CN107650150A - A kind of 2D walking rock-steady structures of biped robot - Google Patents
A kind of 2D walking rock-steady structures of biped robot Download PDFInfo
- Publication number
- CN107650150A CN107650150A CN201710900077.8A CN201710900077A CN107650150A CN 107650150 A CN107650150 A CN 107650150A CN 201710900077 A CN201710900077 A CN 201710900077A CN 107650150 A CN107650150 A CN 107650150A
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- CN
- China
- Prior art keywords
- biped robot
- biped
- walking
- robot
- hypozygal
- 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
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
-
- 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
- B25J19/0008—Balancing devices
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The present invention discloses the 2D walking rock-steady structures of biped robot a kind of,Including biped robot's body,The surface of biped robot's body is provided with avoidance sensor,One end of avoidance sensor is provided with infrared induction transmitter,The other end of avoidance sensor is provided with infrared induction receiver,Biped robot's body includes head,And running part,Head is provided with rotary shaft by joining rod,Running part includes upper joint and hypozygal,Bending power transmission shaft is provided between upper joint and hypozygal,Hypozygal connects the sole of robot,The surface of sole is provided with pressure sensor,Pressure sensor connects Main Control Tank by signal conveyer,The inside of Main Control Tank includes central processing unit,One end of central processing unit is provided with the operation chip of control machine people's stabilized walking,The other end of central processing unit is provided with ultrasonic sensing device.Make robot improving stability during walking, and the linking of each part is more coordinated.
Description
Technical field
The present invention relates to Study of Intelligent Robot Control field, more particularly to the stable knot of 2D walkings of biped robot a kind of
Structure.
Background technology
Robot (Robot) is the automatic installations for performing work.It can both receive mankind commander, can run again
The program of advance layout, can also be according to the principle guiding principle action formulated with artificial intelligence technology.Its task is to assist or take
For the work of human work, such as production industry, construction industry, or dangerous work.Robot arms typically use space open chain
Linkage, kinematic pair (revolute pair or prismatic pair) therein are frequently referred to joint, and joint number is generally the freedom of robot
The number of degrees.According to joint configuration and the difference of coordinates of motion form, robot actuating mechanism can be divided into Cartesian coordinate type, cylinder
The types such as co-ordinate-type, polar coordinates type and joint coordinates formula.For the consideration to personalize, often by the relevant position of robot body point
It is also known as pedestal, waist, arm, wrist, hand (clamper or end effector) and running part (for mobile robot) etc..
Drive device is to drive the mechanism of executing agency's motion, the command signal sent according to control system, by means of dynamic
Power element is acted robot.What it was inputted is electric signal, and output is line, angular displacement, but in drive device work
Before work, the operation of biped machine is very unstable, is easily tumbled when some movement postures are done, and influences making in practice
With stability is poor, and there is deficiency, it is impossible to meet the needs of development.
The content of the invention
For existing existing deficiency, actual use is influenceed, the present invention proposes the 2D walkings of biped robot a kind of
Rock-steady structure, it is novel in design, make robot improving stability during walking, and the linking of each part is more assisted
Adjust, practical performance is excellent.
To achieve these goals, technical scheme is as follows：
The 2D walking rock-steady structures of biped robot a kind of, including biped robot's body, the table of biped robot's body
Face is provided with avoidance sensor, and one end of avoidance sensor is provided with infrared induction transmitter, the other end peace of avoidance sensor
Equipped with infrared induction receiver, biped robot's body includes head and running part, and head is provided with rotation by joining rod
Axle, running part include upper joint and hypozygal, and bending power transmission shaft, hypozygal connection machine are provided between upper joint and hypozygal
The sole of device people, the surface of sole are provided with pressure sensor, and pressure sensor connects Main Control Tank, master control by signal conveyer
The inside of case includes central processing unit, and one end of central processing unit is provided with the operation chip of control machine people's stabilized walking,
The other end of central processing unit is provided with ultrasonic sensing device.
Further, described biped robot's body is connected to electric rotating machine, telescope motor, electric rotating machine and flexible
Motor is all connected with power-supply controller of electric, and one end of power-supply controller of electric is provided with three phase controlling switch, and the other end of power-supply controller of electric is set
It is equipped with over-pressed Protection switch.
In the control system that is internally provided with of biped robot's body of the present invention, control system is using programmable
Digital information processor, the surface of control system are provided with the LED screen of display parameters.
Further, the surface on described head is provided with voice broadcasting system, and the side of voice broadcasting system is provided with report
Warning lamp, the opposite side of voice broadcasting system are provided with task processor.
Reinforcement is provided with the inside of upper joint of the present invention and hypozygal, the side of reinforcement, which is provided with, to be connect
Receive signal processor.
Further, the surface of described biped robot's body is provided with data transfer and connects hole, and data transfer connects hole and included
There is USB to connect hole, charging inlet.
The beneficial effects of the invention are as follows：Simple in construction, the voltage needed on each part of robot is in safe voltage scope
Within, the safety of manipulator and other staff are improved, avoids manipulator or other staff from causing security incident because of accident, makes
Robot improving stability during walking, and the linking of each part is more coordinated, it is novel in design, it is a kind of fine
Innovation scheme.
Brief description of the drawings
Describe the present invention in detail with reference to the accompanying drawings and detailed description：
Fig. 1 is the structural representation of the present invention；
Embodiment
In order that the technical means, the inventive features, the objects and the advantages of the present invention are easy to understand, tie below
Conjunction is specifically illustrating, and the present invention is expanded on further.
Referring to Fig. 1, the 2D walking rock-steady structures of biped robot a kind of, including biped robot's body 100, biped machine
The surface of human body 100 is provided with avoidance sensor 120, and one end of avoidance sensor 120 is provided with infrared induction transmitter
130, the other end of avoidance sensor 120 is provided with infrared induction receiver 140, and biped robot's body 100 includes head
110 and running part, head rotary shaft 150 is provided with by joining rod, running part includes upper joint 190 and hypozygal 210,
Bending power transmission shaft 200 is provided between upper joint 190 and hypozygal 210, hypozygal 210 connects the sole 220 of robot, sole
220 surface is provided with pressure sensor 230, and pressure sensor 230 connects Main Control Tank by signal conveyer, Main Control Tank it is interior
Portion includes central processing unit 160, and one end of central processing unit 160 is provided with the operation chip of control machine people's stabilized walking
170, the other end of central processing unit 160 is provided with ultrasonic sensing device 180.
In addition, biped robot's body 100 is connected to electric rotating machine, telescope motor, electric rotating machine and telescope motor
Power-supply controller of electric is all connected with, one end of power-supply controller of electric is provided with three phase controlling switch, and the other end of power-supply controller of electric is provided with
Over-pressed Protection switch.Biped robot's body 100 is internally provided with control system, and control system is believed using programmable numeral
Processor is ceased, the surface of control system is provided with the LED screen of display parameters.The surface on head is provided with voice broadcasting system,
The side of voice broadcasting system is provided with alarm lamp, and the opposite side of voice broadcasting system is provided with task processor.Upper joint and
The inside of hypozygal is provided with reinforcement, and the side of reinforcement is provided with reception signal processor.Biped robot's body 100
Surface be provided with data transfer and connect hole, data transfer, which connects hole and includes USB, connects hole, charging inlet.
The beneficial effects of the invention are as follows：Simple in construction, the voltage needed on each part of robot is in safe voltage scope
Within, the safety of manipulator and other staff are improved, avoids manipulator or other staff from causing security incident because of accident, makes
Robot improving stability during walking, and the linking of each part is more coordinated, it is novel in design, it is a kind of fine
Innovation scheme.
It should be understood by those skilled in the art that the present invention is not limited to the above embodiments, above-described embodiment and explanation
Merely illustrating the principles of the invention described in book, it is of the invention without departing from the spirit and scope of the present invention also to have respectively
Kind changes and improvements, these changes and improvements all fall within the protetion scope of the claimed invention.The claimed scope of the invention by
Appended claims and its equivalent define.
Claims (6)
1. the 2D walking rock-steady structures of biped robot a kind of, including biped robot's body, it is characterised in that：Biped robot
The surface of body is provided with avoidance sensor, and one end of avoidance sensor is provided with infrared induction transmitter, avoidance sensor
The other end is provided with infrared induction receiver, and biped robot's body includes head and running part, and head is pacified by joining rod
Equipped with rotary shaft, running part includes upper joint and hypozygal, and bending power transmission shaft, ShiShimonoseki are provided between upper joint and hypozygal
The sole of section connection robot, the surface of sole are provided with pressure sensor, and pressure sensor is connected by signal conveyer and led
Case is controlled, the inside of Main Control Tank includes central processing unit, and one end of central processing unit is provided with control machine people's stabilized walking
Chip is operated, the other end of central processing unit is provided with ultrasonic sensing device.
A kind of 2. 2D walking rock-steady structures of biped robot according to claim 1, it is characterised in that：Described biped machine
Device human body is connected to electric rotating machine, telescope motor, and electric rotating machine and telescope motor are all connected with power-supply controller of electric, power supply control
One end of device processed is provided with three phase controlling switch, and the other end of power-supply controller of electric is provided with over-pressed Protection switch.
A kind of 3. 2D walking rock-steady structures of biped robot according to claim 1, it is characterised in that：Described biped machine
Device human body's is internally provided with control system, and control system uses programmable digital information processor, the table of control system
Face is provided with the LED screen of display parameters.
A kind of 4. 2D walking rock-steady structures of biped robot according to claim 1, it is characterised in that：Described head
Surface is provided with voice broadcasting system, and the side of voice broadcasting system is provided with alarm lamp, and the opposite side of voice broadcasting system is set
It is equipped with task processor.
A kind of 5. 2D walking rock-steady structures of biped robot according to claim 1, it is characterised in that：Described upper joint
Reinforcement is provided with the inside of hypozygal, the side of reinforcement is provided with reception signal processor.
A kind of 6. 2D walking rock-steady structures of biped robot according to claim 1, it is characterised in that：Described biped machine
The surface of device human body is provided with data transfer and connects hole, and data transfer, which connects hole and includes USB, connects hole, charging inlet.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710900077.8A CN107650150A (en) | 2017-09-28 | 2017-09-28 | A kind of 2D walking rock-steady structures of biped robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710900077.8A CN107650150A (en) | 2017-09-28 | 2017-09-28 | A kind of 2D walking rock-steady structures of biped robot |
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| CN107650150A true CN107650150A (en) | 2018-02-02 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201710900077.8A Pending CN107650150A (en) | 2017-09-28 | 2017-09-28 | A kind of 2D walking rock-steady structures of biped robot |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108674522A (en) * | 2018-07-13 | 2018-10-19 | 杭州溪居科技有限公司 | A kind of paper folding robot with acoustic control and barrier avoiding function |
| CN112060132A (en) * | 2020-09-23 | 2020-12-11 | 马鞍山迈若斯机器人科技有限公司 | Motion balancing device of biped walking robot |
| CN112179565A (en) * | 2020-08-28 | 2021-01-05 | 南京昱晟机器人科技有限公司 | Walking balance detection system and method for biped robot |
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| CN104731092A (en) * | 2014-12-22 | 2015-06-24 | 南京阿凡达机器人科技有限公司 | Multi-directional barrier avoiding system of mobile robot |
| CN104888464A (en) * | 2015-06-18 | 2015-09-09 | 周鑫 | Intelligent robot |
| CN105446345A (en) * | 2015-07-02 | 2016-03-30 | 浙江大学 | Control system of humanoid biped robot |
| CN106926257A (en) * | 2017-05-21 | 2017-07-07 | 黄国彬 | A kind of intelligent two leg walking robot |
| CN107127760A (en) * | 2017-07-12 | 2017-09-05 | 清华大学 | A kind of track combined anthropomorphic robot of foot |
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2017
- 2017-09-28 CN CN201710900077.8A patent/CN107650150A/en active Pending
Patent Citations (6)
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| KR20070091420A (en) * | 2006-03-06 | 2007-09-11 | 주식회사 대우일렉트로닉스 | Robot having active ultrasonic sensor |
| CN104731092A (en) * | 2014-12-22 | 2015-06-24 | 南京阿凡达机器人科技有限公司 | Multi-directional barrier avoiding system of mobile robot |
| CN104888464A (en) * | 2015-06-18 | 2015-09-09 | 周鑫 | Intelligent robot |
| CN105446345A (en) * | 2015-07-02 | 2016-03-30 | 浙江大学 | Control system of humanoid biped robot |
| CN106926257A (en) * | 2017-05-21 | 2017-07-07 | 黄国彬 | A kind of intelligent two leg walking robot |
| CN107127760A (en) * | 2017-07-12 | 2017-09-05 | 清华大学 | A kind of track combined anthropomorphic robot of foot |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108674522A (en) * | 2018-07-13 | 2018-10-19 | 杭州溪居科技有限公司 | A kind of paper folding robot with acoustic control and barrier avoiding function |
| CN112179565A (en) * | 2020-08-28 | 2021-01-05 | 南京昱晟机器人科技有限公司 | Walking balance detection system and method for biped robot |
| CN112060132A (en) * | 2020-09-23 | 2020-12-11 | 马鞍山迈若斯机器人科技有限公司 | Motion balancing device of biped walking robot |
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| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20180202 |
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| RJ01 | Rejection of invention patent application after publication |