CN206527735U - A kind of ten free degree free exercise robots - Google Patents
A kind of ten free degree free exercise robots Download PDFInfo
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- CN206527735U CN206527735U CN201621366288.5U CN201621366288U CN206527735U CN 206527735 U CN206527735 U CN 206527735U CN 201621366288 U CN201621366288 U CN 201621366288U CN 206527735 U CN206527735 U CN 206527735U
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- arm
- fixedly connected
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- housing
- movable axis
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- 210000000689 upper leg Anatomy 0.000 claims abstract description 40
- 210000001699 lower leg Anatomy 0.000 claims abstract description 29
- 210000002414 Leg Anatomy 0.000 claims description 4
- 230000000694 effects Effects 0.000 claims description 4
- 210000001513 Elbow Anatomy 0.000 claims 1
- 238000010276 construction Methods 0.000 abstract description 4
- 210000002683 Foot Anatomy 0.000 description 23
- 230000005611 electricity Effects 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000006011 modification reaction Methods 0.000 description 2
- 238000007689 inspection Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 239000011664 nicotinic acid Substances 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
Abstract
The utility model discloses a kind of ten frees degree free exercise robot, including housing, the top movable of the housing is connected with head, big arm is provided with the top of the housing both sides, the inner transverse of the housing is fixedly connected with dividing plate, the first double-rotor machine is fixedly connected with the top of the dividing plate, the output end of first double-rotor machine is fixedly connected with connecting pole.The utility model is by setting big arm, dividing plate, the first double-rotor machine, connecting pole, the first movable axis, small arm, ancon motor, the second movable axis, hand, hand motor, support plate, the 3rd movable axis, motor housing, the second double-rotor machine, thigh arm, the 4th movable axis, shank arm, thigh motor, the 5th movable axis, foot, foot's motor and controller, solve gymnastic robot on the market at present structure it is excessively complicated the problem of, the gymnastic robot is simple in construction, easy to maintenance.
Description
Technical field
The utility model is related to gymnastic robot technical field, specially a kind of ten frees degree free exercise robot.
Background technology
Robot is the automatic installations for performing work, and it can both receive mankind commander, advance volume can be run again
The program of row, can also be according to the principle guiding principle action formulated with artificial intelligence technology, and its task is assistance or the substitution mankind
The work of work, for example, produce industry, construction industry, or dangerous work, robot be senior integral traffic control opinion, mechano-electronic,
Computer, material and bionic product, equalization has important use in the fields such as industry, medical science, agricultural or even military affairs at present.
The action of gymnastics is due to variation, and gymnastic robot needs the very high free degree when acting, at present on the market
Gymnastic robot structure it is excessively complicated, so need to be timed gymnastic robot inspection, once gymnastic robot is damaged
It is bad, add the maintenance difficulty of gymnastic robot.
Utility model content
The purpose of this utility model is to provide a kind of ten frees degree free exercise robot, possesses simple in construction excellent
Point, solve gymnastic robot on the market at present structure it is excessively complicated the problem of.
To achieve the above object, the utility model provides following technical scheme：A kind of ten free degree free exercise robots,
Including housing, the top movable of the housing, which is connected with the top of head, the housing both sides, is provided with big arm, the housing
Inner transverse be fixedly connected with the top of dividing plate, the dividing plate and be fixedly connected with the first double-rotor machine, described first pair turns
The output end of sub-motor is fixedly connected with connecting pole, and the one end of the connecting pole away from the first double-rotor machine is through to housing
Outside to be fixedly connected with big arm, the top of the big inboard arm is slidably connected with housing, and the bottom of the big arm passes through
The bottom that first movable axis is connected with the outside of small arm, the big arm is fixedly connected with ancon motor, the ancon electricity
The inside that the output end of machine is through to big arm is fixedly connected with first movable axis one end, and the bottom of the small arm passes through second
The bottom that movable axis is connected with the outside of hand, the small arm is fixedly connected with hand motor, the hand motor it is defeated
Go out to hold the inside for being through to small arm to be fixedly connected with one end of the second movable axis, the both sides of the housing bottom are fixedly connected with
Have to be fixedly connected with the inside of support plate, the support plate at the 3rd movable axis, the axis of the housing bottom and be fixedly connected with motor
Case, the bottom of the motor chamber interior wall is fixedly connected with the second double-rotor machine, the output end of second double-rotor machine with
3rd movable axis is fixedly connected, and the surface of the 3rd movable axis is arranged with thigh arm, and the bottom of the thigh arm passes through the 4th
The bottom that movable axis is connected with the outside of shank arm, the thigh arm is fixedly connected with thigh motor, the thigh motor
The inside that output end is through to thigh arm is fixedly connected with one end of the 4th movable axis, and the bottom of the shank arm is lived by the 5th
The bottom that moving axis is connected with the outside of foot, the shank arm is fixedly connected with foot's motor, the output of foot's motor
The inside that end is through to shank arm is fixedly connected with one end of the 5th movable axis, and control is installed with the left of the housing
Device, the controller respectively with the first double-rotor machine, ancon motor, hand motor, the second double-rotor machine, thigh motor and
Foot's motor is electrically connected with.
It is preferred that, the bottom of the foot is fixedly connected with non-slipping block, and the bottom of the non-slipping block is fixedly connected with anti-skidding
Projection.
It is preferred that, the quantity of the thigh arm, shank arm and hand is two, and thigh arm, shank arm and hand are equal
It is centrosymmetric setting on housing.
It is preferred that, the thigh arm, shank arm and the quantity of foot are two, and thigh arm, shank arm and foot are equal
It is centrosymmetric setting on housing.
It is preferred that, two slide posts are fixedly connected with the top of the big inboard arm, and two slide posts are located at respectively
The top and bottom of connecting pole, the one end of the slide post away from big arm is fixedly connected with sliding block, and the both sides of the housing are equal
Offer the chute used cooperatively with sliding block.
Compared with prior art, the beneficial effects of the utility model are as follows：
1st, the utility model is by setting big arm, dividing plate, the first double-rotor machine, connecting pole, the first movable axis, small hand
It is arm, ancon motor, the second movable axis, hand, hand motor, support plate, the 3rd movable axis, motor housing, the second double-rotor machine, big
Leg arm, the 4th movable axis, shank arm, thigh motor, the 5th movable axis, foot, foot's motor and controller, solve current city
The problem of structure of gymnastic robot on face is excessively complicated, the gymnastic robot is simple in construction, easy to maintenance.
2nd, the utility model makes slide post in the more smooth of the surface slip of housing by the cooperation of sliding block and chute,
The friction between slide post and housing is reduced, the service life of slide post is extended, while sliding block, chute and slide post are to big
Arm also functions to the effect of support, by the cooperation of non-slipping block and non-slip bumps, makes the gymnastic robot in moving process, prevents
Only there is the phenomenon fallen down in gymnastic robot, it is to avoid the damage of the gymnastic robot.
Brief description of the drawings
Fig. 1 is the utility model structural representation；
Fig. 2 is the utility model A-A partial enlarged drawing.
In figure：1 housing, 2 heads, 3 big arms, 4 dividing plates, 5 first double-rotor machines, 6 connecting poles, 7 first movable axis, 8
Small arm, 9 ancon motors, 10 second movable axis, 11 hands, 12 hand motors, 13 support plates, 14 the 3rd movable axis, 15 motors
Case, 16 second double-rotor machines, 17 thigh arms, 18 the 4th movable axis, 19 shank arms, 20 thigh motors, 21 the 5th movable axis,
22 foots, 23 foot's motors, 24 controllers, 25 non-slipping blocks, 26 non-slip bumps, 27 slide posts, 28 sliding blocks, 29 chutes.
Embodiment
Below in conjunction with the accompanying drawing in the utility model embodiment, the technical scheme in the utility model embodiment is carried out
Clearly and completely describe, it is clear that described embodiment is only a part of embodiment of the utility model, rather than whole
Embodiment.Based on the embodiment in the utility model, those of ordinary skill in the art are not under the premise of creative work is made
The every other embodiment obtained, belongs to the scope of the utility model protection.
