CN104369192A - Recreation simulation robot - Google Patents
Recreation simulation robot Download PDFInfo
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- CN104369192A CN104369192A CN201410620742.4A CN201410620742A CN104369192A CN 104369192 A CN104369192 A CN 104369192A CN 201410620742 A CN201410620742 A CN 201410620742A CN 104369192 A CN104369192 A CN 104369192A
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Abstract
The invention provides a recreation simulation robot which comprises a skeleton structure. The skeleton structure comprises a lower robot limb skeleton body mechanism, an upper robot limb body mechanism, a robot head mechanism, a left robot shoulder mechanism and a right robot shoulder mechanism. The lower robot limb skeleton body mechanism is connected to the lower portion of the upper robot limb body mechanism. The robot head mechanism is connected to the upper portion of the upper robot limb body mechanism. The left robot shoulder mechanism is connected to the left side of the upper robot limb body mechanism. The right robot shoulder mechanism is connected to the right side of the upper robot limb body mechanism. The mechanisms of the skeleton structure each comprise a power unit and an execution mechanism connected with the power unit. The recreation simulation robot has the advantages of being safe, reliable, real in simulation, abundant in action, vivid in expression and high in interactivity and bringing huge interactive reaction experience for visitors.
Description
Technical field
The present invention relates to robot field, particularly relate to amusement emulated robot.
Background technology
In recent years, under the upsurge of film leads, robot stunt appears in the life of people in the mode of entity, transfers film element to reality, brings new bright spot to the life of people.The place such as Duo Jia megastore, building, bar, hotel, square brings new visual impact at home, the theory of the also current environmental protection of strong response.
Along with develop rapidly and the application of robot, be filled with new element and vigor to the life of people.Robot is as a kind of novel stunt of recreation facility, combined with theme park special efficacy by film element, give visitor's thrill, stimulation, real scene display and recreation experience, create huge economic worth, improve urban whole level, drive related industry develop rapidly.
There has been certain development foundation in robot at home and abroad, in amusement, education, military project etc., also have application, its bearing mode is also had nothing in common with each other: artificial intelligence (French Aldebaran Robotics company is by NAO anthropomorphic robot), people control intelligence (the KURATAS robot of Japanese water channel Bridge heavy industry), people plays the part of intelligence (the Giant Robot of the U.S.) etc.
In item of recreation, robot mainly be combined with each other with film in theme park, is presented in actual life by science fiction element in film, with the corresponding ingenious combination of theme project, and the organic interaction of spectators, bring new recreation experience.Transformer Series machine people is a project more common in the project of theme park, is mainly presented by the mode that steel engraving is shown, is mainly used in decoration, does not have tangible action to play.
Summary of the invention
In order to solve the problems of the prior art, the invention provides a kind of amusement emulated robot.
The invention provides a kind of amusement emulated robot, comprise skeleton structure, described skeleton structure comprises robot lower limb body framework main mechanism, upper limb body trunk mechanism of robot, robot head portion mechanism, Zuo Jian mechanism of robot, You Jian mechanism of robot, described robot lower limb body framework main mechanism is connected to below upper limb body trunk mechanism of described robot, described robot head portion mechanism is connected to above upper limb body trunk mechanism of described robot, Zuo Jian mechanism of described robot is connected on the left of upper limb body trunk mechanism of described robot, You Jian mechanism of described robot is connected on the right side of upper limb body trunk mechanism of described robot, each mechanism of described skeleton structure comprises power unit respectively, and the executing agency to be connected with described moving cell.
As a further improvement on the present invention, described robot lower limb body framework main mechanism comprises power unit and executing agency, described power unit comprises right leg electric cylinder, left leg electric cylinder, described executing agency comprises right thigh bone frame mechanism, left thigh bone frame mechanism, waist bindiny mechanism, described right leg electric cylinder is connected with described right thigh bone frame mechanism, described right thigh bone frame mechanism is connected with described waist bindiny mechanism, described waist bindiny mechanism is connected with described left thigh bone frame mechanism, and described left thigh bone frame mechanism is connected with described left leg electric cylinder.
As a further improvement on the present invention, upper limb body trunk mechanism of described robot comprises power unit and executing agency, described power unit comprises waist electric cylinder, described executing agency comprises upper limb body skeleton mechanism, described waist bindiny mechanism is connected with waist electric cylinder, described waist bindiny mechanism is connected with described upper limb body skeleton mechanism, and described waist electric cylinder is connected with described upper limb body skeleton mechanism.
