CN1210776A - Multiple joint robot - Google Patents

Abstract

The present invention belongs to the field of robot technology,and solves the problem of realizing low-cost robot. In the design scheme, the robot has one controller to control several joints. The present invention provides low-cost robot for cooking, washing, clothing cutting, cleaning and other domestic use as well as agricultural and industrial use. It adopts several technologies to lower the cost of robot.

Description

Articulated robot

The present invention relates to robot.

Existing robots, the free degree have been lacked not competent some work, and performance is not strong, many cost height.As the robot of precision optical machinery product, control to exact value in the time of realizing operating, people have to adopt specific type of electric machine, and each joint is by the method for high costs such as single cover control device control.Practical domestic robot can not come out, and the industrial or agricultural robot is still rare so far, and the cost height is a major reason.The cost height is to hinder the key issue that robot popularizes always.

The objective of the invention is: provide a kind of cheap articulated robot.

The present invention for realizing the scheme that purpose adopts is: establishes in the robot system and realizes that one overlaps the device that control device is controlled a plurality of joints,

Like this, former many controls or power set separately drive each joint, have become 1 or the several Control or the power set that have reduced and have driven a plurality of joints, and former must have vision to work.Be provided with auxiliary working apparatus, robot does not have vision also can work, even the robot cost reduces.

" a plurality of joint " refers to the joint more than 2 or 2." control device " comprises the control actuating unit.Motor for example: also comprise the control maincenter, for example computer." a cover control device is controlled a plurality of joints " comprises 1 control actuating unit, for example 1 motor.Drive a plurality of joints, control one or more actuating units with a control maincenter CPU, many thus actuating units are respectively controlled any situation of situations such as one or more joints, or comprehensive." implement device " comprises the control actuating unit that drives joint motions, as motor etc.: also comprise the control maincenter, computer etc. for example: also comprise guaranteeing robot precision's requirement, the device of load request for example has the arm of certain kinematic accuracy, also comprise and auxiliary realize that a cover control device directly or a plurality of devices that drive the joint dynamical element of control of conversion, for example various clutches, or the like.In the robot system, can establish a cover control device and control a plurality of joints, also can establish the such control device of many covers, control several joints separately respectively.1 cover also can be arranged in the robot system or overlap above-mentioned implement device more.

Realization is fallen cost and is comprised that various machine man-hours can not really few device, for example with instruments such as the supporting cooking of domestic robot, laundry, cutting and agricultural robot supporting plough, broadcast, instrument such as harvesting; With the supporting operating handle of industrial robot, special soldering set, special lathe etc.; With the supporting various checkout equipments of medical robot, special medical instrument or the like; Can auxiliary robot work, to widen its scope of application, be beneficial to and realize that robot operates for the people, be beneficial to the device that robot popularizes.The promptly said in addition robot supporting special cooking implement side of also similar palpus is easy to realize falling cost and is called a kind of system type robot of domestic robot.

The drawing explanation: Fig. 1 is the system block diagram of embodiment 1; Fig. 2 is the structure chart of embodiment 2, also is the Q62-Q62 cutaway view among Fig. 4; Fig. 3 is the R62-R62 cutaway view among Fig. 4; Fig. 4 is the S62-S62 cutaway view among Fig. 2; (dwindling figure) Fig. 5 is the structure chart of embodiment 3; Fig. 6 is the structure diagram (side shield of right side switch board is pulled down, and has wheel robot to get Q19-Q19 cutaway view among Fig. 8 among the figure) of embodiment 1; Fig. 7 is the Q20-Q20 cutaway view among Figure 11; Fig. 8 is the Q21-Q21 cutaway view among Fig. 6; Fig. 9 is the Q22-Q22 cutaway view among Fig. 6; Figure 10 is the Q23-Q23 cutaway view among Fig. 6; Figure 11 is the Q24-Q24 cutaway view among Fig. 6; Figure 12 is that Q25 among Fig. 6 is to view; Figure 13 is the Q26-Q26 cutaway view among Figure 11; Figure 14 is the enlarged drawing of Figure 13; Figure 15 is the Q27-Q27 cutaway view among Fig. 7, the view after up time turn 90 degrees; Figure 16 is the Q28-Q28 cutaway view among Figure 18; Figure 17 is the Q29-Q29 cutaway view among Fig. 6; Figure 18 is the Q30-Q30 cutaway view among Fig. 6; Figure 19 is the Q31-Q31 cutaway view among Figure 18; Figure 20 is the Q32-Q32 cutaway view among Fig. 6; Figure 20 ' is the Q33-Q33 cutaway view among Fig. 8; Figure 21 is the structure chart of example 1 the 7th son example, also is the Q7-Q7 cutaway view among Figure 105 '; Figure 22 is the X-X cutaway view among Figure 92; Figure 22 ' is the J-J cutaway view among Figure 92; Figure 23 is the Q34-Q34 cutaway view among Figure 15; Figure 23 ' is the Q35-Q35 cutaway view among Figure 23; Figure 24 is that Q among Figure 30 is to looking and enlarged drawing; Figure 25 is the Q36-Q36 cutaway view among Figure 24; Figure 26 is a kind of possibility cut-away view of the microswitch among each figure,

Also be that Q37-Q37 among Figure 28 analyses and observe

Figure; Figure 27 is the Q39-Q39 cutaway view among Figure 26; Figure 28 is the Q38-Q38 cutaway view among Figure 26; Figure 29 is that Q40 among Figure 23 is to view; Figure 30 is that the Q41-Q41 among Figure 24 analyses and observe and dwindles figure; Figure 31 is the R20-R20 expanded view among Figure 33; Figure 32 is the R21-R21 cutaway view among Figure 33; Figure 33 is that the R22-R22 among Figure 87 analyses and observe and enlarged drawing,

Also be R23-R23 expansion and the enlarged drawing among Fig. 8; Figure 34 is the view that clutch discs 67k clutch changes gears to engage and disengage among Figure 33; Figure 34 ' is the R37-R37 cutaway view of P among Figure 33; Figure 35 is that R among Figure 45 is to view; Figure 36 to Figure 51 dwindles figure than Figure 33 for ratio; Figure 36 ' is the R24-R24 cutaway view among Figure 33; Figure 37 is that R25 among Figure 33 is to view; Figure 38 is that the R26 among Figure 33 is a R27-R27 cutaway view among Figure 33 to view Figure 39; Figure 40 is the R28-R28 cutaway view among Figure 33; Figure 41 is the R29-R29 cutaway view among Figure 36; Figure 42 is the R40 cutaway view among Figure 33; Figure 42 is the R30-R30 cutaway view among Figure 37; Figure 43 is that R31 among Figure 33 is to view; Figure 44 is the R32-R32 cutaway view among Figure 43; Figure 45 is the R33-R33 cutaway view among Figure 33; Figure 46 is the R34-R34 cutaway view among Figure 33; Figure 47 is that R35 among Figure 46 is to view; Figure 48 is that Figure 46 shows the structure chart when friction catch changes the gear wheel braking into; Figure 49 is the R36-R36 expanded view among Figure 33; Figure 50 is the R38-R38 cutaway view among Figure 33; Figure 51 is that R39 among Figure 42 is to view; Figure 52 is the S20-S20 cutaway view among Figure 87; Figure 53 is that S21 among Figure 61 is to view; Figure 54 is the S22-S22 cutaway view among Figure 52; Figure 55 is the S23-S23 cutaway view among Figure 61; Figure 56 is that S24 among Figure 61 is to view; Figure 57 is the S25-S25 cutaway view among Figure 61; Figure 58 is the S26-S26 cutaway view among Figure 61; Figure 59 is the another kind possibility structure that the S26-S26 among Figure 61 analyses and observe; Figure 60 is the S27-S27 cutaway view among Figure 61; Figure 61 is the S28-S28 cutaway view among Figure 84; Figure 62 is the S29-S29 cutaway view among Figure 61; Figure 63 is the S30-S30 cutaway view among Figure 61; Figure 64 is the S31-S31 cutaway view among Figure 70; Figure 65 is the S32-S32 expanded view among Figure 70; Figure 66 is the S33-S33 cutaway view among Figure 70; Figure 67 is the S34-S34 cutaway view among Figure 66; Figure 68 is the S35-S35 cutaway view among Figure 70; Figure 69 is the S36-S36 cutaway view among Figure 68; Figure 70 is the S37-S37 cutaway view among Figure 63; Figure 71 is the S38-S38 cutaway view among Figure 76; Figure 72 is the S39-S39 cutaway view among Figure 79; Figure 73 is that S40 among Figure 70 is to view; Figure 74 is the S41-S41 cutaway view among Figure 76; Figure 75 is the S42-S42 cutaway view among Figure 79; Figure 76 is the S43-S43 cutaway view among Figure 79; Figure 77 is the S44-S44 cutaway view among Figure 79; Figure 78 is that S45 among Figure 80 is to view; Figure 79 is the S46-S46 cutaway view among Figure 61; Figure 80 is the S47-S47 cutaway view among Figure 79; Figure 81 is the S48-S48 cutaway view among Figure 79; Figure 82 is the S49-S49 cutaway view among Figure 79; Figure 83 is the S50-S50 cutaway view among Figure 84; Figure 84 is the S51-S51 cutaway view among Figure 61; Figure 85 is the S52-S52 cutaway view among Figure 84; Figure 86 is that S53 among Figure 84 is to view; Figure 87 is the S54-S54 cutaway view among Figure 61; Figure 88 is the S55-S55 cutaway view among Figure 89; Figure 89 is the S56-S56 cutaway view among Figure 63; Figure 90 is the S57-S57 cutaway view among Figure 89; Figure 91 is the S58-S58 cutaway view among Figure 89; Figure 92 is that left is scrubbed structure chart after shredding mechanism 51 takes off dust cover among Fig. 6, also is the A '-A ' cutaway view among Figure 22 '; Figure 93 is the Y-Y cutaway view among Figure 92; Figure 94 is the R-R cutaway view among Figure 95; Figure 95 is the U-U cutaway view among Figure 94; Figure 96 to 103 is several classes process conditions structure charts of getting the raw materials ready; Figure 104 is cutting part-structure figure, also is that Q1-Q1 cutaway view Figure 105 among Figure 105 is the R1-R1 cutaway view among Figure 104; Figure 105 ' is the R7-R7 cutaway view among Figure 21; Figure 106 to 109 amplifies than Figure 104 ratio; Figure 106 is the S1-S1 cutaway view among Figure 105; Figure 107 is the T1-T1 cutaway view among Figure 105; Figure 108 is the U1-U1 cutaway view among Figure 106; Figure 109 is the V1-V1 cutaway view among Figure 108; Figure 110 is the drawing pen structure chart, also is the T4-T4 cutaway view among Figure 111; Figure 111 is a single drawing pen structure chart, also can be considered the T2-T2 cutaway view among Figure 110; Figure 112 is a haircut servicing unit sketch; Figure 113 chooses a meter structure drawing of device; Figure 114 is the T3-T3 cutaway view among Figure 113; Figure 115 is embodiment 1 the 2nd a sub routine structure diagram; Figure 116 is embodiment 1 the 3rd a sub routine structure diagram; Figure 117 is that sketch is looked on the left side of Figure 116; Figure 118 is the U2-U2 diagrammatic cross-sectional view among Figure 115; Figure 119 is embodiment 1 the 4th a sub routine structure chart; Figure 120 is that sketch is looked on the left side of Figure 119; Figure 121 is embodiment 1 the 5th a sub routine structure diagram; Figure 122 is embodiment 1 the 6th a sub routine structure diagram; Figure 123 is the diagrammatic top view of Figure 121; Figure 124 is the diagrammatic top view of Figure 122; Figure 125 is a kind of controller simplified block diagram of embodiment 1; Figure 126 is embodiment 1 an another kind of controller simplified block diagram; Figure 127 is the part line map of Figure 125 or Figure 126 control unit interface part; Figure 128 is embodiment 1 another controller simplified block diagram; Figure 129 is embodiment 1 a simple controller block diagram; Figure 130 is possible controller 6 structure charts of embodiment 1; Figure 131 is a kind of structure chart of the input massaging device of shear contact in the motion, also is the V1-V1 cutaway view among Figure 133; Figure 132 is a kind of structure chart of the output information device of shear contact in the motion, also is the V2-V2 cutaway view of Figure 134; Figure 133 is the V3-V3 cutaway view among Figure 131; Figure 134 is the V4-V4 cutaway view among Figure 132; Figure 135 is a kind of structure chart that the shear contact is realized the expanding storage apparatus in the motion, also is the V5-V5 expanded view among Figure 137; Figure 136 is the V6-V6 cutaway view among Figure 135; Figure 137 is the V7-V7 cutaway view among Figure 135; Figure 138 is a kind of accent taste structure drawing of device; Figure 139 is the W-W cutaway view among Figure 138; Figure 140 is the outline drawing of embodiment 1 the 8th son example; Figure 141 is this part line map that adopts the embodiment 1 of Figure 131 showing device importation information; Figure 142 is this part line map that adopts the embodiment 1 of Figure 132 showing device output information;

The dismounting technique of painting has been adopted in many places, simplified painting, omissive representation.Hatching is not painted in individual other places.Expression has been omitted in the invisible projection in many places.

The invention will be further described below in conjunction with accompanying drawing and embodiment.

Embodiment 1: domestic robot.This example comprises a few height examples.Fig. 1 is this routine system block diagram.Control maincenter in the block diagram 1 is various controllers, for example: the computer of 80586 or other 86 series microprocessor that Intel company produces or general industrial computer, monolithic or single board computer are arranged, but also simpler drum controller.Each several part among Fig. 1 is accepted or rejected surely according to needs.Originally the part that the senior thought of robot will be a constantly development, bring in constant renewal in can be: owner's analysis on the health status, owner take food and analyze with suggestion etc.Four-headed arrow representative among figure input and output transmission signal line group or input/output information stream everywhere, for example remote information stream.The two-way arrow that has is direct and maincenter is got in touch, and ride on other pivot showing device and just cross this part, but for example the therapeutic equipment maincenter is often controlled use, and diagnostic equipment seldom uses." each driven device " in this figure lower left square frame is meant needs power-actuated device in each square frame showing device among this figure.This figure lower left has provided three kinds of power sources, and " mechanical force source " wherein is a kind of new power source, does not relate to the power top, no longer describes in detail.Can drive different devices respectively with several power set simultaneously, also can only use wherein one or both.UPS among the figure is a uninterruption power source, also available other power supply." emergency set " is meant the device of dealing with fire etc.The device of walking about is got and is wheeledly walked about or use sufficient leg, and the two all can." robot (or the manipulator) " at figure middle part is to have manipulator promptly to be considered as robot.Many self-con-tained units among the figure also are the stand-alone products of this programme, but it also can be used by robot.The system block diagram that Fig. 1 shows all is suitable for various embodiments of the present invention, is how many differences of the device shown in the contained system diagram of each example.The part change is also arranged, and the power supply that for example has is not UPS.

