Humanoid robot imitating human body structure

Abstract

The utility model discloses a humanoid robot simulating a human body structure. The humanoid robot comprises a machine frame, a PLC, two leg assemblies and two arm assemblies, wherein the two leg assemblies drive the machine frame to move spatially, and the two arm assemblies are arranged on the machine frame. Each of the arm component and the leg component comprises at least one joint piece, a rod piece connected with the joint piece and a driving motor for driving the rod piece to relatively deflect; the corresponding output ends of the PLC are in signal connection with the control input ends of the corresponding driving motors respectively, the driving motors are arranged on the machine frame in a centralized mode, the machine frame is further provided with wire wheels, the number of the wire wheels is equal to that of the driving motors, and all the driving motors transmit the corresponding wire wheels, then transmit soft brake wires wound on the wire wheels and then transmit the corresponding rod pieces. The device has the advantages of being relatively simple in structure, low in manufacturing cost, high in anti-overload capacity, finer, more flexible and more natural in action and more convenient to maintain.

Description

Technical Field

[0001] The utility model belongs to the technical field of robots and relates to a humanoid robot imitating the human body structure. Background Art

[0002] A humanoid robot is an artificial intelligence machine device with components such as multi-joint robotic arms and robotic legs or components with multiple degrees of freedom. It can automatically perform tasks and is a machine that realizes the complex motion functions of robotic arms and robotic legs by its own power and control ability. It can either directly receive human commands or operate automatically according to pre-programmed procedures, and there are many specific structural forms. The most common structure in the prior art includes a frame, a PLC controller, two leg components for spatial movement of the transmission frame, and two arm components arranged on the frame; both the arm components and the leg components respectively include at least one joint member, a rod member connected to the joint member, and a driving motor arranged on the joint member drives the rod member to deflect relatively through a rigid transmission device such as a gear member; the corresponding output terminals of the PLC controller are respectively signal-connected to the control input terminals of the corresponding driving motors; the arm components and the leg components drive to complete a predetermined series of actions according to the set program of the PLC controller.

[0003] The humanoid robot using such technology can of course be used, but its disadvantages are as follows:

[0004] A. Each driving motor DJ is arranged on the corresponding joint member, the structure of the joint member is relatively complex, the overall structure of the machine is relatively complex, and maintenance is inconvenient.

[0005] B. Each driving motor DJ drives the rod member to deflect relatively through a rigid transmission device such as a gear member, the anti-overload ability of the driving motor DJ is poor, and the rigid transmission device such as the gear member is easily damaged.

[0006] C. If the number of joint members is too large, the overall cost of the machine is high; if the number of joint members is too small, the actions of the arm components and the leg components are not delicate, flexible and natural enough.

[0007] In summary, the humanoid robot in the prior art has a relatively complex structure, high manufacturing cost, poor anti-overload ability, inconvenient maintenance, and the actions are not delicate, flexible and natural enough, and the use effect is not ideal enough. Summary of the Utility Model

[0008] To overcome the deficiencies of the prior art, the utility model provides a humanoid robot imitating the human body structure, which has a relatively simple structure, low cost, strong anti-overload ability, more delicate, flexible and natural actions, more convenient maintenance, and more ideal use effect.

[0009] The technical solution adopted by the present utility model to achieve the above technical purpose is as follows: A humanoid robot imitating the human body structure includes a frame, a PLC controller, two leg components for spatially moving the transmission frame, and two arm components provided on the frame; both the arm components and the leg components respectively include not less than one joint member, a rod connected to the joint member, and a driving motor for relatively deflecting the transmission rod; the corresponding output ends of the PLC controller are respectively signal-connected to the control input ends of the corresponding driving motors. The driving motors are centrally arranged on the frame, and the frame is also provided with wire wheels equal in number to the driving motors. Each driving motor drives the corresponding wire wheel, then drives the soft brake wire wound on the wire wheel, and then drives the corresponding rod.

