CN219685628U - Upper limb yaw direction control structure of humanoid robot - Google Patents
Upper limb yaw direction control structure of humanoid robot Download PDFInfo
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- CN219685628U CN219685628U CN202320461814.XU CN202320461814U CN219685628U CN 219685628 U CN219685628 U CN 219685628U CN 202320461814 U CN202320461814 U CN 202320461814U CN 219685628 U CN219685628 U CN 219685628U
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- yaw direction
- direction control
- support
- push rod
- upper limb
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- 210000001364 upper extremity Anatomy 0.000 title claims abstract description 16
- 230000002093 peripheral effect Effects 0.000 claims abstract description 8
- 230000003014 reinforcing effect Effects 0.000 claims description 5
- 230000033001 locomotion Effects 0.000 abstract description 6
- 230000005540 biological transmission Effects 0.000 abstract description 3
- 238000010586 diagram Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000002787 reinforcement Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
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Abstract
The utility model discloses a humanoid robot upper limb yaw direction control structure in the field of humanoid robots, which comprises a support backboard, wherein a middle support plate is arranged below the support backboard, peripheral support rods are arranged on two sides above the middle support plate and two ends of the support backboard, and a shoulder support shell is arranged on one side wall of the support backboard. According to the utility model, the sliding block can be pushed to rotate and slide in the sliding groove on the arm rotating power assembly shell by the yaw direction control push rod, and meanwhile, the arm rotating power assembly is pushed to rotate along the shoulder supporting shell, so that the yaw direction control of the robot large arm assembly can be realized, the movement of the robot is more vivid, the yaw direction control push rod is fixedly arranged on the middle supporting plate, and telescopic transmission can be realized by matching the sliding block and the sliding groove, the structure is firmer and more reliable, and the yaw direction control of the robot large arm assembly can be ensured to be more stable.
Description
Technical Field
The utility model relates to the field of humanoid robots, in particular to a humanoid robot upper limb yaw direction control structure.
Background
When the humanoid robot moves, in order to ensure that the movement is more vivid, an upper limb movement control structure in multiple directions is generally arranged, when the upper limb yaw direction of the robot is controlled, the two ends of a push rod in the existing power structure are mostly hinged, the push rod has a larger movable gap, and the adjustment is not stable enough, so that the adjustment precision control effect is poor. Therefore, a person skilled in the art provides a control structure for the yaw direction of the upper limb of the humanoid robot to solve the problems set forth in the background art.
Disclosure of Invention
The utility model aims to provide a control structure of a humanoid robot in the yaw direction of an upper limb, so as to solve the problems in the prior art.
In order to achieve the above purpose, the present utility model provides the following technical solutions:
the utility model provides a humanoid robot upper limbs yaw direction control structure, includes the support backplate, support the backplate below and be provided with the middle part backup pad, middle part backup pad top both sides with support backplate both ends and all be provided with peripheral bracing piece, be provided with shoulder support casing on the support backplate lateral wall, the inside rotation of shoulder support casing is connected with the rotatory power component of arm, install the big arm subassembly of robot on the output shaft of the rotatory power component of arm, the spout has been seted up on the shell one side of the rotatory power component of arm, the inside sliding connection of spout has the slider, the slider with install yaw direction control push rod between the middle part backup pad top both sides, the flexible end of yaw direction control push rod with be provided with the round pin axle between the slider.
As a further scheme of the utility model: the end face of the sliding groove is of a T-shaped structure, the sliding block is of a T-shaped structure and is in sliding connection with the sliding groove, and the sliding block is in rotary connection with the control push rod in the yaw direction through a pin shaft.
As a further scheme of the utility model: the yaw direction control push rod is connected with the middle support plate through screws, and the support backboard, the middle support plate and the two peripheral support rods are connected through screws.
As a further scheme of the utility model: and a middle reinforcing connecting rod is connected between the middle part above the middle supporting plate and the shoulder supporting shell through a screw.
