CN205129863U - Humanoid bionic robot - Google Patents
Humanoid bionic robot Download PDFInfo
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- CN205129863U CN205129863U CN201520829815.0U CN201520829815U CN205129863U CN 205129863 U CN205129863 U CN 205129863U CN 201520829815 U CN201520829815 U CN 201520829815U CN 205129863 U CN205129863 U CN 205129863U
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- 239000011664 nicotinic acid Substances 0.000 title abstract 2
- 230000005540 biological transmission Effects 0.000 claims abstract description 24
- 235000020004 porter Nutrition 0.000 claims description 12
- 102000012498 secondary active transmembrane transporter activity proteins Human genes 0.000 claims description 12
- 108040003878 secondary active transmembrane transporter activity proteins Proteins 0.000 claims description 12
- 238000005452 bending Methods 0.000 claims description 6
- 230000001939 inductive effect Effects 0.000 abstract 1
- 230000036544 posture Effects 0.000 description 6
- 238000005516 engineering process Methods 0.000 description 2
- 238000010146 3D printing Methods 0.000 description 1
- BQJCRHHNABKAKU-KBQPJGBKSA-N Morphine Chemical compound O([C@H]1[C@H](C=C[C@H]23)O)C4=C5[C@@]12CCN(C)[C@@H]3CC5=CC=C4O BQJCRHHNABKAKU-KBQPJGBKSA-N 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000000465 moulding Methods 0.000 description 1
- 238000007639 printing Methods 0.000 description 1
- 238000004805 robotic Methods 0.000 description 1
Abstract
The utility model relates to a humanoid bionic robot, including truck part, head, transmission system, running gear, the mechanism of waving, micromotor, control system. Transmission system includes by driven driving gear between the micro motor that drive two driven gear simultaneously, and two driven gear transfer power running gear and wave the mechanism through the pivot. Running gear include crank, foot transmission linkage, foot swing connecting rod, sole. It includes crank and crooked hand arm -shaped's connecting rod to wave the mechanism. Control system includes single chip microcomputer control plate, driver, infrared induction subassembly, battery tray. Wherein the head setting is directly over truck part, and infrared receiver adorns overhead, has the steering engine control action of turning one's head. The stall sets up the truck part lower extreme between two feet, and other control system components, micro motor and transmission system are all settled and are divided inside at the trunk.
Description
Technical field
The utility model relates to a kind of humanoid bio-robot, specifically a kind of build of epimorph humanoid, and walking postures imitates the robot of people's walking postures, belongs to bio-robot field.
Background technology
Along with the development of Robotics, the application of walking robot is more and more wider.From the view point of reality, the distinctive feature that walking movement truly has wheel machine incomparable.Its utilizes isolated ground supports instead of the continuous ground supports needed for wheel machine, can in uneven region with stationary mode walking or obstacle avoidance in a non contact fashion.Walking robot is popular at city's field depth of high-end teaching aid and high-end toy, can improve teen-age manipulative ability and innovative thinking.
Summary of the invention
The purpose of this utility model is to provide a kind of build its walking postures of humanoid bio-robot flexibly of vividly walking can imitate people's walking postures, and the advantage such as it is simple to have structure, steady key of walking, and pin hand coordination is graceful.
The utility model is achieved through the following technical solutions:
A kind of humanoid bio-robot, comprise torso portion and head, head is arranged on directly over torso portion, described torso portion comprises main body frame and is arranged on the transmission system on main body frame, wave mechanism and walking mechanism, it is characterized in that, described transmission system is arranged on the inside of main body frame, the described left and right sides of organization establishes in the outside of main body frame of waving is also near the top of main body frame, and described walking mechanism is arranged on the left and right sides of the outside of main body frame and the bottom of close main body frame.
Further, described humanoid bio-robot also comprises the micromachine and control system that are arranged on main body frame inside.
Further, described main body frame is cuboid, draws together left plate, base plate, right plate, upper plate; The center of described upper plate is provided with the steering wheel controlling head twist, and head is directly installed on described steering wheel, and described head is provided with infrared remote receiver.