[0010] The frame is a square box-shaped frame. There are four groups of wheel sets inside the frame. Each group of wheel sets includes three wire wheels and corresponding three driving motors. The arm components are a left arm component and a right arm component respectively arranged on both sides of the high position of the frame. The left arm component and the right arm component are respectively connected to the frame through shoulder frames in the shape of right-angle elbows; the leg components are a left leg component and a right leg component respectively arranged on both sides near the bottom of the frame; the structures of the two arm components and the two leg components are the same, and each respectively includes a cylindrical upper seat, a cylindrical lower seat, a sphere, a first rotating rod, a second rotating rod, a flat cylindrical wire disk, a flat cylindrical turntable with a rotating shaft in the center, a shaft sleeve, and a wire group composed of three soft brake wires; the bottom surface of the upper seat is provided with a first hemispherical concave opening, the top surface of the lower seat is provided with a second hemispherical concave opening, and the bottom surface of the lower seat is provided with a third hemispherical concave opening. The radii of the three hemispherical concave openings are all equal to the radius of the sphere. The height of the lower seat is less than the diameter of the sphere; on the overall end surface where the upper seat and the lower seat are joined, there are not less than ten even-numbered first through holes symmetrically arranged around the circumference. On the end surface of the wire disk, there are the same number of second through holes symmetrically arranged around the circumference as the first through holes. On the end surface of the wire disk, there are also four third through holes symmetrically arranged around the center axis. The sphere is arranged in the spherical cavity formed after the first hemispherical concave opening and the second hemispherical concave opening are joined. The top end of the first rotating rod is connected to the bottom surface of the sphere, the bottom end of the first rotating rod is connected to the circumferential surface of the shaft sleeve, and the middle part of the first rotating rod is fixedly connected to the central axis of the wire disk. The rotating shaft is inserted on the shaft sleeve. On the opposite sides of the circumferential edge of the end surface of the turntable, there are two fourth through holes. The top end of the second rotating rod is connected to the circumferential surface of the shaft sleeve near the bottom; a section of the wire tube in the middle part of the soft brake wire is peeled off. The core wire of the peeled section is tension-wound around the corresponding wire wheel in the corresponding wheel set. The two ends of the first soft brake wire in the corresponding wire group respectively pass through the corresponding two first through holes, then pass through the corresponding two second through holes, and the core wires at both ends are respectively fixedly connected to the two fourth through holes; the two ends of the second soft brake wire and the third soft brake wire in the corresponding wire group respectively pass through the corresponding two opposite first through holes, and the core wires at both ends are respectively fixedly connected to the two opposite third through holes.

[0011] The four groups of wheel sets include:

[0012] The upper left wheel set corresponding to the left arm assembly, which includes a first wire wheel, a second wire wheel, and a third wire wheel;

[0013] The lower left wheel set corresponding to the left leg assembly, which includes a fourth wire wheel, a fifth wire wheel, and a sixth wire wheel;

[0014] The upper right wheel set corresponding to the right arm assembly, which includes a seventh wire wheel, an eighth wire wheel, and a ninth wire wheel;

[0015] The lower right wheel set corresponding to the right leg assembly, which includes a tenth wire wheel, an eleventh wire wheel, and a twelfth wire wheel.

[0016] The described wire set includes:

[0017] The A wire set corresponding to the left arm assembly, which includes a first core wire and the corresponding first wire tube, a second core wire and the corresponding second wire tube, a third core wire and the corresponding third wire tube; both ends of the first core wire are connected to the turntable in the left arm assembly;

[0018] The B wire set corresponding to the left leg assembly, which includes a fourth core wire and the corresponding fourth wire tube, a fifth core wire and the corresponding fifth wire tube, a sixth core wire and the corresponding sixth wire tube; both ends of the fourth core wire are connected to the turntable in the left leg assembly;

[0019] The C wire set corresponding to the right arm assembly, which includes a seventh core wire and the corresponding seventh wire tube, an eighth core wire and the corresponding eighth wire tube, a ninth core wire and the corresponding ninth wire tube; both ends of the seventh core wire are connected to the turntable in the right arm assembly;

[0020] The D wire set corresponding to the right leg assembly, which includes a tenth core wire and the corresponding tenth wire tube, an eleventh core wire and the corresponding eleventh wire tube, a twelfth core wire and the corresponding twelfth wire tube; both ends of the tenth core wire are connected to the turntable in the right leg assembly.

