CN210850268U

CN210850268U - Waist structure of simulation robot

Info

Publication number: CN210850268U
Application number: CN201921196419.3U
Authority: CN
Inventors: 金勇�
Original assignee: Yongjia Xinda Intelligent Equipment Manufacturing Co ltd
Current assignee: Yongjia Xinda Intelligent Equipment Manufacturing Co ltd
Priority date: 2019-07-29
Filing date: 2019-07-29
Publication date: 2020-06-26
Anticipated expiration: 2029-07-29

Abstract

The utility model discloses a waist structure of an emulation robot, which comprises a middle supporting mechanism, a left waist twisting mechanism, a right waist twisting mechanism, a front waist twisting mechanism, a rear waist twisting mechanism and a waist rotating mechanism, the middle supporting mechanism is used for supporting the waist and at least comprises a ball head connector shell and a lug boss which are arranged on the lower plate of the chest, a left waist twisting mechanism and a right waist twisting mechanism are arranged at the side of the ball head connector shell, a front waist twisting mechanism and a rear waist twisting mechanism are arranged at the rear end of the ball head connector shell, the waist rotating mechanism at least comprises a sector plate, an opening shifting block, a speed reducer, a motor and a bracket, the side wall of the ball head connector shell is integrally provided with a sector plate, the chest lower plate and the waist and crotch base are distributed in parallel, the top end of the ball head is arranged in the ball head connector shell, the bottom end of the ball head is integrally provided with a handle part, and the handle part is installed at the upper end of the boss through a nut thread, and a horn-shaped hole for the ball head handle part to extend into is formed in the bottom of the ball head connector shell. The waist structure of the simulation robot can realize various actions of the waist of the robot, and the operation is reliable and easy to control.

Description

Waist structure of simulation robot

Technical Field

The invention belongs to the technical field of simulation robots, and particularly relates to a waist structure of a simulation robot.

Background

Along with the development of science and technology, the application field of the robot is also continuously widened, the robot is gradually developed from the manufacturing industry to the non-manufacturing industry and the service industry, the humanoid robot which has human appearance characteristics and can simulate the human behavior capability is concerned by people, the field integrates multidisciplinary knowledge such as artificial intelligence, ergonomics, electronic technology and computers and a plurality of high and new technologies, the humanoid robot with high degree of freedom has greater flexibility and is more suitable for cooperating with human or replacing human to work in the environment of human life and work, and the high-simulation robot has the appearance, height, hair and skin which are completely the same as those of a real human; the human body has the same language, tone, mouth shape and expression as the real person, and has the same appearance of the five sense organs as the real person; the main body parts such as the head, the neck, the waist, the arms, the hands and the like can all make various postures and actions like a real person.

The waist structure of the simulation robot in the prior art is unreasonable, the waist twisting structure is complex, and further improvement is needed.

Disclosure of Invention

The invention aims to provide a waist structure of a simulation robot to solve the problems in the background technology.

In order to achieve the purpose, the invention provides the following technical scheme: the utility model provides an emulation robot waist structure, turns round waist mechanism, waist rotary mechanism, chest hypoplastron and waist crotch base around, including middle supporting mechanism, about, the waist mechanism of turning round, chest hypoplastron and waist crotch base, middle supporting mechanism is through bulb connector shell, bulb and boss swing joint chest hypoplastron and waist crotch base, middle supporting mechanism one side is through the sector plate and waist rotary mechanism interactive connection that establish of bulb connector shell one side, turns round waist mechanism around being provided with at the back, turn round waist mechanism one end and chest hypoplastron cross swing joint around, the other end and waist crotch base cross swing joint, turn round the opposite side that waist mechanism set up at middle supporting mechanism about, turn round waist mechanism one end and chest hypoplastron cross swing joint, the other end and waist crotch base cross swing joint about.

