CN105619392B

CN105619392B - The robot and its control method of a kind of balance quality stabilization

Info

Publication number: CN105619392B
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: 2017-06-23
Anticipated expiration: 2036-03-29
Also published as: CN105619392A

Abstract

The present invention relates to the robot and its control method of a kind of balance quality stabilization, it includes being arranged on the body on iron plate, it is respectively hinged at the left leg drive device and right leg drive device of body lower end both sides, it is hinged on the left foot drive device of left leg drive device lower end, it is hinged on the right crus of diaphragm drive device and electric control unit of right leg drive device lower end, left leg drive device is identical with the structure of right leg drive device, left leg drive device is symmetrical arranged with right leg drive device relative to body center line, right crus of diaphragm drive device is identical with the structure of left foot drive device, right crus of diaphragm drive device is symmetrical arranged with left foot drive device relative to body center line；Compact conformation of the present invention, it is reasonable in design, it is possible to achieve heavy burden work, it is adapted to large-scale promotion.

Description

The robot and its control method of a kind of balance quality stabilization

Technical field

The present invention relates to the robot and its control method of a kind of balance quality stabilization, and in particular to one kind can be in iron plate The anthropomorphic robot walked on the road of laying.

Background technology

Anthropomorphic robot it is widely used to be self-balancing technology realize locomitivity, with metal parts build robot Gable structure, human synovial function is realized by controlled motor, and speed is installed in controlled motor and in anthropomorphic robot body interior The various kinds of sensors such as degree, position, acceleration, angle, the operating state of robot is controlled by sensor information analysis, is passed through Controlled motor adjustment keeps limbs balance, it is to avoid walking, swing arm, the various actions such as squat down, turn round are realized in the case of falling down.So And it has the disadvantages that：First it is that robot cost remains high, realizes that self-balancing is walked, it is ensured that robot has one surely Fixed operating state, it is to avoid anthropomorphic robot is fallen down in motion process, it is necessary to possess perfect sensor senses system, sensing Device response time, data precision requirement are higher, it is desirable to which each portion's motor of robot has control accuracy higher with response speed Degree, while self-balance robot data process method relation is complicated, multinomial reason causes that anthropomorphic robot is with high costs；Self-balancing Robot is high for own material requirement, in order to reduce influence of each portion's limbs gravity motion of robot for balance, it is to avoid machine Fallen down in device people's motion process, it is desirable to which robot must mitigate each portion's weight, the selection for material, part is more harsh；Cause It is anthropomorphic robot without stable, reliable, lasting balance strength, it is necessary to limit the height of anthropomorphic robot, relatively low center of gravity is carried The stability of Sheng Liao robots, while causing the presence of larger height differences limit between anthropomorphic robot and true man, limits humanoid The application places and environment of robot；Market majority anthropomorphic robot is only used for simple language and Human communication, can be engaged in Certain dance movement, but most humanoid machines do not possess the ability of heavy burden work.

The content of the invention

The technical problems to be solved by the invention be to provide a kind of rational in infrastructure and balance quality stabilization robot and its Control method.

To solve the above problems, the technical solution used in the present invention is：

A kind of robot of balance quality stabilization, including be arranged on the body above iron plate, be respectively hinged at body lower end The left leg drive device of both sides with right leg drive device, be hinged on the left foot drive device of left leg drive device lower end, be hinged on The knot of the right crus of diaphragm drive device and electric control unit of right leg drive device lower end, left leg drive device and right leg drive device Structure is identical, and left leg drive device is symmetrical arranged with right leg drive device relative to body center line, right crus of diaphragm drive device and left foot The structure of drive device is identical, and right crus of diaphragm drive device is symmetrical arranged with left foot drive device relative to body center line；Left foot drives Dynamic device includes being arranged on iron plate top and the left foot frame being hinged with left leg drive device and the left foot being arranged on left foot frame Electromagnet, left foot electromagnet is corresponding with the upper surface of iron plate；Right crus of diaphragm drive device include be arranged on iron plate top and with right leg Right crus of diaphragm frame that drive device is hinged and the right crus of diaphragm electromagnet being arranged on right crus of diaphragm frame, the upper surface phase of right crus of diaphragm electromagnet and iron plate Correspondence；Left leg drive device includes the controlled motor at least two imitation human leg joints and is arranged between controlled motor The thigh bone for imitating human body connects frame；Electric control unit include being arranged on electric machine controller in the body and logic control mainboard, For checking left foot electromagnet with the left detection module of the upper surface of iron plate and for checking right crus of diaphragm electromagnet and iron plate Upper surface right detection module, the electric signal of respective collection is passed to patrol respectively by left detection module and right detection module Control mainboard is collected, logic control mainboard is by the corresponding controlled motor main axis of motor controller controls, logic control mainboard Left foot magnet spool and/or right crus of diaphragm magnet spool power on/off are controlled respectively.

Further, the left detection module includes being arranged on the left front toe point contact element of left foot electromagnet side and setting Left foot electromagnet opposite side left back heel contact element or be arranged on left foot electromagnet side left front toe point contact element With the left level meter element for checking left foot electromagnetism iron level；The right detection module includes being arranged on right crus of diaphragm electromagnet side Right front toe point contact element and the right rear heel contact element for being arranged on right crus of diaphragm electromagnet opposite side or be arranged on right crus of diaphragm electromagnetism The right front toe point contact element of iron side and the right level meter element for checking right crus of diaphragm electromagnetism iron level.

Further, also including being hinged on the left arm drive device of body upper end side, be hinged that to be arranged on body upper end another The right arm drive device of side and/or it is hinged the head drive device for being arranged on body upper end.

Further, left leg drive device includes driving the left articulationes metatarsophalangeae motor of left foot electromagnet swing, left foot to connect Connect frame, the left ankle joint motor, left leg link, the drive left leg link swing that drive left foot link to swing Left knee joint swing motor, left thigh link, drive left thigh link swing left hip joint swing electricity On machine, hipbone link, left leg rotating shaft, left leg shaft coupling and be fixedly installed on body lower-left end left hip joint rotate electricity Machine；Left foot frame is hinged with the motor shaft of left articulationes metatarsophalangeae motor, and the housing of left articulationes metatarsophalangeae motor is fixed with left foot link and connected Connect, left foot link is fixedly connected with the housing of left ankle joint motor, motor shaft and the left leg of left ankle joint motor connect Connect frame to be hinged, left leg link is fixedly connected with the housing of left knee joint swing motor, left knee joint swing electricity The motor shaft of machine is hinged with left thigh link, and left thigh link is fixedly connected with the housing of left hip joint oscillating motor, left The motor shaft of hip joint oscillating motor is hinged with link on hipbone, and link is by left leg rotating shaft and left leg shaft coupling on hipbone Drive connection, left leg shaft coupling is connected with left hip joint rotary electric machine.

