CN206085075U - Skeleton of robot and adopt robot of this skeleton - Google Patents
Skeleton of robot and adopt robot of this skeleton Download PDFInfo
- Publication number
- CN206085075U CN206085075U CN201621083288.4U CN201621083288U CN206085075U CN 206085075 U CN206085075 U CN 206085075U CN 201621083288 U CN201621083288 U CN 201621083288U CN 206085075 U CN206085075 U CN 206085075U
- Authority
- CN
- China
- Prior art keywords
- robot
- hand
- skeleton
- arm
- lumbar region
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/032—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members with alternately or sequentially lifted supporting base and legs; with alternately or sequentially lifted feet or skid
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Toys (AREA)
- Manipulator (AREA)
Abstract
The utility model relates to a skeleton of robot and adopt robot of this skeleton, the skeleton comprises anterior 2, the left lumbar region in health rear portion 1, health 3, right waist 4, base portion 5, foot (6), robot left hand and the robot right hand, wherein, respectively is equipped with a plurality of joints on the robot left hand and the robot right hand, and the steering wheel was implanted to cavitys inside all were articular, health rear portion 1, health are anterior 2, left lumbar region 3, right waist 4, base portion 5, foot 6, robot left hand and the robot right hand all are equipped with the strengthening rib. The utility model discloses sufficient move freely dimension has all been reserved to the skeleton on every joint, its hollow structural design makes accommodation space bigger simultaneously, and the design of strengthening rib makes skeleton intensity higher, skeleton aesthetic design is strong, outward appearance type of demonstrating people's aesthetic feeling, and the sight is high.
Description
Technical field
This utility model belongs to small scale robot technical field, is specifically related to a kind of skeleton of robot and using the bone
The robot of frame.
Background technology
Skeleton is the important component part of robot, and skeleton not only plays a part of to support robot weight, in minicomputer
Device people technical field such as Grapple Robots, people do not require nothing more than fistfight machine for the requirement more and more higher of Grapple Robots
Fistfight between people will have higher sight, it is also desirable to which the monnolithic case of Grapple Robots is attractive in appearance, flexible movements, this for
The design of skeleton proposes new requirement.
At present, there is problems with small-sized Grapple Robots product on the market on body structure：
1. joint freedom degrees design is inadequate, stiff in the movements；
2. structural strength not enough, affects the service life of robot product；
3. body frame design does not focus on aesthetic feeling, it is impossible to the design sense of machine mankind people is presented；
4. cannot the implantation of each action joint drive steering wheel, realize multi joint motion.
The content of the invention
The purpose of this utility model is to overcome the deficiencies in the prior art, there is provided a kind of new machine human skeleton and employing should
The robot of skeleton, this utility model solve technical scheme that its technical problem adopts for：
A kind of skeleton of robot, by body rear portion 1, body front portion 2, left lumbar region 3, right lumbar region 4, base portion 5, foot 6,
Robot left hand and robot right hand composition, wherein, the body rear portion 1 and body anterior 2 are located at just going up for base portion 5
Side, left lumbar region 3 and right lumbar region 4 are located between base portion 5 and body front portion 2, the robot left hand and the robot right hand pair
Title is located at the both sides of body front portion 2, and the foot 6 is located at the lower section of base portion 5, the robot left hand and the robot right hand
On be respectively provided with some joints, the articulate inner hollow of institute is simultaneously implanted into steering wheel, the body rear portion 1, body front portion 2, left lumbar region
3rd, right lumbar region 4, base portion 5, foot 6, robot left hand and the robot right hand are equipped with reinforcement.
The further technical scheme of this utility model also includes：
The robot left hand is anterior by left scapuloanterior (LScA) portion 16, left scapuloposterior (LScP) portion 15, left arm outside 17, left arm inside 18, left elbow
20th, left elbow rear portion 19, left hand outside 21 and left hand inside 22 constitute, and the left scapuloanterior (LScA) portion 16 and left scapuloposterior (LScP) portion 15 constitute robot
Left shoulder, left arm outside 17 and left arm inside 18 constitute robot left arm, a steering wheel are provided with the left arm, before left elbow
Portion 20 and left elbow rear portion 19 are assembled into left ancon and are provided with a steering wheel, and the left hand outside 21 and left hand inside 22 form one and grabs
Mechanism is taken, for capturing weapon.
The robot right hand by right scapuloanterior portion 8, right scapulo-posterior portion 7, right arm outside 9, right arm inside 10, right elbow front portion 12,
Right elbow rear portion 11, right hand outside 13 and right hand inside 14 constitute, the right shoulder in the right scapuloanterior portion 8 and composition robot of right scapulo-posterior portion 7
Portion, right arm outside 9 and right arm inside 10 constitute robot right arm, and a steering wheel, right elbow front portion 12 are provided with the right arm
Right ancon being assembled into right elbow rear portion 11 and being provided with a steering wheel, the right hand outside 13 and right hand inside 14 form a gripper
Structure, for capturing weapon.
The foot 6 is made up of 4 groups of wheel group fixtures, and the wheel group fixture is metal material, and per group of wheel group fixes
Respectively there is an aperture part oblique angle both sides.
The left lumbar region 3, right lumbar region 4 and base portion 5 collectively form the waist of robot, and in the waist rudder is built-in with
Machine, waist can rotate 180 ° of angles around base portion 5.
The body rear portion 1, body front portion 2, left lumbar region 3, right lumbar region 4, base portion 5, foot 6, robot left hand and
The robot right hand is mutually independent, and modularity is arranged, and is assembled by screw or is decomposed between each module.
A kind of robot using aforementioned skeleton.
Compared with prior art, Advantageous Effects of the present utility model are：1）The skeleton of this utility model robot exists
Enough freedom of motion dimensions are reserved on each joint, while its hollow structure design makes receiving space bigger, has been strengthened
The design of muscle makes frame strength higher；2）The reserved implantation enough of robot skeletal internal drives the space of steering wheel, and each steering wheel is defeated
Exit design bearing arrangement, reduces motion vibrations and improves steadiness；Joint flexibility ratio is very high, so that robot motion
It is more flexible；3）Frame design adopts modularized design, greatly reduces the difficulty of machine person assembling, assembles robot
Work becomes more convenient；Each discrete item design of skeleton is designed using flattening, is reduced the difficulty of manufacturing process and is subtracted
The cost of production procedure is lacked, while the connection of flattening is designed, resistance to stress ability is higher, improves the use longevity of overall skeleton
Life；4）Frame design aesthetic feeling is strong, and outward appearance presents the aesthetic feeling of class people, and sight is high.
Description of the drawings
Fig. 1 is the decomposition texture schematic diagram of this utility model skeleton；
Fig. 2 is the assembly structure diagram of this utility model skeleton；
Wherein：
1st, body rear portion 2, body front portion 3, left lumbar region 4, right lumbar region
5th, base portion 6, foot 7, right scapulo-posterior portion 8, right scapuloanterior portion
9th, right arm outside 10, right arm inside 11, right elbow rear portion 12, right elbow are anterior
13rd, right hand outside 14, right hand inside 15, left scapuloposterior (LScP) portion 16, left scapuloanterior (LScA) portion
17th, left arm outside 18, left arm inside 19, left elbow rear portion 20, left elbow are anterior
21st, inside left hand outside 22, left hand.
Specific embodiment
Below in conjunction with accompanying drawing, specific embodiment of the present utility model is further described.
Refer to Fig. 1, Fig. 2, a kind of skeleton of robot, it is by body rear portion 1, body front portion 2, left lumbar region 3, right lumbar region
4th, base portion 5, foot 6, robot left hand and robot right hand composition, wherein, body rear portion 1 and body anterior 2 are located at bottom
The surface of portions 5, left lumbar region 3 and right lumbar region 4 are located between base portion 5 and body front portion 2, robot left hand and robot
The right hand is symmetrically arranged at the both sides of body front portion 2, and foot 6 is located at the lower section of base portion 5, on robot left hand and the robot right hand
Some joints are respectively provided with, the articulate inner hollow of institute is simultaneously implanted into steering wheel, body rear portion 1, body front portion 2, left lumbar region 3, right waist
Portion 4, base portion 5, foot 6, robot left hand and the robot right hand are equipped with reinforcement.
The hollow structure design of intra articular makes receiving space bigger, and the steering wheel of implantation is motor, it is ensured that each to close
The flexibility ratio of section is very high, so that robot motion is more flexible；Bearing arrangement can be designed in steering wheel delivery outlet, it is therefore an objective to
In order to reduce motion vibrations and improve steadiness；All parts add reinforcing rib design, improve the strong of each parts
Degree, makes skeleton more consolidate.
In this utility model, robot left hand by left scapuloanterior (LScA) portion 16, left scapuloposterior (LScP) portion 15, left arm outside 17, left arm inside 18,
Left elbow front portion 20, left elbow rear portion 19, left hand outside 21 and left hand inside 22 constitute, and left scapuloanterior (LScA) portion 16 and left scapuloposterior (LScP) portion 15 constitute machine
Device people's left shoulder, left arm outside 17 and left arm inside 18 constitute robot left arm, a steering wheel are provided with left arm, with reality
The free movement of existing left arm, left elbow anterior 20 and left elbow rear portion 19 are assembled into left ancon and are provided with a steering wheel, for completing
The free movement in joint, left hand outside 21 and left hand inside 22 form a grasping mechanism, for capturing various weapons, whole arm
Structure is firmer, and joint freedom degrees are enough.
The robot right hand is by right scapuloanterior portion 8, right scapulo-posterior portion 7, right arm outside 9, right arm inside 10, right elbow front portion 12, right elbow
Rear portion 11, right hand outside 13 and right hand inside 14 constitute, and right scapuloanterior portion 8 and right scapulo-posterior portion 7 constitute robot right shoulder, outside right arm
Portion 9 and right arm inside 10 constitute robot right arm, and a steering wheel is provided with right arm, to realize the free movement of right arm,
Right elbow anterior 12 and right elbow rear portion 11 are assembled into right ancon and are provided with a steering wheel, the free movement in joint are completed, outside the right hand
13 and the right hand inside 14 formed a grasping mechanisms, for capturing various weapons.
Foot 6 is made up of 4 groups of wheel group fixtures, and wheel group fixture is preferably metal material, and per group of wheel group fixture is oblique
Respectively there is an aperture angle both sides.The mechanical mechanism of 4 groups of wheel group fixture compositions is the cooperation assembling parts of motor, by being implanted into motor
And wheel, it is possible to achieve the high speed flexible motion of robot；Foot 6 is connected by wheel group fixture with the wheel of robot, wheel
Motor is installed in the side of group fixture, and motor is screwed on the aperture of wheel group fixture oblique angle both sides,
The flexible motion in 16 directions can be realized, metal material can ensure that the bearing capacity of foot 6 is higher, can be with can be effectively
The vibrations of motor are reduced, prevents motor from coming off.
Left lumbar region 3, right lumbar region 4 and base portion 5 collectively form the waist of robot, and in waist steering wheel, waist are built-in with
180 ° of angles can be rotated around base portion 5, it is ensured that the motility of robot waist movement.
In this utility model, body rear portion 1, body front portion 2, left lumbar region 3, right lumbar region 4, base portion 5, foot 6, robot
Left hand and the robot right hand are mutually independent, and modularity is arranged, i.e., each ingredient all can be fractionation, between each module
Assembled by screw or decomposed, frame design is adopted modularized design, greatly reduced the difficulty of machine person assembling,
Robot assembly working is set to become more convenient.
Each discrete item design of skeleton is designed using flattening, is reduced the difficulty of manufacturing process and is reduced production stream
The cost of journey.
Using the robot of aforementioned skeleton, outward appearance presents the aesthetic feeling of class people, and flexible movements, sight is high；Overall structure
Stable, intensity is high, and robot assembly working becomes more convenient.
Preferred embodiment of the present utility model is these are only, not to limit this utility model, guarantor of the present utility model
Shield scope is defined by claims, and other all its structures and principle are same or like with this utility model, all should wrap
It is contained within protection domain of the present utility model.
Claims (7)
1. a kind of skeleton of robot, by body rear portion（1）, body it is anterior（2）, left lumbar region（3）, right lumbar region（4）, base portion
（5）, foot（6）, robot left hand and robot right hand composition, wherein, the body rear portion（1）It is anterior with body（2）Position
In base portion（5）Surface, left lumbar region（3）And right lumbar region（4）Located at base portion（5）It is anterior with body（2）Between, the machine
It is anterior that device people left hand and the robot right hand are symmetrically arranged at body（2）Both sides, the foot（6）Positioned at base portion（5）Under
Side, it is characterised in that some joints, the articulate inner hollow of institute are respectively provided with the robot left hand and the robot right hand
And it is implanted into steering wheel, the body rear portion（1）, body it is anterior（2）, left lumbar region（3）, right lumbar region（4）, base portion（5）, foot（6）、
Robot left hand and the robot right hand are equipped with reinforcement.
2. skeleton according to claim 1, it is characterised in that the robot left hand is by left scapuloanterior (LScA) portion（16）, left scapuloposterior (LScP)
Portion（15）, outside left arm（17）, inside left arm（18）, left elbow it is anterior（20）, left elbow rear portion（19）, outside left hand（21）And left hand
It is internal（22）Composition, the left scapuloanterior (LScA) portion（16）With left scapuloposterior (LScP) portion（15）Composition robot left shoulder, outside left arm（17）And a left side
Inside arm（18）Composition robot left arm, is provided with a steering wheel in the left arm, left elbow is anterior（20）With left elbow rear portion
（19）It is assembled into left ancon and is provided with a steering wheel, outside the left hand（21）Inside left hand（22）A grasping mechanism is formed,
For capturing weapon.
3. skeleton according to claim 1, it is characterised in that the robot right hand is by right scapuloanterior portion（8）, right scapulo-posterior portion
（7）, outside right arm（9）, inside right arm（10）, right elbow it is anterior（12）, right elbow rear portion（11）, outside the right hand（13）Inside the right hand
（14）Composition, the right scapuloanterior portion（8）With right scapulo-posterior portion（7）Composition robot right shoulder, outside right arm（9）Inside right arm
（10）Composition robot right arm, is provided with a steering wheel in the right arm, right elbow is anterior（12）With right elbow rear portion（11）Assembling
Into right ancon and a steering wheel is provided with, outside the right hand（13）Inside the right hand（14）A grasping mechanism is formed, for capturing
Weapon.
4. skeleton according to claim 1, it is characterised in that the foot（6）It is made up of 4 groups of wheel group fixtures, it is described
Wheel group fixture is metal material, and has an aperture per a group wheel group fixture oblique angle both sides.
5. skeleton according to claim 1, it is characterised in that the left lumbar region（3）, right lumbar region（4）And base portion（5）
The waist of robot is collectively formed, in the waist steering wheel is built-in with, waist can be around base portion（5）180 ° of angles of rotation.
6. skeleton according to claim 1, it is characterised in that the body rear portion（1）, body it is anterior（2）, left lumbar region
（3）, right lumbar region（4）, base portion（5）, foot（6）, robot left hand and the robot right hand it is mutually independent, modularity sets
Put, assembled by screw or decomposed between each module.
7. a kind of robot using skeleton as claimed in claim 1.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621083288.4U CN206085075U (en) | 2016-09-27 | 2016-09-27 | Skeleton of robot and adopt robot of this skeleton |
| PCT/CN2016/100639 WO2018058383A1 (en) | 2016-09-27 | 2016-10-20 | Robot frame and robot using the frame |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621083288.4U CN206085075U (en) | 2016-09-27 | 2016-09-27 | Skeleton of robot and adopt robot of this skeleton |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206085075U true CN206085075U (en) | 2017-04-12 |
Family
ID=58479938
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201621083288.4U Active CN206085075U (en) | 2016-09-27 | 2016-09-27 | Skeleton of robot and adopt robot of this skeleton |
Country Status (2)
| Country | Link |
|---|---|
| CN (1) | CN206085075U (en) |
| WO (1) | WO2018058383A1 (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109746926A (en) * | 2018-12-11 | 2019-05-14 | 深圳市优必选科技有限公司 | Robot and waist structure thereof |
| CN109895110A (en) * | 2019-03-01 | 2019-06-18 | 达闼科技（北京）有限公司 | A kind of robot waist skeleton and robot |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108657307B (en) * | 2018-06-19 | 2023-09-15 | 昆明理工大学 | Four-foot walking robot with flexible waist |
Family Cites Families (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP5506617B2 (en) * | 2009-12-28 | 2014-05-28 | 本田技研工業株式会社 | Robot control device |
