CN104973158B - A kind of deformation anthropomorphic robot of cube structure - Google Patents
A kind of deformation anthropomorphic robot of cube structure Download PDFInfo
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- CN104973158B CN104973158B CN201510359826.1A CN201510359826A CN104973158B CN 104973158 B CN104973158 B CN 104973158B CN 201510359826 A CN201510359826 A CN 201510359826A CN 104973158 B CN104973158 B CN 104973158B
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Abstract
A kind of deformation anthropomorphic robot of cube structure, its structure includes deformation anthropomorphic robot body and control system, wherein, deformation anthropomorphic robot body be by some curved surfaces with various shapes, circular arc, fillet, the component combination of boss structure regular cube, control system is made up of control panel, motor, steering wheel and circuit connecting wire.Under control system effect, each part of robot can match somebody with somebody fastening deformation, and the cube structure of formation rule can also be deformed into humanoid, or other many attitudes.
Description
Technical field
The present invention relates to a kind of robot, the deformation anthropomorphic robot of more particularly to a kind of cube structure.
Background technology
Fighter toy is the robot that a class has specific physique structure and a variety of controllable postures.Its design is related generally to
Physique structure, electromechanical driving and complex control system etc..Each part of robot has certain space constraint relation, shape
The particular design of body structure allows its various pieces to constitute different shaping, existing texturing machine on the premise of above-mentioned restriction relation
The physique structure species of device people is less, and translational speed is slower, and posture and function are few.
The content of the invention
Present invention aims at a kind of deformation anthropomorphic robot with cube physique structure is provided, the invention passes through machine
Electric drive and comprehensive Collaborative Control, it is possible to achieve the automatic switchover between cube state and anthropomorphic robot state.
Technical scheme is as follows：
The present invention includes deformation anthropomorphic robot body and control system, wherein, if deformation anthropomorphic robot body be by
Dry curved surface, circular arc, fillet, the regular cube of the component combination of boss structure with various shapes, control system by
Control panel, steering wheel and circuit connecting wire composition.
Some curved surfaces with various shapes, circular arc, fillet, the part of boss structure of the deformation anthropomorphic robot,
Anthropomorphic robot can be constituted, including：Left half trunk, right half trunk, bonnet, left shoulder, left large arm, left forearm, left thigh, a left side are small
Leg, left foot, right shoulder, right large arm, right forearm, right thigh, right leg, right crus of diaphragm and head.
The deformation anthropomorphic robot body is made up of robot trunk, four limbs and head, four limbs and robot trunk activity
Connection, head and robot trunk connection.
The deformation anthropomorphic robot trunk is made up of left half trunk, right half trunk and bonnet, left half trunk and right half body
It is dry to be fixedly connected；Bonnet is detachable, left half trunk die cavity and right half trunk die cavity one cavity of formation.
It is described deformation anthropomorphic robot four limbs be made up of left upper extremity, left lower extremity, right upper extremity and right lower extremity, wherein left upper extremity and
Left lower extremity is connected with left half trunk, and right upper extremity and right lower extremity are connected with right half trunk.
The deformation anthropomorphic robot left upper extremity includes left shoulder, left large arm and left forearm, wherein left forearm is lived with left large arm
Dynamic connection, left large arm is flexibly connected with left shoulder, and left shoulder is flexibly connected with left half trunk；Left lower extremity include left thigh, left leg and
Left foot, 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 includes
Right shoulder, right large arm and right forearm, wherein right forearm is connected with right large arm, right large arm is connected with right shoulder, and right shoulder connects with right half trunk
Connect；Right lower extremity includes 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, right big
Leg is connected with right half trunk.
In control panel insertion robot trunk cavity, steering wheel be respectively embedded into left shoulder, left large arm, left forearm, left thigh,
In left leg, left foot, right shoulder, right large arm, right forearm, right thigh, right leg, the steering wheel mounting groove of right crus of diaphragm, control panel and steering wheel
It is connected by circuit connecting wire.
