CN105619392A

CN105619392A - Robot with stable balance performance and control method of robot

Info

Publication number: CN105619392A
Application number: CN201610187944.3A
Authority: CN
Inventors: 刘子骞
Original assignee: Individual
Current assignee: Individual
Priority date: 2016-03-29
Filing date: 2016-03-29
Publication date: 2016-06-01
Anticipated expiration: 2036-03-29
Also published as: CN105619392B

Abstract

The invention relates to a robot with stable balance performance and a control method of the robot. The robot comprises a body arranged on an iron plate, a left leg driving device and a right leg driving device which are hinged to two sides of the lower end of the body respectively, a left foot driving device hinged to the lower end of the left leg driving device, a right foot driving device hinged to the lower end of the right leg driving device as well as an electric control unit, wherein the left leg driving device and the right leg driving device are identical in structure and are arranged symmetrically about the central line of the body, and the right foot driving device and the left foot driving device are identical in structure and are arranged symmetrically about the central line of the body. The robot is compact in structure, reasonable in design, capable of realizing loaded work and suitable for large-scale popularization.

Description

The robot that a kind of balance quality is stable and control method thereof

Technical field

The present invention relates to the stable robot of a kind of balance quality and control method thereof, it is specifically related to a kind of anthropomorphic robot can walked on the road that iron plate is laid.

Background technology

What anthropomorphic robot extensively adopted is that self-equilibrating technology is to realize motor capacity, the gable structure of robot is built with metal parts, human synovial function is realized by control motor, at control motor with in various kinds of sensors such as anthropomorphic robot body interior installation rate, position, acceleration, angles, the action state of control is carried out by sensor information analysis, limbs balance is kept, various actions such as realizing walking, swing arm when avoiding falling down, squat down, turn round by control motor adjustment. But it has following shortcoming: be first that robot cost remains high, realize self-equilibrating walking, ensure that there is a stable action state in robot, anthropomorphic robot is avoided to fall down in moving process, must possess perfect sensor senses system, sensor time of response, data precision require higher, require that robot each portion drive-motor has higher control accuracy and response speed, self-balance robot data process method relation is complicated simultaneously, and multinomial reason makes anthropomorphic robot with high costs; Self-balance robot requires high for own material, moves the impact for balance to reduce robot each portion limbs center of gravity, avoids falling down in robot motion's process, it is desired to robot must alleviate each portion weight, and the selection for material, parts is more harsh; Because anthropomorphic robot is without balance strength stable, reliable, that continue, the height of anthropomorphic robot must be limited, lower center of gravity improves the stability of robot, cause simultaneously and between anthropomorphic robot and true man, there is bigger height differences limit, the application places of restriction anthropomorphic robot and environment; The most anthropomorphic robot in market is only for simple language and Human communication, it is possible to be engaged in certain dancing action, but most humanoid machine does not possess the ability of heavy burden work.

Summary of the invention

Technical problem to be solved by this invention is to provide a kind of rational in infrastructure and robot that balance quality is stable and control method thereof.

For solving the problem, the technical solution used in the present invention is:

The robot that a kind of balance quality is stable, comprise the body being arranged on above iron plate, it is hinged on left leg drive unit and the right leg drive device of the body lower end both sides respectively, it is hinged on the left foot drive unit of the left lower end of leg drive unit, it is hinged on right foot driving device and the electric control unit of the lower end of right leg drive device, left leg drive unit is identical with the structure of right leg drive device, left leg drive unit and right leg drive device are symmetrical arranged relative to body medullary ray, right foot driving device is identical with the structure of left foot drive unit, right foot driving device and left foot drive unit are symmetrical arranged relative to body medullary ray, left foot drive unit comprises and being arranged on above iron plate and hinged left foot frame and the left foot electro-magnet that is arranged on left foot frame with left leg drive unit, and left foot electro-magnet is corresponding with the upper surface of iron plate, right foot driving device comprises and being arranged on above iron plate and hinged right pin frame and the right pin electro-magnet that is arranged on right pin frame with right leg drive device, and right pin electro-magnet is corresponding with the upper surface of iron plate, left leg drive unit comprises at least two to be imitated the control motor in human leg joints and is arranged on the thigh bone imitating human body between control motor and connect frame, electric control unit comprise be arranged in the body electric machine control device andlogic control mainboard, for check the upper surface of left foot electro-magnet and iron plate left detection module and for the right detection module of the upper surface that checks right pin electro-magnet and iron plate, left detection module and right detection module respectively by the electric signal transmission that gathers separately to logic control mainboard, logic control mainboard controls electric machine main shaft accordingly by motor controller controls and rotates, and logic control mainboard controls the coil of left foot electro-magnet and/or the coil power on/off of right pin electro-magnet respectively.

Further, described left detection module comprise be arranged on left foot electro-magnet side left front toe point contact member be arranged on another side of left foot electro-magnet left back heel contact member or be arranged on left foot electro-magnet side left front toe point contact member with for checking the left water level gauge element of left foot electro-magnet level; Described right detection module comprise be arranged on right pin electro-magnet side right front toe point contact member be arranged on right another side of pin electro-magnet right back heel contact member or be arranged on right pin electro-magnet side right front toe point contact member with for checking the right water level gauge element of right pin electro-magnet level.

Further, also comprise be hinged on side, body upper end left arm drive unit, hinged be arranged on the right arm drive unit of another side, body upper end and/or the hinged head drive unit being arranged on body upper end.

Further, left leg drive unit comprises and drives the left articulationes metatarsophalangeae motor swung before and after left foot electro-magnet, left foot link span, the left ankle joint motor driving left foot link span to swing, left shank link span, drives and swing motor, left thigh link span before and after the left knee joint swung before and after left shank link span, drive the left hip joint swung before and after left thigh link span to swing link span, left leg rotating shaft, left leg shaft coupling on motor, hipbone and be fixedly installed on the left hip joint rotary electric machine of body lower-left end, the motor shaft of left foot frame and left articulationes metatarsophalangeae motor is hinged, the housing of left articulationes metatarsophalangeae motor is fixedly connected with left foot link span, left foot link span is fixedly connected with the housing of left ankle joint motor, motor shaft and the left shank link span of left ankle joint motor are hinged, left shank link span is fixedly connected with the housing swinging motor before and after left knee joint, the motor shaft and the left thigh link span that swing motor before and after left knee joint are hinged, the housing that left thigh link span swings motor with left hip joint is fixedly connected with, it is hinged that left hip joint swings link span on the motor shaft of motor and hipbone, on hipbone, link span is connected with left leg shaft coupling transmission by left leg rotating shaft, left leg shaft coupling is connected with left hip joint rotary electric machine.

