CN111086015A - Tail structure and robot - Google Patents
Tail structure and robot Download PDFInfo
- Publication number
- CN111086015A CN111086015A CN201911412048.2A CN201911412048A CN111086015A CN 111086015 A CN111086015 A CN 111086015A CN 201911412048 A CN201911412048 A CN 201911412048A CN 111086015 A CN111086015 A CN 111086015A
- Authority
- CN
- China
- Prior art keywords
- rod
- shell
- tail
- arc
- robot
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 238000000034 method Methods 0.000 abstract description 9
- 230000008569 process Effects 0.000 abstract description 9
- 230000000694 effects Effects 0.000 abstract description 6
- 230000009471 action Effects 0.000 abstract description 3
- 230000001737 promoting effect Effects 0.000 abstract description 2
- UQMRAFJOBWOFNS-UHFFFAOYSA-N butyl 2-(2,4-dichlorophenoxy)acetate Chemical compound CCCCOC(=O)COC1=CC=C(Cl)C=C1Cl UQMRAFJOBWOFNS-UHFFFAOYSA-N 0.000 description 22
- 230000000903 blocking effect Effects 0.000 description 14
- 230000007704 transition Effects 0.000 description 3
- 230000036541 health Effects 0.000 description 2
- 238000009434 installation Methods 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 238000004088 simulation Methods 0.000 description 1
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/008—Manipulators for service tasks
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The application belongs to the technical field of humanoid service robots, and particularly relates to a tail structure and a robot. In the tail structure, a first rod piece is connected to the body of the robot, a second rod piece is hinged to the first rod piece around the axis of the first rod piece, a tail shell is installed on the second rod piece, and two ends of an elastic piece are connected to the first rod piece and the second rod piece respectively. When the robot body moves, the second rod piece can swing to drive the tail shell to swing, and the elastic piece is twisted to store energy in the process. When the robot body stops moving, namely the external force for promoting the second rod piece to swing disappears, the second rod piece can rotate to reset under the action of the elastic piece, and the tail shell rotates to reset along with the second rod piece. Therefore, the agility of the tail of the robot in the motion process is enhanced, the tail shell can simulate the effect of swinging the tail of an animal while walking along with the dynamic swinging of the body of the robot, and the problem that the tail of the existing robot is inflexible is effectively solved.
Description
Technical Field
The application belongs to the technical field of humanoid service robots, and particularly relates to a tail structure and a robot.
Background
The tail of the humanoid robot or toy is usually fixed on the robot body when the tail is configured. However, the fixed tail has no agility of movement, looks stiff and has poor simulation.
Disclosure of Invention
An object of the embodiment of the application is to provide a tail structure and a robot, so that the technical problem that a fixed tail in the existing robot is not moving flexibly is solved.
The embodiment of the application provides a tail structure, includes:
a first bar for connecting the robot body;
the second rod piece is hinged to one end of the first rod piece, and the hinge axis between the second rod piece and the first rod piece is superposed with the axis of the first rod piece;
the two ends of the elastic piece are respectively connected with the first rod piece and the second rod piece so as to enable the second rod piece to rotate and reset; and
a tail shell mounted on the second rod.
Optionally, the first rod has a first inner cavity and a first port communicating with the first inner cavity, the second rod has a second inner cavity and a second port communicating with the second inner cavity, the first port communicates with the second port, and the elastic member is disposed in the first inner cavity and the second inner cavity.
Optionally, one end of the elastic member is connected to one end of the first rod member far away from the second rod member, and the other end of the elastic member is connected to one end of the second rod member far away from the first rod member.
Optionally, the first rod comprises a first shell and a second shell which are butted, and the first shell and the second shell are butted to form the first inner cavity and the first port;
the second rod piece comprises a third shell and a fourth shell which are butted; the third shell and the fourth shell are butted to form the second inner cavity and the second port.
Optionally, the outer wall of the first shell and the outer wall of the second shell are respectively provided with a first arc-shaped groove and a second arc-shaped groove, and the first arc-shaped groove and the second arc-shaped groove are communicated to form an annular groove when the first shell is butted with the second shell;
the third shell and the fourth shell extend inwards at the edge of the second port to form a first arc-shaped flange and a second arc-shaped flange respectively, and the first arc-shaped flange and the second arc-shaped flange form an annular flange when the third shell and the fourth shell are butted;
the annular flange is clamped in the annular groove, so that the second rod piece is hinged to the first rod piece around the axis of the first rod piece.
Optionally, a gasket is provided within the annular groove for defining an axial distance of the annular groove.