Further, left leg drive device includes driving the left articulationes metatarsophalangeae motor of left foot electromagnet swing, left foot to connect Connect frame, the left ankle joint motor, left leg link, left knee side-sway link, the drive left side that drive left foot link to swing The left knee joint that knee side-sway link swings swing motor, left knee joint rotate link, left knee cradle head Motor, the left knee joint swing motor for driving left knee side-sway link swing, left thigh link, drive are left big Link, left leg rotating shaft, left leg shaft coupling and fixation set on the left hip joint oscillating motor of leg link swing, hipbone Put the left hip joint rotary electric machine at body lower-left end；Left foot frame is hinged with the motor shaft of left articulationes metatarsophalangeae motor, and left plantar toe is closed The housing for saving motor is fixedly connected with left foot link, and left foot link is fixedly connected with the housing of left ankle joint motor, left The motor shaft of ankle arthrosis motor is hinged with left leg link, and left leg link is consolidated with the housing of left knee cradle head motor Fixed connection, the motor shaft and left knee joint of left knee cradle head motor rotate link rotation and are connected, and left knee joint rotates connection Frame is fixedly connected with the housing of left knee joint swing motor, and motor shaft and the left thigh of left knee joint swing motor connect Connect frame to be hinged, left thigh link and left the knee joint electric machine casing that swings are fixedly connected, left knee joint swings motor Motor shaft be hinged with left knee side-sway link, the housing of left knee side-sway link and left hip joint oscillating motor is fixed and connected Connect, motor shaft and the link on hipbone of left hip joint oscillating motor are hinged, link is by left leg rotating shaft and left leg on hipbone Shaft coupling transmission is connected, and left leg shaft coupling is connected with left hip joint rotary electric machine.

Further, left arm drive device includes that left hand articulations digitorum manus motor, left hand palm link, left wrist joint motor, a left side are small Arm link, left elbow joint motor, left large arm link, left shoulder joint oscillating motor, left shoulder blade link, left shoulder rotating shaft, Left arm shaft coupling and the left arm articulation motor being fixedly installed on the body,

The motor shaft of left hand articulations digitorum manus motor is hinged with left hand palm link, the left hand palm link and left wrist joint motor Housing is fixedly connected, and the motor shaft of left wrist joint motor is hinged with left forearm link, and left forearm link and left elbow joint are electric The housing of machine is fixedly connected, and the motor shaft of left elbow joint motor is hinged with left large arm link, left large arm link and left shoulder joint The housing for saving oscillating motor is fixedly connected, and the motor shaft of left shoulder joint oscillating motor is hinged with left shoulder blade link, left omoplate Bone link is connected by left shoulder rotating shaft with left arm shaft coupling transmission, left arm shaft coupling and left arm articulation motor connection；It is right Arm drive device is identical with the structure of left arm drive device, and right arm drive device is with left arm drive device relative to body center line It is symmetrical arranged.

Further, upper head drive device is fixedly installed on the head rotation motor on the body including housing.

Further, the electric control unit also includes the human-computer interaction interface, the wireless communication module that are arranged on the body And electrical source of power；Electrical source of power is used to provide power supply, and logic control mainboard passes the signal to human-computer interaction interface, channel radio Electric signal is passed to logic control mainboard by news module, and logic control mainboard is by the left articulationes metatarsophalangeae electricity of motor controller controls Machine, left ankle joint motor, left knee joint swing motor, left knee cradle head motor, left knee joint swing motor, Left hip joint oscillating motor, left hip joint rotary electric machine, left hand articulations digitorum manus motor, left wrist joint motor, left elbow joint motor, a left side Shoulder joint oscillating motor, left arm articulation motor, head rotation motor, the corresponding controlled motor of right arm drive device and/or The rotation of the corresponding controlled motor of right crus of diaphragm drive device.

Further, the electric control unit also include sensor control block, sensor control block be gyroscope and/ Or angle detecting sensor and/or angle of inclination detection sensor and/or multiaxis Gravity accelerometer and/or color detection Sensor and/or infrared ray sensor, sensor control block are electrically connected with logic control mainboard, the sensor control block Left foot drive device, left leg drive device, left arm drive device, right crus of diaphragm drive device, right leg drive device, right arm is arranged on to drive In dynamic device, the body and/or head drive device.

Further, left leg link, left thigh link, left hand palm link, left forearm link and left large arm The structure of link is identical, and left hand palm link includes being hinged motor rack and is hinged middle frame and the setting of motor rack connection In the fixed motor rack of the middle frame other end, band keyway through hole, the electricity of left hand articulations digitorum manus motor are provided with being hinged on motor rack Arbor is arranged in band keyway through hole and is connect by being bonded, and fixed motor rack is fixedly connected with the housing of left wrist joint motor.

Preferably, it is the surface-mounted integrated circuit of core that logic control mainboard is AVR, STM32 or Atmel microprocessor, can From the integrated system environment such as raspberry group, arduino, AVR,

A kind of method for controlling robot to be walked on iron plate, it uses a kind of above-mentioned robot；

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

Preproduction phase comprises the following steps：

Step a：Perform robot to attention, left front toe point contact element, left back heel contact element, right front toe point contact element Part and right rear heel contact element are in contact with iron plate respectively, and logic control mainboard control left foot electromagnet and/or right crus of diaphragm are electric Magnet is in contact after being powered with iron plate；

Step b：After execution of step a, robot starting is performed；The control left foot electromagnet power-off of logic control mainboard and Right crus of diaphragm electromagnet is powered, and logic control mainboard controls left hip joint oscillating motor forward swing, left ankle respectively by electric machine controller Put after pendulum and left knee joint swing motor on joint motor, logic control mainboard controls a left side respectively by electric machine controller Front toe point contact element, left back heel contact element and left foot electromagnet are lifted up leaving iron plate；

First walking phase comprises the following steps：

Step c：Step b is being performed simultaneously or after execution of step b, robot level is being performed and is taken a step；Logic control master Plate controls left hip joint oscillating motor forward swing respectively by electric machine controller, and left knee joint swing reset motor is stretched, a left side Ankle arthrosis motor swing and left articulationes metatarsophalangeae motor swing, meanwhile, the electromagnetic attraction with right crus of diaphragm electromagnet as fulcrum, right leg The right ankle joint motor of drive device drives body anterior displacement to rotate with right articulationes metatarsophalangeae motor, the right side of right leg drive device Hip joint oscillating motor is made and right ankle joint motor, right articulationes metatarsophalangeae motor rotational axis direction opposite action, the holding body Vertical state；

Step d：After execution of step c, perform robot front foot level and contact to earth action；Logic control mainboard is with unit arteries and veins Punching is filled by the left hip joint oscillating motor of motor controller controls, left ankle joint motor, left articulationes metatarsophalangeae motor, right leg drive Right hip joint oscillating motor, right ankle joint motor and/or the right articulationes metatarsophalangeae motor put make driving left foot electromagnet and iron The adjustment action that plate shape is contacted into face, until left front toe point contact element connects with left back heel contact element with iron plate upper surface Touch, left front toe point contact element leads to logic control mainboard, logic control mainboard with left back heel contact cell feeds back electric signal Cross adjustment action described in motor controller controls to stop, left foot electromagnet reaches the prefabricated height relative to iron plate upper surface；

Step e：After execution of step d, perform electromagnetic suction and switch；Left front toe point contact element and left back pin Electric signal is passed into logic control mainboard, the control right crus of diaphragm electromagnet power-off of logic control mainboard and left foot electromagnetism with contact element Tie Tong electricity；

Step f：After execution of step e, perform robot center of gravity reach and push；Logic control mainboard passes through motor control Device controls the corresponding controlled motor of right leg drive device, with right crus of diaphragm drive device as fulcrum, center of gravity push action is made forward, together Step logic control mainboard passes through the left leg drive device of motor controller controls and the corresponding controlled motor of left foot drive device, with a left side The electromagnetic attraction of pin electromagnet is fulcrum, and work is pulled before making center of gravity, and center of gravity is pushed into left foot drive device top, left foot electricity Magnet and the adhesive of iron plate upper surface；

Step g：After execution of step f, perform robot and receive the rear foot forward；With left foot drive device fulcrum, logic control Mainboard processed drives right crus of diaphragm by motor controller controls right leg drive device and/or the corresponding controlled motor of right crus of diaphragm drive device Drive device swings forward or receives forward pin；After execution of step g, the first walking phase is finished.

