CN205466159U - Robot based on skeleton framework - Google Patents
Robot based on skeleton framework Download PDFInfo
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- CN205466159U CN205466159U CN201521101112.2U CN201521101112U CN205466159U CN 205466159 U CN205466159 U CN 205466159U CN 201521101112 U CN201521101112 U CN 201521101112U CN 205466159 U CN205466159 U CN 205466159U
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- endoskeleton
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Abstract
The utility model discloses a robot based on skeleton framework, including endoskeleton, outer skeleton, support fastener, outer skeleton extension piece, control circuit and motion chassis, it includes the endoskeleton clamp plate to support the fastener, the head endoskeleton that the endoskeleton contained passes through steering wheel and the connection of endoskeleton clamp plate rather than the health endoskeleton that contains, the outer frame connection of head that the head endoskeleton contains through endoskeleton clamp plate and outer skeleton, the health endoskeleton passes through the endoskeleton clamp plate and is connected with the outer skeleton of truck, the outer skeleton of arm that outer skeleton contains respectively, the outer skeleton of arm is connected with the outer skeleton gomphosis of hand, outer skeleton extension piece is attached to on the outer skeleton, control circuit and motion electric connection of chassis, the motion chassis is connected with the endoskeleton through reserving the mounting hole. The utility model discloses, mechanical connection is simple, has improved scalability.
Description
Technical field
This utility model relates to intelligent robot technology field, particularly relates to a kind of robot based on skeletal architecture.
Background technology
Robotics as an emerging comprehensive interdisciplinary science, repeatable accuracy high reliable and stable with it,
It is widely used in industrial circle.In recent years, under the promotion that every technology develops, robotics manufactures neck from traditional industry
Territory is to field extensions such as Edutainment, medical services, exploration explorations.
Under new application scenario, it is desirable to there is new technological improvement in robot, meet the individual demand of people.
Such as, under the scene of home entertaining, Consumer's Experience is one important evaluation index of robot, usually include with
Lower several respects: (1) ease for use.The installation of robot or operating process should be simple and clear it can be readily appreciated that be user-friendly to.Cross
Design in very complicated will be substantially reduced experience sense.(2) robustness.Robot should be able to resist varying environment under certain limit
The impact of parameter, possesses the functions such as drop resistant (3) updatability.User's renewal requirement to family entertainment robot, main body
Function and design two aspects now, the demand of these two aspects is probably nonsynchronous, and this requires robot functional type parts and sets
Meter type parts should be relatively independent and interchangeable, by user from main separation function and the reservation of outward appearance or upgrading.
Under the scene of educational training, the Consumer's Experience of robot is embodied a concentrated reflection of in these areas: (1) extensibility.Religion
Educate the location of robot product, determine its facility needing to provide the user in secondary development as much as possible.Therefore, reserved one
Electron Extended interface and the actuator expansion interface of determined number are necessary.(2) adjustable.General robot is in order to protect
Circuits System, frequently with the closure of integral type.But educational training is extremely emphasized to observe and the process of test, and it is right that this just requires
The shell mechanism of robot carries out appropriate design, while meeting reliability, conveniently observes core component and debugs.
In sum, at space structure and functionally parts are carried out appropriate design and division, can effective hoisting machine people
Performance and experience.But, most of robot in the market, a part uses the closure of integral type, knot
Structure is simple, but poor expandability, interest are low；A part uses detachable external member, it is easy to extends and safeguards, but often assembling
Journey is loaded down with trivial details, require higher to the technology of user: accordingly, it would be desirable to a kind of can the modularity machine of effectively summary advantage and function
Device people.
Utility model content
This utility model provides a kind of robot based on skeletal architecture, so that being mechanically connected simplification, standardization, meets
The target being easily installed and debugging, and by sufficient spare interface, improve extensibility.
