CN103111076B - Entertainment robot leg mechanism - Google Patents
Entertainment robot leg mechanism Download PDFInfo
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- CN103111076B CN103111076B CN201310038895.3A CN201310038895A CN103111076B CN 103111076 B CN103111076 B CN 103111076B CN 201310038895 A CN201310038895 A CN 201310038895A CN 103111076 B CN103111076 B CN 103111076B
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Abstract
A kind of entertainment robot leg mechanism, comprising: frame body, described frame body comprises multiple skeleton unit, and two adjacent skeleton units connect rotationally; Driver element, is rotatably installed between two adjacent skeleton units by universal bearing, drives described skeleton unit to rotate; Control system, is connected with described driver element, controls each driver element and completes predetermined action to order about described skeleton unit; During work, described control system controls the motion of described driver element, and described driver element is connected rotationally with two adjacent skeleton units, drives described skeleton unit to move, completes predetermined action.Because described entertainment robot leg mechanism comprises multiple skeleton unit, and be provided with driver element between two often adjacent skeleton units, drive multiple-degree-of-freedom mechanism so can be formed one more, make entertainment robot leg mechanism can realize many attitude action, move more flexible.
Description
Technical field
The present invention relates to robotics, particularly relate to a kind of entertainment robot leg mechanism.
Background technology
A large amount of amusement robots is have employed to build various atmosphere in forth generation theme park popular now, especially highly emulated robot, visitor's novelty, stimulation, unforgettable amusement experience can be brought, improve quality and the popularity of theme park, travel to attract more visitor to make a visit to.
But these emulated robot great majority are based on upper part of the body action, leg does not have action or very simple action, leg action underaction.Along with the development of forth generation theme park, require more and more higher to highly emulated robot, only have action to be above the waist difficult to meet growing demand.
Summary of the invention
Based on this, be necessary, for leg mechanism motion underaction problem, to provide a kind of entertainment robot leg mechanism.
A kind of entertainment robot leg mechanism, comprising:
Frame body, described frame body comprises multiple skeleton unit, and two adjacent skeleton units connect rotationally;
Driver element, is rotatably installed between two adjacent skeleton units by universal bearing, drives described skeleton unit to rotate;
Control system, is connected with described driver element, controls each driver element and completes predetermined action to order about described skeleton unit.
Wherein in an embodiment, described skeleton unit comprises leg pedestal skeleton unit, left leg skeleton unit, right leg skeleton unit and crotch's skeleton unit, described left leg skeleton unit and described right leg skeleton unit are rotatably installed on described leg pedestal skeleton unit, and described left leg skeleton unit and described right leg skeleton unit are connected to described crotch skeleton unit rotationally respectively by rolling bearing.
Wherein in an embodiment, described left leg skeleton unit and described right leg skeleton unit include and rotate skeleton, shank skeleton, thigh skeleton and hip joint, and described leg pedestal skeleton unit comprises bearing block; One end of described rotation skeleton is installed on described leg pedestal skeleton unit by bearing block, is provided with described driver element between described rotation skeleton and described leg pedestal skeleton unit; The other end of described rotation skeleton is connected by cross shaft bearing with one end of described shank skeleton, and between be provided with described driver element; The other end of described shank skeleton and one end of described thigh skeleton by hinge, and between be provided with described driver element; The other end of described thigh skeleton and described hip joint by hinge, and between be provided with described driver element; Described hip joint is connected to described crotch skeleton unit by cross shaft bearing.
Wherein in an embodiment, described driver element is all connected between two adjacent skeleton units by ball joint bearing or cross shaft bearing.
Wherein in an embodiment, comprise position sensor, be arranged at described driver element, and be connected with described control system, the position signalling of feedback entertainment robot leg mechanism gives described control system.
Wherein in an embodiment, described driver element is fluid pressure drive device.
Wherein in an embodiment, described control system controls the drive volume of each driver element by the action command pre-entered, to realize the different attitude actions of robot.
Wherein in an embodiment, described control system comprises memory module, stores the action command of different attitude action; Input module, receives the input information of attitude action needed for operator; Control module, according to difference input information, reads the action command of different attitude action; Output module, exports corresponding action command according to described input information, drives each driver element to move.