Preferably, performing step c simultaneously or after execution of step c and before step f is performed, robot is performed Upper limbs swings, and logic control mainboard controls left arm drive device and/or right arm drive device to make respectively by electric machine controller Swinging arm.

Preferably, in step d, the prefabricated height is zero or left foot electromagnet can be made to produce magnetic with iron plate upper surface The height of suction.

It is using the beneficial effect produced by above-mentioned technical proposal：

The present invention is by changing the holding bionical lower limb hip joint of suction, knee joint, articulationes metatarsophalangeae and ankle-joint location Angle sends instruction to set out by logic control mainboard, and corresponding controlled motor carries out trickle tune with 1 and above operating angle Section so that trunk shell make up and down, lean forward, hypsokinesis, left-hand rotation, the mild action such as right-hands rotation, drive are in new target location Electromagnet under powering-off state makes pose adjustment, until reached between electromagnet under powering-off state and walking road surface it is default away from From and ensure be powered after can be formed face contact.

In the present invention, bionical lower limb hip joint, knee joint, articulationes metatarsophalangeae and ankle-joint location that non-suction keeps are adjusted Angle sends instruction to set out by logic control mainboard, and corresponding controlled motor carries out trickle tune with 1 and above operating angle Section, the action such as makes bionical foot-up point, presser feet point, foot-up, stops over, until electromagnet under powering-off state and walk road surface it Between reach predeterminable range and ensure be powered after can be formed face contact.

In the present invention, keeping each joint of bionical lower limb that the bionical lower limb of suction keep with non-suction can adjust simultaneously, Instruction is sent by logic control mainboard, corresponding controlled motor carries out fine adjustments with 1 and above operating angle, until power-off In the case of electromagnet and walking road surface between reach predeterminable range and ensure to form face and contact after being powered.Controlled by each Motor processed causes non-through electromagnet and integrally mounted contact element to front or rear movement, bionical for single leg takes a step to act.Even Connect the expansible controlled motor for being installed as increasing the anthropomorphic robot free degree of frame, using the teaching of the invention it is possible to provide motion feature sensor or position are special Levy sensor mounting location, in Fig. 4 left knee joint swing motor, left knee joint rotate link and left knee cradle head Motor, increased the free degree of left leg, and adjust humanoid machine prevents lateral external force from falling down in the process of walking, designs more adduction Reason.Electric machine controller can send motor shaft direction of rotation and angle or time or speed command to each controlled motor.

Each contact element wherein of the invention sends correspondence electromagnet and is walked with anthropomorphic robot to logic control mainboard Road surface between near when the switching value that produces or pressure signal or magnetic strength induction signal, it is desirable in triggering state contact element not The distance between electromagnet and walking road can be hindered to contact, microswitch may be selected under non-wet environment.

Each link wherein of the invention may be selected the materials such as aluminium, engineering plastics, between link and controlled motor axle Bearing or cup type bearing reducing friction resistance can be installed additional, the position for easily causing controlled motor stall can install cushion additional Piece.

Logic control mainboard wherein of the invention is formulated and is instructed to electric machine controller sending action, and electric machine controller can Non-interference between motor operation, controlled motor is independently controlled, by installed in left lower extremity, right lower extremity, left upper extremity, upper right Limb, trunk, the controlled motor of the part of head six realize the co-operating of anthropomorphic robot, and logic control mainboard is with different action ranks Section is instructed to electric machine controller difference sending action, and anthropomorphic robot walking purpose is reached step by step.

Wireless communication module wherein of the invention can be bluetooth, Wi-Fi, RFDC, GSM/GPRS modules etc., nothing Line communication module is connected with logic control mainboard, and anthropomorphic robot operator is as desired by wirelessly or non-wirelessly to logic mainboard Instruction code set in advance is sent, realizes that an anthropomorphic robot distant place manipulates.

Electrical source of power wherein of the invention provides the energy from external power source or battery or accumulator.

Brief description of the drawings

Fig. 1 is structural representation of the invention.

Fig. 2 is main structure diagram of the invention.

Fig. 3 is dimensional structure diagram of the invention.

Fig. 4 is improved structural representation of the invention.

Fig. 5 is improved main structure diagram of the invention.

Fig. 6 is the main structure diagram of left shoulder rotating shaft of the invention.

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

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

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

Figure 10 is circuit structure block diagram of the invention.

Wherein：1st, left foot drive device；2nd, left leg drive device；3rd, left arm drive device；4th, right crus of diaphragm drive device；5th, it is right Leg drive device；6th, right arm drive device；7th, the body；8th, head drive device；9th, left front toe point contact element；10th, left back pin With contact element；11st, left foot electromagnet；12nd, left foot frame；13rd, left articulationes metatarsophalangeae motor；14th, left foot link；15th, left ankle Joint motor；16th, left leg link；17th, left knee joint swing motor；18th, left thigh link；19th, left hip joint Oscillating motor；21st, link on hipbone；22nd, left leg rotating shaft；23rd, left leg shaft coupling；24th, left hip joint rotary electric machine；25th, it is left Finger-joint motor；26th, left hand palm link；27th, left wrist joint motor；28th, left forearm link；29th, left elbow joint motor； 30th, left large arm link；31st, left shoulder joint oscillating motor；32nd, left shoulder blade link；33rd, left shoulder rotating shaft；34th, left arm shaft coupling Device；35th, left arm articulation motor；36th, head rotation motor；37th, electric machine controller；38th, human-computer interaction interface；39th, it is wireless Communication module；40th, electrical source of power；41st, logic control mainboard；42nd, sensor control block；43rd, left knee side-sway link； 44th, left knee joint swings motor；45th, left knee joint rotates link；46th, left knee cradle head motor；47th, rotary shaft； 48th, be rotatably connected flange；49th, mounting flange frame；50th, inner via hole；51st, power transmission shaft；52nd, fixed motor rack；53rd, middle frame；54、 It is hinged motor rack；55th, band keyway through hole；56th, right front toe point contact element；57th, right rear heel contact element；58th, right crus of diaphragm electromagnetism Iron.

Specific embodiment

As Figure 1-10 shows, the present invention includes being arranged on the body 7 above iron plate, is respectively hinged at the lower end both sides of the body 7 Left leg drive device 2 with right leg drive device 5, be hinged on the left foot drive device 1 of the left lower end of leg drive device 2, be hinged on The right crus of diaphragm drive device 4 and electric control unit of the lower end of right leg drive device 5, left leg drive device 2 and right leg drive device 5 Structure it is identical, left leg drive device 2 is symmetrical arranged with right leg drive device 5 relative to the center line of the body 7, right crus of diaphragm drive device 4 is identical with the structure of left foot drive device 1, and right crus of diaphragm drive device 4 is symmetrical relative to the center line of the body 7 with left foot drive device 1 Set；

Left foot drive device 1 includes being arranged on iron plate top and the left foot frame 12 that is hinged with left leg drive device 2 and sets The left foot electromagnet 11 on left foot frame 12 is put, left foot electromagnet 11 is corresponding with the upper surface of iron plate；

Right crus of diaphragm drive device 4 includes being arranged on right crus of diaphragm frame and the setting being hinged above iron plate and with right leg drive device 5 Right crus of diaphragm electromagnet 58 on right crus of diaphragm frame, right crus of diaphragm electromagnet 58 is corresponding with the upper surface of iron plate；Become as structure of the invention Shape, left foot frame 12 can be one with left foot electromagnet 11, and right crus of diaphragm frame and right crus of diaphragm electromagnet 58 can be one；

Left leg drive device 2 includes the controlled motor at least two imitation human leg joints and is arranged on controlled motor Between imitate human body thigh bone connect frame；

Electric control unit includes being arranged on electric machine controller 37 in the body 7 and logic control mainboard 41, for checking Left foot electromagnet 11 is with the left detection module of the upper surface of iron plate and for checking right crus of diaphragm electromagnet 58 and iron plate The right detection module of surface contact, electric signal of the left detection module with right detection module respectively by respective collection passes to logic control Mainboard processed 41, logic control mainboard 41 controls corresponding controlled motor main axis, logic control master by electric machine controller 37 Plate 41 controls the coil of left foot electromagnet 11 and/or the coil power on/off of right crus of diaphragm electromagnet 58 respectively.

