CN110605710A - Robot with inclinable waist - Google Patents
Robot with inclinable waist Download PDFInfo
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- CN110605710A CN110605710A CN201810612645.9A CN201810612645A CN110605710A CN 110605710 A CN110605710 A CN 110605710A CN 201810612645 A CN201810612645 A CN 201810612645A CN 110605710 A CN110605710 A CN 110605710A
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- waist
- skirt
- neck
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- 230000007246 mechanism Effects 0.000 claims abstract description 48
- 230000005540 biological transmission Effects 0.000 claims abstract description 19
- 230000033001 locomotion Effects 0.000 claims abstract description 18
- 239000003638 chemical reducing agent Substances 0.000 claims description 18
- 238000000034 method Methods 0.000 abstract description 9
- 230000009471 action Effects 0.000 abstract description 6
- 238000005452 bending Methods 0.000 abstract description 5
- 230000008569 process Effects 0.000 abstract description 5
- 238000010586 diagram Methods 0.000 description 5
- 238000004519 manufacturing process Methods 0.000 description 2
- 230000001360 synchronised effect Effects 0.000 description 2
- 239000006096 absorbing agent Substances 0.000 description 1
- 230000006978 adaptation Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000009347 mechanical transmission Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000035939 shock Effects 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
Abstract
The invention discloses a robot with a tiltable waist, wherein a head is fixed on the waist through a neck, and a left arm and a right arm are fixed on the waist through a waist supporting plate; the waist and the skirt are movably connected, a waist linear driving mechanism is arranged between the waist and the skirt, and the waist linear driving mechanism drives the waist to rotate around the skirt through reciprocating motion, so that the bending action of the robot is realized. The skirt is fixed on the base through a skirt rotating mechanism, and the waist part and the skirt can rotate together with the skirt rotating mechanism. The skirt left elastic body and the skirt right elastic body of the skirt are connected with the supporting pin shaft of the waist, so that reverse force is continuously provided in the rotation process of the waist, and the reverse clearance of the waist linear driving mechanism is reduced. Therefore, the robot with the inclinable waist can reduce the transmission clearance, is driven by the matching of the skirt part and the internal structure of the waist, has large transmission torque, simple structure and small occupied space, and can improve the transmission precision and speed through tight transmission matching.
Description
Technical Field
The invention relates to the technical field of automatic machinery, in particular to a robot with a tiltable waist.
Background
With the continuous development of science and technology and the increasing economic conditions, automatic production is an indispensable part in daily production today. For example, robots are used in the food or medical industry to replace manual work to perform functions such as handling, sorting, and stacking.
The robot in the prior art comprises an upper body, a head, arms and a waist, and when the robot works, a motor drives a speed reducing mechanism to drive the waist of the robot to rotate, so that the waist drives the upper body, the head and the arms to rotate, and the waist rotates. The structure is usually synchronous belt deceleration or deceleration harmonic gear deceleration, the synchronous belt deceleration and harmonic reducer deceleration drive the waist to bend, the driving method has the defects that the reducer is directly connected with the waist, the occupied space is large, the harmonic reducer and a motor can generate movement clearance in the transmission process, and the reverse clearance in the mechanical transmission process cannot be eliminated.
Moreover, the waist of the robot drives the trunk, the head and the arms of the upper half body to realize waist rotation, the rotation load is large, and symmetrical shock absorbers are required to be arranged in the swinging direction to realize the rotation reliability of the waist; in addition, the rotating torque of the existing robot can only act on the rotating component through the rotating shaft, and the rotating arm is greatly limited by the radius of the rotating shaft. Therefore, when the waist of the existing robot rotates, the problems of complex structure of a driving shaft, overlarge occupied space, insufficient rotating torque, low speed and overlarge transmission clearance exist.
Disclosure of Invention
The invention provides a robot with a tiltable waist part, which aims to solve the problems of complicated structure of a driving shaft, overlarge space occupation, insufficient rotating moment, low speed and overlarge transmission clearance when the waist part of the existing robot rotates.