The control panel completes the motion control and data processing of robot, and the control panel includes main control chip, wireless
Communication module, power module, steering wheel interface circuit, LED drive circuit composition.Wherein main control chip by steering wheel interface circuit with
Steering wheel is connected and steering wheel is controlled；Wherein main control chip is connected with LED by LED drive circuit and LED is controlled.
Above network component is standard application circuit, possesses the developer of microcomputer development ability by standard chips application
Circuit constitutes the physical circuit of master board.
The present invention has advantages below.
1. robot can be deformed into square from humanoid, it is easy to carry.
2. robot architecture's design meets robot rapid deformation and Fast Restoration.
3. different conditions can just be formed by the cooperation in each joint, the need for meeting varying environment.
Brief description of the drawings
Fig. 1 is the robot expansion front view of the present invention.
Fig. 2 is the regular square isometric view of the present invention.
Fig. 3 is the regular square rear isometric view of the present invention.
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 the left thigh schematic diagram of the present invention.
Fig. 7 is the left leg schematic diagram of the present invention.
Fig. 8 is the left foot schematic diagram of the present invention.
Fig. 9 is the left shoulder schematic diagram of the present invention.
Figure 10 is the left large arm schematic diagram of the present invention.
Figure 11 is the left forearm schematic diagram of the present invention.
Figure 12 is the head schematic diagram of the present invention.
Figure 13 is the control circuit module figure of the present invention.
The component names being related in all figures see the table below.
Embodiment
Such as Fig. 1, Fig. 2, shown in Fig. 3, deformation anthropomorphic robot include robot trunk, left lower extremity, left upper extremity, right lower extremity,
Right upper extremity, head, control panel, wherein, robot trunk, left lower extremity, left upper extremity, right lower extremity, right upper extremity, head are by curved surface, circular arc, circle
The cube structure of angle, boss structure mutual cooperation and formation rule, control system is by control panel, steering wheel and circuit connecting wire group
Into.
Such as Fig. 4, shown in Fig. 5, the robot trunk is by left half trunk（3）, right half trunk（10）And bonnet（70）Composition,
Robot half trunk of a left side and right half trunk bolt（34）Nut（21）Connection, left half trunk die cavity（25）With right half trunk die cavity
（35）Form a cavity.
The left half trunk neck of deformation anthropomorphic robot（22）Leave head steering wheel mounting groove（16）, head steering wheel cabling
Passage A（19）Connected 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 hangs
Arm（23）There is the installation positioning boss A of steering wheel disk（17）, steering wheel line groove A（26）It is concentric with positioning boss A, positioning boss A
Lower section is with reeded curved surface, the steering wheel cable tray B of left half trunk shoulder cantilever（20）From steering wheel line groove A sides and a left side
Half trunk die cavity is connected；Left half trunk waist has the installation positioning boss B of steering wheel disk（18）, steering wheel line groove B（27）With determining
Position boss B is concentric, waist steering wheel cable tray C（28）It is through holes of the steering wheel line groove B to die cavity.
The right half trunk die cavity of deformation anthropomorphic robot places control panel with the cavity that left half trunk die cavity is correspondingly formed
（71）, right half trunk shoulder cantilever（36）There is the installation positioning boss C of steering wheel disk（29）, steering wheel line groove D（39）With positioning
Boss C is with one heart, below positioning boss C with reeded curved surface, steering wheel cable tray E（32）From steering wheel line groove D（39）One
Side is connected with right half trunk die cavity, and right half trunk shoulder cantilever opposite side is the circular arc camber for preventing head movement from interfering
（33）；Right half trunk waist（37）There is the installation positioning boss D of steering wheel disk（30）, steering wheel line groove D（39）With positioning boss D
With one heart, waist steering wheel cable tray D（31）It is through holes of the steering wheel line groove D to right half trunk die cavity.
As shown in fig. 6, the left thigh（6）There is thigh steering wheel mounting groove（40）, mounting groove bottom sides have circular arc to turn
Angle（44）, while knee steering wheel mounting groove（42）Misplaced with thigh steering wheel mounting groove, knee steering wheel installs groove bottom（43）With it is big
Leg steering wheel mounting groove top surface（45）At grade, it is triangle block structure between two steering wheel mounting grooves（41）；As shown in fig. 7,
Left leg（7）There is steering wheel disk that positioning boss E is installed（46）, steering wheel disk positioning boss F is installed（47）And respectively with steering wheel line
Groove E（48）, steering wheel line groove F（49）With one heart, it is left leg cabling channel between two mounting grooves（50）, the semi-circular shape of bottom with
The arc cam of left foot（52）Circle it is concentric and equal in magnitude；As shown in figure 8, left foot（8）Left foot steering wheel mounting groove（54）
Leave power line cabling breach in side（53）, power line is again through cable-through hole（55）Lead to robot external, the inclined plane groove of left foot
（51）Triangle block structure with left thigh is with width, and arc cam is connected with left thigh arc-shaped corners.Robot half trunk of a left side
The left thigh crotch steering wheel that the steering wheel disk that waist is fixed and the steering wheel mounting groove of left thigh crotch are fixedly mounted（75）Connection, it is left
The left thigh knee steering wheel that the steering wheel mounting groove of thigh knee is fixedly mounted（76）Justify with the steering wheel that left leg knee is fixed
Disk is connected, while the left foot steering wheel that the steering wheel disk fixed at left leg ankle is fixed with left foot steering wheel mounting groove（77）Connection.
As shown in figure 9, the left shoulder（2）Left shoulder surface（59）Coordinate with left half body curved surface, steering wheel disk fixing hole
（58）For through left shoulder steering wheel mounting groove（57）Through hole and with steering wheel line groove G（61）With one heart, left shoulder steering wheel cable tray F
（60）Connected from side with left shoulder steering wheel mounting groove；As shown in Figure 10, left large arm（4）Shoulder steering wheel mounting groove（62）With ancon rudder
Machine mounting groove（63）Between have left large arm cabling channel（64）；As shown in figure 11, left forearm（5）Ancon steering wheel disk fixing groove（65）
Center section is through hole.The left shoulder shoulder rudder that the steering wheel disk that left half trunk shoulder cantilever is fixed is fixed with left shoulder steering wheel mounting groove
Machine（72）Connection, the left large arm shoulder steering wheel that the steering wheel disk that left shoulder is fixed is fixed with left large arm shoulder steering wheel mounting groove（73）Even
Connect, the left large arm ancon steering wheel that then left large arm ancon steering wheel mounting groove is fixed（74）The steering wheel disk fixed with left forearm ancon
Connection.
The right lower extremity structure and left lower extremity structure mirror each other, while the right upper extremity structure and left upper extremity structure
Mirror each other.The right side that the steering wheel disk that right half trunk waist is fixed and the steering wheel mounting groove of right thigh crotch are fixedly mounted is big
Leg crotch steering wheel（81）Connection, the right thigh knee steering wheel of the steering wheel mounting groove fixed installation of the right thigh knee（82）With
The steering wheel disk connection that right leg knee is fixed, while the steering wheel disk fixed at right leg ankle and right crus of diaphragm steering wheel mounting groove
Fixed right crus of diaphragm steering wheel（83）Connection.
The right shoulder shoulder steering wheel that the steering wheel mounting groove of the steering wheel disk that right half trunk shoulder cantilever is fixed and right shoulder is fixed
（78）Connection, the right large arm shoulder steering wheel that the steering wheel disk that right shoulder is fixed is fixed with right large arm shoulder steering wheel mounting groove（79）Even
Connect, the right large arm ancon steering wheel that then the steering wheel mounting groove of right large arm ancon is fixed（80）Justify with the steering wheel that right forearm ancon is fixed
Disk is connected.
As shown in figure 12, the head（1）In eyes（66）And mouth（69）The groove of mounted LED lamp is left, while in head
Portion's steering wheel disk fixing groove（67）Leave LED cabling channel in side（68）, steering wheel disk and left half trunk neck that head is fixed
The left half trunk head steering wheel that steering wheel mounting groove is fixed（84）Connection.
The control panel completes the motion control and data processing of robot, and the control panel includes control chip
MK60DN512（Do not show in figure）, wireless communication module XL105-232AP1（Do not show in figure）, power module LM1117（In figure not
Show）, steering wheel interface circuit（Do not show in figure）, LED drive circuit composition（Do not show in figure）Composition.Wherein control chip
MK60DN512 is connected with steering wheel by steering wheel interface circuit and steering wheel is controlled；Wherein control chip MK60DN512 passes through
LED drive circuit is connected with LED and LED is controlled.Above network component is existing standard application circuit, tool
The developer of standby microcomputer development ability presses the physical circuit of standard chips application circuit composition control plate.
Described above is only the better embodiment of the present invention, therefore all constructions according to described in present patent application scope,
The equivalent change or modification that feature and principle are done, is included in the range of present patent application.
Claims (1)
1. a kind of deformation anthropomorphic robot of cube structure, it is characterised in that：Including deformation anthropomorphic robot body and control
System, wherein, deformation anthropomorphic robot body be by some curved surfaces with various shapes, circular arc, fillet, boss structure portion
The regular cube that part is combined, control system is made up of control panel, steering wheel and circuit connecting wire；Described is some with many
Curved surface, circular arc, fillet, the part of boss structure of kind of shape, including left 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；The deformation anthropomorphic robot body of described cube structure, is made up of, four limbs robot trunk, four limbs and head
All it is connected with head with deformation anthropomorphic robot trunk, left half trunk and right half trunk are connected with bolt and nut, left half trunk die cavity
A cavity is formed with right half trunk die cavity, bonnet is detachable；Robot half trunk neck of a left side leaves head steering wheel mounting groove, head
Portion's steering wheel cable tray is connected along the side of mounting groove with die cavity, and the back side of steering wheel mounting groove is curved-surface structure；Left half trunk
Shoulder cantilever has the installation positioning boss of steering wheel disk, and steering wheel line groove and positioning boss are concentric, be below positioning boss with
The curved surface of groove, the steering wheel cable tray of left half trunk shoulder cantilever is connected from steering wheel line groove side with left half trunk die cavity；
Left half trunk waist has the installation positioning boss of steering wheel disk, and steering wheel line groove and positioning boss are concentric, and waist steering wheel cabling leads to
Road is through hole of the steering wheel line groove to die cavity；Right half trunk die cavity is placed with the cavity that left half trunk die cavity is correspondingly formed and controlled
Plate, right half trunk shoulder cantilever has the installation positioning boss of steering wheel disk, and steering wheel line groove and positioning boss are concentric, positioning boss
Lower section is that steering wheel cable tray is connected from steering wheel line groove side with right half trunk die cavity, right half trunk with reeded curved surface
Shoulder cantilever opposite side is the circular arc camber for preventing head movement from interfering；The installation that right half trunk waist has steering wheel disk is determined
Position boss, steering wheel line groove and positioning boss be concentric, and waist steering wheel cable tray is steering wheel line groove to right half trunk die cavity
Through hole；Described robot four limbs, are made up of left upper extremity, left lower extremity, right upper extremity and right lower extremity, wherein left upper extremity and left lower extremity with
Left half trunk connection, right upper extremity and right lower extremity are connected with right half trunk；Described left upper extremity, left lower extremity, right upper extremity and right lower extremity,
Left upper extremity include left shoulder, left large arm and left forearm, wherein left forearm is connected with left large arm, left large arm is connected with left shoulder, left shoulder and
Left half trunk connection, the left shoulder surface of left shoulder coordinates with left half body curved surface, and steering wheel disk fixing hole is through left shoulder steering wheel peace
The through hole of tankage and concentric with steering wheel line groove, left shoulder steering wheel cable tray is connected from side with left shoulder steering wheel mounting groove；Zuo great
There is left large arm cabling channel between arm shoulder steering wheel mounting groove and ancon steering wheel mounting groove；In left forearm ancon steering wheel disk fixing groove
Between partly be through hole；The left shoulder shoulder steering wheel that the steering wheel disk that left half trunk shoulder cantilever is fixed is fixed with left shoulder steering wheel mounting groove
Connection, the steering wheel disk that left shoulder is fixed is connected with the left large arm shoulder steering wheel that left large arm shoulder steering wheel mounting groove is fixed, then left
The left large arm ancon steering wheel that large arm ancon steering wheel mounting groove is fixed is connected with the steering wheel disk that left forearm ancon is fixed；Left lower extremity bag
Left thigh, left leg and left foot are included, wherein, left foot is connected with left leg, and left leg is connected with left thigh, left thigh and left half body
Involvement connects；Right upper extremity includes right shoulder, right large arm and right forearm, wherein right forearm is connected with right large arm, right large arm is connected with right shoulder,
Right shoulder is connected with right half trunk；Right lower extremity includes right thigh, right leg and right crus of diaphragm, and wherein right crus of diaphragm is connected with right leg, right leg
It is connected with right thigh, right thigh is connected with right half trunk, left thigh has thigh steering wheel mounting groove, mounting groove bottom sides have circular arc
Shape turning, while knee steering wheel mounting groove misplaces with thigh steering wheel mounting groove, knee steering wheel is installed groove bottom and pacified with thigh steering wheel
Tankage top surface is at grade, between two steering wheel mounting grooves triangle block structure；Left leg has steering wheel disk to install convex
Platform E, steering wheel disk install positioning boss F and concentric with steering wheel line groove E, steering wheel line groove F respectively, are left between two mounting grooves
Shank cabling channel, the circle of the semi-circular shape of bottom and the arc cam of left foot is concentric and equal in magnitude；The left foot steering wheel of left foot
Leave power line cabling breach beside mounting groove, it is external that power line leads to robot through cable-through hole again, the inclined plane groove of left foot with
The triangle block structure of left thigh is connected with width, arc cam with left thigh arc-shaped corners；Robot half trunk waist of a left side is consolidated
The left thigh crotch steering wheel that fixed steering wheel disk is fixedly mounted with the steering wheel mounting groove of left thigh crotch is connected, left thigh knee
Steering wheel mounting groove be fixedly mounted left thigh knee steering wheel be connected with the steering wheel disk that left leg knee is fixed, while a left side it is small
The steering wheel disk fixed at legs and feet ankle is connected with the left foot steering wheel that left foot steering wheel mounting groove is fixed；Right lower extremity structure and left lower extremity knot
Structure mirror each other, while the right upper extremity structure and left upper extremity structure mirror each other；Described control panel, coil insertion device
In device people's trunk cavity, steering wheel be respectively embedded into left shoulder, left large arm, left forearm, left thigh, left leg, left foot, right shoulder, right large arm,
In right forearm, right thigh, right leg, right crus of diaphragm, control panel is connected with steering wheel by circuit connecting wire.
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| CN201510359826.1A CN104973158B (en) | 2015-06-26 | 2015-06-26 | A kind of deformation anthropomorphic robot of cube structure |
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| CN201510359826.1A CN104973158B (en) | 2015-06-26 | 2015-06-26 | A kind of deformation anthropomorphic robot of cube structure |
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| CN104973158B true CN104973158B (en) | 2017-07-25 |
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Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
| 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 |
Family Cites Families (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS59116572A (en) * | 1983-09-16 | 1984-07-05 | Bandai Co | Robot type timepiece |
| US9993739B2 (en) * | 2010-12-21 | 2018-06-12 | David Weeks Studio LLC | Transformable toy robot |
-
2015
- 2015-06-26 CN CN201510359826.1A patent/CN104973158B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
| 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 |
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| Publication number | Publication date |
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| CN104973158A (en) | 2015-10-14 |
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