Optionally, the inner wall of the first shell is provided with a first connecting column, the inner wall of the third shell is provided with a second connecting column, the elastic part is an extension spring, and two ends of the elastic part are respectively connected with the first connecting column and the second connecting column in a hanging manner.
Optionally, the first shell and the second shell are connected through a first fastener, and the first fastener penetrates through the second shell and is screwed to the first connecting column;
the third shell and the fourth shell are connected through a second fastener, and the second fastener penetrates through the fourth shell and is in threaded connection with the second connecting column.
Optionally, the first rod is provided with two spacing blocking walls at the first port, the second rod is provided with a spacing arm at the second port, and the spacing arm is located between the two spacing blocking walls to limit the swing angle of the second rod relative to the first rod.
Optionally, a light emitting element is disposed at a position of the second rod element far away from the first rod element, two conductive elements are disposed at a position of the first rod element far away from the second rod element, and the conductive elements are connected with the light emitting element through wires.
Optionally, a via hole is formed in a side wall of the first rod piece, which is far away from the second rod piece, the conductive piece is in a strip shape and penetrates through the via hole, one end of the conductive piece is bent and located at an end of the first rod piece, and the other end of the conductive piece is located in the first inner cavity.
Optionally, the tail shell has a draw-in groove, the surface of second member is equipped with joint edge, the second member is inserted and is located the tail shell just joint edge joint is in the draw-in groove.
The embodiment of the application provides a robot, including the robot health and foretell tail structure, first member is connected on the robot health.
Optionally, the robot body is provided with an installation hole for the first rod piece to be inserted, the outer wall of the first rod piece is provided with an arc-shaped limiting edge and a step part axially spaced from the arc-shaped limiting edge, the inner wall of the installation hole is provided with an arc-shaped retaining wall and a circumferential retaining wall, and the arc-shaped retaining wall and the circumferential retaining wall enclose a positioning groove; two relative terminal surfaces of arc fender wall are supported respectively to be located the arc spacing edge with step portion just the arc spacing edge is located when the constant head tank, first member axial spacing in the robot is healthy.
Optionally, an axial flange is arranged on the inner wall of the mounting hole, an axial groove is formed in the arc-shaped limiting edge, and when the axial flange enters the axial groove, the first rod piece is circumferentially limited on the body of the robot.
Optionally, when two conductive pieces are disposed at a position of the first rod far away from the second rod, two conductive elastic pieces are disposed on an inner wall of the robot body, and the conductive elastic pieces are abutted to the conductive pieces in a one-to-one correspondence manner so that the conductive elastic pieces are electrically connected to the corresponding conductive pieces.
One or more technical solutions provided in the embodiments of the present application have at least one of the following technical effects: in the tail structure, a first rod piece is connected to the body of the robot, a second rod piece is hinged to the first rod piece around the axis of the first rod piece, a tail shell is installed on the second rod piece, and two ends of an elastic piece are connected to the first rod piece and the second rod piece respectively. When the robot body moves, the second rod piece can swing to drive the tail shell to swing, and the elastic piece is twisted to store energy in the process. When the robot body stops moving, namely the external force for promoting the second rod piece to swing disappears, the second rod piece can rotate to reset under the action of the elastic piece, and the tail shell rotates to reset along with the second rod piece. Therefore, the agility of the tail of the robot in the motion process is enhanced, the tail shell can simulate the effect of swinging the tail of an animal while walking along with the dynamic swinging of the body of the robot, and the problem that the tail of the existing robot is inflexible is effectively solved.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the embodiments or the prior art descriptions will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without inventive exercise.
Fig. 1 is a perspective assembly view of a tail structure and a robot body provided in an embodiment of the present application;
FIG. 2 is a cross-sectional view of the tail structure and robot body of FIG. 1;
FIG. 3 is an enlarged partial view of the tail structure and robot body of FIG. 2;
FIG. 4 is an exploded perspective view of the tail structure of FIG. 1 and a robot body;
FIG. 5 is a further exploded perspective view of the tail structure of FIG. 4 with the robot body;
FIG. 6 is a further exploded perspective view of the tail structure of FIG. 5, with the tail shell not shown;
FIG. 7 is a further exploded perspective view of the tail structure of FIG. 6;
FIG. 8 is a cross-sectional view of the tail structure of FIG. 1;
fig. 9 is a perspective view of the robot body of fig. 1.
Detailed Description
In order to make the technical problems, technical solutions and advantageous effects to be solved by the present application clearer, the present application is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present application and are not intended to limit the present application.