The present invention provides a robot whose waist part can be tilted, including: head, neck, left arm, right arm, waist, skirt rotating mechanism and base, wherein,
the head is connected with one end of the neck, and the other end of the neck is connected with one end of the waist; the left arm and the right arm are fixed on the waist; the axis of the left arm is superposed with the axis of the right arm;
the other end of the waist part is movably connected with one end of the skirt part, a waist part linear driving mechanism is arranged between the waist part and the skirt part, and the waist part linear driving mechanism drives the waist part to rotate around the skirt part through reciprocating motion;
the skirt part comprises a skirt part bottom plate, a skirt part left supporting plate, a skirt part right supporting plate, a first skirt part supporting shaft and a second skirt part supporting shaft; the skirt left supporting plate and the skirt right supporting plate are fixed at two ends of the skirt bottom plate to form a skirt fixed supporting mechanism; one ends, far away from the skirt bottom plate, of the skirt left supporting plate and the skirt right supporting plate are connected through a first skirt supporting shaft and a second skirt supporting shaft to form a skirt fixing box body; the skirt left supporting plate is provided with a skirt left elastic body, the skirt right supporting plate is provided with a skirt right elastic body, and the skirt left elastic body and the skirt right elastic body are oppositely arranged;
the waist part comprises a waist supporting box body, a first waist supporting pin shaft and a second waist supporting pin shaft which are arranged at the bottom of the waist supporting box body; the first waist support pin shaft and the second waist support pin shaft are respectively connected with the skirt left elastic body and the skirt right elastic body, and provide a reverse force when the waist rotates so as to reduce a transmission gap of the waist linear driving mechanism;
the other end of the skirt is arranged on the skirt rotating mechanism, and the skirt, the waist and the skirt rotating mechanism rotate together; the skirt rotating mechanism is fixed on a base, and two front driving wheels are arranged on the base; the front driving motor is connected with the power supply and the front driving wheel respectively, and the front driving wheel realizes the advancing and retreating of the robot through the front driving motor.
Optionally, the skirt further comprises: the skirt fixing pin shaft, the fixing pin sleeve and the skirt sleeve shaft are arranged on the skirt; the skirt sleeve shaft is fixed on the inner side of the skirt right support plate through a screw, the skirt fixing pin shaft is positioned between the skirt left support plate and the skirt right support plate, and the skirt fixing pin shaft is close to the skirt bottom plate side; the fixed pin sleeve is positioned at the lower side of the skirt fixed pin shaft, and the fixed pin sleeve and the skirt fixed pin shaft form a rotary kinematic pair; the lower part of the waist linear driving mechanism penetrates through the skirt fixing pin shaft to be fixed, and is limited by the fixing pin sleeve.
Optionally, the lumbar support box comprises: the waist box body plate and the waist box body cover are parallel to each other; the waist box body plate and the waist box body cover are connected through a first waist supporting pin shaft and a second waist supporting pin shaft, and the first waist supporting pin shaft and the second waist supporting pin shaft are parallel to each other.
Optionally, the waist further comprises: the waist support plate, the waist fixing shaft, the waist rotating shaft sleeve, the waist rotating shaft bearing and the linear feeding shaft are arranged on the waist support plate;
the waist supporting plate is fixed on the waist supporting box body and used for fixing the left arm and the right arm; the waist fixing shaft penetrates through the waist supporting box body and is positioned at the lower side of the waist supporting plate; the waist rotating shaft sleeve is positioned at the lower end of the waist supporting box body, the waist rotating shaft bearing is positioned in the waist rotating shaft sleeve, and the waist and the skirt part are connected through the waist rotating shaft bearing; one end of the linear feeding shaft is connected with the waist fixing shaft, and the other end of the linear feeding shaft is connected with the waist rotating shaft bearing.
Optionally, the neck comprises: the neck part comprises a neck part bottom plate and a neck part upper cover, wherein a first neck part upright post, a second neck part upright post, a third neck part upright post and a fourth neck part upright post are arranged between the neck part bottom plate and the neck part upper cover; the upper part of the neck upper cover is provided with a neck speed reducer, the neck speed reducer is fixed on the neck upper cover through a neck support, and the upper end of the neck support is fixed with a head;
a neck motor base is fixed at the lower part of the neck upper cover, a neck motor is fixed on the neck motor base, and the neck motor is connected with a neck speed reducer; a neck band-type brake is arranged at the lower end of the neck motor; the lower end of the neck bottom plate is connected with the waist.