During above-mentioned entertainment robot leg mechanism work, described control system controls the motion of described driver element, and described driver element is connected rotationally with two adjacent skeleton units, drives described skeleton unit to move, completes predetermined action.Because described entertainment robot leg mechanism comprises multiple skeleton unit, and be provided with driver element between two often adjacent skeleton units, drive multiple-degree-of-freedom mechanism so can be formed one more, make entertainment robot leg mechanism can realize many attitude action, motion flexibly.
Accompanying drawing explanation
Fig. 1 is the structural representation of entertainment robot leg mechanism;
Fig. 2 is the structural representation that entertainment robot leg mechanism is in interior fork leg state;
Fig. 3 is the structural representation that entertainment robot leg mechanism is in outer fork leg state;
Fig. 4 is the structural representation that entertainment robot leg mechanism is in hyperbolic leg state;
Fig. 5 is the structural representation that entertainment robot leg mechanism is in single leg state;
Fig. 6 is the schematic diagram of control system one embodiment of entertainment robot leg mechanism.
Detailed description of the invention
Below in conjunction with the drawings and specific embodiments, the invention will be further described.
Refer to Fig. 1, a kind of entertainment robot leg mechanism 100, comprising: frame body 110, and described frame body 110 comprises multiple skeleton unit, and two adjacent skeleton units connect rotationally; Driver element 120, is rotatably installed between two adjacent skeleton units by universal bearing, drives described skeleton unit to rotate; Control system, is connected with described driver element 120, controls each driver element 120 and completes predetermined action to order about described skeleton unit.
During above-mentioned entertainment robot leg mechanism work, described control system controls the motion of described driver element 120, and described driver element 120 is connected rotationally with two adjacent skeleton units, and two adjacent skeleton units also connect rotationally, so when driver element 120 drives described skeleton unit to move, two adjacent skeleton units can relatively rotate, and form predetermined rotation, complete predetermined action.Because described entertainment robot leg mechanism comprises multiple skeleton unit, and be provided with driver element 120 between every two adjacent skeleton units, drive multiple-degree-of-freedom mechanism so can be formed one, thus entertainment robot leg mechanism can realizing many attitude change, flexible movements more.
Specific in the present embodiment, described control system controls the drive volume of each driver element by the action command pre-entered, to realize the different attitude actions of robot.Such as, can by calculating the movement relation expression formula in each joint of entertainment robot leg mechanism, and described movement relation expression formula write Maya software is carried out animation, design the animation required for various attitude action, then animation script value, described script value and the action command needed for various attitude actions described in the present embodiment is exported.
Refer to Fig. 6, specific in the present embodiment, described control system 200 can comprise memory module 220, stores the action command of different attitude action, in advance by the action command that realizes needed for different attitude action stored in memory module 220.Input module 210, receives the input information of attitude action needed for operator, as needs realize single leg time, can corresponding informance be inputted.Control module 230, according to the difference input information of operator's input, reads the action command deposited in a storage module.Output module 240, exports corresponding action command according to described input information, drives the action of each driver element 120, thus drives each skeleton unit correspondence motion, completes an attitude action.
Also refer to Fig. 1, specific in the present embodiment, described skeleton unit comprises leg pedestal skeleton unit 112, left leg skeleton unit 114, right leg skeleton unit 116 and crotch's skeleton unit 118, described left leg skeleton unit 114 and described right leg skeleton unit 116 are rotatably installed on described leg pedestal skeleton unit 112, and described left leg skeleton unit 114 and described right leg skeleton unit 116 are connected to described crotch skeleton unit 118 rotationally respectively by rolling bearing.Leg pedestal skeleton unit 112 is equivalent to the foot of people, left leg skeleton unit 114 is relative to the left leg of people, right leg skeleton unit 116 is equivalent to the right leg of people, crotch's skeleton unit 118 is equivalent to the crotch of people, the structure of such setting can be more true to nature the leg of imitation people, simultaneously when described control system control driver element 120 drive multiple skeleton unit to move time, the motion of the leg being similar to people can be realized, realize multi-pose change, move more flexible.
Also refer to Fig. 1, specific in the present embodiment, described left leg skeleton unit 114 comprises anticlockwise skeleton 1141, left leg skeleton 1142, left thigh skeleton 1143 and left hip joint 1144, described right leg skeleton unit 116 comprises right rotation skeleton 1161, right leg skeleton 1162, right thigh skeleton 1163 and right hip joint 1164, and described leg pedestal skeleton unit 112 comprises bearing block 1122.
For left leg skeleton unit 114, connection and the movement relation in each joint is described.Described anticlockwise skeleton 1141 one end is installed on described leg pedestal skeleton unit 112 by bearing block 1122, is provided with described driver element 120 between described anticlockwise skeleton 1141 and described leg pedestal skeleton unit 112.Described anticlockwise skeleton 1141 other end is connected by cross shaft bearing with one end of described left leg skeleton 1142, and between be provided with described driver element 120; The other end of described left leg skeleton 1142 and one end of described left thigh skeleton 1143 by hinge, and between be provided with described driver element 120; The other end of described left thigh skeleton 1143 and described left hip joint 1144 by hinge, and between be provided with described driver element 120; Described left hip joint 1144 is connected to described crotch skeleton unit 118 by cross shaft bearing.Anticlockwise skeleton 1141 is installed on leg pedestal skeleton unit 112 by bearing block 1122, and leg pedestal skeleton unit 112 is fixed in one end of driver element 120, the other end connects one end of anticlockwise skeleton 1141 by connecting rod, driver element 120 is controlled by control system, order about anticlockwise skeleton 1141 to rotate along perpendicular to leg pedestal skeleton unit 112, realize the rotation of anticlockwise skeleton 1141.The other end of anticlockwise skeleton 1141 is connected by cross shaft bearing with one end of left leg skeleton 1142, driver element 120 is connected between anticlockwise skeleton 1141 and left leg skeleton 1142 by ball joint bearing or cross shaft bearing, driver element 120 is controlled by control system, and left leg skeleton 1142 and anticlockwise skeleton 1141 can be driven to rotate around cross shaft bearing.Hinge is passed through in the other end of left leg skeleton 1142 and one end of left thigh skeleton 1143, driver element 120 is connected between left leg skeleton 1142 and left thigh skeleton 1143 by ball joint bearing or cross shaft bearing, drives left leg skeleton 1142 and left thigh skeleton 1143 to relatively rotate.The other end and the left hip joint 1144 of left thigh skeleton 1143 pass through hinge, driver element 120 is connected between left thigh skeleton 1143 and left hip joint 1144 by ball joint bearing or cross shaft bearing, drives left thigh skeleton 1143 and left hip joint 1144 to relatively rotate.Left hip joint 1144 is connected to crotch's skeleton unit 118 by cross shaft bearing, can realize rotating around crotch's skeleton unit 118.Similarly, right leg skeleton unit 116 is identical with the structure of left leg skeleton unit 114, repeats no more here.When control system is by running the programme-control driver element 120 enrolled in advance, when ordering about the motion of each skeleton unit, the change of interior fork leg, outer fork leg, the action of hyperbolic leg and single leg etc. attitude can be realized.
Refer to Fig. 2, expression be the attitude action of entertainment robot leg mechanism when being positioned at fork leg.During entertainment robot leg mechanism work, described control system runs the program of the attitude action of the interior fork leg of enrolling in advance, fork leg action in realizing.In realizing during fork leg motion, control system controls driver element 120, and driver element 120 drives right rotation skeleton 1161 and anticlockwise skeleton 1141 self to rotate along being parallel to leg pedestal skeleton unit 112, and rotates along relative direction.Right leg skeleton 1162 leans around the rotation of nearly right rotation skeleton 1161 direction by cross shaft bearing, right thigh skeleton 1163 relatively rotates with right leg skeleton 1162, right hip joint 1164 relatively rotates with right thigh skeleton 1163, right hip joint 1164 rotates around crotch's skeleton unit 118, the left leg skeleton 1142 of left leg skeleton unit 114, left thigh skeleton 1143, left hip joint 1144 are identical with the motion of right leg skeleton unit 116, repeat no more.Because anticlockwise skeleton 114 and right rotation skeleton 116 relatively rotate, and the motion of the shank skeleton of left and right leg skeleton unit, thigh skeleton, hip joint is identical, so can realize the attitude action of interior fork leg.
Refer to Fig. 3, expression be the attitude action of entertainment robot leg mechanism when being positioned at outer fork leg.During entertainment robot leg mechanism work, described control system runs the program of the attitude action of the outer fork leg of enrolling in advance, realizes outer fork leg action.When realizing the motion of outer fork leg, control system controls driver element 120, and driver element 120 drives right rotation skeleton 116 and anticlockwise skeleton 116 self to rotate along being parallel to leg pedestal skeleton unit 112, and rotates along contrary direction.Right leg skeleton 1162 leans around the rotation of nearly right rotation skeleton 1161 direction by cross shaft bearing, right thigh skeleton 1163 relatively rotates with right leg skeleton 1162, right hip joint 1164 relatively rotates with right thigh skeleton 1163, right hip joint 1164 rotates around crotch's skeleton unit 118, the left leg skeleton 1142 of left leg skeleton unit 114, left thigh skeleton 1143, left hip joint 1144 are identical with the motion of right leg skeleton unit 116, repeat no more.Because anticlockwise skeleton 114 and right rotation skeleton 116 rotate toward contrary direction, and the motion of the shank skeleton of left and right leg unit, thigh skeleton, hip joint is identical, so can realize the attitude action of outer fork leg.
Refer to Fig. 4, expression be the attitude action of entertainment robot leg mechanism when being positioned at hyperbolic leg.During entertainment robot leg mechanism work, described control system runs the program of the attitude action of the hyperbolic leg enrolled in advance, realizes the action of hyperbolic leg.Described control system controls driver element 120, now left rotation and right rotation skeleton non rotating, driver element 120 drives left leg skeleton 1142 to be leant around by cross shaft bearing simultaneously, and nearly anticlockwise skeleton 1141 direction is rotated, left thigh skeleton 1143 relatively rotates with left leg skeleton 1142, left hip joint 1144 relatively rotates with left thigh skeleton 1143, left hip joint 1144 rotates around crotch's skeleton unit 118, the motion of right leg skeleton unit 116 is identical with left leg skeleton unit 114 simultaneously, so can realize the attitude action of hyperbolic leg.
Refer to Fig. 5, expression be the attitude action of entertainment robot leg mechanism when being positioned at single leg.During entertainment robot leg mechanism work, described control system runs the program of the attitude action of the single leg enrolled in advance, realizes the action of single leg.Described control system controls driver element 120, now the left leg skeleton 1142 of left thigh bone frame 114 leans around by cross shaft bearing that nearly anticlockwise skeleton 1141 direction is rotated, left thigh skeleton 1143 relatively rotates with left leg skeleton 1142, left hip joint 1144 relatively rotates with left thigh skeleton 1143, left hip joint 1144 rotates around crotch's skeleton unit 118, right leg skeleton unit 116 does not move, and realizes the attitude action of single leg.
Certainly, in other examples, robot can also control driver element by control system and order about skeleton unit motion, realizes different attitude action.Such as, can realize single leg kneel ground or both legs kneel ground time attitude action, can also realize in fork leg, one side outer fork leg attitude action.
Specific in the present embodiment, comprise position sensor, be arranged at described driver element 120, and be connected with described control system, the position signalling of feedback entertainment robot leg mechanism is to control system.Position sensor is used to the sensor of robot measurement self-position, and the positional information of entertainment robot leg mechanism is converted into output signal, pass to control system, control system regulates by controlling the position of driver element to each skeleton unit of entertainment robot leg mechanism, avoids entertainment robot leg mechanism movement position to occur deviation.
Specific in the present embodiment, described driver element 120 is fluid pressure drive device.Fluid pressure drive device has the features such as rapidity is good, Unit Weight power output large, stable drive, antijamming capability are strong, so it is more flexible to make entertainment robot leg mechanism move, realizes various attitudes vibration.It is to be noted, described fluid pressure drive device just can improve the flexibility of robot leg further, when using other type of drive as cylinder driver, do not affect entertainment robot leg mechanism and realize the multivariant realization of many drivings, so fluid pressure drive device is not necessary yet.
The above embodiment only have expressed several embodiment of the present invention, and it describes comparatively concrete and detailed, but therefore can not be interpreted as the restriction to the scope of the claims of the present invention.It should be pointed out that for the person of ordinary skill of the art, without departing from the inventive concept of the premise, can also make some distortion and improvement, these all belong to protection scope of the present invention.Therefore, the protection domain of patent of the present invention should be as the criterion with claims.
