CN218452971U - Humanoid double-arm robot - Google Patents
Humanoid double-arm robot Download PDFInfo
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- CN218452971U CN218452971U CN202222697543.6U CN202222697543U CN218452971U CN 218452971 U CN218452971 U CN 218452971U CN 202222697543 U CN202222697543 U CN 202222697543U CN 218452971 U CN218452971 U CN 218452971U
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Abstract
The utility model discloses a humanoid double-arm robot, which comprises a support frame; the head mechanism comprises a head shell and a head driving assembly, and the head driving assembly drives the head shell to rotate around the Z-axis, the X-axis and the Y-axis; the upper arm mechanism is oppositely arranged on two sides of the support frame and comprises an upper arm shell and an upper arm driving assembly, and the upper arm driving assembly drives the upper arm shell to rotate around the X-axis direction, the Y-axis direction and the Z-axis direction; the forearm mechanism comprises a forearm shell and a forearm driving assembly, and the forearm driving assembly drives the forearm shell to rotate around the X-axis and the Y-axis directions; the palm mechanism comprises a palm body and a palm driving assembly, and the palm driving assembly drives the palm body to rotate around an X axis and a Z axis. The utility model provides an imitative people's both arms robot, the structure is simple light more, has a plurality of degrees of freedom to realize the drive operation of different actions.
Description
Technical Field
The utility model relates to the technical field of robot, especially, relate to an imitative people's double-arm robot.
Background
With the development of science and technology, the robot manufacturing technology is more mature. Moreover, with the improvement of the living standard of human beings, more and more work is completed by the robot, and in order to enable people to have better experience, the humanoid robot is a research hotspot in the field of robots. The humanoid-arm robot plays an important role in the service robot, and whether the robot is competent for complex and fine operation tasks or not is directly determined by the maturity of the technology of the humanoid-arm robot. The high degree of anthropomorphic simulation can not only bring comfortable sensation and safe sensation on human body and psychology to people, but also improve the human-computer cooperation efficiency.
On one hand, the existing humanoid mechanical arm is high in cost, and a perfect humanoid mechanical arm needs a high-precision driver, a sensor, a controller and special materials, so that the existing manufacturing cost is high, and on the other hand, the humanoid mechanical arm is low in degree of freedom, simple in action, insufficient in structure humanoid, or high in degree of freedom, large in size, unreasonable in wrist joint mechanism and incapable of meeting the existing requirements.
SUMMERY OF THE UTILITY MODEL
An object of the utility model is to provide an imitative people's both arms robot, the structure is simple light more to the position that corresponds has a plurality of degrees of freedom, thereby realizes the drive operation of different actions.
The utility model discloses an imitative people's double-arm robot adopts's technical scheme is:
a humanoid double-arm robot comprises a support frame;
the head mechanism comprises a head shell and a head driving assembly, the head shell is arranged at the upper end of the support frame through the head driving assembly, and the head driving assembly drives the head shell to rotate around the Z-axis direction, the X-axis direction and the Y-axis direction;
the upper arm mechanisms are arranged on two sides of the support frame oppositely, each upper arm mechanism comprises an upper arm shell and an upper arm driving assembly, the upper arm shells are connected with the support frame through the upper arm driving assemblies, and the upper arm driving assemblies drive the upper arm shells to rotate around the X-axis direction, the Y-axis direction and the Z-axis direction;
the number of the forearm mechanisms is two, the two forearm mechanisms are respectively correspondingly connected with the two upper arm mechanisms, each forearm mechanism comprises a forearm shell and a forearm driving assembly, the forearm shells are connected with the upper arm shells through the forearm driving assemblies, and the forearm driving assemblies drive the forearm shells to rotate around the X-axis direction and the Y-axis direction;
palm mechanism, palm mechanism quantity is two, palm mechanism is connected with forearm mechanism, palm mechanism includes palm body and palm drive assembly, palm drive assembly drives the palm body and rotates around X axle and Z axle.
According to a preferable scheme, the head driving assembly comprises a first steering engine, a second steering engine, a third steering engine, a head base, a head rotating support and a neck swinging clamp, the head base is fixed at the upper end of the supporting frame, the first steering engine is fixed in the head base, an output shaft of the first steering engine is arranged in the Z-axis direction, the head rotating support is rotatably arranged above the head base, the output shaft of the first steering engine is fixedly connected with the head rotating support, the second steering engine is arranged in the head rotating support, the output shaft of the second steering engine is arranged in the X-axis direction, the neck swinging clamp is arranged above the head rotating support, the output shaft of the second steering engine is fixedly connected with the neck swinging clamp, the third steering engine is arranged in the neck swinging clamp, the output shaft of the third steering engine is arranged in the Y-axis direction, and the head shell is fixedly connected with the output shaft of the third steering engine.
