CN206393643U - Intelligent robot - Google Patents

Abstract

The utility model belongs to robotic technology field, more particularly, to a kind of intelligent robot.Including robot body, described robot body bottom is provided with two opposed legs, the first joint that leg swings can be driven by being provided between every leg and robot body, leg can be driven relative to the second joint of the first joint swing by being provided between the first described joint and leg, both sides are mounted on arm at the top of described robot body, described arm is by that can drive the arm rotary drive assembly that arm is circumferentially rotated to be connected with robot body, arm can be driven relative to the 3rd joint that arm rotary drive assembly is swung by being provided between described arm rotary drive assembly and arm.Compared with prior art, the advantage of this intelligent robot is：Reasonable in design, simple in construction, flexibility ratio is high.

Description

Intelligent robot

Technical field

The utility model belongs to robotic technology field, more particularly, to a kind of intelligent robot.

Background technology

Traditional anthropomorphic robot mainly has following two：One class is to use modularization zero using general module such as South Korea etc. The linear machine people that part and steering wheel are built, advantage is can to build different shape robot as needed, and such as class is humanoid, class insect Shape etc., has the disadvantage that the poor dismounting mode of class people degree can not accomplish plug and play, the controlled making sheet control port limitation of the free degree, one As be used for mechanical model, Controlling model or bionics fiber etc..An other class is Waseda University's work of Japan, Japanese industries technology Comprehensive study institute, P2 robots of Honda Company and the more common guest-meeting robot of in the market, amusement robot etc., are mainly used in Profile, behavior to people carry out height emulation, general that all parts such as head, arm, both legs are controlled using master control borad, It can not extend, debug in addition, repair very inconvenient.

The content of the invention

The purpose of this utility model is that simple in construction, flexibility ratio is high to fit in view of the above-mentioned problems, providing a kind of reasonable in design Anti-clamping structure for robot.

To reach above-mentioned purpose, the utility model employs following technical proposal：This intelligent robot, it is characterised in that Including robot body, described robot body bottom provided with two opposed legs, every leg and robot body it Between provided with the first joint that leg swings can be driven, provided with leg can be driven between the first described joint and leg Relative to the second joint of the first joint swing, both sides are mounted on arm at the top of described robot body, described Arm is by that can drive the arm rotary drive assembly that arm is circumferentially rotated to be connected with robot body, described arm rotation Arm can be driven relative to the 3rd joint that arm rotary drive assembly is swung by being provided between drive component and arm.

In above-mentioned intelligent robot, described leg includes L-type support, and described L-type support upper end and second are closed Section is connected, and foot can be driven relative to the 4th pass of L-type support swing by being provided between the L-type support lower end and foot Section, foot can be made relative to the 5th joint of the 4th joint swing, institute by being provided between the 4th described joint and foot Foot can be made relative to the 6th joint that the 5th joint swings by being provided between the 5th joint stated and foot.

In above-mentioned intelligent robot, first U-bracket in first joint is with being arranged on robot body bottom The first driver that the first U-bracket can be driven to swing is connected, the first described U-bracket and the second of second joint U-bracket is fixed, and the second actuator housing of the second joint is fixed on L-type support upper end, and described L-type support lower end is consolidated Surely there is the fourth drive housing in the 4th joint, described fourth drive two ends output shaft passes through leg driving plate respectively It is connected with the 5th actuator housing in the 5th joint, the 5th described driver two ends output shaft is arranged on the 5th U-bracket, Described the 5th U-bracket and the 6th U-bracket in the 6th joint is fixed, and the 6th described U-bracket and the 6th driver are defeated Shaft is connected, and the 6th described driver is fixed in foot.

In above-mentioned intelligent robot, described arm rotary drive assembly output shaft and the 3rd U-shaped in the 3rd joint Support is connected, and the 3rd described U-bracket is connected with the 3rd driver two ends output shaft, and the 3rd described driver both sides pass through Arm driving plate is connected with arm driver, and described arm driving plate one end and the 3rd actuator housing are connected, the other end with Arm driver output shaft is connected, and manipulator is also equipped with described arm driver.

