CN203901300U - Humanoid robot - Google Patents
Humanoid robot Download PDFInfo
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- CN203901300U CN203901300U CN201420296289.1U CN201420296289U CN203901300U CN 203901300 U CN203901300 U CN 203901300U CN 201420296289 U CN201420296289 U CN 201420296289U CN 203901300 U CN203901300 U CN 203901300U
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Abstract
The utility model discloses a humanoid robot. The humanoid robot comprises a head, a trunk, arms and legs. Each leg comprises a foot, a punched hole is formed in the middle of each foot, the front side and the rear side of each punched hole are respectively provided with a bent plate, one end of each bent plate is provided with a positioning hole used for fixing the non-rotating end of a steering gear, and the other end of each bent plate is provided with a groove used for installing the rotating end of the corresponding steering gear. The middle of each foot is provided with the corresponding punched hole, the middle of each foot is bent to form the corresponding bent plates, each steering gear is directly connected with the corresponding bent plates, no additional supports need to be designed to connect the feet and the steering gears, the feet are prevented from being provided with too many counter bored holes, and cost is saved. Due to integrated design of each foot and the corresponding bent plates, each foot and the corresponding leg of the robot are integrated, the humanoid robot is more stable in the walking process, and the humanoid robot is convenient to install. The integrated design is adopted for each foot, so that the cost is saved, and the humanoid robot is stable in structure and convenient to install.
Description
Technical field
The utility model relates to Robotics field, relates in particular to a kind of anthropomorphic robot.
Background technology
In anthropomorphic robot field, the foot of robot must possess an essential condition, should produce effective reciprocation with ground exactly when it contacts with ground, and its structure directly has influence on the stability of robot ambulation.Anthropomorphic robot of the prior art, its foot adopts slab construction more, need to design other support and connect foot and steering wheel (shank), need to offer counterbore in foot simultaneously and carry out connection bracket, the parts of this kind of structure are more, cause body heavy, in addition, offer too much position, hole and make cost higher, and inconvenience is installed, the mode that foot is connected by support with shank, makes robot less stable in the process of walking.
Further, anthropomorphic robot in the market adopts the support of 2mm thickness more, and the weight of this kind of anthropomorphic robot is larger, heavier.
Utility model content
The purpose of this utility model is to provide a kind of anthropomorphic robot, and its foot adopts integrated design, has saved cost, and Stability Analysis of Structures, easy for installation.
For reaching this object, the utility model by the following technical solutions:
A kind of anthropomorphic robot, comprise head, trunk, arm and shank, shank comprises foot, the middle part of foot is provided with punching, the both sides, front and back of punching are respectively arranged with bending plate, one end of bending plate is provided with for the fixing locating hole of the nonrotational end of steering wheel, and the other end of bending plate is provided with for the groove of the rotation end of steering wheel is installed.
Wherein, the left and right sides of punching is respectively arranged with stiffened edge, and the left and right sides of foot is respectively arranged with reinforcement, and the distance between the lateral surface of the arm of both sides is slightly larger than the distance between the lateral surface of foot of both sides.
Wherein, anthropomorphic robot comprises three kinds of U-shaped supports, three kinds of U-shaped supports are respectively large U support, little U support and special U support, and three kinds of U-shaped supports all adopt the duralumin, hard alumin ium alloy of 1mm thickness, and other dual-side adjacent with the dual-side that is connected two side arms on three kinds of U-shaped support bottom surfaces is provided with rib.
Wherein, arm comprises hand, the first steering wheel, first U support, little U support, the second steering wheel, second largest U support from bottom to up successively, hand is fixedly connected with the nonrotational end of adjacent the first steering wheel, the rotation end of first U support and adjacent the first steering wheel is rotationally connected, little U support and the adjacent back-to-back parallel installation of first U support, little U support is fixedly connected with the nonrotational end of adjacent the second steering wheel, and the rotation end of second largest U support and adjacent the second steering wheel is rotationally connected.
Wherein, shank comprises foot from bottom to up successively, the first steering wheel, special U support, first U support, the second steering wheel, little U support, second largest U support, the 3rd steering wheel, knee, the 4th steering wheel, the third-largest U support, the fourth-largest U support, foot is fixedly connected with the nonrotational end of adjacent the first steering wheel, the rotation end of special U support and adjacent the first steering wheel is rotationally connected, special U support and the adjacent back-to-back at right angle setting of first U support, the rotation end of first U support and adjacent the second steering wheel is rotationally connected, little U support is fixedly connected with the nonrotational end of adjacent the second steering wheel, little U support and adjacent back-to-back being fixedly connected with of second largest U support, the rotation end of second largest U support and adjacent the 3rd steering wheel is rotationally connected, knee and adjacent the 3rd steering wheel, the 4th steering wheel is all fixedly connected with, the rotation end of the third-largest U support and adjacent the 4th steering wheel is rotationally connected, adjacent the third-largest U support and the back-to-back at right angle setting of the fourth-largest U support.