Embodiment 1 the 1st son example: around formula.

One, profile: Fig. 6 to Figure 114 is the structure chart of the 1st son example of example 1.System is by the food processing apparatus 3 of scrubbing chopping part 51, middle part and material storehouse 41, the bin 9 on right side, right-hand control device 12 (schematically drawing) in reduced graph 6 left sides, and walks compositions such as dynamic formula robot and the dust catcher on it 30 for what system got that different schemes sets up.Show that by Figure 61 whole system can be taken apart, food processing part 3 all can be-independent parts with other parts.Also can separately make up.For example only the food processing part makes up with bin.Showing among Figure 63 that manipulator centers on runs on the machine frame.Walking robot among Fig. 6 is around other equipment place work.The system of practical domestic robot form can be numerous can letter, can adapt to the demands of different income family.What each figure provided temporarily is actually multiple domestic robot.(1), Figure 21,105 ', the 142nd, apery the five fingers arm domestic robot is mixed the auxiliary device that does housework among Fig. 6.Add video camera and Figure 128 IBM-PC/AT computer being located at the ccd video camera on the bin or being located at humanoid robot head, constitute the system type domestic robot of higher gears, the device of the desirable degree of precision higher speed of this type systematic.Be that right-hand double dot dash line of Figure 128 partly replaces the system shown in 8031 single-chip microcomputers of left.The GRAND VIDEO that double dot dash line is shown is a multimedia segment, and GRAND VIDEO video capture card is the product that Taiwan produces, and is prior art, so do not express in detail.This type systematic also can only be controlled the α that shows, β, γ three motors among Figure 61, Figure 63.(2), only among Fig. 6 the left side wash acute cleaning and add bin with middle part cooking machine.With the interior hand 74t shown in Figure 61, middle hand 177t shown in Figure 84, the right-hand side 85 shown in Figure 87,3 manipulators are by three motor-driven of α, the β shown in the double dot dash line among Figure 63,61, γ, omit the other arbor wheel of wheel 26t among the wheel of non-motor-driven side among worm gear 26t and Figure 63 and Figure 61, adopt Figure 125 to show Z80 multi-computer system or Figure 128 multi-single-chip microcomputer system (not comprising upper right side double dot dash line part).(but this type systematic is the anthropomorphic robot of control chart 140 also.) be general home-use middle-grade outfit.(3), said apparatus is used Figure 130 control device instead.(4), omit more high-grade available Fig. 6 showing devices, by robot the spiral butt joint cooking and the part of doing washing in Figure 11 of walking about.Show 3 manipulators and driving member without Figure 61,84,87, and control device is constant.(5), low-grade, only use 3 manipulators of a motor-driven, show single CPU chamber system system with Figure 126.(6), show control device with Figure 129, along control skeleton symbol manipulator.In above-mentioned six type systematics, for other outfit, for example: the material storehouse, also can adopt freezer: set up oily fume exhauster: increase health care and anti-theft device etc., not elsewhere specified (NES).Show spiral 84 among Figure 11, docking facilities also can be used on other devices, and the soot device that distributes on the cooking machine people who for example walks about docks with oil-smoke expulsion pipe.The distribution board of top does not provide detailed elements among Fig. 6 and Fig. 8, and configuration is alive, and for the system of above-mentioned different device, with different outfits, the arrangements of elements on its distribution board can be used existing techniques in realizing.Control device 12 among Fig. 6 is equipped with change with the difference of above-mentioned different system, to what do with the IBM-PC/AT desktop computer, can establish a table top in addition, on the desk-top frame surface, need enlarge and adjust 12 places of the control device among Fig. 6 electricity cabinet is long-pending, can adjust.

Two, the device that does housework: comprise manipulator and various servicing unit, auxiliary manipulator.

1, the interior manipulator 74t shown in manipulator: Figure 11, Figure 61, Figure 84 and Figure 87, middle manipulator 177t, the entire arms that Fig. 8 shows big arm rotating part of removing of walking the dynamic formula people shown in outer manipulator 85 and Fig. 6, all the structure with manipulator shown in Figure 33 is identical or close, so the internal structure of each hand is all no longer given cutaway view.By Figure 33,36,41 etc. as seen: arm shown in Figure 33 can be worked as arm pipe 49k to be changeed around axle 53k, in pipe 41k move along arm pipe 49k with spiral 116k; forearm pipe 12k changes around axle 38k; and canalis carpi 31k is when rotating in forearm pipe 12k; have 4 freedoms of motion; and move along side spiral 3t as interior hand 74t; middle hand 177t along in spiral 95t move; when the right-hand side 85 moves along external spiral 18t; increase a freedom of motion separately again; be the 5DOF arm respectively, and walk the dynamic formula robot when Fig. 8 shows that joint 77 ' is taken entire arms around axle 76 commentaries on classics, increase by 1 freedom of motion.When entire arms was not only rotated but also when minor axis 53k rotates, increased by 1 compound motion free degree around axle 76.Add that Fig. 6 shows that frame 20 carries the waist commentaries on classics free degree of robot upper part around the rotation formation of piece 19 because of bull wheel 24 is driven by steamboat 23, both arms are walked the dynamic formula robot and are had 15 freedoms of motion.Figure 33,36 and 39 shows that closing up of each mechanical paw is that electromagnet 32k drives bar 29k and leads two side reinforcement bar 96k and press two side claw-plate 97k to realize.Semicircle bail 28k limits canalis carpi 31k.Be covered with sponge plate 100k in the gum cover 99k.Gum cover 99k has thin elastic rubber sleeve 24k (the operation cover that class is a medical) claw-plate 97k inner face to be covered with sponge plate 26k (only expressing upside) outward, and wrist spool 95k makes lead adapt to wrist to be changeed, and spool is similar on itself and the dust catcher, expresses its internal structure no longer in detail.To make lead adapt to big arm flexible for spool 5k, 83 ' k up and down.Platelet spring 26k, sponge plate 26k ' and stage clip 30k make electromagnet outage back paw separately.Double dot dash line among Figure 43 be S30-S30 in Figure 61 and 84 and the R43-R43 view when analysing and observe all, and the groove of getting the chain-dotted line place of left omits, right-hand change the groove that double dot dash line shows into after, seal and remove.The double dot dash line of Figure 44 right side is for showing the shape of the joint 56k that the right-hand side 85 is used among Figure 87.Adding size is the needs (readding the back) in the right-hand side 85 big arm sling floating joints.It all is these parts of expressing on the right-hand side 85 that the double dot dash line of Figure 36 right side is shown with the arm pipe of dimensional contraction and flashboard 150k that dimensional contraction is shown in the double dot dash line of Figure 46 right side and arm frame 49k.What double dot dash line was everywhere expressed in lower right and Figure 46 upper left side, Figure 40 below, Figure 31 below and 51 among Figure 33 is the view with the right-hand three electromagnet 7k of Figure 33,20k and change back, 82k position electromagnet.Bar 7 ' k, 160k, 170k increase in addition.This three magnet positions being changed and Figure 33 right-hand arm pipe 49k and telescoping tube 41k are shortened, promptly is the position and the shape of these parts of the middle hand 177t among interior hand 74t and Figure 84 among Figure 61.Fig. 6 shows that both arms walk the arm pipe longer dimension of dynamic formula robot.The 166k of spiral shown in Figure 44 is the right-hand side 85 with passing axle 167k.Centre-to-centre spacing size when spiral 3t that the middle hand 177t among Figure 61 among hand 74t, Figure 84 is supporting and 95t and biography axle 2t, 94t express with Figure 44 is little.Arm pipe 12k, axle 38k show that the orientation differs 90 degree among aspect ratio Figure 33 of the forearm Guan Yuxiao arm axle of the robot among Fig. 6.

2, auxiliary manipulator: (1), Figure 79 show auxiliary lifting manipulator.When wheel 188t, 189t are driven in motor 200t energising with arbor wheel 201t drive tooth bar 187t push boat bar 182t, pot 61t can be lifted in figure right-hand double dot dash line and show the position.Lift a pot bar 182t and walk with pot, might as well pot operation, tooth bar 187t with lift a pot bar 182t and fixedly do not contact.Fried groove 66t and digester 56t all can establish and start device, have omitted expression among the figure.Can set up the snail wind spring and lead wheel bar 182t, when the pot that starts is fallen, be not only dependence gravity.(2), stirring nondominant hand.When need Figure 79 showed that stirring spoon 159t realizes stirring in the pot material, Figure 89 showed electromagnet 285t energising, and draw bar 286t draws adaptation spring 287t, will be hung on the quarter butt 158t that can promote spoonful 159t handle among Figure 79 by hook 282t and the hook 277t that little spring 288t resets.Drive spoon 159t motion stirring by crank 245t.Set up double dot dash line and show the reinforcement bar, can realize compound motion by bar 278t, 247t is identical with the principle that 248t drives stirring for the utilization crank.(3), the haul manipulator is arranged among Fig. 6,7,11,15 to 22 to 30, slot plate limits two nuts 100 and 101 rectilinear motions on the underframe 7, and motor 63 ' drives worm gear, belt wheel and long spiral 11, makes nut 62 ' drive the motion down on hand of whole haul.Motor 90 drives two worm gear band spirals 60, makes nut support frame 5 move left and right.Motor drives worm gear, spiral 61, makes angle nut 100 catch up with magazine 8 to holder frame 5 left ends.On the holder frame 5 guide pin 124 is arranged, decide magazine 8 unidirectional row, guide rod 124 penetrates the magazine that is pulled to.Cable 62 adapts to end pivot 7 up-downgoings with spool 38.Magazine 8 can have dividing plate in the middle part.Also can be by cableway haul or thing, or manipulator directly grasps.(4), stir hand, for driving worm gear 106t, axle 107t by motor 134t through of the stirring of the single excellent 131t apery of wheel drive with chopsticks.(ginseng Figure 70)

3, food processing apparatus and car washing installation: (1), general device: ginseng Figure 61 to 91 is to walk pond 65t under the tool rack, is ladder colander 234t in the fryer 66t, and seat is in ladder is complained and quarrel loudly.Figure also illustrates a dull and stereotyped 233t is arranged in the colander, but manipulator is pushed the right side to bar and made the whole tabular material of fish on plate.The simplification forward profile of mobile chamber 218t is shown in the upper left side double dot dash line among Figure 61.Mobile chamber door 223t ' open position and the groove that the downward subordinate in the guiding chamber that also can set up goes are all expressed with double dot dash line among Figure 84.The extreme position of Men Kaihou and the valve rod that opens the door are shown in the double dot dash line at the door 45t place of the 33t of teeter chamber among Figure 61.Motor 148t (ginseng Figure 73, Figure 61) drives worm gear 34t with after carrying on the spiral door 35t, scrubs the water of teeter chamber and goes into water delivery tank 43t from pipeline 39t.The valve rod of electromagnetism water valve 48t is by on the sticking running water pipe outer wall in spring top, and soft nontoxic offset plate ball is blocked waterpipe.The valve energising, valve rod is taken the flexible glue cricket and is retreated, and water channel is logical.Figure 59 shows the water valve that is blocked up through reinforcement bar 3y, bar 1y keying ball by micro machine 2y, and nothing is impacted, and can reduce the bits that rub.This valve ball is stifled blocks the water hole by pipe and sealed film guiding.Two kinds of water valves are all available.Four fan electromotor 64t are heat transmissions when the graphic display unit seat is on table top.Element board 51t, 55t purchase finished product about among the baking oven 52t, omit its internal structure and express in detail.Saucepan 56t is flat, can be grabbed down by manipulator, changes flat dish or the pot to boil water fried in shallow oil on stove.Figure 61 top is that motor 8t drives wheel 5t in upward commentaries on classics of tooth bar 10t.Drive the stir-fry dish cooked in a small wok, meaning the food is prepared with special care cup 9t on the port 69t.Running water pipe 21t inserts on the pipe of hydroecium from the beginning of auxiliary hopper 20t, walks about with case.The solid machine frame right side of water pipe 21t outlet water control valve 48t.Lid 90t, 92t, 96t on the pot all have bundle, and bundle is also arranged on the pot, all are beneficial to the manipulator grasping.In the baking oven 52t grill 54t.Motor 123t drives wheel 119t and makes wheel 146t commentaries on classics on tooth bar 145t among Figure 70.Drive changes double dot dash line among Figure 84 into and shows that the auxiliary material case 20t of height walks about.Show among Figure 63 that the hopper end face carves or be printed on the title of partial supplementary material, beverage room, the material that these auxiliary materials are indoor and arrange it all is variable, for example: " chopped spring onion " chamber can exchange with " anise " chamber.Can fall material on the 33t of teeter chamber.Square groove can move the mobile chamber 218t of temporary bin stock along groove under the preceding groove 93t.(2), go up auxiliary material device: Figure 79 and show that the magnet valve 170t at the top of each auxiliary material cell is made up of coil, bead bar 114t and armature.During coil electricity, it is up that armature is taken club 114t, and the liquid material promptly flows out from the hole of bead below in other vessel, and for pasty state powdery or graininess material ginseng Figure 76, the blanking bar is fork arm 157t or bull stick 150t.Bar 157t epimere can increase the case off auxiliary material to blanking bar frictional resistance, also can establish little transition chamber and make auxiliary material go into cell earlier.Bar is provided with overhanging spillikin, so as to removing arch.Little spring 197t makes bead block liquid material mouth when not blanking, and during the bar blanking that has, bar is repeatedly reciprocal.Bar 157t end stretches out little system and can going along withly drive auxiliary feed outlet.Adhesive foil 198t separates the possible abrasive dust of magnetic valve 170t.The grasp of feed opening size and blanking period or number of times etc. makes the use of auxiliary material amount controlled.The anti-bits film of cementation and the valve rod epimere of square-section can prevent that valve rod changes.For need countings, for example 5 anistree lobes of a garlic clove adopt valve rod to draw platelet 152t, make the thorn bar on the push-jump bar 150t, make bar 150t take its upper rotating plate 156t and rotate, and open feed opening and catch up with the cobbing lobe to go out the chamber.After magnet valve 171 outage, spring 151t draws the bull stick 150t pass bin gate that resets.The detection piece of each discharging opening two side detects material and has or not and discharging quantity.Can put ice in (115t and 171t are magnet valve) material storehouse 41, jug on the door, Figure 10 show storehouse downward swing door mechanism, and electromagnet 42 does not fixedly contact through power bar 42 ' and 43 and pushes, and spring 43 resets bar 43 '.Can increase the warming bag of using winter on the dolly 93; The Flyproof hood of using summer provides owner to arrive the instant condition of family.(when adopting remote control) dolly 93 panels can rotate.(3), washing and feed preparing device: in Figure 92 to Figure 122 showing device.Motor 31 ' is through taking turns 92 ', wheel 98 ', wheel 97 ', drive crank 80 ' and bar 21 ', bar 17 ', bar 18 ', lever 15 ', bar 16 ', hook 38 ', ratchet 33 ', cone pulley 34 ', sprocket wheel 35 ', through chain belt movable sprocket 57 ', the axle that shows motor 60 ' among the figure is driven, and then bucket 73 ' changes in link block 56 ' drives, and bar 15 ' is simultaneously through bar 14 ', bar 13 ', junction block 9 ', stage clip 8 ', pipe 7 ' pipe 6 ' drives beats an operation about in the of 5 ', be about to the washed extruding washing of need in the bucket 73 ', bucket 73 ' changes a step, beats a 5 ' up-downgoing extruding clothing once.When needing motor 60 ' energising to rotate, lock 86 ' is pressed down the plectane 76 ' extrapolation that makes lead 41 ' row, can make brake shoe 54 ' break away from brake wheel 53 ', thereby the axle of motor 60 ' can rotate.Under aforementioned motor 60 ' cold situation, drive the situation of the axle commentaries on classics of motor 60 ' by above-mentioned each part.Also be to make brake shoe 54 ' break away from brake wheel 53 ' earlier.Thereby make motor 60 ' can drive the clothing of being pushed down by hook 71 ' in interior bucket 72 ' and the bucket and change dehydration fast.Screw off inspection 11 ', pipe 7 ', beat a 5 ' brush 100 ' that changes among Figure 99, whole machine washable dish washes the dishes, and is changed to the stirring-head of Figure 100, and complete machine can stir.Change the wiping head of Figure 102, can wipe peelings such as silk, potato.Change the cutting knife of Figure 96, complete machine can be cut the dish on cutting plate 45 ' or be cut filling.Change the head of beating of Figure 97, can remove the peel to peanut.Change the hammer head of Figure 101, the bean or pea that soak can be frustrated to sticking with paste, go out slurry, beat rice and stick with paste peanut cream etc. with the cuvette 104 ' of Figure 103.As making spiral 64 ' drive rubber drum 3 ' rise, variable sink (bucket) volume size makes complete machine as use in washing machine, can wash smallclothes, also can wash big part, and complete machine can be scrubbed.Push away Clutch lock 61 right lateral in figure, make castle wheel 56 descending, can change, realize heavily washing clothing dirt place by bucket in the mechanical hand push 72 '.Rubber drum 3 ' being risen fall is Clutch type handle 75 ' to be pushed into the position makes castle wheel 4 ' can drive synchronous pulley 85 ' among the figure, 50 ' drive wheel 49 ' through being with, be with 67 ', wheel 66 ', thereby four spirals 64 is turned, and drives endless tube 1 and rises or fall to realizing.Figure 111 is that Figure 110 is a left view; Figure 115 is U '-U ' cutaway view of Figure 113; Figure 114 is the V-V cutaway view of Figure 120; Figure 117 is that the W-W cutaway view Figure 119 among Figure 116 is the left view among Figure 118; Figure 103 shows spiral.Below to each part brief introduction among the figure: 2 ': valve, 6 ': screwed pipe, 8 ': stage clip, 11 ': the bullet pad, 12 ': rinse bar, 20 ': travelling wheel, 23 ': frame, 24 ': dagger plank, 25 ': key, 26 ': latch hook 27 ': regulation cock, 28 ': little lock, 29 ': little lock, 30 ': little lock, 34 ': sprocket wheel, 35 ': the cone pulley axle, 36 ': stage clip, 37 ': small lever 39 ': depression bar, 40 ': top board, 48 ': can draw Jie's offset plate, 51 ': the machine holder, 52 ': little holder, 55 ': stage clip, 57 ': sprocket wheel, 59 ': sealing 62 ': power holder, 63 ': long tube, 65 ': lock, 68 ': carriage, 70: water pipe, 71 ': press clothes hook, 73 ': outer bucket, 74: the salt water ring, 79 ': arm-tie, 87 ': key switch, 90 ': little frame, 93 ': little frame 2,94: extension spring, 95 ': little frame 3,103 ': the auger frame of cutting the dish, 104 ': cuvette (flat and concave bottom).(4), material picking device: Figure 113 shows and chooses that 1q is a meter chamber in meter device, omitted the expression that drives rotating disk 4q stepping tumbler, dish 4q turning cell with Mi Lishun in the dish hole, when Photoelectric Detection part 3q was good rice to the rice in the signal indication rotating disk 4q hole up and down, it was motionless to sweep plate 5q, when rotating disk 4q changes, rice is gone into good rice heap well: when the Photoelectric Detection part is mouldy rice to the rice in the signal indication turret apertures, electromagnet 2q drives and sweeps the plate rotation, and when rotating disk 4q changeed, bad rice was gone into bad meter heap.

4, walk about device and guider.1. the dolly table top 93 of walking about among Figure 11 can change around the center, walks the identical of dynamic formula robot among the travelling wheel of dolly and drive unit, lead spool and Fig. 7, or close, no longer express, but also wireless telecommunications.2. the robot of walking about among Fig. 6 is driven by the coaxial motors 36 of travelling wheel 35, drives single-wheels 30 ' commutation by motor 29, is 3 to take turns and walk about.Can carpet or floor tile in the ground of walking about, travelling wheel is got the antifriction material manufacturing.3. navigation: the positional information that provides travelling wheel by 95 times micro switch 94 of carpet among Figure 11 and 94 '.Amplify diagram micro switch 94 among Figure 14 in the narrow groove of moulding plate 98 of carpet surface fabric 97 belows.Room 14 (navigation disk) refers to Figure 128 top and similarly searches for message elements with Figure 133 showing device among Figure 12.When this device is used to navigate, can increase the element number, for example increase 118 flashlight fulgurites among the figure, or the integrated manufacturing high density components on Figure 128.

5, laundry, cleaning, cutting, chisel and carve, drawing, hair cutting apparatus.1. Figure 92 shows that scrubbing shredding mechanism can hold concurrently and be car washing installation.Extrusion head 5 ' among the figure promptly is an apery squash type washing tool.The motor 60 ' at middle part is a dehydration electric motor.Washing agent is provided by the mill liquid chamber 213t on device for cooking Figure 84.Extrusion head 5 ' can be changed according to washing fabric.2. Fig. 8 shows that the besom 50 on dust catcher 30 and the left side tool rack all is cleaning devices.Omit the besom of expressing eroding river bed among the figure.What clean the windows has a bundle sponge plate (keeping away high accuracy) etc.3. Figure 104 shows that Scissoring device is by pulling up the slotting pin 5d alive that lives fabric down surely, rollable and can be in the last soft thin Tobe material offset plate 4d that repeats to draw cutter, (the built-in micro sensing spare of this plate) has the frame 13d alive of pearl 40d that pushes down cloth and the cut-off knife 324d that cuts cloth, and holder angle and compositions such as frid 6d, 7d.Stepper motor 9d, the 17d that the frame 13d that drive to live walks X, Y two dimensional surface and corollary apparatus by needs fast and continuously the cutting people purchase it, only loading and unloading of robot at this moment, and cloth paved reserve.1d among the figure is a multimedia computer, and it is control maincenter (being shared robot controller) with the ROBOT CONTROL computer, cuts out plate and is provided with detecting element, for example optical detection device all around.2d among the figure is a platen, and 3d is an electromagnet, and 8d is a movable stand, 10d is the wheel that rubs, and 12d moulds piece, and 14d is a guide rod, 16d is an end plate, and 18d is a frame, and 20d is a friction pulley, 21d is a subassembly wrapper, and 22d is a spool, and 23dd is a bolt, 24d is a bolt, and 25d is a keeper, 27d hundred bearings, 28d is a manipulator, and 29d is the exterior angle, and 31d is a bolt, 35d is a wheel, and 36d is a stepper motor, and 37d is a travel switch, 38d is a bolt, and 39d is a friction pulley, and 42d is a travel switch, 45d is a wheel, 46d is a wheel, and 47d is a bolt, and 50d is a travel switch.Chisel and carve: generally be that family feast is chiseled and carved herein, have the vision robot directly to hold cutter another food carving that holds.No vision second-hand doing is is simply chiseled and carved, and also available Figure 104 showing device increases and vertically moves also passable clamping device, and getting plate 4d is hollow.5. drawing, calligraphy: Figure 110 show the adjustable fuel-economizing paintbrush of polychrome 60d, drive decelerator 63d drive by micro machine 62d and can stir evenly printing ink and press China ink to fall, and the thin plate axle 64d commentaries on classics, the spiral 61d that block and open the printing ink hole transfer the hole size (also available non-oil painting brush) of putting pen to paper.Inserting above-mentioned cutting with paintbrush lives in the hole on the frame or with on the adhesive tape cementation frame.Machinery is held frame alive and is taken a 60d drawing, calligraphy on cloth that the pin 5d that lives lives surely or paper.6. haircut: soft metal cover 11 or thin metal cap 11 are in people's top among Figure 112.Electronic of curved end pushes away 3 and is limited on the semicircle frame 6 to come and go and walks about, and it can move up and down along guide plate 4, and guide plate can be in along changeing on the joint 5 of walking about on the arc-shaped guide plate, and semicircle frame 6 cross sections are circular arc, and joint 51 pushes away angle in last can readjusting the distribution.Porose on the cover 1, can expose hair.Send out on the handle photoelectricity or other detecting element 2 are arranged.

Three, take off the extension destage: ginseng Fig. 6 to 53 and Figure 55.

1, takes off the extension clutch and realize that power set drive a plurality of joints or device.1., electromagnet 34 drives through bar 27, reinforcement bar 28 that dynamic interlocking teeth 26 is up to be engaged with upper tooth embedding wheel 23 among Fig. 6, (also following grinding disk engages with last frictional disk), make motor 29 when axle drives key 25 with lower tooth embedding 26 rotations, driving upper tooth embedding 23 changes with gear wheel 24 upper ledges 20 and manipulator, realizes the rotation of waist.Electromagnet 34 outages, little spring all recovers in shown position bar 27 tooth embeddings 26.By electromagnet 83 ' drive bar 32 and piece 31 top bull wheel end face pasting boards, pin waist.Generally be first motor outage, electromagnet 34 outages again of back lock waist.Also set up as the lower end shaft extension of motor 29 and reverse wheel 30 connection places and to take off the extension arrangement of clutch, the travelling wheel commutation is changeed mutually noninterfere with waist in can advancing.2., Fig. 7 and 8 and Figure 18 in show that motor 18 can drive clutch discs 70 through 17 76 on worm gear and change.Stay 72 among Fig. 8 and 2 power bars 74 be about two sides one cover is all arranged, clear for expressing, only the left side provide stay 72, the right side provides two reinforcement bars 74.When left side electromagnet 73 drove stay 72 stayed masts 74 top clutch discs 70 left lateral and engages with terminal board 69 among Fig. 8, motor 18 promptly drove big knee-joint head 108 and entire arms rotation through 16 76 clutch discs of worm gear, 70 terminal boards 69.After motor 18 braking, electromagnet 73 outages, lower electromagnet 79 energisings of Fig. 8 left side are promptly driven reinforcement bar 119,120 (ginseng Figure 20 ') and push rod 78 through stay 72, withstand terminal board 69, pin large-arm joint.Omit with top, the right side of above-mentioned electromagnet 73 symmetries electromagnet 73 and spring 71 among Fig. 8 that not have picture, lower electromagnet 70 also be that both sides have, the spring 71 that during energising spring is hung on power bar 74 or the bar 72 also stretches.Spring 71 replenishes the not enough problem of electromagnet 73 power that goes up.Minor axis on two semicircular ring 109 connects power bar 74 and clutch discs 70 (left side) (or tooth embedding 77 (right side).3., the electromagnet 20k among Figure 33 drives secondary bar 74k and two reinforcement bar 76k compression bar 70k through bar 77k and presses clutch discs 67k to engage with terminal board 69k, when power set drive axis of cone 53k, axle i.e. drive dish 67k and the big arm pipe 49k motion that connects firmly with dish 69k, after moving to preposition, the power set braking, big arm electromagnet 82k energising is led the secondary bar through bar 45k, withstand circle 60k with reinforcement bar 44k, 46k, making between big arm 49k and the joint 56k does not have relative motion.Electromagnet 20k outage, spring stay 77k, bar 72k, 76k are in position shown in Figure 33 again, coil 67k and coil 69k owing to stage clip 65k effect separates.4. after Figure 36 and 41 showed that electromagnet 128k drives tooth embedding 113k and tooth embedding 112k engages, band dynamic interlocking teeth wheel 12k when wheel 47k changes made a 129k, wheel 130k, 117k spiral 116k drive arm pipe 41k and move in pipe 49k.Spiral 116k self-locking.During electromagnet 128k outage, spring 128 ' k promptly leads the tooth embedding and resets.5. electromagnet 83k energising is driven reinforcement bar 85k, lever 86k platen 90k and is engaged with dish 91k, and in the time of can work as wheel shaft 43k and drive a spool 38k commentaries on classics, warp moves with the dish 91k drive dish 90k frame 92k forearm pipe 12k of axle 38k resilient connection.Axle 38k by main pass braking after, electromagnet 7k energising is driven bar 6k, reinforcement bar 3k and 2k top brake shoe 10k and is drawn second half brake shoe 14k to compress brake wheel 11k, makes forearm pipe 12k and does not have relative motion between the arm pipe 49k greatly.Electromagnet 83k outage, spring 98k effect make the i.e. disengaging dish 91k of dish 90k.6. among Figure 35 and 45, electromagnet 107 ' k energising is driven bar 104k reinforcement bar 105k, 106k stayed pole 103k and is drawn platelet 101k (ginseng Figure 42) can drive a 102k commentaries on classics, drives Figure 36 and shows that open plate 119k presses tooth embedding 35k to take turns 37k with the tooth embedding among Figure 33 and engages.When tooth embedding wheel 37k is taken turns the 43k driving, promptly be with dynamic interlocking teeth 35k and canalis carpi 31k to rotate.37k is braked because of the main transmission chain when tooth embedding wheel, and electromagnet 110k drives reinforcement bar 94k through bar 108k, makes to show among Figure 42 that tooth bar 190k is near canalis carpi 31k.Canalis carpi 31k is no longer changeed, and electromagnet 107 ' k outage spring 107k stay 104k, 105k return to again and show the position among Figure 35.As set up the tooth bar that double dot dash line is shown among Figure 42, can be changed into band-type brake.After increasing thrust bearing, tooth embedding 35k herein and tooth embedding wheel 37k also can change frictional drive into: tooth bar 190k and canalis carpi 31k go up and the contact site of tooth bar also can change friction catch identical materials and structure into, to improve precision.7. electromagnet 19t ' energising among Figure 55 can be driven gear wheel and be engaged with interior gear wheel, thereby when the big wheel driving steamboat on the axle 32t changes, can drive spiral 18t through gear wheel 19t and rotate.As seen from Figure 44, helical rotation will promote joint 56k inner nut 165k makes joint move along spiral, and as seen from Figure 33, the arm pipe 49k of hand is among joint 56k, so entire arms will move along spiral with joint.When electromagnet 19t ' cut off the power supply, it is up that spring 16t promptly draws gear wheel 19t, breaks away from gear wheel, thereby the rotation of gear wheel does not influence spiral down.When spiral does not change, joint will be lockable because of spiral self-locking.This is the whole one-movement-freedom-degree of the right-hand side.8. interior hand also has a whole one-movement-freedom-degree.When electromagnet 3a energising is driven that Figure 56 and Figure 63 show that tooth embedding 1a moves and taken turns when engaging with the tooth embedding, when axle 2t drives the rotation of tooth embedding wheel, change through key band dynamic interlocking teeth 1a and spiral 3t, thereby make interior arm among Figure 61 because of in joint, being driven simultaneously by spiral 3t with the nut in the joint.Electromagnet 3a outage spring stay 2a band dynamic interlocking teeth 1a breaks away from wheel.9. middle hand also has a whole one-movement-freedom-degree.Electromagnet 175t energising draw bar 154t presses spiral 95t left end cone pulley engagement among cone pulley 100t and Figure 63 through semicircular ring among Figure 79.When spiral 3t drives cone pulley 100t and rotates, promptly drive spiral 95t and rotate, make middle hand 177t among Figure 84 because of in joint, being driven simultaneously with the joint inner nut.The electromagnet 175t little spring stay 154t band cone pulley 100t that cuts off the power supply breaks away from spiral 95t left end wheel.The large-arm joint castle wheel of manipulator among Figure 33 is for interior hand and middle hand also gear wheel castle wheel.Fine module gear (intrasystem manipulator can be divided into height different accuracy) for example.

