CN106347518A - Biped-walking dining car pushing robot - Google Patents
Biped-walking dining car pushing robot Download PDFInfo
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- CN106347518A CN106347518A CN201610946275.3A CN201610946275A CN106347518A CN 106347518 A CN106347518 A CN 106347518A CN 201610946275 A CN201610946275 A CN 201610946275A CN 106347518 A CN106347518 A CN 106347518A
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- thigh
- foot
- connecting rod
- leg
- hinged
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/032—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members with alternately or sequentially lifted supporting base and legs; with alternately or sequentially lifted feet or skid
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- 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
- B25J11/008—Manipulators for service tasks
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- 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
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Accommodation For Nursing Or Treatment Tables (AREA)
- Rehabilitation Tools (AREA)
Abstract
The invention discloses a biped-walking dining car pushing robot which comprises an upper body structure, a back, a lower body structure and a dining car, wherein the upper body structure comprises a main frame having an appearance simulating the shape of the upper body of a human body, and the main frame comprises a head part, shoulder parts and a chest part; the dining car comprises a framework body, three carrier layers are alternately arranged on the body uniformly from top to bottom, and wheels are arranged at four corners of the bottom of the body; a handrail is connected with the top of the rear part of the body; a double-stable dining delivery device is carried in every two carrier layers; and the lower body structure is arranged in a bilaterally symmetric manner, and comprises thigh structures, shank structures and foot structures. The biped-walking dining car pushing robot can simulate the human body to push the dining car and walk, simulate the knee bending action of the human body as well as simulate the action that the leg with a bent knee walks forward and the other leg does not walk temporarily, and is stable in dining delivery. The biped-walking dining car pushing robot has a relatively simple structure, is convenient to process and manufacture, has relatively low cost, and is suitable for restaurants for saving labor force and attracting more diners.
Description
Technical field
The present invention relates to robotics, more particularly, to a kind of meal delivery robot of apery walking.
Background technology
With the development of economic society, robot has obtained increasingly extensive application.Although current China is also in machine
The starting stage of people's application, but the application of robot can bring huge economic interests for all trades and professions.
In catering trade, robot or a fangle.Indivedual dining rooms apply meal delivery robot, serve greatly
Attract the effect of consumer, improve the benefit in dining room.
Existing meal delivery robot have of both not enough, one is to be unable to apery walking, two be when ground out-of-flatness or
When having rubbish on the ground that person passes through, the unstable phenomenon of food delivery occurs it is impossible to ensure that pallet is constantly in substantially horizontal attitude,
Possibly even food is poured down or forth away.
Content of the invention
It is an object of the invention to provide a kind of biped walking pushes away dining car robot, apery can walk, be avoided that again and send
The unstable phenomenon of meal, and structure is simple, cost is relatively low.
For achieving the above object, the present invention biped walking push away dining car formula robot include body structure, back, the lower part of the body knot
Structure and dining car；
Upper body structure is tower structure, intends the main frame of upper half of human body shape including epimorph, and main frame includes head, shoulder
Portion and thorax abdomen, are connected with left back armed lever on the left of shoulder, be connected with armed lever behind the right side on the right side of shoulder, and the bottom of left back armed lever is connected with
Left front armed lever, behind the right side, the bottom of armed lever is connected with right forearm bar；
Dining car includes frame-type vehicle body, and on vehicle body, from top to bottom uniform intervals are provided with three layers of carrier, and body bottom sets at corner
There is wheel；Body tail top is connected with handrail；On each bilayer carrier, all supports have Dual Stabilization meal delivery device；
Dual Stabilization meal delivery device includes the food delivery base plate being placed on described carrier, and the top surface of food delivery base plate is horizontal plane；
Food delivery plate upper surface center is fixedly embedded at the first ball, and food delivery base plate is provided with the arched primary tank of vertical cross-section；
Primary tank is provided with the inner chamber of open top, and intracavity bottom is fixedly connected with lead；The bottom of primary tank is provided with and the described first circle
The first link slot that ball is adapted, the latter half fixation of the first ball is embedded in food delivery base plate, the first half of the first ball
It is divided in the first link slot and be rotatably assorted with the cell wall of described first link slot；The center of gravity of lead is located at described first ball
Surface；
The interior intracavity of the primary tank above lead is provided with the plate that is filled with water, and the plate that is filled with water is connected with the inner wall sealing of primary tank；It is filled with water in plate
The heart connects up flexible expansion link, and the top of elastic telescopicing rod is fixedly connected with the second ball；The plate that is filled with water is surrounded with primary tank
Tank, fills water in tank, the water surface is floating with tableware tray, and tableware tray includes tray substrate in the form of annular discs, tray bottom
The outer rim of plate has connected up pallet baffle ring, and pallet baffle ring radially tilts upward and stretches out primary tank；
The lower surface center of tray substrate is provided with the second link slot being adapted with described second ball, the upper half of the second ball
Part is rotatably assorted in the second link slot and with the cell wall of the second link slot；
Before the top surface of described carrier height after low be provided with the gradient, and the described gradient be less than or equal to 3 degree；The bottom surface of described food delivery base plate
Fit with the top surface of described carrier；The rear end of described carrier raises up and is provided with gear eaves；The level of described primary tank is cut
Face is rounded, and the vertical cross-section of described primary tank center is in minor arc arch；
Left and right front armed lever forward extends out and the leading section of the two is respectively equipped with grab, and grab is connected on described handrail；Described waist
Plate level is arranged, and the bottom of the thorax abdomen in upper body structure connects described back；
Described lower body structure is symmetrical set, including thigh structure, shank structure and foot structure；
Thigh structure includes left thigh structure and right thigh structure, and shank structure includes left leg structure and right leg structure, foot
Portion's structure includes left foot structure and right foot part structure；Left thigh structure is symmetrical set with right thigh structure, and left leg is tied
Structure and right leg structure are symmetrical set, and left foot structure and right foot part structure are symmetrical set；Left thigh structure, the right side are big
Lower limb structure, left leg structure and right leg structure are tower structure；
The top of left thigh structure is connected with the left part of described back, the right-hand member of the top of right thigh structure and described back
Portion is connected；
The bottom of described left thigh structure is rotated with the top of left leg structure by left bearing pin and is connected, the bottom of right thigh structure
Rotated with the top of right leg structure by right bearing pin and be connected；Described left bearing pin be fixedly connected with left leg structure and left bearing pin with
Left thigh structure rotates and connects, and described right bearing pin is fixedly connected with right leg structure and right bearing pin is rotated even with right thigh structure
Connect；
Described left thigh structure is provided with left knee motor, left bearing pin described in left knee motor connection；In described right thigh structure
It is provided with right knee motor, right bearing pin described in right knee motor connection；
Described foot structure includes the left foot structure being symmetrical set and right foot part structure；Left foot structure includes left foot frame
Frame, is provided with left fixed plate in left foot framework, the left foot framework of left fixed plate front and back is separately installed with left road wheel, each left side
Left driven pulley is separately installed with the wheel shaft of road wheel；Left movable motor is provided with left fixed plate, left movable motor
Left drive pulley is provided with output shaft；Pass through Left Drive belt transmission even between left drive pulley and left driven pulley
Connect；The bottom of left road wheel extends downwardly from left foot framework and supports on the ground, is provided with and left movable motor phase in left foot framework
The left accumulator connecting；
Right foot part structure includes right crus of diaphragm framework, is provided with right fixed plate, the right crus of diaphragm frame of right fixed plate front and back in right crus of diaphragm framework
Frame is separately installed with right road wheel, and the wheel shaft of each right road wheel is separately installed with right driven pulley；Install in right fixed plate
There is right movable motor, the output shaft of right movable motor is provided with right drive pulley；Right drive pulley and right follower belt
It is in transmission connection by right driving belt between wheel；The bottom of right road wheel extends downwardly from right crus of diaphragm framework and supports on the ground, right
It is provided with the right accumulator being connected with right movable motor in foot frame.
The top of described left thigh structure is fixedly connected with the left part of described back；It is provided with described left leg structure
For monitoring the left comer displacement transducer of the relative angle between left thigh structure and left leg structure, described left thigh structure
Bottom is hinged with downwards the first left hinge bar, and the bottom of the first left hinge bar is hinged with the second left hinge bar, the second left hinge bar
Bottom connect described left comer displacement transducer；
Right corner for monitoring the relative angle between right thigh structure and right leg structure is installed in described right leg structure
Displacement transducer, the bottom of described right thigh structure is hinged with downwards the first right hinge bar, and the bottom of the first right hinge bar is hinged
There is the second right hinge bar, the bottom of the second right hinge bar connects described right corner displacement transducer.
The left part of described back is connected with downwards left contiguous block, and the right part of back is connected with downwards right contiguous block；Greatly
It is provided with two sets of linkages for stablizing thigh structure and shank structure between lower limb structure and shank structure；Two sets of linkages
For left connecting rod mechanism and right connecting rod mechanism, left connecting rod mechanism and right connecting rod mechanism are symmetrical arranged；
Left connecting rod mechanism includes upper left connecting rod and left lower link, and the top of upper left connecting rod is hinged with the rearward end of left contiguous block,
The bottom of upper left connecting rod and left lower link are hinged；The top of left leg structure is connected with the left company protruding left leg structure backward
Joint chair, the bottom of left lower link is hinged with left connecting seat；
Right connecting rod mechanism includes upper right connecting rod and bottom right connecting rod, and the top of upper right connecting rod is hinged with the rearward end of right contiguous block,
The bottom of upper right connecting rod is hinged with bottom right connecting rod；The top of right leg structure is connected with the right company protruding right leg structure backward
Joint chair, the bottom of bottom right connecting rod is hinged with right connecting seat.
Circumferentially connected up annular slab at the outer rim of described food delivery base plate, the upper surface of annular slab and food delivery base plate it
Between surround collecting tank；The diameter of pallet baffle ring is less than the diameter of food delivery base plate.
The present invention has the advantage that:
The present invention is capable of apery walking, the action of simulation people's knee bends (lift lower limb) during walking, and enters one
The action that the lower limb that step can simulate knee bends side is walked forward, the lower limb of opposite side is not temporarily walked forward, realizes two legs
Alternately move forward, apery degree had obtained the raising of matter more in the past, and food delivery is highly stable.Present configuration is relatively simple,
It is easy to processing and fabricating, cost is relatively low, be suitable to restaurant restaurant and use, both saved manpower, and more persons sponging on an aristocrat can be attracted.
Upper connecting rod, lower link, left thigh structure one parallel four side row drag link mechanism with left leg structure composition, thus
Make the more stable reliability of connection between thigh structure and shank structure.
The present invention has the principle keeping horizontality all the time using the principle of tumbler and the water surface, by corresponding lead
The structures such as block, ball tank, tableware tray, it is achieved that Dual Stabilization, make tableware tray farthest keep horizontal level, pole
Improve greatly the stability of food delivery, it is to avoid food such as pours down or forth at the wild effect, improves food delivery quality.
Low after height before the top surface of carrier it is provided with the gradient such that it is able to prevent when walking forward food delivery base plate to advancing slip
Fall it is ensured that food delivery is stable.When food delivery base plate slides backward, can be blocked after running into gear eaves, further ensure food delivery bottom
Plate will not leave carrier.Certainly, while this structure is difficult to leave carrier when ensureing food delivery base plate in food delivery, also protect
Demonstrate,proved food delivery base plate can easily be lifted up, thus convenient without when, by Dual Stabilization meal delivery device from
Take off on the carrier of robot, be also convenient for replacing Dual Stabilization meal delivery device.
Collecting tank is surrounded, collecting tank can collect the water of food or spilling between the upper surface of annular slab and food delivery base plate,
Prevent the surface of the water or food pollution robot spilling, be also prevented from polluting ground.
The vertical cross-section of primary tank center is in minor arc arch, has more preferable degree of stability compared to during in major arc arch.
When water level in tank reduces, elastic telescopicing rod is compressed and contraction in length；When water level in tank is higher, elastic telescopicing rod exists
Extend in the presence of its own resilient, so that the second ball has certain top pressure all the time and the cell wall of the second link slot between
Power, and then the position of location tray base plate, collide between tableware tray and the inwall of primary tank when preventing from normally using, enter
One step ensure that stablizing of food delivery.
Brief description
Fig. 1 is the structural representation of the present invention；
Fig. 2 is the left view removing Fig. 1 after dining car；
Fig. 3 is the structural representation of Dual Stabilization meal delivery device；
Fig. 4 is the enlarged drawing at a in Fig. 3；
Fig. 5 is the enlarged drawing at b in Fig. 2；
Fig. 6 is the enlarged drawing at c in Fig. 2；
Fig. 7 is the enlarged drawing at d in Fig. 1；
Fig. 8 is the schematic diagram of right foot part structure.
Specific embodiment
As shown in Figures 1 to 8, the biped walking of the present invention pushes away dining car formula robot and includes body structure, back 1, the lower part of the body
Structure and dining car；
Upper body structure be tower structure, include epimorph plan upper half of human body shape main frame, main frame include head 2,
Shoulder 3 and thorax abdomen 4, are connected with left back armed lever 5 on the left of shoulder 3, be connected with armed lever 6 behind the right side on the right side of shoulder 3, left back armed lever 5
Bottom is connected with left front armed lever 7, and behind the right side, the bottom of armed lever 6 is connected with right forearm bar 8；
Dining car includes frame-type vehicle body 58, and on vehicle body 58, from top to bottom uniform intervals are provided with three layers of carrier 59, vehicle body 58 bottom
It is provided with wheel 60 at corner；Vehicle body 58 rear portion top is connected with handrail 61；On each bilayer carrier 59, all supports have Dual Stabilization
Meal delivery device；
Dual Stabilization meal delivery device 10 includes the food delivery base plate 11 being placed on described carrier 59, and the top surface of food delivery base plate 11 is
Horizontal plane；Food delivery base plate 11 upper surface center is fixedly embedded at the first ball 12, and food delivery base plate 11 is provided with primary tank 13；Main
The vertical cross-section of container 13 center is arched.Primary tank 13 is provided with the inner chamber 14 of open top, and inner chamber 14 bottom is fixedly connected
There is lead 15；The bottom of primary tank 13 is provided with the first link slot being adapted with described first ball 12, under the first ball 12
Half part fixation is embedded in food delivery base plate 11, and the top half of the first ball 12 is in the first link slot and with described first
The cell wall of link slot is rotatably assorted；The center of gravity of lead 15 is located at the surface of described first ball 12；
It is provided with, in the inner chamber 14 of primary tank 13 of lead 15 top, the plate 16 that is filled with water, the plate 16 that is filled with water is connected with the inner wall sealing of primary tank 13
Connect；Plate 16 center that is filled with water connects up flexible expansion link 17, and the top of elastic telescopicing rod 17 is fixedly connected with the second ball 18；
The plate 16 of being filled with water surrounds tank with primary tank 13, fills water 19, the water surface is floating with tableware tray in tank, tableware tray include be in
Discoid tray substrate 20, the outer rim of tray substrate 20 has connected up pallet baffle ring 21, and pallet baffle ring 21 radially tilts
Protrude upward primary tank 13；
The lower surface center of tray substrate 20 is provided with the second link slot 22 being adapted with described second ball 18, the second ball
18 top half is rotatably assorted in the second link slot 22 and with the cell wall of the second link slot 22；Water level in tank reduces
When, elastic telescopicing rod 17 contraction in length by compression；When water level in tank is higher, elastic telescopicing rod 17 is in the work of its own resilient
Use lower elongation, so that the second ball 18 has certain pressure on top surface, depending on entering all the time and the cell wall of the second link slot 22 between
The position of position tray substrate 20, collides between the inwall of tableware tray and primary tank 13 when preventing from normally using.
Left and right front armed lever 7,8 forward extends out and the two is connected with described handrail 61 respectively；Described back 1 is horizontally disposed with,
The bottom of the thorax abdomen 4 in upper body structure connects described back 1；Being preferable to provide is: in left and right front armed lever 7,8 front ends respectively
It is provided with grab 62, grab 62 is stuck on handrail 61；The connected mode of clamping, quite convenient for dividing robot body with dining car phase
From so that robot body and dining car can individually use, be also convenient for replacing dining car or change robot body.
Described lower body structure is symmetrical set, including thigh structure, shank structure and foot structure；
Thigh structure includes left thigh structure 23 and right thigh structure 24, and shank structure includes left leg structure 25 and right leg knot
Structure 26, foot structure includes left foot structure and right foot part structure；Left thigh structure 23 is symmetrical with right thigh structure 24 to be set
Put, left leg structure 25 and right leg structure 26 are symmetrical set, left foot structure and right foot part structure are symmetrical set；
Left thigh structure 23, right thigh structure 24, left leg structure 25 and right leg structure 26 are tower structure；
The top of left thigh structure 23 is connected with the left part of described back 1, the top of right thigh structure 24 and described back 1
Right part be connected；
The bottom of described left thigh structure 23 is rotated with the top of left leg structure 25 by left bearing pin 27 and is connected, right thigh structure
24 bottom is rotated with the top of right leg structure 26 by right bearing pin 28 and is connected；Described left bearing pin 27 is solid with left leg structure 25
Determine to connect and left bearing pin 27 is rotated with left thigh structure 23 and is connected, described right bearing pin 28 is fixedly connected with right leg structure 26 and right
Bearing pin 28 is rotated with right thigh structure 24 and is connected；
Described left thigh structure 23 is provided with left knee motor, left bearing pin 27 described in left knee motor connection；Described right thigh knot
Structure 24 is provided with right knee motor, right bearing pin 28 described in right knee motor connection；
Described foot structure includes the left foot structure being symmetrical set and right foot part structure；Left foot structure includes left foot frame
Frame 29, is provided with left fixed plate 30 in left foot framework 29, the left foot framework 29 of left fixed plate 30 front and back is separately installed with a left side
Road wheel 31, the wheel shaft of each left road wheel 31 is separately installed with left driven pulley 32；In left fixed plate 30, left lateral is installed
Walk motor, the output shaft of left movable motor is provided with left drive pulley 34；Left drive pulley 34 and left driven pulley
It is in transmission connection by Left Drive belt 33 between 32.The bottom of left road wheel 31 extends downwardly from left foot framework 29 and is supported on ground
On, it is provided with the left accumulator being connected with left movable motor in left foot framework 29；
Right foot part structure includes right crus of diaphragm framework 35, is provided with right fixed plate 36, right fixed plate 36 front and back in right crus of diaphragm framework 35
Right crus of diaphragm framework 35 be separately installed with right road wheel 37, the wheel shaft of each right road wheel 37 is separately installed with right driven pulley
38；Right movable motor is provided with right fixed plate 36, the output shaft of right movable motor is provided with right drive pulley 39；Right master
It is in transmission connection by right driving belt 40 between dynamic belt pulley 39 and right driven pulley 38；The bottom of right road wheel 37 is stretched downwards
Go out right crus of diaphragm framework 35 and support on the ground, in right crus of diaphragm framework 35, be provided with the right accumulator being connected with right movable motor, left and right
Accumulator provides electric energy for left and right movable motor.Motor and accumulator are conventional components, not shown described left and right knee electricity
Machine, left and right movable motor and left and right accumulator.
Before the top surface of described carrier 59 height after low be provided with the gradient, and the described gradient be less than or equal to 3 degree；Described food delivery base plate
11 bottom surface is fitted with the top surface of described carrier 59；The rear end of described carrier 59 raises up and is provided with gear eaves 41.
The horizontal cross-section of described primary tank 13 is rounded, and the vertical cross-section of described primary tank 13 center is in minor arc arch.
Through test, the vertical cross-section of primary tank 13 center is in minor arc arch, has more preferable degree of stability compared to during in major arc arch.
Low after height before the top surface of carrier 59 it is provided with the gradient such that it is able to prevent when walking forward food delivery base plate 11 forward
Landing is it is ensured that food delivery safety.When food delivery base plate 11 slides backward, can be blocked after running into gear eaves 41, further ensure
Food delivery base plate 11 will not leave carrier 59.Certainly, this structure is difficult to leave carrying when ensureing food delivery base plate 11 in food delivery
While frame 59, also ensure that food delivery base plate 11 can easily be lifted up, thus convenient without when, will be double
Stablize meal delivery device 10 to take off from the carrier 59 of robot again, be also convenient for replacing Dual Stabilization meal delivery device 10.
The top of described left thigh structure 23 is fixedly connected with the left part of described back 1.
It is provided with relative between left thigh structure 23 and left leg structure 25 for monitoring in described left leg structure 25
The left comer displacement transducer 42 of angle, the bottom of described left thigh structure 23 is hinged with downwards the first left hinge bar 43, and first is left
The bottom of hinge bar 43 is hinged with the second left hinge bar 44, and the bottom of the second left hinge bar 44 connects described left comer displacement transducer
42；
It is provided with for monitoring the relative angle between right thigh structure 24 and right leg structure 26 in described right leg structure 26
Right corner displacement transducer 47, the bottom of described right thigh structure 24 is hinged with downwards the first right hinge bar 45, and first is right hinged
The bottom of bar 45 is hinged with the second right hinge bar 46, and the bottom of the second right hinge bar 46 connects described right corner displacement transducer 47.
Angular displacement sensor is conventional equipment, and concrete structure no longer describes in detail.
The left part of described back 1 is connected with downwards left contiguous block 48, and the right part of back 1 is connected with downwards right contiguous block
49；It is provided with two sets of linkages for stablizing thigh structure and shank structure between thigh structure and shank structure；Two sets even
Linkage is left connecting rod mechanism and right connecting rod mechanism, and left connecting rod mechanism and right connecting rod mechanism are symmetrical arranged；
Left connecting rod mechanism includes upper left connecting rod 50 and left lower link 51, the rear end bottom of the top of upper left connecting rod 50 and left contiguous block 48
Portion is hinged, and the lower left connecting rod 51 of upper left connecting rod 50 is hinged；It is left that the top of left leg structure 25 is connected with protrusion backward
The left connecting seat 52 of shank structure 25, the bottom of left lower link 51 is hinged with left connecting seat 52.
So, upper left connecting rod 50, left lower link 51, left thigh structure 23 and left leg structure 25 just constitute one parallel
Four side row drag link mechanisms, so that the more stable reliability of the connection between thigh structure and shank structure.
Right connecting rod mechanism includes upper right connecting rod 53 and bottom right connecting rod 54, behind the top of upper right connecting rod 53 and right contiguous block 49
End bottom is hinged, and the bottom of upper right connecting rod 53 is hinged with bottom right connecting rod 54；The top of right leg structure 26 is connected with backward
Protrude the right connecting seat of right leg structure 26, the bottom of bottom right connecting rod 54 is hinged with right connecting seat.In Fig. 1 and Fig. 2, right connection
Seat is all blocked, not shown.
Annular slab 56, annular slab 56 and food delivery base plate 11 has circumferentially been connected up at the outer rim of described food delivery base plate 11
Collecting tank is surrounded between upper surface；The diameter of pallet baffle ring 21 is less than the diameter of food delivery base plate 11.
During use, by food or the tableware (ordinary articles such as disk, bowl and medicated napkin) that fills food is placed on tableware
On pallet, then alternately start left and right movable motor, and alternately start left and right knee motor, so that the robot in the present invention is pushed away
Dynamic dining car advances or pulls dining car to retreat.
The left and right shank structure 25,26 of left and right knee motor driven rotates relative to thigh structure, thus simulating people's lift
The action of lower limb walking.Left and right movable motor drives left and right driven pulley 32,38 rotation by belt transmission structure, thus carrying
Dynamic left and right road wheel 31,37 rotation, left and right road wheel 31,37 drives the biped walking of the present invention to push away dining car formula robot forward
Walking, tableware and food are delivered to the position specified.
When left and right knee motor rotates, between left and right thigh structure 23,24 and left and right shank structure 25,26, there is phase
To rotation, relative rotary motion is converted into diagonal displacement sensor by the first left (right) hinge bar and second left (right) hinge bar
Pressure, so that angular displacement sensor monitors the relative rotation angle between thigh structure and shank structure.The machine of the present invention
Device people is additionally provided with electric control gear, and electric control gear can be arranged on thorax abdomen it is also possible to be arranged on thigh structure or shank structure
On.The left and right accumulator of electric control gear and connect angular displacement sensor, and by control circuit connect left and right knee motor and a left side,
Right movable motor.Electric control gear receives the signal of angular displacement sensor, and accordingly controls the action of each motor.Electric control gear adopts
The common type such as plc or integrated circuit or single-chip microcomputer, not shown.
Specifically, when rotating against (knee bends) between left thigh structure 23 and left leg structure 25, the left lateral leakage of electricity
Machine drives left road wheel 31 to move forward a segment distance；Rotate against (knee joint between left thigh structure 23 and left leg structure 25
Lid bending) to set angle when, left knee motor and left movable motor stopping action, start right knee motor and the right lateral leakage of electricity
Machine.
When rotating against (knee bends) between right thigh structure 24 and right leg structure 26, right movable motor drives right
Road wheel 37 moves forward a segment distance；Rotate against (knee bends) extremely between right thigh structure 24 and right leg structure 26
During set angle, right knee motor and right movable motor stopping action, left thigh structure 23 and left leg structure 25 during this period
Recover upright state.
While left and right knee motor action, left and right movable motor interoperation, in thigh structure and shank structure
Between while rotate against (i.e. knee bends), left and right road wheel 31,37 also and then moves, thus simulate people taking a step
The action of walking.Certainly, the action of the present invention and the action of people's walking still have difference, when mainly taking a step to walk, left,
Right road wheel 31,37 is all without departing from ground.Nonetheless, the action of the present invention is compared with the past, and the walking closer to people is moved
Make, apery degree is higher.
During food delivery, if there is the feelings of ground inclination or walking unstable (having foreign body as on the ground of process)
Condition, then carrier 59 run-off the straight, food delivery base plate 11 drives the first ball 12 run-off the straight.Because lead 15 proportion is water
11.3437 times, and the proportion of food is then less than water more, the center of gravity of therefore Dual Stabilization meal delivery device 10 is very low.Due to lead
15 center of gravity is located at the surface of the first ball 12, and therefore lead 15 drives whole Dual Stabilization meal delivery device 10 along the first ball
12 rotations (slip), Dual Stabilization meal delivery device 10 and the plate 16 that is filled with water therein are generally kept at horizontal level.When the plate that is filled with water
During the 16 a certain degree of inclination of generation, the water surface of plate 16 top that is filled with water keeps horizontality, so that the meal floating on the surface that wafts
Tool pallet equally keeps horizontality, prevents food from dropping out or pours down or forth.Because the second ball 18 connects with the second of tableware tray
Access slot 22 is rotatably assorted, therefore, it is possible to ensure that tableware tray is in the center position of primary tank 13 all the time.
Above example is only in order to illustrative and not limiting technical scheme, although reference above-described embodiment is to this
Bright be described in detail, it will be understood by those within the art that: still the present invention can be modified or wait
With replacing, any modification or partial replacement without departing from the spirit and scope of the present invention, it all should cover the power in the present invention
In the middle of sharp claimed range.
Claims (4)
1. biped walking push away dining car formula robot it is characterised in that: body structure, back, lower body structure and dining car in inclusion；
Upper body structure is tower structure, intends the main frame of upper half of human body shape including epimorph, and main frame includes head, shoulder
Portion and thorax abdomen, are connected with left back armed lever on the left of shoulder, be connected with armed lever behind the right side on the right side of shoulder, and the bottom of left back armed lever is connected with
Left front armed lever, behind the right side, the bottom of armed lever is connected with right forearm bar；
Dining car includes frame-type vehicle body, and on vehicle body, from top to bottom uniform intervals are provided with three layers of carrier, and body bottom sets at corner
There is wheel；Body tail top is connected with handrail；On each bilayer carrier, all supports have Dual Stabilization meal delivery device；
Dual Stabilization meal delivery device includes the food delivery base plate being placed on described carrier, and the top surface of food delivery base plate is horizontal plane；
Food delivery plate upper surface center is fixedly embedded at the first ball, and food delivery base plate is provided with the arched primary tank of vertical cross-section；
Primary tank is provided with the inner chamber of open top, and intracavity bottom is fixedly connected with lead；The bottom of primary tank is provided with and the described first circle
The first link slot that ball is adapted, the latter half fixation of the first ball is embedded in food delivery base plate, the first half of the first ball
It is divided in the first link slot and be rotatably assorted with the cell wall of described first link slot；The center of gravity of lead is located at described first ball
Surface；
The interior intracavity of the primary tank above lead is provided with the plate that is filled with water, and the plate that is filled with water is connected with the inner wall sealing of primary tank；It is filled with water in plate
The heart connects up flexible expansion link, and the top of elastic telescopicing rod is fixedly connected with the second ball；The plate that is filled with water is surrounded with primary tank
Tank, fills water in tank, the water surface is floating with tableware tray, and tableware tray includes tray substrate in the form of annular discs, tray bottom
The outer rim of plate has connected up pallet baffle ring, and pallet baffle ring radially tilts upward and stretches out primary tank；
The lower surface center of tray substrate is provided with the second link slot being adapted with described second ball, the upper half of the second ball
Part is rotatably assorted in the second link slot and with the cell wall of the second link slot；
Before the top surface of described carrier height after low be provided with the gradient, and the described gradient be less than or equal to 3 degree；The bottom surface of described food delivery base plate
Fit with the top surface of described carrier；The rear end of described carrier raises up and is provided with gear eaves；The level of described primary tank is cut
Face is rounded, and the vertical cross-section of described primary tank center is in minor arc arch；
Left and right front armed lever forward extends out and the leading section of the two is respectively equipped with grab, and grab is connected on described handrail；Described waist
Plate level is arranged, and the bottom of the thorax abdomen in upper body structure connects described back；
Described lower body structure is symmetrical set, including thigh structure, shank structure and foot structure；
Thigh structure includes left thigh structure and right thigh structure, and shank structure includes left leg structure and right leg structure, foot
Portion's structure includes left foot structure and right foot part structure；Left thigh structure is symmetrical set with right thigh structure, and left leg is tied
Structure and right leg structure are symmetrical set, and left foot structure and right foot part structure are symmetrical set；Left thigh structure, the right side are big
Lower limb structure, left leg structure and right leg structure are tower structure；
The top of left thigh structure is connected with the left part of described back, the right-hand member of the top of right thigh structure and described back
Portion is connected；
The bottom of described left thigh structure is rotated with the top of left leg structure by left bearing pin and is connected, the bottom of right thigh structure
Rotated with the top of right leg structure by right bearing pin and be connected；Described left bearing pin be fixedly connected with left leg structure and left bearing pin with
Left thigh structure rotates and connects, and described right bearing pin is fixedly connected with right leg structure and right bearing pin is rotated even with right thigh structure
Connect；
Described left thigh structure is provided with left knee motor, left bearing pin described in left knee motor connection；In described right thigh structure
It is provided with right knee motor, right bearing pin described in right knee motor connection；
Described foot structure includes the left foot structure being symmetrical set and right foot part structure；Left foot structure includes left foot frame
Frame, is provided with left fixed plate in left foot framework, the left foot framework of left fixed plate front and back is separately installed with left road wheel, each left side
Left driven pulley is separately installed with the wheel shaft of road wheel；Left movable motor is provided with left fixed plate, left movable motor
Left drive pulley is provided with output shaft；Pass through Left Drive belt transmission even between left drive pulley and left driven pulley
Connect；The bottom of left road wheel extends downwardly from left foot framework and supports on the ground, is provided with and left movable motor phase in left foot framework
The left accumulator connecting；
Right foot part structure includes right crus of diaphragm framework, is provided with right fixed plate, the right crus of diaphragm frame of right fixed plate front and back in right crus of diaphragm framework
Frame is separately installed with right road wheel, and the wheel shaft of each right road wheel is separately installed with right driven pulley；Install in right fixed plate
There is right movable motor, the output shaft of right movable motor is provided with right drive pulley；Right drive pulley and right follower belt
It is in transmission connection by right driving belt between wheel；The bottom of right road wheel extends downwardly from right crus of diaphragm framework and supports on the ground, right
It is provided with the right accumulator being connected with right movable motor in foot frame.
2. biped according to claim 1 walking push away dining car formula robot it is characterised in that: the top of described left thigh structure
Portion is fixedly connected with the left part of described back；It is provided with for monitoring left thigh structure and left leg in described left leg structure
The left comer displacement transducer of the relative angle between structure, it is left hinged that the bottom of described left thigh structure is hinged with downwards first
Bar, the bottom of the first left hinge bar is hinged with the second left hinge bar, and the bottom of the second left hinge bar connects described left comer displacement and passes
Sensor；
Right corner for monitoring the relative angle between right thigh structure and right leg structure is installed in described right leg structure
Displacement transducer, the bottom of described right thigh structure is hinged with downwards the first right hinge bar, and the bottom of the first right hinge bar is hinged
There is the second right hinge bar, the bottom of the second right hinge bar connects described right corner displacement transducer.
3. biped according to claim 1 and 2 walking push away dining car formula robot it is characterised in that:
The left part of described back is connected with downwards left contiguous block, and the right part of back is connected with downwards right contiguous block；Thigh is tied
It is provided with two sets of linkages for stablizing thigh structure and shank structure between structure and shank structure；Two sets of linkages are a left side
Linkage and right connecting rod mechanism, left connecting rod mechanism and right connecting rod mechanism are symmetrical arranged；
Left connecting rod mechanism includes upper left connecting rod and left lower link, and the top of upper left connecting rod is hinged with the rearward end of left contiguous block,
The bottom of upper left connecting rod and left lower link are hinged；The top of left leg structure is connected with the left company protruding left leg structure backward
Joint chair, the bottom of left lower link is hinged with left connecting seat；
Right connecting rod mechanism includes upper right connecting rod and bottom right connecting rod, and the top of upper right connecting rod is hinged with the rearward end of right contiguous block,
The bottom of upper right connecting rod is hinged with bottom right connecting rod；The top of right leg structure is connected with the right company protruding right leg structure backward
Joint chair, the bottom of bottom right connecting rod is hinged with right connecting seat.
4. biped according to claim 3 walking push away dining car formula robot it is characterised in that: the outer rim of described food delivery base plate
Place has circumferentially connected up annular slab, surrounds collecting tank between the upper surface of annular slab and food delivery base plate；Pallet baffle ring straight
Footpath is less than the diameter of food delivery base plate.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610946275.3A CN106347518B (en) | 2016-10-26 | 2016-10-26 | Biped walking pushes away dining car formula robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610946275.3A CN106347518B (en) | 2016-10-26 | 2016-10-26 | Biped walking pushes away dining car formula robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106347518A true CN106347518A (en) | 2017-01-25 |
| CN106347518B CN106347518B (en) | 2018-07-06 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610946275.3A Expired - Fee Related CN106347518B (en) | 2016-10-26 | 2016-10-26 | Biped walking pushes away dining car formula robot |
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| CN (1) | CN106347518B (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107150330A (en) * | 2017-06-19 | 2017-09-12 | 上海慧牧农牧科技有限公司 | A kind of intelligent tedder device people |
| CN109090826A (en) * | 2018-09-14 | 2018-12-28 | 杭州前茂保健食品有限公司 | It is a kind of quickly to receive table method and receive Desk system |
| CN110014435A (en) * | 2019-04-25 | 2019-07-16 | 周信宏 | A kind of robot of artificial intelligence |
| CN113276125A (en) * | 2021-05-12 | 2021-08-20 | 徐州木牛流马机器人科技有限公司 | Humanoid robot leg motion structure |
Family Cites Families (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2730338Y (en) * | 2004-08-10 | 2005-10-05 | 浙江大学 | Wearable lower limb dermoskeleton for walking use |
| CN101066591A (en) * | 2006-05-02 | 2007-11-07 | 刘忠刚 | Copying robot |
| CN100436237C (en) * | 2006-07-10 | 2008-11-26 | 东北大学 | Human-imitating double-foot robot artificial leg |
| CN204748624U (en) * | 2015-06-23 | 2015-11-11 | 哈尔滨理工大学 | Nursing service robot |
| CN105799807A (en) * | 2016-04-15 | 2016-07-27 | 昆明理工大学 | Cross-footprint walking robot |
-
2016
- 2016-10-26 CN CN201610946275.3A patent/CN106347518B/en not_active Expired - Fee Related
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107150330A (en) * | 2017-06-19 | 2017-09-12 | 上海慧牧农牧科技有限公司 | A kind of intelligent tedder device people |
| CN109090826A (en) * | 2018-09-14 | 2018-12-28 | 杭州前茂保健食品有限公司 | It is a kind of quickly to receive table method and receive Desk system |
| CN110014435A (en) * | 2019-04-25 | 2019-07-16 | 周信宏 | A kind of robot of artificial intelligence |
| CN113276125A (en) * | 2021-05-12 | 2021-08-20 | 徐州木牛流马机器人科技有限公司 | Humanoid robot leg motion structure |
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| Publication number | Publication date |
|---|---|
| CN106347518B (en) | 2018-07-06 |
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