Refer to Fig. 1-2, a kind of ten frees degree free exercise robot, including housing 1, the top movable connection of housing 1
Have and big arm 3 is provided with the top of head 2, the both sides of housing 1, the inner transverse of housing 1 is fixedly connected with dividing plate 4, the top of dividing plate 4
Portion is fixedly connected with the first double-rotor machine 5, and the output end of the first double-rotor machine 5 is fixedly connected with connecting pole 6, connecting pole 6
The outside that one end away from the first double-rotor machine 5 is through to housing 1 is fixedly connected with big arm 3, the top of the big inner side of arm 3
Portion is slidably connected with housing 1, and the top of the big inner side of arm 3 is fixedly connected with two slide posts 27, and two slide posts 27 are distinguished
Positioned at the top and bottom of connecting pole 6, the one end of slide post 27 away from big arm 3 is fixedly connected with sliding block 28, the two of housing 1
Side offers the chute 29 used cooperatively with sliding block 28, by the cooperation of sliding block 28 and chute 29, makes slide post 27 in housing
It is more smooth that 1 surface is slided, and reduces the friction between slide post 27 and housing 1, extends the use longevity of slide post 27
Life, while sliding block 28, chute 29 and 27 posts of slip also function to the effect of support to big arm 3, the bottom of big arm 3 passes through first
Movable axis 7 is connected with small arm 8, and the bottom in the big outside of arm 3 is fixedly connected with ancon motor 9, the output of ancon motor 9
The inside that end is through to big arm 3 is fixedly connected with the one end of the first movable axis 7, and the bottom of small arm 8 passes through the second movable axis 10
Hand 11 is connected with, the quantity of thigh arm 17, shank arm 19 and hand 11 is two, and thigh arm 17, shank arm 19
It is centrosymmetric setting on housing 1 with hand 11, the bottom in the small outside of arm 8 is fixedly connected with hand motor 12, hand
The inside that the output end of motor 12 is through to small arm 8 is fixedly connected with one end of the second movable axis 10, and the two of the bottom of housing 1
Side has been fixedly connected with support plate 13, and the inner side of support plate 13, which is fixedly connected with the 3rd movable axis 14, the axis of the bottom of housing 1, to be fixed
Motor housing 15 is connected with, the bottom of the inwall of motor housing 15 is fixedly connected with the second double-rotor machine 16, the second double-rotor machine 16
Output end be fixedly connected with the 3rd movable axis 14, the surface of the 3rd movable axis 14 is arranged with thigh arm 17, the bottom of thigh arm 17
Portion is connected with shank arm 19 by the 4th movable axis 18, and the bottom in the outside of thigh arm 17 is fixedly connected with thigh motor 20,
The inside that the output end of thigh motor 20 is through to thigh arm 17 is fixedly connected with one end of the 4th movable axis 18, shank arm 19
Bottom foot 22 is connected with by the 5th movable axis 21, the quantity of thigh arm 17, shank arm 19 and foot 22 is two
It is individual, and thigh arm 17, shank arm 19 and foot 22 be centrosymmetric setting on housing 1, the bottom of foot 22 is fixedly connected
There is non-slipping block 25, the bottom of non-slipping block 25 is fixedly connected with non-slip bumps 26, by the cooperation of non-slipping block 25 and non-slip bumps 26,
Make the gymnastic robot in moving process, prevent gymnastic robot from the phenomenon fallen down occur, it is to avoid the gymnastic robot
Damage, the bottom in the outside of shank arm 19 is fixedly connected with foot's motor 23, and the output end of foot's motor 23 is through to shank arm 19
Inside be fixedly connected with one end of the 5th movable axis 21, the left side of housing 1 is installed with controller 24, and controller 24 is distinguished
With the first double-rotor machine 5, ancon motor 9, hand motor 12, the second double-rotor machine 16, thigh motor 20 and foot's motor
23 are electrically connected with.
In use, controller 24 controls the first double-rotor machine 5 to run, the first double-rotor machine 5 drives by connecting pole 6
Big arm 3 is rotated, and the control ancon of controller 24 motor 9 is run, and ancon motor 9 drives small arm by the first movable axis 7
8 are rotated, and the control hand of controller 24 motor 12 is run, and hand motor 12 drives hand 11 to carry out by the second movable axis 10
Rotation, controller 24 controls the second double-rotor machine 16 to run, and the second double-rotor machine 16 drives greatly by the 3rd movable axis 14
Leg arm 17 is rotated, and the control of controller 24 thigh motor 20 is run, and thigh motor 20 drives shank by the 4th movable axis 18
Arm 19 is rotated, and the control of controller 24 foot motor 23 is run, and foot's motor 23 drives foot 22 by the 5th movable axis 21
Rotated, so as to reach ten frees degree.
In summary：Ten frees degree free exercise robot, by setting big arm 3, dividing plate 4, the first birotor electricity
Machine 5, connecting pole 6, the first movable axis 7, small arm 8, ancon motor 9, the second movable axis 10, hand 11, hand motor 12, support plate
13rd, the 3rd movable axis 14, motor housing 15, the second double-rotor machine 16, thigh arm 17, the 4th movable axis 18, shank arm 19, leg
Motor 20, the 5th movable axis 21, foot 22, foot's motor 23 and controller 24, solve gymnastic robot at present on the market
Structure it is excessively complicated the problem of.While there has been shown and described that embodiment of the present utility model, for the common of this area
For technical staff, it is possible to understand that these embodiments can be entered in the case where not departing from principle of the present utility model and spirit
The a variety of change, modification, replacement and modification of row, scope of the present utility model is defined by the appended claims and the equivalents thereof.