As a further improvement on the present invention, described robot head portion mechanism comprises robot head luffing mechanism, described robot head luffing mechanism comprises power unit and executing agency, described power unit comprises head electric cylinder, described executing agency comprises head skeleton mechanism, described head electric cylinder is connected with described upper limb body skeleton mechanism, and described head skeleton mechanism is connected with described upper limb body skeleton mechanism, and described head electric cylinder is connected with described head skeleton mechanism.
As a further improvement on the present invention, described robot head portion mechanism also comprises robot head rotating mechanism, and described robot head rotating mechanism comprises head reductor, and described head reductor is connected with described head skeleton mechanism; Described robot head portion mechanism also comprises mouth cylinder, tooth portion cylinder, tooth skeleton mechanism, described mouth cylinder is installed with head skeleton mechanism and is connected, described tooth portion cylinder is installed with described head skeleton mechanism and is connected, and described tooth portion cylinder is connected with described tooth skeleton mechanism.
As a further improvement on the present invention, Zuo Jian mechanism of described robot comprises power unit and executing agency, described power unit comprises left shoulder rotary electric cylinder, left shoulder swings electric cylinder, left arm electric cylinder, described executing agency comprises left shoulder rotating mechanism, left shoulder skeleton mechanism, left arm skeleton mechanism, described left shoulder rotary electric cylinder is arranged in described upper limb body skeleton mechanism, and left shoulder rotating mechanism is connected with upper limb body skeleton mechanism; Described left shoulder swings electric cylinder and is arranged in described upper limb body skeleton mechanism, and described left shoulder skeleton mechanism is connected with described left shoulder rotating mechanism, and described left shoulder rotating mechanism is connected with described upper limb body skeleton mechanism; Described left shoulder skeleton mechanism is connected with described left arm electric cylinder, and described left arm skeleton mechanism is connected with described left arm electric cylinder, and described left shoulder skeleton mechanism is connected with described left arm skeleton mechanism.
As a further improvement on the present invention, described skeleton structure also comprises robot wrist's bending mechanism, described robot wrist's bending mechanism comprises power unit and executing agency, described power unit comprises left finesse cylinder, described executing agency comprises left hand metacarpal bone frame mechanism, described left finesse cylinder is connected with described left arm skeleton mechanism, and described left hand metacarpal bone frame mechanism is connected with described left arm skeleton mechanism, and described left hand metacarpal bone frame mechanism is connected with described left arm skeleton mechanism; Described skeleton structure also comprises left hand thumb mechanism of robot, left hand thumb mechanism of described robot comprises thumb cylinder, thumb pedestal, described thumb pedestal is arranged on described left hand metacarpal bone frame mechanism, described thumb cylinder is connected with described thumb pedestal, described thumb pedestal is connected with described thumb skeleton mechanism, and described thumb cylinder is connected with described thumb skeleton mechanism.
As a further improvement on the present invention, You Jian mechanism of described robot comprises rotating mechanism after robot right scapuloanterior, after described robot right scapuloanterior, rotating mechanism comprises right shoulder rotary electric cylinder, right shoulder rotating mechanism, described right shoulder rotary electric cylinder is arranged in described upper limb body skeleton mechanism, and described right shoulder rotating mechanism is connected with described upper limb body skeleton mechanism; You Jian mechanism of described robot also comprises the right shoulder left-right swinging mechanism of robot, described robot right shoulder left-right swinging mechanism comprises right shoulder and swings electric cylinder, right shoulder skeleton mechanism, described right shoulder swings electric cylinder and is arranged in described upper limb body skeleton mechanism, and described right shoulder skeleton mechanism is connected with described right shoulder rotating mechanism; You Jian mechanism of described robot comprises robot right arm bending mechanism, described robot right arm bending mechanism comprises right arm electric cylinder, described right shoulder skeleton mechanism is connected with described right arm electric cylinder, described right arm skeleton mechanism is connected with right arm electric cylinder, and described right shoulder skeleton mechanism is connected with described right arm skeleton mechanism.
As a further improvement on the present invention, this amusement emulated robot also comprises control system, control system controls described skeleton structure under the driving of power unit, carries out displaying performance and interaction entertainment, and the action that described control system can control this amusement emulated robot coordinates with sound.
