CN110142781A - A kind of drive lacking gymnastic robot - Google Patents
A kind of drive lacking gymnastic robot Download PDFInfo
- Publication number
- CN110142781A CN110142781A CN201910514205.4A CN201910514205A CN110142781A CN 110142781 A CN110142781 A CN 110142781A CN 201910514205 A CN201910514205 A CN 201910514205A CN 110142781 A CN110142781 A CN 110142781A
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- China
- Prior art keywords
- arm
- drive lacking
- trunk
- silicon rubber
- gripper
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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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/08—Gripping heads and other end effectors having finger members
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Toys (AREA)
- Manipulator (AREA)
Abstract
A kind of drive lacking gymnastic robot, it is related to a kind of robot, and in particular to a kind of drive lacking gymnastic robot.The present invention in order to solve the problems, such as existing robot cannot achieve put, giant single, stand upside down balance level-one rolling grab the imitating exercises player motion such as thick stick.The invention also includes right arm, left arm, shoulder joint motor and two gripper components, the lower end of right arm is rotatablely connected by short axle and the right shoulder of trunk, shoulder joint motor is fixedly mounted in the left shoulder of trunk, the lower end of left arm is fixedly connected with the rotation axis of shoulder joint motor, one gripper component of each installation is distinguished on right arm and left arm, the left side on head and the front side of right arm connect, and the right side on head and the front side of left arm connect.The invention belongs to robot fields.
Description
Technical field
The present invention relates to a kind of robots, and in particular to a kind of drive lacking gymnastic robot belongs to robot field.
Background technique
Underactuated Mechanical Systems refer to that the independent control variable number of system is less than a quasi-representative of degree of freedom in system number
Nonlinear system, have widely in fields such as robot for space, underwater robot, quadrotor drone, bio-robots
Using.Relative to full driving mechanical system, Underactuated Mechanical Systems have some significant advantages, such as energy saving, raising system
System flexibility ratio, mitigation system weight, reduction energy consumption etc., thus researching value with higher.Currently, under-actuated systems are normal
It sees the following aspects: being 1. applied in bio-robot, realize the graceful movement that links up；2. being applied to space machine
People, microgravity environment etc. need to mitigate weight to reduce the environment of cost；3. being applied in the system for reducing driving device, increase
Its flexibility；4. in special circumstances, driving motor failure meets demand for control to be translated into underactuated control.
Gymnastic robot is a series of electromechanical assembly that imitating exercise sportsman completes fluid motions on horizontal bar, it is one
A multi input, multi output, drive lacking, non-linear, close coupling typical complex systems, controlling difficulties are the non-of system altitude
Linearly, close coupling and time variation.The gymnastic robot has fully considered the symmetry and upper limb of robot body in the design
With lower limb include body proportional arrangement, with guarantee entire body during exercise each section sufficiently cooperate, hight coordinate.It is good
The design of drive lacking gymnastic robot is more nearly the smooth fortune of gymnast for allowing robot to get rid of stiff limb action
It is dynamic to be of great significance.
Summary of the invention
The present invention be solve existing robot cannot achieve put, giant single, balance of standing upside down level-one roll and grab thick stick etc. and imitate
The problem of gymnast acts, and then propose a kind of drive lacking gymnastic robot.
The technical solution adopted by the present invention to solve the above problem is as follows: the present invention includes right crus of diaphragm, right leg, trunk, head, a left side
Leg and left foot, right leg and left leg are vertically arranged in the lower section of trunk side by side, and the upper end of right leg and the lower end of trunk connect, right leg
Lower end is connect with right crus of diaphragm, and the upper end of left leg and the lower end of trunk connect, and the lower end of left leg is connect with left foot；The invention also includes the right sides
Arm, left arm, shoulder joint motor and two gripper components, the lower end of right arm is rotated by short axle and the right shoulder of trunk to be connected
It connecing, shoulder joint motor is fixedly mounted in the left shoulder of trunk, and the lower end of left arm is fixedly connected with the rotation axis of shoulder joint motor,
One gripper component of each installation is distinguished on right arm and left arm, the left side on head and the front side of right arm connect, head
Right side and left arm front side connect.
Further, each gripper component includes gripper and gripper motor, and gripper motor is fixedly mounted on right arm
Or in left arm, gripper is fixedly connected with the rotation axis of gripper motor.
Further, each gripper component further includes silicon rubber pedestal and silicon rubber block, and gripper motor passes through silicon rubber
Matrix seat is connect with right arm or left arm, and silicon rubber block is fixedly mounted on silicon rubber pedestal.
Further, each gripper component further includes V-arrangement guide groove front end, V-arrangement guide groove front end be mounted on right arm or
In left arm.
Further, the invention also includes acceleration transducer, acceleration transducer is fixedly mounted on head.
Further, the invention also includes crossbeam, photoelectric sensor and sensor base, the both ends of crossbeam respectively with the right hand
Arm is connected with the upper end of left arm, and sensor base is fixedly mounted on the middle part of crossbeam, and photoelectric sensor is mounted on sensor base
In seat.
Further, the invention also includes two V-arrangement guide groove rear ends, two V-arrangement guide groove rear ends are symmetrically mounted on crossbeam.
Further, the invention also includes connecting rod, the both ends of connecting rod with connect respectively with right arm and left arm.
Further, the invention also includes two side silicon rubber blocks and two side silicon rubber pedestals, two side silicon
Rubber earring moulding is symmetrically mounted on the two sides of trunk, and a side silicon rubber block is respectively mounted in each silicon rubber pedestal.
Further, the invention also includes trunk front cover, trunk front cover lid is mounted in the positive opening of trunk.
The beneficial effects of the present invention are: height dimension of the present invention is small, compact-sized, and System Nature is fully considered in layout
The symmetry of amount, real system kinetic characteristics and the ideal model goodness of fit are high；Power supply of the invention is located at leg and each section
Electrical connection is avoided from robot interior cabling because route winds the interference to robot motion；It is designed when gripper of the present invention
There is V-arrangement guide groove, when so that robot grabbing horizontal bar in the air, guidance horizontal bar smoothly falls into gripper, and the width of V-arrangement guide groove can be adjusted
Section, enhances the fault-tolerance of gymnastic robot；Horizontal bar devises silicon rubber block buffering after entering V-arrangement guide groove, reduces impact vibration
Dynamic bring damage, extends the gymnastic robot service life, while the height by adjusting silicon rubber block can change inside gripper
The space for keeping for horizontal bar enhances gymnastic robot gripper to the adaptability for grasping horizontal bar speed；The upper limb of gymnastic robot
The rotational angle range of the opposite lower extremities in part is -100 °~100 °, and in lateral layout side silicon rubber pedestal, is matched
Side silicon rubber block is closed, prevents upper limb part and lower extremities from colliding；Installation and debugging of the present invention are easy, position easy to damage is equal
Independent connection, convenient for replacement.
Detailed description of the invention
Fig. 1 is schematic perspective view of the invention；
Fig. 2 is overall structure diagram of the invention.
Specific embodiment
Specific embodiment 1: illustrating present embodiment, a kind of drive lacking body described in present embodiment in conjunction with Fig. 1 and Fig. 2
Robot is grasped, it includes right crus of diaphragm 1, right leg 2, trunk 4, head 7, left leg 11 and left foot 12, and right leg 2 and left leg 11 are set vertically side by side
It sets in the lower section of trunk 4, the upper end of right leg 2 is connect with the lower end of trunk 4, and the lower end of right leg 2 is connect with right crus of diaphragm 1, left leg 11
Upper end is connect with the lower end of trunk 4, and the lower end of left leg 11 is connect with left foot 12；It is characterized by: a kind of drive lacking gymnastics
Robot further includes right arm 5, left arm 9, shoulder joint motor 10 and two gripper components, the lower end of right arm 5 by short axle with
The right shoulder of trunk 4 is rotatablely connected, and shoulder joint motor 10 is fixedly mounted in the left shoulder of trunk 4, the lower end of left arm 9 and shoulder joint
The rotation axis of section motor 10 is fixedly connected, and one gripper component of each installation is distinguished on right arm 5 and left arm 9, head 7
Left side is connect with the front side of right arm 5, and the right side on head 7 is connect with the front side of left arm 9.
Shoulder joint motor 10 is connected by screw in the left shoulder of trunk 4, the rotation axis and left arm of shoulder joint motor 10
99 lower end is fixedly connected, and the rotation axis system of two deep groove ball bearings and short axle composition is mounted in the right shoulder of trunk 4, body
By shafting entirety axial restraint, the outer end of short axle is fixedly connected installation end cap with the lower end of right arm 5 on the outside of dry 4 right shoulder,.
Driver and circuit board are installed in trunk 4, and battery is mounted on inside right leg 2 and left leg 11.
Specific embodiment 2: illustrating present embodiment, a kind of drive lacking body described in present embodiment in conjunction with Fig. 1 and Fig. 2
Behaviour each of the robot gripper component includes gripper 8 and gripper motor 16, gripper motor 16 be fixedly mounted on right arm 5 or
In left arm 9, gripper 8 is fixedly connected with the rotation axis of gripper motor 16.Other compositions and connection relationship and specific embodiment
One is identical.
Specific embodiment 3: illustrating present embodiment, a kind of drive lacking body described in present embodiment in conjunction with Fig. 1 and Fig. 2
Grasping each of the robot gripper component further includes silicon rubber pedestal 13 and silicon rubber block 14, and gripper motor 16 passes through silicon rubber
Pedestal 13 is connect with right arm 5 or left arm 9, and silicon rubber block 14 is fixedly mounted on silicon rubber pedestal 13.
Silicon rubber pedestal 13 is installed in the side of gripper motor 16, and the C-shaped mouth of silicon rubber pedestal 13 is stuck in right arm 5 or left hand
Raised two sides on arm 9, silicon rubber pedestal 13 vertical plane fitting right arm 5 or it is left back compare 9, silicon rubber block 14 is placed on silicon rubber
On matrix seat 13, silicone rubber tube 14, silicon rubber pedestal 13, arm are linked together with bolt.
Other compositions and connection relationship are identical with embodiment two.
Specific embodiment 4: illustrating present embodiment, a kind of drive lacking body described in present embodiment in conjunction with Fig. 1 and Fig. 2
Grasping each of the robot gripper component further includes V-arrangement guide groove front end 6, and V-arrangement guide groove front end 6 is mounted on right arm 5 or left hand
On arm 9.Other compositions and connection relationship are identical with embodiment two.
Specific embodiment 5: illustrating present embodiment, a kind of drive lacking body described in present embodiment in conjunction with Fig. 1 and Fig. 2
Grasping robot further includes acceleration transducer 19, and acceleration transducer 19 is fixedly mounted on head 7.Other compositions and connection are closed
It is same as the specific embodiment one.
Specific embodiment 6: illustrating present embodiment, a kind of drive lacking body described in present embodiment in conjunction with Fig. 1 and Fig. 2
Behaviour robot further includes crossbeam 15, photoelectric sensor 17 and sensor base 18, the both ends of crossbeam 15 respectively with right arm 5 and a left side
The upper end of arm 9 connects, and sensor base 18 is fixedly mounted on the middle part of crossbeam 15, and photoelectric sensor 17 is mounted on sensor base
In seat 18.Other compositions and connection relationship are same as the specific embodiment one.
Specific embodiment 7: illustrating present embodiment, a kind of drive lacking body described in present embodiment in conjunction with Fig. 1 and Fig. 2
Grasping robot further includes two V-arrangement guide groove rear ends 20, and two V-arrangement guide groove rear ends 20 are symmetrically mounted on crossbeam 15.Other compositions
And connection relationship is identical as specific embodiment six.
Specific embodiment 8: illustrating present embodiment, a kind of drive lacking body described in present embodiment in conjunction with Fig. 1 and Fig. 2
Behaviour robot further includes connecting rod 21, the both ends of connecting rod 21 with connect respectively with right arm 5 and left arm 9.It is other composition and
Connection relationship is same as the specific embodiment one.
Specific embodiment 9: illustrate present embodiment in conjunction with Fig. 1 and Fig. 2, kind drive lacking gymnastics described in present embodiment
Robot further includes two side silicon rubber blocks 22 and two side silicon rubber pedestals 23, and two side silicon rubber pedestals 23 are symmetrical
The two sides of trunk 4 are mounted on, a side silicon rubber block 22 is respectively mounted in each silicon rubber pedestal 23.
The left and right sides of trunk 4 is bolted a side silicon rubber pedestal 23 respectively, then by side silicon rubber
Block 22 is put into the groove that trunk 4 and side silicon rubber pedestal 23 are formed, by bolt by trunk 4, side silicon rubber pedestal 23,
Side silicon rubber pedestal 24 links together.
Other compositions and connection relationship are same as the specific embodiment one.
Specific embodiment 10: illustrating present embodiment, a kind of drive lacking body described in present embodiment in conjunction with Fig. 1 and Fig. 2
Behaviour robot further includes trunk front cover 3, and the lid of trunk front cover 3 is mounted in the positive opening of trunk 4.It is other composition and connection relationship with
Specific embodiment one is identical.
Working principle
Gymnastic robot master switch is opened, whole system powers on, and control gripper motor rotation opens robot hand.It will
Robot is held up in the V-arrangement guide groove for falling into robot hand to the horizontal bar of fixed frame, control gripper motor reversion, gripper rotation
It is closed to V-arrangement guide groove front end, thick stick movement is grabbed in robot completion.After the completion of grabbing thick stick, control shoulder joint motor rotation, lower extremities are opened
Begin to move, and couple upper limb part and correspondingly rotated, until movement has been put in robot realization.Robot shoulder joint motor control
Lower extremities processed are rotated according to certain rule, and robot persistently gathers energy, finally realize stable giant single movement.Big
During winding, the rotation of control gripper motor, gripper unclamp when revolute is to suitable angle, and robot is with suitable
Primary power is detached from horizontal bar, overturns in the sky；The rotation of shoulder joint motor is controlled again and adjusts robot aerial statue, falls into horizontal bar
In its hand V-arrangement guide groove, robot hand closure grasps horizontal bar again, completes one group of gymnastic movement.
When gymnastic robot acts, upper limb part and lower extremities are around shoulder joint motor shaft and right shoulder short axle phase
To rotation, uniform force distribution.With the continuous rotation of shoulder joint motor, lower extremities, which have been put, gathers energy, while driving
Limb partial turn cooperates the folding of gripper by controlling the rotation of shoulder joint motor, and completion put, giant single, handstand balance etc.
Gymnastic movement.
The above described is only a preferred embodiment of the present invention, be not intended to limit the present invention in any form, though
So the present invention has been disclosed as a preferred embodiment, and however, it is not intended to limit the invention, any technology people for being familiar with this profession
Member, without departing from the scope of the present invention, when the technology contents using the disclosure above are modified or are modified
For the equivalent embodiment of equivalent variations, but without departing from the technical solutions of the present invention, according to the technical essence of the invention,
Within the spirit and principles in the present invention, any simple modifications, equivalent substitutions and improvements to the above embodiments etc., still
Belong within the protection scope of technical solution of the present invention.
Claims (10)
1. a kind of drive lacking gymnastic robot, it includes right crus of diaphragm (1), right leg (2), trunk (4), head (7), left leg (11) and a left side
Foot (12), right leg (2) and left leg (11) are vertically arranged in the lower section of trunk (4), upper end and trunk (4) of right leg (2) side by side
Lower end connection, the lower end of right leg (2) are connect with right crus of diaphragm (1), and the upper end of left leg (11) is connect with the lower end of trunk (4), left leg
(11) lower end is connect with left foot (12)；It is characterized by: a kind of drive lacking gymnastic robot further include right arm (5),
Left arm (9), shoulder joint motor (10) and two gripper components, the lower end of right arm (5) pass through the right shoulder of short axle and trunk (4)
Rotation connection, shoulder joint motor (10) are fixedly mounted in the left shoulder of trunk (4), the lower end of left arm (9) and shoulder joint motor
(10) rotation axis is fixedly connected, and one gripper component of each installation, head (7) are distinguished on right arm (5) and left arm (9)
Left side connect with the front side of right arm (5), the right side of head (7) is connect with the front side of left arm (9).
2. a kind of drive lacking gymnastic robot according to claim 1, it is characterised in that: each gripper component includes hand
Pawl (8) and gripper motor (16), gripper motor (16) are fixedly mounted in right arm (5) or left arm (9), gripper (8) and hand
The rotation axis of pawl motor (16) is fixedly connected.
3. a kind of drive lacking gymnastic robot according to claim 2, it is characterised in that: each gripper component further includes
Silicon rubber pedestal (13) and silicon rubber block (14), gripper motor (16) pass through silicon rubber pedestal (13) and right arm (5) or left hand
Arm (9) connection, silicon rubber block (14) are fixedly mounted on silicon rubber pedestal (13).
4. a kind of drive lacking gymnastic robot according to claim 2, it is characterised in that: each gripper component further includes
V-arrangement guide groove front end (6), V-arrangement guide groove front end (6) are mounted in right arm (5) or left arm (9).
5. a kind of drive lacking gymnastic robot according to claim 1, it is characterised in that: a kind of drive lacking gymnastics machine
People further includes acceleration transducer (19), and acceleration transducer (19) is fixedly mounted on head (7).
6. a kind of drive lacking gymnastic robot according to claim 1, it is characterised in that: a kind of drive lacking gymnastics machine
People further includes crossbeam (15), photoelectric sensor (17) and sensor base (18), the both ends of crossbeam (15) respectively with right arm (5)
It is connected with the upper end of left arm (9), sensor base (18) is fixedly mounted on the middle part of crossbeam (15), photoelectric sensor (17) peace
In sensor base (18).
7. a kind of drive lacking gymnastic robot according to claim 6, it is characterised in that: a kind of drive lacking gymnastics machine
People further includes two V-arrangement guide groove rear ends (20), and two V-arrangement guide groove rear ends (20) are symmetrically mounted on crossbeam (15).
8. a kind of drive lacking gymnastic robot according to claim 1, it is characterised in that: a kind of drive lacking gymnastics machine
People further includes connecting rod (21), the both ends of connecting rod (21) with connect respectively with right arm (5) and left arm (9).
9. a kind of drive lacking gymnastic robot according to claim 1, it is characterised in that: a kind of drive lacking gymnastics machine
People further includes two side silicon rubber blocks (22) and two side silicon rubber pedestals (23), and two side silicon rubber pedestals (23) are right
Claim the two sides for being mounted on trunk (4), to be respectively mounted a side silicon rubber block (22) in each silicon rubber pedestal (23).
10. a kind of drive lacking gymnastic robot according to claim 1, it is characterised in that: a kind of drive lacking gymnastics machine
Device people further includes trunk front cover (3), and trunk front cover (3) lid is mounted in trunk (4) positive opening.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910514205.4A CN110142781A (en) | 2019-06-10 | 2019-06-10 | A kind of drive lacking gymnastic robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910514205.4A CN110142781A (en) | 2019-06-10 | 2019-06-10 | A kind of drive lacking gymnastic robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN110142781A true CN110142781A (en) | 2019-08-20 |
Family
ID=67591460
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910514205.4A Pending CN110142781A (en) | 2019-06-10 | 2019-06-10 | A kind of drive lacking gymnastic robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110142781A (en) |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB693610A (en) * | 1951-11-17 | 1953-07-01 | George Gerson Lewbel | Improvements in toys |
| CN1868566A (en) * | 2005-05-26 | 2006-11-29 | 中国科学院自动化研究所 | System and method of gymnastic robot |
| JP2008188399A (en) * | 2007-02-06 | 2008-08-21 | Tokio Koga | Horizontal bar robot |
| CN205799541U (en) * | 2016-07-14 | 2016-12-14 | 中国矿业大学徐海学院 | A kind of gymnastic robot based on order self regulation |
-
2019
- 2019-06-10 CN CN201910514205.4A patent/CN110142781A/en active Pending
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB693610A (en) * | 1951-11-17 | 1953-07-01 | George Gerson Lewbel | Improvements in toys |
| CN1868566A (en) * | 2005-05-26 | 2006-11-29 | 中国科学院自动化研究所 | System and method of gymnastic robot |
| JP2008188399A (en) * | 2007-02-06 | 2008-08-21 | Tokio Koga | Horizontal bar robot |
| CN205799541U (en) * | 2016-07-14 | 2016-12-14 | 中国矿业大学徐海学院 | A kind of gymnastic robot based on order self regulation |
Non-Patent Citations (1)
| Title |
|---|
| 王维: "一种欠驱动体操机器人的研制", 《万方学术会议数据库》 * |
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Application publication date: 20190820 |
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