In above-mentioned intelligent robot, described the first U-bracket, the second U-bracket, the 3rd U-bracket, the 5th U Shape support and the 6th U-bracket two ends have respectively to be used to wear the end plate of output shaft, on the outside of the end plate of respective outer end and It is mounted on setting the cover body of output shaft, described end plate and arm driving plate in arm driving plate and leg driving plate for cover It is connected respectively by buckle structure with respective cover body with leg driving plate.

In above-mentioned intelligent robot, described buckle structure includes being separately positioned on end plate arm driving plate and leg Driving plate along some necks at lateral margin, described cover body madial wall provided with can with respective end plate and arm driving plate and The step that leg driving plate sidepiece matches, described step provided with it is some can match with neck be easy to end plate, arm Driving plate and leg driving plate and the card body of respective cover body clamping, described neck and card body are corresponded.

In above-mentioned intelligent robot, along at lateral margin on described end plate, arm driving plate and leg driving plate two ends Two necks being equipped with two necks, and two ends are located at respective end plate, arm driving plate and leg driving plate both sides respectively, And two necks often held are mutually symmetrical with.

In above-mentioned intelligent robot, described the first joint, second joint, the 3rd joint, the 4th joint, the 5th are closed Pinch-proof structure is equipped with section and the 6th joint.

In above-mentioned intelligent robot, described pinch-proof structure includes being separately positioned on the first U-bracket, the 2nd U Shape support, the 3rd U-bracket, the anti-pinch baffle plate of the respective bottom plate both sides of the 5th U-bracket and the 6th U-bracket, described One driver, the second driver, the 3rd driver, fourth drive, the 5th driver and the 6th driver and respective anti-pinch The first swing gap is left between baffle plate.

In above-mentioned intelligent robot, described the first driver, the second driver, the 3rd driver, the 4th driving Device, the 5th driver, the 6th driver, arm driver and arm rotary drive assembly are connected with control circuit, described Voice interaction module and headwork module are connected with control circuit, wireless module is also associated with the control circuitry with having Wire module.

Compared with prior art, the advantage of this intelligent robot is：Reasonable in design, simple in construction, flexibility ratio is high.2、 Dismounting facility, during installation, only can carry out fastening installation, compact overall structure is simple and convenient without rocking by external force；Dismounting When, it is only necessary to by being prized slightly to sled mouth, you can complete dismantlement work.3rd, it is reasonable in design, reduce risk of injury.4th, ensureing steady While qualitative, security, stability are lifted, while assembling mode keeps constant, structure is compacter, using more pacifying Entirely, injury risk is greatly reduced, and is that follow-up improve remains great space.

Brief description of the drawings

Fig. 1 is the main structure diagram that the utility model is provided.

Fig. 2 is the left view structural representation that the utility model is provided.

Fig. 3 is the overlooking the structure diagram that the utility model is provided.

Fig. 4 is the internal structure schematic diagram that the utility model is provided.

Fig. 5 is the structural representation of buckle structure in the utility model.

Fig. 6 is the structural representation at another visual angle of buckle structure in the utility model.

Fig. 7 is another state mounting structure schematic diagram of buckle structure in the utility model.

Fig. 8 is the structural representation of pinch-proof structure in the utility model.

Fig. 9 is the mounting structure schematic diagram of pinch-proof structure in the utility model.

Figure 10 is the cross section structure diagram at B-B in Fig. 9.

Figure 11 is the block diagram that the utility model is provided.

