WO2009082873A1 - Spinal frame for robot - Google Patents

Spinal frame for robot Download PDF

Info

Publication number
WO2009082873A1
WO2009082873A1 PCT/CN2008/001042 CN2008001042W WO2009082873A1 WO 2009082873 A1 WO2009082873 A1 WO 2009082873A1 CN 2008001042 W CN2008001042 W CN 2008001042W WO 2009082873 A1 WO2009082873 A1 WO 2009082873A1
Authority
WO
WIPO (PCT)
Prior art keywords
lower
upper
spine
robot
beam
Prior art date
Application number
PCT/CN2008/001042
Other languages
French (fr)
Chinese (zh)
Inventor
Hingfai Chan
Original Assignee
The World Models Manufacturing Co., Ltd.
Robobrothers Company Limited
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Priority to CN200720302522.2 priority Critical
Priority to CNU2007203025222U priority patent/CN201135778Y/en
Application filed by The World Models Manufacturing Co., Ltd., Robobrothers Company Limited filed Critical The World Models Manufacturing Co., Ltd.
Publication of WO2009082873A1 publication Critical patent/WO2009082873A1/en

Links

Classifications

    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J5/00Manipulators mounted on wheels or on carriages
    • AHUMAN NECESSITIES
    • A63SPORTS; GAMES; AMUSEMENTS
    • A63HTOYS, e.g. TOPS, DOLLS, HOOPS, BUILDING BLOCKS
    • A63H11/00Self-movable toy figures

Abstract

A spinal frame for robot comprises an upper trunk (1), a lower trunk (3), an axis (4) and a boss (2). The upper trunk (1) and the lower trunk (3) are sleeved on the axis (4) respectively and are separated by the boss (2) which is also sleeved on the axis (4).

Description

BACKGROUND spinal architecture for robot according to the present invention relates to a spinal frame for a robot, and more particularly, to a robot capable of constituting the trunk and the spine mounting frame on which the robot head, wherein with respect to the upper and lower portions between the torso and the head portion being mounted for rotation with each other. BACKGROUND robots around the world have been people of all ages love. However, currently available on the market typically using digital robot servo system to control the movement of each part of the robot, and in order to support and share the load of the robot, the robot framework spine is generally made of aluminum and a complicated structure. Because of these factors, the robot cost of the prior art is expensive, but makes a lot of favorite robot in Nang people shy afford to buy robots. SUMMARY OF THE INVENTION To solve the above drawbacks has been conceived in the present invention. According to the present invention it was Gen spine framework for the robot frame by at least one composition, comprising a central axis of the spine frame and pivotably disposed in the upper torso and the lower torso of the shaft. Preferably, the upper torso and lower torso are "I" shaped frame. Preferably, the upper torso and lower torso includes an upper beam, respectively, intermediate, and lower beam, an upper beam, intermediate, and lower beam has a shaft hole, respectively, and passing through the shaft hole axis and the upper beam, intermediate, and the lower beam is connected to the lower torso or upper torso. Preferably, the intermediate case with a rectangular cavity, the main and upper walls disposed around the main wall, lower wall, left and right walls constituting the shaft hole provided on intermediate and lower walls . Preferably, the beam upper torso bent upwardly bent portion formed at both ends of the bent portion and each having a first through-hole in the right-left direction, the lower beam formed by being bent downwardly the upper torso is bent at both ends portion, and the upper and lower beams with respect to both sides of the central axis each have a respective second through holes from each other. Preferably, the main wall of the intermediate upper torso near the top thereof and the upper beam relative to the central axis substantially

