CN106985149A - Robot of a kind of half body robot and remote control half body - Google Patents

Abstract

The invention provides a kind of half body robot and remote control half body robot, belong to robot field, wherein half body robot completes head flexible motion by head rotation component and head tilting component, arm is divided into shoulder, large arm, forearm and palm, multiple transmission components are provided between each position to improve the free degree, trunk is provided with trunk tilting component and trunk runner assembly so that trunk motion is closer biological, whole half body robot has good flexibility, can complete various exceedingly difficult movements.Remote control half body robot includes wireless launcher and half body robot, and the motion of half body robot can be controlled by wireless launcher.

Description

Robot of a kind of half body robot and remote control half body

Technical field

The present invention relates to robot field, in particular to a kind of half body robot and remote control half body robot.

Background technology

By the interaction of robot and the mankind in recreation ground, the attention and aggregation for obtaining swimming player are tended to.But mesh Robot motion in preceding recreation ground is single, stiff, after a moment of trip player stops, and will cause trip player produces to be sick of Sense, and pass into silence in corners.In order to allow robot to obtain swimming the attention of player long in recreation ground borough chief, it must improve The freedom of motion of robot, to improve the flexibility of robot.

The content of the invention

The invention provides a kind of half body robot, it is intended to solves a kind of half body robot and remote control half body in the prior art The above mentioned problem that robot is present.

What the present invention was realized in：

A kind of half body robot, it includes head, neck, arm, trunk and waist；

The head is hinged with the neck, and the neck is rotated with the trunk and is connected, and the neck is provided with head Tilting component, the head tilting component controls the head to carry out pitching；

The arm includes arm main body and shoulder, and the shoulder is rotated with the trunk side and is connected, the arm master Body is hinged with side of the shoulder away from the trunk；

The waist includes trunk runner assembly and lumbar frame, and the trunk includes trunk framework and trunk hinged seat, The trunk hinged seat and the trunk frame articulation, the lumbar frame are rotated with the trunk hinged seat and are connected, the body Dry runner assembly can drive the trunk articulated section to rotate；

The trunk also includes head rotation component, trunk tilting component and component of rolling over, the head rotation group Part, the trunk tilting component and the component of rolling over are fixedly linked with the trunk framework, the head rotation group Part can control the head rotation；One end of the trunk tilting component is hinged with the trunk hinged seat, the other end with it is described Trunk framework is slidably connected.

In preferred embodiments of the present invention, the trunk tilting component includes trunk pitching actuator and sliding platform, The sliding platform includes the first side and the second side being oppositely arranged, and first side connects with the Slideslip of trunk framework one Connect, second side is slidably connected with the trunk framework opposite side, the sliding platform also include connecting first side and 3rd side of second side, described trunk pitching actuator one end is hinged with the 3rd side, and the other end is cut with scissors with the trunk Joint chair is hinged.

In preferred embodiments of the present invention, the neck includes first neck articulated elements and second neck articulated elements, institute First neck articulated elements is stated to be fixedly linked with described head one end, the one end of the first neck articulated elements away from the head with The described one end of second neck articulated elements away from the trunk is hinged by neck jointed shaft, and the head tilting component includes head Portion's pitching actuator, first bevel gear and second bevel gear, the first bevel gear are fixed on the head pitching actuator Output end, the second bevel gear and the neck jointed shaft are coaxial and are fixedly connected, the neck jointed shaft and described first Neck articulated elements is fixedly connected.

In preferred embodiments of the present invention, the head rotation component includes head rotation actuator and head rotation is passed Moving part, the head actuator shell is fixedly connected with the trunk framework, and the head rotation actuator turns with the head The input of dynamic driving member is fixedly connected, and the second neck articulated elements is fixedly connected with the output end of head rotation driving member.

In preferred embodiments of the present invention, the trunk runner assembly includes trunk rotating drive part and trunk is rotated and passed Moving part, the trunk rotates driving member one end and is fixedly connected with the trunk hinged seat, and the other end is rotated with the trunk and driven Part is hinged, and the trunk rotating drive part can drive the trunk to rotate driving member and drive the trunk hinged seat rotation.