Further, left detection module includes being arranged on the left front toe point contact element 9 of the side of left foot electromagnet 11 and setting The opposite side of left foot electromagnet 11 left back heel contact element 10 or be arranged on the left front toe point of the side of left foot electromagnet 11 and connect Element 9 is touched with the left level meter element for checking the level of left foot electromagnet 11；

Right detection module includes being arranged on the right front toe point contact element 56 of the side of right crus of diaphragm electromagnet 58 and is arranged on right crus of diaphragm The right rear heel contact element 57 of the opposite side of electromagnet 58 or be arranged on the side of right crus of diaphragm electromagnet 58 right front toe point contact element 56 with for checking the right level meter element of the level of right crus of diaphragm electromagnet 58.

Further, also including being hinged on the left arm drive device 3 of the upper end side of the body 7, be hinged that to be arranged on the upper end of the body 7 another The right arm drive device 6 of side and/or it is hinged the head drive device 8 for being arranged on the upper end of the body 7.

Further, left leg drive device 2 includes driving the left articulationes metatarsophalangeae motor 13 of the swing of left foot electromagnet 11, a left side Pin link 14, the left ankle joint motor 15 for driving the swing of left foot link 14, left leg link 16, drive left leg connect Before and after connecing the left knee joint swing motor 17, left thigh link 18 of the swing of frame 16, driving left thigh link 18 Link 21, left leg rotating shaft 22 on the left hip joint oscillating motor 19, hipbone for swinging, left leg shaft coupling 23 and it is fixedly installed on The left hip joint rotary electric machine 24 at the lower-left end of the body 7；

Left foot frame 12 is hinged with the motor shaft of left articulationes metatarsophalangeae motor 13, and housing and the left foot of left articulationes metatarsophalangeae motor 13 connect Connect frame 14 to be fixedly connected, left foot link 14 is fixedly connected with the housing of left ankle joint motor 15, left ankle joint motor 15 Motor shaft be hinged with left leg link 16, left leg link 16 is fixed with the housing of left knee joint swing motor 17 Connection, the motor shaft of left knee joint swing motor 17 is hinged with left thigh link 18, left thigh link 18 and left hip The housing of joint oscillating motor 19 is fixedly connected, and motor shaft and the link on hipbone 21 of left hip joint oscillating motor 19 are hinged, Link 21 is connected by left leg rotating shaft 22 with left leg shaft coupling 23 on hipbone, and left leg shaft coupling 23 is rotated with left hip joint Motor 24 is connected.

Further, left leg drive device 2 includes driving the left articulationes metatarsophalangeae motor 13 of the swing of left foot electromagnet 11, a left side Pin link 14, the left ankle joint motor 15 for driving the swing of left foot link 14, left leg link 16, left knee side-sway connect Connect frame 43, drive swing motor 44, left knee joint of the left knee joint that left knee side-sway link 43 swings to rotate and connect Connect frame 45, left knee cradle head motor 46, drive the left knee joint swing electricity of the swing of left knee side-sway link 43 Connected on machine 17, left thigh link 18, the left hip joint oscillating motor 19, hipbone of the swing of drive left thigh link 18 Frame 21, left leg rotating shaft 22, left leg shaft coupling 23 and it is fixedly installed on the left hip joint rotary electric machine 24 at the lower-left end of the body 7；

Left foot frame 12 is hinged with the motor shaft of left articulationes metatarsophalangeae motor 13, and housing and the left foot of left articulationes metatarsophalangeae motor 13 connect Connect frame 14 to be fixedly connected, left foot link 14 is fixedly connected with the housing of left ankle joint motor 15, left ankle joint motor 15 Motor shaft be hinged with left leg link 16, the housing of left leg link 16 and left knee cradle head motor 46 is fixed and connected Connect, the motor shaft and left knee joint of left knee cradle head motor 46 rotate the rotation of link 45 and be connected, and left knee joint rotates connection Frame 45 is fixedly connected with the housing of left knee joint swing motor 17, motor shaft and the left side of left knee joint swing motor 17 Thigh link 18 is hinged, and left thigh link 18 and left the knee joint housing of motor 44 that swings are fixedly connected, left knee joint Swing the motor shaft of motor 44 and left knee side-sway link 43 is hinged, left knee side-sway link 43 and left hip joint are put The housing of dynamic motor 19 is fixedly connected, and motor shaft and the link on hipbone 21 of left hip joint oscillating motor 19 are hinged, on hipbone Link 21 is connected by left leg rotating shaft 22 with left leg shaft coupling 23, left leg shaft coupling 23 and left hip joint rotary electric machine 24 Connection.

Further, left arm drive device 3 includes left hand articulations digitorum manus motor 25, left hand palm link 26, left wrist joint motor 27th, left forearm link 28, left elbow joint motor 29, left large arm link 30, left shoulder joint oscillating motor 31, left shoulder blade connect Connect frame 32, left shoulder rotating shaft 33, left arm shaft coupling 34 and the left arm articulation motor 35 being 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 32 is rotated with the left body 7 by left shoulder rotating shaft 33 and is connected；

The motor shaft of left hand articulations digitorum manus motor 25 is hinged with left hand palm link 26, the left hand palm link 26 and left wrist joint The housing of motor 27 is fixedly connected, and the motor shaft of left wrist joint motor 27 is hinged with left forearm link 28, left forearm link 28 are fixedly connected with the housing of left elbow joint motor 29, and the motor shaft of left elbow joint motor 29 is hinged with left large arm link 30, Left large arm link 30 is fixedly connected with the housing of left shoulder joint oscillating motor 31, the motor shaft of left shoulder joint oscillating motor 31 with Left shoulder blade link 32 is hinged, and left shoulder blade link 32 is connected by left shoulder rotating shaft 33 and left arm shaft coupling 34, left Arm shaft coupling 34 is connected with left arm articulation motor 35；Right arm drive device 6 is identical with the structure of left arm drive device 3, right Arm drive device 6 is symmetrical arranged with left arm drive device 3 relative to the center line of the body 7.

Further, upper head drive device 8 is fixedly installed on the head rotation motor 36 on the body 7 including housing.

