CN101066591A - Copying robot - Google Patents

Abstract

The present invention provides copying robot, and belongs to the field of robot and automation technology. The copying robot has five parts, including computer, upper limb, lower limb, body and neck, and possesses functions of holding, taking, clamping, carrying and lifting. It may be in different structures and may be used in completing different jobs in different fields.

Description

Copying robot

Technical field:

Robot and automation process equipment field under the present invention, being applied to national defence, military affairs, science, aerospace, ocean, industry, agricultural, traffic, transportation and production field and nonproductive sphere, is a kind of conglomerate, multi-field, multiduty Work robot.

Background technology:

In this invention preceding 9,7,6,5,4 simple quadrilateral limb pin, six kinds of walking robots of simple and easy two parts limb pin all are to have only lower limb, there is not upper limbs, the walking robot that does not have the signalman system intelligence device brain structure of oneself, the walking robot of these six kinds of structures, just utilized lower limb that the effect that ground produces motive force is gone ahead, upwards raise, the downward function that reduces, be engaged in transportation, delivery drags operation, its shortcoming is not have upper limbs, can not be engaged in and grab, take, folder, carry, get, the function of lifting, the signalman system intelligence device brain that does not have oneself, can not be engaged in the working procedure of flexible complexity, more can not adapt to the needs of open-air complex environment walking operation and automation process device.

Summary of the invention:

The objective of the invention is to overcome the defective that above six kinds of walking robots exist, design the copying robot of the present invention's design again according to the organization of human body characteristics, it is limb pin with above six kinds of walking robots, through the architecture advances design, load onto palm, finger is as upper limbs, be engaged in and grab, take, carry, get, lift, the folder function, again with the limb pin of six kinds of walking robots as lower limb, design limbs device is regulated and is coordinated centre of body weight gravity, the upper limbs lower limb are installed, chain drive is installed, design neck device on the upper limbs installation system, on the neck device, the design and installation head is a computer system, commander's upper limbs, lower limb, the limbs device, the neck device is engaged in the working procedure of flexible complexity, adapt to open-air complex environment walking operation and other operations in the scope of design, satisfy the needs of automation process equipment.

To achieve the above object, copying robot of the present invention: by upper limbs, lower limb, limbs device, servicing unit, chain drive, neck device, head are that computer system is formed.Attached anti-true whole appearance structural representation Figure 22 of function robot.The upper limbs left arm links to be installed, on the supporting arrangement in left side, limbs device upper end, installation direction forward, motion feature be forward left the garden arc play stretching, extension, two cyclic processes of crooked to the right contraction backward, down tilt to beat stretching, extension from right to left, the garden arc that up tilts from left to right is crooked to be shunk, the upper limbs right arm links to be installed, on the supporting arrangement on right side, limbs device upper end, installation direction forward, motion feature is to play stretching,s extension, bending left backward forward to the right, the garden arc that down tilts is from left to right played stretching, extension, and the garden arc that up tilts from right to left is crooked to be shunk; Shrink two cyclic processes, other motion feature one bent other motion governor motions of upper limbs both arms are regulated and are done peculair motion.Lower limb left side limb links to be installed, on the supporting arrangement in left side, limbs device lower end, installation direction forward, direction of travel stretches, shrinks two cyclic processes forward, the right limb of lower limb links to be installed, on the supporting arrangement on right side, limbs device lower end, installation direction forward, the walking feature stretches, shrinks two cyclic processes to front curve.The dynamical system of chain drive, speed change system, be installed on the middle anterior position of limbs device lower end, the transmission system of chain drive, the upper end that is installed in limbs device rear be to lower end position, the upper end of power train and neck device, upper limbs links, the place ahead lower end position and lower limb that the lower end of power train is diverted to the limbs device link, and the neck device links the centre position on the upper limbs installation system that is installed in limbs device upper end, link in the upper end of neck device head and computer system are installed.

Upper limbs is divided into left limb, right limb, and left limb can only be installed in limbs device upper end, on the supporting arrangement in upper limbs installation system left side, crooked to the right elastic, on the contrary right limb can only be installed limbs device upper end, the supporting arrangement on upper limbs installation system right side, crooked left elastic.

Upper limbs is divided into 9,8,7,6,5 parts quadrangles, simple and easy six kinds of structures of 3 parts upper limbs arms and 9,7,6,5,4 parts quadrangles, the fixed and the concertina type lower limb of six kinds of structures of simple and easy two parts limb pin, agent structure is similar identical with partial structurtes, and the direction of motion is opposite.

9 parts quadrangle upper limbs arms

9 parts fixed upper limbs arms: by promoting [1], promote connecting rod [2], transmission rod [3], last armed lever [4], lower arm rod [5], preceding armed lever [6], postbrachium [7], wrist bar [8], hand [9] 9 parts and overcoat are formed, the conversion quadrangle, upper arm quadrangle, the upper limbs arm of three quadrilateral structures of forearm quadrangle; By the power arm of catch bar [1], promote connecting rod [2], it is the shoulder quadrangle that the power arm structure of the power arm of transmission rod [3], last armed lever [4] becomes the conversion quadrangle; Do arm by the resistance arm of transmission rod [3], the resistance of last armed lever [4], the power arm structure of the power arm of preceding armed lever [6], lower arm rod [5] becomes the upper arm quadrangle; By the resistance arm of preceding armed lever [6], the resistance arm of lower arm rod [5], the power arm of back armed lever [7], wrist bar [8] structure become the forearm quadrangle; Fulcrum by transmission rod [3] becomes the work fulcrum [10] of upper limbs arm to be installed on the fulcrum shaft of upper limbs conversion installation system with the fulcrum structure of last armed lever [4]; By the fulcrum of preceding armed lever [6] and the fulcrum of lower arm rod [5], to install on the same fulcrum shaft, structure becomes operation fulcrum [11].Attached structural representation Fig. 1.

9 parts concertina type upper limbs arms: the power arm, the resistance arm that comprise positive concertina type, single part, plain connecting rod concertina type and fixed, the multiple structures such as power arm, resistance arm, connecting rod concertina type and fixed mixed structure of two parts to power arm, resistance arm, connecting rod and two parts of multi-part to multi-part.

The upper arm quadrangle of 9 parts quadrangle upper limbs arms, the torsional mode of forearm quadrangle torsion angle: be divided into two kinds of torsion structure modes: a kind of fixed angle reverses installation and vertically is as the criterion with the upper arm quadrangle that the upper limbs arm is installed, vertical quadrangle is reversed into plane and inclined-plane quadrangle, torsion angle is 1 °, 2 °, 3 °, 4 °, 5 °, 6 °, 7 °, 8 °, 9 °, 10 °, 11 °, 12 °, 13 °, 14 °, 15 °, 16 °, 17 °, 18 ° are incremented to 90 ° of arbitrary angles, adopt an angle, two angles and a plurality of angular adjustment, again the forearm quadrangle is pressed 1 °, 2 °, 3 ° are incremented to 90 ° and are reversed into the inclined-plane, vertical quadrangle, torsional direction is anti-positive torsion, anti-positive torsion, determine left limb, right limb can reverse the upper arm quadrangle separately, also can reverse forearm four separately and connect shape.Two kinds of activity torsional angles are regulated, and adopt governor motion, and governor motion adopts hydraulic pressure, air pressure, the manual three kinds of regulative modes of machinery, and 1 °-90 ° of adjusting angle scopes are installed by three kinds of frame modes of 9 parts quadrangle upper limbs arm fixeds.

9 parts quadrangle upper limbs arm structure mode of connection, method and 9 parts quadrangle limb pin, the structure mode of connection, that method is similar is identical with partial structurtes.

8 parts quadrangle upper limbs arms

8 parts quadrangle fixed upper limbs arms: by promoting connecting rod [2], transmission rod [3], last armed lever [4], lower arm rod [5], preceding armed lever [6], back armed lever [7], wrist bar [8], hand [9] 8 parts and overcoat are formed, upper arm quadrangle, the upper limbs arm of two quadrilateral structures of forearm quadrangle; By transmission rod [3] resistance arm, last armed lever [4] resistance arm, lower arm rod [5] power arm, preceding armed lever [6] power arm structure becomes the upper arm quadrangle; Resistance arm by front end bar [6], the resistance arm of underarm [5], the power arm of back armed lever [7], wrist bar [8] structure becomes the forearm quadrangle, by the fulcrum of transmission rod [3] and the fulcrum of last armed lever [4], structure becomes the work fulcrum [10] of 8 parts upper limbs arms to be installed on the fulcrum shaft of upper limbs conversion installation system; Be installed on the same fulcrum shaft by the fulcrum of preceding armed lever [6] and the fulcrum of lower arm rod [5], structure becomes the operation fulcrum [11] of 8 parts upper limbs arms.Attached structural representation Fig. 2.

8 parts quadrangle concertina type upper limbs arms: comprise full concertina type, single Telescopic Fixed type, single fixedly concertina type, two parts are to the Telescopic Fixed mixed type of multi-part, the fixing flexible multiple structure of mixed type.

The upper arm quadrangle of 8 parts quadrangle upper limbs arms, the torsional mode of forearm quadrangle torsion angle: it is identical with mode with 9 parts quadrangle upper limbs arm windup-degrees to be divided into two kinds of frame modes.

8 parts quadrangle upper limbs arm structure mode of connection, method and 7 parts quadrangle lower limb limb leg structure mode of connection, method is similar and partial structurtes are identical.

7 parts quadrangle upper limbs arms

7 parts quadrangle upper limbs arms: by catch bar [1], promote connecting rod [2], transmission rod [3], last armed lever [4], lower arm link [12], preceding armed lever [6], hand [9] are formed 7 parts and overcoat conversion quadrangle, the upper limbs arm of two quadrilateral structures of upper arm quadrangle; By the resistance arm of catch bar [1], the power arm of transmission rod [3] promotes connecting rod [2], and the power arm structure of last armed lever [4] becomes the power transmission quadrangle; By the resistance arm of last armed lever [4], the resistance arm of transmission rod [3], lower arm link [12], the power arm structure of preceding armed lever [6] becomes the upper arm quadrangle; Fulcrum by transmission rod [3] becomes 7 parts four to connect the work fulcrum [10] of shape upper limbs arm with the fulcrum structure of last armed lever [4], be installed on the fulcrum shaft of upper limbs conversion installation system; The fulcrum of preceding armed lever [6] becomes operation fulcrum [11] with lower arm link [12] structure.Attached structural representation Fig. 3.

7 parts quadrangle concertina type upper limbs arms: comprise that the single Telescopic Fixed type of full concertina type, single fixedly concertina type and two parts are to the Telescopic Fixed mixed type of multi-part, the fixing flexible multiple structure of mixed type.

The torsional mode of the upper arm quadrangle torsion angle of 7 parts quadrangle upper limbs arms: be divided into dual mode, identical with the upper arm quadrangle windup-degree and the mode of 9 parts quadrangle upper limbs arms, forearm torsion of bar angle is reversed installation as required.

The structure of 7 parts quadrangle upper limbs arm structure mode of connection, method and 6 parts quadrangle lower limb limb pin, mode of connection, that method is similar is identical with partial structurtes.

6 parts quadrangle upper limbs arms: by promoting connecting rod [2], transmission rod [3], last armed lever [4], lower arm link [12], preceding armed lever [6], the upper limbs arm of hand [9] 6 parts and a upper arm quadrilateral structure of overcoat composition; By promotion connecting rod [2], transmission rod [3], last armed lever [4], lower arm link [12], the power arm structure of preceding armed lever [6] becomes the upper arm quadrangle; By the fulcrum of transmission rod [3] and the fulcrum of last armed lever [4], structure becomes the work fulcrum [10] of 6 parts upper limbs arms, the work fulcrum is installed on the fulcrum shaft of upper limbs conversion installation system, and the fulcrum of preceding armed lever [6] becomes operation fulcrum [11] with an end structure of lower arm link [12].Attached structural representation Fig. 4.

6 parts quadrangle concertina type upper limbs arms: comprise full concertina type, single Telescopic Fixed type, single fixedly concertina type and two parts are to the Telescopic Fixed mixed type of multi-part, the fixing flexible multiple structure of mixed type.

The torsional mode of 6 parts quadrangle upper limbs arm torsion angles: be divided into dual mode, identical with the upper arm quadrangle windup-degree and the mode of 9 parts quadrangle upper limbs arms, forearm torsion of bar angle is carried out torsion angle as required and is installed.

The structure of 6 parts quadrangle upper limbs arm structure mode of connection and method and 5 parts quadrangle limb pin, mode of connection, that method is similar is identical with partial structurtes.

5 parts quadrangle upper limbs arms: by catch bar [1], last armed lever [4], force transmitting link [13], [13, hand [9] 5 parts and overcoat are formed power transmission quadrangle 5 parts upper limbs arms to promote connecting rod; By the resistance arm of catch bar [1], the power arm of last armed lever [4] promotes connecting rod [2], and force transmitting link [3] structure becomes the power transmission quadrangle; By the fulcrum of last armed lever [4], force transmitting link [13] structure becomes the work fulcrum of 5 parts upper limbs arms, is installed on the fulcrum shaft of upper limbs conversion installation system.Attached structural representation 5.

5 parts quadrangle concertina type upper limbs arms: comprise full concertina type, single Telescopic Fixed type, single fixedly concertina type and two parts are to the Telescopic Fixed mixed type of multi-part, the fixing flexible multiple structure of mixed type.

The torsional mode of last armed lever [4] torsion angle of 5 parts quadrangle upper limbs arms: be divided into dual mode, identical with the upper arm quadrangle windup-degree and the mode of 9 parts quadrangle upper limbs arms.

5 parts quadrangle upper limbs arm structure mode of connection are with method is similar with structure, the mode of connection of 4 parts quadrangle limb pin and partial structurtes are identical.

Simple and easy 3 parts fixed upper limbs arms: by promotion connecting rod [2], last armed lever [4], hand [9] and overcoat are formed, and the fulcrum of last armed lever [4] is a work fulcrum [10], is installed on the fulcrum shaft of upper limbs conversion installation system.Attached structural representation Fig. 6.

Simple and easy 3 parts concertina type upper limbs arms: comprise full concertina type, single Telescopic Fixed type, single fixedly concertina type and Telescopic Fixed mixed structure have 7 types.

The torsional mode of last armed lever [4] torsion angle of simple and easy 3 parts upper limbs arms: it is identical with mode with the tetragonal windup-degree of upper arm of 9 parts quadrangle upper limbs arms to be divided into dual mode.

Simple and easy 3 parts upper limbs arm structures: promote an end of connecting rod [2] and the eccentric shaft of bridgeware and link, promoting the other end of connecting rod [2] and the power arm of last armed lever [4] links, the resistance arm of last armed lever [4] and hand [9] link, the fulcrum of last armed lever [4], install on the fulcrum shaft of upper limbs conversion installation system, structure becomes simple and easy 3 parts upper limbs arms.

9, the promotion [1] that links of 8,7,6,5 parts quadrangles and simple and easy three parts upper limbs arms and switching mechanism converting member eccentric shaft promotes connecting rod [2], and installation direction is for forward.

9, the conversion quadrangle of 8,7,6,5 parts quadrangles and simple and easy three parts upper limbs arms, transmission rod, the power arm etc. of going up armed lever play the parts of power transmission and transformation, and windup-degree and torsional mode are set as required.

9,8,7,6,5 parts quadrangles and simple and easy three parts upper limbs arms: upper arm, forearm quadrangle, preceding armed lever, last armed lever 3 is provided with and the horizontal torsion angle as required, and vertical the installation only is provided with the hand torsion angle.

Hand: by the five fingers, palm, finger palm adjusting device, the finger palm touches rub firmly sensor and other device compositions.

The five fingers: denominator refers to, five kinds on forefinger, middle finger, the third finger, little finger of toe, and mother refers to be made of two joints, is divided into a joint and two kinds of structures of two joints, and forefinger, middle finger, the third finger, little finger of toe are made of three joints, divide a joint, two joints and three to save three kinds of structures.

Palm: form by five at the five fingers palm joint.

Hand: the heart must be installed finger, palm and finger palm adjusting device.Be divided into singly refer to, two refer to, three refer to, four refer to, five kinds of structures of the five fingers, the finger palm touches rub firmly sensor and other devices, and installation is set as required.

Hand structure: the joint and two joints that mother refers to, two joints link with palm, a joint of forefinger, middle finger, the third finger, little finger of toe and two joints, two joints link with palm with three joints, three joints, and palm and wrist bar link.

Palm: according to singly refer to, two refer to, three refer to, four refer to, the needs of the five fingers, be provided with singly refer to, two refer to, three refer to, four refer to, the five fingers palm.

Limbs device: regulate installation system by the upper limbs conversion, transmission installation system between waist, lower limb conversion guiding turning installation system is formed, the perpendicular power train upper end of transmission installation system links between the horizontal power train of upper limbs conversion adjusting installation system and waist, the fixture upper end of transmission installation system links between the fixture lower end of upper limbs conversion adjusting installation system and waist, the horizontal power train of the lower end of the perpendicular power train of transmission installation system and lower limb conversion guiding turning installation system links between waist, the fixture lower end of the fixture lower end of transmission installation system and lower limb conversion guiding turning installation system links between waist, and structure becomes the limbs device.

Installation system is regulated in upper limbs conversion: by upper limbs switching mechanism, and the multi-faceted free degree adjusting device of upper limbs, the upper limbs free degree adjusting device of stretch, upper limb fixing device, upper limbs supporting arrangement, upper limbs guiding free degree adjusting device composition.

Upper limbs switching mechanism: by horizontal power train, clutch brake, universal joint, jackshaft, eccentric body, eccentric shaft and cover are formed, and comprise single armed, both arms and the multiple structure of multi-arm switching mechanism.

The eccentric body planform is a garden shape, and strip on garden shape, strip eccentric body centre position, is made microscler adjustment hole [13] and porous and regulated eye [14], and attached microscler adjustment hole and porous are regulated eye schematic diagram 7.

Upper limbs single armed, both arms switching mechanism: comprise fixture switching mechanism Fig. 8, fixing flexible free degree adjusting device switching mechanism, fixedly movable telescopic free degree adjusting device switching mechanism; Fixedly clutch brake switching mechanism Fig. 9, the fixedly fixing flexible switching mechanism of free degree adjusting device, the fixedly fixedly movable telescopic free degree adjusting device switching mechanism of clutch and brake of clutch and brake; Fixing multi-faceted free degree adjusting device switching mechanism Figure 10, the fixing flexible free degree adjusting device switching mechanism of fixing a plurality of orientation free degree, the fixedly freedom of movement adjusting device switching mechanism of the fixing multi-faceted free degree; The multi-faceted free degree adjusting device of clutch and brake switching mechanism Figure 11, the fixing flexible free degree adjusting device switching mechanism of the multi-faceted free degree of clutch and brake, the fixedly movable telescopic free degree adjusting device switching mechanism of the multi-faceted free degree of clutch and brake.

Upper limbs multi-arm switching mechanism: fixedly multi-arm switching mechanism, fixedly clutch and brake multi-arm switching mechanism, the switching mechanism of the multi-faceted free degree adjusting device of clutch and brake.

The multi-faceted free degree adjusting device of upper limbs: form by the multi-faceted free degree governor motion in the left and right sides, multi-faceted free degree governor motion, by cylinder, fluid cylinder, adjusting rod, adjusting machine, pull bar, movable joint head, cover for seat, adjusting fixed mount, tracheae, liquid pipe are formed, the multi-faceted free degree governor motion in a left side is installed in the bridgeware of horizontal power train left end jackshaft, right multi-faceted free degree governor motion is installed in the bridgeware of horizontal power train right-hand member jackshaft.Comprise two kinds of fixing multi-faceted free degree adjusting device Figure 13 and the multi-faceted free degree adjusting device of clutch and brake Figure 12.Adopt the manual and electronic multi-faceted free degree adjusting device of machinery, four types of the multi-faceted free degree adjusting device of air pressure, the multi-faceted free degree adjusting devices of hydraulic pressure, comprise one group of cylinder, fluid cylinder, adjusting rod structure, two groups of cylinders, fluid cylinder, adjusting rod structure, three groups of cylinders, fluid cylinder, adjusting rod structure, four groups of cylinders, fluid cylinder, adjusting rod structure, six groups of cylinders, fluid cylinder, adjusting rod structure are organized cylinder, fluid cylinder, adjusting rod structure more.

The upper limbs free degree adjusting device of stretching: by about flexible free degree governor motion forms, flexible free degree governor motion by cylinder, fluid cylinder, adjusting rod, is regulated the seat in the plane bar, the movable joint head, cover for seat, tracheae, liquid pipe are regulated the locking device composition.The flexible free degree governor motion in a left side is installed on the adjusting fixed mount of the multi-faceted free degree adjusting device of left end upper limbs, and right flexible free degree governor motion is installed on the adjusting fixed mount of the multi-faceted free degree adjusting device of right-hand member upper limbs.

Upper limbs supporting arrangement: form by left and right sides bearing support, left side bearing support is installed on the fixed mount of the multi-faceted free degree adjusting device of left end upper limbs, right bearing support is installed on the fixed mount of the multi-faceted free degree adjusting device of right-hand member upper limbs, comprises fixedly bearing apparatus, regulates supporting arrangement two big class formations.

The fixed bearing device: form by left and right sides fixed support, be installed on the solid frame of the multi-faceted free degree adjusting device of upper limbs, the installation that turns forward, vertical-horizontal is installed.

Regulate supporting arrangement: by about transfer support to form, regulate support: by cylinder, fluid cylinder, adjusting rod, the adjusting machine, pull bar, the movable joint head, cover for seat, tracheae, the liquid pipe, the adjusting locking device is formed, regulate support by vertical adjusting part and tilt telescopic partly or horizontal telescopic section constitute, the end that can put into extensible member and be the cylinder fluid cylinder is stiff end, the other end of extensible member is regulated the stiff end of support vertical component and the adjusting fixed mount of the multi-faceted multiple degrees of freedom adjusting device of upper limbs and is linked movable end, and the stiff end of the movable end of vertical component and tilt telescopic part or horizontal telescopic section links, the movable end and the fulcrum shaft of tilt telescopic part or horizontal telescopic section link, and structure becomes to regulate supporting arrangement.

Upper limbs guiding free degree adjusting device: by about guiding free degree governor motion form.Governor motion, form by cylinder, fluid cylinder, adjusting machine, adjusting rod, pull bar, movable joint head, cover for seat, steam pipe, liquid pipe, left side guiding free degree governor motion is installed in left end, right guiding free degree governor motion is installed left end, one end of guiding free degree governor motion is installed between waist on the adjuster device, and the other end of guiding free degree governor motion is installed on the upper limb fixing device.

Transmission installation system between waist: comprise fixedly transmission installation system between waist, movable fixedly transmission free degree adjusting installation system between transmission installation system and waist between waist.

Fixing transmission installation system between waist: by perpendicular power train [14], fixed mount [15] is formed, perpendicular power train is installed in the rear position of fixed mount, the transmission device upper end of perpendicular power train links with the transmission device of the horizontal power train of upper limbs, the transmission device lower end of perpendicular power train and the transmission device of the horizontal power train of lower limb link, the upper end of fixed mount and the lower end of upper limb fixing device link, and the upper end of the lower end of fixed mount and lower limb fixture links.Transmission scheme of installation 14 between attached fixing wanting.

Movable fixedly transmission installation system between waist: by perpendicular power train, fixed mount, movable locking device is formed.Comprise the movable locking in upper end, the movable locking in lower end and three kinds of structures of lower end, upper end movable locking installation system.

The movable locking in upper end installation system: in the fixing upper end of transmission installation system between waist of activity, an end of the movable locking device of installation activity locking device and the binding of fixed mount upper end, the other end of movable locking device and the binding of upper limb fixing device lower end.

The movable locking in lower end installation system: in the fixing lower end of transmission installation system between waist of activity, installation activity locking device, an end of movable locking device and the binding of the upper end of lower limb fixture, the other end of movable locking device and the binding of fixed mount lower end.

The movable locking in lower end, upper end installation system: activity fixedly between waist the lower end, upper end of transmission installation system the movable locking device in lower end, upper end is installed simultaneously, link according to the binding installation method of upper end, the movable locking in lower end installation system upper end, lower end activity locking device be installed.

The transmission free degree is regulated installation system between waist: by hard power train, and the secured adjusted frame, governor motion is formed.

Hard power train: comprise that hard transmission device is that power transmission shaft transmission and soft transmission are other transmission devices.

Hard transmission device is divided into one-level, secondary, three grades and multi-range transmission, a gear stage: by two sections power transmission shafts, a middle universal joint is that the cross axle bearing sleeve is formed.Two gear stages: by three sections power transmission shafts, middle two universal joints are formed.Three gear stages: by four sections power transmission shafts, middle three universal joints are formed.Many group transmission devices: by the multistage power transmission shaft, middle a plurality of universal joints are formed.

The secured adjusted frame: be interior empty shape, be shaped as square, garden shape, ellipse garden shape and other shapes.The hard straight-through opening of the place ahead making, the left and right sides makes regulates mouth between waist, regulate open area and be shaped as isosceles triangle.The place ahead is the base of isosceles triangle, mouth is regulated in the left and right sides, be divided into one-level, secondary, three grades, multistage adjusting mouth, one-level is regulated mouth, the secured adjusted frame is a two-stage structure, make an isosceles triangle in secured adjusted frame centre position and regulate mouth, the rear end of secured adjusted frame is movable fixedly connected, two-level controller secured adjusted frame is the three-stage structure structure, with secured adjusted frame trisection, makes two isosceles triangles and regulate mouth between trisection, regulate mouth for three grades, the secured adjusted frame is four segment structures, with secured adjusted frame mouth five equilibrium, makes three isosceles triangles and regulate mouth between five equilibrium, multistage adjusting mouth, the secured adjusted frame is a multi-segment structure, with the many five equilibriums of secured adjusted frame, makes a plurality of isosceles triangles and regulate mouth between many five equilibriums.Mouth is regulated in the left and right sides, and it is few more to regulate progression, and it is big more to regulate opening angle, and it is many more to regulate progression, and adjusting angle is more little.

Left-right adjusting mechanism: form by cylinder, fluid cylinder, adjusting machine, adjusting rod, position bar, movable joint head, cover for seat, movable locking device, steam pipe, liquid pipe, spring and block set etc.

The transmission free degree is regulated the structure of installation system between waist: perpendicular power train is installed in the rear position in the secured adjusted frame, vertically install, perpendicular power train as required, install one group, two groups, three groups and the perpendicular power train of many groups, the upper end transmission device of perpendicular power train and the power device of the horizontal power train of upper limbs link, the lower end transmission device of perpendicular power train and the power set of the horizontal power train of lower limb link, a kind of is the upper end and the upper limb fixing device binding of secured adjusted frame, the lower end of secured adjusted frame and lower limb fixture link, another kind is that an end of the movable locking device in upper end and upper end of secured adjusted frame links, the other end and the upper limb fixing device of the movable locking device in upper end link, one end of the movable locking in the lower end of secured adjusted device and lower end installation system links, and the other end of the movable locking device in lower end system and the upper end of lower limb fixture link.Governor motion is installed in the preceding left and right sides of secured adjusted device between waist, and on the vertically logical opening in the place ahead, the upper end of regulating between one end of governor motion and waist between waist mouthful links, between waist the other end of governor motion with want between the lower end binding regulated mouthful.Be divided into that one-level is regulated, secondary is regulated, three grades of adjusting, multistage adjusting, one-level is regulated governor motion between one group of waist of installation, governor motion between the secondary waist is organized governor motion between waist more, the installation site is on the left and right sides, secured adjusted device the place ahead and anterior position.

Lower limb conversion guiding turning installation system: by lower limb switching mechanism, the lower limb free degree adjusting device of stretch, lower limb fixture, lower limb supporting arrangement, lower limb guiding turning adjusting device composition.

Lower limb switching mechanism: horizontal power train, clutch brake, universal joint rotates semiaxis, and bridgeware is an eccentric body, and eccentric shaft and cover are formed, and are divided into dual-purpose, four-function, six usefulness, eight usefulness, ten usefulness, use switching mechanism more.

Bridgeware: by half garden eccentric shaft part, all eccentric shaft parts in garden, half garden central shaft spare is formed.

The eccentric body planform is a garden shape, ellipse garden shape, strip.Garden shape, ellipse garden shape, on the straight line in strip eccentric body centre position, make the eccentric body that microscler adjustment hole and porous are regulated eye, be applied to left and right sides lower limb and have only an eccentric shaft to do on the walking robot of motive force.

Half garden eccentric shaft part: by radius eccentric body [55], garden heart connect apertures [49], eccentric shaft [50] is formed.Radius eccentric body [55] is made into strip, garden shape.At strip, garden shape radius eccentric body [55] straight line center, diameter garden make garden heart connect apertures [49] in the heart.Link an end of eccentric shaft [50] in the garden of the limit of strip end, garden shape on week, constitute half garden eccentric shaft part, the end that eccentric shaft [50] does not link is a head end, and the end that half garden eccentric body [55] is gone up making garden heart connect apertures [49] is a tail end.Attached structural representation Fig. 1.

The all eccentric shaft parts in garden: by diameter eccentric body [55], the all connect apertures [51] in garden, eccentric shaft [50] is formed, diameter eccentric body [55] is made into strip, garden shape, and on strip, garden shape diameter eccentric body [55] central line, an end is made periphery knot hole [51], garden on the diameter, the other end links an end of eccentric shaft [50], the all eccentric shaft parts in formation garden, the end that eccentric shaft [50] does not link is a head end, an end of going up making garden week connect apertures [51] at diameter eccentric body [55] is a tail end.Attached structural representation Figure 24.

Half garden central shaft spare: by radius eccentric body [55], half garden connect apertures [52], central shaft [53] is formed, radius eccentric body [55] is made into strip, garden shape, at strip, garden shape radius eccentric body [55] straight line center, the diameter garden in the heart, an end that links central shaft [53], at straight line center edge end, go up in garden week and make half garden connect apertures [52], structure becomes half garden central shaft spare, the end that central shaft [53] does not link, be head end, going up an end of making half garden connect apertures [52] at radius eccentric body [55] is tail end.Attached structural representation Figure 25.

Bridgeware

The dual-purpose bridgeware: promptly two eccentric shafts [50] are installed on two garden round angles the switching mechanism that constitutes two courses of work with horizontal power train [57] and are called the dual-purpose bridgeware.By half garden eccentric shaft part, all eccentric shaft parts in garden, half garden central shaft spare, eccentric shaft plane bearing [54] is formed.Eccentric shaft [50] is contained in the plane bearing [54], according to half garden eccentric shaft part, the all eccentric shaft parts in garden, the sequencing of half garden central shaft spare, eccentric shaft [50] head with half garden eccentric shaft part links with all connect apertures [51] tails in the garden of all eccentric shaft part one ends in garden successively, other end eccentric shaft [50] head links with half garden connect apertures [52] tail of half garden central shaft spare, eccentric shaft [50] is forward parallel successively to be attached at same garden on week, garden week setting angle is 180 ° between two eccentric shafts [50], two eccentric shafts [50] are installed in 0 °, on 180 ° of all angles in these gardens, constitute the dual-purpose bridgeware, one end of garden heart connect apertures [49] is a tail end, and an end of central shaft [53] is a head end.Attached structural representation Figure 26.

With half garden eccentric shaft part, the all eccentric shaft parts in garden, half garden central shaft spare is integrated, and is made into a single piece, by garden heart connect apertures [49], eccentric body [55], eccentric shaft [50], central shaft [53] is formed, and is configured to the dual-purpose bridgeware, one end of garden heart connect apertures [49] is a tail end, and an end of central shaft [53] is a head end.Attached structural representation Figure 27.

Three use bridgeware: be made up of half garden eccentric shaft part, two of all eccentric shaft parts in garden, half garden central shaft spare, three of plane bearings.Eccentric shaft is contained in the plane bearing, according to half garden eccentric shaft part, all eccentric shaft parts in garden, the sequencing of half garden central shaft spare, garden week connect apertures tail with eccentric spindle nose in half garden and all eccentric shaft part one ends in garden links successively, and half garden connect apertures of other end eccentric shaft and half garden central shaft links.Three eccentric shafts are forward parallel successively to be attached at same garden on week, garden week setting angle is 120 ° between three eccentric shafts, three eccentric shafts are installed on all angles in 0 °, 120 °, 240 ° these gardens, structure becomes three to use bridgeware, one end of garden heart connect apertures is a tail end, and an end of central shaft is a head end.

With half garden eccentric shaft part, three of all off-axis spares in garden, half garden central shaft spare is integrated, and is made into single piece by the garden axle, eccentric body, eccentric shaft, central shaft is formed, and structure becomes the triangle bridgeware, and an end of garden heart connect apertures is a tail end, and an end of central shaft is a tail end.

The four-function bridgeware: by half garden eccentric shaft part, two of all eccentric shaft parts in garden, half garden central shaft spare, [54] four compositions of plane bearing.Eccentric shaft [50] is contained in the plane bearing [54], according to half garden eccentric shaft part, the all eccentric shaft parts in garden, the sequencing of half garden central shaft spare, eccentric shaft [50] head with half garden eccentric shaft part links with all connect apertures [51] tails in the garden of all eccentric shaft part one ends in garden successively, and other end eccentric shaft [50] links with half garden connect apertures [52] tail of half garden central shaft spare.Four eccentric shafts [50] are forward parallel successively to be attached at same garden on week, garden week setting angle is 90 ° between four eccentric shafts [50], four eccentric shafts [50] are installed on all angles in 0 °, 90 °, 180 °, 270 ° these gardens, structure becomes the four-function bridgeware, one end of garden heart connect apertures [49] is a tail end, and an end of central shaft [53] is a head end.Attached structural representation Figure 28.

With half garden eccentric shaft part, three of all eccentric shaft parts in garden, half garden central shaft spare is integrated, and is made into single piece, by garden heart connect apertures [49], eccentric body [55], eccentric shaft [50], central shaft [53] is formed, and is configured to the four-function bridgeware, one end of garden heart connect apertures [49] is a tail end, and an end of central shaft [53] is a head end.Attached structural representation Figure 29.

Five use bridgeware: by half garden eccentric shaft part, four of all eccentric shaft parts in garden, half garden central shaft spare, [54] four compositions of plane bearing, eccentric shaft [50] is contained in the plane bearing [54], according to half garden eccentric shaft part, the all eccentric shaft parts in garden, the sequencing of half garden central shaft spare, eccentric shaft [50] head with half eccentric part links with all connect apertures [51] tails in the garden of all eccentric shaft parts in garden successively, other end eccentric shaft [50] head links with garden week connect apertures [51] tail of garden week eccentric shaft part, other end eccentric shaft [50] head links with half garden connect apertures [52] of half garden central shaft spare, five eccentric shafts [50] are forward parallel successively to be attached on the round angle of same garden, garden week the binding angle being installed between five eccentric shafts [50] is 72 °, and five eccentric shafts [50] are installed in 0 °, 72 °, 144 °, 216 °, on 288 ° of all angles in these gardens, structure becomes five to use bridgeware, one end of garden heart connect apertures [49] is a tail end, and an end of central shaft [55] is a head end.Attached structural representation Figure 30.

With half garden eccentric shaft part, four of all eccentric shaft parts in garden, half garden central shaft spare is integrated, and is made into a single piece, by garden heart connect apertures [49], eccentric body [55], eccentric shaft [50], central shaft [53] is formed.Be configured to five and use bridgeware, an end of garden heart connect apertures [49] is a tail end, and central shaft [53] one ends are head end.Attached structural representation Figure 31.

Six, eight, nine, ten, 12,15,18,20,24,30,36,40,45,60,70 dual-purpose bridgewares: by three, four, garden week setting angle is 120 ° between the five usefulness bridgeware eccentric shafts [50], 90 °, 72 ° of structure linking methods, with six, eight, nine, ten, 12,15,18,20,24,30,36,40,45,60, garden week setting angle is 60 ° between 72 eccentric shafts [50], 45 °, 36 °, 30 °, 24 °, 20 °, 18 °, 15 °, 12 °, 10 °, 9 °, 8 °, 6 °, 5 °, binding is mounted to six, eight, nine, ten, 12,15,18,20,24,30,36,40,45,60,70 dual-purpose bridgewares.

The plane bearing of installing on the bridgeware eccentric shaft according to the design needs, can be installed and plane bearing is not installed or other axle sleeves are installed.

When adopting two, three, four, five usefulness, four, six, eight, the ten limb pin switching mechanisms of two, three, four, five usefulness bridgeware individual constructions, according to the design needs, can design and installation and not design and installation half garden central shaft.

Adopt many of two, three, four, five usefulness bridgewares, structure becomes two, three, four, five many limbs of usefulness pin switching mechanisms, according to the needs of many limbs pin, and a plurality of half garden centre bearing and the covers of design and installation.

According to the design needs,, be attached at successively on all angles in same garden two, three, four eccentric shafts; On an eccentric shaft, link the catch bar of two, three, four limb pin and promote connecting rod.

Two limb pin switching mechanisms: by horizontal power train, about single form with bridgeware.The garden heart connect apertures tail end of the left end axle center of horizontal power train and left bridgeware links, the tail end of the garden heart connect apertures of the right-hand member axle center of horizontal power train and right bridgeware links, two ends, left and right sides eccentric shaft, parallelly be attached at same garden on week, garden week setting angle is that 180 ° of left and right sides eccentric shafts are installed on all angles in 0 ° 180 ° these gardens between the eccentric shaft of the left and right sides, and structure becomes two limb pin switching mechanisms.

Dual-purpose switching mechanism

The switching mechanism of dual-purpose four-leg: by two of dual-purpose bridgewares, horizontal power train [57], half garden centre bearing and cover [56] are formed.Garden heart connect apertures [49] tail of horizontal power train [57] power transmission shaft two ends and dual-purpose bridgeware one end is linked, the other end half garden central shaft [55] head is contained in centre bearing and the cover [56], overcoat and bearing support link, two ends, left and right sides eccentric shafts [50] are parallel to be attached at same garden on week, the tail end eccentric shaft [50] of dual-purpose bridgeware, about be installed on 0 °, 180 ° these gardens week angle, structure becomes the switching mechanism of dual-purpose four-leg.Annex II four-leg switching mechanism structural representation Figure 32.

Dual-purpose eight limb pin switching mechanisms: by left and right sides dual-purpose switching mechanism each two, horizontal power train, about half garden central shaft, bearing and each one in cover form.The structure of pressing the switching mechanism of dual-purpose four-leg links installation method with structure, on the eccentric shaft of first the dual-purpose bridgeware in two ends, the dual-purpose four-leg switching mechanism left and right sides, second dual-purpose bridgeware is each one about link installing, about the head end of second dual-purpose bridgeware eccentric shaft, link half garden central shaft about installation, bearing and cover, two ends, left and right sides eccentric shaft, parallelly be attached at same garden on week, the eccentric shaft of left and right sides dual-purpose bridgeware, about be installed in 0 °, 180 °, 0 °, on 180 ° of all angles in these gardens, structure becomes 0 °, 180 ° dual-purpose eight limb pin switching mechanisms.

Dual-purpose 12 limb pin switching mechanisms: by left and right sides dual-purpose bridgeware each three, horizontal power train, about half garden central shaft, bearing and each one in cover form.The structure of pressing dual-purpose eight limb pin switching mechanisms links installation method with structure, head end at dual-purpose eight two ends, the limb pin switching mechanism left and right sides second dual-purpose bridgeware eccentric shafts, link the 3rd dual-purpose bridgeware about installation, about the head end of the 3rd dual-purpose bridgeware eccentric shaft half garden central shaft link to be installed, bearing and cover, two ends, left and right sides eccentric shaft, parallelly be attached at same garden on week, the eccentric shaft of left and right sides dual-purpose bridgeware, about be installed in 0 °, 180 °, 0 °, 180 °, 0 °, on 180 ° of all angles in these gardens, structure becomes 0 °, 180 ° dual-purpose 12 limb pin switching mechanisms.

The switching mechanism of many limbs of dual-purpose pin: by many of left and right sides dual-purpose bridgewares, horizontal power train, about half garden central shaft, bearing and overlap many and form, the structure of pressing dual-purpose eight limb pin switching mechanisms links installation method with structure, on the half garden central shaft at dual-purpose eight limb pin switching mechanism two ends, need by design, continue to link the structure of left and right sides dual-purpose bridgeware and half garden central shaft, bearing and cover being installed or pressing dual-purpose eight limb pin switching mechanisms, repeat to link, structure becomes 0 °, the switching mechanism of 180 ° of needed many limbs of dual-purpose pin.

Three use switching mechanism

The six limb pin switching mechanisms of three usefulness: by about three usefulness bridgewares each one, horizontal power train form.The garden heart connect apertures tail end of the left end axle center of horizontal power train and left bridgeware links, the garden heart connect apertures tail end of the right-hand member axle center of horizontal power train and right bridgeware links, two ends, left and right sides eccentric shaft, parallelly be attached at same garden on week, the eccentric shaft of three usefulness bridgewares, about be installed on 0 °, 120 °, 240 ° these gardens week angle, structure becomes 0 °, 120 °, 240 ° three usefulness, six limb pin switching mechanisms.

The 12 limb pin switching mechanisms of three usefulness: by about three usefulness bridgewares each two, horizontal power train, about half garden central shaft, bearing and each one or each two in cover form.Structure by the six limb pin switching mechanisms of three usefulness links installation method with structure, head end at three usefulness, six two ends, the limb pin switching mechanism left and right sides first three usefulness bridgeware eccentric shafts, link second three of installation and use bridgeware, head end at second three usefulness bridgeware eccentric shaft, link half garden central shaft is installed, bearing and cover, half garden central shaft is contained in the bearing, in the bearing dress overcoat, overcoat links with solid frame, two ends, left and right sides eccentric shaft parallelly is attached at same garden on week, the eccentric shaft of three usefulness bridgewares, about be installed in 0 °, 120 °, 240 °, 0 °, 120 °, on 240 ° of all angles in these gardens, structure becomes 0 °, 120 °, 240 ° three usefulness, 12 limb pin switching mechanisms.

Structure by the six limb pin switching mechanisms of three usefulness links installation method with structure, head end at three usefulness, six two ends, the limb pin switching mechanism left and right sides first three usefulness bridgeware eccentric shafts, link first half garden central shaft is installed, bearing and cover, on first half garden central shaft, link second three of installation and use bridgeware, head end at second three usefulness bridgeware eccentric shaft, link again second half garden central shaft is installed, bearing and cover, two ends, left and right sides eccentric shaft, parallelly be attached at same garden on week, the eccentric shaft of three usefulness bridgewares, about be installed in 0 °, 120 °, 240 °, 0 °, 120 °, on 240 ° of all angles in these gardens, structure becomes 0 °, 120 °, 240 ° three usefulness, 12 limb pin switching mechanisms.

Three many limbs of usefulness pin switching mechanisms: by about with many of bridgewares, horizontal power train, about half garden central shaft, bearing and overlap many and form.Structure by the 12 limb pin switching mechanisms of three usefulness links installation method with structure, on the half garden central shaft at three usefulness, 12 limb pin switching mechanism two ends, need by design, continue to link three usefulness bridgewares and half garden central shaft, bearing and cover about installation, structure becomes 0 °, 120 °, 240 ° three required many limbs of usefulness pin switching mechanisms.

Four-function switching mechanism

Four-function eight limb pin switching mechanisms: by each one of left and right sides four-function bridgeware, horizontal power train [57], about half garden central shaft, bearing and each composition of cover [56].Half garden central shaft [53] head is contained in bearing and the cover [56] about garden heart connect apertures [49] the tail binding of horizontal power train [57] power transmission shaft two ends and left and right sides four-function bridgeware one end, the other end, overcoat links with solid frame, two ends, left and right sides eccentric shafts [50] are parallel to be attached at same garden on week, four-function bridgeware eccentric shaft [50], about be installed on 0 °, 90 °, 180 °, 270 ° these gardens week angle, structure becomes 0 °, 90 °, 180 °, 270 ° four-function eight limb pin switching mechanisms.Four-function eight limb pin switching mechanism structural representation Figure 33.

Four-function 16 limb pin switching mechanisms: by four of left and right sides four-function bridgewares, horizontal power train, about half garden central shaft, bearing and each composition of cover.The structure of pressing four-function eight limb pin switching mechanisms links installation method with structure, on half garden central shaft of first the four-function bridgeware in four-function eight two ends, the limb pin switching mechanism left and right sides, link each one of second four-function bridgeware is installed, about the head end of second four-function bridgeware eccentric shaft, link half garden central shaft about installation, bearing and cover, left and right sides eccentric shaft, parallelly be attached at same garden on week, the eccentric shaft of left and right sides four-function bridgeware, about be installed in 0 °, 90 °, 180 °, 270 °, 0 °, 90 °, 180 °, on 270 ° of all angles in these gardens, structure becomes 0 °, 90 °, 180 °, 270 ° four-function 16 limb pin switching mechanisms.

Many limbs of four-function pin switching mechanism: by many of left and right sides four-function bridgewares, horizontal power train, half garden central shaft, bearing and overlap many compositions, press the structure and structure linking method of four-function 16 limb pin switching mechanisms, on half garden central shaft of second the four-function bridgeware in four-function 16 two ends, the limb pin switching mechanism left and right sides, need by design, continue to link installation left and right sides four-function bridgeware, half garden central shaft, bearing and overlap many, structure becomes 0 °, 90 °, 180 °, the switching mechanism of 270 ° of needed many limbs of four-function pin.

Five use switching mechanism

The ten limb pin switching mechanisms of five usefulness: by about each one of five usefulness bridgeware, horizontal power train, about half garden central shaft, bearing and each composition of cover.Horizontal power train power transmission shaft two ends with about the garden heart connect apertures binding of five usefulness bridgewares, one end, half garden central shaft heads is contained in central shaft and the cover about the other end, overcoat links with solid frame, left and right sides eccentric shaft is parallel to be attached at same garden on week, about five use the bridgeware eccentric shaft, about be installed on 0 °, 72 °, 144 °, 216 °, 288 ° these gardens week angle, structure becomes 0 °, 72 °, 144 °, 216 °, 288 ° five usefulness, ten limb pin switching mechanisms.

The 20 limb pin switching mechanisms of five usefulness: by about each two of five usefulness bridgewares, horizontal power train, about half garden central shaft, bearing and each two composition of cover.Structure by the ten limb pin switching mechanisms of five usefulness links installation method with structure, on half garden central shaft of first the five usefulness bridgeware in five usefulness, ten two ends, the limb pin switching mechanism left and right sides, link each one of second five usefulness bridgeware is installed, about the head end of second five usefulness bridgeware eccentric shaft, about be installed in these gardens week of 0 °, 72 °, 144 °, 216 °, 288 °, 0 °, 144 °, 216 °, 288 ° on the angle, structure becomes 0 °, 72 °, 144 °, 216 °, 288 ° five usefulness, 20 limb pin switching mechanisms.

Five many limbs of usefulness pin switching mechanisms: by about many of five usefulness bridgewares, horizontal power train, about half garden central shaft, bearing and overlap many compositions.Structure by the 20 limb pin switching mechanisms of five usefulness links installation method with structure, on half garden central shaft of second the five usefulness bridgeware in five usefulness, 20 two ends, the limb pin switching mechanism left and right sides, need by design, five used bridgeware about the continuation binding was installed, half garden central shaft, bearing and cover, structure become 0 °, 72 °, 144 °, 216 °, 288 ° needed five many limbs of usefulness pin switching mechanisms.

Six, eight, nine, ten, 12,15,18,20,24,30,36,40,60,70 many limbs of dual-purpose pin switching mechanisms: by two, three, four, the structure of five usefulness switching mechanisms links installation method with structure, with six, eight, nine, ten, 12,15,18,20,24,30,36,40,45,60,70 dual-purpose bridgewares, binding is mounted to six, eight, nine, ten, 12,15,18,20,24,30,40,45,60,70 many limbs of dual-purpose pin switching mechanisms.

The radius of turn of switching mechanism eccentric shaft according to the design needs, is designed to the identical radius of turn of size, the radius of turn that size is inequality.

The radius of turn of switching mechanism eccentric shaft according to the design needs, from the eccentric shaft at horizontal power train two ends, increases radius of turn from inside to outside one by one, otherwise, in the eccentric shaft at horizontal power train two ends, outwards dwindle radius of turn one by one.