In preferred embodiments of the present invention, side of the shoulder away from the arm main body is fixedly installed rotation and prolonged The first motor is fixedly installed in extending portion, the trunk main body, first motor leads to the rotation extension The connection of the first driving section is crossed, first motor can be the rotation extension delivery of torque.

In preferred embodiments of the present invention, the second motor, the arm main body are fixedly installed on the shoulder It is hinged with side of the shoulder away from the trunk, the export head of second motor and being hinged for the arm main body Point is connected by the second driving section, and second motor can drive the arm main body to be rotated with pin joint.

In preferred embodiments of the present invention, the arm main body includes large arm, forearm and palm；

The large arm is rotated with the one end of the shoulder away from the rotation extension and is connected, and is provided with the large arm big Arm rotary electric machine, the large arm rotary electric machine can drive the large arm and the shoulder to relatively rotate；

The one end of the large arm away from the shoulder is hinged with the forearm by forearm hinge bar, and the large arm is away from institute The one end for stating shoulder is provided with forearm oscillating motor, and the motor termination is provided with third hand tap gear, the forearm hinge bar It is provided with the 4th coaxial bevel gear, the third hand tap gear and the 4th bevel gear engagement；

The palm is hinged with the one end of the forearm away from the large arm.

In preferred embodiments of the present invention, the arm of the half body robot is two, two arms pair Claim to set, the rotation extension of two arms is coaxial.

A kind of remote control half body robot, it includes wireless launcher, processing system and above-mentioned half body robot；

The processing system and the head rotation component, the head tilting component, it is described roll over component and The trunk runner assembly electrical connection；

The processing system can receive and handle the signal of the wireless launcher transmitting.

The beneficial effects of the invention are as follows：The half body robot provided by the present invention, can complete the action of Various Complex, The rotation and swing on the pitching and rotation of such as trunk, the rotation and swing of hand, and head, the free degree are very high.More accord with Close biokinetics so that half body robot is remarkably true to life.In the case of engagement head, hand concrete structure, extremely approach True man move.Additionally by the reasonable layout of the position of each transmission component, the list of half body robot is realized in the leg that can be saved Solely running, or it is fabricated to the children's stories such as half forces biology.The remote control half body robot provided by the present invention, can also be by wirelessly sending out Injection device, is remotely controlled to half body robot, required movement is completed by staff, to reach the purpose with audience interaction.

Brief description of the drawings

In order to illustrate more clearly of the technical scheme of embodiment of the present invention, it will use below required in embodiment Accompanying drawing be briefly described, it will be appreciated that the following drawings illustrate only certain embodiments of the present invention, therefore be not to be seen as It is the restriction to scope, for those of ordinary skill in the art, on the premise of not paying creative work, can be with root Other related accompanying drawings are obtained according to these accompanying drawings.

Fig. 1 is a kind of structural representation for half body robot that the embodiment of the present invention one is provided；

Fig. 2 is the structural representation at the first visual angle of waist in Fig. 1；

Fig. 3 is the structural representation at the second visual angle of waist in Fig. 1；

Fig. 4 is the structural representation at head and the first visual angle of neck in Fig. 1；

Fig. 5 is the structural representation at head and the second visual angle of neck in Fig. 1；

Fig. 6 is the structural representation of arm in Fig. 1；

Fig. 7 is a kind of structural representation for remote control half body robot that the embodiment of the present invention two is provided.

Icon：001- half bodies robot；002- remote control half bodies robot；010- heads；020- necks；021- first necks Articulated elements；023- second neck articulated elements；025- neck jointed shafts；030- trunks；040- waists；050- arms；060- is wireless Emitter；110- heads tilting component；The motors of 111- first；113- first bevel gears；115- second bevel gears；130- heads Runner assembly；The motors of 131- second；310- trunk frameworks；311- the first side walls；313- second sidewalls；At the top of 315-；317- bodies Dry hinged seat；319- chutes；330- trunk tilting components；The hydraulic stems of 331- second；333- sliding platforms；410- lumbar frames； 430- trunk runner assemblies；431- trunk rotating drive parts；433- trunks rotate driving member；4331- trunks connection end；4333- Trunk rotary shaft；4335- driving members connection end；4337- is hinged projection；The hydraulic stems of 435- first；510- shoulders；511-, which is rotated, to be prolonged Extending portion；The motors of 513- first；The driving sections of 515- first；The motors of 517- second；The driving sections of 519- second；530- is big Arm；531- large arm rotary electric machines；533- forearm oscillating motors；535- third hand tap gears；550- forearms；551- forearm hinge bars； The bevel gears of 553- the 4th；570- palms；571- metacarpus；573- fingers；590- arm hinged seats.