In the description of the embodiments of the present application, it is to be understood that the terms "length," "width," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like refer to orientations and positional relationships illustrated in the drawings, which are used for convenience in describing the embodiments of the present application and for simplicity in description, and do not indicate or imply that the referenced devices or elements must have a particular orientation, be constructed and operated in a particular orientation, and thus, are not to be construed as limiting the embodiments of the present application.
Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present application, "a plurality" means two or more unless specifically limited otherwise.
In the embodiments of the present application, unless otherwise specifically stated or limited, the terms "mounted," "connected," and "fixed" are to be construed broadly, e.g., as meaning fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meanings of the above terms in the embodiments of the present application can be understood by those of ordinary skill in the art according to specific situations.
Referring to fig. 1 to 4, an embodiment of the present application provides a tail structure 100, which includes a first rod 10, a second rod 20, an elastic member 30 and a tail shell 40. The first rod 10 is used for connecting the robot body 200, for example, the first rod 10 is fixed on the waist of the robot, and the first rod 10 will move along the waist of the robot. The second rod 20 is hinged to one end of the first rod 10, and the hinge axis between the second rod 20 and the first rod 10 is coincident with the axis of the first rod 10. The two ends of the elastic member 30 are respectively connected to the first rod 10 and the second rod 20, so that the second rod 20 is rotated and reset. A tail shell 40 is mounted on the second rod 20, the tail shell 40 having a tail shape.
Compared with the prior art, the tail structure 100 provided by the present application has the advantages that the first rod 10 is connected to the robot body 200, the second rod 20 is hinged to the first rod 10 around the axis of the first rod 10, the tail shell 40 is installed on the second rod 20, and two ends of the elastic member 30 are respectively connected to the first rod 10 and the second rod 20. When the robot body 200 moves, the second rod 20 will swing, and the second rod 20 drives the tail shell 40 to swing, in the process, the elastic element 30 twists and stores energy. When the robot body 200 stops moving, that is, when the external force for causing the second link 20 to swing disappears, the second link 20 will be rotationally restored under the action of the elastic member 30, and the tail shell 40 is rotationally restored following the second link 20. Therefore, the flexibility of the tail of the robot in the moving process is enhanced, the tail shell 40 can simulate the effect of swinging the tail of an animal while walking along with the dynamic swinging of the body 200 of the robot, and the problem that the tail of the existing robot is inflexible and stiff is effectively solved.
Referring to fig. 3, 6 and 7, in another embodiment of the present application, the first rod 10 has a first inner cavity 11 and a first port 12 communicating with the first inner cavity 11, the second rod 20 has a second inner cavity 21 and a second port 22 communicating with the second inner cavity 21, the first port 12 communicates with the second port 22, and the elastic member 30 is disposed in the first inner cavity 11 and the second inner cavity 21. Providing the first rod 10 and the second rod 20 with the inner cavities and the ports can reduce the weight of the structure to save materials, and at the same time, it is convenient to place the elastic member 30 in the inner cavities of the two rods, so that the structure is compact.
Referring to fig. 3 and 6, in another embodiment of the present application, one end of the elastic member 30 is connected to one end of the first rod 10 away from the second rod 20, and the other end of the elastic member 30 is connected to one end of the second rod 20 away from the first rod 10. By adopting the scheme, the elastic member 30 can be made longer, when the second rod member 20 swings relative to the first rod member 10, the second rod member 20 drives the tail shell 40 to swing, in the process, the longer elastic member 30 can be twisted and deformed more and can store more energy, and when the second rod member 20 needs to be reset, the elastic member 30 releases more energy to effectively drive the second rod member 20 to rotate and reset.
Referring to fig. 3, 6 and 7, in another embodiment of the present application, the first rod 10 includes a first housing 13 and a second housing 14 that are butted, and the first housing 13 and the second housing 14 are butted to form a first inner cavity 11 and a first port 12; the second rod 20 comprises a third shell 23 and a fourth shell 24 which are butted; the third housing 23 and the fourth housing 24 are butted to form a second inner cavity 21 and a second port 22. By adopting the scheme, the rod piece with the inner cavity and the port is easy to manufacture, and the two shells are butted up and down to finish assembly, so that the operation is convenient. The first housing 13 and the second housing 14 can be assembled by a snap and a detent, and the third housing 23 and the fourth housing 24 can be assembled in a similar manner.