Claims (6)
1. an entertainment robot leg mechanism, is characterized in that, comprising:
Frame body, described frame body comprises multiple skeleton unit, and two adjacent skeleton units connect rotationally;
Driver element, is rotatably installed between two adjacent skeleton units by universal bearing, drives described skeleton unit to rotate;
Control system, is connected with described driver element, controls each driver element and completes predetermined action to order about described skeleton unit;
Wherein, multiple skeleton unit is respectively leg pedestal skeleton unit, left leg skeleton unit, right leg skeleton unit and crotch's skeleton unit; Described left leg skeleton unit and described right leg skeleton unit are rotatably installed on described leg pedestal skeleton unit, described left leg skeleton unit and described right leg skeleton unit are connected to described crotch skeleton unit rotationally respectively by rolling bearing, described left leg skeleton unit and described right leg skeleton unit include and rotate skeleton, shank skeleton, thigh skeleton and hip joint, and described leg pedestal skeleton unit comprises bearing block; One end of described rotation skeleton is installed on described leg pedestal skeleton unit by bearing block, is provided with described driver element between described rotation skeleton and described leg pedestal skeleton unit; The other end of described rotation skeleton is connected by cross shaft bearing with one end of described shank skeleton, and between be provided with described driver element; The other end of described shank skeleton and one end of described thigh skeleton by hinge, and between be provided with described driver element; The other end of described thigh skeleton and described hip joint by hinge, and between be provided with described driver element; Described hip joint is connected to described crotch skeleton unit by cross shaft bearing.
2. entertainment robot leg mechanism according to claim 1, is characterized in that, described driver element is all connected between two adjacent skeleton units by ball joint bearing or cross shaft bearing.
3. entertainment robot leg mechanism according to claim 2, is characterized in that, comprises position sensor, is arranged at described driver element, and is connected with described control system, and the position signalling of feedback entertainment robot leg mechanism gives described control system.
4. entertainment robot leg mechanism according to claim 3, is characterized in that, described driver element is fluid pressure drive device.
5. entertainment robot leg mechanism as claimed in any of claims 1 to 4, is characterized in that, described control system controls the drive volume of each driver element by the action command pre-entered, to realize the different attitude actions of robot.
6. entertainment robot leg mechanism according to claim 5, is characterized in that, described control system comprises memory module, stores the action command of different attitude action; Input module, receives the input information of attitude action needed for operator; Control module, according to difference input information, reads the action command of different attitude action; Output module, exports corresponding action command according to described input information, drives each driver element to move.
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| CN201310038895.3A CN103111076B (en) | 2013-01-31 | 2013-01-31 | Entertainment robot leg mechanism |
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| CN201310038895.3A CN103111076B (en) | 2013-01-31 | 2013-01-31 | Entertainment robot leg mechanism |
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| CN103111076B true CN103111076B (en) | 2015-11-04 |
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Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN108818527B (en) * | 2018-06-06 | 2020-08-21 | 华强方特（深圳）科技有限公司 | Leg device of simulation robot |
| CN109392753B (en) * | 2018-11-30 | 2024-01-23 | 马耀民 | Bionic toy |
| CN109986579B (en) * | 2019-04-28 | 2021-06-15 | 山东大学 | Multi-mode motion primate-imitating robot |
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|---|---|---|---|---|
| CN2246054Y (en) * | 1995-03-16 | 1997-01-29 | 张小林 | Pneumatic walking robot |
| CN1269280A (en) * | 1999-04-05 | 2000-10-11 | 张平顺 | Two-leg walking machine |
| JP2003038861A (en) * | 2001-08-02 | 2003-02-12 | Nanami:Kk | Bipedal-walking robot toy |
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Address after: The development of high-tech building a road in Shenzhen City Huaqiang Nanshan District science and technology of Guangdong province 518000 13 floor Patentee after: Huaqiang infante (Shenzhen) Intelligent Technology Co. Address before: The development of high-tech building a road in Shenzhen City Huaqiang Nanshan District science and technology of Guangdong province 518000 13 floor Patentee before: Shenzhen Huaqiang Intelligent Technology Co., Ltd. |