Wherein, hand comprises the back of the hand, the front end of the back of the hand forms finger section through twice bending, the side downward bending of the back of the hand forms thumb section, the lower edge of finger section and the lower edge of thumb section are positioned on same level line, finger section offers three through holes, and three through holes are divided into four fingers by finger section, and the end of four fingers is connected.
Wherein, the first U support of shank and the second adjacent steering wheel, second largest U support and the 3rd adjacent steering wheel, the third-largest U support and adjacent being rotationally connected of the 4th steering wheel have formed three joints altogether, three joints are followed successively by from top to bottom: the first joint, second joint and the 3rd joint, the axial line in three joints is parallel to each other, when robotic station immediately, the axial line in three joints is positioned at same perpendicular, and this plane is perpendicular to the instep at the place, centre position of foot; When robot squats down, the axial line in the first joint and the 3rd joint is positioned at same perpendicular, and this plane is perpendicular to the instep at the place, centre position of foot.
Wherein, the length that distance between the first joint and the axial line of second joint is thigh, distance between the axial line in second joint and the 3rd joint is the length of shank, the biside plate symmetry of knee offers connecting hole, knee is fixed into certain angle by the 3rd adjacent with it steering wheel, the 4th steering wheel, and angle makes the equal in length of the length of thigh and shank.
Wherein, trunk comprises plastron, steering wheel, shoulder and neck;
The both sides, front and back of shoulder are provided with for connecting the first connecting portion of plastron, the upside of shoulder is provided with for connecting the second connecting portion of neck, the bottom of shoulder is fixedly connected with the nonrotational end of adjacent steering wheel, the middle part of shoulder offers pentagon hole, and pentagon hole is stretched out the turning cylinder of adjacent steering wheel and is connected with arm;
The middle part of neck offers for connecting the installing hole of head, the both sides of installing hole are provided with the rectangular opening for interspersed steering wheel line, the both sides of neck upwardly and outwardly bending form both sides, both sides are fixedly connected with the second connecting portion of the left and right sides respectively, and both sides all offer the slotted hole for fixation of sensor;
Plastron offers for the first position, hole and second position, hole of two legs portion are installed, and the mounting distance of the first position, hole and the second position, hole guarantees that the distance between the medial surface of two legs portion is 1cm, and the width of plastron equals the distance between the lateral surface of two legs portion.
Wherein, trunk also comprises shirtfront and back, the plastron of shirtfront and front side is connected to form the first spatial accommodation, the plastron of back and rear side is connected to form the second spatial accommodation, in the first spatial accommodation, be provided with battery, in the second spatial accommodation, be provided with control system, the side plate of shirtfront offers for placing and the storage tank of interspersed steering wheel line, and the upper edge of back offers for interting the semicircle orifice of steering wheel line.
The beneficial effects of the utility model: a kind of anthropomorphic robot, comprise head, trunk, arm and shank, shank comprises foot, the middle part of foot is provided with punching, the both sides, front and back of punching are respectively arranged with bending plate, one end of bending plate is provided with for the fixing locating hole of the nonrotational end of steering wheel, and the other end of bending plate is provided with for the groove of the rotation end of steering wheel is installed.The middle part punching of foot, and bending forms bending plate, bending plate is directly connected with steering wheel, do not need to design other support and connect foot and steering wheel, avoided foot to offer too much counterbore, saved cost, the integrated design of foot and bending plate, make foot and the shank of robot form an integral body, more stable in the process of walking, and easy for installation.
Accompanying drawing explanation
Fig. 1 is the perspective exploded view of anthropomorphic robot of the present utility model.
Fig. 2 is the front view of anthropomorphic robot of the present utility model while standing.
Fig. 3 is the top view of anthropomorphic robot of the present utility model while standing.
Fig. 4 is the left view of anthropomorphic robot of the present utility model while standing.
Fig. 5 is the structural representation of large U support of the present utility model.
Fig. 6 is the structural representation of little U support of the present utility model.
Fig. 7 is the structural representation of special U support of the present utility model.
Fig. 8 is the structural representation of foot of the present utility model.