Referring to fig. 3, 6 and 7, in another embodiment of the present application, a first arc-shaped groove 131 and a second arc-shaped groove 141 are respectively formed on an outer wall of the first shell 13 and an outer wall of the second shell 14, and the first arc-shaped groove 131 and the second arc-shaped groove 141 are communicated to form the annular groove 15 when the first shell 13 and the second shell 14 are butted; the third shell 23 and the fourth shell 24 respectively extend inwards at the edge of the second port 22 to form a first arc-shaped flange 231 and a second arc-shaped flange 241, and the first arc-shaped flange 231 and the second arc-shaped flange 241 form an annular flange 25 when the third shell 23 and the fourth shell 24 are butted; the annular flange 25 is caught in the annular groove 15 so that the second pin 20 is hinged to the first pin 10 about the axis of the first pin 10. With this solution it is possible to realize that the second rod 20 is hinged on the first rod 10 around the axis of the first rod 10 and that the first port 12 communicates with the second port 22. The axial distance of the annular groove 15 is larger than the axial thickness of the annular flange 25, so that the second pin 20 has a certain displacement space in the axial direction with respect to the first pin 10. The inner diameter of the annular flange 25 is larger than the outer diameter of the bottom surface of the annular groove 15, and the inner diameter of the annular flange 25 is smaller than the outer diameter of the outer surface of the first pin 10, so that the annular flange 25 can be caught in the annular groove 15, thereby rotatably mounting the second pin 20 at the end of the first pin 10.
Referring to fig. 3, in another embodiment of the present application, a gasket (not shown) is disposed in the annular groove 15 for limiting an axial distance of the annular groove 15. A washer is provided to adjust a moving space of the annular flange 25 in the axial direction. When the axial moving space of the annular flange 25 is small, the swing range of the second pin 20 becomes small. On the contrary, the swing range of the second pin 20 becomes large. The maximum amplitude to which the tail shell 40 can be swung is controlled by the provision of a washer.
Referring to fig. 3, 6 and 7, in another embodiment of the present application, a first connecting column 134 is disposed on an inner wall of the first casing 13, a second connecting column 232 is disposed on an inner wall of the third casing 23, the elastic member 30 is an extension spring, and two ends of the elastic member 30 are respectively hung on the first connecting column 134 and the second connecting column 232. This arrangement facilitates the assembly of the first rod 10, the second rod 20 and the elastic member 30, and the extension spring connected between the first connecting post 134 and the second connecting post 232 will provide a pulling force to the first rod 10 and the second rod 20 to bring the two rods into close and tight engagement, and the elastic member 30 can twist to store energy when the second rod 20 rotates relative to the first rod 10, and the elastic member 30 can rotate to reset the second rod 20 when the external force disappears.
Referring to fig. 3, in another embodiment of the present application, the first housing 13 is connected to the second housing 14 by a first fastening member (not shown) passing through the second housing 14 and screwed to the first connecting post 134; the third housing 23 and the fourth housing 24 are connected by a second fastener (not shown) which passes through the fourth housing 24 and is screwed to the second connection post 232. The connecting columns are provided with screw holes, and a fastener penetrates through one of the shells and is in threaded connection with the connecting column of the other shell, so that the two shells can be reliably connected together to form a rod piece. The connecting column is used for hanging the end part of the elastic element 30 and is matched with the fastening element to realize the fixation of the two shells. The structure is ingenious in design and convenient to assemble.
Referring to fig. 6 and 7, in another embodiment of the present application, the first rod 10 is provided with two spacing blocking walls 16 at the first port 12, the second rod 20 is provided with a spacing arm 26 at the second port 22, and the spacing arm 26 is located between the two spacing blocking walls 16 to limit the swing angle of the second rod 20 relative to the first rod 10. With this arrangement, the maximum swing position of the second link 20 with respect to the first link 10 can be defined, and the tail shell 40 can be swung within a suitable angle range, for example, by arranging the two limit stop walls 16 to be symmetrical about the vertical plane and offset by 60 °, the tail shell 40 can be limited to swing within 60 °.
Referring to fig. 3, 6 and 7, in another embodiment of the present application, a light emitting element 51 is disposed on the second rod member 20 away from the first rod member 10, two conductive elements 52 are disposed on the first rod member 10 away from the second rod member 20, and the conductive elements 52 and the light emitting element 51 are connected by a wire (not shown). By adopting the scheme, the tail shell 40 can generate a light-emitting effect when the power is on, and the user experience is improved. The current is conducted from the conductive member 52 to the luminous member 51 through the wire. The light emitting member 51, which may be an LED lamp, is provided at the end of the second rod member 20.
