle face and back principle face, adjacent in front principle face, back principle face, left side and right side
Seamlessly transit between the two, seamlessly transitted between front principle face and back principle face, the upper end of front principle face and back principle face
Upper end between accompany the upper surface of the outer skeleton 211 of the first anterior part of chest and the upper surface of the outer skeleton 221 of the first back part, front side master
The lower end in face and the lower end of back principle face connect with the lateral surface of the outer skeleton 23 of front waist and the outer skeleton 24 of rear waist.
In addition, as shown in Fig. 3, Fig. 4, Fig. 7, outer skeleton 20 further includes the in a kind of embodiment that the disclosure provides
The outer skeleton 25 of one shoulder, the outer skeleton 25 of the first shoulder are set as appropriate for covering the side of the first arm driving mechanism 32, to the
One arm driving mechanism 32 plays a protective role, and here, the side of the first arm driving mechanism 32 refers to that the first arm drives
The peripheral surface of mechanism 32.The drive of first shoulder outer skeleton 25 and the first arm driving mechanism 32 and the second arm driving mechanism 33
Moved end is connected to drive arm to move forward and backward, and the driving end of the first arm driving mechanism 32 is connect with arm, to drive arm left
Right movement, in other words, when the rotation of the driving end of the second arm driving mechanism 33, the second arm driving mechanism 33 drives first-hand
Arm driving mechanism 32 and the outer skeleton 25 of the first shoulder rotate, so that robot arm swing is driven, when the first arm drives
When the driving end rotation of mechanism 32, the driving end of the first arm driving mechanism 32 drives robot arm to swing.
To be located on the driving end of the second arm driving mechanism 33 convenient for skeleton 25 outside the first shoulder, the first shoulder dermoskeleton
It is configured with the first location structure between frame 25 and the second arm driving mechanism 33, to limit the relative position of the two.In this public affairs
It opens in a kind of embodiment of offer, as shown in Figure 6 and Figure 7, the first location structure includes the positioning pin 251 matched and positioning
Hole 333, positioning pin 251 are formed in the outer skeleton 25 of the first shoulder close to one end of the second arm driving mechanism 33,333 shape of location hole
At at the driving end of the second arm driving mechanism 33.Specifically, the driving end of the second arm driving mechanism 33 may include driving
End ontology 331 and the driving end wrap member 332 being fixed on the driving end ontology 331, driving end wrap member 332 and driving end sheet
Body rotates synchronously, and location hole 333 can be formed on driving end wrap member 332, so that driving end wrap member 332 can play guarantor
Shield driving end ontology 331 and the effect for connecting the outer skeleton 25 of the first shoulder.When installing skeleton 25 outside the first shoulder, positioning pin
251 are inserted into location hole 333, so as to which skeleton 25 outside the first shoulder to be located in the driving end of the second arm driving mechanism 33
On.Certainly, in another embodiment that the disclosure provides, it can be and be formed on the driving end of the second arm driving mechanism 33
Positioning pin, and the location hole 333 with detent fit is formed on the outer skeleton 25 of the first shoulder.In addition, provided in the disclosure
In other embodiment, other positioning can be configured between the second arm driving mechanism 33 and the outer skeleton 25 of the first shoulder and are tied
Structure, such as positioning convex platform and groove, in this regard, the disclosure is not specifically limited.
Wherein, it as shown in Fig. 5 to Fig. 6, Fig. 8 to Figure 10, is also provided on inner frame 10 and is used to support the first shoulder
The support ring 11 of outer skeleton 25, the outer skeleton 25 of the first shoulder passes through support ring 11 and the driving end of the second arm driving mechanism 33 connects
It connects.Specifically, support ring 11 is fixed relative to the second arm driving mechanism 33, and support ring 11 is located at the first arm driving mechanism
32 and second between arm driving mechanism 33, is formed with step structure on the outer skeleton 25 of the first shoulder, the step structure backstop is simultaneously
It is supported in support ring 11, support ring 11 can play the role of the outer skeleton 25 of the first shoulder of Auxiliary support, prevent the first shoulder
The fracture of the junction of outer skeleton 25 and the second arm driving mechanism 33.
