CN107283431A - Robot platform device - Google Patents
Robot platform device Download PDFInfo
- Publication number
- CN107283431A CN107283431A CN201610200459.5A CN201610200459A CN107283431A CN 107283431 A CN107283431 A CN 107283431A CN 201610200459 A CN201610200459 A CN 201610200459A CN 107283431 A CN107283431 A CN 107283431A
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- CN
- China
- Prior art keywords
- motor
- shell
- platform device
- robot platform
- 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.)
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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
- B25J11/008—Manipulators for service tasks
-
- 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
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Toys (AREA)
- Manipulator (AREA)
Abstract
The invention provides a kind of robot platform device, it includes skeleton, the skeleton includes upper part of the body operating platform and lower part of the body mobile platform, the upper part of the body operating platform is connected on the lower part of the body mobile platform, causes the robot platform device is realized to move by the lower part of the body mobile platform；The robot platform device also includes motor driver, and the motor driver is connected with the upper part of the body operating platform and the lower part of the body mobile platform, for controlling the robot platform device action.Robot platform device of the present invention it is simple in construction, easy to operate, while having the same scope of application on office and other mild-natured platform in level lands, scalability is very strong.
Description
Technical field
The present invention relates to robot field, more particularly to a kind of robot platform device, it is adaptable to family's company,
Public arena service class robot and other etc. need to entertain, the robot of mobile and other functions is put down
Platform.
Background technology
Robot (Robot) is the automatic installations for performing work, and it can both receive mankind commander, again
The program of advance layout can be run, can also be according to the principle guiding principle action formulated with artificial intelligence technology.
The life of modern humans, work of the increasing robot for assisting or replacing the mankind, such as production industry,
Construction industry, or all kinds of dangerous work.
In addition, as people are to family and the requirement more and more higher of public arena degree of intelligence, robot is gradually
Become an indispensable part in people's live and work.
Especially, people characteristic robot lovely to profile and mobile is more favored.Therefore, one is studied
Plant profile lovely, and mobile distinctive robot platform is used as family's company, public arena service and work
Making the robot of demand becomes increasingly to meet present growth requirement.Meanwhile, can as a mobile platform
Using the platform of the robot as other application, different use are expanded out, great meaning is had.
Therefore, those skilled in the art are urgently in developing a kind of new robot platform device, to meet
The growth requirement of present robot.
The content of the invention
The technical problem to be solved in the present invention be in order to overcome robot platform apparatus structure of the prior art answer
Miscellaneous the problem of, there is provided a kind of robot platform device.
The present invention is to solve above-mentioned technical problem by following technical proposals：A kind of robot platform device,
Its feature is that the robot platform device includes skeleton, and the epidermis wraps the appearance of the shell
Face, the skeleton includes upper part of the body operating platform and lower part of the body mobile platform, and the upper part of the body operating platform connects
It is connected on the lower part of the body mobile platform, by the lower part of the body mobile platform robot platform is filled
Put realization movement；
The robot platform device also includes motor driver, and the motor driver is grasped with the upper part of the body
Make platform and lower part of the body mobile platform connection, for controlling the robot platform device action.
It is preferred that the robot platform device also includes the shell and epidermis in animal shape, the shell
The outer surface of the skeleton is fixed on, the epidermis wraps the outer surface of the shell.
It is preferred that the upper part of the body operating platform includes operating platform fixed frame, operation support frame and at least
Two operation devices, the upper end of the operating platform fixed frame is provided with one first motor, the operation branch
Support is connected with the output shaft of first motor, the head for supporting the shell, the operation device
It is arranged on the operating platform fixed frame, and is located at the both sides of first motor respectively.
It is preferred that each operation device includes a motion motor, the fixing end of the motion motor is connected
On to the operating platform fixed frame, the movable end of the motion motor is sequentially connected in series multiple second motors.
It is preferred that the output shaft of the output shaft of second motor and the motion motor is in 90 ° in space
Angle.
It is preferred that the upper part of the body operating platform also includes two extension fixed supports, branch is fixed in the extension
Frame is separately positioned on the both sides of the operating platform fixed frame.
It is preferred that the lower part of the body mobile platform includes at least two leg mechanisms, each leg mechanism
Including the 3rd motor, the 4th motor and thigh support frame, the fixing end of the 3rd motor is fixed on the behaviour
Make the bottom of platform fixed frame, the output end of the 3rd motor passes through a connecting bracket and the described 4th electricity
The fixing end connection of machine, the output end of the 4th motor is fixed on the thigh support frame, the leg
Support is placed on ground, for supporting the whole robot platform device.
It is preferred that the output shaft of the 3rd motor is parallel to ground, the output shaft of the 4th motor is vertical
In ground, the output shaft of the 3rd motor and the output shaft of the 4th motor are in 90 ° of angles in space.
It is preferred that the output shaft of the 3rd motor and the output shaft of the 4th motor are in same plane.
It is preferred that the thigh support frame includes support column and support sole, one end of the support column and institute
The output shaft connection of the 4th motor is stated, the other end of the support column is adjustably connected to the support sole
On so that the support column can adjust relative position in the support feet palm.
It is preferred that the support feet palm offers some connecting holes, the support column passes through the connecting hole
It is connected with the support sole.
It is preferred that the shell include fore shell, rear shell, head shell and left and right operation housing, the fore shell,
The rear shell, the head shell and the left and right operation housing are combined into by some modules respectively.
It is preferred that the fore shell and the rear shell are provided with the positioning hole of bolt and nut, the fore shell and rear shell
It is connected by bolt and nut through the positioning hole with the extension fixed support.
It is preferred that being further opened with some U-type grooves on the extension fixed support, the extension fixed support leads to
Cross the U-type groove realize relative to above and below the operating platform fixed frame, the position adjustments of left and right.
It is preferred that the head shell is provided with fixing hole, the head shell is connected by the fixing hole
To the operation support frame, the motion of head shell as described in first motor control.
It is preferred that fixed mount of the left and right operation housing respectively with the output end of second motor connects
Connect, the motion of housing is operated by left and right described in corresponding second motor control.
It is preferred that offering some lightening holes got through on all parts of the skeleton and the shell.
It is preferred that the epidermis includes hair layer and lining, the hair layer is fixed on the surface of the lining,
The inside of the lining is with the cage connection in one.
The positive effect of the present invention is：
Robot platform device of the present invention by using upper part of the body operating platform and lower part of the body mobile platform structure
Realize locomotive function, and by motor driver be connected with upper part of the body operating platform and lower part of the body mobile platform come
The action of control machine people's stage apparatus.The overall structure of the robot platform device is simple, easy to operate,
There is the same scope of application on the mild-natured platform of office and other level lands simultaneously, scalability is very
By force.It may be used as the platform of the robot of other application as a mobile platform, expand out different
Use, has great meaning.
Brief description of the drawings
The above and other feature of the present invention, property and advantage will be by with reference to the accompanying drawings and examples
Description and become apparent, identical reference represents identical feature all the time in the accompanying drawings, wherein：
Fig. 1 is the stereogram of robot platform device middle skeleton of the present invention.
Fig. 2 is the front view of robot platform device middle skeleton of the present invention.
Fig. 3 is the front view of upper part of the body operating platform in robot platform device of the present invention.
Fig. 4 is the vertical of the operating platform fixed frame of upper part of the body operating platform in robot platform device of the present invention
Body figure.
Fig. 5 is the front view of lower part of the body mobile platform in robot platform device of the present invention.
Fig. 6 is the stereogram of the thigh support frame of lower part of the body mobile platform in robot platform device of the present invention.
Fig. 7 is the front view of shell in robot platform device of the present invention.
Fig. 8 is the right view of shell in robot platform device of the present invention.
The structural representation that Fig. 9 is connected for fore shell in robot platform device of the present invention with operating platform fixed frame
Figure one.
Figure 10 shows for fore shell in robot platform device of the present invention with the structure that operating platform fixed frame is connected
It is intended to two.
Figure 11 is attached to the schematic diagram of operation support frame for head shell in robot platform device of the present invention.
Figure 12 is the structural representation of robot platform device mesocuticle of the present invention.
Embodiment
For the above objects, features and advantages of the present invention can be become apparent, below in conjunction with accompanying drawing to this hair
Bright embodiment elaborates.
Many details are elaborated in the following description to facilitate a thorough understanding of the present invention, still of the invention
It can also be implemented using other different from other manner described here, therefore the present invention is not by described below
Specific embodiment limitation.
Fig. 1 is the stereogram of robot platform device middle skeleton of the present invention.Fig. 2 is robot platform of the present invention
The front view of device middle skeleton.Fig. 3 is the main view of upper part of the body operating platform in robot platform device of the present invention
Figure.Fig. 4 is the vertical of the operating platform fixed frame of upper part of the body operating platform in robot platform device of the present invention
Body figure.Fig. 5 is the front view of lower part of the body mobile platform in robot platform device of the present invention.Fig. 6 is this hair
The stereogram of the thigh support frame of lower part of the body mobile platform in bright robot platform device.
As shown in Figures 1 to 6, a kind of robot platform device is disclosed in one embodiment of the present of invention,
It includes skeleton, shell and epidermis in animal shape, and the shell is fixed on the outer surface of the skeleton,
The epidermis wraps the outer surface of the shell, and the skeleton includes upper part of the body operating platform 10 and lower half
Body mobile platform 20, upper part of the body operating platform 10 here is connected on lower part of the body mobile platform 20, is passed through
Lower part of the body mobile platform 20 causes the robot platform device to realize movement, mobile such as walking biped
Mode.Meanwhile, the robot platform device also includes motor driver (not shown), the motor
Driver is connected with upper part of the body operating platform 10 and lower part of the body mobile platform 20, for controlling the robot
Stage apparatus is acted.
Wherein, upper part of the body operating platform 10 includes operating platform fixed frame 11, operation support frame 12 and extremely
Few two operation devices.One first motor 13, operation are provided with the upper end of operating platform fixed frame 11
Support frame 12 is connected with the output shaft of the first motor 13, is mainly used in the head of support housing 30.It is described
Operation device is arranged on operating platform fixed frame 11, and is located at the both sides of the first motor 13 respectively.This
In each operation device include a motion motor 14, the fixing end of motion motor 14 is connected to behaviour
Make on platform fixed frame 11, the movable end of motion motor 14 is sequentially connected in series multiple second motors 15.It is excellent
Selection of land, the output shaft of the second motor 15 and the output shaft of motion motor 14 are in space in 90 ° of angles.This
In the quantity of the second motor 15 determined by the demand of operating platform, be not exposed to the limitation of the present embodiment.
Further, two extension fixed supports 16 are also included on upper part of the body operating platform 10, will be extended
Fixed support 16 is separately positioned on the both sides of operating platform fixed frame 11, for connected with outer casing 30.
Lower part of the body mobile platform 20 includes at least two leg mechanisms, and each leg mechanism includes the 3rd electricity
Machine 21, the 4th motor 22 and thigh support frame.Here it is flat that the fixing end of the 3rd motor 21 is fixed on operation
The bottom of platform fixed frame 11, the output end of the 3rd motor 21 passes through a connecting bracket and the 4th motor 22
Fixing end connection, the output end of the 4th motor 22 is fixed on the thigh support frame, by the leg
Support is placed on ground, for supporting the whole robot platform device.
Preferably, the output shaft of the 3rd motor 21 is parallel to ground herein, and the output shaft of the 4th motor 22 hangs down
Directly in ground so that the output shaft of the 3rd motor 21 and the output shaft of the 4th motor 22 are in 90 ° in space
Angle.Certainly, further preferably the output shaft of the 3rd motor 21 and the output shaft of the 4th motor 22 are in
In same plane.This structure can adjust the center of gravity of whole robot and the relative position of supporting surface, so that
More smoothly walked so that robot platform device is realized.
The thigh support frame includes support column 23 and support sole 24, by one end of support column 23 and the 4th
The output shaft connection of motor 22, and the other end of support column 23 is set to adjustably be connected to support sole
On 24 so that support column 23 can adjust relative position on support sole 24.Specifically, in support
Some connecting holes 241 are offered on sole 24, the other end of support column 23 is passed through into connecting hole 241 and branch
The spike palm 24 is connected, and the connecting hole 241 different by changing, which is attached, can easily and effectively realize branch
Position adjustments of the dagger 23 on support sole 24.
Fig. 7 is the front view of shell in robot platform device of the present invention.Fig. 8 is robot platform of the present invention
The right view of shell in device.Fig. 9 is fore shell and operating platform fixed frame in robot platform device of the present invention
The structural representation one of frame connection.Figure 10 consolidates for fore shell in robot platform device of the present invention with operating platform
Determine the structural representation two of framework connection.Figure 11 is head shell installation in robot platform device of the present invention
To the schematic diagram for operating support frame.
As shown in Fig. 7 to Figure 11, the contour structures of shell 30 use the outward appearance of class animal in the present embodiment,
Its shape and structure can certainly be made as needed, all within the scope of the present invention, not by this reality
Apply the limitation of example.In the present embodiment, shell 30 includes fore shell 31, rear shell 32, the and of head shell 33
Left and right operates housing 34, fore shell 31, rear shell 32, head shell 33 and left and right operation housing 34 here
It is combined into respectively by some modules, collectively constitutes the shape of various pieces, in order to processes.
The positioning hole of bolt and nut is set (such as to be opened up on fore shell 31 respectively on fore shell 31 and rear shell 32
Positioning hole 311), the positioning for fore shell 31 and rear shell 32.Fore shell 31 and rear shell 32 pass through spiral shell respectively
Bolt nut is connected through the corresponding positioning hole with extension fixed support 16, and is locked.Meanwhile,
Some U-type grooves 161 are further opened with extension fixed support 16, extension fixed support 16 can be by corresponding
U-type groove 161 realize relative to operating platform fixed frame about 11, the position adjustments of left and right,
The shell 30 of whole robot and the relative position of operating platform fixed frame 11 are adjusted in practical set
It is whole.
In addition, being provided with fixing hole 331 on head shell 33, head shell 33 is passed through into fixing hole 331
It is connected to operation support frame 12 to connect, the motion of whole head shell 33 is then controlled by the first motor 12.
Similarly, operation housing 34 in left and right is (on operating platform fixed frame 11 multiple with second motor 15 respectively
Arbitrarily selected in second motor 15) output end fixed mount connection, being so can be by corresponding the
The corresponding actions and function of two motors 15 control left and right operation housing 34.The housing 34 of left and right operation herein can
Depending on the shape and function according to specific robot platform device.
In addition, in the skeleton of whole robot platform device and all parts of shell 30 (for example, operation is flat
Platform fixed frame 11, fore shell 31, rear shell 32, head shell 33 and left and right operation housing 34 etc.) on open
Provided with some lightening holes 35 got through, it can effectively mitigate the entirety weight of robot platform device of the present invention
Amount.Here lightening hole 35 can use variously-shaped and size, can reach the purpose of the present invention,
Do not limited by the present embodiment.
Figure 12 is the structural representation of robot platform device mesocuticle of the present invention.As shown in figure 12, in order to
So that the bionical image of robot platform device is more true to nature, epidermis 40 is also enclosed with the outside of shell 30,
Epidermis 40 is tightly attached on the shell 30 of robot, epidermis 40 can use various fixation sides herein
Formula is connected with shell 30, and the mode such as adhesion or sewing can realize that the present embodiment is only for example,
It is not restricted, such epidermis 40 can play effect attractive in appearance.Further specifically, epidermis here
The 40 main surfaces for including hair layer 41 and lining 42, hair layer 41 being fixed on to lining 42, and lining
42 inside is connected with shell 30 in one.Hair layer 41 is exposed at the outside of robot platform device so that
The entirety of epidermis 40 shows elasticity, can be tightly wrap shell 30 so that overall fur is relative
Do not slided in shell 30.
Certainly, the profile of robot platform device and corresponding texture can according to user's request it is different without
Together, the lining 42 of epidermis 41 primarily serves elastic reaction, and hair layer 41 primarily serves submissive feel.
So, according to the description of said structure, whole robot platform device is to complete, and its image is remarkably true to life,
Amusement is had concurrently to be integrated with utility function.
In summary, robot platform apparatus structure of the present invention is simple, easy to operate, while in office
And having the same scope of application on the mild-natured platform in other level lands, scalability is very strong.It is used as one
Mobile platform, may be used as the platform of the robot of other application, expand out different use, have greatly
Meaning.
Although the foregoing describing the embodiment of the present invention, it will be appreciated by those of skill in the art that
These are merely illustrative of, and protection scope of the present invention is defined by the appended claims.This area
Technical staff can make many on the premise of the principle and essence without departing substantially from the present invention to these embodiments
Plant change or change, but these changes and modification each fall within protection scope of the present invention.
Claims (18)
1. a kind of robot platform device, it is characterised in that the robot platform device includes skeleton, institute
Stating skeleton includes upper part of the body operating platform and lower part of the body mobile platform, and the upper part of the body operating platform is connected to institute
State on lower part of the body mobile platform, by the lower part of the body mobile platform robot platform device is realized
It is mobile；
The robot platform device also includes motor driver, and the motor driver is grasped with the upper part of the body
Make platform and lower part of the body mobile platform connection, for controlling the robot platform device action.
2. robot platform device as claimed in claim 1, it is characterised in that the robot platform dress
Putting also includes the shell and epidermis in animal shape, and the shell is fixed on the outer surface of the skeleton, described
Epidermis wraps the outer surface of the shell.
3. robot platform device as claimed in claim 2, it is characterised in that the upper part of the body operation is flat
Platform includes operating platform fixed frame, operation support frame and at least two operation devices, and the operating platform is consolidated
The upper end for determining framework is provided with one first motor, the output shaft phase of the operation support frame and first motor
Even, the head for supporting the shell, the operation device is arranged on the operating platform fixed frame,
And it is located at the both sides of first motor respectively.
4. robot platform device as claimed in claim 3, it is characterised in that each operation device
Including a motion motor, the fixing end of the motion motor is connected on the operating platform fixed frame, institute
The movable end for stating motion motor is sequentially connected in series multiple second motors.
5. robot platform device as claimed in claim 4, it is characterised in that second motor it is defeated
The output shaft of shaft and the motion motor is in 90 ° of angles in space.
6. robot platform device as claimed in claim 4, it is characterised in that the upper part of the body operation is flat
Platform also includes two extension fixed supports, and the extension fixed support is separately positioned on the operating platform and fixed
The both sides of framework.
7. robot platform device as claimed in claim 3, it is characterised in that the lower part of the body movement is flat
Platform includes at least two leg mechanisms, and each leg mechanism includes the 3rd motor, the 4th motor and leg
Support frame, the fixing end of the 3rd motor is fixed on the bottom of the operating platform fixed frame, described
The output end of three motors is connected by a connecting bracket with the fixing end of the 4th motor, the 4th motor
Output end be fixed on the thigh support frame, the thigh support is placed on ground, whole for supporting
The robot platform device.
8. robot platform device as claimed in claim 7, it is characterised in that the 3rd motor it is defeated
Shaft is parallel to ground, and the output shaft of the 4th motor is perpendicular to ground, the output shaft of the 3rd motor
Output shaft with the 4th motor is in 90 ° of angles in space.
9. robot platform device as claimed in claim 8, it is characterised in that the 3rd motor it is defeated
The output shaft of shaft and the 4th motor is in same plane.
10. robot platform device as claimed in claim 7, it is characterised in that the thigh support frame
Including support column and support sole, one end of the support column is connected with the output shaft of the 4th motor, institute
The other end for stating support column is adjustably connected to the support feet palm so that the support column can be in institute
State support feet palm regulation relative position.
11. robot platform device as claimed in claim 10, it is characterised in that the support feet palm
Some connecting holes are offered, the support column is connected by the connecting hole with the support sole.
12. robot platform device as claimed in claim 6, it is characterised in that before the shell includes
Shell, rear shell, head shell and left and right operation housing, the fore shell, the rear shell, the head shell and
The left and right operation housing is combined into by some modules respectively.
13. robot platform device as claimed in claim 12, it is characterised in that the fore shell and described
Shell is provided with the positioning hole of bolt and nut afterwards, and the fore shell and rear shell pass through the positioning hole by bolt and nut
It is connected with the extension fixed support.
14. robot platform device as claimed in claim 13, it is characterised in that branch is fixed in the extension
Some U-type grooves are further opened with frame, the extension fixed support is realized relative to described by the U-type groove
Above and below operating platform fixed frame, left and right position adjustments.
15. robot platform device as claimed in claim 12, it is characterised in that on the head shell
Provided with fixing hole, the head shell is connected to the operation support frame by the fixing hole, by described
The motion of head shell described in one motor control.
16. robot platform device as claimed in claim 12, it is characterised in that the left and right operation shell
Fixed mount of the body respectively with the output end of second motor is connected, and passes through corresponding second motor
The motion of the control left and right operation housing.
17. robot platform device as claimed in claim 2, it is characterised in that the skeleton and described
Some lightening holes got through are offered on all parts of shell.
18. the robot platform device as described in claim 1-17 any one, it is characterised in that described
Epidermis includes hair layer and lining, and the hair layer is fixed on the surface of the lining, the inside of the lining
With the cage connection in one.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610200459.5A CN107283431A (en) | 2016-03-31 | 2016-03-31 | Robot platform device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610200459.5A CN107283431A (en) | 2016-03-31 | 2016-03-31 | Robot platform device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107283431A true CN107283431A (en) | 2017-10-24 |
Family
ID=60087352
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610200459.5A Withdrawn CN107283431A (en) | 2016-03-31 | 2016-03-31 | Robot platform device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107283431A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113787528A (en) * | 2021-09-18 | 2021-12-14 | 上海电机学院 | Bionic penguin robot |
-
2016
- 2016-03-31 CN CN201610200459.5A patent/CN107283431A/en not_active Withdrawn
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113787528A (en) * | 2021-09-18 | 2021-12-14 | 上海电机学院 | Bionic penguin robot |
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Application publication date: 20171024 |
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| WW01 | Invention patent application withdrawn after publication |