Embodiment

To make the purpose, technical scheme and advantage of embodiment of the present invention clearer, below in conjunction with present invention implementation Accompanying drawing in mode, the technical scheme in embodiment of the present invention is clearly and completely described, it is clear that described reality The mode of applying is a part of embodiment of the invention, rather than whole embodiments.Based on the embodiment in the present invention, ability The every other embodiment that domain those of ordinary skill is obtained under the premise of creative work is not made, belongs to the present invention The scope of protection.Therefore, the detailed description of embodiments of the present invention below to providing in the accompanying drawings, which is not intended to limit, wants The scope of the present invention of protection is sought, but is merely representative of the selected embodiment of the present invention.Based on the embodiment in the present invention, The every other embodiment that those of ordinary skill in the art are obtained under the premise of creative work is not made, belongs to this Invent the scope of protection.

In the description of the invention, it is to be understood that the term of indicating position or position relationship is based on shown in accompanying drawing Orientation or position relationship, be for only for ease of the description present invention and simplify description, rather than indicate or imply signified equipment Or element there must be specific orientation, with specific azimuth configuration and operation, therefore it is not considered as limiting the invention.

In the present invention, unless otherwise clearly defined and limited, term " installation ", " connected ", " connection ", " fixation " etc. Term should be interpreted broadly, for example, it may be fixedly connected or be detachably connected, or integrally；Can be that machinery connects Connect or electrically connect；Can be joined directly together, can also be indirectly connected to by intermediary, can be in two elements The connection in portion or the interaction relationship of two elements.For the ordinary skill in the art, can be according to specific feelings Condition understands the concrete meaning of above-mentioned term in the present invention.

In the present invention, unless otherwise clearly defined and limited, fisrt feature can be with or below second feature Directly contacted including the first and second features, can also include the first and second features not be direct contact but by them it Between other characterisation contact.Moreover, fisrt feature is on second feature, top and above to include fisrt feature special second Directly over levying and oblique upper, or fisrt feature level height is merely representative of higher than second feature.Fisrt feature second feature it Under, lower section and fisrt feature included below are immediately below second feature and obliquely downward, or are merely representative of fisrt feature level height Less than second feature.

Embodiment one

A kind of half body robot 001 is present embodiments provided, referring to Fig. 1, this half body robot 001 includes head 010th, neck 020 and trunk 030.

Fig. 1, Fig. 4 and Fig. 5 are referred to, neck 020 includes first neck articulated elements 021 and second neck articulated elements 023, the One neck articulated elements 021 and second neck articulated elements 023 are hinged by neck jointed shaft 025, the two ends of neck jointed shaft 025 with First neck articulated elements 021 is fixed, and the neck of first neck articulated elements 021 and second can be driven by jointed shaft 025 of rolling the neck Portion's articulated elements 023 is relatively rotated.Head 010 is fixed with one side of the first neck articulated elements 021 away from second neck articulated elements 023 Connection, the one end of second neck articulated elements 023 away from first neck articulated elements 021 is rotated by bearing with trunk 030 and is connected.

Neck 020 also includes head tilting component 110, and head tilting component 110 includes the pitching actuator of head 010, the One bevel gear 113 and second bevel gear 115.Second bevel gear 115 is coaxial and is fixedly installed on neck jointed shaft 025, head 010 pitching actuator is fixedly installed on second neck articulated elements 023, and the pitching actuator of head 010 is the in the present embodiment One motor 111, the export head of the first motor 111 is vertical with neck jointed shaft 025, is provided with the output shaft of the first motor 111 First bevel gear 113, first bevel gear 113 and second bevel gear 115 are engaged.

