CN209999188U

CN209999188U - humanoid robots

Info

Publication number: CN209999188U
Application number: CN201920637111.1U
Authority: CN
Inventors: 王佳佳; 秦翼鹏; 张宇光; 秦向攀; 史楠; 庄广鹏
Original assignee: Tianjin Five Education Technology LLC
Current assignee: Tianjin Five Education Technology LLC
Priority date: 2019-05-06
Filing date: 2019-05-06
Publication date: 2020-01-31
Anticipated expiration: 2029-05-06

Abstract

The utility model discloses an humanoid robots, including head conjunction and fuselage conjunction, the bottom of head conjunction and the top swing joint of fuselage conjunction, the top of fuselage conjunction both sides all is provided with the arm conjunction to all be provided with steering wheel between fuselage conjunction and two arm associations, the both sides of fuselage conjunction bottom all are provided with the shank conjunction, the utility model relates to a robot technical field this humanoid robot, through the bottom of head conjunction and the top swing joint of fuselage conjunction, the top of fuselage conjunction both sides all is provided with the arm conjunction to all be provided with the steering wheel between fuselage conjunction and two arm associations, the both sides of fuselage bottom all are provided with the shank conjunction, 18 steering wheels altogether have constituted totally 18 degrees of freedom, and every steering wheel can all be the independent control for the robot can make nimble action.

Description

humanoid robots

Technical Field

The utility model relates to the technical field of robot, specifically be kinds of humanoid robots.

Background

The robot is a machine device which can automatically execute work, not only can accept human commands, but also can run a pre-programmed program, and can also perform actions according to principles formulated by artificial intelligence technology, the task of the robot is to assist or replace the work of human work, such as production industry and construction industry, or dangerous work, the robot is a product of advanced integrated control theory, mechanical electronics, computers, materials and bionics, and has important application in the fields of industry, medicine, agriculture, construction industry, even military and the like, the robot is composed of an execution mechanism, a driving device, a detection device, a control system, complex machinery and the like, the arm part of the robot is a spatial open-link mechanism, wherein kinematic pairs (revolute pairs or revolute pairs) are commonly called joints, and the number of joints is the degree of freedom of the robot.

In the prior art, because a space open-chain link mechanism is complex, the -shaped robot has less freedom degree arrangement for the running stability of the robot, and is difficult to make complex and flexible actions.

SUMMERY OF THE UTILITY MODEL

The not enough to prior art, the utility model provides an kinds of humanoid robots have solved among the prior art problem that the robot degree of freedom is difficult to make complicated nimble action less.

In order to realize the purpose, the utility model discloses a following technical scheme realizes humanoid robots, including head conjunction and fuselage conjunction, the bottom of head conjunction and the top swing joint of fuselage conjunction, the top of fuselage conjunction both sides all is provided with the arm conjunction to all be provided with the steering wheel between fuselage conjunction and two arm associations, the both sides of fuselage conjunction bottom all are provided with the shank conjunction, and all be provided with the second steering wheel between two leg conjunction and the fuselage conjunction, the arm conjunction includes shoulder conjunction, arm conjunction and wrist conjunction, be provided with the third steering wheel between shoulder conjunction and the arm conjunction to be provided with the fourth steering wheel between arm conjunction and the wrist conjunction, the leg conjunction includes crotch conjunction, thigh conjunction, knee conjunction and ankle joint, be provided with fifth steering wheel and sixth steering wheel between crotch conjunction and the thigh conjunction respectively to fifth and crotch swing joint, sixth steering wheel and thigh swing joint and ankle joint, and ankle joint swing joint are provided with the seventh conjunction between thigh conjunction and the ankle joint, be provided with the knee conjunction and ankle joint respectively, and ankle joint with the ninth swing joint.

Preferably, the th steering engine and the second steering engine have 360-degree axial freedom degrees.

Preferably, the degree of freedom of the third steering engine is less than 180 degrees.

Preferably, the degree of freedom of the fourth steering engine is greater than 180 degrees and smaller than 360 degrees.

