CN111590545B - Robot body structure and form conversion method thereof - Google Patents
Robot body structure and form conversion method thereof Download PDFInfo
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- CN111590545B CN111590545B CN202010414454.9A CN202010414454A CN111590545B CN 111590545 B CN111590545 B CN 111590545B CN 202010414454 A CN202010414454 A CN 202010414454A CN 111590545 B CN111590545 B CN 111590545B
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- 238000000034 method Methods 0.000 title claims abstract description 15
- 238000006243 chemical reaction Methods 0.000 title claims description 12
- 210000003141 lower extremity Anatomy 0.000 claims abstract description 15
- 210000001364 upper extremity Anatomy 0.000 claims abstract description 15
- 230000009466 transformation Effects 0.000 claims abstract description 6
- 230000000712 assembly Effects 0.000 claims description 47
- 238000000429 assembly Methods 0.000 claims description 47
- 238000009434 installation Methods 0.000 claims description 30
- 238000012423 maintenance Methods 0.000 claims description 12
- 230000017525 heat dissipation Effects 0.000 claims description 6
- 230000001131 transforming effect Effects 0.000 claims description 6
- 210000000078 claw Anatomy 0.000 claims description 5
- 239000000523 sample Substances 0.000 claims description 5
- 238000004891 communication Methods 0.000 claims description 3
- 230000006740 morphological transformation Effects 0.000 claims description 3
- 230000009193 crawling Effects 0.000 description 6
- 241000282414 Homo sapiens Species 0.000 description 2
- 210000003414 extremity Anatomy 0.000 description 2
- 241000270666 Testudines Species 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 230000008092 positive effect Effects 0.000 description 1
- 230000005855 radiation Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 230000000007 visual effect Effects 0.000 description 1
Classifications
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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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
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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
- B25J9/0009—Constructional details, e.g. manipulator supports, bases
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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
- B25J9/16—Programme controls
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1679—Programme controls characterised by the tasks executed
- B25J9/1689—Teleoperation
Abstract
The invention discloses a robot body structure, comprising: the device comprises a head component, a body component, two upper limb components and two lower limb components, wherein the head component is arranged at the upper end of the body component, the two upper limb components are respectively arranged at two sides of the upper part of the body component, and the two lower limb components are respectively arranged at two sides of the lower part of the body component; wherein the body assembly comprises: the body main body, the shell-shaped shield, the first mounting module and the two second mounting modules. By applying the method, the stability of the robot body structure is further improved, so that the robot body structure can be subjected to stable state transformation.
Description
Technical Field
The invention relates to the technical field of robots, in particular to a robot body structure and a form conversion method thereof.
Background
Robots are programmable and multi-functional manipulators for handling materials, parts, tools, or specialized systems having changeable and programmable actions for performing different tasks. With the continuous development of technology and expansion of application fields, intelligent robots are expected to serve human beings in more fields, and replace human beings to complete more complicated work.
In the prior art, scientific researchers often develop and upgrade each mechanical arm of a robot, and the operability and flexibility of the robot are improved by additionally arranging a transmission shaft structure, but a robot body structure capable of enabling the robot to be stably switched between a standing posture and a crawling posture according to the requirements of users still exists
Disclosure of Invention
In view of the above, the present invention is to provide a robot body structure and a method for transforming a shape thereof, which can further improve the stability of the robot in the process of transforming the shape, in order to solve the problem that the robot can not well perform standing and crawling posture transformation.
The specific technical scheme is as follows:
a robotic body structure comprising: the device comprises a head component, a body component, two upper limb components and two lower limb components, wherein the head component is arranged at the upper end of the body component, the two upper limb components are respectively arranged at two sides of the upper part of the body component, and the two lower limb components are respectively arranged at two sides of the lower part of the body component;
wherein the body assembly comprises: the body main part, shell-shaped shield, first installation module and two second installation modules, the body main part is hollow structure, install robot control unit in the body main part, first installation module install in the lower extreme of body main part, first installation module is the triangular prism structure, first installation module's upper end with the lower extreme fixed connection of body main part, just a side of first installation module with a side parallel arrangement of body main part, one is installed respectively to other both sides face of first installation module low limbs subassembly, shell-shaped shield detachably install in one side of body main part, the middle part of shell-shaped shield is to keeping away from one side arch setting of body main part, the upper end of shell-shaped shield cover in the upper end of one side of body main part, the lower extreme cover of shell-shaped shield in the lower extreme of one side of body main part, two second installation module is fixed to be located the body main part is close to the both sides of shell-shaped shield, every second installation module is vertical direction in the side of body main part, every second installation module is the side face of every side, every side installation module is equipped with another side face of second installation module.
In another preferred embodiment, the head assembly comprises: the device comprises a mounting seat, a supporting rotating piece, a vision component and a head main body, wherein the lower end of the mounting seat is fixedly arranged at the upper end of the body main body, the upper end of the mounting seat is arc-shaped, a rotating groove is formed in the lower portion of one end of the supporting rotating piece, the rotating groove is matched with the upper end of the mounting seat, one end of the supporting rotating piece is rotatably arranged at the upper end of the mounting seat, a rotating shaft is arranged at the upper portion of the other end of the supporting rotating piece, the head main body is rotatably arranged at the other end of the supporting rotating piece through the rotating shaft, and the vision component is arranged at one side of the head main body.
In another preferred embodiment, the head assembly further comprises: and the probe device is arranged on the upper surface of the head main body.
In another preferred embodiment, both of the upper limb assemblies comprise: the mechanical upper arm, the first track assembly and the three-finger mechanical claw, one end of the mechanical upper arm is installed on one second installation module, the other end of the mechanical upper arm is installed on one side of the middle part of the first track assembly, and the three-finger mechanical claw is installed on one end, far away from the mechanical upper arm, of the first track assembly.
In another preferred embodiment, both of the lower limb assemblies comprise: the mechanical lower arm, second track subassembly and fender, the upper end of mechanical lower arm install in on the first installation module, the second track subassembly sets up along the horizontal direction, the mechanical lower arm install in the upper end at the middle part of second track subassembly, the fender is located the one end of second track subassembly.
In another preferred embodiment, a first groove is formed in the lower end of the shell-shaped shield, a first guard board is arranged on the first groove in an openable mode, a power supply connecting component is arranged in the first groove, and the power supply connecting component is connected with an external power supply through a cable.
In another preferred embodiment, a second groove is formed in the upper end of the shell-shaped shield, a second guard plate is arranged on the second groove in an openable mode, and an emergency control switch is arranged in the second groove.
In another preferred embodiment, the lower ends of the two second installation modules are respectively provided with a heat dissipation opening, and the heat dissipation openings are communicated with the inside of the body main body.
In another preferred embodiment, a maintenance window is formed in the surface of the other side of the body opposite to the shell-shaped shield, the maintenance window is communicated with the inside of the body, a third guard board is arranged on the maintenance window in an openable mode, a password input assembly is arranged on the outer side of the third guard board, a password lock core is arranged on the inner side of the third guard board, a password lock seat is arranged on the inner side of the maintenance window, and the password lock core is matched with the password lock seat.
A method for transforming a shape of a robot body structure, comprising any one of the above-mentioned robot body structures, further comprising: the robot body structure comprises a control platform, two first speed sensors, two second speed sensors, a gyroscope sensor and two infrared distance measuring sensors, wherein the two first speed sensors are respectively arranged in the two first crawler assemblies, the two first speed sensors are respectively used for detecting the running speeds of the two first crawler assemblies, the two second speed sensors are respectively arranged in the two second crawler assemblies, the two second speed sensors are respectively used for detecting the speeds of the two second crawler assemblies, the two infrared distance measuring sensors are respectively arranged on one sides of the two first crawler assemblies, the distance measuring direction of each infrared distance measuring sensor is in the setting direction of one crawler assembly, the gyroscope sensor is arranged in the body main body, and the two first speed sensors, the two second speed sensors, one gyroscope sensor and the two infrared distance measuring sensors are all in communication connection with the robot control unit;
the morphology conversion method comprises the following steps:
step S1: the control personnel initially set the operation parameters of the robot body structure, store the operation parameters in the robot control unit and start the robot body structure;
step S2: the robot control unit continuously detects whether the above-mentioned robot body structure is in a stationary state through the gyro sensor,
if yes, enter step S3;
if not, entering step S4;
step S3, the control platform displays 'can perform morphological transformation';
step S4, the control platform displays 'can not perform form conversion', and returns to the step S2;
s5, a control person sends a form transformation instruction through the control platform;
step S6, the robot control unit controls the two mechanical lower arms to bend, and simultaneously controls the two mechanical upper arms to enable the two first track assemblies to be in the horizontal direction;
step S7, the robot control unit monitors whether the running speeds v1 of the two second track assemblies are 0 through the two second speed sensors,
if yes, go to step S8;
if not, go to step S9;
step S8, the robot control unit controls the two mechanical upper arms to fall and keep the two first track assemblies in the horizontal direction, and monitors whether the distances h1 and h2 between the two first track assemblies and the ground are 0 or not in real time through the two infrared distance measuring sensors;
if yes, go to step S11;
if not, go to step S10;
step S9, the robot control unit controls the two first track assemblies to operate, monitors the operating speeds v2 of the two first track assemblies through the two first speed sensors, controls the operating speeds v2 to be equal to the operating speed v1, and returns to the step S8;
step S10, the robot control unit continuously controls the two mechanical upper arms to respectively perform corresponding falling actions, and returns to step S8
Step S11, the control platform displays 'complete form conversion'.
By adopting the technical scheme, the invention has the positive effects compared with the prior art that: by applying the method, the stability of the robot body structure is further improved, so that the robot body structure can be subjected to stable state transformation.
Drawings
Fig. 1 is a front view of a robot torso structure of the present invention;
FIG. 2 is a side view of a robot torso structure of the present invention;
fig. 3 is a block diagram of a method for transforming a configuration of a robot body structure according to the present invention.
In the accompanying drawings:
10. a head assembly; 20. a body assembly; 30. an upper limb assembly; 40. a lower limb assembly; 21. a body main body; 22. a shell-shaped shield; 23. a first mounting module; 24. a second mounting module; 11. a mounting base; 12. supporting the rotating member; 13. a vision component; 14. a head body; 15. a probe device; 31. a mechanical upper arm; 32. a first track assembly; 33. a three-finger gripper; 41. a mechanical lower arm; 42. a second track assembly; 43. a mud guard; 211. a first guard plate; 212. a second guard plate; 241. a heat radiation port; 213. maintaining a window; 214. a coded lock seat.
Detailed Description
The invention is further described below with reference to the drawings and specific examples, which are not intended to be limiting.
Referring to fig. 1 and 2, a robot body structure according to a preferred embodiment is shown, comprising: the body assembly 20, the head assembly 10 is arranged at the upper end of the body assembly 20, the two upper limb assemblies 30 are respectively arranged at two sides of the upper part of the body assembly 20, and the two lower limb assemblies 40 are respectively arranged at two sides of the lower part of the body assembly 20;
wherein the torso assembly 20 includes: the body main body 21, the shell-shaped shield 22, first installation module 23 and two second installation modules 24, the body main body 21 is hollow structure, install robot control unit in the body main body 21, first installation module 23 installs in the lower extreme of body main body 21, first installation module 23 is the triangular prism structure, the upper end of first installation module 23 and the lower extreme fixed connection of body main body 21, and one side parallel arrangement of first installation module 23 and body main body 21, the low limbs subassembly 40 is installed respectively to other both sides face of first installation module 23, shell-shaped shield 22 detachably installs in one side of body main body 21, the middle part of shell-shaped shield 22 is to keeping away from one side arch setting of body main body 21, the upper end of shell-shaped shield 22 covers in the upper end of one side of body main body 21, the lower extreme of shell-shaped shield 22 covers in the lower extreme of one side of body main body 21, both sides that two second installation modules 24 are close to shell-shaped shield 22 are fixed, every second installation module 24 all sets up along vertical direction, every second installation module 24 is the upper limb subassembly 30 is all arranged along the upper surface of first side of second installation module 24. Further, by presetting system parameters of the robot body structure, when a user needs to perform form conversion on the robot body structure, the robot body structure can be respectively in two forms of standing posture and crawling posture; when the robot body structure is in the standing posture, the body assembly 20 is supported by the two lower limb assemblies 40, and the two upper limb assemblies 30 are in a suspended state; when the robot body structure is in the "crawling posture", the body assembly 20 is supported by the two upper limb assemblies 30 and the two lower limb assemblies 40; and the two upper limb assemblies 30 are longer than the two lower limb assemblies 40; the shell-shaped passport is turtle shell-shaped with the central portion arched relative to the edges and the outer edges of the shell-shaped shield 22 being in close contact with the whole of the carcass body 21 and the first mounting module 23.
Further, as a preferred embodiment, the head assembly 10 includes: the utility model provides a visual component, including mount pad 11, support rotating member 12, vision subassembly 13 and head main part 14, the lower extreme fixed mounting of mount pad 11 is in the upper end of body main part 21, and the upper end of mount pad 11 is the arc setting, a rotatory groove has been seted up to the lower part of the one end of support rotating member 12, rotatory groove and the upper end phase-match of mount pad 11, the one end of support rotating member 12 rotatably installs in the upper end of mount pad 11, a pivot is installed on the upper portion of the other end of support rotating member 12, head main part 14 is rotatably installed in the other end of support rotating member 12 through the pivot, vision subassembly 13 is installed in one side of head main part 14. Further, the robot body structure is also provided with various sensors, and the various sensors are integrated on the head assembly 10; further, the above-mentioned robot body structure is controlled by the cooperation of the mounting base 11 and the supporting rotary member 12, so that the nose assembly 10 can be adjusted in different directions, specifically, when the robot body structure is in a standing posture, the vision assembly 13 of the nose assembly 10 faces to the front, at this time, the nose body 14 and the mounting base 11 are all arranged vertically to the supporting rotary member 12, when the robot body structure is in a crawling posture, at this time, the nose body 14 and the supporting rotary member 12 are arranged vertically to the supporting rotary member 12, and the supporting rotary member 12 and the mounting base 11 are in a vertical state together through rotation, namely, the supporting rotary member 12 and the mounting base 11 are arranged in one axis.
Further, as a preferred embodiment, the head assembly 10 further comprises: and a probe device 15, wherein the probe device 15 is mounted on the upper surface of the head main body 14. Further, the probing device 15 may preferably employ a probing lamp with an adjustable aperture size.
Further, as a preferred embodiment, both upper limb assemblies 30 include: the mechanical upper arm 31, the first track assembly 32 and the three-finger mechanical claw 33, wherein one end of the mechanical upper arm 31 is installed on the second installation module 24, the other end of the mechanical upper arm 31 is installed on one side of the middle part of the first track assembly 32, and the three-finger mechanical claw 33 is installed on one end of the first track assembly 32 far away from the mechanical upper arm 31. Further, the three-finger gripper 33 can be used for completing the picking and placing operation of various objects required by a user through the robot body structure, and the moving efficiency can be improved through the cooperation of the two first crawler assemblies 32 in the crawling posture.
Further, as a preferred embodiment, both lower limb assemblies 40 include: the mechanical lower arm 41, the second track assembly 42 and the mud guard 43, the upper end of the mechanical lower arm 41 is installed on the first installation module 23, the second track assembly 42 is arranged along the horizontal direction, the mechanical lower arm 41 is installed at the upper end of the middle part of the second track assembly 42, and the mud guard 43 is arranged at one end of the second track assembly 42.
The foregoing description is only of the preferred embodiments of the present invention and is not intended to limit the embodiments and the protection scope of the present invention.
The present invention has the following embodiments based on the above-described embodiments:
in a further embodiment of the present invention, the lower end of the shell-shaped shield 22 is provided with a first groove, a first guard 211 is openably provided on the first groove, and a power connection assembly is provided in the first groove, and the power connection assembly is connected to an external power source through a cable.
In a further embodiment of the present invention, the upper end of the shell-shaped shield 22 is provided with a second recess, a second guard 212 is provided on the second recess in an openable manner, and an emergency control switch is provided in the second recess.
In a further embodiment of the present invention, the lower ends of the two second installation modules 24 are respectively provided with a heat dissipation opening 241, and the heat dissipation openings 241 are communicated with the interior of the body main body 21.
In a further embodiment of the present invention, a maintenance window 213 is formed on a surface of the other side of the body main body 21 opposite to the shell-shaped shield 22, the maintenance window 213 is communicated with the inside of the body main body 21, a third guard board is openably disposed on the maintenance window 213, a password input assembly is disposed on the outer side of the third guard board, a password lock core is disposed on the inner side of the third guard board, a password lock seat 214 is disposed on the inner side of the maintenance window 213, and the password lock core is matched with the password lock seat 214.
The following describes a method for transforming the morphology of the robot body structure according to the present method:
the robot body mechanism further includes: the control platform, two first speed sensors, two second speed sensors, a gyroscope sensor and two infrared distance measuring sensors, wherein the two first speed sensors are respectively installed in the two first track assemblies 32, the two first speed sensors are respectively used for detecting the running speeds of the two first track assemblies 32, the two second speed sensors are respectively installed in the two second track assemblies 42, the two second speed sensors are respectively used for detecting the speeds of the two second track assemblies 42, the two infrared distance measuring sensors are respectively installed on one side of the two first track assemblies 32, the distance measuring direction of each infrared distance measuring sensor is the setting direction of one track assembly, the gyroscope sensor is installed in the body main body 21, the two first speed sensors, the two second speed sensors, the gyroscope sensor and the two infrared distance measuring sensors are all in communication connection with the robot control unit, and the control platform is used for remotely and wirelessly controlling the robot body structure;
as shown in fig. 3, the morphology conversion method includes:
step S1: the control personnel initially set the operation parameters of the robot body structure, store the operation parameters in a robot control unit and start the robot body structure;
step S2: the robot control unit continuously detects whether the robot body structure is in a stable state through the gyro sensor,
if yes, enter step S3;
if not, entering step S4;
step S3, the control platform displays 'can perform morphological transformation';
step S4, the control platform displays 'can not perform form conversion', and returns to the step S2;
s5, a control person sends a form transformation instruction through a control platform;
step S6, the robot control unit controls the two mechanical lower arms 41 to bend, and simultaneously controls the two mechanical upper arms 31 to enable the two first track assemblies 32 to be in the horizontal direction;
at step S7, the robot control unit monitors whether the running speeds v1 of the two second track assemblies 42 are 0 through the two second speed sensors,
if yes, go to step S8;
if not, go to step S9;
step S8, the robot control unit controls the two mechanical upper arms 31 to perform falling actions, keeps the two first track assemblies 32 in the horizontal direction, and monitors whether the distances h1 and h2 between the two first track assemblies 32 and the ground are 0 or not in real time through the two infrared ranging sensors;
if yes, go to step S11;
if not, go to step S10;
step S9, the robot control unit controls the two first track assemblies 32 to operate, monitors the operating speeds v2 of the two first track assemblies 32 through the two first speed sensors, controls the operating speeds v2 to be equal to the operating speed v1, and returns to the step S8;
step S10, the robot control unit continues to control the two mechanical upper arms 31 to respectively perform the corresponding falling actions, and returns to step S8
Step S11, the control platform displays 'complete form conversion'.
The foregoing description is only illustrative of the preferred embodiments of the present invention and is not to be construed as limiting the scope of the invention, and it will be appreciated by those skilled in the art that equivalent substitutions and obvious variations may be made using the description and illustrations of the present invention, and are intended to be included within the scope of the present invention.
Claims (8)
1. A robotic body structure comprising: the device comprises a head component, a body component, two upper limb components and two lower limb components, wherein the head component is arranged at the upper end of the body component, the two upper limb components are respectively arranged at two sides of the upper part of the body component, and the two lower limb components are respectively arranged at two sides of the lower part of the body component;
wherein the body assembly comprises: the body is of a hollow structure, a robot control unit is arranged in the body, the first mounting module is mounted at the lower end of the body, the first mounting module is of a triangular prism structure, the upper end of the first mounting module is fixedly connected with the lower end of the body, one side surface of the first mounting module is parallel to one side surface of the body, the other two side surfaces of the first mounting module are respectively provided with a lower limb component, the shell-shaped shield is detachably mounted on one side of the body, the middle part of the shell-shaped shield is arched towards one side far away from the body, the upper end of the shell-shaped shield is covered at the upper end of one side of the body, the lower end of the shell-shaped shield is covered at the lower end of one side of the body, the two second mounting modules are fixedly arranged on two sides of the body close to the shell-shaped shield, each second side surface mounting module is vertically arranged along the other side surface of the body, and each second mounting module is vertically arranged along the other side surface of the second body;
both upper limb components include: the mechanical upper arm is provided with one end which is arranged on one second installation module, the other end of the mechanical upper arm is arranged on one side of the middle part of the first track assembly, and the three-finger mechanical claw is arranged on one end of the first track assembly far away from the mechanical upper arm;
both lower limb components include: the mechanical lower arm is arranged at the upper end of the middle part of the second track assembly, and the mudguard is arranged at one end of the second track assembly;
further comprises: the robot body structure comprises a control platform, two first speed sensors, two second speed sensors, a gyroscope sensor and two infrared ranging sensors, wherein the two first speed sensors are respectively installed in the two first crawler assemblies, the two first speed sensors are respectively used for detecting the running speeds of the two first crawler assemblies, the two second speed sensors are respectively installed in the two second crawler assemblies, the two second speed sensors are respectively used for detecting the speeds of the two second crawler assemblies, the two infrared ranging sensors are respectively installed on one sides of the two first crawler assemblies, each infrared ranging sensor is installed in the setting direction of the crawler assemblies, the gyroscope sensor is installed in the body main body, and the two first speed sensors, the two second speed sensors, the gyroscope sensor and the two infrared ranging sensors are all in communication connection with the robot control unit, and the control platform is used for remotely and wirelessly controlling the robot body structure.
2. The robotic body structure of claim 1, wherein the head assembly comprises: the device comprises a mounting seat, a supporting rotating piece, a vision component and a head main body, wherein the lower end of the mounting seat is fixedly arranged at the upper end of the body main body, the upper end of the mounting seat is arc-shaped, a rotating groove is formed in the lower portion of one end of the supporting rotating piece, the rotating groove is matched with the upper end of the mounting seat, one end of the supporting rotating piece is rotatably arranged at the upper end of the mounting seat, a rotating shaft is arranged at the upper portion of the other end of the supporting rotating piece, the head main body is rotatably arranged at the other end of the supporting rotating piece through the rotating shaft, and the vision component is arranged at one side of the head main body.
3. The robotic body structure of claim 2, wherein the head assembly further comprises: and the probe device is arranged on the upper surface of the head main body.
4. The robot body structure of claim 1, wherein a first groove is formed in the lower end of the shell-shaped shield, a first guard plate is arranged on the first groove in an openable manner, a power connection assembly is arranged in the first groove, and the power connection assembly is connected with an external power supply through a cable.
5. The robot body structure of claim 1, wherein a second groove is formed in the upper end of the shell-shaped shield, a second guard plate is arranged on the second groove in an openable manner, and an emergency control switch is arranged in the second groove.
6. The robot body structure of claim 1, wherein the lower ends of the two second mounting modules are each provided with a heat dissipation port, and the heat dissipation ports are communicated with the interior of the body main body.
7. The robot body structure according to claim 1, wherein a maintenance window is formed in a surface of the other side of the body main body opposite to the shell-shaped shield, the maintenance window is communicated with the inside of the body main body, a third guard plate is arranged on the maintenance window in an openable manner, a password input assembly is arranged on the outer side of the third guard plate, a password lock core is arranged on the inner side of the third guard plate, a password lock seat is arranged on the inner side of the maintenance window, and the password lock core is matched with the password lock seat.
8. A method of transforming a morphology of a robot body structure comprising the robot body structure of any one of claims 1 to 7, the method comprising:
step S1: the control personnel initially set the operation parameters of the robot body structure, store the operation parameters in the robot control unit and start the robot body structure;
step S2: the robot control unit continuously detects whether the above-mentioned robot body structure is in a stationary state through the gyro sensor,
if yes, enter step S3;
if not, entering step S4;
step S3, the control platform displays 'can perform morphological transformation';
step S4, the control platform displays 'can not perform form conversion', and returns to the step S2;
s5, a control person sends a form transformation instruction through the control platform;
step S6, the robot control unit controls the two mechanical lower arms to bend, and simultaneously controls the two mechanical upper arms to enable the two first track assemblies to be in the horizontal direction;
step S7, the robot control unit monitors the running speeds v of the two second track assemblies through the two second speed sensors 1 Whether it is a value of 0 or not,
if yes, go to step S8;
if not, go to step S9;
step S8, the robot control unit controls the two mechanical upper arms to fall and keep the two first track assemblies in the horizontal direction, and monitors whether the distances h1 and h2 between the two first track assemblies and the ground are 0 or not in real time through the two infrared distance measuring sensors;
if yes, go to step S11;
if not, go to step S10;
step S9, the robot control unit controls the two first track assemblies to operate, and monitors the operation speeds v of the two first track assemblies through the two first speed sensors 2 Controlling the running speed v2 to be equal to the running speed v1, and returning to the step S8;
step S10, the robot control unit continuously controls the two mechanical upper arms to respectively perform corresponding falling actions, and returns to step S8
Step S11, the control platform displays 'complete form conversion'.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202010414454.9A CN111590545B (en) | 2020-05-15 | 2020-05-15 | Robot body structure and form conversion method thereof |
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| CN111590545A CN111590545A (en) | 2020-08-28 |
| CN111590545B true CN111590545B (en) | 2024-02-06 |
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Citations (9)
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| CN111590545A (en) | 2020-08-28 |
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