Human-shaped bionic robot trunk based on stepping motor driving

Abstract

The utility model provides a humanoid bionic robot trunk based on stepping motor driving, which comprises a base, a supporting assembly is arranged on the surface of the base, a first rotating device is arranged above the supporting assembly, a third rotating device is arranged at the top of a fixing frame, and a stepping motor is arranged on the base. The rotating sleeve is arranged above the third gear and the fourth gears, the second rotating device is arranged between the positioning frame and the protective sleeve, the driving device is arranged above the protective sleeve, the arc-shaped sleeve is arranged between the protective sleeve and the driving device, and the arc-shaped sleeve is arranged above the arc-shaped sleeve. And the rotating frame is arranged above the arc-shaped sleeve. According to the humanoid bionic robot trunk based on stepping motor driving, the umbrella-shaped gear set structure is adopted in the movable neck, the service life of the structure is longer than that of an existing robot neck, and due to the fact that the structure is simple, control is more convenient, and manufacturing cost is low.

Description

Technical Field

[0001] The utility model relates to the field of robots, in particular to a humanoid bionic robot trunk driven by a stepping motor. Background Art

[0002] A robot is an intelligent machine that can work semi-autonomously or fully autonomously. A robot can perform tasks such as work or movement through programming and automatic control.

[0003] At present, there are many types of robots. People will design robots according to application requirements to perform auxiliary operations. For example, humanoid robots are usually used in scenarios such as guidance and explanation, clothing display, etc.

[0004] The main torso of existing humanoid robots has little freedom of movement, lacks flexibility in display scenarios, and is less realistic than real people, resulting in humanoid robots' lack of market appeal and large limitations in application scenarios.

[0005] Therefore, it is necessary to provide a humanoid bionic robot trunk driven by a stepper motor to solve the above technical problems. Utility Model Content

[0006] The utility model provides a humanoid bionic robot trunk driven by a stepper motor, which solves the problems that the main trunk of the existing humanoid robot has little freedom of movement, is not flexible enough in display scenes, and is less realistic than a real person, resulting in the humanoid robot's lack of market appeal and large limitations on application scenes.

[0007] In order to solve the above technical problems, the utility model provides a humanoid bionic robot torso driven by a stepper motor, comprising:

[0008] A base and a rotating sleeve, wherein a support assembly is arranged on the surface of the base;

[0009] A first rotating device, the first rotating device is arranged above the supporting assembly, the first rotating device comprises a rotating seat, a first motor is installed on one side of the rotating seat, and a fixing frame is connected to the surface of the rotating seat;

[0010] A positioning frame is arranged above the rotating sleeve, and a protective sleeve is arranged above the positioning frame;

[0011] a second rotating device, the second rotating device being disposed between the positioning frame and the protective sleeve;

[0012] A driving device, wherein the driving device is arranged above the protective sleeve;

[0013] An arc-shaped sleeve, wherein the arc-shaped sleeve is arranged between the protective sleeve and the driving device;

[0014] A rotating frame is arranged above the arc sleeve.

[0015] Preferably, a connecting plate is connected to the bottom of the positioning frame.

[0016] Preferably, chest plates are installed on the surface of the fixing frame and on the front and rear sides of the third rotating device, an extension frame is provided on the surface of the rotating seat, waist pads are provided on the surfaces of the two chest plates, a chest pad is provided on the top of the waist pad, a hip pad is connected to the bottom of the waist pad, shoulder pads are provided on the left and right sides of the chest plate, a neck and hip pad is provided on the surface of the arc sleeve, and buckles are provided between the waist pad, the chest pad, the hip pad and the neck and hip pad.

[0017] Preferably, a speaker, a module and a control module are respectively installed on the surface of the chest plate.

[0018] Preferably, the support assembly comprises a support rod, a surface of the support rod is connected to a plurality of reinforcing ribs, and the reinforcing ribs and the support rod are both connected to the base.

[0019] Preferably, the driving device includes a driving motor, one end of the driving motor output shaft is fixedly connected to the first bevel gear through a coupling, a second bevel gear is meshed with one side of the first bevel gear, a rotating frame is provided inside the second bevel gear, the rotating frame is connected to the rotating frame, a light switch is installed at the bottom of the protective cover and below the second bevel gear, and a touch rod is connected to the surface of the second bevel gear.

[0020] Compared with the related art, the humanoid bionic robot torso driven by a stepper motor provided by the utility model has the following beneficial effects:

[0021] The utility model provides a humanoid bionic robot torso driven by a stepping motor, and adopts an umbrella gear set structure in the movable neck. This structure has a longer service life than the existing robot neck, and due to its simple structure, it is more convenient to operate and has a low cost.

[0022] The hollow rotating platform at the waist of the robot can carry more loads than ordinary motor platforms. Because the rotating platform has high operating precision, the total operating noise is low and there is no vibration.

[0023] The inner shell of the robot's body is closer to the human body structure, and after decoration, it is closer to the human appearance than most robots on the market. A pressing piece connected to silicone is left on the robot's body for easy installation. The robot is equipped with a speaker inside that can make sounds in conjunction with the robot's body movements. A robotic arm fixing interface is left on the robot's shoulder, which can quickly replace the existing robotic arm. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 A schematic structural diagram of a preferred embodiment of a humanoid bionic robot trunk driven by a stepping motor provided by the utility model;

[0025] Figure 2 for Figure 1 An isometric structural diagram of the entire device shown;

[0026] Figure 3 for Figure 1 A schematic diagram of the three-dimensional structure below the overall device shown;

[0027] Figure 4 for Figure 1 A schematic diagram of the three-dimensional structure of the upper part of the device as a whole is shown;

[0028] Figure 5 for Figure 1 A schematic diagram of the three-dimensional structure inside the device shown;

[0029] Figure 6 for Figure 1 A schematic diagram of the three-dimensional structure of the entire internal structure of the device shown;

[0030] Figure 7 for Figure 6 The isometric schematic diagram of the overall internal structure of the device shown;

[0031] Figure 8 for Figure 1 An isometric structural diagram of the neck is shown;

[0032] Fig. 9 for Figure 8 A schematic diagram of the three-dimensional structure of the neck shown;

[0033] Fig.10 for Figure 8 A schematic diagram of the first three-dimensional structure of the interior of the neck is shown.

[0034] Numbers in the figure: 1, base, 2, support assembly, 201, support rod, 202, reinforcing rib, 3, first rotating device, 31, first motor, 32, rotating seat, 33, fixed frame, 4, extension frame, 5, chest plate, 6, control module, 7, speaker, 8, audio module, 9, positioning frame, 11, protective cover, 13, rotating sleeve, 14, connecting plate, 15, driving device, 151, driving motor, 152, first umbrella gear, 153, second umbrella gear, 154, rotating frame, 155, light switch, 156, touch rod, 16, rotating frame, 18, waist pad, 19, chest pad, 20, hip pad, 21, shoulder pad, 22, buckle, 23, neck hip pad, DETAILED DESCRIPTION

[0035] The utility model is further described below in conjunction with the accompanying drawings and implementation modes.

[0036] Please refer to Figure 1-10 ,in, Figure 1 A schematic structural diagram of a first embodiment of a humanoid bionic robot torso driven by a stepping motor provided by the utility model; Figure 2 for Figure 1 An isometric structural diagram of the entire device shown; Figure 3 for Figure 1 A schematic diagram of the three-dimensional structure below the overall device shown; Figure 4 for Figure 1 A schematic diagram of the three-dimensional structure of the upper part of the device as a whole is shown; Figure 5 for Figure 1 A schematic diagram of the three-dimensional structure inside the device shown; Figure 6 for Figure 1 A schematic diagram of the three-dimensional structure of the entire internal structure of the device shown; Figure 7 for Figure 6 The isometric schematic diagram of the overall internal structure of the device shown; Figure 8 for Figure 1 An isometric structural diagram of the neck is shown; Fig. 9 for Figure 8 A schematic diagram of the three-dimensional structure of the neck shown; Fig.10 for Figure 8 The first three-dimensional structure schematic diagram of the neck interior is shown. The humanoid bionic robot torso driven by a stepper motor includes:

[0037] A base 1 and a rotating sleeve 13, wherein a support assembly 2 is provided on the surface of the base 1;

[0038] A first rotating device 3, which is disposed above the supporting assembly 2, and includes a rotating seat 32, a first motor 31 is installed on one side of the rotating seat 32, and a fixing frame 33 is connected to the surface of the rotating seat 32;

[0039] A positioning frame 9 is disposed above the rotating sleeve 13, and a protective sleeve 11 is disposed above the positioning frame 9;

[0040] A driving device 15, wherein the driving device 15 is disposed above the protective sleeve 11;

[0041] An arc-shaped sleeve 17, wherein the arc-shaped sleeve 17 is disposed between the protective sleeve 11 and the driving device 15;

[0042] The rotating frame 16 is arranged above the arc sleeve 17 .

[0043] A connecting plate 14 is connected to the bottom of the positioning frame 9 .

[0044] The driving motor 51 is installed inside the protective cover 11 , and a limit block is connected to one side of the light switch 154 so as to be controlled by the rotation angle of the touch rod 156 .

[0045] A chest plate 5 is installed on the surface of the fixing frame 33 and on the front and rear sides of the third rotating device 12, an extension frame 4 is provided on the surface of the rotating seat 32, waist pads 18 are provided on the surfaces of the two chest plates 5, a chest pad 19 is provided on the top of the waist pad 18, a hip pad 20 is connected to the bottom of the waist pad 18, shoulder pads 21 are provided on the left and right sides of the chest plate 5, a neck hip pad 23 is provided on the surface of the arc sleeve 17, buckles 22 are provided between the waist pad 18, the chest pad 19, the hip pad 20 and the neck hip pad 23.

[0046] A plurality of sound amplification holes are provided on the surface of the waist pad 18 to facilitate the transmission of sound to the outside of the entire device when the speaker 7 makes sound. A through groove is provided on the surface of the positioning frame 9 to facilitate the wiring of the second motor 101. Two meshing large and small gears are arranged inside the rotating seat 32, and the large gear is connected to the top portion of the support rod 22 through a rotating shaft, and the small gear is connected to the first motor 31.

[0047] The surface of the chest plate 5 is respectively mounted with a speaker 7, a module 8 and a control module 6.

[0048] The support assembly 2 includes a support rod 201 , a surface of the support rod 201 is connected to a plurality of reinforcing ribs 202 , and both the reinforcing ribs 202 and the support rod 201 are connected to the base 1 .

[0049] The driving device 15 includes a driving motor 151, one end of the output shaft of the driving motor 151 is fixedly connected to a first bevel gear 152 through a coupling, a second bevel gear 153 is meshed with one side of the first bevel gear 152, a rotating frame 154 is arranged inside the second bevel gear 153, and the rotating frame 154 is connected to the rotating frame 16, a light switch 155 is installed at the bottom of the protective cover 11 and below the second bevel gear 153, and a touch rod 156 is connected to the surface of the second bevel gear 153.

[0050] The movable robot neck and movable waist structure, the appearance of the robot body plastic shell. The robot neck adopts a bevel gear set, which has a longer service life and lower price than the existing robot joints; the waist adopts a hollow rotating platform, which can carry more loads than ordinary motor platforms. Because the rotating platform has high operating precision, the total operating noise is low and there is no vibration.