It can be tooth embedding clutch, gears to engage and disengage, (comprising the spline clutch), friction clutch (must consider bearing arrangement) that taking off everywhere hung arrangement of clutch, also the arrangement of clutch of other form.

2, floated joint: mechanical arm is when big arm axle 53k turns round among Figure 33, and its gravity is by joint 56k volume burden, and this makes frictional drive that one fixed load can be arranged.Take off the extension clutch and also take off the extension clutch among the operation, the for example tooth embedding clutch shown in Figure 36 and 41, tooth embedding 113k alive and tooth embedding wheel 112k is engaged or separate, the big forearm arrangement of clutch structure that Figure 33 shows can be exchanged or comprehensively be used.The swinging to motion and can swing to motion by the control power set and realize of each joint.Obviously, with the rotating shaft lengthening of big arm or forearm, and set up a reverse wheel and a cover arrangement of clutch, the motion of swinging to by the arrangement of clutch realization all can be realized in each joint such as big forearm or wrist.Get large power, electrically magnet etc. exert oneself bigger device with each bar wheel equidimension in the above-mentioned arrangement of clutch is got greatly, make with the high load capacity material, but do not bear also high capacity by joint with arm is heavy during frictional drive.Walk the fine work done of getting frictional drive in the dynamic formula robot two big arm cradle heads, also can all get frictional drive by two big arms; When rotating big arm it is located at when swinging in the approximately horizontal plane, the heavy joint burden that also can be of arm, the joint becomes the suspension joint of buoyant weight: it is the gear wheel clutch that the driving clutch in big forearm pendulum joint also can change friction clutch, be compression specification length, robot H.D parameter no longer describes in detail, the size of its arm and structure all can be adjusted, and for example: the bundle of the magazine 8 that manipulator grasps can add longer.

Four, precision and speed:

1, precision (1). transfer bolt 151k bullet pad 152k down in crack to change among Figure 46, can making bolt 151k push away pad 163k and axle, 164k is little moves, the wearing and tearing of compensation bearing (respectively have up and down among the figure one overlap same apparatus).Ring on Figure 33 axis 38k pushes away that cone pulley is little to be moved, the compensation wheel from the damage amount.Interchangeable addendum cone 78k among Figure 33 is that bolt holds out against, and adjustable pad is arranged under the bolt.Replaceable shim 64k and 87k make the gap between the frictional disk less, and the 52k that can change the shuttle has same purpose.When clutch cone of friction dish 67k and 90k are depressed, automatic compensation gap.(2). friction clutch and brake can reduce each joint position errors (waist also can be used friction clutch instead after using thrust bearing instead) such as waist commentaries on classics and big arm.(3). the position error when guide rod 44 subtracts feed preparing device 51 and moves to right in Fig. 6 also can change screw drives into.(4). spiral 84 butt joints and traction mobile robot, the position error when being in cooking position to subtract it.(5). stepper motor γ among Figure 61 is driven, change 2 steppings of increase (or brushless) motor α, the β that double dot dash line is shown among Figure 63 into and directly drive, can improve precision.(6). suitably increase the quantity of navigation microswitch, can improve the positioning accuracy of the robot of walking about.(7). the many places driving member is got axle and is squeezed into the hole by mallet, eliminates gap (or being pressed into).(8). on forearm, establish the motor list and drive.Figure 61 and 63 middle gears are established eccentric wheel transfers existing methods such as crack also can improve precision with transferring the crack spring.(9). utilize self adaptation location in the sensing part search such as claw or other place's adaptability microswitch, for example switch 186t changes sensitive variable resistor among Figure 79.(10). the hand sponge, each is adapted to by the grip zones shape of grasping piece, and required precision is separately, and for example: the right-hand side is moving of long spiral longitudinally, and arm is heavy gets frictional drive by joint burden part, cooperates closing up up and down of paw.The demanding work of performance accuracy, and heavy manual labour is all done in the wrist commentaries on classics, or the like, can realize reducing required precision, cost is fallen.(wrist also can change frictional drive and braking into, and suitable structure and proper arrangement make the robot precision require to reach and cost is low.Be touched earlier as outer paw inner surface upside two switches.Can whole also be touched along moving to pawl inner underside two switches on the spiral.Close pawl and grab bowl bundle etc. this moment.

Pulse code-disc that can each figure is low and middle-grade changes and is photoelectric code disk and matching component thereof, and for example the encoder that shows of Figure 130 improves precision, circuit corresponding adjustment this moment.

2, speed: (1). respectively drive the situation of 5 joint motions for 3 power set, adopt multi-CPU system.Many hands are operated simultaneously, raising speed.(2). establish nondominant hand, simultaneously motion.(3), establish single small machine, pot is started, adapt to the quick technological requirement of pot from fire through rack-and-pinion push rod 182t.(4). Figure 89 f shows when low speed crank 247t or quick crank 245t can drive the stirring nondominant hand, get quick crank and adapt on the cooking craft requirements such as burner, electromagnet 284t drives bar 283t and cooperates the low speed crank to adapt to the low speed requirement.Electric machine speed regulation in addition, or increase Figure 55 right side and show that clutch part is also adjustable.(5). the material grasping box is to grab from the middle part from the bin usually, and minimizing is talked in a roundabout way, must both sides bin grid also time spent, the side uses it.(6). many stoves can be processed simultaneously, raising speed, for example: boil with roasting and carry out together with cooking.(7). adopt Figure 33 middle part double dot dash line to show that little arm swing of motor direct-drive and wrist change, can improve control accuracy and improve service speed.

Five, intellectuality: the overall structure of 1, sitting in the right seat, it is the assurance of visionless low price robot material identification, this comprises the numbering of magazine 8 on the bin, auxiliary material numbering in the auxiliary material case 20t, the numbering of instrument on the tool rack, the classification of material and fixed position discharging or the like in the relative fixed of indoor utensil numbering of utensil and device each several part position, the material storehouse.2, the antennal nerve unit that spreads all over system: (1). mechanical hand: Figure 33 shows that touch ball 22k, the guide plate 98k on the paw surfaces externally and internally constitutes microswitch.The club 23k of pawl end and two guide plate 25k also constitute microswitch, and it is near to touch ball 22k and guide plate 98k distance on the pawl, survey and to be grabbed thing surface configuration and the pawl situation that puts in place: with the guide plate distance, main measuring jaw closes up and then contacts situation with object.The pawl end touches ball 23k master by the sponge elastic reset.(2) Figure 63 shows hand in the microswitch 91t survey, the whole shift position of interior hand.Figure 63 shows that microswitch 87t surveys the right-hand side and is moved on the whole and reaches the position.(3). auxiliary material case lid 171t goes up drum piece 80t and bumps microswitch 245t, surveys auxiliary material case 20t movement position.(4). the plate 220 ' t that establishes on the groove 93t before the last microswitch 221t of mobile chamber 218t bumps detects position, mobile chamber.(5). the microswitch 7t on the pad of stir-fry dish cooked in a small wok, meaning the food is prepared with special care cup 9t top bumps the position of the bulging piece 79t detection stir-fry dish cooked in a small wok, meaning the food is prepared with special care cup 9t on the auxiliary material case lid 171t.(6). the switch of frying cup 9t two ends microswitch 231t, 232t internal structure and Figure 26 to 28 expression among Figure 84 is similar, detects and fries the stressed weight in the cup end.(7). the microswitch 63t among Figure 84 under the fryer stove 64t detects minimum the limiting the quantity of of oil in the pot, detects by fried material to have or not into pot.(8). the microswitch 186t in frying pan stove 62t left side detects the frying pan force-bearing situation among Figure 79.Fry cup place and switch herein and all can change continuous rheostat into.(9). the switch 183t under the frying pan 61t surveys the position of top pot tooth bar 187t.(10). baking oven left end switch 142t and baking oven 52t microswitch 136t in front of the door surveys grill 54t position among Figure 70.(11). microswitch is identical with frying pan stove switch under the saucepan 56t, detects the saucepan force-bearing situation and surveys feeding.(12). when material grasping box 8 was put into bin 9 lattice, the left and right sides trap 88 of each grid and 89 microswitches on the bin 9 among Figure 11 predicted pawl and meet which trap.(13). micro switch 64 is surveyed magazines 8 and is had or not and push among Fig. 7.(14). the bin 9 right outsides one row switch 91 among Figure 11, survey the dynamic formula robot hand and touch the position.(15). increase weak detection of reflective light intensity and know in the pot whether also have material, can reduce hand and repeatedly scan and take off the material number of times that takes the dish out of the pot.Drum piece 63 is surveyed the auxilliary hand position of haul with the auxilliary micro switch 90 ' on hand of haul on Fig. 7 bin 9 inwalls.(16). micro switch 126 measures the orientation of the magazine 8 on frame 5 among Figure 22: switch 86 is surveyed magazines 8 and is had or not to walk to Fig. 6 and show depress switch 86 positions.(17). switch 128 is surveyed magazine bottom door position among Figure 23.Figure 30 shows on the bottom door 127 porose.Make switch 128 intermittens.(18). Fig. 6 shows the micro switch 40 that bin 9 belows have the detection vessel whether to push.Figure left side micro switch 49 survey instruments have or not puts into and indicates the paw position.(19). Figure 11 shows micro switch 96 indication paw positions, and the supplemental pilot hand is grabbed instrument.(20). micro switch under the sponge tablecloth on the medium and small ride face of Figure 11 93 upper berths 94 detects dishes and has or not and put in place, have or not crooked, the weight of material in the dish.(21). micro switch 40t surveys the door 45t of teeter chamber and has or not and open among Figure 61.Double dot dash line shows that micro switch 23t detects haul and holds in the palm frame 5 run locations on hand.Hydraulic pressure in float 50t and micro switch 50 ' the t water gage glass.Micro switch 70t, 69t survey instrument have or not and put in place or take off.The crack indicative function of closing.(22) the other micro switch of motor 210t has or not rotation with the broken powder motor 210t that washs of drum piece survey among Figure 84.(having omitted the decelerator expression) micro switch 216t surveys mobile chamber door and has or not and open, and whether micro switch 229t, 230t survey vessel such as bowl and put into.Micro switch 225t survey instrument has or not and puts in place or take away.(23). micro switch 133t survey agitating device has or not running among Figure 70.(24). micro switch 274t surveys the position of the hook 275t that drives the stirring hand among Figure 89.The true survey of micro switch 178t down bowl has or not among Figure 79.(25). micro switch 183t surveys the position of lifting hand among Figure 79.(26). two positions about the micro switch 129t difference pressare-measuring egg bar 112t about among Figure 70.(27). brace 292t and micro switch 293t survey lever 268t position among Figure 91.(28). drive crank 83 by motor among Figure 17 107 among 95 times micro switch cooperations of carpet Fig. 3 among Figure 11, drive bar 80,81, hammer 82, survey the position of the robot wheel 30 of walking about.(29). when motor 90 other little side's plates made 5 operations of holder frame among Figure 11, switch was known the position on it.3, other: (1). Figure 66 shows photosensitive tube 113t and forms Photoelectric Detection auxiliary material beverage for optical element 120t zero discharge is arranged.(2). the similar elements among Figure 79 among temperature-sensitive element 181t and Figure 84 is surveyed this place's furnace temperature in the stove aperture.(3). double dot dash line shows that annotating " CCD " in the robot head is meant ccd video camera among Fig. 8.(4), the micro switch of each swivel of hand clutch place surveys to take off to hang with not have and puts in place, only provides 5 ' the k representative of top, Figure 33 middle part among each figure, all the other omit expression.(5), the multiple-pole switch among the mother 62 is established for surveying different weight effects.

