CN216830968U

CN216830968U - Thoracic cavity mechanism and robot

Info

Publication number: CN216830968U
Application number: CN202220050141.4U
Authority: CN
Inventors: 易港
Original assignee: Titanium Tiger Robot Technology Shanghai Co ltd
Current assignee: Titanium Tiger Robot Technology Shanghai Co ltd
Priority date: 2022-01-10
Filing date: 2022-01-10
Publication date: 2022-06-28
Anticipated expiration: 2032-01-10

Abstract

The utility model provides a thorax mechanism and robot, include: a waist rotation, shoulder base, waist rotation cylinder, shoulder motor and a third motor of neck; the third motor of the neck is arranged on one side in the middle of the shoulder base, and the waist rotating cylinder is arranged on the other side in the middle of the shoulder base; the two sides of the shoulder base are respectively provided with the shoulder motor; the waist rotating cylinder is mounted at one end, back to the shoulder base, of the waist rotating cylinder; the third motor of the neck is connected with the head and neck mechanism, the shoulder motor is connected with the shoulder and arm mechanism, and the waist is rotatably connected with the waist mechanism. The design has multiple degrees of freedom and can provide degrees of freedom for the head and neck mechanism, the shoulder and arm mechanism and the waist mechanism.

Description

Thoracic cavity mechanism and robot

Technical Field

The utility model relates to a robot structure field specifically, relates to thorax mechanism and robot.

Background

With the widespread popularization of robots, more and more robots are applied to production and life, and therefore, the requirements on the robots are higher and higher. In order to meet the increasing demands of the anthropomorphic robot, the anthropomorphic robot is adapted to various situations, and the whole freedom degree and the stability of the robot are also required to be higher. Since the thoracic cavity mechanism is an important part for achieving high degree of freedom and stability, it is necessary to provide a robot thoracic cavity mechanism having a simple structure and high degree of freedom and stability.

Patent document CN109866232B relates to a chest skeleton texture and robot of robot, and chest skeleton texture includes inner frame and exoskeleton, the exoskeleton is injectd the thorax of robot, the inner frame sets up in the thorax, the inner frame is used for the installation the actuating mechanism of robot, the exoskeleton is used for supporting the outward appearance covering of the chest of robot, and the exoskeleton is constructed so that the chest has anthropomorphic outward appearance shape.

Patent document CN202061371U discloses a robot-shaped transformable toy which can be arbitrarily interchanged among a first human shape, a second human shape and an animal shape, comprising a body, four limbs connected to the body, and a head, wherein the head comprises a first human-shaped head, a second human-shaped head and an animal-shaped head; the limbs comprise two arms and two legs; the waist part which can be stretched downwards and limited is sleeved in the trunk.

The above-mentioned prior patents fail to realize that the thoracic mechanism has high degree of freedom and stability while the structure is simple.

SUMMERY OF THE UTILITY MODEL

Aiming at the defects in the prior art, the utility model aims at providing a thoracic cavity mechanism and a robot.

According to the utility model provides a pair of thorax mechanism, include: a waist rotation, a shoulder base, a waist rotation cylinder, a shoulder motor and a third motor for neck;

the third motor of the neck is arranged on one side in the middle of the shoulder base, and the waist rotating cylinder is arranged on the other side in the middle of the shoulder base;

the two sides of the shoulder base are respectively provided with the shoulder motor;

the waist rotating cylinder is arranged at one end back to the shoulder base and rotates around the waist;

the third motor of the neck is connected with the head and neck mechanism, the shoulder motor is connected with the shoulder and arm mechanism, and the waist is rotatably connected with the waist mechanism.

Preferably, the shoulder base is U-shaped, one end of the shoulder base is a bottom plate, and two ends of the bottom plate vertically extend out of a side plate towards one side;

and through holes are formed in the two side plates.

Preferably, the shoulder motors are arranged on the inner sides of the two side plates, and the side plates back to the shoulder motors are provided with shoulder motor output shafts;

the shoulder motor is connected with the output shaft of the shoulder motor through the through hole and drives the output shaft of the shoulder motor to rotate, and the output shaft of the shoulder motor is connected with the shoulder-arm mechanism.

Preferably, the middle part of the bottom plate is provided with a fixed frame connecting piece.

Preferably, a neck mounting base is mounted on the upper side of the bottom plate, and the waist rotating cylinder is mounted on the lower side of the bottom plate;

the neck installation base and the waist rotating cylinder are fixedly connected with the connecting fixing frame connecting piece.

Preferably, the third motor is mounted in the neck mounting base.

And the output end of the third motor of the neck is arranged at one end of the third motor of the neck, which is back to the bottom plate.

Preferably, the waist rotating cylinder is mounted on one end of the neck mounting base back to the waist rotating cylinder;

the waist rotation drives the waist rotation cylinder to rotate.

Preferably, a chest shell fixing structural part is arranged on one side of the bottom plate, which faces away from the side edge plate;

the chest shell fixing structural part is provided with a plurality of fixing structural parts.

Preferably, the body shell is fixedly mounted outside the shell fixing structure and the shoulder bases.

Preferably, a robot employs the chest mechanism.

Compared with the prior art, the utility model discloses following beneficial effect has:

1. the design structure is compact, the integration level is high, and the head and neck mechanism, the shoulder and arm mechanism and the waist mechanism can be connected;

2. the design has multiple degrees of freedom and can provide degrees of freedom for the head and neck mechanism, the shoulder and arm mechanism and the waist mechanism.

Drawings

Other features, objects and advantages of the invention will become more apparent upon reading of the detailed description of non-limiting embodiments with reference to the following drawings:

FIG. 1 is a schematic view of the internal structure of the thoracic mechanism;

FIG. 2 is a diagram of the position relationship of the motor transmission of the thoracic cavity mechanism;

fig. 3 is a schematic view of the structure of the body shell.

Shown in the figure:

Detailed Description

The present invention will be described in detail with reference to the following embodiments. The following examples will assist those skilled in the art in further understanding the present invention, but are not intended to limit the invention in any way. It should be noted that various changes and modifications can be made by one skilled in the art without departing from the spirit of the invention. These all belong to the protection scope of the present invention.

Example 1

As shown in fig. 1 to 3, a thoracic mechanism, which may be used for a robot, includes: a lumbar rotation 14, a shoulder base 38, a lumbar rotation cylinder 40, a shoulder motor 301, and a third neck motor 403; a third neck motor 403 is arranged on one side of the middle of the shoulder base 38, a waist rotating cylinder 40 is arranged on the other side of the middle of the shoulder base 38, shoulder motors 301 are respectively arranged on two sides of the shoulder base 38, a waist rotating 14 is arranged at one end of the waist rotating cylinder 40 back to the shoulder base 38, the third neck motor 403 is connected with a head and neck mechanism, the shoulder motors 301 are connected with a shoulder-arm mechanism, and the waist rotating 14 is connected with a waist mechanism.

The shoulder base 38 is set to be U-shaped, one end of the shoulder base 38 is set to be a bottom plate, two ends of the bottom plate vertically extend out of one side of the bottom plate, and through holes are formed in the two side plates. The inner sides of the two side plates are provided with shoulder motors 301, and the side plates back to the shoulder motors 301 are provided with shoulder motor output shafts 36; the shoulder motor 301 is connected with the shoulder motor output shaft 36 through the through hole and drives the shoulder motor output shaft 36 to rotate, and the shoulder motor output shaft 36 is connected with the shoulder-arm mechanism. The chest shell fixing structural parts 39 are arranged on the side of the bottom plate back to the side plates, a plurality of chest shell fixing structural parts 39 are arranged, and the body shell 13 is fixedly arranged on the outer sides of the shell fixing structural parts 39 and the shoulder bases 38.