Optionally, the method further comprises: two driven wheels, the driven wheel sets up in the bottom of base.
Optionally, the method further comprises: the space map sensor is arranged on the outer side wall of the base.
Optionally, the method further comprises: the anti-collision device is connected with the bottom of the base; the anti-collision device surrounds the base, the front driving wheel and the driven wheel.
According to the technical scheme, the head of the robot with the tiltable waist is fixed on the waist through the neck, and the waist provides driving force to realize rotation of the neck; the left arm and the right arm are fixed on the waist through a waist supporting plate and can rotate in five axes and six axes, so that the space free movement of the two arms is realized; the waist and the skirt are movably connected, a waist linear driving mechanism is arranged between the waist and the skirt, and the waist linear driving mechanism drives the waist to rotate around the skirt through reciprocating motion, so that the bending action of the robot is realized. The skirt is mounted on a skirt rotating mechanism, the skirt rotating mechanism is fixed on the base, and the waist and the skirt can rotate together with the skirt rotating mechanism. The skirt left elastic body and the skirt right elastic body of the skirt are connected with the supporting pin shaft of the waist, and in the rotation process of the waist, reverse force is continuously provided so as to eliminate the reverse force in the movement process of the waist and reduce the reverse clearance of the waist linear driving mechanism. Therefore, the robot with the inclinable waist can reduce the transmission clearance, is driven by the matching of the skirt part and the internal structure of the waist, has large transmission torque, simple structure and small occupied space, and can improve the transmission precision and speed through tight transmission matching.
Drawings
In order to more clearly illustrate the technical solution of the present invention, the drawings needed to be used in the embodiments will be briefly described below, and it is obvious to those skilled in the art that other drawings can be obtained according to the drawings without any inventive exercise.
Fig. 1 is a schematic overall structure diagram of a robot with a tiltable waist provided by an embodiment of the present invention;
fig. 2 is a schematic view of an overall structure of a robot with a tiltable waist according to another angle provided by an embodiment of the present invention;
fig. 3 is a schematic overall structure diagram of a robot with a tiltable waist according to another angle provided by the embodiment of the present invention;
FIG. 4 is a schematic structural view of a skirt portion provided in accordance with an embodiment of the present invention;
FIG. 5 is a schematic view of a waist portion according to an embodiment of the present invention;
FIG. 6 is a schematic structural diagram of a lumbar support box according to an embodiment of the present invention;
fig. 7 is a schematic structural diagram of a neck according to an embodiment of the present invention.
Illustration of the drawings:
wherein, 1-head, 2-neck, 3-left arm, 4-right arm, 5-waist, 6-skirt, 7-skirt rotating mechanism, 8-base, 9-front driving wheel, 10-power supply, 11-front driving motor, 12-space map sensor, 13-anti-collision device, 14-driven wheel, 15-waist linear driving mechanism, 16-skirt fixed pin shaft, 17-fixed pin sleeve, 18-waist fixed shaft, 19-linear feeding shaft, 20-first skirt supporting shaft, 21-second skirt supporting shaft, 22-waist rotating shaft sleeve, 23-waist rotating shaft bearing, 24-skirt sleeve shaft, 25-skirt left elastic body, 26-skirt right elastic body, 27-skirt bottom plate, 28-skirt left support plate, 29-skirt right support plate, 30-first lumbar support pin, 31-second lumbar support pin, 32-lumbar support plate, 33-lumbar support box, 34-lumbar box plate, 35-lumbar box cover, 36-neck reducer, 37-neck support, 38-first neck upright, 39-second neck upright, 40-third neck upright, 41-fourth neck upright, 42-neck motor seat, 43-neck motor, 44-neck brake, 45-neck bottom plate, and 46-neck upper cover.
Detailed Description
Fig. 1 is a schematic overall structure diagram of a robot with a tiltable waist provided by an embodiment of the present invention; fig. 2 is a schematic view of an overall structure of a robot with a tiltable waist according to another angle provided by an embodiment of the present invention; fig. 3 is a schematic view of an overall structure of a robot with a tiltable waist according to another angle provided by an embodiment of the present invention.