As a further improvement on the present invention, described control system comprises PLC control unit, the average speed of the servomotor of described PLC control unit control power unit, acceleration, range of movement, beginning and ending time, PLC control unit also can control the beginning and ending time of each cylinder simultaneously.
The invention has the beneficial effects as follows: the invention provides a kind of amusement emulated robot safe and reliable, that is virtually reality like reality, its action is enriched, it is lively to show and by force interactive, is that the great interaction entertainment that visitor brings is experienced.
Accompanying drawing explanation
Fig. 1 is the skeleton structure schematic diagram of amusement emulated robot of the present invention.
Fig. 2 is the amusement emulated robot that the present invention is provided with shell moulding.
Detailed description of the invention
As shown in Figure 1, the invention discloses a kind of amusement emulated robot, comprise skeleton structure, described skeleton structure comprises robot lower limb body framework main mechanism, upper limb body trunk mechanism of robot, robot head portion mechanism, Zuo Jian mechanism of robot, You Jian mechanism of robot, described robot lower limb body framework main mechanism is connected to below upper limb body trunk mechanism of described robot, described robot head portion mechanism is connected to above upper limb body trunk mechanism of described robot, Zuo Jian mechanism of described robot is connected on the left of upper limb body trunk mechanism of described robot, You Jian mechanism of described robot is connected on the right side of upper limb body trunk mechanism of described robot, each mechanism of described skeleton structure comprises power unit respectively, and the executing agency to be connected with described moving cell.
Each mechanism of skeleton structure comprises above-mentioned robot lower limb body framework main mechanism, upper limb body trunk mechanism of robot, robot head portion mechanism, Zuo Jian mechanism of robot, You Jian mechanism of robot, namely robot lower limb body framework main mechanism comprises power unit, and the executing agency to be connected with described moving cell, upper limb body trunk mechanism of robot comprises power unit, and the executing agency to be connected with described moving cell, robot head portion mechanism comprises power unit, and the executing agency to be connected with described moving cell, Zuo Jian mechanism of robot comprises power unit, and the executing agency to be connected with described moving cell, You Jian mechanism of robot comprises power unit, and the executing agency to be connected with described moving cell.
Described robot lower limb body framework main mechanism comprises power unit and executing agency, described power unit comprises right leg electric cylinder 1, left leg electric cylinder 2, described executing agency comprises right thigh bone frame mechanism 3, left thigh bone frame mechanism 4, waist bindiny mechanism 5, described right leg electric cylinder 1 is connected with described right thigh bone frame mechanism 3, described right thigh bone frame mechanism 3 is connected with described waist bindiny mechanism 5, described waist bindiny mechanism 5 is connected with described left thigh bone frame mechanism 4, and described left thigh bone frame mechanism 4 is connected with described left leg electric cylinder 2.
The right leg electric cylinder 1 of self contained function, this amusement emulated robot turns left or turns round; The left leg electric cylinder 2 of self contained function, this amusement emulated robot turns right or turns round; Simultaneously action right leg electric cylinder 1 and left leg electric cylinder 2, can make robot lower limb body framework main mechanism squat down or stand up action.
Upper limb body trunk mechanism of described robot comprises power unit and executing agency, described power unit comprises waist electric cylinder 6, described executing agency comprises upper limb body skeleton mechanism 7, described waist bindiny mechanism 5 is connected with waist electric cylinder 6, described waist bindiny mechanism 5 is connected with described upper limb body skeleton mechanism 7, and described waist electric cylinder 6 is connected with described upper limb body skeleton mechanism 7.
Waist electric cylinder 6 action, can make upper limb body trunk mechanism of robot that pitching motion occurs.
Described robot head portion mechanism comprises robot head luffing mechanism, described robot head luffing mechanism comprises power unit and executing agency, described power unit comprises head electric cylinder 8, described executing agency comprises head skeleton mechanism 9, described head electric cylinder 8 is connected with described upper limb body skeleton mechanism 7, described head skeleton mechanism 9 is connected with described upper limb body skeleton mechanism 7, and described head electric cylinder 8 is connected with described head skeleton mechanism 9.
Described robot head portion mechanism also comprises robot head rotating mechanism, and described robot head rotating mechanism comprises head reductor 31, and described head reductor 31 is connected with described head skeleton mechanism 9.
Head electric cylinder 8 action, can make the upper and lower pitching of robot head; Head reductor 31(is connected with servomotor) action, robot head can be made to swing.
