CN202572391U - Robot waist design - Google Patents
Robot waist design Download PDFInfo
- Publication number
- CN202572391U CN202572391U CN 201220217408 CN201220217408U CN202572391U CN 202572391 U CN202572391 U CN 202572391U CN 201220217408 CN201220217408 CN 201220217408 CN 201220217408 U CN201220217408 U CN 201220217408U CN 202572391 U CN202572391 U CN 202572391U
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- CN
- China
- Prior art keywords
- line handspike
- push rods
- robot
- linear push
- gyroscope
- Prior art date
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- Expired - Fee Related
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Abstract
The utility model discloses a robot waist design, which comprises at least three parallel connection linear push rods, a bottom plate, a top plate, a rotating tube, an electronic ruler, a gyroscope, a singlechip and a motor driving device, wherein the bottom plate is arranged at the bottom end of the linear push rods through a cross universal joint, the top plate is arranged at the top end of the linear push rods sequentially through a spherical bearing and a spring, the rotating tube is sheathed at the outer part of the spring, the electronic ruler, the gyroscope and the singlechip are arranged on the side walls of the linear push rods, and the motor driving device is used for controlling the linear push rods. The robot waist design has the advantages that through the simple structure, the free bowing movement in all directions and the telescopic movement of the robot waist can be realized, the folding can be realized during the idle state, and the storage is convenient.
Description
Technical field
The utility model relates to a kind of robot local structure, relates in particular to a kind of robot waist design that can multifreedom motion.
Background technology
Waist design is the important component part among the robot architecture, play accept the upper body and the lower part of the body pivotal role, also can represent the flexibility and the free degree of robot.The waist structure of at present common robot is complicated, and action is clumsy, can't tilt by multiple degrees of freedom, can not fold, and the robot that has even do not have waist structure directly has influence on the robot simulation degree.
The utility model content
The technical problem that the utility model will solve provides the waist design of a kind of robot, can realize the stretching motion of robot waist and the motion of freely bending over of all directions through simple structure, can fold up when idle and be convenient to deposit.
To achieve these goals; The technical scheme that the utility model is taked is: the design of a kind of robot waist, comprise at least three parallel connections line handspike, through candan universal joint be arranged on the base plate of said line handspike bottom, successively through spherical bearing and spring be arranged on said line handspike top top board, be set in outside the revolving tube, be arranged on electronic ruler, gyroscope, the single-chip microcomputer of line handspike sidewall and the motor driver that is used to control said line handspike of spring.
As a kind of optimal technical scheme of the utility model, said gyroscope is arranged on the said top board, and said single-chip microcomputer and motor driver are arranged on the said base plate, and said single-chip microcomputer is STM32.
As a kind of optimal technical scheme of the utility model, said line handspike is six, and the top of line handspike is drawn close in twos each other, and the bottom of line handspike evenly distributes.
Adopt the beneficial effect that technique scheme produced to be: the utility model can be realized the stretching motion of robot waist and the motion of freely bending over of all directions through simple structure, can fold up when idle and be convenient to deposit.
Description of drawings
Fig. 1 is the structural representation of the utility model.
Fig. 2 is the perspective view of coupling part between line handspike and the top board.
Among the figure: 1, line handspike 2, candan universal joint 3, base plate 4, spherical bearing 5, spring 6, revolve tube 7, top board 8, electronic ruler 9, gyroscope 10, single-chip microcomputer 11, motor driver.
The specific embodiment
Below in conjunction with the accompanying drawing and the specific embodiment the utility model is done further detailed explanation.
Referring to accompanying drawing; Comprise in the structure of a specific embodiment of the utility model six parallel connections line handspike 1, through candan universal joint 2 be arranged on the base plate 3 of said line handspike 1 bottom, successively through spherical bearing 4 and spring 5 be arranged on said line handspike 1 top top board 7, be set in spring 5 outside revolve tube 6, be arranged on line handspike 1 sidewall electronic ruler 8, be arranged on gyroscope 9 on the top board 7, be arranged on the base plate 3 and be used to control the motor driver 11 and the single-chip microcomputer 10 of said line handspike 1; Single-chip microcomputer 10 adopts STM32; The top of line handspike 1 is drawn close in twos each other, and the bottom of line handspike 1 evenly distributes.
