CN209533397U - A kind of anthropomorphic robot thoracic cavity device - Google Patents

Abstract

The utility model discloses a chest device of a humanoid robot, which comprises a chest shell. A control panel is fixedly installed on the front end of the chest shell. Buttons are installed on the front end of the control panel. A hole is reserved in the upper arm, the left and right ends under the engaging tooth column are fixedly installed with a connecting movable plate, and the end of the connecting movable plate far away from the engaging tooth column is movably installed with a convex button, and the outer side of the convex button is movably installed There are movable push buttons, and the left and right sides of the lower end of the chest shell are reserved with leg connection holes. The chest shell of the humanoid robot chest device is an integrated design, which is beneficial to prevent the joint parts outside the chest from being easily damaged. At the same time, the outside of the chest shell is made of copper alloy. This material has good sturdiness and is conducive to increasing the service life of the device. Moreover, the movable push button is designed in a conical shape, which is conducive to the convenient disassembly and assembly of the mechanical legs, and can also adapt to the fixing of leg parts of different widths.

Description

A humanoid robot chest device

technical field

The utility model relates to the technical field of humanoid robots, in particular to a humanoid robot chest device.

Background technique

Humanoid robot is a kind of robot with humanoid shape. Humanoid robot integrates multi-door control technology. It is an important symbol of a country's high-tech strength and development level. In recent years, with the gradual improvement of scientific and technological level, humanoid robots have gradually penetrated into our in life.

The chest cavity of a general humanoid robot is often the part that stores the most critical servos. However, because the existing robot chest cavity is assembled, it is often vulnerable to impact and damage during use, and it is not conducive to other parts of the robot such as legs and arms. Parts are easy to install.

Utility model content

The purpose of this utility model is to provide a humanoid robot thorax device to solve the problem that the existing robot thorax is often easily impacted and damaged when used in the above background technology, and it is not conducive to the installation of other parts of the robot such as legs and arms. Convenience question.

In order to achieve the above object, the utility model provides the following technical solutions: a humanoid robot chest device, including a chest shell, a control panel is fixedly installed on the front end of the chest shell, buttons are installed on the front end of the control panel, the The left and right ends of the chest shell are provided with reserved holes for the upper arm, one side of the flange plate 1 is movably installed inside the reserved hole for the upper arm, and a fixed connecting plate is movably installed on the other side of the flange plate 1 externally, A first connecting shaft is fixedly installed in the middle section of one end of the flange one close to the fixed connecting plate, vertical fixing plates are fixedly installed on the left and right sides of the inside of the chest cavity shell, and the first connecting shaft is far away from the flange one. One end is fixedly installed with an upper rotating toothed plate, and the lower end of the upper rotating toothed plate is movably installed with a lower rotating toothed plate, and one end of a second connecting shaft is fixedly installed on the side of the middle section of the upper end of the upper rotating toothed plate. The other end of the connecting shaft is fixedly equipped with a motor one, the upper end of the chest shell is fixedly equipped with a head fixing hole, and the lower end of the head fixing hole is movably installed with a flange two, and the lower end of the flange two is fixed A support vertical rod is installed, and a raised ring rod is fixedly installed on the outer lower end of the support vertical rod, and the lower end of the support vertical rod is fixedly connected to a ball converter, and a fixed bottom plate is movably installed at the lower end of the ball converter, The middle part of the lower end of the fixed base plate is fixedly installed with the motor two, the upper right side of the fixed base plate is fixedly installed with a vertical pole, and the left and right ends of the lower end of the chest cavity shell are fixedly installed with the motor three, and the motor three is close to the motor two One end is movably installed on the engaging tooth column, and the lower end of the engaging tooth column is movably installed on the lower end of the engaging tooth column, and the left and right ends of the engaging tooth column are fixedly installed with connecting movable plates, and the connecting movable plate A protruding button is movably installed on the end of the plate away from the lower end of the engaging tooth column, and a movable push button is movably installed on the outside of the protruding button, and leg connection holes are reserved on the left and right sides of the lower end of the chest shell.

Preferably, the thorax shell is an integrated design, and the outside of the thorax shell is made of copper alloy, and two upper arm reserved holes are symmetrically arranged at the left and right ends of the thorax shell.

Preferably, the first flange is engaged with the fixed connection plate, and the outer side of the first flange is hollowed out.

Preferably, the upper rotating toothed disc and the lower rotating toothed disc are in meshing connection, and the upper rotating toothed disc is designed in a conical shape, and the upper rotating toothed disc and the lower rotating toothed disc are designed symmetrically to each other.