| CN203899136U (en) * | 2014-01-30 | 2014-10-29 | 宁波工程学院 | Exterior structure of embedded vision-based competitive entertainment-type humanoid robot |
| CN204235555U (en) * | 2014-11-05 | 2015-04-01 | 深圳市普乐方文化科技有限公司 | Amusement emulated robot |
| CN204713233U (en) * | 2015-02-27 | 2015-10-21 | 青岛里奥机器人技术有限公司 | A kind of totally-enclosed biped anthropomorphic robot |
| CN105752189A (en) * | 2015-06-03 | 2016-07-13 | 吴彦举 | Double-foot humanoid walking robot |
| CN205586208U (en) * | 2016-03-31 | 2016-09-21 | 深圳光启合众科技有限公司 | Ectoskeleton robot |
-
2016
- 2016-09-27 CN CN201621083288.4U patent/CN206085075U/en active Active
- 2016-10-20 WO PCT/CN2016/100639 patent/WO2018058383A1/en active Application Filing
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109746926A (en) * | 2018-12-11 | 2019-05-14 | 深圳市优必选科技有限公司 | Robot and waist structure thereof |
| US20200180146A1 (en) * | 2018-12-11 | 2020-06-11 | Ubtech Robotics Corp | Assembly for driving waist of robot and robot having the same |
| US10888993B2 (en) * | 2018-12-11 | 2021-01-12 | Ubtech Robotics Corp | Assembly for driving waist of robot and robot having the same |
| CN109895110A (en) * | 2019-03-01 | 2019-06-18 | 达闼科技（北京）有限公司 | A kind of robot waist skeleton and robot |
Also Published As
| Publication number | Publication date |
|---|---|
| WO2018058383A1 (en) | 2018-04-05 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN103029130B (en) | Humanoid robot | |
| CN206085075U (en) | Skeleton of robot and adopt robot of this skeleton | |
| CN103315834B (en) | Wearable lower-limb assistance exoskeleton | |
| CN106965156A (en) | A kind of integrated multiple degrees of freedom lower limb exoskeleton of auxiliary lightness | |
| CN108044637B (en) | Humanoid robot | |
| CN108272537A (en) | A kind of modular multiple degrees of freedom under-actuated bionic prosthetic hand | |
| CN109318214A (en) | A kind of ectoskeleton back device of imitative human spine | |
| CN102198664B (en) | Two-degree-of-freedom (two-DOF) spherical parallel robot bionic ankle joint with central spherical pair | |
| CN104799982B (en) | Single motor drive lacking prosthetic hand based on continuum differential attachment | |
| CN108656100A (en) | Human emulated robot based on cylinder | |
| JP2023133095A (en) | Model toy and movable structure | |
| CN103816029A (en) | Six-freedom degree leg rehabilitation training robot | |
| CN207643143U (en) | A kind of anthropomorphic robot | |
| CN203109948U (en) | Humanoid robot | |
| CN109172061B (en) | Multi-degree-of-freedom upper limb prosthesis | |
| CN110538015B (en) | Mechanical artificial limb arm | |
| EP3970670A1 (en) | Prosthesis digit member with spiroid reducer and modular design of upper limb prosthesis | |
| CN117262067A (en) | Hip joint structure, leg structure and six-degree-of-freedom low-inertia robot bionic leg | |
| CN106956277A (en) | A kind of mechanical structure of intelligent entertainment robot | |
| JP6314058B2 (en) | Enlarged suit | |
| CN101811302A (en) | Five-finger independently-driven mechanical artificial hand | |
| CN110181496B (en) | Modularized bionic four-foot robot | |
| CN210500264U (en) | Five-degree-of-freedom generalized spherical parallel mechanism | |
| CN209596147U (en) | A kind of outer auxiliary power function dress ornament structure | |
| CN106691786B (en) | A kind of wearable dynamic knee joint based on continuous variable series connection flexible drive |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| PE01 | Entry into force of the registration of the contract for pledge of patent right | ||
| PE01 | Entry into force of the registration of the contract for pledge of patent right |
Denomination of utility model: The invention relates to a skeleton of a robot and a robot using the skeleton Effective date of registration: 20210818 Granted publication date: 20170412 Pledgee: Shenzhen Branch of Guoren Property Insurance Co.,Ltd. Pledgor: SHENZHEN GONGJIANGSHE TECHNOLOGY Co.,Ltd. Registration number: Y2021980007938 |