Six, control device

1, control actuating unit and drive scheme: this robot can be pneumatic, hydraulic pressure or any power set such as electronic, power disposition is also versatile and flexible: (1), manipulator: the right-hand side, middle hand, interior hand, only middle hand is that each joint is by single motor-driven in three hands, and interior hand, the right-hand side adopt arrangement of clutch, as shown in Figure 33, show β and each driving each joint of big arm on the other hand of γ motor by double dot dash line among Figure 61 and Figure 63.This situation is slightly taken turns 31t.2: three hands of scheme all adopt arrangement of clutch, and all each is by a motor-driven, and this situation is omitted wheel 26t and 31t, i.e. α β γ three motors shown in Figure 61 and Figure 63.Scheme 3: in attempting, in, outer 3 hands drive by a motor 24t.Among Figure 84 in the upper right side double dot dash line frame " code-disc " refer to detection part, the braking brake 214t in motor left side is standby.Also can attempt driving with a stepper motor, for example the right-hand side, middle hand, interior hand are only driven by Figure 61 upper right side γ stepper motor.(2). Fig. 6 walk about on the device manipulator (comprising waist) drive scheme and above-mentioned outer, in, the drive scheme of interior 3 hands is close, only walk about drive unit and its common power device, for example the waist that shows of Fig. 6 rotates shared reversing motor, only sets up arrangement of clutch.(3) part of walking about, 1. wheeled: scheme 1: walking about commutation each uses power set.Scheme 2: establish arrangement of clutch, single motor-driven, when needing commutation, the commutation part hangs up drive unit.2. sufficient formula: scheme 1: leg is gone up each joint with foot and is driven by power set; Scheme 2: establish arrangement of clutch, get power set and drive one with upper joint, more than said motor any motor that is suitable for.

When 2, this routine control device circuit was got Figure 126 list cpu system: Figure 126 was that the circuit of existing plc TNC-810 adds the controller line sketch that interface and peripheral hardware are partly formed.To provide several switch k be schematically in the top among the figure, represents that this circuit can be connected also can cut off.Switch k is to the action simultaneously in twos of a kind of memory among the figure, and promptly a switch is line disconnection, and simultaneously another switch is to connect circuit.The other ellipsis of switch shows that each same line and memory omit expression.Detailed structure is consulted Figure 137.Memory 2732 and 6116 among Figure 137 promptly is ROM and RAM herein, guide card group on the nut 30v joint and the guide plate group on the auxilliary socket.Constitute switch k herein, the CPU that the switch group that nut carries shows Figure 145 can dock with the arbitrary chip circuit among the memory group.Only express a cover motor and a nut shear device among Figure 137, also can set up nut shear device again.The A mouth of right side a slice PIO connects the stepper motor driver circuit among two PIO among circuit Figure 126, and stepper motor and its driver circuit enchashment have technology, not elsewhere specified (NES).The B mouth of this sheet PIO is connected to and the two similar cover circuits shown in Figure 127, counts 16 CD4099, CD4512 chip and peripheral hardwares.Compare with Figure 127, it is identical with parts such as CD4556 decodings, only CD4099 is different with the core number of CD4512, signal and the CD4099 of outer input CD4512 drive through seven not gate ULN2003, peripheral hardware difference through relay control, and the B mouth of left side a slice PIO is connected to 8 CD4099 shown in two cover Figure 127, the CD4512 circuit, another set of circuit is compared with circuit shown in Figure 127, difference also is that only CD4099 is different with the core number of CD4512, the signal of outer input CD4512 and CD4099 drive the peripheral hardware difference of controlling through relay through seven not gate ULN003, so the circuit that each 8 chip of this three part are formed is expressed by Figure 126 upper left side schematic drawing.The first of below circuit is responsible for part in the upper left Arabic numerals of Figure 126 " 1 ", " 2 ", " 3 ", " 4 ", " 5 ", and input signal has near feeling one, and pyrotechnics detects each one; The circuit of cutting off the water supply is one with float circuit among Figure 141; The interior oil mass detection of fried groove is got Figure 62 and is shown one of micro switch; Nut 30v stroke and position switch are individual among extension memory Figure 135; Getting the photoelectricity location of representing among the identical wireline inspection Figure 131 in Figure 127 lower left puts and each one of input information; Output is that the electric bell circuit is one of notice user instrument, adds that driving the Figure 137 that switches the memory line switching shows two relays of motor 43v." 2 " part comprises interior hand, and input has 6 of pawl senses of touch; The joint is taken off and is hung 5 of clutch detections; Two on whole shift position switch; On the interior hand side tool rack 4; Survey material storehouse 41 inner and 3 switching value switches of exterior top surface temperature; Open the 129t of egg place, 293 3; Not one of taste motor movement; One of teeter chamber's door side; Stirring has or not stirs one; Output is that extension and 9 of Breake Electromagnets are taken off in each joint of arm; Circuit switched electromagnet 4 and 4 '; Swabbing groove door opens and closes electromagnet 239t; Mill is washed powder motor 211t; The lotion chamber door opens and closes electromagnet 238t; Drive 4 in egg valve and motor; Go out 8 electromagnet of beverage; 2 of water valves; Open and mix chamber gate solenoid, motor and just reversing 2." 3 " part comprises middle hand, and input has 6 of pawl senses of touch; The joint is taken off and is hung 5, behind the stove 3; 4 of middle hand mass motion position switch; Fry 4 at cup place; Interior 1 of baking oven; Other 3 of stirring hook; Explode, fry, boil 8 surveys of several stoves below meter and have or not material loading; The position is 4 behind the stokehold; Fry behind the stove 4; On the tool rack 2; Survey and fry 2 of cup frying pan furnace temperature; On the platen 4; Other 2 of the beverage mouth of pipe.Output is 4 stove power on/off; Switch and 9 of Breake Electromagnets in each joint of middle hand; Rise 1 in pot motor; 1 of cooking water valve; Circuit switched is 1 in Figure 12 lower chambers." 4 " part has 6 of outer paw senses of touch; The joint is taken off and is hung 5; 3 of whole shift positions; On the bin 16; 2 of stokeholds; Interior 6 of two bowls of grooves in stokehold; Along 4 of mobile chamber moving guide rails; Along 4 of stir-fry dish cooked in a small wok, meaning the food is prepared with special care cup moving guide rails; 2 at mobile chamber door; Fry the cup furnace temperature and detect 1.Output is 9 and switches braking arm joint electromagnet; Dividing plate opens and closes 2; Motor is 1 on the mobile chamber; Fry the cup motor and just reversing 2; 1 of lock cup electromagnet: fry 1 in cup stove.(multi-CPU system this part increases two PIO or two 8155 in addition, surveys 40 inputs of bin.) " 5 " part is that the auxiliary material run location detects one; 6 of taste inputs; 5 of the supporting position probing of haul dish: auxiliary material, beverage have 4 Photoelectric Detection of zero discharge.Output is, 42 electromagnet of following auxiliary material, and auxiliary material storehouse motor is just reversing 2; 4 of haul dish necessary electromotors.Figure 127 express be above-mentioned " 1 " with " 2 " two-part circuit, ellipsis is represented its other same line among the figure.The upper left micro switch frame of Figure 126 is represented Figure 127 lower right same line.The electromagnetism chase is represented a plurality of Figure 127 left electromagnet MQZ circuits.In motor frame generation and Figure 127 upper left side motor same line,, the reversing of motor is that the dc source both positive and negative polarity changes.Representative of furnace temperature detection block and the identical circuit of Figure 127 left temperature-sensitive electricity Rt place circuit.The Photoelectric Detection frame is a plurality of Figure 127 lower left circuit.Below, upper left side " 3 (middle hand) " has a 220V AC power circuit circuit among a plurality of Figure 126 of electric furnace frame representative.It is the Photoelectric Detection circuit that there is right-hand ellipsis of the Photoelectric Detection circuit of Schmidt's shaping circuit the below on Figure 126 upper left side " 5 ".3, control actuating unit supplementary notes: (1). the movement parts of power transformation stove voltage being arranged in the shear chamber 8, install closely with Figure 169 showing device, also is that motor drives the nut motion, along band with switch opens and closure.Just change electric furnace herein and be connected in series electric furnace heating wire number into circuit.The control furnace temperature.For example: the electric furnace of 1Kw is powered with the stove silk of 5 2O0w, can be only with 2 or 1 or 4 power supplies or the like.For baking oven is to adopt a plurality of or several the panel elements of tube element, control energising number.The shear device is expressed no longer in detail.(2). when adopting two power supplys to give 3 stepper motor power supplies, be provided with the roughly the same electromagnet at 9 places, shear chamber in the shear chamber 9, retract to close and switch power circuit.(3), on the pawl sense of touch more, the directly input of wherein non-aforementioned interface part is in order to survey usefulness such as thing shape, can set up Figure 128 top and show movement parts transmission massaging device.

Conversion control method utilization: adopted novel conversion control method (patent publication No.: CN1161486A) realized the memory expansion herein.(1). Figure 135 is a memory expansion device, and the quantity of a few row EPROM and RAM chip can be fixed according to needs, also can plug replacing.The chip model also not necessarily RAM such as 2732 and 6116 couples 6116 can increase refresh lines., micro machine 43v drives spiral 36v through worm gear 44v and rotates, and moves simultaneously with group's elasticity guide plate thereby make nut block 30v carry cable 31v.At the volley, each elasticity guide plate 42v contacts with guide plate 32v on the auxilliary socket.Form current path, thereby make with auxilliary socket on circuit in each memory chip of connecting of each elasticity guide plate, be connected with control bus of maincenter or chip select line etc. through flexible cable 31v, this can make single cpu system among the Figure 126 of system, and not only storage capability is unlimited, to go up the lead of weldering be the Kong Houyu band cable upper conductor butt end head welding of passing on the joint to elasticity guide card 40v on the nut block among Figure 135, and elasticity guide card and surplus lead are pushed behind the gluing in the groove on the joint simultaneously.The elasticity guide card 33v on the plinth and the welding of lead and the fixing similar approach of also using, prior art is used in fixing with cabling and with the splicing position guide card making of plinth of EPROM and RAM, and each shell fragment also can change optoelectronic switch into.Memory shear nut moves to arbitrary microswitch place, and behind this memory chip circuit and system docking, this system CPU is identified this place, memory chip place microswitch code, to determine whether needing this memory to provide information.As not using, promptly give electrical power, make it drive nut and continue search.(2). push to row's optoelectronic switch right-hand when stage clip among Figure 137 and spring bar 41v make nut 30v walk to this place and pinned by hook 40v, also can make in the structure chart 2 or 3 identical manipulator control relay system and wiring points of structure only is a cover.When using left hand, push switch to left, make this covering device connect left hand, when use the right hand, switch is pushed to right-hand, make this each executive item of cover relay system connection right hand.Used switch positioner is the Pause key mechanism of general recorder also.Maincenter control is according to the position switch information buck switch stroke of walking half for the first time, covers stroke when promoting for the 2nd time.Conduct timing or the count action of CTC among obvious Figure 126, also available this method realizes.For the control of laundry cutting etc. the yet control section of available existing device for cooking, must not establish time sharing shared required cumbersome parts more in addition.Part control device switching part expression such as laundry have been omitted among the figure.Also omitted the expression of cabling etc. among each figure.Switch with movement parts and also to make in the system the shared power supply of two or more stepper motors feasible.Obviously wireless remote control also can be realized conversion control method, makes the expansion of input and output amount and storage capability unlimited.For connecting, to the VCD system decoder that its internal register and external DRAM/ROM carry out access, ROM is expanded flexibly and easily by interface by bus.CPU and the existing parts that VCD can shared robot in the case is to fall system cost.(3). Figure 131 is an input contact expanding unit, also can realize the signal input of 3,4,5 parts among Figure 126.Intersect give optical element 7v and the 8v of 118 defeated eight signals laying by two rows around the frame 118 leads of external equipment are transmitted information that information points provide two photosensitive tube 5v up and down by a cable connection, 6v searches in the bull wheel 4v running that wheel 1v drives one by one with motor 10v will provide signal input maincenter, circuit Figure 141 shows in the contact with the CD4512 among Figure 127 and is provided with 1 contact, for conversion input maincenter information, photosensitive tube 3v cooperates the information of passing to the last photosensitive tube 3v movement position of control maincenter bull wheel 4v to light pipe 2v, make maincenter can add the software processing according to the period of twice input signal, know when the external signal input is arranged, give in the message elements which information that provides for 118, the 9v among the figure has the anti-cover lead that reverses.118 elements have only been expressed 30 of two rows on figure right side.When this method was used to navigate, 128 showing devices of changing plan search integrated component provided signal.Figure 131 shows the input signal circuit that 118 input signals also can replace Figure 126 part upper left side to show.(4). Figure 132 is the output contact expanding unit, and the control maincenter is through taking turns an action among two magnetic valve 16v on the 17v with the contact control of the CD4099 among Figure 127.(but can increase micro machine rotates on the binary circular arc guide plate of mutually insulated through the wheel driving guide card, making two electromagnet be taken up in order of priority conduction) motor 18v drives electromagnet 16v motion on the wheel 17v through little deceleration device, action in the electromagnet 16v motion, a moving bar 14v in 82 switches fixing on the deep bid around attracting, make bar 14v drive bar 13v and bar 19v moves ahead, caught on because of spring bar 22v effect by hook 20v.(also available recorder Pause key mechanism or commercially available similar switch.Thereby) peripheral hardware of connecting with this switch is switched on because of the contact reed action connection circuit that moving bar 14v moves in compressing switch.For crawl in short-term, do not establish hook 20v.The outage of peripheral hardware, also i.e. energising regularly, by one among two electromagnet 16v of maincenter control moving bar 14v that inhales this switch for the 2nd time, jack-up hook 20v when little bar 19v on the bar is moved ahead, and because of spring bar 22v surplus energy makes the little commentaries on classics of hook 20v, thereby moving bar 14v is taken back original position by the microcontact reed.Any method and Figure 131 of discerning in 82 micro switch show that input unit identification input signal spare is identical, but light-sensitive element rotate with dish, the fixing optical position element of giving cooperates it.Among the figure 82 switches have only been expressed a part.The ac electric apparatus switch side of setting that double dot dash line is expressed and use travel switch.This output signal device also can generally drive Figure 132 showing device accurately to stop the check mark break-make with stepper motor for part signal outlet line and the element among Figure 126,127.The photoelectric converting piece with dashed lines frame on Figure 141 upper left side k1 and k300 switch right side impales, the darkroom that the representative graph center forms, and symbol " v " represents that with its other long arrow photosensitive tube moves.The figure upper left side connects the valve of CD4099, and there are circular arc arrow and symbol " v " in the below, and the expression valve moves.Valve promptly is the magnetic valve 16v on the wheel among Figure 132.Among Figure 142 around the valve line switching of element double dot dash line arrow points valve is all arranged, represent that these switches drive by (during action) in the valve motion to realize break-make.The omission on the ellipsis representation class liny road of the side of these switch place circuits or below is expressed.(the blanking magnetic valve is the crawl blanking.Multiple-pole switch among Figure 62 is established for surveying different weight effects.Figure 125 is the control system that adopts many CPU, by the single control of several Z80 motor, grasps the motion of 3 master manipulators, and a Z80 controls each auxiliary manipulator and apparatus for household use, and another Z80 coordinates the motion of two parts, also can increase the device part of walking about.)