In order to achieve the above object, in the robot based on skeletal architecture that this utility model is provided, application has rudder
Machine, this robot includes: Endoskeleton, purchasing ore, support securing member, purchasing ore extension, control circuit and motion chassis；
Described Endoskeleton includes head Endoskeleton and health Endoskeleton；Described purchasing ore includes outside head purchasing ore, trunk
Skeleton, arm purchasing ore, hand purchasing ore；Described support securing member includes Endoskeleton pressing plate；
Described head Endoskeleton is connected by described steering wheel and described Endoskeleton pressing plate with described health Endoskeleton；Described head
Portion's Endoskeleton is connected with described head purchasing ore by described Endoskeleton pressing plate；Outside described health Endoskeleton is respectively with described trunk
Skeleton, arm purchasing ore are connected by described Endoskeleton pressing plate；Described arm purchasing ore is fitting to connection with described hand purchasing ore；
Described purchasing ore extension is attached on described purchasing ore；Described control circuit electrically connects with described motion chassis；Described motion
Chassis is connected with described Endoskeleton by reserving installation hole.
Further, described support securing member also includes that support bar, described head purchasing ore include on face frame board, head
Frame board, head back skeleton plate, head sending down the fishbone frame plate and two build side seam frame plates；After described face frame board, head upper skeleton plate, head
Frame board, head sending down the fishbone frame plate and two build side seam frame plates form a hexahedron head purchasing ore closed；
Described two build side seam frame plates are connected by support bar, are entrenched in the described head Endoskeleton left and right sides；
Described face frame board is entrenched in the space connected and composed by described two build side seam frame plates by described support bar
Front, after described head back skeleton plate is entrenched in the space connected and composed by described support bar by described two build side seam frame plates
Side；
Described head sending down the fishbone frame plate is arranged on the space connected and composed by described two build side seam frame plates by described support bar
Lower section；
Described head upper skeleton plate is entrenched in the space connected and composed by described two build side seam frame plates by described support bar
Top.
Further,
Speaker cavity it is reserved with respectively outside described two build side seam frame plates；
It is reserved with eyebrow through hole and eyes through hole, with mounted LED lamp light source on described face frame board；
Described head sending down the fishbone frame plate center is reserved with central through hole, so that head Endoskeleton is through with health Endoskeleton.
Further, described trunk purchasing ore includes skeleton and trunk back skeleton before trunk,
Before described trunk, skeleton is chimeric by screw grafting with described trunk back skeleton；
Before described trunk, skeleton and trunk back skeleton install described control circuit by the installing hole of internal reservation；
Breast lamp loophole, sensor mounting hole it is reserved with on skeleton before described trunk.
Further, described purchasing ore extension includes eyebrow pressing plate, eyebrow eyeglass, eyes pressing plate, ophthalmic lens, breast lamp
Eyeglass, range finding fixed plate and range finding eyeglass；
Described face frame board fixes described eyebrow eyeglass by the described eyebrow pressing plate installed on reserved eyebrow through hole；
Described face frame board fixes described ophthalmic lens by the described eyes pressing plate installed on reserved eyes through hole；
By reserved breast lamp loophole, described breast lamp eyeglass is installed on skeleton before described trunk；
Described survey is fixed by the described range finding fixed plate installed in reserved sensor mounting hole on skeleton before described trunk
Away from eyeglass.
Further, bone after skeleton, right arm back skeleton, left arm before skeleton, left arm before described arm purchasing ore includes right arm
Frame；Described hand purchasing ore includes left hand portion purchasing ore and right hand portion purchasing ore；
Skeleton formation chimeric with described right arm back skeleton right arm purchasing ore before described right arm；Described right hand portion purchasing ore and institute
State right arm purchasing ore to be fitting to connection；
Skeleton formation chimeric with described left arm back skeleton left arm purchasing ore before described left arm；Described left hand portion purchasing ore and institute
State left arm purchasing ore to be fitting to connection；
Described right arm purchasing ore and described left arm purchasing ore are all reserved with steering wheel output shaft interface.
Further, described robot also includes shell,
Described shell attaches with described purchasing ore or socket is connected；
The material of described shell is paster or wards off glue or plastics.
Further, described support securing member also includes bandage,
Being reserved with battery installing space on described health Endoskeleton, described health Endoskeleton passes through described bandage at described electricity
Fix with battery on the installing space of pond and be connected.
Compared with prior art, this utility model at least has the advantage that
Divided by the independence of agent structure main body Endoskeleton and purchasing ore, and on purchasing ore, add casing so that
It is mechanically connected simplification, standardization, meets the target being easily installed and debugging, and by sufficient spare interface, improve can
Autgmentability.