Zuo Jian mechanism of described robot comprises power unit and executing agency, described power unit comprises left shoulder rotary electric cylinder 10, left shoulder swings electric cylinder 12, left arm electric cylinder 14, described executing agency comprises left shoulder rotating mechanism 11, left shoulder skeleton mechanism 13, left arm skeleton mechanism 15, described left shoulder rotary electric cylinder 10 is arranged in described upper limb body skeleton mechanism 7, left shoulder rotating mechanism 11 is connected with upper limb body skeleton mechanism 7, rotating mechanism after composition robot left scapuloanterior (LScA).When the action of left shoulder rotary electric cylinder 10, rotate after robot left scapuloanterior (LScA) can be made.Described left shoulder swings electric cylinder 12 and is arranged in described upper limb body skeleton mechanism 7, described left shoulder skeleton mechanism 13 is connected with described left shoulder rotating mechanism 11, described left shoulder rotating mechanism 11 is connected with described upper limb body skeleton mechanism 7, the left shoulder left-right swinging mechanism of composition robot.When left shoulder swings electric cylinder 12 action, the left shoulder of robot can be made to swing.Described left shoulder skeleton mechanism 13 is connected with described left arm electric cylinder 14, described left arm skeleton mechanism 15 is connected with described left arm electric cylinder 14, described left shoulder skeleton mechanism 13 is connected with described left arm skeleton mechanism 15, composition robot left arm bending mechanism.Left arm electric cylinder 14 connecting moves, can make robot arm bend stretching, extension.
Described skeleton structure also comprises robot wrist's bending mechanism, described robot wrist's bending mechanism comprises power unit and executing agency, described power unit comprises left finesse cylinder 16, described executing agency comprises left hand metacarpal bone frame mechanism 17, described left finesse cylinder 16 is connected with described left arm skeleton mechanism 15, described left hand metacarpal bone frame mechanism 17 is connected with described left arm skeleton mechanism 15, and described left hand metacarpal bone frame mechanism 17 is connected with described left arm skeleton mechanism 15.Left finesse cylinder 16 action, can make robot wrist bend or stretch.
Described skeleton structure also comprises left hand thumb mechanism of robot, left hand thumb mechanism of described robot comprises thumb cylinder 18, thumb pedestal 19, described thumb pedestal 19 is arranged on described left hand metacarpal bone frame mechanism 17, described thumb cylinder 18 is connected with described thumb pedestal 19, described thumb pedestal 19 is connected with described thumb skeleton mechanism 20, and described thumb cylinder 18 is connected with described thumb skeleton mechanism 20.
Thumb cylinder 18 action, can make robot left hand thumb bend or stretch.This robot has " thumb, forefinger, middle finger, little finger of toe " totally 4 fingers.
You Jian mechanism of described robot comprises rotating mechanism after robot right scapuloanterior, after described robot right scapuloanterior, rotating mechanism comprises right shoulder rotary electric cylinder 21, right shoulder rotating mechanism 22, described right shoulder rotary electric cylinder 21 is arranged in described upper limb body skeleton mechanism 7, and described right shoulder rotating mechanism 22 is connected with described upper limb body skeleton mechanism 7; When the action of right shoulder rotary electric cylinder 21, rotate after robot right scapuloanterior can be made.
You Jian mechanism of described robot also comprises the right shoulder left-right swinging mechanism of robot, described robot right shoulder left-right swinging mechanism comprises right shoulder and swings electric cylinder 23, right shoulder skeleton mechanism 24, described right shoulder swings electric cylinder 23 and is arranged in described upper limb body skeleton mechanism 7, and described right shoulder skeleton mechanism 24 is connected with described right shoulder rotating mechanism 22; When right shoulder swings electric cylinder 23 action, the right shoulder of robot can be made to swing.
You Jian mechanism of described robot comprises robot right arm bending mechanism, described robot right arm bending mechanism comprises right arm electric cylinder 25, described right shoulder skeleton mechanism 23 is connected with described right arm electric cylinder 25, described right arm skeleton mechanism 24 is connected with right arm electric cylinder 25, and described right shoulder skeleton mechanism 23 is connected with described right arm skeleton mechanism 24; Right arm electric cylinder 25 connecting moves, can make robot right arm bend or stretch.
Described robot head portion mechanism also comprises mouth cylinder 28, tooth portion cylinder 29, tooth skeleton mechanism 30, described mouth cylinder 28 is installed with head skeleton mechanism 9 and is connected, described tooth portion cylinder 29 is installed with described head skeleton mechanism 9 and is connected, and described tooth portion cylinder 29 is connected with described tooth skeleton mechanism 30.