Preferably, the degree of freedom of the fifth steering engine is greater than 90 degrees and smaller than 180 degrees.

Preferably, the degrees of freedom of the sixth steering engine, the seventh steering engine, the eighth steering engine and the ninth steering engine are all less than 180 degrees.

Advantageous effects

Compared with the prior art, the utility model provides an kinds of humanoid robots possess following beneficial effect:

(1) the bottom of the head connector is movably connected with the top of the body connector, the tops of two sides of the body connector are respectively provided with an arm connector, a th steering engine is arranged between the body connector and the two arm connectors, leg connectors are arranged on two sides of the bottom of the body connector, a second steering engine is arranged between the two leg connectors and the body connector, the arm connector comprises a shoulder connector, the arm connector and a wrist connector, a third steering engine is arranged between the shoulder connector and the arm connector, a fourth steering engine is arranged between the arm connector and the wrist connector, the leg connector comprises a crotch connector, the thigh connector, the knee connector and an ankle connector, a fifth steering engine and a sixth steering engine are arranged between the crotch connector and the thigh connector respectively, the fifth steering engine is movably connected with the crotch connector, the sixth steering engine is movably connected with the thigh connector, a seventh steering engine is arranged between the thigh connector and the knee connector, an eighth steering engine and a ninth steering engine are arranged between the knee connector and the ankle connector respectively, the eighth steering engine and the west connector are movably connected with the ninth steering engine and the thigh connector, 18 free degree steering engines can control the robot to act independently.

(2) This humanoid robot, top through fuselage conjunction both sides all is provided with the arm conjunction, and all be provided with th steering wheel between fuselage conjunction and two arm conjunction, the both sides of fuselage conjunction bottom all are provided with the leg conjunction, and all be provided with the second steering wheel between two leg conjunction and the fuselage conjunction, the arm conjunction includes the shoulder conjunction, arm conjunction and wrist conjunction, be provided with the third steering wheel between shoulder conjunction and the arm conjunction, and be provided with the fourth steering wheel between arm conjunction and the wrist conjunction, the leg conjunction includes the crotch conjunction, the thigh conjunction, knee conjunction and ankle portion, be provided with fifth steering wheel and sixth steering wheel between crotch conjunction and the thigh conjunction respectively, and fifth steering wheel and crotch conjunction swing joint, sixth steering wheel and thigh conjunction swing joint, and be provided with the seventh steering wheel between thigh conjunction and the knee conjunction, be provided with eighth steering wheel and ninth steering wheel between knee and the ankle portion conjunction respectively, and eighth steering wheel and western portion conjunction swing joint, ninth steering wheel and ankle portion conjunction swing joint, its connection position is the form of U type part cooperation axle, the assembly operation is simple and convenient, the low degree of difficulty.

Drawings

FIG. 1 is a front view of the structure of the present invention;

FIG. 2 is a split view of the structure of the present invention;

fig. 3 is a perspective view of the structure of the present invention.

In the figure, the device comprises a head joint part 1, a body joint part 2, an arm joint part 3, a shoulder joint part 31, an arm joint part 32, a wrist joint part 33, a th steering engine 4, a leg joint part 5, a crotch joint part 51, a thigh joint part 52, a knee joint part 53, an ankle joint part 54, a second steering engine 6, a third steering engine 7, a fourth steering engine 8, a fifth steering engine 9, a sixth steering engine 10, a seventh steering engine 11, an eighth steering engine 12 and a ninth steering engine 13.

Detailed Description

The technical solution in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of , but not all embodiments.