Referring to fig. 1, 2 and 3, the robot with a tiltable waist provided by the embodiment of the present invention can achieve the purpose that the trunk is upright, the waist is capable of performing fixed translation, and the waist can perform horizontal rotation along a vertical axis, and most importantly, the robot can also simulate the actions of a human, such as bending and reclining. Specifically, the robot with a tiltable waist provided by the present embodiment includes: head 1, neck 2, left arm 3, right arm 4, waist 5, skirt 6, skirt rotation mechanism 7 and base 8. The robot is constructed similarly to a human to be able to achieve precision in simulating human motion.
The head part 1 is connected with one end of the neck part 2, and the other end of the neck part 2 is connected with one end of the waist part 5; the head part 1 is movably connected with the neck part 2, so that the robot can simulate the action of turning, nodding or raising the head of a person. The neck 2 is movably connected with the waist 5, and the waist 5 provides driving force to realize the rotation of the neck 2.
As shown in fig. 7, the neck portion 2 includes: a neck bottom plate 45 and a neck top cover 46, which are supported by the two, i.e. the neck top cover 46 is used for supporting the head 1 and the neck bottom plate 45 is used for connecting the waist 5. A first neck upright column 38, a second neck upright column 39, a third neck upright column 40 and a fourth neck upright column 41 are arranged between the neck bottom plate 45 and the neck upper cover 46, and each upright column is uniformly distributed at four corners of the neck upper cover 46 and the neck bottom plate 45 so as to improve the connection stability of the neck bottom plate 45 and the neck upper cover 46.
The upper part of the neck upper cover 46 is provided with a neck reducer 36, the neck reducer 36 is fixed on the neck upper cover 46 through a neck support 37, and the upper end of the neck support 37 is fixed with the head 1. The neck support 37 is in a half-I shape or a square frame shape with an opening on one side, the neck speed reducer 36 is positioned in the inner space of the neck support 37, on one hand, the neck support 37 can protect the neck speed reducer 36 from being influenced by external force, on the other hand, the strength and the stability of the neck support 37 are kept, the head 1 of the robot is supported, and the stability and the overall quality of the robot are improved; in addition, the space utilization rate can be improved.
Neck motor cabinet 42 is fixed to the lower part of neck upper cover 46, is fixed with neck motor 43 on the neck motor cabinet 42, and neck motor 43 carries out mechanical connection through neck motor cabinet 42 and neck speed reducer 36, reduces the space utilization to realize neck motor 43 and neck speed reducer 36's electricity and be connected. The lower end of the neck motor 43 is provided with a neck brake 44 to realize the corner fixing of the head 1. The lower end of the neck bottom plate 45 is connected with the waist part 5, so that the waist part 5 applies driving force to the neck part 2 to realize the rotation of the head part 1.
In this embodiment, the neck 2 realizes the rotation function of the head 1 by the neck motor 43 and the neck reducer 36, that is, the robot drives the rotation of the waist 5 by the neck motor 43 and the neck reducer 36 to realize the tilting motion of the waist 5.
The left arm 3 and the right arm 4 are fixed on the waist 5; the axis of the left arm 3 and the axis of the right arm 4 are superposed to form a straight line. The left arm 3 and the right arm 4 can respectively realize five-axis rotation and six-axis rotation, and space free motion of the two arms is realized.
The other end of the waist part 5 is movably connected with one end of the skirt part 6, and when the robot waist part 5 rotates, the skirt part 6 is used as a fixed supporting mechanism; a waist linear driving mechanism 15 is arranged between the waist part 5 and the skirt part 6, and the waist linear driving mechanism 15 drives the waist part 5 to rotate around the skirt part 6 through reciprocating motion, so that the bending action of the robot is realized.
As shown in fig. 4, the skirt 6 includes a skirt bottom plate 27, a skirt left support plate 28, a skirt right support plate 29, a first skirt support shaft 20, and a second skirt support shaft 21.