Right arm skeleton mechanism 26 and " Jia Telin " emulate amusement machine gun 27 and are connected.
Servomotor, by electric cylinder, each movable joint connecting rod mechanism movement of reductor push-and-pull robot, realizes the action of robot bionic human body limb.By air cylinder driven robot mouth and hand connecting rod mechanism movement, realize robot bionic human body and speak and gesture.
This amusement emulated robot also comprises control system, and control system controls described skeleton structure under the driving of power unit, carries out displaying performance and interaction entertainment, and the action that described control system can control this amusement emulated robot coordinates with sound.
Described control system comprises PLC control unit, and the average speed of the servomotor of described PLC control unit control power unit, acceleration, range of movement, beginning and ending time, PLC control unit also can control the beginning and ending time of each cylinder simultaneously.
This amusement emulated robot is with humanoid Bionic Design, and it lands and takes up an area long 1900mm, wide 1000mm, and be highly 3700mm, weight is about 1.1t.
Described skeleton structure is mainly based on carbon steel, aluminum alloy materials part, and part adopts POM material parts.Under the machine driving intensity ensureing robot, also alleviate the weight of robot self.
The machine driving of described robot adopts servomotor, cylinder as power unit, is realized the limb action of robot by executing agencies such as electric cylinder, reductor, crank connecting links.
The power unit of each joint action of this amusement emulated robot controls by PLC control unit is unified.
Described PLC control unit can control the average speed, acceleration, range of movement, beginning and ending time etc. of the servomotor of each joint power unit.Simultaneously PLC control unit also can beginning and ending time of control cylinder power unit.
Described PLC control unit can make each power unit independence, combination, integrating action by robot motion programs, makes robot show humanoid bionical limb action.
Described robot motion programs, while assembly robot's limb action, also shows by default robot language combination.
Described default robot language combination performance takes voice to pre-record tuning, the audio file converted to.Play its audio file when robot limb action, in the beginning and ending time of the action of PLC control unit control face and tooth power unit cylinder, simulate robot language and express.
Described robot language is expressed except adopting preset language, can also be on-the-spot artificial by sound console On-the-spot Interaction.
On-the-spot Interaction has language interaction, limb action performance and weapon show.What weapon show adopted be that a " Jia Telin " amusement emulates machine gun, and it is connected with robot skeleton structure, can move in conjunction with robot limb.
As shown in Figure 2, skeleton structure is also provided with shell moulding for this amusement emulated robot.Described shell moulding adopts carbon fibre materials, to install be connected by installing corner brace with the skeleton structure of robot.
This amusement emulated robot is totally 20 axles, and its kinematic axis action makes robot limb action, weapon is shown, talking in professional jargon is cool.Robot comprises preset language and in-site modeling two kinds of modes realize On-the-spot Interaction amusement, carries out displaying performance by deliberate action.Robot limb action and language interaction have editability, and performance is lively, and authenticity is strong.Executing agency's electric cylinder is connected with power source servomotor, by the action of push-and-pull linkage, realizes robot limb and squats down, stands up, turns left, turns right, arm bending, stretch, swing, swing, head pitching, waist is bending, stretch.Be connected with reductor by servomotor, Direct Drive Robot end rotation.By the connection of cylinder and linkage, realize the bending stretching, extension of robot wrist, the bending stretching, extension of finger, the folding of face, the folding of tooth.
The invention provides a kind of amusement emulated robot safe and reliable, that is virtually reality like reality, its action is enriched, it is lively to show and by force interactive, is that the great interaction entertainment that visitor brings is experienced
Above content is in conjunction with concrete preferred embodiment further description made for the present invention, can not assert that specific embodiment of the invention is confined to these explanations.For general technical staff of the technical field of the invention, without departing from the inventive concept of the premise, some simple deduction or replace can also be made, all should be considered as belonging to protection scope of the present invention.
