CN206748417U - A kind of service robot fin system - Google Patents
A kind of service robot fin system Download PDFInfo
- Publication number
- CN206748417U CN206748417U CN201720641367.0U CN201720641367U CN206748417U CN 206748417 U CN206748417 U CN 206748417U CN 201720641367 U CN201720641367 U CN 201720641367U CN 206748417 U CN206748417 U CN 206748417U
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- China
- Prior art keywords
- wing
- skeleton
- service robot
- support
- fin system
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- 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.)
- Expired - Fee Related
Links
- 230000002787 reinforcement Effects 0.000 claims description 5
- 125000006850 spacer group Chemical group 0.000 claims description 5
- RYGMFSIKBFXOCR-UHFFFAOYSA-N Copper Chemical group [Cu] RYGMFSIKBFXOCR-UHFFFAOYSA-N 0.000 claims description 3
- 229910052802 copper Inorganic materials 0.000 claims 1
- 239000010949 copper Substances 0.000 claims 1
- 230000007246 mechanism Effects 0.000 abstract description 6
- 241000272194 Ciconiiformes Species 0.000 description 8
- 230000009471 action Effects 0.000 description 7
- 230000009286 beneficial effect Effects 0.000 description 2
- 239000011889 copper foil Substances 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 230000006870 function Effects 0.000 description 2
- 238000009434 installation Methods 0.000 description 2
- 230000007480 spreading Effects 0.000 description 2
- 230000005540 biological transmission Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000004140 cleaning Methods 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000008451 emotion Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 210000003414 extremity Anatomy 0.000 description 1
- 230000001815 facial effect Effects 0.000 description 1
- 210000000245 forearm Anatomy 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 210000003205 muscle Anatomy 0.000 description 1
- 238000011084 recovery Methods 0.000 description 1
- 210000000707 wrist Anatomy 0.000 description 1
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- Toys (AREA)
Abstract
A kind of service robot fin system, including neck support seat are the utility model is related to, two groups of structure identical wing components, motor, wing supports are symmetrical set on the axis of neck support seat；Neck support seat includes plane and facade, and wing support is fixed on facade, and hook-shaped wing skeleton is set between wing support and facade；The connection end of wing skeleton can rotate relative to wing support and facade, the connection end of the torque output shaft connection wing skeleton of motor；The free end connection wing component of wing skeleton.Compared compared with general robot shoulder structure, the wing skeleton for connecting shoulder and wing uses " hook " shape feature, it is greatly reduced the radius of gyration of shoulder, in the case where the function of ensureing robot shoulder can be realized, so that the structure of robot shoulder mechanism becomes more compact, space availability ratio is higher.
Description
Technical field
A kind of bio-robot technical field is the utility model is related to, it is particularly a kind of to be used to strengthen emotion expression service effect
Service robot fin system.
Background technology
Service robot is a young member in family of robot, and it can complete the healthy service work that is beneficial to man
Make, such as the work of maintaining, repairing, transport, cleaning, security personnel, rescue, monitoring etc..Current data show, in the world
At least 48 countries are developing robot, wherein the exploitation of 25 national involved service robots.In Japan, North America and Europe
Continent, 7 types amount to 40 left funds service humanoid robot and enter experiment and half commercial applications so far." humanoid service-delivery machine
People " can be defined as the outward appearance of the mankind and some attributes of function (such as head, trunk, arm, leg), use language
The modes such as sound, facial characteristics, limb action are come a kind of service robot for being linked up with the mankind.Because the arm of the mankind has
Multiple freedoms of motion, swing, medial rotation can be realized, revolve outer, interior receipts, the motion of abduction isotype, can flexibly be performed
Various work in daily life.The arm action of traditional service robot often has one or 2 freedoms of motion,
And the pattern performed is similar to the wing of penguin.Such as
Remote-controlled action toy penguin (CN201310005539.1) use the lower part of the body in power motor, through gear,
The transmission mechanisms such as synchronizing wheel, sector plate, upper part of the body bar assembly so that bowed when penguin is hurried up and bend over to lift wing, strolled Shi Ang heads and endure
Chest receives wing.In addition, wing action of spreading the wings/receive, the wing on both sides is all to act simultaneously.
Parent-offspring penguin (CN201320473870.1) using cam and connecting rod mechanism, to realize the spreading the wings of penguin, receive wing
Action.It spreads the wings/or receive wing and be also under the drive of connecting rod while act.
Robot (CN201620796022.8) its arm component drives rotary shaft to realize arm by drive device
Swing, and the action of penguin wing is to spread the wings, receive wing.
High flexibility arm component (201620830802.X) each joint of Intelligent greeting robot is by shoulder steering wheel, greatly
Arm steering wheel, forearm steering wheel, wrist steering wheel composition, to realize the rotational action in each joint.
A kind of penguin bio-robot (201610810988.7) uses the arm steering wheel being installed on arm support transverse slat,
To drive the stretching, extension of arm and recovery.