The skirt left supporting plate 28 and the skirt right supporting plate 29 are fixed at two ends of the skirt bottom plate 27 and can be fixed through screws to form a skirt fixing and supporting mechanism; one ends of the skirt left supporting plate 28 and the skirt right supporting plate 29 far away from the skirt bottom plate 27 are connected through a first skirt supporting shaft 20 and a second skirt supporting shaft 21 to form a skirt fixing box body; that is, a first skirt support shaft 20 and a second skirt support shaft 21 are fixed to one end contacting the waist portion 5, so that the waist portion 5 can rotate about the skirt portion 6 by the support of the first skirt support shaft 20 and the second skirt support shaft 21 to achieve the movable connection of the waist portion 5 and the skirt portion 6.
A left skirt elastic body 25 is arranged on the left skirt supporting plate 28, a right skirt elastic body 26 is arranged on the right skirt supporting plate 29, and the left skirt elastic body 25 and the right skirt elastic body 26 are oppositely arranged; the skirt left elastic body 25 and the skirt right elastic body 26 are connected with a supporting pin shaft of the waist part 5, and continuously provide reverse force during the rotation of the waist part to eliminate the reverse force during the movement of the waist part 5 and reduce the reverse clearance of the waist part linear driving mechanism 15.
In addition, in order to improve the supporting force and the driving force of the skirt 6, the skirt 6 further includes: a skirt anchor pin 16, an anchor pin bushing 17, and a skirt bushing shaft 24. The skirt sleeve shaft 24 is fixed on the inner side of the skirt right support plate 29 through screws, the skirt fixing pin shaft 16 is located between the skirt left support plate 28 and the skirt right support plate 29, the skirt fixing pin shaft 16 is close to the skirt bottom plate 27 side, and the skirt fixing pin shaft 16 is used for improving the stability of the skirt left support plate 28 and the skirt right support plate 29.
The fixed pin sleeve 17 is positioned at the lower side of the skirt part fixed pin shaft 16, namely between the skirt part fixed pin shaft 16 and the skirt part bottom plate 27, the fixed pin sleeve 17 and the skirt part fixed pin shaft 16 form a rotary kinematic pair, and the fixed pin sleeve 17 is used for limiting; the lower part of the waist linear driving mechanism 15 penetrates through the skirt part fixing pin shaft 16 for fixing, and is limited by the fixing pin sleeve 17, so that the operation precision of the robot is prevented from being influenced by the fact that the waist linear driving mechanism 15 slides in the operation process.
In order to improve the matching degree between the waist part 5 and the skirt part 6, reduce the occupied space, increase the transmission torque and further improve the rotation precision of the waist part 5, the waist part 5 of the robot provided by the embodiment should have a structure matched with the skirt part 6.
As shown in fig. 5, specifically, the lumbar portion 5 includes a lumbar support box 33, and a first lumbar support pin 30 and a second lumbar support pin 31 disposed at the bottom of the lumbar support box 33, and the first lumbar support pin 30 and the second lumbar support pin 31 are disposed in parallel up and down, so as to reduce the occupied space.
As shown in fig. 6, the lumbar support case 33 includes: the waist box body plate 34 and the waist box body cover 35 are parallel to each other; the waist box plate 34 and the waist box cover 35 are connected by a first waist support pin 30 and a second waist support pin 31 to form a closed box, and the first waist support pin 30 and the second waist support pin 31 are parallel to each other.
The first lumbar support pin shaft 30 and the second lumbar support pin shaft 31 are respectively connected with the skirt left elastic body 25 and the skirt right elastic body 26, and provide reverse force when the lumbar part 5 rotates, so as to reduce the transmission clearance of the lumbar linear driving mechanism 15.
When the waist part 5 moves, the skirt left elastic body 25 and the skirt right elastic body 26 of the skirt part 6 act on the first waist support pin shaft 30 and the second waist support pin shaft 31 respectively so as to eliminate the reverse clearance which is easy to generate when the waist part 5 moves by utilizing the reaction force of the skirt left elastic body 25 and the skirt right elastic body 26.
In order to improve the movement accuracy of the waist portion 5, the waist portion 5 further includes: a waist support plate 32, a waist fixing shaft 18, a waist rotating shaft sleeve 22, a waist rotating shaft bearing 23 and a linear feeding shaft 19.