In figure, robot body 1, leg, the first joint 11, second joint 12, arm 3, arm rotary drive assembly 4, End plate 5, the 3rd joint 13, L-type support 21, the 4th joint 14, the 5th joint 15, the 6th joint 16, the first driver 112, Two drivers 122, the 3rd driver 132, fourth drive 141, the 5th driver 152, the 6th driver 162, arm driving Device 171, the first U-bracket 111, the second U-bracket 121, the 3rd U-bracket 131, the 5th U-bracket 151 and the 6th U-shaped branch Frame 161, arm driving plate 17, manipulator 172, cover body 6, buckle structure 7, leg driving plate 142, neck 71, step 61, card body 62nd, positioning convex body 721, location structure 72, locating slot 722, locating slot 722, projection 51, depression 611, sled mouth 6a, step 61, anti- Tong structure 8, anti-pinch baffle plate 81, first swing gap 82, opening 811, second swing gap 83, bottom plate 9, control circuit 10, Voice interaction module 101, headwork module 102, wireless module 103, wired module 104, foot 22, excessive circular 8a.

Embodiment

As shown in figs. 1-11, this intelligent robot, including robot body 1, the bottom of robot body 1 are opposed provided with two Leg 2, provided with the first joint 11 that leg 2 swings, first can be driven between every leg 2 and robot body 1 Leg 2 can be driven relative to the second joint 12 of the swing of the first joint 11, robot by being provided between joint 11 and leg 2 The top both sides of body 1 are mounted on arm 3, and arm 3 is by that can drive the arm rotary drive assembly 4 that arm 3 is circumferentially rotated It is connected with robot body 1, being provided between arm rotary drive assembly 4 and arm 3 can drive arm 3 to be rotated relative to arm The 3rd joint 13 that drive component 4 is swung.

Leg 2 includes L-type support 21, and the upper end of L-type support 21 is connected with second joint 12, the lower end of L-type support 21 and Provided with foot 22 can be driven relative to the 4th joint 14 of the swing of L-type support 21 between foot 22, the 4th joint 14 with Foot 22 can be made relative to the 5th joint 15 of the swing of the 4th joint 14, the 5th joint 15 and pin by being provided between foot 22 Foot 22 can be made relative to the 6th joint 16 that the 5th joint 15 swings by being provided between portion 22.

First U-bracket 111 in the first joint 11 installed in the bottom of robot body 1 with that can drive the first U-bracket 111 the first drivers 112 swung are connected, and the second U-bracket 121 of the first U-bracket 111 and second joint 12 is consolidated Fixed, the housing of the second driver 122 of the second joint 12 is fixed on the upper end of L-type support 21, and the lower end of L-type support 21 is fixed The housing of fourth drive 141 in the 4th joint 14 is stated, the two ends output shaft of fourth drive 141 passes through leg driving plate 142 respectively It is connected with the housing of the 5th driver 152 in the 5th joint 15, the two ends output shaft of the 5th driver 152 is arranged on the 5th U-bracket On 151, the 5th U-bracket 151 and the 6th U-bracket 161 in the 6th joint 16 are fixed, the 6th U-bracket 161 and the 6th driving The output shaft of device 162 is connected, and the 6th driver 162 is fixed in foot 22.

The output shaft of arm rotary drive assembly 4 is connected with the 3rd U-bracket 131 in the 3rd joint 13, the 3rd U-bracket 131 are connected with the two ends output shaft of the 3rd driver 132, and the both sides of the 3rd driver 132 are driven by arm driving plate 17 and arm Device 171 is connected, and the one end of arm driving plate 17 and the housing of the 3rd driver 132 are connected, the other end and the output shaft of arm driver 171 It is connected, manipulator 172 is also equipped with arm driver 171.

First U-bracket 111, the second U-bracket 121, the 3rd U-bracket 131, the 5th U-bracket 151 and the 6th U-shaped The two ends of support 161 have the end plate 5 for being used for wearing output shaft respectively, in the outside of end plate 5 of respective outer end and arm driving plate 17 and leg driving plate 142 on be mounted on setting the cover body 6 of output shaft, end plate 5 and arm driving plate 17 and leg for cover Driving plate 142 is connected by buckle structure 7 with respective cover body 6 respectively, and the sidepiece of cover body 6 offers sled mouth 6a, and sled mouth 6a is opened Provided with least one.Obvious, sled mouth 6a can be also used for filling lubricating oil to output shaft, facilitate follow-up maintenance.

