CN201135778Y

CN201135778Y - Backbone frame for robot

Info

Publication number: CN201135778Y
Application number: CNU2007203025222U
Authority: CN
Inventors: 陈庆辉
Original assignee: WALKER BROTHERS Ltd; Zhuhai Global Model Airplane Products Co Ltd
Current assignee: WALKER BROTHERS Ltd; Zhuhai Global Model Airplane Products Co Ltd
Priority date: 2007-12-29
Filing date: 2007-12-29
Publication date: 2008-10-22
Anticipated expiration: 2017-12-29
Also published as: WO2009082873A1; HK1114738A2

Abstract

The utility model discloses a backbone frame used for the robot, which is composed of at least one framework, and comprises an upper trunk, a lower trunk, a shaft and a shaft sleeve. The upper trunk and the lower trunk is nested on the shaft and are separated through the shaft sleeve nested on the shaft with the identical way, through the backbone frame, the upper part and the lower part of the robot trunk and the installed head are controlled by an analog servo system and can be rotated in a way that the upper part, the lower part and the head are mutually relative, and the backbone frame can be made of glass reinforced plastic, thus the manufacturing cost is reduced.

Description

The spine framework that is used for robot

Technical field

The utility model relates to a kind of spine framework that is used for robot, specifically, relate to a kind of trunk that can constitute robot and install machinery head part's spine framework thereon, wherein, can relative to each other rotate between the upper and lower of this trunk and the institute's mounted head.

Background technology

Robot has obtained the liking of people of each age level all over the world.But available in the market robot normally utilizes digital servosystem to control the motion of robot each several part, and in order to support and share the load of robot, the spine framework of robot normally made of aluminum and structure comparatively complicated.Because the existence of above-mentioned these factors, robot of the prior art involves great expense, and makes much to like robot but the unable purchase of people robot embarrasingly short of money.

Summary of the invention

Conceived the utility model in order to address the aforementioned drawbacks.

Be made up of at least one framework according to the spine framework that is used for robot of the present utility model, described spine framework comprises axis and is arranged on upper torso and lower torso on the described axis pivotly.

Preferably, upper torso and lower torso are " worker " font framework.

Preferably, upper torso and lower torso comprise upper beam, intermediate and underbeam respectively, and upper beam, intermediate and underbeam have axis hole respectively, and axis connects into upper torso or lower torso by passing axis hole with upper beam, intermediate and underbeam.

Preferably, intermediate is the rectangular box with cavity, constitutes by main wall with around upper wall, lower wall, Zuo Bi and the right wall of main wall setting, and the axis hole on the intermediate is arranged on upper wall and the lower wall.

Preferably, the upper beam of upper torso at two ends places upwards bending form dogleg section and dogleg section and have first through hole respectively along left and right directions, the underbeam of upper torso is located downward bending and is formed dogleg section at two ends, and upper beam and underbeam have corresponding each other second through hole respectively in the both sides with respect to axis.

Preferably, the main wall of the intermediate of upper torso has circular open near the upper beam above it and with the corresponding substantially position of axis.

Preferably, the upper beam of lower torso and underbeam are long and narrow plates, and the both ends of plates have corresponding through hole respectively.

Preferably, the main wall of the intermediate of lower torso has the oblong opening that is mutually symmetrical with respect to axis near the upper beam place above it.

Preferably, axis also comprises axle sleeve, be set on the axis, and between upper torso and lower torso.

Preferably, place, the end of a side that is positioned at upper torso of axis has the flat portion of cutting, and the end of a side that is positioned at lower torso of axis is fastened with nut, nut fixed support upper torso, axle sleeve and lower torso.

The utility model makes by the novel designs to robot spine framework and utilizes comparatively cheap analog servomechanism control to become possibility; and make and to use glass-reinforced plastic (glass reinforce plastic) substitution of Al to make the spine framework of robot because the spine framework of this new construction can support and share the load of robot better, thereby reduced manufacturing cost further.

Description of drawings

Below in conjunction with accompanying drawing structure according to robot of the present utility model spine framework is described in more detail.

Fig. 1 is the stereogram that is used for the spine framework of robot according to of the present invention.

Fig. 2 is the front view that is used for the spine framework of robot according to of the present invention.

Fig. 3 is the rearview that is used for the spine framework of robot according to of the present invention.

The specific embodiment

Can see in conjunction with Fig. 1 to 3, the spine framework that is used for robot according to the utility model preferred embodiment comprises upper torso 1, lower torso 3, axis 4 and axle sleeve 2, wherein, upper torso 1 and lower torso 2 are sleeved on the axis 4 and by the axle sleeve 2 that is sleeved on equally on the axis 4 and separate.Upper torso 1 and lower torso 3 all are roughly " worker " font as seen from the figure.

Upper torso 1 and lower torso 3 comprise

upper beam

11,31, intermediate 12,32 and

underbeam

13,33 respectively, upper beam, intermediate and underbeam have axis hole respectively, and axis 4 will put the beams in

place

11,31 by passing axis hole, intermediate 12,32 is connected with

underbeam

13,33, form upper torso 1 or lower torso 3.

Can see that in conjunction with Fig. 3 intermediate 12,32 is for having the rectangular box of cavity, comprise main wall and four walls up and down.Axis hole is arranged on the upper wall respect to one another and

lower wall

14,15 of rectangular box.

The upper beam 11 of upper torso 1 at two ends places upwards bending form dogleg section 111,112 and dogleg section 111,112 and have first through hole 113,114 respectively along left and right directions, the underbeam 13 of upper torso 1 is located downward bending and is formed dogleg section at two ends, and upper beam and

underbeam

11,13 have corresponding each other second through hole 115,116,117 and 118 respectively in the both sides with respect to axis.

The main wall 121 of the intermediate 12 of upper torso 1 has circular open 122 near the upper beam above it 11 and with the corresponding substantially position of axis 4, and main wall 121 is provided with a plurality of screws 123.

The upper beam 31 of lower torso 3 and underbeam 33 are long and narrow plates, and plates have corresponding through hole 331,332,311,312 respectively at two ends.

The main wall 321 of the intermediate 32 of lower torso 3 has oblong opening 322,323 near the upper beam above it 31 and with respect to the position that axis 4 is mutually symmetrical.

The place, end of a side that is positioned at upper torso 1 of axis 4 has the flat portion 41 of cutting.

The end of a side that is positioned at lower torso 3 of axis 4 is fastened with nut 42, nut 42 fixed support upper torso 1, axle sleeve 2 and lower torso 3.

By having the spine framework that is used for robot of said structure, make between the upper beam 11 two analog servo systems can be installed in upper torso 1 and the underbeam 13 and be placed in the both sides of axis 4 respectively, and can in a similar manner two other servo-drive system be installed in the both sides that also are placed in axis 4 between the upper beam 31 of lower torso 3 and the underbeam 33 respectively.Because the mode that upper torso 1 and lower torso 3 are separated with axle sleeve 2 with middle ware pivots and is connected on the axis 4, so upper torso 1 and lower torso 2 relative to each other can be rotated, that is to say the rotation that can realize the robot waist.

In addition, the upper end of axis 4 has the flat portion of cutting, and is convenient to when the head (not shown) with robot is installed on the axle 4 head be fixed.Be pivoted on the upper torso 1 on the axis 4 and be installed between the head of axle on 4 and can relatively rotate.

Owing to have aforesaid ad hoc structure according to spine framework of the present utility model; make this spine framework can support and bear the load of robot better; thereby can utilize glass-reinforced plastic to substitute the structure that aluminium of the prior art is made the spine framework and simplified; therefore reduced manufacturing cost; simultaneously make the head (not shown) of robot according to the ad hoc structure of spine framework of the present utility model; upper torso 1; and can relatively rotate and can realize utilizing analog servo system to control relatively rotating between these parts between the lower torso 3, thereby reduced cost further.

Although described preferred embodiment of the present utility model, but those skilled in the art should be understood that, under the prerequisite that does not deviate from claims and the spirit and scope of the present utility model that equivalent limited thereof, can carry out various modifications and replacement.

Claims

1. spine framework that is used for robot, described spine framework is made up of at least one framework, it is characterized in that, and described spine framework comprises axis and is arranged on upper torso and lower torso on the described axis pivotly.

2. the spine framework that is used for robot according to claim 1 is characterized in that, described upper torso and described lower torso are " worker " font framework.

3. the spine framework that is used for robot according to claim 2, it is characterized in that, described upper torso and described lower torso comprise upper beam, intermediate and underbeam respectively, described upper beam, described intermediate and described underbeam have axis hole respectively, and described axis connects into described upper torso or described lower torso by passing described axis hole with described upper beam, described intermediate and described underbeam.

4. the spine framework that is used for robot according to claim 3, it is characterized in that, described intermediate is the rectangular box with cavity, constitute by main wall with around upper wall, lower wall, Zuo Bi and the right wall of described main wall setting, the described axis hole on the described intermediate is arranged on described upper wall and the described lower wall.

5. the spine framework that is used for robot according to claim 4, it is characterized in that, the described upper beam of described upper torso at two ends places upwards bending form dogleg section and described dogleg section and have first through hole respectively along left and right directions, the described underbeam of described upper torso is located downward bending and is formed dogleg section at two ends, and described upper beam and described underbeam have corresponding each other second through hole respectively in the both sides with respect to described axis.

6. the spine framework that is used for robot according to claim 5 is characterized in that, the described main wall of the intermediate of described upper torso has circular open with the corresponding substantially position of described axis.

7. the spine framework that is used for robot according to claim 4 is characterized in that, the described upper beam of described lower torso and the both ends of described underbeam have corresponding through hole respectively.

8. the spine framework that is used for robot according to claim 7 is characterized in that the described main wall of the intermediate of described lower torso has the oblong opening that is mutually symmetrical with respect to described axis.

9. the spine framework that is used for robot according to claim 1 is characterized in that described axis also comprises axle sleeve, is set on the described axis, and between described upper torso and described lower torso.

10. the spine framework that is used for robot according to claim 1, it is characterized in that, the place, end of a side that is positioned at described upper torso of described axis has the flat portion of cutting, the end of a side that is positioned at described lower torso of described axis is fastened with nut, the described upper torso of described nut fixed support, described axle sleeve and described lower torso.