Modular, quickly assembled small anthropomorphic machine endoskeleton system

Abstract

The utility model discloses a kind of small humanoid machine inner skeleton systems of modularization quick assembly, it is related to inner skeleton system technical field.9 independent modules are included, and 9 modules constitute the inner skeleton main body of small humanoid robot, and the outside of inner skeleton can be connected with multiple independent external function modules;Quick connection and locking are realized between inner skeleton and independent external function module through plug-in connection structure and magnetic attraction type interlocking mechanism, and the 9 independent modules include torso module, left arm module, left forearm module, right arm module, right forearm module, left thigh module, right thigh module, left shank module and right shank module.The utility model is set up 9 independent modules, and this design makes the assembly process of robot like building building blocks generally simple, greatly reduces assembly difficulty and time cost, simultaneously, modular design also provides great convenience for subsequent function upgrade and maintenance, and user only needs to replace or add corresponding module.

Description

Technical Field

[0001] This utility model relates to the field of internal skeleton system technology, specifically a modular and rapidly assembled small humanoid robot internal skeleton system. Background Technology

[0002] Humanoid robots, as an important research direction in the field of robotics, have received widespread attention in recent years in industries, medicine, and education. Humanoid robots can mimic human movements and behaviors, possessing strong flexibility and adaptability, and are therefore considered an important component of the development of intelligent robots.

[0003] Existing small humanoid robot internal skeleton systems are difficult and inefficient to assemble: the connection between the internal skeleton and external components of traditional robots is complex, requiring professional knowledge or tools, and the assembly time is long. Non-professional users cannot complete it quickly. If a component is damaged or functions need to be expanded, the entire core structure often needs to be disassembled or even replaced, which is costly and cumbersome. To address these issues, this patent proposes a modular and quick-assembly small humanoid robot internal skeleton system. Utility Model Content

[0004] The purpose of this invention is to provide a modular, rapidly assembled small humanoid robot internal skeleton system to solve the problems mentioned in the background art.

[0005] To achieve the above objectives, this utility model provides the following technical solution: a modular, rapidly assembled small humanoid robot internal skeleton system, comprising 9 independent modules, which constitute the main body of the internal skeleton of the small humanoid robot. Multiple independent external functional modules can be connected to the outside of the internal skeleton. The internal skeleton and the independent external functional modules are rapidly connected and locked through a plug-in connection structure and a magnetic interlocking mechanism.

[0006] Preferably, the nine independent modules include a torso module, a left arm module, a left forearm module, a right arm module, a right forearm module, a left thigh module, a right thigh module, a left calf module, and a right calf module. Each independent module is composed of two structurally identical parts spliced ​​together. The two structurally identical parts are symmetrically arranged and enclosed to form the main structure of the independent module.

[0007] Preferably, the surfaces of the parts in the torso module, left arm module, left forearm module, right arm module, right forearm module, left thigh module, and right thigh module are all fixed with multiple connecting ears.

[0008] Preferably, mounting holes are provided on the surface of the parts in both the left and right lower leg modules.

[0009] Preferably, the parts in the torso module are equipped with magnetic blocks on their surfaces, which are used to quickly connect and lock with external functional modules through a magnetic interlocking mechanism.

[0010] Preferably, the surfaces of the parts in the left arm module and the right arm module are integrally formed with a first buckle, the surfaces of the parts in the left forearm module and the right forearm module are integrally formed with a second buckle, the surfaces of the parts in the left thigh module and the right thigh module are integrally formed with a third buckle, and the surfaces of the parts in the left calf module and the right calf module are provided with slots. The first buckle, the second buckle, the third buckle and the slots are used to achieve quick connection and locking with external functional modules through a plug-in connection structure.

[0011] Compared with the prior art, the beneficial effects of this utility model are: By setting up nine independent modules, this design makes the robot assembly process as simple as building with blocks, greatly reducing assembly difficulty and time costs. At the same time, the modular design also provides great convenience for subsequent functional upgrades and maintenance. Users can expand and update the robot's appearance and functions simply by replacing or adding the corresponding modules. The use of plug-in connection and magnetic interlocking ensures connection strength while enabling quick connection and locking between the inner skeleton and independent external functional modules. Attached Figure Description

[0012] Figure 1 This is a schematic diagram of the overall structure of this utility model; Figure 2 This is a schematic diagram showing the disassembled parts of this utility model; Figure 3 This is a schematic diagram of the right arm module structure of this utility model; Figure 4 This is a schematic diagram of the right thigh module structure of this utility model.

[0013] In the diagram: 1. Torso module; 2. Left arm module; 3. Left forearm module; 4. Right arm module; 5. Right forearm module; 6. Left thigh module; 7. Right thigh module; 8. Left calf module; 9. Right calf module; 10. Connecting ear; 11. Magnetic block; 12. First buckle; 13. Second buckle; 14. Third buckle; 15. Slot; 16. Mounting hole. Detailed Implementation

[0014] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0015] Humanoid robots, as an important research direction in the field of robotics, have received widespread attention in recent years in industries, medicine, and education. Humanoid robots can mimic human movements and behaviors, possessing strong flexibility and adaptability, and are therefore considered an important component of the development of intelligent robots.

[0016] like Figures 1-4 As shown, this utility model provides a technical solution: a modular and rapidly assembled small humanoid robot internal skeleton system, including 9 independent modules. The 9 modules constitute the main body of the internal skeleton of the small humanoid robot. Multiple independent external functional modules can be connected to the outside of the internal skeleton. The internal skeleton and the independent external functional modules are quickly connected and locked through a plug-in connection structure and a magnetic interlocking mechanism.

[0017] It is worth noting that by setting up 9 independent modules, this design makes the robot assembly process as simple as building with blocks, greatly reducing the assembly difficulty and time cost. At the same time, the modular design also provides great convenience for subsequent functional upgrades and maintenance. Users can expand and update the robot's appearance and functions simply by replacing or adding the corresponding modules. The use of plug-in connection and magnetic interlocking ensures connection strength while enabling quick connection and locking between the inner skeleton and independent external functional modules.

[0018] like Figure 1 and Figure 2 As shown, the nine independent modules include torso module 1, left arm module 2, left forearm module 3, right arm module 4, right forearm module 5, left thigh module 6, right thigh module 7, left calf module 8, and right calf module 9. Each independent module is composed of two parts with the same structure spliced ​​together. The two parts with the same structure are symmetrically arranged and enclosed to form the main structure of the independent module.

[0019] It is important to note that each independent module is composed of two structurally identical parts symmetrically joined together. This symmetrical structural design reduces the number of parts, lowers production and assembly complexity, and ensures balanced overall strength of the module.

[0020] like Figure 2 As shown, multiple connecting ears 10 are fixed to the surfaces of the parts in the torso module 1, left arm module 2, left forearm module 3, right arm module 4, right forearm module 5, left thigh module 6, and right thigh module 7.

[0021] It should be noted that the connecting ear 10 is designed with standardized connecting holes, which allow parts in the same module to be connected by bolts, pins and other connecting parts.

[0022] like Figure 2As shown, mounting holes 16 are provided on the surface of the parts in the left lower leg module 8 and the right lower leg module 9.

[0023] It should be noted that by using mounting holes 16 with bolts, screws, pins and other connecting parts, parts in the same module can be connected, which is more flexible than non-removable methods such as welding.

[0024] like Figure 3 As shown, magnetic blocks 11 are installed on the surface of the parts in the torso module 1, which are used to quickly connect and lock with external functional modules through a magnetic interlocking mechanism.

[0025] It should be noted that magnetic blocks 11 are installed on the surface of the parts in the torso module 1. The magnetic blocks 11 are permanent magnets and are circular. The magnetic blocks 11 correspond one-to-one with the magnetic conductive components on the external functional modules. The magnetic conductive sheet and the magnetic blocks 11 of the torso module 1 are magnetically attracted to each other. Initial positioning is completed at the moment of contact, and after fitting together, a tight lock is achieved through magnetic force.

[0026] like Figure 2 , Figure 3 and Figure 4 As shown, the surfaces of the parts in the left arm module 2 and the right arm module 4 are integrally formed with a first buckle 12, the surfaces of the parts in the left forearm module 3 and the right forearm module 5 are integrally formed with a second buckle 13, the surfaces of the parts in the left thigh module 6 and the right thigh module 7 are integrally formed with a third buckle 14, and the surfaces of the parts in the left calf module 8 and the right calf module 9 are provided with slots 15. The first buckle 12, the second buckle 13, the third buckle 14 and the slots 15 are used to achieve quick connection and locking with external functional modules through a plug-in connection structure.

[0027] It should be noted that the connecting end of the external functional module has a reverse structure that matches the buckle and slot 15: that is, a corresponding groove is opened at the position of the module buckle, and a corresponding buckle is integrally formed at the position of the module slot 15. Thus, when the user holds the external functional module, aligns the corresponding buckle of its connecting end with the slot 15 on the surface of the left lower leg module 8 and the right lower leg module 9, and applies axial force, the corresponding buckle of the external functional module presses against the inner wall of the slot 15 on the surface of the left lower leg module 8 and the right lower leg module 9, causing the corresponding buckle to deform and smoothly slide into the slot 15 for fixation. The user holds the external functional module and aligns the corresponding slots of its connecting end with the first buckle 12 on the surface of the left arm module 2 and the right arm module 4, the second buckle 13 on the surface of the left forearm module 3 and the right forearm module 5, and the third buckle 14 on the surface of the left thigh module 6 and the right thigh module 7. A thrust is applied axially, causing the corresponding slots of the external functional module to press against the first buckle 12, the second buckle 13, and the third buckle 14, causing the first buckle 12, the second buckle 13, and the third buckle 14 to deform. The first buckle 12, the second buckle 13, and the third buckle 14 then slide smoothly into the corresponding slots, achieving fixation.

[0028] Although embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the present invention, the scope of which is defined by the appended embodiments and their equivalents.

Claims

1. A modular, rapidly assembled small humanoid robot internal skeleton system, comprising 9 independent modules, characterized in that: Nine modules constitute the main body of the inner skeleton of the small humanoid robot. Multiple independent external functional modules can be connected to the outside of the inner skeleton. The inner skeleton and the independent external functional modules are quickly connected and locked through a plug-in connection structure and a magnetic interlocking mechanism.

2. The modular, rapidly assembled small humanoid robot internal skeleton system according to claim 1, characterized in that: The nine independent modules include a torso module (1), a left arm module (2), a left forearm module (3), a right arm module (4), a right forearm module (5), a left thigh module (6), a right thigh module (7), a left lower leg module (8), and a right lower leg module (9). Each independent module is composed of two parts with the same structure spliced ​​together. The two parts with the same structure are symmetrically arranged and enclosed to form the main structure of the independent module.

3. The modular, rapidly assembled small humanoid robot internal skeleton system according to claim 2, characterized in that: Multiple connecting ears (10) are fixed on the surface of the parts in the torso module (1), left arm module (2), left forearm module (3), right arm module (4), right forearm module (5), left thigh module (6) and right thigh module (7).

4. The modular, rapidly assembled small humanoid robot internal skeleton system according to claim 2, characterized in that: Mounting holes (16) are provided on the surface of the parts in the left lower leg module (8) and the right lower leg module (9).

5. A modular, rapidly assembled small humanoid robot internal skeleton system according to claim 2, characterized in that: The parts in the torso module (1) are equipped with magnetic blocks (11) for quick connection and locking with external functional modules through a magnetic interlocking mechanism.

6. A modular, rapidly assembled small humanoid robot internal skeleton system according to claim 2, characterized in that: The parts in the left arm module (2) and right arm module (4) are integrally formed with a first buckle (12), the parts in the left forearm module (3) and right forearm module (5) are integrally formed with a second buckle (13), the parts in the left thigh module (6) and right thigh module (7) are integrally formed with a third buckle (14), and the parts in the left calf module (8) and right calf module (9) are provided with slots (15). The first buckle (12), the second buckle (13), the third buckle (14) and the slots (15) are used to achieve quick connection and locking with external functional modules through a plug-in connection structure.

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