The middle part of the bottom plate is provided with a fixed frame connecting piece 37, the upper side of the bottom plate is provided with a neck installation base 35, the lower side of the bottom plate is provided with a waist rotation cylinder 40, and the neck installation base 35 and the waist rotation cylinder 40 are fixedly connected with the fixed frame connecting piece 37. A third motor 403 of the neck is arranged in the base 35, and the output end 34 of the third motor 403 of the neck is arranged at the end back to the bottom plate. The waist rotating cylinder 40 is provided with a waist rotating cylinder 14 at one end back to the neck mounting base 35, and the waist rotating cylinder 40 is driven by the waist rotating cylinder 14 to rotate.

In the description of the present application, it is to be understood that the terms "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like indicate orientations or positional relationships based on those shown in the drawings, merely for convenience of description and simplicity of description, and do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed in a particular orientation, and be operated, and therefore, are not to be construed as limiting the present application.

The foregoing description of the specific embodiments of the invention has been presented. It is to be understood that the present invention is not limited to the specific embodiments described above, and that various changes or modifications may be made by those skilled in the art within the scope of the appended claims without departing from the spirit of the invention. The embodiments and features of the embodiments of the present application may be combined with each other arbitrarily without conflict.

Claims

1. A thoracic mechanism, comprising: a lumbar rotation (14), a shoulder base (38), a lumbar rotation cylinder (40), a shoulder motor (301), and a third neck motor (403);

the third motor (403) of the neck is arranged on one side of the middle of the shoulder base (38), and the waist rotating cylinder (40) is arranged on the other side of the middle of the shoulder base (38);

the two sides of the shoulder base (38) are respectively provided with the shoulder motor (301);

the waist rotating cylinder (40) is mounted with the waist rotating cylinder (14) at one end back to the shoulder base (38);

neck third motor (403) are connected with head and neck mechanism, shoulder motor (301) is connected with shoulder arm mechanism, waist rotation (14) is connected with waist mechanism.

2. The thoracic mechanism of claim 1, wherein: the shoulder base (38) is U-shaped, one end of the shoulder base (38) is a bottom plate, and two ends of the bottom plate vertically extend out of a side plate towards one side;

and through holes are formed in the two side plates.

3. The thoracic mechanism of claim 2, wherein: the shoulder motors (301) are arranged on the inner sides of the two side plates, and the shoulder motor output shafts (36) are arranged on the side, back to the shoulder motors (301), of the side plates;

the shoulder motor (301) is connected with the shoulder motor output shaft (36) through the through hole and drives the shoulder motor output shaft (36) to rotate, and the shoulder motor output shaft (36) is connected with the shoulder-arm mechanism.

4. The thoracic mechanism of claim 2, wherein: and the middle part of the bottom plate is provided with a fixed frame connecting piece (37).

5. The thoracic mechanism of claim 4, wherein: a neck mounting base (35) is mounted on the upper side of the bottom plate, and the waist rotating cylinder (40) is mounted on the lower side of the bottom plate;

the neck installation base (35) and the waist rotation cylinder (40) are fixedly connected with the connection fixing frame connecting piece (37).

6. The thoracic mechanism of claim 5, wherein: the third motor (403) is arranged in the neck mounting base (35);

and one end of the third motor (403) of the neck, which faces away from the bottom plate, is provided with an output end (34) of the third motor of the neck.

7. The thoracic mechanism of claim 5, wherein: the waist rotating cylinder (40) is provided with a waist rotating cylinder (14) at one end back to the neck mounting base (35);

the waist rotation (14) drives the waist rotation cylinder (40) to rotate.

8. The thoracic mechanism of claim 2, wherein: a chest shell fixing structural part (39) is arranged on one side of the bottom plate, which is back to the side edge plate;

the chest shell fixing structural part (39) is provided in plurality.

9. The thoracic mechanism of claim 8, wherein: the body shell (13) is fixedly arranged outside the shell fixing structural part (39) and the shoulder base (38).

10. A robot, characterized by: the robot employs the thoracic mechanism of any one of claims 1-9.