The switching mechanism of many limbs pin, the radius of turn of eccentric shaft is according to the design needs, from the eccentric shaft at horizontal power train two ends, and one group of increases from inside to outside, another group is dwindled, and radius of turn is dwindled in increase so repeatedly.Otherwise from the eccentric shaft at horizontal power train two ends, one group is dwindled from inside to outside, and another organizes increase, dwindles the increase radius of turn so repeatedly.Increase simultaneously from two ends, the horizontal power train left and right sides and to dwindle, left end increases, right-hand member dwindles, left end dwindles, right-hand member increases radius of turn.

The eccentric shaft setting angle is installed one, two, three, four, five, six, eight, nine, ten, 12,15,18,20,24,30,36,40,45,60,72 eccentric shafts by 180 °, 120 °, 9 °, 720 °, 60 °, 40 °, 45 °, 36 °, 30 °, 24 °, 20 °, 18 °, 15 °, 12 °, 10 °, 9 °, 8 °, 6 °, 5 ° on the heart different section of same garden in 360 ° of an end of horizontal power train garden weeks.

Lower limb two, four, six, eight, nine, ten, use switching mechanism: comprise fixture switching mechanism more, fixing flexible free degree adjusting device switching mechanism, fixedly movable telescopic free degree adjusting device switching mechanism, fixedly clutch brake switching mechanism, the fixedly fixing flexible free degree adjusting device switching mechanism of clutch and brake.The fixedly movable telescopic free degree adjusting device switching mechanism of clutch and brake.

Universal joint is installed on the front end, back-end location of clutch brake.

The lower limb free degree adjusting device of stretching: identical with the flexible free degree adjusting device of upper limbs.

Lower limb supporting arrangement: form by left and right sides bearing support, comprise fixed supporting frame and regulate bearing support two big classes, identical with upper limbs supporting arrangement structure, installation direction is opposite, vertically downward, after being tilted to, vertical-horizontal, after being tilted to, the supporting arrangement installation direction of switching mechanisms forward more than lower limb adopted two groups.

Lower limb guiding turning adjusting device: form by left-right adjusting mechanism, governor motion is by cylinder, fluid cylinder, the adjusting machine, adjusting rod, pull bar, the movable joint head, cover for seat, regulate fixed mount, tracheae, the liquid pipe is formed, left side guiding turning governor motion is installed in the biography of horizontal power train left end jackshaft and changes in the part, right guiding turning governor motion, be installed in the bridgeware of horizontal power train right-hand member jackshaft, comprise two kinds of fixed guide turning governor motion and clutch and brake guiding turning governor motions, adopt machinery manually with electronic, air pressure, four kinds of guiding of hydraulic pressure turning governor motion comprises one, two, three, four, six, many group cylinders, fluid cylinder, the adjusting rod structure.

The structure of lower limb conversion guiding turning installation system: lower limb switching mechanism is installed in the top position of lower limb fixture, supporting arrangement is installed in the guiding turning and regulates solid rear position, frame lower end, lower limb guiding turning governor motion is installed on the lower limb fixture, the other end of adjusting rod, air leg, pull bar with regulate fixed mount and link, the flexible free degree adjusting device of lower limb is installed in to regulate and is combined into lower limb conversion guiding turning installation system on the fixed mount.

Lower limb: comprise 9,7,6,5,4 parts quadrangles, the fixed of six kinds of structures of simple and easy two parts limb pin, concertina type two big classes.

9 parts quadrangle limb pin: comprise that fixed, power arm, walking arm, supporting arm, dynamically supported arm, power walking arm, dynamically supported arm mixing walking support arm mix flexible and flexible entirely nine kinds of structures.The attached 9 parts quadrangle lower limb structural representation Figure 15 that fix.

7 parts quadrangle limb pin: comprise fixed, power arm, walking arm, supporting arm concertina type, walking arm fixed, full concertina type moves away contraction power arm mixed type, has walked deflation resistance arm mixed type eight type structures.Attached fixed 7 parts quadrangle lower limb structural representation Figure 16.

6 parts quadrangle limb pin: comprise fixed, power arm, walking arm, flexible, the full concertina type of supporting arm, supporting arm fixed, walking support arm mixed type, power walking arm mixed type eight type structures.Attached fixed 6 parts quadrangle lower limb structural representation Figure 17.

5 parts quadrangle limb pin: comprise fixed, power arm, walking arm concertina type, walking arm fixed, full concertina type and three kinds of mixed types be totally eight type structures.Attached fixed 5 parts quadrangle lower limb structural representation Figure 18.

4 parts quadrangle limb pin: comprise five types of fixed, power arm, resistance arm concertina type, flexure type, full concertina types.Attached fixed 4 parts quadrangle lower limb structural representation Figure 19.

Simple and easy two parts limb pin: comprise fixed, flexure type, power arm, resistance arm concertina type, five types of full concertina types.The simple and easy two parts lower limb structural representation Figure 20 of attached fixed.

Lower limb: 9, the structure of 7,6,5,4 parts quadrangles, simple and easy two parts limb pin and binding mounting means: with the structure of 9,7,6,5,4 parts quadrangles, simple and easy two parts walking robot with limbs and feet, it is identical to link mounting means.

Neck: regulate installation system by fixed installation system, transmission system, the head free degree and form.

Fixed installation system: comprise the fixed mount installation system, movable solid two kinds of structures of frame installation system.

Neck: comprise fixed mount, movable solid frame regulate,, multiple structure is regulated in fixed conveyor, movable solid frame transmission.

Neck; The architectural feature that transmission installation system between waist promptly will be arranged has upper limbs to change the architectural feature of installation system again.

Head: by fixed installation system [27], illuminator [28], remote scanning system [29], electronic eyes is that camera is short range scanning system [30], the old controller of square [31], micro computer is microcomputer [32], radio transceiver system and beepbox [33], communication interface [34], information separated device [35], vibrating sensing dress device [36], smelly feel sensing dress device [37], TEMP dress device [38], range sensing dress device [39], luminosity sensor [40], other sensing dress devices [41], the head adjusting device is neck adjusting device [42], limbs adjusting device [43], upper limbs adjusting device [44], lower limb adjusting device [45], pronunciation public address set [46], voice adjusting device [47], other adjusting devices [48] are formed.

The fixture upper end that installation system is regulated in the lower end of neck fixed installation system and upper limbs conversion links, the upper end of neck fixed installation system and the fixed installation system lower end of head, the moving device of the transmission device lower end of neck transmission system and the cross of upper limbs switching mechanism links, the transmission device upper end of neck transmission system and linking of head with power apparatus, the adjusting support of the long-range prestige eye system of head links with the fixed installation system of head, long-range prestige eye system installation direction, multi-faceted forward installation.

Servicing unit: by cylinder, gas tank, tracheae, air pressure, adjusting controlling organization, oil cylinder, hydraulic mechanism, the liquid case, hydraulic tube, hydraulic pressure is regulated controlling organization; Send out charging system, electric power system, battery, circuit and on-off controller, rectifying installation, compositions such as starter motor electronic controller.

Divine Land copying robot architectural feature:

Divine Land copying robot head, neck, upper limbs, limbs, lower limb architectural feature structure become: upper limbs arm robot, head, upper limbs arm assembly robot; Head, neck, upper limbs arm assembly robot; Upper limbs arm, limbs, lower limb assembly robot; Head, neck, upper limbs arm, limbs, lower limb assembly robot claim the global function robot again.

Divine Land copying robot is pressed motion mode architectural feature structure and is become: the fixed-point motion robot, and fixing mobile robot, the step pitch walking robot is the field work robot.

Divine Land copying robot is pressed fixedly, and move mode architectural feature structure becomes: the straight line parallel mobile robot, the vertical mobile robot of straight line, angled straight lines mobile robot, inclination arc mobile robot, curve mobile robot, garden week mobile robot, garden arc mobile robot, two kinds are mixed the route robots, and three kinds are mixed the route robots, multiple mixing route robot.

Copying robot is pressed arm limb table structure feature structure: left upper extremity arm robot, right upper extremity arm robot, two upper limbs arm robot, many upper limbs arm robot.

Copying robot becomes by mode of operation architectural feature structure: manually-operated robot, semi-automatic operation robot, full automatic working robot.

Copying robot is pressed lower limb limb pin number architectural feature structure: two-leg, four-leg, six limb pin, eight limb pin, ten limb pin, many limbs even number limb pin robot.

Copying robot is pressed one group of switching mechanism limb of lower limb pin row table structure feature structure and is become: row's limb pin, and two row's limb pin, three row's limb pin are arranged limb pin robot more.

Copying robot is vertically arranged the table structure feature structure by the upper limbs arm: row's upper limbs arm robot, vertical two row's upper limbs arm robot.

Copying robot is pressed lower limb switching mechanism group and is counted parallel example architectural feature structure one-tenth: one group of switching mechanism robot of lower limb, and two groups of switching mechanism robots of lower limb, three groups of switching mechanism robots of lower limb, lower limb are organized the switching mechanism robot more.

Copying robot is pressed lower limb in 360 ° of garden weeks, and same garden heart different section setting angle architectural feature structure becomes: one, two, three, four, five, six, seven, eight, nine, ten, 12,15,18,20,24,30,36,40,45,60,70 dual-purpose limb pin robots.

Copying robot becomes by an eye control structure feature structure: simple eye, eyes, many remote control robots and simple eye, eyes, many closely control robot.

Copying robot becomes by the direction structure feature structure of eye: forward sight, backsight, a left side are looked, the right side is looked, on look robot.

Copying robot becomes by the direction position grouping architectural feature structure of eye: the forward sight backsight, and a forward sight left side is looked, and the forward sight right side is looked, and looks on the forward sight, and a left side is looked the right side and is looked, and looks on the forward sight backsight, and a forward sight left side is looked.The forward sight right side is looked, and a left side is looked the right side and looked, and the right side is looked, and the right side is looked, and looks on the backsight, and the right side is looked on the forward sight backsight right side, and to look robot be comprehensive eye robot.

Copying robot becomes by the installation site architectural feature structure of eye: head eye robot, head limbs eye robot, head lower limb eye robot, head upper limbs eye robot, a limbs upper limbs lower limb eye robot, limbs eye robot, limbs upper limbs eye robot, limbs lower limb eye robot, upper limbs eye robot, lower limb eye robot.

Copying robot is pressed the sensing arrangement feature structure: the vibrating sensing robot, vibrating sensing language robot, smelly feel sensing robot, smelly feel sensing language robot, TEMP robot, TEMP language robot, range sensing robot, range sensing language robot, other sensing robots, other sensing language robots.

Copying robot becomes by eye, head, sensing structural property of portfolio structure: eye, head, vibrating sensing robot, eye, head, vibrating sensing language robot; Eye, head, smelly feel sensing robot, eye, head, smelly feel sensing language robot; Eye, head, TEMP robot, eye, head, TEMP language robot; Eye, head, range sensing robot, eye, head, range sensing language robot; Eye, head, other sensing robots, eye, head, other sensing language robots.

Copying robot mixes to become in conjunction with feature structure by sensing; Vibration, smelly feel sensing robot, vibration, smelly feel sensing language robot; Vibration, TEMP robot, vibration temperature sensing language robot; Vibration range sensing robot, vibration range sensing language robot; Smelly feel TEMP robot, smelly feel TEMP language robot; Smelly feel range sensing robot, smelly feel range sensing language robot; Vibrate smelly feel TEMP robot, vibrate smelly feel TEMP language robot; Vibrate smelly feel temperature range sensing robot, vibrate the main range sensing of smelly feel temperature language robot; Temperature range sensing robot, temperature range sensing language robot; Vibrate smelly feel range sensing robot, vibrate smelly feel range sensing language robot; Vibration temperature range sensing robot, vibration temperature range sensing language robot; Other mix the sensing robot, and other mix sensing language robot.

Copying robot head micro-architecture feature structure becomes: single microcomputer computer-robot, two microcomputer computer-robots, multi-microcomputer computer-robot.

Copying robot becomes by the same number of architectural feature structure of upper limbs lower limb quadrangle: by upper limbs is the conversion quadrangle, the upper arm quadrangle, forearm quadrangle 9 parts and lower limb conversion quadrangle, the walking quadrangle, the fixed of three quadrilateral structures of supporting quadrangle 9 parts corresponding formation upper limbs lower limb, concertina type, fixing flexible mixed type, fixing flexible punishment, the multiple robot of Telescopic Fixed mixed type five classes.

By upper limbs is the upper arm quadrangle, forearm quadrangle 8 parts and lower limb walking quadrangle, the corresponding formation upper limbs of supporting quadrangle 7 parts lower limb all are fixed, the concertina type of two quadrilateral structures, fixing flexible mixed type, fixing concertina type, the multiple robot of Telescopic Fixed mixed type five classes.

By upper limbs is the conversion quadrangle, upper arm quadrangle 7 parts and lower limb conversion quadrangle, the fixed of five kinds of structures of walking quadrangle 6 parts two quadrangles of corresponding formation upper limbs lower limb, concertina type, fixing flexible mixed type, fixedly concertina type, the multiple robot of Telescopic Fixed mixed type five classes.

Being that upper arm quadrangle 6 parts and lower limb walking quadrangle 5 parts are corresponding by upper limbs constitutes fixed, the concertina type that the upper limbs lower limb all are quadrilateral structures, fixing flexible mixed type, fixing concertina type, the multiple robot of Telescopic Fixed mixed type five classes.

Being that conversion quadrangle 5 parts and lower limb conversion quadrangle 4 parts are corresponding by upper limbs constitutes fixed, the concertina type that the upper limbs lower limb all are quadrilateral structures, the fixing mixed type of stretching, fixing concertina type, the multiple robot of Telescopic Fixed mixed type five classes.

Constitute the fixed that the upper limbs lower limb all are easy structure by simple and easy 4 parts upper limbs and simple and easy two parts lower limb are corresponding, concertina type, fixing flexible mixed type, fixing concertina type, the multiple robot of Telescopic Fixed mixed type five classes.

Copying robot is pressed lower limb 9 parts quadrangles and is become with the architectural feature structure of upper limbs 8,7,6,5,4 parts: upper limbs 8 parts, lower limb 9 parts, upper limbs 7 parts, lower limb 9 parts, upper limbs 6 parts, lower limb 9 parts, fixed, the concertina type of upper limbs 5 parts, lower limb 9 parts, upper limbs 4 parts, lower limb 9 modular constructions, the fixing flexible Telescopic Fixed type of mixed type, the multiple robot of Telescopic Fixed mixed type five classes.

Copying robot is pressed lower limb 7 parts quadrangles and is become with the architectural feature structure of upper limbs 9,8,6,5,4 parts: upper limbs 9 parts lower limb 7 parts, upper limbs 7 parts, lower limb 7 parts, upper limbs 6 parts, lower limb 7 parts, upper limbs 5 parts, lower limb 7 parts, the fixed of upper limbs 4 parts, five kinds of structures of lower limb 7 parts, concertina type, fixing flexible mixed type, fixing concertina type, the multiple robot of Telescopic Fixed mixed type five classes.

Copying robot is pressed county's 6 parts quadrilateral structures and become with the architectural feature structure of upper limbs 9,8,6,5,4 parts: upper limbs is fixed, the concertina type of five kinds of structures of 9,8,6,5,4 parts lower limb, 6 parts, fixing flexible mixed type, fixing concertina type, the multiple robot of Telescopic Fixed mixed type five classes.

Copying robot becomes by the architectural feature structure of lower limb 5 parts quadrilateral structures with upper limbs 9,8,7,5,4 parts: upper limbs is fixed, the concertina type of five kinds of structures of 9,8,7,5,4 parts, fixing flexible mixed type, fixing concertina type, the multiple robot of Telescopic Fixed mixed type five classes.

Copying robot becomes by the architectural feature structure of simple and easy two modular constructions of lower limb with upper limbs 9,8,7,6,5 parts: upper limbs is fixed, the concertina type of five kinds of structures of 9,8,7,6,5 parts, fixing flexible mixed type, fixing concertina type, the multiple robot of Telescopic Fixed mixed type five classes.

Copying robot is pressed R-T unit architectural feature structure and become: transceiving and beepbox robot, wired controller for electric consumption robot does not have the robot of radio, wired electric installation.

The good effect of copying robot: copying robot, be by lived natural person with active material, creating the fixed substance that comes out forms, it is in order to help the people that robot is made in research, a part of and the most labor operation for the oblige by doing, Divine Land copying robot is a series of products, be to utilize fixing manmade materials, copy the organization of human body manufacturing, Protean structure is arranged, Protean function is arranged, the people just can be according to self needs, make easy complexity, the various structures of high intelligence, various functions, panoramic robot is engaged in wild environment, adverse circumstances, high-leveled and difficult industry, waterborne, under water, traditional font power and heavy physical labour.The people is that the natural activity material is formed, and has only a kind of fixing complete frame mode and pattern, is only real natural person, and is just valuable, just clever flexibly, but can not be long, adverse circumstances and high-leveled and difficult industry, traditional font power and the heavy physical labour be engaged in of a specified duration excessively.

Description of drawings:

Fig. 1, be fixed 9 parts quadrangle upper limbs arms.

Fig. 2, be fixed 7 parts quadrangle upper limbs arms.

Fig. 3, be fixed 6 parts quadrangle upper limbs arms.

Fig. 4, be fixed 5 parts quadrangle upper limbs arms.

Fig. 5, be fixed 4 parts quadrangle upper limbs arms.

Fig. 6, be the simple and easy 3 parts upper limbs arms of fixed.

Fig. 7, be that the eccentric body planform is made schematic diagram.

Fig. 8, be fixed conversion mechanism structure schematic diagram.

Fig. 9, be fixedly clutch brake switching mechanism.

Figure 10, be fixing multi-faceted free degree adjusting device switching mechanism schematic diagram.

Figure 11, be the multi-faceted free degree adjusting device of clutch and brake switching mechanism schematic diagram.

Figure 12, be the multi-faceted free degree adjusting device of clutch and brake structural representation.

Figure 13, be that the fixing multi-faceted free degree is regulated the switching mechanism schematic diagram.

Figure 14, be the fixedly transmission installation system structural representation between waist of limbs.

Figure 15, be fixed 9 parts quadrangle lower limb structural representations.

Figure 16, be fixed 7 parts quadrangle lower limb structural representations.

Figure 17, be fixed 6 parts quadrangle lower limb structural representations.

Figure 18, be fixed 5 parts quadrangle lower limb structural representations.

Figure 19, be fixed 4 parts quadrangle lower limb structural representations.

Figure 20, the simple and easy 2 parts lower limb structural representations of fixed.

Figure 21, be the head be the computer system structure schematic diagram.

Figure 22, be the whole appearance structural representation of Divine Land copying robot.

Figure 23, be half garden eccentric shaft part structural representation.

Figure 24, be garden week eccentric shaft part structural representation.

Figure 25, be half garden central shaft spare structural representation.

Figure 26, be dual-purpose bridgeware structural representation.

Figure 27, be dual-purpose bridgeware overall structure schematic diagram.

Figure 28, be four-function bridgeware structural representation.

Figure 29, be four-function bridgeware overall structure schematic diagram.

Figure 30, be five to use the bridgeware structural representation.

Figure 31, be five usefulness bridgeware overall structure schematic diagrames.

Figure 32, be dual-purpose four-leg switching mechanism structural representation.

Figure 33, be four-function eight limb pin switching mechanism structural representations.

Claims (1)

1, copying robot: by upper limbs, lower limb, limbs device, servicing unit, chain drive, neck device, head are that computer system is formed; The upper limbs left arm links to be installed, on the supporting arrangement in left side, limbs device upper end, installation direction forward, motion feature be forward left the garden arc play stretching, extension, two cyclic processes of crooked to the right contraction backward, down tilt to beat stretching, extension from right to left, the garden arc that up tilts from left to right is crooked to be shunk, the upper limbs right arm links to be installed, on the supporting arrangement on right side, limbs device upper end, installation direction forward, motion feature is to play stretching,s extension, bending left backward forward to the right, the garden arc that down tilts is from left to right played stretching, extension, and the garden arc that up tilts from right to left is crooked to be shunk; Shrink two cyclic processes, other motion feature one bent other motion governor motions of upper limbs both arms are regulated and are done peculair motion; Lower limb left side limb links to be installed, on the supporting arrangement in left side, limbs device lower end, installation direction forward, direction of travel stretches, shrinks two cyclic processes forward, the right limb of lower limb links to be installed, on the supporting arrangement on right side, limbs device lower end, installation direction forward, the walking feature stretches, shrinks two cyclic processes to front curve; The dynamical system of chain drive, speed change system, be installed on the middle anterior position of limbs device lower end, the transmission system of chain drive, the upper end that is installed in limbs device rear be to lower end position, the upper end of power train and neck device, upper limbs links, the place ahead lower end position and lower limb that the lower end of power train is diverted to the limbs device link, and the neck device links the centre position on the upper limbs installation system that is installed in limbs device upper end, link in the upper end of neck device head and computer system are installed;

Upper limbs is divided into left limb, right limb, and left limb can only be installed in limbs device upper end, on the supporting arrangement in upper limbs installation system left side, crooked to the right elastic, on the contrary right limb can only be installed limbs device upper end, the supporting arrangement on upper limbs installation system right side, crooked left elastic;

Upper limbs is divided into 9,8,7,6,5 parts quadrangles, simple and easy six kinds of structures of 3 parts upper limbs arms and 9,7,6,5,4 parts quadrangles, the fixed and the concertina type lower limb of six kinds of structures of simple and easy two parts limb pin, agent structure is similar identical with partial structurtes, and the direction of motion is opposite;

9 parts quadrangle upper limbs arms

9 parts fixed upper limbs arms: by promoting [1], promote connecting rod [2], transmission rod [3], last armed lever [4], lower arm rod [5], preceding armed lever [6], postbrachium [7], wrist bar [8], hand [9] 9 parts and overcoat are formed, the conversion quadrangle, upper arm quadrangle, the upper limbs arm of three quadrilateral structures of forearm quadrangle; By the power arm of catch bar [1], promote connecting rod [2], it is the shoulder quadrangle that the power arm structure of the power arm of transmission rod [3], last armed lever [4] becomes the conversion quadrangle; Do arm by the resistance arm of transmission rod [3], the resistance of last armed lever [4], the power arm structure of the power arm of preceding armed lever [6], lower arm rod [5] becomes the upper arm quadrangle; By the resistance arm of preceding armed lever [6], the resistance arm of lower arm rod [5], the power arm of back armed lever [7], wrist bar [8] structure become the forearm quadrangle; Fulcrum by transmission rod [3] becomes the work fulcrum [10] of upper limbs arm to be installed on the fulcrum shaft of upper limbs conversion installation system with the fulcrum structure of last armed lever [4]; By the fulcrum of preceding armed lever [6] and the fulcrum of lower arm rod [5], to install on the same fulcrum shaft, structure becomes operation fulcrum [11];

9 parts concertina type upper limbs arms: the power arm, the resistance arm that comprise positive concertina type, single part, plain connecting rod concertina type and fixed, the multiple structures such as power arm, resistance arm, connecting rod concertina type and fixed mixed structure of two parts to power arm, resistance arm, connecting rod and two parts of multi-part to multi-part;

The upper arm quadrangle of 9 parts quadrangle upper limbs arms, the torsional mode of forearm quadrangle torsion angle: be divided into two kinds of torsion structure modes: a kind of fixed angle reverses installation and vertically is as the criterion with the upper arm quadrangle that the upper limbs arm is installed, vertical quadrangle is reversed into plane and inclined-plane quadrangle, torsion angle is 1 °, 2 °, 3 °, 4 °, 5 °, 6 °, 7 °, 8 °, 9 °, 10 °, 11 °, 12 °, 13 °, 14 °, 15 °, 16 °, 17 °, 18 ° are incremented to 90 ° of arbitrary angles, adopt an angle, two angles and a plurality of angular adjustment, again the forearm quadrangle is pressed 1 °, 2 °, 3 ° are incremented to 90 ° and are reversed into the inclined-plane, vertical quadrangle, torsional direction is anti-positive torsion, anti-positive torsion, determine left limb, right limb can reverse the upper arm quadrangle separately, also can reverse forearm four separately and connect shape; Two kinds of activity torsional angles are regulated, and adopt governor motion, and governor motion adopts hydraulic pressure, air pressure, the manual three kinds of regulative modes of machinery, and 1 °-90 ° of adjusting angle scopes are installed by three kinds of frame modes of 9 parts quadrangle upper limbs arm fixeds;

9 parts quadrangle upper limbs arm structure mode of connection, method and 9 parts quadrangle limb pin, the structure mode of connection, that method is similar is identical with partial structurtes;

8 parts quadrangle upper limbs arms

8 parts quadrangle fixed upper limbs arms: by promoting connecting rod [2], transmission rod [3], last armed lever [4], lower arm rod [5], preceding armed lever [6], back armed lever [7], wrist bar [8], hand [9] 8 parts and overcoat are formed, upper arm quadrangle, the upper limbs arm of two quadrilateral structures of forearm quadrangle; By transmission rod [3] resistance arm, last armed lever [4] resistance arm, lower arm rod [5] power arm, preceding armed lever [6] power arm structure becomes the upper arm quadrangle; Resistance arm by front end bar [6], the resistance arm of underarm [5], the power arm of back armed lever [7], wrist bar [8] structure becomes the forearm quadrangle, by the fulcrum of transmission rod [3] and the fulcrum of last armed lever [4], structure becomes the work fulcrum [10] of 8 parts upper limbs arms to be installed on the fulcrum shaft of upper limbs conversion installation system; Be installed on the same fulcrum shaft by the fulcrum of preceding armed lever [6] and the fulcrum of lower arm rod [5], structure becomes the operation fulcrum [11] of 8 parts upper limbs arms;

8 parts quadrangle concertina type upper limbs arms: comprise full concertina type, single Telescopic Fixed type, single fixedly concertina type, two parts are to the Telescopic Fixed mixed type of multi-part, the fixing flexible multiple structure of mixed type;

The upper arm quadrangle of 8 parts quadrangle upper limbs arms, the torsional mode of forearm quadrangle torsion angle: it is identical with mode with 9 parts quadrangle upper limbs arm windup-degrees to be divided into two kinds of frame modes;

8 parts quadrangle upper limbs arm structure mode of connection, method and 7 parts quadrangle lower limb limb leg structure mode of connection, method is similar and partial structurtes are identical;

7 parts quadrangle upper limbs arms

7 parts quadrangle upper limbs arms: by catch bar [1], promote connecting rod [2], transmission rod [3], last armed lever [4], lower arm link [12], preceding armed lever [6], hand [9] are formed 7 parts and overcoat conversion quadrangle, the upper limbs arm of two quadrilateral structures of upper arm quadrangle; By the resistance arm of catch bar [1], the power arm of transmission rod [3] promotes connecting rod [2], and the power arm structure of last armed lever [4] becomes the power transmission quadrangle; By the resistance arm of last armed lever [4], the resistance arm of transmission rod [3], lower arm link [12], the power arm structure of preceding armed lever [6] becomes the upper arm quadrangle; Fulcrum by transmission rod [3] becomes 7 parts four to connect the work fulcrum [10] of shape upper limbs arm with the fulcrum structure of last armed lever [4], be installed on the fulcrum shaft of upper limbs conversion installation system; The fulcrum of preceding armed lever [6] becomes operation fulcrum [11] with lower arm link [12] structure;

7 parts quadrangle concertina type upper limbs arms: comprise that the single Telescopic Fixed type of full concertina type, single fixedly concertina type and two parts are to the Telescopic Fixed mixed type of multi-part, the fixing flexible multiple structure of mixed type;

The torsional mode of the upper arm quadrangle torsion angle of 7 parts quadrangle upper limbs arms: be divided into dual mode, identical with the upper arm quadrangle windup-degree and the mode of 9 parts quadrangle upper limbs arms, forearm torsion of bar angle is reversed installation as required;

The structure of 7 parts quadrangle upper limbs arm structure mode of connection, method and 6 parts quadrangle lower limb limb pin, mode of connection, that method is similar is identical with partial structurtes;

6 parts quadrangle upper limbs arms: by promoting connecting rod [2], transmission rod [3], last armed lever [4], lower arm link [12], preceding armed lever [6], the upper limbs arm of hand [9] 6 parts and a upper arm quadrilateral structure of overcoat composition; By promotion connecting rod [2], transmission rod [3], last armed lever [4], lower arm link [12], the power arm structure of preceding armed lever [6] becomes the upper arm quadrangle; By the fulcrum of transmission rod [3] and the fulcrum of last armed lever [4], structure becomes the work fulcrum [10] of 6 parts upper limbs arms, the work fulcrum is installed on the fulcrum shaft of upper limbs conversion installation system, and the fulcrum of preceding armed lever [6] becomes operation fulcrum [11] with an end structure of lower arm link [12];

6 parts quadrangle concertina type upper limbs arms: comprise full concertina type, single Telescopic Fixed type, single fixedly concertina type and two parts are to the Telescopic Fixed mixed type of multi-part, the fixing flexible multiple structure of mixed type;

The torsional mode of 6 parts quadrangle upper limbs arm torsion angles: be divided into dual mode, identical with the upper arm quadrangle windup-degree and the mode of 9 parts quadrangle upper limbs arms, forearm torsion of bar angle is carried out torsion angle as required and is installed;

The structure of 6 parts quadrangle upper limbs arm structure mode of connection and method and 5 parts quadrangle limb pin, mode of connection, that method is similar is identical with partial structurtes;

5 parts quadrangle upper limbs arms: by catch bar [1], last armed lever [4], force transmitting link [13], [13, hand [9] 5 parts and overcoat are formed power transmission quadrangle 5 parts upper limbs arms to promote connecting rod; By the resistance arm of catch bar [1], the power arm of last armed lever [4] promotes connecting rod [2], and force transmitting link [3] structure becomes the power transmission quadrangle; By the fulcrum of last armed lever [4], force transmitting link [13] structure becomes the work fulcrum of 5 parts upper limbs arms, is installed on the fulcrum shaft of upper limbs conversion installation system;

5 parts quadrangle concertina type upper limbs arms: comprise full concertina type, single Telescopic Fixed type, single fixedly concertina type and two parts are to the Telescopic Fixed mixed type of multi-part, the fixing flexible multiple structure of mixed type;

The torsional mode of last armed lever [4] torsion angle of 5 parts quadrangle upper limbs arms: be divided into dual mode, identical with the upper arm quadrangle windup-degree and the mode of 9 parts quadrangle upper limbs arms;

5 parts quadrangle upper limbs arm structure mode of connection are with method is similar with structure, the mode of connection of 4 parts quadrangle limb pin and partial structurtes are identical;

Simple and easy 3 parts fixed upper limbs arms: by promotion connecting rod [2], last armed lever [4], hand [9] and overcoat are formed, and the fulcrum of last armed lever [4] is a work fulcrum [10], is installed on the fulcrum shaft of upper limbs conversion installation system;

Simple and easy 3 parts concertina type upper limbs arms: comprise full concertina type, single Telescopic Fixed type, single fixedly concertina type and Telescopic Fixed mixed structure have 7 types;

The torsional mode of last armed lever [4] torsion angle of simple and easy 3 parts upper limbs arms: it is identical with mode with the tetragonal windup-degree of upper arm of 9 parts quadrangle upper limbs arms to be divided into dual mode;

Simple and easy 3 parts upper limbs arm structures: promote an end of connecting rod [2] and the eccentric shaft of bridgeware and link, promoting the other end of connecting rod [2] and the power arm of last armed lever [4] links, the resistance arm of last armed lever [4] and hand [9] link, the fulcrum of last armed lever [4], install on the fulcrum shaft of upper limbs conversion installation system, structure becomes simple and easy 3 parts upper limbs arms;

9, the promotion [1] that links of 8,7,6,5 parts quadrangles and simple and easy three parts upper limbs arms and switching mechanism converting member eccentric shaft promotes connecting rod [2], and installation direction is for forward;

9, the conversion quadrangle of 8,7,6,5 parts quadrangles and simple and easy three parts upper limbs arms, transmission rod, the power arm etc. of going up armed lever play the parts of power transmission and transformation, and windup-degree and torsional mode are set as required;