[0051] The working principle of the humanoid bionic robot trunk driven by a stepper motor provided by the utility model is as follows:

[0052] During use, when the rotating frame 16 is driven to move up and down, the driving motor 151 is started to drive the first umbrella gear 152 to rotate. When the first umbrella gear 152 rotates, it drives the second umbrella gear 153 to rotate. When the second umbrella gear 153 rotates, it drives the rotating frame 154 to rotate. When the rotating frame 154 rotates, it drives the rotating frame 16 to be lifted up and down.

[0053] Compared with the related art, the humanoid bionic robot torso driven by a stepper motor provided by the utility model has the following beneficial effects:

[0054] The utility model provides a humanoid bionic robot torso driven by a stepping motor, and adopts an umbrella gear set structure in the movable neck. This structure has a longer service life than the existing robot neck, and due to its simple structure, it is more convenient to operate and has a low cost.

[0055] The hollow rotating platform at the waist of the robot can carry more loads than ordinary motor platforms. Because the rotating platform has high operating precision, the total operating noise is low and there is no vibration.

[0056] The inner shell of the robot's body is closer to the human body structure, and after decoration, it is closer to the human appearance than most robots on the market. A pressing piece connected to silicone is left on the robot's body for easy installation. The robot is equipped with a speaker inside that can make sounds in conjunction with the robot's body movements. A robotic arm fixing interface is left on the robot's shoulder, which can quickly replace the existing robotic arm.

[0057] The above description is only an embodiment of the present invention, and does not limit the patent scope of the present invention. Any equivalent structure or equivalent process transformation made by using the contents of the specification and drawings of the present invention, or directly or indirectly applied in other related technical fields, are also included in the patent protection scope of the present invention.

Claims

1. A humanoid bionic robot torso driven by a stepper motor, characterized in that: include: A base and a rotating sleeve, wherein a support assembly is arranged on the surface of the base; A first rotating device, the first rotating device is arranged above the supporting assembly, the first rotating device comprises a rotating seat, a first motor is installed on one side of the rotating seat, and a fixing frame is connected to the surface of the rotating seat; A positioning frame is arranged above the rotating sleeve, and a protective sleeve is arranged above the positioning frame; A driving device, wherein the driving device is arranged above the protective sleeve; An arc-shaped sleeve, wherein the arc-shaped sleeve is arranged between the protective sleeve and the driving device; A rotating frame is arranged above the arc sleeve.

2. The humanoid bionic robot torso driven by a stepper motor according to claim 1, characterized in that: The bottom of the positioning frame is connected with a connecting plate.

3. The humanoid bionic robot torso driven by a stepper motor according to claim 1, characterized in that: It also includes a third rotating device, chest plates are installed on the surface of the fixing frame and on the front and rear sides of the third rotating device, an extension frame is provided on the surface of the rotating seat, waist pads are provided on the surfaces of the two chest plates, a chest pad is provided on the top of the waist pad, a hip pad is connected to the bottom of the waist pad, shoulder pads are provided on the left and right sides of the chest plate, a neck and hip pad is provided on the surface of the arc sleeve, and buckles are provided between the waist pad, the chest pad, the hip pad and the neck and hip pad.

4. The humanoid bionic robot torso driven by a stepper motor according to claim 3, characterized in that: A sound box, a module and a control module are respectively installed on the surface of the chest plate.

5. The humanoid bionic robot torso driven by a stepper motor according to claim 1, characterized in that: The support assembly comprises a support rod, a surface of which is connected with a plurality of reinforcing ribs, and both the reinforcing ribs and the support rod are connected to the base.

6. The humanoid bionic robot torso driven by a stepper motor according to claim 1, characterized in that: The driving device includes a driving motor, one end of the output shaft of the driving motor is fixedly connected to a first bevel gear through a coupling, a second bevel gear is meshed with a side of the first bevel gear, a rotating frame is arranged inside the second bevel gear, the rotating frame is connected to the rotating frame, a light sensing switch is installed at the bottom of the protective cover and below the second bevel gear, and a touch rod is connected to the surface of the second bevel gear.

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