If buckle structure 7 includes being separately positioned on end plate 5, arm driving plate 17 and leg driving plate 142 along at lateral margin Dry neck 71, the madial wall of cover body 6 is provided with can be with respective end plate 5 and arm driving plate 17 and the sidepiece of leg driving plate 142 The step 61 matched, step 61 provided with it is some can match with neck 71 be easy to end plate 5, arm driving plate 17 and leg Driving plate 142 and the card body 62 of the respective clamping of cover body 6, described neck 71 and card body 62 are corresponded.

It is equipped with two necks 71 on the two ends of end plate 5 along lateral margin, and two necks 71 on two ends are located at end plate 5 respectively It is located at section on both sides, the mutually symmetrical with end plate 5 of two necks 71 of the end of end plate 5 in two necks 71 on one end of semicircle shape The angle formed between axial line is less than 180 degree, and location structure 72 is additionally provided between end plate 5 and cover body 6.

Location structure 72 includes offering at least one positioning convex body 721 being arranged on cover body 6, described end plate 5 A pair of at least one locating slot 722 that can coordinate with positioning convex body 721, described positioning convex body 721 and locating slot 722 1 Should；Cover body 6 is located at the step 61 of the middle part both sides of cover body 6 provided with two positioning convex bodies 721 and positioning convex body 721 respectively On, two locating slots 722 are opened in the middle part both sides of end plate 5 and matched with positioning convex body 721 respectively；Neck 71 is located at end plate 5 Side, is provided with opposite side and is integrally formed projection 51 for forming the neck 71, and described step 61 is provided with can be with The depression 611 that projection 51 coordinates.

Two necks 71, and two are equipped with end plate 5, arm driving plate 17 and the two ends of leg driving plate 142 along lateral margin Two necks 71 on end are located at respective end plate 5, arm driving plate 17 and the both sides of leg driving plate 142, and two often held respectively Individual neck 71 is mutually symmetrical with, the first joint 11, second joint 12, the 3rd joint 13, the 4th joint 14, the 5th joint 15 and the 6th Pinch-proof structure 8 is equipped with joint 16.

Pinch-proof structure 8 includes being separately positioned on the first U-bracket 111, the second U-bracket 121, the 3rd U-bracket 131st, the anti-pinch baffle plate 81 of the both sides of respective bottom plate 9 of the 5th U-bracket 151 and the 6th U-bracket 161, the first driver 112, Second driver 122, the 3rd driver 132, fourth drive 141, the 5th driver 152 and the 6th driver 162 with each Anti-pinch baffle plate 81 between leave the first swing gap 82.First U-bracket 111, the second U-bracket 121, the 3rd U-bracket 131st, the 5th U-bracket 151 is identical with the structure of the 6th U-bracket 161, can not only reduce manufacturing cost, more saves installation Time etc..

As preferred, anti-pinch baffle plate 81 is curved and arch face upward, the outside of anti-pinch baffle plate 81 be connected on the outside of bottom plate 9 and It is connected as a single entity structure, the inner side of anti-pinch baffle plate 81, which approaches or is resisted against on the bottom surface of bottom plate 9, anti-pinch baffle plate 81 to offer, is easy to rotation The opening 811 of fixing nut, described opening 811, which is located between the inner side of anti-pinch baffle plate 81, two pieces of anti-pinch baffle plates 81, has second Swing gap 83.First driver 112, the second driver 122, the 3rd driver 132, fourth drive 141, the 5th driver 152nd, the 6th driver 162, arm driver 171 are respectively provided with excessive circular with the both sides of corresponding one end of anti-pinch baffle plate 81 8a。

First driver 112, the second driver 122, the 3rd driver 132, fourth drive 141, the 5th driver 152nd, the 6th driver 162, arm driver 171 and arm rotary drive assembly 4 are connected with control circuit 10, control circuit Voice interaction module 101 and headwork module 102 are connected with 10, wireless module is also associated with control circuit 10 103 with wired module 104.First driver 112, the second driver 122, the 3rd driver 132, fourth drive the 141, the 5th Driver 152, the 6th driver 162, arm driver 171 and arm rotary drive assembly 4 include SERVO CONTROL steering wheel；Head Action module 102 includes head movement drive device, and the human-computer interaction devices such as display screen, camera are also equipped with head, The interaction datas such as expression can be shown on a display screen.