Further, left leg drive unit comprises the left articulationes metatarsophalangeae motor driving and swinging before and after left foot electro-magnet, left foot link span, drive the left ankle joint motor that left foot link span swings, left shank link span, left knee side pendulum link span, motor is swung about the left knee joint swung about driving left knee side pendulum link span, left knee joint is rotationally connected frame, left knee rotates joint motor, drive and swing motor before and after the left knee joint swung before and after the pendulum link span of left knee side, left thigh link span, the left hip joint swung before and after left thigh link span is driven to swing motor, link span on hipbone, left leg rotating shaft, left leg shaft coupling and be fixedly installed on the left hip joint rotary electric machine of body lower-left end, the motor shaft of left foot frame and left articulationes metatarsophalangeae motor is hinged, the housing of left articulationes metatarsophalangeae motor is fixedly connected with left foot link span, left foot link span is fixedly connected with the housing of left ankle joint motor, motor shaft and the left shank link span of left ankle joint motor are hinged, the housing that left shank link span rotates joint motor with left knee is fixedly connected with, the motor shaft of left knee rotation joint motor and left knee joint are rotationally connected frame and are rotationally connected, left knee joint is rotationally connected frame and is fixedly connected with the housing swinging motor before and after left knee joint, the motor shaft and the left thigh link span that swing motor before and after left knee joint are hinged, left thigh link span with swing electric machine casing about left knee joint and be fixedly connected with, the motor shaft and the left knee side pendulum link span that swing motor about left knee joint are hinged, the housing that left knee side pendulum link span swings motor with left hip joint is fixedly connected with, it is hinged that left hip joint swings link span on the motor shaft of motor and hipbone, on hipbone, link span is connected with left leg shaft coupling transmission by left leg rotating shaft, left leg shaft coupling is connected with left hip joint rotary electric machine.

Further, the left shoulder joint rotary electric machine that left arm drive unit comprises left hand articulations digitorum manus motor, left hand palm link span, left wrist joint motor, left forearm link span, left elbow joint motor, left large arm link span, left shoulder joint swing motor, left shoulder blade link span, left shoulder rotating shaft, left arm shaft coupling and is fixedly installed on the body

The motor shaft of left hand articulations digitorum manus motor and left hand palm link span are hinged, left hand palm link span is fixedly connected with the housing of left wrist joint motor, motor shaft and the left forearm link span of left wrist joint motor are hinged, left forearm link span is fixedly connected with the housing of left elbow joint motor, motor shaft and the left large arm link span of left elbow joint motor are hinged, the housing that left large arm link span swings motor with left shoulder joint is fixedly connected with, motor shaft and the left shoulder blade link span of left shoulder joint swing motor are hinged, left shoulder blade link span is connected with left arm shaft coupling transmission by left shoulder rotating shaft, left arm shaft coupling is connected with left shoulder joint rotary electric machine, right arm drive unit is identical with the structure of left arm drive unit, and right arm drive unit and left arm drive unit are symmetrical arranged relative to body medullary ray.

Further, upper head drive unit comprises the head rotation motor that housing is fixedly installed on the body.

Further, described electric control unit also comprises man-machine interaction interface, cableless communication module and the electrical source of power being arranged on the body, electrical source of power is for providing power supply, logic control mainboard passes the signal to man-machine interaction interface, cableless communication module by electric signal transmission to logic control mainboard, logic control mainboard is by the left articulationes metatarsophalangeae motor of motor controller controls, left ankle joint motor, motor is swung about left knee joint, left knee rotates joint motor, motor is swung before and after left knee joint, left hip joint swings motor, left hip joint rotary electric machine, left hand articulations digitorum manus motor, left wrist joint motor, left elbow joint motor, left shoulder joint swings motor, left shoulder joint rotary electric machine, head rotation motor, right arm drive unit controls motor accordingly and/or right foot driving device controls the rotation of motor accordingly.

Further, described electric control unit also comprises sensor control module, sensor control module is gyrostat and/or angle detecting sensor and/or angle of inclination detecting sensor and/or multiaxis Gravity accelerometer and/or color detecting sensor and/or infrared sensor, sensor control module andlogic control mainboard is electrically connected, and described sensor control module is arranged on left foot drive unit, left leg drive unit, left arm drive unit, right foot driving device, right leg drive device, right arm drive unit, the body and/or head drive unit.

Further, the structure of left shank link span, left thigh link span, left hand palm link span, left forearm link span and left large arm link span is identical, left hand palm link span comprises the middle frame that hinged motor rack is connected and the fixed electrical machinery frame being arranged on the middle frame the other end with hinged motor rack, hinged motor rack is provided with band keyway through hole, the motor shaft of left hand articulations digitorum manus motor is arranged in band keyway through hole and is connected by key, and fixed electrical machinery frame is fixedly connected with the housing of left wrist joint motor.

As preferably, logic control mainboard is AVR, STM32 or Atmel microprocessor is the surface-mounted integrated circuit of core, can select the integrated system environment such as raspberry group, arduino, AVR,

The method that control is walked on iron plate, it uses above-mentioned a kind of robot;

It comprises preproduction phase and the first walking phase after the preproduction phase;

Preproduction phase comprises the steps:

Step a: perform robot and attention, left front toe point contact member, left back heel contact member, right front toe point contact member and right back heel contact member contact with iron plate respectively, contact with iron plate after logic control mainboard control left foot electro-magnet and/or the energising of right pin electro-magnet;

Step b: after execution of step a, performs robot starting; The control left foot electro-magnet power-off of logic control mainboard and the energising of right pin electro-magnet, logic control mainboard controls left hip joint respectively by electric machine control device and swings before motor on pendulum, left ankle joint motor and to swing pendulum after motor before and after pendulum and left knee joint, and logic control mainboard controls left front toe point contact member, left back heel contact member and left foot electro-magnet respectively by electric machine control device and upwards lifts and leave iron plate;

First walking phase comprises the steps:

Step c: simultaneously or after execution of step b, execution robot level is taken a step at execution step b; Logic control mainboard controls to put before left hip joint swings motor by electric machine control device respectively, swing before and after left knee joint that reset motor stretches, left ankle joint motor swings and left articulationes metatarsophalangeae motor swings, simultaneously, taking the electromagnetism suction of right pin electro-magnet as fulcrum, the right ankle joint motor of right leg drive device and right articulationes metatarsophalangeae driven by motor body anterior displacement rotate, the right hip joint of right leg drive device swings motor and makes and right ankle joint motor, right articulationes metatarsophalangeae motor shaft turning direction opposite action, keeps the vertical state of the body;

Steps d: after execution of step c, performs robot forward foot in a step level and contacts to earth action, logic control mainboard swings motor with unit pulse by the left hip joint of motor controller controls, left ankle joint motor, left articulationes metatarsophalangeae motor, the right hip joint of right leg drive device swings motor, the adjustment action driving left foot electro-magnet to contact made with iron plate forming surface by right ankle joint motor and/or right articulationes metatarsophalangeae motor, until left front toe point contact member contacts with iron plate upper surface with left back heel contact member, left front toe point contact member and left back heel contact member feedback electrical signal are to logic control mainboard, logic control mainboard is stopped by adjustment action described in motor controller controls, left foot electro-magnet arrives the prefabricated height relative to iron plate upper surface,

Step e: after execution of step d, performs electromagnetic suction and switches; Left front toe point contact member and left back heel contact member are by electric signal transmission to logic control mainboard, and logic control mainboard controls right pin electro-magnet power-off and the energising of left foot electro-magnet;

Step f: after execution of step e, performs robot center of gravity reach and pushes; Logic control mainboard controls motor accordingly by motor controller controls right leg drive device, taking right foot driving device as fulcrum, make forward center of gravity propelling movement action, synchronous logic control mainboard controls motor accordingly by the left leg drive unit of motor controller controls and left foot drive unit, taking the electromagnetism suction of left foot electro-magnet as fulcrum, pull work before making center of gravity, center of gravity is pushed to above left foot drive unit, left foot electro-magnet and iron plate upper surface adhesive;

Step g: after execution of step f, performs robot and receives forward the rear foot; With left foot drive unit fulcrum, logic control mainboard controls motor accordingly by motor controller controls right leg drive device and/or right foot driving device, drives right foot driving device forward rocking motion or receives forward pin; After execution of step g, the first walking phase is finished.