4, other control device: (1). native system shows the PUMA560 control device as adopting Figure 130, and changing its 6 motors into 1 motor promptly is motor among Figure 84.As change 3 motors into, promptly be α, β shown in Figure 61 and 63,3 motors of γ.As still interior hand, middle hand, the right-hand side being equipped with the motor that Figure 33 middle part double dot dash line is expressed with 6 motors, changing frictional drive is gear drive.Change 1 or 3 s' situation into for 6 motors, each several parts such as detection piece, power amplifier part, interface board are all compressed delete.Power of motor is fixed as required.The joint is taken off extension and electric furnace and other parts control and can partly be solved by I/O.The interface circuit of I/O part, the peripheral hardware driver circuit, checkout gear or the like, all similar circuit and the element of the same section that shows of Figure 128 are so omitted expression among Figure 130.Only the 35V power supply among Figure 128 changes into+24V.(2). when showing many Z80 machine system with Figure 125, interior or the numeral that side is annotated of each Z80CPU frame, numeral is corresponding with annotating above the circuit of Figure 126 upper left side, is responsible for the control of the output of the part of upper left side same numbers representative among Figure 126 and the reception of importation signal by the Z8O machine at this place, numeral place through PIO.Element, circuit and checkout gear between the PIO among Figure 125 and outer setting the or the like is all identical with Figure 126, only is different from Figure 125 showing device and is that a slice CD4099 that PIO connects and CD4512 add is 8 together, and a slice PIO shown in Figure 126,127 connects 6.Omitted detailed expression among Figure 125.The PIO of 2 among Figure 125,3, the Z80 of place, 4 places part respectively is connected to a cover motor-driven part, and motor promptly is 3 motors of α, β, γ in structure Figure 61 and 63, but practical motor such as stepper motor.Memory switches with Figure 128 system, and switch k circuit and a plurality of 2732,6116 memories of Figure 126 top are all arranged in each subsystem.(3), many 8031 SCM systems of showing for Figure 128 robot that is control device, an above-mentioned hundreds of input/output signal is realized by 17 8155 chips among Figure 128.Express 6264 and 8031 PSEN, 8155 and 8031 RD, the circuit between the WR or the like prior art part is simple among Figure 128.α, β among " interior torch machine " among Figure 128, " middle torch machine ", " right-hand side motor " frame representative structure Figure 61 and 63, the control driver circuit of 3 motors of γ, available existing technology.The code-disc detection line of the code-disc representative that motor is other also enchashment has technology.Drive motors is got in top navigation among Figure 128 and movement parts is coaxial, improves search speed.The lower right is that the omission that goes out among the circuit Figure 128 of chamber of Photoelectric Detection is also the same with ellipsis among Figure 126 and switch with switch, switch is driven by Figure 137 showing device, action simultaneously in twos, circuit and element that the ellipsis representative is identical, difference is: the switch k of the switching memory in each 8031 single-chip microcomputer of main 8031 machines below has the phenomenon of action simultaneously, and purpose is for cutting the same set of operation sequence that cooperatively interacts.It is also the same with Figure 126 upper left side that each frame of below among Figure 128 plays part, represent line map, wherein on behalf of a plurality of Figure 128 lower left k1 switch, " micro switch " frame provide the circuit of signal: on behalf of a plurality of Figure 128 lower left, " electromagnet " frame the circuit of electromagnet MQZ is arranged: " motor and electromagnet " frame is the merging of motor and two kinds of frames of electromagnet, and each motor frame is represented the little alternating current generator circuit in middle part, a plurality of Figure 128 below: the electromagnetism chase is no longer narrated." segmentation stove silk " frame refers to electric furnace heating wire is divided into several disconnected, and energising separately is the same with electric furnace frame in " electric furnace and motor " frame in the line map, is to represent Figure 128 lower right that 220 volts of AC power electric furnace heating wire circuits are arranged." temperature detection " all represents the right-hand thermistor of a plurality of figure place circuit with " survey furnace temperature ".(4). the control device among Figure 129 is schematic illustration figure.Power supply in each system diagram, clock, memory and the expression of interrupting part circuits such as control, dma controller, timer counter, I/O all can be adopted prior art, the omission that has and do not express.

5, keyboard: Figure 130 shows that the operating means such as keyboard of PUMA560 controller and other system no longer narrate, and the keyboard 105 and display part 104 of Figure 12 top is described herein.3 keys 103 in Figure 12 the top are 3 keys that start, stop, resetting, and 3 grid of the row of going up in the big frame are display unit 105, and the below is a keyboard 105.All get the identical device of TNC-810 Programmable Logic Controller.The outer below of big frame is the mode selector switch, and turning knob 106 makes red point on it relative with index line on the semi arch of top, can move mode such as programming to main frame and select.This is the keyboard that Figure 12 or Figure 126 show system.

6, power supply: (1). the power supply that shows PUMA560 for Figure 130 is no longer narrated, and its power supply can increase a cover more in addition.Figure 12 middle part two plugs, 1 ' a is the attaching plug at electric cabinet 12 middle parts.Figure 125,126 shows the power supply of system disposition, takes from existing LQ-1600 printer power supply, and detailed circuit diagram no longer provides, and this printer is a single-chip computer control system.Use dual power supply herein, the 5v voltage that provides is given each Z80 single board computer power supply herein.Each power supply is given 2 Z80 system power supplies.Wherein, 35v provides electric current 1.5A, 12v that electric current 0.2A is provided (dual power supply is 0.4A), and 5v provides electric current 1A, and dual power supply is 2A.12v is the 12v chip power supply on the interface board, and 35v is that the 24v element power supply on the interface board time is set up divider, is in series with divider resistance.(2). as stirring motor with drive auxiliary hopper 20t motion motor.Take monophase machine, and the electromagnet that has, magnet valve also use alternating current, another plug 1 ' a connects supply socket, gives these electric power supplies.(3). drive the manipulator motor power: the side shows plug 1a at the bottom of Figure 12, is electric cabinet lowest part power supply for step-by-step motor plug.For with 3 stepper motors of α β γ in the structure chart, be equipped with 2 power supplys (3 can) herein, the motor of same model switches its circuit so that association changes part, realizes 3 shared 2 power supplys of motor.3 manipulators of 1 step motor control as only showing with Figure 84 are with 1 power supply.Power supply can be purchased the electric drilling match finished product.(4). the other plug of plug 1a is ac electric apparatus attaching plugs such as electric furnace under Figure 12.Can consider to increase power connector according to furnace power, the socket 1 ' among Fig. 8 patches for Figure 12 middle part plug.Upper left side socket 1 is equipped with for stepper motor and circuit, also can increase an electric furnace socket in addition, and distribution board 2 has also omitted internal representations, with general family distribution board ratio, and element such as many automatic shear switches and power height, current value height.

Seven, control: this part and following the 8th part " course of work summary and using method " include the software section of these family expenses robot.

1, manipulator control: when (1) adopted Figure 125 and 126 to show system also with the stepper motor drive scheme, with open loop control or feedback information, the formation stepper motor mixed servo-drive system and is prior art, does not narrate in addition.Difference: 1. the scheme that power set drive a plurality of joints is got by this robot, before driving certain joint, the chain of braking main transmission earlier, by arrangement of clutch need being driven the joint then is hung on the main transmission chain, restart the main transmission chain and, when not needing these joint motions, brake the main transmission chain simultaneously with the locking system disengaging in this joint, the locking system in this joint pins this joint, by arrangement of clutch this joint is broken away from the main transmission chain again.According to situation, also main transmission chain commentariess on classics of not stopping transport, that need take off extension takes off the main transmission chain of hanging in turning round fast.2. motion control: can be α: control another joint again after adopting a joint control to put in place and put in place; β: multi-joint is Comprehensive Control simultaneously.γ: last two methods are used simultaneously.Fixed each joint of positional information that detection piece and record part provide in the time of can be according to teaching hangs up or breaks away from the moment of main transmission chain respectively.

2, programmed method: (1) teaching: desirable teach-by-doing lead-through teaching.As the pulse disc type feedback information of getting at a low price adds single motor-driven, worm gear 26t among Figure 84 can be pulled down.What use among Figure 54 is low-grade many sutural veins punch plate, dish test section tap display, the umber of pulse when providing each joint motions, people's record or automatic record.Also can use Figure 130 instead and show optical code wheel.For more than a motor-driven situation, but biased exponent dish assembly.For example hand 177t establishes on motor shaft in the right-hand side 85, the code-disc assembly on the motor-driven axle of β is changed in β motor place, by the opposite side shaft extension driving of β motor.Information such as compared with prior art, teaching herein increases each joint of record and takes off the clutch information of hanging, and also has nondominant hand auxiliary, and servicing unit is auxiliary.(2) programming one example: according to menu, have cook's face to look under the situation of correction, press the execute-in-place programming: for the situation of using Z80 as main frame.But programming language assembler language.Below provide process by livestock the 6th course " fish-flavoured shredded pork " menu programming in " homely menu " (79 years versions of Shanghai culture publishing house).At first be not have do-nothing operation in kind, complete machine repeats each step action of teaching people teaching or respectively goes on foot control program, and adjusts repeatedly.The content of former menu is: " raw material: three liang of pig leg meats, green pepper silk one or two.Condiment: one in egg, onion parts one money, mashed garlic three minutes, broad bean chili sauce four money, vinegar two money, monosodium glutamate three minutes, dried starch four money, fine salt one minute, bruised ginger five minutes, eight liang of (real consumption one or two) white sugar two money of lard, soy sauce five minutes, yellow rice wine two money, water-starch one money.Method for making: it is long that one, das Beinfleisch is cut into one-inch five minutes, as the silk of matchstick thickness, mixes starching thoroughly with salt, the egg of breaing up, wine, dried starch.In addition sugar, vinegar, soy sauce, wine, monosodium glutamate, water-starch are put into little bowl, the furnishing thick gravy is stand-by.Two, pot burns heat, add lard and burn four one-tenths when hot, with shredded meat cook stroke be dissipated to ripe, pour strainer drop oil into down with the green pepper silk is standardized again, former pot stays excess oil five money, after following green onion, ginger, mashed garlic, broad bean chili sauce are stir-fried out fragrance before stewing, again shredded meat, green pepper and thick gravy are poured into and turned over evenly, play pot dress basin.Characteristics: be Chinese red, sour-sweetly be with pepperyly, fragrant bright good to eat, Sichuan style is arranged." teaching and each step control program is: after the magazine 8 that 1. outer manipulator 85 is grabbed this course from bin 9 goes out the chamber; move down manipulator; know that according to microswitch signal on the holder frame 5 magazine 8 is to frame 5; motor 91 ' drives worm gear 125 and drives spirals 61 on the dish 7, nut 100 is pushed into holder frame 5 left ends with magazine 8; drive synchronous pulley through motor 63 ' again spiral 11 is changeed; after driving dish 7 and rising to bin 9 tops, motor 90 drives nut 101 through spiral 60, drives and holds in the palm the top of frame 5 to the 33t of teeter chamber on processing machine top.Binding post 137 is given motor 127 ' energising on the magazine 8 that docks power supply on the frame 5, drive wheel 133, wheel 134, wheel 138 commentaries on classics, drive tooth bar bottom door 127 motions of magazine 8, make the shredded meat that is mixed with dried starch and wine of major ingredient rice paper bag fall into the 33t of teeter chamber, the rice paper bag freezes the lard piece to be gone into to fry among the cup 9t through the mobile chamber of opened door.After treating that the stir-fry cup 9t mobile chamber door 223t in top shuts, motor 90 is switched on again and is pleaded frame 5 through spiral 60 and advance several steps to having gone to the other mobile chamber 218t top of the 33t of teeter chamber, switch on again magazine door 127 of magazine motor 127 ' continues to move, and makes the green pepper silk in the magazine Room the 3rd go into to move chamber 218t.Each sensing part is passed to the movement position information of each movement parts of control maincenter in the device.2. the outer manipulator 85 that double dot dash line is shown in Figure 11 has also been grabbed among Figure 79 double dot dash line and has been shown a glass 172t, and when left lateral is distinguished the flavor of to Figure 63 and is shown in dotted line liquid material pipe below under the groove material chamber and stops, the valve 170t action of the required Auxiliary Liquid Material of thick gravy that menu is seted the tone chamber makes liquid material such as vinegar, soy sauce go in the cup through fluid material pipe.By cook institute quantitatively, get regularly down that prose style free from parallelism material is in cup under liquid material and the motion valve rod repeatedly, water-starch is put in the cup in advance, and wine is put in " motor-driven " material chamber, and the auxiliary material case 20t that can walk about when going up sugar in the cup makes sugar material chamber in the cup top.Cup 172t goes up behind the honest material by showing in the middle manipulator grabgraf 84 that excellent 227t inserts in the cup that outer manipulator grabs, change wrist and stir, subsequently in hand change and replace after wrist is scrubbed rod only in the cave, pond, the right-hand side is put on the table top 218 cup stand-by.3., ginseng Figure 89 and 70, it is up that valve 110t drives depression bar 82, and the 83t that starts go up to be put, open eggshell, motor 109t energising drives the 83t that starts and moves horizontally through wheel 108t, bar 266t, lever 269t, eggshell is drawn back, and valve 271t drives yolk demarcation strip 138t simultaneously changes down, and yolk is also flowed down.269t continues to walk about with rear motor 109t drive rod, electromagnet 110t outage, and spring 270t makes depression bar 82t descending.Flap 86t routs up eggshell outside the machine, motor 109t reversing, and flap 86t resets and lifts and press cotton plate 112t, and egg is again below the cotton plate 112t of roll extrusion.4. small machine 134t drives apery stirring rod 131t motion, to mix and expect in the chamber to mix thoroughly, stir-fry dish cooked in a small wok, meaning the food is prepared with special care cup 9t goes up motor 8t and drives stir-fry cup 9t to the 33t of teeter chamber simultaneously, fry the energising of cup stove, groove that the middle hand 177t that walks about synchronously will do a good job of it in advance shovel 223t is put in the stir-fry dish cooked in a small wok, meaning the food is prepared with special care cup 9t cup after the oily heat, valve 43t energising, 45t opens with the agitator door, the material that motion splash bar 131t will mix is lowered to be fried among the cup 9t, manipulator 177t grab jaw 223t changes round diffusing shredded meat and the stir-fry cup and middle hand drawn of wrist swing arm simultaneously, after mobile chamber all moves on to fryer 66t top, mobile chamber door is left in motor 222t energising, the green pepper silk falls into fries cup 9t, and when middle manipulator 177t grab jaw 223t came and went, interior manipulator 74t moved to a glass 235t mouth place with strainer 73t in the hand, cup stove 64t outage, middle hand 177t grab jaw 223t pushes away the green pepper stir-fry cup that moves ahead out and falls into strainer 73t drop oil.The while right-hand side 85 is grabbed frying-pan covers 92t and is put on the saucepan lid 90t, in the hand grab jaw change wrist spoon oil in the cup 9t and lift, pause, after frying pan 61t is poured in commentaries on classics into again, motor 123t drives wheel 146t to be changeed on tooth bar, when making auxiliary material storehouse 20t move to certain required auxiliary material chamber to frying pan 61t top, the auxiliary material storehouse of stopping is by required this auxiliary material amount, surely expect that the chamber door is once to open (as onion parts, mashed garlic) or repeatedly push away down, it is fixed to require according to the taste of input." motor-driven " indoor bruised ginger, broad bean chili sauce.Stove 62t and electromagnet 284t energising, hanging up connecting rod moves back and forth with spoon 159t, push away material in the pot repeatedly, after stir-frying out fragrance before stewing, interior manipulator 74t grabs strainer 73t strainer after the frying pan 61t upset shredded meat green pepper that drop is oily is excessively poured frying pan 61t into and regains, outer manipulator 85 is grabbed condiment cup 172t changes wrist, mouthful material in the cup is poured in the frying pan, and will expect glass to put back to.The stirring hand do not stop stirring evenly after, motor 200t energising makes lifting hand 182t that frying pan is started from fire, and the complete machine outage, electric bell notice dish is carried out, or middle manipulator grab jaw come and go scan-type with shovel with dish be grilled into that outer manipulator 85 has been caught before pot 61t bowl in.(spoon or parts such as shovel also can be set up reflection-type infrared electro detecting element and colour filter, detect and wait the place to have or not in pot or the cup to expect or defective material etc.Frying excess oil among the cup 9t transfers arm by middle wrist and turns over dipper and take out and be put in the bowl that the right-hand side catches.) treat that complete machine respectively goes on foot working procedure and meets cook's requirement, will expect washed cutting by spectrum again, deliver in the magazine of specifying on the bin 9 in the grid.Auxiliary material is put into the auxiliary material chamber, contrast through multiple tracks dish and variable element by tested program operation complete machine, for example furnace temperature and the change of cooking period, relatively cook the result, and the name cook is to after making this course satisfaction with the instruction of control device, respectively the going on foot control program and can write EPROM of this road " fish-flavoured shredded pork " dish that mixes up by write device, or dump in tape by internal memory, other dish also can so be programmed.The production process of these single dishes of storage promptly is the instruction with Chinese style respectively is, Western-style each course that respectively is is made automatically by robot.The user can purchase corresponding storaging chip (being fixed in the storage cell of Figure 12) dish or tape according to the need Chinese style style of cooking or the Western-style style of cooking, certainly with high-grade computer such as desk-top grade during as the maincenter of control, also available disk or other storage part storage instruction, the user purchases disk or other storage part during this situation, and manufacturer can tell user's usage.To some auxiliary material commonly used, as oil, soy sauce etc., its material chamber number general constant (being beneficial to programming).(3). expansion realizes: establish 1. that manipulator changes tape or other storage part is established automatic replacing program.2. provide the ROM or the EPROM of many cover same model, 2716EPROM chip for example, store some fixing subprogram, for example clean a pot etc., and memory capacity, IA arrangement are identical with original ROM, EPROM, when this part instruction of need, coupled switch makes the complete machine memories such as making former ROM or RAM simultaneously that resets break away from bus etc., with the wiring of the memory of expansion or with the work of connection such as bus (when at every turn switching chip, all drive the RESET key) by showing motor 43v among manipulator or Figure 137, drive nut switch group 30v or other and realize from changing part.This also can increase monitoring programme because of adopting this method.For example change once during haul, change once when sweeping the floor or during laundry, different memories and bus are joined, to call different control programs.(4) a meal or how to establish the rectification program after the meal.For example: empty magazine returns on the bin, scrub each several part, fries cup and mobile chamber and all moves in the bin side standbyly, and the strainer in the fried groove is mentioned, and after the oil cooling cold, notifies the end user to take away or do not remove.The memory of each subsystem can set up when (5), having the system of multimachine to programme for Figure 125 and 128.