As preferred, SERVO CONTROL steering wheel model is identical.

Control circuit 10 can be connected by devices such as wireless module 103 or wired module 104 and PC ends or mobile terminals；

Preferably, exploitation software in PC ends uses visual programming, and reduction programming difficulty adapts to making for different developers With.

Preferably, exploitation software in PC ends can be not only used for the action exploitation of robot subsequently, it can also be used to which robot is taught The use of task.

Preferably, the mobile terminal APP softwares of independent research, including Android version and IOS editions.

Preferably, mobile terminal APP softwares can realize the functions such as the control, programming, exploitation of robot.

Preferably, mobile terminal APP softwares, equipped with 3-D view, and connecting moves store, action real-time update.

Specific embodiment described herein is only to the utility model spirit explanation for example.The utility model institute Category those skilled in the art can make various modifications or supplement or using similar to described specific embodiment Mode substitute, but without departing from spirit of the present utility model or surmount scope defined in appended claims.

Although more having used robot body 1, leg, the first joint 11, second joint 12, arm 3, arm herein Rotary drive assembly 4, end plate 5, the 3rd joint 13, L-type support 21, the 4th joint 14, the 5th joint 15, the 6th joint 16, One driver 112, the second driver 122, the 3rd driver 132, fourth drive 141, the driving of the 5th driver the 152, the 6th Device 162, arm driver 171, the first U-bracket 111, the second U-bracket 121, the 3rd U-bracket 131, the 5th U-bracket 151 and the 6th U-bracket 161, arm driving plate 17, manipulator 172, cover body 6, buckle structure 7, leg driving plate 142, neck 71st, step 61, card body 62, positioning convex body 721, location structure 72, locating slot 722, locating slot 722, projection 51, depression 611, sled Mouth 6a, step 61, pinch-proof structure 8, anti-pinch baffle plate 81, first swing gap 82, opening 811, second and swing gap 83, bottom plate 9th, control circuit 10, voice interaction module 101, headwork module 102, wireless module 103, wired module 104, foot 22, The terms such as excessive circular 8a, but it is not precluded from the possibility using other terms.Using these terms just for the sake of more convenient Ground describes and explains essence of the present utility model, and being construed as any additional limitation is all and the utility model essence What god disagreed.

Claims (10)

1. a kind of intelligent robot, it is characterised in that including robot body (1), described robot body (1) bottom is provided with Two opposed legs (2), being provided between every leg (2) and robot body (1) can drive what leg (2) swung First joint (11), leg (2) can be driven relative to the first joint by being provided between described the first joint (11) and leg (2) (11) both sides are mounted on arm (3) at the top of the second joint (12) of swing, described robot body (1), described Arm (3) is by that can drive the arm rotary drive assembly (4) that arm (3) is circumferentially rotated to be connected with robot body (1), institute Arm (3) can be driven relative to arm rotary drive assembly by being provided between the arm rotary drive assembly (4) and arm (3) stated (4) the 3rd joint (13) swung.

2. intelligent robot according to claim 1, it is characterised in that described leg (2) includes L-type support (21), Described L-type support (21) upper end is connected with second joint (12), is provided between L-type support (21) lower end and foot (22) Foot (22) can be driven relative to the 4th joint (14) of L-type support (21) swing, described the 4th joint (14) with It is described provided with foot (22) can be made relative to the 5th joint (15) of the 4th joint (14) swing between foot (22) The 6th that foot (22) can be made to be swung relative to the 5th joint (15) is provided between 5th joint (15) and foot (22) Joint (16).

