Skin transmission structure of bionic robot and bionic robot

Abstract

The utility model relates to bionic robot technical field especially is related to a bionic robot's skin transmission structure and bionic robot. The utility model provides bionic robot's skin transmission structure, include: elastic insert, connecting piece and transmission rod, connecting piece sets up on elastic insert, and is provided with first connecting part and second connecting part on connecting piece, elastic insert has head and hollow pole part, head is used for embedding in the skin of bionic robot and is integrated with the skin of bionic robot, and hollow pole part is detachably connected in head, first connecting part is connected with head, and second connecting part is located in the hollow of hollow pole part, transmission rod is provided with third connecting part and fourth connecting part, third connecting part is used for with second connecting part connects, and fourth connecting part is used for with driving device transmission connection. Overall simple structure, convenient installation, and head is embedded in the stable connection of skin, low cost simultaneously, and high reliability.

Description

TECHNICAL FIELD

[0001] The utility model relates to bionic robot technical field especially is related to a bionic robot's skin transmission structure and bionic robot. BACKGROUND

[0002] Robot technology develops rapidly along with the whole modern science and technology progress, and the ability of robot is stronger and stronger, and approaches the ability of human being step by step. With the evolution of robot, the gap between it and human being will be smaller and smaller, therefore bionic robot becomes one of the newest research directions in current robot research field. It can realize good man-machine interaction, realize natural, harmonious, friendly communication between human being and machine, reduce the emotional distance between human being and robot, thereby satisfying the material life demand of human being and the spiritual and emotional needs of human being.

[0003] The head of bionic robot is provided with driving device to drive the movement of multiple parts of facial skin to realize multiple expressions. At present, the driving device generally drives the movement of skin by bonding with the skin. The bonding connection mode depends too much on the operation method of the operator, and the bonding has the following problems: 1. It cannot ensure the batch positioning of silicone skin in batch production, and cannot guarantee batch consistency; 2. The bonding scheme needs to pressurize the bonding part, and the bonding time is longer; 3. The bonding scheme uses silicone glue to bond with the silicone layer, which may cause the problem that the bonding strength is different from the original silicone layer strength, and the hardness of the silicone glue after solidification is different from that of the original silicone layer, which may cause the problem of peeling of the silicone layer under long-term use conditions; 4. The silicone connection mode using bonding cannot be completely disassembled between the silicone layer and the mechanical layer, and the maintainability is poor. CONTENT OF THE UTILITY MODEL

[0004] The utility model aims at providing a bionic robot's skin transmission structure and bionic robot to solve the above technical problems existing in the prior art that the movement of skin is driven by bonding.

[0005] In a first aspect, the utility model provides a bionic robot's skin transmission structure, which comprises: an elastic insert, a connecting piece and a transmission rod.

[0006] The connecting piece is arranged on the elastic insert, and the connecting piece is provided with a first connecting part and a second connecting part;

[0007] The elastic insert has a head part and a hollow rod part, the head part is used for embedding in the skin of a bionic robot and is integrally formed with the skin of the bionic robot, the hollow rod part is detachably connected to the head part, the first connecting part is connected to the head part, and the second connecting part is located in the hollow of the hollow rod part.

[0008] The transmission rod is provided with a third connecting part and a fourth connecting part, the third connecting part is used for connecting with the second connecting part, and the fourth connecting part is used for being in transmission connection with a driving device.

[0009] In an optional embodiment, a cloth block is further included, the cloth block is connected to the head, and the cloth block is used for being embedded in and integrated with the skin of the bionic robot.

[0010] In an optional embodiment, the head has a first surface away from the hollow rod part and a second surface towards the hollow rod part, and the first surface is convexly spherical relative to the second surface.

[0011] The cloth block is connected to the first surface.

[0012] In an optional embodiment, a suture is further included.

[0013] The first surface is provided with a groove and a suture hole, and the suture hole penetrates the second surface.

[0014] The cloth block is connected to the suture hole through the suture.

[0015] In an optional embodiment, the connecting piece is a screw.

[0016] A through hole is formed in the groove bottom of the groove, and the through hole corresponds to the hollow of the hollow rod part.

[0017] A head of the screw forms the first connecting part and is located in the groove, and a screw rod of the screw forms the second connecting part and penetrates the through hole.

[0018] In an optional embodiment, one end of the transmission rod is provided with a threaded hole column, and the other end of the transmission rod is provided with a connecting hole.

[0019] The threaded hole column forms the third connecting part, and the connecting hole forms the fourth connecting part.

[0020] In an optional embodiment, a limiting protrusion is arranged in the groove, and the first connecting part is located between the groove bottom of the groove and the limiting protrusion.

[0021] In an optional embodiment, a plurality of suture holes are arranged, and all the suture holes are annularly distributed to form a hole ring, and the groove is located in the hole ring.

[0022] In an optional embodiment, the material of the elastic insert is thermoplastic polyurethane rubber.

[0023] In a second aspect, the utility model provides a kind of bionic robot, including the skin transmission structure of bionic robot of any one of preceding embodiment.

[0024] Compared with the prior art, the skin transmission structure of the bionic robot and the bionic robot provided by the utility model have the technical advantages that

[0025] The skin transmission structure of the bionic robot provided by the utility model comprises an elastic insert, a connecting piece and a transmission rod, the connecting piece is arranged on the elastic insert, the connecting piece is provided with a first connecting part and a second connecting part, the elastic insert has a head part and a hollow rod part, the head part is used for being embedded in the skin of the bionic robot and is integrally formed with the skin of the bionic robot, the hollow rod part is detachably connected to the head part, the first connecting part is connected to the head part, and the second connecting part is located in the hollow part of the hollow rod part, the transmission rod is provided with a third connecting part and a fourth connecting part, the third connecting part is used for being connected to the second connecting part, and the fourth connecting part is used for being in transmission connection with a driving device.

[0026] Since the first connecting part is connected to the head part, when the head part is integrally formed with the skin of the bionic robot, the head part is also integrally formed with the skin of the bionic robot, the stability of connection is ensured, in the forming process, the hollow rod part plays a positioning role and can also play a protection role on the second connecting part, the skin is prevented from being formed on the second connecting part, after forming, the hollow rod part is cut off, the second connecting part is exposed and connected to the third connecting part, the overall structure is simple, installation is convenient, the head part is embedded in the skin and stable in connection, the cost is relatively low, and the reliability is high.

[0027] The bionic robot provided by the utility model comprises the skin transmission structure of the bionic robot, therefore, the technical advantages and effects reached by the bionic robot include the technical advantages and effects reached by the skin transmission structure of the bionic robot, which will not be described in detail here.

[0028] Other features and advantages of the utility model will be described in detail in the following specific embodiment part. ACCURATE DRAWING

[0029] In order to more clearly illustrate the specific embodiment of the utility model or the technical scheme in the prior art, the following will briefly introduce the drawings needed to be used in the specific embodiment or the prior art description, and obviously, the drawings in the following description are some embodiments of the utility model, and those skilled in the art can also obtain other drawings according to these drawings without creating creative labor.

[0030] Figure 1 The utility model provides the skin transmission structure of the bionic robot.

[0031] Icon: 1-elastic insert;2-screw;3-transmission rod;4-head part;5-hollow rod part;6-groove;7-stitching hole;8-screw hole column;9-connecting hole. DETAILED DESCRIPTION

[0032] The technical solutions of the present application will be described clearly and completely below in conjunction with the embodiments. Obviously, the described embodiments are only some of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all the other embodiments obtained by those skilled in the art without creative work are within the scope of protection of the present application.

[0033] In the description of the present application, it should be noted that the orientations or positional relationships indicated by the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. are based on the orientations or positional relationships shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, and therefore cannot be understood as indicating or implying that the devices or elements must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as limiting the present application. In addition, the terms "first", "second", "third" are only for the purpose of description, and cannot be understood as indicating or implying relative importance.

[0034] In the description of the present application, it should be noted that unless otherwise explicitly specified and limited, the terms "mounting", "connecting", "connection" should be understood broadly, for example, it can be fixed connection, or detachable connection, or integrally connected; it can be mechanical connection, or electrical connection; it can be directly connected, or indirectly connected through an intermediate medium, or the communication between two elements inside. For those skilled in the art, the specific meanings of the above terms in the present application can be understood according to the specific circumstances.

[0035] In addition, the technical solutions of each embodiment can be combined with each other, but it must be based on the fact that those skilled in the art can realize it, when the combination of technical solutions appears contradictory or unachievable, it should be considered that the combination of technical solutions does not exist, and is not within the scope of protection required by the present application.

[0036] The present application will be described in further detail below through specific examples and in conjunction with the drawings.

[0037] The specific structure is shown in Figure 1

[0038] ​The embodiment provides a skin transmission structure of a bionic robot, which comprises an elastic insert 1, a connecting piece and a transmission rod 3; the connecting piece is arranged on the elastic insert 1, and the connecting piece is provided with a first connecting part and a second connecting part; the elastic insert 1 has a head part 4 and a hollow rod part 5, the head part 4 is arranged in the skin of the bionic robot and is integrally formed with the skin of the bionic robot, the hollow rod part 5 is detachably connected to the head part 4, the first connecting part is connected to the head part 4, and the second connecting part is located in the hollow of the hollow rod part 5; the transmission rod 3 is provided with a third connecting part and a fourth connecting part, the third connecting part is used for being connected to the second connecting part, and the fourth connecting part is used for being in transmission connection with a driving device.

[0039] In the embodiment, the first connecting part is connected to the head part 4, the head part 4 is integrally formed with the skin of the bionic robot when the head part 4 is integrally formed with the skin of the bionic robot, the stability of connection is ensured, the hollow rod part 5 plays a positioning role in the forming process, meanwhile, the hollow rod part 5 can play a protection role on the second connecting part, the skin is prevented from being formed on the second connecting part, the hollow rod part 5 is cut off after forming, the second connecting part is exposed and connected to the third connecting part, the overall structure is simple, installation is convenient, the head part 4 is embedded in the skin and stable in connection, meanwhile, the cost is relatively low, and the reliability is high.

[0040] It should be noted that the bionic robot can be a human being or other organisms with similar human organ distribution.

[0041] In the optional technical scheme of the embodiment, a cloth block is further connected to the head part 4, and the cloth block is arranged in the skin of the bionic robot and is integrally formed with the skin of the bionic robot.

[0042] In the embodiment, the cloth block is integrally formed with the skin of the bionic robot together with the head part 4, the cloth block can increase the stress area of the skin, realizes point-to-area motion, makes expression transition more natural, meanwhile, the cloth block increases the connection area between the cloth block and the skin, and the stability of connection is ensured.

[0043] In the optional technical scheme of the embodiment, the head part 4 has a first surface away from the hollow rod part 5 and a second surface facing the hollow rod part 5, and the first surface is convex and spherical relative to the second surface; and the cloth block is connected to the first surface. The cloth block can be better integrally formed with the skin, and the cloth block is convenient to manufacture.

[0044] In the optional technical scheme of the embodiment, a suture is further included; a groove 6 and a suture hole 7 are arranged on the first surface, and the suture hole 7 penetrates the second surface; and the cloth block is connected to the suture hole 7 through the suture.

[0045] In the embodiment, the cloth block is sutured to the suture hole 7 through the suture, the structure is simple, and the suture between the cloth block and the head part 4 is convenient. However, the embodiment is not limited to this, and the cloth block can also be connected to the first surface through other manners.

[0046] In an optional technical solution of the embodiment, the connecting piece is a screw 2; a through hole is formed in the groove bottom of the groove 6, and the through hole corresponds to the hollow of the hollow rod part 5; the head of the screw 2 forms the first connecting part and is located in the groove 6, and the screw rod of the screw 2 forms the second connecting part and is arranged through the through hole. The structure is simple, convenient to install, and low in cost.

[0047] The embodiment is not limited to this, and the connecting piece can also be a connecting column. One end of the connecting column is provided with external threads to form the second connecting part, and the other end is smooth to form the first connecting part, and the first connecting part is integrally formed with the head part 4.

[0048] In an optional technical solution of the embodiment, one end of the transmission rod 3 is provided with a threaded hole column 8, and the other end of the transmission rod 3 is provided with a connecting hole 9; the threaded hole column 8 forms the third connecting part, and the connecting hole 9 forms the fourth connecting part. The structure is simple, convenient to connect, and stable.

[0049] However, the embodiment is not limited to this. One end of the transmission rod 3 can be provided with a threaded hole, and the other end of the transmission rod 3 is provided with a connecting hole 9; the threaded hole forms the third connecting part, and the connecting hole 9 forms the fourth connecting part. The structure is simple, convenient to connect, and stable.

[0050] In an optional technical solution of the embodiment, a limiting protrusion is arranged in the groove 6, and the first connecting part is located between the groove bottom of the groove 6 and the limiting protrusion. The limiting protrusion limits the axial exit of the first connecting part from the groove, and the structure is simple and stable in limiting.

[0051] In an optional technical solution of the embodiment, the suture holes 7 are arranged in multiple numbers, and all the suture holes 7 are annularly distributed to form a hole ring, and the groove 6 is located in the hole ring. The cloth block is connected with the multiple suture holes 7 through suture lines, the connection is stable, and the cloth block is subjected to circumferential force, uniform force, and smooth force.

[0052] In an optional technical solution of the embodiment, the material of the elastic insert 1 is thermoplastic polyurethane rubber. The cost is low, and the elastic insert 1 is convenient to manufacture.

[0053] The bionic robot provided in the embodiment includes the skin transmission structure of the bionic robot, so that the technical advantages and effects achieved by the bionic robot include the technical advantages and effects achieved by the skin transmission structure of the bionic robot, which will not be described here.

[0054] Finally, it should be noted that: the above embodiments are used to illustrate the technical solutions of the present application, but not limited to them; although the present application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that: it can still modify the technical solutions recorded in the foregoing embodiments, or make equivalent replacement to part or all of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the scope of the technical solutions of the embodiments of the present application.

Claims

1. A skin driving structure of a bionic robot, characterized in that, The skin driving structure of the bionic robot comprises an elastic insert (1), a connecting piece and a transmission rod (3). The connecting piece is arranged on the elastic insert (1), and the connecting piece is provided with a first connecting part and a second connecting part. The elastic insert (1) has a head part (4) and a hollow rod part (5), the head part (4) is arranged in the skin of the bionic robot and is integrally formed with the skin of the bionic robot, the hollow rod part (5) is detachably connected to the head part (4), the first connecting part is connected to the head part (4), and the second connecting part is arranged in the hollow of the hollow rod part (5). The transmission rod (3) is provided with a third connecting part and a fourth connecting part, the third connecting part is used for connecting with the second connecting part, and the fourth connecting part is used for driving connection with a driving device. Further comprising a cloth block, the cloth block is connected to the head part (4), and the cloth block is arranged in the skin of the bionic robot and is integrally formed with the skin of the bionic robot.

2. The skin transmission structure of the bionic robot according to claim 1, characterized in that, The head part (4) has a first surface away from the hollow rod part (5) and a second surface facing the hollow rod part (5), and the first surface is convexly spherical relative to the second surface.

3. The skin drive structure of the bionic robot according to claim 2, characterized in that, The cloth block is connected to the first surface. Further comprising a suture; 4. The skin transmission structure of the bionic robot according to claim 3, characterized in that, The first surface is provided with a groove (6) and a suture hole (7), and the suture hole (7) penetrates the second surface; The cloth block is connected to the suture hole (7) through the suture. The connecting piece is a screw (2); 5. The skin drive structure of the bionic robot according to claim 4, characterized in that, A through hole is formed in the groove bottom of the groove (6), and the through hole corresponds to the hollow of the hollow rod part (5); The head of the screw (2) forms the first connecting part and is located in the groove (6), and the screw rod of the screw (2) forms the second connecting part and is arranged in the through hole. One end of the transmission rod (3) is provided with a threaded hole column (8), and the other end of the transmission rod (3) is provided with a connecting hole (9); 6. The skin drive structure of the bionic robot according to claim 5, characterized in that, The threaded hole column (8) forms the third connecting part, and the connecting hole (9) forms the fourth connecting part. A limiting protrusion is arranged in the groove (6), and the first connecting part is located between the groove bottom of the groove (6) and the limiting protrusion.

7. The skin drive structure of the bionic robot according to claim 5, characterized in that, A plurality of suture holes (7) are arranged, and all the suture holes (7) are annularly distributed to form a hole ring, and the groove (6) is located in the hole ring.

8. The skin drive structure of the bionic robot according to claim 4, characterized in that, The material of the elastic insert (1) is thermoplastic polyurethane rubber.

9. The skin drive structure of the bionic robot according to any one of claims 1-8, characterized in that, The skin driving structure of the bionic robot comprises an elastic insert (1), a connecting piece and a transmission rod (3).

10. A biomimetic robot, characterized in that, The connecting piece is arranged on the elastic insert (1), and the connecting piece is provided with a first connecting part and a second connecting part. The elastic insert (1) has a head part (4) and a hollow rod part (5), the head part (4) is arranged in the skin of the bionic robot and is integrally formed with the skin of the bionic robot, the hollow rod part (5) is detachably connected to the head part (4), the first connecting part is connected to the head part (4), and the second connecting part is arranged in the hollow of the hollow rod part (5). The transmission rod (3) is provided with a third connecting part and a fourth connecting part, the third connecting part is used for connecting with the second connecting part, and the fourth connecting part is used for driving connection with a driving device. Further comprising a cloth block, the cloth block is connected to the head part (4), and the cloth block is arranged in the skin of the bionic robot and is integrally formed with the skin of the bionic robot. The head part (4) has a first surface away from the hollow rod part (5) and a second surface facing the hollow rod part (5), and the first surface is convexly spherical relative to the second surface. The cloth block is connected to the first surface. Further comprising a suture; The first surface is provided with a groove (6) and a suture hole (7), and the suture hole (7) penetrates the second surface; The cloth block is connected to the suture hole (7) through the suture. The connecting piece is a screw (2); A through hole is formed in the groove bottom of the groove (6), and the through hole corresponds to the hollow of the hollow rod part (5); The head of the screw (2) forms the first connecting part and is located in the groove (6), and the screw rod of the screw (2) forms the second connecting part and is arranged in the through hole. One end of the transmission rod (3) is provided with a threaded hole column (8), and the other end of the transmission rod (3) is provided with a connecting hole (9); The threaded hole column (8) forms the third connecting part, and the connecting hole (9) forms the fourth connecting part. A limiting protrusion is arranged in the groove (6), and the first connecting part is located between the groove bottom of the groove (6) and the limiting protrusion. A plurality of suture holes (7) are arranged, and all the suture holes (7) are annularly distributed to form a hole ring, and the groove (6) is located in the hole ring. The material of the elastic insert (1) is thermoplastic polyurethane rubber. The skin driving structure of the bionic robot comprises an elastic insert (1), a connecting piece and a transmission rod (3). The connecting piece is arranged on the elastic insert (1), and the connecting piece is provided with a first connecting part and a second connecting part.

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