3, the taste selecting arrangement that user's taste is selected and human-computer dialogue: Figure 138,139 provides also can be located on the panel.Cut open with part among Figure 138, show " sweet " button internal structure, the salty internal structure of key that waits of other acid is identical, and motor 2w is controlled by the control maincenter.Contact 7w bumps guide plate 8, the sugar even the electromagnet 170 of the sugared chamber in the auxiliary material storehouse is switched on out.Other similar.The user needs certain course peppery, promptly presses key, and maincenter is given taste motor 2w energising according to cooking program, drives wheel 4w and changes, and depresses little lock 5w and pushes away contact 7w, makes the electromagnet action of auxiliary material chamber.Stage clip makes key lever 6w, and key head 9w resets.Certainly, setting up thick chilli sauce, vinegar, zanthoxylum powder, salt, sauce (Chinese meal) on dining table also is a kind of method of transferring taste.High for the control device class, certainly also can establish INQUIRE statement through display unit, the user imports the taste requirement then, for example: ask " salty, in, light " or " peppery, in peppery, extremely peppery " etc. on the screen, the user presses required corresponding keys on keyboard, and also the available digital key is realized.For example, be decided to be the taste requirement with 1～100: 101 to 200 is the materials requirements: 201 to 300 are cooking requirements such as the ripe mashed degree of the cooking: 301 to 1000 is that menu is numbered.For spoken instruction is arranged, voice question and answer certainly.In addition, providing keyboard to change the dish composition for the user also can.Also but the user presses the menu numbered keys simultaneously, and the memory under program that the dish that changes its course is realized switches into circuit.

4, system's operation: adopt Figure 125 or 128 to show when the stepper motor drive scheme is got by system, (1) is responsible for by master stage: at first be system initialization, and 1. master stage Z80 assembler language initialize routine, the 2. initialization of each Z80 subsystem; 3. each executive item reset situation is checked.4. master stage checks by PIO master whether the program of fixed each subsystem operation of initial information sign indicating number that each subsystem provides is a cover program of current requirements operation, as not being promptly to instruct each manipulator controlled stage to be adjusted to correct.5. control the drive unit operation in the device that movement parts shear circuit is arranged in each shear chamber among Figure 12, and identify whether it moves normally, and memory shear nut is walked to end.6. be responsible for system protection, as: during short trouble, 4,4 of side control valves cut off heavy current circuit on Fig. 6.7. coordinate each manipulator and auxiliary manipulator and other apparatus for household use, for example the operation of electric furnace etc.8. identify keyboard commands and response.9. show control.10. be responsible for the input and output and the memory of shear main control part, realize expansion.For example control driving device switch or optoelectronic switch group's movement parts, with host CPU and different memory chip circuit butt joints, keep host CPU to give appearing information and broken away from information in the RAM memory of host CPU by refresh lines: and with different rom chip butt joints, get fresh information.(2). be responsible for the 1. operation of manipulator by manipulator and servicing unit controlled stage, and notify master stage through serial port operation result.2. receive the master stage instruction.More than 2 for example: after the right-hand side was grabbed before frying pan sky bowl on the table top, notice master stage bowl put in place, and the hand control unit bowl put in place during master stage was promptly notified; Middle hand control unit has had answer to the search of master stage signal, promptly hand is taken off ready-made dish in the frying pan in bowl in the control, and notice master stage dish has been gone into bowl, master stage is with notifying the right-hand side with this information, the right-hand side has had answer to the search of master stage signal, and the bowl of promptly grabbing table top is put on the dolly table top or the like.3. input and output of this subsystem of shear and memory are realized expansion.(3). the communication of master stage and manipulator and servicing unit controlled stage: it is that the system that mutual search information is represented for Figure 125 also can be through PIO that system starts.Also can establish Figure 135 and show the movement parts that realizes the memory expansion,,, make separately and different memory butt joints, realize mutual communication by movement parts shear host CPU and circuit from CPU with host CPU and the information that provides from CPU.

5, initial joint position is demarcated, establishing durable reserve battery internal memory establishes record cell, writes down the present position in each joint, can be realized by record code-disc detected value, also can show the PUMA560 robot controller, by measuring the initial position that potentiometer provides each joint with reference to Figure 130.Battery can be used lithium battery, periodic replacement.For the situation of establishing the internal memory record cell, establish simultaneously this joint of record at that time the direction of motion be the forward or the code of swinging to.The home record of each joint motions position is carried out when debugging by production and assembly producer, and the dead-center position in self-defined each joint.For example, can make γ stepper motor no power, the people pulls the right-hand side 85 to Figure 11 and shows the position of stretching in the bin, start computer then, the operation of control γ stepper motor drives the big arm of the right-hand side to bin 9 right-hand rotations, the detected value that code-disc is write down, and big arm turns to code all to deposit internal memory in.Figure 11 shows that the big arm of right-hand side position in bin promptly is the dead-center position of large-arm joint.

6, the control of walking about: walk wheel apparatus for three among Fig. 6: get the raw materials ready in the left side, cook at the middle part, the right side robot, all can be equipped with car among Figure 11 and drive walk about device and control device, sketches the robot body's on Fig. 6 right side the control of walking about herein.Because domestic robot runs in the structured environment, available detection adds scan-type walks, and does cleaning works earlier, the dust catcher that uses it to carry.What survey the information of giving herein is the microswitch of carpet below, switch can be pressed position No., but also walk by the optimal path that calculates on the two dimensional surface, the number of the micro switch while walking on the contrast carpet, but motor is found out reverse wheel 30 positions through the probe ball 82 that crank power bar drives rotation among Fig. 8.Also can set up marker.

7, the control of on-mechanical arm device: 1. empty system lift pot highly control furnace temperature, with control line attachment stove silk hop count, with method control furnace temperature such as electric furnace pressure regulation.2. transfer motor speed and just swinging to conversion to add regularly quantitatively, realize stirring holding in both hands and control.3. the ripe mashed degree of food detects with timing controlled or probe, and the control or the fuzzy control of feedback are arranged.4. the laundry with the timing or use fuzzy control.5. other consults the aftermentioned working portion.

When 8, adopting Figure 130 to show PUMA560 control, adopt prior art, and have the joint to take off extension clutch part and cooking operation process or the like in the control procedure with drive unit.

9, adopt Figure 126 list Z80 system, be with Figure 84 motor 24t in upper right side, mostly the control main flow is along control, be braking after robot movement puts in place, starting is auxilliary to be started or the auxilliary device that moves, after nondominant hand or the complete task of servicing unit, driving device hand on demand again, i.e. alternately control, speed is slower, but general family expenses can.Program for the many hands in above-mentioned programming one example and servicing unit nondominant hand move simultaneously promptly disassembles, and no longer describes in detail.

Eight, make process brief introduction and using method:

(1) course of work summary:

