A new type of highly realistic robot

Abstract

The present invention discloses a novel highly realistic robot. The novel highly realistic robot includes a head device, and the head device includes a simulation headgear made of silica gel. The simulation headgear is sleeved with a head frame, and the head frame is provided with an eyebrow driving mechanism, an eye driving mechanism, a cheekbone driving mechanism, a mouth corner driving mechanism, an upper lip driving mechanism, a lower lip driving mechanism and a lower jaw driving mechanism. The present invention solves the problems of few expressions and poor simulation effect in the prior art.

Description

Technical Field

[0001] The invention relates to the technical field of robots, and in particular to a novel high-simulation robot. Background Art

[0002] Robotics has developed rapidly along with the progress of modern science and technology. The capabilities of robots are getting stronger and stronger, approaching human capabilities step by step. As robots evolve, the gap between them and humans will become smaller and smaller, so humanoid robots have become one of the latest research directions in the current field of robotics research. It can achieve good human-machine interaction, realize natural, harmonious and friendly communication between humans and machines, and reduce the emotional distance between humans and robots, thereby meeting both human material needs and human spiritual needs. However, existing simulation robots have few expressions and poor simulation effects. Summary of the invention

[0003] The purpose of the present invention is to provide a novel high-simulation robot with multiple expressions and good simulation effect in view of the deficiencies in the prior art.

[0004] To achieve the above purpose, the technical solution adopted by the novel high-simulation robot of the present invention is:

[0005] A novel high-simulation robot comprises a head device, the head device comprises a simulated head cover made of silicone material, the simulated head cover is sleeved with a head frame, the head frame is provided with an eyebrow driving mechanism, an eye driving mechanism, a zygomatic driving mechanism, a mouth corner driving mechanism, an upper lip driving mechanism, a lower lip driving mechanism and a lower jaw driving mechanism, the eyebrow driving mechanism comprises a first motor fixedly connected to the head frame, the output shaft of the first motor is fixedly connected to a first swing arm, the first swing arm is provided with two first pull wires, the other ends of the two first pull wires are respectively connected to the eyebrow parts of the simulated head cover, the eye driving mechanism comprises a second motor fixedly connected to the head frame, the output shaft of the second motor is fixedly connected to a second swing arm, the second swing arm is provided with two second pull wires, the other ends of the two second pull wires are respectively connected to an eyelid bracket pivotally connected to the head frame, the eyelid bracket is fixedly connected to the eyelids of the simulated head cover, the zygomatic driving mechanism comprises two third motors fixedly connected to the head frame, the output shaft of the third motor is fixedly connected to a third swing arm, the third swing arm A third pull wire is attached, and the other end of the third pull wire is connected to the zygomatic bone part of the simulation head cover; the corner of mouth driving mechanism includes two fourth motors fixedly connected to the head frame, the output shaft of the fourth motor is fixedly connected to the fourth swing arm, the fourth swing arm is connected to the fourth pull wire, and the other end of the fourth pull wire is connected to the corner of mouth of the simulation head cover; the upper lip driving mechanism includes two fifth motors fixedly connected to the head frame, the output shaft of the fifth motor is fixedly connected to the fifth swing arm, the fifth swing arm is connected to the fifth pull wire, and the other end of the fifth pull wire is connected to the upper lip part of the simulation head cover; the lower lip driving mechanism includes three sixth motors fixedly connected to the head frame, the output shaft of the sixth motor is fixedly connected to the sixth swing arm, the sixth swing arm is connected to the sixth pull wire, and the other end of the sixth pull wire is connected to the lower lip part of the simulation head cover; the lower jaw driving mechanism includes an upper jaw bracket fixedly connected to the head frame, the upper jaw bracket is fixedly connected to the seventh motor, the output shaft of the seventh motor is fixedly connected to the lower jaw bracket pivotally connected to the upper jaw bracket, and the lower jaw bracket is fixed to the lower jaw of the simulation head cover.