Further, described transmission system comprises the hand swing mechanism power transmission shaft being arranged on main body frame top and the business concern operating a porters' service being arranged on main body frame bottom walks mechanism driving axle, the middle part of described hand swing mechanism power transmission shaft is provided with driven gear I, the middle part that described business concern operating a porters' service walks mechanism driving axle is provided with driven gear II, described driven gear I, driven gear II are all with the driving gear engagement be arranged in the middle part of main body frame, and described driving gear is driven by described micromachine.
Further, on the arranged on left and right sides plate that described walking mechanism is arranged on main body frame and near the lower plate of main body frame, described walking mechanism comprises crank, pin kinematic link, pin swing connecting bar and sole; Described pin kinematic link and pin swing connecting bar all swing around fixing pin; The two ends via pins of described sole is flexibly connected pin kinematic link and pin swing connecting bar, and crank driving makes pin kinematic link, pin swing connecting bar, sole swing together and realizes taking a step of pin.
Further, described in wave organization establishes on the left and right sides plate of the outside of main body frame and near the top of main body frame, described in mechanism of waving comprise wave crank and shape connecting rod of bending arms; Crank drives shape connecting rod of bending arms to swing around fixing pin.
Further, the bend arms bent position of turning of shape connecting rod is arranged on the left side plate of main body frame by fixing pin, shape connecting rod of bending arms can rotate around fixing pin, crank one end of waving is fixed on the end of hand swing mechanism power transmission shaft through the side plate of main body frame, the other end of crank of waving is located in the chute hole at arm top.
Further, described pin swing arm top is arranged on the sidewall of main body frame by pin swing arm fixing pin, pin swing arm bottom is arranged on sole by movable pin, walking mechanism crank one end is fixed on through the sidewall of main body frame the end that business concern operating a porters' service walks mechanism driving axle, the other end of walking mechanism crank is located in the chute hole on pin drive link top, pin drive link is arranged on the sidewall of main body frame in the position near its top by pin drive link fixing pin, and pin drive link bottom is arranged on sole by movable pin.
Further, described humanoid bio-robot also comprises the battery tray being arranged on main body frame bottom, and described battery tray is arranged between bipod walking mechanism.
The utility model has the advantages that: anthropomorphic robot of the present utility model, human body is imitated in its knot moulding, and walking postures is similar with the walking postures of people, and trick swings to be coordinated, and walking is graceful flexibly; And all parts are all by 3D printing and making, structure is ingenious attractive in appearance; Adopt the control operation of Single-chip Controlling infrared wireless remote control simple.
Accompanying drawing explanation
Fig. 1 is the general assembly drawing of anthropomorphic robot of the present utility model.
Fig. 2 is the overall structure figure of anthropomorphic robot of the present utility model.
Fig. 3 is the drive system structure figure of anthropomorphic robot of the present utility model.
Fig. 4 is the hand oscillating machine composition of anthropomorphic robot of the present utility model.
Fig. 5 is that the business concern operating a porters' service of anthropomorphic robot of the present utility model walks mechanism map.
Detailed description of the invention
Below in conjunction with accompanying drawing, the utility model is described in detail, be to be noted that described specific embodiment is only intended to be convenient to understanding of the present utility model, and any restriction effect is not play to it.
Referring now to Fig. 1 ~ 5, humanoid bio-robot of the present utility model, comprises torso portion 100 and head 200, and head 200 is arranged on directly over torso portion 100; Torso portion 100 comprises main body frame 4 and is arranged on the transmission system 1 on main body frame 4, mechanism 2 of waving, walking mechanism 3, micromotor, control system.Main body frame 4, in cuboid, draws together left plate, base plate, right plate, upper plate; The center of described upper plate is provided with the steering wheel controlling head twist, and head is directly installed on described steering wheel, and described head is provided with infrared remote receiver.Transmission system 1 is arranged on the inside of main body frame 4, transmission system 1 comprises the hand swing mechanism power transmission shaft 12 being arranged on main body frame 4 top and the business concern operating a porters' service being arranged on main body frame 4 bottom walks mechanism driving axle 15, the middle part of hand swing mechanism power transmission shaft 12 is provided with driven gear I11, the middle part that business concern operating a porters' service walks mechanism driving axle 15 is provided with driven gear II14, and driven gear I11, driven gear II14 all engage with the driving gear 13 be arranged in the middle part of main body frame 4.
