CN110394793A

CN110394793A - A kind of emulated robot waist structure

Info

Publication number: CN110394793A
Application number: CN201910686125.7A
Authority: CN
Inventors: 金勇�
Original assignee: Yongjia Xinda Intelligent Equipment Manufacturing Co Ltd
Current assignee: Yongjia Xinda Intelligent Equipment Manufacturing Co Ltd
Priority date: 2019-07-29
Filing date: 2019-07-29
Publication date: 2019-11-01

Abstract

The invention discloses a kind of emulated robot waist structures, including medial support mechanisms, left and right twisting mechanism, front and back twisting mechanism and waist rotating mechanism, the medial support mechanisms are used to support waist, including at least the bulb connector case and boss for being installed on chest lower plate, and left and right twisting mechanism is equipped in the avris of bulb connector case, rear end is provided with and front and back twisting mechanism, the waist rotating mechanism includes at least fanning strip, be open shifting block, speed reducer, motor and bracket, the side wall Construction integration of the bulb connector case has fanning strip, the chest lower plate and waist crotch pedestal are parallelly distribute on, the bulb top is inside bulb connector case, bottom end Construction integration pelmatozoa, and shank is mounted on boss upper end by nut thread, bulb connector case bottom offers the horn-like hole protruded into for bulb shank.The emulated robot waist structure is able to achieve the various movements of robot waist, reliable for operation to be easy to control.

Description

A kind of emulated robot waist structure

Technical field

The invention belongs to emulated robot technical fields, and in particular to a kind of emulated robot waist structure.

Background technique

With the development of science and technology, the application field of robot is also constantly being widened, gradually from manufacturing industry to non-fabrication Industry and service industry development, are closed with mankind's resemblance, the anthropomorphic robot that can imitate human behavior ability by people Note, which is integrated with the multi-subject knowledges such as artificial intelligence, ergonomics, electronic technology and computer and multinomial high-new skill Art, and the anthropomorphic robot of high-freedom degree, it has greater flexibility, be more suitable for human lives, work environment in people Class cooperates or replaces human work, and highly emulated robot is that have and the duplicate shape of true man, height, hair, flesh Skin；The language that has true man the same, the tone, the degree of lip-rounding, expression, there is the face appearance that true man are the same；The bodies such as head, neck, waist, arm, hand Major part can show a variety of postures and movement as true man.

Emulated robot waist structure setting in the prior art is unreasonable, and structure is complicated for waist twisting, needs further It improves.

Summary of the invention

It is mentioned above in the background art to solve the purpose of the present invention is to provide a kind of emulated robot waist structure Problem.

To achieve the above object, the invention provides the following technical scheme: a kind of emulated robot waist structure, including centre Supporting mechanism, left and right twisting mechanism, front and back twisting mechanism, waist rotating mechanism, chest lower plate and waist crotch pedestal, the centre Supporting mechanism is flexibly connected chest lower plate and waist crotch pedestal, the intermediate branch with boss by bulb connector case, bulb Support mechanism side interacts connection with waist rotating mechanism by fanning strip set by bulb connector case side, behind be provided with before Twisting mechanism afterwards, front and back twisting mechanism one end are flexibly connected with chest lower plate cross, the other end and waist crotch pedestal cross It is flexibly connected, the other side of medial support mechanisms, left and right twisting mechanism one end and chest is arranged in the left and right twisting mechanism Subordinate's plate cross is flexibly connected, and the other end is flexibly connected with waist pedestal cross.

Preferably, the medial support mechanisms include at least the bulb connector case and boss for being installed on chest lower plate, institute It states bulb connector case bottom and offers the horn-like hole protruded into for bulb, the bulb is vertically arranged, and top connects in bulb It connects inside device shell, bottom end Construction integration pelmatozoa, and shank is existed by being fixedly mounted on boss upper end, the boss protrusion setting On the upper surface of waist crotch pedestal, the bulb connector case is vertically set side by side with boss, the side of the bulb connector case Wall Construction integration has fanning strip, and described longer one end of fanning strip stretches to inside opening shifting block, the opening shifting block direction fan The mouth of shape plate offered on one side for its grafting, the opening shifting block are internally provided with the shifting block connecting shaft for driving its rotation, The opening shifting block is internally provided with hole card spring, and the shifting block one end of the connecting shaft offers the hole being connected with output shaft, described One end of output shaft connects shifting block connecting shaft, and the other end is speed reducer, and the speed reducer is connected to the motor, and motor and speed reducer It is installed on bracket, the bracket is fixedly linked with boss.