Referring to Fig. 1, trunk 030 includes trunk framework 310, trunk framework 310 includes the first side wall 311 being oppositely arranged With second sidewall 313, and connection the first side wall 311 and second sidewall 313 roof, in one side of the roof away from head 010 Head rotation component 130 is installed with, head rotation component 130 includes the rotating drive part of head 010 and head 010 rotates and passed Moving part (not shown), the rotating drive part of head 010 is the second motor 131, the output of the second motor 131 in the present embodiment Head rotates driving member by head 010 by gear and second neck articulated elements 023 and connected, and it is tooth that head 010, which rotates driving member, Wheel group, the cooperation that driving member is rotated by the second motor 131 and head 010 can be the transfer of torque of second neck articulated elements 023 Second neck articulated elements 023 is driven to be rotated relative to trunk 030, rotary shaft and the neck jointed shaft 025 of second neck articulated elements 023 Vertically.

Fig. 1, Fig. 2 and Fig. 3 are referred to, this half body robot 001 also includes waist 040, and waist 040 includes waist 040 Framework and trunk runner assembly 430, trunk 030 also include trunk hinged seat 317, and trunk hinged seat 317 is cut with scissors with trunk framework 310 Connect, trunk hinged seat 317 is parallel with neck jointed shaft 025 with the jointed shaft of trunk framework 310.Trunk runner assembly 430 includes Trunk rotating drive part 431 and trunk rotate driving member 433, and trunk, which rotates driving member 433, includes trunk connection end 4331, trunk Rotary shaft 4333 and driving member connection end 4335, trunk connection end 4331, trunk rotary shaft 4333 and driving member connection end 4335 Coaxial and be fixedly connected sequentially, trunk connection end 4331 is fixed with the one end of trunk hinged seat 317 away from trunk framework 310 to be connected Connect, through hole is provided with the framework of waist 040, driving member connection end 4335 passes through through hole, and trunk connection end 4331 is rotatably set Put in the framework upper end of waist 040.Trunk rotating drive part 431 is two the first hydraulic stems 435 in the present embodiment, in driving member Connection end 4335 is provided with symmetrical two and is hinged projection 4337, and one end of the first hydraulic stem 435 is hinged with being hinged projection 4337, separately One end is fixedly mounted on the framework of waist 040.Two the first hydraulic stems 435 be arranged in parallel.Pass through the flexible of the first hydraulic stem 435 Driving member connection end 4335 can be controlled to rotate, so as to drive trunk connection end 4331 to rotate.

Trunk 030 also includes trunk tilting component 330, and trunk tilting component 330 includes the pitching actuator of trunk 030 and cunning Moving platform 333, chute 319, the two ends point of sliding platform 333 are provided with the opposite face of the first side wall 311 and second sidewall 313 It is not placed in chute 319, sliding platform 333 can be by sliding along chute 319.In the present embodiment, the pitching of trunk 030 drives Part is the second hydraulic stem 331, and one end of the second hydraulic stem 331 is hinged in sliding platform 333, the other end and trunk hinged seat 317 It is hinged, the slip of sliding platform 333 can be controlled by the stretching of the second hydraulic stem 331.

Fig. 1 and Fig. 6 are referred to, this half body robot 001 also includes arm 050, and arm 050 includes the shoulder being sequentially connected Portion 510, large arm 530, forearm 550 and palm 570.Wherein shoulder 510 is rotated with second sidewall 313 and is connected, and passes through the first side Wall 311 is provided with rotation extension 511, rotates and sets with teeth on extension 511, and the first driving electricity is additionally provided with the first side Machine 513, the output shaft of the first motor 513 is parallel with rotating the central shaft of extension 511, the output of the first motor 513 Axle and rotation extension 511 are connected by the first driving section 515, and the first driving section 515 is timing belt in the present embodiment.

Large arm 530, forearm 550 and the composition main body of arm 050 of palm 570, the one end of the main body of arm 050 away from palm 570 Arm hinged seat 590 is provided with, arm hinged seat 590 is hinged on the one end of shoulder 510 away from trunk 030, and shoulder 510 is framework Structure, in the frame between be fixedly installed the second motor 517, the export head of the second motor 517 stretches out shoulder 510, Shoulder 510, export head and the arm hinged seat of the second motor 517 are stretched out in the articulated section of arm hinged seat 590 and shoulder 510 590 articulated section is connected by the second driving section 519, and the second driving section 519 is timing belt in the present embodiment.Driven by second Dynamic motor 517 can drive the articulated section of arm hinged seat 590 to rotate to drive the main body of arm 050 by axle of jointed shaft to turn It is dynamic.