Wave mechanism 2 be arranged on the outside of main body frame 4 the left and right sides and near the top of main body frame 4, the mechanism 2 of waving of every side includes one and to wave crank 21 and an arm 23, the bent position of turning of arm 23 is arranged on the side plate of main body frame 4 by a fixing pin 22, arm 23 can rotate around fixing pin 22, crank 21 one end of waving is fixed on the end of hand swing mechanism power transmission shaft 12 through the side plate of main body frame 4, the other end of crank 21 of waving is located in the chute hole at arm 23 top.
Walking mechanism 3 is arranged on the left and right sides of the outside of main body frame 4 and the bottom of close main body frame 4, the walking mechanism 3 of every side includes a walking crank 31, one pin drive link 33, one pin swing arm 37 and a sole 33, pin swing arm 37 top is arranged on the side plate of main body frame 4 by pin swing arm fixing pin 38, pin swing arm 37 bottom is arranged on sole 33 by movable pin 36, walking mechanism crank 31 one end is fixed on through the side plate of main body frame 4 end that business concern operating a porters' service walks mechanism driving axle 15, the other end of walking mechanism crank 31 is located in the chute hole on pin drive link 33 top, pin drive link 33 is arranged on the side plate of main body frame 4 in the position near its top by pin drive link fixing pin 32, pin drive link 33 bottom is arranged on sole 33 by movable pin 34.Described humanoid bio-robot also comprises the battery tray being arranged on main body frame bottom, and described battery tray is arranged between bipod walking mechanism.
Overall walking manner is: micromachine drives driving gear 13, driving gear 13 drives driven gear 11 and driven gear 14 simultaneously, driven gear 11 drives hand swing mechanism power transmission shaft 12, and hand swing mechanism power transmission shaft 12 drives the crank handle turns arms swing of hand swing mechanism; Driven gear 14 drives business concern operating a porters' service to walk mechanism driving axle 15, and business concern operating a porters' service is walked mechanism driving axle 15 and driven walking mechanism crank 31 to drive pin drive link 32, and pin swing arm 37, sole 33 swing realization and take a step.Adopt the control operation of Single-chip Controlling infrared wireless remote control simple.The all parts of anthropomorphic robot can by 3D printer printing and making.
Above; be only preferred embodiment of the present utility model; the scope of the utility model protection is not limited thereto; any people being familiar with this technology can understand the conversion or replacement expected in the scope disclosed by the utility model; all should be encompassed in and of the present utility modelly comprise within scope; therefore, protection domain of the present utility model should be as the criterion with the protection domain of claims.
Claims (9)
1. a humanoid bio-robot, comprise torso portion and head, head is arranged on directly over torso portion, described torso portion comprises main body frame and is arranged on the transmission system on main body frame, wave mechanism and walking mechanism, it is characterized in that, described transmission system is arranged on the inside of main body frame, the described left and right sides of organization establishes in the outside of main body frame of waving is also near the top of main body frame, and described walking mechanism is arranged on the left and right sides of the outside of main body frame and the bottom of close main body frame.
2. humanoid bio-robot according to claim 1, is characterized in that, described humanoid bio-robot also comprises the micromachine and control system that are arranged on main body frame inside.
3. humanoid bio-robot according to claim 1, is characterized in that, described main body frame is cuboid, draws together left plate, base plate, right plate, upper plate; The center of described upper plate is provided with the steering wheel controlling head twist, and head is directly installed on described steering wheel, and described head is provided with infrared remote receiver.
