CN111496803A - Tai Ji pushing robot - Google Patents
Tai Ji pushing robot Download PDFInfo
- Publication number
- CN111496803A CN111496803A CN201911305507.7A CN201911305507A CN111496803A CN 111496803 A CN111496803 A CN 111496803A CN 201911305507 A CN201911305507 A CN 201911305507A CN 111496803 A CN111496803 A CN 111496803A
- Authority
- CN
- China
- Prior art keywords
- humanoid
- rotating device
- fuselage
- robot
- rolling device
- 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.)
- Pending
Links
- 210000000707 wrist Anatomy 0.000 claims abstract description 9
- 210000003414 extremity Anatomy 0.000 claims abstract description 4
- 238000005096 rolling process Methods 0.000 claims description 30
- 210000004247 hand Anatomy 0.000 claims description 17
- 210000003141 lower extremity Anatomy 0.000 claims description 11
- 210000001364 upper extremity Anatomy 0.000 claims description 9
- 230000009471 action Effects 0.000 description 7
- 230000000007 visual effect Effects 0.000 description 6
- 230000003993 interaction Effects 0.000 description 5
- 238000012544 monitoring process Methods 0.000 description 4
- 230000000875 corresponding effect Effects 0.000 description 3
- 230000007613 environmental effect Effects 0.000 description 3
- 238000012549 training Methods 0.000 description 3
- 230000002159 abnormal effect Effects 0.000 description 2
- 238000010009 beating Methods 0.000 description 2
- 238000013461 design Methods 0.000 description 2
- 230000033001 locomotion Effects 0.000 description 2
- 230000001681 protective effect Effects 0.000 description 2
- 239000003638 chemical reducing agent Substances 0.000 description 1
- 230000001276 controlling effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 239000007769 metal material Substances 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000008092 positive effect Effects 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 230000003238 somatosensory effect Effects 0.000 description 1
Images
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
Abstract
The invention provides a Taiji pushing robot, which comprises a humanoid body and a control panel positioned at the back of the humanoid body, wherein a plurality of rotating devices are arranged on four limbs of the humanoid body, each rotating device is provided with a steering engine for controlling the rotating angle, a palm is arranged at the end part of an arm of the humanoid body, pressure sensors are respectively arranged on the side surface of the wrist and the palm, the signal output ends of the pressure sensors are connected with the control panel, and the control panel is connected with a control switch of the steering engine. The invention can analyze the environment and the person who exercises with the environment through the pressure sensor and make a proper response; the rotation angle of the steering engine can be automatically adjusted through the thrust of people in the Tai Chi pushing hand, so that the value of output force is controlled, and the intelligent Tai Chi pushing hand is operated.
Description
Technical Field
The invention relates to the technical field of robots, in particular to a Tai Chi pushing manipulator robot.
Background
The whole structure of the humanoid robot is formed by combining four parts, namely a head part, a chest part, arms and legs, wherein each part uses a steering engine to execute corresponding actions such as rotation, swing and the like.
The humanoid robot can only make a designated action through a given signal, does not consider environmental and human factors, is easy to hurt the humanoid robot or other people, cannot meet the requirements of the masses and cannot meet the safety requirements of equipment.
Disclosure of Invention
In order to overcome the defects of the prior art, the invention aims to provide the humanoid taiji pushing robot which can be controlled in a feedback manner and can realize man-machine interaction, is suitable for wider crowds, and has softer action and safer equipment.
The technical scheme of the invention is as follows:
taiji pushing hands robot, including humanoid fuselage and the control panel that is located the fuselage back, the four limbs of humanoid fuselage are equipped with a plurality of rotary device, and rotary device is equipped with control rotation angle's steering wheel, and the arm tip of humanoid fuselage is equipped with the palm, and the side of wrist and palm are equipped with pressure sensor respectively, pressure sensor's signal output part is connected with the control panel, and the control panel is connected with the control switch of steering wheel.
The force feedback information can be timely and accurately fed back and collected through the pressure sensors on the side face and the palm of the robot wrist, and the rotation angle of the steering engine can be adjusted in real time according to the force of a user, so that the output force can be adjusted, calculation and analysis are performed through the control panel, and interaction with the user is completed.
In the aspect of material selection of the Tai Chi pushing robot, a metal material with light weight, good strength and strong toughness is used, so that the Tai Chi pushing robot still has a long service life under a wet or dry condition.
The rotating device comprises a pitching rotating device, a yawing rotating device and a rolling device, wherein a steering shaft of the pitching rotating device is arranged along the X-axis direction, the steering shaft of the yawing rotating device is arranged along the Z-axis direction, the steering shaft of the rolling device is arranged along the Y-axis direction, the X-axis direction is the left horizontal direction and the right horizontal direction, the Z-axis direction is the vertical direction, the Y-axis direction is the front horizontal direction and the back horizontal direction, the upper limb of the humanoid fuselage is sequentially provided with the pitching rotating device, the rolling device, the pitching rotating device, the yawing rotating device and the rolling device from top to bottom, and the lower limb of the humanoid fuselage is sequentially provided with the rolling device, the pitching rotating device and the rolling device from top to bottom.
Three-dimensional motions of the robot can be realized through three different rotating devices. Wherein the upper limb has a mechanical arm structure with four rotational degrees of freedom, which fully embodies the softness of Taiji action. Under the condition that the lower half of the robot is fixed, the robot and a user can do single-hand holding, flower flattening and pushing, round pushing and double-hand pushing with the left hand and the right hand; when the lower half of the body can move forward and backward, the walking and pushing hands of the user can be exercised. The design of the lower limbs of the human-shaped machine body can ensure that the human-shaped machine body still keeps an upright state on an uneven road surface, and can continue to push hands of a user.
The waist of the human-shaped machine body is provided with a pitching rotating device, and the neck of the human-shaped machine body is provided with a rolling device.
The pitching rotating device and the rolling device at the uppermost end of the upper limb of the humanoid fuselage are located at the same horizontal height, the rolling device and the pitching rotating device at the uppermost end of the lower limb of the humanoid fuselage are located at the same horizontal height, and the pitching rotating device and the rolling device at the lowermost end of the lower limb of the humanoid fuselage are located at the same horizontal height.
The steering engine is a direct current rotating motor.
The control board is an STM32 processor.
The Tai Chi pushing robot further comprises a camera arranged on the head, and the data output end of the camera is connected with the control panel.
Wherein the control panel utilizes visual feedback, utilizes the equipment such as the binocular of installing at the head or body to feel, carries out three-dimensional modeling to user's hand and elbow, obtains the spatial data at position, obtains joint rotation angle through robot inverse dynamics model solution, makes the both arms that the both hands of robot can be accurate lean on user's both arms, accomplishes action such as power of exerting oneself and unloads power, adhesion is glutinous, not lose nothing top, introduction sky closes, accomplishes the application of taiji pushing hands robot to the exercise of beating
By adopting the structure, the humanoid robot which can be used for practicing Taiji pushing hands with people comprises: taiji fixed step single push handle, double push handle; moving single push hands and double push hands; the robot can communicate with a user through a language, and can perform Taiji pushing hands and demonstrate teaching, in particular, by a mechanical sensor and a visual environment capture device, the strength of an opponent and environmental parameters can be collected, the robot can complete interaction with a practicer, in addition, the visual capture device also effectively ensures real-time monitoring of the training environment, accidents are prevented, and by arranging a storage battery and a storage battery monitoring circuit, the storage battery can be ensured to supply power to the whole robot more safely, stably and effectively, so that the service performance of the robot is greatly ensured, when the monitored corresponding parameters are abnormal, potential faults exist, a main control unit forcibly stops the robot, the practicer and the robot are prevented from being accidentally injured, and further protective measures are taken.
The pressure sensor is a film resistance strain type mechanical sensor which is stuck on the side surface of the wrist and the palm of the humanoid fuselage.
The invention has the advantages and positive effects that: the invention relates to a humanoid robot capable of mutually training a Taiji pushing hand with a person, which senses the force of a user through a pressure sensor, adjusts the rotating angle of a steering engine shaft according to the force and can also perform the actions of the Taiji pushing hand by self. Has profound significance for improving the physical quality of people and robot teaching.
Drawings
FIG. 1 is a schematic structural diagram of the Tai Chi pushing robot of the present invention
FIG. 2 is an exploded view of the upper limb structure of the Tai Chi pushing robot of the present invention
In the figure:
1. head 2, control panel 3, camera 4, pitching rotation device 5 and yawing rotation device
6. Rolling device 7, palm 8, foot 9 and pressure sensor
Detailed Description
As shown in figures 1 and 2, the Tai Chi pushing robot comprises a humanoid body and a control panel 2 positioned at the back of the humanoid body, wherein a plurality of rotating devices are arranged on four limbs of the humanoid body, each rotating device is provided with a steering engine for controlling a rotating angle, a palm 7 is arranged at the end part of an arm of the humanoid body, pressure sensors 9 are respectively arranged on the side surface of the wrist and the palm 7, the signal output ends of the pressure sensors 9 are connected with the control panel 2, and the control panel 2 is connected with a control switch of the steering engine.
The rotating device comprises a pitching rotating device 4, a yawing rotating device 5 and a rolling device 6, the steering shaft of the pitching rotating device 4 is arranged along the X-axis direction, the steering shaft of the yawing rotating device 5 is arranged along the Z-axis direction, the steering shaft of the rolling device 6 is arranged along the Y-axis direction, the X-axis direction is the left horizontal direction and the right horizontal direction, the Z-axis direction is the vertical direction, the Y-axis direction is the front horizontal direction and the back horizontal direction, the upper limb of the humanoid fuselage is sequentially provided with the pitching rotating device 4, the rolling device 6, the pitching rotating device 4, the yawing rotating device 5 and the rolling device 6 from top to bottom, and the lower limb of the humanoid fuselage is sequentially provided with the rolling device 6, the pitching rotating device 4 and the.
Furthermore, a pitching rotation device 4 is arranged at the waist part of the human-shaped body, and a rolling device 5 is arranged at the neck part of the human-shaped body.
The pitching rotating device 4 and the rolling device 6 at the uppermost end of the upper limb of the humanoid fuselage are positioned at the same horizontal height, the rolling device 6 and the pitching rotating device 4 at the uppermost end of the lower limb of the humanoid fuselage are positioned at the same horizontal height, and the pitching rotating device 6 and the rolling device 4 at the lowermost end of the lower limb of the humanoid fuselage are positioned at the same horizontal height.
The steering engine can be a direct current rotating motor, and further a direct current rotating motor driven by a harmonic reducer.
The Tai Chi pushing robot further comprises a camera 3 arranged at the head 1 part, and the data output end of the camera 3 is connected with the control panel 2.
The control panel 2 utilizes visual feedback, utilizes equipment such as binocular or somatosensory installed on the head to carry out three-dimensional modeling on the hand and the elbow of a user to obtain spatial data of the part, obtains joint rotation angle through solving of a robot inverse dynamics model, enables the two hands of the robot to be capable of accurately leaning on the two arms of the user, completes actions such as force exerting and force unloading, adhesion, no top loss and no top lifting, introduction of falling space and closing and the like, and completes application of the Taiji pushing robot to beating exercise
The pressure sensor 9 is a film resistance strain type mechanical sensor which is stuck on the wrist side surface and the palm 7 of the humanoid fuselage.
The working process of the example is as follows: the force feedback information can be timely and accurately fed back and collected through the pressure sensors 9 on the side face of the robot wrist and the palm 7, and the rotation angle of the steering engine can be adjusted in real time according to the force of a user, so that the output force can be adjusted, calculation and analysis are performed through the control panel 2, and interaction with the user is completed. Three-dimensional motions of the robot can be realized through three different rotating devices. Wherein the upper limb has a mechanical arm structure with four rotational degrees of freedom, which fully embodies the softness of Taiji action. Under the condition that the lower half of the robot is fixed, the robot and a user can do single-hand holding, flower flattening and pushing, round pushing and double-hand pushing with the left hand and the right hand; when the lower half of the body can move forward and backward, the walking and pushing hands of the user can be exercised. The design of the lower limbs of the human-shaped machine body can ensure that the human-shaped machine body still keeps an upright state on an uneven road surface, and can continue to push hands of a user.
The invention relates to a humanoid robot capable of practicing Taiji pushing hands with people, which comprises: taiji fixed step single push handle, double push handle; moving single push hands and double push hands; the robot can communicate with a user through a language, and can perform Taiji pushing hands and demonstrate teaching, in particular, by a mechanical sensor and a visual environment capture device, the strength of an opponent and environmental parameters can be collected, the robot can complete interaction with a practicer, in addition, the visual capture device also effectively ensures real-time monitoring of the training environment, accidents are prevented, and by arranging a storage battery and a storage battery monitoring circuit, the storage battery can be ensured to supply power to the whole robot more safely, stably and effectively, so that the service performance of the robot is greatly ensured, when the monitored corresponding parameters are abnormal, potential faults exist, a main control unit forcibly stops the robot, the practicer and the robot are prevented from being accidentally injured, and further protective measures are taken.
While one embodiment of the present invention has been described in detail, the description is only a preferred embodiment of the present invention and should not be taken as limiting the scope of the invention. All equivalent changes and modifications made within the scope of the present invention shall fall within the scope of the present invention.
Claims (8)
1. Taiji pushing hands robot, its characterized in that: including humanoid fuselage and the control panel that is located the fuselage back, the four limbs of humanoid fuselage are equipped with a plurality of rotary device, and rotary device is equipped with control rotation angle's steering wheel, and the arm tip of humanoid fuselage is equipped with the palm, and the side of wrist and palm are equipped with pressure sensor respectively, pressure sensor's signal output part is connected with the control panel, and the control panel is connected with the control switch of steering wheel.
2. The tai chi pushing hand robot of claim 1, wherein: the rotating device comprises a pitching rotating device, a yawing rotating device and a rolling device, wherein a steering shaft of the pitching rotating device is arranged along the X-axis direction, the steering shaft of the yawing rotating device is arranged along the Z-axis direction, the steering shaft of the rolling device is arranged along the Y-axis direction, the X-axis direction is the left horizontal direction and the right horizontal direction, the Z-axis direction is the vertical direction, the Y-axis direction is the front horizontal direction and the back horizontal direction, the upper limb of the humanoid fuselage is sequentially provided with the pitching rotating device, the rolling device, the pitching rotating device, the yawing rotating device and the rolling device from top to bottom, and the lower limb of the humanoid fuselage is sequentially provided with the rolling device, the pitching rotating device and the rolling device from top to bottom.
3. The tai chi pushing hand robot of claim 2, wherein: the waist of the human-shaped machine body is provided with a pitching rotating device, and the neck of the human-shaped machine body is provided with a rolling device.
4. The tai chi pushing hand robot of claim 3, wherein: the pitching rotating device and the rolling device at the uppermost end of the upper limb of the humanoid fuselage are located at the same horizontal height, the rolling device and the pitching rotating device at the uppermost end of the lower limb of the humanoid fuselage are located at the same horizontal height, and the pitching rotating device and the rolling device at the lowermost end of the lower limb of the humanoid fuselage are located at the same horizontal height.
5. The tai chi pushing hand robot of claim 4, wherein: the steering engine is a direct current rotating motor.
6. The tai chi pushing hand robot of claim 5, wherein: the control board is an STM32 processor.
7. The tai chi pushing hand robot of claim 8, wherein: the Tai Chi pushing robot further comprises a camera arranged on the head, and the data output end of the camera is connected with the control panel.
8. The tai chi pushing hand robot of claim 7, wherein: the pressure sensor is a film resistance strain type mechanical sensor which is stuck on the side surface of the wrist and the palm of the humanoid fuselage.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911305507.7A CN111496803A (en) | 2019-12-16 | 2019-12-16 | Tai Ji pushing robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911305507.7A CN111496803A (en) | 2019-12-16 | 2019-12-16 | Tai Ji pushing robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN111496803A true CN111496803A (en) | 2020-08-07 |
Family
ID=71874074
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201911305507.7A Pending CN111496803A (en) | 2019-12-16 | 2019-12-16 | Tai Ji pushing robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN111496803A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114347057A (en) * | 2022-01-10 | 2022-04-15 | 钛虎机器人科技(上海)有限公司 | Anthropomorphic robot |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1633348A (en) * | 2002-02-18 | 2005-06-29 | 独立行政法人科学技术振兴机构 | Two-leg walking humanoid robot |
| CN102431604A (en) * | 2011-11-09 | 2012-05-02 | 上海交通大学 | Humanoid robot with function of interchanging double-foot walking with wheeled moving |
| CN104071250A (en) * | 2014-07-10 | 2014-10-01 | 武汉大学 | Modular ten-freedom-degree biped walking robot |
| CN107953331A (en) * | 2017-10-17 | 2018-04-24 | 华南理工大学 | A kind of human body attitude mapping method applied to anthropomorphic robot action imitation |
| CN108621164A (en) * | 2018-05-10 | 2018-10-09 | 山东大学 | Taiji push hands machine people based on depth camera |
-
2019
- 2019-12-16 CN CN201911305507.7A patent/CN111496803A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1633348A (en) * | 2002-02-18 | 2005-06-29 | 独立行政法人科学技术振兴机构 | Two-leg walking humanoid robot |
| CN102431604A (en) * | 2011-11-09 | 2012-05-02 | 上海交通大学 | Humanoid robot with function of interchanging double-foot walking with wheeled moving |
| CN104071250A (en) * | 2014-07-10 | 2014-10-01 | 武汉大学 | Modular ten-freedom-degree biped walking robot |
| CN107953331A (en) * | 2017-10-17 | 2018-04-24 | 华南理工大学 | A kind of human body attitude mapping method applied to anthropomorphic robot action imitation |
| CN108621164A (en) * | 2018-05-10 | 2018-10-09 | 山东大学 | Taiji push hands machine people based on depth camera |
Non-Patent Citations (2)
| Title |
|---|
| 曹蕾: ""太极推手机械臂设计与动作实现"", 《中国优秀硕士学位论文全文数据库 信息科技辑》 * |
| 李启鹏: "（"太极推手机器人控制系统的设计与视觉平台的搭建"", 《中国优秀硕士学位论文全文数据库 信息科技辑》 * |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114347057A (en) * | 2022-01-10 | 2022-04-15 | 钛虎机器人科技(上海)有限公司 | Anthropomorphic robot |
| CN114347057B (en) * | 2022-01-10 | 2024-01-30 | 钛虎机器人科技(上海)有限公司 | Humanoid robot |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| WO2021243918A1 (en) | Upper-limb function evaluation apparatus and method, and upper-limb rehabilitation training system and method | |
| CN108187310B (en) | Feel that the limb motion of information and posture information is intended to understand and upper-limbs rehabilitation training robot and its control method based on power | |
| US10299979B2 (en) | Upper limbs rehabilitating, monitoring and/or evaluating interactive device | |
| CN104306137B (en) | A kind of shipment at the wearable type lower limb power-assisting robot pulling in case | |
| CN107050763B (en) | Novel ankle joint rehabilitation robot and control method thereof | |
| CN111067760B (en) | Upper limb rehabilitation training robot based on omnidirectional mobile platform | |
| CN108814894A (en) | The upper limb rehabilitation robot system and application method of view-based access control model human body pose detection | |
| CN109529274B (en) | Upper limb joint active rehabilitation system based on redundant mechanical arm and training method thereof | |
| CN107376294A (en) | A kind of robot for being used for physical education and training | |
| CN105640733A (en) | Upper limb rehabilitation robot and control method thereof | |
| CN111496803A (en) | Tai Ji pushing robot | |
| CN206597136U (en) | A kind of gait rehabilitation robot for realizing walking foot pose | |
| CN109801709B (en) | Hand posture capturing and health state sensing system for virtual environment | |
| CN104546379B (en) | Limb rehabilitation training machine | |
| CN110237499A (en) | A kind of human body lower limbs universal movement device and its control method | |
| Assad-Uz-Zaman et al. | Upper-extremity rehabilitation with NAO robot | |
| CN212421309U (en) | Remote control device of foot type robot | |
| CN204748648U (en) | Multi freedom robot | |
| Wang et al. | A new bionic structure of inspection robot for high voltage transmission line | |
| CN108189058B (en) | Robot with intelligent mechanical arm | |
| CN106426269A (en) | Waist structure for humanoid robot and control method | |
| CN208864738U (en) | A kind of upper limb rehabilitation robot system of view-based access control model human body pose detection | |
| CN208492610U (en) | A kind of upper limb training mechanical arm, upper limb image training robot | |
| Sun et al. | Development of dual-arm lower limb rehabilitation robot for hemiplegic patients | |
| CN206263988U (en) | A kind of waist structure for anthropomorphic robot |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20200807 |