CN107813294A - A kind of nonmetal flexible anthropomorphic robot - Google Patents
A kind of nonmetal flexible anthropomorphic robot Download PDFInfo
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- CN107813294A CN107813294A CN201711047383.8A CN201711047383A CN107813294A CN 107813294 A CN107813294 A CN 107813294A CN 201711047383 A CN201711047383 A CN 201711047383A CN 107813294 A CN107813294 A CN 107813294A
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- 229910052755 nonmetal Inorganic materials 0.000 title claims abstract description 51
- 230000033001 locomotion Effects 0.000 claims abstract description 37
- 210000000988 bone and bone Anatomy 0.000 claims description 88
- 235000001968 nicotinic acid Nutrition 0.000 claims description 78
- 239000011664 nicotinic acid Substances 0.000 claims description 62
- 210000003625 skull Anatomy 0.000 claims description 25
- 238000004891 communication Methods 0.000 claims description 24
- 210000003205 muscle Anatomy 0.000 claims description 24
- 210000003141 lower extremity Anatomy 0.000 claims description 17
- 210000002435 tendon Anatomy 0.000 claims description 12
- 210000003928 nasal cavity Anatomy 0.000 claims description 11
- 210000005252 bulbus oculi Anatomy 0.000 claims description 10
- 238000012423 maintenance Methods 0.000 claims description 10
- 210000001364 upper extremity Anatomy 0.000 claims description 10
- 210000000744 eyelid Anatomy 0.000 claims description 9
- 210000003041 ligament Anatomy 0.000 claims description 9
- 239000000463 material Substances 0.000 claims description 9
- 238000003491 array Methods 0.000 claims description 8
- 210000001508 eye Anatomy 0.000 claims description 8
- 210000000281 joint capsule Anatomy 0.000 claims description 8
- 239000000428 dust Substances 0.000 claims description 7
- 210000001331 nose Anatomy 0.000 claims description 7
- 239000002131 composite material Substances 0.000 claims description 6
- 210000004709 eyebrow Anatomy 0.000 claims description 6
- 239000000203 mixture Substances 0.000 claims description 5
- 230000001133 acceleration Effects 0.000 claims description 4
- 230000001815 facial effect Effects 0.000 claims description 4
- 210000004209 hair Anatomy 0.000 claims description 4
- 229910001200 Ferrotitanium Inorganic materials 0.000 claims description 3
- VYPSYNLAJGMNEJ-UHFFFAOYSA-N Silicium dioxide Chemical compound O=[Si]=O VYPSYNLAJGMNEJ-UHFFFAOYSA-N 0.000 claims description 3
- 210000000845 cartilage Anatomy 0.000 claims description 3
- 238000005253 cladding Methods 0.000 claims description 3
- 210000004728 ear cartilage Anatomy 0.000 claims description 3
- 210000000720 eyelash Anatomy 0.000 claims description 3
- 239000012530 fluid Substances 0.000 claims description 3
- 238000003780 insertion Methods 0.000 claims description 3
- 230000037431 insertion Effects 0.000 claims description 3
- 230000001050 lubricating effect Effects 0.000 claims description 3
- 239000011553 magnetic fluid Substances 0.000 claims description 3
- 210000002184 nasal cartilage Anatomy 0.000 claims description 3
- 239000000741 silica gel Substances 0.000 claims description 3
- 229910002027 silica gel Inorganic materials 0.000 claims description 3
- 210000003484 anatomy Anatomy 0.000 abstract description 2
- 150000001875 compounds Chemical class 0.000 abstract 1
- 238000004519 manufacturing process Methods 0.000 description 4
- 230000009471 action Effects 0.000 description 3
- 230000000875 corresponding effect Effects 0.000 description 3
- 210000003414 extremity Anatomy 0.000 description 3
- 230000006399 behavior Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 238000011835 investigation Methods 0.000 description 2
- 210000003800 pharynx Anatomy 0.000 description 2
- 238000011160 research Methods 0.000 description 2
- 238000006467 substitution reaction Methods 0.000 description 2
- 241000196324 Embryophyta Species 0.000 description 1
- 241000209140 Triticum Species 0.000 description 1
- 235000021307 Triticum Nutrition 0.000 description 1
- 238000004458 analytical method Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 210000004556 brain Anatomy 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 230000001276 controlling effect Effects 0.000 description 1
- 230000007123 defense Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000009826 distribution Methods 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 230000005672 electromagnetic field Effects 0.000 description 1
- 230000006870 function Effects 0.000 description 1
- 210000003128 head Anatomy 0.000 description 1
- 230000036541 health Effects 0.000 description 1
- 238000007689 inspection Methods 0.000 description 1
- 210000000867 larynx Anatomy 0.000 description 1
- 235000020094 liqueur Nutrition 0.000 description 1
- 239000000696 magnetic material Substances 0.000 description 1
- 230000007246 mechanism Effects 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 230000008447 perception Effects 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 238000005070 sampling Methods 0.000 description 1
- 235000020354 squash Nutrition 0.000 description 1
- 208000003265 stomatitis Diseases 0.000 description 1
- 238000012546 transfer Methods 0.000 description 1
- 239000002023 wood Substances 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0006—Exoskeletons, i.e. resembling a human figure
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
- B25J9/161—Hardware, e.g. neural networks, fuzzy logic, interfaces, processor
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Automation & Control Theory (AREA)
- Physics & Mathematics (AREA)
- Artificial Intelligence (AREA)
- Evolutionary Computation (AREA)
- Fuzzy Systems (AREA)
- Mathematical Physics (AREA)
- Software Systems (AREA)
- Manipulator (AREA)
- Toys (AREA)
Abstract
The present invention relates to robot field, and in particular to a kind of nonmetal flexible anthropomorphic robot.Its feature is predominantly according to human anatomy principle, the robot for copying human biological's form and structure and designing, nonmetal flexible anthropomorphic robot has animated appearance, motion morphology true to nature, surmount the tactile of ordinary person, be highly suitable for human lives, work environment in mankind's work compound, or instead of human work.
Description
Technical field
The present invention relates to robot field, and in particular to a kind of nonmetal flexible anthropomorphic robot.
Background technology
The purpose of mankind manufacture machine people is to aid in or assistant service is in the mankind's.In robot field, class
Human-like robot can give people a kind of cordial feeling, and the development of some classes humanoid robot can help the artifucial limb of individuals with disabilities more
Add practical perfect.Class humanoid robot has higher versatility and applicability compared with industrial robot, such as：One automobile life
The industrial robot of producing line can only produce automobile, but humanoid robot can also be transferred on other production lines and carry out other products
Production operation, therefore humanoid robot has higher cost performance.In order to greatly develop and improve humanoid robot, in machine
Go out the branch of an anthropomorphic robot derived from people field.
Anthropomorphic robot is designed by referring to mankind's essential characteristic and manufactured, its study collection machinery, electronics,
The multi-door science such as material and control system is in one.But also there is biological motion mechanism is ground for the research of current anthropomorphic robot
Study carefully not depth, structure design, materials application all have larger difference with biology character, cause current anthropomorphic robot can not also make
With tools of human, it is impossible to instead of human manipulation's plant equipment.Traditional mechanical structure causes stiff in the movements not enough naturally, integrated pass
Very little, or performance is inadequate for sensor, it is impossible to perceives external object state well, therefore current anthropomorphic robot also reaches far away
To the degree really emulated, the preferable practical stage cannot be introduced into.
The content of the invention
To solve deficiency of the current bio-robot in terms of simulating behaviors of human bodies form and physical trait, root of the present invention
According to anatomy principle, a kind of nonmetal flexible anthropomorphic robot is created according to human biological's structure and motion feature etc..It can be complete
Beautiful replaces the mankind to play preferably effect in fields such as civilian, military, industrial and scientific investigation explorations.
To achieve the above object, the present invention provides following technical scheme：Nonmetal flexible anthropomorphic robot is according to human body solution
Principle is cutd open, copies the biomorph of the mankind and the bionical bone of structure fabrication, bionical bone includes copying each human body bone making
Bionics Bone (4) and each Bionics Bone (4) of connection bionical ligament, the association position of adjacent Bionics Bone (4) is provided with bionic joint
Capsule (5), the interior filling lubricating fluid of bionic joint capsule (5).Also include the bionic muscle (7) that parcel is connected between each Bionics Bone (4),
Bionic muscle (7) both ends are provided with the bionical tendon (8) being connected with Bionics Bone (4).
Preferably, including bionics skin (10), bionics skin (10) is coated on the outer of Bionics Bone (4) and bionic muscle (7)
Side.Bionical bone includes bionical skull (35), wraps up and is provided with face on the bionics skin (10) of bionical skull (35), face is set
There are the bionical face being made up of bionical eyebrow, bionic eye, bionic ear, bionic nose, bionical mouth.Bionic nose is included by bionical nasal cartilages
(22) bionic nasal cavity (23) formed, bionic nasal cavity (23) are provided with the bionical nostril (24) with ft connection.Bionic ear is setting
Fan-shaped bionical Ear cartilage (31) in bionical skull (35) both sides is formed, and fan-shaped cartilage is provided with bionical earhole close to center
(32).It is bionical intraoral to be provided with bionical tongue, bionical tooth and the bionical throat with loudspeaker.Bionic eye is a pair of bionical skulls of insertion
(35) the bionical eyeball on surface is formed, and facial bionics skin (10) corresponding to bionical eyeball is provided with and is made up of upper eyelid and lower eyelid
Opening, edge of opening is provided with the eyelashes of outwards vertical bionics skin (10).Bionical eyebrow is the hair that upper eyelid top is set.
Preferably, bionical bone also includes bionical bone of body.Gateway, central computer, letter are additionally provided with inside bionical bone of body
Cease collecting unit, motion control unit, PMU, communication unit.Central computer, information acquisition unit, motion control
Unit, PMU, communication unit are electrically connected with by bus and gateway respectively.Bionical bone of body back is provided with interface
(51), interface (51) respectively with central computer, PMU, motion control unit, information acquisition unit, gateway, communication
Unit is electrically connected with.
Preferably, Bionics Bone (4) includes being used for the lower limb Bionics Bone of nonmetal flexible anthropomorphic robot of walking and support
(4A) and the upper limbs Bionics Bone (4B) for performing task.Bionic muscle (7) includes being used to associate control lower limb Bionics Bone
(4A) does the bionical big flesh (7A) of walking movement and the bionical small flesh (7B) that task is performed for associating control upper limbs.It is bionical
Be provided with the first straight line motor (9) coaxial with bionical small flesh (7B) in small flesh (7B), the base of first straight line motor (9) and stretch
Bionical tendon (8) of the bar respectively with bionical small flesh (7B) both ends is connected.Lower limb Bionics Bone (4A) is provided with second straight line motor
(39).One end is provided with inside bionical big flesh (7A) and connects bionical tendon (8), the other end is logical with bionical big flesh (7A) ft connection
Road (40).Slide fastener (41) is provided with passage (40), the bionical tendon (8) of one end of slide fastener (41) and bionical big flesh (7A) one end connects
Connect, slide fastener (41) other end passes bionical big flesh (7A), and second with being arranged on lower limb Bionics Bone (4A) through passage (40)
The expansion link connection of linear electric motors (39).First straight line motor (9) and second straight line motor (39) respectively with motion control unit
It is electrically connected with.
Preferably, camera, structured light projection device and infrared camera are provided with inside bionical eyeball.In bionical earhole (32)
Portion is provided with microphone (33), baroceptor (34) and d GPS locating module.Dust sensor is additionally provided with bionic nasal cavity (23)
(25), gas composition sensor (26), humidity sensor (27) and air circulation pump (28).Temperature is provided with inside bionics skin (10)
Spend sensor (12), pressure sensor (13).It is provided with information acquisition unit inside bionical skull (35), pressure sensor (13),
Temperature sensor (12), dust sensor (25), gas composition sensor (26), humidity sensor (27), air circulation pump
(28), microphone (33), baroceptor (34), d GPS locating module, camera, structured light projection device, infrared camera, wheat
Gram wind is electrically connected with information acquisition unit.Bionical skull (35) surface is uniformly distributed some electromagnet arrays, and parcel is bionical
Magnetic fluid layer is provided between the bionics skin (10) of skull (35) and the electromagnet arrays on skull (35) surface.Electromagnet battle array
Row are electrically connected with motion control unit.The end of lower limb Bionics Bone (4A) and upper limbs Bionics Bone (4B), provided with respectively with motion
Acceleration transducer, ultrasonic sensor, the infrared ray avoidance sensor of control unit electric connection.
Preferably, be provided with the first power supply, second source in bionical bone of body trunk, and respectively with the first power supply and second
The PMU that power supply is electrically connected with, is provided between the bionics skin (10) and bionic muscle (7) at bionical bone of body back
First coil (48), first coil (48) are electrically connected with PMU.PMU is additionally provided with charging inlet.
Preferably, in addition to wireless communication module and debugging interface.Wireless communication module and debugging interface with communication
Unit is electrically connected with.
Preferably, in addition to maintenance platform (52), maintenance platform (52) are mainly made up of flat board, and second is provided with the upside of flat board
Coil (53), the second coil (53) are electrically connected with charging circuit.Resilient support layer (54) is provided with the upside of second coil (53).Dimension
Shield platform (52) also includes data connector (55), and data connector (55) is electrically connected with control main frame (56).
Preferably, Bionics Bone (4) is made up of PVC material, and its density, hardness are consistent with the bionical bone of the mankind.Bionics Bone (4)
Outer surface is also wrapped on the enhancement layer of titanium steel.The composite wood of the similar human synovial elasticity of Bionics Bone (4) joint outer surface cladding
The bed of material.Bionic muscle (7) is made up of silica gel material, and its density, elasticity are consistent with mankind's bionic muscle.Bionical ligament and bionical pass
Condyle is made up of composite, and its toughness, intensity are consistent with the bionical ligament of the mankind.
Beneficial effects of the present invention：Nonmetal flexible anthropomorphic robot has animated appearance, and can change itself
Appearance, ripe person to person's exchange can be imitated, improves likability and friendliness, and the affective identification can be met.In bionic muscle and body
Motor can quietly drive nonmetal flexible anthropomorphic robot to do the various actions that the mankind can do, pass through flexibly powerful motion
Performance, show motion morphology true to nature.Nonmetal flexible anthropomorphic robot is equipped with polytype sensor, therefore with super
The more tactile and perception of ordinary person.Simultaneously by internal network transport module, directly Wireless Communication Equipment at one's side can be visited
Ask control.Nonmetal flexible anthropomorphic robot, the upper and lower rare data-interface in the whole body, to greatest extent close to true man.To ensure just
Often operating, is internally provided with two Battery packs, and uninterruptedly switched by PMU.It is furnished with bus data in its inside
Transmission network, it is more advanced than traditional robot in anti-interference and serious forgiveness.Nonmetal flexible anthropomorphic robot is also equipped with tieing up
Platform is protected, self charging can be carried out by wireless charging technology.Firmware renewal is carried out by wireless data module.Nonmetal flexible
Anthropomorphic robot can also report self-position to long-range Surveillance center.
Based on above many merits, nonmetal flexible anthropomorphic robot provided by the invention can be friendly and Human communication's ditch
It is logical, basic housework work can be completed in domestic environments, looks after and accompanies old man and children；In the medical field, by its limb
The motion study of body, to help disabled person to recapture health；In industrial circle, tools of human can be used directly, and high intensity
Carry out a variety of actions；In military domain, the military missions such as frontier defense inspection can be achieved；Even can it is explosion-proof in anti-terrorism, speedily carry out rescue work
Human work is replaced in a variety of evils such as the disaster relief, scientific research investigation, space probation slightly annular.Therefore, the nonmetal flexible in the present invention
Anthropomorphic robot shows good application prospect in every field.
Brief description of the drawings
Fig. 1 is control principle drawing of the present invention；
Fig. 2 is the bionical ear's structural representation of the present invention；
Fig. 3 is bionic nasal cavity structural representation of the present invention；
Fig. 4 is bionics skin structural representation of the present invention；
Fig. 5 is bionic muscle structural representation of the present invention；
Fig. 6 is that slide fastener of the present invention strengthens bionic muscle schematic diagram；
Fig. 7 is maintenance platform schematic diagram of the present invention；
Embodiment
It is described in detail below in conjunction with the accompanying drawing in the embodiment of the present invention.
Fig. 1, Fig. 2, Fig. 3, Fig. 4, Fig. 5, Fig. 6, Fig. 7 are referred to, nonmetal flexible anthropomorphic robot includes copying human body bone
The bionical bone that bone makes, bionical bone include copying the Bionics Bone 4 of each human body bone making and connect the bionical of each Bionics Bone 4
Ligament, the association position of adjacent Bionics Bone 4 are provided with bionic joint capsule 5, lubricating fluid are filled in bionic joint capsule 5.Also include parcel
The bionic muscle 7 being connected between each Bionics Bone 4, the both ends of bionic muscle 7 are provided with the bionical tendon 8 being connected with Bionics Bone 4.Including
Bionics skin 10, bionics skin 10 are coated on the outside of Bionics Bone 4 and bionic muscle 7.Bionical bone includes bionical skull 35, bag
Wrap up in and face is provided with the bionics skin 10 of bionical skull 35, face is provided with by bionical eyebrow, bionic eye, bionic ear, bionic nose, imitative
The bionical face that raw mouth is formed.Bionic nose includes the bionic nasal cavity 23 that is made up of bionical nasal cartilages 22, bionic nasal cavity 23 be provided with
The bionical nostril 24 of ft connection.Bionic ear is that the fan-shaped bionical Ear cartilage 31 for being arranged on the bionical both sides of skull 35 is formed, fan-shaped
Cartilage is provided with bionical earhole 32 close to center.It is bionical intraoral to be provided with bionical tongue, bionical tooth and the bionical pharynx with loudspeaker
Larynx.Bionic eye is that the bionical eyeball on a pair of bionical surfaces of skull 35 of insertion is formed, facial bionics skin 10 corresponding to bionical eyeball
Provided with the opening being made up of upper eyelid and lower eyelid, edge of opening is provided with the eyelashes of outwards vertical bionics skin 10.Bionical eyebrow is
The hair that upper eyelid top is set.Bionical bone also includes bionical bone of body.Gateway, center electricity are additionally provided with inside bionical bone of body
Brain, information acquisition unit, motion control unit, PMU, communication unit.Central computer, information acquisition unit, motion
Control unit, PMU, communication unit are electrically connected with by bus and gateway respectively.Bionical bone of body back is provided with and connect
Mouth 51, interface 51 are single with central computer, PMU, motion control unit, information acquisition unit, gateway, communication respectively
Member is electrically connected with.Bionics Bone 4 includes being used to walk and support the lower limb Bionics Bone 4A of nonmetal flexible anthropomorphic robot and be used for
Perform the upper limbs Bionics Bone 4B of task.Bionic muscle 7 includes being used to associate controlling lower limb Bionics Bone 4A to do walking movement
The bionical big flesh 7A and bionical small flesh 7B that task is performed for associating control upper limbs.Be provided with bionical small flesh 7B with it is bionical small
First straight line motor 9 coaxial flesh 7B, the base and expansion link of first straight line motor 9 are bionical with bionical small flesh 7B both ends respectively
Tendon 8 connects.Lower limb Bionics Bone 4A is provided with second straight line motor 39.One end, which is provided with, inside bionical big flesh 7A connects bionical tendon
8, the passage 40 of the other end and bionical big flesh 7A ft connections.Be provided with slide fastener 41 in passage 40, one end of slide fastener 41 with it is bionical greatly
The bionical tendon 8 of flesh 7A one end connects, and the other end of slide fastener 41 passes bionical big flesh 7A through passage 40, and bionical with being arranged on lower limb
The expansion link connection of second straight line motor 39 on bone 4A.First straight line motor 9 and second straight line motor 39 are controlled with motion respectively
Unit processed is electrically connected with.Camera, structured light projection device and infrared camera are provided with inside bionical eyeball.Inside bionical earhole 32
Provided with microphone 33, d GPS locating module and baroceptor 34.Be additionally provided with bionic nasal cavity 23 dust sensor 25, gas into
Sub-sensor 26, humidity sensor 27 and air circulation pump 28.The inside of bionics skin 10 is provided with temperature sensor 12, pressure sensing
Device 13.The bionical inside of skull 35 is provided with information acquisition unit, pressure sensor 13, temperature sensor 12, dust sensor 25, gas
Body component sensor 26, humidity sensor 27, air circulation pump 28, microphone 33, baroceptor 34, d GPS locating module, take the photograph
As head, structured light projection device, infrared camera, microphone are electrically connected with information acquisition unit.The bionical surface of skull 35 is equal
Even some electromagnet arrays of distribution, wrap up and being set between the bionics skin 10 of bionical skull 35 and the electromagnet arrays on the surface of skull 35
It is equipped with magnetic fluid layer.Electromagnet arrays are electrically connected with motion control unit.Lower limb Bionics Bone 4A's and upper limbs Bionics Bone 4B
End, sensed provided with the acceleration transducer, ultrasonic sensor, infrared ray avoidance being electrically connected with respectively with motion control unit
Device.The first power supply, second source are provided with bionical bone of body trunk, and is electrically connected with respectively with the first power supply and second source
PMU, first coil 48, First Line are provided between the bionics skin 10 and bionic muscle 7 at bionical bone of body back
Circle 48 is electrically connected with PMU.PMU is additionally provided with charging inlet.Including with wireless communication module and tune
Try mouth.Wireless communication module is electrically connected with debugging interface with communication unit.Including maintenance platform 52, maintenance platform 52 is led
To be made up of flat board, the second coil 53 is provided with the upside of flat board, the second coil 53 is electrically connected with charging circuit.On second coil 53
Side is provided with resilient support layer 54.Maintenance platform 52 also includes data connector 55, and data connector 55 is electrically connected with control main frame 56.
Bionics Bone 4 is made up of PVC material, and its density, hardness are consistent with the bionical bone of the mankind.The outer surface of Bionics Bone 4 is also wrapped on titanium steel
Enhancement layer.The composite layer of the similar human synovial elasticity of the joint outer surface of Bionics Bone 4 cladding.Bionic muscle 7 is by silica gel
Material is made, and its density, elasticity are consistent with mankind's bionic muscle.Bionical ligament and bionic joint capsule are made up of composite, its
Toughness, intensity are consistent with the bionical ligament of the mankind.
Operation principle：
The sound collected is passed through information gathering by the microphone 33 in the bionical earhole 32 of nonmetal flexible anthropomorphic robot
Cell processing mark after, by data/address bus and gateway passes to central computer, central computer according to sound-content discriminatory analysis, and
React.
The bionical intraocular video camera of nonmetal flexible anthropomorphic robot, no matter day and night, which can collect, clearly regards
Frequency image, video image is after information acquisition unit is handled, by data/address bus and gateway passes to central computer, central computer root
Videograph identification can be carried out according to content, target follows.
Air circulation pump 28 inside nonmetal flexible anthropomorphic robot bionic nasal cavity 23 makes the inner air of bionic nasal cavity 23
It is circulation status with outside, and by humidity sensor 27, dust sensor 25, gas composition sensor 26, carries out sample and adopt
Collection, the data after sampling feed back central computer after information acquisition unit is handled.
Information acquisition unit according to the temperature sensor 12 in bionics skin 10 with gathering nonmetal flexible anthropomorphic robot
Tactile things temperature, and transfer to central computer.
Central computer can be fed back according to the data of information acquisition unit, such as be referred to motion by data/address bus and gateway
Order passes to motion control unit, and the related first straight line motor 9 of motion control unit control or second straight line motor 39 operate,
And nonmetal flexible anthropomorphic robot's limbs are made to do corresponding action.Also voice output can be carried out by loudspeaker.
When nonmetal flexible anthropomorphic robot imitates mankind's walking, motion control unit is by transferring in bionical earhole 32
The data of gyroscope 44, walking and motor program are established to control the running of first straight line motor and second straight line motor.Wherein by
There is the characteristics of flexibly compact in the first motor, so first straight line motor and its upper limbs Bionics Bone of correlation are used with small flesh
Into the Arm structure of nonmetal flexible anthropomorphic robot, the second motor has the characteristics of power high stability is strong, therefore by
Two linear electric motors and its matched lower limb Bionics Bone and big flesh are applied in nonmetal flexible anthropomorphic robot's lower limb structure.
Nonmetal flexible anthropomorphic robot reaches and walked freely, flexibly fortune by the cooperation of first straight line motor and second straight line motor
The characteristics of dynamic.During nonmetal flexible anthropomorphic robot is movably walking, position can be obtained by d GPS locating module at any time and sat
Mark, and coordinate can be issued to long-range Surveillance center.
Nonmetal flexible anthropomorphic robot, simulating behaviors of human bodies, motion control unit are drawn by transferring acceleration transducer
Force snesor, angular transducer, ultrasonic sensor, realize that human action simulates and complete, collision free.
Nonmetal flexible anthropomorphic robot can be sentenced by the temperature sensor 12 in bionics skin 10 and pressure sensor 13
The basic parameter of disconnected object, such as temperature, hardness, weight.
The first power supply and second source for being available for switching are provided with inside nonmetal flexible anthropomorphic robot, and passes through power supply pipe
Reason unit is managed monitoring to it.
When nonmetal flexible anthropomorphic robot lies low when on maintenance platform 52, the second upper coil to platform can be passed through
53 power-up, in the presence of electromagnetic field, the first coil 48 of nonmetal flexible anthropomorphic robot's torso interior is set to produce stream, and lead to
PMU is crossed to charge to the first power supply or second source.It can also be connected and filled by external power adapter simultaneously
Electrical interface charges to it.Nonmetal flexible anthropomorphic robot, it is additionally provided with electric quantity of power supply situation real-time display system.
Nonmetal flexible anthropomorphic robot back is provided with and gateway, central computer and information acquisition unit, motion control list
The interface 51 of member, PMU and communication unit connection, control main frame 56 can be docked by joint 55 with this interface 51, and
Renewal is programmed to above each unit module.
Due to being provided with wireless data module in the communication unit of nonmetal flexible anthropomorphic robot, so nonmetal flexible is intended
Robot people has wireless data communication function, on the one hand nonmetal flexible anthropomorphic robot can be handed over by hand-hold electronic equipments
Stream is set, and another aspect nonmetal flexible anthropomorphic robot can be controlled by wireless data module to neighbouring wireless device
Access.Furthermore it is also possible to by the wireless module in communication unit to the unit module of nonmetal flexible anthropomorphic robot
Carry out software data renewal.
The intraocular structured light projection device of nonmetal flexible anthropomorphic robot arrives the sightless infrared Grid Projection of naked eyes
Real, and captured the infrared light grid on face surface by intraocular infrared lens, due to two intraocular structure lights
Projector is according to certain frequency alternating projection, while two intraocular infrared lens also correspond to projection frequency alternately capture Second eye
The structure light that ball is projected is deposited, therefore the structure light that two eyeballs are captured carries certain uneven deformation.Motion control unit
Deformation parameter is passed into central computer, central computer generates curved-surface structure consistent with scanned face by analyzing, and by song
Region feature is returned to motion control unit, motion control unit control electromagnet, skull face magnetic field is changed, magnetic material
Matter generates the curved surface features consistent with scanned face according to changes of magnetic field, under the fitting of skin of face, reaches changeable facial
The technique effect of feature.
Finally it should be noted that：The preferred embodiments of the present invention are these are only, are not intended to limit the invention, although
The present invention is described in detail with reference to the foregoing embodiments, for those skilled in the art, it still can be right
Technical scheme described in foregoing embodiments is modified, or to which part technical characteristic carry out equivalent substitution, it is all
Within the spirit and principles in the present invention, any modification, equivalent substitution and improvements made etc., the protection of the present invention should be included in
Within the scope of.
Claims (9)
- A kind of 1. nonmetal flexible anthropomorphic robot, it is characterised in that：The bionical bone made including copying skeleton, it is described Bionical bone includes copying the Bionics Bone (4) of each human body bone making and the bionical ligament of each Bionics Bone (4) of connection, adjacent The association position of Bionics Bone (4) is provided with bionic joint capsule (5), and lubricating fluid is filled in bionic joint capsule (5)；Also include parcel connection Bionic muscle (7) between each Bionics Bone (4), bionic muscle (7) both ends are provided with the bionical tendon being connected with Bionics Bone (4) (8)。
- 2. nonmetal flexible anthropomorphic robot according to claim 1, it is characterised in that：Also include bionics skin (10), The bionics skin (10) is coated on the outside of Bionics Bone (4) and bionic muscle (7)；The bionical bone includes bionical skull (35), wrap up and face be provided with the bionics skin (10) of bionical skull (35), it is described face be provided with by bionical eyebrow, bionic eye, The bionical face that bionic ear, bionic nose, bionical mouth are formed；The bionic nose includes the bionic nose being made up of bionical nasal cartilages (22) Chamber (23), bionic nasal cavity (23) are provided with the bionical nostril (24) with ft connection；The bionic ear is to be arranged on bionical skull (35) the fan-shaped bionical Ear cartilage (31) of both sides is formed, and fan-shaped cartilage is provided with bionical earhole (32) close to center；Bionical mouth It is interior to be provided with bionical tongue, bionical tooth and the bionical throat with loudspeaker；The bionic eye is a pair of bionical skull (35) tables of insertion The bionical eyeball in face is formed, and facial bionics skin (10) corresponding to bionical eyeball is provided with and opened by what upper eyelid and lower eyelid were formed Mouthful, the edge of opening is provided with the eyelashes of outwards vertical bionics skin (10)；The bionical eyebrow is the hair that upper eyelid top is set Hair.
- 3. nonmetal flexible anthropomorphic robot according to claim 1, it is characterised in that：The bionical bone also includes imitative Raw bone of body；Gateway, central computer, information acquisition unit, motion control unit, power supply are additionally provided with inside the bionical bone of body Administrative unit, communication unit；Central computer, information acquisition unit, motion control unit, PMU, communication unit point It is not electrically connected with by bus and gateway；The bionical bone of body back is provided with interface (51), and the interface (51) is respectively with Computer, PMU, motion control unit, information acquisition unit, gateway, communication unit is entreated to be electrically connected with.
- 4. nonmetal flexible anthropomorphic robot according to claim 1, it is characterised in that：The Bionics Bone (4) includes using In walking and support the lower limb Bionics Bone (4A) of the nonmetal flexible anthropomorphic robot and upper limbs for performing task Bionics Bone (4B)；The bionic muscle (7) includes being used to associate the bionical big flesh that control lower limb Bionics Bone (4A) does walking movement (7A) and the bionical small flesh (7B) that task is performed for associating control upper limbs；Be provided with the bionical small flesh (7B) with it is bionical The coaxial first straight line motor (9) of small flesh (7B), the base and expansion link of the first straight line motor (9) respectively with bionical small flesh Bionical tendon (8) connection at (7B) both ends；Lower limb Bionics Bone (4A) is provided with second straight line motor (39)；In bionical big flesh (7A) Portion is provided with one end and connects bionical tendon (8), the passage (40) of the other end and bionical big flesh (7A) ft connection；Set in passage (40) There is slide fastener (41), one end of slide fastener (41) is connected with the bionical tendon (8) of bionical big flesh (7A) one end, slide fastener (41) other end warp Passage (40) passes bionical big flesh (7A), and the expansion link of the second straight line motor (39) with being arranged on lower limb Bionics Bone (4A) Connection；The first straight line motor (9) and the second straight line motor (39) are electrically connected with the motion control unit respectively.
- 5. nonmetal flexible anthropomorphic robot according to claim 3, it is characterised in that：Shooting is provided with inside bionical eyeball Head, structured light projection device and infrared camera；Be provided with inside bionical earhole (32) microphone (33), baroceptor (34) and D GPS locating module；Dust sensor (25), gas composition sensor (26), humidity sensor are additionally provided with bionic nasal cavity (23) And air circulation pump (28) (27)；Temperature sensor (12), pressure sensor (13) are provided with inside bionics skin (10)；It is described imitative Be provided with information acquisition unit inside raw skull (35), pressure sensor (13), temperature sensor (12), dust sensor (25), Gas composition sensor (26), humidity sensor (27), air circulation pump (28), microphone (33), baroceptor (34), D GPS locating module, camera, structured light projection device, infrared camera, microphone are electrically connected with information acquisition unit；Institute State bionical skull (35) surface and be uniformly distributed some electromagnet arrays, wrap up the bionics skin (10) and skull of bionical skull (35) (35) it is provided with magnetic fluid layer between the electromagnet arrays on surface；The electromagnet arrays electrically connect with motion control unit Connect；The lower limb Bionics Bone (4A) and the end of the upper limbs Bionics Bone (4B), provided with electrically connecting with motion control unit respectively Acceleration transducer, ultrasonic sensor, the infrared ray avoidance sensor connect.
- 6. nonmetal flexible anthropomorphic robot according to claim 4, it is characterised in that：In the bionical bone of body trunk Provided with the first power supply, second source, and the PMU being electrically connected with respectively with the first power supply and second source, it is bionical First coil (48), first coil (48) and power supply are provided between the bionics skin (10) and bionic muscle (7) at bone of body back Administrative unit is electrically connected with；PMU is additionally provided with charging inlet.
- 7. nonmetal flexible anthropomorphic robot according to claim 5, it is characterised in that：Also include and wireless communication module And debugging interface；The wireless communication module is electrically connected with debugging interface with communication unit.
- 8. nonmetal flexible anthropomorphic robot according to claim 1, it is characterised in that：Also include maintenance platform (52), The maintenance platform (52) is mainly made up of flat board, is provided with the second coil (53) on the upside of flat board, second coil (53) is with filling Circuit is electrically connected with；Resilient support layer (54) is provided with the upside of second coil (53)；The maintenance platform (52) also includes data Joint (55), the data connector (55) are electrically connected with control main frame (56).
- 9. nonmetal flexible anthropomorphic robot according to claim 1, it is characterised in that：The Bionics Bone (4) is PVC materials Matter is made, and its density, hardness are consistent with the bionical bone of the mankind；Bionics Bone (4) outer surface is also wrapped on the enhancement layer of titanium steel；It is bionical The composite layer of the similar human synovial elasticity of bone (4) joint outer surface cladding；The bionic muscle (7) is by silica gel material system Into its density, elasticity are consistent with mankind's bionic muscle；The bionical ligament and bionic joint capsule are made up of composite, and its is tough Property, intensity are consistent with the bionical ligament of the mankind.
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