1 P19044 at a position corresponding to a circular opening. Preferably, the upper and lower beams of the lower torso elongated sheet-like body, both end portions of the sheet-like member having a respective through respectively Preferably, the main wall of the intermediate has a relatively lower torso near its upper beam at the top of to the central axis of the oblong openings symmetrical to each other. Preferably, the sleeve further comprises a central axis, provided in the sleeve shaft and positioned between the upper torso and the lower torso. Preferably, the end portion located at one side of the upper torso of the flat cut portion having a central axis, an end portion of the trunk is fastened in the lower side of the central axis of the nut, the upper torso support nut, the sleeve, and the lower torso . The present invention through the novel design of the robot such that the spine frame using cheaper good analog servo control becomes possible, and due to the new frame spine structure can better support the robot and makes it possible to share the load of glass reinforced plastic (glass reinforce plastic) instead of aluminum produced spine robot framework, thereby further reducing manufacturing costs. BRIEF DESCRIPTION OF THE DRAWINGS described in more detail in conjunction with the present invention the robot frame according to the spine. FIG. 1 is a perspective view of the spine frame according to the present invention is a robot. 2 is a front view of a spine of the frame of the robot according to the invention. FIG 3 is a rear view of the spine of the robot frame according to the present invention. DETAILED DESCRIPTION Figures 1 to 3 in combination it can be seen the spine framework for robot ^ § preferred embodiment of the present invention comprises an upper region of dry, dry lower zone 3, the axis 4 and the sleeve 2, wherein, 4 an upper region and a lower torso dry 1 2 4 set on the central axis 2 and are spaced apart by the same set on the central axis 4 of the sleeve. 4 seen from the figure the upper region and a lower dry 1 4 3 showed substantially dry zone "I" form. An upper torso and lower torso 3 each include an upper beam 11, 31, intermediates 12, 32, 13 and the lower beam 33, the beam, intermediate, and lower beam has a shaft hole, respectively, and passing through the shaft axis 4 hole

2 P19044 and the 13, 33 connected to the beam 11, 31, intermediates 12, 32, and the lower beam, an upper region of dry 1 4 3 or lower torso. Can be seen in conjunction with FIG. 3, Intermediate 12, 32 is a rectangular box body having a cavity, comprising four vertical walls and a left and right main wall. Dagger shaft disposed on He rectangular box opposite upper and lower walls 14, 15. Upper torso on the beam 111 at both ends bent upwardly bent portion 111 is formed, and the bent portion 112 111, 112 each having a left-right direction through a first 113, 114, dry upper zone 13 of the lower beam 1 both ends of the folded portions formed by bending downwardly, and the upper and lower beams 11, 13 on both sides of the center axis with respect to each other each having a respective second through holes 115, 116, 117 and 118. Intermediate upper torso 121 of the main wall 1 near its 12 above the upper beam 11 and having a substantially circular opening at a position corresponding to the central axis 4122, the main wall 121 is provided with a plurality of screw holes 123. 3 the lower torso upper beam 31 and lower beam 33 is an elongated sheet-like bodies, each sheet body having entry should pass across the larvae L 331, 332, 311, 312. Lower torso of the main wall 32 of the intermediate 321 near its 3 above the upper beam 31 and at symmetrical positions with respect to each other in the central axis 4 having an oblong opening 322, 323. 4 located at the upper end region of the dry side of the central axis 1 has four flat portions 41 cut. Fastening end portion in the lower side of the torso 3 of the central axis 4 of the nut 42, the nut 42 is secured to support upper region dry 1, the sleeve 2, and a lower zone 3 dry. By having the above spine frame structure for a robot, so that the two analog servo system can be mounted between the upper torso of a beam and a lower beam 13 and 11 respectively disposed on both sides of the central axis 4, and may be in a similar manner two additional servo system is installed between the lower torso of the upper beam 3 and the lower beam 33 and 31 respectively disposed on both sides of the central axis 4. Since the upper region of dry 1 4 4 Dry region 3 and the lower intermediate intervals embodiment 4 of the sleeve 2 is connected to the rotation axis region 4, 4 so that the upper region and a lower region of one thousand dry 1 2 can rotate relative to each other, i.e. He said rotating robot waist can be achieved. Further, an upper portion having a central axis 4 of the flat cut portion, to facilitate the robot head (not shown) fixed to the head mounted on the shaft 4. Upper torso pivotally mounted on the crankshaft 4 is mounted between the head 1 and the shaft 4 relative rotation may occur. It is only because the present invention Gen spine frame having a specific structure as described above, such that the spine

3 P19044 architecture can better support a load and to assume the robot, which can use a glass-reinforced plastic instead of aluminum to the prior art to manufacture the frame and the spine of the tubular structure, thus reducing manufacturing costs and _ according to the present invention the new specific structure of the spine so that the head frame of the robot (not shown), an upper torso and lower torso relative rotation between 3 and can be implemented using analog servo system to control the relative rotation between these members, thereby further reducing the cost. Although the present invention has been described with preferred embodiments, those skilled in the art should appreciate that without departing from the appended claims and their equivalents of the present invention from the spirit and scope thereof as defined may be made modifications and substitutions.