[0006] Preferably, a torso device is also included, the torso device includes a chest support located below the head frame, an eighth motor is arranged on the top of the chest support, the output shaft of the eighth motor is fixedly connected to the first mounting seat, the top of the first mounting seat is fixedly connected to the ninth motor, the output shaft of the ninth motor is fixedly connected to the second mounting seat, a tenth motor is arranged on the top of the second mounting seat, the tenth motor is fixed to the head frame, the output shaft of the tenth motor is fixedly connected to the second mounting seat, an eleventh motor is fixedly connected to both sides of the upper part of the chest support, the output shaft of the eleventh motor is fixedly connected to the arm device, a waist support is arranged below the chest support, a twelfth motor is fixedly connected to the top of the waist support, the output shaft of the twelfth motor is fixedly connected to the chest support, a hip support is arranged below the waist support, a thirteenth motor is fixedly connected to the top of the hip support, the output shaft of the thirteenth motor is fixedly connected to the third mounting seat, the third mounting seat is fixedly connected to the fourteenth motor, the output shaft of the fourteenth motor is fixedly connected to the waist support, and leg devices are arranged on both sides of the bottom of the hip support.

[0007] Preferably, the arm device includes an upper arm joint, a fifteenth motor is arranged in the inner cavity of the upper arm joint, the output shaft of the fifteenth motor is fixedly connected to the shoulder-arm connecting frame, the shoulder-arm connecting frame is fixedly connected to the output shaft of the eleventh motor, an upper arm is arranged below the upper arm joint, a sixteenth motor is arranged on the upper side of the upper arm, the output shaft of the sixteenth motor is fixedly connected to the upper arm joint, a seventeenth motor is arranged on the lower side of the upper arm, the output shaft of the seventeenth motor is fixedly connected to the elbow joint, a forearm is arranged below the elbow joint, an eighteenth motor is arranged on the upper side of the forearm, the output shaft of the eighteenth motor is fixedly connected to the elbow joint, a nineteenth motor is arranged on the lower side of the forearm, the output shaft of the nineteenth motor is fixedly connected to the wrist joint, and the wrist joint is fixedly connected to the hand device.

[0008] Preferably, the hand device includes a palm, a thumb is pivotally connected to the back of the palm, an index finger, a middle finger, a ring finger and a little finger are pivotally connected in sequence to the front of the palm, a twentieth motor, a twenty-first motor and a twenty-second motor are arranged in the forearm, the output shaft of the twentieth motor is fixedly connected to the seventh swing arm, the seventh swing arm is connected with a seventh pull wire for pulling the thumb, the output shaft of the twenty-first motor is fixedly connected to the eighth swing arm, the eighth swing arm is connected with an eighth pull wire for pulling the index finger, the output shaft of the twenty-second motor is fixedly connected to the ninth swing arm, and the ninth swing arm is connected with a ninth pull wire for pulling the middle finger.

[0009] Preferably, the outer sides of the first, second, third, fourth, fifth and sixth pull wires are sleeved with wire tubes, and the wire tubes are installed on the head frame.

[0010] Preferably, the head frame includes a main bracket, and the main bracket is fixedly connected with a first bracket, a second bracket and a third bracket in sequence from top to bottom.

[0011] Compared with the prior art, the present invention has the following advantages:

[0012] 1. The robot's facial expressions are enriched through the eyebrow driving mechanism, eye driving mechanism, cheekbone driving mechanism, mouth corner driving mechanism, upper lip driving mechanism, lower lip driving mechanism and jaw driving mechanism, with good simulation effect, reducing the emotional distance between humans and robots.

[0013] 2. The head device, chest support, waist support, upper arm, forearm, wrist and fingers can all perform actions through corresponding motors, which greatly improves coordination and flexibility.