The operation principle of the utility model is: the utility model can be realized the stretching motion of robot waist and the motion of freely bending over of all directions through simple structure; Specifically; Gyroscope 9 is responsible for detecting the inclination angle of the utility model, and single-chip microcomputer 10 is transferred to motor driver 11 with motor message, and motor driver 11 drives six line handspikes 1; Cooperatively interact; Accomplish needed stroke separately, electronic ruler 8 is responsible for detecting stroke and is fed back to single-chip microcomputer 10 and handles, and when reaching required stroke, promptly stops action; Can unload underspin tube 6 when idle, spring 5 has certain elastic deformation, the utility model can be folded up be convenient to deposit.
Foregoing description only proposes as the enforceable technical scheme of the utility model, not as the single restrictive condition to its technical scheme itself.
Claims (3)
1. robot waist design is characterized in that: comprise at least three parallel connections line handspike, through candan universal joint be arranged on the base plate of said line handspike bottom, successively through spherical bearing and spring be arranged on said line handspike top top board, be set in outside the revolving tube, be arranged on electronic ruler, gyroscope, the single-chip microcomputer of line handspike sidewall and the motor driver that is used to control said line handspike of spring.
2. robot according to claim 1 waist design, it is characterized in that: said gyroscope is arranged on the said top board, and said single-chip microcomputer and motor driver are arranged on the said base plate, and said single-chip microcomputer is STM32.
3. robot according to claim 1 waist design, it is characterized in that: said line handspike is six, and the top of line handspike is drawn close in twos each other, and the bottom of line handspike evenly distributes.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201220217408 CN202572391U (en) | 2012-05-15 | 2012-05-15 | Robot waist design |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201220217408 CN202572391U (en) | 2012-05-15 | 2012-05-15 | Robot waist design |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN202572391U true CN202572391U (en) | 2012-12-05 |
Family
ID=47241842
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 201220217408 Expired - Fee Related CN202572391U (en) | 2012-05-15 | 2012-05-15 | Robot waist design |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN202572391U (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104175317A (en) * | 2014-07-24 | 2014-12-03 | 合肥工业大学 | Pneumatic artificial muscle and hydraulic hybrid driven six-DOF (degree of freedom) parallel robot |
| CN104985585A (en) * | 2015-05-12 | 2015-10-21 | 北京理工大学 | Bionic waist mechanism of humanoid robot and with telescoping driving devices |
| CN105196304A (en) * | 2015-11-11 | 2015-12-30 | 哈尔滨工业大学 | Foldable mechanical palm |
| CN110450142A (en) * | 2019-09-09 | 2019-11-15 | 哈工大机器人（合肥）国际创新研究院 | A kind of six-degree-of-freedom parallel robot based on double tops instrument component |
-
2012
- 2012-05-15 CN CN 201220217408 patent/CN202572391U/en not_active Expired - Fee Related
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104175317A (en) * | 2014-07-24 | 2014-12-03 | 合肥工业大学 | Pneumatic artificial muscle and hydraulic hybrid driven six-DOF (degree of freedom) parallel robot |
| CN104175317B (en) * | 2014-07-24 | 2017-02-22 | 合肥工业大学 | Pneumatic artificial muscle and hydraulic hybrid driven six-DOF (degree of freedom) parallel robot |
| CN104985585A (en) * | 2015-05-12 | 2015-10-21 | 北京理工大学 | Bionic waist mechanism of humanoid robot and with telescoping driving devices |
| CN104985585B (en) * | 2015-05-12 | 2017-06-16 | 北京理工大学 | A kind of bionical waist mechanism of the anthropomorphic robot of telescopic drive |
| CN105196304A (en) * | 2015-11-11 | 2015-12-30 | 哈尔滨工业大学 | Foldable mechanical palm |
| CN110450142A (en) * | 2019-09-09 | 2019-11-15 | 哈工大机器人（合肥）国际创新研究院 | A kind of six-degree-of-freedom parallel robot based on double tops instrument component |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| C17 | Cessation of patent right | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20121205 Termination date: 20130515 |