Further, electric control unit also includes the human-computer interaction interface 38, the wireless communication module 39 that are arranged on the body 7 And electrical source of power 40；Electrical source of power 40 is used to provide power supply, and logic control mainboard 41 passes the signal to human-computer interaction interface 38, electric signal is passed to logic control mainboard 41 by wireless communication module 39, and logic control mainboard 41 passes through electric machine controller 37 Left articulationes metatarsophalangeae motor 13, left ankle joint motor 15, left knee joint is controlled to swing motor 44, left knee cradle head motor 46th, left knee joint swing motor 17, left hip joint oscillating motor 19, left hip joint rotary electric machine 24, left hand articulations digitorum manus electricity Machine 25, left wrist joint motor 27, left elbow joint motor 29, left shoulder joint oscillating motor 31, left arm articulation motor 35, head The rotation of rotary electric machine 36, the corresponding controlled motor of right arm drive device 6 and/or the corresponding controlled motor of right crus of diaphragm drive device 4. Further, electric control unit also includes sensor control block 42, and sensor control block 42 is that gyroscope and/or angle are examined Survey sensor and/or angle of inclination detection sensor and/or multiaxis Gravity accelerometer and/or color detecting sensor And/or infrared ray sensor, sensor control block 42 electrically connects with logic control mainboard 41.Further, sensor control mould Block 42 is arranged on left foot drive device 1, left leg drive device 2, left arm drive device 3, right crus of diaphragm drive device 4, right leg drive dress Put in 5, right arm drive device 6, the body 7 and/or head drive device 8.Further, left leg link 16, left thigh connection The structure of frame 18, left hand palm link 26, left forearm link 28 and left large arm link 30 is identical, left hand palm link 26 Including being hinged motor rack 54 and being hinged the middle frame 53 for connecting of motor rack 54 and the fixed electricity for being arranged on the other end of middle frame 53 Frame 52, band keyway through hole 55 is provided with being hinged on motor rack 54, and the motor shaft of left hand articulations digitorum manus motor 25 is arranged on keyed Connect in groove through hole 55 and by being bonded, fixed motor rack 52 is fixedly connected with the housing of left wrist joint motor 27.Left hand articulations digitorum manus The motor shaft of motor 25 is arranged in band keyway through hole 55 and is connect by being bonded, and fixes motor rack 52 and left wrist joint motor 27 Housing is fixedly connected.Certainly, each portion's link can be using structures such as common connecting ribs.Logic control mainboard 15 be AVR, STM32 or Atmel microprocessors are the surface-mounted integrated circuit of core, can select the integrated system rings such as raspberry group, arduino, AVR Border.

As Figure 1-10 shows, a kind of method for controlling robot to be walked on iron plate, it uses above-mentioned robot；Its bag Include preproduction phase and the first walking phase after the preproduction phase；Preproduction phase comprises the following steps：Step a：Execution machine Device people attention, left front toe point contact element 9, left back heel contact element 10, right front toe point contact element 56 and right rear heel Contact element 57 is in contact with iron plate respectively, and the control left foot of logic control mainboard 41 electromagnet 11 and/or right crus of diaphragm electromagnet 58 are logical It is in contact with iron plate after electricity；

Step b：After execution of step a, robot starting is performed；The control left foot of logic control mainboard 41 electromagnet 11 breaks Electric and right crus of diaphragm electromagnet 58 is powered, and logic control mainboard 41 controls left hip joint oscillating motor 19 respectively by electric machine controller 37 Put after pendulum and left knee joint swing motor 17 on forward swing, left ankle joint motor 15, logic control mainboard 41 is by electricity Machine controller 37 controls left front toe point contact element 9, left back heel contact element 10 and left foot electromagnet 11 to lift upwards respectively Rise and leave iron plate；

First walking phase comprises the following steps：

Step c：Step b is being performed simultaneously or after execution of step b, robot level is being performed and is taken a step；Logic control master Plate 41 controls the left forward swing of hip joint oscillating motor 19, left knee joint swing motor 17 to reset respectively by electric machine controller 37 Stretch, left ankle joint motor 15 swings and left articulationes metatarsophalangeae motor 13 swings,

Meanwhile, the electromagnetic attraction with right crus of diaphragm electromagnet 58 as fulcrum, the right ankle joint motor of right leg drive device 5 with it is right Articulationes metatarsophalangeae motor drives the anterior displacement of the body 7 to rotate, and the right hip joint oscillating motor of right leg drive device 5 is made and right ankle Joint motor, right articulationes metatarsophalangeae motor rotational axis direction opposite action, keep the vertical state of the body 7；

Step d：After execution of step c, perform robot front foot level and contact to earth action；Logic control mainboard 41 is with unit Pulse by electric machine controller 37 control left hip joint oscillating motor 19, left ankle joint motor 15, left articulationes metatarsophalangeae motor 13, The right hip joint oscillating motor of right leg drive device 5, right ankle joint motor and/or right articulationes metatarsophalangeae motor make driving left foot Electromagnet 11 forms the adjustment action that face contacts with iron plate, until left front toe point contact element 9 and left back heel contact element 10 It is in contact with iron plate upper surface, left front toe point contact element 9 feeds back electric signal to logic control with left back heel contact element 10 Mainboard 41, logic control mainboard 41 by electric machine controller 37 control adjustment act stop, left foot electromagnet 11 reach relative to The prefabricated height of iron plate upper surface；

Step e：After execution of step d, perform electromagnetic suction and switch；Left front toe point contact element 9 with it is left back Electric signal is passed to logic control mainboard 41 by heel contact element 10, and the control right crus of diaphragm of logic control mainboard 41 electromagnet 58 is powered off And left foot electromagnet 11 is powered；

Step f：After execution of step e, perform robot center of gravity reach and push；Logic control mainboard 41 passes through motor control The corresponding controlled motor of the control right leg drive of device processed 37 device 5, with right crus of diaphragm drive device 4 as fulcrum, makes forward center of gravity push Action, synchronous logic control mainboard 41 controls left leg drive device 2 and left foot drive device 1 corresponding by electric machine controller 37 Controlled motor, the electromagnetic attraction with left foot electromagnet 11 pulls work as fulcrum before making center of gravity, and center of gravity is pushed into left foot drives The top of device 1, left foot electromagnet 11 and the adhesive of iron plate upper surface；

Step g：After execution of step f, perform robot and receive the rear foot forward；With the fulcrum of left foot drive device 1, logic control Mainboard processed 41 controls right leg drive device 5 and/or the corresponding controlled motor of right crus of diaphragm drive device 4, band by electric machine controller 37 Dynamic right crus of diaphragm drive device 4 swings forward or receives forward pin；

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

Further, step c is being performed simultaneously or after execution of step c and before step f is performed, performing in robot Limb swings, and logic control mainboard 41 controls left arm drive device 3 and/or right arm drive device 6 respectively by electric machine controller 37 Make swinging arm.

Further, in step d, prefabricated height is zero or left foot electromagnet 11 can be made to produce magnetic attraction with iron plate upper surface Height, the height of magnetic attraction is according to the electromagnet suction size setting for using.

Further, before step a is performed, the pre- debugging to robot is performed, it is first determined corresponding controlled motor institute Maximum and minimum rotation angle in installation site steering and in each steering, while comparing the minimum in corresponding link Space angle, on the basis of minimum movement space angle, it is determined that the initial position angle of corresponding controlled motor output shaft, will Controlled motor is connected on electric machine controller, and corresponding controlled motor output shaft then is rotated into initial position angle, disconnects electricity Connection, reverses corresponding controlled motor manually, so as to corresponding with controlled motor output shaft initial position angle, finally carries out group Dress.By aforesaid operations, controlled motor stall can be prevented effectively from, controlled motor burns after further elimination stall.Without spy Different situation controlled motor may be selected to be steering wheel.

When continuing to walk forward, the corresponding of left leg drive device 2 is moved during right leg drive device 5 performs the first walking phase Make, right crus of diaphragm drive device 4 performs left foot drive device 1 in the first walking phase；And left leg drive device 2 performs the first walking rank The corresponding actions of right leg drive device 5 in section, left foot drive device 1 performs right crus of diaphragm drive device 4 in the first walking phase；So as to Realize advancing, can similarly realize retreating.

Preferably, as those skilled in the art according to the present invention it is possible to the control to imitating each joint motion is electric Machine quantity is increased and decreased, so as to the need for meeting difference, be carried out by the controlled motor position to the activity of each limbs upper joint Adjustment, is equivalent of the invention so as to increase the free degree of action, is it will be apparent that the wherein machine of each link Structure can be identical or difference, can be welded using steel plate as needed.By level meter combined with contact element come Substitute two contact elements it will be apparent to those skilled in the art that equivalent.

Cost of the present invention is cheap, having stable behavior is reliable, will not fall down in motion process with it is out of control, can undertake certain The anthropomorphic robot walked on ferrous material laying road for bearing a heavy burden, is particularly transferred to people by anthropomorphic robot four limbs stress In anthropomorphic robot trunk shell, anthropomorphic robot heavy burden ability is lifted, fallen down and risk out of control in elimination motion process.

Signal is fed back to processor by the present invention by plantar contact element, and logic control mainboard receives the electric signal of feedback Or ready-made program drives each controlled motor to rotate by electric machine controller, the corresponding action for imitating human synovial is completed, can Realize the rising of trunk shell, decline, forward, be moved rearwards by, motion structure is more reasonable；Simultaneously control corresponding electromagnet with The walking with load on the road of iron plate laying is realized in the adhesive of iron plate.

Motor bearings is avoided by pivot design structure to be endangered by shearing force, come from and meeting for limbs be pooled to people In anthropomorphic robot trunk shell, the advantageously lifting in anthropomorphic robot heavy burden ability and gesture stability, advantageously in people The lifting of anthropomorphic robot heavy burden ability and gesture stability.

The present invention can by computer program, i.e., in the computer program in computer and non-temporary calculating On the readable recording media of machine, and perform this step.

The present invention act as design based on each limbs coordinated during bionical human motion, in this manner, humanoid Device people avoids falling down and further realizes anthropomorphic robot with risk out of control, the walking with load ability of lifting anthropomorphic robot Serve the purpose of the mankind.

Of the invention bionical human body is taken a step the stage, can only have an electromagnet in two electromagnet in "on" position, i.e., Can only have an electromagnet that the holding suction on road surface is laid with iron plate.Change and keep the bionical lower limb hip joint of suction, knee to close Section, articulationes metatarsophalangeae and ankle-joint location angle so that trunk shell is made up and down, forward and backward, left-hand rotation, right-hand rotation action, reached New target location, adjusts bionical lower limb hip joint, knee joint, articulationes metatarsophalangeae and ankle-joint location angle that non-suction keeps, Can make stretch before or after foot-up, lower limb, the bionical action such as left or right turns.

By changing the spatial vertical distance between two electromagnet, non-through electromagnet and integrally mounted is enabled to Contact element to it is front or rear mobile when not with walking road surface produce collision；Change space level distance between two electromagnet, make Non-through electromagnet and integrally mounted contact element are obtained to front or rear movement, it is bionical for single leg is stepped or room for manoeuvre action；Change two The "on" position of individual electromagnet, be exactly energization electromagnet be changed to off-position, off-position electromagnet is changed to "on" position, electricity Magnet and iron plate laying road surface suction are once switched between two electromagnet, realize the conversion of holding power.

In the present invention, keeping each joint of bionical lower limb that the bionical lower limb of suction keep with non-suction can adjust simultaneously, Instruction is sent by logic control mainboard, corresponding controlled motor carries out fine adjustments with 1 and above operating angle, until power-off In the case of electromagnet and walking road surface between reach predeterminable range and ensure to form face and contact after being powered.

It is extended to increase the controlled motor of the anthropomorphic robot free degree, using the teaching of the invention it is possible to provide motion feature sensor or position are special Levy sensor mounting location so that non-through electromagnet and integrally mounted contact element to it is front or rear mobile when not with walking road Face produces collision,

Non-through electromagnet and integrally mounted contact element are caused to front or rear movement by each controlled motor, it is bionical For single leg takes a step to act,

Left knee joint swing motor 44, left knee joint rotate link 45 and left knee cradle head motor 46, increase The free degree of left leg is added, has adjusted humanoid machine center of gravity in the process of walking, prevented from falling down, it is more reasonable to design.

Electric machine controller can send motor shaft direction of rotation and angle or time or speed command to each controlled motor.

Above-mentioned controlled motor rotating speed and the motor shaft anglec of rotation and stop position can be quantified and controlled, and control instruction is electric arteries and veins Rush signal or electric signal.Before assembling, it should determine that installation site is turned to where controlled motor first, in each steering most Greatly with minimum rotation angle, while it is minimum to compare mechanical joint space angle in which direction, in above-mentioned angle with On the basis of minimum, the initial position angle of controlled motor output shaft is determined.In installation process, controlled motor is connected in motor control On device processed, controlled motor output shaft is rotated to the initial angle for determining before, disconnect connection, anthropomorphic robot reversed manually and is closed Section, makes the angle between mechanical part corresponding with controlled motor output shaft initial angle, is then assembled.By above-mentioned behaviour Make, controlled motor stall can be prevented effectively from, controlled motor burns after further elimination stall.Without special circumstances controlled motor May be selected to be steering wheel.

Wherein rotating shaft is of the invention may be selected to be bearing.

Sensor of the invention module can be gyroscope and/or angle and/or angle of inclination and/or the acceleration of multiaxis gravity The sensor such as degree and/or color and/or infrared ray, more accurately positions motion state and the locus of anthropomorphic robot, By improving logic control mainboard internal processes, the response speed and precision of controlled motor are lifted so that anthropomorphic robot is made More complicated conventional action and emergency action.

Further, the present invention can be used for receiving user input and/or for providing a user with information.User interface can be with Including display, knob, one or more buttons, touch-screen, one or more lamps (for example, LED) etc..

Wherein left foot drive device 1, left leg drive device 2, left arm drive device 3, right crus of diaphragm drive device 4, right leg drive Left foot, left arm, right crus of diaphragm, right arm and the head that device 5, right arm drive device 6 imitate human body with head drive device 8 respectively are each The action in individual joint, behind left front toe point contact element 9, left back heel contact element 10, right front toe point contact element 56 and the right side Heel contact element 57 can be with the common feedback device such as pressure sensor or limit switch, and left foot electromagnet 11 is used for fixed absorption Limbs, bear to bear a heavy burden, and left articulationes metatarsophalangeae motor 13 imitates articulationes metatarsophalangeae, and left ankle joint motor 15 imitates left foot ankle-joint, left Knee joint swing motor 17 imitates left knee joint, and left hip joint oscillating motor 19 imitates left hip joint and swings, left hip joint Rotary electric machine 24 imitates left hip joint and rotates, and left hand articulations digitorum manus motor 25 imitates left hand articulations digitorum manus, and left wrist joint motor 27 is imitated Left wrist joint, left elbow joint motor 29 imitates left elbow joint, and left shoulder joint oscillating motor 31 imitates left shoulder joint and swings, and left arm is closed Section rotary electric machine 35 imitates left arm articulation, and head rotation motor 36 imitates head rotation, and electric machine controller 37 is used to control The rotation direction of each controlled motor, angle and rotating speed, controlled motor can be servomotor or stepper motor etc., each company Each connects bone to connect frame imitation human body.

Compact conformation of the present invention, it is reasonable in design, it is possible to achieve heavy burden work, it is adapted to large-scale promotion.

As those skilled in the art, reversed by the closure to each controlled motor and installed, be i.e. installation direction It is in opposite direction with accompanying drawing；As the equivalent of step b, by control toe joint on right leg drive device 5, ankle-joint with And hip joint action, so as to drive the body 7 to be lifted up, thus left foot drive device 1 separated with iron plate be it will be apparent that Realize performing robot starting, be simple equivalent.

Finally it should be noted that：The above embodiments are merely illustrative of the technical solutions of the present invention, rather than its limitations；Although The present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those within the art that：It still may be used Modified with to the technical scheme described in previous embodiment, or equivalent is carried out to which part technical characteristic；Make It is obvious for those skilled in the art are combined to multiple technical schemes of the invention.And these are changed or replace Change, do not make the spirit and scope of the essence disengaging embodiment of the present invention technical scheme of appropriate technical solution.

Claims

1. a kind of method that control robot walks on iron plate, it is characterised in that:It uses a kind of machine of balance quality stabilization Device people；A kind of robot of balance quality stabilization includes being arranged on the body (7) above iron plate, is respectively hinged at the body (7) the left leg drive device (2) of lower end both sides and right leg drive device (5), be hinged on the left foot of left leg drive device (2) lower end Drive device (1), the right crus of diaphragm drive device (4) and electric control unit that are hinged on right leg drive device (5) lower end, left leg drive Dynamic device (2) is identical with the structure of right leg drive device (5), and left leg drive device (2) is with right leg drive device (5) relative to body Shell (7) center line is symmetrical arranged, and right crus of diaphragm drive device (4) is identical with the structure of left foot drive device (1), right crus of diaphragm drive device (4) it is symmetrical arranged relative to the body (7) center line with left foot drive device (1)；Left foot drive device (1) is including being arranged on iron plate Top and the left foot frame (12) being hinged with left leg drive device (2) and the left foot electromagnet being arranged on left foot frame (12) (11), left foot electromagnet (11) is corresponding with the upper surface of iron plate；Right crus of diaphragm drive device (4) including be arranged on iron plate top and with Right crus of diaphragm frame that right leg drive device (5) is hinged and the right crus of diaphragm electromagnet (58) being arranged on right crus of diaphragm frame, right crus of diaphragm electromagnet (58) Upper surface with iron plate is corresponding；Left leg drive device (2) including at least two imitate the controlled motor in human leg joints with And be arranged between controlled motor and imitate the thigh bone of human body and connect frame；Electric control unit includes the electricity being arranged in the body (7) Machine controller (37) and logic control mainboard (41), the left inspection for checking left foot electromagnet (11) and the upper surface of iron plate Survey module and the right detection module for checking right crus of diaphragm electromagnet (58) and the upper surface of iron plate, left detection module and the right side Electric signal of the detection module respectively by respective collection passes to logic control mainboard (41), and logic control mainboard (41) is by motor Controller (37) controls corresponding controlled motor main axis, logic control mainboard (41) to control left foot electromagnet (11) respectively The coil power on/off of coil and/or right crus of diaphragm electromagnet (58)；The left detection module includes being arranged on left foot electromagnet (11) Left front toe point contact element (9) of side with the left back heel contact element (10) for being arranged on left foot electromagnet (11) opposite side or set Put left front toe point contact element (9) and the left water for checking left foot electromagnet (11) level in left foot electromagnet (11) side Level element；The right detection module includes being arranged on right front toe point contact element (56) of right crus of diaphragm electromagnet (58) side and setting Put right crus of diaphragm electromagnet (58) opposite side right rear heel contact element (57) or be arranged on setting for right crus of diaphragm electromagnet (58) side Put in right front toe point contact element (56) and the right level meter element for checking right crus of diaphragm electromagnet (58) level；It is described a kind of flat The robot of weighing apparatus stable performance is also arranged on the body including being hinged on the left arm drive device (3) of the body (7) upper end side, being hinged (7) the right arm drive device (6) of upper end opposite side and/or it is hinged the head drive device (8) for being arranged on the body (7) upper end；

Left leg drive device (2) or left leg drive device (2) of the left leg drive device (2) including first scheme are including alternative plan Left leg drive device (2)：

The left leg drive device (2) of the first scheme is including driving the left articulationes metatarsophalangeae of left foot electromagnet (11) swing electric Machine (13), left foot link (14), left ankle joint motor (15), the left leg link for driving left foot link (14) swing (16), drive the left knee joint swing motor (17) of left leg link (16) swing, left thigh link (18), Drive the left hip joint oscillating motor (19) of left thigh link (18) swing, link (21), left leg rotating shaft on hipbone (22), left leg shaft coupling (23) and it is fixedly installed on the left hip joint rotary electric machine (24) at the body (7) lower-left end；Left foot frame (12) motor shaft with left articulationes metatarsophalangeae motor (13) is hinged, housing and the left foot link (14) of left articulationes metatarsophalangeae motor (13) It is fixedly connected, left foot link (14) is fixedly connected with the housing of left ankle joint motor (15), left ankle joint motor (15) Motor shaft be hinged with left leg link (16), the shell of left leg link (16) and left knee joint swing motor (17) Body is fixedly connected, and motor shaft and the left thigh link (18) of left knee joint swing motor (17) are hinged, left thigh connection Frame (18) is fixedly connected with the housing of left hip joint oscillating motor (19), the motor shaft and hipbone of left hip joint oscillating motor (19) Upper link (21) is hinged, and link (21) is connected by left leg rotating shaft (22) with left leg shaft coupling (23) on hipbone, left Leg shaft coupling (23) is connected with left hip joint rotary electric machine (24)；

The left leg drive device (2) of the alternative plan is including driving the left articulationes metatarsophalangeae of left foot electromagnet (11) swing electric Machine (13), left foot link (14), left ankle joint motor (15), the left leg link for driving left foot link (14) swing (16), the left knee joint that left knee side-sway link (43), drive left knee side-sway link (43) swing swings Motor (44), left knee joint rotate link (45), left knee cradle head motor (46), drive left knee side-sway link (43) Before and after left knee joint swing motor (17), left thigh link (18), drive left thigh link (18) of swing The left hip joint oscillating motor (19) that swings, link (21) on hipbone, left leg rotating shaft (22), left leg shaft coupling (23) and solid Surely it is arranged on the left hip joint rotary electric machine (24) at the body (7) lower-left end；Left foot frame (12) and left articulationes metatarsophalangeae motor (13) Motor shaft is hinged, and the housing of left articulationes metatarsophalangeae motor (13) is fixedly connected with left foot link (14), left foot link (14) with The housing of left ankle joint motor (15) is fixedly connected, motor shaft and the left leg link (16) of left ankle joint motor (15) It is hinged, left leg link (16) is fixedly connected with the housing of left knee cradle head motor (46), left knee cradle head motor (46) motor shaft rotates link (45) rotation and is connected with left knee joint, and left knee joint rotates link (45) and left knee joint The housing of swing motor (17) is fixedly connected, motor shaft and the left thigh link of left knee joint swing motor (17) (18) it is hinged, left thigh link (18) and left knee joint motor (44) housing that swings are fixedly connected, left knee joint or so The motor shaft of oscillating motor (44) is hinged with left knee side-sway link (43), left knee side-sway link (43) and left hip joint The housing of oscillating motor (19) is fixedly connected, and motor shaft and the link (21) on hipbone of left hip joint oscillating motor (19) cut with scissors Connect, link (21) is connected by left leg rotating shaft (22) with left leg shaft coupling (23) on hipbone, left leg shaft coupling (23) with Left hip joint rotary electric machine (24) connection；