Further, as shown in Fig. 3, Fig. 8, Fig. 9, outer skeleton 20 further includes the outer skeleton 26 of the second shoulder, outside the second shoulder
Skeleton 26 is fixed on the outer skeleton 25 of the first shoulder, and is set up in the right and left of robot in the outside of support ring 11, the
Two shoulder outriggers 26 are supported close to the side of support ring 11 and the end face of support ring 11, so that the outer skeleton 25 of the first shoulder is rotating
When being capable of circumferentially rotating along support ring 11, that is to say, that since skeleton 26 and the end face of support ring 11 are supported outside the second shoulder,
The outer skeleton 26 of second shoulder can guide the outer skeleton 25 of the first shoulder to rotate along the inner circumferential of support ring 11, make the outer skeleton of the first shoulder
25 rotation process is more steady reliable, is not susceptible to beat, shakes.
In addition, outer skeleton further includes the outer skeleton 27 of third shoulder, third shoulder dermoskeleton as shown in Fig. 3, Fig. 8, Fig. 9, Figure 10
Frame 27 is fixed on the outer skeleton 25 of the first shoulder, and is set up in the right and left of robot in the inside of support ring 11, third
The outer skeleton 27 of shoulder is protruded into support ring 11 close to the side of support ring 11 and is supported with the inner surface of support ring 11, to fill branch
Space between pushing out ring 11 and the first arm driving mechanism 32 prevents the first arm driving mechanism 32 and the outer skeleton 25 of the first shoulder
Beat, play in support ring 11, that is, avoid the first arm driving mechanism 32 and the outer skeleton 25 of the first shoulder in the process of rotation
In, it is shaken in the direction (front-rear direction of robot) perpendicular to its pivot center, to make the outer skeleton 25 of the first shoulder and the
The rotation process of one arm driving mechanism 32 is more steady reliable, and then keeps the swing of robot arm reliable and stable.It can
Selection of land, the outer skeleton 27 of third shoulder protrudes into one end in support ring 11 can extend towards the direction of skeleton 26 outside the second shoulder,
And connect with skeleton 26 outside the second shoulder, it is tight with the connection between skeleton 27 outside skeleton 26 outside the second shoulder of raising and third shoulder
Close property keeps the outer skeleton of entire shoulder more reliable and more stable.
Optionally, the lateral surface of the outer skeleton 26 of the second shoulder and the outer skeleton 27 of third shoulder can be formed as outer convex globoidal,
In order to be adapted with the shape of support ring 11, and then the outer skeleton 26 of the second shoulder is enable to be supported on the end face of support ring 11
On, and the outer surface of the outer skeleton 27 of third shoulder can be bonded with the inner surface of support ring 11.
Further, in a kind of specific embodiment that the disclosure provides, the outer skeleton 25 of the first shoulder is formed as being open
Towards the U-shaped structure of inner frame 10, to cover the side of the first arm driving mechanism 32, and the first arm driving machine is at least exposed
The driving end of structure 32 enables the driving end of the first arm driving mechanism 32 to connect with arm, before the outer skeleton 25 of the first shoulder
Two sides are provided with the outer skeleton 26 of the second shoulder and the outer skeleton 27 of third shoulder afterwards, that is, the outer skeleton 26 of the second shoulder is mounted on the
The front and rear sides of the outer skeleton 25 of one shoulder, similarly, before the outer skeleton 27 of third shoulder is also mounted at the outer skeleton 25 of the first shoulder
Play the role of protecting the first arm driving mechanism 32 to cover the front and rear sides of the first arm driving mechanism 32 in two sides afterwards.The
The outer skeleton 26 of two shoulders can be set to the driving end exposure for making the first arm driving mechanism 32, in order to robot arm with
The driving end of first arm driving mechanism 32 connects.
