CN103770116B - A kind of ten seven freedom anthropomorphic robots - Google Patents
A kind of ten seven freedom anthropomorphic robots Download PDFInfo
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- CN103770116B CN103770116B CN201410012905.0A CN201410012905A CN103770116B CN 103770116 B CN103770116 B CN 103770116B CN 201410012905 A CN201410012905 A CN 201410012905A CN 103770116 B CN103770116 B CN 103770116B
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Abstract
The invention discloses a kind of ten seven freedom anthropomorphic robots, be made up of head, trunk and extremity, described middle head has one degree of freedom, each hand to have three degree of freedom, each leg to have five degree of freedom.The present invention can complete many humanoid actions, salute as bowed, fall down to the ground stand up, tracking walking, split, a great hawk spreads its wings, push-up and follow the actions such as target moves.Present invention employs 17 twin shaft steering wheels so that it is power transmission is stable, action links up good stability；When designing its parts, take full advantage of the characteristic of aluminum alloy materials, fixing required adnexa is omitted, alleviates the deadweight of robot further, make robot more stable.Compact appearance of the present invention is exquisite, highly imitate human body proportion, rational in infrastructure, lightweight, making is simple, dance movement coordination is true to nature, stability is strong.Can be applicable to practical teaching, be also applied for some robot competitions.
Description
Technical field
The invention belongs to robotics, technical field of automation, particularly relate to the anthropomorphic robot of a kind of ten seven freedoms.
Background technology
Anthropomorphic robot is the peak in robotics, and it can replace the mankind to go various work in the working environment of high-risk, high temperature；Have broad application prospects in terms of guide's ceremony, amusement park singing, performance, speech exchange service trade；Also can extensively apply and old people, the daily life of people with disability, rehabilitation training and the medium aspect of medical care of hospital.Anthropomorphic robot is rare high-order in engineering, non-linear, the many-degrees of freedom system of nonholonomic constraint, and its mechanical construction and control system is relative complex.Research to anthropomorphic robot, the crossing research in the multidisciplinary fields such as the frame for movement to robot, mechanics, robot kinematics, kinetics, vision, speech recognition, gravitational equilibrium control, gait planning, control theory can be summarized as, be ideal teaching, a research experiments platform.
Current anthropomorphic robot is the heaviest, poor stability, and costly.Such as an anthropomorphic robot that can imitate mankind's dancing, it is desirable to can independently follow target, and ensure robot stability in course of action, reliability and there is certain fluency.
For making robot apery, the method being in general conventional is to increase joint number；For making robot stabilized operation, need sensing system to constitute feedback regulation, increase robot weight simultaneously.But fall down in robot, unexpected power down or when breaking down, it is possible to part of damage, mechanism or circuit is damaged.In order to avoid above-mentioned all inconvenience, typically can add too much fixing fitting to robot, robot deadweight is caused to increase, its balance is caused to decline with stability, thus robot is fixed reliable and parts and simplifies lightly, bring certain difficulty, and then affect stability and the fluency that robot motion performs.
Summary of the invention
A series of shortcomings for above-mentioned robot, object of the present invention is to provide the frame for movement of a kind of ten seven freedom anthropomorphic robots with biped structure, this structure passes through 17 joints of servo driving, the center of gravity making robot moves left and right, and then realize robot and advance, moreover it is possible to complete to bow salute, fall down to the ground stand up, a great hawk spreads its wings, the complicated dance movement such as split and push-up.
Realizing foregoing invention purpose technical scheme is a kind of ten seven freedom anthropomorphic robots, and a kind of ten seven freedom anthropomorphic robots are made up of head, trunk and extremity, it is characterized in that, described middle head has one degree of freedom, each hand to have three degree of freedom, each leg to have five degree of freedom.
Described head is by a servomotor, head shell packaging and is fixed on the photographic head of top and forms, and the hip joint of described leg and ankle joint are installed by two identical U-shaped parts and servomotor reverse vertical and formed；And two chest servomotors and two waist servomotors to inlay the described servomotor of installation be 180 degree of steering wheels, there is steering wheel gear reduction, output shaft has corner locating.
Described trunk uses two pieces of concave structures to coordinate and installs, and the most vertically-mounted two shoulder servomotors and two waist servomotors, waist has a space mounting panel, and trunk support mid portion space be able to placing battery.Female bracket is a symmetrical groove type structure, and the left and right sides wall outward flanging of groove type structure upper plane and front and back sides at turnup structure are provided with connecting plate to facilitate each servomotor of installation and to connect head.
