CN206123679U - Humanoid robot is out of shape to high trafficability characteristic - Google Patents
Humanoid robot is out of shape to high trafficability characteristic Download PDFInfo
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- CN206123679U CN206123679U CN201621145118.4U CN201621145118U CN206123679U CN 206123679 U CN206123679 U CN 206123679U CN 201621145118 U CN201621145118 U CN 201621145118U CN 206123679 U CN206123679 U CN 206123679U
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- 230000007246 mechanism Effects 0.000 claims abstract description 130
- 210000000323 shoulder joint Anatomy 0.000 claims abstract description 24
- 210000000245 forearm Anatomy 0.000 claims abstract description 18
- 210000004394 hip joint Anatomy 0.000 claims abstract description 18
- 210000000629 knee joint Anatomy 0.000 claims abstract description 18
- 210000000544 articulatio talocruralis Anatomy 0.000 claims abstract description 15
- 210000002310 elbow joint Anatomy 0.000 claims abstract description 15
- 210000000689 upper leg Anatomy 0.000 claims abstract description 5
- 210000003797 carpal joint Anatomy 0.000 claims description 11
- 210000002683 foot Anatomy 0.000 claims description 7
- 230000004888 barrier function Effects 0.000 claims description 6
- 244000309466 calf Species 0.000 claims description 3
- 230000008450 motivation Effects 0.000 claims description 2
- 210000003423 ankle Anatomy 0.000 claims 2
- 230000005540 biological transmission Effects 0.000 claims 1
- 210000003857 wrist joint Anatomy 0.000 abstract 2
- 210000000078 claw Anatomy 0.000 abstract 1
- 230000005611 electricity Effects 0.000 abstract 1
- 230000000007 visual effect Effects 0.000 abstract 1
- 230000005484 gravity Effects 0.000 description 9
- 210000002414 leg Anatomy 0.000 description 5
- 230000006870 function Effects 0.000 description 3
- 238000000034 method Methods 0.000 description 3
- 230000008569 process Effects 0.000 description 3
- 230000008859 change Effects 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 210000003414 extremity Anatomy 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 230000037396 body weight Effects 0.000 description 1
- 230000009194 climbing Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000005021 gait Effects 0.000 description 1
- 210000001624 hip Anatomy 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 238000007689 inspection Methods 0.000 description 1
- 230000001788 irregular Effects 0.000 description 1
- 210000003141 lower extremity Anatomy 0.000 description 1
- 239000011295 pitch Substances 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
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- Manipulator (AREA)
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Abstract
The utility model discloses a humanoid robot is out of shape to high trafficability characteristic, the head that is equipped with binocular camera and is connected through neck actuating mechanism and truck, built -in control system and electrical power generating system and back are equipped with the truck of drive wheel, through the arm that shoulder joint and truncal both sides shoulder are connected, big arm is connected through the elbow joint with the forearm, and the forearm is connected through the wrist joint with the hand claw, and the forearm front portion is equipped with preceding supporting wheel, running gear is through hip joint and truck sub -unit connection, and running gear's thigh and shank pass through the knee joint to be connected, and the shank passes through the ankle joint with the sole to be connected, and the shank rear portion is equipped with supporting wheel afterwards, binocular camera, neck actuating mechanism, drive wheel, shoulder joint, elbow joint, wrist joint, hip joint, knee joint, ankle joint are connected with the electrical power generating system electricity through control system respectively. The utility model discloses a visual system through control system to each joint and centrobaric control, make it can imitate the people and walk and warp to the dolly gos forward, have that the trafficability characteristic is strong, the motion is nimble, range of application characteristics extensively.
Description
Technical field
This utility model belongs to robotics, and in particular to one kind has simple structure, by the way that property is strong, motion spirit
The cross-country traveling ability deformation anthropomorphic robot of living, applied range.
Background technology
With improving increasingly for science and technology, increasing high-tech product enters the physical labor that the life of people replaces people
It is dynamic.Development and the innovation paces kept pace with the times for the epoch of complying with, also increasingly payes attention to innovation and development, and innovation and development is both one
The mark that individual national overall national strength rises, the important content of the work that even more liberates mankind.Wherein roboticses can more show section
Skill level it is powerful.
Now roboticses gradually move to maturity, but all simply have the flexible speciality of the shape of people but nobody,
Maximum the characteristics of：Robot, it is machine the characteristics of maximum in addition to being a machine as people, i.e., except people's form,
It should also have the inaccessiable morphosiss of energy possessor institute, and row are if deformation.It is changed as in addition by self structure
A kind of morphosiss so as to continue motion.