Accompanying drawing explanation
Fig. 1 is the illustraton of model of the robot based on skeletal architecture that this utility model provides；
Fig. 2 is the structure chart of the robot based on skeletal architecture that this utility model provides.
Detailed description of the invention
Below in conjunction with the accompanying drawings and embodiment, detailed description of the invention of the present utility model is further described.Hereinafter implement
Example is only used for clearly illustrating the technical solution of the utility model, is not intended to this utility model is carried out saying of exhaustive
Bright, protection domain of the present utility model can not be limited with this.
The utility model discloses a kind of robot based on skeletal architecture, application has steering wheel, as it is shown in figure 1, described machine
Device people includes Endoskeleton, purchasing ore, shell, support securing member, purchasing ore extension, control circuit and motion chassis.Wherein, interior
Skeleton includes head Endoskeleton and health Endoskeleton；Purchasing ore includes head purchasing ore, trunk purchasing ore, arm purchasing ore, hands
Portion's purchasing ore, is attached on Endoskeleton by supporting securing member；Shell is socketed or is attached on purchasing ore, plays second protection and dress
The effects such as decorations；Support securing member to have included connecting the Endoskeleton pressing plate of Endoskeleton effect, supported the support bar of purchasing ore and fix
The bandage of part；Purchasing ore extension includes pressing plate, transmissive mirror etc., can adhere on purchasing ore, plays the effects such as connection and decoration；
Control circuit includes master board, expander board etc., can be arranged on purchasing ore by installing hole；Motion chassis includes mobile
Base, circuit board, sensor etc., be arranged on Endoskeleton by installing hole, by master board control, can perform motion, test the speed,
The functions such as avoidance.For the attaching relation of each critical piece that robot is comprised, see table 1 below.
Table 1 robot is comprised the attaching relation of each critical piece
Further, head Endoskeleton is connected by steering wheel and Endoskeleton pressing plate with health Endoskeleton；Head Endoskeleton
On leave purchasing ore connecting hole, health Endoskeleton leaves steering wheel and the installing space of battery, purchasing ore connecting hole.
Further, head purchasing ore include face frame board, head upper skeleton plate, head back skeleton plate, head sending down the fishbone frame plate, two
Build side seam frame plate.Wherein, two build side seam frame plates are entrenched in the head Endoskeleton left and right sides, are connected by support bar, and
Outside is reserved with speaker cavity.Face frame board and head back skeleton plate are entrenched in two build side seam frame plates respectively and support bar connects
Before and after connecing the space of composition, face frame board is reserved with eyebrow and eyes through hole, for mounted LED lamp printing opacity.Head sending down the fishbone frame plate
Be arranged on below the space connected and composed by support bar by two build side seam frame plates, center leave through hole for head Endoskeleton with
Health Endoskeleton is through.Head upper skeleton plate is entrenched in the space above connected and composed by two build side seam frame plates by support bar,
Hexahedron head purchasing ore with above-mentioned several parts one relative closure of composition.
Further, trunk purchasing ore includes skeleton and trunk back skeleton before trunk, and both are fitted together to by screw grafting,
Prop up robot exterior contour, and provide the space of relative closure for installing of circuit board.
Further, before trunk, on skeleton, it is reserved with breast lamp loophole, sensor mounting hole, is available for extension and uses.
Further, trunk back skeleton is reserved with several through holes, purchasing ore extension can be installed.
Further, before trunk, skeleton and trunk back skeleton internal reservation have circuit board installing hole.
Further, skeleton, right arm back skeleton, left arm back skeleton before skeleton, left arm before arm purchasing ore includes right arm；Right
Skeleton formation chimeric with right arm back skeleton right arm purchasing ore before arm, right hand portion purchasing ore is fitting to connection with right arm purchasing ore；Left arm
Front skeleton formation chimeric with left arm back skeleton left arm purchasing ore, left hand portion purchasing ore is fitting to connection with left arm purchasing ore, and in advance
Leave steering wheel output shaft interface, expansible servo driving.
Wherein, structure and the shape of purchasing ore are not limited to such scheme, can be adjusted as required, to adapt to Endoskeleton
Connection to shell.
Further, shell can be selected for paster, wards off the multiple material such as glue, plastics, to reach decorative effect, or at dermoskeleton
Outside the protection of frame, core circuit plate and Endoskeleton are carried out second protection.
Further, bandage can be attached to play on health Endoskeleton the effect of self-contained battery.
Further, purchasing ore extension can comprise eyebrow pressing plate, eyebrow eyeglass, eyes pressing plate, ophthalmic lens, breast lamp mirror
Sheet, range finding fixed plate, range finding eyeglass etc. select, and this part extension can be directly arranged on purchasing ore by spare interface.Eyebrow
Hair pressing plate may be installed the eyebrow preformed hole on face frame board, plays the effect of fixing eyebrow eyeglass；Eyes pressing plate may be installed
Eyes preformed hole on face frame board, plays the effect of fixing ophthalmic lens；Eyebrow eyeglass and ophthalmic lens can pass through and be arranged on
The light of the LED within head purchasing ore；Breast lamp eyeglass is arranged on the breast lamp loophole of skeleton before trunk；Range finding fixed plate peace
Being contained in the sensor mounting hole of skeleton before trunk, range finding eyeglass may be installed in fixed plate, and permeable infrared sensor sends
Infrared.
It is specifically described with a specific embodiment below.
This example mainly includes Endoskeleton, purchasing ore, shell, support securing member, purchasing ore extension, control circuit and fortune
Dynamic chassis.
Head Endoskeleton is Y type parts, and bottom through hole can be connected with being arranged on the output shaft of steering wheel on health Endoskeleton,
And fixed by Endoskeleton pressing plate.Control mainboard and control the anglec of rotation of steering wheel output shaft, the upper part of the body of robot can be controlled
Left and right directions rotates.Liang Ge side, head Endoskeleton upper end is respectively mounted rostral frame board, with four between two head side seam frame plates
Individual support bar fixes keeping parallelism.Head Endoskeleton intermediate groove can install steering wheel, steering wheel output shaft steering wheel and rostral frame board
It is connected.Control mainboard and control the anglec of rotation of steering wheel output shaft, the head pitching of robot can be controlled.At rostral frame board and
Support bar surrounds remaining four sides in space and is respectively mounted face frame board, head upper skeleton plate, head back skeleton plate and head sending down the fishbone frame plate,
Form the head purchasing ore of robot relative closure.It is reserved with manhole on two head side seam frame plates, can be as robot
Sound chamber, is reserved with screwed hole post simultaneously, can install lamp ring.Then it is reserved with eyebrow and eyes through hole on face frame board, can install
Transmission lens fixed by eyebrow pressing plate, eyes pressing plate.Transmission lens can pass through the LED light being arranged within head purchasing ore.
Control mainboard and control brightness and the frequency of LED lamplight, different expression combinations can be presented in robot face, thus instruction is corresponding
State and function.
Health Endoskeleton upper end is provided with steering wheel, and steering wheel output shaft is connected with head Endoskeleton, and by Endoskeleton pressing plate
Fixing.Manhole is left in health Endoskeleton both sides, and before and after arm, skeleton is entrenched on this through hole.As required, the most also
Steering wheel can be installed additional, controlled steering wheel output shaft angle by controlling mainboard, and then control swing before and after arm.The end of arm purchasing ore
End circular hole embeds hand purchasing ore.The positive Middle face of health Endoskeleton leaves 4 circular port posts, installs and uses, separately for controlling mainboard
Leave some circular port posts to install trunk back skeleton.Being battery installing space in the middle part of the health Endoskeleton back side, two ends are left convex
Post, for the bandage of self-contained battery.Health Endoskeleton lower end is connected by pluggable form with motion chassis.Control mainboard
Can send instructions to, by universal serial bus, chassis of moving as host computer, control its complete accurately to test the speed, barrier is dodged in perception,
Perception desktop edge is dropproof, follow mobile object, according to functions such as both fixed track walkings.Skeleton and trunk back skeleton before trunk
Tabling, and be fixed on health Endoskeleton by reserved mounting post, form the health purchasing ore of robot relative closure.Body
It is reserved with breast lamp loophole on skeleton before dry, breast lamp eyeglass can be installed.Breast lamp eyeglass can pass through and is arranged on skeletal internal before trunk
The light of LED.Control mainboard and control brightness and the frequency of LED lamplight, the function of state instruction can be played.Before trunk on skeleton
Also it is reserved with sensor mounting hole, range finding fixed plate fixing range finding eyeglass can be installed.Range finding eyeglass can pass through and is arranged on chassis
Play the infrared light that the infrared sensor of range finding effect sends.