Please refer to fig. 1-3, the utility model provides technical schemes humanoid robots, including head connector 1 and fuselage connector 2, the bottom of head connector 1 and the top swing of fuselage connector 2, the top of fuselage connector 2 both sides all is provided with arm connector 3, and all be provided with steering wheel 4 between fuselage connector 2 and two arm connectors 3, the swing of left and right shoulder connector 31 front and back direction is realized to steering wheel 4, both sides of fuselage connector 2 bottom all are provided with leg connector 5, and all be provided with second steering wheel 6 between two leg connectors 5 and fuselage connector 2, second steering wheel 6 realizes the twisting of left and right crotch connector 51 axial direction, arm connector 3 includes shoulder connector 31, arm connector 32 and wrist 33, be provided with third knee connector 7 between shoulder connector 31 and arm 32, third leg connector 7 realizes the up-and down swinging of arm connector 32, and be provided with fourth connector 8 between arm connector 32 and wrist connector 33, the up-down swinging of fourth connector 8 connector, leg connector 5 includes shoulder connector 51 and wrist connector 52, leg connector 52 and ankle connector 52 are less than that thigh connector 52 and ankle connector 13 are connected with thigh connector 13, the fourth ankle connector 4 is less than that ankle connector 4 and ankle connector 4 is realized to thigh connector 4, the ankle connector 4 is greater than the thigh swing of ankle connector 4, the thigh connector 4, the ankle connector 4 is greater than ankle connector 4, the thigh connector 4, the ankle connector 4 is greater than the ankle connector 4, the ankle connector 4 is greater than the thigh connector 13, the ankle connector 4, the thigh connector 4, the ankle connector 4, the thigh connector 4 is greater than the ankle connector 4, the thigh connector 4, the ankle connector 4 is greater than the ankle connector 4, the thigh connector 4, the ankle connector 4, the thigh connector.

During the use, steering engine 4 realizes the swing of left and right shoulder conjunction 31 fore-and-aft direction, second steering engine 6 realizes the twist of left and right crotch conjunction 51 axial direction, third steering engine 7 realizes the luffing motion of arm conjunction 32, the luffing motion of fourth steering engine 8 wrist conjunction, fifth steering engine 9 realizes the luffing motion of thigh conjunction 52, sixth steering engine 10 realizes the fore-and-aft swing of thigh conjunction 52, seventh steering engine 11 realizes the bending of knee conjunction 53, eighth steering engine 12 realizes the fore-and-aft swing of ankle conjunction 54, ninth steering engine 13 realizes the luffing motion of ankle conjunction 54, every steering engine all can the independent control, make the robot make nimble action.

It is noted that, herein, relational terms such as , second, and the like are used solely to distinguish entities or operations from another entities or operations without necessarily requiring or implying any actual such relationship or order between such entities or operations, further, the terms "comprise," "include," or any other variation thereof are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a series of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus.

Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.

Claims

The humanoid robot comprises a head connector (1) and a body connector (2), the bottom of the head connector (1) is movably connected with the top of the body connector (2), the humanoid robot is characterized in that arm connectors (3) are arranged on the tops of two sides of the body connector (2), a steering engine (4) is arranged between the body connector (2) and the two arm connectors (3), leg connectors (5) are arranged on two sides of the bottom of the body connector (2), a second steering engine (6) is arranged between the two leg connectors (5) and the body connector (2), the arm connectors (3) comprise shoulder connectors (31), arm connectors (32) and wrist connectors (33), a third joint (7) is arranged between the shoulder connectors (31) and the arm connectors (32), a fourth steering engine (8) is arranged between the arm connectors (32) and the wrist connectors (33), the leg connectors (5) comprise thigh connectors (51), thigh connectors (52), knee connectors (53) and ankle connectors (54), the thigh connectors (51) and the ankle connectors (13) are respectively connected with a ninth steering engine (13), and the thigh connectors (51) and ankle connectors (13).
2. The humanoid robot of claim 1, wherein the steering engine (4) and the second steering engine (6) have 360 degrees of axial freedom.
3. The humanoid robot of claim 1, wherein the degree of freedom of the third steering engine (7) is less than 180 degrees.
4. The humanoid robot of claim 1, wherein the fourth steering engine (8) has a degree of freedom greater than 180 degrees and less than 360 degrees.
5. The humanoid robot of claim 1, wherein the fifth steering engine (9) has a degree of freedom greater than 90 degrees and less than 180 degrees.
6. The humanoid robot of claim 1, wherein the degrees of freedom of the sixth steering engine (10), the seventh steering engine (11), the eighth steering engine (12) and the ninth steering engine (13) are all less than 180 degrees.