Fig. 9 is the structural representation of hand of the present utility model.
Figure 10 is the structural representation of knee of the present utility model.
Figure 11 is the structural representation of plastron of the present utility model.
Figure 12 is the structural representation of shoulder of the present utility model.
Figure 13 is the structural representation of neck of the present utility model.
Figure 14 is the structural representation of shirtfront of the present utility model.
Figure 15 is the structural representation of back of the present utility model.
Figure 16 is the front view of anthropomorphic robot of the present utility model while squatting down.
Figure 17 is the left view of anthropomorphic robot of the present utility model while squatting down.
Figure 18 is the structural representation that anthropomorphic robot of the present utility model presses your body up from the floor with your arms and then lower it slowly while moving.
Figure 19 is the structural representation of anthropomorphic robot of the present utility model while doing posture of handstand.
Figure 20 is that anthropomorphic robot of the present utility model is done the structural representation while turning on one's side somersault action.
Reference numeral is as follows:
1-head; 2-trunk; 21-plastron; 211-the first position, hole; 212-the second position, hole; 22-shoulder; 221-the first connecting portion; 222-the second connecting portion; 223-pentagon hole; 23-neck; 231-installing hole; 232-rectangular opening; 233-slotted hole; 24-shirtfront; 241-storage tank; 25-back; 251-semicircle orifice; 3-arm; 4-shank; 41-knee; 411-connecting hole; 5-foot; 51-bending plate; 511-locating hole; 512-groove; 52-stiffened edge; 53-reinforcement; 6-hand; 61-the back of the hand; 62-finger section; 621-through hole; 622-finger; 63-thumb section; The large U support of 7-; The little U support of 8-; The special U support of 9-
The specific embodiment
Below in conjunction with Fig. 1 to Figure 20 and by specific embodiment, further illustrate the technical solution of the utility model.
A kind of anthropomorphic robot, comprise head 1, trunk 2, arm 3 and shank 4, shank 4 comprises foot 5, the middle part of foot 5 is provided with punching, the both sides, front and back of punching are respectively arranged with bending plate 51, one end of bending plate 51 is provided with for the fixing locating hole 511 of the nonrotational end of steering wheel, and the other end of bending plate 51 is provided with for the groove 512 of the rotation end of steering wheel is installed.As shown in Figure 8, the middle part punching of foot 5, and bending forms bending plate 51, bending plate 51 is directly connected with steering wheel, do not need to design other support and connect foot 5 and steering wheel, avoided foot 5 to offer too much counterbore, saved cost, the integrated design of foot 5 and bending plate 51, makes the foot 5 of robot and shank 4 form an integral body, more stable in the process of walking, and easy for installation, foot 5 of the present utility model is placed on smooth table top very steady, and the situation of at all not rocking, for the resistance to overturning of robot is laid a good foundation.
In the present embodiment, the left and right sides of punching is respectively arranged with stiffened edge 52, and the left and right sides of foot 5 is respectively arranged with reinforcement 53, and the distance between the lateral surface of the arm 3 of both sides is slightly larger than the distance between the lateral surface of foot 5 of both sides.The setting of stiffened edge 52 and reinforcement 53, has strengthened the intensity of foot 5, makes foot 5 be difficult for deforming, when robot swings and during the action of swing, has good stability.Distance between the lateral surface of the arm 3 of both sides is slightly larger than the distance between the lateral surface of foot 5 of both sides, as shown in Figure 2, robot center of gravity above the waist can too not disperseed.
In the present embodiment, anthropomorphic robot comprises three kinds of U-shaped supports, three kinds of U-shaped supports are respectively large U support 7, little U support 8 and special U support 9, three kinds of U-shaped supports all adopt the duralumin, hard alumin ium alloy of 1mm thickness, and other dual-side adjacent with the dual-side that is connected two side arms on three kinds of U-shaped support bottom surfaces is provided with rib.Three kinds of U-shaped supports all adopt the duralumin, hard alumin ium alloy of 1mm thickness, have effectively alleviated the weight of body, and the rib of dual-side setting has increased the intensity of U-shaped support, make it be difficult for bending distortion, and preferably, the height of rib is 4mm, as shown in Figures 5 to 7.
