CN202961869U

CN202961869U - Electronic robot

Info

Publication number: CN202961869U
Application number: CN 201220166860
Authority: CN
Inventors: 蔡逢春
Original assignee: Kunshan Gaosheng Precision Electromechanical Co Ltd
Current assignee: Kunshan Gaosheng Precision Electromechanical Co Ltd
Priority date: 2012-04-19
Filing date: 2012-04-19
Publication date: 2013-06-05
Anticipated expiration: 2022-04-19

Abstract

The utility model discloses an electronic robot. The electronic robot comprises an upper body housing, a lower body housing, a plurality of servo machines, forearms, thigh upper end supports, shank supports and soles. The servo machines include shoulder servo machines, arm servo machines, a waist servo machine, hip servo machines, leg servo machines, ankle servo machines and sole servo machines. Each servo machine has a housing and an output shaft that is exposed out of the housing. The upper body housing, the lower body housing, the forearms, the thigh upper end supports, the shank supports and the soles are respectively driven by all the servo machines to swing or rotate via the output shafts. The servo machines are controlled by an electronic control device to respectively drive the upper body housing, the lower body housing, the forearms, the thigh upper end supports, the shank supports and the soles to swing or rotate, so that the electronic robot can dance, twist the waist, walk and perform other various complex movements, can stand up automatically if being inclined, exhibits wrestling and ball game functions, and is highly interesting.

Description

A kind of electronic robot

Technical field:

The utility model relates to the Robotics field, especially relates to a kind of multiaxis electronic robot structure.

Background technology:

Country in two Pius XI circle industry and commerce prosperities, the innovation speed of sci-tech product has reached the unprecedented degree of the mankind, and in the modern life of goods and materials abundance, our daily life is all popularized and incorporated to high-tech product gradually, general common high-tech product as: mobile phone, tablet PC, this class of E-book reading device are take utility function as main 3C Product; In addition, along with the release of film " transformer " is shown, also allow many people take on a new look fully for the impression of robot.

In early days can see many robot toys on the market, their most of just static dolls perhaps can be shown multiple different attitude, but still action that can not independence; A kind of robot toy who utilizes simple mechanism and small-sized electric motor to drive occurred afterwards, the identical walking of doing that these robot toys can only repeat is moved, and can't do more complicated or various action.

Development due to electronic information and micromachine technology, electronic robot with chip and process control begins to occur, this electronic robot has related to complicated electron controls technology and programming, only had in the past research institute the student or for the science purposes be that purpose person just can make and design, this electronic robot has complicated circuit and mechanical realization, and the field that major part all terminates in laboratory, contest or specific use just can be seen, cost is high and be difficult to maintenance, so still can't popularize in the open market.

The utility model content:

The purpose of this utility model is the weak point that exists for prior art and a kind of new fountain type electronic robot is provided, it can carry out dancing, sway one's hips, the motion of walking and Various Complex, and have topple over automatically stand afterwards, the function such as fistfight and ball sports.

For achieving the above object, electronic robot of the present utility model includes body body, lower body body, a plurality of servo, forearm, thigh upper end frame, little leg support, sole, wherein, servo comprises shoulder servo, arm servo, waist servo, hip servo, leg servo, ankle servo and sole servo, each servo has shell and the output shaft that exposes outside shell, and each servo drives respectively upper body body, lower body body, forearm, thigh upper end frame, little leg support, sole swing or rotates by output shaft.

Preferred as technique scheme, described forearm, thigh upper end frame, little leg support, sole and each servo all comprise the left and right part of humanoid structure, and left and right part has symmetrical structure.

Preferred as technique scheme, described waist servo and shoulder servo are mounted among body body, and the output shaft of waist servo is connected and fixed on the connecting hole of lower body body.

Preferred as technique scheme, the output shaft of described shoulder servo is fixedly connected on the shoulder joint frame, the shoulder servo comprises upper arm servo and the underarm servo that integrates, the upper arm servo can servoly be rotationally connected with the shoulder joint frame and form upper arm, upper arm can be carried out the act arm action with respect to the shoulder servo, and the underarm servo can drive the forearm execution with respect to the pendulum of upper arm

Moving motion.

Preferred as technique scheme, described hip servo comprises the left hip servo of two leftward position that are fixedly installed in respectively lower body body and the right hip servo of right positions, and the hip servo is used for driving the shank structure that comprises leg servo, ankle servo, sole servo, thigh upper end frame, little leg support and sole and carries out the swinging kick campaign that swings to the inside and swing laterally with respect to upper body body.

Preferred as technique scheme, described leg servo has thigh servo and the shank servo that integrates, the thigh upper end frame is fixed in the hip servo, the thigh servo can servoly be rotationally connected with the thigh upper end frame, and the leg of lifting that driving shank servo, little leg support, ankle servo, sole servo and sole are carried out with respect to the hip servo centered by the hip servo moves.