As a further scheme of the utility model: the middle support plate is positioned on two sides of the middle reinforcing connecting rod, through holes for the passage of lines and pipelines are formed in the middle support plate, and the yaw direction control push rod is a self-locking push rod.
As a further scheme of the utility model: the support backboard is connected with the shoulder support shell through screws.
Compared with the prior art, the utility model has the beneficial effects that:
according to the utility model, the sliding block can be pushed to rotate and slide in the sliding groove on the arm rotating power assembly shell by the yaw direction control push rod, and meanwhile, the arm rotating power assembly is pushed to rotate along the shoulder supporting shell, so that the yaw direction control of the robot large arm assembly can be realized, the movement of the robot is more vivid, the yaw direction control push rod is fixedly arranged on the middle supporting plate, and telescopic transmission can be realized by matching the sliding block and the sliding groove, the structure is firmer and more reliable, and the yaw direction control of the robot large arm assembly can be ensured to be more stable.
Drawings
FIG. 1 is a schematic diagram of the structure of the present utility model;
FIG. 2 is a rear view block diagram of the present utility model;
FIG. 3 is a view showing the connection of the yaw control push rod and the arm rotation power assembly according to the present utility model;
fig. 4 is a cross-sectional view of the connection part of the yaw control push rod and the arm rotation power assembly according to the present utility model.
In the figure: 1. a support back plate; 2. a middle support plate; 3. a peripheral support bar; 4. a shoulder support housing; 5. a robotic boom assembly; 6. a push rod is controlled in the yaw direction; 7. a connecting rod is reinforced at the middle part; 8. an arm rotation power assembly; 801. a chute; 9. a slide block; 10. and a pin shaft.
Detailed Description
The following description of the embodiments of the present utility model will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present utility model, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the utility model without making any inventive effort, are intended to be within the scope of the utility model.
Referring to fig. 1 to 4, in the embodiment of the utility model, an upper limb yaw direction control structure of a humanoid robot comprises a support backboard 1, a middle support board 2 is arranged below the support backboard 1, peripheral support rods 3 are respectively arranged at two sides above the middle support board 2 and two ends of the support backboard 1, a shoulder support shell 4 is arranged on one side wall of the support backboard 1, an arm rotating power assembly 8 is rotatably connected inside the shoulder support shell 4, a robot big arm assembly 5 is mounted on an output shaft of the arm rotating power assembly 8, a sliding groove 801 is formed on one side of a shell of the arm rotating power assembly 8, a sliding block 9 is slidably connected inside the sliding groove 801, a yaw direction control push rod 6 is mounted between the sliding block 9 and two sides above the middle support board 2, and a pin shaft 10 is arranged between a telescopic end of the yaw direction control push rod 6 and the sliding block 9.
The end face of the sliding groove 801 is of a T-shaped structure, the sliding block 9 is in sliding connection with the sliding groove 801, and the sliding block 9 is in rotary connection with the yaw direction control push rod 6 through the pin shaft 10.
Through adopting above-mentioned technical scheme, can promote the spout 801 inside rotation and the slip of slider 9 on the 8 shells of arm rotation power pack through the 6 push rod of yaw direction control, promote the 8 inside rotations of arm rotation power pack along shoulder support casing 4 simultaneously, can realize the yaw direction control to the big arm assembly 5 of robot for the motion of robot is more lifelike, and through 6 fixed mounting of yaw direction control push rod on middle part backup pad 2, and can flexible transmission through slider 9 and spout 801 cooperation, the structure is firm more reliable, can ensure that the yaw direction control to the big arm assembly 5 of robot is more stable.
Wherein, the yaw direction control push rod 6 passes through the screw connection with middle part backup pad 2, and support backplate 1 and middle part backup pad 2 all pass through the screw connection with two peripheral bracing pieces 3, have middle part reinforcement connecting rod 7 through the screw connection between middle part and the shoulder support casing 4 of middle part backup pad 2 top.