In the present embodiment, arm 3 comprises hand 6, the first steering wheel, first U support 7, little U support 8, the second steering wheel, second largest U support 7 from bottom to up successively, hand 6 is fixedly connected with the nonrotational end of adjacent the first steering wheel, first U support 7 is rotationally connected with the rotation end of adjacent the first steering wheel, little U support 8 and the adjacent back-to-back parallel installation of first U support 7, little U support 8 is fixedly connected with the nonrotational end of adjacent the second steering wheel, and second largest U support 7 is rotationally connected with the rotation end of adjacent the second steering wheel.Steering wheel of the present utility model is in full accord, first steering wheel here, the second steering wheel are only in order to distinguish the position of steering wheel, same, the structure of large U support of the present utility model is in full accord, and first U support 7 and second largest U support 7 are only in order to distinguish the position of large U support.U-shaped support lightweight, intensity is high, makes the connection of arm 3 reliable, and the structure of the arm 3 of both sides is identical, and wherein, second largest U support 7 and the trunk 2 of the top are rotationally connected, and make each arm 3 have three degree of freedom.
In the present embodiment, shank 4 comprises foot 5 from bottom to up successively, the first steering wheel, special U support 9, first U support 7, the second steering wheel, little U support 8, second largest U support 7, the 3rd steering wheel, knee 41, the 4th steering wheel, the third-largest U support 7, the fourth-largest U support 7, foot 5 is fixedly connected with the nonrotational end of adjacent the first steering wheel, special U support 9 is rotationally connected with the rotation end of adjacent the first steering wheel, special U support 9 and the adjacent back-to-back at right angle setting of first U support 7, first U support 7 is rotationally connected with the rotation end of adjacent the second steering wheel, little U support 8 is fixedly connected with the nonrotational end of adjacent the second steering wheel, little U support 8 and adjacent back-to-back being fixedly connected with of second largest U support 7, second largest U support 7 is rotationally connected with the rotation end of adjacent the 3rd steering wheel, knee 41 and adjacent the 3rd steering wheel, the 4th steering wheel is all fixedly connected with, and the third-largest U support 7 is rotationally connected with the rotation end of adjacent the 4th steering wheel, adjacent the third-largest U support 7 and the back-to-back at right angle setting of the fourth-largest U support 7.Steering wheel of the present utility model is in full accord, first steering wheel here, the second steering wheel, the 3rd steering wheel, the 4th steering wheel are only in order to distinguish the position of steering wheel, same, the structure of large U support of the present utility model is in full accord, and first U support 7, second largest U support 7, the third-largest U support 7, the fourth-largest U support 7 are only in order to distinguish the position of large U support.U-shaped support lightweight, intensity is high, makes the connection of shank 4 reliable, and the structure of two legs portion 4 is identical, and wherein, the fourth-largest U support 7 and the trunk 2 of the top are rotationally connected, and make every shank 4 have five frees degree.Special U support 9 and the adjacent back-to-back at right angle setting of first U support 7, installation site is positioned at the front portion of special U support 9, meets the centre position that robot integral body is positioned at foot 5, guarantees the balance of robot.
In the present embodiment, hand 6 comprises the back of the hand 61, the front end of the back of the hand 61 forms finger section 62 through twice bending, the side downward bending of the back of the hand 61 forms thumb section 63, the lower edge of the lower edge of finger section 62 and thumb section 63 is positioned on same level line, finger section 62 offers 621, three through holes 621 of three through holes and finger section 62 is divided into 622, four finger ends of 622 of four fingers is connected.The lower edge of the lower edge of finger section 62 and thumb section 63 is positioned on same level line, and as shown in Figure 9, hand 6 can lie on horizontal plane, and robot is when moving, and its hand 6 can temporarily replace foot 5 to land.The end of four fingers 622 is connected, increased the force intensity that is subject to of pointing 622, made to point 622 and be difficult for deforming, particularly when robot presses your body up from the floor with your arms and then lower it slowly action, as shown in figure 18, point 622 ends and land, need to support the weight of a robot part, when the action of rollover somersault is done by robot, as shown in figure 20, point 622 ends and need to support the whole weight of robot in the moment of robot handstand, as point the insufficient strength of 622 ends, finger 622 is distortion very easily.Preferably, the back of the hand 61 offers pentagon hole, has alleviated the weight of hand 6, has increased aesthetic property, and meanwhile, the back of the hand 61 also offers the circular hole of 8mm, hand 6 can be inserted on round bar, do gymnastics action.Preferably, robotic station immediately, as shown in Figure 2, points the top that 622 ends are positioned at robot knee 41, the below of trunk 2.Preferably, hand 6 adopts integral structure.