Preferably, the front and back twisting mechanism includes at least the first push-and-pull component, and the first push-and-pull component is pushed away with second Draw top and the chest lower plate cross of component hinged, bottom end and waist crotch pedestal cross are hinged.

Preferably, the waist rotating mechanism includes at least fanning strip, opening shifting block, speed reducer, motor and bracket, described Chest lower plate and waist crotch pedestal are parallelly distribute on, and chest lower plate is located at the top of waist crotch pedestal, under the chest lower plate End is fixedly installed with bulb connector case, and one end that the bulb protrudes into inside bulb connector case is provided with recessed ball pad, and bullet Spring is placed in hydraulic valve inner hole, and the spring is vertically arranged, and top is abutted with upper spring seat, and lower end is abutted with piston, institute Upper spring seat is stated equipped with the first sealing ring, the outer wall of the piston is arranged with closed second sealing ring of slot, the bulb It is also equipped with hydraulic valve on the inside of connector case, and also tilts to offer on the inside of the piston and is connected to hydraulic valve for hydraulic The dynamic oil return hole of oil stream, the oil return hole are connected to the inner hole for being equipped with spring.

Preferably, the left and right twisting mechanism includes at least the second push-and-pull component, and the second push-and-pull component is pushed away with first Draw modular construction it is identical, and include telescopic rod, and the symmetrical setting of telescopic rod upper and lower ends the first hinged block with Second hinged block, first hinged block are rotatablely connected telescopic rod by pivot pin, and first hinged block is rotated by pivot pin to be connected Connect the second hinged block.

Preferably, one end of the shifting block connecting shaft is fixedly connected with the output shaft of speed reducer, the outer end cap of the axial wall of the other end Equipped with two groups of bearings, washer is successively arranged between bearing described in two groups and axis is fixed with circlip.

Preferably, the both sides external of the opening shifting block is also symmetrically arranged with two groups of limited blocks, and the limited block two sides are protruded, Centre can pass through for opening shifting block, and be fixed at the upper surface of bracket.

Technical effect and advantage of the invention: the emulated robot waist structure is open by speed reducer and motor driven Shifting block rotation, and then drive waist to be twisted by fanning strip and bulb connector case, structurally reasonable, Yi Shixian, in body When by impact force, by bulb protrude into and spring is collapsible into row buffering, after buffering by hydraulic inside oil return hole Oil reflux, returns waist slowly just, and good buffer effect, similarity is high, more true to nature, passes through two group of first push-and-pull component Setting allow waist is multi-faceted to be swung, the emulated robot waist structure is structurally reasonable, is able to achieve robot waist The various movements in portion, it is reliable for operation to be easy to control.

Detailed description of the invention

Fig. 1 is main view of the invention；

Fig. 2 is side view of the invention；

Fig. 3 is enlarged structure schematic diagram at A in Fig. 1 of the invention；

Fig. 4 is enlarged structure schematic diagram at B in Fig. 3 of the invention；

Fig. 5 is enlarged structure schematic diagram at C in Fig. 2 of the invention；

Fig. 6 is opening shifting block top view of the invention；

Fig. 7 is chest lower plate and waist crotch schematic diagram of base structure of the invention；

Fig. 8 is the first push-and-pull component structure diagram of the invention.

In figure: 1501 chest lower plates, 1502 bulb connector cases, 1503 opening shifting blocks, 1504 bearings, 1505 axis cards Spring, 1506 washers, 1507 fanning strips, 1508 hole card springs, 1509 limited blocks, 1510 speed reducers, 1511 brackets, 1512 motors, 1513 waist crotch pedestals, 1514 boss, 1516 telescopic rods, 1,517 first hinged blocks, 1,518 second hinged blocks, 1519 output shafts, 1520 upper spring seats, 1,521 first sealing rings, 1522 springs, 1523 oil return holes, 1524 pistons, 1,525 second sealing rings, 1526 Recessed ball pad, 1527 bulbs, 1528 nuts, 1529 hydraulic valves, 1530 shifting block connecting shafts, 1,531 first push-and-pull components, 1,532 the Two push-and-pull components.

Specific embodiment

Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other Embodiment shall fall within the protection scope of the present invention.