Referring to fig. 3, 5 to 7, in another embodiment of the present application, a through hole 17 is formed in a side wall of the first rod 10 away from the second rod 20, a conductive member 52 is in a strip shape and passes through the through hole 17, one end of the conductive member 52 is bent and disposed at an end of the first rod 10, and the other end of the conductive member 52 is located in the first inner cavity 11. The conductive member 52 in a bar shape is easy to manufacture and also easy to assemble to the first pin 10. When the first rod 10 adopts a scheme that the first shell 13 is butted with the second shell 14, half holes (132, 142) are respectively arranged at corresponding positions of the side walls of the first shell 13 and the second shell 14, the two half holes form a through hole 17, and the conductive member 52 penetrates through the through hole 17 and extends into the first inner cavity 11. One end of the conductive member 52 abuts against one end of the first rod 10, so that the conductive elastic piece 210 abuts against the conductive member 52. Further, the inner walls of the first housing 13 and the second housing 14 are respectively provided with guiding walls (133, 143) for guiding the conductive member 52 to extend into the first cavity 11, so that the conductive member 52 does not interfere with the elastic member 30 in the first cavity 11.
Referring to fig. 2, 3, 5, and 8, in another embodiment of the present application, the tail shell 40 has a locking groove 411, the outer surface of the second rod 20 is provided with a locking edge 27, the second rod 20 is inserted into the tail shell 40, and the locking edge 27 is locked in the locking groove 411, so that the second rod 20 is tightly connected to the tail shell 40, and the tail is prevented from falling off when swinging. With this arrangement, the tail shell 40 can be easily assembled to the second rod member 20 and can be easily disassembled when the tail shell 40 having another shape needs to be replaced, or the shape of the tail can be changed according to the product requirements. Further, the clamping edge 27 of the second rod 20 is higher than the surface of the second rod, and the clamping edge 27 is matched with the clamping groove 411 so that the second rod 20 can be detachably mounted on the clamping groove 411. The slot 411 is formed in one of the tubes 41 in the tail shell 40 and this configuration is easily molded.
Further, the surface of the second body of rod is equipped with axial spacing edge 28, and the draw-in groove 411 inner wall of tail shell 40 is equipped with axial spacing groove 412, and axial spacing edge 28 stretches into axial spacing groove 412 when the second body of rod is inserted and is located tail shell 40 for tail shell 40 circumference is spacing on the second body of rod, ensures that tail shell 40 assembles on second body of rod preset position.
Referring to fig. 1 to 4, in another embodiment of the present application, a robot is provided, which includes a robot body 200 and the tail structure 100, wherein the first rod 10 is connected to the robot body 200. Since the robot adopts all technical solutions of all the embodiments, all the beneficial effects brought by the technical solutions of the embodiments are also achieved, and are not described in detail herein.
Referring to fig. 6 and 9, in another embodiment of the present application, a mounting hole 201 for inserting the first rod 10 is formed on the robot body 200, an arc-shaped limiting edge 18 and a step portion 19 axially spaced from the arc-shaped limiting edge 18 are disposed on an outer wall of the first rod 10, and an outer diameter of the arc-shaped limiting edge 18 and an outer diameter of the step portion 19 are both smaller than an inner diameter of the mounting hole 201; be equipped with on the inner wall of mounting hole 201 that the arc keeps off wall 202 and circumference and keeps off wall 203, arc keeps off wall 202 and circumference and keeps off wall 203 and be the L style of calligraphy and distribute, and arc keeps off wall 202 and circumference and keeps off wall 203 and enclose into the constant head tank 204 that can insert arc spacing edge 18, and the external diameter of arc spacing edge 18, the external diameter of step portion 19 all are greater than the internal diameter that the arc kept off wall 202, and circumference keeps off wall 203 is used for with the terminal surface butt of arc spacing edge 18. In the process of assembling the first rod 10 to the mounting hole 201, the arc-shaped limiting edge 18 and the arc-shaped blocking wall 202 are circumferentially staggered to push the first rod 10, after the arc-shaped limiting edge 18 passes through the arc-shaped blocking wall 202, the arc-shaped limiting edge 18 enters the back of the arc-shaped blocking wall 202 by screwing the first rod 10, at this time, the arc-shaped blocking wall 202 is located between the arc-shaped limiting edge 18 and the step portion 19, two opposite end faces of the arc-shaped blocking wall 202 are respectively abutted to the arc-shaped limiting edge 18 and the step portion 19, the arc-shaped limiting edge 18 is located in the positioning groove 204, the circumferential blocking wall 203 is abutted to one end face of the arc-shaped limiting edge 18, so that the first rod 10 is axially limited on the robot body 200, and the tail structure 100 is prevented from axially separating from the robot body.