4. humanoid bio-robot according to claim 2, it is characterized in that, described transmission system comprises the hand swing mechanism power transmission shaft being arranged on main body frame top and the business concern operating a porters' service being arranged on main body frame bottom walks mechanism driving axle, the middle part of described hand swing mechanism power transmission shaft is provided with driven gear I, the middle part that described business concern operating a porters' service walks mechanism driving axle is provided with driven gear II, described driven gear I, driven gear II are all with the driving gear engagement be arranged in the middle part of main body frame, and described driving gear is driven by described micromachine.
5. humanoid bio-robot according to claim 1, it is characterized in that, on the arranged on left and right sides plate that described walking mechanism is arranged on main body frame and near the lower plate of main body frame, described walking mechanism comprises crank, pin kinematic link, pin swing connecting bar and sole; Described pin kinematic link and pin swing connecting bar all swing around fixing pin; The two ends via pins of described sole is flexibly connected pin kinematic link and pin swing connecting bar, and crank driving makes pin kinematic link, pin swing connecting bar, sole swing together and realizes taking a step of pin.
6. humanoid bio-robot according to claim 1, it is characterized in that, described organization establishes of waving on the left and right sides plate of the outside of main body frame and near the top of main body frame, described in mechanism of waving comprise wave crank and shape connecting rod of bending arms; Crank drives shape connecting rod of bending arms to swing around fixing pin.
7. humanoid bio-robot according to claim 6, it is characterized in that, the bend arms bent position of turning of shape connecting rod is arranged on the left side plate of main body frame by fixing pin, shape connecting rod of bending arms can rotate around fixing pin, crank one end of waving is fixed on the end of hand swing mechanism power transmission shaft through the side plate of main body frame, the other end of crank of waving is located in the chute hole at arm top.
8. humanoid bio-robot according to claim 5, it is characterized in that, described pin swing arm top is arranged on the sidewall of main body frame by pin swing arm fixing pin, pin swing arm bottom is arranged on sole by movable pin, walking mechanism crank one end is fixed on through the sidewall of main body frame the end that business concern operating a porters' service walks mechanism driving axle, the other end of walking mechanism crank is located in the chute hole on pin drive link top, pin drive link is arranged on the sidewall of main body frame in the position near its top by pin drive link fixing pin, pin drive link bottom is arranged on sole by movable pin.
9. the humanoid bio-robot according to any one of claim 1 to 8, is characterized in that, described humanoid bio-robot also comprises the battery tray being arranged on main body frame bottom, and described battery tray is arranged between bipod walking mechanism.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520829815.0U CN205129863U (en) | 2015-10-26 | 2015-10-26 | Humanoid bionic robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520829815.0U CN205129863U (en) | 2015-10-26 | 2015-10-26 | Humanoid bionic robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN205129863U true CN205129863U (en) | 2016-04-06 |
Family
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201520829815.0U Expired - Fee Related CN205129863U (en) | 2015-10-26 | 2015-10-26 | Humanoid bionic robot |
Country Status (1)
| Country | Link |
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| CN (1) | CN205129863U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106217388A (en) * | 2016-08-17 | 2016-12-14 | 北京品飞天高科技有限公司 | Single-degree-of-freedom humanoid show robot |
| CN106625579A (en) * | 2016-11-15 | 2017-05-10 | 深圳前海勇艺达机器人有限公司 | Motion structure of robot with a plurality of joints driven by single motor |
| CN115009390A (en) * | 2022-08-09 | 2022-09-06 | 瑞基机器人有限公司 | Simulation foot suitable for walking on various terrains |
-
2015
- 2015-10-26 CN CN201520829815.0U patent/CN205129863U/en not_active Expired - Fee Related
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106217388A (en) * | 2016-08-17 | 2016-12-14 | 北京品飞天高科技有限公司 | Single-degree-of-freedom humanoid show robot |
| CN106625579A (en) * | 2016-11-15 | 2017-05-10 | 深圳前海勇艺达机器人有限公司 | Motion structure of robot with a plurality of joints driven by single motor |
| CN115009390A (en) * | 2022-08-09 | 2022-09-06 | 瑞基机器人有限公司 | Simulation foot suitable for walking on various terrains |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20160406 Termination date: 20171026 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |