CN104973158A - Distortional humanoid robot with cubic structure - Google Patents
Distortional humanoid robot with cubic structure Download PDFInfo
- Publication number
- CN104973158A CN104973158A CN201510359826.1A CN201510359826A CN104973158A CN 104973158 A CN104973158 A CN 104973158A CN 201510359826 A CN201510359826 A CN 201510359826A CN 104973158 A CN104973158 A CN 104973158A
- Authority
- CN
- China
- Prior art keywords
- trunk
- steering wheel
- shoulder
- thigh
- large arm
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Abstract
A distortional humanoid robot with a cubic structure comprises a humanoid robot body and a control system, wherein the humanoid robot body is a regular cube formed by multiple components with various shapes of curved surfaces, circular arcs, circular beads and boss structures in a combined mode, and the control system is composed of a control panel, a motor, steering engines and circuit connecting wires. Under the action of the control system, all the components of the robot can be mutually matched to distort to form the regular cubic structure, and the distortional humanoid robot with the cubic structure can distort to be in the shape of a person or other gestures.
Description
Technical field
The present invention relates to a kind of robot, particularly a kind of distortion anthropomorphic robot of cube structure.
Background technology
Fighter toy is the robot that a class has specific physique structure and multiple controlled attitude.Its design relates generally to physique structure, dynamo-electric driving and complex control system etc.Each component part of robot has certain space constraint relation, the customised design of physique structure makes its various piece can form different shaping under the prerequisite of above-mentioned restriction relation, the physique structure kind of existing fighter toy is less, and moving velocity is comparatively slow, attitude and function few.
Summary of the invention
The object of the invention is to provide a kind of distortion anthropomorphic robot with cube shaped body structure, and this invention is driven and comprehensive Collaborative Control by electromechanics, can realize the automatic switchover between cube state and anthropomorphic robot state.
Technical scheme of the present invention is as follows:
The present invention includes distortion anthropomorphic robot health and control system, wherein, distortion anthropomorphic robot health be there is various shape by some curved surface, circular arc, fillet, boss structure the regular cube of component combination, control system is made up of control desk, steering wheel and circuit connecting wire.
Described distortion anthropomorphic robot some have the parts of the curved surface of various shape, circular arc, fillet, boss structure, can anthropomorphic robot be formed, comprise: left half trunk, right half trunk, bonnet, left shoulder, left large arm, left forearm, left thigh, left leg, left foot, right shoulder, right large arm, right forearm, right thigh, right leg, right crus of diaphragm and head.
Described distortion anthropomorphic robot health is become with head group by robot trunk, four limbs, and four limbs and robot trunk are flexibly connected, and head is connected with robot trunk.
Described distortion anthropomorphic robot trunk is made up of left half trunk, right half trunk and bonnet, and left half trunk is fixedly connected with right half trunk; Bonnet is detachable, and left half trunk die cavity and right half trunk die cavity form a cavity.
Described distortion anthropomorphic robot four limbs are made up of left upper extremity, left lower extremity, right upper extremity and right lower extremity, and wherein left upper extremity is connected with left half trunk with left lower extremity, and right upper extremity is connected with right half trunk with right lower extremity.
Described distortion anthropomorphic robot left upper extremity comprises left shoulder, left large arm and left forearm, and wherein left forearm is flexibly connected with left large arm, and left large arm is flexibly connected with left shoulder, and left shoulder is flexibly connected with left half trunk; Left lower extremity comprises left thigh, left leg and left foot, and wherein, left foot is connected with left leg, and left leg is connected with left thigh, and left thigh is connected with left half trunk; Right upper extremity comprises right shoulder, right large arm and right forearm, and wherein right forearm is connected with right large arm, and right large arm is connected with right shoulder, and right shoulder is connected with right half trunk; Right lower extremity comprises right thigh, right leg and right crus of diaphragm, and wherein right crus of diaphragm is connected with right leg, and right leg is connected with right thigh, and right thigh is connected with right half trunk.
In described control desk embedding machine people trunk cavity, steering wheel embeds in the steering wheel mounting groove of left shoulder, left large arm, left forearm, left thigh, left leg, left foot, right shoulder, right large arm, right forearm, right thigh, right leg, right crus of diaphragm respectively, and control desk is connected by circuit connecting wire with steering wheel.
Described control desk completes motion control and the data processing of robot, and described control desk comprises main control chip, wireless communication module, power module, steering wheel interface circuit, LED drive circuit composition.Wherein main control chip to be connected with steering wheel by steering wheel interface circuit and to control steering wheel; Wherein main control chip to be connected with LED by LED drive circuit and to control LED.Above network component is standard application circuit, possesses the physical circuit of developer by standard chips application circuit composition master board of microcomputer development ability.
The present invention has the following advantages.
1. robot can be deformed into square from humanoid, is easy to carry.
2. robot architecture's design meets robot rapid deformation and Fast Restoration.
3. just can form different conditions by the cooperation in each joint, meet the needs of varying environment.
Accompanying drawing explanation
Fig. 1 is that robot of the present invention launches front view.
Fig. 2 is regular square isometric view of the present invention.
Fig. 3 is that the axles such as regular square of the present invention survey back view.
Fig. 4 is left half torso sketch of the present invention.
Fig. 5 is right half torso sketch of the present invention.
Fig. 6 is left thigh schematic diagram of the present invention.
Fig. 7 is left leg schematic diagram of the present invention.
Fig. 8 is left foot schematic diagram of the present invention.
Fig. 9 is left shoulder schematic diagram of the present invention.
Figure 10 is left large arm schematic diagram of the present invention.
Figure 11 is left forearm schematic diagram of the present invention.
Figure 12 is head schematic diagram of the present invention.
Figure 13 is control circuit module map of the present invention.
The component names related in all figure sees the following form.
Detailed description of the invention
As Fig. 1, Fig. 2, shown in Fig. 3, distortion anthropomorphic robot comprises robot trunk, left lower extremity, left upper extremity, right lower extremity, right upper extremity, head, control desk, and wherein, robot trunk, left lower extremity, left upper extremity, right lower extremity, right upper extremity, head are by curved surface, circular arc, fillet, boss structure cooperatively interacts and the cube structure of formation rule, and control system is made up of control desk, steering wheel and circuit connecting wire.
As Fig. 4, shown in Fig. 5, described robot trunk is made up of left half trunk (3), right half trunk (10) and bonnet (70), and left half trunk of robot is connected with right half trunk bolt (34) nut (21), and left half trunk die cavity (25) and right half trunk die cavity (35) form a cavity.
The left half trunk neck (22) of described distortion anthropomorphic robot leaves head steering wheel mounting groove (16), head steering wheel cable tray A(19) be communicated with along the side of mounting groove with die cavity, the back side of steering wheel mounting groove is curved-surface structure; Left half trunk shoulder cantilever (23) has the installation positioning boss A(17 of steering wheel disk), steering wheel line groove A(26) concentric with positioning boss A, be the reeded curved surface of band below positioning boss A, the steering wheel cable tray B(20 of left half trunk shoulder cantilever) be communicated with from steering wheel line groove A side with left half trunk die cavity; Left half trunk waist has the installation positioning boss B(18 of steering wheel disk), steering wheel line groove B(27) concentric with positioning boss B, waist steering wheel cable tray C(28) be the through hole of steering wheel line groove B to die cavity.
The right half trunk die cavity of described distortion anthropomorphic robot places control desk (71) with the corresponding cavity formed of left half trunk die cavity, right half trunk shoulder cantilever (36) has the installation positioning boss C(29 of steering wheel disk), steering wheel line groove D(39) concentric with positioning boss C, it is the reeded curved surface of band below positioning boss C, steering wheel cable tray E(32) from steering wheel line groove D(39) side is communicated with right half trunk die cavity, right half trunk shoulder cantilever opposite side is the circular arc camber (33) preventing head movement from interfering; Right half trunk waist (37) has the installation positioning boss D(30 of steering wheel disk), steering wheel line groove D(39) concentric with positioning boss D, waist steering wheel cable tray D(31) be the through hole of steering wheel line groove D to right half trunk die cavity.