Preferably, the middle supporting mechanism at least comprises a ball head connector shell and a boss which are installed on the lower plate of the chest, the bottom of the ball head connector shell is provided with a horn-shaped hole for the ball head to extend into, the ball head is vertically arranged, the top end of the ball head connector shell is arranged in the ball head connector shell, the bottom end of the ball head connector shell is integrally provided with a handle part, the handle part is fixedly installed at the upper end of the boss, the boss is convexly arranged on the upper surface of the waist and crotch base, the ball head connector shell and the boss are vertically arranged in parallel, the side wall of the ball head connector shell is integrally provided with a sector plate, the longer end of the sector plate extends into an opening shifting block, one surface of the opening shifting block, facing the sector plate, is provided with a port for the sector plate to be inserted into, a shifting block connecting shaft for driving the opening shifting block to rotate is arranged in the opening shifting block, one end of the output shaft is connected with the shifting block connecting shaft, the other end of the output shaft is provided with a speed reducer, the speed reducer is connected with a motor, the motor and the speed reducer are both arranged on a support, and the support is fixedly connected with the boss.

Preferably, the front-back waist twisting mechanism at least comprises a first push-pull assembly, the top ends of the first push-pull assembly and the second push-pull assembly are hinged with the lower chest plate in a cross manner, and the bottom ends of the first push-pull assembly and the second push-pull assembly are hinged with the waist crotch base in a cross manner.

Preferably, the waist rotating mechanism at least comprises a sector plate, an opening shifting block, a speed reducer, a motor and a bracket, the lower chest plate and the waist and crotch base are distributed in parallel, the lower chest plate is positioned above the waist and crotch base, the lower end of the lower chest plate is fixedly provided with a ball head connector shell, one end of the ball head extending into the ball head connector shell is provided with a concave ball pad, and the spring is arranged in the inner hole of the hydraulic valve body, the spring is vertically arranged, the top end of the spring is abutted against the upper spring seat, the lower end of the spring is abutted against the piston, a first sealing ring is arranged on the upper spring seat, a second sealing ring for sealing the groove is sleeved on the outer wall of the piston, a hydraulic valve body is further installed on the inner side of the ball head connector shell, and the inner side of the piston is obliquely provided with an oil return hole communicated with the hydraulic valve body for hydraulic oil to flow, and the oil return hole is communicated with an inner hole provided with a spring.

Preferably, the left-right waist twisting mechanism at least comprises a second push-pull assembly, the second push-pull assembly has the same structure as the first push-pull assembly, and comprises a telescopic rod, and a first hinged block and a second hinged block which are symmetrically distributed at the upper end and the lower end of the telescopic rod, the first hinged block is rotatably connected with the telescopic rod through a shaft pin, and the first hinged block is rotatably connected with the second hinged block through a shaft pin.

Preferably, one end of the shifting block connecting shaft is fixedly connected with an output shaft of the speed reducer, two groups of bearings are sleeved at the outer end of the shaft wall at the other end, and a gasket is sequentially arranged between the two groups of bearings and is fixed with the shaft-used snap spring.

Preferably, the outside both sides of opening shifting block still the symmetry be equipped with two sets of stoppers, stopper both sides protrusion can supply the opening shifting block to pass through in the middle of, and fixed setting is at the upper surface of support.

The invention has the technical effects and advantages that: this emulation robot waist structure, rotate through speed reducer and motor drive opening shifting block, and then drive the waist through sector plate and bulb connector shell and wrench movement, and is rational in infrastructure, easily realize, when the health receives the impact force, cushion through the shrink of stretching into of bulb and spring, through the inside hydraulic oil backward flow of oil gallery after the buffering, make the waist slowly return, the buffering effect is good, the similarity is high, it is more lifelike, make the waist can diversely swing through setting up of two sets of first push-and-pull subassemblies, this emulation robot waist structure, and is rational in infrastructure, can realize the various actions of robot waist, the operation is reliably easy to control.

