CN106078720A - A kind of modularization robot - Google Patents
A kind of modularization robot Download PDFInfo
- Publication number
- CN106078720A CN106078720A CN201610643256.3A CN201610643256A CN106078720A CN 106078720 A CN106078720 A CN 106078720A CN 201610643256 A CN201610643256 A CN 201610643256A CN 106078720 A CN106078720 A CN 106078720A
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- China
- Prior art keywords
- head
- waist joint
- chassis
- waist
- robot
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/08—Gripping heads and other end effectors having finger members
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J18/00—Arms
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
- B25J19/021—Optical sensing devices
- B25J19/023—Optical sensing devices including video camera means
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0009—Constructional details, e.g. manipulator supports, bases
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/08—Programme-controlled manipulators characterised by modular constructions
Abstract
The invention discloses a kind of modularization robot.It includes chassis, trunk, mechanical arm, cervical region, head and shell, and wherein trunk includes takeing on skeleton, chest and waist；Each site module of robot, and all there is the module of multiple different structure at each position；Each position uses disparate modules combination, can obtain meeting the robot of the different degree of freedom of different application occasion.The present invention uses modular construction, achieve the modularity of robot components, have that combination is convenient, function can cutting, the motion feature such as flexibly, modularization robot can substitute multiple function and the fixing robot of degree of freedom, can reduce resource consumption and waste；Its number of degrees of freedom, is variable, can change the motility of robot according to actual needs；The modularization robot of the present invention can extensively be applied and the field such as industry, service trade, educational business.
Description
Technical field
The present invention relates to a kind of robot, a kind of modularization robot.
Background technology
Along with science and technology fast development, people's lives and the automatization of work, intelligence degree are more and more higher, in industry system
Make, therapeutic treatment, entertainment service, military affairs, each field such as Aero-Space, increasing robot is that the mankind service.
Along with being continuously increased of human cost, increasing service post will be replaced by service robot.Abroad, clothes
Relatively early, achievement is more for business machine man-based development, occurs in that as Pepper anthropomorphic robot, and it has more function, therefore should
Wider by occasion；The domestic research to service type robot starts to walk relatively slow, but in recent years, good in fourth industrial revolution
Environment and national policy are vigorously supported down, and various robots level is not poor, and at catering industry, meal delivery robot development is outstanding
For rapidly, occur in that substantial amounts of meal delivery robot, but the simple in construction of present meal delivery robot, it is impossible to meet following machine
People is multi-functional, the demand for development of many application scenarios.
Existing robot degree of freedom is not quite similar, and comes in every shape, but they have a common feature: they are for spy
Fixed application scenario and design, the degree of freedom quantity of robot is fixed；They can only complete specific task in specific occasion,
Can not the easy repacking along with the change of application scenario；It is difficult to meet the application requirement of multiple occasion, multiple-task.
Summary of the invention
For solving the deficiency of prior art, it is an object of the invention to provide a kind of modularization robot.This modularity machine
Device people has multiple position, and each position is respectively provided with the module of multiple different structure, and each position uses disparate modules combination, can obtain
To the robot of the different degree of freedom meeting different application occasion, assemble simple and convenient.The degree of freedom of this modularization robot can
Adjust, the demand of multiple occasion, multiple-task can be met, robot can be made to be widely used in all trades and professions.
The present invention adopts the following technical scheme that
A kind of modularization robot of the present invention, including a chassis, trunk, two mechanical arms, cervical region, one
Individual head and a set of shell；Described trunk includes takeing on skeleton, chest and waist, and described chest top is hinged with shoulder skeleton, described
Chest low side is affixed with the top of waist；The two ends of described shoulder skeleton are hinged with two mechanical arms respectively, in described shoulder skeleton
Portion is hinged with the bottom of cervical region, and the top of described cervical region is hinged with head；Described chassis is hinged with trunk.
Described a kind of modularization robot, its chassis, trunk, mechanical arm, cervical region and head, each site module,
And all there is the module of multiple different structure at each position；Each position uses disparate modules combination, is met different application field
The robot of the different degree of freedom closed.
Described a kind of modularization robot, also includes H photographic head, I projector, J liquid crystal display screen, wherein H, I, J >=
0；Described H photographic head is fixed in the one or more positions in head, trunk and chassis；Described I projector is fixed on
In one or more positions in head, trunk and chassis；Described J liquid crystal display screen is fixed in head, trunk and chassis
In individual or multiple position；Described photographic head include being placed in head head photographic head, be placed in trunk chest photographic head and
Being placed in the chassis photographic head on chassis, described head photographic head includes the first photographic head and second camera；Described projector bag
Include and be placed in the head projector of head, be placed in the chest projector of trunk and be placed in the chassis projector on chassis, described
Head projector includes the first projector；Described liquid crystal display screen includes being placed in the head liquid crystal display screen of head, being placed in the liquid of trunk
The brilliant liquid crystal display screen shielded and be placed in chassis, described head liquid crystal display screen includes the first liquid crystal display screen and the second liquid crystal display screen；
Multiple photographic head of office diverse location, can be beneficial to identify and rebuild steric environment from diverse location shooting environmental；
Multiple projectors of office diverse location, can realize 3 D stereo projection.
Described head has a head and fixes seat；Described head is fixed seat and is fixed in described cervical region top；Described head
Fixing seat is provided with lens fixed seat the same number of with head photographic head, is provided with projector the same number of with head projector
Fixing seat, is provided with liquid crystal display screen the same number of with head liquid crystal display screen and fixes seat；
Described head has multiple module, is the first head, the second head, the third head and the 4th kind of head respectively
Portion；Meanwhile, can be correct according to the quantity being placed in the photographic head of head, projector and liquid crystal display screen according to the demand of application scenario
Seat slight changes is fixed in portion, can obtain new module；
Described first head, including the first head fix seat, the first liquid crystal display screen, the second liquid crystal display screen, baffle plate motor, first
Projector, the first photographic head and head slide block；The first head described fix offer on seat the first liquid crystal display screen, baffle plate motor,
First projector, the fixing seat of the first photographic head, be further opened with the mounting yoke of head slide block；Described head slide block is machined with second
The mounting seat of liquid crystal display screen, the second liquid crystal display screen fixed with head slide block by screw, and head slide block also has and described baffle plate motor
On the rack structure that coordinates of gear, described baffle plate electric machine rotation drives head slide block movement, thus drives the second liquid crystal display screen
Mobile, described second liquid crystal display screen is positioned at before the first projector, makees projector baffle plate and uses；When the second liquid crystal display screen is in first
During projector dead ahead, projection can be blocked；When the second liquid crystal display screen is in the lower section of the first projector, projector can be normal
Work；In the photographic head mounting yoke at the middle rear that described first photographic head is placed in the first liquid crystal display screen and the second liquid crystal display screen；
Described the second head, fixes seat, the first liquid crystal display screen, the second liquid crystal display screen and the first shooting including the second head
Head；Described the second head is fixed seat and is offered the first liquid crystal display screen, the second liquid crystal display screen and the mounting yoke of the first photographic head, and described
One photographic head is placed in the position at rear in the middle of the first liquid crystal display screen and the second liquid crystal display screen；
The third head described, fixes seat, the first photographic head and second camera including the third head；Described the third
Head is fixed seat and is offered the mounting yoke laying the first photographic head and second camera；
Described 4th kind of head, fixes seat, the first photographic head and the first projector including the 4th kind of head；Described 4th kind
Head is fixed seat and is offered and lay the first photographic head and the mounting yoke of the first projector.