In the present embodiment, the first U support 7 of shank 4 and the second adjacent steering wheel, second largest U support 7 and adjacent the 3rd steering wheel, the third-largest U support 7 has formed three joints altogether with adjacent being rotationally connected of the 4th steering wheel, three joints are followed successively by from top to bottom: the first joint, second joint and the 3rd joint, as Fig. 4, A in Figure 17, B, shown in C, the axial line in three joints is parallel to each other, when robotic station immediately, the axial line in three joints is positioned at same perpendicular, and this plane is perpendicular to the instep at the place, centre position of foot 5, be the A in Fig. 4, B, 3 of C are on same straight line, and this straight line and foot 5 are perpendicular to the centre position of foot 5, when robot squats down, the axial line in the first joint and the 3rd joint is positioned at same perpendicular, and this plane is perpendicular to the instep at the place, centre position of foot 5,2 of the A in Figure 17, B are on same straight line, and this straight line and foot 5 are perpendicular to the centre position of foot 5.This setting is in order to guarantee the stable of robot center of gravity.
In the present embodiment, the length that distance between the first joint and the axial line of second joint is thigh, be the length of the AB in Fig. 4, distance between the axial line in second joint and the 3rd joint is the length of shank, be the length of the BC in Fig. 4, the biside plate symmetry of knee 41 offers connecting hole 411, and knee 41 is fixed into certain angle by the 3rd adjacent with it steering wheel, the 4th steering wheel, be the ∠ AOB in Fig. 4, this angle makes the equal in length of the length of thigh and shank.Shank comprises first U support 7, the second steering wheel, little U support 8, second largest U support 7, and the size of known large U support 7, steering wheel, little U support 8 can obtain the length of shank, and BC is known.In order to guarantee robot, can squat down as far as possible greatly, when robot squats down, as shown in figure 17, thigh should be as far as possible parallel with shank, be that AO in Figure 17 is parallel to BC, in order to guarantee the stability of robot, the length of thigh and shank should equate, be that AB in Figure 17 equals BC, because BC is known, so the length A B of thigh is known, again because thigh comprises the 3rd steering wheel, knee 41, the 4th steering wheel, the third-largest U support 7, and steering wheel, knee 41, the size of large U support 7 is known, the length that is AO in Figure 17 and BO is known, by the cosine law, the length of side on known Atria limit is asked angle, release the 3rd steering wheel that knee 41 connects, angle ∠ AOB between the 4th steering wheel, this angle has guaranteed the stability of robot, in the present embodiment, ∠ AOB equals 113.44 °, this angle makes squatting down of robot more complete, thereby make robot can complete more complicated action.The biside plate symmetry of knee 41 offers connecting hole 411, and as shown in figure 10, the connecting hole 411 of both sides is in full accord, makes the knee 41 of two legs portion 4 general, easier for installation.
As shown in Figure 1, trunk 2 comprises plastron 21, steering wheel, shoulder 22 and neck 23.Wherein the quantity of plastron 21 is two, lays respectively at the both sides, front and back of robot; The quantity of steering wheel is four, and four steering wheels are all connected with plastron 21, and wherein two steering wheels are positioned at the top of plastron 21, and 3, two steering wheels of arm that connect both sides are positioned at the bottom of plastron 21, connect two legs portion 4; The quantity of shoulder 22 is two, lays respectively at the left and right sides of trunk 2; The quantity of neck 23 is one, for connecting head 1.
As shown in figure 12, the both sides, front and back of shoulder 22 are provided with for connecting the first connecting portion 221 of plastron 21, the upside of shoulder 22 is provided with for connecting the second connecting portion 222 of neck 23, the bottom of shoulder 22 is fixedly connected with the nonrotational end of adjacent steering wheel, the middle part of shoulder 22 offers pentagon hole 223, and pentagon hole 223 is stretched out the turning cylinder of adjacent steering wheel and is connected with arm 3.The first connecting portion 221 of shoulder 22 both sides is fixedly connected with the plastron 21 of both sides, front and back, the second connecting portion 222 of shoulder 22 upsides is fixedly connected with neck 23, the bottom of shoulder 22 is connected with the steering wheel that is arranged on plastron 21 tops, and the steering wheel on plastron 21 tops is firmly fixed on shoulder 22.
As shown in figure 13, the middle part of neck 23 offers for connecting the installing hole 231 of head 1, the both sides of installing hole 231 are provided with the rectangular opening 232 for interspersed steering wheel line, the both sides of neck 23 upwardly and outwardly bending form both sides, both sides are fixedly connected with the second connecting portion 222 of the left and right sides respectively, and both sides all offer the slotted hole 233 for fixation of sensor.The installing hole 231 of neck 23 is rotationally connected with the steering wheel that is positioned at head 1, and the both sides of neck 23 are fixedly connected with the second connecting portion 222 of the shoulder 22 of the left and right sides respectively.
As shown in figure 11, plastron 21 offers for the first position, hole 211 and second position, hole 212 of two legs portion 4 are installed, the mounting distance of the first position, hole 211 and the second position, hole 212 guarantees that the distance between the medial surface of two legs portion 4 is 1cm, and the width of plastron 21 equals the distance between the lateral surface of two legs portion 4.Distance between the medial surface of two legs portion 4 is excessive, can cause in the process of walking unstable of robot, especially when turn a somersault, handstand etc. moved, robot is easy to overturning, distance between the medial surface of two legs portion 4 is too small, can cause the collision between two legs portion 4, is unfavorable for that robot moves, preferably, this distance is set to 1cm.The width of plastron 21 equals the distance between the lateral surface of two legs portion 4, and as shown in Figure 2, this arranges and has guaranteed that the center of gravity of robot is more concentrated, makes robot in the process of motion, can too not rock.
As shown in figures 1 and 3, trunk 2 also comprises shirtfront 24 and back 25, the plastron 21 of 24Yu front side, shirtfront is connected to form the first spatial accommodation, back 25 is connected to form the second spatial accommodation with the plastron 21 of rear side, in the first spatial accommodation, be provided with battery, in the second spatial accommodation, be provided with control system, the side plate of shirtfront 24 offers for placing and the storage tank 241 of interspersed steering wheel line, and the upper edge of back 25 offers for interting the semicircle orifice 251 of steering wheel line.The setting of shirtfront 24 and back 25, does not expose battery and control system, and simultaneously, from the resistance to overturning of robot, rational deployment battery and control system, be about to battery and be arranged on the first spatial accommodation, by set-up of control system at the second spatial accommodation.Preferably, shirtfront 24 and back 25 all adopt integral structure, simultaneously for attractive in appearance and weight reduction, offer electric wave hole and V shaped hole, as shown in Figure 14 and Figure 15 on shirtfront 24 and back 25.
The structural member of anthropomorphic robot of the present utility model all adopts the aluminum alloy materials of 1mm thickness, makes the weight of robot lighter; Part-structure part adopts integrated design, as structures such as foot, hand, shirtfront, back, makes the easy for installation of robot, Stability Analysis of Structures, good looking appearance; Reasonably the structure of design thigh, shank, knee and foot, makes robot in cold situation, can keep the balance of stance; Angle between two steering wheels that reasonably design knee connects, can squat down robot greatly.Robot of the present utility model can complete highly difficult action, such as standing upside down, rollover somersault, push-up, fall down to the ground and stand up etc., and simple in structure, easy for installation, structural stability is high, and production cost is low, simultaneous altitude is imitated human body proportion, can be widely used in teaching practice, dancing amusement etc.
Above content is only preferred embodiment of the present utility model, for those of ordinary skill in the art, according to thought of the present utility model, all will change in specific embodiments and applications, this description should not be construed as restriction of the present utility model.
Claims (10)
1. an anthropomorphic robot, comprise head (1), trunk (2), arm (3) and shank (4), it is characterized in that, described shank (4) comprises foot (5), the middle part of described foot (5) is provided with punching, the both sides, front and back of described punching are respectively arranged with bending plate (51), one end of described bending plate (51) is provided with for the fixing locating hole of the nonrotational end of steering wheel (511), and the other end of described bending plate (51) is provided with for the groove (512) of the rotation end of steering wheel is installed.
2. a kind of anthropomorphic robot according to claim 1, it is characterized in that, the left and right sides of described punching is respectively arranged with stiffened edge (52), the left and right sides of described foot (5) is respectively arranged with reinforcement (53), and the distance between the lateral surface of the described arm (3) of both sides is slightly larger than the distance between the lateral surface of described foot (5) of both sides.
3. a kind of anthropomorphic robot according to claim 1, it is characterized in that, described anthropomorphic robot comprises three kinds of U-shaped supports, described three kinds of U-shaped supports are respectively large U support (7), little U support (8) and special U support (9), described three kinds of U-shaped supports all adopt the duralumin, hard alumin ium alloy of 1mm thickness, and on described three kinds of U-shaped support bottom surfaces, the other dual-side adjacent with the dual-side that is connected two side arms is provided with rib.