But, existing anthropomorphic robot is simple apery walking and various aspects of performance attribute, and due to robot
The restriction of itself walking mechanism, in the face of complex environment or during upper downslope, because gravity's center control it is more difficult, typically more letter
The function of larger barrier is not gone beyond by single robot, and have the anthropomorphic robot of the function of going beyond larger barrier compared with
For complexity；In addition, for the preferable road surface of the surface conditions such as level road, gentle slope, the speed of travel is slower.Certainly, also have and be using extremity
The climbing robot that at most limb is walked, although its gravity's center control is relatively simple, it is stronger to go beyond barrier ability, but it is not only difficult to
The peculiar function of anthropomorphic robot is completed, and speed is there is also in flat road surface slowly, the low problem of efficiency of taking action.
Utility model content
The purpose of this utility model be provide it is a kind of have simple structure, by the way that property is strong, motion flexibly, applied range
Cross-country traveling ability deformation anthropomorphic robot.
What the purpose of this utility model was realized in：Including head, trunk, arm, walking mechanism, it is characterised in that
The head is provided with binocular vision photographic head, and the head is connected by cervical region drive mechanism with trunk；
Control system and power-supply system are provided with the trunk, the back of the trunk is provided with driving wheel；
The arm is symmetrically connected respectively by shoulder joint drive mechanism with the shoulder of trunk both sides, the large arm of the arm
It is connected by elbow joint drive mechanism with forearm, the forearm of the arm is connected with paw by carpal joint drive mechanism, described
The forearm front portion of arm is provided with front support wheel；
The walking mechanism is connected respectively by hip joint drive mechanism with lower torso, the thigh of the walking mechanism with
Shank is connected by knee joint drive mechanism, and the shank of the walking mechanism is connected with sole by ankle joint drive mechanism, institute
The posterior calf for stating walking mechanism is provided with rear support wheel；
The binocular vision photographic head, cervical region drive mechanism, driving wheel, shoulder joint drive mechanism, elbow joint drive mechanism,
Carpal joint drive mechanism, hip joint drive mechanism, knee joint drive mechanism, ankle joint drive mechanism respectively by control system with
Power-supply system is electrically connected.
This utility model has the advantages that compared with prior art：
1）, by being coordinated using the built-in control system of binocular vision photographic head and trunk, binocular tri-dimensional can be realized
Feel, so as to improve the ability of avoiding barrier when this utility model is moved before being deformed, up/down steps can be facilitated and passed through
Uneven or compared with narrow lane face, mobile blind area is little so that its handling capacity is stronger；
2）, by the control of binocular stereo vision and control system, enable this utility model perceive front be what environment,
The power wheel of Jing trunks setting and the support wheel arranged in forearm, shank, and arm and each joint driving mechanism of walking mechanism
In the case where the built-in control system of trunk is adjusted, as needed dolly can be deformed into from humanoid, make this utility model increase motion
Translational speed can also be preferably improved while stability；
3）, motion by controlling this utility model shoulder joint drive mechanism, dolly after can easily controlling to deform
The direction of motion, steering structure is simple, reliable；
Therefore, this utility model have simple structure, by the way that property is strong, motion flexibly, applied range the characteristics of.
Description of the drawings
Fig. 1 is that anthropomorphic robot biped gait replaces flow chart；
Fig. 2 is this utility model Deformation control flow chart；
Fig. 3 is this utility model standing state front view；
Fig. 4 is the left view of Fig. 3；
Fig. 5 is the right side arm front view of Fig. 3；
Fig. 6 is the right view of Fig. 5；
Fig. 7 is the right side walking mechanism front view of Fig. 3；
Fig. 8 is the left view of Fig. 7；
In figure：1- heads, 11- binocular vision photographic head, 2- trunks, 21- driving wheels, 31- shoulder joint drive mechanisms, 32-
Elbow joint drive mechanism, 33- carpal joint drive mechanisms, 34- front support wheels, 35- large arm, 36- forearms, 37- paws, 41- hips are closed
Section drive mechanism, 42- knee joint drive mechanisms, 43- ankle joint drive mechanisms, 44- rear support wheels, 45- thighs, 46- shanks,
47- soles, 5- cervical region drive mechanisms.
Specific embodiment
This utility model is further described with reference to the accompanying drawings and examples, but never in any form to this practicality
New to be any limitation as, based on this utility model training centre work any change or improvement, belong to protection model of the present utility model
Enclose.