Described cervical region includes a cervical region chassis, at least one piece of neck, a cervical region footstock and some neck motors；Described cervical region
There is K cervical region degree of freedom, wherein K >=0；When described cervical region degree of freedom is 0, described cervical region chassis is affixed with described shoulder skeleton,
Described cervical region footstock is affixed with head；
Described cervical region has multiple module, is the first cervical region, the second cervical region and the third cervical region respectively, meanwhile, and can
According to the demand of application scenario, some parts of cervical region are modified, new module can be obtained；
The first cervical region described, including the first cervical region chassis. the first neck, the first cervical region footstock and the first
Pull bar；The first cervical region chassis described is affixed with the first neck, and the first neck is hinged with the first cervical region footstock, and described
Be equipped with the fixing seat of the first pull bar on a kind of neck and the first cervical region footstock, the two ends of the first pull bar described respectively with
The first neck and the first cervical region footstock are hinged；
Described the second cervical region, including the second cervical region chassis. the second neck. the second cervical region footstock and two
Two kinds of pull bars；Described the second cervical region chassis is affixed with the second neck, and the second neck is hinged with the second cervical region footstock, institute
State and on the second cervical region chassis and the second cervical region footstock, all offer the connection seat installing the second pull bar；
The third cervical region described, including the first cervical region chassis, the third neck, the 4th kind of neck, the third cervical region top
Seat and two motors；The third neck bottom described is affixed with the first cervical region chassis, hinged with the 4th kind of neck bottom；Described
4th kind of neck top is hinged with the third cervical region footstock；One motor is affixed with the third neck top, its rotating shaft and the 4th kind
Neck low side close-fitting, electric machine rotation drives the 4th kind of neck to rotate；Another motor and the 4th kind of neck top are affixed, its rotating shaft with
The low side close-fitting of the third cervical region footstock, electric machine rotation drives cervical region footstock in the 3rd to rotate.
Described shoulder skeleton has multiple module, is the first shoulder skeleton and the second shoulder skeleton respectively, meanwhile, and can basis
The demand of application scenario, modifies to shoulder skeleton, can obtain new module；
Described the first shoulder skeleton, including the first shoulder structure. first shoulder motor. second shoulder motor and the 3rd shoulder electricity
Machine；The first shoulder structure described offers installs the first shoulder motor, the second shoulder motor and the motor cabinet of the 3rd shoulder motor, the first
The two ends of shoulder structure are further opened with installing the support of two described mechanical arms, described first shoulder motor and the second shoulder motor and carry respectively
The rotation of the dynamic mechanical arm being attached thereto；The middle part of the first shoulder structure offers cervical region mounting seat, is installed on shoulder structure low side
The 3rd shoulder motor affixed with cervical region, the 3rd shoulder electric machine rotation drive neck rotation；
Described the second shoulder skeleton, including the second shoulder structure. first shoulder motor. second shoulder motor and the 3rd shoulder electricity
Machine；Described the second shoulder structure offers installs the first shoulder motor, the second shoulder motor and the motor cabinet of the 3rd shoulder motor, the second
The two ends of shoulder structure are further opened with installing the support of two described mechanical arms, described first shoulder motor and the second shoulder motor and carry respectively
The rotation of the dynamic mechanical arm being attached thereto；The middle part of the second shoulder structure offers cervical region mounting seat, is installed on shoulder structure top end
The 3rd shoulder motor affixed with cervical region, the 3rd shoulder electric machine rotation drive neck rotation.
Described mechanical arm, including at least one arm；When the quantity of arm is more than one, each arm head and the tail successively are hinged；Described
Mechanical arm has M degree of freedom, wherein M >=0；When number of degrees of freedom, is 0, described arm is the most affixed, mechanical arm and described shoulder skeleton
One end affixed；Described mechanical arm also includes that end effector mechanism, described end effector mechanism could be used without the machine of degree of freedom
People's palm；Preferably, described end effector mechanism uses the clamping device with at least one degree of freedom；Preferably, described end
End actuator uses the Dextrous Hand with at least two degree of freedom；
Described mechanical arm has multiple module, is to have the first mechanical arm of degree of freedom and do not have the second of degree of freedom respectively
Plant mechanical arm；The first mechanical arm described includes that the first arm, the second arm and Dextrous Hand, the first arm have a pass with shoulder skeleton junction
Joint degree of freedom, the junction of the second arm and the first arm has a joint freedom degrees, the second arm to have a joint with the junction of Dextrous Hand
Degree of freedom；Described the second mechanical arm includes the most affixed the 3rd arm, the 4th arm and robot palm, the 3rd arm and shoulder skeleton
Affixed, robot palm does not has degree of freedom, described the second mechanical arm not to have degree of freedom；The end effector mechanism of described mechanical arm
When being replaced with clamping device, i.e. obtaining new mechanical arm, described clamping device includes clamping movement end, grips end and clamping
Motor, clamping motor is fixed on and grips end, clamping motor shaft and clamping movement end close-fitting, and clamping electric machine rotation drives clamping
The rotation of tache motorice, it is achieved clamping device opening and closing movement；
Preferably, can be according to the demand of application scenario, arm quantity and end effector mechanism to mechanical arm are modified, i.e.
New module can be obtained.
Described chest has breastbone frame；Preferably, described breastbone frame is provided with installation chest photographic head, chest projector,
The chest multimedia seat of chest liquid crystal display screen；
Described breastbone frame has multiple module, is the first breastbone frame and the second breastbone frame respectively；The first breast described
Skeleton is the first the sternal branches support structure without chest multimedia seat；Described the second breastbone frame includes that the second breastbone supports
Structure, chest multimedia seat, chest photographic head, chest projector and chest liquid crystal display screen, on described the second sternal branches support structure
Being provided with the installing hole installing chest multimedia seat, described chest multimedia seat is provided with lays chest photographic head, chest projector
And the support of chest liquid crystal display screen；The quantity of described chest photographic head, chest projector and chest liquid crystal display screen is not quite similar, according to answering
Depending on the demand of occasion；Meanwhile, according to the demand of application scenario, change lay on chest multimedia seat chest photographic head,
Chest projector and the quantity of chest liquid crystal display screen or change chest multimedia seat are in the installation position of the second sternal branches support structure
Put, new module can be obtained.