[0021] The beneficial effects of the present utility model are: Due to the adoption of the above structure, the following advantages are achieved:

[0022] A. The driving motor DJ is centrally arranged in the box-type frame 3 and is driven by a soft brake wire, and the structure of the joint is relatively simple.

[0023] B. The driving motor DJ is centrally arranged in the box-type frame 3 and is driven by a soft brake wire, and the driving motor DJ has strong anti-overload ability and is not easily burned out.

[0024] C. Through the transmission of the soft brake wire, the actions of the arm assembly and the leg assembly are more delicate, flexible, and natural.

[0025] D. The structures of the respective leg assemblies and the respective arm assemblies are completely the same and interchangeable, the overall structure of the machine is simple, and the maintenance is relatively more convenient.

[0026] In summary, the utility model has the advantages of relatively simple structure, low manufacturing cost, strong anti-overload ability, more delicate, flexible and natural movement, and more convenient maintenance, and the use effect is more ideal. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] The present utility model will be further described below in conjunction with the drawings and embodiments. Among them:

[0028] Figure 1 is a three-dimensional schematic diagram of the present utility model;

[0029] Figure 2 is a schematic diagram of the present utility model with some parts omitted in the plane;

[0030] Figure 3 is a schematic diagram of the left arm assembly part of the present utility model;

[0031] Figure 4 is a schematic diagram of the deflection principle of the turntable part in the left arm assembly of the present utility model;

[0032] Figure 5 is a schematic diagram of the deflection principle of the A rotating rod part in the left arm assembly of the present utility model;

[0033] Figure 6 is a schematic diagram of the sphere part of the present utility model;

[0034] Figure 7 is a schematic diagram of the connection relationship of the wire group of the present utility model.

[0035] The reference numerals in the drawings are explained as follows: shoulder frame 1, left arm assembly 2A, left leg assembly 2B, right arm assembly 2C, right leg assembly 2D, frame 3, PLC controller 4, upper left pulley set 5A, lower left pulley set 5B, upper right pulley set 5C, lower right pulley set 5D, upper seat 6, lower seat 7, first rotating rod 8, rotating shaft 9, shaft sleeve 10, second rotating rod 11, turntable 12, wire reel 13, first hemispherical notch 14, sphere 15, second hemispherical notch 16, third hemispherical notch 17, first wire group XA, second wire group XB, third wire group XC, fourth wire group XD, first core wire X1, second core wire X2, third core wire X3, fourth core wire X4, fifth core wire X5, sixth core wire X6, seventh core wire X7, eighth core wire X8, ninth core wire X9, tenth core wire X10, eleventh core wire X11, twelfth core wire X12, first wire conduit T1, second wire conduit T2, third wire conduit T3, fourth wire conduit T4, fifth wire conduit T5, sixth wire conduit T6, seventh wire conduit T7, eighth wire conduit T8, ninth wire conduit T9, tenth wire conduit T10, eleventh wire conduit T11, twelfth wire conduit T12, first wire wheel L1, second wire wheel L2, third wire wheel L3, fourth wire wheel L4, fifth wire wheel L5, sixth wire wheel L6, seventh wire wheel L7, eighth wire wheel L8, ninth wire wheel L9, tenth wire wheel L10, eleventh wire wheel L11, twelfth wire wheel L12, drive motor DJ. Detailed implementation mode

[0036] In an embodiment of the present utility model, as Figures 1 to 7 shown, a humanoid robot imitating a human body structure includes a frame 3, a PLC controller 4, two leg assemblies for moving the frame 3 in space, and two arm assemblies provided on the frame 3; both the arm assemblies and the leg assemblies respectively include at least one joint member, a rod connected to the joint member, and a drive motor DJ for driving the relative deflection of the transmission rod; the corresponding output terminals of the PLC controller 4 are respectively signal-connected to the control input terminals of the corresponding drive motors DJ, the drive motors DJ are centrally arranged on the frame 3, and the frame 3 is further provided with wire wheels equal in number to the drive motors DJ, and each drive motor DJ drives the corresponding rod after driving the corresponding wire wheel and then driving the soft brake wire wound on the wire wheel.

[0037] The described frame 3 is a square box-shaped frame 3. Inside the frame 3, there are four groups of wheel sets. Each group of wheel sets includes three wire wheels and corresponding three driving motors DJ. The arm components are the left arm component 2A and the right arm component 2C respectively arranged on both sides of the high position of the frame 3. The left arm component 2A and the right arm component 2C are respectively connected to the frame 3 through shoulder frames 1 in the shape of right-angled elbows; the leg components are the left leg component 2B and the right leg component 2D respectively arranged on both sides near the bottom of the frame 3; the structures of the two arm components and the two leg components are the same, and each respectively includes a cylindrical upper seat 6, a cylindrical lower seat 7, a sphere 15, a first rotating rod 8, a second rotating rod 11, a flat cylindrical wire reel 13, a flat cylindrical turntable 12 with a rotating shaft 9 in the center, a shaft sleeve 10, and a wire group composed of three soft brake wires; on the bottom surface of the upper seat 6, there is a first hemispherical concave notch 14, on the top surface of the lower seat 7, there is a second hemispherical concave notch 16, and on the bottom surface of the lower seat 7, there is a third hemispherical concave notch 17. The radii of the three hemispherical concave notches are all equal to the radius of the sphere 15. The height of the lower seat 7 is less than the diameter of the sphere 15; on the overall end surface of the upper seat 6 and the lower seat 7 that are combined, there are at least ten even-numbered first through holes symmetrically arranged along the circumference. On the end surface of the wire reel 13, there are the same number of second through holes symmetrically arranged along the circumference as the first through holes. At the middle axis of the end surface of the wire reel 13, there are also four third through holes symmetrically arranged. The sphere 15 is arranged in the spherical cavity formed after the first hemispherical concave notch 14 and the second hemispherical concave notch 16 are combined. The top end of the first rotating rod 8 is connected to the bottom surface of the sphere 15, the bottom end of the first rotating rod 8 is connected to the circumferential surface of the shaft sleeve 10, the middle part of the first rotating rod 8 is fixedly connected to the middle axis of the wire reel 13, the rotating shaft 9 is inserted on the shaft sleeve 10, and on the opposite sides along the circumference of the end surface of the turntable 12, there are two fourth through holes. The top end of the second rotating rod 11 is connected to the circumferential surface of the shaft sleeve 10 near the bottom; a section of the wire tube in the middle part of the soft brake wire is peeled off. The core wire of the peeled section is tightly wound around the corresponding wire wheel on the corresponding wheel set. The two wire bodies at both ends of the first soft brake wire in the corresponding wire group respectively pass through the corresponding two first through holes and then through the corresponding two second through holes, and the core wires at both ends are respectively fixedly connected to the two fourth through holes; the two wire bodies at both ends of the second soft brake wire and the third soft brake wire in the corresponding wire group respectively pass through the corresponding two opposite first through holes, and the core wires at both ends are respectively fixedly connected to the two opposite third through holes.

[0038] The four groups of wheel sets include:

[0039] The upper left wheel set 5A corresponding to the left arm component 2A. In the upper left wheel set 5A, there are a first wire wheel L1, a second wire wheel L2, and a third wire wheel L3;

[0040] The lower left wheel set 5B corresponding to the left leg component 2B. In the lower left wheel set 5B, there are a fourth wire wheel L4, a fifth wire wheel L5, and a sixth wire wheel L6;

[0041] The upper right wheel set 5C corresponding to the right arm component 2C. In the upper right wheel set 5C, there are a seventh wire wheel L7, an eighth wire wheel L8, and a ninth wire wheel L9;

[0042] The lower right pulley set 5D corresponding to the right leg assembly 2D includes a tenth wire pulley L10, an eleventh wire pulley L11, and a twelfth wire pulley L12.

