CN108748177A - A kind of emulated robot - Google Patents
A kind of emulated robot Download PDFInfo
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- CN108748177A CN108748177A CN201810574530.5A CN201810574530A CN108748177A CN 108748177 A CN108748177 A CN 108748177A CN 201810574530 A CN201810574530 A CN 201810574530A CN 108748177 A CN108748177 A CN 108748177A
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- China
- Prior art keywords
- shoulder
- connecting plate
- ancon
- emulated robot
- bevel gear
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/003—Manipulators for entertainment
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
- B25J17/02—Wrist joints
- B25J17/0258—Two-dimensional joints
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/102—Gears specially adapted therefor, e.g. reduction gears
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/109—Programme-controlled manipulators characterised by positioning means for manipulator elements comprising mechanical programming means, e.g. cams
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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
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/12—Programme-controlled manipulators characterised by positioning means for manipulator elements electric
- B25J9/126—Rotary actuators
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
- Toys (AREA)
Abstract
The present invention proposes a kind of emulated robot, including ionized motion mechanism, the ionized motion mechanism includes support construction, waist mechanism, shoulder mechanism, ancon mechanism and head mechanism, the top drive connection support construction of the waist mechanism, waist mechanism drive support construction rotation；The shoulder mechanism moves up and down for realizing shoulder, the ancon mechanism is rotated up and down for realizing ancon, the shoulder mechanism is installed on the support construction, the output end drive connection ancon mechanism of the shoulder mechanism, and shoulder mechanism drives the rotation of ancon mechanism；The head mechanism is rotated up and down for realizing head, and the head mechanism is installed on the top of the support construction.A kind of emulated robot of the present invention drives supporting mechanism rotation, support construction rotation that head mechanism and shoulder mechanism is driven to rotate by waist mechanism rotation, and shoulder mechanism drive connection ancon mechanism drives the rotation of ancon mechanism, it can be achieved that action diversification, harmony height.
Description
Technical field
The present invention relates to robotic technology fields, more specifically refer to a kind of emulated robot.
Background technology
A large amount of amusement robot is used in current popular forth generation theme park to build various atmosphere, especially
Highly emulated robot can bring novel tourist, stimulation, unforgettable amusement experience, improve the quality and popularity of theme park, with
Attract more tourists to make a visit to travel.
However the most of simple joint degree of freedom of these emulated robots are fewer, action is fairly simple, and underaction is true to nature,
Or mechanism is huger when multiple degrees of freedom.It is higher and higher to highly emulated robot requirement with the development of forth generation theme park,
Need the mechanism for simulating human motion more true to nature in a limited space.
Invention content
It is an object of the invention to overcome defect of the existing technology, a kind of emulated robot is provided.
To achieve the above object, the present invention uses following technical scheme：
A kind of emulated robot, including：Ionized motion mechanism, the ionized motion mechanism include support construction, waist machine
Structure, shoulder mechanism, ancon mechanism and head mechanism, the top drive connection support construction of the waist mechanism, waist machine
Structure drives support construction rotation；The shoulder mechanism moves up and down for realizing shoulder, and the ancon mechanism is for realizing ancon
It is rotated up and down, the shoulder mechanism is installed on the support construction, the output end drive connection ancon of the shoulder mechanism
Mechanism, shoulder mechanism drive the rotation of ancon mechanism；The head mechanism is rotated up and down for realizing head, the head mechanism peace
Top loaded on the support construction.
Its further technical solution is：Including lower part fixed mechanism, the top of the lower part fixed mechanism and ionized motion
The bottom of mechanism is connected.
Its further technical solution is：The head mechanism, ancon mechanism and shoulder mechanism include driver, action
Plate, sensor block, first position sensor, first gear transmission component, and it is used to support the support of first gear transmission component
Seat, the first gear transmission component include first bevel gear and the intermeshing second bevel gear of first bevel gear, the first step
Stepper motor and first shaft coupling, one end of first shaft coupling are fixedly connected with the main shaft of the first stepper motor, the other end and first
The vertical rotary shaft of bevel gear is fixedly connected, the transverse rotation axis of the first shaft coupling and second bevel gear respectively with support base
Rotation connection, and the transverse rotation axis of the second bevel gear and the vertical rotary shaft of first bevel gear are vertically arranged, it is described dynamic
Make plate and sensor block to be fixedly connected with the transverse rotation axis of second bevel gear respectively, the first position sensor is felt for detecting
It answers the position of block and is fixedly connected with support base, first stepper motor and first position sensor are electrically connected with driver respectively
It connects.
Its further technical solution is：The transverse rotation axis connection has second bearing, the second bearing to be installed on institute
The first connecting plate and the second connecting plate are stated, first connecting plate is equipped with sliding slot, and the output end of the transverse rotation axis is connected with
Protection block, the protection block carry out hard position limitation protection in sliding in the sliding slot.
Its further technical solution is：The output end of the shoulder mechanism is the transverse rotation axis, the transverse rotation
Axis is fixed with ancon mechanism by being keyed.
Its further technical solution is：The waist mechanism includes the first connecting plate, the second connecting plate, second gear transmission
Component, the second gear transmission component include the first spur gear and intermeshing second spur gear of the first spur gear, second
Stepper motor and second shaft coupling, form a lock chamber between the first connecting plate and the second connecting plate, first spur gear and
Second spur gear is rotatably arranged in lock chamber, and the main shaft of one end of the second shaft coupling and the second stepper motor, which is fixed, to be connected
It connects, the other end is fixedly connected with the first output shaft of the first spur gear, and the upper surface of first connecting plate is equipped with for examining
The inductor of the second spur gear rotation angle is surveyed, the outer end of the second output shaft of second spur gear is connected with mounting plate,
The upper surface of first connecting plate is further fixed on the limited block for limiting mounting plate rotation.
Its further technical solution is：The inductor is symmetrically distributed in the both sides of the second output shaft, in the inductor
Meta position has installed second position sensor.
Its further technical solution is：First output shaft and the second output shaft both ends are connected with bearing, and described first
Connecting plate and the second connecting plate are equipped with slot corresponding with the outer ring of the bearing, and the bearing outer ring is installed on the slot
Hole.
Its further technical solution is：The head mechanism and shoulder mechanism are connected by screw in the support construction
On.
Its further technical solution is：Further include control module and be connected to the control module input module, storage mould
The action of block and output module, the mechanism first requires reversed solve that the dynamic of executive item is calculated by software according to output action
Make to instruct and is stored in memory module；The input module, the input information acted for receiving posture needed for operator；It is described
Control module, for according to different input informations, reading the action command of different posture actions；The output module is used for root
Corresponding action command is exported according to the input information, each driving unit is driven to move.
Compared with the prior art, the invention has the advantages that：A kind of emulated robot of the present invention is rotated by waist mechanism
Supporting mechanism rotation, support construction rotation is driven to drive head mechanism and shoulder mechanism rotation, shoulder mechanism drive connection ancon
Mechanism drives the rotation of ancon mechanism, wherein waist mechanism to realize that waist is left by the first spur gear and the cooperation transmission of the second spur gear
Right rotation, head mechanism, ancon mechanism and shoulder mechanism change rotation by first bevel gear and second bevel gear cooperation transmission
Direction and passing power drive action plate rotation, and to realize that head is rotated up and down, shoulder is rotated up and down, wrist is rotated up and down,
Each mechanism can realize independent control, and the coordinated movement of various economic factors in parallel, this emulated robot simple and stable structure is, it can be achieved that action is various
Change, act it is soft true, harmony it is high, it can be achieved that human body compound action.
The invention will be further described in the following with reference to the drawings and specific embodiments.
Description of the drawings
Fig. 1 is a kind of structural schematic diagram of emulated robot of the present invention；
Fig. 2 is a kind of structural schematic diagram of emulated robot head mechanism of the present invention；
Fig. 3 is a kind of structural schematic diagram of emulated robot waist mechanism of the present invention；
Fig. 4 is a kind of structural schematic diagram of emulated robot ancon of the invention mechanism；
Fig. 5 is a kind of structural schematic diagram of emulated robot shoulder framework of the present invention.
Reference numeral
1000 ionized motion mechanism, 2000 lower part fixed mechanism
300 ancon mechanism, 400 shoulder mechanism
100 head mechanism, 101 first bevel gear
102 second bevel gear, 103 first stepper motor
104 first shaft coupling, 105 rotary shaft
106 action plate, 107 sensor block
108 first position inductor, 109 first connecting plate
110 second connecting plate, 111 sliding slot
112 protection block, 113 third connecting plate
114 rotation axis, 500 support construction
200 waist mechanism, 201 first spur gear
202 second spur gear, 203 second stepper motor
204 second shaft coupling, 205 first output shaft
206 second output shaft, 207 inductor
208 second position inductor, 209 limited block
210 first connecting plate, 211 second connecting plate
212 fixed plate, 115 key
Specific implementation mode
In order to more fully understand the present invention technology contents, with reference to specific embodiment to technical scheme of the present invention into
One step introduction and explanation, but not limited to this.
As shown in Fig. 1 to Fig. 5, a kind of emulated robot, including ionized motion mechanism 1000, ionized motion mechanism 1000 are wrapped
Support construction 500, waist mechanism 200, shoulder mechanism 400, ancon mechanism 300 and head mechanism 100 are included, waist mechanism 200
Top drive connection support construction 500, waist mechanism 200 drive support construction 500 to rotate；Shoulder mechanism 400 is for realizing shoulder
Portion moves up and down, and ancon mechanism 300 is rotated up and down for realizing ancon, and shoulder mechanism 400 is installed on support construction 500, shoulder
The output end drive connection ancon mechanism 300 of mechanism 400, shoulder mechanism 400 drive ancon mechanism 300 to rotate；Head mechanism 100
It is rotated up and down for realizing head, head mechanism 100 is installed on the top of support construction 500.1000 part of ionized motion mechanism
Predominantly each moving parts provide power source, support and motion range limitation, each mechanism work driven by motor, it can be achieved that
The waist of robot rotates left and right, head is rotated up and down, shoulder is rotated up and down, and wrist is rotated up and down, and each mechanism can realize solely
Vertical control, the coordinated movement of various economic factors in parallel, this emulated robot is by motor driving principle, and simple and stable structure is, it can be achieved that action is various
Change, act it is soft true, harmony it is high, it can be achieved that human body compound action, make tourist seemingly ornamental true man performance equally.
Specifically, as shown in Figure 1, including lower part fixed mechanism 2000, lower part fixed mechanism 2000 provides for entire mechanism
Effect is supported and fixed, the top of lower part fixed mechanism 2000 is connected with the bottom of ionized motion mechanism 1000.
Specifically, as shown in Fig. 1 to 5, head mechanism 100, ancon mechanism 300 and shoulder mechanism 400 include driver,
Action plate 106, sensor block 107, first position sensor 108, first gear transmission component, and it is used to support first gear biography
The support base of dynamic component, first gear transmission component include first bevel gear 101, with first bevel gear 101 intermeshing the
Two bevel gears 102, the first stepper motor 103 and first shaft coupling 104, one end of first shaft coupling 104 and the first stepper motor
103 main shaft is fixedly connected, and the other end is fixedly connected with the vertical rotary shaft 114 of first bevel gear 101, first shaft coupling 104
It is rotatablely connected respectively with support base with the transverse rotation axis 105 of second bevel gear 102, and the transverse rotation of second bevel gear 102
Axis 105 and the vertical rotary shaft 114 of first bevel gear 101 are vertically arranged, and action plate 106 and sensor block 107 are bored with second respectively
The transverse rotation axis 105 of gear 102 is fixedly connected, first position sensor 108 be used for detect sensor block 107 position and with branch
Support seat is fixedly connected, and the first stepper motor 103 and first position sensor 108 are electrically connected with driver respectively.
In another specific embodiment, it can be made adjustment to shoulder mechanism 400 according to practical situations, such as shoulder
400 rotary shaft of mechanism is not connected to action plate 106, is only used as being driven and changing direction of rotation imparting power to next mechanism.
Specifically, it as shown in Fig. 2, first bevel gear 101 is changed direction of rotation in 90 ° engage of second bevel gear 102, drives
The output angle of dynamic device control transverse rotation axis 105, the extreme position that sensor block 107 rotates are equipped with first position sensor 108,
Sensor block 107 when the sensor 108 of first position by sending out feedback signal.
Specifically, as shown in Fig. 2, mounting base includes the first connecting plate 109, the second connecting plate 110 and third connecting plate
113, the first connecting plate 109 and the second connecting plate 110 are respectively arranged on the both ends of transverse rotation axis 105, and third connecting plate 113 is set to
The lower section of transverse rotation axis 105.
Specifically, as shown in Fig. 2, the first connecting plate 109, the second connecting plate 110 pass through spiral shell with third connecting plate 113 respectively
Nail connects and composes the integral frame of head mechanism.
Specifically, as shown in Fig. 2, transverse rotation axis 105 is connected with second bearing, second bearing is installed on the first connecting plate
109 and second connecting plate 110, the first connecting plate 109 be equipped with sliding slot 111, the output end of transverse rotation axis 105 is connected with protection block
112, protection block 112 carries out hard position limitation protection in sliding in sliding slot 111, by the blocking at 111 both ends of sliding slot.
Specifically, as shown in Fig. 2, first position sensor 108 is installed on the second connecting plate 110, first position sensor
108 can be used for both ends extreme angles power-off protection.
Specifically, as shown in Fig. 2, vertical rotary shaft 114 is connected with first bearing, first bearing is installed on third connecting plate
Upper 113, vertical rotary shaft 114 rotates in first bearing, imparts power to first bevel gear 101.
Specifically, as shown in Fig. 1 to 5, first bevel gear 101 presses defined transmission speed ratio with the cooperation of second bevel gear 102
Output changes transmission direction and transmits power, and the rotation of second bevel gear 102 drives transverse rotation axis 105 to move synchronously, and laterally revolves
The action plate 106 connected in shaft 105 follows the rotation of transverse rotation axis 105 to make corresponding wobbling action, realizes robot
Head mechanism 100, ancon mechanism 300 and shoulder mechanism 400 be rotated up and down action.
In another embodiment, head mechanism 100 can be installed on robot other rotating mechanisms or component to realize
The more rich action of robot.
Specifically, as shown in Fig. 1 to 5, transverse rotation axis 105 runs work, induction according to the rotation angle originally designed
Block 107 and 108 cooperating of first position sensor, when sensor block 107 passes through both ends when following transverse rotation axis 105 to rotate
First position sensor 108 can send a signal to control system and find defined position, while when the sensor 108 of first position
One position sensor 108 can also be used for both ends extreme angles power-off protection, prevent driver error from causing 106 rotation angle of action plate
It spends greatly to structural failure.
Specifically, as shown in Fig. 1 to 5, the output end of shoulder mechanism 400 is transverse rotation axis 105, transverse rotation axis 105
It is fixed with ancon mechanism 300 by being keyed, ancon mechanism 300 is made integrally the transverse rotation axis 105 of shoulder mechanism 400 to be followed to do
Rotary motion.
Specifically, as shown in figure 3, waist mechanism 200 includes the first connecting plate 210, the second connecting plate 211, second gear
Transmission component, second gear transmission component include the first spur gear 201, take turns intermeshing second commutating tooth with the first commutating tooth 201
The 202, second stepper motor 203 and second shaft coupling 204 are taken turns, it is solid to form one between the first connecting plate 210 and the second connecting plate 211
Determine chamber, the first spur gear 201 and the second spur gear 202 are rotatably arranged in lock chamber, one end of second shaft coupling 204 and second
The main shaft of stepper motor 203 is fixedly connected, and the other end is fixedly connected with the first output shaft 205 of the first spur gear 201, and first connects
The upper surface of fishplate bar 210 is equipped with the inductor 207 for detecting 202 rotation angle of the second spur gear, the second spur gear 202
The outer end of second output shaft 206 is connected with mounting plate, and the upper surface of the first connecting plate 210 is further fixed on for limiting mounting plate
The limited block 209 of rotation, the first spur gear 201 is realized with 202 engaged transmission of the second spur gear to slow down and mounting plate is driven to rotate,
Limited block 209 is for the hard limit of the second output shaft 206 rotation extreme position protection.
Specifically, as shown in figure 3, inductor 207 is symmetrically distributed in the both sides of the second output shaft 206, inductor 207 is used for
Second output shaft 206 rotates extreme angles power-off protection, and 207 positions are equipped with second position sensor 208 among inductor, and second
Position sensor 208 provides zero origin position when connecing electricity again to waist mechanism 200.
Specifically, as shown in figure 3, limited block is symmetrically distributed in the inductor rear centered on the second output shaft, limit
Position block 209 is for the hard limit of the second output shaft 206 rotation extreme position protection.
Specifically, as shown in figure 3, the first spur gear 201 and the cooperation of the second spur gear 202 are made by the output of defined reduction ratio
To transmit power, the rotation of the second spur gear 202 drives mounting plate to move synchronously, and realizes waist spinning movement, can be used on mounting plate
In the shoulder of other mechanisms or component of connection robot, such as the ancon mechanism of the head mechanism of robot, robot, robot
The parts such as portion mechanism can make these components that 202 synchronous rotary of the second spur gear be followed to move, dynamic to reach better robot
Make effect.
Specifically, as shown in figure 3, waist mechanism 200 runs work, the second output shaft according to the rotation angle originally designed
The inductor 207 that 206 both sides are arranged with can realize induction mounting plate rotation when extreme angles and carry out power-off protection, into
One step, the limited block 209 that 207 rear of inductor is arranged with is that the pole position limitation protection of mounting plate limits firmly, anti-locking mechanism fortune
Dynamic error causes to damage to mechanism.
Specifically, as shown in figure 3, the first output shaft 205 and 206 both ends of the second output shaft are connected with bearing, the first connection
Plate 210 and the second connecting plate 211 are equipped with slot corresponding with the outer ring of bearing, and bearing outer ring is installed on slot so that first
Output shaft 205 and the second output shaft 206 can drive the rotation of the first output shaft 205 in rotation on bearings, the second stepper motor 203,
First output shaft 205 imparts power to the first spur gear 201, and the first spur gear 201 and 202 engaged transmission of the first spur gear are simultaneously
Impart power to the second output shaft 206.
Specifically, as shown in figure 3, vacantly for installing the first commutating tooth among the first connecting plate 210 and the second connecting plate 211
Wheel 201 and the second spur gear 202, the edge of the first connecting plate 210 and the second connecting plate 211 is connected and fixed by fixed plate 212.
Specifically, as shown in figure 3, the first connecting plate 210, the second connecting plate 211 are connected by screw admittedly with fixed plate 212
It is fixed.
Specifically, as shown in Fig. 1 to 5, the land of support construction 500 are followed on the second output shaft 206 of waist mechanism 200
It rotates, head mechanism 100 and shoulder mechanism 400 are connected by screw that corresponding limbs are done in support construction 500 is dynamic
Make.
Specifically, further include control module and be connected to the control module input module, storage module and output module,
The action of mechanism first requires reversed solution that the action command of executive item is calculated and is stored in by software according to output action
Store up module；Input module, the input information acted for receiving posture needed for operator；Control module, for according to different defeated
Enter information, reads the action command of different posture actions；Output module, for being referred to according to the corresponding action of input information output
It enables, each driving unit is driven to move.
Specifically, mechanism is parallel institution, there is stringent transmission speed ratio between gear, can be by calculating mechanism list
The movement relation expression formula of a driving unit, and Maya softwares are written into movement relation expression formula, while by emulated robot mould
Type imports Maya softwares, drags the various postures of each joint designs and acts required animation, then reversed to solve driving input value
And animation script value is exported, the action command in script value, that is, the present embodiment needed for various posture actions.
Specifically, stepper motor has the features such as fast response time, running precision are high, and high speed performance is good, and overload capacity is strong,
Itself and position sensor feed back the rotating position signal of each step motor shaft to control system by being connect with control system.
Position sensor is the sensor for measuring mechanism self-position, and converts the location information of mechanism to output signal,
Control system is passed to, control system is adjusted the position of mechanism each unit by controlling driving unit, avoids mechanism
There is deviation in movement position.
Specifically, each mechanism is independently moving, and driver control rotation is driven by the action command of control system
Angle and speed make each mechanism can be with the coordinated movement of various economic factors so that the realization simulated actions that amusement robot can be more true to nature.
In conclusion a kind of emulated robot of the present invention is rotated by waist mechanism drives supporting mechanism rotation, support knot
Structure rotation drives head mechanism and shoulder mechanism rotation, shoulder mechanism drive connection ancon mechanism to drive the rotation of ancon mechanism,
Middle waist mechanism realizes waist left rotation and right rotation, head mechanism, ancon machine by the first spur gear and the cooperation transmission of the second spur gear
Structure and shoulder mechanism are by first bevel gear and second bevel gear cooperation transmission changes direction of rotation and passing power, drive action
Plate rotates, and to realize that head is rotated up and down, shoulder is rotated up and down, wrist is rotated up and down, and each mechanism can realize independent control,
The coordinated movement of various economic factors in parallel, this emulated robot simple and stable structure act soft true, harmony height, it can be achieved that action diversification,
The compound action of human body can be achieved.
It is above-mentioned only with embodiment come the technology contents that further illustrate the present invention, in order to which reader is easier to understand, but not
It represents embodiments of the present invention and is only limitted to this, any technology done according to the present invention extends or recreation, by the present invention's
Protection.Protection scope of the present invention is subject to claims.
Claims (10)
1. a kind of emulated robot, which is characterized in that including：Ionized motion mechanism, the ionized motion mechanism include that support is tied
Structure, waist mechanism, shoulder mechanism, ancon mechanism and head mechanism, the top drive connection support knot of the waist mechanism
Structure, waist mechanism drive support construction rotation；The shoulder mechanism moves up and down for realizing shoulder, and the ancon mechanism is used for
Realize that ancon is rotated up and down, the shoulder mechanism is installed on the support construction, and the output end of the shoulder mechanism is sequentially connected
The ancon mechanism, shoulder mechanism drive the rotation of ancon mechanism；The head mechanism is rotated up and down for realizing head, the head
Portion mechanism is installed on the top of the support construction.
2. a kind of emulated robot according to claim 1, which is characterized in that including lower part fixed mechanism, the lower part
The top of fixed mechanism is connected with the bottom of ionized motion mechanism.
3. a kind of emulated robot according to claim 1, which is characterized in that the head mechanism, ancon mechanism and shoulder
Portion mechanism is including driver, action plate, sensor block, first position sensor, first gear transmission component, and is used to support
The support base of first gear transmission component, the first gear transmission component includes first bevel gear, mutual with first bevel gear
The second bevel gear of engagement, the first stepper motor and first shaft coupling, the master of one end of first shaft coupling and the first stepper motor
Axis is fixedly connected, and the other end is fixedly connected with the vertical rotary shaft of first bevel gear, the first shaft coupling and second bevel gear
Transverse rotation axis be rotatablely connected respectively with support base, and the transverse rotation axis of the second bevel gear and first bevel gear is perpendicular
It is vertically arranged to rotary shaft, the action plate and sensor block are fixedly connected with the transverse rotation axis of second bevel gear respectively, described
First position sensor is used to detect the position of sensor block and is fixedly connected with support base, first stepper motor and first
Sensor is set to be electrically connected with driver respectively.
4. a kind of emulated robot according to claim 3, which is characterized in that the transverse rotation axis connection has the second axis
It holds, the second bearing is installed on first connecting plate and the second connecting plate, and first connecting plate is equipped with sliding slot, the cross
It is connected with protection block to the output end of rotary shaft, the protection block carries out hard position limitation protection in sliding in the sliding slot.
5. a kind of emulated robot according to claim 3, which is characterized in that the output end of the shoulder mechanism is described
Transverse rotation axis, the transverse rotation axis are fixed with ancon mechanism by being keyed.
6. a kind of emulated robot according to claim 1, which is characterized in that the waist mechanism includes the first connection
Plate, the second connecting plate, second gear transmission component, the second gear transmission component include the first spur gear and the first commutating tooth
Take turns intermeshing second spur gear, the second stepper motor and second shaft coupling, shape between the first connecting plate and the second connecting plate
At a lock chamber, first spur gear and the second spur gear are rotatably arranged in lock chamber, one end of the second shaft coupling
It being fixedly connected with the main shaft of the second stepper motor, the other end is fixedly connected with the first output shaft of the first spur gear, and described first
The upper surface of connecting plate is equipped with the inductor for detecting the second spur gear rotation angle, and the second of second spur gear is defeated
The outer end of shaft is connected with mounting plate, and the upper surface of first connecting plate is further fixed on the limit for limiting mounting plate rotation
Position block.
7. a kind of emulated robot according to claim 6, which is characterized in that it is defeated that the inductor is symmetrically distributed in second
The both sides of shaft, the inductor centre position are equipped with second position sensor.
8. a kind of emulated robot according to claim 7, which is characterized in that first output shaft and the second output shaft
Both ends are connected with bearing, and first connecting plate and the second connecting plate are equipped with slot corresponding with the outer ring of the bearing, institute
It states bearing outer ring and is installed on the slot.
9. a kind of emulated robot according to claim 1, which is characterized in that the head mechanism and shoulder mechanism pass through
Screw is connected in the support construction.
10. a kind of emulated robot according to claim 1, which is characterized in that further include control module and with control
The action of module connected input module, storage module and output module, the mechanism is first required by software according to output action
It is reversed to solve the action command that executive item is calculated and be stored in memory module；The input module, for receiving operator
The input information of required posture action；The control module, for according to different input informations, reading the dynamic of different posture actions
It instructs；The output module drives each driving unit to transport for exporting corresponding action command according to the input information
It is dynamic.
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| CN201810574530.5A CN108748177A (en) | 2018-06-06 | 2018-06-06 | A kind of emulated robot |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113618752A (en) * | 2021-08-20 | 2021-11-09 | 天津大学 | Mobile guide dog robot and head rotating device thereof |
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Application publication date: 20181106 |