According to the technical scheme, the waist of the robot is arranged in the hollow mode, so that the battery, the controller and other components can be conveniently arranged in the waist, and the robot is attractive and more air-friendly.
The through holes for the passage of the line and the pipeline are formed in the two sides of the middle reinforcing connecting rod 7 on the middle supporting plate 2, the yaw direction control push rod 6 is a self-locking push rod, and the locking can be ensured to be more stable after the adjustment in each yaw direction.
In this embodiment, the support back plate 1 is connected to the shoulder support housing 4 by screws.
The working principle of the utility model is as follows: when the control structure works, the sliding block 9 can be pushed to rotate and slide in the sliding groove 801 on the outer shell of the arm rotating power assembly 8 through the yaw direction control push rod 6, meanwhile, the arm rotating power assembly 8 is pushed to rotate along the inner part of the shoulder supporting shell 4, yaw direction control on the robot large arm assembly 5 can be achieved, and the movement of the robot is more vivid.
The foregoing is only a preferred embodiment of the present utility model, but the scope of the present utility model is not limited thereto, and any person skilled in the art, who is within the scope of the present utility model, should make equivalent substitutions or modifications according to the technical scheme of the present utility model and the inventive concept thereof, and should be covered by the scope of the present utility model.
Claims (6)
1. The utility model provides a humanoid robot upper limbs yaw direction control structure, includes support backplate (1), its characterized in that: the utility model discloses a robot is characterized by comprising a support backplate (1), support backplate (1) below is provided with middle part backup pad (2), middle part backup pad (2) top both sides with support backplate (1) both ends all are provided with peripheral bracing piece (3), be provided with shoulder support casing (4) on support backplate (1) lateral wall, shoulder support casing (4) inside rotation is connected with arm rotation power component (8), install big arm subassembly (5) of robot on the output shaft of arm rotation power component (8), spout (801) have been seted up on shell one side of arm rotation power component (8), spout (801) inside sliding connection has slider (9), slider (9) with install yaw direction control push rod (6) between middle part backup pad (2) top both sides, the flexible end of yaw direction control push rod (6) with be provided with round pin axle (10) between slider (9).
2. The upper limb yaw direction control structure of the humanoid robot according to claim 1, wherein: the end face of the sliding groove (801) is of a T-shaped structure, the sliding block (9) is in sliding connection with the sliding groove (801), and the sliding block (9) is in rotary connection with the yaw direction control push rod (6) through a pin shaft (10).
3. The upper limb yaw direction control structure of the humanoid robot according to claim 1, wherein: the yaw direction control push rod (6) is connected with the middle support plate (2) through screws, and the support backboard (1) and the middle support plate (2) are connected with the two peripheral support rods (3) through screws.
4. The upper limb yaw direction control structure of the humanoid robot according to claim 1, wherein: and a middle reinforcing connecting rod (7) is connected between the middle part above the middle supporting plate (2) and the shoulder supporting shell (4) through a screw.
5. The upper limb yaw direction control structure of the humanoid robot according to claim 4, wherein: the middle support plate (2) is positioned on two sides of the middle reinforcing connecting rod (7) and is provided with through holes for a line and a pipeline to pass through, and the yaw direction control push rod (6) is a self-locking push rod.
6. The upper limb yaw direction control structure of the humanoid robot according to claim 1, wherein: the support backboard (1) is connected with the shoulder support shell (4) through screws.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202320461814.XU CN219685628U (en) | 2023-03-13 | 2023-03-13 | Upper limb yaw direction control structure of humanoid robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202320461814.XU CN219685628U (en) | 2023-03-13 | 2023-03-13 | Upper limb yaw direction control structure of humanoid robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN219685628U true CN219685628U (en) | 2023-09-15 |
Family
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202320461814.XU Active CN219685628U (en) | 2023-03-13 | 2023-03-13 | Upper limb yaw direction control structure of humanoid robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN219685628U (en) |
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2023
- 2023-03-13 CN CN202320461814.XU patent/CN219685628U/en active Active
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