Further, since having conducting wire to pass through on the outer skeleton 27 of third shoulder, outer skeleton 20 can also include for protecting conducting wire
Shield line skeleton 28, shield line skeleton 28 is located at the outside of the outer skeleton 27 of third shoulder so that conducting wire be located at shield line skeleton 28 with
Between the outer skeleton 27 of third shoulder, harness damage is prevented.
In addition, as shown in figure 11, outer skeleton 20 further includes outside the 4th shoulder in a kind of embodiment that the disclosure provides
Skeleton 29, the two sides up and down of skeleton 25 outside the first shoulder are arranged in the outer skeleton 29 of the 4th shoulder, and are located at the first arm driving machine
Between structure 32 and the outer skeleton 21 of anterior part of chest and the outer skeleton 22 of back part, at least to expose the driving of the first arm driving mechanism 32
The lateral surface at end, the outer skeleton 29 of the 4th shoulder makes the shoulder of robot for outer convex globoidal to simulate the curve of shoulders of human body appearance
Appearance is more anthropomorphic.Optionally, outside anterior part of chest dermoskeleton frame 21 and back part skeleton 22 towards the first arm driving mechanism 32
The height in direction, the outer skeleton 29 of the 4th shoulder gradually decreases, and to simulate the shoulder curves of human body, makes the face shaping of robot more
Add personification.
Further, it is constructed between the outer skeleton 29 of the 4th shoulder and the outer skeleton 21 of anterior part of chest and/or the outer skeleton 22 of back part
There is the second location structure, between skeleton 22 outside skeleton 21 outside skeleton 29 outside the 4th shoulder of restriction and anterior part of chest and/or back part
Relative position.
In a kind of embodiment that the disclosure provides, the second location structure includes the locating slot 291 matched and positioning
Boss 213,223, locating slot 291 are formed on the outer skeleton 29 of the 4th shoulder, and positioning convex platform 213 is formed in the outer skeleton 21 of anterior part of chest
Left side and right side on (referring to shown in Fig. 4), locating convex block 223 is formed in the left side and right side of the outer skeleton 22 of back part
On face (referring to shown in Fig. 4), during installation, positioning convex platform 213,223 is inserted into locating slot 291, so that the outer skeleton of the 4th shoulder
29 can quickly locate its installation site.Specifically, the outer skeleton 212 of the second anterior part of chest has left along the central axes of robot
Right symmetrical third left side and third right side, the outer skeleton 222 of the second back part have along central axes the symmetrical 4th
Left side and the 4th right side, the first left side, the second left side, third left side and the 4th left side form a left side for robot
Side, the first right side, the second right side, third right side and the 4th right side form the right side of robot, outside anterior part of chest
The positioning convex platform 213 of skeleton is formed in third left side and third right side, and the positioning convex platform 223 of back part skeleton is formed in
On four left sides and the 4th right side, in order to the installation with skeleton 29 outside the 4th shoulder.In a specific embodiment, fixed
Position boss 213,223 can be trapezoidal positioning convex platform 213,223, and locating slot 291 can be trapezoidal locating slot 291.In other realities
It applies in mode, positioning convex platform 213,223 and locating slot 291 or cuboid, the square bodily form, triangle etc..
In the another embodiment that the disclosure provides, locating slot 291 can be formed in the outer skeleton 21 of anterior part of chest with after
Outside back on the left side and right side of skeleton 22, positioning convex platform 213,223 can be formed on the outer skeleton 29 of the 4th shoulder.?
In the other embodiment that the disclosure provides, the outer skeleton 29 of the 4th shoulder and the outer skeleton 21 of anterior part of chest and/or the outer skeleton of back part
Other location structures, such as locating shaft and location hole etc. can be configured between 22, in this regard, the disclosure is not specifically limited.
For the weight for mitigating robot chest skeleton structure, the cruising ability of robot is improved, one provided in the disclosure
In kind embodiment, outer skeleton 20 is at least partly configured to truss structure, that is to say, that is formed at least partly outer skeleton 20
Hollow structure or lightening hole, weight loss groove etc. to reduce the weight of outer skeleton 20, and then reduce the weight of entire robot, reach
Improve the purpose of robot cruising ability.