9,8,7,6,5 parts quadrangles and simple and easy three parts upper limbs arms: upper arm, forearm quadrangle, preceding armed lever, last armed lever 3 is provided with and the horizontal torsion angle as required, and vertical the installation only is provided with the hand torsion angle;

Hand: by the five fingers, palm, finger palm adjusting device, the finger palm touches rub firmly sensor and other device compositions;

The five fingers: denominator refers to, five kinds on forefinger, middle finger, the third finger, little finger of toe, and mother refers to be made of two joints, is divided into a joint and two kinds of structures of two joints, and forefinger, middle finger, the third finger, little finger of toe are made of three joints, divide a joint, two joints and three to save three kinds of structures;

Palm: form by five at the five fingers palm joint;

Hand: the heart must be installed finger, palm and finger palm adjusting device; Be divided into singly refer to, two refer to, three refer to, four refer to, five kinds of structures of the five fingers, the finger palm touches rub firmly sensor and other devices, and installation is set as required;

Hand structure: the joint and two joints that mother refers to, two joints link with palm, a joint of forefinger, middle finger, the third finger, little finger of toe and two joints, two joints link with palm with three joints, three joints, and palm and wrist bar link;

Palm: according to singly refer to, two refer to, three refer to, four refer to, the needs of the five fingers, be provided with singly refer to, two refer to, three refer to, four refer to, the five fingers palm;

Limbs device: regulate installation system by the upper limbs conversion, transmission installation system between waist, lower limb conversion guiding turning installation system is formed, the perpendicular power train upper end of transmission installation system links between the horizontal power train of upper limbs conversion adjusting installation system and waist, the fixture upper end of transmission installation system links between the fixture lower end of upper limbs conversion adjusting installation system and waist, the horizontal power train of the lower end of the perpendicular power train of transmission installation system and lower limb conversion guiding turning installation system links between waist, the fixture lower end of the fixture lower end of transmission installation system and lower limb conversion guiding turning installation system links between waist, and structure becomes the limbs device;

Installation system is regulated in upper limbs conversion: by upper limbs switching mechanism, and the multi-faceted free degree adjusting device of upper limbs, the upper limbs free degree adjusting device of stretch, upper limb fixing device, upper limbs supporting arrangement, upper limbs guiding free degree adjusting device composition;

Upper limbs switching mechanism: by horizontal power train, clutch brake, universal joint, jackshaft, eccentric body, eccentric shaft and cover are formed, and comprise single armed, both arms and the multiple structure of multi-arm switching mechanism;

The eccentric body planform is a garden shape, and strip on garden shape, strip eccentric body centre position, is made microscler adjustment hole [13] and porous and regulated eye [14];

Upper limbs single armed, both arms switching mechanism: comprise fixture switching mechanism, fixing flexible free degree adjusting device switching mechanism, fixedly movable telescopic free degree adjusting device switching mechanism; Fixedly clutch brake switching mechanism, the fixedly fixing flexible switching mechanism of free degree adjusting device, the fixedly fixedly movable telescopic free degree adjusting device switching mechanism of clutch and brake of clutch and brake; Fixing multi-faceted free degree adjusting device switching mechanism, the fixing flexible free degree adjusting device switching mechanism of fixing a plurality of orientation free degree, the fixedly freedom of movement adjusting device switching mechanism of the fixing multi-faceted free degree; The switching mechanism of the multi-faceted free degree adjusting device of clutch and brake, the fixing flexible free degree adjusting device switching mechanism of the multi-faceted free degree of clutch and brake, the fixedly movable telescopic free degree adjusting device switching mechanism of the multi-faceted free degree of clutch and brake;

Upper limbs multi-arm switching mechanism: fixedly multi-arm switching mechanism, fixedly clutch and brake multi-arm switching mechanism, the switching mechanism of the multi-faceted free degree adjusting device of clutch and brake;

The multi-faceted free degree adjusting device of upper limbs: form by the multi-faceted free degree governor motion in the left and right sides, multi-faceted free degree governor motion, by cylinder, fluid cylinder, adjusting rod, adjusting machine, pull bar, movable joint head, cover for seat, adjusting fixed mount, tracheae, liquid pipe are formed, the multi-faceted free degree governor motion in a left side is installed in the bridgeware of horizontal power train left end jackshaft, right multi-faceted free degree governor motion is installed in the bridgeware of horizontal power train right-hand member jackshaft; Comprise two kinds of fixing multi-faceted free degree adjusting device Figure 13 and the multi-faceted free degree adjusting device of clutch and brake Figure 12; Adopt the manual and electronic multi-faceted free degree adjusting device of machinery, four types of the multi-faceted free degree adjusting device of air pressure, the multi-faceted free degree adjusting devices of hydraulic pressure, comprise one group of cylinder, fluid cylinder, adjusting rod structure, two groups of cylinders, fluid cylinder, adjusting rod structure, three groups of cylinders, fluid cylinder, adjusting rod structure, four groups of cylinders, fluid cylinder, adjusting rod structure, six groups of cylinders, fluid cylinder, adjusting rod structure are organized cylinder, fluid cylinder, adjusting rod structure more;

The upper limbs free degree adjusting device of stretching: by about flexible free degree governor motion forms, flexible free degree governor motion by cylinder, fluid cylinder, adjusting rod, is regulated the seat in the plane bar, the movable joint head, cover for seat, tracheae, liquid pipe are regulated the locking device composition; The flexible free degree governor motion in a left side is installed on the adjusting fixed mount of the multi-faceted free degree adjusting device of left end upper limbs, and right flexible free degree governor motion is installed on the adjusting fixed mount of the multi-faceted free degree adjusting device of right-hand member upper limbs;

Upper limbs supporting arrangement: form by left and right sides bearing support, left side bearing support is installed on the fixed mount of the multi-faceted free degree adjusting device of left end upper limbs, right bearing support is installed on the fixed mount of the multi-faceted free degree adjusting device of right-hand member upper limbs, comprises fixedly bearing apparatus, regulates supporting arrangement two big class formations;

The fixed bearing device: form by left and right sides fixed support, be installed on the solid frame of the multi-faceted free degree adjusting device of upper limbs, the installation that turns forward, vertical-horizontal is installed;

Regulate supporting arrangement: by about transfer support to form, regulate support: by cylinder, fluid cylinder, adjusting rod, the adjusting machine, pull bar, the movable joint head, cover for seat, tracheae, the liquid pipe, the adjusting locking device is formed, regulate support by vertical adjusting part and tilt telescopic partly or horizontal telescopic section constitute, the end that can put into extensible member and be the cylinder fluid cylinder is stiff end, the other end of extensible member is regulated the stiff end of support vertical component and the adjusting fixed mount of the multi-faceted multiple degrees of freedom adjusting device of upper limbs and is linked movable end, and the stiff end of the movable end of vertical component and tilt telescopic part or horizontal telescopic section links, the movable end and the fulcrum shaft of tilt telescopic part or horizontal telescopic section link, and structure becomes to regulate supporting arrangement;

Upper limbs guiding free degree adjusting device: by about guiding free degree governor motion form; Governor motion, form by cylinder, fluid cylinder, adjusting machine, adjusting rod, pull bar, movable joint head, cover for seat, steam pipe, liquid pipe, left side guiding free degree governor motion is installed in left end, right guiding free degree governor motion is installed left end, one end of guiding free degree governor motion is installed between waist on the adjuster device, and the other end of guiding free degree governor motion is installed on the upper limb fixing device;

Transmission installation system between waist: comprise fixedly transmission installation system between waist, movable fixedly transmission free degree adjusting installation system between transmission installation system and waist between waist;

Fixing transmission installation system between waist: by perpendicular power train [14], fixed mount [15] is formed, perpendicular power train is installed in the rear position of fixed mount, the transmission device upper end of perpendicular power train links with the transmission device of the horizontal power train of upper limbs, the transmission device lower end of perpendicular power train and the transmission device of the horizontal power train of lower limb link, the upper end of fixed mount and the lower end of upper limb fixing device link, and the upper end of the lower end of fixed mount and lower limb fixture links;

Movable fixedly transmission installation system between waist: by perpendicular power train, fixed mount, movable locking device is formed; Comprise the movable locking in upper end, the movable locking in lower end and three kinds of structures of lower end, upper end movable locking installation system;

The movable locking in upper end installation system: in the fixing upper end of transmission installation system between waist of activity, an end of the movable locking device of installation activity locking device and the binding of fixed mount upper end, the other end of movable locking device and the binding of upper limb fixing device lower end;

The movable locking in lower end installation system: in the fixing lower end of transmission installation system between waist of activity, installation activity locking device, an end of movable locking device and the binding of the upper end of lower limb fixture, the other end of movable locking device and the binding of fixed mount lower end;

The movable locking in lower end, upper end installation system: activity fixedly between waist the lower end, upper end of transmission installation system the movable locking device in lower end, upper end is installed simultaneously, link according to the binding installation method of upper end, the movable locking in lower end installation system upper end, lower end activity locking device be installed;

The transmission free degree is regulated installation system between waist: by hard power train, and the secured adjusted frame, governor motion is formed;

Hard power train: comprise that hard transmission device is that power transmission shaft transmission and soft transmission are other transmission devices;

Hard transmission device is divided into one-level, secondary, three grades and multi-range transmission, a gear stage: by two sections power transmission shafts, a middle universal joint is that the cross axle bearing sleeve is formed; Two gear stages: by three sections power transmission shafts, middle two universal joints are formed; Three gear stages: by four sections power transmission shafts, middle three universal joints are formed; Many group transmission devices: by the multistage power transmission shaft, middle a plurality of universal joints are formed;

The secured adjusted frame: be interior empty shape, be shaped as square, garden shape, ellipse garden shape and other shapes; The hard straight-through opening of the place ahead making, the left and right sides makes regulates mouth between waist, regulate open area and be shaped as isosceles triangle; The place ahead is the base of isosceles triangle, mouth is regulated in the left and right sides, be divided into one-level, secondary, three grades, multistage adjusting mouth, one-level is regulated mouth, the secured adjusted frame is a two-stage structure, make an isosceles triangle in secured adjusted frame centre position and regulate mouth, the rear end of secured adjusted frame is movable fixedly connected, two-level controller secured adjusted frame is the three-stage structure structure, with secured adjusted frame trisection, makes two isosceles triangles and regulate mouth between trisection, regulate mouth for three grades, the secured adjusted frame is four segment structures, with secured adjusted frame mouth five equilibrium, makes three isosceles triangles and regulate mouth between five equilibrium, multistage adjusting mouth, the secured adjusted frame is a multi-segment structure, with the many five equilibriums of secured adjusted frame, makes a plurality of isosceles triangles and regulate mouth between many five equilibriums; Mouth is regulated in the left and right sides, and it is few more to regulate progression, and it is big more to regulate opening angle, and it is many more to regulate progression, and adjusting angle is more little;

Left-right adjusting mechanism: form by cylinder, fluid cylinder, adjusting machine, adjusting rod, position bar, movable joint head, cover for seat, movable locking device, steam pipe, liquid pipe, spring and block set etc.;

The transmission free degree is regulated the structure of installation system between waist: perpendicular power train is installed in the rear position in the secured adjusted frame, vertically install, perpendicular power train as required, install one group, two groups, three groups and the perpendicular power train of many groups, the upper end transmission device of perpendicular power train and the power device of the horizontal power train of upper limbs link, the lower end transmission device of perpendicular power train and the power set of the horizontal power train of lower limb link, a kind of is the upper end and the upper limb fixing device binding of secured adjusted frame, the lower end of secured adjusted frame and lower limb fixture link, another kind is that an end of the movable locking device in upper end and upper end of secured adjusted frame links, the other end and the upper limb fixing device of the movable locking device in upper end link, one end of the movable locking in the lower end of secured adjusted device and lower end installation system links, and the other end of the movable locking device in lower end system and the upper end of lower limb fixture link; Governor motion is installed in the preceding left and right sides of secured adjusted device between waist, and on the vertically logical opening in the place ahead, the upper end of regulating between one end of governor motion and waist between waist mouthful links, between waist the other end of governor motion with want between the lower end binding regulated mouthful; Be divided into that one-level is regulated, secondary is regulated, three grades of adjusting, multistage adjusting, one-level is regulated governor motion between one group of waist of installation, governor motion between the secondary waist is organized governor motion between waist more, the installation site is on the left and right sides, secured adjusted device the place ahead and anterior position;

Lower limb conversion guiding turning installation system: by lower limb switching mechanism, the lower limb free degree adjusting device of stretch, lower limb fixture, lower limb supporting arrangement, lower limb guiding turning adjusting device composition;

Lower limb switching mechanism: horizontal power train, clutch brake, universal joint rotates semiaxis, and bridgeware is an eccentric body, and eccentric shaft and cover are formed, and are divided into dual-purpose, four-function, six usefulness, eight usefulness, ten usefulness, use switching mechanism more;

Bridgeware: by half garden eccentric shaft part, all eccentric shaft parts in garden, half garden central shaft spare is formed;

The eccentric body planform is a garden shape, ellipse garden shape, strip; Garden shape, ellipse garden shape, on the straight line in strip eccentric body centre position, make the eccentric body that microscler adjustment hole and porous are regulated eye, be applied to left and right sides lower limb and have only an eccentric shaft to do on the walking robot of motive force;

Half garden eccentric shaft part: by radius eccentric body [55], garden heart connect apertures [49], eccentric shaft [50] is formed; Radius eccentric body [55] is made into strip, garden shape; At strip, garden shape radius eccentric body [55] straight line center, diameter garden make garden heart connect apertures [49] in the heart; Link an end of eccentric shaft [50] in the garden of the limit of strip end, garden shape on week, constitute half garden eccentric shaft part, the end that eccentric shaft [50] does not link is a head end, and the end that half garden eccentric body [55] is gone up making garden heart connect apertures [49] is a tail end; Attached structural representation Fig. 1;

The all eccentric shaft parts in garden: by diameter eccentric body [55], the all connect apertures [51] in garden, eccentric shaft [50] is formed, diameter eccentric body [55] is made into strip, garden shape, and on strip, garden shape diameter eccentric body [55] central line, an end is made periphery knot hole [51], garden on the diameter, the other end links an end of eccentric shaft [50], the all eccentric shaft parts in formation garden, the end that eccentric shaft [50] does not link is a head end, an end of going up making garden week connect apertures [51] at diameter eccentric body [55] is a tail end;

Half garden central shaft spare: by radius eccentric body [55], half garden connect apertures [52], central shaft [53] is formed, radius eccentric body [55] is made into strip, garden shape, at strip, garden shape radius eccentric body [55] straight line center, the diameter garden in the heart, an end that links central shaft [53], at straight line center edge end, go up in garden week and make half garden connect apertures [52], structure becomes half garden central shaft spare, the end that central shaft [53] does not link, be head end, going up an end of making half garden connect apertures [52] at radius eccentric body [55] is tail end;

Bridgeware

The dual-purpose bridgeware: promptly two eccentric shafts [50] are installed on two garden round angles the switching mechanism that constitutes two courses of work with horizontal power train [57] and are called the dual-purpose bridgeware; By half garden eccentric shaft part, all eccentric shaft parts in garden, half garden central shaft spare, eccentric shaft plane bearing [54] is formed; Eccentric shaft [50] is contained in the plane bearing [54], according to half garden eccentric shaft part, the all eccentric shaft parts in garden, the sequencing of half garden central shaft spare, eccentric shaft [50] head with half garden eccentric shaft part links with all connect apertures [51] tails in the garden of all eccentric shaft part one ends in garden successively, other end eccentric shaft [50] head links with half garden connect apertures [52] tail of half garden central shaft spare, eccentric shaft [50] is forward parallel successively to be attached at same garden on week, garden week setting angle is 180 ° between two eccentric shafts [50], two eccentric shafts [50] are installed in 0 °, on 180 ° of all angles in these gardens, constitute the dual-purpose bridgeware, one end of garden heart connect apertures [49] is a tail end, and an end of central shaft [53] is a head end;

With half garden eccentric shaft part, the all eccentric shaft parts in garden, half garden central shaft spare is integrated, and is made into a single piece, by garden heart connect apertures [49], eccentric body [55], eccentric shaft [50], central shaft [53] is formed, and is configured to the dual-purpose bridgeware, one end of garden heart connect apertures [49] is a tail end, and an end of central shaft [53] is a head end;