Described waist, shoulder and ankle part all use U-shape structure to connect.
Knee is to be connected sheet by a pair knee in certain obtuse angle, and two steering wheels are nonrotationally held fixing connection form.
Foot's steering wheel is laterally disposed, aluminium alloy corner fittings fix, direction of rotation and the perpendicular relation of direction of advance.
Head, by using aluminium alloy to be enclosed in wherein by head servo motor, divides proportionate relationship according to partes corporis humani, and anthropomorphic robot head appearance is made apery shape, and this aluminium alloy device can effectively protect head steering wheel.
Control system is fixed and at waist gap, vision camera is arranged on head, is 0 ~ 90 degree time upright with robot, can catch target by maximum magnitude, and battery is fixed on gap in the middle part of trunk.
The width when distance on the inflection limit of arm frame is installed with steering wheel is identical.
Arm frame is fixed with steering wheel, uses the clamping on inflection limit, is screwed at installing hole simultaneously.
The operation principle of the 17 degree of freedom anthropomorphic robots of the present invention:
The invention discloses the anthropomorphic robot of a kind of 17 degree of freedom, basic structure is made up of head, trunk and extremity, and wherein trunk skeleton assembles with female part and female bracket, and installation inlayed by two chest servomotors and two waist servomotors.The present invention indicates track by the walking that camera collection is extraneous, after the process of control system, drives joint steering wheel, moves around ordering about the center of gravity of robot, is that robot is overall along given track walking；Or the color of camera collection surrounding objects, shape, particular color, the given shape given with control system mate, if meeting matching threshold, then photographic head follows target, orientation between simultaneous computer device people and target, drives joint steering wheel, makes robot follow target and move.
The 17 degree of freedom anthropomorphic robots of the present invention compared with prior art, have the advantage that
The part of the present invention all uses aluminium alloy to make, cheap, it is easy to cutting and bending is processed, and toughness and intensity all meet the motion requirement of toughness robot；The present invention uses U-shaped part in a large number, makes simple, easy for installation；Hand of the present invention has three degree of freedom, and torso portion is installed with a female part and female bracket, and whole anthropomorphic robot apparent size imitates human body proportion, and plastic simplicity is exquisite, can guarantee that a series of actions coordinate, stable, graceful.
The present invention can also be by the data of camera collection, after the process of control system, can walk with tracking, or follow target and move.Frame for movement reaches optimize, succinctly, highly imitate human body proportion, the most cheap, good stability, thus more convenient robot learning person, anthropomorphic robot is carried out mechanical system analysis, mechanical analysis, trajectory planning, learn and grasp the control system of robot, sensor-based system, on this basis, robot learning person can also carry out various task operating to anthropomorphic robot, such as anthropomorphic robot dancing, anthropomorphic robot is competed for speed, anthropomorphic robot leaping over obstacles etc..
Accompanying drawing explanation
Fig. 1 is the anthropomorphic robot overall structure schematic diagram of the present invention ten seven freedom；
Fig. 2 is the structure schematic diagram of the knee connector of the anthropomorphic robot of the present invention ten seven freedom；
Fig. 3 is the structure schematic diagram of the female part of the anthropomorphic robot of the present invention ten seven freedom；
Fig. 4 is the structure schematic diagram of the female bracket of the anthropomorphic robot of the present invention ten seven freedom；
Fig. 5 is the structure schematic diagram of the arm support of the anthropomorphic robot of the present invention ten seven freedom.
It is presented herein below and combines accompanying drawing described one 17 degree of freedom anthropomorphic robot is further illustrated.
Detailed description of the invention one
It is illustrated in figure 1 a kind of 17 degree of freedom anthropomorphic robots disclosed by the invention, a kind of ten seven freedom anthropomorphic robots of this system, are made up of head, trunk and extremity, and described middle head has one degree of freedom, each hand has three degree of freedom, each leg to have five degree of freedom；A kind of ten seven freedom anthropomorphic robots, a kind of ten seven freedom anthropomorphic robots, it is made up of head, trunk and extremity, described head is by a servomotor, head dummy parts 2 and is fixed on the photographic head 1 of top and forms；The installation with female part 20 and female bracket 21 of described trunk skeleton, two chest servomotors 13 of middle installation, two shoulder servomotors 4 are installed in both sides, two waist servomotors 14 are installed below, the middle installation control system 15 of two waist servomotors 14, the centre of two chest servomotors 13 is provided with battery 3.