Preferably, the second flange is engaged with the chest shell, and the lower end of the second flange is rotatably connected to the second motor.

Preferably, the horizontal height of the lower end of the raised ring rod is lower than the height of the upper end of the vertical rod.

Preferably, the upper part of the engaging tooth column and the lower part of the engaging tooth column are meshingly connected, and the two are designed symmetrically to each other, and the upper part of the engaging tooth column is rotationally connected to the third motor.

Preferably, two groups of connecting movable plates are arranged symmetrically with respect to the bottom end of the chest shell, and at the same time, the connecting movable plates are elastically connected to the movable push button, and the movable push button is designed in a conical shape.

Compared with the prior art, the utility model has the beneficial effects that: the chest shell of the humanoid robot chest device is designed in an integrated manner, which is beneficial to prevent the joint parts outside the chest from being easily damaged, and at the same time, the chest shell is made of copper alloy material. The material has good sturdiness, which can ensure the increase of the usability of the chest shell and increase the service life of the device. The outer side of the flange one is hollowed out, which can install the robot arm in multiple directions, which can ensure the tight installation of the robot arm. To prevent loss caused by the falling of external parts during use, the setting of the upper rotating toothed plate and the lower rotating toothed plate is convenient for the connected mechanical arm to move back and forth in a cycle, which improves the practicability of the device. The setting of the raised ring rod can To prevent the wires from being entangled by multiple rotations, thereby causing damage to the device, the upper engaging tooth column and the lower engaging tooth column are meshed and connected to each other, which can easily drive the connecting movable plate to swing back and forth, and promote the convenient movement of the connected legs, and the movable push The button is designed in a conical shape, which is conducive to the convenient disassembly and assembly of the mechanical legs, and can also adapt to the fixation of leg parts of different widths.

Description of drawings

Fig. 1 is a schematic diagram of the overall structure of the utility model;

Fig. 2 is the schematic diagram of the front section structure of the utility model;

Fig. 3 is a schematic diagram of the connection structure of the upper rotating toothed disk of the utility model;

Fig. 4 is a schematic diagram of the upper connection structure of the engaging tooth column of the present invention.

In the figure: 1. Chest shell; 2. Control panel; 3. Button; 4. Upper arm reserved hole; 5. Flange plate 1; 6. Fixed connecting plate; 7. First connecting shaft; 8. Vertical fixing plate ; 9, the upper rotating toothed plate; 10, the lower rotating toothed plate; 11, the second connecting shaft; 12, the first motor; 13, the head fixing hole; 14, the second flange; 17. Ball-type converter; 18. Fixed bottom plate; 19. Upright rod; 20. Motor two; 21. Motor three; 22. Upper engaging tooth column; 23. Lower engaging tooth column; 24. Connection Movable plate; 25, convex button; 26, movable push button; 27, leg connecting hole.

Detailed ways

The technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of them. example. Based on the embodiments of the present utility model, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the scope of protection of the present utility model.

Please refer to Figures 1-4, the utility model provides a technical solution: a humanoid robot chest device, including a chest casing 1, a control panel 2 is fixedly installed on the front surface of the chest casing 1, and buttons are installed on the front surface of the control panel 2 3. Upper arm reserved holes 4 are provided at the left and right ends of the chest cavity shell 1, one side of the flange plate 5 is installed on the inside of the upper arm reserved hole 4, and a fixed flange is installed on the other side of the flange plate 5. Connecting plate 6, the middle section of one end of flange plate 1 near the fixed connecting plate 6 is fixedly equipped with a first connecting shaft 7, and the inner left and right sides of the chest cavity shell 1 are fixedly installed with vertical fixing plates 8, and the first connecting shaft 7 is far away from the method. One end of the blue plate-5 is fixedly mounted with an upper rotary toothed disc 9, the lower end of the upper rotary toothed disc 9 is movably mounted with a lower rotary toothed disc 10, and the upper middle section of the upper rotary toothed disc 9 is fixedly mounted with a second connecting shaft 11. One end, the other end of the second connecting shaft 11 is fixedly installed with a motor one 12, the upper end of the chest cavity shell 1 is fixedly installed with a head fixing hole 13, and the lower end of the head fixing hole 13 is movably installed with a flange two 14, the flange The lower end of the second 14 is fixedly equipped with a support vertical bar 15, and the outer lower end of the support vertical bar 15 is fixedly equipped with a raised ring bar 16, and the lower end of the support vertical bar 15 is fixedly connected to the ball converter 17, and the lower end of the ball converter 17 is movable A fixed base plate 18 is installed, and the middle section of the lower end of the fixed base plate 18 is fixedly equipped with a motor two 20, and the right side of the upper end of the fixed base plate 18 is fixedly equipped with a vertical rod 19, and the left and right ends of the lower end of the chest cavity shell 1 are fixedly installed with a motor three 21, and the motor three 21 is movably installed with the upper 22 of the engaging tooth column near one end of the motor two 20, the lower end of the upper end of the engaging tooth column 22 is movably installed with the lower engaging tooth column 23, and the left and right ends of the lower 23 of the engaging tooth column are fixedly installed with connection activities Plate 24, the end of the connecting movable plate 24 away from the bottom 23 of the engaging tooth column is movably installed with a convex button 25, and the outer side of the convex button 25 is movably installed with a movable push button 26, and the left and right sides of the lower end of the chest cavity shell 1 are reserved with leg connection holes 27.