4 P 19044

Claims

Claims
A framework for a robot spine, the spine frame composed of at least one frame, wherein said frame comprises an upper spine axis 4 and pivotally disposed in said shaft District 4 district and lower dry dry.
2. A frame according to claim spine of the robot 1, wherein the upper region and the lower region of dry dry both "I" shaped frame.
3. A frame according to claim spine of the robot 2, wherein said upper torso and said lower torso includes an upper beam, respectively, intermediate, and lower beam, said upper beam, said intermediate body, and said lower beam has a shaft hole, respectively, and the central axis of the beam and, on the said intermediate shaft through said bore, and said beams are connected to the lower or the upper torso the lower area dry.
According to claim 3 for the spine robot frame, wherein said intermediate is a rectangular box body having a cavity, the wall is provided by a main wall and surrounding the main wall, a lower wall , constituting left and right walls, the shaft hole is provided on said intermediate said upper wall and said lower wall.
The frame 4 of the spine for the robot as claimed in claim, characterized in that the beam formed by being bent upward at both ends of the bent portion of the upper torso and the upper portions are folded along a first through hole of the left and right direction, the beam at both ends downwardly bent portion formed by bending the upper portion of the lower stem region, and the upper beam and the lower beam with respect to said central axis of the two each side having a respective second through holes from each other.
The frame 5 of the spine for a robot as claimed in claim wherein said upper zone of said dry intermediate main wall has a circular opening at a position substantially corresponding to said central axis .
The frame 4 of the spine for the robot as claimed in claim, wherein both ends of the beam and the lower beam on the lower torso respectively having through-holes corresponding to the.
8. A frame according to claim 7 spine robot, characterized in that the main wall of the intermediate lower torso having oblong openings symmetrical to each other with respect to said central axis.
5 P19044
9. A frame according to claim spine of the robot 1, wherein said sleeve further comprises a central axis, a sleeve disposed in the shaft and located in said upper region of dry and ^ .. the lower zone between the dry.
10. A frame according to claim spine of the robot 1, wherein, said central axis located at one side of the upper end portion 4 has a flat region dry cutting portion, said central axis located on one side of the end portion of the lower torso fastened a nut secured to the upper region of the dry supported, the sleeve 4 and the lower region dryness.
6 P 19044
PCT/CN2008/001042 2007-12-29 2008-05-28 Spinal frame for robot WO2009082873A1 (en)

Priority Applications (2)

Application Number Priority Date Filing Date Title
CN200720302522.2 2007-12-29
CNU2007203025222U CN201135778Y (en) 2007-12-29 2007-12-29 Backbone frame for robot

Publications (1)

Publication Number Publication Date
WO2009082873A1 true WO2009082873A1 (en) 2009-07-09

Family

ID=40036466

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/CN2008/001042 WO2009082873A1 (en) 2007-12-29 2008-05-28 Spinal frame for robot

Country Status (3)

Country Link
CN (1) CN201135778Y (en)
HK (1) HK1114738A2 (en)
WO (1) WO2009082873A1 (en)

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP6104867B2 (en) * 2014-09-19 2017-03-29 Thk株式会社 Robot upper half of the body of the support structure

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
GB2115968A (en) * 1982-01-09 1983-09-14 Derek Anthony Nichols An animated display device
US5176560A (en) * 1991-08-26 1993-01-05 Wetherell Joseph J Dancing doll
CN2278256Y (en) * 1996-11-19 1998-04-08 王荣兴 Advertisement robot
JP2003271243A (en) * 2002-03-18 2003-09-26 Advanced Telecommunication Research Institute International Communication robot

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
GB2115968A (en) * 1982-01-09 1983-09-14 Derek Anthony Nichols An animated display device
US5176560A (en) * 1991-08-26 1993-01-05 Wetherell Joseph J Dancing doll
CN2278256Y (en) * 1996-11-19 1998-04-08 王荣兴 Advertisement robot
JP2003271243A (en) * 2002-03-18 2003-09-26 Advanced Telecommunication Research Institute International Communication robot

Also Published As

Publication number Publication date
HK1114738A2 (en) 2008-11-07
CN201135778Y (en) 2008-10-22

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