As it was noted above, driving mechanism is mounted on inner frame 10 since inner frame 10 is different with the function of outer skeleton 20,
Arm, head, the lower limb of robot also may be mounted on inner frame 10, therefore inner frame 10 is main stress frame, and
Outer skeleton 20 is mainly used for the anthropomorphic face shaping of construction robot, therefore, in a kind of embodiment that the disclosure provides,
Inner frame 10 can be made of metal material, so that inner frame 10 has enough structural strengths, outer skeleton 20 can be by plastics
Material is made, in this way, the manufacturing cost of robot can be reduced, mitigates the overall weight of robot, improves the continuation of the journey of robot
Ability.
According to another aspect of the disclosure, a kind of robot is provided, the chest skeleton structure including above-mentioned robot.
The preferred embodiment of the disclosure is described in detail in conjunction with attached drawing above, still, the disclosure is not limited to above-mentioned reality
The detail in mode is applied, in the range of the technology design of the disclosure, a variety of letters can be carried out to the technical solution of the disclosure
Monotropic type, these simple variants belong to the protection scope of the disclosure.
It is further to note that specific technical features described in the above specific embodiments, in not lance
In the case where shield, can be combined in any appropriate way, in order to avoid unnecessary repetition, the disclosure to it is various can
No further explanation will be given for the combination of energy.
In addition, any combination can also be carried out between a variety of different embodiments of the disclosure, as long as it is without prejudice to originally
Disclosed thought equally should be considered as disclosure disclosure of that.
Claims (19)
1. a kind of chest skeleton structure of robot, which is characterized in that including inner frame (10) and outer skeleton (20), the dermoskeleton
Frame (20) limits the thoracic cavity of the robot, and the inner frame (10) is arranged in the thoracic cavity, and the inner frame (10) is used
In the driving mechanism for installing the robot, the outer skeleton (20) is used to support the appearance covering of the chest of the robot,
And the outer skeleton (20) is constructed so that the chest has anthropomorphic face shaping.
2. the chest skeleton structure of robot according to claim 1, which is characterized in that the driving mechanism includes arm
Driving mechanism and waist driving mechanism (31), the arm driving mechanism include the arm side-to-side movement for driving the robot
The first arm driving mechanism (32) and the second arm driving mechanism (33) for driving the arm to move forward and backward, the waist
Portion's driving mechanism (31) is for driving the chest skeleton structure side-to-side movement, and the left and right ends of the inner frame (10) are for dividing
The first arm driving mechanism (32) is not set, is used to that the second-hand be arranged between the first arm driving mechanism (32)
Arm driving mechanism (33), the lower end of the inner frame (10) is for being arranged the waist driving mechanism (31).
3. the chest skeleton structure of robot according to claim 2, which is characterized in that before the outer skeleton (20) includes
The outer skeleton (21) of chest and the outer skeleton (22) of back part, before the outer skeleton (21) of the anterior part of chest is fixed on the inner frame (10)
Side, the outer skeleton (22) of the back part are fixed on the rear side of the inner frame (10), and after the outer skeleton (21) of the anterior part of chest
Side is bonded with the front side of the outer skeleton (22) of the back part, and the outer skeleton (20) is arranged so that the first arm driving machine
Structure (32) and the respective at least driving end exposure of waist driving mechanism (31).
4. the chest skeleton structure of robot according to claim 3, which is characterized in that the outer skeleton (21) of the anterior part of chest
Including skeleton (211) outside the first anterior part of chest, the outer skeleton (22) of the back part includes the outer skeleton (221) of the first back part, described
The outer skeleton (211) of first anterior part of chest and the outer skeleton (221) of first back part are both secured to the inner frame (10),
The lower end of the outer skeleton (211) of first anterior part of chest is configured to be suitable for covering the waist driving mechanism (31) in front
Side, the lower end of the outer skeleton (221) of first back part are configured to be suitable for covering the waist driving mechanism (31) at rear
The side.