As shown in Figure 6, described left thigh (6) has thigh steering wheel mounting groove (40), mounting groove bottom sides has arc-shaped corners (44), knee steering wheel mounting groove (42) and thigh steering wheel mounting groove misplace simultaneously, knee steering wheel mounting groove bottom surface (43) and thigh steering wheel mounting groove end face (45) at grade, are corner block structure (41) between two steering wheel mounting grooves; As shown in Figure 7, left leg (7) has steering wheel disk to install positioning boss E(46), steering wheel disk installs positioning boss F(47) and respectively with steering wheel line groove E(48), steering wheel line groove F(49) concentric, be left leg trough (50) between two mounting grooves, the semi-circular shape of bottom is concentric and equal and opposite in direction with the circle of the arc cam (52) of left foot; As shown in Figure 8, power lead cabling breach (53) is left on left foot steering wheel mounting groove (54) side of left foot (8), it is external that power lead leads to robot through cable-through hole (55) again, the inclined plane groove (51) of left foot and the corner block structure of left thigh are with wide, and arc cam is connected with left thigh arc-shaped corners.The steering wheel disk that the left half trunk waist of robot is fixed is connected with steering wheel mounting groove hard-wired left thigh crotch steering wheel (75) of left thigh crotch, the steering wheel disk that steering wheel mounting groove hard-wired left thigh knee steering wheel (76) of left thigh knee is fixing with left leg knee is connected, and the steering wheel disk that left leg ankle place is fixed simultaneously is connected with the left foot steering wheel (77) that left foot steering wheel mounting groove is fixed.
As shown in Figure 9, the left shoulder surface (59) of described left shoulder (2) coordinates with left half health curved surface, steering wheel disk fixed orifice (58) for run through left shoulder steering wheel mounting groove (57) through hole and with steering wheel line groove G(61) concentric, left shoulder steering wheel cable tray F(60) be communicated with from side with left shoulder steering wheel mounting groove; As shown in Figure 10, left large arm trough (64) is had between left large arm (4) shoulder steering wheel mounting groove (62) and ancon steering wheel mounting groove (63); As shown in figure 11, left forearm (5) ancon steering wheel disk hold down groove (65) centre portion is through hole.The steering wheel disk that left half trunk shoulder cantilever is fixed is connected with the left shoulder shoulder steering wheel (72) that left shoulder steering wheel mounting groove is fixed, the steering wheel disk that left shoulder is fixed is connected with the left large arm shoulder steering wheel (73) that left large arm shoulder steering wheel mounting groove is fixed, and the left large arm ancon steering wheel (74) that then left large arm ancon steering wheel mounting groove is fixing and the steering wheel disk that left forearm ancon is fixed are connected.
Described right lower extremity structure and left lower extremity structure mirror each other, simultaneously described right upper extremity structure and left upper extremity structure mirror each other.The steering wheel disk that right half trunk waist is fixed is connected with steering wheel mounting groove hard-wired right thigh crotch steering wheel (81) of right thigh crotch, the steering wheel disk that steering wheel mounting groove hard-wired right thigh knee steering wheel (82) of described right thigh knee is fixing with right leg knee is connected, and the steering wheel disk that right leg ankle place is fixed simultaneously is connected with the right crus of diaphragm steering wheel (83) that right crus of diaphragm steering wheel mounting groove is fixed.
The steering wheel disk that right half trunk shoulder cantilever is fixed is connected with the right shoulder shoulder steering wheel (78) that the steering wheel mounting groove of right shoulder is fixed, the steering wheel disk that right shoulder is fixed is connected with the right large arm shoulder steering wheel (79) that right large arm shoulder steering wheel mounting groove is fixed, and the right large arm ancon steering wheel (80) that then the steering wheel mounting groove of right large arm ancon is fixing is connected with the steering wheel disk that right forearm ancon is fixed.