The hip joint of described leg is made up of two identical U-shaped parts and the installation of servomotor reverse vertical with ankle arthrosis 12；Described servomotor is 180 degree of steering wheels, has steering wheel gear reduction, and output shaft has corner locating.
Waist, shoulder and ankle part all use U-shaped part to connect.
Knee is to be connected sheet 10 by a pair knee in obtuse angle, sees Fig. 2, two steering wheels are nonrotationally held fixing connection form.
Fig. 3 and Fig. 4 divides another for female part 20 and the structural representation of female bracket 21.
Foot's steering wheel is laterally disposed, aluminium alloy corner fittings fix, direction of rotation and the perpendicular relation of direction of advance.
Head, by using aluminium alloy to be enclosed in wherein by head servo motor, divides proportionate relationship according to partes corporis humani, and anthropomorphic robot head appearance is made apery shape, and this aluminium alloy device can effectively protect head steering wheel.
Control system 15 is fixed and at waist gap, vision camera is arranged on head, is 0 ~ 90 degree time upright with robot, can catch target by maximum magnitude, and battery is fixed on gap in the middle part of trunk.
Fig. 5 is the structure schematic diagram of the arm support 7 of the anthropomorphic robot of the present invention ten seven freedom, the width when distance on the inflection limit of arm support is installed with steering wheel is identical, arm support is fixed with steering wheel, uses the clamping on inflection limit, is screwed at installing hole simultaneously.
The shoulder of the present invention, waist, the output shaft steering wheel of servomotor at ankle position, the U-shaped part by same size is fixed.
The U-shaped part of the present invention takes the shape of the letter U, blind end can be fixed with other U-shaped parts, it is possible to is fixed with servo motor output shaft steering wheel by screw, and open end can be fixed by screw with two axis servo motor, very easy to use, its size is to design with reference to the size of servomotor.
The head of the present invention is driven by a servomotor and rotates, and designs outer package aluminum alloy casing according to apery feature, can effectively protect the photographic head group that robot head is installed.Photographic head installation direction is vertical with the direction of the standing upright of anthropomorphic robot, it is, parallel with direction, ground；Photographic head effective shooting angle scope of the present invention is: on the basis of the vertical line of robot head, up and down, left and right each 45 degree interior.
Fixing servomotor on the arm support 7 of the present invention, the movable axis of servomotor is connected with connector, it is achieved brandishing up and down of anthropomorphic robot forearm 6；U-shaped connector connects the inertia end of servomotor of large arm 5, forms anthropomorphic robot elbow joint, it is achieved anthropomorphic robot ancon up and down；The movable end of the servomotor in large arm, is fixed by the open end of screw with U-shaped part, it is achieved anthropomorphic robot large arm up and down；The Guan Bi end of the U-shaped part being connected with large arm, fixes with chest servo motor output shaft, it is achieved the arm of anthropomorphic robot rotates；When anthropomorphic robot shoulder rotates, do not interfere with trunk support；The movable axis of waist servomotor 14 is connected with U-shaped part 8, defines the leg hip joint of anthropomorphic robot；The thigh of anthropomorphic robot uses two U-shaped part reverse vertical to install, the inertia end of huckle servomotor 9 and the inertia end of calf servomotor 16 links by knee connector 10 and form, and shank servomotor 16 passes through connector 11 with foot servomotor 17 and is connected.
The humanoid foot structure of the present invention is narrow sufficient structure, and foot's servomotor 17 is fixed therein one two U-shaped part open ends the most fixing, by the left and right of center of gravity with move up and down realization and advance；Base plate uses rectangular aluminium alloy plate, is fixed with base plate 19 by servomotor with angled piece 18.
Using the similar structure that the above embodiment of the present invention is identical, ten obtained seven freedom anthropomorphic robots, all within scope.
Embodiment in the present invention is only used for that the present invention will be described, is not intended that the restriction to right, those skilled in that art it is contemplated that the replacement of other substantial equivalents, all in scope.
Claims (9)
1. a ten seven freedom anthropomorphic robot, is made up of head, trunk and extremity, it is characterised in that described head has one degree of freedom, each hand to have three degree of freedom, each leg to have five degree of freedom；Described trunk uses two pieces of concave structures to coordinate and installs, and the most vertically-mounted two shoulder servomotors and two waist servomotors, waist has a space mounting panel, and trunk support mid portion space be able to placing battery；Trunk skeleton is installed with female part and female bracket, two chest servomotors of middle installation, both sides are installed two shoulder servomotors, are installed two waist servomotors below, the middle installation control system of two waist servomotors, the centre of two chest servomotors is provided with battery；Female bracket is a symmetrical groove type structure, and the left and right sides wall outward flanging of groove type structure upper plane and front and back sides at turnup structure are provided with connecting plate to facilitate each servomotor of installation and to connect head.