As preferably, performing step c, simultaneously or after execution of step c and before performing step f, execution robot upper limbs swings, and logic control mainboard controls left arm drive unit respectively by electric machine control device and/or swinging arm made by right arm drive unit.

As preferably, in steps d, described prefabricated height is zero left foot electro-magnet and iron plate upper surface maybe can be made to produce the height of magnetic power.

The useful effect adopting technique scheme to produce is:

The present invention is by change the bionical lower limb hip joint, knee joint, articulationes metatarsophalangeae and the ankle-joint location angle that keep suction as setting out, instruction is sent by logic control mainboard, corresponding control motor carries out fine adjustments with 1 and above action angle, trunk shell made up and down, leans forward, hypsokinesis, left-hand rotation, the mild action such as right-hand rotation, drive the electro-magnet being under new target location powering-off state to make pose adjustment, until electro-magnet under powering-off state and can forming surface contacting after reaching predeterminable range and ensure energising between walking road surface.

In the present invention, adjust bionical lower limb hip joint that non-suction keeps, knee joint, articulationes metatarsophalangeae and ankle-joint location angle for setting out, instruction is sent by logic control mainboard, corresponding control motor carries out fine adjustments with 1 and above action angle, actions such as making and bionical lift tiptoe, presser feet point, lift pin, stop over, until electro-magnet under powering-off state and can forming surface contacting after reaching predeterminable range and ensure energising between walking road surface.

In the present invention, keep the bionical lower limb of suction and each joint of bionical lower limb of non-suction maintenance to adjust simultaneously, instruction is sent by logic control mainboard, corresponding control motor carries out fine adjustments with 1 and above action angle, until electro-magnet under powering-off state and can forming surface contacting after reaching predeterminable range and ensure energising between walking road surface. Make non-energized magnet and integrally mounted contact member to front or rear movement by each control motor, bionical take a step action for single leg. Link span can expand the control motor being installed as and increasing anthropomorphic robot degree of freedom, can provide motion feature sensor or position feature sensor that position is installed, swing motor about left knee joint in Fig. 4, left knee joint is rotationally connected frame and left knee rotates joint motor, add the degree of freedom of left leg, adjusting humanoid machine prevents side direction external force from falling down in the process of walking, and it is more reasonable to design. Electric machine control device can control motor to each and send motor shaft sense of rotation and angle or time or speed instruction.

Wherein each contact member of the present invention send to logic control mainboard between the road surface of corresponding electro-magnet and anthropomorphic robot walking near time the switching value that produces or pressure signal or magneticinduction signal, require that being in triggering state contacts element can not hinder the distance between electro-magnet with walking road to contact, and can select vernier switch under non-wet environment.

Wherein each link span of the present invention can select the material such as aluminium, engineering plastics, can install bearing or cup formula bearing reducing friction resistance additional between link span and control motor shaft, can install elastomeric pad additional for easily causing the position of control motor rotation blockage.

Wherein the logic control mainboard of the present invention is formulated to electric machine control device sending action instruction, electric machine control device can independently carry out control motor operation, non-interference between control motor, by be arranged on lower-left limb, bottom right limb, upper left limb, right upper extremity, trunk, head six part control motor realize the teamwork of anthropomorphic robot, logic control mainboard is with different action phase to the sending action instruction respectively of electric machine control device, and substep reaches anthropomorphic robot walking object.

Wherein the cableless communication module of the present invention can be bluetooth, Wi-Fi, wireless data communication, GSM/GPRS module etc., cableless communication module andlogic control mainboard connects, anthropomorphic robot operator is as required by wireless or wired instruction code set in advance to the transmission of logic mainboard, it is achieved an anthropomorphic robot distant place manipulates.

Wherein the electrical source of power of the present invention provides from the energy of external power source or battery or energy storage.

Accompanying drawing explanation

Fig. 1 is the structural representation of the present invention.

Fig. 2 is the main TV structure schematic diagram of the present invention.

Fig. 3 is the perspective view of the present invention.

Fig. 4 is the structural representation that the present invention improves.

Fig. 5 is the main TV structure schematic diagram that the present invention improves.

Fig. 6 is the main TV structure schematic diagram of the present invention's left shoulder rotating shaft.

Fig. 7 is the structural representation of the left shoulder rotating shaft of the present invention.

Fig. 8 is the structural representation of the left shank link span of the present invention.

Fig. 9 is the structural representation of the left shoulder blade link span of the present invention.

Figure 10 is the circuit structure block diagram of the present invention.

Wherein: 1, left foot drive unit; 2, left leg drive unit; 3, left arm drive unit; 4, right foot driving device; 5, right leg drive device; 6, right arm drive unit; 7, the body; 8, head drive unit; 9, left front toe point contact member; 10, left back heel contact member; 11, left foot electro-magnet; 12, left foot frame; 13, left articulationes metatarsophalangeae motor; 14, left foot link span; 15, left ankle joint motor; 16, left shank link span; 17, motor is swung before and after left knee joint; 18, left thigh link span; 19, left hip joint swings motor; 21, link span on hipbone; 22, left leg rotating shaft; 23, left leg shaft coupling; 24, left hip joint rotary electric machine; 25, left hand articulations digitorum manus motor; 26, left hand palm link span; 27, left wrist joint motor; 28, left forearm link span; 29, left elbow joint motor; 30, left large arm link span; 31, left shoulder joint swings motor; 32, left shoulder blade link span; 33, left shoulder rotating shaft; 34, left arm shaft coupling; 35, left shoulder joint rotary electric machine; 36, head rotation motor; 37, electric machine control device; 38, man-machine interaction interface; 39, cableless communication module; 40, electrical source of power; 41, logic control mainboard; 42, sensor control module; 43, left knee side pendulum link span; 44, motor is swung about left knee joint; 45, left knee joint is rotationally connected frame; 46, left knee rotates joint motor; 47, rotation axis; 48, be rotatably connected flange; 49, mounting flange frame; 50, inner via hole; 51, transmission shaft; 52, fixed electrical machinery frame; 53, middle frame; 54, hinged motor rack; 55, band keyway through hole; 56, right front toe point contact member; 57, right back heel contact member; 58, right pin electro-magnet.

Embodiment

As Figure 1-10 shows, the present invention comprises the body 7 being arranged on above iron plate, it is hinged on left leg drive unit 2 and the right leg drive device 5 of the body 7 times end both sides respectively, it is hinged on the left foot drive unit 1 of left leg drive unit 2 times ends, it is hinged on right foot driving device 4 and the electric control unit of right leg drive device 5 times ends, left leg drive unit 2 is identical with the structure of right leg drive device 5, left leg drive unit 2 is symmetrical arranged relative to the body 7 medullary ray with right leg drive device 5, right foot driving device 4 is identical with the structure of left foot drive unit 1, right foot driving device 4 is symmetrical arranged relative to the body 7 medullary ray with left foot drive unit 1,

Left foot drive unit 1 comprises and being arranged on above iron plate and hinged left foot frame 12 and the left foot electro-magnet 11 that is arranged on left foot frame 12 with left leg drive unit 2, and left foot electro-magnet 11 is corresponding with the upper surface of iron plate;

Right foot driving device 4 comprises and being arranged on above iron plate and hinged right pin frame and the right pin electro-magnet 58 that is arranged on right pin frame with right leg drive device 5, and right pin electro-magnet 58 is corresponding with the upper surface of iron plate; As the structural distortion of the present invention, left foot frame 12 and left foot electro-magnet 11 can be one, and right pin frame and right pin electro-magnet 58 can be one;

Left leg drive unit 2 comprises at least two to be imitated the control motor in human leg joints and is arranged on the thigh bone imitating human body between control motor and connect frame;

Electric control unit comprises the electric machine control device 37 andlogic control mainboard 41 being arranged in the body 7, for check left foot electro-magnet 11 upper surface with iron plate left detection module and for checking the right detection module of right pin electro-magnet 58 with the upper surface of iron plate, left detection module and right detection module respectively by the electric signal transmission that gathers separately to logic control mainboard 41, logic control mainboard 41 controls to control electric machine main shaft accordingly by electric machine control device 37 and rotates, logic control mainboard 41 controls the coil of left foot electro-magnet 11 and/or the coil power on/off of right pin electro-magnet 58 respectively.

