CN106181960A - A kind of anthropomorphic robot - Google Patents
A kind of anthropomorphic robot Download PDFInfo
- Publication number
- CN106181960A CN106181960A CN201610801188.9A CN201610801188A CN106181960A CN 106181960 A CN106181960 A CN 106181960A CN 201610801188 A CN201610801188 A CN 201610801188A CN 106181960 A CN106181960 A CN 106181960A
- Authority
- CN
- China
- Prior art keywords
- machine body
- apery machine
- control system
- apery
- anthropomorphic robot
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
-
- 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
- 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
- B25J9/16—Programme controls
- B25J9/1674—Programme controls characterised by safety, monitoring, diagnostic
- B25J9/1676—Avoiding collision or forbidden zones
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
Abstract
The invention discloses a kind of anthropomorphic robot, including: apery machine body, described apery machine body include two can intersect swing leg and be arranged on described two can intersect swing leg bottom two foots, described apery machine body is internally provided with self balancing device, described self balancing device includes DC servo motor, wherein, said two foot is detachably provided with ice skate respectively；Described apery machine body is internally provided with the control system controlling the motion of described apery machine body；Described control system, for driving the motion of the described ice skate described apery machine body of control by controlling described DC servo motor, solve in correlation technique for biped walking, crawler type, roller type, the problem that the robot of biped walking structure exists respective defect for different terrain, it is possible to be adapted to different landform and select suitable motion mode.
Description
Technical field
The present invention relates to robot field, particularly relate to a kind of anthropomorphic robot.
Background technology
Existing robot motion mechanism includes: biped walking, crawler type, roller type, and biped walking structure has relatively
High motility, it is possible to by complicated landform, but gait of march is the slowest；Track structure is on soft, rugged ground
There is higher adaptation ability, but very big with the frictional resistance on ground, run power consumption higher；Wheeled construction can be in smooth place
Fast forward through and energy consumption is low, but not across the landform such as gully, step, obstacle crossing ability is poor.
For in correlation technique for biped walking, crawler type, roller type, the robot of biped walking structure for
There is the problem of respective defect in different terrain, the most not yet proposes solution.
Summary of the invention
Present invention is primarily targeted at a kind of anthropomorphic robot of proposition, it is intended to solve correlation technique is walked for biped
Formula, crawler type, roller type, the problem that the robot of biped walking structure exists respective defect for different terrain.
For achieving the above object, the invention provides a kind of anthropomorphic robot, including: apery machine body, described apery
Machine body include two can intersect swing leg and be arranged on described two can intersect swing leg bottom two foots
Portion, described apery machine body is internally provided with self balancing device, and described self balancing device includes DC servo motor, wherein,
Said two foot is detachably provided with ice skate respectively；
Described apery machine body is internally provided with the control system controlling the motion of described apery machine body；
Described control system, for by controlling the described DC servo motor driving described ice skate described apery machine of control
The motion of device body.
Preferably, head and the waist of described apery machine body are provided with distance measuring sensor, wherein, and described range finding sensing
Described characteristic information, for monitoring the landform of the direction of motion and the characteristic information of environment, is sent to described control system by device；
Described control system, for being calculated and determined moving line according to described features of terrain information.
Preferably, the feelings less than or equal to preset distance of the distance with barrier are being detected by described distance measuring sensor
Under condition, described control system, for being calculated and determined the moving line avoiding described barrier.
Preferably, described distance measuring sensor includes one below: infrared induction, ultrasonic sensing or laser radar sense
Device.
Preferably, described self balancing device includes the described DC servo electricity being arranged on described each joint of machine body
Machine, described DC servo motor, for driving the motion in the described each joint of apery machine body.
Preferably, described control system, for by controlling the described DC servo motor described apery machine body of driving
Ice skate described in the action drives that the motion simulation people in each joint skates, make described apery machine body advance, retreat or turn
To.
Preferably, described control system, it is used for controlling described DC servo motor and drives described apery machine body respectively to close
The balance of apery machine body described in the motor adjustment of joint.
Preferably, described self balancing device also includes gyroscope, acceleration transducer and geomagnetic sensor, wherein, described
Gyroscope, angle of inclination during for detecting the motion of described apery machine body and direction；Described acceleration transducer, is used for examining
Survey the acceleration that described slide plate runs；Described geomagnetic sensor, for detecting the direction of motion of apery machine body.
Preferably, described apery machine body also includes gravity adjusting device, and described control system, for by controlling institute
State gravity adjusting device and reduce the center of gravity of described apery machine body.
Preferably, described two can intersect swing leg by screw, buckle, latch be removably disposed in described in slip
On skating boots.
The anthropomorphic robot that the present invention proposes, including: apery machine body, described apery machine body includes that two can be handed over
Fork swing leg and be arranged on described two can intersect swing leg bottom two foots, in described apery machine body
Portion is provided with self balancing device, and described self balancing device includes DC servo motor, and wherein, said two foot is the most detachable
Be provided with ice skate；Described apery machine body is internally provided with the control system controlling the motion of described apery machine body；
Described control system, for by controlling the described DC servo motor driving described ice skate described apery machine body of control
Motion, solves in correlation technique for biped walking, crawler type, roller type, the robot of biped walking structure for
The problem that different terrain exists respective defect, it is possible to be adapted to different landform and select suitable motion mode.
Accompanying drawing explanation
Fig. 1 is the schematic diagram one of anthropomorphic robot according to embodiments of the present invention；
Fig. 2 is the schematic diagram two of anthropomorphic robot according to embodiments of the present invention.
The realization of the object of the invention, functional characteristics and advantage will in conjunction with the embodiments, are described further referring to the drawings.
Detailed description of the invention
Should be appreciated that specific embodiment described herein, only in order to explain the present invention, is not intended to limit the present invention.
The mobile terminal realizing each embodiment of the present invention is described referring now to accompanying drawing.In follow-up description, use
For representing the suffix explanation only for the beneficially present invention of such as " module ", " parts " or " unit " of element, itself
Not specific meaning.Therefore, " module " can mixedly use with " parts ".
The embodiment of the present invention proposes a kind of has biped walking, with ice skate motion structure can automatic obstacle avoiding imitative
Robot people, mainly for improving anthropomorphic robot traveling ability in multiple landform and the utilization ratio of the energy, Ke Yitong
The wheeled slip of Shi Caiyong and lift the action of lower limb and surmount obstacles；By being arranged on the distance measuring sensor in robot body, monitoring motion
The features of terrain in direction, selects suitable moving line, improves the ability adapting to environment and the work efficiency of robot.
Embodiments providing a kind of anthropomorphic robot, Fig. 1 is anthropomorphic robot according to embodiments of the present invention
Schematic diagram one, as it is shown in figure 1, include: apery machine body, described apery machine body include two can intersect swing leg
Be arranged on described two two foots that can intersect bottom the leg swung, described apery machine body is internally provided with from flat
Weighing apparatus device, described self balancing device includes DC servo motor, wherein,
Said two foot is detachably provided with ice skate respectively；
Described apery machine body is internally provided with the control system controlling the motion of described apery machine body；
Described control system, for by controlling the described DC servo motor driving described ice skate described apery machine of control
The motion of device body.
Fig. 2 is at the schematic diagram two of anthropomorphic robot according to embodiments of the present invention, as in figure 2 it is shown, described apery machine is originally
Head (position of a in Fig. 2) and the waist (position of b in Fig. 2) of body are provided with distance measuring sensor, wherein, and described range finding sensing
Described characteristic information, for monitoring the landform of the direction of motion and the characteristic information of environment, is sent to described control system by device；Institute
State control system, for moving line being calculated and determined according to described features of terrain information.
Preferably, the feelings less than or equal to preset distance of the distance with barrier are being detected by described distance measuring sensor
Under condition, described control system, for being calculated and determined the moving line avoiding described barrier.
Above-mentioned distance measuring sensor includes one below: infrared induction, ultrasonic sensing or laser radar induction apparatus, needs
Illustrate, be not limited in above-mentioned several.
Above-mentioned self balancing device includes the described DC servo motor being arranged on described each joint of machine body, institute
State DC servo motor, for driving the motion in the described each joint of apery machine body.The joint of apery machine body simulation people,
Each joint of limbs in apery machine body is furnished with DC servo motor, including ankle joint, knee joint, hip joint, shoulder joint
Joint, elbow joint, head and foot.
Preferably, described control system, for by controlling the described DC servo motor described apery machine body of driving
Ice skate described in the action drives that the motion simulation people in each joint skates, make described apery machine body advance, retreat or turn
To.Wherein, apery machine body and ice skate by but the modes such as screw, buckle, latch that are not limited only to be fixed together into
One entirety, is fixed on anthropomorphic robot on ice skate in flat road surface and uses the wheeled mode of sliding to move, by apery machine
The action drives ice skate that each joint motion simulation people of device people skates, make anthropomorphic robot advance, retreat, turn to；Imitative
The action that robot people imitates the mankind by each joint motions of driven by servomotor is advanced, retreats, is turned round.
Preferably, described control system, it is used for controlling described DC servo motor and drives described apery machine body respectively to close
The balance of apery machine body described in the motor adjustment of joint.
Preferably, described self balancing device also includes gyroscope, acceleration transducer and geomagnetic sensor, wherein, described
Gyroscope, angle of inclination during for detecting the motion of described apery machine body and direction；Described acceleration transducer, is used for examining
Survey the acceleration that described slide plate runs；Described geomagnetic sensor, for detecting the direction of motion of apery machine body.
In order to avoid falling down, described apery machine body also includes gravity adjusting device, described control system, is used for passing through
Control described gravity adjusting device and reduce the center of gravity of described apery machine body, can be by reducing the center of gravity of apery machine body
Avoid falling down.
Dismantle for convenience, described two can intersect swing leg be removably disposed in by screw, buckle, latch
On described ice skate.Landform around detection, environment, obstacle avoidance, select suitable course, such as the openst, road
Smooth, anthropomorphic robot is fixed on ice skate, advances by the wheeled mode of sliding, and anthropomorphic robot can lift lower limb walking across
The more barrier of certain altitude；Such as surrounding complexity road bumpiness, anthropomorphic robot is disassembled from slide plate, use instead double
Foot walking manner moves.
The anthropomorphic robot of the embodiment of the present invention, has the feature of complete anthropomorphic robot, uses double feet walking to move
Mode, takes into account lower limb double feet walking and upper limb both arms operational capacity, it is adaptable to the work of the mankind and living environment, can use the mankind
The instrument used, completes various movement and operation task.Take into account again wheel type mobile mode, in flat road surface, there is translational speed
Hurry up, advantage that good stability, efficiency are high.
It should be noted that in this article, term " includes ", " comprising " or its any other variant are intended to non-row
Comprising of his property, so that include that the process of a series of key element, method, article or device not only include those key elements, and
And also include other key elements being not expressly set out, or also include intrinsic for this process, method, article or device
Key element.In the case of there is no more restriction, statement " including ... " key element limited, it is not excluded that including this
The process of key element, method, article or device there is also other identical element.
The invention described above embodiment sequence number, just to describing, does not represent the quality of embodiment.
Through the above description of the embodiments, those skilled in the art is it can be understood that arrive above-described embodiment side
Method can add the mode of required general hardware platform by software and realize, naturally it is also possible to by hardware, but a lot of in the case of
The former is more preferably embodiment.Based on such understanding, prior art is done by technical scheme the most in other words
The part going out contribution can embody with the form of software product, and this computer software product is stored in a storage medium
In (such as ROM/RAM, magnetic disc, CD), including some instructions with so that a station terminal equipment (can be mobile phone, computer, take
Business device, air-conditioner, or the network equipment etc.) perform the method that each embodiment of the present invention is somebody's turn to do.
These are only the preferred embodiments of the present invention, not thereby limit the scope of the claims of the present invention, every utilize this
Equivalent structure or equivalence flow process that bright description and accompanying drawing content are made convert, or are directly or indirectly used in other relevant skills
Art field, is the most in like manner included in the scope of patent protection of the present invention.
Claims (10)
1. an anthropomorphic robot, it is characterised in that including: apery machine body, described apery machine body include two can
Intersect swing leg and be arranged on described two can intersect swing leg bottom two foots, described apery machine body
Being internally provided with self balancing device, described self balancing device includes DC servo motor, wherein,
Said two foot is detachably provided with ice skate respectively；
Described apery machine body is internally provided with the control system controlling the motion of described apery machine body；
Described control system, for by controlling the described DC servo motor driving described ice skate described apery machine of control originally
The motion of body.
Anthropomorphic robot the most according to claim 1, it is characterised in that head and the waist of described apery machine body set
Being equipped with distance measuring sensor, wherein, described distance measuring sensor is for monitoring the landform of the direction of motion and the characteristic information of environment, by institute
State characteristic information and be sent to described control system；
Described control system, for being calculated and determined moving line according to described features of terrain information.
Anthropomorphic robot the most according to claim 2, it is characterised in that detected by described distance measuring sensor and hindering
In the case of the distance hindering thing is less than or equal to preset distance, described control system, it is used for being calculated and determined and avoids described obstacle
The moving line of thing.
Anthropomorphic robot the most according to claim 3, it is characterised in that described distance measuring sensor includes one below: red
Outer sensing, ultrasonic sensing or laser radar induction apparatus.
Anthropomorphic robot the most according to claim 1, it is characterised in that described self balancing device includes being arranged on described machine
The described DC servo motor of device each joint of body, described DC servo motor, it is used for driving described apery machine body
The motion in each joint.
Anthropomorphic robot the most according to claim 5, it is characterised in that described control system, for described by controlling
DC servo motor drives ice skate described in the action drives that the motion simulation people in described each joint of apery machine body skates,
Described apery machine body is made to advance, retreat or turn to.
Anthropomorphic robot the most according to claim 6, it is characterised in that described control system, is used for controlling described direct current
The balance of apery machine body described in the motor adjustment in each joint of apery machine body described in driven by servomotor.
Anthropomorphic robot the most according to claim 7, it is characterised in that described self balancing device also includes gyroscope, adds
Velocity sensor and geomagnetic sensor, wherein, described gyroscope, inclination angle during for detecting the motion of described apery machine body
Degree and direction；Described acceleration transducer, for detecting the acceleration that described slide plate runs；Described geomagnetic sensor, is used for examining
Survey the direction of motion of apery machine body.
Anthropomorphic robot the most according to claim 8, it is characterised in that described apery machine body also includes that center of gravity regulates
Device, described control system, for reducing the center of gravity of described apery machine body by controlling described gravity adjusting device.
Anthropomorphic robot the most according to any one of claim 1 to 9, it is characterised in that described two can intersect swing
Leg be removably disposed on described ice skate by screw, buckle, latch.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610801188.9A CN106181960A (en) | 2016-09-05 | 2016-09-05 | A kind of anthropomorphic robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610801188.9A CN106181960A (en) | 2016-09-05 | 2016-09-05 | A kind of anthropomorphic robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106181960A true CN106181960A (en) | 2016-12-07 |
Family
ID=58066454
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610801188.9A Pending CN106181960A (en) | 2016-09-05 | 2016-09-05 | A kind of anthropomorphic robot |
Country Status (1)
| Country | Link |
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| CN (1) | CN106181960A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106871730A (en) * | 2017-03-17 | 2017-06-20 | 北京军石科技有限公司 | A kind of full landform intelligent mobile target system of shoot training of light weapons |
| CN111844133A (en) * | 2020-07-28 | 2020-10-30 | 安徽赛福贝特信息技术有限公司 | Balance assembly of artificial intelligent education robot |
-
2016
- 2016-09-05 CN CN201610801188.9A patent/CN106181960A/en active Pending
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106871730A (en) * | 2017-03-17 | 2017-06-20 | 北京军石科技有限公司 | A kind of full landform intelligent mobile target system of shoot training of light weapons |
| CN106871730B (en) * | 2017-03-17 | 2018-07-31 | 北京军石科技有限公司 | A kind of full landform intelligent mobile target system of shoot training of light weapons |
| CN111844133A (en) * | 2020-07-28 | 2020-10-30 | 安徽赛福贝特信息技术有限公司 | Balance assembly of artificial intelligent education robot |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20161207 |
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| WD01 | Invention patent application deemed withdrawn after publication |