The lumbar support plate 32 is fixed to the lumbar support case 33 for fixing the left arm 3 and the right arm 4 such that the left arm 3 and the right arm 4 are fixed to the lumbar portion 5 through the lumbar support plate 32. The lumbar fixing shaft 18 penetrates the lumbar support case 33 and is located at a lower side of the lumbar support plate 32, and the lumbar fixing shaft 18 is used for realizing rotation between the neck 2 and the lumbar 5.
The waist rotating shaft sleeve 22 is positioned at the lower end of the waist supporting box body 33, and the waist rotating shaft sleeve 22 is fixed on the waist supporting box body 33 through screws; the waist rotating shaft bearing 23 is positioned in the waist rotating shaft sleeve 22, and the waist 5 is connected with the skirt part 6 through the waist rotating shaft bearing 23; one end of the linear feeding shaft 19 is connected with the waist fixing shaft 18, and the other end of the linear feeding shaft 19 is connected with the waist rotating shaft bearing 23, so that the rotation of the waist 5 is realized.
The other end of the skirt 6 is attached to a skirt rotating mechanism 7, and the skirt 6 of the robot is attached to the skirt rotating mechanism 7 so that the skirt 6 and the waist portion 5 can rotate together with the skirt rotating mechanism 7.
The skirt rotating mechanism 7 is fixed on a base 8, two front driving wheels 9 are arranged on the base 8, and in order to keep balance and enable the robot to stably run, the two front driving wheels 9 can be arranged on two sides of the base along a central line; a front driving motor 11 and a power supply 10 are installed in the base 8, the front driving motor 11 is respectively connected with the power supply 10 and the front driving wheels 9, and the front driving wheels 9 achieve advancing and retreating of the robot through the front driving motor 11.
In order to improve the motion stability of the robot, an auxiliary wheel may be used when the front drive wheels 9 are used for traveling. Specifically, the robot with a tiltable waist provided by the present embodiment further includes: two driven wheels 14, the driven wheels 14 are arranged at the bottom of the base 8.
Two front driving wheels 9 and two driven wheels are arranged side by side and are respectively positioned at four corners of the base 8, namely the front end of the base 8 is provided with two front driving wheels 9, and the rear end of the base 8 is provided with two driven wheels 14, so that the stability of the robot in motion is ensured.
The robot with a tiltable waist provided by the embodiment further comprises: and the space map sensor 12 is arranged on the outer side wall of the base 8, and the space map sensor 12 is positioned at the front end of the base 8. The space map sensor 12 is connected with the power supply 10, the space map sensor 12 is used for detecting the walking track of the robot in real time when the robot moves, and transmitting the detected data to an external controller in real time, and the controller establishes a space map according to the walking track.
The robot with a tiltable waist provided by the embodiment further comprises: the anti-collision device 13 is connected with the bottom of the base 8; the anti-collision device 13 surrounds the base 8, the front driving wheel 9 and the driven wheel 14.
The anti-collision device 13 is used for preventing the robot from being collided by external objects when moving, and therefore the size of the anti-collision device 13 is larger than the whole size of the base 8 and the front driving wheels 9, so that the anti-collision device 13 can wrap the whole robot, when the robot moves a certain object, the anti-collision device 13 is in contact with the object first, the robot is prevented from contacting with the object, and the robot body is prevented from being knocked by the object.
According to the technical scheme, the robot with the tiltable waist is provided by the embodiment of the invention, the head 1 is fixed on the waist 5 through the neck 2, and the waist 5 provides driving force to realize the rotation of the neck 2; the left arm 3 and the right arm 4 are fixed on the waist 5 through a waist support plate 32 and can rotate in five axes and six axes, so that the space free movement of the two arms is realized; the waist part 5 is movably connected with the skirt part 6, a waist part linear driving mechanism 15 is arranged between the waist part 5 and the skirt part 6, and the waist part linear driving mechanism 15 drives the waist part 5 to rotate around the skirt part 6 through reciprocating motion, so that the bending action of the robot is realized. The skirt 6 is mounted on a skirt swivel 7, the skirt swivel 7 being fixed to a base 8, the waist 5 and the skirt 6 being co-rotatable with the skirt swivel 7. The skirt left elastic body 25 and the skirt right elastic body 26 of the skirt 6 are connected with the supporting pin shaft of the waist part 5, and continuously provide reverse force during the rotation of the waist part to eliminate the reverse force during the movement of the waist part 5 and reduce the reverse clearance of the waist linear driving mechanism 15. Therefore, the robot with the inclinable waist can reduce the transmission clearance, is driven by the matching of the skirt part 6 and the internal structure of the waist part 5, has large transmission torque, simple structure and small space occupation, and can improve the transmission precision and speed through tight transmission matching.