[0014] 3. The first, second, third, fourth, fifth and sixth pull wires are covered with wire tubes on the outside to prevent the wires from being worn and entangled with each other. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 It is a structural diagram of a new type of high-simulation robot;

[0016] Figure 2 It is a schematic diagram of the structure of the head device;

[0017] Figure 3 It is a schematic diagram of the structure of the header frame;

[0018] Figure 4 is a schematic diagram of the structure of the eyebrow drive mechanism;

[0019] Figure 5 It is a schematic diagram of the structure of the eye drive mechanism;

[0020] Figure 6 is a schematic diagram of the structure of the zygomatic drive mechanism;

[0021] Figure 7 is a structural schematic diagram of the mouth corner driving mechanism;

[0022] Figure 8 is a schematic diagram of the structure of the upper lip driving mechanism;

[0023] Fig. 9 is a schematic diagram of the structure of the lower lip driving mechanism;

[0024] Fig.10 is a schematic diagram of the structure of the jaw drive mechanism;

[0025] Fig.11 is a schematic diagram of the structure of the torso device (including the shell);

[0026] Fig.12 is a schematic diagram of the structure of the torso device (excluding the shell);

[0027] Fig.13 It is a schematic diagram of the structure of the arm device;

[0028] Fig.14 It is a schematic diagram of the structure of the hand device;

[0029] Fig.15 yes Fig.14 Enlarged view of point C.

[0030] Among them, 1 head device, 11 simulation headgear, 12 head frame, 121 main bracket, 122 first bracket, 123 second bracket, 124 third bracket, 125 wire tube, 13 eyebrow driving mechanism, 131 first motor, 132 first swing arm, 133 first pull wire, 14 eye driving mechanism, 141 second motor, 142 second swing arm, 143 second pull wire, 144 eyelid bracket, 15 zygomatic driving mechanism, 151 third motor, 152 third swing arm, 153 third pull wire, 16 mouth corner driving mechanism, 161 fourth motor, 162 fourth swing arm, 163 fourth pull wire, 17 upper lip driving mechanism, 171 fifth motor, 172 fifth swing arm, 173 fifth pull wire, 18 lower lip driving mechanism, 181 sixth motor, 182 sixth swing arm, 183 sixth pull wire, 19 lower jaw driving mechanism, 191 upper jaw support, 192 seventh motor, 193 lower jaw support, 2 torso device, 21 chest support, 211 chest shell, 212 eighth motor, 213 first mounting seat, 214 The ninth motor, 215 the second mounting seat, 216 the tenth motor, 217 the eleventh motor, 22 the waist support, 221 the waist shell, 222 the twelfth motor, 23 the hip support, 231 the hip shell, 232 the thirteenth motor, 233 the third mounting seat, 234 the fourteenth motor, 3 arm device, 31 the upper arm joint, 311 the fifteenth motor, 32 the upper arm, 321 the sixteenth motor, 322 the seventeenth motor, 33 the elbow joint, 34 the forearm, 341 the eighteenth motor, 342 the nineteenth motor machine, 343 the twentieth motor, 3431 the seventh swing arm, 344 the twenty-first motor, 3441 the eighth swing arm, 345 the twenty-second motor, 3451 the ninth swing arm, 35 wrist joint, 36 shoulder-arm connecting frame, 4 hand device, 41 palm, 42 thumb, 421 thumb threading hole, 422 thumb threading column, 43 index finger, 44 middle finger, 45 ring finger, 46 little finger, 431 index finger threading hole, 432 index finger threading column, 441 middle finger threading hole, 442 middle finger threading column, 5 leg device. DETAILED DESCRIPTION

[0031] The present invention is further explained below in conjunction with the accompanying drawings and specific embodiments. It should be understood that these embodiments are only used to illustrate the present invention and are not used to limit the scope of the present invention. After reading the present invention, various equivalent forms of modifications to the present invention by those skilled in the art all fall within the scope defined by the claims attached to this application.

[0032] like Figure 1-15As shown, a novel high-simulation robot includes a head device 1, the head device includes a simulated head cover 11 made of silicone material, the simulated head cover is sleeved on a head frame 12, the head frame is installed with an eyebrow drive mechanism 13, an eye drive mechanism 14, a zygomatic drive mechanism 15, a mouth corner drive mechanism 16, an upper lip drive mechanism 17, a lower lip drive mechanism 18 and a lower jaw drive mechanism 19, the head frame includes a main bracket 121, the main bracket is fixedly connected to a first bracket 122, a second bracket 123 and a third bracket 124 from top to bottom, the eyebrow drive mechanism includes a first motor 131 installed on the first bracket, the output shaft of the first motor is fixedly connected to a first swing arm 132, the first swing arm is provided with two first pull wires 133, the other ends of the two first pull wires are respectively connected to the eyebrow parts of the simulated head cover, The eye driving mechanism includes a second motor 141 installed on the first bracket, the output shaft of the second motor is fixedly connected to the second swing arm 142, the second swing arm is equipped with two second pull wires 143, the other ends of the two second pull wires are respectively connected to the eyelid bracket 144, the rear part of the eyelid bracket is pivotally connected to the front part of the second bracket, and the front part of the eyelid bracket is fixedly connected to the eyelid of the simulation headgear. The zygomatic bone driving mechanism includes two third motors 151 installed on the second bracket, the output shaft of the third motor is fixedly connected to the third swing arm 152, the third swing arm is equipped with a third pull wire 153, and the other end of the third pull wire is connected to the zygomatic bone part of the simulation headgear. The mouth corner driving mechanism includes two fourth motors 161 installed on the second bracket, the output shaft of the fourth motor is fixedly connected to the fourth swing arm 162, the fourth swing arm is equipped with a fourth pull wire The upper lip driving mechanism comprises two fifth motors 171 mounted on the first bracket, the output shaft of the fifth motor is fixedly connected to the fifth swing arm 172, the fifth swing arm is provided with a fifth pull wire 173, the other end of the fifth pull wire is connected to the upper lip of the simulation head cover, the lower lip driving mechanism comprises three sixth motors 181, two of which are mounted on the third bracket, and one sixth motor is mounted on the first bracket, the output shaft of the sixth motor is fixedly connected to the sixth swing arm 182, the sixth swing arm is provided with a sixth pull wire 183, the other end of the sixth pull wire is connected to the lower lip of the simulation head cover, the lower jaw driving mechanism comprises an upper jaw bracket 191, the upper jaw bracket is fixedly connected to the main bracket and the second bracket at the same time, the upper jaw bracket is fixedly connected to the seventh motor 192, the output shaft of the seventh motor is fixedly connected to the lower jaw bracket 193, the lower jaw bracket is pivotally connected to the upper jaw bracket, the lower jaw bracket is fixedly connected to the lower jaw of the simulation head cover, the outer sleeve wire tube 125 of the first, second, third, fourth, fifth and sixth pull wires are installed on the head frame, the wire tube prevents the pull wires from being worn and entangled with each other, improves the service life of the pull wires and ensures the normal execution of various facial expressions, the torso device 2 is arranged below the head device, the torso device includes a chest bracket 21 located below the main bracket, the outer side of the chest bracket covers the chest shell 211, the top of the chest bracket is installed with the eighth motor 212, the output shaft of the eighth motor is fixedly connected to the first mounting seat 213, the top of the first mounting seat is fixedly connected to the ninth motor 214, and the output shaft of the ninth motor is fixedly connected to the second mounting seat 215,The tenth motor 216 is arranged on the top of the second mounting seat, the tenth motor is fixedly connected to the main support, the output shaft of the tenth motor is fixedly connected to the second mounting seat, the eleventh motor 217 is fixedly connected to the left and right sides of the upper part of the chest support, the output shaft of the eleventh motor is fixedly connected to the arm device 3, the arm device includes a big arm joint 31, the inner cavity of the big arm joint is installed with a fifteenth motor 311, the output shaft of the fifteenth motor is fixedly connected to the shoulder-arm connecting frame 36, the shoulder-arm connecting frame is fixedly connected to the output shaft of the eleventh motor, the big arm 32 is arranged below the big arm joint, the sixteenth motor 321 is installed on the upper side of the big arm, the output shaft of the sixteenth motor is fixedly connected to the big arm joint, the lower side of the big arm A seventeenth motor 322 is installed, the output shaft of the seventeenth motor is fixedly connected to the elbow joint 33, a forearm 34 is arranged below the elbow joint, an eighteenth motor 341 is installed on the upper side of the forearm, the output shaft of the eighteenth motor is fixedly connected to the elbow joint, a nineteenth motor 342 is installed on the lower side of the forearm, the output shaft of the nineteenth motor is fixedly connected to the wrist joint 35, the wrist joint is fixedly connected to the hand device 4, the hand device includes a palm 41, the rear part of the palm is pivotally connected to the thumb 42, the front part of the palm is pivotally connected to the index finger 43, the middle finger 44, the ring finger 45 and the little finger 46 in sequence, the twentieth motor 343, the twenty-first motor 344 and the twenty-second motor 345 are installed in the forearm, The output shaft of the twentieth motor is fixedly connected to the seventh swing arm 3431, and the seventh swing arm is provided with a seventh pull wire. The other end of the seventh pull wire is fastened to the thumb wire post 422 through the wrist joint, palm, and thumb threading hole 421, and is used to pull the thumb. The output shaft of the twenty-first motor is fixedly connected to the eighth swing arm 3441, and the eighth swing arm is provided with an eighth pull wire. The other end of the eighth pull wire is fastened to the index finger wire post 432 through the wrist joint, palm, and index finger threading hole 431, and is used to pull the index finger. The output shaft of the twenty-second motor is fixedly connected to the ninth swing arm 3451, and the ninth swing arm is provided with a ninth pull wire. The other end of the ninth pull wire is fastened to the index finger wire post 432 through the wrist joint, palm, and middle finger threading hole 44 1 is tied to the middle finger line column 442, used to pull the middle finger, the waist support 22 is arranged below the chest support, the waist support covers the waist shell 221 outside, the top of the waist support is fixedly connected to the twelfth motor 222, the output shaft of the twelfth motor is fixedly connected to the chest support, the hip support 23 is arranged below the waist support, the hip support covers the hip shell 231 outside, the top of the hip support is fixedly connected to the thirteenth motor 232, the output shaft of the thirteenth motor is fixedly connected to the third mounting seat 233, the third mounting seat is fixedly connected to the fourteenth motor 234, the output shaft of the fourteenth motor is fixedly connected to the waist support, and the leg device 5 is installed on both sides of the bottom of the hip support. ,