Furthermore, the thorax shell 1 is an integrated design, which is beneficial to prevent the joint parts outside the thorax from being easily damaged. At the same time, the outside of the thorax shell 1 is made of copper alloy material. This material has good firmness and can ensure the usability of the chest shell 1. , which is beneficial to increase the service life of the device, and two upper arm reserved holes 4 are arranged symmetrically on the left and right ends of the chest cavity shell 1, which is conducive to the convenience of disassembling and assembling the robot arm.

Further, the flange-5 is engaged with the fixed connecting plate 6, which is beneficial to the rotation of the flange-5 and facilitates the movement convenience of the mechanical arm to be connected. At the same time, the outer side of the flange-5 is hollowed out. , the robot arm can be installed in multiple directions, which can ensure the tightness of the installation of the robot arm and prevent the loss of external parts from falling during use.

Further, the upper rotating toothed plate 9 and the lower rotating toothed plate 10 are engaged and connected, and the upper rotating toothed plate 9 is conical in design, and the upper rotating toothed plate 9 and the lower rotating toothed plate 10 are symmetrically designed to facilitate the upper rotation The rotation orientation of the gear plate 9 can be replaced, which is convenient for the connected mechanical arm to move back and forth in a cycle, and improves the practicability of the device.

Further, the second flange 14 is engaged with the chest shell 1, which is conducive to improving the load-bearing capacity of the second flange 14 and preventing the damage of the second flange 14 caused by the weight, while the lower end of the second flange 14 rotates The second motor 20 is connected to facilitate the convenience of the rotation of the second flange 14, so that it can drive the head of the robot to rotate.

Further, the height of the horizontal line of the lower end of the raised ring bar 16 is lower than the height of the upper end of the vertical bar 19, so that the supporting vertical bar 15 can be rotated in reverse direction, preventing multiple rotations from winding the wires and causing damage to the device.

Further, the upper 22 of the engaging tooth column and the lower 23 of the engaging tooth column are engaged and connected, and the two are designed symmetrically to each other, and the upper 22 of the engaging tooth column is connected to the motor 3 21 in rotation, which is beneficial to drive and connect the movable plate 24 Swing back and forth, allowing the connected legs to move easily.

Further, there are two groups of connecting movable plates 24 arranged symmetrically with respect to the bottom end of the chest shell 1, and the connecting movable plates 24 are elastically connected to the movable push button 26, and the movable push button 26 is designed in a conical shape, which is conducive to the disassembly and assembly of the mechanical legs It is convenient and can also adapt to the fixation of leg parts of different widths.

Working principle: First, when using the chest device of a humanoid robot, first install the matching mechanical arm to the inside of the reserved hole 4 of the upper arm, and at the same time fix the head to the upper end of the flange 2 14, and then install the two mechanical legs To the inside of the leg connecting hole 27, two motors-12 are symmetrically arranged, and the rotation drives the upper rotary toothed disc 9 to rotate, and only the lower part of the upper rotary toothed disc 9 can rotate at will, so that it is guaranteed to drive the flange plate-5 at regular intervals. Rotation in different directions is beneficial to the swing of the external mechanical arm. At the same time, the upper end of the motor 20 is rotated with an external head. The ball converter 17 can change the rotation direction of the support vertical rod 15, and the protruding ring rod 16 can also be used. During the continuous rotation of the support vertical rod 15, it is prevented from being entangled by multiple rotations, causing damage to the device, and then the movable push button 26 can be elastically retracted and ejected, which is conducive to the convenient disassembly and assembly of the mechanical legs, and can also adapt to different widths The fixing of the leg parts, the rotation of the upper 22 of the engaging tooth column drives the lower 23 of the engaging tooth column to swing back and forth, which ensures the flexibility of the leg movement. This device can quickly connect other components, ensuring the improvement of practicability. The chest shell 1 made of copper alloy has good firmness, which can ensure the usability of the chest shell 1 and increase the service life of the device.