Drawings

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

FIG. 2 is a side view of the present invention;

FIG. 3 is an enlarged schematic view of the structure at A in FIG. 1 according to the present invention;

FIG. 4 is an enlarged view of the structure of FIG. 3B according to the present invention;

FIG. 5 is an enlarged view of the structure of FIG. 2 at C according to the present invention;

FIG. 6 is a top view of the opening paddle of the present invention;

FIG. 7 is a schematic view of the structure of the lower chest plate and the waist-crotch base of the present invention;

figure 8 is a schematic structural view of a first push-pull assembly of the present invention.

In the figure: 1501 a chest lower plate, 1502 a ball head connector shell, 1503 an opening shifting block, 1504 bearings, 1505 a shaft snap spring, 1506 a gasket, 1507 a fan-shaped plate, 1508 a hole snap spring, 1509 a limiting block, 1510 a speed reducer, 1511 a bracket, 1512 a motor, 1513 a waist crotch base, 1514 a boss, 1516 a telescopic rod, 1517 a first hinge block, 1518 a second hinge block, 1519 an output shaft, 1520 an upper spring seat, 1521 a first sealing ring, 1522 a spring, 1523 an oil return hole, 1524 a piston, 1525 a second sealing ring, 1526 a concave ball pad, 1527 a ball head, 1528 a nut, 1529 a hydraulic valve body, 1530 a shifting block connecting shaft, 1531 a first push-pull assembly and 1532 a second push-pull assembly.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

The invention provides a waist structure of a simulation robot as shown in figures 1-8, which comprises a middle supporting mechanism, a left-right waist twisting mechanism, a front-back waist twisting mechanism, a waist rotating mechanism, a breast lower plate 1501 and a waist crotch base 1513, the intermediate support mechanism is movably connected with the lower chest plate 1501 and the waist-crotch base 1513 through a ball connector shell 1502, a ball 1527 and a boss 1514, one side of the middle supporting mechanism is interactively connected with the waist rotating mechanism through a fan-shaped plate 1507 arranged on one side of the ball head connector shell 1502, a front waist twisting mechanism and a rear waist twisting mechanism are arranged behind the middle supporting mechanism, one end of the front-back waist twisting mechanism is movably connected with the lower chest plate 1501 in a cross way, the other end of the front-back waist twisting mechanism is movably connected with the waist-crotch base 1513 in a cross way, the left and right waist twisting mechanism is arranged on the other side of the middle supporting mechanism, one end of the left and right waist twisting mechanism is in cross movable connection with the chest lower plate 1501, and the other end of the left and right waist twisting mechanism is in cross movable connection with the waist crotch base 1513.

Specifically, the intermediate support mechanism at least comprises a ball head connector shell 1502 and a boss 1514 which are installed on the chest lower plate 1501, a trumpet-shaped hole into which a ball head 1527 extends is formed in the bottom of the ball head connector shell 1502, the ball head 1527 is vertically arranged, the top end of the ball head connector shell 1502 is arranged in the ball head connector shell 1502, a handle part is integrally formed at the bottom end of the ball head connector shell 1502, the handle part is fixedly installed at the upper end of the boss 1514, the boss 1514 is arranged on the upper surface of a waist-crotch base 1513 in a protruding mode, the ball head connector shell 1502 and the boss 1514 are vertically arranged in parallel, a fan-shaped plate 1507 is integrally formed on the side wall of the ball head connector shell 1502, the longer end of the fan-shaped plate 1507 extends into an opening dial block 1503, a port for inserting connection of the opening dial block 1503 is formed on one surface, the opening dial block 1503 faces the fan-shaped plate 1507, a dial block 1530 for driving the, the hole that links to each other with output shaft 1519 is seted up to shifting block connecting axle 1530 one end, shifting block connecting axle 1530 is connected to output shaft 1519's one end, and the other end is speed reducer 1510, speed reducer 1510 links to each other with motor 1512, and motor 1512 and speed reducer 1510 all install on support 1511, support 1511 links to each other with boss 1514 is fixed, drives opening shifting block 1503 through speed reducer 1510 and motor 1512 and rotates, and then drives the waist through sector plate 1507 and bulb connector shell 1502 and twist, and is rational in infrastructure, easily realizes, and wherein the mobile lock of sector plate 1507 is inside opening shifting block 1503, and the connection status is similar to gear connection.