The purchasing ore installed on Endoskeleton has supported the primary outer profile of robot, and is control circuit plate etc. zero
Part provides suitable installing space.As required, select suitable material as shell further, be socketed or be attached to dermoskeleton
On frame.
The above-mentioned modularity for robot in frame for movement, uses the only of functional type parts and design mode isolation of components
Erect meter.
Described robot based on skeletal architecture, when meeting the modularity in frame for movement, also meets electrical control simple
The target changed.Robot system is decomposed into master control preparative layer and performs module double-layer structure by this utility model, makees with master board
For master control preparative layer, using chassis of moving as performing module, using universal serial bus to carry out communication between the two, layer of structure is distinct,
Easily controllable.Master board sends instruction by universal serial bus to motion chassis, motion chassis perform, and wiring is simple, saves
Connection between the two.
In this utility model, divided by the independence of agent structure main body Endoskeleton and purchasing ore, and at purchasing ore
On add casing so that be mechanically connected simplify, standardization, meet the target that is easily installed and debugs, and by sufficient pre-
Stay interface, improve extensibility.
Wherein, the modules of apparatus of the present invention can be integrated in one, it is also possible to separates and disposes.Above-mentioned module can be closed
And be a module, it is also possible to it is further split into multiple submodule.
It will be appreciated by those skilled in the art that accompanying drawing is the schematic diagram of a preferred embodiment, the module in accompanying drawing or stream
Journey is not necessarily implemented necessary to the present invention.
It will be appreciated by those skilled in the art that the module in the device in embodiment can describe according to embodiment to carry out point
It is distributed in the device of embodiment, it is also possible to carry out respective change and be disposed other than in one or more devices of the present embodiment.On
The module stating embodiment can merge into a module, it is also possible to is further split into multiple submodule.
The invention described above sequence number, just to describing, does not represent the quality of embodiment.
The several specific embodiments being only the present invention disclosed above, but, the present invention is not limited to this, any ability
What the technical staff in territory can think change all should fall into protection scope of the present invention.
Claims (8)
1. a robot based on skeletal architecture, application has steering wheel, it is characterised in that described robot includes Endoskeleton, outer
Skeleton, support securing member, purchasing ore extension, control circuit and motion chassis；
Described Endoskeleton includes head Endoskeleton and health Endoskeleton；Described purchasing ore include head purchasing ore, trunk purchasing ore,
Arm purchasing ore, hand purchasing ore；Described support securing member includes Endoskeleton pressing plate；
Described head Endoskeleton is connected by described steering wheel and described Endoskeleton pressing plate with described health Endoskeleton；In described head
Skeleton is connected with described head purchasing ore by described Endoskeleton pressing plate；Described health Endoskeleton respectively with described trunk dermoskeleton
Frame, arm purchasing ore are connected by described Endoskeleton pressing plate；Described arm purchasing ore is fitting to connection with described hand purchasing ore；Institute
State purchasing ore extension to be attached on described purchasing ore；Described control circuit electrically connects with described motion chassis；At the bottom of described motion
Dish is connected with described Endoskeleton by reserving installation hole.
2. robot as claimed in claim 1, it is characterised in that described support securing member also includes support bar, described head
Purchasing ore includes face frame board, head upper skeleton plate, head back skeleton plate, head sending down the fishbone frame plate and two build side seam frame plates；Described
Face frame board, head upper skeleton plate, head back skeleton plate, head sending down the fishbone frame plate and two build side seam frame plates form six closed
Face body head purchasing ore；
Described two build side seam frame plates are connected by support bar, are entrenched in the described head Endoskeleton left and right sides；
Described face frame board is entrenched in the front, space connected and composed by described two build side seam frame plates by described support bar,
Described head back skeleton plate is entrenched in the rear, space connected and composed by described two build side seam frame plates by described support bar；
Described head sending down the fishbone frame plate is arranged on below the space connected and composed by described support bar by described two build side seam frame plates；
Described head upper skeleton plate is entrenched in the space above connected and composed by described two build side seam frame plates by described support bar.