Claims (5)
1. a kind of ten frees degree free exercise robot, including housing (1), it is characterised in that：The top movable of the housing (1)
It is connected with the top of head (2), housing (1) both sides and is provided with big arm (3), the inner transverse of the housing (1) is fixed
It is connected with the top of dividing plate (4), the dividing plate (4) and is fixedly connected with the first double-rotor machine (5), first double-rotor machine
(5) output end is fixedly connected with connecting pole (6), and the one end of the connecting pole (6) away from the first double-rotor machine (5) is through to
The outside of housing (1) is fixedly connected with big arm (3), and the top on the inside of the big arm (3) is slidably connected with housing (1), institute
The bottom for stating big arm (3) is connected with bottom on the outside of small arm (8), the big arm (3) by the first movable axis (7)
Ancon motor (9) is fixedly connected with, the output end of the ancon motor (9) is through to inside and the first activity of big arm (3)
Axle (7) one end is fixedly connected, and the bottom of the small arm (8) is connected with hand (11), institute by the second movable axis (10)
State the bottom on the outside of small arm (8) and be fixedly connected with hand motor (12), the output end of the hand motor (12) is through to small
The inside of arm (8) is fixedly connected with one end of the second movable axis (10), and the both sides of housing (1) bottom have been fixedly connected with
It is fixedly connected with the 3rd movable axis (14), the axis of housing (1) bottom and consolidates on the inside of support plate (13), the support plate (13)
Surely motor housing (15) is connected with, the bottom of motor housing (15) inwall is fixedly connected with the second double-rotor machine (16), described
The output end of second double-rotor machine (16) is fixedly connected with the 3rd movable axis (14), the surface set of the 3rd movable axis (14)
Provided with thigh arm (17), the bottom of the thigh arm (17) is connected with shank arm (19), institute by the 4th movable axis (18)
State the bottom on the outside of thigh arm (17) and be fixedly connected with thigh motor (20), the output end of the thigh motor (20) is through to greatly
The inside of leg arm (17) is fixedly connected with one end of the 4th movable axis (18), and the bottom of the shank arm (19) is lived by the 5th
The bottom that moving axis (21) is connected with the outside of foot (22), the shank arm (19) is fixedly connected with foot's motor (23), institute
The output end for stating foot's motor (23) is through to the inside of shank arm (19) and is fixedly connected with one end of the 5th movable axis (21), institute
State and controller (24) be installed with the left of housing (1), the controller (24) respectively with the first double-rotor machine (5), elbow
Portion's motor (9), hand motor (12), the second double-rotor machine (16), thigh motor (20) and foot's motor (23) are electrically connected with.
2. a kind of ten frees degree free exercise robot according to claim 1, it is characterised in that：The foot (22)
Bottom is fixedly connected with non-slipping block (25), and the bottom of the non-slipping block (25) is fixedly connected with non-slip bumps (26).
3. a kind of ten frees degree free exercise robot according to claim 1, it is characterised in that：The thigh arm
(17), the quantity of shank arm (19) and hand (11) is two, and thigh arm (17), shank arm (19) and hand (11) are closed
It is centrosymmetric setting in housing (1).
4. a kind of ten frees degree free exercise robot according to claim 1, it is characterised in that：The thigh arm
(17), the quantity of shank arm (19) and foot (22) is two, and thigh arm (17), shank arm (19) and foot (22) close
It is centrosymmetric setting in housing (1).
5. a kind of ten frees degree free exercise robot according to claim 1, it is characterised in that：The big arm (3)
Be fixedly connected with two slide posts (27) at the top of inner side, and two slide posts (27) respectively positioned at the top of connecting pole (6) and
Bottom, the one end of the slide post (27) away from big arm (3) is fixedly connected with sliding block (28), and the both sides of the housing (1) are equal
Offer the chute (29) used cooperatively with sliding block (28).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621366288.5U CN206527735U (en) | 2016-12-13 | 2016-12-13 | A kind of ten free degree free exercise robots |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621366288.5U CN206527735U (en) | 2016-12-13 | 2016-12-13 | A kind of ten free degree free exercise robots |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206527735U true CN206527735U (en) | 2017-09-29 |
Family
ID=59922795
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201621366288.5U Expired - Fee Related CN206527735U (en) | 2016-12-13 | 2016-12-13 | A kind of ten free degree free exercise robots |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206527735U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111993432A (en) * | 2020-07-23 | 2020-11-27 | 南京市晨枭软件技术有限公司 | Industrial robot for stacking |
-
2016
- 2016-12-13 CN CN201621366288.5U patent/CN206527735U/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111993432A (en) * | 2020-07-23 | 2020-11-27 | 南京市晨枭软件技术有限公司 | Industrial robot for stacking |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20170929 Termination date: 20171213 |