As shown in figure 1, this utility model includes head 1, trunk 2, arm 3, walking mechanism 4, it is characterised in that
The head 1 is provided with binocular vision photographic head 11, and the head 1 is connected by cervical region drive mechanism 5 with trunk 2
Connect；
Control system and power-supply system are provided with the trunk 2, the back of the trunk 2 is provided with driving wheel 21；
The arm 3 is symmetrically connected respectively by shoulder joint drive mechanism 31 with the shoulder of the both sides of trunk 2, the arm 3
Large arm be connected by elbow joint drive mechanism 32 with forearm, the forearm of the arm 3 passes through carpal joint drive mechanism with paw
33 connections, the forearm front portion of the arm 3 is provided with front support wheel 34；
The walking mechanism 4 is connected respectively by hip joint drive mechanism 41 with the bottom of trunk 2, the walking mechanism 4
Thigh is connected with shank by knee joint drive mechanism 42, and shank and the sole of the walking mechanism 4 pass through ankle joint driving machine
Structure 43 connects, and the posterior calf of the walking mechanism 4 is provided with rear support wheel 44；
The binocular vision photographic head 11, cervical region drive mechanism 5, driving wheel 21, shoulder joint drive mechanism 31, elbow joint are driven
Motivation structure 32, carpal joint drive mechanism 33, hip joint drive mechanism 41, knee joint drive mechanism 42, ankle joint drive mechanism 43
Electrically connected with power-supply system by control system respectively.
The control system judges what binocular vision photographic head 11 was transmitted by built-in binocular stereo vision control module
Direction of motion image is level land, hillside fields or has barrier, then will determine that structure sends the built-in deformation of control system to and drives
Module is driving shoulder joint drive mechanism 31, elbow joint drive mechanism 32, carpal joint drive mechanism 33, hip joint drive mechanism
41st, knee joint drive mechanism 42 and ankle joint drive mechanism 43 deform to adapt to road surface or maintain the statusquo.
The cervical region drive mechanism 5 includes rotary drive mechanism, pitches drive mechanism, the rotary drive mechanism driving head
Nod about 1 along cervical region or so rotary head, the flexion-extension drive mechanism drive head in portion 1.
The rotary drive mechanism drive head 1 drives along 180～360 ° of cervical region rotary head maximum, the flexion-extension drive mechanism
Head is nodded up and down in the horizontal direction maximum ± 45～± 80 °.
The forearm of the arm 3 is shifted to install in large arm outside with respect to trunk 2.
The shoulder joint drive mechanism 31 drives arm 3 maximum clockwise or counterclockwise around shoulder joint drive mechanism 31
270～360 °, the elbow joint drive mechanism 32 drive forearm and paw around elbow joint drive mechanism 32 clockwise or counterclockwise
270～360 ° are rotated up to, the carpal joint drive mechanism 33 drives paw to be rotated up to 360 °.
The hip joint drive mechanism 41 drives walking mechanism 4 to distinguish by center line of trunk 2 around hip joint drive mechanism 41
Previously and 40～60 ° of back rotation maximum, the driving shank of knee joint drive mechanism 42 and sole were stayed with one's parents in order to make them happy joint driving mechanism
42 distinguish previous and 130～160 ° of back rotation maximum, and the ankle joint drive mechanism 43 drives sole around ankle joint driving machine
Structure 43 distinguishes previous and 60～90 ° of back rotation maximum.
Utility model works principle and the course of work：
This utility model by the binocular vision photographic head of its head, head Jing rotary heads with nod, can comprehensive inspection take the photograph
Advance or the scene in direction of retreat, the control of Jing control systems are taken, enables this utility model to perceive front ambient condition, Jing controls
System processed controls each joint driving mechanism and rotates forward reversion and the assurance to center of gravity, energy when complex environment is tackled or during gentle road surface
The movement of dolly state is deformed into, using the driving wheel for being arranged at trunk forward drive power is provided, by arm and walking mechanism
Support wheel props up whole vehicle structure as the strong point, and the steering of dolly is controlled by adjusting the shoulder joint of two arms, to improve
Overall stability and increase translational speed；And to flat road surface or in the face of it is more difficult go beyond obstacle when maintain people's shape state walk about,
So as in the case where mechanical construction and control system is simplified, adapt to various ground, with the higher ability for going beyond obstacle,
Up/down steps can be facilitated and broken by injustice, it is irregular or compared with narrow lane face.Due to walking mechanism floor space it is little, it is and movable
Scope is big, so bigger activity space is provided for its mechanical hand being equipped with, while mechanical arm can also designed more
It is short and small compact.This utility model can replace people to carry out some and there was only workable of the talent in detection, search, the link searched and rescued
Business, so as to mitigate work and the dangerous situation of people.Therefore, this utility model there is simple structure, by the way that property is strong, motion spirit
The characteristics of work, applied range.