3. robot as claimed in claim 2, it is characterised in that
Speaker cavity it is reserved with respectively outside described two build side seam frame plates；
It is reserved with eyebrow through hole and eyes through hole, with mounted LED lamp light source on described face frame board；
Described head sending down the fishbone frame plate center is reserved with central through hole, so that head Endoskeleton is through with health Endoskeleton.
4. robot as claimed in claim 1, it is characterised in that described trunk purchasing ore includes before trunk after skeleton and trunk
Skeleton,
Before described trunk, skeleton is chimeric by screw grafting with described trunk back skeleton；
Before described trunk, skeleton and trunk back skeleton install described control circuit by the installing hole of internal reservation；
Breast lamp loophole, sensor mounting hole it is reserved with on skeleton before described trunk.
5. robot as claimed in claim 3, it is characterised in that described purchasing ore extension includes eyebrow pressing plate, eyebrow mirror
Sheet, eyes pressing plate, ophthalmic lens, breast lamp eyeglass, range finding fixed plate and range finding eyeglass；
Described face frame board fixes described eyebrow eyeglass by the described eyebrow pressing plate installed on reserved eyebrow through hole；
Described face frame board fixes described ophthalmic lens by the described eyes pressing plate installed on reserved eyes through hole；
By reserved breast lamp loophole, described breast lamp eyeglass is installed on skeleton before described trunk；
Described iconmeter is fixed by the described range finding fixed plate installed in reserved sensor mounting hole on skeleton before described trunk
Sheet.
6. robot as claimed in claim 1, it is characterised in that described arm purchasing ore includes before right arm before skeleton, left arm
Skeleton, right arm back skeleton, left arm back skeleton；Described hand purchasing ore includes left hand portion purchasing ore and right hand portion purchasing ore；
Skeleton formation chimeric with described right arm back skeleton right arm purchasing ore before described right arm；Described right hand portion purchasing ore and the described right side
Arm purchasing ore is fitting to connection；
Skeleton formation chimeric with described left arm back skeleton left arm purchasing ore before described left arm；Described left hand portion purchasing ore is with described
Left arm purchasing ore is fitting to connection；
Described right arm purchasing ore and described left arm purchasing ore are all reserved with steering wheel output shaft interface.
7. robot as claimed in claim 1, it is characterised in that described robot also includes shell,
Described shell attaches with described purchasing ore or socket is connected；
The material of described shell is paster or wards off glue or plastics.
8. robot as claimed in claim 1, it is characterised in that described support securing member also includes bandage,
Being reserved with battery installing space on described health Endoskeleton, described health Endoskeleton is pacified at described battery by described bandage
Dress is spatially fixing with battery to be connected.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201521101112.2U CN205466159U (en) | 2015-12-25 | 2015-12-25 | Robot based on skeleton framework |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201521101112.2U CN205466159U (en) | 2015-12-25 | 2015-12-25 | Robot based on skeleton framework |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN205466159U true CN205466159U (en) | 2016-08-17 |
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ID=56660374
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| Application Number | Title | Priority Date | Filing Date |
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| CN201521101112.2U Active CN205466159U (en) | 2015-12-25 | 2015-12-25 | Robot based on skeleton framework |
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| CN (1) | CN205466159U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109895111A (en) * | 2019-03-01 | 2019-06-18 | 达闼科技（北京）有限公司 | A kind of robot neck component and robot |
| CN111331615A (en) * | 2020-03-27 | 2020-06-26 | 叶东楼 | Simulated biological welcome robot |
-
2015
- 2015-12-25 CN CN201521101112.2U patent/CN205466159U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109895111A (en) * | 2019-03-01 | 2019-06-18 | 达闼科技（北京）有限公司 | A kind of robot neck component and robot |
| CN111331615A (en) * | 2020-03-27 | 2020-06-26 | 叶东楼 | Simulated biological welcome robot |
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