As shown in figure 12, described head (1) leaves the groove of mounted LED lamp at eyes (66) and mouth (69), leave LED trough (68) in head steering wheel disk hold down groove (67) side, the steering wheel disk that head is fixed is connected with the left side half trunk head steering wheel (84) that left half trunk neck steering wheel mounting groove is fixed simultaneously.
Described control desk completes motion control and the data processing of robot, and it is not shown in the figures that described control desk comprises control chip MK60DN512(), wireless communication module XL105-232AP1(is not shown in the figures), power module LM1117(is not shown in the figures), steering wheel interface circuit (not shown), LED drive circuit composition (not shown) composition.Wherein control chip MK60DN512 to be connected with steering wheel by steering wheel interface circuit and to control steering wheel; Wherein control chip MK60DN512 to be connected with LED by LED drive circuit and to control LED.Above network component is existing standard application circuit, possesses the physical circuit of developer by standard chips application circuit composition control plate of microcomputer development ability.
The above is only better embodiment of the present invention, therefore all equivalences done according to structure, feature and the principle described in patent claim of the present invention change or modify, and are included in patent claim of the present invention.
Claims (7)
1. the distortion anthropomorphic robot of a cube structure, it is characterized in that: comprise distortion anthropomorphic robot health and control system, wherein, distortion anthropomorphic robot health be there is various shape by some curved surface, circular arc, fillet, boss structure the regular cube of component combination, control system is made up of control desk, steering wheel and circuit connecting wire.
2. according to claim 1 some there is various shape curved surface, circular arc, fillet, boss structure parts comprise a left side half trunk of composition anthropomorphic robot, right half trunk, bonnet, left shoulder, left large arm, left forearm, left thigh, left leg, left foot, right shoulder, right large arm, right forearm, right thigh, right leg, right crus of diaphragm and head.
3. the distortion anthropomorphic robot health of cube structure is become with head group by robot trunk, four limbs according to claim 1, and four limbs and head are all connected with distortion anthropomorphic robot trunk.
4. robot trunk is made up of left half trunk, right half trunk and bonnet according to claim 3, and left half trunk is fixedly connected with right half trunk; Bonnet is detachable, and left half trunk die cavity and right half trunk die cavity form a cavity.
5. robot four limbs are made up of left upper extremity, left lower extremity, right upper extremity and right lower extremity according to claim 4, and wherein left upper extremity is connected with left half trunk with left lower extremity, and right upper extremity is connected with right half trunk with right lower extremity.
6. robot left upper extremity comprises left shoulder, left large arm and left forearm according to claim 5, and wherein left forearm is connected with left large arm, and left large arm is connected with left shoulder, and left shoulder is connected with left half trunk; Left lower extremity comprises left thigh, left leg and left foot, and wherein, left foot is connected with left leg, and left leg is connected with left thigh, and left thigh is connected with left half trunk; Right upper extremity comprises right shoulder, right large arm and right forearm, and wherein right forearm is connected with right large arm, and right large arm is connected with right shoulder, and right shoulder is connected with right half trunk; Right lower extremity comprises right thigh, right leg and right crus of diaphragm, and wherein right crus of diaphragm is connected with right leg, and right leg is connected with right thigh, and right thigh is connected with right half trunk.
