CN110524561A - A kind of Multifunctional apery multi-foot robot - Google Patents
A kind of Multifunctional apery multi-foot robot Download PDFInfo
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- CN110524561A CN110524561A CN201910922530.4A CN201910922530A CN110524561A CN 110524561 A CN110524561 A CN 110524561A CN 201910922530 A CN201910922530 A CN 201910922530A CN 110524561 A CN110524561 A CN 110524561A
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- apery
- multifunctional
- machinery
- foot
- foot robot
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- 235000001968 nicotinic acid Nutrition 0.000 claims abstract description 38
- 239000000203 mixture Substances 0.000 claims abstract description 3
- 230000007246 mechanism Effects 0.000 claims description 9
- 230000036651 mood Effects 0.000 claims description 9
- VYPSYNLAJGMNEJ-UHFFFAOYSA-N Silicium dioxide Chemical compound O=[Si]=O VYPSYNLAJGMNEJ-UHFFFAOYSA-N 0.000 claims description 4
- 230000003993 interaction Effects 0.000 claims description 4
- 239000011664 nicotinic acid Substances 0.000 claims description 4
- 239000000741 silica gel Substances 0.000 claims description 4
- 229910002027 silica gel Inorganic materials 0.000 claims description 4
- 238000013016 damping Methods 0.000 claims description 2
- 230000009194 climbing Effects 0.000 abstract description 5
- 230000005484 gravity Effects 0.000 abstract description 4
- 230000006870 function Effects 0.000 description 7
- 238000010586 diagram Methods 0.000 description 5
- 241000592274 Polypodium vulgare Species 0.000 description 4
- 230000000694 effects Effects 0.000 description 4
- 230000004048 modification Effects 0.000 description 4
- 238000012986 modification Methods 0.000 description 4
- 238000011161 development Methods 0.000 description 3
- 230000003068 static effect Effects 0.000 description 3
- 230000009471 action Effects 0.000 description 2
- 238000013461 design Methods 0.000 description 2
- 230000002452 interceptive effect Effects 0.000 description 2
- 238000004088 simulation Methods 0.000 description 2
- 238000012876 topography Methods 0.000 description 2
- 241001455214 Acinonyx jubatus Species 0.000 description 1
- 241000283073 Equus caballus Species 0.000 description 1
- 241000239226 Scorpiones Species 0.000 description 1
- 230000004888 barrier function Effects 0.000 description 1
- 230000006399 behavior Effects 0.000 description 1
- 238000005452 bending Methods 0.000 description 1
- 230000008901 benefit Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000002708 enhancing effect Effects 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
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- 230000013632 homeostatic process Effects 0.000 description 1
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- 230000008092 positive effect Effects 0.000 description 1
- 230000001953 sensory effect Effects 0.000 description 1
Classifications
-
- 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
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/032—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members with alternately or sequentially lifted supporting base and legs; with alternately or sequentially lifted feet or skid
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Robotics (AREA)
- Manipulator (AREA)
- Toys (AREA)
- Prostheses (AREA)
Abstract
A kind of Multifunctional apery multi-foot robot, including at least four multi-joints or multivariant Form of Bionics Mechanical Legs, at least four Form of Bionics Mechanical Legs are connect with the bottom of anthropomorphic robot trunk or periphery；Or, at least four Form of Bionics Mechanical Legs after connector composition multi-foot robot platform with the anthropomorphic robot trunk by connecting.The present invention can greatly improve traditional anthropomorphic robot to the adaptability of complicated landform and climbing ability to run；The loading weight bearing ability of robot can be greatly improved, can simplify and solve the problems, such as anthropomorphic robot structure is complicated and gravity center shift needs a large amount of servos adjustment to control；It is more multi-field to be applicable to security, defence, service, amusement, performance, exchange etc., a machine can meet a variety of demands of people.
Description
Technical field
The present invention relates to bio-robot technical fields, and in particular to a kind of Multifunctional apery multi-foot robot.
Background technique
Anthropomorphic robot is a kind of shape with people, and efficiency apery body portion physical function, sensory perceptual system and social activity
The robot of ability, it can complete certain particular jobs as the mankind, make that people recognize it and acceptance is stronger.
In recent years, with the raising of scientific and technological level, countries in the world have put into huge energy for the development of anthropomorphic robot,
Anthropomorphic robot has obtained huge development, and the function that can be realized is more and more, and the ability for adapting to environment is also increasingly stronger；But
Anthropomorphic robot is as biped robot, and there are the functions that many restrictions are even difficult to realize: first, needing strict control center of gravity position
It sets to realize that its own static stability, dynamic stability and balance need to lean on mechanical structure centre of gravity adjustment and servo control algorithm
It is adjusted, causes the design of its structure and servo algorithm extremely complex, poor to complicated landform adaptability；Second, removing
Transporting weight aspect, there are larger limitations, only adapt to light matter body and carry, may make whole center of gravity substantially when heavy objects is carried
Variation is unable to maintain that homeostasis；Third, practicability extending space is larger by restricting, although with the achievable function of scientific and technological progress
Can be more and more, but mostly based on service, amusement, exchange etc., it can not substantially extend to different field；Fourth, flexibility limits
Larger, biped and freedom degree is less is made, the flexibility of anthropomorphic robot is limited；Fifth, the gradient is different or rugged topography row
It walks or runs or climb aspect to have difficulties, only pole adjusts at least partially through Attitude Algorithm and realizes single or part function at present
Energy.
Myriopod in nature, such as horse, cheetah, scorpion, ant are minimum in the restriction in face of landform, speed
Or load-bearing and stability are very superior.The self stability of bionical multi-foot robot, bearing, functionality, performance property side
There is the unrivaled supremacy clause of biped robot in face.
Currently, thering is a large amount of scientific worker to study in terms of anthropomorphic robot and multi-foot robot and producing more
Achievement, but in terms of anthropomorphic robot or multi-foot robot not yet discovery can greatly improve the scope of application Multifunctional apery it is more
Biped robot.
Summary of the invention
The technical problem to be solved by the present invention is to overcome the deficiencies of the prior art and provide one kind and possess that higher itself is quiet
State and dynamic stability, can be improved load-bearing capacity and carrying heavy goods, the walking of complicated landform environment can be well adapted to, run and
Climbing can be big mobile or attack form and have stronger deterrent force, have compared with strong affinity standing state is consistent with true man
Width extends the scope of application, can preferably be suitable for security, defence, service, amusement, performance, the Multifunctional apery polypody for exchanging field
Robot.
The technical solution used to solve the technical problems of the present invention is that a kind of Multifunctional apery multi-foot robot, including it is imitative
Man-machine tool neck, Apery manipulator arm, apery machinery trunk and Form of Bionics Mechanical Legs, the Form of Bionics Mechanical Legs be multi-joint or mostly from
By the Form of Bionics Mechanical Legs spent, quantity >=4 of the Form of Bionics Mechanical Legs, the bottom of the Form of Bionics Mechanical Legs and apery machinery trunk
Or periphery connection；Or, the Form of Bionics Mechanical Legs by connector constitute multi-foot robot platform after with the apery machinery trunk
Connection.The a plurality of Form of Bionics Mechanical Legs of apery multi-foot robot can not only increase substantially self stability, and also available redundancy is bionical
Pedipulator is as attack, defensive weapon and/or crawl, placement actuator.
Further, the Form of Bionics Mechanical Legs is the sufficient formula pedipulator of three to six joints or freedom degree；The bionic mechanical
Leg includes resilient cushioning element and/or elasticity foot and/or damping foot and/or hook pawl foot.
Further, the Form of Bionics Mechanical Legs is equipped with control mechanism and power supply mechanism with autonomous dynamic.
Further, the Form of Bionics Mechanical Legs partly or entirely uses flexible mechanical leg or flexible mechanical pneumatically or hydraulically
Arm.
Further, the multi-foot robot platform or Form of Bionics Mechanical Legs are fixed on the waist or hip of apery machinery trunk.
Further, the apery machinery trunk by column is aided with skeleton and positioned at the artificial silica gel skin structure on skeleton surface
At, or using the apery trunk containing the multivariant elasticity of multi-joint and/or flexibility waist and hip；The apery is mechanical
Arm is using four to the apery mechanical arm of seven freedom and multivariant Apery manipulator or Dextrous Hand.
Further, control device, driving device and power supply unit are additionally provided with, the control device and driving device and power supply
Device is set in the apery machinery trunk.
Further, the apery machinery neck is additionally provided with laser aid and/or changeable in mood color lamp, and the laser aid is located at
In apery machinery neck, the laser beam of controlled emissions is located at apery machinery neck eye center, and the changeable in mood color lamp is located at imitative
The face of man-machine tool neck and surrounding are controlled and are driven by control device and driving device.
Further, voice interaction device and/or ultrasonic unit are additionally provided at the mouth of the apery machinery neck；It is described
It is equipped with pickup system at the ear of apery machinery neck, distinguishes direction and the size of sound source.
Further, it is additionally provided with identification device and/or navigation obstacle avoidance apparatus, the identification device and navigation obstacle avoidance apparatus are set to
In the apery machinery neck or apery machinery trunk.
The course of work:
This Multifunctional apery multi-foot robot controls anthropomorphic robot by the control being arranged in bionic mechanical trunk and driving device
Neck, arm and trunk, realization blink, mouth occlusion, rotary head, nod, facial expression, arm and manipulator behavior, bending over, waist
Or hip rotation, leg collapse and attention and open walking, run, dancing, the mechanical actions function such as climbing, while can also pass through language
Sound interactive device and people's communication exchange, and mood, enhancing amusement and table are expressed to people by changeable in mood color lamp and mechanical action etc.
Drill interest；Environmental information and personal information are acquired by identification device, be specific people service or be specific region
Do the work such as security, defence；By navigating, obstacle avoidance apparatus acquires current context information data in real time, and plans road by control device
Line simultaneously adjusts driving device in real time, completes autonomous and barrier avoiding function；Utilize itself static and dynamic instabilities and load of its polypody
Principal characteristic energy stronger can adapt to the leap and climbing of complicated rugged topography and the better simply ground for realizing that the gradient is different.
Multifunctional apery multi-foot robot is under mobile or attack form, and people face polypody gives stronger deterrent force, while it is more
Weapon use, security preferably, defence task can be also served as completely；In robot midstance, Form of Bionics Mechanical Legs is collapsed and is worn
Clothes be no different with true man, form human simulation effect, affinity is high, and it is close and receive to be easy to people.
The present invention has the positive effect that:
(1) self stability is high, greatly increases itself static state and dynamic stability using multiple pedipulators, can greatly improve
Adaptability and climbing ability to run of traditional anthropomorphic robot to complicated landform；
(2) the loading weight bearing ability of robot can be greatly improved, can simplify solve anthropomorphic robot design it is complicated and again
Heart variation needs the problem of a large amount of servo adjustment controls.
(3) its movement and attack form have stronger deterrent force, more meet security, the demand of defence；Its polypody causes it
Flexibility greatly enhances, amusement, in terms of, have better appreciative value；Its standing state can form human simulation effect
And can interactive voice, can preferably serve the people and exchange, make the great affinity of robot.
(4) apery multi-foot robot can significantly expand anthropomorphic robot function and usage, be applicable to security, defence, clothes
Business, amusement, performance, exchange etc. are more multi-field, and a machine can meet a variety of demands of people, have considerable development prospect and effect
Benefit.
Detailed description of the invention
Fig. 1 is the general structure schematic diagram of the embodiment of the present invention 1；
Fig. 2 is the overall side structure schematic view of the embodiment of the present invention 1；
Fig. 3 is the general internal structure simplified schematic diagram of the embodiment of the present invention 1；
Fig. 4 is top view of the bio-robot platform in standing state of the embodiment of the present invention 1；
Fig. 5 is the general structure schematic diagram of the embodiment of the present invention 2；
Fig. 6 is the general structure schematic diagram of the embodiment of the present invention 3；
Fig. 7 is the Form of Bionics Mechanical Legs and waist connection schematic diagram of the embodiment of the present invention 3.
In figure, 1- apery machinery neck, 101- laser aid, the changeable in mood color lamp of 102-, 103- voice interaction device, 104-
Pickup system, 2- Apery manipulator arm, 201- apery mechanical arm, 202- Dextrous Hand, 3- apery machinery trunk, 301- column,
302- skeleton, the artificial silica gel skin of 303-, 4- Form of Bionics Mechanical Legs, 401- resilient cushioning element, 402- elasticity foot, 403- hook pawl
Foot, 404- control mechanism, 405 power supply mechanisms, 5- multi-foot robot platform, 601- control device, 602- driving device, 603- electricity
Source device, 7- identification device, 8- navigation obstacle avoidance apparatus.
Specific embodiment
Invention is further described in detail with reference to the accompanying drawings and examples.
Embodiment 1
Referring to figs. 1 to Fig. 4, this implementation includes apery machinery neck 1, Apery manipulator arm 2, apery machinery trunk 3 and bionical machine
Tool leg 4, Form of Bionics Mechanical Legs 4 are the Form of Bionics Mechanical Legs 4 of five degree of freedom, and the quantity of Form of Bionics Mechanical Legs 4 is eight, Form of Bionics Mechanical Legs 4
By being connect after connector composition multi-foot robot platform 5 with the apery machinery trunk 3.
Form of Bionics Mechanical Legs 4 is the sufficient formula pedipulator in five joints；Form of Bionics Mechanical Legs 4 includes resilient cushioning element 401, elasticity
Foot 402 and hook pawl foot 403.
Multi-foot robot platform 5 is fixed on the hip of apery machinery trunk 3.
Apery machinery trunk 3 by column 301 is aided with skeleton 302 and positioned at artificial 303 structure of silica gel skin on 302 surface of skeleton
At Apery manipulator arm 2 is using the apery mechanical arm 201 of four-degree-of-freedom and the Dextrous Hand 202 of nine-degree of freedom.
This implementation is additionally provided with control device 601, driving device 602 and power supply unit 603, control device 601 and driving dress
Set 602 and power supply unit 603 be set to the apery machinery trunk 3 in.
Apery machinery neck 1 is additionally provided with laser aid 101 and changeable in mood color lamp 102, and the laser aid 101 is located at apery
In mechanical neck 1, the laser beam of controlled emissions is located at 1 eye center of apery machinery neck, and the changeable in mood color lamp 102 is located at imitative
The face of man-machine tool neck 1 and surrounding are controlled and are driven by control device 601 and driving device 602.
Voice interaction device 103 is additionally provided at the mouth of apery machinery neck 1；At the ear of the apery machinery neck 1
Equipped with pickup system 104, direction and the size of sound source are distinguished.
This implementation is additionally provided with identification device 7 and navigation obstacle avoidance apparatus 8, and the identification device 7 and navigation obstacle avoidance apparatus 8 are set to
In the apery machinery neck 1.
Embodiment 2
Referring to Fig. 5, the present embodiment and the main distinction of embodiment 1 are, the present embodiment uses the bionical machine of four five degree of freedom
Tool leg 4, Form of Bionics Mechanical Legs 4 are connect with the bottom of apery machinery trunk 3, constitute apery quadruped robot；The Form of Bionics Mechanical Legs 4
Control mechanism 404 and power supply mechanism 405 equipped with autonomous dynamic, the control mechanism 404 are controlled by control device 601；This reality
It applies example and does not set multi-foot robot platform, directly connect with Form of Bionics Mechanical Legs 4 with apery machinery trunk 3；Apery described in the present embodiment
Machine trunk 3 is using the flexible apery machinery trunk containing flexible waist, it can be achieved that human body bends over or bends over.
Embodiment 3
Referring to Fig. 6 and Fig. 7, the present embodiment and the main distinction of embodiment 1 are, the present embodiment uses the imitative of six five degree of freedom
Raw pedipulator 4, Form of Bionics Mechanical Legs 4 are connect with the waist perimeter of apery machinery trunk 3, and it is flat that the present embodiment does not set multi-foot robot
Platform directly connects and composes apery multi-foot robot with Form of Bionics Mechanical Legs 4 and 3 waist of apery machinery trunk.
Embodiment 4
The main distinction of this example and embodiment 1 is that the Form of Bionics Mechanical Legs 4 of the present embodiment uses the flexible mechanical of liquid driven
Leg, the Form of Bionics Mechanical Legs 4 of the present embodiment are directly connect with 3 waist of apery machinery trunk, do not set multi-foot robot platform.
Those skilled in the art can carry out various modifications to the embodiment of the present invention and modification, if these modifications and change
For type within the scope of the claims in the present invention and its equivalent technologies, then these modifications and variations are also still in the guarantor of the invention patent
Within the scope of shield.
The prior art that the content being not described in detail in specification is known to the skilled person.
Claims (10)
1. a kind of Multifunctional apery multi-foot robot, including apery machinery neck, Apery manipulator arm, apery machinery trunk and imitative
Raw pedipulator, the Form of Bionics Mechanical Legs are multi-joint or multivariant Form of Bionics Mechanical Legs, which is characterized in that the bionic mechanical
Quantity >=4 of leg, the Form of Bionics Mechanical Legs are connect with the bottom of apery machinery trunk or periphery；Or, the Form of Bionics Mechanical Legs
By being connect after connector composition multi-foot robot platform with the apery machinery trunk.
2. Multifunctional apery multi-foot robot according to claim 1, it is characterised in that: the Form of Bionics Mechanical Legs be three to
The sufficient formula pedipulator of six joints or freedom degree；The Form of Bionics Mechanical Legs include resilient cushioning element and/or elasticity foot, and/or
Damping foot and/or hook pawl foot.
3. Multifunctional apery multi-foot robot according to claim 1, the Form of Bionics Mechanical Legs is equipped with autonomous dynamic
Control mechanism and power supply mechanism.
4. Multifunctional apery multi-foot robot according to claim 1, it is characterised in that: the bionic mechanical leg section or
All using flexible mechanical leg or flexible mechanical arm pneumatically or hydraulically.
5. Multifunctional apery multi-foot robot described in one of -4 according to claim 1, it is characterised in that: the multi-foot robot
Platform or Form of Bionics Mechanical Legs are fixed on the waist or hip of apery machinery trunk.
6. Multifunctional apery multi-foot robot described in one of -4 according to claim 1, it is characterised in that: the apery machinery body
It is dry skeleton to be aided with by column and artificial silica gel skin positioned at skeleton surface is constituted, or using containing the multivariant bullet of multi-joint
The apery trunk of property and/or flexibility waist and hip；The Apery manipulator arm is mechanical using four to seven freedom apery
Arm and multivariant Apery manipulator or Dextrous Hand.
7. Multifunctional apery multi-foot robot described in one of -4 according to claim 1, it is characterised in that: be additionally provided with control dress
It sets, driving device and power supply unit, the control device and driving device and power supply unit are set in the apery machinery trunk.
8. Multifunctional apery multi-foot robot described in one of -4 according to claim 1, it is characterised in that: the apery machinery head
Neck is additionally provided with laser aid and/or changeable in mood color lamp, and the laser aid is located in apery machinery neck, the laser of controlled emissions
Beam is located at apery machinery neck eye center, and the changeable in mood color lamp is located at face and the surrounding of apery machinery neck.
9. Multifunctional apery multi-foot robot described in one of -4 according to claim 1, it is characterised in that: the apery machinery head
Voice interaction device and/or ultrasonic unit are additionally provided at the mouth of neck；Pickup is equipped at the ear of the apery machinery neck
System distinguishes direction and the size of sound source.
10. Multifunctional apery multi-foot robot described in one of -4 according to claim 1, it is characterised in that: be additionally provided with identification dress
Obstacle avoidance apparatus, the identification device and navigation obstacle avoidance apparatus are set and/or navigated set on the apery machinery neck or apery machinery
In trunk.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910922530.4A CN110524561B (en) | 2019-09-27 | 2019-09-27 | Multifunctional humanoid multi-foot robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910922530.4A CN110524561B (en) | 2019-09-27 | 2019-09-27 | Multifunctional humanoid multi-foot robot |
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| Publication Number | Publication Date |
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| CN110524561A true CN110524561A (en) | 2019-12-03 |
| CN110524561B CN110524561B (en) | 2024-03-26 |
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| US20110067521A1 (en) * | 2009-09-22 | 2011-03-24 | Gm Global Technology Operations, Inc. | Humanoid robot |
| DE102010045701B3 (en) * | 2010-09-16 | 2012-01-05 | Gabor Andrä | High dynamic humanoid robot for playing e.g. electronic drum set, in music group, has skeleton including head and neck, where neck and head of robot are moved in pattern according to striking pattern of drum set |
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| Publication number | Publication date |
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| CN110524561B (en) | 2024-03-26 |
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