Described waist at least includes a waist joint；Described waist joint includes at least one horizontal direction or vertical direction
Degree of freedom；The bottom of described waist is hinged with chassis；
Described waist joint has multiple module, be respectively the first waist joint, the second waist joint, the third waist joint,
4th kind of waist joint, the 5th kind of waist joint and the 6th kind of waist joint；Meanwhile, can according to the demand of application scenario, to described first,
Second, third, fourth, fifth and the 6th kind of waist joint are modified, and can obtain new module；
The first waist joint described include the first waist joint rotation seat. the first waist joint fix seat and the first waist joint electricity
Machine, offers axis hole bottom described first waist joint rotation seat, described first waist joint is fixed seat top and offered axis hole, described
The rotating shaft of the first waist joint motor fixes the axis hole of seat and the first waist joint rotation seat by the first waist joint through the first waist joint
Fixing seat and the first waist joint rotation seat link together, and described first waist joint motor is fixed on the first waist joint and fixes seat
On, the rotating shaft of described first waist joint motor and the axis hole close-fitting of the first waist joint rotation seat, the first waist joint electric machine rotation band
Dynamic first waist joint rotation seat rotates；The first waist joint described has the degree of freedom of a vertical direction；
Described the second waist joint includes that the first waist joint rotation seat, the second waist joint fix seat, the first waist joint
Gear, the second waist joint gear and the first waist joint motor；Described the second waist joint is fixed and is offered installation the first waist on seat
The support of joint motor, described the second waist joint fixes seat top and offers axis hole, and a rotating shaft is solid by the second waist joint
The second waist joint is fixed seat with the first waist joint rotation seat even by the axis hole of reservation, the axis hole of the first waist joint rotation seat
It is connected together；It is arranged with the first waist joint gear in described rotating shaft, the first waist joint motor shaft described is arranged with the second waist
Joint gear, described first waist joint gear and the second waist joint gear coordinate transmission, described first waist joint electric machine rotation, lead to
Cross the first waist joint gear and the second waist joint gear coordinates transmission, drive the first waist joint rotation seat to rotate；Described second
Plant waist joint and there is the degree of freedom of a vertical direction；
The third waist joint described includes that the second waist joint rotating seat, the third waist joint fix seat, the second waist joint
Motor and the first waist joint rotary shaft；Offering axis hole on described the second waist joint rotating seat, the third waist joint described is solid
Offering axis hole in reservation and install the support of the second waist joint motor, described second waist joint motor is installed on the third waist and closes
On the fixing seat of joint, described first waist joint rotary shaft fixes the axle of seat through the second waist joint rotating seat and the third waist joint
The second waist joint rotating seat is fixed seat with the third waist joint and is linked together by hole, wherein the first waist joint rotary shaft and the
The axis hole close-fitting of two kinds of waist joint rotating seats；The axle of described second waist joint motor and the first waist joint rotary shaft coordinate transmission,
Realizing the second waist joint electric machine rotation drives the second waist joint rotating seat to rotate；The third waist joint described has a level
The degree of freedom in direction；
Described 4th kind of waist joint includes that the third waist joint rotating seat, the 4th kind of waist joint fix seat, the 3rd waist joint
Gear, the 4th waist joint gear, the second waist joint rotary shaft and the second waist joint motor；On the third waist joint rotating seat described
Being provided with the support installing the second waist joint motor, bottom offers axis hole；Described 4th kind of waist joint is fixed seat and is provided with axis hole；
Described second waist joint rotary shaft passes waist joint rotating seat and the 4th kind of waist joint in the 3rd and fixes the axis hole on seat by second
Waist joint rotating seat and the 4th waist joint are fixed seat and are linked together；Described second waist joint rotary shaft tightens is furnished with the 4th waist pass
Save gear, and the second waist joint rotary shaft fixes seat close-fitting with the 4th kind of waist joint；On the axle of described second waist joint motor
Close-fitting has the 3rd waist joint gear, described 3rd waist joint gear and the 4th waist joint gear to coordinate transmission；Described second waist closes
Joint motor rotates and drives the third waist joint rotating seat described to rotate；Described 4th kind of waist joint has oneself of a horizontal direction
By spending；
Described 5th kind of waist joint includes that the first waist joint rotation seat, the 5th kind of waist joint fix seat, the third waist pass
The fixing seat of joint, the first waist joint motor, the second waist joint motor and the second waist joint rotary shaft；Described 5th kind of waist joint is fixed
Seat top and bottom all offer axis hole；The axle of described first waist joint motor fixes seat top and the through the 5th kind of waist joint
5th kind of waist joint is fixed seat and is linked together with the first waist joint rotation seat by the axis hole bottom a kind of waist joint rotation seat,
Wherein, the first waist joint motor is fixed on the 5th kind of waist joint and fixes on seat, and the axle of the first waist joint motor closes with the first waist
Axis hole close-fitting bottom joint rotation seat, the first waist joint electric machine rotation drives the first waist joint rotation seat to rotate；Described second
Waist joint rotary shaft fix seat bottom portion through the 5th kind of waist joint and the 3rd waist joint to fix the axis hole of seat solid by the 5th waist joint
Reservation is fixed seat with the 3rd waist joint and is linked together, and wherein to fix seat affixed for the second waist joint rotary shaft and the 5th waist joint,
Second waist joint rotary shaft coordinates transmission, described second waist electric machine rotation to drive the 5th waist joint with the axle of the second waist motor
Fixing seat rotates；Described 5th kind of waist joint respectively has one degree of freedom vertical direction and horizontal direction；
Described 6th kind of waist joint, its structure is similar with the structure of described the second cervical region, including at the bottom of the 6th waist joint
Dish. a pelvic bone. the 6th waist joint footstock and two pull bars；Described 6th waist joint chassis is affixed with pelvic bone, pelvic bone and the 6th
Waist joint footstock is hinged, and described 6th waist joint chassis and the 6th waist joint footstock all offer the connection installing two pull bars
Seat；
In application, according to different application scenario requirements, different waist joints is used to be combined into difference waist freely.
Described chassis uses fixed underpan；Or, described chassis uses mobile chassis；Described mobile chassis includes moving
Platform, described mobile platform at least has a translation or rotary freedom；
Described chassis has multiple module, is fixed underpan, slide unit and mobile dolly respectively；Meanwhile, can be according to applied field
The demand closed, modifies to described fixed underpan, slide unit and mobile dolly, can obtain new module；Use different chassis
Module, forms different robots, is fixing seat robot, slide unit robot and buggy robot respectively；
The chassis of described fixing seat robot uses fixed underpan；Preferably, described fixed underpan offers the many matchmakers in chassis
The placed hole of housing；Described chassis multimedia seat is provided with the fixing of installation chassis photographic head, chassis projector and chassis liquid crystal display screen
Seat；Described fixed underpan also includes chassis photographic head, chassis projector and chassis liquid crystal display screen；
The chassis of described slide unit robot uses the slide unit of at least one degree of freedom, and it includes carriage saddle and slide block；Described
Offering installing hole on slide block, the waist of described modularization robot is installed on slide block；Described slide unit has power set, institute
State power set band movable slider to move, thus change the attitude of robot；
The chassis of described buggy robot uses the mobile dolly of built-in power set；Peace is offered on described mobile dolly
Dress hole, the waist of described modularization robot is installed on mobile dolly；
In the present invention, use the disparate modules combination of chassis, trunk, mechanical arm, cervical region and head, can obtain meeting difference
The robot of the different degree of freedom of application scenario.
The present invention compared with prior art, has the beneficial effect that
1. the modularization robot of the present invention, each site module, all there is multiple module at each position, different parts
Disparate modules combines, it is possible to obtain various different robots, expands the range of application of robot；
2. the modularization robot of the present invention, can use disparate modules combination according to actual needs, can realize different merit
The robot of energy；
3. the modularization robot of the present invention, assembles simple, changes module easy；
4. the modularization robot of the present invention, its number of degrees of freedom, is variable, can change the flexible of robot according to actual needs
Property；
5. the modularization robot of the present invention, uses modular construction, and a modularization robot can substitute multiple merit
The robot that energy and degree of freedom are fixed, can reduce resource consumption and waste；
6. the modularization robot of the present invention, the module at each position only need to be revised with regard to available new module a little, can
Autgmentability is strong；
7. the modularization robot of the present invention, when using the photographic head of different parts of multiple office robot, beneficially machine
Device people identifies and rebuilds external perspective environment；
8. the modularization robot of the present invention, when using the projector of different parts of multiple office robot, robot
Stereoprojection can be carried out, bring three-dimensional pleasure of the senses to people；
Accompanying drawing illustrates:
The overall structure schematic diagram of the buggy robot of the specific embodiment of Tu1Shi robot of the present invention；
Fig. 2 a～2c is the structural representation of the first head of specific embodiment, and Fig. 2 d is the second head of specific embodiment
The structural representation in portion, Fig. 2 e is the structural representation of the third head of specific embodiment, and Fig. 2 f is the of specific embodiment
The structural representation of four kinds of heads；
Fig. 3 a is the structural representation of the first cervical region of specific embodiment in the present invention, and Fig. 3 b is concrete real in the present invention
Executing the structural representation of the second cervical region of example, Fig. 3 c is the structural representation of the third cervical region of specific embodiment in the present invention
Figure；
Fig. 4 a is the structural representation that in the present invention, the first shoulder skeleton of specific embodiment coordinates with the first cervical region, figure
4b is that the second of specific embodiment in the present invention takes on the structural representation that skeleton coordinates with the first cervical region；
Fig. 5 a is the structural representation of the first mechanical arm of specific embodiment in the present invention, and Fig. 5 b is concrete in the present invention
The structural representation of the second mechanical arm of embodiment, Fig. 5 c is the structural representation of the clamping device of specific embodiment in the present invention
Figure；
Fig. 6 a is the structural representation of the first breastbone frame of specific embodiment in the present invention, and Fig. 6 b is concrete in the present invention
The structural representation of the second breastbone frame of embodiment；
Fig. 7 a is the structural representation of the first waist joint of specific embodiment in the present invention, and Fig. 7 b is concrete in the present invention
The structural representation of the second waist joint of embodiment；
Fig. 8 a is the structural representation of the third waist joint of specific embodiment in the present invention, and Fig. 8 b is concrete in the present invention
The structural representation of the 4th kind of waist joint of embodiment, Fig. 8 c is the 5th kind of waist joint assembling of specific embodiment in the present invention
Structural representation；
Fig. 9 a is the structural representation that in the present invention, in the first waist joint and the 3rd of specific embodiment, waist joint assembles,
Fig. 9 b is the second waist joint and the structural representation of the 4th kind of waist joint assembling of specific embodiment in the present invention；
Figure 10 is the overall structure schematic diagram of the fixing seat robot of specific embodiment in the present invention；
Figure 11 is the overall structure schematic diagram of the slide unit robot of specific embodiment in the present invention；
In figure: 1. mobile chassis, 2. trunk, 3. mechanical arm, 4. cervical region, 5. head, 6. shell, 101. fixed underpans,
102. carriage saddles, 103. slide blocks, 104. chassis multimedia seats, 105. chassis photographic head, 106. chassis projectors, 210. the first
Shoulder skeleton, 211. the first shoulder structure, 212. first shoulder motors, 213. second shoulder motors, 214. the 3rd shoulder motors, 220. second
Plant shoulder skeleton, 221. the second shoulder structures, 240. the first breastbone frame, 241. the first sternal branches support structure, 250. the second
Breastbone frame, 251. the second sternal branches support structures, 252. chest multimedia seats, 253. chest photographic head, 254. chest projectors,
260. the first waist joint, 261. first waist joint rotation seats, 262. first waist joints fix seat, 263. first waist joints electricity
Machine, 270. the second waist joints, 271. the second waist joints fix seat, 272. first waist joint gears, 273. second waist joints
Gear, 280. the third waist joints, 281. the second waist joint rotating seats, 282. the third waist joints fix seat, and 283. second
Waist joint motor, 284. first waist joint rotary shafts, 290. the 4th kinds of waist joints, 291. the third waist joint rotating seats, 292.
4th kind of waist joint fixes seat, 293. the 3rd waist joint gears, 294. the 4th waist joint gears, and 295. second waist joints rotate
Axle, 296. the 5th kinds of waist joints fix seat, 298. the 5th kinds of waist joints, 310. the first mechanical arm, the 311, first arm, and 312.
Two arms, 313. Dextrous Hand, 320. the second mechanical arms, 321. the 3rd arms, 322. the 4th arms, 323. robot palms, 330. folders
Holding device, 331 clamping movement ends, 332. grip end, 333. clamping motors, 410. the first cervical region, 411. the first neck
Chassis, portion, 412. the first neck, 413. the first cervical region footstock, 414. the first pull bar；420. the second cervical regions, 421.
Two kinds of cervical region chassis, 422. the second necks, 423. the second cervical region footstocks, 424. the second pull bars, 430. the third cervical regions,
431. the third necks, 432. the 4th kinds of necks, 433. the third cervical region footstocks, 510. the first head, 511. the first head
Seat is fixed in portion, 512. first liquid crystal display screens, 513. second liquid crystal display screens, 514. baffle plate motors, 515. first projectors, and 516. first take the photograph
As head, 517. head slide blocks, 520. the second heads, 521. the second heads fix seat, 530. the third heads, and 531. the 3rd
Kind head fixes seat, 532. second cameras, 540. the 4th kinds of heads, and 541. the 4th kinds of heads fix seat, 1000. dolly machines
People, a 2000. fixing robot, 3000. slide unit robots.
Detailed description of the invention
Below in conjunction with accompanying drawing, the specific embodiment in the present invention is described in further detail.
Embodiment one
Seeing Fig. 1, a kind of modularization robot of the present embodiment, including 1, one, a chassis, 2, two mechanical arms of trunk
3,4, head 5 of a cervical region and a set of shell 6；Described trunk 2 includes takeing on skeleton, chest and waist, described chest top
Hinged with shoulder skeleton, described chest low side is affixed with one end of waist；The two ends of described shoulder skeleton are cut with scissors with two mechanical arms 3 respectively
Connecing, the middle part of described shoulder skeleton is hinged with the bottom of cervical region 4, and the top of described cervical region 4 is hinged with head 5；Described chassis 1 and body
Do 2 hinged.
Incorporated by reference to Fig. 1～11, described a kind of modularization robot, its chassis 1, trunk 2, mechanical arm 3, cervical region 4 and head
All there is the module of multiple different structure at portion 5, each site module, and each position；Each position uses disparate modules combination,
It is met the robot of the different degree of freedom of different application occasion.
Described a kind of modularization robot, also includes H photographic head, I projector, J liquid crystal display screen, wherein H, I, J >=
0；Described H photographic head is fixed in the one or more positions in head 5, trunk 2 and chassis 1；Described I projector is fixed
In one or more positions in head 5, trunk 2 and chassis 1；Described J liquid crystal display screen is fixed on head 5, trunk 2 and chassis
In one or more positions in 1；In the present embodiment, the quantity of photographic head, projector and liquid crystal display screen forms the module of robot
Determine；Incorporated by reference to Fig. 2 b～2f, 6b and 10, described photographic head includes being placed in the head photographic head of head, being placed in trunk
Chest images 253 and is placed in the chassis photographic head 105 on chassis, and described head photographic head includes the first photographic head 516 and the
Two photographic head 532；Described projector include being placed in head head projector, be placed in trunk chest projector 254 and
Being placed in the chassis projector 106 on chassis, described head projector includes the first projector 515；Described liquid crystal display screen includes laying
In head head liquid crystal display screen, be placed in the liquid crystal display screen of trunk and be placed in the liquid crystal display screen on chassis, described head liquid crystal display screen includes
First liquid crystal display screen 512 and the second liquid crystal display screen 513；
Multiple photographic head of office diverse location, can be beneficial to identify and rebuild steric environment from diverse location shooting environmental；
Multiple projectors of office diverse location, can realize 3 D stereo projection.
Described head has a head and fixes seat；Described head is fixed seat and is fixed in described cervical region top；Described head
Fixing seat is provided with lens fixed seat the same number of with head photographic head, is provided with projector the same number of with head projector
Fixing seat, is provided with liquid crystal display screen the same number of with head liquid crystal display screen and fixes seat；
Incorporated by reference to Fig. 2 b～2f, described head has multiple module, is the first head 510, the second head respectively
520, the third head 530 and the 4th kind of head 540；Meanwhile, can be according to the demand of application scenario, according to being placed in taking the photograph of head
As head is fixed seat slight changes by the quantity of head, projector and liquid crystal display screen, new module can be obtained；
Incorporated by reference to Fig. 2 a～2c, described first head 510, including the first head fix seat the 511, first liquid crystal display screen 512,
Second liquid crystal display screen 513, baffle plate motor the 514, first projector the 515, first photographic head 516 and head slide block 517；Described the first
Head is fixed and is offered the first liquid crystal display screen 512, baffle plate motor the 514, first projector the 515, first photographic head 516 on seat 511
Fixing seat, is further opened with the mounting yoke of head slide block 517；Described head slide block 517 is machined with the installation of the second liquid crystal display screen 513
Seat, the second liquid crystal display screen 513 is fixing with head slide block 517 by screw, and head slide block 517 also has and described baffle plate motor 514
On the rack structure that coordinates of gear, described baffle plate motor 514 rotates and drives head slide block 517 to move, thus drives the second liquid
The movement of brilliant screen 513, described second liquid crystal display screen 513 is positioned at before the first projector 515, makees projector baffle plate and uses；When
When two liquid crystal display screens 513 are in the first projector 515 dead ahead, projection can be blocked；When the second liquid crystal display screen 513 is in the first projection
During the lower section of instrument 515, projector can normally work；Described first photographic head 516 is placed in the first liquid crystal display screen 512 and the second liquid
In the photographic head mounting yoke at the middle rear of brilliant screen 513；
Incorporated by reference to Fig. 2 d, described the second head 520, including the second head fix seat the 521, first liquid crystal display screen 512,
Two liquid crystal display screen 513 and the first photographic head 516；Described the second head is fixed seat 521 and is offered first liquid crystal display screen the 512, second liquid
Brilliant screen 513 and the mounting yoke of the first photographic head 516, described first photographic head 516 is placed in the first liquid crystal display screen 512 and the second liquid crystal
Shield the position at 513 middle rears；
Incorporated by reference to Fig. 2 e, the third head 530 described, including the third head fix seat the 531, first photographic head 516 and
Second camera 532；The third head described is fixed seat 531 and is offered and lay the first photographic head 516 and second camera 532
Mounting yoke；
Incorporated by reference to Fig. 2 f, described 4th kind of head 540, including the 4th kind of head fix seat the 541, first photographic head 516 and
First projector 515；Described 4th kind of head is fixed seat 541 and is offered and lay the first photographic head 516 and the first projector 515
Mounting yoke.
Described cervical region 4 includes a cervical region chassis, at least one piece of neck, a cervical region footstock and some neck motors；Described neck
Portion 4 has K cervical region degree of freedom, wherein K >=0；When described cervical region degree of freedom is 0, described cervical region chassis is solid with described shoulder skeleton
Connecing, described cervical region 4 footstock is affixed with head 5；
Incorporated by reference to Fig. 3 a～3c, described cervical region 4 has multiple module, is the first cervical region 410, the second cervical region respectively
420 and the third cervical region 430, some parts of cervical region 4 can be modified according to the demand of application scenario, can obtain meanwhile
Obtain module newly；In the present embodiment, the degree of freedom of cervical region 4 is determined by the module used；
Incorporated by reference to Fig. 3 a, the first cervical region 410 described, including the first cervical region chassis 411. the first neck 412,
A kind of cervical region footstock 413 and. the first pull bar 414；The first cervical region chassis 411 described and the first neck affixed 412, first
Plant neck 412 hinged with the first cervical region footstock 413, the first neck 412 described and the first cervical region footstock 413 are equipped with
The fixing seat of the first pull bar 414, the two ends of the first pull bar 414 described respectively with the first neck 412 and the first cervical region
Footstock 413 is hinged；
Incorporated by reference to Fig. 3 b, described the second cervical region 420, including the second cervical region chassis 421. the second neck 422.
Two kinds of cervical region footstocks 423 and two the second pull bars 424；Described the second cervical region chassis 421 is affixed with the second neck 422,
The second neck 422 is hinged with the second cervical region footstock 423, described the second cervical region chassis 421 and the second cervical region footstock 423
On all offer install the second pull bar 424 connection seat；
Incorporated by reference to Fig. 3 c, the third cervical region 430 described, including the first cervical region chassis 411, the third neck the 431, the 4th
Plant neck 432, the third cervical region footstock 433 and two motors；The third neck bottom 431 described and the first cervical region chassis
411 is affixed, hinged with the 4th kind of neck 432 bottom；Described 4th kind of neck 432 top is hinged with the third cervical region footstock 433；
One motor is affixed with the third neck 431 top, its rotating shaft and the 4th kind of neck 432 low side close-fitting, and electric machine rotation drives the 4th
Plant neck 432 to rotate；Another motor and the 4th kind of neck 432 top are affixed, and machine shaft is low with the third cervical region footstock 433
End close-fitting, electric machine rotation drives the third cervical region footstock 433 to rotate.
Incorporated by reference to Fig. 4 a and 4b, described shoulder skeleton has multiple module, is the first shoulder skeleton 210 and the second respectively
Shoulder skeleton 220, can modify to shoulder skeleton according to the demand of application scenario, can obtain new module meanwhile；
Incorporated by reference to Fig. 4 a, the first shoulder skeleton 210 described, including the first shoulder structure 211. the first shoulder motor 212. the
Two shoulder motor 213 and the 3rd shoulder motors 214；The first shoulder structure 211 described offers installation the first shoulder motor 212, second and takes on
Motor 213 and the motor cabinet of the 3rd shoulder motor 214, the two ends of the first shoulder structure 211 are further opened with installing two described machineries
The support of arm 3, described first shoulder motor 212 and the second shoulder motor 213 drive the rotation of the mechanical arm 3 being attached thereto respectively；The
A kind of middle part takeing on structure 211 offers cervical region 4 mounting seat, and the 3rd shoulder motor 214 being installed on shoulder structure low side is solid with cervical region
Connecing, the 3rd shoulder electric machine rotation drives cervical region 4 to rotate；
Incorporated by reference to Fig. 4 b, described the second shoulder skeleton 220, including the second shoulder structure 221. the first shoulder motor 212. the
Two shoulder motor 213 and the 3rd shoulder motors 214；Described the second shoulder structure 221 offers installation the first shoulder motor 212, second and takes on
Motor 213 and the motor cabinet of the 3rd shoulder motor 214, the two ends of the second shoulder structure 221 are further opened with installing two described machineries
The support of arm 3, described first shoulder motor 212 and the second shoulder motor 213 drive the rotation of the mechanical arm 3 being attached thereto respectively；The
The middle part of two kinds of shoulder structures 221 offers cervical region 4 mounting seat, and the 3rd shoulder motor 214 being installed on shoulder structure top end is solid with cervical region
Connecing, the 3rd shoulder electric machine rotation drives cervical region 4 to rotate.
Incorporated by reference to Fig. 5 a～5c, described mechanical arm 3, including at least one arm；When the quantity of arm is more than one, each arm depends on
Secondary head and the tail are hinged；Described mechanical arm has M degree of freedom, wherein M >=0；When number of degrees of freedom, is 0, described arm is the most affixed, machinery
Arm 2 is affixed with one end of described shoulder skeleton；Described mechanical arm also includes end effector mechanism, and described end effector mechanism uses not
There is the robot palm 323 of degree of freedom；Preferably, described end effector mechanism uses the clamping dress with at least one degree of freedom
Put 330；Preferably, described end effector mechanism uses the Dextrous Hand 313 with at least two degree of freedom；
Incorporated by reference to Fig. 5 a～5c, described mechanical arm has multiple module, is the first mechanical arm 310 having degree of freedom respectively
And there is no the second mechanical arm 320 of degree of freedom；The first mechanical arm 310 described includes the first arm the 311, second arm 312 and spirit
Dab hand 313, the first arm 311 has a joint freedom degrees, the second arm 312 to have with the junction of the first arm 311 with shoulder skeleton junction
One joint freedom degrees, the second arm 312 has a joint freedom degrees with the junction of Dextrous Hand 313；Described the second mechanical arm 320 wraps
Including the 3rd the most affixed arm the 321, the 4th arm 322 and robot palm 323, the 3rd arm 321 is affixed with shoulder skeleton, robot
The palm 323 does not has degree of freedom, described the second mechanical arm 320 not to have degree of freedom；The end effector mechanism of described mechanical arm 3 is replaced with
During clamping device 330, i.e. obtaining new mechanical arm, described clamping device 330 includes clamping movement end 331, grips end 332
And clamping motor 333, clamping motor 333 is fixed on and grips end 332, and clamping motor 333 axle is tight with clamping movement end 331
Joining, clamping motor 333 rotates the rotation driving clamping movement end 331, it is achieved clamping device 330 opening and closing movement；Preferably, can root
According to the demand of application scenario, arm quantity and end effector mechanism to mechanical arm 3 are modified, and can obtain new module.
Incorporated by reference to Fig. 6 a and 6b, described chest has breastbone frame；Preferably, described breastbone frame is provided with installation chest shooting
253, chest projector 254 and the chest multimedia seat 252 of chest liquid crystal display screen；
Described breastbone frame has multiple module, is the first breastbone frame 240 and the second breastbone frame 250 respectively；Described
A kind of breastbone frame 240 is the first the sternal branches support structure 241 without chest multimedia seat；In the present embodiment, described the second
Breastbone frame 250 includes the second sternal branches support structure 251, chest multimedia seat 252, chest photographic head 253 and chest projector
254, described the second sternal branches support structure 251 is provided with the installing hole installing chest multimedia seat 252, described chest multimedia
Seat 252 is provided with lays chest photographic head 253 and the support of chest projector 254；In other embodiments, described chest shooting
253, the quantity of chest projector 254 and chest liquid crystal display screen is not quite similar, depending on the demand of application scenario；Meanwhile, root
According to the demand of application scenario, change chest photographic head 253, chest projector 254 and the chest laid on chest multimedia seat 252
The quantity of liquid crystal display screen or change chest multimedia seat, in the installation site of the second sternal branches support structure, can obtain new mould
Block.
Incorporated by reference to Fig. 7 a, 7b, 8a, 8b, 8c, 9a and 9b, described waist at least includes a waist joint；Described waist joint bag
Include the degree of freedom of at least one horizontal direction or vertical direction；The low side of described waist is hinged with chassis 1；
Incorporated by reference to Fig. 7 a, 7b, 8a, 8b and 8c, described waist joint has multiple module, be respectively the first waist joint 260,
The second waist joint 270, the third waist joint 280, the 4th kind of waist joint 290, the 5th kind of waist joint 298 and the 6th kind of waist close
Joint；Meanwhile, according to the demand of application scenario, the described first, second, third, fourth, the 5th and the 6th kind of waist joint can be carried out
Amendment, can obtain new module；
Incorporated by reference to Fig. 7 a, the first waist joint 260 described include the first waist joint rotation seat 261. the first waist joint is fixed
Seat 262 and the first waist joint motor 263, offer axis hole, described first waist joint bottom described first waist joint rotation seat 261
Fixing seat 262 top offers axis hole, the rotating shaft of described first waist joint motor 263 through the first waist joint fix seat 262 and
First waist joint is fixed seat 262 by the axis hole of the first waist joint rotation seat 261 and the first waist joint rotation seat 261 is connected to one
Rising, described first waist joint motor 263 is fixed on the first waist joint and fixes on seat 262, turning of described first waist joint motor 263
Axle and the axis hole close-fitting of the first waist joint rotation seat 261, the first waist joint motor 263 rotates and drives the first waist joint rotation seat
261 rotate；The first waist joint 260 described has the degree of freedom of a vertical direction；
Incorporated by reference to Fig. 7 b, described the second waist joint 270 includes the first waist joint rotation seat 261, the second waist joint
Fixing seat the 271, first waist joint gear the 272, second waist joint gear 273 and the first waist joint motor 263；Described the second waist
Offering the support installing the first waist joint motor 263 on arthrodesis seat 271, described the second waist joint is fixed seat 271 and is pushed up
Portion offers axis hole, and a rotating shaft fixes the axis hole of seat 271, the axle of the first waist joint rotation seat 261 by the second waist joint
The second waist joint is fixed seat 271 and is linked together with the first waist joint rotation seat 261 by hole；It is arranged with in described rotating shaft
One waist joint gear 272, the first waist joint motor 263 axle described is arranged with the second waist joint gear 273, described first waist
Joint gear 272 coordinates transmission with the second waist joint gear 273, and described first waist joint motor 263 rotates, and is closed by the first waist
Joint gear 272 coordinates transmission with the second waist joint gear 273, drives the first waist joint rotation seat 261 to rotate；Described the second
Waist joint 270 has the degree of freedom of a vertical direction；
Incorporated by reference to Fig. 8 a, the third waist joint 280 described includes the second waist joint rotating seat 281, the third waist joint
Fixing seat the 282, second waist joint motor 283 and the first waist joint rotary shaft 284；On described the second waist joint rotating seat 281
Offering axis hole, the third waist joint described is fixed and is offered axis hole on seat 282 and install propping up of the second waist joint motor 283
Frame, described second waist joint motor 283 is installed on the third waist joint and fixes on seat 282, described first waist joint rotary shaft 284
The axis hole of seat 282 is fixed by the second waist joint rotating seat 281 through the second waist joint rotating seat 281 and the third waist joint
Fix seat 282 with the third waist joint to link together, wherein the first waist joint rotary shaft 284 and the second waist joint rotating seat
The axis hole close-fitting of 281；Axle and the first waist joint rotary shaft 284 of described second waist joint motor 283 coordinate transmission, it is achieved second
Waist joint motor 283 rotates and drives the second waist joint rotating seat 281 to rotate；The third waist joint 280 described has a water
Square to degree of freedom；
Incorporated by reference to Fig. 8 b, described 4th kind of waist joint 280 includes the third waist joint rotating seat 291, the 4th kind of waist joint
Fixing seat the 292, the 3rd waist joint gear the 293, the 4th waist joint gear the 294, second waist joint rotary shaft 295 and the second waist joint
Motor 283；The third waist joint rotating seat 291 described is provided with the support installing the second waist joint motor 283, and bottom offers
Axis hole；Described 4th kind of waist joint is fixed seat 292 and is provided with axis hole；Described second waist joint rotary shaft 295 is through the 3rd middle part of the side
Joint rotating seat 291 and the 4th kind of waist joint fix the axis hole on seat 292 by the second waist joint rotating seat 291 and the 4th waist joint
Fixing seat 292 links together；Described second waist joint rotary shaft 295 tightens is furnished with the 4th waist joint gear 294, and second
Waist joint rotary shaft 295 and the 4th kind of waist joint fix seat 292 close-fitting；The axle of described second waist joint motor 283 tightens to be furnished with
3rd waist joint gear 293, described 3rd waist joint gear 293 coordinates transmission with the 4th waist joint gear 294；Described second waist
Joint motor 283 rotates and drives the third waist joint rotating seat 291 described to rotate；Described 4th kind of waist joint 290 has one
The degree of freedom of horizontal direction；
Incorporated by reference to Fig. 8 c, described 5th kind of waist joint 298 includes the first waist joint rotation seat 261, the 5th kind of waist joint
Fixing seat 296, the third waist joint fix seat the 282, first waist joint motor the 263, second waist joint motor 283 and the first waist closes
Joint rotary shaft 284；Described 5th kind of waist joint is fixed seat 296 top and bottom and is all offered axis hole；Described first waist joint electricity
The axle of machine 263 fixes the axis hole bottom seat 296 top and the first waist joint rotation seat 261 by the 5th through the 5th kind of waist joint
Kind waist joint is fixed seat 296 and is linked together with the first waist joint rotation seat 261, and wherein, the first waist joint motor 263 is fixed
Fix on seat 296 at the 5th kind of waist joint, bottom the axle of the first waist joint motor 263 and the first waist joint rotation seat 261
Axis hole close-fitting, the first waist joint motor 263 rotates and drives the first waist joint rotation seat 261 to rotate；Described second waist joint rotation
Rotating shaft 297 fix bottom seat 296 through the 5th kind of waist joint and the 3rd waist joint to fix the axis hole of seat 282 solid by the 5th waist joint
Reservation 296 is fixed seat 282 with the 3rd waist joint and is linked together, and wherein the second waist joint rotary shaft 297 and the 5th waist joint are solid
Reservation 296 is affixed, and the second waist joint rotary shaft 297 coordinates transmission, described second waist motor with the axle of the second waist motor 283
283 rotations drive the 5th waist joint to fix seat 296 and rotate；Described 5th kind of waist joint 298 is in vertical direction and horizontal direction
Respectively there is one degree of freedom；
Described 6th kind of waist joint, its structure is similar with the structure of described the second cervical region, including at the bottom of the 6th waist joint
Dish. a pelvic bone. the 6th waist joint footstock and two pull bars；Described 6th waist joint chassis is affixed with pelvic bone, pelvic bone and the 6th
Waist joint footstock is hinged, and described 6th waist joint chassis and the 6th waist joint footstock all offer the connection installing two pull bars
Seat；
In application, according to different application scenario requirements, different waist joints is used to be combined into difference waist freely；Please
In conjunction with Fig. 9 a and 9b, Fig. 9 a for using waist joint 280 in the first waist joint 260 and the 3rd to be combined into waist, Fig. 9 b is for using
The second waist joint 270 and the 4th kind of waist joint 290 are combined into waist；In other embodiments, other also can be had to combine.
Incorporated by reference to he 1,10 and 11, described chassis 1 has multiple module, is the fixing end 101, slide unit and mobile little respectively
Car；Meanwhile, described fixed underpan 101, slide unit and mobile dolly can be modified according to the demand of application scenario, can obtain
Obtain module newly；Use different chassis module, form different robots, be fixing seat robot 2000, slide unit machine respectively
People 3000 and buggy robot 1000；
Incorporated by reference to Figure 10, the chassis 1 of described fixing seat robot 2000 uses fixed underpan 101；In the present embodiment, described
Fixed underpan 101 offers the placed hole of chassis multimedia seat 104；Described chassis multimedia seat 104 is provided with installation chassis shooting
105 and the fixing seat of chassis projector 106；Described fixed underpan 101 also includes chassis photographic head 105 and chassis projector
106；
Incorporated by reference to Figure 11, the chassis 1 of described slide unit robot 3000 uses the slide unit of one degree of freedom, and it includes carriage saddle
102 and slide block 103；Offering installing hole on described slide block 103, the waist of described modularization robot is installed on slide block 103；
Described slide unit has power set, and described power set band movable slider 103 moves, thus changes the attitude of robot；Figure 11 institute
It is shown as slide unit robot 3000；
In the present embodiment, described waist also includes a Flat computer support.
Incorporated by reference to Fig. 1, the chassis of described buggy robot 1000 uses the mobile dolly of built-in power set；Described movement
Offering installing hole on dolly, the waist of described modularization robot is installed on mobile dolly；
In the present embodiment, use the disparate modules combination of chassis 1, trunk 2, mechanical arm 3, cervical region 4 and head 5, available
Meet the robot of the different degree of freedom of different application occasion.Although have been illustrated with exemplary embodiment above, but this area
Skilled artisan will appreciate that, in the case of without departing from the principle of the present invention or spirit, can be to certain of this exemplary embodiment
A little parts make change, and the scope of the present invention is limited by claim and coordinate thereof.
Claims (10)
1. a modularization robot, including a chassis, trunk, two mechanical arms, cervical region, heads and
Set shell；Described trunk includes takeing on skeleton, chest and waist, and described chest top is hinged with shoulder skeleton, described chest low side and
The top of waist is affixed；The two ends of described shoulder skeleton are hinged with two mechanical arms respectively, the middle part of described shoulder skeleton and cervical region
Bottom is hinged, and the top of described cervical region is hinged with head；Described chassis is hinged with trunk.
A kind of modularization robot the most according to claim 1, it is characterised in that described chassis, trunk, mechanical arm, neck
All there is the module of multiple different structure at portion and head, each site module, and each position；Each position uses disparate modules
Combination, is met the robot of the different degree of freedom of different application occasion.
A kind of modularization robot, it is characterised in that also include H photographic head, I projector,
J liquid crystal display screen, wherein H, I, J >=0；
Described H photographic head is fixed in the one or more positions in head, trunk and chassis；
Described I projector is fixed in the one or more positions in head, trunk and chassis；
Described J liquid crystal display screen is fixed in the one or more positions in head, trunk and chassis；
Described photographic head includes head photographic head, chest photographic head and chassis photographic head；Described projector include head projector,
Chest projector and chassis projector；Described liquid crystal display screen includes head liquid crystal display screen, chest liquid crystal display screen and chassis liquid crystal display screen.
A kind of modularization robot the most according to claim 1, it is characterised in that described head has a head to be fixed
Seat；Described head is fixed seat and is fixed in the top of described cervical region；
Described head is fixed seat and is provided with lens fixed seat the same number of with head photographic head, is provided with and head projector number
Identical projector fixes seat, is provided with liquid crystal display screen the same number of with head liquid crystal display screen and fixes seat.
A kind of modularization robot the most according to claim 1, it is characterised in that described cervical region include a cervical region chassis,
At least one piece of neck, a cervical region footstock and some neck motors；Described cervical region has K cervical region degree of freedom, wherein K >=0；Described
When cervical region degree of freedom is 0, described cervical region chassis is affixed with described shoulder skeleton, and described cervical region footstock is affixed with head.
A kind of modularization robot the most according to claim 1, it is characterised in that described mechanical arm, including at least one
Arm；When the quantity of arm is more than one, each arm head and the tail successively are hinged；
Described mechanical arm has M degree of freedom, wherein M >=0；When number of degrees of freedom, is 0, described arm is the most affixed, mechanical arm and institute
The one end stating shoulder skeleton is affixed；
Described mechanical arm also includes that end effector mechanism, described end effector mechanism refer to the robot palm not having degree of freedom；
Or, described end effector mechanism refers to the clamping device with at least one degree of freedom；
Or, described end effector mechanism refers to the Dextrous Hand with at least two degree of freedom.
A kind of modularization robot the most according to claim 1, it is characterised in that described waist at least includes that a waist closes
Joint；Described waist joint includes the degree of freedom of at least one horizontal direction or vertical direction；
The low side of described waist is hinged with chassis.
A kind of modularization robot the most according to claim 1, it is characterised in that described chassis uses fixed underpan；
Or, described chassis uses mobile chassis；Described mobile chassis includes that a mobile platform, described mobile platform at least have
One translation or rotary freedom.
A kind of modularization robot the most according to claim 1, it is characterised in that described chest has breastbone frame.
A kind of modularization robot the most according to claim 8, it is characterised in that described mobile chassis uses at least to be had
Having the slide unit of one degree of freedom, it includes carriage saddle and slide block；Installing hole, described modularization robot is offered on described slide block
Waist be installed on guide rail movable block；Described slide unit has power set, and described power set band movable slider moves, thus changes
Become the attitude of robot；
Or, described mobile chassis uses the mobile dolly of built-in power set；Installing hole is offered, institute on described mobile dolly
The waist stating robot is installed on mobile dolly.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610643256.3A CN106078720A (en) | 2016-08-08 | 2016-08-08 | A kind of modularization robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610643256.3A CN106078720A (en) | 2016-08-08 | 2016-08-08 | A kind of modularization robot |
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| CN106078720A true CN106078720A (en) | 2016-11-09 |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106671101A (en) * | 2016-12-23 | 2017-05-17 | 北京印刷学院 | Intelligent shooting robot |
| CN107126156A (en) * | 2017-06-08 | 2017-09-05 | 唐建芳 | A kind of smart home clean environment firendly robot and its method of work |
| CN109465803A (en) * | 2018-06-25 | 2019-03-15 | 中国人民解放军第二军医大学 | Tow-armed robot system of subject |
| CN110757511A (en) * | 2019-11-11 | 2020-02-07 | 路邦科技授权有限公司 | Upper body assembling method of bionic robot |
-
2016
- 2016-08-08 CN CN201610643256.3A patent/CN106078720A/en active Pending
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106671101A (en) * | 2016-12-23 | 2017-05-17 | 北京印刷学院 | Intelligent shooting robot |
| CN107126156A (en) * | 2017-06-08 | 2017-09-05 | 唐建芳 | A kind of smart home clean environment firendly robot and its method of work |
| CN109465803A (en) * | 2018-06-25 | 2019-03-15 | 中国人民解放军第二军医大学 | Tow-armed robot system of subject |
| CN110757511A (en) * | 2019-11-11 | 2020-02-07 | 路邦科技授权有限公司 | Upper body assembling method of bionic robot |
| CN110757511B (en) * | 2019-11-11 | 2022-10-04 | 路邦科技授权有限公司 | Upper body assembling method of bionic robot |
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Application publication date: 20161109 |