CN208132979U - A kind of humanoid bowling robot with hand structure - Google Patents
A kind of humanoid bowling robot with hand structure Download PDFInfo
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- CN208132979U CN208132979U CN201820402202.2U CN201820402202U CN208132979U CN 208132979 U CN208132979 U CN 208132979U CN 201820402202 U CN201820402202 U CN 201820402202U CN 208132979 U CN208132979 U CN 208132979U
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- handgrip
- robot
- steering engine
- upper limb
- bowling
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Abstract
The utility model discloses a kind of humanoid bowling robot with hand structure, outside including robot body and robot body is protective shell, handgrip mechanism is connected by steering engine bindiny mechanism with the end of upper limb rotating mechanism, the two sides of steering engine bindiny mechanism are provided with steering engine mounting hole, the avris of steering engine bindiny mechanism is equipped with handgrip mechanism Wrist mechanism, the end of handgrip mechanism Wrist mechanism is connected with handgrip mechanism palm mechanism, the two sides of handgrip mechanism palm mechanism end are equipped with handgrip mechanism side baffle, the end of handgrip mechanism palm mechanism is equipped with several handgrip mechanism baffles.The hand steering engine in steering engine mounting hole that the utility model passes through handgrip mechanism controls handgrip mechanism palm mechanism and handgrip mechanism from closing between handgrip mechanism baffle and is closed, and the control of steering engine reaches crawl at arm, bowling of dishing out makes it complete the basic function that bottle is hit in the movement on predetermined alley, reaches the basic simulation practical process played bowling of the mankind.
Description
Technical field
The utility model relates to a kind of robot with hand structure, in particular to a kind of apery with hand structure
Shape bowling robot.
Background technique
Robot (Robot) is the automatic installations for executing work.It can not only receive mankind commander, but also can run
The program of preparatory layout, can also be according to principle program action formulated with artificial intelligence technology.Its task is to assist or take
For the work of human work, such as production industry, construction industry, or dangerous work；Its arm generally uses space open chain connecting rod
Mechanism, kinematic pair (revolute pair or prismatic pair) therein are frequently referred to joint, and joint number is usually the number of degrees of freedom, of robot.
According to the difference of joint configuration and motion coordinates form, robot actuating mechanism can be divided into Cartesian coordinate type, circular cylindrical coordinate
The types such as formula, polar coordinates type and joint coordinate type.For the sake of personification, often the related position of robot body is claimed respectively
For pedestal, waist, arm, wrist, hand (clamper or end effector) and running part (for mobile robot) etc..
Present robot comes in every shape, but there is presently no humanoid bowling robot, existing humanoid machines
The special purpose robot that people can play bowling not yet, only wheeled bowling robot.Existing anthropomorphic robot technology exists
This respect or blank.
Utility model content
The technical problems to be solved in the utility model is to overcome the deficiencies of existing technologies, and is provided a kind of with hand structure
Humanoid bowling robot.
In order to solve the above-mentioned technical problem, the utility model provides the following technical solution：
A kind of humanoid bowling robot with hand structure of the utility model, including robot body and the machine
The outside of device human body is protective shell, and the two sides on the robot body top are mounted on upper limb support mechanism, the upper limb
The end of supporting mechanism is respectively connected with upper limb rotating mechanism, and the end of the upper limb rotating mechanism is mounted on handgrip mechanism, institute
It states handgrip mechanism and is connected by steering engine bindiny mechanism with the end of the upper limb rotating mechanism, the two of the steering engine bindiny mechanism
Side is provided with steering engine mounting hole, and the avris of the steering engine bindiny mechanism is equipped with handgrip mechanism Wrist mechanism, the handgrip mechanism
The end of Wrist mechanism is connected with handgrip mechanism palm mechanism, and the two sides of handgrip mechanism palm mechanism end are equipped with handgrip
Mechanism side baffle, the end of handgrip mechanism palm mechanism are equipped with several handgrip mechanism baffles.
As a kind of optimal technical scheme of the utility model, the bottom end of the robot body is equipped with thigh support machine
Structure, the end of the thigh support mechanism are connected with leg rotating mechanism, and one end of the leg rotating mechanism is connected with foot
Supporting mechanism.
As a kind of optimal technical scheme of the utility model, the robot body and the upper limb support mechanism it
Between, between the upper limb support mechanism and the upper limb rotating mechanism, the robot body and the thigh support mechanism it
Between, between the thigh support mechanism and the leg rotating mechanism and the leg rotating mechanism and the leg support mechanism
Between be mounted on servo motor connection sheet and servo motor.
As a kind of optimal technical scheme of the utility model, the robot body, the protective shell, the upper limb branch
Support mechanism, the upper limb rotating mechanism, the thigh support mechanism, the leg rotating mechanism and the leg support mechanism are equal
It is made of aluminium alloy.
As a kind of optimal technical scheme of the utility model, infrared receiver is installed at the top of the robot body
Mechanism.
The utility model beneficial effect achieved is：The utility model is designed robot dedicated " hand " and is namely grabbed
Mobile phone structure plays intention with the humanoid robot of the external members repackings such as computer software formula, theory of mechanics combination, controls machine
People, which picks up ball, to carry out semi-crouch and throws to ball bottle, has the characteristics that fidelity is high, can be applied to athletic competition, shows the fields such as performance；
High-precision servo motor is carried, using aluminium alloy as structure member material；By in the steering engine mounting hole of handgrip mechanism
Hand steering engine control handgrip mechanism palm mechanism and handgrip mechanism from closing between handgrip mechanism baffle and close and arm at rudder
The control of machine reaches crawl, bowling of dishing out makes it complete the basic function that bottle is hit in the movement on predetermined alley, reaches basic mould
The practical process played bowling of anthropomorphic class；Has the function of education and study, using roboBASIC language, open source code can be carried out
Secondary development can also realize dancing, pushup, running, rollover, forward roll, handstand etc. by presetting 30 kinds of combinative movements.
Detailed description of the invention
Attached drawing is used to provide a further understanding of the present invention, and constitutes part of specification, practical with this
Novel embodiment is used to explain the utility model together, does not constitute limitations of the present invention.In the accompanying drawings：
Fig. 1 is the structural schematic diagram of the utility model；
Fig. 2 is the structural schematic diagram of the handgrip mechanism of the utility model；
In figure：1, robot body；101, protective shell；102, infrared receiver mechanism；2, upper limb support mechanism；3, upper limb
Rotating mechanism；4, thigh support mechanism；5, leg rotating mechanism；6, leg support mechanism；7, servo motor connection sheet；8, handgrip
Mechanism；801, steering engine bindiny mechanism；802, steering engine mounting hole；803, handgrip mechanism Wrist mechanism；804, handgrip mechanism side baffle；
805, handgrip mechanism palm mechanism；806, handgrip mechanism baffle.
Specific embodiment
It is illustrated below in conjunction with preferred embodiment of the attached drawing to the utility model, it should be understood that described herein excellent
It selects embodiment to be only used for describing and explaining the present invention, is not used to limit the utility model.
Embodiment 1
As shown in Figs. 1-2, the utility model provides a kind of humanoid bowling robot with hand structure, including machine
The outside of device human body 1 and robot body 1 is protective shell 101, and the two sides on 1 top of robot body are mounted on upper limb support
Mechanism 2, the end of upper limb support mechanism 2 are respectively connected with upper limb rotating mechanism 3, and the end of upper limb rotating mechanism 3, which is mounted on, grabs
Mobile phone structure 8, handgrip mechanism 8 are connected by steering engine bindiny mechanism 801 with the end of upper limb rotating mechanism 3, steering engine bindiny mechanism
801 two sides are provided with steering engine mounting hole 802, and the avris of steering engine bindiny mechanism 801 is equipped with handgrip mechanism Wrist mechanism 803,
The end of handgrip mechanism Wrist mechanism 803 is connected with handgrip mechanism palm mechanism 805,805 end of handgrip mechanism palm mechanism
Two sides are equipped with handgrip mechanism side baffle 804, and the end of handgrip mechanism palm mechanism 805 is equipped with several handgrip mechanism baffles
806。
Further, the bottom end of robot body 1 is equipped with thigh support mechanism 4, the end connection of thigh support mechanism 4
There is leg rotating mechanism 5, one end of leg rotating mechanism 6 is connected with leg support mechanism 6, and the movement of walking may be implemented.
Between robot body 1 and upper limb support mechanism 2, between upper limb support mechanism 2 and upper limb rotating mechanism 3, machine
Between human body 1 and thigh support mechanism 4, between thigh support mechanism 4 and leg rotating mechanism 5 and leg rotating mechanism 5 with
It is mounted on servo motor connection sheet 7 and servo motor between leg support mechanism 6, the basic of robot body 1 may be implemented
The operation or operating of movement.
Robot body 1, protective shell 101, upper limb support mechanism 2, upper limb rotating mechanism 3, thigh support mechanism 4, leg
Rotating mechanism 5 and leg support mechanism 6 are made of aluminium alloy, and the intensity of robot can be improved.
The top of robot body 1 is equipped with infrared receiver mechanism 102, and receiving instruction is facilitated to be acted.
Specifically, robot dedicated " hand " namely handgrip mechanism 8, plays intention and uses computer software formula, machinery
The humanoid robot of the external members repacking such as principle combination, control robot picks up ball to carry out semi-crouch and throw to ball bottle, has fidelity
The features such as high, can be applied to athletic competition, show the fields such as performance；High-precision servo motor is carried, using aluminium alloy conduct
Structure member material；Handgrip mechanism palm mechanism 805 is controlled by the hand steering engine in the steering engine mounting hole 802 of handgrip mechanism 8
With handgrip mechanism from closing between 804 and handgrip mechanism baffle 806 and close and arm at the control of steering engine reach crawl, dish out
Bowling makes it complete the basic function that bottle is hit in the movement on predetermined alley, reaches the basic simulation practical mistake played bowling of the mankind
Journey；Has the function of education and study, using roboBASIC language, open source code can carry out secondary development, can also be by default
30 kinds of combinative movements realize dancing, pushup, running, rollover, forward roll, handstand etc..
The utility model designs robot dedicated " hand " namely handgrip mechanism 8, plays intention and uses computer software
The humanoid robot of the external members repackings such as formula, theory of mechanics combination, control robot picks up ball to carry out semi-crouch and throw to ball bottle, has
There is the features such as fidelity is high, can be applied to athletic competition, shows the fields such as performance；High-precision servo motor is carried, using aluminium
Alloy is as structure member material；Handgrip mechanism palm is controlled by the hand steering engine in the steering engine mounting hole 802 of handgrip mechanism 8
Mechanism 805 and handgrip mechanism from closing between 804 and handgrip mechanism baffle 806 and close and arm at the control of steering engine reach and grab
Take, bowling of dishing out makes it complete the movement on predetermined alley to hit the basic function of bottle, reach basic simulation the mankind be practical and beat guarantor
The process of age ball；Has the function of education and study, using roboBASIC language, open source code can carry out secondary development, can also
By presetting 30 kinds of combinative movements, dancing, pushup, running, rollover, forward roll, handstand etc. are realized.
Finally it should be noted that：The above descriptions are merely preferred embodiments of the present invention, is not limited to this
Utility model, although the utility model is described in detail with reference to the foregoing embodiments, for those skilled in the art
For, it is still possible to modify the technical solutions described in the foregoing embodiments, or to part of technical characteristic
It is equivalently replaced.Within the spirit and principle of the utility model, any modification, equivalent replacement, improvement and so on,
It should be included within the scope of protection of this utility model.
Claims (5)
1. a kind of humanoid bowling robot with hand structure, which is characterized in that including robot body (1) and described
The outside of robot body (1) is protective shell (101), and the two sides on robot body (1) top are mounted on upper limb support
The end of mechanism (2), the upper limb support mechanism (2) is respectively connected with upper limb rotating mechanism (3), the upper limb rotating mechanism (3)
End be mounted on handgrip mechanism (8), the handgrip mechanism (8) is rotated by steering engine bindiny mechanism (801) and the upper limb
The end of mechanism (3) is connected, and the two sides of the steering engine bindiny mechanism (801) are provided with steering engine mounting hole (802), the steering engine
The avris of bindiny mechanism (801) is equipped with handgrip mechanism Wrist mechanism (803), the end of the handgrip mechanism Wrist mechanism (803)
Portion is connected with handgrip mechanism palm mechanism (805), and the two sides of handgrip mechanism palm mechanism (805) end are equipped with handgrip machine
Structure side baffle (804), the end of handgrip mechanism palm mechanism (805) are equipped with several handgrip mechanism baffles (806).
2. a kind of humanoid bowling robot with hand structure according to claim 1, which is characterized in that described
The bottom end of robot body (1) is equipped with thigh support mechanism (4), and the end of the thigh support mechanism (4) is connected with leg
One end of rotating mechanism (5), the leg rotating mechanism (5) is connected with leg support mechanism (6).
3. a kind of humanoid bowling robot with hand structure according to claim 2, which is characterized in that described
Between robot body (1) and the upper limb support mechanism (2), the upper limb support mechanism (2) and the upper limb rotating mechanism
(3) between, between the robot body (1) and the thigh support mechanism (4), the thigh support mechanism (4) with it is described
Servo is mounted between the leg rotating mechanism (5) and the leg support mechanism (6) between leg rotating mechanism (5)
Motor connection sheet (7) and servo motor.
4. a kind of humanoid bowling robot with hand structure according to claim 2, which is characterized in that described
Robot body (1), the protective shell (101), the upper limb support mechanism (2), the upper limb rotating mechanism (3), the leg
Portion's supporting mechanism (4), the leg rotating mechanism (5) and the leg support mechanism (6) are made of aluminium alloy.
5. a kind of humanoid bowling robot with hand structure according to claim 1, which is characterized in that described
Infrared receiver mechanism (102) are installed at the top of robot body (1).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820402202.2U CN208132979U (en) | 2018-03-23 | 2018-03-23 | A kind of humanoid bowling robot with hand structure |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820402202.2U CN208132979U (en) | 2018-03-23 | 2018-03-23 | A kind of humanoid bowling robot with hand structure |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN208132979U true CN208132979U (en) | 2018-11-23 |
Family
ID=64290254
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201820402202.2U Active CN208132979U (en) | 2018-03-23 | 2018-03-23 | A kind of humanoid bowling robot with hand structure |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN208132979U (en) |
-
2018
- 2018-03-23 CN CN201820402202.2U patent/CN208132979U/en active Active
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Address after: 200 000 1st floor, 88 lane, Wuwei Road, Putuo District, Shanghai Patentee after: Shanghai Taijing Robot Co., Ltd. Address before: 200 000 1st floor, 88 lane, Wuwei Road, Putuo District, Shanghai Patentee before: SHANGHAI TAIJING ROBOT CO., LTD. |