Further, an axial flange 205 is arranged on the inner wall of the mounting hole 201, an axial groove 181 is formed in the arc-shaped limiting edge 18, and the first rod 10 is circumferentially limited on the robot body 200 when the axial flange 205 enters the axial groove 181. During the process that the arc-shaped limiting edge 18 passes over the arc-shaped blocking wall 202 and screws the first rod 10, the axial flange 205 slides into the axial groove 181, so that the first rod 10 is limited on the robot body 200 in the circumferential direction, the tail structure 100 is prevented from being separated from the robot body 200 in the circumferential direction, and the reliable assembly of the tail structure 100 is ensured. Further, a smooth transition surface 206 is provided between the axial flange 205 and the inner wall of the mounting hole 201, and the smooth transition surface 206 is used for guiding the axial flange 205 into the axial groove 181. During screwing of the first rod element 10, the axial flange 205 passes the smooth transition surface 206 and then enters the axial groove 181.
Further, two arc-shaped limiting edges 18 are arranged on the outer wall of the first rod 10, and two arc-shaped blocking walls 202 and corresponding circumferential blocking walls 203 are arranged on the inner wall of the mounting hole 201. During assembly, the two arc-shaped blocking walls 202 are located between the corresponding arc-shaped limiting edges 18 and the step part 19, and the two arc-shaped limiting edges 18 are located in the corresponding positioning grooves 204, so that the assembly is more reliable. In addition, two axial flanges 205 are arranged on the inner wall of the mounting hole 201, and axial grooves 181 are formed in the two arc-shaped limiting edges 18, so that the configuration and the assembly are more reliable.
Referring to fig. 1, 3 to 5, in another embodiment of the present application, when two conductive pieces 52 are disposed on the first rod 10 away from the second rod 20, two conductive elastic pieces 210 are disposed on the inner wall of the robot body 200, the conductive elastic pieces 210 are cantilevered, and the conductive elastic pieces 210 are correspondingly abutted against the conductive pieces 52 one by one, so that the conductive elastic pieces 210 are electrically connected to the corresponding conductive pieces 52. By adopting the scheme, the assembly of the tail structure 100 and the access of a power supply are easily realized, the conductive elastic sheet 210 is elastically abutted to the bent end of the conductive piece 52 close to the outside of the first rod piece 10, the reliable connection between the conductive elastic sheet 210 and the conductive piece 52 is ensured, so that the power is supplied to the luminous piece 51 at the end part of the second rod piece 20, and the trouble of operation caused by the fact that a lead in the tail structure 100 needs to be accessed to the inner side of the robot body 200 when the tail structure 100 is assembled on the robot body 200 is avoided.
The present invention is not intended to be limited to the particular embodiments shown and described, but is to be accorded the widest scope consistent with the principles and novel features herein disclosed.
Claims (16)
1. A tail structure, comprising:
a first bar for connecting the robot body;
the second rod piece is hinged to one end of the first rod piece, and the hinge axis between the second rod piece and the first rod piece is superposed with the axis of the first rod piece;
the two ends of the elastic piece are respectively connected with the first rod piece and the second rod piece so as to enable the second rod piece to rotate and reset; and
a tail shell mounted on the second rod.
2. The tail structure of claim 1, wherein the first shaft has a first lumen and a first port in communication with the first lumen, the second shaft has a second lumen and a second port in communication with the second lumen, the first port is in communication with the second port, and the resilient member is disposed in the first lumen and the second lumen.
3. The tail structure of claim 2, wherein one end of the elastic member is connected to an end of the first rod member remote from the second rod member, and the other end of the elastic member is connected to an end of the second rod member remote from the first rod member.
4. The tail structure of claim 2, wherein the first rod includes first and second opposing shells, the first and second opposing shells forming the first interior cavity and the first port;
the second rod piece comprises a third shell and a fourth shell which are butted; the third shell and the fourth shell are butted to form the second inner cavity and the second port.
5. The tail structure of claim 4, wherein the outer wall of the first housing and the outer wall of the second housing define a first arcuate slot and a second arcuate slot, respectively, and the first arcuate slot and the second arcuate slot communicate to form an annular slot when the first housing and the second housing are mated;
the third shell and the fourth shell extend inwards at the edge of the second port to form a first arc-shaped flange and a second arc-shaped flange respectively, and the first arc-shaped flange and the second arc-shaped flange form an annular flange when the third shell and the fourth shell are butted;
the annular flange is clamped in the annular groove, so that the second rod piece is hinged to the first rod piece around the axis of the first rod piece.
6. The tail structure of claim 5, wherein a gasket is disposed within the annular groove for defining an axial distance of the annular groove.
7. The tail structure of claim 4, wherein the inner wall of the first housing is provided with a first connecting post, the inner wall of the third housing is provided with a second connecting post, the elastic member is a tension spring, and two ends of the elastic member are respectively hung on the first connecting post and the second connecting post.
8. The tail structure of claim 7, wherein the first housing is coupled to the second housing by a first fastener that passes through the second housing and is threadably coupled to the first connection post;
the third shell and the fourth shell are connected through a second fastener, and the second fastener penetrates through the fourth shell and is in threaded connection with the second connecting column.
9. The tail structure of claim 2, wherein the first rod has two spaced apart limiting walls at the first port, and the second rod has a limiting arm at the second port, the limiting arm being positioned between the two limiting walls to limit the swing angle of the second rod relative to the first rod.
10. The tail structure of claim 2, wherein the second rod member is provided with a light emitting member away from the first rod member, and the first rod member is provided with two conductive members away from the second rod member, and the conductive members are connected to the light emitting member by wires.
11. The tail structure of claim 10, wherein a via hole is formed in a side wall of the first rod member away from the second rod member, the conductive member is in a shape of a bar and penetrates through the via hole, one end of the conductive member is bent and located at an end of the first rod member, and the other end of the conductive member is located in the first inner cavity.
12. The tail structure of any one of claims 1 to 11, wherein the tail shell has a locking groove, the second rod member has a locking edge on an outer surface thereof, the second rod member is inserted into the tail shell and the locking edge is locked in the locking groove.
13. A robot comprising a robot body and a tail structure as claimed in any one of claims 1 to 12, the first rod being connected to the robot body.
14. The robot according to claim 13, wherein the robot body is provided with a mounting hole for the first rod member to be inserted, the outer wall of the first rod member is provided with an arc-shaped limiting edge and a step portion axially spaced from the arc-shaped limiting edge, the inner wall of the mounting hole is provided with an arc-shaped retaining wall and a circumferential retaining wall, and the arc-shaped retaining wall and the circumferential retaining wall enclose a positioning groove; two relative terminal surfaces of arc fender wall are supported respectively to be located the arc spacing edge with step portion just the arc spacing edge is located when the constant head tank, first member axial spacing in the robot is healthy.
15. The robot of claim 14, wherein an axial flange is disposed on an inner wall of the mounting hole, an axial groove is disposed on the arc-shaped limiting edge, and the first rod is circumferentially limited on the robot body when the axial flange enters the axial groove.
16. The robot of claim 13, wherein when two conductive members are disposed on the first rod member away from the second rod member, two conductive elastic pieces are disposed on the inner wall of the robot body, and the conductive elastic pieces are abutted against the conductive members one by one to electrically connect the conductive elastic pieces with the corresponding conductive members.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911412048.2A CN111086015B (en) | 2019-12-31 | 2019-12-31 | Tail structure and robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911412048.2A CN111086015B (en) | 2019-12-31 | 2019-12-31 | Tail structure and robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN111086015A true CN111086015A (en) | 2020-05-01 |
| CN111086015B CN111086015B (en) | 2021-09-17 |
Family
ID=70397951
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201911412048.2A Active CN111086015B (en) | 2019-12-31 | 2019-12-31 | Tail structure and robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN111086015B (en) |