4. a kind of anthropomorphic robot according to claim 3, it is characterized in that, described arm (3) comprises hand (6) from bottom to up successively, the first steering wheel, first U support (7), little U support (8), the second steering wheel, second largest U support (7), described hand (6) is fixedly connected with the nonrotational end of adjacent the first steering wheel, first U support (7) is rotationally connected with the rotation end of adjacent the first steering wheel, little U support (8) and the adjacent back-to-back parallel installation of first U support (7), little U support (8) is fixedly connected with the nonrotational end of adjacent the second steering wheel, second largest U support (7) is rotationally connected with the rotation end of adjacent the second steering wheel.
5. a kind of anthropomorphic robot according to claim 3, is characterized in that, described shank (4) comprises foot (5) from bottom to up successively, the first steering wheel, special U support (9), first U support (7), the second steering wheel, little U support (8), second largest U support (7), the 3rd steering wheel, knee (41), the 4th steering wheel, the third-largest U support (7), the fourth-largest U support (7), described foot (5) is fixedly connected with the nonrotational end of adjacent the first steering wheel, special U support (9) is rotationally connected with the rotation end of adjacent the first steering wheel, special U support (9) and the adjacent back-to-back at right angle setting of first U support (7), first U support (7) is rotationally connected with the rotation end of adjacent the second steering wheel, little U support (8) is fixedly connected with the nonrotational end of adjacent the second steering wheel, little U support (8) and adjacent back-to-back being fixedly connected with of second largest U support (7), second largest U support (7) is rotationally connected with the rotation end of adjacent the 3rd steering wheel, described knee (41) and adjacent the 3rd steering wheel, the 4th steering wheel is all fixedly connected with, and the third-largest U support (7) is rotationally connected with the rotation end of adjacent the 4th steering wheel, adjacent the third-largest U support (7) and the back-to-back at right angle setting of the fourth-largest U support (7).
6. a kind of anthropomorphic robot according to claim 4, it is characterized in that, described hand (6) comprises the back of the hand (61), the front end of described the back of the hand (61) forms finger section (62) through twice bending, the side downward bending of described the back of the hand (61) forms thumb section (63), the lower edge of the lower edge of described finger section (62) and described thumb section (63) is positioned on same level line, described finger section (62) offers three through holes (621), described three through holes (621) are divided into four fingers (622) by finger section (62), the end of described four fingers (622) is connected.
7. a kind of anthropomorphic robot according to claim 5, it is characterized in that, the first U support (7) of described shank (4) and the second adjacent steering wheel, second largest U support (7) and adjacent the 3rd steering wheel, the third-largest U support (7) has formed three joints altogether with adjacent being rotationally connected of the 4th steering wheel, described three joints are followed successively by from top to bottom: the first joint, second joint and the 3rd joint, the axial line in described three joints is parallel to each other, when robotic station immediately, the axial line in described three joints is positioned at same perpendicular, and this plane is perpendicular to the instep at the place, centre position of foot (5), when robot squats down, the axial line in described the first joint and described the 3rd joint is positioned at same perpendicular, and this plane is perpendicular to the instep at the place, centre position of foot (5).
8. a kind of anthropomorphic robot according to claim 7, it is characterized in that, the length that distance between described the first joint and the axial line of described second joint is thigh, distance between the axial line in described second joint and described the 3rd joint is the length of shank, the biside plate symmetry of described knee (41) offers connecting hole (411), described knee (41) is fixed into certain angle by the 3rd adjacent with it steering wheel, the 4th steering wheel, and described angle makes the equal in length of the length of described thigh and described shank.
9. a kind of anthropomorphic robot according to claim 1, is characterized in that, described trunk (2) comprises plastron (21), steering wheel, shoulder (22) and neck (23);
The both sides, front and back of described shoulder (22) are provided with for connecting first connecting portion (221) of described plastron (21), the upside of described shoulder (22) is provided with for connecting second connecting portion (222) of described neck (23), the bottom of described shoulder (22) is fixedly connected with the nonrotational end of adjacent steering wheel, the middle part of described shoulder (22) offers pentagon hole (223), and described pentagon hole (223) is stretched out the turning cylinder of adjacent steering wheel and is connected with described arm (3);
The middle part of described neck (23) offers the installing hole (231) for connecting described head (1), the both sides of described installing hole (231) are provided with the rectangular opening (232) for interspersed steering wheel line, the both sides of described neck (23) upwardly and outwardly bending form both sides, described both sides are fixedly connected with described second connecting portion (222) of the left and right sides respectively, and described both sides all offer the slotted hole (233) for fixation of sensor;
Described plastron (21) offers for the first position, hole (211) and second position, hole (212) of two described shanks (4) are installed, the mounting distance of described the first position, hole (211) and described the second position, hole (212) guarantees that the distance between the medial surface of two described shanks (4) is 1cm, and the width of described plastron (21) equals the distance between the lateral surface of two described shanks (4).