The present invention provides a kind of emulated robot waist structures as shown in figures 1-8, including medial support mechanisms, left and right Twisting mechanism, front and back twisting mechanism, waist rotating mechanism, chest lower plate 1501 and waist crotch pedestal 1513, the intermediate supports Mechanism is flexibly connected chest lower plate 1501 and waist crotch pedestal with boss 1514 by bulb connector case 1502, bulb 1527 1513, the medial support mechanisms side passes through fanning strip 1507 set by 1502 side of bulb connector case and waist whirler Structure interaction connection, behind be provided with front and back twisting mechanism, front and back twisting mechanism one end and 1501 cross of chest lower plate are movable Connection, the other end are flexibly connected with 1513 cross of waist crotch pedestal, and medial support mechanisms are arranged in the left and right twisting mechanism The other side, left and right twisting mechanism one end are flexibly connected with 1501 cross of chest lower plate, the other end and waist pedestal 15,130 Word is flexibly connected.

Specifically, the medial support mechanisms include at least 1502 He of bulb connector case for being installed on chest lower plate 1501 Boss 1514,1502 bottom of bulb connector case offer the horn-like hole protruded into for bulb 1527, the bulb 1527 are vertically arranged, and top is inside bulb connector case 1502, bottom end Construction integration pelmatozoa, and shank passes through fixed installation In 1514 upper end of boss, the protrusion of boss 1514 is arranged on the upper surface of waist crotch pedestal 1513, the bulb connector Shell 1502 is vertically set side by side with boss 1514, and the side wall Construction integration of the bulb connector case 1502 has fanning strip 1507, The longer one end of the fanning strip 1507 stretches to inside opening shifting block 1503, and the opening shifting block 1503 is towards fanning strip 1507 The mouth offered on one side for its grafting, it is described opening shifting block 1503 be internally provided with drive its rotation shifting block connecting shaft 1530, the opening shifting block 1503 is internally provided with hole card spring 1508, described 1530 one end of shifting block connecting shaft offer with it is defeated The one end in the connected hole of shaft 1519, the output shaft 1519 connects shifting block connecting shaft 1530, and the other end is speed reducer 1510, institute It states speed reducer 1510 to be connected with motor 1512, and motor 1512 and speed reducer 1510 are installed on bracket 1511, the bracket 1511 are fixedly linked with boss 1514, are rotated by speed reducer 1510 and the driving opening shifting block 1503 of motor 1512, and then pass through Fanning strip 1507 drives waist to be twisted with bulb connector case 1502, and structurally reasonable, Yi Shixian, wherein fanning strip 1507 can Inside opening shifting block 1503, connection status connects activity button-fold similar to gear.

Specifically, the front and back twisting mechanism includes at least the first push-and-pull component 1531, the first push-and-pull component 1531 Hinged with the top of the second push-and-pull component 1532 and 1501 cross of chest lower plate, bottom end and 1513 cross of waist crotch pedestal are hinged.

Specifically, the waist rotating mechanism includes at least fanning strip 1507, opening shifting block 1503, speed reducer 1510, electricity Machine 1512 and bracket 1511, the chest lower plate 1501 and waist crotch pedestal 1513 are parallelly distribute on, and chest lower plate 1501 In the top of waist crotch pedestal 1513,1501 lower end of chest lower plate is fixedly installed with bulb connector case 1502, the ball First 1527 one end protruded into inside bulb connector case 1502 are provided with recessed ball pad 1526, and spring 1522 is placed on hydraulic valve In 1529 inner holes, the spring 1522 is vertically arranged, and top is abutted with upper spring seat 1520, and lower end is abutted with piston 1524, institute Upper spring seat 1520 is stated equipped with the first sealing ring 1521, the outer wall of the piston 1524 is arranged with closed second sealing of slot 1525 are enclosed, hydraulic valve 1529 is also equipped on the inside of the bulb connector case 1502, and 1524 inside of the piston is also inclined It tiltedly offers the oil return hole 1523 be connected to hydraulic valve 1529 for running of hydraulic power oil, the oil return hole 1523 and spring is installed 1522 inner hole connection, when body is by impact force, by bulb 1527 protrude into and the contraction of spring 1522 is delayed It rushes, by the hydraulic oil reflux inside oil return hole 1523 after buffering, oil is slowly to flow back, and waist is slowly returned just, is returned Oilhole 1523 plays buffer function when waist is by punching press, hydraulic oil be not it is full, hydraulic oil after being under pressure with air Towards 1523 internal flow of oil return hole inside hydraulic valve 1529, spring 1522 is also shunk therewith, and hydraulic valve 1529 is close Envelope setting.