Such as Fig. 1, this utility model walking process is as follows：
（1）Lifted backward by the motor control shank at knee joint drive mechanism；
（2）Lifted forward by the motor control whole piece lower limb at hip joint drive mechanism；
（3）By the motor at knee joint drive mechanism and the（1）In step control direction make on the contrary knee joint recover to
As former state；
（4）Center of gravity is moved along that robot can be made to fall down forward under the influence of gravity, now controls ankle joint driving machine
The appropriate angle of the motor of structure, causes to be moved already at hanging underfooting and supports when robot falls down on the basis of former steps
Act the body to be fallen down；So far, the first step of robot has been stepped.
（5）Center of gravity continues to be moved along, and the one leg located later completes the advance of back leg by above-mentioned same step,
When the walking of a step is completed, center of gravity is just at both legs centre and keeps balancing.
Thus, have been completed the control moved forward to anthropomorphic robot, only need to during retrogressing will control motor with
Motor motion control during advance is in opposite direction.
As shown in Fig. 2 this utility model is from humanoid change, and to turn to dolly process as follows：
（1）Whole machinery is made by the motion of hip joint drive mechanism, knee joint drive mechanism and ankle joint drive mechanism
Structure is squatted down so that center of gravity is reduced.
（2）The motor that shoulder joint drive mechanism goes out starts to drive arm to operate 90 °, makes whole arm level.
（3）The little arm section of the Motor drive arm of elbow joint drive mechanism is up rotated by 90 °, now anthropomorphic robot
Arm on support wheel it is in the same plane with the driving wheel on trunk；
（4）Whole centre of body weight is promoted toward reach by hip joint drive mechanism Motor drive, it is whole under gravity
Individual frame for movement can fall down forward, and due to having arm in support above, falling down, rear support wheel lands, that is, define dolly
Part running；
（5）Hip joint drive mechanism continues to move, and the leg portion for making leg structure down moves 50 °, and knee joint is protected
Water holding is put down, and to now whole frame for movement already at horizontal state, the structure of support is only leaned on driving wheel and front support wheel, propped up afterwards
Support wheel, thus completes from anthropomorphic robot to be deformed into the Deformation control of dolly.
This utility model dolly state shift process is as follows：
By adjusting the motion of shoulder joint 1. when left and right shoulder joint symmetrically causes arm level, dolly is transported straight forward
It is dynamic；
2. when left arm shoulder joint is toward forward swing, right arm shoulder joint is put backward when, dolly is turned right motion；
3. with 2. conversely, when right arm shoulder joint toward forward swing, put by left and right arms shoulder joint backward, dolly is toward left movement.
Claims (7)
1. a kind of cross-country traveling ability deforms anthropomorphic robot, including head（1）, trunk（2）, arm（3）, walking mechanism（4）, it is special
Levy and be
The head（1）It is provided with binocular vision photographic head（11）, the head（1）By cervical region drive mechanism（5）With trunk
（2）Connection；
The trunk（2）Inside it is provided with control system and power-supply system, the trunk（2）Back be provided with driving wheel（21）；
The arm（3）By shoulder joint drive mechanism（31）Respectively with trunk（2）The shoulder of both sides symmetrically connects, the arm
（3）Large arm and forearm pass through elbow joint drive mechanism（32）Connection, the arm（3）Forearm and paw driven by carpal joint
Motivation structure（33）Connection, the arm（3）Forearm front portion be provided with front support wheel（34）；
The walking mechanism（4）Pass through hip joint drive mechanism respectively（41）With trunk（2）Bottom connects, the walking mechanism
（4）Thigh and shank pass through knee joint drive mechanism（42）Connection, the walking mechanism（4）Shank and sole closed by ankle
Section drive mechanism（43）Connection, the walking mechanism（4）Posterior calf be provided with rear support wheel（44）；
The binocular vision photographic head（11）, cervical region drive mechanism（5）, driving wheel（21）, shoulder joint drive mechanism（31）, elbow close
Section drive mechanism（32）, carpal joint drive mechanism（33）, hip joint drive mechanism（41）, knee joint drive mechanism（42）, ankle close
Section drive mechanism（43）Electrically connected with power-supply system by control system respectively.