Citations (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2002032045A (en) * | 2000-07-14 | 2002-01-31 | Sony Corp | Display device |
| WO2004101231A1 (en) * | 1999-02-19 | 2004-11-25 | Takeshi Yamagishi | Curved mechanism and robot |
| CN202381518U (en) * | 2011-12-19 | 2012-08-15 | 姚衍兴 | Restoration joint |
| US20140073444A1 (en) * | 2012-09-13 | 2014-03-13 | II William R. Dixon | Novelty wagging tail and method of use |
| CN106195484A (en) * | 2016-08-30 | 2016-12-07 | 徐胜 | Pipeline connection universal joint |
| CN205988396U (en) * | 2016-05-03 | 2017-03-01 | 袁博 | A kind of ectoskeleton joint with reset function |
| CN206288217U (en) * | 2016-12-01 | 2017-06-30 | 南京航空航天大学 | A kind of bionical tadpole of sandwich Piezoelectric Driving |
| CN107009364A (en) * | 2016-06-22 | 2017-08-04 | 常州恐龙园股份有限公司 | The neck and tail swing mechanism of a kind of dinosaur robot |
| CN208371946U (en) * | 2017-07-10 | 2019-01-15 | 深圳市宝丽洁科技有限公司 | A kind of electric toothbrush head |
| CN110154009A (en) * | 2019-06-14 | 2019-08-23 | 李忠吉 | A kind of bionic snake-shaped robot |
| CN110352921A (en) * | 2019-08-28 | 2019-10-22 | 安徽福斯特渔具有限公司 | A kind of more eliminant bionic fish baits and preparation method thereof |
| CN110562423A (en) * | 2019-08-26 | 2019-12-13 | 浙江理工大学 | Swinging mechanism of imitative beaver tail |
-
2019
- 2019-12-31 CN CN201911412048.2A patent/CN111086015B/en active Active
Patent Citations (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2004101231A1 (en) * | 1999-02-19 | 2004-11-25 | Takeshi Yamagishi | Curved mechanism and robot |
| JP2002032045A (en) * | 2000-07-14 | 2002-01-31 | Sony Corp | Display device |
| CN202381518U (en) * | 2011-12-19 | 2012-08-15 | 姚衍兴 | Restoration joint |
| US20140073444A1 (en) * | 2012-09-13 | 2014-03-13 | II William R. Dixon | Novelty wagging tail and method of use |
| CN205988396U (en) * | 2016-05-03 | 2017-03-01 | 袁博 | A kind of ectoskeleton joint with reset function |
| CN107009364A (en) * | 2016-06-22 | 2017-08-04 | 常州恐龙园股份有限公司 | The neck and tail swing mechanism of a kind of dinosaur robot |
| CN106195484A (en) * | 2016-08-30 | 2016-12-07 | 徐胜 | Pipeline connection universal joint |
| CN206288217U (en) * | 2016-12-01 | 2017-06-30 | 南京航空航天大学 | A kind of bionical tadpole of sandwich Piezoelectric Driving |
| CN208371946U (en) * | 2017-07-10 | 2019-01-15 | 深圳市宝丽洁科技有限公司 | A kind of electric toothbrush head |
| CN110154009A (en) * | 2019-06-14 | 2019-08-23 | 李忠吉 | A kind of bionic snake-shaped robot |
| CN110562423A (en) * | 2019-08-26 | 2019-12-13 | 浙江理工大学 | Swinging mechanism of imitative beaver tail |
| CN110352921A (en) * | 2019-08-28 | 2019-10-22 | 安徽福斯特渔具有限公司 | A kind of more eliminant bionic fish baits and preparation method thereof |
Also Published As
| Publication number | Publication date |
|---|---|
| CN111086015B (en) | 2021-09-17 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN106826759B (en) | Foot structure and humanoid robot | |
| CN111086015B (en) | Tail structure and robot | |
| CN211590138U (en) | Tail structure and robot | |
| CN110726093A (en) | Reading lamp | |
| CN106737848B (en) | Leg structure and humanoid robot | |
| CN109746926B (en) | Robot and waist structure thereof | |
| CN211372131U (en) | Multi-connector lamp and combined ceiling lamp | |
| CN210640446U (en) | A kind of interface unit | |
| CN102086986A (en) | LED (light-emitting diode) lighting tube | |
| CN208352623U (en) | A kind of connection component and desk lamp | |
| JP3118854U (en) | Electrical plug for duct rail | |
| CN214499509U (en) | Steering mechanism and fan | |
| CN212005342U (en) | Track lighting lamp | |
| CN210921308U (en) | Rotating shaft mechanism and lamp | |
| CN208997807U (en) | A kind of modular construction landscape lamp of Simple detachable | |
| CN220793021U (en) | Line lamp with adjustable light angle | |
| CN202056710U (en) | Lighting lamp with conveniently disassembled and assembled lamp body | |
| CN211295645U (en) | Plug-in lamp holder | |
| CN213630124U (en) | LED down lamp | |
| CN210771561U (en) | Desk lamp | |
| CN217215127U (en) | Cable connecting terminal | |
| CN216952954U (en) | Long-rod lamp with switching structure | |
| CN210266746U (en) | Plastic shell LED lamp | |
| CN117167701A (en) | Combined showcase lamp | |
| CN220169299U (en) | Structure for reducing packaging volume of LED support lamp |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |