CN105904463B - A kind of robot - Google Patents

A kind of robot Download PDF

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Publication number
CN105904463B
CN105904463B CN201610249386.9A CN201610249386A CN105904463B CN 105904463 B CN105904463 B CN 105904463B CN 201610249386 A CN201610249386 A CN 201610249386A CN 105904463 B CN105904463 B CN 105904463B
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level
business
order
rotatably
drive disk
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CN105904463A (en
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谢奇峰
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谢奇峰
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    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J11/00Manipulators not otherwise provided for
    • B25J11/0005Manipulators having means for high-level communication with users, e.g. speech generator, face recognition means
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00Programme-controlled manipulators
    • B25J9/10Programme-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/102Gears specially adapted therefor, e.g. reduction gears
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00Programme-controlled manipulators
    • B25J9/10Programme-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/12Programme-controlled manipulators characterised by positioning means for manipulator elements electric
    • B25J9/126Rotary actuators

Abstract

A kind of robot, including base, first order inclined-plane trunk, second level inclined-plane trunk, third level inclined-plane trunk and robot head, the robot head are seated on the third level rotatably takes over a business;Taking over a business for inclined-plane trunks at different levels is all circular, from the bottom to top, it is at different levels take over a business diameter gradually successively decrease.Can be with 360 ° of rotations between any two-stage trunk.The present invention sets the roll angle inspection device of trunks at different levels, and detection signal is transported into master controller, and the master controller is also connected with control third level motor, second level motor, first order motor, basic unit's motor.Robot limb language motion of the invention is smooth, amplitude is big, mechanism is simple and easy to control.

Description

A kind of robot
Technical field
The present invention relates to robot, more particularly, to a kind of chat robots.
Background technology
In the prior art, the trunk of chat robots and head are engaged, and make the actions such as rotary head, trunk of shrugging distortion, This is a kind of body language, and body language coordinates voice language that the expression of chat robots can be made more lively, makes chat machine People rises to a higher boundary.
In the prior art, there are the design of chat robots, such as documents one, application number 201110239631.5, apply for a kind of design of family entertainment robot of artificial Dongguan Lung Cheong Digital Science & Technology Co., Ltd:Its Including head, body part, leg and running part, head is provided with LCD screens, camera and microphone, is additionally provided with touch sensible piece, Body fore shell is provided with button switch, and arm component is connected by shoulder servomechanism with body part, and described leg is before leg Shell phase is mutually fastened and formed after shell and leg, and running part is driven on tooth case output shaft provided with the different multiple driving tooth casees in direction Universal wheel is connected with, 360 degree of comprehensive motions can be made in the case where not turning.It possess it is abundant express one's feelings, it is graceful Dancing, flexible motion.It is the innovative robot system of a intelligence chat.
Further, documents two, the application number 201510643697.3 of Science and Technology Ltd. of Yi Zhi robots of Shenzhen, It is entitled:A kind of multifunctional intellectual accompanies the application for a patent for invention of mobile robot, and its technical scheme is:One kind can be on ground The mobile multifunctional intellectual that can be placed on desktop again accompanies robot.Head sets man-machine interface processor and host computer, head The controller for controlling each autokinesis is set respectively with fuselage, and by head after fuselage dismounting, head still can realize Video chat Function and rotation or oscillating motion, it is ensured that Video chat robot can be separately positioned at desktop again in ground moving On.
Further, documents three, Dongguan City, Guangdong Province Guia Hill Hubei portion industry park industry West Road 3 iRiver electronic section Skill(China)The application number 201210115350.3 of Co., Ltd, it is entitled:A kind of invention of multi-functional intelligent robot is special Profit applies for that its technical scheme is:A kind of multi-functional intelligent robot, including head, trunk, two hands and two walkings Portion, two hands are separately positioned on the both sides of the trunk, and two running parts are separately positioned on the two of the trunk bottom Side, in addition to tablet personal computer and projecting apparatus, the tablet personal computer are arranged at the front on the head, and the projecting apparatus is arranged at institute State the back side on head.The present invention is that the head of intelligent robot is provided with tablet personal computer and projecting apparatus, by tablet personal computer and Projecting apparatus can realize good human-computer dialogue and long-distance video chat and video conference, in addition, pre-installed by tablet personal computer Learn educational procedure, the present invention can be used as children's study instrument;, can using the camera and running part of tablet personal computer So that the present invention to be used as mobile supervising device;Using tablet personal computer and projecting apparatus, the present invention can be regard as video council View device is used;It is truly realized the purpose of a tractor serves several purposes.
The technical scheme of the torso portion of three above chat robots is parsed, it is found that they have body language action Stiff, amplitude is small, mechanism is complicated and control trouble, though there is what trunk of design, its interface is all elliptical shape, oval right During ELLIPTIC REVOLUTION, understand some edge and protrude outside, very unsightly.
Highly satisfactory torso portion drive scheme is had not seen at present.
The content of the invention
In order to solve technical problem present in prior art, the present invention proposes a kind of chat robots torso portion Mechanism is constituted and drive scheme.
The present invention is realized by using following technical scheme:
Manufacture and design a kind of robot, including:
One base, the top of the base sets a base rotatably to take over a business, and the base, which is rotatably taken over a business, is seated in top On disk seat;The base is rotatably taken over a business for circular;
One first order inclined-plane trunk, first order inclined-plane trunk is seated on base rotatably takes over a business;The first order Inclined-plane trunk has the first order rotatably to take over a business;The first order is rotatably taken over a business for circular;
One second level inclined-plane trunk, second level inclined-plane trunk is seated on the first order rotatably takes over a business;Described second Level inclined-plane trunk has the second level rotatably to take over a business;Rotatably take over a business for circular the second level;
One third level inclined-plane trunk, third level inclined-plane trunk is seated on the second level rotatably takes over a business;Described 3rd Level inclined-plane trunk has the third level rotatably to take over a business;The third level is rotatably taken over a business for circular;
One robot head, the robot head is seated on the third level rotatably takes over a business;
The base is rotatably taken over a business, the first order is rotatably taken over a business, the second level is rotatably taken over a business, the third level is rotatably taken over a business Respective respect thereto, first order inclined-plane trunk, second level inclined-plane trunk, third level inclined-plane trunk can be rotated freely.
The base is rotatably taken over a business, the first order is rotatably taken over a business, the second level is rotatably taken over a business, the third level is rotatably taken over a business From the bottom to top, the diameter respectively taken over a business gradually successively decreases.
The base is rotatably taken over a business to be linked with base by drive disk;By drive disk, the pivot in basic unit turns the base It is dynamic.
The first order is rotatably taken over a business to be linked with the first order by drive disk;The first order is by drive disk in the first order Pivot.
The second level is rotatably taken over a business to be linked with the second level by drive disk;The second level is by drive disk in the second level Pivot.
The third level is rotatably taken over a business to be linked with the third level by drive disk;The third level is by drive disk in the third level Pivot.
Link in the basic unit on pivot in basic unit's driving plate, basic unit's driving plate and fix basic unit's motor, it is described Basic unit's gear driving base of basic unit's motor is by basic unit's ring gear fixed on drive disk;Set on basic unit's ring gear Putting basic unit's roll angle inspection device will detect that signal is transported to master controller.
The first order to be fixed on pivot in link first order driving plate, the first order driving plate electronic in the first order Machine, the first order gear driving first order of the first order motor is by first order ring gear fixed on drive disk;It is described First order roll angle inspection device is set to detect that signal is transported to master controller on first order ring gear.
The second level to be fixed on pivot in link second level driving plate, the second level driving plate electronic in the second level Machine, the second level gear driving second level of the second level motor is by second level ring gear fixed on drive disk;It is described Second level roll angle inspection device is set to detect that signal is transported to master controller on the ring gear of the second level.
The third level to be fixed on pivot in link third level driving plate, the third level driving plate electronic in the third level Machine, the third level gear driving third level of the third level motor is by third level ring gear fixed on drive disk;It is described Third level roll angle inspection device is set to detect that signal is transported to master controller on third level ring gear.
The master controller is also connected with controlling third level motor, second level motor, first order motor, basic unit electronic Machine.
Compared with prior art, it is an advantage of the invention that:The interface of three-level inclined-plane trunk is all circular, and any two Can be with 360 ° of rotations between level.
Robot limb language motion of the invention is smooth, amplitude is big, mechanism is simple and easy to control.
Brief description of the drawings
Fig. 1 is the overall package schematic diagram of robot of the present invention;
The schematic diagram that Fig. 2 is set for the robot head position in robot of the present invention;
Fig. 3 is that the third level inclined-plane trunk position in robot of the present invention is set, and is linked with the third level by drive disk Schematic diagram;
The schematic diagram that Fig. 4 is linked for second level driving plate 33 in robot of the present invention and the second level by drive disk 41;
Fig. 5 is that the second level inclined-plane trunk position in robot of the present invention is set, and is linked with the second level by drive disk Schematic diagram;
The schematic diagram that Fig. 6 is linked for first order driving plate 43 in robot of the present invention and the first order by drive disk 51;
Fig. 7 is first order inclined-plane trunk position setting in robot of the present invention, and linked with the first order by drive disk Schematic diagram;
The schematic diagram that Fig. 8 is linked for basic unit's driving plate in robot of the present invention and base by drive disk;
Fig. 9 is the schematic diagram of understructure in robot of the present invention.
Embodiment
In order to further illustrate technical scheme, in conjunction with a preferred embodiment of the present invention shown in the drawings It is described in detail, but the embodiment is only to provide explanation to be used with explanation, it is impossible to for limiting the patent guarantor of the present invention Protect scope.
Carry out manufacture machine people according to the structure shown in Fig. 1~Fig. 9, the robot includes:
The wheel of robot ambulation can be set on one base 6, base 6.
As shown in figure 9, the top of the base 6 sets a base rotatably to take over a business 69, the base rotatably takes over a business 69 It is seated on seat 63;It is circular that the base, which rotatably takes over a business 69,;
See Fig. 1, a first order inclined-plane trunk 5 is shown in Fig. 9, and first order inclined-plane trunk 5 is seated in base and rotatably taken over a business On 69;First order inclined-plane trunk 5 has the first order rotatably to take over a business 59;It is circular that the first order, which rotatably takes over a business 59,;
See Fig. 1, a second level inclined-plane trunk 4 is shown in figure, 5, it is rotatable that second level inclined-plane trunk 4 is seated in the first order Take over a business on 59;Second level inclined-plane trunk 4 has the second level rotatably to take over a business 49;It is positive round that the second level, which rotatably takes over a business 49, Shape;
See Fig. 1, a third level inclined-plane trunk 3 is shown in Fig. 3, and third level inclined-plane trunk 3 is seated in the second level and rotatably pushed up On disk 49;Third level inclined-plane trunk 3 has the third level rotatably to take over a business 39;It is positive round that the third level, which rotatably takes over a business 39, Shape;
See Fig. 1 and 2, a robot head 2 is shown in Fig. 3, and the robot head 2 is seated in the third level and rotatably takes over a business 39 On;
The base rotatably takes over a business the 69, first order and rotatably takes over a business the 59, second level and rotatably take over a business the 49, third level and can turn Moving 39 respective respect theretos 6, first order inclined-plane trunk 5, second level inclined-plane trunk 4, third level inclined-plane trunk 3 can be free Rotate.
As shown in figure 1, the base rotatably take over a business the 69, first order rotatably take over a business the 59, second level rotatably take over a business 49, The third level rotatably takes over a business 39 from the bottom to top, and the diameter respectively taken over a business gradually successively decreases.
See Fig. 8, the base is rotatably taken over a business 69 and linked with base by drive disk 61;The base is by drive disk 61 around base Pivot 65 is rotated in layer.
See Fig. 7, the first order is rotatably taken over a business 59 and linked with the first order by drive disk 51;See Fig. 6, the first order quilt The pivot 55 in the first order of drive disk 51 is rotated.
See Fig. 5, the second level is rotatably taken over a business 49 and linked with the second level by drive disk 41;See Fig. 4, the second level quilt The pivot 45 in the second level of drive disk 41 is rotated.
See Fig. 3, the third level rotatably takes over a business 39 and linked with the third level by drive disk 31;The third level is by drive disk 31 in the third level pivot 35 rotate.
See on pivot 65 to link in basic unit's driving plate 53, basic unit's driving plate 53 in Fig. 8, the basic unit and fix basic unit Motor 54, the driving base of basic unit's gear 541 of basic unit's motor 54 is by basic unit's ring gear fixed on drive disk 61 68;Set basic unit's roll angle inspection device 57 that detection signal is transported into master controller on basic unit's ring gear 68.
See in Fig. 6, the first order and link on pivot 55 in first order driving plate 43, the first order driving plate 43 admittedly Determine first order motor 44, the driving first order of first order gear 441 of the first order motor 44 is by fixed on drive disk 51 First order ring gear 58;Set first order roll angle inspection device 47 will detection signal conveying on the first order ring gear 58 To master controller.
See in Fig. 4, the second level and link on pivot 45 in second level driving plate 33, the second level driving plate 33 admittedly Determine second level motor 34, the driving second level of second level gear 341 of the second level motor 34 is by fixed on drive disk 41 Second level ring gear 48;Second level roll angle inspection device 37 is set to detect signal conveying on the second level ring gear 48 To master controller.
See in Fig. 2, the third level and link on pivot 35 in third level driving plate 23, the third level driving plate 23 admittedly Determine third level motor 24, the driving third level of third level gear 241 of the third level motor 24 is by fixed on drive disk 31 Third level ring gear 38;Set third level roll angle inspection device 27 will detection signal conveying on the third level ring gear 38 To master controller.
The master controller is also connected with control third level motor 24, second level motor 34, first order motor 44, base Layer motor 54.
See Fig. 2, the third level connecting portion 231 of third level driving plate 23 is connected with pivot in the third level 35;Due to the third level It is that pivot 35 is rotated in the third level by drive disk 31, so the third level is relative 23 turns of third level driving plate by drive disk 31 It is dynamic, because the third level is linked by drive disk 31 with third level inclined-plane trunk 3, so being that third level inclined-plane trunk 3 is being rotated; The rotation of third level inclined-plane trunk 3, drives the robot head 2 above it to rotate together.
See Fig. 4, the second level connecting portion 331 of second level driving plate 33 is connected with pivot in the second level 45;Due to the second level It is that pivot 45 is rotated in the second level by drive disk 41, so the second level is 33 turns of relative second level driving plate by drive disk 41 It is dynamic, because the second level is linked by drive disk 41 with second level inclined-plane trunk 4, so being that second level inclined-plane trunk 4 is being rotated; The rotation of second level inclined-plane trunk 4, drives the third level inclined-plane trunk 3 above it to rotate together.
If thinking, only second level inclined-plane trunk 4 is rotated, and keeps third level inclined-plane 3 geo-stationaries of trunk motionless, then the third level Inclined-plane trunk 3 must the same angle of opposite direction rotation.
So, because third level inclined-plane trunk 3 and second level inclined-plane trunk 4 are all the cylinders on inclined-plane, after rotation, robot Trunk just have the effect rocked with laughter.
Equally, the first order inclined-plane trunk 5 below second level inclined-plane trunk 4 works also in compliance with this principle:
See Fig. 6, the first order connecting portion 431 of first order driving plate 43 is connected with pivot in the first order 55;Due to the first order It is that pivot 55 is rotated in the first order by drive disk 51, so the first order is relative 43 turns of first order driving plate by drive disk 51 It is dynamic, because the first order is linked by drive disk 51 with first order inclined-plane trunk 5, so being that first order inclined-plane trunk 5 is being rotated; The rotation of first order inclined-plane trunk 5, drives the second level inclined-plane trunk 4 above it to rotate together.
If thinking, only first order inclined-plane trunk 5 is rotated, and keeps inclined-plane 4 geo-stationaries of trunk in the second level motionless, then the second level Inclined-plane trunk 4 must the same angle of opposite direction rotation.
So, because second level inclined-plane trunk 4 and first order inclined-plane trunk 5 are all the cylinders on inclined-plane, after rotation, robot Trunk just have the effect rocked with laughter.
Pivot 65 can link with the fixed seat in base 6 in basic unit in Fig. 8;Rotatably take over a business 69 because of base to be seated in On one inclined-plane, so the angle of inclination of all trunks of its carrying is controlled by it.
Base rotatably takes over a business fixing hole 67 by base by the precession of fixed screw 671 of drive disk 61.
First order inclined-plane trunk 5 has the first slip ring 52.
Second level inclined-plane trunk 4 has the second slip ring 42.
It is an advantage of the invention that:
The interface of three-level inclined-plane trunk is all circular, can be with 360 ° of rotations between any two-stage.The machine of the present invention The smooth, amplitude of people's body language action is big, mechanism is simple and easy to control.
Above content is to combine specific preferred embodiment further description made for the present invention, it is impossible to assert The specific implementation of the present invention is confined to these explanations.For general technical staff of the technical field of the invention, On the premise of not departing from present inventive concept, some simple deduction or replace can also be made, should all be considered as belonging to the present invention's Protection domain.

Claims (5)

1. a kind of robot, it is characterised in that the robot includes:
One base(6), the base(6)Top set a base rotatably take over a business(69), the base rotatably takes over a business (69)It is seated in seat(63)On;The base is rotatably taken over a business(69)For circular;
One first order inclined-plane trunk(5), first order inclined-plane trunk(5)Base is seated in rotatably to take over a business(69)On;It is described First order inclined-plane trunk(5)There is the first order rotatably to take over a business(59);The first order is rotatably taken over a business(59)For circular;
One second level inclined-plane trunk(4), second level inclined-plane trunk(4)The first order is seated in rotatably to take over a business(59)On;Institute State second level inclined-plane trunk(4)There is the second level rotatably to take over a business(49);Rotatably take over a business the second level(49)For circular;
One third level inclined-plane trunk(3), third level inclined-plane trunk(3)The second level is seated in rotatably to take over a business(49)On;Institute State third level inclined-plane trunk(3)There is the third level rotatably to take over a business(39);The third level is rotatably taken over a business(39)For circular;
One robot head(2), the robot head(2)The third level is seated in rotatably to take over a business(39)On.
2. robot according to claim 1, it is characterised in that:
The base is rotatably taken over a business(69), the first order rotatably takes over a business(59), the second level rotatably takes over a business(49), the third level can Rotation is taken over a business(39)From the bottom to top, the diameter respectively taken over a business gradually successively decreases.
3. robot according to claim 1, it is characterised in that:
The base is rotatably taken over a business(69)With base by drive disk(61)Link;The base is by drive disk(61)In basic unit Pivot(65)Rotate;
The first order is rotatably taken over a business(59)With the first order by drive disk(51)Link;The first order is by drive disk(51)Around Pivot in the first order(55)Rotate;
Rotatably take over a business the second level(49)With the second level by drive disk(41)Link;The second level is by drive disk(41)Around Pivot in the second level(45)Rotate;
The third level is rotatably taken over a business(39)With the third level by drive disk(31)Link;The third level is by drive disk(31)Around Pivot in the third level(35)Rotate.
4. robot according to claim 3, it is characterised in that:
Pivot in the basic unit(65)On link basic unit driving plate(53), basic unit's driving plate(53)Upper fixed basic unit is electronic Machine(54), basic unit's motor(54)Basic unit's gear(541)Base is driven by drive disk(61)Basic unit's annular of upper fixation Gear(68);Basic unit's ring gear(68)Upper setting basic unit roll angle inspection device(57)Detection signal is transported to main control Device;
Pivot in the first order(55)On link first order driving plate(43), the first order driving plate(43)On fix One-level motor(44), the first order motor(44)First order gear(441)The first order is driven by drive disk(51)On Fixed first order ring gear(58);The first order ring gear(58)Upper setting first order roll angle inspection device(47)Will inspection Survey signal and be transported to master controller;
Pivot in the second level(45)On link second level driving plate(33), the second level driving plate(33)On fix Second-stage electric machine(34), the second level motor(34)Second level gear(341)The second level is driven by drive disk(41)On Fixed second level ring gear(48);The second level ring gear(48)Upper setting second level roll angle inspection device(37)Will inspection Survey signal and be transported to master controller;
Pivot in the third level(35)On link third level driving plate(23), the third level driving plate(23)On fix Three-grade electric machine(24), the third level motor(24)Third level gear(241)The third level is driven by drive disk(31)On Fixed third level ring gear(38);The third level ring gear(38)Upper setting third level roll angle inspection device(27)Will inspection Survey signal and be transported to master controller.
5. robot according to claim 4, it is characterised in that:
The master controller is also connected with controlling third level motor(24), second level motor(34), first order motor(44)、 Basic unit's motor(54).
CN201610249386.9A 2016-04-21 2016-04-21 A kind of robot Active CN105904463B (en)

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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP3587052A1 (en) * 2018-06-25 2020-01-01 LG Electronics Inc. Robot

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CN105364933A (en) * 2015-12-17 2016-03-02 成都英博格科技有限公司 Intelligent robot
CN205614686U (en) * 2016-04-21 2016-10-05 谢奇峰 Robot and truck corner detection device

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JP5552710B2 (en) * 2010-11-25 2014-07-16 株式会社国際電気通信基礎技術研究所 Robot movement control system, robot movement control program, and robot movement control method

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CN104924310A (en) * 2015-05-12 2015-09-23 上海人智信息科技有限公司 Smart home voice interaction robot
CN105108733A (en) * 2015-08-25 2015-12-02 深圳乐行天下科技有限公司 Robot
CN105364933A (en) * 2015-12-17 2016-03-02 成都英博格科技有限公司 Intelligent robot
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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP3587052A1 (en) * 2018-06-25 2020-01-01 LG Electronics Inc. Robot

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