Other embodiments of the invention will be apparent to those skilled in the art from consideration of the specification and practice of the invention disclosed herein. This application is intended to cover any variations, uses, or adaptations of the invention following, in general, the principles of the invention and including such departures from the present disclosure as come within known or customary practice within the art to which the invention pertains. It is intended that the specification and examples be considered as exemplary only, with a true scope and spirit of the invention being indicated by the following claims.
It will be understood that the invention is not limited to the precise arrangements described above and shown in the drawings and that various modifications and changes may be made without departing from the scope thereof. The scope of the invention is limited only by the appended claims.
Claims (8)
1. A robot with a tiltable waist, comprising: a head (1), a neck (2), a left arm (3), a right arm (4), a waist (5), a skirt (6), a skirt rotating mechanism (7) and a base (8), wherein,
the head (1) is connected with one end of the neck (2), and the other end of the neck (2) is connected with one end of the waist (5); the left arm (3) and the right arm (4) are fixed on the waist (5); the axis of the left arm (3) is superposed with the axis of the right arm (4);
the other end of the waist part (5) is movably connected with one end of the skirt part (6), a waist part linear driving mechanism (15) is arranged between the waist part (5) and the skirt part (6), and the waist part linear driving mechanism (15) drives the waist part (5) to rotate around the skirt part (6) through reciprocating motion;
the skirt (6) comprises a skirt bottom plate (27), a skirt left support plate (28), a skirt right support plate (29), a first skirt support shaft (20) and a second skirt support shaft (21); the skirt left supporting plate (28) and the skirt right supporting plate (29) are fixed at two ends of the skirt bottom plate (27) to form a skirt fixed supporting mechanism; one ends, far away from the skirt bottom plate (27), of the skirt left supporting plate (28) and the skirt right supporting plate (29) are connected through a first skirt supporting shaft (20) and a second skirt supporting shaft (21) to form a skirt fixing box body; a left skirt elastic body (25) is arranged on the left skirt supporting plate (28), a right skirt elastic body (26) is arranged on the right skirt supporting plate (29), and the left skirt elastic body (25) and the right skirt elastic body (26) are arranged oppositely;
the waist part (5) comprises a waist supporting box body (33), and a first waist supporting pin shaft (30) and a second waist supporting pin shaft (31) which are arranged at the bottom of the waist supporting box body (33); the first lumbar support pin shaft (30) and the second lumbar support pin shaft (31) are respectively connected with the skirt left elastic body (25) and the skirt right elastic body (26) and provide reverse force when the waist (5) rotates so as to reduce the transmission clearance of the waist linear driving mechanism (15);
the other end of the skirt part (6) is arranged on a skirt part rotating mechanism (7), and the skirt part (6) and the waist part (5) rotate together with the skirt part rotating mechanism (7); the skirt rotating mechanism (7) is fixed on a base (8), and two front driving wheels (9) are mounted on the base (8); install preceding driving motor (11) and power (10) in base (8), preceding driving motor (11) are connected with power (10) and front driving wheel (9) respectively, and advance and retreat of robot are realized through preceding driving motor (11) in front driving wheel (9).
2. The waist-tiltable robot according to claim 1, characterized in that said skirt (6) further comprises: a skirt fixing pin shaft (16), a fixing pin sleeve (17) and a skirt sleeve shaft (24); the skirt sleeve shaft (24) is fixed on the inner side of a skirt right support plate (29) through a screw, the skirt fixing pin shaft (16) is positioned between a skirt left support plate (28) and the skirt right support plate (29), and the skirt fixing pin shaft (16) is close to the skirt bottom plate (27); the fixed pin sleeve (17) is positioned at the lower side of the skirt fixed pin shaft (16), and the fixed pin sleeve (17) and the skirt fixed pin shaft (16) form a rotary kinematic pair; the lower part of the waist linear driving mechanism (15) passes through a skirt part fixing pin shaft (16) for fixing and is limited by a fixing pin sleeve (17).
3. The lumbar tiltable robot according to claim 1, characterized in that said lumbar support box (33) comprises: the waist box body plate (34) and the waist box body cover (35) are parallel to each other; the waist box body plate (34) is connected with the waist box body cover (35) through a first waist supporting pin shaft (30) and a second waist supporting pin shaft (31), and the first waist supporting pin shaft (30) is parallel to the second waist supporting pin shaft (31).
4. The waist-tiltable robot according to claim 3, characterized in that said waist (5) further comprises: a waist support plate (32), a waist fixing shaft (18), a waist rotating shaft sleeve (22), a waist rotating shaft bearing (23) and a linear feeding shaft (19);
the waist support plate (32) is fixed on the waist support box body (33) and is used for fixing the left arm (3) and the right arm (4); the waist fixing shaft (18) penetrates through the waist supporting box body (33) and is positioned at the lower side of the waist supporting plate (32); the waist rotating shaft sleeve (22) is positioned at the lower end of the waist supporting box body (33), the waist rotating shaft bearing (23) is positioned in the waist rotating shaft sleeve (22), and the waist (5) is connected with the skirt part (6) through the waist rotating shaft bearing (23); one end of the linear feeding shaft (19) is connected with the waist fixing shaft (18), and the other end of the linear feeding shaft (19) is connected with the waist rotating shaft bearing (23).
5. The waist-tiltable robot according to claim 1, characterized in that said neck (2) comprises: the neck part structure comprises a neck part bottom plate (45) and a neck part upper cover (46), wherein a first neck part upright post (38), a second neck part upright post (39), a third neck part upright post (40) and a fourth neck part upright post (41) are arranged between the neck part bottom plate (45) and the neck part upper cover (46); the upper part of the neck upper cover (46) is provided with a neck speed reducer (36), the neck speed reducer (36) is fixed on the neck upper cover (46) through a neck support (37), and the upper end of the neck support (37) is fixed with the head (1);
a neck motor base (42) is fixed at the lower part of the neck upper cover (46), a neck motor (43) is fixed on the neck motor base (42), and the neck motor (43) is connected with a neck speed reducer (36); a neck brake (44) is arranged at the lower end of the neck motor (43); the lower end of the neck bottom plate (45) is connected with the waist part (5).
6. The waist tiltable robot according to claim 1, further comprising: two driven wheels (14), wherein the driven wheels (14) are arranged at the bottom of the base (8).
7. The waist tiltable robot according to claim 1, further comprising: the space map sensor (12) is arranged on the outer side wall of the base (8).
8. The waist tiltable robot according to claim 6, further comprising: the anti-collision device (13), the anti-collision device (13) is connected with the bottom of the base (8); the anti-collision device (13) surrounds the base (8), the front driving wheel (9) and the driven wheel (14).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810612645.9A CN110605710A (en) | 2018-06-14 | 2018-06-14 | Robot with inclinable waist |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810612645.9A CN110605710A (en) | 2018-06-14 | 2018-06-14 | Robot with inclinable waist |
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| Publication Number | Publication Date |
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| CN110605710A true CN110605710A (en) | 2019-12-24 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201810612645.9A Pending CN110605710A (en) | 2018-06-14 | 2018-06-14 | Robot with inclinable waist |
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| CN (1) | CN110605710A (en) |
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| WO2018074101A1 (en) * | 2016-10-20 | 2018-04-26 | 三菱電機株式会社 | Connection mechanism with three rotational degrees of freedom, robot, robot arm, and robot hand |
| WO2018086393A1 (en) * | 2016-11-10 | 2018-05-17 | 深圳市迈步机器人科技有限公司 | Flexible actuator, robot joint, robot and exoskeleton robot |
| CN208375297U (en) * | 2018-06-14 | 2019-01-15 | 中瑞福宁机器人（沈阳）有限公司 | A kind of tiltable robot of waist |
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| CN106143665A (en) * | 2015-04-21 | 2016-11-23 | 电子科技大学 | Trunk mechanism of a kind of flexible robot |
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