Preferred as technique scheme, described shank servo can servoly be rotationally connected with shank frame top and carry out and lift the shank action with respect to the thigh servo in order to drive little leg support, ankle servo, sole servo and sole.

Preferred as technique scheme, described ankle servo can servoly be rotationally connected with the bottom of little leg support and carry out with respect to the action of lifting and press down sole on little leg support in order to drive sole servo and sole.

Preferred as technique scheme, described sole servo can servoly be rotationally connected with a kind of sole joint frame of ankle servo, in order to drive sole carry out with respect to the ankle servo to the inside and the action of rollover sole laterally.

The beneficial effects of the utility model are: it utilizes electronic-controlled installation to control that each servo drives respectively body body, lower body body, forearm, thigh upper end frame, little leg support and sole swings or rotational motion, thereby can carry out dancing, sway one's hips, the motion of walking and Various Complex, and have topple over automatically stand afterwards, the function of fistfight and ball sports, interest is very strong.

Description of drawings:

Below in conjunction with accompanying drawing, the utility model is described further:

Fig. 1 is overall structure schematic diagram of the present utility model;

Fig. 2 is decomposition texture schematic diagram of the present utility model;

Fig. 3 is one of use view of the present utility model (demonstration sway one's hips action);

Fig. 4 is two (showing that the execution of shank structure is with respect to the swaying legs action that swings laterally of upper body body) of use view of the present utility model;

Fig. 5 is three (show and lift the arm action) of use view of the present utility model;

Fig. 6 is four (the leg action is lifted in demonstration) of use view of the present utility model.

The main element symbol description

Body body 21-connecting hole under the upper body body of 10-20-

31L-forearm 31R-forearm 32L-thigh upper end frame

The little leg support of 32R-thigh upper end frame 33L-shank frame 33R-

34L-sole 34R-sole 40L-takes on servo

40R-shoulder servo 41L-shoulder joint frame 410L-connecting hole

5-waist servo 51-output shaft 50L-hip servo

50R-hip servo 60L-ankle servo 601L-ankle arthrosis frame

70L-sole servo 70R-sole servo 80L-arm servo

801L-upper arm servo 802L-underarm servo 80R-arm servo

90L-leg servo 901L-thigh servo 902L-shank servo

90R-leg servo C-shell S-output shaft

The specific embodiment:

See illustrated in figures 1 and 2: electronic robot of the present utility model comprises: upper body body 10, lower body body 20, a plurality of servo,

forearm

31L and 31R, thigh

upper end frame

32L and 32R,

shank frame

33L and 33R, sole 34L and 34R.Servo comprises

shoulder servo

40L and 40R,

arm servo

80L and 80R, waist servo 5,

hip servo

50L and 50R,

leg servo

90L and 90R,

ankle servo

60L and 60R,

sole servo

70L and 70R, and the electronic-controlled installation (not shown) that is used for controlling each servo.

forearm

31L and 31R, thigh

upper end frame

32L and 32R,

shank frame

33L and 33R, sole 34L and 34R, and each servo comprises the left side of humanoid structure, right half, difference for convenience of explanation, to annotate after the element numbers of each assembly respectively in related description " L " and " R ", wherein " L " is expressed as the structure of left half, " R " is expressed as the structure of right half, while is for the ease of reading and understand detail structure of the present utility model, in the explanation of back with left part be configured to the representative explanation one by one, the structure of right half and left half are symmetrical, can be in the lump with reference to the structure explanation of left part, those of ordinary skills should be enough to understand and implement after the structure of understanding left half.

its basic structure of servo of the present utility model is all similar, take shoulder servo 40L as example, shoulder servo 40L has shell C at least, expose the output shaft S outside shell C, the connecting hole 410L of output shaft S and shoulder joint frame 41L is connected and fixed, utilize shoulder servo 40L to drive and comprise arm servo 80L, and the arm of forearm 31L structure is carried out the oscillating motion (upwards the place ahead of body body 10 and rear swing) with respect to upper body body 10, the output shaft of each servo is all to be fixedly attached to the assembly that it connects in principle, " can be rotationally servo " of indication be namely this kind relation hereinafter, will specify if any exception.

Waist servo 5 and

shoulder servo

40L and 40R are mounted among body body 10 in the lump, the output shaft 51 of waist servo 5 is connected and fixed on the connecting hole 21 of lower body body 20, utilizes waist servo 5 can drive the action (as shown in Figure 3) that sways one's hips that body body 10 is carried out with respect to lower body body 20.

Shoulder servo 80L comprises upper shoulder servo 801L and the underarm servo 802L that integrates, upper shoulder servo 801L can servoly be rotationally connected with shoulder joint frame 41L, upper arm servo 801L is directly as upper arm, can carry out the act arm action (as shown in Figure 5) with respect to shoulder servo 40L, underarm servo 802L can drive forearm 31L execution with respect to the oscillating motion of upper arm.