5. the chest skeleton structure of robot according to claim 4, which is characterized in that the outer skeleton (21) of the anterior part of chest
It further include the outer skeleton (212) of the second anterior part of chest, the outer skeleton (22) of the back part further includes the outer skeleton (222) of the second back part,
The outer skeleton (212) of second anterior part of chest is fixed on skeleton (211) outside first anterior part of chest, second back part in rear side
Outer skeleton (222) is fixed on skeleton (221) outside first back part in front side,
The outer skeleton (212) of second anterior part of chest and the outer skeleton (222) of second back part all have the arc outwardly protruded
Lateral surface rises and falls so that the face shaping has in front side and rear side.
6. the chest skeleton structure of robot according to claim 5, which is characterized in that the outer skeleton (20) further includes
The outer skeleton (23) of front waist and the outer skeleton (24) of rear waist, the outer skeleton (23) of the front waist are connected to outside first anterior part of chest
On skeleton (211) and it is located at outer skeleton (212) lower end of second anterior part of chest, the outer skeleton (24) of the rear waist is connected to described
On the outer skeleton (221) of first back part and be located at outer skeleton (222) lower end of second back part, with front side and rear side at least
The front-end and back-end of the waist driving mechanism (31) are partly covered,
The outer skeleton (23) of the front waist has the arc external side outwardly protruded, the arc external side and second anterior part of chest
The arc external side of outer skeleton (212) is adjacent and seamlessly transits,
The outer skeleton (24) of the rear waist all has the arc external side outwardly protruded, the arc external side and second back
The arc external side of skeleton (222) is adjacent outside portion and seamlessly transits.
7. the chest skeleton structure of robot according to claim 3, which is characterized in that the outer skeleton (21) of the anterior part of chest
It is configured to avoid moving forward and backward for the corresponding arm in left and right side with skeleton outside back part (22).
8. the chest skeleton structure of robot according to claim 3, which is characterized in that the outer skeleton (20) further includes
The outer skeleton (25) of first shoulder, the outer skeleton (25) of first shoulder are set as appropriate for covering the first arm driving mechanism
(32) side, the outer skeleton (25) of first shoulder and the first arm driving mechanism (32) and the second arm driving mechanism
(33) driving end connection, to drive the arm to move forward and backward, the driving end of the first arm driving mechanism (32) and institute
Arm connection is stated, to drive the arm side-to-side movement.
9. the chest skeleton structure of robot according to claim 8, which is characterized in that also set on the inner frame (10)
It is equipped with the support ring (11) for being used to support the outer skeleton (25) of first shoulder, the outer skeleton (25) of first shoulder passes through described
Support ring (11) is connect with the driving end of the second arm driving mechanism (33).
10. the chest skeleton structure of robot according to claim 9, which is characterized in that the outer skeleton (20) is also wrapped
The outer skeleton (26) of the second shoulder is included, the outer skeleton (26) of second shoulder is fixed on the outer skeleton (25) of first shoulder, and
It sets up in the right and left of the robot in the outside of the support ring (11), the outer skeleton (26) of second shoulder is close
The side of the support ring (11) and the end face of the support ring (11) are supported.
11. the chest skeleton structure of robot according to claim 10, which is characterized in that the outer skeleton further includes
The outer skeleton (27) of three shoulders, the outer skeleton (27) of the third shoulder are fixed on the outer skeleton (25) of first shoulder, and in institute
The right and left for stating robot is set up in the inside of the support ring (11), and the outer skeleton (27) of the third shoulder is close to described
The side of support ring (11) is protruded into the support ring (11) and is supported with the inner surface of the support ring (11), described in filling
Space between support ring (11) and the first arm driving mechanism (32).
12. the chest skeleton structure of robot according to claim 11, which is characterized in that the outer skeleton of first shoulder
(25) be formed as U-shaped structure of the opening towards the inner frame (10), the front and rear sides of the outer skeleton (25) of first shoulder are equal
It is provided with the outer skeleton (26) of second shoulder and the outer skeleton (27) of third shoulder.
13. the chest skeleton structure of robot according to claim 8, which is characterized in that the outer skeleton of first shoulder
(25) it is configured with the first location structure between the second arm driving mechanism (33), to limit the relative position of the two,
First location structure includes the positioning pin (251) and location hole (333) matched, the positioning pin (251) and institute
It states one of location hole (333) and is set to the outer skeleton (25) of first shoulder, the positioning pin (251) and the location hole
The other of (333) it is set to the driving end of the second arm driving mechanism (33).
14. the chest skeleton structure of robot according to claim 11, which is characterized in that the outer skeleton (20) is also wrapped
The shield line skeleton (28) for protecting conducting wire is included, shield line skeleton (28) is located at the outer of the outer skeleton (27) of the third shoulder
Side, so that the conducting wire is located between the shield line skeleton (28) and the outer skeleton (27) of the third shoulder.
15. the chest skeleton structure of robot according to claim 8, which is characterized in that the outer skeleton (20) is also wrapped
The 4th shoulder skeleton (29) outside is included, the upper and lower of skeleton (25) is arranged outside first shoulder in the outer skeleton (29) of the 4th shoulder
Two sides, and be located at the outer skeleton (21) of the first arm driving mechanism (32) and the anterior part of chest and back part outside skeleton (22) it
Between, the lateral surface of the outer skeleton (29) of the 4th shoulder is outer convex globoidal.
16. the chest skeleton structure of robot according to claim 15, which is characterized in that the outer skeleton of the 4th shoulder
(29) it is configured with the second location structure between the outer skeleton (21) of the anterior part of chest and/or the outer skeleton (22) of back part,
Second location structure includes the locating slot (291) matched and positioning convex platform (213,223), the locating slot
(291) and one of positioning convex platform (213,223) is set to the outer skeleton (29) of the 4th shoulder, the locating slot (291)
The outer skeleton (21) of the anterior part of chest and/or the outer skeleton (22) of back part are set to the other of positioning convex platform (213,223).
17. the chest skeleton structure of robot described in any one of -16 according to claim 1, which is characterized in that the dermoskeleton
Frame (20) is at least partly configured to truss structure.
18. the chest skeleton structure of robot described in any one of -16 according to claim 1, which is characterized in that the in-seam
Frame (10) is made of metal material, and the outer skeleton (20) is made of plastic material.
19. a kind of robot, which is characterized in that the chest skeleton knot including robot described in any one of claim 1-18
Structure.
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| CN201910157515.5A CN109866232B (en) | 2019-03-01 | 2019-03-01 | Chest skeleton texture and robot of robot |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201910157515.5A CN109866232B (en) | 2019-03-01 | 2019-03-01 | Chest skeleton texture and robot of robot |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2022007865A1 (en) * | 2020-07-08 | 2022-01-13 | 达闼机器人有限公司 | Robot and housing thereof |
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Effective date of registration: 20210202 Address after: 102400 room 449, 4th floor, building 2, courtyard 85, Hong'an Road, Fangshan District, Beijing Patentee after: CLOUDMINDS (BEIJING) TECHNOLOGIES Co.,Ltd. Patentee after: CLOUDMINDS (SHENZHEN) HOLDINGS Co.,Ltd. Address before: 100102 33 / F, area 3b, Wangjing SOHO tower, Chaoyang District, Beijing Patentee before: CLOUDMINDS (BEIJING) TECHNOLOGIES Co.,Ltd. Patentee before: INNFOS DRIVE (BEIJING) TECHNOLOGIES Co.,Ltd. |
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Address after: 100102 room 449, 4th floor, building 2, courtyard 85, Hong'an Road, Fangshan District, Beijing Patentee after: CLOUDMINDS (BEIJING) TECHNOLOGIES Co.,Ltd. Patentee after: Dayu robot Co., Ltd Address before: 100102 room 449, 4th floor, building 2, courtyard 85, Hong'an Road, Fangshan District, Beijing Patentee before: CLOUDMINDS (BEIJING) TECHNOLOGIES Co.,Ltd. Patentee before: Da Yu robot Co., Ltd |