Large arm 530 is rotated with arm hinged seat 590 and is connected, and large arm 530 is frame structure, is fixedly installed in large arm 530 There is large arm rotary electric machine 531, the export head of large arm rotary electric machine 531 is fixedly connected with arm hinged seat 590, rotated by large arm Motor 531 can drive large arm 530 to be rotated relative to the hinged seat of large arm 530.

The one end of large arm 530 away from shoulder 510 is hinged with forearm 550 by forearm hinge bar 551, forearm hinge bar 551 It is fixedly connected with the framework of forearm 550, it is coaxial on forearm hinge bar 551 and be fixedly installed the 4th bevel gear 553, in large arm 530 one end away from shoulder 510 are fixedly installed in forearm oscillating motor 533, the export head of forearm oscillating motor 533 and are provided with Third hand tap gear 535, third hand tap gear 535 is engaged with the 4th bevel gear 553.It can be realized by forearm oscillating motor 533 small Arm 550 is that axle is swung with forearm hinge bar 551.

The one end of forearm 550 away from large arm 530 is hinged with palm 570, and palm 570 includes metacarpus 571 and is arranged on metacarpus Five fingers 573 of 571 one end away from forearm 550, forearm 550 is frame structure, and finger is additionally provided with forearm 550 573 drive components and the drive component of palm 570, can drive finger 573 to swing, pass through palm by the drive component of finger 573 570 drive components can drive palm 570 to swing.

In the present embodiment, arm 050 includes two, and two structures of arm 050 are identical and symmetrical relative to trunk 030 Set, second arm 050 is arranged on second sidewall 313, and the rotation extension 511 of two arms 050 is coaxial.

By the half body robot 001 that provides of the present invention, the action of Various Complex can be completed, such as trunk 030 is bowed Face upward and rotate, the rotation and swing of hand, and head 010 rotation and swing, the free degree is very high.More meet biological motion Learn so that half body robot 001 is remarkably true to life.In the case of engagement head 010, hand concrete structure, true man are extremely approached Motion.Additionally by the reasonable layout of the position of each transmission component, the list of half body robot 001 is realized in the leg that can be saved Solely running, or it is fabricated to the children's stories such as half forces biology.

Embodiment two

A kind of remote control half body robot 002 is present embodiments provided, referring to Fig. 7, this remote control half body robot 002 is wrapped Include the half body robot 001 in wireless launcher 060, processing system (not shown) and embodiment one.

Processing system is rotated with the wobble component of head 010, head tilting component 110, the runner assembly of arm 050 and trunk Component 430 is electrically connected；

Processing system can receive and handle the signal of the transmitting of wireless launcher 060.

The remote control half body robot 002 provided by the present invention, can complete the action of Various Complex, such as trunk 030 Pitching and rotation, the rotation and swing of hand, and head 010 rotation and swing, the free degree is very high.More meet biology Kinematics so that half body robot 001 is remarkably true to life.In the case of engagement head 010, hand concrete structure, extremely approach True man move.Additionally by the reasonable layout of the position of each transmission component, half body robot 001 is realized in the leg that can be saved Independent running, or to be fabricated to the children's stories such as half forces biological.Can also be by wireless launcher 060, to half body robot 001 It is remotely controlled, required movement is completed by staff, reaches the purpose with audience interaction.

The preferred embodiment of the present invention is the foregoing is only, is not intended to limit the invention, for this area For technical staff, the present invention can have various modifications and variations.Within the spirit and principles of the invention, that is made is any Modification, equivalent substitution, improvement etc., should be included in the scope of the protection.