Claims (10)
1. an amusement emulated robot, it is characterized in that: comprise skeleton structure, described skeleton structure comprises robot lower limb body framework main mechanism, upper limb body trunk mechanism of robot, robot head portion mechanism, Zuo Jian mechanism of robot, You Jian mechanism of robot, described robot lower limb body framework main mechanism is connected to below upper limb body trunk mechanism of described robot, described robot head portion mechanism is connected to above upper limb body trunk mechanism of described robot, Zuo Jian mechanism of described robot is connected on the left of upper limb body trunk mechanism of described robot, You Jian mechanism of described robot is connected on the right side of upper limb body trunk mechanism of described robot, each mechanism of described skeleton structure comprises power unit respectively, and the executing agency to be connected with described moving cell.
2. amusement emulated robot according to claim 1, it is characterized in that: described robot lower limb body framework main mechanism comprises power unit and executing agency, described power unit comprises right leg electric cylinder (1), left leg electric cylinder (2), described executing agency comprises right thigh bone frame mechanism (3), left thigh bone frame mechanism (4), waist bindiny mechanism (5), described right leg electric cylinder (1) is connected with described right thigh bone frame mechanism (3), described right thigh bone frame mechanism (3) is connected with described waist bindiny mechanism (5), described waist bindiny mechanism (5) is connected with described left thigh bone frame mechanism (4), described left thigh bone frame mechanism (4) is connected with described left leg electric cylinder (2).
3. amusement emulated robot according to claim 2, it is characterized in that: upper limb body trunk mechanism of described robot comprises power unit and executing agency, described power unit comprises waist electric cylinder (6), described executing agency comprises upper limb body skeleton mechanism (7), described waist bindiny mechanism (5) is connected with waist electric cylinder (6), described waist bindiny mechanism (5) is connected with described upper limb body skeleton mechanism (7), and described waist electric cylinder (6) is connected with described upper limb body skeleton mechanism (7).
4. amusement emulated robot according to claim 3, it is characterized in that: described robot head portion mechanism comprises robot head luffing mechanism, described robot head luffing mechanism comprises power unit and executing agency, described power unit comprises head electric cylinder (8), described executing agency comprises head skeleton mechanism (9), described head electric cylinder (8) is connected with described upper limb body skeleton mechanism (7), described head skeleton mechanism (9) is connected with described upper limb body skeleton mechanism (7), described head electric cylinder (8) is connected with described head skeleton mechanism (9).
5. amusement emulated robot according to claim 4, it is characterized in that: described robot head portion mechanism also comprises robot head rotating mechanism, described robot head rotating mechanism comprises head reductor (31), and described head reductor (31) is connected with described head skeleton mechanism (9); Described robot head portion mechanism also comprises mouth cylinder (28), tooth portion cylinder (29), tooth skeleton mechanism (30), described mouth cylinder (28) is installed with head skeleton mechanism (9) and is connected, described tooth portion cylinder (29) is installed with described head skeleton mechanism (9) and is connected, and described tooth portion cylinder (29) is connected with described tooth skeleton mechanism (30).
6. amusement emulated robot according to claim 3, it is characterized in that: Zuo Jian mechanism of described robot comprises power unit and executing agency, described power unit comprises left shoulder rotary electric cylinder (10), left shoulder swings electric cylinder (12), left arm electric cylinder (14), described executing agency comprises left shoulder rotating mechanism (11), left shoulder skeleton mechanism (13), left arm skeleton mechanism (15), described left shoulder rotary electric cylinder (10) is arranged on described upper limb body skeleton mechanism (7), left shoulder rotating mechanism (11) is connected with upper limb body skeleton mechanism (7), described left shoulder swings electric cylinder (12) and is arranged on described upper limb body skeleton mechanism (7), described left shoulder skeleton mechanism (13) is connected with described left shoulder rotating mechanism (11), and described left shoulder rotating mechanism (11) is connected with described upper limb body skeleton mechanism (7), described left shoulder skeleton mechanism (13) is connected with described left arm electric cylinder (14), described left arm skeleton mechanism (15) is connected with described left arm electric cylinder (14), and described left shoulder skeleton mechanism (13) is connected with described left arm skeleton mechanism (15).
7. amusement emulated robot according to claim 6, it is characterized in that: described skeleton structure also comprises robot wrist's bending mechanism, described robot wrist's bending mechanism comprises power unit and executing agency, described power unit comprises left finesse cylinder (16), described executing agency comprises left hand metacarpal bone frame mechanism (17), described left finesse cylinder (16) is connected with described left arm skeleton mechanism (15), described left hand metacarpal bone frame mechanism (17) is connected with described left arm skeleton mechanism (15), described left hand metacarpal bone frame mechanism (17) is connected with described left arm skeleton mechanism (15), described skeleton structure also comprises left hand thumb mechanism of robot, left hand thumb mechanism of described robot comprises thumb cylinder (18), thumb pedestal (19), described thumb pedestal (19) is arranged on described left hand metacarpal bone frame mechanism (17), described thumb cylinder (18) is connected with described thumb pedestal (19), described thumb pedestal (19) is connected with described thumb skeleton mechanism (20), and described thumb cylinder (18) is connected with described thumb skeleton mechanism (20).