Further, left detection module comprise the left front toe point contact member 9 that is arranged on left foot electro-magnet 11 side and the left back heel contact member 10 being arranged on another side of left foot electro-magnet 11 or be arranged on left foot electro-magnet 11 side left front toe point contact member 9 with for checking the left water level gauge element of left foot electro-magnet 11 level;

Right detection module comprise the right front toe point contact member 56 that is arranged on right pin electro-magnet 58 side and the right back heel contact member 57 being arranged on right another side of pin electro-magnet 58 or be arranged on right pin electro-magnet 58 side right front toe point contact member 56 with for checking the right water level gauge element of right pin electro-magnet 58 level.

Further, also comprise be hinged on side, the body 7 upper end left arm drive unit 3, hinged be arranged on the right arm drive unit 6 of another side, the body 7 upper end and/or the hinged head drive unit 8 being arranged on the body 7 upper end.

Further, left leg drive unit 2 comprises and drives the left articulationes metatarsophalangeae motor 13 swung before and after left foot electro-magnet 11, left foot link span 14, the left ankle joint motor 15 driving left foot link span 14 to swing, left shank link span 16, drives and swing motor 17, left thigh link span 18 before and after the left knee joint swung before and after left shank link span 16, drive the left hip joint swung before and after left thigh link span 18 to swing link span 21, left leg rotating shaft 22, left leg shaft coupling 23 on motor 19, hipbone and be fixedly installed on the left hip joint rotary electric machine 24 of the body 7 lower-left end;

Left foot frame 12 is hinged with the motor shaft of left articulationes metatarsophalangeae motor 13, the housing of left articulationes metatarsophalangeae motor 13 is fixedly connected with left foot link span 14, left foot link span 14 is fixedly connected with the housing of left ankle joint motor 15, motor shaft and the left shank link span 16 of left ankle joint motor 15 are hinged, left shank link span 16 is fixedly connected with the housing swinging motor 17 before and after left knee joint, the motor shaft and the left thigh link span 18 that swing motor 17 before and after left knee joint are hinged, the housing that left thigh link span 18 swings motor 19 with left hip joint is fixedly connected with, it is hinged that left hip joint swings link span 21 on the motor shaft of motor 19 and hipbone, on hipbone, link span 21 is in transmission connection with left leg shaft coupling 23 by left leg rotating shaft 22, left leg shaft coupling 23 is connected with left hip joint rotary electric machine 24.

Further, left leg drive unit 2 comprises the left articulationes metatarsophalangeae motor 13 driving and swinging before and after left foot electro-magnet 11, left foot link span 14, drive the left ankle joint motor 15 that left foot link span 14 swings, left shank link span 16, left knee side pendulum link span 43, motor 44 is swung about driving the left knee joint of left knee side pendulum link span about 43 swing, left knee joint is rotationally connected frame 45, left knee rotates joint motor 46, drive and swing motor 17 before and after the left knee joint swung before and after the pendulum link span 43 of left knee side, left thigh link span 18, the left hip joint swung before and after left thigh link span 18 is driven to swing motor 19, link span 21 on hipbone, left leg rotating shaft 22, left leg shaft coupling 23 and be fixedly installed on the left hip joint rotary electric machine 24 of the body 7 lower-left end,

Left foot frame 12 is hinged with the motor shaft of left articulationes metatarsophalangeae motor 13, the housing of left articulationes metatarsophalangeae motor 13 is fixedly connected with left foot link span 14, left foot link span 14 is fixedly connected with the housing of left ankle joint motor 15, motor shaft and the left shank link span 16 of left ankle joint motor 15 are hinged, the housing that left shank link span 16 rotates joint motor 46 with left knee is fixedly connected with, the motor shaft of left knee rotation joint motor 46 and left knee joint are rotationally connected frame 45 and are rotationally connected, left knee joint is rotationally connected frame 45 and is fixedly connected with the housing swinging motor 17 before and after left knee joint, the motor shaft and the left thigh link span 18 that swing motor 17 before and after left knee joint are hinged, motor 44 housing is fixedly connected with left thigh link span 18 with swinging about left knee joint, the motor shaft and the left knee side pendulum link span 43 that swing motor 44 about left knee joint are hinged, the housing that left knee side pendulum link span 43 swings motor 19 with left hip joint is fixedly connected with, it is hinged that left hip joint swings link span 21 on the motor shaft of motor 19 and hipbone, on hipbone, link span 21 is in transmission connection with left leg shaft coupling 23 by left leg rotating shaft 22, left leg shaft coupling 23 is connected with left hip joint rotary electric machine 24.

Further, the left shoulder joint rotary electric machine 35 that left arm drive unit 3 comprises left hand articulations digitorum manus motor 25, left hand palm link span 26, left wrist joint motor 27, left forearm link span 28, left elbow joint motor 29, left large arm link span 30, left shoulder joint swing motor 31, left shoulder blade link span 32, left shoulder rotating shaft 33, left arm shaft coupling 34 and is fixedly installed on the body 7, left shoulder rotating shaft 33 is identical with the structure of left leg rotating shaft 22, and left shoulder blade link span 32 is rotationally connected with the left body 7 by left shoulder rotating shaft 33;

The motor shaft of left hand articulations digitorum manus motor 25 and left hand palm link span 26 are hinged, left hand palm link span 26 is fixedly connected with the housing of left wrist joint motor 27, motor shaft and the left forearm link span 28 of left wrist joint motor 27 are hinged, left forearm link span 28 is fixedly connected with the housing of left elbow joint motor 29, motor shaft and the left large arm link span 30 of left elbow joint motor 29 are hinged, the housing that left large arm link span 30 swings motor 31 with left shoulder joint is fixedly connected with, motor shaft and the left shoulder blade link span 32 of left shoulder joint swing motor 31 are hinged, left shoulder blade link span 32 is in transmission connection with left arm shaft coupling 34 by left shoulder rotating shaft 33, left arm shaft coupling 34 is connected with left shoulder joint rotary electric machine 35, right arm drive unit 6 is identical with the structure of left arm drive unit 3, and right arm drive unit 6 and left arm drive unit 3 are symmetrical arranged relative to the body 7 medullary ray.

Further, upper head drive unit 8 comprises the head rotation motor 36 that housing is fixedly installed on the body 7.

Further, electric control unit also comprises the man-machine interaction interface 38, cableless communication module 39 and the electrical source of power 40 that are arranged on the body 7, electrical source of power 40 is for providing power supply, logic control mainboard 41 passes the signal to man-machine interaction interface 38, cableless communication module 39 by electric signal transmission to logic control mainboard 41, logic control mainboard 41 controls left articulationes metatarsophalangeae motor 13 by electric machine control device 37, left ankle joint motor 15, motor 44 is swung about left knee joint, left knee rotates joint motor 46, motor 17 is swung before and after left knee joint, left hip joint swings motor 19, left hip joint rotary electric machine 24, left hand articulations digitorum manus motor 25, left wrist joint motor 27, left elbow joint motor 29, left shoulder joint swings motor 31, left shoulder joint rotary electric machine 35, head rotation motor 36, right arm drive unit 6 controls motor accordingly and/or right foot driving device 4 controls the rotation of motor accordingly. further, electric control unit also comprises sensor control module 42, sensor control module 42 is gyrostat and/or angle detecting sensor and/or angle of inclination detecting sensor and/or multiaxis Gravity accelerometer and/or color detecting sensor and/or infrared sensor, and sensor control module 42 andlogic control mainboard 41 is electrically connected. further, sensor control module 42 is arranged on left foot drive unit 1, left leg drive unit 2, left arm drive unit 3, right foot driving device 4, right leg drive device 5, right arm drive unit 6, the body 7 and/or head drive unit 8. further, the structure of left shank link span 16, left thigh link span 18, left hand palm link span 26, left forearm link span 28 and left large arm link span 30 is identical, left hand palm link span 26 comprises the middle frame 53 that hinged motor rack 54 is connected and the fixed electrical machinery frame 52 being arranged on middle frame 53 the other end with hinged motor rack 54, hinged motor rack 54 is provided with band keyway through hole 55, the motor shaft of left hand articulations digitorum manus motor 25 is arranged in band keyway through hole 55 and is connected by key, and fixed electrical machinery frame 52 is fixedly connected with the housing of left wrist joint motor 27. the motor shaft of left hand articulations digitorum manus motor 25 is arranged in band keyway through hole 55 and is connected by key, and fixed electrical machinery frame 52 is fixedly connected with the housing of left wrist joint motor 27. certainly, each portion link span can adopt the structures such as common connection muscle plate. logic control mainboard 15 is AVR, STM32 or Atmel microprocessor is the surface-mounted integrated circuit of core, can select the integrated system environment such as raspberry group, arduino, AVR.

As Figure 1-10 shows, a kind of method that control is walked on iron plate, it uses above-mentioned robot; It comprises preproduction phase and the first walking phase after the preproduction phase; Preproduction phase comprises the steps: step a: performs robot and attentions, left front toe point contact member 9, left back heel contact member 10, right front toe point contact member 56 and right back heel contact member 57 contact with iron plate respectively, contact with iron plate after logic control mainboard 41 controls left foot electro-magnet 11 and/or right pin electro-magnet 58 is energized;

Step b: after execution of step a, performs robot starting; Logic control mainboard 41 controls left foot electro-magnet 11 power-off and right pin electro-magnet 58 is energized, logic control mainboard 41 controls to swing before and after pendulum and left knee joint on pendulum, left ankle joint motor 15 before left hip joint swings motor 19 pendulum after motor 17 respectively by electric machine control device 37, and logic control mainboard 41 controls left front toe point contact member 9, left back heel contact member 10 and left foot electro-magnet 11 respectively by electric machine control device 37 and upwards lifts and leave iron plate;

First walking phase comprises the steps:

Step c: simultaneously or after execution of step b, execution robot level is taken a step at execution step b; Logic control mainboard 41 controls left hip joint respectively by electric machine control device 37 and swings pendulum before motor 19, swing before and after left knee joint motor 17 reset stretch, left ankle joint motor 15 swings and left articulationes metatarsophalangeae motor 13 swings,

Simultaneously, taking the electromagnetism suction of right pin electro-magnet 58 as fulcrum, the right ankle joint motor of right leg drive device 5 and the right articulationes metatarsophalangeae driven by motor body 7 anterior displacement rotate, the right hip joint of right leg drive device 5 swings motor and makes and right ankle joint motor, right articulationes metatarsophalangeae motor shaft turning direction opposite action, keeps the body 7 vertically state;

Steps d: after execution of step c, performs robot forward foot in a step level and contacts to earth action, logic control mainboard 41 controls left hip joint with unit pulse by electric machine control device 37 and swings motor 19, left ankle joint motor 15, left articulationes metatarsophalangeae motor 13, the right hip joint of right leg drive device 5 swings motor, the adjustment action driving left foot electro-magnet 11 to contact made with iron plate forming surface by right ankle joint motor and/or right articulationes metatarsophalangeae motor, until left front toe point contact member 9 contacts with iron plate upper surface with left back heel contact member 10, left front toe point contact member 9 feeds back electrical signal to logic control mainboard 41 with left back heel contact member 10, logic control mainboard 41 controls adjustment action by electric machine control device 37 and stops, left foot electro-magnet 11 arrives the prefabricated height relative to iron plate upper surface,

Step e: after execution of step d, performs electromagnetic suction and switches; Left front toe point contact member 9 and left back heel contact member 10 are by electric signal transmission to logic control mainboard 41, and logic control mainboard 41 controls the power-off of right pin electro-magnet 58 and left foot electro-magnet 11 is energized;

Step f: after execution of step e, performs robot center of gravity reach and pushes; Logic control mainboard 41 controls right leg drive device 5 by electric machine control device 37 and controls motor accordingly, taking right foot driving device 4 as fulcrum, make forward center of gravity propelling movement action, synchronous logic control mainboard 41 controls left leg drive unit 2 by electric machine control device 37 and left foot drive unit 1 controls motor accordingly, taking the electromagnetism suction of left foot electro-magnet 11 as fulcrum, pull work before making center of gravity, center of gravity is pushed to above left foot drive unit 1, left foot electro-magnet 11 and iron plate upper surface adhesive;

Step g: after execution of step f, performs robot and receives forward the rear foot; With left foot drive unit 1 fulcrum, logic control mainboard 41 controls right leg drive device 5 by electric machine control device 37 and/or right foot driving device 4 controls motor accordingly, drives right foot driving device 4 forward rocking motion or receives forward pin;

After execution of step g, the first walking phase is finished.

Further, performing step c, simultaneously or after execution of step c and before performing step f, execution robot upper limbs swings, and logic control mainboard 41 controls left arm drive unit 3 respectively by electric machine control device 37 and/or swinging arm made by right arm drive unit 6.

Further, in steps d, prefabricated height is zero left foot electro-magnet 11 maybe can be made to produce the height of magnetic power with iron plate upper surface, and the height of magnetic power is according to the electromagnet suction size setting adopted.

Further, before performing step a, perform the pre-debugging to robot, first determine that controlling installation position, motor place accordingly turns to and maximum and minimum rotation angle on each turns to, compare the minimum movement space angle at corresponding link span simultaneously, taking minimum movement space angle as benchmark, determine the starting position angle of corresponding control motor output shaft, control motor is connected on electric machine control device, then corresponding control motor output shaft is rotated to starting position angle, disconnection electrically connects, manually reverse corresponding control motor, thus it is corresponding with control motor output shaft starting position angle, finally assemble. pass through aforesaid operations, it is possible to effectively avoid control motor rotation blockage, after eliminating stall further, control burning of motor. control motor without Special Circumstances and may be selected to be steering wheel.

When continuing to walk forward, right leg drive device 5 performs the corresponding actions of left leg drive unit 2 in the first walking phase, and right foot driving device 4 performs left foot drive unit 1 in the first walking phase; And left leg drive unit 2 performs the corresponding actions of right leg drive device 5 in the first walking phase, left foot drive unit 1 performs right foot driving device 4 in the first walking phase; Thus realize advancing, can realize retreating with reason.

As preferably, as those skilled in the art according to the present invention, the control number of motors imitating each joint motion can be increased and decreased, thus meet different needs, by the control motor position of each limbs upper joint activity is adjusted, thus the degree of freedom of increase action, it it is the equivalent replacement of the present invention, being apparent, wherein the mechanism of each link span can be identical or different, it is possible to adopts steel plate to be welded as required. It is equal to replacement by what water level gauge and contact member combination substituted that two contact members it will be apparent to those skilled in the art that.

Cost of the present invention is cheap, having stable behavior is reliable, can not fall down with out of control in moving process, the anthropomorphic robot of the walking on ferrous material laying road of certain heavy burden can be undertaken, particularly anthropomorphic robot four limbs are transferred in anthropomorphic robot trunk shell by power, promote anthropomorphic robot heavy burden ability, eliminate in moving process and fall down and risk out of control.

The present invention passes through sole contact member by signal feedback to treater, logic control mainboard receives the electrical signal fed back or prefabricated program drives each control electric machine rotation by electric machine control device, complete the action imitating human synovial accordingly, can realizing rising, the decline of trunk shell, forward, move backward, motion structure is more reasonable; Walking with load on the road of iron plate laying is realized with the adhesive of the corresponding electro-magnet of control and iron plate.

The harm of motor bearings by shearing force is avoided by pivot design structure, come from and meeting of limbs it is pooled in anthropomorphic robot trunk shell, advantageously in lifting and the gesture stability of anthropomorphic robot heavy burden ability, advantageously in lifting and the gesture stability of anthropomorphic robot heavy burden ability.

The present invention can pass through computer program, namely at described computer program at computer and non-temporary computer-readable recording media, and perform this step.

The present invention act as design based on limbs coordinated each in bionical human motion process, in like fashion, anthropomorphic robot is avoided falling down and risk out of control, promotes the walking with load ability of anthropomorphic robot, and further realizes the object that the mankind served by anthropomorphic robot.

Taking a step the stage of the bionical human body of the present invention, can only have an electro-magnet in switch-on regime, namely can only have the maintenance suction of an electro-magnet and iron plate road surface pavement in two electro-magnet. Change the bionical lower limb hip joint, knee joint, articulationes metatarsophalangeae and the ankle-joint location angle that keep suction, trunk shell is made up and down, forward and backward, left-hand rotation, right-hand rotation action, reaches new target location, adjust bionical lower limb hip joint, knee joint, articulationes metatarsophalangeae and ankle-joint location angle that non-suction keeps, it is possible to make bionical actions such as stretching before or after lifting pin, lower limb, left or right turns.

By the spatial vertical distance changed between two electro-magnet, it is possible to make non-energized magnet and integrally mounted contact member to front or rear mobile time do not produce collision with walking road surface; Change space horizontal throw between two electro-magnet so that non-energized magnet and integrally mounted contact member are to front or rear movement, and bionical is that single leg steps or room for manoeuvre action; Changing the switch-on regime of two electro-magnet, be exactly that the electro-magnet that has been energized changes power-off state into, power-off state electro-magnet changes switch-on regime into, and electro-magnet and iron plate road surface pavement suction once switch between two electro-magnet, it is achieved support the conversion of power.

In the present invention, keep the bionical lower limb of suction and each joint of bionical lower limb of non-suction maintenance to adjust simultaneously, instruction is sent by logic control mainboard, corresponding control motor carries out fine adjustments with 1 and above action angle, until electro-magnet under powering-off state and can forming surface contacting after reaching predeterminable range and ensure energising between walking road surface.

The control motor increasing anthropomorphic robot degree of freedom can be expanded to, it may be possible to provide position installed by motion feature sensor or position feature sensor so that non-energized magnet and integrally mounted contact member to front or rear mobile time do not produce collision with walking road surface,

Make non-energized magnet and integrally mounted contact member to front or rear movement by each control motor, bionical take a step action for single leg,

Swing motor 44 about left knee joint, left knee joint is rotationally connected frame 45 and left knee rotates joint motor 46, adds the degree of freedom of left leg, adjusts humanoid machine center of gravity in the process of walking, prevent from falling down, and it is more reasonable to design.

Electric machine control device can control motor to each and send motor shaft sense of rotation and angle or time or speed instruction.

Above-mentioned control motor rotating speed and motor shaft angle of rotation and closed position can fixing quantity, steering order is electric impulse signal or electrical signal. Before assembling, should first determine that control installation position, motor place turns to, on each turns to maximum with minimum rotation angle, compare mechanical joint motion space angle in which direction minimum simultaneously, it above-mentioned angle is benchmark taking minimum, it is determined that the starting position angle of control motor output shaft. In installation process, control motor is connected on electric machine control device, the initial angle determined before control motor output shaft is rotated to, disconnect and connecting, manually reverse anthropomorphic robot joint, make the angle between mechanical part corresponding with control motor output shaft initial angle, then assemble. Pass through aforesaid operations, it is possible to effectively avoid control motor rotation blockage, after eliminating stall further, control burning of motor. Control motor without Special Circumstances and may be selected to be steering wheel.

The present invention of its shaft may be selected to be bearing.

The sensor assembly of the present invention can be gyrostat and/or angle and/or angle of inclination and/or multiaxis universal gravity constant and/or the sensor such as color and/or infrared rays, locate kinestate and the locus of anthropomorphic robot more accurately, by improving logic control mainboard internal processes, promote response speed and the precision of control motor so that anthropomorphic robot makes more complicated conventional action and emergent action.

Further, the present invention may be used for accepting user's input and/or for providing information to user. Such as, user interface can comprise indicating meter, knob, one or more button, touch-screen, one or more lamp (LED) etc.

Wherein left foot drive unit 1, left leg drive unit 2, left arm drive unit 3, right foot driving device 4, right leg drive device 5, right arm drive unit 6 and head drive unit 8 imitate the left foot of human body respectively, left arm, right pin, the action in right arm and each joint of head, left front toe point contact member 9, left back heel contact member 10, right front toe point contact member 56 and right back heel contact member 57 can the common feedback device such as pressure transmitter or limit switch, left foot electro-magnet 11 is for fixing absorption limbs, bear heavy burden, left articulationes metatarsophalangeae motor 13 imitates articulationes metatarsophalangeae, left ankle joint motor 15 imitates left ankle joint, swing motor 17 before and after left knee joint and imitate left knee joint, left hip joint swings motor 19 and imitates the swing of left hip joint, left hip joint rotary electric machine 24 imitates left hip joint and rotates, left hand articulations digitorum manus motor 25 imitates left hand articulations digitorum manus, left wrist joint motor 27 imitates left wrist joint, left elbow joint motor 29 imitates left elbow joint, left shoulder joint swings motor 31 and imitates the swing of left shoulder joint, left shoulder joint rotary electric machine 35 imitates left shoulder joint and rotates, head rotation motor 36 imitates head rotation, electric machine control device 37 is for controlling the turning direction of each control motor, angle and rotating speed, control motor can be servomotor or stepper-motor etc., each link span imitates human body, and each connects bone.

Present configuration is compact, reasonable in design, it is possible to realize heavy burden work, is applicable to large-scale promotion.

As the technician of this area, by the closure reversing of each control motor being installed, namely installation direction is contrary with accompanying drawing direction; As the equivalent replacement of step b, by the toe joint on control right leg drive device 5, ankle joint and hip joint action, thus the body 7 is driven upwards to lift, thus left foot drive unit 1 is apparent with being separated of iron plate, realize performing robot starting, it is simply equivalent replacement.

Last it is noted that above embodiment is only in order to illustrate the technical scheme of the present invention, it is not intended to limit; Although with reference to previous embodiment to invention has been detailed description, it will be understood by those within the art that: the technical scheme described in previous embodiment still can be modified by it, or wherein part technology feature is carried out equivalent replacement; It is apparent for as those skilled in the art, multiple technical schemes of the present invention being carried out combination. And these amendments or replacement, do not make the spirit and scope of the essence disengaging embodiment of the present invention technical scheme of appropriate technical solution.

Claims

1. the robot that a balance quality is stable, it is characterized in that: comprise the body (7) being arranged on above iron plate, it is hinged on the left leg drive unit (2) of the body (7) lower end both sides and right leg drive device (5) respectively, it is hinged on the left foot drive unit (1) of the lower end of left leg drive unit (2), it is hinged on right foot driving device (4) and the electric control unit of right leg drive device (5) lower end, left leg drive unit (2) is identical with the structure of right leg drive device (5), left leg drive unit (2) and right leg drive device (5) are symmetrical arranged relative to the body (7) medullary ray, right foot driving device (4) is identical with the structure of left foot drive unit (1), right foot driving device (4) and left foot drive unit (1) are symmetrical arranged relative to the body (7) medullary ray,

Left foot drive unit (1) comprises and being arranged on above iron plate and hinged left foot frame (12) and the left foot electro-magnet (11) that is arranged on left foot frame (12) with left leg drive unit (2), and left foot electro-magnet (11) is corresponding with the upper surface of iron plate;

Right foot driving device (4) comprises and being arranged on above iron plate and hinged right pin frame and the right pin electro-magnet (58) that is arranged on right pin frame with right leg drive device (5), and right pin electro-magnet (58) is corresponding with the upper surface of iron plate;

Left leg drive unit (2) comprises at least two and imitates the control motor in human leg joints and be arranged on the thigh bone imitating human body between control motor and connect frame;

Electric control unit comprises electric machine control device (37) the andlogic control mainboard (41) being arranged in the body (7), for checking the left detection module of the upper surface of left foot electro-magnet (11) with iron plate and the right detection module for checking the upper surface of right pin electro-magnet (58) with iron plate, left detection module and right detection module respectively by the electric signal transmission that gathers separately to logic control mainboard (41), logic control mainboard (41) is rotated by electric machine control device (37) control corresponding control electric machine main shaft, logic control mainboard (41) controls the coil of left foot electro-magnet (11) and/or the coil power on/off of right pin electro-magnet (58) respectively.

2. the robot that a kind of balance quality according to claim 1 is stable, it is characterised in that: described left detection module comprise be arranged on left foot electro-magnet (11) side left front toe point contact member (9) be arranged on left foot electro-magnet (11) another side left back heel contact member (10) or be arranged on left foot electro-magnet (11) side left front toe point contact member (9) with for checking the left water level gauge element of left foot electro-magnet (11) level;

Described right detection module comprise be arranged on right pin electro-magnet (58) side right front toe point contact member (56) be arranged on right another side of pin electro-magnet (58) right back heel contact member (57) or be arranged on right pin electro-magnet (58) side be arranged on right front toe point contact member (56) with for checking the right water level gauge element of right pin electro-magnet (58) level.

3. the robot that a kind of balance quality according to claim 1 is stable, it is characterised in that: also comprise be hinged on the body (7) side, upper end left arm drive unit (3), hinged be arranged on the right arm drive unit (6) of the body (7) another side, upper end and/or the hinged head drive unit (8) being arranged on the body (7) upper end.

4. the robot that a kind of balance quality according to claim 3 is stable, it is characterized in that: left leg drive unit (2) comprises the left articulationes metatarsophalangeae motor (13) driving and swinging before and after left foot electro-magnet (11), left foot link span (14), drive the left ankle joint motor (15) that left foot link span (14) swings, left shank link span (16), drive and swing motor (17) before and after the left knee joint swung before and after left shank link span (16), left thigh link span (18), the left hip joint swung before and after left thigh link span (18) is driven to swing motor (19), link span (21) on hipbone, left leg rotating shaft (22), left leg shaft coupling (23) and be fixedly installed on the left hip joint rotary electric machine (24) of the body (7) lower-left end,

Left foot frame (12) is hinged with the motor shaft of left articulationes metatarsophalangeae motor (13), the housing of left articulationes metatarsophalangeae motor (13) is fixedly connected with left foot link span (14), left foot link span (14) is fixedly connected with the housing of left ankle joint motor (15), motor shaft and the left shank link span (16) of left ankle joint motor (15) are hinged, left shank link span (16) is fixedly connected with the housing swinging motor (17) before and after left knee joint, the motor shaft and the left thigh link span (18) that swing motor (17) before and after left knee joint are hinged, the housing that left thigh link span (18) swings motor (19) with left hip joint is fixedly connected with, left hip joint swing motor (19) motor shaft and hipbone on link span (21) hinged, on hipbone, link span (21) is in transmission connection by left leg rotating shaft (22) and left leg shaft coupling (23), left leg shaft coupling (23) is connected with left hip joint rotary electric machine (24).

5. the robot that a kind of balance quality according to claim 3 is stable, it is characterised in that: left leg drive unit (2) comprises the left articulationes metatarsophalangeae motor (13) driving and swinging before and after left foot electro-magnet (11), left foot link span (14), drive the left ankle joint motor (15) that left foot link span (14) swings, left shank link span (16), left knee side pendulum link span (43), motor (44) is swung about driving the left knee joint of left and right, left knee side pendulum link span (43) swing, left knee joint is rotationally connected frame (45), left knee rotates joint motor (46), drive and swing motor (17) before and after the left knee joint swung before and after left knee side pendulum link span (43), left thigh link span (18), the left hip joint swung before and after left thigh link span (18) is driven to swing motor (19), link span (21) on hipbone, left leg rotating shaft (22), left leg shaft coupling (23) and be fixedly installed on the left hip joint rotary electric machine (24) of the body (7) lower-left end,

Left foot frame (12) is hinged with the motor shaft of left articulationes metatarsophalangeae motor (13), the housing of left articulationes metatarsophalangeae motor (13) is fixedly connected with left foot link span (14), left foot link span (14) is fixedly connected with the housing of left ankle joint motor (15), motor shaft and the left shank link span (16) of left ankle joint motor (15) are hinged, the housing that left shank link span (16) rotates joint motor (46) with left knee is fixedly connected with, the motor shaft of left knee rotation joint motor (46) and left knee joint are rotationally connected frame (45) and are rotationally connected, left knee joint is rotationally connected frame (45) and is fixedly connected with the housing swinging motor (17) before and after left knee joint, the motor shaft and the left thigh link span (18) that swing motor (17) before and after left knee joint are hinged, motor (44) housing is fixedly connected with left thigh link span (18) with swinging about left knee joint, the motor shaft and left knee side pendulum link span (43) that swing motor (44) about left knee joint are hinged, the housing that left knee side pendulum link span (43) swings motor (19) with left hip joint is fixedly connected with, left hip joint swing motor (19) motor shaft and hipbone on link span (21) hinged, on hipbone, link span (21) is in transmission connection by left leg rotating shaft (22) and left leg shaft coupling (23), left leg shaft coupling (23) is connected with left hip joint rotary electric machine (24).