Preferably, the upper arm driving assembly comprises a fourth steering engine, a fifth steering engine, a sixth steering engine, a shoulder rotating support, a shoulder output support and an upper arm support, the shoulder rotating support is fixedly connected with the support frame, the fourth steering engine is fixed in the shoulder rotating support, an output shaft of the fourth steering engine is arranged along the X-axis direction, the shoulder output support is rotatably connected with the shoulder rotating support, an output shaft of the fourth steering engine is fixedly connected with the shoulder output support, the fifth steering engine is arranged in the shoulder output support, an output shaft of the fifth steering engine is arranged along the Y-axis direction, the upper arm support is fixedly connected with an output shaft of the fifth steering engine, one end of the upper arm support is rotatably connected with the upper arm shell, the sixth steering engine is fixed in the upper arm shell, and the output shaft of the sixth steering engine is fixedly connected with the upper arm support.
According to a preferable scheme, the forearm driving assembly comprises a seventh steering engine, an eighth steering engine and a forearm support, the seventh steering engine is fixed at one end of an upper arm shell, an output shaft of the seventh steering engine is arranged along the X-axis direction, the forearm support is fixedly connected with the output shaft of the seventh steering engine, the forearm shell is rotatably connected with the forearm support, the eighth steering engine is fixed in the forearm support, and the output shaft of the eighth steering engine is rotatably connected with the forearm shell.
Preferably, the upper arm shell and the forearm shell are provided with lightening holes on the surfaces.
As a preferred scheme, palm drive assembly includes ninth steering wheel, tenth steering wheel, wrist support, gear and chain, wrist support rotates with the forearm casing to be connected, the ninth steering wheel sets up in the forearm casing, the output shaft of ninth steering wheel sets up along the X axle direction, just the gear is connected with the output shaft fixed connection of ninth steering wheel, wrist support one side correspondence is equipped with the ring gear, ring gear and gear pass through chain drive and connect, the tenth steering wheel is fixed in the wrist support, the output shaft of tenth steering wheel sets up along the Z axle direction, palm body and tenth steering wheel fixed connection.
As the preferred scheme, the lower end of the support frame is provided with a support seat, the support seat is of an H-shaped structure, and the support frame is fixed in the middle of the support seat.
The utility model discloses an imitative people's double-arm robot's beneficial effect is: the head driving assembly drives the head shell to rotate around the Z-axis direction, so that the operation of turning is realized, when the head shell rotates around the X-axis under the action of the head driving assembly, the operation of lowering or raising the head is realized, and when the head shell rotates around the Y-axis under the action of the head driving assembly, the operation of swinging the head left and right is realized, so that the head mechanism can better simulate the head movement of a person; and upper arm mechanism, forearm mechanism and palm mechanism then constitute imitative human arm structure, utilize upper arm drive assembly, forearm drive assembly and palm drive assembly to drive the upper arm casing respectively, forearm casing and palm body carry out the rotation in the equidirectional not, the different motions of anthropomorphic dummy arm joint to play the different operations of imitative arm, through above-mentioned structure, make the structure of imitative people's double-armed robot simple more light, and the position that corresponds has a plurality of degrees of freedom, thereby realize the drive operation of different actions.
Drawings
Fig. 1 is a schematic structural view of the humanoid double-arm robot of the utility model.
Fig. 2 is the structural schematic diagram of the head mechanism of the humanoid double-arm robot of the utility model.
Fig. 3 is a schematic diagram of the upper arm mechanism structure of the humanoid two-arm robot of the utility model.
Fig. 4 is a schematic structural view of the forearm mechanism and the palm mechanism of the humanoid double-arm robot.
Detailed Description
The invention will be further elucidated and described with reference to the following embodiments and drawings in which:
referring to fig. 1, a humanoid two-arm robot includes a support frame 10; head mechanism 20, head mechanism 20 include head casing 21 and head drive assembly 22, and head casing 21 sets up in support frame 10 upper end through head drive assembly 22, and head drive assembly 22 drives head casing 21 and rotates around Z axle, X axle and the ascending rotation in the Y axle direction.