Part needed for the handle configurations of the above penguin toy or robot is more, and the motor of use is installed mostly
In on the arm of shoulder, and shoulder arm is all straight connecting rod so that the overall structure of mechanism is not compact, space availability ratio
It is relatively low.
The content of the invention
The purpose of this utility model is overcome the deficiencies in the prior art, there is provided one kind by motor by being installed on machine
In the chest of device people, shoulder uses " hook " shape connecting rod, greatly reduces the radius of gyration of shoulder so that robot shoulder mechanism
Structure become more compact, the higher service robot fin system of space availability ratio.
The utility model solves its technical problem and is achieved through the following technical solutions：
A kind of service robot fin system, it is characterised in that：It includes neck support seat, two groups of structure identical wings
Component, motor, wing support are symmetrical set on the axis of neck support seat；The neck support seat includes plane
And facade, the wing support are fixed on the facade, hook-shaped wing skeleton is set between the wing support and facade；
The connection end of the wing skeleton can rotate relative to the wing support and facade, the torque output shaft connection of the motor
The connection end；The free end of the wing skeleton connects the wing component.
The wing component is in flat sector.
The wing component includes fin, wing support and wing cover plate, one end of the wing support and wing cover plate
It is respectively provided with link slot, the free end and the link slot.
Touch inductor is set on the inside of the fin, and the touch inductor connection is arranged on the wing on wing support
Pcb board.
The touch inductor is copper foil.
The side of the wing support sets deep-slotted chip breaker, and the wing skeleton is arranged in the deep-slotted chip breaker.
It is pin joint between the connection end of the wing skeleton and wing support and neck support seat.
The wing skeleton is the structure that two hook-like assembly units mutually fasten, and the reinforcement of grill-shaped is provided with hook-like assembly unit
Muscle.
The pin-and-hole both sides of the wing skeleton set clutch shaft bearing and second bearing respectively, and a bearing pin is successively from first axle
Hold, passed through in the middle part of pin-and-hole and second bearing.
One spacing spacer is installed on the output end of the motor, counter plate, limiting plate be arranged on it is described it is spacing every
On the lateral surface of set.
The advantages of the utility model and have the beneficial effect that：
A kind of service robot fin system of the present utility model, including neck support seat, two groups of structure identical wings
Component, motor, wing support are symmetrical set on the axis of neck support seat；Neck support seat includes plane and stood
Face, wing support are fixed on facade, and hook-shaped wing skeleton is set between wing support and facade；The connection end of wing skeleton
It can be rotated relative to wing support and facade, the torque output shaft connection connection end of motor；The free end connection of wing skeleton
Wing component.Compared compared with general robot shoulder structure, the wing skeleton for connecting shoulder and wing uses " hook " shape feature, pole
The big radius of gyration for reducing shoulder, in the case where the function of ensureing robot shoulder can be realized so that robot shoulder
The structure of portion mechanism becomes more compact, and space availability ratio is higher.
Wing skeleton of the present utility model, wing component internal set the reinforcement of grill-shaped, in the machinery of increase structure
While intensity, the overall weight of structure is alleviated.
Brief description of the drawings
Fig. 1 is overall structure diagram of the present utility model
Fig. 2 is scheme of installation of the present utility model
Fig. 3 is wing component overall structure diagram of the present utility model
Fig. 4 is the scheme of installation of wing component of the present utility model
Embodiment
Below by specific embodiment, the utility model is described in further detail, following examples be it is descriptive, no
It is limited, it is impossible to which the scope of protection of the utility model is limited with this.
As shown in figure 1, robot fin system of the present utility model, includes neck support seat 1, right wing component 2, left wing
Wing component 3, right driving motor 4, left driving motor 5, right wing support 6, left wing support 7.Wherein right wing component 2, right drive
Dynamic motor 4, right wing support 6 occupy the side of support base 1, and left wing component 3, left driving motor 5, left wing support 7 occupy branch
The opposite side of seat 1 is supportted, and left and right is symmetrical structure.It is described below by taking left side structure as an example.
As shown in Fig. 2 neck support seat 1 includes horizontal plane 11 and the facade 12 perpendicular to plane.Right wing support 6
It is fixed by screws on the facade 12 of neck support seat 1, it is located at the side of robot direction of advance and sets deep-slotted chip breaker, arc
Hook-shaped wing skeleton 8 is set in groove.The one end of wing skeleton 8 is connection end, and the other end is free end, and wherein connection end, which is set, uses
In the circular pin hole through pin, the connection end of wing skeleton 8 can the facade 12 of right wing support 6 and neck support seat 1 it
Between by being rotated in the wide fixed scope of deep-slotted chip breaker, play and spacing work carried out to right wing component 2 motion being connected on free end
With.The preferred wing skeleton 8 of the present embodiment is the structure that two hook-like assembly units mutually fasten, and grill-shaped is provided with hook-like assembly unit
Reinforcement, to increase the mechanical strength of wing skeleton 8.