Claims (10)

1. a kind of half body robot, it is characterised in that including head, neck, arm, trunk and waist；

The head is hinged with the neck, and the neck is rotated with the trunk and is connected, and the neck is provided with head pitching Component, the head tilting component controls the head to carry out pitching；

The arm includes arm main body and shoulder, and the shoulder and the trunk side rotate and be connected, the arm main body and Side of the shoulder away from the trunk is hinged；

The waist includes trunk runner assembly and lumbar frame, and the trunk includes trunk framework and trunk hinged seat, described Trunk hinged seat and the trunk frame articulation, the lumbar frame are moved with the trunk hinged seat and are connected, and the trunk is rotated Component can drive the trunk articulated section to rotate；

The trunk also includes head rotation component, trunk tilting component and component of rolling over, the head rotation component, institute State trunk tilting component and the component of rolling over is fixedly linked with the trunk framework, the head rotation component is controllable Make the head rotation；One end of the trunk tilting component is hinged with the trunk hinged seat, the other end and the trunk frame Frame is slidably connected.

2. a kind of half body robot according to claim 1, it is characterised in that the trunk tilting component is bowed including trunk Face upward actuator and sliding platform, the sliding platform includes the first side and the second side being oppositely arranged, first side with it is described Trunk framework side is slidably connected, and second side is slidably connected with the trunk framework opposite side, and the sliding platform is also wrapped The 3rd side for connecting first side and second side is included, described trunk pitching actuator one end is hinged with the 3rd side, The other end is hinged with the trunk hinged seat.

3. a kind of half body robot according to claim 1, it is characterised in that the neck includes first neck articulated elements With second neck articulated elements, the first neck articulated elements is fixedly linked with described head one end, the first neck articulated elements One end away from the head is hinged with the described one end of second neck articulated elements away from the trunk by neck jointed shaft, institute Stating head tilting component includes head pitching actuator, first bevel gear and second bevel gear, and the first bevel gear is fixed on The output end of the head pitching actuator, the second bevel gear and the neck jointed shaft are coaxial and are fixedly connected, described Neck jointed shaft is fixedly connected with the first neck articulated elements.

4. a kind of half body robot according to claim 3, it is characterised in that the head rotation component turns including head Dynamic actuator and head rotation driving member, the head actuator shell are fixedly connected with the trunk framework, and the head turns Dynamic actuator is fixedly connected with the input of the head rotation driving member, and the second neck articulated elements is driven with head rotation The output end of part is fixedly connected.

5. a kind of half body robot according to claim 4, it is characterised in that the trunk runner assembly turns including trunk Dynamic actuator and trunk rotate driving member, and the trunk rotates driving member one end and is fixedly connected with the trunk hinged seat, another End is hinged with the trunk rotating drive part, and it is described that the trunk rotating drive part can drive the trunk to rotate driving member drive Trunk hinged seat is rotated.

6. a kind of half body robot according to claim 1, it is characterised in that the shoulder is away from the arm main body Side, which is fixedly installed in rotation extension, the trunk main body, is fixedly installed the first motor, the first driving electricity Machine is connected with the rotation extension by the first driving section, and first motor can turn for the rotation extension conveying Square.

7. a kind of half body robot according to claim 6, it is characterised in that the second drive is fixedly installed on the shoulder Dynamic motor, the arm main body is hinged with side of the shoulder away from the trunk, the export head of second motor Connected with the pin joint of the arm main body by the second driving section, second motor can drive the arm main body with Pin joint is rotated.

8. a kind of half body robot according to claim 7, it is characterised in that the arm main body includes large arm, forearm And palm；

The large arm is rotated with the one end of the shoulder away from the rotation extension and is connected, and large arm is provided with the large arm and is turned Dynamic motor, the large arm rotary electric machine can drive the large arm and the shoulder to relatively rotate；

The one end of the large arm away from the shoulder is hinged with the forearm by forearm hinge bar, and the large arm is away from the shoulder The one end in portion is provided with forearm oscillating motor, and the motor termination is provided with third hand tap gear, the forearm hinge bar and set There are the 4th coaxial bevel gear, the third hand tap gear and the 4th bevel gear engagement；

The palm is hinged with the one end of the forearm away from the large arm.

9. a kind of half body robot according to claim 8, it is characterised in that the arm of the half body robot is Two, two arms are symmetrical arranged, and the rotation extension of two arms is coaxial.

10. a kind of remote control half body robot, it is characterised in that including wireless launcher, processing system and claim 1-9 appoint Half body robot described in one；

The processing system and the head rotation component, the head tilting component, the component and described of rolling over Trunk runner assembly is electrically connected；

The processing system can receive and handle the signal of the wireless launcher transmitting.