[0043] The wire set described above includes:

[0044] The X wire set XA corresponding to the left arm assembly 2A, the X wire set XA includes a first core wire X1 and a corresponding first wire tube T1, a second core wire X2 and a corresponding second wire tube T2, a third core wire X3 and a corresponding third wire tube T3; both ends of the first core wire X1 are connected to the turntable 12 in the left arm assembly 2A;

[0045] The Y wire set XB corresponding to the left leg assembly 2B, the Y wire set XB includes a fourth core wire X4 and a corresponding fourth wire tube T4, a fifth core wire X5 and a corresponding fifth wire tube T5, a sixth core wire X6 and a corresponding sixth wire tube T6; both ends of the fourth core wire X4 are connected to the turntable 12 in the left leg assembly 2B;

[0046] The Z wire set XC corresponding to the right arm assembly 2C, the Z wire set XC includes a seventh core wire X7 and a corresponding seventh wire tube T7, an eighth core wire X8 and a corresponding eighth wire tube T8, a ninth core wire X9 and a corresponding ninth wire tube T9; both ends of the seventh core wire X7 are connected to the turntable 12 in the right arm assembly 2C;

[0047] The W wire set XD corresponding to the right leg assembly 2D, the W wire set XD includes a tenth core wire X10 and a corresponding tenth wire tube T10, an eleventh core wire X11 and a corresponding eleventh wire tube T11, a twelfth core wire X12 and a corresponding twelfth wire tube T12; both ends of the tenth core wire X10 are connected to the turntable 12 in the right leg assembly 2D.

[0048] Further description of the present utility model:

[0049] The first wire pulley L1 drives the second rotating rod 11 in the left arm assembly 2A to deflect back and forth through the first core wire X1 at the moving fit joint between the rotating shaft 9 and the shaft sleeve 10;

[0050] After the second wire pulley L2 pulls the wire reel 13 through the second core wire X2, it drives the first rotating rod 8 in the left arm assembly 2A to deflect back and forth at the spherical moving fit joint formed by the first hemispherical notch 14, the sphere 15, and the second hemispherical notch 16;

[0051] After the third wire pulley L3 pulls the wire reel 13 through the third core wire X3, it drives the first rotating rod 8 in the left arm assembly 2A to deflect left and right at the spherical moving fit joint formed by the first hemispherical notch 14, the sphere 15, and the second hemispherical notch 16;

[0052] The cooperation between the second wire wheel L2 and the third wire wheel L3 can achieve the full-angle deflection of the first rotating rod 8 within the allowable range of the structure;

[0053] After the cooperation of the first wire wheel L1, the second wire wheel L2, and the third wire wheel L3, the flexible movement of the spatial position of the second rotating rod 11 can be achieved; the thickness of the lower seat 7 is set as small as possible, and the semi-cylindrical concave notch 17 can also be replaced by a frustum-shaped concave notch, so that the allowable deflection angle of the first rotating rod 8 will be larger.

Claims

1. A humanoid robot imitating a human body structure, comprising a frame, a PLC controller, two leg assemblies for spatial movement of a transmission frame, and two arm assemblies arranged on the frame; the arm assembly and the leg assembly each include at least one joint, a rod connected to the joint, and a drive motor for relative deflection of the transmission rod; the corresponding output terminals of the PLC controller are respectively connected to the control input terminals of the corresponding drive motors, characterized in that: The driving motors are centrally arranged on a frame, and the frame is also provided with wire wheels equal in number to the driving motors. Each driving motor drives the corresponding wire wheel, then drives the soft brake wire wound on the wire wheel, and then drives the corresponding rod.

2. A humanoid robot imitating a human body structure according to claim 1, characterized in that: The frame is a square box frame, and four sets of wheels are arranged in the frame, each set of wheels includes three wire wheels and corresponding three driving motors, and the arm assembly is a left arm assembly and a right arm assembly respectively arranged on both sides of the high position of the frame, and the left arm assembly and the right arm assembly are respectively connected to the frame through a right-angle bent tube-shaped shoulder frame; the leg assembly is a left leg assembly and a right leg assembly respectively arranged on both sides of the bottom of the frame; the two arm assemblies and the two leg assemblies have the same structure, and each of them includes a cylindrical upper seat, a cylindrical lower seat, a sphere, a A wire assembly consisting of a rotating rod, a rotating rod B, a flat cylindrical wire drum, a flat cylindrical rotating disk with a rotating shaft in the center, a bushing, and three soft brake wires; a hemispherical recess A is provided on the bottom surface of the upper seat, a hemispherical recess B is provided on the top surface of the lower seat, and a hemispherical recess C is provided on the bottom surface of the lower seat; the radii of the three hemispherical recesses are all equal to the radius of the sphere, and the height of the lower seat is less than the diameter of the sphere; the overall end surfaces of the upper seat and the lower seat are rotationally symmetrically provided with no less than ten even-numbered A through holes, and the end surfaces of the wire drum are rotationally symmetrically provided with a plurality of A through holes. The same number of through holes B as through holes A are provided, and four through holes C are provided rotationally symmetrically at the end face of the wire drum near the central axis. The sphere is arranged in a spherical cavity after the hemispherical notch A and the hemispherical notch B are matched. The top end of the A rotating rod is connected to the bottom surface of the sphere, the bottom end of the A rotating rod is connected to the peripheral surface of the shaft sleeve, the middle waist of the A rotating rod is fixedly connected to the central axis of the wire drum, the rotating shaft is inserted into the shaft sleeve, and two through holes D are provided on the opposite sides of the peripheral edge of the rotating disk end face, and the top end of the B rotating rod is connected to the peripheral surface of the shaft sleeve near the bottom; soft brake line A section of the wire tube at the middle waist is stripped, and the core wire of the stripped section is tensioned and wound around the corresponding wire wheel on the corresponding wheel group. After the two ends of the wire body of the first soft brake wire in the corresponding wire group pass through the corresponding two A through holes respectively and then through the corresponding two B through holes, the core wires at both ends are fixedly connected to the two D through holes respectively; after the two ends of the wire body of the second soft brake wire and the third soft brake wire in the corresponding wire group pass through the corresponding two opposite A through holes respectively, the core wires at both ends are fixedly connected to the two opposite C through holes respectively.

3. A humanoid robot imitating a human body structure according to claim 2, characterized in that: The four wheel sets include: The left upper wheel group corresponding to the left arm assembly includes a first wire wheel, a second wire wheel and a third wire wheel; The left lower wheel group corresponding to the left leg assembly includes a fourth wire wheel, a fifth wire wheel, and a sixth wire wheel; The upper right wheel group corresponding to the right arm assembly includes a seventh wire wheel, an eighth wire wheel, and a ninth wire wheel; Corresponding to the right lower wheel group of the right leg assembly, the right lower wheel group includes the tenth wire wheel, the eleventh wire wheel, and the twelfth wire wheel.

4. The humanoid robot imitating human body structure according to claim 3, characterized in that: The line group includes: A wire group A corresponding to the left arm assembly, the wire group A includes a first core wire and a corresponding first wire tube, a second core wire and a corresponding second wire tube, a third core wire and a corresponding third wire tube; both ends of the first core wire are connected to the rotating disk in the left arm assembly; A wire group B corresponding to the left leg assembly, the wire group B includes a fourth core wire and a corresponding fourth wire tube, a fifth core wire and a corresponding fifth wire tube, a sixth core wire and a corresponding sixth wire tube; both ends of the fourth core wire are connected to the turntable in the left leg assembly; The C wire group corresponding to the right arm assembly includes the seventh core wire and the corresponding seventh wire tube, the eighth core wire and the corresponding eighth wire tube, the ninth core wire and the corresponding ninth wire tube; the two ends of the seventh core wire are connected to the rotating disk in the right arm assembly; The D-wire group corresponding to the right leg assembly includes the tenth core wire and the corresponding tenth wire tube, the eleventh core wire and the corresponding eleventh wire tube, the twelfth core wire and the corresponding twelfth wire tube; the two ends of the tenth core wire are connected to the turntable in the right leg assembly.

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