7. according to claim 1 in control desk embedding machine people trunk cavity, steering wheel embeds in left shoulder, left large arm, left forearm, left thigh, left leg, left foot, right shoulder, right large arm, right forearm, right thigh, right leg, right crus of diaphragm respectively, and control desk is connected by circuit connecting wire with steering wheel.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510359826.1A CN104973158B (en) | 2015-06-26 | 2015-06-26 | A kind of deformation anthropomorphic robot of cube structure |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510359826.1A CN104973158B (en) | 2015-06-26 | 2015-06-26 | A kind of deformation anthropomorphic robot of cube structure |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN104973158A true CN104973158A (en) | 2015-10-14 |
| CN104973158B CN104973158B (en) | 2017-07-25 |
Family
ID=54270247
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510359826.1A Active CN104973158B (en) | 2015-06-26 | 2015-06-26 | A kind of deformation anthropomorphic robot of cube structure |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN104973158B (en) |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS59116572A (en) * | 1983-09-16 | 1984-07-05 | Bandai Co | Robot type timepiece |
| CN2478653Y (en) * | 2001-04-23 | 2002-02-27 | 黄宋文 | Vehicle and armored person deforming toy |
| CN102431604A (en) * | 2011-11-09 | 2012-05-02 | 上海交通大学 | Humanoid robot with function of interchanging double-foot walking with wheeled moving |
| US20120156960A1 (en) * | 2010-12-21 | 2012-06-21 | David Weeks Studio LLC | Transformable Toy Robot |
| CN102975784A (en) * | 2012-11-13 | 2013-03-20 | 王斌 | Novel humanoid speed racing robot |
| CN103071300A (en) * | 2012-12-10 | 2013-05-01 | 宁波市米乐玩具礼品有限公司 | Building block robot assembly method |
| CN203043537U (en) * | 2012-09-26 | 2013-07-10 | 楼峰明 | Novel robot educational toy |
-
2015
- 2015-06-26 CN CN201510359826.1A patent/CN104973158B/en active Active
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS59116572A (en) * | 1983-09-16 | 1984-07-05 | Bandai Co | Robot type timepiece |
| CN2478653Y (en) * | 2001-04-23 | 2002-02-27 | 黄宋文 | Vehicle and armored person deforming toy |
| US20120156960A1 (en) * | 2010-12-21 | 2012-06-21 | David Weeks Studio LLC | Transformable Toy Robot |
| CN102431604A (en) * | 2011-11-09 | 2012-05-02 | 上海交通大学 | Humanoid robot with function of interchanging double-foot walking with wheeled moving |
| CN203043537U (en) * | 2012-09-26 | 2013-07-10 | 楼峰明 | Novel robot educational toy |
| CN102975784A (en) * | 2012-11-13 | 2013-03-20 | 王斌 | Novel humanoid speed racing robot |
| CN103071300A (en) * | 2012-12-10 | 2013-05-01 | 宁波市米乐玩具礼品有限公司 | Building block robot assembly method |
Also Published As
| Publication number | Publication date |
|---|---|
| CN104973158B (en) | 2017-07-25 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN106607910B (en) | A kind of robot imitates method in real time | |
| CN105185189A (en) | Flight simulation platform | |
| CN104908838A (en) | Transformed-wheel human-shaped robot with cubic structure | |
| CN107818318B (en) | Humanoid robot simulation similarity evaluation method | |
| CN103218929B (en) | A kind of based on navigation simulation method and system in the station module of Head down tilt bed rest | |
| CN205087052U (en) | Wheeled anthropomorphic robot of deformation of cube structure | |
| CN105730546A (en) | 3D printing technology-based minitype bionic six-legged robot | |
| UA89155C2 (en) | Method and human performance modelling system in specified environment | |
| CN105035196A (en) | Transformable wheeled robot of cubic structure | |
| CN204895640U (en) | Deformation anthropomorphic robot of cube structure | |
| CN204895641U (en) | Wheeled robot of deformation of cube structure | |
| CN103093684A (en) | Novel six-degree-of-freedom (six-dof) motion platform | |
| CN104973158A (en) | Distortional humanoid robot with cubic structure | |
| Merino et al. | Forward kinematic model for continuum robotic surfaces | |
| CN205310281U (en) | Humanoid robot | |
| CN208698927U (en) | A kind of intelligence machine lion | |
| CN204796466U (en) | Locator casing and locator | |
| US11461867B2 (en) | Visual interface and communications techniques for use with robots | |
| CN105215996B (en) | Ten degree of freedom robot | |
| CN112256028A (en) | Method, system, equipment and medium for controlling compliant gait of biped robot | |
| Irawan et al. | Optimizing hexapod robot reconfiguration using hexa-quad transformation | |
| CN103009400B (en) | Mechanical hand thumb joint component, joint supporting member and joint | |
| CN206011062U (en) | Ectoskeleton takes | |
| Liu et al. | Development of a 2-dof spherical joint with extended range of motion achieves continuous rotation | |
| CN114347057B (en) | Humanoid robot |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |