Humanoid robot

Abstract

A humanoid robot comprises a head, a neck, shoulders, a waist, a hip and thighs, the shoulders are provided with arm lifting mechanisms and arm swinging mechanisms, the neck is provided with a head rotating mechanism and a head vertical swinging mechanism, and the waist is provided with a waist rotating mechanism, a front-back bending mechanism and a left-right bending mechanism. And the hip part is provided with a leg inner and outer side rotating mechanism, a thigh inner and outer side swinging mechanism and a thigh front and back swinging mechanism. The arm lifting mechanism comprises a first shoulder motor arranged on the shoulder and a shoulder joint hinged to the shoulder, and the first shoulder motor is in transmission connection with the shoulder joint; the arm swinging mechanism comprises a second shoulder motor arranged on the shoulder joint and an arm hinged to the shoulder joint, the second shoulder motor is in transmission connection with the arm, the head rotating mechanism comprises a first neck motor arranged on the neck and a second neck motor arranged on the shoulder, and the first neck motor is in transmission connection with the head; the neck part is connected with the shoulder part through a rotating shaft; a connecting rod is arranged on the rotating shaft and is in transmission connection with the second neck motor.

Description

Technical Field

[0001] This utility model relates to a humanoid robot. Background Technology

[0002] Humanoid robots, also known as humanoid robots, are robots with a humanoid shape. Humanoid robots have certain requirements for head rotation and swinging, as well as arm raising and swinging. The head rotation and swinging mechanisms and arm raising and swinging mechanisms of existing humanoid robots are mostly complex in structure and difficult to meet the strength requirements of industrial robots. Summary of the Invention

[0003] The problem to be solved by this utility model is to provide a humanoid robot with a simple structure and high strength.

[0004] The technical solution provided by this utility model is as follows: A humanoid robot includes a head, neck, shoulder, waist, hip, and thigh. The shoulder has an arm lifting mechanism and an arm swinging mechanism. The arm lifting mechanism includes a first shoulder motor located on the shoulder and a shoulder joint hinged to the shoulder. The first shoulder motor is drivenly connected to the shoulder joint. The arm swinging mechanism includes a second shoulder motor located on the shoulder joint and an arm hinged to the shoulder joint. The second shoulder motor is drivenly connected to the arm. The neck has a head rotation mechanism and a head up-and-down swinging mechanism. The head rotation mechanism includes a first neck motor located on the neck and a second neck motor located on the shoulder. The first neck motor is drivenly connected to the head. The neck and shoulder are connected by a rotating shaft. A connecting rod is provided on the rotating shaft, and the second neck motor is drivenly connected to the connecting rod. The waist has a waist turning mechanism, a forward and backward bending mechanism, and a left and right bending mechanism. The hip has a leg inner and outer side rotation mechanism, a thigh inner and outer side swinging mechanism, and a thigh forward and backward swinging mechanism.

[0005] The waist section includes a waist support, an upper support, a middle support, a lower support, and a crossbeam. A first pin is mounted on the upper support, which is movably connected to the middle support via the first pin. A second pin is mounted on the middle support, which is movably connected to the lower support via the second pin. The lower support is movably connected to the crossbeam via a third pin. The waist-turning mechanism includes a first waist motor mounted on the waist support, with the output shaft of the first waist motor fixedly connected to the upper support. The forward and backward bending mechanism includes a second waist support mounted on the middle support. The system includes a motor, eccentric shaft one, eccentric shaft two, a first connecting rod, and a second connecting rod. Eccentric shaft one and eccentric shaft two are connected to the output shaft of the second waist motor. One end of the first connecting rod is connected to eccentric shaft one, and the other end is connected to pin three set on the upper bracket. One end of the second connecting rod is connected to eccentric shaft two, and the other end is connected to pin four set on the lower bracket. The left and right bending mechanism includes a third waist motor fixedly installed on the crossbeam. The output shaft of the third waist motor is connected to eccentric shaft three, and a bearing is installed on eccentric shaft three. The bearing is embedded in the groove of the lower bracket.

[0006] The hip joint includes a horizontal rotating bracket and a vertical rotating bracket; the leg's inner and outer lateral rotation mechanism includes a hip motor one, which is vertically mounted on a crossbeam. The output shaft of the hip motor one is connected to the horizontal rotating bracket to drive the horizontal swing of the rotating bracket; the thigh's inner and outer lateral swing mechanism includes a hip motor two, which is fixedly mounted in the horizontal rotating bracket. The output shaft of the hip motor two is connected to the vertical rotating bracket, and the hip motor two drives the vertical rotating bracket to rotate, thereby realizing the thigh swinging outward or inward. The thigh's forward and backward swing mechanism includes a hip motor three, which is fixedly mounted in the vertical rotating bracket. The output shaft of the hip motor three is connected to the thigh to drive the thigh to swing forward and backward.