Specifically, the left and right twisting mechanism includes at least the second push-and-pull component 1532, the second push-and-pull component 1532 It is identical as the first push-and-pull 1531 structure of component, and include telescopic rod 1516, and symmetrically divide in 1516 upper and lower ends of telescopic rod The first hinged block 1517 and the second hinged block 1518 of cloth setting, first hinged block 1517 are rotatablely connected flexible by pivot pin Bar 1516, first hinged block 1517 are rotatablely connected the second hinged block 1518, the first hinged block 1517 and second by pivot pin Hinged block 1518 is in universal joint carry out activity, and motion profile is cross, one end of two group of second hinged block 1518 respectively with Chest lower plate 1501, waist crotch pedestal 1513 are fixedly linked, and the other end is hingedly connected the first hinged block 1517, this is one Pivotal motion direction, and the one end of the first hinged block 1517 far from the second hinged block 1518 is hinged with telescopic rod 1516, this is Second pivotal motion direction, and two directions of motion are mutually perpendicular to be staggered, and form cross movement.

Specifically, one end of the shifting block connecting shaft 1530 is fixedly connected with the output shaft 1519 of speed reducer 1510, the other end Axial wall outer end be arranged with two groups of bearings 1504, be successively arranged washer 1506 and axis circlip between bearing 1504 described in two groups 1505 are fixed.

Specifically, the both sides external of the opening shifting block 1503 is also symmetrically arranged with two groups of limited blocks 1509, the limited block 1509 two sides protrusion, centre can pass through for opening shifting block 1503, and be fixed at the upper surface of bracket 1511, and be open shifting block 1503 carry out about 30 degree of swing between two groups of limited blocks 1509.

Specifically, the emulated robot waist structure, when in use, medial support mechanisms are used for lumbar support, left and right Twisting mechanism drives waist to be twisted with front and back twisting mechanism, and waist rotating mechanism drives waist to be rotated, motor 1512 Rotation, and by speed reducer 1510 slow down after, by output shaft 1519 by shifting block connecting shaft 1530 drive opening shifting block 1503 carry out Rotation, so that opening shifting block 1503 carries out about 30 degree of swing between two groups of limited blocks 1509, in opening shifting block 1503 Bulb connector case 1502 is driven to be swung by fanning strip 1507 when swing, so that chest lower plate 1501 and entire Waist is twisted, and drives waist to be swung left and right in the second push-and-pull component 1532 of 1502 side of bulb connector case, if The the first push-and-pull component 1531 set in 1502 rear side of bulb connector case drives waist to rock back and forth, the first hinged block 1517 Be flexibly connected with the second hinged block 1518, and two group of second hinged block 18 respectively with chest lower plate 1501 and waist crotch pedestal 1513 It is flexibly connected, so that telescopic rod 1516 in extension live with the second hinged block 1518 in universal joint by the first hinged block 1517 It is dynamic, realize multi-faceted swing all around, after human body waist is squeezed, chest lower plate 1501 is towards waist crotch pedestal 1513 Mobile, bulb 1527 stretches to inside bulb connector case 1502 at this time, and spring 1522 is shunk, and inside head connector shell 1502 Hydraulic oil then pass through oil return hole 1523 enter hydraulic valve 1529 inside, after pressure releases, hydraulic oil passes through oil return hole 1523 return inside bulb connector case 1502, and spring 1522 is slowly kept in the center with piston 1524, the multi-faceted twisting of waist It may be implemented with buffering, bulb 1527 is rotatably connected on inside bulb connector case 1502, and the shank outer end of bulb 1527 is set It is equipped with nut 1528, the emulated robot waist structure is structurally reasonable, is able to achieve the various movements of robot waist, operation can By being easy to control.

Finally, it should be noted that the foregoing is only a preferred embodiment of the present invention, it is not intended to restrict the invention, Although the present invention is described in detail referring to the foregoing embodiments, for those skilled in the art, still may be used To modify the technical solutions described in the foregoing embodiments or equivalent replacement of some of the technical features, All within the spirits and principles of the present invention, any modification, equivalent replacement, improvement and so on should be included in of the invention Within protection scope.

Claims

1. a kind of emulated robot waist structure, including medial support mechanisms, left and right twisting mechanism, front and back twisting mechanism, waist Rotating mechanism, chest lower plate (1501) and waist crotch pedestal (1513), it is characterised in that: the medial support mechanisms pass through bulb Connector case (1502), bulb (1527) are flexibly connected chest lower plate (1501) and waist crotch pedestal with boss (1514) (1513), the medial support mechanisms side passes through fanning strip (1507) and waist set by bulb connector case (1502) side Rotating mechanism interaction connection, behind be provided with front and back twisting mechanism, front and back twisting mechanism one end and chest lower plate (1501) Cross is flexibly connected, and the other end is flexibly connected with waist crotch pedestal (1513) cross, and the left and right twisting mechanism is arranged in centre The other side of supporting mechanism, left and right twisting mechanism one end are flexibly connected with chest lower plate (1501) cross, the other end and waist Pedestal (1513) cross in portion's is flexibly connected.