Although the embodiments of the present invention have been shown and described, those skilled in the art can understand that various changes and modifications can be made to these embodiments without departing from the principle and spirit of the present invention , replacements and modifications, the scope of the present utility model is defined by the appended claims and their equivalents.

Claims (8)

1. A humanoid robot chest cavity device, comprising chest cavity shell (1), is characterized in that: the front end face of described chest cavity shell (1) is fixedly installed with control panel (2), and the front end face of described control panel (2) is installed There is a button (3), the upper arm reserved hole (4) is opened at the left and right ends of the chest shell (1), and a flange plate (5) is installed in the inner movable part of the upper arm reserved hole (4). side, the other side of the flange one (5) is equipped with a fixed connecting plate (6), and the middle section of one end of the flange one (5) close to the fixed connecting plate (6) is fixedly installed with a first The connecting shaft (7), the inner left and right sides of the chest shell (1) are fixedly installed with vertical fixing plates (8), and the end of the first connecting shaft (7) away from the flange one (5) is fixedly installed There is an upper rotating toothed plate (9), the lower end of the upper rotating toothed plate (9) is movably installed with a lower rotating toothed plate (10), and the upper end of the upper rotating toothed plate (9) is fixedly installed with a second One end of the connecting shaft (11), the other end of the second connecting shaft (11) is fixedly equipped with a motor one (12), and the upper end of the chest cavity shell (1) is fixedly equipped with a head fixing hole (13), so The lower end of the head fixing hole (13) is movably equipped with two flanges (14), and the lower end of the two flanges (14) is fixedly equipped with a support vertical rod (15), and the support vertical rod (15) A raised ring bar (16) is fixedly installed at the outer lower end of the outer side, the lower end of the support vertical bar (15) is fixedly connected to a ball converter (17), and a fixed bottom plate is movably installed at the lower end of the ball converter (17) (18), the middle section of the lower end of the fixed base plate (18) is fixedly equipped with a motor two (20), the upper end right side of the fixed base plate (18) is fixedly equipped with a vertical rod (19), and the chest cavity shell (1) Three motors (21) are fixedly installed at the left and right ends of the lower end, and one end of the three motors (21) close to the two motors (20) is movably installed with an engaging tooth post (22), and on the engaging tooth post (22 The lower end of the lower end of the ) is movably installed with a lower engaging tooth column (23), and the left and right ends of the lower engaging tooth column (23) are fixedly equipped with a connecting movable plate (24), and the connecting movable plate (24) is far away from the engaging A convex button (25) is movably installed on one end of the lower tooth column (23), and a movable push button (26) is movably installed on the outer side of the convex button (25). Leg attachment holes (27). 2. A humanoid robot chest device according to claim 1, characterized in that: the chest shell (1) is an integrated design, while the outside of the chest shell (1) is made of copper alloy, and the chest shell (1) Two upper arm reserved holes (4) are arranged symmetrically at the left and right ends of the upper arm. 3. A humanoid robot thoracic device according to claim 1, characterized in that: said flange one (5) is engaged with the fixed connecting plate (6), while flange one (5) Cutouts on the outside. 4. A humanoid robot thoracic device according to claim 1, characterized in that: the upper rotating toothed disc (9) is meshed with the lower rotating toothed disc (10), and the upper rotating toothed disc (9) is Conical design, and the upper rotating toothed disc (9) and the lower rotating toothed disc (10) are designed symmetrically to each other. 5. A humanoid robot chest device according to claim 1, characterized in that: the second flange (14) is engaged with the chest shell (1), and the lower end of the second flange (14) The rotation is connected with two motors (20). 6. A humanoid robot thorax device according to claim 1, characterized in that: the height of the horizontal line at the lower end of the raised ring rod (16) is lower than the height of the upper end of the vertical rod (19). 7. A humanoid robot thoracic device according to claim 1, characterized in that: the upper engaging tooth post (22) and the lower engaging tooth post (23) are engaged and connected, and the two are designed symmetrically to each other , and the engaging tooth column (22) is rotationally connected with the motor three (21). 8. A humanoid robot thoracic device according to claim 1, characterized in that: said connecting movable plate (24) is symmetrically arranged in two groups with respect to the bottom end of the chest cavity shell (1), and simultaneously connects the movable plate (24) and The movable push button (26) is elastically connected, and the movable push button (26) is conical in design.