[0007] This invention has a simple structure, high strength, and is easy to control. Attached Figure Description

[0008] Figure 1 This is a schematic diagram of the structure of this utility model;

[0009] Figure 2 This is a schematic diagram of the neck and shoulder structure of the humanoid robot of this utility model;

[0010] Figure 3 and Figure 4 This is a schematic diagram of the waist structure of the humanoid robot of this utility model. Detailed Implementation

[0011] See Figures 1-4 The present invention includes a head 3, a neck 2, a shoulder 4, a waist 1, a hip 6, an arm 5, and a thigh 7. The shoulder has an arm lifting mechanism and an arm swinging mechanism. The waist has a waist turning mechanism, a forward and backward bending mechanism, and a left and right bending mechanism. The hip has a leg inner and outer side rotation mechanism, a thigh inner and outer side swinging mechanism, and a thigh forward and backward swinging mechanism.

[0012] The arm raising mechanism includes a first shoulder motor 33 located on the shoulder and a shoulder joint hinged to the shoulder, with the first shoulder motor 33 being drivenly connected to the shoulder joint; the arm swinging mechanism includes a second shoulder motor 34 located on the shoulder joint and an arm hinged to the shoulder joint, with the second shoulder motor 34 being drivenly connected to the arm; the neck has a head rotation mechanism and a head up-and-down swinging mechanism, the head rotation mechanism includes a first neck motor 9 located on the neck and a second neck motor 36 located on the shoulder, with the first neck motor 9 being drivenly connected to the head, and the neck and shoulder being connected via a rotary shaft 35; a connecting rod 8 is provided on the rotary shaft 35, and the second neck motor 36 is drivenly connected to the connecting rod 8.

[0013] The waist section includes a waist support 16, an upper support 17, a middle support 24, a lower support 27, and a crossbeam 30. A first pin 19 is mounted on the upper support 17, which is movably connected to the middle support 24 via the first pin 19. A second pin 20 is mounted on the middle support 24, which is movably connected to the lower support 27 via the second pin 20. The lower support 27 is movably connected to the crossbeam 30 via a third pin 22. The front and rear waist-turning mechanism includes a first waist motor 10 mounted on the waist support 16, with the output shaft of the first waist motor 10 fixedly connected to the upper support 17. The front and rear waist-bending mechanism includes a second waist motor 10 mounted on the middle support 24. 1. Eccentric shaft 1 25.1, eccentric shaft 25.2, first connecting rod 23, and second connecting rod 26; eccentric shaft 1 25.1 and eccentric shaft 25.2 are connected to the output shaft of the second waist motor; one end of the first connecting rod 23 is connected to eccentric shaft 1 25.1, and the other end is connected to pin 3 18 set on the upper bracket 17; one end of the second connecting rod 26 is connected to eccentric shaft 2 25.2, and the other end is connected to pin 4 21 set on the lower bracket 27; the left and right bending mechanism includes a third waist motor 12 fixedly installed on the crossbeam 30, the output shaft of the third waist motor 12 is connected to eccentric shaft 3, a bearing 28 is installed on eccentric shaft 3, and the bearing 28 is embedded in the groove of the lower bracket 27.

[0014] The hip joint includes a horizontal rotating bracket 29 and a vertical rotating bracket 31. The leg's inner and outer lateral rotation mechanism includes a hip motor 13, which is vertically mounted on a crossbeam. The output shaft of the hip motor 13 is connected to the horizontal rotating bracket 29 to drive the horizontal swing of the rotating bracket. The thigh's inner and outer lateral swing mechanism includes a hip motor 14, which is fixedly mounted in the horizontal rotating bracket 29. The output shaft of the hip motor 14 is connected to the vertical rotating bracket 31, and the hip motor 14 drives the vertical rotating bracket 31 to rotate, thereby realizing the thigh swinging outward or inward. The thigh's forward and backward swing mechanism includes a hip motor 15, which is fixedly mounted in the vertical rotating bracket 31. The output shaft of the hip motor 15 is connected to the thigh 32, and when the hip motor 15 rotates, it drives the thigh 7 to swing forward and backward.

[0015] The present invention adopts the above structure, the shoulder motor 33 drives the arm 9 to lift, the shoulder motor 34 drives the arm to swing, the neck motor 9 drives the head to rotate left and right, and the neck motor 36 drives the head to swing up and down around the rotation axis 35 through the connecting rod 8.

[0016] The waist motor 10 is mounted on the waist support 16. The output shaft of the waist motor 10 is connected to the upper support 17. The waist motor 10 can drive the waist support 16 to swing left and right, realizing the action of turning the waist left and right.

[0017] Pin 18 is fixedly installed on the upper bracket 17. The upper bracket 17 is connected to the middle bracket 24 through pin 19. The middle bracket 24 is connected to the lower bracket 27 through pin 20. The waist motor 11 is fixedly installed on the middle bracket 24. The output shaft of the waist motor 11 is connected to the eccentric shaft 25. When the waist motor 11 rotates, it drives the connecting rod 23 and connecting rod 26 connected to the eccentric shaft 25 through the eccentric shaft 25, so that the upper bracket 17 swings around pin 19 and pin 20 relative to the lower bracket 27, thereby realizing the action of bending forward or backward.

[0018] The waist motor 12 is fixedly installed on the crossbeam 30. The output shaft of the waist motor 12 is connected to the eccentric shaft. The bearing 28 is installed on the eccentric shaft. The bearing 28 is located in the groove of the lower bracket 27. When the waist motor 12 drives the eccentric bearing 28 to swing, it will drive the lower bracket 27 to swing around the pin 22, thereby realizing the left and right bending movements.

[0019] The hip motor 13 is fixedly mounted on the crossbeam 30. The output shaft of the hip motor 12 is connected to the rotary bracket 29. The hip motor 12 drives the rotary bracket 29 to swing horizontally, thereby realizing the rotation of the inner and outer sides of the leg.

[0020] The hip motor 14 is horizontally fixedly mounted on the rotary bracket 29. The output shaft of the hip motor 14 is connected to the rotary bracket 31. The hip motor 14 drives the rotary bracket 31 to rotate, thereby realizing the swinging of the thigh to the outside or inside.

[0021] The hip motor 15 is fixedly installed in the rotating bracket 31. The output shaft of the hip motor 15 is connected to the thigh 7. When the hip motor 15 rotates, it drives the thigh 7 to swing back and forth.

Claims

1. A humanoid robot, comprising a head, neck, shoulders, waist, hips, and thighs, characterized in that: The shoulder has an arm lifting mechanism and an arm swinging mechanism. The arm lifting mechanism includes a first shoulder motor located on the shoulder and a shoulder joint hinged to the shoulder. The first shoulder motor is connected to the shoulder joint in a transmission manner. The arm swinging mechanism includes a second shoulder motor located on the shoulder joint and an arm hinged to the shoulder joint. The second shoulder motor is connected to the arm in a transmission manner. The neck has a head rotation mechanism and a head up-and-down swinging mechanism. The head rotation mechanism includes a first neck motor located on the neck and a second neck motor located on the shoulder. The first neck motor is connected to the head via a drive, and the neck and shoulder are connected via a rotary shaft. A connecting rod is provided on the rotary shaft, and the second neck motor is connected to the connecting rod via a drive. The waist has a waist-turning mechanism, a forward and backward bending mechanism, and a left and right bending mechanism; The hip has a leg inner and outer rotation mechanism, a thigh inner and outer swing mechanism, and a thigh front and back swing mechanism.

2. The humanoid robot according to claim 1, characterized in that: The waist section includes a waist support, an upper support, a middle support, a lower support, and a crossbeam. A first pin is mounted on the upper support, which is movably connected to the middle support via the first pin. A second pin is mounted on the middle support, which is movably connected to the lower support via the second pin. The lower support is movably connected to the crossbeam via a third pin. The front and rear waist-turning mechanism includes a first waist motor mounted on the waist support, the output shaft of which is fixedly connected to the upper support. The front and rear waist-bending mechanism includes a second waist motor mounted on the middle support. The system includes a motor, eccentric shaft one, eccentric shaft two, a first connecting rod, and a second connecting rod. Eccentric shaft one and eccentric shaft two are connected to the output shaft of the second waist motor. One end of the first connecting rod is connected to eccentric shaft one, and the other end is connected to pin three set on the upper bracket. One end of the second connecting rod is connected to eccentric shaft two, and the other end is connected to pin four set on the lower bracket. The left and right bending mechanism includes a third waist motor fixedly installed on the crossbeam. The output shaft of the third waist motor is connected to eccentric shaft three, and a bearing is installed on eccentric shaft three. The bearing is embedded in the groove of the lower bracket.

3. The humanoid robot according to claim 1 or 2, characterized in that: The hip joint includes a horizontal rotating support and a vertical rotating support; the leg inner and outer lateral rotation mechanism includes a hip motor 1, which is vertically mounted on a crossbeam. The output shaft of the hip motor 1 is connected to the horizontal rotating support to drive the horizontal swing of the rotating support; the thigh inner and outer lateral swing mechanism includes a hip motor 2, which is fixedly mounted in the horizontal rotating support. The output shaft of the hip motor 2 is connected to the vertical rotating support, and the hip motor 2 drives the vertical rotating support to rotate, thereby realizing the swing of the thigh outward or inward; the thigh forward and backward swing mechanism includes a hip motor 3, which is fixedly mounted in the vertical rotating support. The output shaft of the hip motor 3 is connected to the thigh to drive the forward and backward swing of the thigh.

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