The pin-and-hole both sides of wing skeleton 8 set clutch shaft bearing 9 and second bearing 10 respectively, bearing pin successively from clutch shaft bearing 9,
Pin-and-hole and the middle part of second bearing 10 pass through.Wherein clutch shaft bearing 9 is arranged in the groove on the facade 12 of neck support seat 1, the
Two bearings 10 are arranged in the groove in right wing support 6.
The output end of right driving motor 4, which is screwed, to be installed on right wing support 6 and is located at robot direction of retreat
On side, output shaft 13 connects the bearing pin of wing skeleton 8.The main body of right driving motor 4 is positioned over the plane 11 of neck support seat 1
Square groove in.Spacing spacer 14 is installed on the output end of right driving motor 4, and counter plate 15, limiting plate 16 are arranged on spacing
On the lateral surface of spacer 14.
As shown in figure 3, right wing component 2 is overall in sector, surface is smooth, shaped flat.As shown in figure 4, right wing group
Part 2 includes fin 17, wing support 18, wing cover plate 19, and wherein fin 17 is arranged far from robot body side, wing lid
Plate 19 is positioned close to robot body side, and wing support 18 is arranged between fin 17 and wing cover plate 19.Wing support
18 and the one end that is connected with robot body of wing cover plate 19 be respectively provided with link slot 20, the free end of wing skeleton 8 passes through screw
Fixed with link slot 20.The inner side of fin 17 sets touch inductor 21, for experiencing whether have organism close to wing component 2.
The 21 preferred copper foil of touch inductor of the present embodiment, touch inductor 21 are arranged on the wing on wing support 18 by wire connection
Wing pcb board 22, induced signal is inputted in pcb board 22 and pre-processed, afterwards main control of the input in robot body
Plate.
The present embodiment is preferably provided with the reinforcement of grill-shaped on wing support 18, to increase the machinery of wing support 18
Intensity.
Although disclosing embodiment of the present utility model and accompanying drawing for the purpose of illustration, those skilled in the art can be with
Understand：Do not departing from the utility model and spirit and scope of the appended claims, it is various replace, change and modifications all be can
Can, therefore, the scope of the utility model is not limited to embodiment and accompanying drawing disclosure of that.
Claims (10)
- A kind of 1. service robot fin system, it is characterised in that：It includes neck support seat, two groups of structure identical wing groups Part, motor, wing support are symmetrical set on the axis of neck support seat；The neck support seat include plane and Facade, the wing support are fixed on the facade, and hook-shaped wing skeleton is set between the wing support and facade；Institute Stating the connection end of wing skeleton can rotate relative to the wing support and facade, the torque output shaft connection institute of the motor State connection end；The free end of the wing skeleton connects the wing component.
- A kind of 2. service robot fin system as claimed in claim 1, it is characterised in that：The wing component is in flat It is fan-shaped.
- A kind of 3. service robot fin system as claimed in claim 2, it is characterised in that：The wing component includes wing Piece, wing support and wing cover plate, one end of the wing support and wing cover plate are respectively provided with link slot, the free end and institute State link slot.
- A kind of 4. service robot fin system as claimed in claim 2 or claim 3, it is characterised in that：Set on the inside of the fin Touch inductor, the touch inductor connection are arranged on the wing pcb board on wing support.
- A kind of 5. service robot fin system as claimed in claim 4, it is characterised in that：The touch inductor is copper Paper tinsel.
- A kind of 6. service robot fin system as claimed in claim 1, it is characterised in that：The side of the wing support is set Deep-slotted chip breaker is put, the wing skeleton is arranged in the deep-slotted chip breaker.
- A kind of 7. service robot fin system as described in claim 1 or 6, it is characterised in that：The company of the wing skeleton It is pin joint to connect between end and wing support and neck support seat.
- A kind of 8. service robot fin system as described in claim 1 or 6, it is characterised in that：The wing skeleton is two The structure that individual hook-like assembly unit mutually fastens, the reinforcement of grill-shaped is provided with hook-like assembly unit.
- A kind of 9. service robot fin system as claimed in claim 7, it is characterised in that：The pin-and-hole two of the wing skeleton Side sets clutch shaft bearing and second bearing respectively, and a bearing pin passes through in the middle part of clutch shaft bearing, pin-and-hole and second bearing successively.
- A kind of 10. service robot fin system as claimed in claim 1, it is characterised in that：One spacing spacer is installed on institute The output end of motor is stated, counter plate, limiting plate are arranged on the lateral surface of the spacing spacer.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720641367.0U CN206748417U (en) | 2017-06-05 | 2017-06-05 | A kind of service robot fin system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720641367.0U CN206748417U (en) | 2017-06-05 | 2017-06-05 | A kind of service robot fin system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206748417U true CN206748417U (en) | 2017-12-15 |
Family
ID=60622161
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201720641367.0U Expired - Fee Related CN206748417U (en) | 2017-06-05 | 2017-06-05 | A kind of service robot fin system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206748417U (en) |
-
2017
- 2017-06-05 CN CN201720641367.0U patent/CN206748417U/en not_active Expired - Fee Related
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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 |
Granted publication date: 20171215 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |