CN108312139A - The servo motor module of convertible color and the robot with servo motor module - Google Patents
The servo motor module of convertible color and the robot with servo motor module Download PDFInfo
- Publication number
- CN108312139A CN108312139A CN201810273996.1A CN201810273996A CN108312139A CN 108312139 A CN108312139 A CN 108312139A CN 201810273996 A CN201810273996 A CN 201810273996A CN 108312139 A CN108312139 A CN 108312139A
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- China
- Prior art keywords
- servo motor
- color
- shell
- motor module
- led
- 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
- B25J9/00—Programme-controlled manipulators
- B25J9/08—Programme-controlled manipulators characterised by modular constructions
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K5/00—Casings; Enclosures; Supports
- H02K5/02—Casings or enclosures characterised by the material thereof
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K5/00—Casings; Enclosures; Supports
- H02K5/04—Casings or enclosures characterised by the shape, form or construction thereof
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K7/00—Arrangements for handling mechanical energy structurally associated with dynamo-electric machines, e.g. structural association with mechanical driving motors or auxiliary dynamo-electric machines
- H02K7/10—Structural association with clutches, brakes, gears, pulleys or mechanical starters
- H02K7/116—Structural association with clutches, brakes, gears, pulleys or mechanical starters with gears
-
- H—ELECTRICITY
- H05—ELECTRIC TECHNIQUES NOT OTHERWISE PROVIDED FOR
- H05B—ELECTRIC HEATING; ELECTRIC LIGHT SOURCES NOT OTHERWISE PROVIDED FOR; CIRCUIT ARRANGEMENTS FOR ELECTRIC LIGHT SOURCES, IN GENERAL
- H05B45/00—Circuit arrangements for operating light-emitting diodes [LED]
- H05B45/20—Controlling the colour of the light
Abstract
The present invention provides a kind of servo motor modules of convertible color, and LED light is uniformly irradiated can also watch the servo motor module of convertible color well in bright place by band-like transparent shell；Go out multi-joint anthropomorphic robot using the servo motor module assembled of above-mentioned convertible color, improves ornamental value；The magnificent form of various color is combined by the random transformation of a variety of colors；And show multi-motion form in conjunction with various motion；A variety of teaching and the activity of a variety of intention are carried out by the multi-joint anthropomorphic robot of above-mentioned expressible multiple color and various motion.
Description
Technical field
The present invention relates to the robot field of toy use or teaching purposes, the machine that especially appearance and color can be converted freely
Device people.
Background technology
It is well known that having the multi-joint form much made by the mutual combination between servo motor on the market
Toy robot or robot used for teaching, in order to embody articulated robot joint effect servo motor module status or in order to
So that it is played decoration function, uses LED light.
The light that LED light emits will appear 2 or more light leakage areas by light path auxiliary material through shell, although having
2 or more light leakage fields, in bright place, because of the limitation of light-leaking area, dicoration is nor very prominent.
Invention content
The problem of present invention wants to realize its goal of the invention, and solution is set forth above, multiple color can be embodied again by providing
It can make connection or connection of the LED light not between by servo motor in bright or dark local omnidirectional LED servo motor module
The obstruction direct irradiation of frame comes out, and convenient for observation servo motor internal state and plays decoration function, is by following technology
What scheme was realized.
The servo motor of convertible color, which is characterized in that including：
First shell；
The second shell being assembled on first shell；
It is assembled into first shell, the transparent shell among the second shell；It is assembled on the transparent shell, is distributed to
Servo motor on the inside of first shell, the second shell；
It is assembled on above-mentioned transparent shell, the gear set of strength is transmitted from servo motor；
Control servomotor is carried out in the side for being assembled into above-mentioned transparent shell；
It is integrated with red, green and blue LED LED component and is distributed in 4 corners, by controlling the LED component
Color, realize from LED illumination come out light through transparent shell carry out light dispersion and light spread electronic loop plate；
It is assembled in the rotary shaft in the drive shaft for transmitting the gear set strength, to perceive the rotation position of above-mentioned drive shaft
It sets and transfers it to the position sensor on electronic loop plate；
The electronic loop plate be located at be mounted in the digital terminal machine of color control software including：Transmission is red, green
The communication module of color, blue led color depth control signal；The color depth sent from the communication module is controlled letter
Number calculation at red green, blue RGB algorithm modules；Calculation is distinguished by color, generation meets color depth control signal
Pwm signal pwm signal generation module composition；With directly or through the increased pwm signal of amplifier, each LED is adjusted
Red, green, blue led voltage on component, and by adjusting voltage control the LED component color.
A further improvement is that：Transparent shell four sides open ground in the form of band-like is mounted on the first shell and second
Among shell.
A further improvement is that：The transparent shell is formed by makrolon.
A further improvement is that：The red, green, blue led for being distributed in the LED component of four corners are to connect side by side
, and controlled side by side by pwm signal.
A further improvement is that：The electronic loop plate with controllable red, green, 250 grades of blue led it is dark
Degree.
It is a kind of by above-mentioned servo motor assemble Lai multi-joint robot, a pair of of the multi-joint anthropomorphic robot
Arm joint, first and second shoulder joint of a pair of, first and second leg joint of a pair of, a pair of knee endoprosthesis, a pair of first and
Second ankle arthrosis, waist joint and neck joint part are driven by the servo motor.
Each servo motor module has a respectively fixed ID number, digital terminal machine pass selection one of them or it is more
250 grades of color depths of the servo motor module of a ID numbers, transmission whole or one group or single of red, green, blue led
Signal is controlled to the servo motor module.
The effect for implementing the solution of the present invention is that LED light passes through uniform with the transparent shell of 4 EDS maps of belt shape
It irradiates and, make it that can have the effect of good ornamental value in bright or dark place.
Effect also resides in, and the ornamental value of multi-joint anthropomorphic robot is improved using the servo motor module of controllable colour,
It can be optionally combined and convert its apparent color, and embody magnificent performing effect in conjunction with its various action.
In the teaching of multi-joint anthropomorphic robot, improved using convertible color and the multi-joint anthropomorphic robot of action
The effect of the content of courses and creative capability.
Description of the drawings
Fig. 1 is the schematic diagram of the servo motor module of the replaceable color of this patent.
Fig. 2 is the interim decomposition diagram of Fig. 1 servo motor modules.
Fig. 3 is the decomposition diagram of Fig. 1.
Fig. 4 is mounted in color controller chassis knot composition on digital terminal machine.
Fig. 5 is red, the Color-spatial distribution schematic diagram of green and blue LED.
Fig. 6 is the multi-joint come out using the servo motor module assembled of the controllable colour of Fig. 1
The positive structure schematic of anthropomorphic robot.
Fig. 7 is the decomposition texture schematic diagram of the arm of the multi-joint anthropomorphic robot of Fig. 6.
Specific implementation mode
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation describes, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall within the protection scope of the present invention.
Referring to figs. 1 to Fig. 3, the servo motor module 100 of the convertible color of this patent includes the first shell, second
Shell (110,120), transparent shell 130, servo motor 140, gear set 150 and electronic loop plate 160.
The outside of above-mentioned first and second shell (110,120) is smooth plane, and transparent shell 130 is housed between them,
Inside is separately installed with servo motor 140, gear set 150 and electronic loop plate 160.
Transparent shell 130 is the transparent material between the first and second shell (110,120), e.g. makrolon
Polycarbonate materials.Transparent shell 130 as shown in Figure 1 is with certain thickness, in the first shell 110 and the second shell 120
Between, the form that becomes band is exposed around.
As shown in Fig. 2, the first shell 110 and transparent shell 130 and the 2nd shell 120 are fixed with screw 111.
Servo motor is mounted in 140 transparent shells 130, and strength is transmitted from gear set 150.It can be formed in the present invention
The torsion of 5.5kg.cm is the servo motor 140 driven by the voltage of 5V to 9V.
Gear set 150 transmits strength from servo motor 140, such as 4 groups of gears 151 are distributed and rotate in order, strength
It is ultimately transferred to drive shaft 152, above-mentioned 4 groups of gears can be made in order to wear-resistant of metal material.
Electronic loop plate 160 is mounted on the side of transparent shell 130, to control the color and servo electricity of LED component 170
The rotation of machine 140.
As shown in Fig. 2, LED component 170 is mounted on 4 corners of electronic loop plate 160.Position sensor 180 is installed
In rotary shaft 153 in drive shaft 152, to perceive the rotation position of above-mentioned drive shaft 152, and it is conveyed to electronic loop
On plate 160.
Such as elaboration, the colour switching of LED component 170 is controlled by electronic loop plate 160, LED component 170 is irradiated
LED light out carries out light diffusion through transparent material 130.
As shown in figure 3, irradiating the LED light come from LED component 170 after the first progress light diffusion of 130 inside of transparent shell
It is uniformly transmitted to surrounding by band-like transparent shell.It, either can be equal in bright or dark place by aforesaid operations
Even is diffused into surrounding LED light, to improve whole vision ornamental value.
Each LED component 170 is made of red LED and green LED and blue led.Control LED component 170LED colors
Electronic loop plate 160 composition feelings with reference to figure 4.
With reference to Fig. 4, the electronic loop plate 160 of control LED light color is by communication module 161 and RGB algorithm modules 162
It is constituted with pwm signal generation module 163 and amplifier 164.
Communication module 161 is by Bluetooth signal in the software that controllable colour converts on digital terminal machine 200
Receive red LED 171, green LED 172,173 color depth signal of blue led.Herein, it is transmitted and is controlled by Bluetooth signal
The digital terminal machine of color signal is not particularly limited.Common PC or tablet computer etc. carry the number of normal communication terminal function
Decoding apparatus can control and transmit color signal.
RGB algorithm modules 162 are the color depth signal calculation being transmitted on communication module 161 into red, green, indigo plant
It is transmitted to after chrominance signal on pwm signal generation module 163.
PWMPulse Width Modulation signals generation module 163 produces and distinguishes calculation according to each color
Color depth controls pwm signal, that is can generate the signal for being converted into PWM value.
Subsequently the voltage of LED component can be adjusted by pwm signal or by the pwm signal of 164 amplification of amplifier, and lead to
The voltage for crossing adjustment controls the color of each LED component.
As shown in figure 4, being distributed in the red LED 171 of the LED component of a corner, green LED 172, blue led 173 is simultaneously
Row's connection, can from 4 LED components according to specific color depth to the uniform irradiation LED light in entire outside.
Controllable 4 LED component color depths are generated by being mounted on the colouring color control software of digital terminal machine 200
Signal, and be transferred on electronic loop plate 161, the color of needs can be embodied by hyaline test.Logical color control
Software can be combined with 250 grades of transformation red LED 171, the color of green LED 172, blue led 173, can be combined into 15 altogether,
625,000 kinds, i.e. the different color combination of 250*250*250 kinds.
The luminous form of a variety of LED component LED lights can also be set according to color control software.Such as the light of flicker
Blink, dimmed light breathe is more or the light of signal specific form (such as note) gradually, however it is not limited to of the present invention.
Fig. 5 is the Color-spatial distribution figure being distributed according to red LED, green LED and blue led.From mounted on 4 turnings
In the LED component at place, according to the color depth of red LED light A, green LED light B and blue LED light C, reflected diffusion
Angle.
The servo motor module 100 that Fig. 1 to Fig. 3 is illustrated is adapted to each joint of multi-joint anthropomorphic robot,
And by 130 outside irradiation LED light of transparent shell, the robot for improving the multi-joint of vision ornamental value can be completed, it is special
It is not a kind of anthropomorphic robot.The robot of multi-joint can refer to Fig. 7.
Fig. 6 be using Fig. 1 controllable colour servo motor module assembled come out multi-joint robot just
Face figure.Fig. 7 is the enlarged drawing of the arm of the robot of the multi-joint of Fig. 6.
Shown in the Fig. 6 to leak outside such as 100 part of servo motor module, each joint of robot is by servo motor module
100 compositions.The various motion of class people may be implemented.Such as a pair of arm joint 100-1 of robot, a pair of the 1st and the 2nd shoulder
Wing joint (100-2,100-3), a pair of the 1st and the 2nd leg joint (100-4,100-5), a pair of knee endoprosthesis 100-6, a pair of the 1st
And the 2nd ankle arthrosis (100-7,100-8), waist joint 100-9 and neck joint 100-10 are by corresponding servo motor mould
What block 100 was constituted, it is possible to realize the transformation of 18 degree of freedom DOF.Pass through the electronic loop in control servomotor module
Plate, control robot do elemental motion, such as walk, stand, and boxing is played football, stair activity, various move such as turn a somersault and dances
Make.
As shown in fig. 7, first connector 310 of shoulder joint 300 is fixed on servo motor module 100 with screw 311
In the drive shaft 152 of side, allow it can be with the rotation of degree of freedom.Another side is then connected with the 2nd connector 410, and second connects
Fitting be by mounted on 4 angles of servo motor module 100 nut 411 and screw 412 combine, hand is by 400 spiral shells
Silk 401 and nut 402 are connected on the 2nd connector 410.
As shown in figure 5, as elaboration, a pair of arm joint of multi-joint anthropomorphic robot, a pair of the 1st and the 2nd shoulder
Wing joint, a pair of the 1st and the 2nd leg joint, a pair of knee endoprosthesis, a pair of the 1st and the 2nd ankle arthrosis, waist joint and neck joint
It is made of servo motor module, and the ID that each servo motor module has oneself intrinsic.As shown in figure 5, by can
The digital terminal machine of control color transmits intrinsic ID wholes or a small group or single red, green, 250 grades of colors of blue led
Concentration controls signal.For example, red, green, the color depth example of blue led, R:250,G:0,B:0 combination is by intrinsic numerical value
It is combined into and LED illumination is shot out by transparent shell.
The whole vision ornamental value of multi-joint anthropomorphic robot can be improved, and can arbitrarily adjust color group infinitely
It closes, and magnificent performance is shown in conjunction with various action.
It is above-mentioned using convertible color assemble come multi-joint anthropomorphic robot be a kind of citing, it is not limited to
This form.It can be combined and be assembled by above method variform.
It although an embodiment of the present invention has been shown and described, for the ordinary skill in the art, can be with
Understanding without departing from the principles and spirit of the present invention can carry out these embodiments a variety of variations, modification, replace
And modification, the scope of the present invention is defined by the appended.
Claims (7)
1. the servo motor module of convertible color, which is characterized in that including：
First shell；
The second shell being assembled on first shell；
It is assembled into first shell, the transparent shell among the second shell；It is assembled on the transparent shell, is distributed in first
Servo motor module on the inside of shell, the second shell；
It is assembled on above-mentioned transparent shell, the gear set of strength is transmitted from servo motor module；
It is assembled into the control module for servo motor of above-mentioned transparent shell side；
It is integrated with red, green and blue LED LED component and is distributed in 4 corners, by the face for controlling the LED component
Color realizes the electronic loop plate that the light come out from LED illumination carries out light dispersion through transparent shell and light is spread；
It is assembled in the rotary shaft in the drive shaft for transmitting the gear set strength, to perceive the rotation position of above-mentioned drive shaft simultaneously
Transfer it to the position sensor on electronic loop plate；
The electronic loop plate be located at be mounted in the digital terminal machine of color control software including：Transmission is red, green, blue
Color LED color concentration controls the communication module of signal；The color depth control signal sent from the communication module is drilled
It is counted as the RGB algorithm modules of red green, blue；Calculation is distinguished by color, generates and meets color depth control signal
The pwm signal generation module of pwm signal forms；With directly or through the increased pwm signal of amplifier, each LED unit is adjusted
Red, green, blue led voltage on part, and by adjusting voltage control the LED component color.
2. the servo motor module of convertible color according to claim 1, which is characterized in that the transparent shell is with band
The form four sides open ground of shape is mounted among the first shell and the second shell.
3. the servo motor module of convertible color according to claim 1, which is characterized in that the transparent shell be by
Makrolon is formed.
4. the servo motor module of convertible color according to claim 1, which is characterized in that be distributed in four corners
The red of LED component, green, blue led connect, and controlled side by side by pwm signal side by side.
5. the servo motor module of convertible color according to claim 1, which is characterized in that the electronic loop plate with
Controllable red, green, blue led 250 grades of color depths.
6. a kind of robot of the multi-joint come out by servo motor module assembled described in claim 1, which is characterized in that institute
State a pair of arm joint of multi-joint anthropomorphic robot, first and second shoulder joint of a pair of, first and second leg joint of a pair of,
A pair of knee endoprosthesis, first and second ankle arthrosis of a pair of, waist joint and neck joint part are by the servo motor mould
Block drives.
7. the robot of multi-joint according to claim 6, which is characterized in that each servo motor module has respectively
The ID of self-retaining is numbered, and digital terminal machine passes the servo motor module for selecting wherein one or more ID numbers, transmission all or
One group or single of red, green, blue led 250 grades of color depths control signal to the servo motor module.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810273996.1A CN108312139A (en) | 2018-03-29 | 2018-03-29 | The servo motor module of convertible color and the robot with servo motor module |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810273996.1A CN108312139A (en) | 2018-03-29 | 2018-03-29 | The servo motor module of convertible color and the robot with servo motor module |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108312139A true CN108312139A (en) | 2018-07-24 |
Family
ID=62899033
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810273996.1A Pending CN108312139A (en) | 2018-03-29 | 2018-03-29 | The servo motor module of convertible color and the robot with servo motor module |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108312139A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108479084A (en) * | 2018-05-08 | 2018-09-04 | 韩端科技（深圳）有限公司 | Servo-controller module |
| CN113251347A (en) * | 2020-05-21 | 2021-08-13 | 株式会社万代 | Luminous performance unit and human-shaped toy |
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| US6398395B1 (en) * | 1999-08-10 | 2002-06-04 | Teltek Co., Ltd. | Compact generator, light-emitting wheel having the same, and manufacturing method therefor |
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| CN204810627U (en) * | 2015-07-28 | 2015-11-25 | 深圳市锐曼智能装备有限公司 | Device is expressed to robot eyes mood based on LED array |
| CN205552541U (en) * | 2016-03-08 | 2016-09-07 | 韩端科技（深圳）有限公司 | Humanoid robot |
| CN205704200U (en) * | 2016-03-29 | 2016-11-23 | 安徽工程大学 | One moves robot based on Embedded variable color |
| CN106669161A (en) * | 2016-11-17 | 2017-05-17 | 遵义市斑寅科技有限公司 | Colorful robot toy |
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2018
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| US6398395B1 (en) * | 1999-08-10 | 2002-06-04 | Teltek Co., Ltd. | Compact generator, light-emitting wheel having the same, and manufacturing method therefor |
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| CN204810627U (en) * | 2015-07-28 | 2015-11-25 | 深圳市锐曼智能装备有限公司 | Device is expressed to robot eyes mood based on LED array |
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| CN113251347B (en) * | 2020-05-21 | 2024-03-26 | 株式会社万代 | Luminous performance unit and humanoid toy |
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