Left arm drive device (3) including left hand articulations digitorum manus motor (25), left hand slap link (26), left wrist joint motor (27), Left forearm link (28), left elbow joint motor (29), left large arm link (30), left shoulder joint oscillating motor (31), left shoulder Shoulder blade link (32), left shoulder rotating shaft (33), left arm shaft coupling (34) and the left arm joint being fixedly installed on the body (7) turn Dynamic motor (35),

The motor shaft of left hand articulations digitorum manus motor (25) is slapped link (26) and is hinged with left hand, and left hand is slapped link (26) and closed with left wrist The housing of section motor (27) is fixedly connected, and the motor shaft of left wrist joint motor (27) is hinged with left forearm link (28), left small Arm link (28) is fixedly connected with the housing of left elbow joint motor (29), the motor shaft and left large arm of left elbow joint motor (29) Link (30) is hinged, and left large arm link (30) is fixedly connected with the housing of left shoulder joint oscillating motor (31), left shoulder joint The motor shaft of oscillating motor (31) is hinged with left shoulder blade link (32), and left shoulder blade link (32) is by left shoulder rotating shaft (33) it is connected with left arm shaft coupling (34), left arm shaft coupling (34) is connected with left arm articulation motor (35)；

Right arm drive device (6) is identical with the structure of left arm drive device (3), right arm drive device (6) and left arm drive device (3) it is symmetrical arranged relative to the body (7) center line；

The electric control unit also includes the human-computer interaction interface (38), the wireless communication module (39) that are arranged on the body (7) And electrical source of power (40)；Electrical source of power (40) passes the signal to man-machine friendship for providing power supply, logic control mainboard (41) Electric signal is passed to logic control mainboard (41) by mutual interface (38), wireless communication module (39), and logic control mainboard (41) leads to Crossing electric machine controller (37) controls left articulationes metatarsophalangeae motor (13), left ankle joint motor (15), left knee joint to swing electricity Machine (44), left knee cradle head motor (46), left knee joint swing motor (17), left hip joint oscillating motor (19), a left side 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 The corresponding controlled motor of joint oscillating motor (31), left arm articulation motor (35), right arm drive device (6) and/or right crus of diaphragm The rotation of the corresponding controlled motor of drive device (4)；

The electric control unit also includes sensor control block (42), and sensor control block (42) is arranged on left foot driving Device (1), left leg drive device (2), left arm drive device (3), right crus of diaphragm drive device (4), right leg drive device (5), right arm In drive device (6), the body (7) and/or head drive device (8)；

Preproduction phase comprises the following steps：

Step a：Perform robot to attention, left front toe point contact element (9), left back heel contact element (10), right front toe point connect Touch element (56) and right rear heel contact element (57) is in contact with iron plate respectively, logic control mainboard (41) control left foot electricity Magnet (11) and/or right crus of diaphragm electromagnet (58) are in contact after being powered with iron plate；

Step b：After execution of step a, robot starting is performed；Logic control mainboard (41) controls left foot electromagnet (11) to break Electricity and right crus of diaphragm electromagnet (58) energization, logic control mainboard (41) control left hip joint to swing respectively by electric machine controller (37) Pendulum and left knee joint swing motor (17) are put afterwards on motor (19) forward swing, left ankle joint motor (15), logic control Mainboard (41) by electric machine controller (37) control respectively left front toe point contact element (9), left back heel contact element (10) with And left foot electromagnet (11) is lifted up leaving iron plate；

First walking phase comprises the following steps：

Step c：Step b is being performed simultaneously or after execution of step b, robot level is being performed and is taken a step；Logic control mainboard (41) left hip joint oscillating motor (19) forward swing, left knee joint swing motor are controlled by electric machine controller (37) respectively (17) reset is stretched, left ankle joint motor (15) swings and left articulationes metatarsophalangeae motor (13) swings,

Meanwhile, the electromagnetic attraction with right crus of diaphragm electromagnet (58) as fulcrum, the right ankle joint motor of right leg drive device (5) with it is right Articulationes metatarsophalangeae motor drives the body (7) anterior displacement to rotate, and the right hip joint oscillating motor of right leg drive device (5) is made and the right side Ankle arthrosis motor, right articulationes metatarsophalangeae motor rotational axis direction opposite action, keep the body (7) vertical state；

Step d：After execution of step c, perform robot front foot level and contact to earth action；Logic control mainboard (41) is with unit arteries and veins Punching controls left hip joint oscillating motor (19), left ankle joint motor (15), left articulationes metatarsophalangeae electricity by electric machine controller (37) Machine (13), the right hip joint oscillating motor of right leg drive device (5), right ankle joint motor and/or right articulationes metatarsophalangeae motor do Go out to drive left foot electromagnet (11) and iron plate to form the adjustment action that face contact, until the sharp contact element (9) of left front toe with it is left back Heel contact element (10) is in contact with iron plate upper surface, left front toe point contact element (9) and left back heel contact element (10) Feedback electric signal controls the adjustment dynamic to logic control mainboard (41), logic control mainboard (41) by electric machine controller (37) Work stops, and left foot electromagnet (11) reaches the prefabricated height relative to iron plate upper surface；

Step e：After execution of step d, perform electromagnetic suction and switch；Left front toe point contact element (9) and left back pin Electric signal is passed into logic control mainboard (41), logic control mainboard (41) control right crus of diaphragm electromagnet with contact element (10) (58) power-off and left foot electromagnet (11) energization；

Step f：After execution of step e, perform robot center of gravity reach and push；Logic control mainboard (41) is by motor control Device (37) controls the corresponding controlled motor of right leg drive device (5), with right crus of diaphragm drive device (4) as fulcrum, center of gravity is made forward Push is acted, and synchronous logic control mainboard (41) controls left leg drive device (2) and left foot to drive by electric machine controller (37) The corresponding controlled motor of device (1), the electromagnetic attraction with left foot electromagnet (11) pulls work as fulcrum before making center of gravity, will weight The heart is pushed to left foot drive device (1) top, left foot electromagnet (11) and the adhesive of iron plate upper surface；

Step g：After execution of step f, perform robot and receive the rear foot forward；With left foot drive device (1) fulcrum, logic control Mainboard (41) controls right leg drive device (5) and/or right crus of diaphragm drive device (4) control electricity accordingly by electric machine controller (37) Machine, drives right crus of diaphragm drive device (4) to swing or receive forward pin forward；

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

2. the method that a kind of control robot according to claim 1 walks on iron plate, it is characterised in that:Performing step Rapid c performs robot upper limbs and swings simultaneously or after execution of step c and before step f is performed, logic control mainboard (41) Left arm drive device (3) and/or right arm drive device (6) is controlled to make swinging arm respectively by electric machine controller (37).

3. the method that a kind of control robot according to claim 2 walks on iron plate, it is characterised in that:In step d In, the prefabricated height is zero or can make left foot electromagnet (11) that the height of magnetic attraction is produced with iron plate upper surface.