Ten seven freedom anthropomorphic robots the most according to claim 1, it is characterized in that: described head is by a servomotor, head shell packaging and is fixed on the photographic head of top and forms, and the hip joint of described leg and ankle joint are installed by two identical U-shaped parts and servomotor reverse vertical and formed；And two chest servomotors and two waist servomotors inlay installation, described servomotor is 180 degree of steering wheels, has steering wheel gear reduction, and output shaft has corner locating.
Ten seven freedom anthropomorphic robots the most according to claim 1, it is characterised in that: waist, shoulder and ankle part all use U-shape structure to connect.
Ten seven freedom anthropomorphic robots the most according to claim 1, it is characterised in that: knee is to be connected sheet by a pair knee in certain obtuse angle, and two steering wheels are nonrotationally held fixing connection form.
Ten seven freedom anthropomorphic robots the most according to claim 1, it is characterised in that: foot's steering wheel is laterally disposed, aluminium alloy corner fittings fix, direction of rotation and the perpendicular relation of direction of advance.
Ten seven freedom anthropomorphic robots the most according to claim 1; it is characterized in that: head uses aluminium alloy to be enclosed in wherein by head servo motor; dividing proportionate relationship according to partes corporis humani, anthropomorphic robot head appearance is made apery shape, this aluminium alloy device can effectively protect head steering wheel.
Ten seven freedom anthropomorphic robots the most according to claim 1, it is characterized in that: control system is fixed and at waist gap, vision camera is arranged on head, is 0-90 degree time upright with robot, can catch target by maximum magnitude, battery is fixed on gap in the middle part of trunk.
Ten seven freedom anthropomorphic robots the most according to claim 1, it is characterised in that: the width when distance on the inflection limit of arm frame is installed with steering wheel is identical.
Ten seven freedom anthropomorphic robots the most according to claim 1, it is characterised in that: arm frame is fixed with steering wheel, uses the clamping on inflection limit, is screwed at installing hole simultaneously.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201410012905.0A CN103770116B (en) | 2014-01-13 | 2014-01-13 | A kind of ten seven freedom anthropomorphic robots |
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| CN201410012905.0A CN103770116B (en) | 2014-01-13 | 2014-01-13 | A kind of ten seven freedom anthropomorphic robots |
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| CN103770116A CN103770116A (en) | 2014-05-07 |
| CN103770116B true CN103770116B (en) | 2016-08-17 |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN104950888B (en) * | 2015-06-19 | 2017-10-24 | 武汉理工大学 | Ten seven freedom anthropomorphic robots and its control method |
| CN105034009A (en) * | 2015-09-22 | 2015-11-11 | 邱炳辉 | Robot and control method |
| JP6126185B2 (en) * | 2015-10-22 | 2017-05-10 | 株式会社バンダイ | Joint structure of doll body |
| CN105583856B (en) * | 2016-01-28 | 2019-01-01 | 苏州大学 | A kind of subject anthropomorphic robot |
| CN106272474B (en) * | 2016-09-27 | 2018-09-04 | 成都普诺思博科技有限公司 | A kind of robot trunk structure |
| CN107874980A (en) * | 2017-12-05 | 2018-04-06 | 杜志刚 | Recovery exercising robot |
| CN109015748A (en) * | 2018-07-26 | 2018-12-18 | 华南理工大学 | A kind of 360 degree rotation mechanical arm applied to guide robot |
| CN109015696A (en) * | 2018-09-10 | 2018-12-18 | 广东宏穗晶科技服务有限公司 | A kind of stage performance robot |
| CN113131798B (en) * | 2018-09-12 | 2022-05-27 | 钟川 | Robot |
| CN109927044B (en) * | 2019-02-20 | 2021-04-09 | 浙江机电职业技术学院 | Multi-joint robot and use method for information identification processing thereof |
| CN110032192A (en) * | 2019-04-28 | 2019-07-19 | 中北大学 | A kind of apery type is quickly walked tracking avoidance robot |
| CN110466643B (en) * | 2019-08-01 | 2021-10-22 | 电子科技大学 | Penguin bionic robot and walking method |
| CN110711393B (en) * | 2019-11-01 | 2021-11-09 | 奥飞娱乐股份有限公司 | Remote control toy and system |
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