3. intelligent robot according to claim 2, it is characterised in that the first U-bracket of first joint (11) (111) with the first driver that the first U-bracket (111) swings can be driven installed in robot body (1) bottom (112) it is connected, the second U-bracket (121) of described the first U-bracket (111) and second joint (12) is fixed, described second Second driver (122) housing in joint (12) is fixed on L-type support (21) upper end, and described L-type support (21) lower end is fixed There is fourth drive (141) housing of the 4th joint (14), described fourth drive (141) two ends output shaft leads to respectively Cross leg driving plate (142) with the 5th driver (152) housing in the 5th joint (15) to be connected, the 5th described driver (152) two ends output shaft is arranged on the 5th U-bracket (151), the 5th described U-bracket (151) and the 6th joint (16) The 6th U-bracket (161) it is fixed, the 6th described U-bracket (161) is connected with the 6th driver (162) output shaft, described The 6th driver (162) be fixed in foot (22).

4. intelligent robot according to claim 3, it is characterised in that described arm rotary drive assembly (4) output Axle is connected with the 3rd U-bracket (131) in the 3rd joint (13), described the 3rd U-bracket (131) and the 3rd driver (132) two ends output shaft is connected, and the 3rd described driver (132) both sides pass through arm driving plate (17) and arm driver (171) it is connected, described arm driving plate (17) one end and the 3rd driver (132) housing are connected, and the other end drives with arm Device (171) output shaft is connected, and manipulator (172) is also equipped with described arm driver (171).

5. intelligent robot according to claim 4, it is characterised in that described the first U-bracket (111), the second U-shaped Support (121), the 3rd U-bracket (131), the 5th U-bracket (151) and the 6th U-bracket (161) two ends have respectively to be used for The end plate (5) of output shaft is worn, in end plate (5) outside of respective outer end and arm driving plate (17) and leg driving plate (142) it is mounted on setting the cover body (6) of output shaft, described end plate (5) and arm driving plate (17) and leg on for cover Driving plate (142) is connected by buckle structure (7) with respective cover body (6) respectively.

6. intelligent robot according to claim 5, it is characterised in that described buckle structure (7) includes setting respectively In end plate (5), arm driving plate (17) and leg driving plate (142) along some necks (71) at lateral margin, described cover body (6) Madial wall, which is provided with, to match with respective end plate (5) and arm driving plate (17) and leg driving plate (142) sidepiece Step (61), described step (61) provided with it is some can match with neck (71) be easy to end plate (5), arm driving plate (17) and leg driving plate (142) and respective cover body (6) clamping card body (62).

7. intelligent robot according to claim 6, it is characterised in that described end plate (5), arm driving plate (17) and Two necks (71), and two necks (71) difference position on two ends are equipped with leg driving plate (142) two ends along lateral margin In respective end plate (5), arm driving plate (17) and leg driving plate (142) both sides and two necks (71) often holding are mutually relative Claim.

8. intelligent robot according to claim 3, it is characterised in that described the first joint (11), second joint (12), it is equipped with pinch-proof structure on the 3rd joint (13), the 4th joint (14), the 5th joint (15) and the 6th joint (16) (8)。

9. intelligent robot according to claim 8, it is characterised in that described pinch-proof structure (8) includes setting respectively Put in the first U-bracket (111), the second U-bracket (121), the 3rd U-bracket (131), the 5th U-bracket (151) and the 6th The anti-pinch baffle plate (81) of respective bottom plate (9) both sides of U-bracket (161), described the first driver (112), the second driver (122), the 3rd driver (132), fourth drive (141), the 5th driver (152) and the 6th driver (162) with each Anti-pinch baffle plate (81) between leave the first swing gap (82).

10. according to the intelligent robot described in any one in claim 3-9, it is characterised in that the first described driver (112), the second driver (122), the 3rd driver (132), fourth drive (141), the 5th driver (152), the 6th drive Dynamic device (162), arm driver (171) and arm rotary drive assembly (4) are connected with control circuit (10), described control Voice interaction module (101) and headwork module (102) are connected with circuit (10), is also connected with control circuit (10) There are wireless module (103) and wired module (104).