Specifically, the front-back waist twisting mechanism at least comprises a first push-pull assembly 1531, the top ends of the first push-pull assembly 1531 and the second push-pull assembly 1532 are hinged with the chest lower plate 1501 in a cross manner, and the bottom ends of the first push-pull assembly 1531 and the second push-pull assembly 1532 are hinged with the waist crotch base 1513 in a cross manner.

Specifically, waist rotary mechanism includes sector plate 1507, opening shifting block 1503, speed reducer 1510, motor 1512 and support 1511 at least, chest hypoplastron 1501 and waist crotch portion base 1513 are parallel distribution, and chest hypoplastron 1501 is located the top of waist crotch portion base 1513, chest hypoplastron 1501 lower extreme fixed mounting has bulb connector shell 1502, the one end that bulb 1527 stretches into bulb connector shell 1502 inside is provided with ball-concave pad 1526, and spring 1522 places in hydraulic valve body 1529 hole, the vertical setting of spring 1522, the top is with last spring holder 1520 butt, the lower extreme is with piston 1524 butt, be equipped with first sealing washer 1521 on last spring holder 1520, the outer wall cover of piston 1524 is equipped with the second sealing washer 1525 with the groove closure, hydraulic valve body 1529 is still installed to bulb connector shell 1502 inboard, and piston 1524 inboard still inclines to be seted up and supplies the oil gallery 1523 that hydraulic oil flows with hydraulic valve body 1529 intercommunication, oil gallery 1523 and the hole intercommunication of installing spring 1522, when the health receives the impact force, stretch into through bulb 1527 and spring 1522's shrink cushion, through the inside hydraulic oil backward flow of oil gallery 1523 after the buffering, oil is slowly backward flow, make the waist slowly return, oil gallery 1523 receives the punching press at the waist, play the cushioning effect, hydraulic oil is not full, hydraulic oil is receiving pressure after with the air from inside towards oil gallery 1523 of hydraulic valve body 1529 inside flow, spring 1522 also contracts thereupon, hydraulic valve body 1529 is for sealed setting.

Specifically, the left-right waist twisting mechanism at least comprises a second push-pull assembly 1532, the second push-pull assembly 1532 and the first push-pull assembly 1531 have the same structure, and both comprise a telescopic rod 1516, and a first hinge block 1517 and a second hinge block 1518 symmetrically distributed at the upper end and the lower end of the telescopic rod 1516, the first hinge block 1517 is rotatably connected to the telescopic rod 1516 through a shaft pin, the first hinge block 1517 is rotatably connected to the second hinge block 1518 through a shaft pin, the first hinge block 1517 and the second hinge block 1518 are movable in a universal joint, the movement locus is cross, one end of each of the two sets of second hinge blocks 1518 is fixedly connected to the chest lower plate 1501 and the waist base 1513, the other end is respectively hinged to the first hinge block 1517, which is a hinge movement direction, and the end of the first hinge block 1517 far away from the second hinge block 1518 is hinged to the telescopic rod 1516, which is a second hinge movement direction, and the two movement directions are mutually vertically staggered to form a cross-shaped movement.

Specifically, one end of the shifting block connecting shaft 1530 is fixedly connected with an output shaft 1519 of the speed reducer 1510, two groups of bearings 1504 are sleeved at the outer end of the shaft wall at the other end, and a gasket 1506 is sequentially arranged between the two groups of bearings 1504 and is fixed with a clamp spring 1505 for the shaft.

Specifically, the outside both sides of opening shifting block 1503 still symmetry are equipped with two sets of stoppers 1509, stopper 1509 both sides are salient, and the centre can supply opening shifting block 1503 to pass through to fixed setting is at the upper surface of support 1511, and opening shifting block 1503 carries out about 30 degrees swings between two sets of stoppers 1509.

Specifically, when the waist structure of the simulation robot is used, the middle support mechanism is used for supporting the waist, the left-right waist twisting mechanism and the front-back waist twisting mechanism drive the waist to twist, the waist rotating mechanism drives the waist to rotate, the motor 1512 rotates and is decelerated by the speed reducer 1510, the output shaft 1519 drives the opening shifting block 1503 to rotate through the shifting block connecting shaft 1530, so that the opening shifting block 1503 swings about 30 degrees between the two groups of limit blocks 1509, the fan-shaped plate 1507 drives the ball joint connector shell 1502 to swing when the opening shifting block 1503 swings, so that the chest lower plate 1501 and the whole waist are twisted, the second push-pull component 1532 at the side of the ball joint connector shell 1502 drives the waist to swing left and right, the first push-pull component 1531 at the rear side of the ball joint connector shell 1502 drives the waist to swing front and back, the first hinge block 1517 is movably connected with the second hinge block 1518, the two groups of second hinge blocks 18 are movably connected with the chest lower plate 1501 and the waist-crotch base 1513 respectively, so that the first hinge block 1517 and the second hinge block 1518 are in universal joint to move when the telescopic rod 1516 extends, so as to realize multi-directional swinging in the front, back, left and right directions, after the waist of a human body is extruded, the chest lower plate 1501 moves towards the waist-crotch base 1513, the ball head 1527 extends into the ball-head connector shell 1502 at the moment, the spring 1522 contracts, hydraulic oil in the connector shell 1502 enters the hydraulic valve body 1529 through the oil return hole 1523, after pressure is relieved, the hydraulic oil returns to the interior of the ball-head connector shell 1502 through the oil return hole 1523, the spring 1522 and the piston 1524 slowly return to the original positions, multi-directional twisting and buffering of the waist can be realized, the ball head 7 is rotatably connected to the interior of the ball-head connector shell 1502, the outer end of the handle of the ball head 1527 is, the structure is reasonable, various actions of the waist of the robot can be realized, and the operation is reliable and easy to control.

Finally, it should be noted that: although the present invention has been described in detail with reference to the foregoing embodiments, it will be apparent to those skilled in the art that modifications may be made to the embodiments or portions thereof without departing from the spirit and scope of the invention.

Claims

1. The utility model provides a waist structure of emulation robot, includes that middle support mechanism, controls to turn round waist mechanism, front and back turn round waist mechanism, waist rotary mechanism, chest hypoplastron (1501) and waist crotch base (1513), its characterized in that: middle supporting mechanism passes through bulb connector shell (1502), bulb (1527) and boss (1514) swing joint chest hypoplastron (1501) and waist crotch portion base (1513), fan-shaped board (1507) that middle supporting mechanism one side was established through bulb connector shell (1502) one side are connected with waist rotary mechanism interactive, turn round waist mechanism around being provided with at the back, turn round waist mechanism one end and chest hypoplastron (1501) cross swing joint around, the other end and waist crotch portion base (1513) cross swing joint, turn round waist mechanism setting at the opposite side of middle supporting mechanism about, turn round waist mechanism one end and chest hypoplastron (1501) cross swing joint about, the other end and waist crotch portion base (1513) cross swing joint.

2. The simulated robot lumbar structure of claim 1, wherein: the middle supporting mechanism at least comprises a ball head connector shell (1502) and a boss (1514) which are installed on a chest lower plate (1501), a horn-shaped hole for a ball head (1527) to extend into is formed in the bottom of the ball head connector shell (1502), the ball head (1527) is vertically arranged, the top end of the ball head connector shell is arranged in the ball head connector shell (1502), a handle part is integrally constructed at the bottom end of the handle part, the handle part is fixedly installed at the upper end of the boss (1514), the boss (1514) is arranged on the upper surface of a waist crotch base (1513) in a protruding mode, the ball head connector shell (1502) and the boss (1514) are vertically arranged in parallel, a fan-shaped plate (1507) is integrally constructed on the side wall of the ball head connector shell (1502), the longer end of the fan-shaped plate (1507) extends into an opening dial block (1503), and a port for the opening dial block (1503) to be inserted into the fan-shaped, the inside of opening shifting block (1503) is provided with drives its pivoted shifting block connecting axle (1530), inside for the hole jump ring (1508) that is provided with of opening shifting block (1503), the hole that links to each other with output shaft (1519) is seted up to shifting block connecting axle (1530) one end, shifting block connecting axle (1530) is connected to the one end of output shaft (1519), and the other end is speed reducer (1510), speed reducer (1510) links to each other with motor (1512), and motor (1512) and speed reducer (1510) all install on support (1511), support (1511) and boss (1514) are fixed continuous.

3. The simulated robot lumbar structure of claim 1, wherein: the front-back waist twisting mechanism at least comprises a first push-pull assembly (1531), the top ends of the first push-pull assembly (1531) and the second push-pull assembly (1532) are hinged with the lower chest plate (1501) in a cross manner, and the bottom ends of the first push-pull assembly and the second push-pull assembly are hinged with the waist crotch base (1513) in a cross manner.

4. The simulated robot lumbar structure of claim 1, wherein: waist rotary mechanism includes sector plate (1507), opening shifting block (1503), speed reducer (1510), motor (1512) and support (1511) at least, chest hypoplastron (1501) is parallel distribution with waist crotch base (1513), and chest hypoplastron (1501) is located the top of waist crotch base (1513), chest hypoplastron (1501) lower extreme fixed mounting has bulb connector shell (1502), bulb (1527) stretch into the inside one end of bulb connector shell (1502) and are provided with concave ball pad (1526), and spring (1522) place in hydraulic valve body (1529) hole, spring (1522) vertical setting 1520, top and upper spring seat (1520) butt, lower extreme and piston (1524) butt, be equipped with first sealing washer (1521) on upper spring seat (1520), the outer wall cover of piston (1524) is equipped with groove confined bulb sealing washer (1525), hydraulic valve body (1529) still are installed to connector shell (1521502) inboard, and an oil return hole (1523) communicated with the hydraulic valve body (1529) and allowing hydraulic oil to flow is obliquely formed in the inner side of the piston (1524), and the oil return hole (1523) is communicated with an inner hole provided with a spring (1522).

5. The simulated robot lumbar structure of claim 1, wherein: the left-right waist twisting mechanism at least comprises a second push-pull assembly (1532), the second push-pull assembly (1532) and the first push-pull assembly (1531) are identical in structure and comprise telescopic rods (1516), first hinge blocks (1517) and second hinge blocks (1518) are symmetrically distributed and arranged at the upper end and the lower end of each telescopic rod (1516), each first hinge block (1517) is connected with each telescopic rod (1516) in a rotating mode through a shaft pin, and each first hinge block (1517) is connected with each second hinge block (1518) in a rotating mode through a shaft pin.

6. The simulated robot lumbar structure of claim 2, wherein: one end of the shifting block connecting shaft (1530) is fixedly connected with an output shaft (1519) of the speed reducer (1510), two groups of bearings (1504) are sleeved at the outer end of the shaft wall at the other end, and a gasket (1506) is sequentially arranged between the two groups of bearings (1504) to be fixed with a clamp spring (1505) for a shaft.

7. The simulated robot lumbar structure of claim 2, wherein: the outside both sides of opening shifting block (1503) still the symmetry be equipped with two sets of stoppers (1509), stopper (1509) both sides are salient, and the centre can supply opening shifting block (1503) to pass through to the fixed upper surface that sets up at support (1511).