Hip servo

50L and 50R (50L is that left side hip servo, 50R are right side hip servo) are fixedly installed in respectively the position, the left and right sides of lower body body 20, take hip servo 50L as example, hip servo 50L is used for driving the shank structure that comprises leg servo 90L, ankle servo 60L, sole servo 70L, thigh upper end frame 32L, shank frame 33L and sole 34L to be carried out with respect to the swing to the inside of upper body body 10 and the swinging kick campaign (as shown in Figure 4) that swings laterally.

leg servo 90L, ankle servo 60L, sole servo 70L, thigh upper end frame 32L, shank frame 33L, and sole 34L consists of the shank structure jointly, wherein leg servo 90L has thigh servo 901L and the shank servo 902L that integrates, thigh upper end frame 32L is fixed in hip servo 50L, thigh servo 901L can servoly be rotationally connected with thigh upper end frame 32L, thigh servo 901L can drive shank servo 902L centered by hip servo 50L, shank frame 33L, ankle servo 60L, sole servo 70L, and the leg of lifting that sole 34L carries out with respect to hip servo 50L moves (as shown in Figure 6).

The top that shank servo 902L can servoly be rotationally connected with shank frame 33L is carried out and is lifted shank action (as shown in Figure 6) with respect to thigh servo 901L in order to drive shank frame 33L, ankle servo 60L, sole servo 70L and sole 34L.

Ankle servo 60L can servoly be rotationally connected with the bottom of shank frame 33L and carry out with respect to lifting and press down the action of sole 34L on shank frame 33L in order to drive sole servo 70L and sole 34L.

Sole servo 70L can servoly be rotationally connected with the sole joint frame 601L of ankle servo 60L, in order to drive sole 34L carry out with respect to ankle servo 60L to the inside and the action of rollover sole 34L laterally, both difference is seen Fig. 4 and shown in Figure 5.

The above is only preferred embodiment of the present utility model, does not therefore limit protection domain of the present utility model, and every equalization of doing according to the utility model changes and all belongs in the scope of the claims that the utility model contains with modifying.

Claims

1. electronic robot, it is characterized in that: include body body, lower body body, a plurality of servo, forearm, thigh upper end frame, little leg support, sole, wherein, servo comprises shoulder servo, arm servo, waist servo, hip servo, leg servo, ankle servo and sole servo, each servo has shell and the output shaft that exposes outside shell, and each servo drives respectively upper body body, lower body body, forearm, thigh upper end frame, little leg support, sole swing or rotates by output shaft.

2. electronic robot according to claim 1, it is characterized in that: described forearm, thigh upper end frame, little leg support, sole and each servo all comprise the left and right part of humanoid structure, and left and right part has symmetrical structure.

3. electronic robot according to claim 2 is characterized in that: described waist servo and shoulder servo are mounted among body body, and the output shaft of waist servo is connected and fixed on the connecting hole of lower body body.

4. electronic robot according to claim 3, it is characterized in that: the output shaft of described shoulder servo is fixedly connected on the shoulder joint frame, the shoulder servo comprises upper arm servo and the underarm servo that integrates, the upper arm servo can servoly be rotationally connected with the shoulder joint frame and form upper arm, upper arm can be carried out the act arm action with respect to the shoulder servo, and the underarm servo can drive the forearm execution with respect to the oscillating motion of upper arm.

5. electronic robot according to claim 4, it is characterized in that: described hip servo comprises the left hip servo of two leftward position that are fixedly installed in respectively lower body body and the right hip servo of right positions, and the hip servo is used for driving the shank structure that comprises leg servo, ankle servo, sole servo, thigh upper end frame, little leg support and sole and carries out the swinging kick campaign that swings to the inside and swing laterally with respect to upper body body.

6. electronic robot according to claim 5, it is characterized in that: described leg servo has thigh servo and the shank servo that integrates, the thigh upper end frame is fixed in the hip servo, the thigh servo can servoly be rotationally connected with the thigh upper end frame, and the leg of lifting that driving shank servo, little leg support, ankle servo, sole servo and sole are carried out with respect to the hip servo centered by the hip servo moves.

7. electronic robot according to claim 6 is characterized in that: described shank servo can servoly be rotationally connected with shank frame top and carry out and lift the shank action with respect to the thigh servo in order to drive little leg support, ankle servo, sole servo and sole.

8. electronic robot according to claim 7 is characterized in that: described ankle servo can servoly be rotationally connected with the bottom of little leg support and carry out with respect to the action of lifting and press down sole on little leg support in order to drive sole servo and sole.

9. electronic robot according to claim 8, it is characterized in that: described sole servo can servoly be rotationally connected with a kind of sole joint frame of ankle servo, in order to drive sole carry out with respect to the ankle servo to the inside and the action of rollover sole laterally.