2. a kind of emulated robot waist structure according to claim 1, it is characterised in that: the medial support mechanisms are extremely Few includes the bulb connector case (1502) and boss (1514) for being installed on chest lower plate (1501), the bulb connector case (1502) bottom offers the horn-like hole protruded into for bulb (1527), and the bulb (1527) is vertically arranged, and top is in ball Head connector shell (1502) is internal, bottom end Construction integration pelmatozoa, and shank is by being fixedly mounted on boss (1514) upper end, institute It states boss (1514) protrusion to be arranged on the upper surface of waist crotch pedestal (1513), the bulb connector case (1502) and boss (1514) it is vertically set side by side, the side wall Construction integration of the bulb connector case (1502) has fanning strip (1507), the fan It is internal that shape plate (1507) longer one end stretches to opening shifting block (1503), and the opening shifting block (1503) is towards fanning strip (1507) the mouth offered on one side for its grafting, opening shifting block (1503) are internally provided with the shifting block for driving its rotation Connecting shaft (1530), the opening shifting block (1503) are internally provided with hole card spring (1508), the shifting block connecting shaft (1530) One end offers the hole being connected with output shaft (1519), and one end of the output shaft (1519) connects shifting block connecting shaft (1530), The other end is speed reducer (1510), and the speed reducer (1510) is connected with motor (1512), and motor (1512) and speed reducer (1510) it is installed on bracket (1511), the bracket (1511) is fixedly linked with boss (1514).

3. a kind of emulated robot waist structure according to claim 1, it is characterised in that: the front and back twisting mechanism is extremely It less include the first push-and-pull component (1531), top and chest of first push-and-pull component (1531) with the second push-and-pull component (1532) Subordinate's plate (1501) cross is hinged, and bottom end and waist crotch pedestal (1513) cross are hinged.

4. a kind of emulated robot waist structure according to claim 1, it is characterised in that: the waist rotating mechanism is extremely It less include fanning strip (1507), opening shifting block (1503), speed reducer (1510), motor (1512) and bracket (1511), the chest Subordinate's plate (1501) and waist crotch pedestal (1513) are parallelly distribute on, and chest lower plate (1501) is located at waist crotch pedestal (1513) Top, chest lower plate (1501) lower end is fixedly installed with bulb connector case (1502), and the bulb (1527) is protruded into The internal one end of bulb connector case (1502) is provided with recessed ball pad (1526), and spring (1522) is placed on hydraulic valve (1529) in inner hole, the spring (1522) is vertically arranged, and top is abutted with upper spring seat (1520), lower end and piston (1524) It abuts, the upper spring seat (1520) is equipped with the first sealing ring (1521), and the outer wall of the piston (1524) is arranged with slot Closed second sealing ring (1525), bulb connector case (1502) inside are also equipped with hydraulic valve (1529), and Also inclination offers the oil return hole (1523) being connected to hydraulic valve (1529) for running of hydraulic power oil on the inside of the piston (1524), The oil return hole (1523) is connected to the inner hole for being equipped with spring (1522).

5. a kind of emulated robot waist structure according to claim 1, it is characterised in that: the left and right twisting mechanism is extremely It less include the second push-and-pull component (1532), second push-and-pull component (1532) is identical as the first push-and-pull component (1531) structure, It and include telescopic rod (1516), and the first hinged block (1517) in the symmetrical setting of telescopic rod (1516) upper and lower ends With the second hinged block (1518), first hinged block (1517) is rotatablely connected telescopic rod (1516) by pivot pin, and described first Hinged block (1517) is rotatablely connected the second hinged block (1518) by pivot pin.

6. a kind of emulated robot waist structure according to claim 2, it is characterised in that: the shifting block connecting shaft (1530) one end is fixedly connected with the output shaft (1519) of speed reducer (1510), and the axial wall outer end of the other end is arranged with two groups of bearings (1504), washer (1506) and axis are successively arranged between bearing described in two groups (1504) to be fixed with circlip (1505).

7. a kind of emulated robot waist structure according to claim 2, it is characterised in that: the opening shifting block (1503) Both sides external be also symmetrically arranged with two groups of limited blocks (1509), limited block (1509) the two sides protrusion, centre can be for opening Shifting block (1503) passes through, and is fixed at the upper surface of bracket (1511).