10. a kind of anthropomorphic robot according to claim 9, it is characterized in that, described trunk (2) also comprises shirtfront (24) and back (25), described shirtfront (24) is connected to form the first spatial accommodation with the described plastron (21) of front side, described back (25) is connected to form the second spatial accommodation with the described plastron (21) of rear side, in described the first spatial accommodation, be provided with battery, in described the second spatial accommodation, be provided with control system, the side plate of described shirtfront (24) offers for placing and the storage tank (241) of interspersed steering wheel line, the upper edge of described back (25) offers the semicircle orifice (251) for interspersed steering wheel line.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420296289.1U CN203901300U (en) | 2014-06-05 | 2014-06-05 | Humanoid robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420296289.1U CN203901300U (en) | 2014-06-05 | 2014-06-05 | Humanoid robot |
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| CN203901300U true CN203901300U (en) | 2014-10-29 |
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| CN201420296289.1U Active CN203901300U (en) | 2014-06-05 | 2014-06-05 | Humanoid robot |
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104527833A (en) * | 2014-12-26 | 2015-04-22 | 浙江工业大学 | Biped robot capable of crossing feet |
| CN105034009A (en) * | 2015-09-22 | 2015-11-11 | 邱炳辉 | Robot and control method |
| CN105666504A (en) * | 2016-04-20 | 2016-06-15 | 广州蓝海机器人系统有限公司 | Robot with professional explaining function |
| CN106737848A (en) * | 2016-12-29 | 2017-05-31 | 深圳市优必选科技有限公司 | Leg structure and anthropomorphic robot |
| CN106826759A (en) * | 2016-12-29 | 2017-06-13 | 深圳市优必选科技有限公司 | Foot structure and anthropomorphic robot |
| CN106914905A (en) * | 2017-04-19 | 2017-07-04 | 成都阿纳海姆电子科技有限公司 | A kind of assembly type anthropomorphic robot of application helical gear steering wheel |
| CN109895108A (en) * | 2019-03-01 | 2019-06-18 | 达闼科技（北京）有限公司 | A kind of machine human skeleton and robot |
| CN110032192A (en) * | 2019-04-28 | 2019-07-19 | 中北大学 | A kind of apery type is quickly walked tracking avoidance robot |
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2014
- 2014-06-05 CN CN201420296289.1U patent/CN203901300U/en active Active
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104527833A (en) * | 2014-12-26 | 2015-04-22 | 浙江工业大学 | Biped robot capable of crossing feet |
| CN105034009A (en) * | 2015-09-22 | 2015-11-11 | 邱炳辉 | Robot and control method |
| CN105666504A (en) * | 2016-04-20 | 2016-06-15 | 广州蓝海机器人系统有限公司 | Robot with professional explaining function |
| CN106737848A (en) * | 2016-12-29 | 2017-05-31 | 深圳市优必选科技有限公司 | Leg structure and anthropomorphic robot |
| CN106826759A (en) * | 2016-12-29 | 2017-06-13 | 深圳市优必选科技有限公司 | Foot structure and anthropomorphic robot |
| CN106826759B (en) * | 2016-12-29 | 2024-02-09 | 深圳市优必选科技有限公司 | Foot structure and humanoid robot |
| CN106914905A (en) * | 2017-04-19 | 2017-07-04 | 成都阿纳海姆电子科技有限公司 | A kind of assembly type anthropomorphic robot of application helical gear steering wheel |
| CN109895108A (en) * | 2019-03-01 | 2019-06-18 | 达闼科技（北京）有限公司 | A kind of machine human skeleton and robot |
| CN109895108B (en) * | 2019-03-01 | 2021-07-06 | 达闼科技（北京）有限公司 | Robot skeleton and robot |
| CN110032192A (en) * | 2019-04-28 | 2019-07-19 | 中北大学 | A kind of apery type is quickly walked tracking avoidance robot |
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Effective date of registration: 20181101 Address after: 518000 Guangdong Province Longgang District Longgang Street Central City Ainan Road 227 Dongjin No. 1 Cultural Creative Park B Building 2 Floor Patentee after: Shenzhen magic Technology Co., Ltd. Address before: 243000 room 505, 6 new boat village, Yushan, Ma'anshan, Anhui Co-patentee before: Ou Weiqiang Patentee before: Zhang Chenyang |
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