Three use bridgeware: be made up of half garden eccentric shaft part, two of all eccentric shaft parts in garden, half garden central shaft spare, three of plane bearings; Eccentric shaft is contained in the plane bearing, according to half garden eccentric shaft part, all eccentric shaft parts in garden, the sequencing of half garden central shaft spare, garden week connect apertures tail with eccentric spindle nose in half garden and all eccentric shaft part one ends in garden links successively, and half garden connect apertures of other end eccentric shaft and half garden central shaft links; Three eccentric shafts are forward parallel successively to be attached at same garden on week, garden week setting angle is 120 ° between three eccentric shafts, three eccentric shafts are installed on all angles in 0 °, 120 °, 240 ° these gardens, structure becomes three to use bridgeware, one end of garden heart connect apertures is a tail end, and an end of central shaft is a head end;

With half garden eccentric shaft part, three of all off-axis spares in garden, half garden central shaft spare is integrated, and is made into single piece by the garden axle, eccentric body, eccentric shaft, central shaft is formed, and structure becomes the triangle bridgeware, and an end of garden heart connect apertures is a tail end, and an end of central shaft is a tail end;

The four-function bridgeware: by half garden eccentric shaft part, two of all eccentric shaft parts in garden, half garden central shaft spare, [54] four compositions of plane bearing; Eccentric shaft [50] is contained in the plane bearing [54], according to half garden eccentric shaft part, the all eccentric shaft parts in garden, the sequencing of half garden central shaft spare, eccentric shaft [50] head with half garden eccentric shaft part links with all connect apertures [51] tails in the garden of all eccentric shaft part one ends in garden successively, and other end eccentric shaft [50] links with half garden connect apertures [52] tail of half garden central shaft spare; Four eccentric shafts [50] are forward parallel successively to be attached at same garden on week, garden week setting angle is 90 ° between four eccentric shafts [50], four eccentric shafts [50] are installed on all angles in 0 °, 90 °, 180 °, 270 ° these gardens, structure becomes the four-function bridgeware, one end of garden heart connect apertures [49] is a tail end, and an end of central shaft [53] is a head end;

With half garden eccentric shaft part, three of all eccentric shaft parts in garden, half garden central shaft spare is integrated, and is made into single piece, by garden heart connect apertures [49], eccentric body [55], eccentric shaft [50], central shaft [53] is formed, and is configured to the four-function bridgeware, one end of garden heart connect apertures [49] is a tail end, and an end of central shaft [53] is a head end;

Five use bridgeware: by half garden eccentric shaft part, four of all eccentric shaft parts in garden, half garden central shaft spare, [54] four compositions of plane bearing, eccentric shaft [50] is contained in the plane bearing [54], according to half garden eccentric shaft part, the all eccentric shaft parts in garden, the sequencing of half garden central shaft spare, eccentric shaft [50] head with half eccentric part links with all connect apertures [51] tails in the garden of all eccentric shaft parts in garden successively, other end eccentric shaft [50] head links with garden week connect apertures [51] tail of garden week eccentric shaft part, other end eccentric shaft [50] head links with half garden connect apertures [52] of half garden central shaft spare, five eccentric shafts [50] are forward parallel successively to be attached on the round angle of same garden, garden week the binding angle being installed between five eccentric shafts [50] is 72 °, and five eccentric shafts [50] are installed in 0 °, 72 °, 144 °, 216 °, on 288 ° of all angles in these gardens, structure becomes five to use bridgeware, one end of garden heart connect apertures [49] is a tail end, and an end of central shaft [55] is a head end;

With half garden eccentric shaft part, four of all eccentric shaft parts in garden, half garden central shaft spare is integrated, and is made into a single piece, by garden heart connect apertures [49], eccentric body [55], eccentric shaft [50], central shaft [53] is formed; Be configured to five and use bridgeware, an end of garden heart connect apertures [49] is a tail end, and central shaft [53] one ends are head end;

Six, eight, nine, ten, 12,15,18,20,24,30,36,40,45,60,70 dual-purpose bridgewares: by three, four, garden week setting angle is 120 ° between the five usefulness bridgeware eccentric shafts [50], 90 °, 72 ° of structure linking methods, with six, eight, nine, ten, 12,15,18,20,24,30,36,40,45,60, garden week setting angle is 60 ° between 72 eccentric shafts [50], 45 °, 36 °, 30 °, 24 °, 20 °, 18 °, 15 °, 12 °, 10 °, 9 °, 8 °, 6 °, 5 °, binding is mounted to six, eight, nine, ten, 12,15,18,20,24,30,36,40,45,60,70 dual-purpose bridgewares;

The plane bearing of installing on the bridgeware eccentric shaft according to the design needs, can be installed and plane bearing is not installed or other axle sleeves are installed;

When adopting two, three, four, five usefulness, four, six, eight, the ten limb pin switching mechanisms of two, three, four, five usefulness bridgeware individual constructions, according to designing needs, can design and installation and not design and installation half garden central shaft;

Adopt many of two, three, four, five usefulness bridgewares, structure becomes two, three, four, five many limbs of usefulness pin switching mechanisms, according to the needs of many limbs pin, and a plurality of half garden centre bearing and the covers of design and installation;

According to the design needs,, be attached at successively on all angles in same garden two, three, four eccentric shafts; On an eccentric shaft, link the catch bar of two, three, four limb pin and promote connecting rod;

Two limb pin switching mechanisms: by horizontal power train, about single form with bridgeware; The garden heart connect apertures tail end of the left end axle center of horizontal power train and left bridgeware links, the tail end of the garden heart connect apertures of the right-hand member axle center of horizontal power train and right bridgeware links, two ends, left and right sides eccentric shaft, parallelly be attached at same garden on week, garden week setting angle is that 180 ° of left and right sides eccentric shafts are installed on all angles in 0 ° 180 ° these gardens between the eccentric shaft of the left and right sides, and structure becomes two limb pin switching mechanisms;

Dual-purpose switching mechanism

The switching mechanism of dual-purpose four-leg: by two of dual-purpose bridgewares, horizontal power train [57], half garden centre bearing and cover [56] are formed; Garden heart connect apertures [49] tail of horizontal power train [57] power transmission shaft two ends and dual-purpose bridgeware one end is linked, the other end half garden central shaft [55] head is contained in centre bearing and the cover [56], overcoat and bearing support link, two ends, left and right sides eccentric shafts [50] are parallel to be attached at same garden on week, the tail end eccentric shaft [50] of dual-purpose bridgeware, about be installed on 0 °, 180 ° these gardens week angle, structure becomes the switching mechanism of dual-purpose four-leg;

Dual-purpose eight limb pin switching mechanisms: by left and right sides dual-purpose switching mechanism each two, horizontal power train, about half garden central shaft, bearing and each one in cover form; The structure of pressing the switching mechanism of dual-purpose four-leg links installation method with structure, on the eccentric shaft of first the dual-purpose bridgeware in two ends, the dual-purpose four-leg switching mechanism left and right sides, second dual-purpose bridgeware is each one about link installing, about the head end of second dual-purpose bridgeware eccentric shaft, link half garden central shaft about installation, bearing and cover, two ends, left and right sides eccentric shaft, parallelly be attached at same garden on week, the eccentric shaft of left and right sides dual-purpose bridgeware, about be installed in 0 °, 180 °, 0 °, on 180 ° of all angles in these gardens, structure becomes 0 °, 180 ° dual-purpose eight limb pin switching mechanisms;

Dual-purpose 12 limb pin switching mechanisms: by left and right sides dual-purpose bridgeware each three, horizontal power train, about half garden central shaft, bearing and each one in cover form; The structure of pressing dual-purpose eight limb pin switching mechanisms links installation method with structure, head end at dual-purpose eight two ends, the limb pin switching mechanism left and right sides second dual-purpose bridgeware eccentric shafts, link the 3rd dual-purpose bridgeware about installation, about the head end of the 3rd dual-purpose bridgeware eccentric shaft half garden central shaft link to be installed, bearing and cover, two ends, left and right sides eccentric shaft, parallelly be attached at same garden on week, the eccentric shaft of left and right sides dual-purpose bridgeware, about be installed in 0 °, 180 °, 0 °, 180 °, 0 °, on 180 ° of all angles in these gardens, structure becomes 0 °, 180 ° dual-purpose 12 limb pin switching mechanisms;

The switching mechanism of many limbs of dual-purpose pin: by many of left and right sides dual-purpose bridgewares, horizontal power train, about half garden central shaft, bearing and overlap many and form, the structure of pressing dual-purpose eight limb pin switching mechanisms links installation method with structure, on the half garden central shaft at dual-purpose eight limb pin switching mechanism two ends, need by design, continue to link the structure of left and right sides dual-purpose bridgeware and half garden central shaft, bearing and cover being installed or pressing dual-purpose eight limb pin switching mechanisms, repeat to link, structure becomes 0 °, the switching mechanism of 180 ° of needed many limbs of dual-purpose pin;

Three use switching mechanism

The six limb pin switching mechanisms of three usefulness: by about three usefulness bridgewares each one, horizontal power train form; The garden heart connect apertures tail end of the left end axle center of horizontal power train and left bridgeware links, the garden heart connect apertures tail end of the right-hand member axle center of horizontal power train and right bridgeware links, two ends, left and right sides eccentric shaft, parallelly be attached at same garden on week, the eccentric shaft of three usefulness bridgewares, about be installed on 0 °, 120 °, 240 ° these gardens week angle, structure becomes 0 °, 120 °, 240 ° three usefulness, six limb pin switching mechanisms;

The 12 limb pin switching mechanisms of three usefulness: by about three usefulness bridgewares each two, horizontal power train, about half garden central shaft, bearing and each one or each two in cover form; Structure by the six limb pin switching mechanisms of three usefulness links installation method with structure, head end at three usefulness, six two ends, the limb pin switching mechanism left and right sides first three usefulness bridgeware eccentric shafts, link second three of installation and use bridgeware, head end at second three usefulness bridgeware eccentric shaft, link half garden central shaft is installed, bearing and cover, half garden central shaft is contained in the bearing, in the bearing dress overcoat, overcoat links with solid frame, two ends, left and right sides eccentric shaft parallelly is attached at same garden on week, the eccentric shaft of three usefulness bridgewares, about be installed in 0 °, 120 °, 240 °, 0 °, 120 °, on 240 ° of all angles in these gardens, structure becomes 0 °, 120 °, 240 ° three usefulness, 12 limb pin switching mechanisms;

Structure by the six limb pin switching mechanisms of three usefulness links installation method with structure, head end at three usefulness, six two ends, the limb pin switching mechanism left and right sides first three usefulness bridgeware eccentric shafts, link first half garden central shaft is installed, bearing and cover, on first half garden central shaft, link second three of installation and use bridgeware, head end at second three usefulness bridgeware eccentric shaft, link again second half garden central shaft is installed, bearing and cover, two ends, left and right sides eccentric shaft, parallelly be attached at same garden on week, the eccentric shaft of three usefulness bridgewares, about be installed in 0 °, 120 °, 240 °, 0 °, 120 °, on 240 ° of all angles in these gardens, structure becomes 0 °, 120 °, 240 ° three usefulness, 12 limb pin switching mechanisms;

Three many limbs of usefulness pin switching mechanisms: by about with many of bridgewares, horizontal power train, about half garden central shaft, bearing and overlap many and form; Structure by the 12 limb pin switching mechanisms of three usefulness links installation method with structure, on the half garden central shaft at three usefulness, 12 limb pin switching mechanism two ends, need by design, continue to link three usefulness bridgewares and half garden central shaft, bearing and cover about installation, structure becomes 0 °, 120 °, 240 ° three required many limbs of usefulness pin switching mechanisms;

Four-function switching mechanism

Four-function eight limb pin switching mechanisms: by each one of left and right sides four-function bridgeware, horizontal power train [57], about half garden central shaft, bearing and each composition of cover [56]; Half garden central shaft [53] head is contained in bearing and the cover [56] about garden heart connect apertures [49] the tail binding of horizontal power train [57] power transmission shaft two ends and left and right sides four-function bridgeware one end, the other end, overcoat links with solid frame, two ends, left and right sides eccentric shafts [50] are parallel to be attached at same garden on week, four-function bridgeware eccentric shaft [50], about be installed on 0 °, 90 °, 180 °, 270 ° these gardens week angle, structure becomes 0 °, 90 °, 180 °, 270 ° four-function eight limb pin switching mechanisms;

Four-function 16 limb pin switching mechanisms: by four of left and right sides four-function bridgewares, horizontal power train, about half garden central shaft, bearing and each composition of cover; The structure of pressing four-function eight limb pin switching mechanisms links installation method with structure, on half garden central shaft of first the four-function bridgeware in four-function eight two ends, the limb pin switching mechanism left and right sides, link each one of second four-function bridgeware is installed, about the head end of second four-function bridgeware eccentric shaft, link half garden central shaft about installation, bearing and cover, left and right sides eccentric shaft, parallelly be attached at same garden on week, the eccentric shaft of left and right sides four-function bridgeware, about be installed in 0 °, 90 °, 180 °, 270 °, 0 °, 90 °, 180 °, on 270 ° of all angles in these gardens, structure becomes 0 °, 90 °, 180 °, 270 ° four-function 16 limb pin switching mechanisms;

Many limbs of four-function pin switching mechanism: by many of left and right sides four-function bridgewares, horizontal power train, half garden central shaft, bearing and overlap many compositions, press the structure and structure linking method of four-function 16 limb pin switching mechanisms, on half garden central shaft of second the four-function bridgeware in four-function 16 two ends, the limb pin switching mechanism left and right sides, need by design, continue to link installation left and right sides four-function bridgeware, half garden central shaft, bearing and overlap many, structure becomes 0 °, 90 °, 180 °, the switching mechanism of 270 ° of needed many limbs of four-function pin;

Five use switching mechanism

The ten limb pin switching mechanisms of five usefulness: by about each one of five usefulness bridgeware, horizontal power train, about half garden central shaft, bearing and each composition of cover; Horizontal power train power transmission shaft two ends with about the garden heart connect apertures binding of five usefulness bridgewares, one end, half garden central shaft heads is contained in central shaft and the cover about the other end, overcoat links with solid frame, left and right sides eccentric shaft is parallel to be attached at same garden on week, about five use the bridgeware eccentric shaft, about be installed on 0 °, 72 °, 144 °, 216 °, 288 ° these gardens week angle, structure becomes 0 °, 72 °, 144 °, 216 °, 288 ° five usefulness, ten limb pin switching mechanisms;

The 20 limb pin switching mechanisms of five usefulness: by about each two of five usefulness bridgewares, horizontal power train, about half garden central shaft, bearing and each two composition of cover; Structure by the ten limb pin switching mechanisms of five usefulness links installation method with structure, on half garden central shaft of first the five usefulness bridgeware in five usefulness, ten two ends, the limb pin switching mechanism left and right sides, link each one of second five usefulness bridgeware is installed, about the head end of second five usefulness bridgeware eccentric shaft, about be installed in these gardens week of 0 °, 72 °, 144 °, 216 °, 288 °, 0 °, 144 °, 216 °, 288 ° on the angle, structure becomes 0 °, 72 °, 144 °, 216 °, 288 ° five usefulness, 20 limb pin switching mechanisms;

Five many limbs of usefulness pin switching mechanisms: by about many of five usefulness bridgewares, horizontal power train, about half garden central shaft, bearing and overlap many compositions; Structure by the 20 limb pin switching mechanisms of five usefulness links installation method with structure, on half garden central shaft of second the five usefulness bridgeware in five usefulness, 20 two ends, the limb pin switching mechanism left and right sides, need by design, five used bridgeware about the continuation binding was installed, half garden central shaft, bearing and cover, structure become 0 °, 72 °, 144 °, 216 °, 288 ° needed five many limbs of usefulness pin switching mechanisms;

Six, eight, nine, ten, 12,15,18,20,24,30,36,40,60,70 many limbs of dual-purpose pin switching mechanisms: by two, three, four, the structure of five usefulness switching mechanisms links installation method with structure, with six, eight, nine, ten, 12,15,18,20,24,30,36,40,45,60,70 dual-purpose bridgewares, binding is mounted to six, eight, nine, ten, 12,15,18,20,24,30,40,45,60,70 many limbs of dual-purpose pin switching mechanisms;