[0033] The specific working process and principle of a new type of high-simulation robot:

[0034] Eyebrow movement: start the first motor, the first swing arm tightens the first pull wire, and the first pull wire pulls up the eyebrow part of the simulation headgear; when recovering, start the first motor, the first swing arm releases the first pull wire, the eyebrow part loses the tension and recovers under its own elasticity.

[0035] Eye movement: start the second motor, the second swing arm tightens the second pull wire, the second pull wire pulls the eyelid bracket upward, and the eyes open; when recovering, start the second motor, the second swing arm releases the second pull wire, the eyelid bracket loses the tension, flips over under its own gravity, and the eyes close.

[0036] Zygomatic bone movement: start the third motor, the third swing arm tightens the third pull wire, and the third pull wire pulls up the zygomatic bone part of the simulation headgear; when recovering, start the third motor, the third swing arm releases the third pull wire, the zygomatic bone part loses the tension and recovers under its own elasticity.

[0037] Mouth corner movement: start the fourth motor, the fourth swing arm tightens the fourth pull line, and the fourth pull line pulls the mouth corner of the simulation headgear; when recovering, start the fourth motor, the fourth swing arm releases the fourth pull line, the mouth corner loses tension and recovers under its own elasticity.

[0038] Upper lip action: start the fifth motor, the fifth swing arm tightens the fifth pull wire, and the fifth pull wire pulls up the upper lip of the simulation headgear; when recovering, start the fifth motor, the fifth swing arm releases the fifth pull wire, the upper lip loses the tension, and recovers under its own elasticity.

[0039] Lower lip movement: start the sixth motor, the sixth swing arm tightens the sixth pull wire, and the sixth pull wire pulls up the lower lip of the simulation headgear; when recovering, start the sixth motor, the sixth swing arm releases the sixth pull wire, the lower lip loses the tension, and recovers under its own elasticity.

[0040] Jaw movement: Start the seventh motor to control the opening or closing of the jaw.

[0041] Head turning action: start the tenth motor to control the head turning.

[0042] Head shaking action: start the eighth motor to control the left and right shaking of the head; start the ninth motor to control the front and back shaking of the head (nodding or tilting the head back).

[0043] Leaning action: start the twelfth motor to control the chest support to tilt forward.

[0044] Bending action: start the fourteenth motor to control the waist support to flip forward.

[0045] Waist twisting action: start the thirteenth motor to control the waist support to rotate left and right.

[0046] Arm pitch motion: Start the eleventh motor to control the arm to swing forward and backward.

[0047] Arm yaw motion: start the fifteenth motor to control the opening and closing of the arm.

[0048] Boom rolling action: Start the sixteenth motor to control the rotation of the boom.

[0049] Yaw action of the forearm: start the seventeenth motor to control the opening and closing of the forearm.

[0050] Forearm rolling action: Start the eighteenth motor to control the rotation of the forearm.

[0051] Wrist yaw action: Start the nineteenth motor to control the flipping of the wrist joint.

[0052] Thumb movement: start the 20th motor, the seventh swing arm tightens the seventh pull wire, and the seventh pull wire pulls the thumb; when restoring, start the 20th motor, the seventh swing arm releases the seventh pull wire, the thumb loses the pulling force, and flips back to its original position under its own gravity.

[0053] Index finger movement: start the 21st motor, the eighth swing arm tightens the eighth pull wire, and the eighth pull wire pulls up the index finger; when restoring, start the 21st motor, the eighth swing arm releases the eighth pull wire, the index finger loses the pulling force, and flips over and resets under its own gravity.

[0054] Ring finger movement: start the 22nd motor, the 9th swing arm tightens the 9th pull wire, and the 9th pull wire pulls up the middle finger; when recovering, start the 22nd motor, the 9th swing arm releases the 9th pull wire, the middle finger loses the pulling force, and flips back to its original position under its own gravity.

[0055] The invention enriches the facial expressions of the robot, has good simulation effect, and reduces the emotional distance between humans and robots. The robot has good coordination of various actions and high flexibility.

Claims

1. A new type of highly realistic robot, characterized in that: It includes a head device, and the head device includes a silicone simulation headgear. The simulation headgear is sleeved with a head frame. The head frame is provided with an eyebrow driving mechanism, an eye driving mechanism, a cheekbone driving mechanism, a mouth corner driving mechanism, an upper lip driving mechanism, a lower lip driving mechanism and a lower jaw driving mechanism. The eyebrow driving mechanism includes a first motor fixedly connected to the head frame. The output shaft of the first motor is fixedly connected with a first swing arm. Two first pull wires are tied to the first swing arm. The other ends of the two first pull wires are respectively connected to the eyebrow part of the simulation headgear. The eye driving mechanism includes a second motor fixedly connected to the head frame. The output shaft of the second motor is fixedly connected with a second swing arm. Two second pull wires are tied to the second swing arm. The other ends of the two second pull wires are respectively connected with an eyelid bracket pivotally connected to the head frame. The eyelid bracket is fixedly connected to the eyelid of the simulation headgear. The cheekbone driving mechanism includes two third motors fixedly connected to the head frame. The output shaft of the third motor is fixedly connected with a third swing arm. A third pull wire is tied to the third swing arm. The other end of the third pull wire is connected to the cheekbone part of the simulation headgear. The mouth corner driving mechanism includes two fourth motors fixedly connected to the head frame. The output shaft of the fourth motor is fixedly connected with a fourth swing arm. A fourth pull wire is tied to the fourth swing arm. The other end of the fourth pull wire is connected to the mouth corner part of the simulation headgear. The upper lip driving mechanism includes two fifth motors fixedly connected to the head frame. The output shaft of the fifth motor is fixedly connected with a fifth swing arm. A fifth pull wire is tied to the fifth swing arm. The other end of the fifth pull wire is connected to the upper lip part of the simulation headgear. The lower lip driving mechanism includes three sixth motors fixedly connected to the head frame. The output shaft of the sixth motor is fixedly connected with a sixth swing arm. A sixth pull wire is tied to the sixth swing arm. The other ends of the sixth pull wires are connected to the lower lip part of the simulation headgear. The lower jaw driving mechanism includes an upper jaw bracket fixedly connected to the head frame. The upper jaw bracket is fixedly connected with a seventh motor. The output shaft of the seventh motor is fixedly connected with a lower jaw bracket pivotally connected to the upper jaw bracket. The lower jaw bracket is fixedly connected to the lower jaw of the simulation headgear.

2. The new type of highly realistic robot according to claim 1, characterized in that: It further includes a torso device. The torso device includes a chest bracket located below the head frame. The top of the chest bracket is provided with an eighth motor. The output shaft of the eighth motor is fixedly connected with a first mounting seat. The top of the first mounting seat is fixedly connected with a ninth motor. The output shaft of the ninth motor is fixedly connected with a second mounting seat. The top of the second mounting seat is provided with a tenth motor. The tenth motor is fixedly connected to the head frame. The output shaft of the tenth motor is fixedly connected to the second mounting seat. The upper parts on both sides of the chest bracket are fixedly connected with an eleventh motor. The output shaft of the eleventh motor is fixedly connected with an arm device. A waist bracket is arranged below the chest bracket. The top of the waist bracket is fixedly connected with a twelfth motor. The output shaft of the twelfth motor is fixedly connected to the chest bracket. A hip bracket is arranged below the waist bracket. The top of the hip bracket is fixedly connected with a thirteenth motor. The output shaft of the thirteenth motor is fixedly connected with a third mounting seat. The third mounting seat is fixedly connected with a fourteenth motor. The output shaft of the fourteenth motor is fixedly connected to the waist bracket. Leg devices are arranged on both sides of the bottom of the hip bracket.

3. The new type of highly realistic robot according to claim 2, characterized in that: The arm device includes a shoulder joint. A fifteenth motor is disposed in the inner cavity of the shoulder joint. The output shaft of the fifteenth motor is fixedly connected to a shoulder-arm connecting frame, and the shoulder-arm connecting frame is fixedly connected to the output shaft of the eleventh motor. A big arm is disposed below the shoulder joint. A sixteenth motor is disposed on the upper side of the big arm, and the output shaft of the sixteenth motor is fixedly connected to the shoulder joint. A seventeenth motor is disposed on the lower side of the big arm, and the output shaft of the seventeenth motor is fixedly connected to an elbow joint. A small arm is disposed below the elbow joint. An eighteenth motor is disposed on the upper side of the small arm, and the output shaft of the eighteenth motor is fixedly connected to the elbow joint. A nineteenth motor is disposed on the lower side of the small arm, and the output shaft of the nineteenth motor is fixedly connected to a wrist joint, and the wrist joint is fixedly connected to a hand device.

4. The novel high-fidelity robot according to claim 3, wherein: The hand device includes a palm. A thumb is pivotally connected to the rear of the palm. An index finger, a middle finger, a ring finger, and a little finger are sequentially pivotally connected to the front of the palm. A twentieth motor, a twenty-first motor, and a twenty-second motor are disposed in the small arm. The output shaft of the twentieth motor is fixedly connected to a seventh swing arm, and a seventh wire is tied to the seventh swing arm for pulling the thumb. The output shaft of the twenty-first motor is fixedly connected to an eighth swing arm, and an eighth wire is tied to the eighth swing arm for pulling the index finger. The output shaft of the twenty-second motor is fixedly connected to a ninth swing arm, and a ninth wire is tied to the ninth swing arm for pulling the middle finger.

5. The novel high-fidelity robot according to claim 1, wherein: The outer sides of the first, second, third, fourth, fifth, and sixth wires are sleeved with wire tubes, and the wire tubes are installed on the head frame.

6. The novel high-fidelity robot according to claim 5, wherein: The head frame includes a main bracket, and a first bracket, a second bracket, and a third bracket are sequentially and fixedly connected to the main bracket from top to bottom.

Images