2. cross-country traveling ability according to claim 1 deforms anthropomorphic robot, it is characterised in that the control system is by interior
The binocular stereo vision control module put judges binocular vision photographic head（11）The direction of motion image of transmission be level land, hillside fields or
There is barrier, then will determine that structure sends the built-in deformation drive module of control system to drive shoulder joint drive mechanism
（31）, elbow joint drive mechanism（32）, carpal joint drive mechanism（33）, hip joint drive mechanism（41）, knee joint drive mechanism
（42）With ankle joint drive mechanism（43）Deform to adapt to road surface or maintain the statusquo.
3. cross-country traveling ability according to claim 1 deforms anthropomorphic robot, it is characterised in that the cervical region drive mechanism（5）
Including rotary drive mechanism, pitch drive mechanism, the rotary drive mechanism drive head（1）It is described along cervical region or so rotary head
Pitch drive mechanism drive head（1）Nod up and down.
4. cross-country traveling ability according to claim 3 deforms anthropomorphic robot, it is characterised in that the rotary drive mechanism drives
Dynamic head（1）Along 180～360 ° of cervical region rotary head maximum, the flexion-extension drive mechanism drive head is nodded up and down in the horizontal direction most
Greatly ± 45～± 80 °.
5. cross-country traveling ability according to claim 1 deforms anthropomorphic robot, it is characterised in that the arm（3）Forearm phase
To trunk（2）Shift to install in large arm outside.
6. cross-country traveling ability according to claim 5 deforms anthropomorphic robot, it is characterised in that the shoulder joint drive mechanism
（31）Drive arm（3）Around shoulder joint drive mechanism（31）It is maximum 270～360 ° clockwise or counterclockwise, the elbow joint
Drive mechanism（32）Forearm and paw are driven around elbow joint drive mechanism（32）Clockwise or counterclockwise maximum 270～
360 °, the carpal joint drive mechanism（33）Paw is driven to be rotated up to 360 °.
7. cross-country traveling ability according to claim 1 deforms anthropomorphic robot, it is characterised in that the hip joint drive mechanism
（41）Drive walking mechanism（4）Around hip joint drive mechanism（41）With trunk（2）For center line, respectively previous and back rotation is maximum
40～60 °, the knee joint drive mechanism（42）Shank and sole is driven to stay with one's parents in order to make them happy joint driving mechanism（42）Respectively previously and to
After be rotated up to 130～160 °, the ankle joint drive mechanism（43）Sole is driven around ankle joint drive mechanism（43）Respectively first
Front and 60～90 ° of back rotation maximum.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621145118.4U CN206123679U (en) | 2016-10-21 | 2016-10-21 | Humanoid robot is out of shape to high trafficability characteristic |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621145118.4U CN206123679U (en) | 2016-10-21 | 2016-10-21 | Humanoid robot is out of shape to high trafficability characteristic |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206123679U true CN206123679U (en) | 2017-04-26 |
Family
ID=58573832
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201621145118.4U Expired - Fee Related CN206123679U (en) | 2016-10-21 | 2016-10-21 | Humanoid robot is out of shape to high trafficability characteristic |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206123679U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107813309A (en) * | 2017-11-16 | 2018-03-20 | 徐立志 | A kind of control method of fighter toy, device and fighter toy |
| CN108527363A (en) * | 2018-03-08 | 2018-09-14 | 芜湖泰领信息科技有限公司 | The system of robot leaping over obstacles |
| CN111113439A (en) * | 2019-12-11 | 2020-05-08 | 桂林凯歌信息科技有限公司 | Humanoid stair climbing robot and control method thereof |
-
2016
- 2016-10-21 CN CN201621145118.4U patent/CN206123679U/en not_active Expired - Fee Related
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107813309A (en) * | 2017-11-16 | 2018-03-20 | 徐立志 | A kind of control method of fighter toy, device and fighter toy |
| CN108527363A (en) * | 2018-03-08 | 2018-09-14 | 芜湖泰领信息科技有限公司 | The system of robot leaping over obstacles |
| CN111113439A (en) * | 2019-12-11 | 2020-05-08 | 桂林凯歌信息科技有限公司 | Humanoid stair climbing robot and control method thereof |
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|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20170426 Termination date: 20171021 |
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| CF01 | Termination of patent right due to non-payment of annual fee |