The radius of turn of switching mechanism eccentric shaft according to the design needs, is designed to the identical radius of turn of size, the radius of turn that size is inequality;

The radius of turn of switching mechanism eccentric shaft according to the design needs, from the eccentric shaft at horizontal power train two ends, increases radius of turn from inside to outside one by one, otherwise, in the eccentric shaft at horizontal power train two ends, outwards dwindle radius of turn one by one;

The switching mechanism of many limbs pin, the radius of turn of eccentric shaft is according to the design needs, from the eccentric shaft at horizontal power train two ends, and one group of increases from inside to outside, another group is dwindled, and radius of turn is dwindled in increase so repeatedly; Otherwise from the eccentric shaft at horizontal power train two ends, one group is dwindled from inside to outside, and another organizes increase, dwindles the increase radius of turn so repeatedly; Increase simultaneously from two ends, the horizontal power train left and right sides and to dwindle, left end increases, right-hand member dwindles, left end dwindles, right-hand member increases radius of turn;

The eccentric shaft setting angle is installed one, two, three, four, five, six, eight, nine, ten, 12,15,18,20,24,30,36,40,45,60,72 eccentric shafts by 180 °, 120 °, 9 °, 720 °, 60 °, 40 °, 45 °, 36 °, 30 °, 24 °, 20 °, 18 °, 15 °, 12 °, 10 °, 9 °, 8 °, 6 °, 5 ° on the heart different section of same garden in 360 ° of an end of horizontal power train garden weeks;

Lower limb two, four, six, eight, nine, ten, use switching mechanism: comprise fixture switching mechanism more, fixing flexible free degree adjusting device switching mechanism, fixedly movable telescopic free degree adjusting device switching mechanism, fixedly clutch brake switching mechanism, the fixedly fixing flexible free degree adjusting device switching mechanism of clutch and brake; The fixedly movable telescopic free degree adjusting device switching mechanism of clutch and brake;

Universal joint is installed on the front end, back-end location of clutch brake;

The lower limb free degree adjusting device of stretching: identical with the flexible free degree adjusting device of upper limbs;

Lower limb supporting arrangement: form by left and right sides bearing support, comprise fixed supporting frame and regulate bearing support two big classes, identical with upper limbs supporting arrangement structure, installation direction is opposite, vertically downward, after being tilted to, vertical-horizontal, after being tilted to, the supporting arrangement installation direction of switching mechanisms forward more than lower limb adopted two groups;

Lower limb guiding turning adjusting device: form by left-right adjusting mechanism, governor motion is by cylinder, fluid cylinder, the adjusting machine, adjusting rod, pull bar, the movable joint head, cover for seat, regulate fixed mount, tracheae, the liquid pipe is formed, left side guiding turning governor motion is installed in the biography of horizontal power train left end jackshaft and changes in the part, right guiding turning governor motion, be installed in the bridgeware of horizontal power train right-hand member jackshaft, comprise two kinds of fixed guide turning governor motion and clutch and brake guiding turning governor motions, adopt machinery manually with electronic, air pressure, four kinds of guiding of hydraulic pressure turning governor motion comprises one, two, three, four, six, many group cylinders, fluid cylinder, the adjusting rod structure;

The structure of lower limb conversion guiding turning installation system: lower limb switching mechanism is installed in the top position of lower limb fixture, supporting arrangement is installed in the guiding turning and regulates solid rear position, frame lower end, lower limb guiding turning governor motion is installed on the lower limb fixture, the other end of adjusting rod, air leg, pull bar with regulate fixed mount and link, the flexible free degree adjusting device of lower limb is installed in to regulate and is combined into lower limb conversion guiding turning installation system on the fixed mount;

Lower limb: comprise 9,7,6,5,4 parts quadrangles, the fixed of six kinds of structures of simple and easy two parts limb pin, concertina type two big classes;

9 parts quadrangle limb pin: comprise that fixed, power arm, walking arm, supporting arm, dynamically supported arm, power walking arm, dynamically supported arm mixing walking support arm mix flexible and flexible entirely nine kinds of structures;

7 parts quadrangle limb pin: comprise fixed, power arm, walking arm, supporting arm concertina type, walking arm fixed, full concertina type moves away contraction power arm mixed type, has walked deflation resistance arm mixed type eight type structures;

6 parts quadrangle limb pin: comprise fixed, power arm, walking arm, flexible, the full concertina type of supporting arm, supporting arm fixed, walking support arm mixed type, power walking arm mixed type eight type structures;

5 parts quadrangle limb pin: comprise fixed, power arm, walking arm concertina type, walking arm fixed, full concertina type and three kinds of mixed types be totally eight type structures;

4 parts quadrangle limb pin: comprise five types of fixed, power arm, resistance arm concertina type, flexure type, full concertina types;

Simple and easy two parts limb pin: comprise fixed, flexure type, power arm, resistance arm concertina type, five types of full concertina types;

Lower limb: 9, the structure of 7,6,5,4 parts quadrangles, simple and easy two parts limb pin and binding mounting means: with the structure of 9,7,6,5,4 parts quadrangles, simple and easy two parts walking robot with limbs and feet, it is identical to link mounting means;

Neck: regulate installation system by fixed installation system, transmission system, the head free degree and form;

Fixed installation system: comprise the fixed mount installation system, movable solid two kinds of structures of frame installation system;

Neck: comprise fixed mount, movable solid frame regulate,, multiple structure is regulated in fixed conveyor, movable solid frame transmission;

Neck; The architectural feature that transmission installation system between waist promptly will be arranged has upper limbs to change the architectural feature of installation system again;

Head: by fixed installation system [27], illuminator [28], remote scanning system [29], electronic eyes is that camera is short range scanning system [30], the old controller of square [31], micro computer is microcomputer [32], radio transceiver system and beepbox [33], communication interface [34], information separated device [35], vibrating sensing dress device [36], smelly feel sensing dress device [37], TEMP dress device [38], range sensing dress device [39], luminosity sensor [40], other sensing dress devices [41], the head adjusting device is neck adjusting device [42], limbs adjusting device [43], upper limbs adjusting device [44], lower limb adjusting device [45], pronunciation public address set [46], voice adjusting device [47], other adjusting devices [48] are formed;

The fixture upper end that installation system is regulated in the lower end of neck fixed installation system and upper limbs conversion links, the upper end of neck fixed installation system and the fixed installation system lower end of head, the moving device of the transmission device lower end of neck transmission system and the cross of upper limbs switching mechanism links, the transmission device upper end of neck transmission system and linking of head with power apparatus, the adjusting support of the long-range prestige eye system of head links with the fixed installation system of head, long-range prestige eye system installation direction, multi-faceted forward installation;

Servicing unit: by cylinder, gas tank, tracheae, air pressure, adjusting controlling organization, oil cylinder, hydraulic mechanism, the liquid case, hydraulic tube, hydraulic pressure is regulated controlling organization; Send out charging system, electric power system, battery, circuit and on-off controller, rectifying installation, compositions such as starter motor electronic controller;

The copying robot architectural feature:

Copying robot head, neck, upper limbs, limbs, lower limb architectural feature structure become: upper limbs arm robot, head, upper limbs arm assembly robot; Head, neck, upper limbs arm assembly robot; Upper limbs arm, limbs, lower limb assembly robot; Head, neck, upper limbs arm, limbs, lower limb assembly robot claim the global function robot again;

Copying robot is pressed motion mode architectural feature structure and is become: the fixed-point motion robot, and fixing mobile robot, the step pitch walking robot is the field work robot;

Copying robot is pressed fixedly, and move mode architectural feature structure becomes: the straight line parallel mobile robot, the vertical mobile robot of straight line, angled straight lines mobile robot, inclination arc mobile robot, curve mobile robot, garden week mobile robot, garden arc mobile robot, two kinds are mixed the route robots, and three kinds are mixed the route robots, multiple mixing route robot;

Copying robot is pressed arm limb table structure feature structure: left upper extremity arm robot, right upper extremity arm robot, two upper limbs arm robot, many upper limbs arm robot;

Copying robot becomes by mode of operation architectural feature structure: manually-operated robot, semi-automatic operation robot, full automatic working robot;

Copying robot is pressed lower limb limb pin number architectural feature structure: two-leg, four-leg, six limb pin, eight limb pin, ten limb pin, many limbs even number limb pin robot;

Copying robot is pressed one group of switching mechanism limb of lower limb pin row table structure feature structure and is become: row's limb pin, and two row's limb pin, three row's limb pin are arranged limb pin robot more;

Copying robot is vertically arranged the table structure feature structure by the upper limbs arm: row's upper limbs arm robot, vertical two row's upper limbs arm robot;

Copying robot is pressed lower limb switching mechanism group and is counted parallel example architectural feature structure one-tenth: one group of switching mechanism robot of lower limb, and two groups of switching mechanism robots of lower limb, three groups of switching mechanism robots of lower limb, lower limb are organized the switching mechanism robot more;

Copying robot is pressed lower limb in 360 ° of garden weeks, and same garden heart different section setting angle architectural feature structure becomes: one, two, three, four, five, six, seven, eight, nine, ten, 12,15,18,20,24,30,36,40,45,60,70 dual-purpose limb pin robots;

Copying robot becomes by an eye control structure feature structure: simple eye, eyes, many remote control robots and simple eye, eyes, many closely control robot;

Copying robot becomes by the direction structure feature structure of eye: forward sight, backsight, a left side are looked, the right side is looked, on look robot;

Copying robot becomes by the direction position grouping architectural feature structure of eye: the forward sight backsight, and a forward sight left side is looked, and the forward sight right side is looked, and looks on the forward sight, and a left side is looked the right side and is looked, and looks on the forward sight backsight, and a forward sight left side is looked; The forward sight right side is looked, and a left side is looked the right side and looked, and the right side is looked, and the right side is looked, and looks on the backsight, and the right side is looked on the forward sight backsight right side, and to look robot be comprehensive eye robot;

Copying robot becomes by the installation site architectural feature structure of eye: head eye robot, head limbs eye robot, head lower limb eye robot, head upper limbs eye robot, a limbs upper limbs lower limb eye robot, limbs eye robot, limbs upper limbs eye robot, limbs lower limb eye robot, upper limbs eye robot, lower limb eye robot;

Copying robot is pressed the sensing arrangement feature structure: the vibrating sensing robot, vibrating sensing language robot, smelly feel sensing robot, smelly feel sensing language robot, TEMP robot, TEMP language robot, range sensing robot, range sensing language robot, other sensing robots, other sensing language robots;

Copying robot becomes by eye, head, sensing structural property of portfolio structure: eye, head, vibrating sensing robot, eye, head, vibrating sensing language robot; Eye, head, smelly feel sensing robot, eye, head, smelly feel sensing language robot; Eye, head, TEMP robot, eye, head, TEMP language robot; Eye, head, range sensing robot, eye, head, range sensing language robot; Eye, head, other sensing robots, eye, head, other sensing language robots;

Copying robot mixes to become in conjunction with feature structure by sensing; Vibration, smelly feel sensing robot, vibration, smelly feel sensing language robot; Vibration, TEMP robot, vibration temperature sensing language robot; Vibration range sensing robot, vibration range sensing language robot; Smelly feel TEMP robot, smelly feel TEMP language robot; Smelly feel range sensing robot, smelly feel range sensing language robot; Vibrate smelly feel TEMP robot, vibrate smelly feel TEMP language robot; Vibrate smelly feel temperature range sensing robot, vibrate the main range sensing of smelly feel temperature language robot; Temperature range sensing robot, temperature range sensing language robot; Vibrate smelly feel range sensing robot, vibrate smelly feel range sensing language robot; Vibration temperature range sensing robot, vibration temperature range sensing language robot; Other mix the sensing robot, and other mix sensing language robot;

Copying robot head micro-architecture feature structure becomes: single microcomputer computer-robot, two microcomputer computer-robots, multi-microcomputer computer-robot;

Copying robot becomes by the same number of architectural feature structure of upper limbs lower limb quadrangle: by upper limbs is the conversion quadrangle, the upper arm quadrangle, forearm quadrangle 9 parts and lower limb conversion quadrangle, the walking quadrangle, the fixed of three quadrilateral structures of supporting quadrangle 9 parts corresponding formation upper limbs lower limb, concertina type, fixing flexible mixed type, fixing flexible punishment, the multiple robot of Telescopic Fixed mixed type five classes;

By upper limbs is the upper arm quadrangle, forearm quadrangle 8 parts and lower limb walking quadrangle, the corresponding formation upper limbs of supporting quadrangle 7 parts lower limb all are fixed, the concertina type of two quadrilateral structures, fixing flexible mixed type, fixing concertina type, the multiple robot of Telescopic Fixed mixed type five classes;

By upper limbs is the conversion quadrangle, upper arm quadrangle 7 parts and lower limb conversion quadrangle, the fixed of five kinds of structures of walking quadrangle 6 parts two quadrangles of corresponding formation upper limbs lower limb, concertina type, fixing flexible mixed type, fixedly concertina type, the multiple robot of Telescopic Fixed mixed type five classes;

Being that upper arm quadrangle 6 parts and lower limb walking quadrangle 5 parts are corresponding by upper limbs constitutes fixed, the concertina type that the upper limbs lower limb all are quadrilateral structures, fixing flexible mixed type, fixing concertina type, the multiple robot of Telescopic Fixed mixed type five classes;

Being that conversion quadrangle 5 parts and lower limb conversion quadrangle 4 parts are corresponding by upper limbs constitutes fixed, the concertina type that the upper limbs lower limb all are quadrilateral structures, the fixing mixed type of stretching, fixing concertina type, the multiple robot of Telescopic Fixed mixed type five classes;

Constitute the fixed that the upper limbs lower limb all are easy structure by simple and easy 4 parts upper limbs and simple and easy two parts lower limb are corresponding, concertina type, fixing flexible mixed type, fixing concertina type, the multiple robot of Telescopic Fixed mixed type five classes;

Copying robot is pressed lower limb 9 parts quadrangles and is become with the architectural feature structure of upper limbs 8,7,6,5,4 parts: upper limbs 8 parts, lower limb 9 parts, upper limbs 7 parts, lower limb 9 parts, upper limbs 6 parts, lower limb 9 parts, fixed, the concertina type of upper limbs 5 parts, lower limb 9 parts, upper limbs 4 parts, lower limb 9 modular constructions, the fixing flexible Telescopic Fixed type of mixed type, the multiple robot of Telescopic Fixed mixed type five classes;

Copying robot is pressed lower limb 7 parts quadrangles and is become with the architectural feature structure of upper limbs 9,8,6,5,4 parts: upper limbs 9 parts lower limb 7 parts, upper limbs 7 parts, lower limb 7 parts, upper limbs 6 parts, lower limb 7 parts, upper limbs 5 parts, lower limb 7 parts, the fixed of upper limbs 4 parts, five kinds of structures of lower limb 7 parts, concertina type, fixing flexible mixed type, fixing concertina type, the multiple robot of Telescopic Fixed mixed type five classes;

Copying robot is pressed county's 6 parts quadrilateral structures and become with the architectural feature structure of upper limbs 9,8,6,5,4 parts: upper limbs is fixed, the concertina type of five kinds of structures of 9,8,6,5,4 parts lower limb, 6 parts, fixing flexible mixed type, fixing concertina type, the multiple robot of Telescopic Fixed mixed type five classes;

Copying robot becomes by the architectural feature structure of lower limb 5 parts quadrilateral structures with upper limbs 9,8,7,5,4 parts: upper limbs is fixed, the concertina type of five kinds of structures of 9,8,7,5,4 parts, fixing flexible mixed type, fixing concertina type, the multiple robot of Telescopic Fixed mixed type five classes;

Copying robot becomes by the architectural feature structure of simple and easy two modular constructions of lower limb with upper limbs 9,8,7,6,5 parts: upper limbs is fixed, the concertina type of five kinds of structures of 9,8,7,6,5 parts, fixing flexible mixed type, fixing concertina type, the multiple robot of Telescopic Fixed mixed type five classes;

Copying robot is pressed R-T unit architectural feature structure and become: transceiving and beepbox robot, wired controller for electric consumption robot does not have the robot of radio, wired electric installation.

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