8. amusement emulated robot according to claim 3, it is characterized in that: You Jian mechanism of described robot comprises rotating mechanism after robot right scapuloanterior, after described robot right scapuloanterior, rotating mechanism comprises right shoulder rotary electric cylinder (21), right shoulder rotating mechanism (22), described right shoulder rotary electric cylinder (21) is arranged on described upper limb body skeleton mechanism (7), and described right shoulder rotating mechanism (22) is connected with described upper limb body skeleton mechanism (7); You Jian mechanism of described robot also comprises the right shoulder left-right swinging mechanism of robot, described robot right shoulder left-right swinging mechanism comprises right shoulder and swings electric cylinder (23), right shoulder skeleton mechanism (24), described right shoulder swings electric cylinder (23) and is arranged on described upper limb body skeleton mechanism (7), and described right shoulder skeleton mechanism (24) is connected with described right shoulder rotating mechanism (22); You Jian mechanism of described robot comprises robot right arm bending mechanism, described robot right arm bending mechanism comprises right arm electric cylinder (25), described right shoulder skeleton mechanism (23) is connected with described right arm electric cylinder (25), described right arm skeleton mechanism (24) is connected with right arm electric cylinder (25), and described right shoulder skeleton mechanism (23) is connected with described right arm skeleton mechanism (24).
9. the amusement emulated robot according to any one of claim 1 to 8, it is characterized in that: this amusement emulated robot also comprises control system, control system controls described skeleton structure under the driving of power unit, carries out displaying performance and interaction entertainment, and the action that described control system can control this amusement emulated robot coordinates with sound.
10. amusement emulated robot according to claim 9, it is characterized in that: described control system comprises PLC control unit, the average speed of the servomotor of described PLC control unit control power unit, acceleration, range of movement, beginning and ending time, PLC control unit also can control the beginning and ending time of each cylinder simultaneously.
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| CN105752189A (en) * | 2015-06-03 | 2016-07-13 | 吴彦举 | Double-foot humanoid walking robot |
| CN106564050A (en) * | 2016-10-19 | 2017-04-19 | 哈工大机器人集团上海有限公司 | Multi-joint model robot |
| CN106584503A (en) * | 2016-12-30 | 2017-04-26 | 深圳市优必选科技有限公司 | Head and shoulder rotation multiplex structure of robot |
| CN108748177A (en) * | 2018-06-06 | 2018-11-06 | 华强方特（深圳）科技有限公司 | A kind of emulated robot |
| CN110238875A (en) * | 2019-06-24 | 2019-09-17 | 华中科技大学 | It is a kind of with the biped robot's arm for turning Shoulder Function |
| WO2021017080A1 (en) * | 2019-07-27 | 2021-02-04 | 南京市晨枭软件技术有限公司 | Modular robot self-repair simulation system and method |
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| CN106564050A (en) * | 2016-10-19 | 2017-04-19 | 哈工大机器人集团上海有限公司 | Multi-joint model robot |
| CN106564050B (en) * | 2016-10-19 | 2019-07-02 | 哈工大机器人集团上海有限公司 | Multi-joint Robot model |
| CN106584503A (en) * | 2016-12-30 | 2017-04-26 | 深圳市优必选科技有限公司 | Head and shoulder rotation multiplex structure of robot |
| CN106584503B (en) * | 2016-12-30 | 2023-09-08 | 深圳市优必选科技有限公司 | Head and shoulder rotation multiplexing structure of robot |
| CN108748177A (en) * | 2018-06-06 | 2018-11-06 | 华强方特（深圳）科技有限公司 | A kind of emulated robot |
| CN110238875A (en) * | 2019-06-24 | 2019-09-17 | 华中科技大学 | It is a kind of with the biped robot's arm for turning Shoulder Function |
| WO2021017080A1 (en) * | 2019-07-27 | 2021-02-04 | 南京市晨枭软件技术有限公司 | Modular robot self-repair simulation system and method |
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