6. the robot that a kind of balance quality according to claim 4 or 5 is stable, it is characterized in that: left arm drive unit (3) comprises left hand articulations digitorum manus motor (25), left hand palm link span (26), left wrist joint motor (27), left forearm link span (28), left elbow joint motor (29), left large arm link span (30), left shoulder joint swings motor (31), left shoulder blade link span (32), left shoulder rotating shaft (33), left arm shaft coupling (34) and the left shoulder joint rotary electric machine (35) being fixedly installed on the body (7),

The motor shaft of left hand articulations digitorum manus motor (25) and left hand palm link span (26) are hinged, left hand palm link span (26) is fixedly connected with the housing of left wrist joint motor (27), motor shaft and the left forearm link span (28) of left wrist joint motor (27) are hinged, left forearm link span (28) is fixedly connected with the housing of left elbow joint motor (29), motor shaft and the left large arm link span (30) of left elbow joint motor (29) are hinged, the housing that left large arm link span (30) swings motor (31) with left shoulder joint is fixedly connected with, motor shaft and the left shoulder blade link span (32) of left shoulder joint swing motor (31) are hinged, left shoulder blade link span (32) is in transmission connection by left shoulder rotating shaft (33) and left arm shaft coupling (34), left arm shaft coupling (34) is connected with left shoulder joint rotary electric machine (35),

Right arm drive unit (6) is identical with the structure of left arm drive unit (3), and right arm drive unit (6) and left arm drive unit (3) are symmetrical arranged relative to the body (7) medullary ray.

7. the robot that a kind of balance quality according to claim 6 is stable, it is characterised in that: described electric control unit also comprises the man-machine interaction interface (38), cableless communication module (39) and the electrical source of power (40) that are arranged on the body (7), electrical source of power (40) is for providing power supply, logic control mainboard (41) passes the signal to man-machine interaction interface (38), cableless communication module (39) by electric signal transmission to logic control mainboard (41), logic control mainboard (41) controls left articulationes metatarsophalangeae motor (13) by electric machine control device (37), left ankle joint motor (15), motor (44) is swung about left knee joint, left knee rotates joint motor (46), motor (17) is swung before and after left knee joint, left hip joint swings motor (19), left hip joint rotary electric machine (24), left hand articulations digitorum manus motor (25), left wrist joint motor (27), left elbow joint motor (29), left shoulder joint swings motor (31), left shoulder joint rotary electric machine (35), control motor and/or right foot driving device (4) control the rotation of motor to right arm drive unit (6) accordingly accordingly.

8. the robot that a kind of balance quality according to claim 7 is stable, it is characterized in that: described electric control unit also comprises sensor control module (42), sensor control module (42) is arranged on left foot drive unit (1), left leg drive unit (2), left arm drive unit (3), right foot driving device (4), right leg drive device (5), right arm drive unit (6), the body (7) and/or head drive unit (8).

9. the method that a control is walked on iron plate, it is characterised in that: its robot using a kind of balance quality described in the arbitrary item of claim 1-8 stable;

Preproduction phase comprises the steps:

Step a: perform robot and attention, left front toe point contact member (9), left back heel contact member (10), right front toe point contact member (56) and right back heel contact member (57) contact with iron plate respectively, contact with iron plate after logic control mainboard (41) control left foot electro-magnet (11) and/or right pin electro-magnet (58) energising;

Step b: after execution of step a, performs robot starting, logic control mainboard (41) control left foot electro-magnet (11) power-off and right pin electro-magnet (58) energising, logic control mainboard (41) controls left hip joint respectively by electric machine control device (37) and swings motor (19) front pendulum, left ankle joint motor (15) is above put and is swung motor (17) before and after left knee joint and puts afterwards, logic control mainboard (41) controls left front toe point contact member (9) respectively by electric machine control device (37), left back heel contact member (10) and left foot electro-magnet (11) upwards lift and leave iron plate, first walking phase comprises the steps:

Step c: simultaneously or after execution of step b, execution robot level is taken a step at execution step b; Logic control mainboard (41) controls left hip joint respectively by electric machine control device (37) and swings motor (19) front pendulum, swing before and after left knee joint motor (17) reset stretch, left ankle joint motor (15) swing and left articulationes metatarsophalangeae motor (13) swing

Simultaneously, taking the electromagnetism suction of right pin electro-magnet (58) as fulcrum, the right ankle joint motor of right leg drive device (5) and the right articulationes metatarsophalangeae driven by motor body (7) anterior displacement rotate, the right hip joint of right leg drive device (5) swings motor and makes and right ankle joint motor, right articulationes metatarsophalangeae motor shaft turning direction opposite action, keeps the body (7) vertically state;

Steps d: after execution of step c, performs robot forward foot in a step level and contacts to earth action, logic control mainboard (41) controls left hip joint with unit pulse by electric machine control device (37) and swings motor (19), left ankle joint motor (15), left articulationes metatarsophalangeae motor (13), the right hip joint of right leg drive device (5) swings motor, the adjustment action driving left foot electro-magnet (11) to contact made with iron plate forming surface by right ankle joint motor and/or right articulationes metatarsophalangeae motor, until left front toe point contact member (9) contacts with iron plate upper surface with left back heel contact member (10), left front toe point contact member (9) and left back heel contact member (10) feedback electrical signal are to logic control mainboard (41), logic control mainboard (41) controls described adjustment action by electric machine control device (37) and stops, left foot electro-magnet (11) arrives the prefabricated height relative to iron plate upper surface,

Step e: after execution of step d, performs electromagnetic suction and switches; Left front toe point contact member (9) and left back heel contact member (10) are by electric signal transmission to logic control mainboard (41), and logic control mainboard (41) controls right pin electro-magnet (58) power-off and left foot electro-magnet (11) energising;

Step f: after execution of step e, performs robot center of gravity reach and pushes, logic control mainboard (41) controls right leg drive device (5) by electric machine control device (37) and controls motor accordingly, taking right foot driving device (4) as fulcrum, make forward center of gravity propelling movement action, synchronous logic control mainboard (41) controls left leg drive unit (2) by electric machine control device (37) and left foot drive unit (1) controls motor accordingly, taking the electromagnetism suction of left foot electro-magnet (11) as fulcrum, work is pulled before making center of gravity, center of gravity is pushed to left foot drive unit (1) top, left foot electro-magnet (11) and iron plate upper surface adhesive,

Step g: after execution of step f, performs robot and receives forward the rear foot; With left foot drive unit (1) fulcrum, logic control mainboard (41) controls right leg drive device (5) by electric machine control device (37) and/or right foot driving device (4) controls motor accordingly, drives right foot driving device (4) forward rocking motion or receives forward pin;

After execution of step g, the first walking phase is finished.

10. the method that a kind of control according to claim 9 is walked on iron plate, it is characterized in that: performing step c while or after execution of step c and before performing step f, performing robot upper limbs to swing, logic control mainboard (41) controls left arm drive unit (3) respectively by electric machine control device (37) and/or swinging arm made by right arm drive unit (6).

The method that 11. a kind of controls according to claim 10 are walked on iron plate, it is characterised in that: in steps d, described prefabricated height is zero left foot electro-magnet (11) and iron plate upper surface maybe can be made to produce the height of magnetic power.