Referring to fig. 2, the head driving assembly 22 includes a first steering engine 221, a second steering engine 222, a third steering engine 223, a head base 224, a head rotating support 225 and a neck swinging clamp 226, the head base 224 is fixed at the upper end of the support frame 10, the first steering engine 221 is fixed in the head base 224, an output shaft of the first steering engine 221 is arranged along the Z-axis direction, the head rotating support 225 is rotatably arranged above the head base 224, an output shaft of the first steering engine 221 is fixedly connected with the head rotating support 225, the second steering engine 222 is arranged in the head rotating support 225, an output shaft of the second steering engine 222 is arranged along the X-axis direction, the neck swinging clamp 226 is arranged above the head rotating support 225, an output shaft of the second steering engine 222 is fixedly connected with the neck swinging clamp 226, the third steering engine 223 is arranged in the neck swinging clamp 226, an output shaft of the third steering engine 223 is arranged along the Y-axis direction, and the head shell 21 is fixedly connected with an output shaft of the third steering engine 223.
The first steering engine 221 drives the head rotating bracket 225 and the components above the head rotating bracket to rotate around the Z axis, so that the head shell 21 can rotate; the second steering engine 222 drives the neck swing clamp 226 to rotate around the X axis, so that the head shell 21 performs head lowering or head raising; the third steering engine 223 drives the head housing 21 to rotate around the Y axis, thereby achieving the purpose of swinging the head housing 21 left and right.
The number of the upper arm mechanisms 30 is two, the upper arm mechanisms 30 are oppositely arranged on two sides of the support frame 10, the upper arm mechanisms 30 comprise upper arm shells 31 and upper arm driving assemblies 32, the upper arm shells 31 are connected with the support frame 10 through the upper arm driving assemblies 32, and the upper arm driving assemblies 32 drive the upper arm shells 31 to rotate around the X-axis direction, the Y-axis direction and the Z-axis direction.
Referring to fig. 3, the upper arm driving assembly 32 includes a fourth steering engine 321, a fifth steering engine 322, a sixth steering engine 323, a shoulder rotating bracket 324, a shoulder output bracket 325 and an upper arm bracket 326, the shoulder rotating bracket 324 is fixedly connected to the support frame 10, the fourth steering engine 321 is fixed in the shoulder rotating bracket 324, an output shaft of the fourth steering engine 321 is arranged along the X-axis direction, the shoulder output bracket 325 is rotatably connected to the shoulder rotating bracket 324, an output shaft of the fourth steering engine 321 is fixedly connected to the shoulder output bracket 325, the fifth steering engine 322 is arranged in the shoulder output bracket 325, an output shaft of the fifth steering engine 322 is arranged along the Y-axis direction, the upper arm bracket 326 is fixedly connected to an output shaft of the fifth steering engine 322, one end of the upper arm bracket 326 is rotatably connected to the upper arm housing 31, the sixth steering engine 323 is fixed in the upper arm housing 31, and an output shaft of the sixth steering engine 323 is fixedly connected to the upper arm bracket 326.
The fourth steering engine 321 drives the shoulder output bracket to rotate around the X axis, so that the whole arm structure is driven to swing in the front-back direction; the fifth steering engine 322 drives the upper arm bracket 326 to rotate around the Y axis, so that the upper arm shell 31, the forearm structure and the palm mechanism 50 rotate around the Y axis, thereby simulating the condition that the arm of a person is lifted up or put down; the sixth steering gear 323 is fixed in the upper arm shell 31, an output shaft of the sixth steering gear 323 is fixedly connected with the upper arm support 326, and when the sixth steering gear 323 rotates, the upper arm shell 31 and the upper arm support 326 rotate, so that the condition that the arm of a person rotates is simulated.
The number of the forearm mechanisms 40 is two, the two forearm mechanisms 40 are respectively correspondingly connected with the two upper arm mechanisms 30, the forearm mechanism 40 comprises a forearm shell 41 and a forearm driving assembly 42, the forearm shell 41 is connected with the upper arm shell 31 through the forearm driving assembly 42, and the forearm driving assembly 42 drives the forearm shell 41 to rotate around the X-axis direction and the Y-axis direction.
Referring to fig. 4, the forearm driving assembly 42 includes a seventh steering engine 421, an eighth steering engine 322 and a forearm support 423, the seventh steering engine 421 is fixed to one end of the upper arm casing 31, an output shaft of the seventh steering engine 421 is arranged along the X-axis direction, the forearm support 423 is fixedly connected to an output shaft of the seventh steering engine 421, the forearm casing 41 is rotatably connected to the forearm support 423, the eighth steering engine 322 is fixed in the forearm support 423, and an output shaft of the eighth steering engine 322 is rotatably connected to the forearm casing 41.
The seventh steering engine 421 drives the forearm support 423 to rotate around the X axis, so as to drive the forearm housing 41 to rotate towards the upper arm housing 31 side, thereby achieving the purpose of bending the arm and straightening the arm; and eighth steering wheel 322 can drive and rotate between forearm casing 41 and the forearm support 423, realizes that forearm casing 41 rotates the effect, and anthropomorphic dummy's forearm pivoted effect makes the arm of preventing people's double-armed robot more nimble.
And the weight-reducing holes 327 are opened on the surfaces of the upper arm shell 31 and the forearm shell 41, so that the weight of the upper arm shell 31 and the forearm shell 41 is reduced, the upper arm shell 31 and the forearm shell 41 can move more flexibly, and the load of the corresponding driving assembly is also reduced.
Referring to fig. 4, the palm driving assembly 52 includes a ninth steering engine 521, a tenth steering engine 522, a wrist support 523, a gear 524, and a chain 525, the wrist support 523 is rotatably connected to the forearm housing 41, the ninth steering engine 521 is disposed in the forearm housing 41, an output shaft of the ninth steering engine 521 is disposed along an X-axis direction, the gear 524 is fixedly connected to an output shaft of the ninth steering engine 521, a gear ring 526 is correspondingly disposed on one side of the wrist support 523, the gear ring 526 and the gear 524 are in transmission connection through the chain 525, the tenth steering engine 522 is fixed in the wrist support 523, the output shaft of the tenth steering engine 522 is disposed along a Z-axis direction, and the palm body 51 is fixedly connected to the tenth steering engine 522.
The gear 524 is driven to rotate by the ninth steering engine 521, and the gear ring 526 on one side of the wrist support 523 is in transmission connection with the gear 524 through the chain 525, so that the gear 524 also drives the wrist support 523 to rotate, the wrist support 523 rotates around the X-axis direction, and the condition that the palm of a human hand swings up and down is simulated; and the tenth steering engine 522 drives the palm body 51 to rotate around the Z-axis, thereby simulating the situation of left-right swinging of the palm of a human.
In the above-mentioned scheme, support frame 10 lower extreme is equipped with supporting seat 11, and supporting seat 11 one-tenth H type structure, and support frame 10 is fixed in supporting seat 11 middle part, can improve the area of support frame 10 and ground contact through supporting seat 11 to provide the holding power all around, make imitative people's double-arm robot have better ground stability.
The utility model provides a humanoid double-arm robot, drive the head casing through the head drive assembly and rotate around Z axle direction, thus realize the operation of turning round, when the head casing rotates around X axle under the effect of head drive assembly, realize the operation of lowering or raising one's head, and when the head casing rotates around Y axle under the effect of head drive assembly, then realize the operation of controlling the yaw, make the head mechanism can better simulate the head motion of people; and upper arm mechanism, forearm mechanism and palm mechanism then constitute imitative human arm structure, utilize upper arm drive assembly, forearm drive assembly and palm drive assembly to drive the upper arm casing respectively, forearm casing and palm body carry out the rotation in the equidirectional not, the different motions of anthropomorphic dummy arm joint to play the different operations of imitative arm, through above-mentioned structure, make the structure of imitative people's double-armed robot simple more light, and the position that corresponds has a plurality of degrees of freedom, thereby realize the drive operation of different actions.
It should be finally noted that the above embodiments are only intended to illustrate the technical solutions of the present invention, and not to limit the scope of the present invention, and although the present invention has been described in detail with reference to the preferred embodiments, it should be understood by those skilled in the art that the technical solutions of the present invention can be modified or replaced with equivalents without departing from the spirit and scope of the technical solutions of the present invention.
Claims (7)
1. A humanoid double-arm robot is characterized by comprising a support frame;
the head mechanism comprises a head shell and a head driving assembly, the head shell is arranged at the upper end of the support frame through the head driving assembly, and the head driving assembly drives the head shell to rotate around the Z-axis, the X-axis and the Y-axis directions;
the upper arm mechanisms are arranged on two sides of the support frame oppositely, each upper arm mechanism comprises an upper arm shell and an upper arm driving assembly, the upper arm shells are connected with the support frame through the upper arm driving assemblies, and the upper arm driving assemblies drive the upper arm shells to rotate around the X-axis direction, the Y-axis direction and the Z-axis direction;
the number of the forearm mechanisms is two, the two forearm mechanisms are respectively correspondingly connected with the two upper arm mechanisms, each forearm mechanism comprises a forearm shell and a forearm driving assembly, the forearm shell is connected with the upper arm shell through the forearm driving assembly, and the forearm driving assembly drives the forearm shell to rotate around the X-axis direction and the Y-axis direction;
palm mechanism, palm mechanism quantity is two, palm mechanism is connected with forearm mechanism, palm mechanism includes palm body and palm drive assembly, palm drive assembly drives the palm body and rotates around X axle and Z axle.
2. The humanoid double-arm robot of claim 1, wherein the head driving assembly comprises a first steering engine, a second steering engine, a third steering engine, a head base, a head rotating support and a neck swinging clamp, the head base is fixed at the upper end of the support frame, the first steering engine is fixed in the head base, an output shaft of the first steering engine is arranged in the Z-axis direction, the head rotating support is rotatably arranged above the head base, an output shaft of the first steering engine is fixedly connected with the head rotating support, the second steering engine is arranged in the head rotating support, an output shaft of the second steering engine is arranged in the X-axis direction, the neck swinging clamp is arranged above the head rotating support, an output shaft of the second steering engine is fixedly connected with the neck swinging clamp, the third steering engine is arranged in the neck swinging clamp, an output shaft of the third steering engine is arranged in the Y-axis direction, and the head shell is fixedly connected with an output shaft of the third steering engine.
3. The humanoid double-arm robot as claimed in claim 1, wherein the upper arm driving assembly comprises a fourth steering engine, a fifth steering engine, a sixth steering engine, a shoulder rotating support, a shoulder output support and an upper arm support, the shoulder rotating support is fixedly connected with the support frame, the fourth steering engine is fixed in the shoulder rotating support, an output shaft of the fourth steering engine is arranged along an X-axis direction, the shoulder output support is rotatably connected with the shoulder rotating support, an output shaft of the fourth steering engine is fixedly connected with the shoulder output support, the fifth steering engine is arranged in the shoulder output support, an output shaft of the fifth steering engine is arranged along a Y-axis direction, the upper arm support is fixedly connected with an output shaft of the fifth steering engine, one end of the upper arm support is rotatably connected with the upper arm shell, the sixth steering engine is fixed in the upper arm shell, and the output shaft of the sixth steering engine is fixedly connected with the upper arm support.
4. The humanoid double-arm robot as claimed in claim 1, wherein the forearm drive assembly comprises a seventh steering engine, an eighth steering engine and a forearm support, the seventh steering engine is fixed at one end of an upper arm shell, an output shaft of the seventh steering engine is arranged along the X-axis direction, the forearm support is fixedly connected with the output shaft of the seventh steering engine, the forearm shell is rotatably connected with the forearm support, the eighth steering engine is fixed in the forearm support, and the output shaft of the eighth steering engine is rotatably connected with the forearm shell.
5. The humanoid two-arm robot as claimed in any one of claims 1, 3 and 4, wherein the upper arm shell and forearm shell are provided with lightening holes on their surfaces.
6. The humanoid double-arm robot of claim 1, wherein the palm driving assembly comprises a ninth steering engine, a tenth steering engine, a wrist support, a gear and a chain, the wrist support is rotatably connected with the forearm shell, the ninth steering engine is arranged in the forearm shell, an output shaft of the ninth steering engine is arranged along an X-axis direction, the gear is fixedly connected with an output shaft of the ninth steering engine, a gear ring is correspondingly arranged on one side of the wrist support, the gear ring and the gear are connected through chain transmission, the tenth steering engine is fixed in the wrist support, an output shaft of the tenth steering engine is arranged along a Z-axis direction, and the palm body is fixedly connected with the tenth steering engine.
7. The humanoid two-arm robot as claimed in claim 1, wherein the support frame is provided at a lower end thereof with a support base having an H-shaped configuration, the support frame being fixed to a middle portion of the support base.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202222697543.6U CN218452971U (en) | 2022-10-13 | 2022-10-13 | Humanoid double-arm robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202222697543.6U CN218452971U (en) | 2022-10-13 | 2022-10-13 | Humanoid double-arm robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN218452971U true CN218452971U (en) | 2023-02-07 |
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ID=85127250
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202222697543.6U Active CN218452971U (en) | 2022-10-13 | 2022-10-13 | Humanoid double-arm robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN218452971U (en) |
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2022
- 2022-10-13 CN CN202222697543.6U patent/CN218452971U/en active Active
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