1, food processing course of work summary: (1). cooking main flow: cooking is the haul hand, give and fry cup and mobile chamber material loading, under the cooperation of auxiliary material on the auxiliary material storehouse, middle hand will be fried to expect in the cup to give and fry frying pan under the pusher, the stirring hand is with frying pan, in wonderful the turning over of material, before the right-hand side bowl that dish is indoor was caught frying pan, middle hand was grabbed spoon and is grilled into frying material in the frying pan that (pot start) right-hand side will have orifice ring to grab on dolly in the bowl.(2). cooking: in the manufacturing process of " fish-flavoured shredded pork " dish, sketch.(3). boil: pot material loading and " cooking " are located similar, can be put into by material grasping, earlier pot cover are grabbed baking oven top, water valve water control pipe 21t.From auxiliary material case liquid material mouth to water on the saucepan.Valve timing opens and closes decides the water yield.Need to cast aside floating foam, outer or middle manipulator is grabbed spoon and is cast aside the back and fall in water delivery tank 65t; Need the anti-end of sticking with paste, electromagnet 273t hangs connecting rod on the crank 248t, makes the stirring shovel promote material in the saucepan of motion; The interpolation of auxiliary material is by maincenter control auxiliary material storehouse 20t motion, the control executive item of required auxiliary material chamber when this material chamber is above saucepan, stop motion.The grasp of blanking amount is located with " cooking ", also is the period length of opening the liquid bin gate surely and the number of times of the indoor valve rod of motion prose style free from parallelism material decide the amount that auxiliary material goes out the chamber, boils to cover and add pot cover also with cooking place.Boil regularly and reach saucepan furnace power-off, electric bell notice.As change in bowl, be the similar gear of frying pan, hand was grabbed the scoop shovel operation during tooth bar slowly started saucepan.(4). steam: material loading is that the first saucepan lid is grabbed in baking oven of middle manipulator pushed up, right-hand side level is grabbed the aluminium that separates of water in material and the saucepan or the upper and lower surface that taper slotted disk 58t is arranged of bamboo wood, in toolroom, move behind the saucepan top, the decline right-hand side to slotted disk is run into saucepan, hand is grabbed in the hole of excellent 217t (the end section has spring, and is scalable) insertion dish 58t in (saucepan below detecting element is known).Unclamp flat backward the moving back of the right-hand side dish is fallen into saucepan, main subsequently the biography driven the saucepan low-speed motion, and middle manipulator is grabbed excellent tactile disk, push away the square position, water supply valve goes up water for pot, and mobile chamber moves to the saucepan top, moves the indoor material of having delivered to and falls into saucepan, middle hand is grabbed rod, translation makes in the saucepan material smooth, and outer subsequently manipulator is grabbed and retreated after the saucepan lid moves to the saucepan top, make arc tips that saucepan covers outside saucepan descending more slightly after, little pawl of loosing one's grip, the pawl that moves ahead push away pot cover and enter in pot upper slot and retreat paw.The saucepan stove is energized to regularly and reaches.Outage, the electric bell notice (also can be grabbed pot cover or strainer and connect material overturning again under mobile chamber in saucepan.Transfer the steamed wheaten foods thick gravy with cooking place.(5). fried: fried groove pack into oil in the auxiliary material grease chamber fully and heating (regularly).The material that need mix changes after the stirring in mixing the chamber in frying cup, moves and fries bar 9t in fried groove 66t top, and interior manipulator is grabbed the little strainer that is sunken in the oil and connect a small amount of material that middle manipulator is released with platelet 226t, and heavy again spoon is in deep fat.Regularly reach the back pivoted arm and lift spoonful drop oil a moment that (electric furnace outage this moment is changeed wrist and will be exploded honest material and fall in the frying pan, moves spoon again and connects material before frying cup.Give signal to two little microswitch 231t.(when interior manipulator is mentioned strainer, will expect slag drop oil, and grab strainer by interior hand and fall in frying pan.Lift frying pan again, claw with dipper.) for going into the fried fish tartar souce that promptly goes out heat oil pot for a moment etc., be that interior hand is picked up strainer 234t, open the door fish or other material changeed in strainer in mobile chamber, grab the strainer material containing by interior hand and go into oil groove and moments later rise again, needs to draw to loose, and grabs hairpin by middle hand and draw diffusing.Also can grab frying-pan covers and connect fish.(6) roasting: outer manipulator is grabbed the first-class baking tray for the treatment of roasting material the grid parallel with baking oven from bin, wraparound will coil the arc tips section and be put on the interior grill 54t outer end section of baking oven, move to baking tray below in the middle then hand push baking tray and be blocked signal and provide, manipulator unclamps and steps back.Baking oven element energising subsequently regularly reaches the back outage.Need add auxiliary material during baking, by in pull baking tray and come out of the stove, the right-hand side grabs the condiment cup and waters downwards in baking tray or middle hand is grabbed roasting material and brushed auxiliary material, needs upset, catches crank to change by middle manipulator, this situation is gone here and there in the crank rotating shaft by roasting material.(7). transfer beverage: row's beverage group expects that the method for indoor beverage is close with the accent thick gravy after getting the auxiliary material case.Need be on the rocks, flower arrangement decoration or other additive, get from the bin lower chambers or in the material storehouse by the right-hand side.

2, laundry, cleaning, cut out carving, police service, haircut: laundry: the end user is pushed into (also can set up and drive this part right lateral device) before the cooking machine bench with the scrubbing chopping part right side in Fig. 6 left side.Upper hose 0 ' is longer among Figure 92, on ground at the bottom of the machine, and map interlinking 63 right side water valves.Valve 2 ' can be opened all the time.Clothes prewashing is the maincenter water control valve, give water on the laundry item of having put in the branch basin 72 ' through upper hose 0 ', motor 31 ' energising through wheel bar 19 ', 18 ', 17,, 16 ', 15 ', 14 ', etc. drive that to wash head descending repeatedly, extruding has hung up and main has passed chain and clothing in the moving basin 72 ' of not stall, stop going up water after regularly reaching, continue extruding, after regularly reaching again, it is descending that the right-hand side is grabbed outlet pipe 70 ' earlier up back, and water in the basin is emitted.It is up again that the right-hand side is grabbed outlet pipe 70 ' after regularly reaching.The top has pipe 210t to add water among Figure 84, valve 239t action, open lotion chamber door 213t, cleaning solution is added engagement, the head of washing that still pushes clothing makes and washs liquid and infiltrate clothing, regularly reach, wash liquid on the valve outage stops, constantly changeing basin and be squeezed to regularly, water supply valve goes up water for basin 72 ' through upper hose again, the beginning rinsing stops going up water after regularly reaching.Outlet pipe 70 ' is descending again, emits in the basin water and up again subsequently, give again and go up water in the basin, after extruding a period of time again the right-hand side grab outlet pipe and discharge water.So manyly stop after several times repeatedly.The dehydration of washed clothing, owner pushes down clothing with the hook 71 ' of living among Figure 92, press key 87 ' and drive basin 72 ' for dehydration electric motor 60 ' energising to change dehydration, also can set up the tube of living in poly-, with clothing poly-in, by dehydration electric motor 60 ' energising dehydration, the drying of dehydration back clothing, but owner dry voluntarily, also in manipulator pick up clothing and change wrist, outer manipulator is grabbed hair dryer and is moved up and down, and realizes basic automatic drying.But refer to the hand washing of hand apery, also available lead-through teaching more.Cleaning: among Fig. 6 walk the dynamic formula robot be navigation part under carpet or floor tile auxiliary down, scan or walk about the suction musical instruments used in a Buddhist or Taoist mass dust suction that it is carried, as use mop, scanning is walked one section, writes down this position, grab after mop washes away toward the pond, return this point and wash away again.The general low-grade cleaning part of not establishing.Figure 112 shows that haircut face shield joint-type is free.During haircut, machinery is held and send out to be pushed the control program that provide of hairdresser when this people is got a haircut teaching and walk to send out and push away.When the people can work as manipulator turnover repetitive operation, head-shield the place ahead is drop-down, make and pushed down the hair of not cutting off and expose.It is that stepper motor drives that the people sits swivel chair, cooperates to send out to push away periodically action.Chisel and carve, antitheft or the like no longer describe in detail.Two stepping motor need not under household situations up and down for Scissoring device, be with in manipulator move pin alive, the compress material, outer machinery is held the cut-off knife fabric dividing material of walking about, certainly also outer holding taken off cut-off knife, the 60d that the elasticity butt joint is plugged, the motion setting-out is cut off (this has also promptly comprised calligraphy and has simply painted face) voluntarily by the end user.

(2) using method summary:

1, the example of getting the raw materials ready: name of the dish: fish-flavoured shredded pork, in the blanking chamber, put into material.It is several to put egg among (temporarily by each chamber title among Figure 63) egg chamber 126t, puts several money of onion parts in the onion parts chamber, and mashed garlic 3 minutes is put into different mechanical power houses with broad bean chili sauce four money.(valve rod sweeps away material) vinegar chamber, monosodium glutamate chamber, salt chamber, bruised ginger chamber, white sugar chamber, soy sauce chamber, yellow rice wine chamber have and get the raw materials ready.Water-starch has been put into cup.Put in the numbering box in the grid of the middle part of bin to give and clean the pig leg meat 3 liang (mixing dried starch four money) be cut to the matchstick thickness and clean the green pepper silk one or two (rice paper bag) that is cut to 5 mm wides and freeze 8 liang of lard pieces with putting in No. 3 lattice of box with being put in No. 2 lattice of box.

2, operation: the cooking is to use the people to look into bin by the menu requirement and each chamber of auxiliary material case knows whether material is got ready, (also can establish checkout gear detects automatically, by the verbal announcement end user) promptly press among Figure 12 as getting ready, start key on the guidance panel, have after the demonstration, press the taste key or provide taste requirement, ripe mashed degree requirement, amount requirement, dish composition adjusting requirement with numerical key, and press and need the dish numbering, make maincenter drive movement parts and transfer this dish program and automatically perform this cover program in ROM.Treat that complete machine gives information and shut down through electric bell, promptly show this course end of operation.End user such as need the 2nd course can be repeated above-mentioned each step.For housework such as laundries, also be to provide numbering.When the end user does not use this machine, shutdown switch is pressed, each plug is pulled up.When control program is to adopt corresponding using method when being stored in the module of other type.

Nine, relevant issues

1, supplementary notes: also can set up workbench or platen 218t size is strengthened.Transportation material or finished product or other thing, also available conveyer belt.Figure 115 shows that the transport tape device of internal type is full self-lubricating.Freezer temperature is controlled at low temperature resistant transport tape device allowed band, and is with the piece material generally to give stripping and slicing, is to pave to put, and makes load can error not excessive.During 48 motions of Figure 114 turntable, its dish fur is down constantly wiped the dust on light-sensitive element surface, below.Also available reflecting light electro-detection.Analysing and observe each identical part of part with left among Figure 21 pulls down and does not have picture.Right-hand pulling down with same sections such as left spring 71, electromagnet 73 there is not picture among Fig. 8.Collude on bar 71 spring 71 belows.R43-R43 cutaway view among Figure 84, the S30-S30 cutaway view among Figure 61 are close with the R42-R42 cutaway view among Figure 87.All express with Figure 44.But the bar 48 of living among Fig. 6 drives the liftoff groove of pull-up through electromagnet 46, and bar 48 plays the role of positioning.Shell fragment 59 among Fig. 7 is not subjected to vibration effect when making in 8 of magazines and the bin 9.Recorder 10 is set up for the expanding storage amount among Fig. 6, and is fixed according to needs.The example of Single-chip Controlling stepper motor can be with reference to " single chip microcomputer and observation and control technology " (Southeast China University's publication) to demanding available MCS96 single-chip microcomputer among system Figure 147.Pull bar 72 among Figure 21 cutting line that do not draw.Monosymmetric part among Fig. 8 only provides the label of either side, and opposite side identical parts label is identical.The upper right side is the gripper of material grasping box among Figure 23.Sense of touch microswitch among each figure, the travel incognito journey switch that has with the existing market sale, what have shows multi-breal switch with Figure 26 to 28 and Figure 62.Micro switch 94 among Figure 11 had both been represented the micro switch on the desktop 93, also represented the switch under the carpet 95, and the big axis of cone and conelet axle 38k place, middle part all have circular and near rectangle to analyse and observe expression among Figure 33, show this place's cross sectional shape.Little frame 122 among Figure 21 makes connection power bar 74 not move with the semicircular ring 109 of tooth embedding 77 is outer, and the little frame 122 that does not draw in the left side also makes the power bar 74 that connects the left side not move with the semicircular ring 109 of clutch discs 70 is outer.The profile of dust catcher 30 is shown in Fig. 8 bottom double dot dash line.Motor 84 ' drives spiral 84 through gear among Figure 11.Recorder 10 among Fig. 6 is the information storage spare part.Three diverse locations of outer manipulator (right-hand side) 85 have been expressed among Figure 11 with double dot dash line.Micro switch 94 among the figure is identical with 94 structures, and the circle identical with 94 ' little dashed circle all is micro switch.In several roads frame of broken lines similar micro switch is arranged all.But the number hundreds of of these switches also can integratedly be made to several thousand or several ten thousand.Take off lotion chamber and give egg chamber material loading.Light.A plurality of annulus among Figure 61 in the baking oven 52t show mutton cubes roasted on a skewer.Omitted to drive and boiled the travel forward expression of device of stove.Material in the beverage room, whether on the rocks surely by season.Also can establish dedicated program, put into recorder by the Robot actions tape.The large-current electric stove is to realize power on/off by control maincenter control Figure 12 bottom actuating of relay shear contactor, omitted expression among the figure, general three-person household, circuit gets 800 to 1000W, the direct break-make of the relay of available 5A, so Figure 126,127,128 does not all express the travel switch that double dot dash line is represented among contactor Figure 132 and opens and closes electric furnace realization power on/off, is that electrical equipment sets up a side, other element has radome.There is among groove limit Figure 79 plate 182t right lateral position express on the plate 218t by a double dot dash line.Release auxiliary material storehouse 20t take off cover 171t can be through each auxiliary material chamber material loading.Be stained with soft lap sealant spare around the door 45t of teeter chamber, knob 237t keyholed back plate 238t flows out washs liquid measure.Set up anti-stirring and rock knot that can be undone by a pull, saucepan 56t can be taken off or changes other instrument.

2, make, assemble: be mostly punching press or foundry goods, plastics mostly are injection moulding.Stirring respectively passes axial compression and goes into wheel.The flexible connection in complete machine many places.Open egg valve place three mould piece be earlier left back in right again order put in place.Motion arm is as far as possible with lightweight material manufacturings such as aluminium alloys.Sense of touch microswitch under claw and the carpet be on the wire bonds guide card after.Be coated with and gluingly be embedded on the barrier film or in the substrate in the sulculus.The pawl upper guide plate is on the sticking barrier film, and film is on the sticking claw-plate.Figure 33 puts electromagnet in place after showing little frame on the manipulator and the welding of arm pipe again.The inner ring at forearm axle place is arc sheet frame 92k, is to treat that arm pipe 12k and roller bearing, clutch discs 91k, the 90k axle rear that puts in place puts in place.The conelet wheel shaft that drives small powder box door 127 on the magazine is put into then earlier by the motor place, and motor 127 ' puts in place.Behind the cover, outer thin elastic rubber sleeve side put in Figure 33 median claw end club 23k inserted.Another guide plate 25k that touches the switch that club pushes away is sticking moulding for a short time on the piece, moulds for a short time in the sticking sponge block groove of piece.

3, health: 1. adopt nontoxic resistant material to make each and Food Contact part.2. regularly clean.3. can establish the cold air access equipment in the bin.4. the abrasive dust that set everywhere barrier produces movement parts can not be gone into food.5. walk water valve and manipulator is grabbed when water pipe washes away can leak water the teeter chamber.(peripheral hardware tank 41t) 6. the magazine 8 on the bin 9 takes when sending the dish people to send dish at every turn and scrubs, and suitable band checks whether each indoor material is rotten on the auxiliary material storehouse, the magazine that send the dish people newly to deliver to of being changed that need are changed was scrubbed, and also the shredding mechanism of scrubbing in end user or Robot actions Fig. 7 left side is scrubbed.Scrub cooking implement by the each cooking before on the apery water burn heat back brush, and lift a pot outside pouring.Slope and water delivery tank 65t make and scrub water and can walk, and scrubbing pipe 81t for 2 has the electronic water brush of pairing, makes water not fly spray, has omitted expression among the figure.Rear column can increase up-downgoing cover brush, can show that the outsides such as dividing plate 124 ' t of putting down scrub to double dot dash line.Dividing plate 124 ' t can keep off obsolete auxiliary material chamber feed opening.Sink pipe is far walked swabbing.The brushing part on (setting up the brushing silk floss) tool rack around it can be wiped in motion auxiliary material storehouse, supply with and walk to start to be used for that each pot of brushing is preceding, top, the interior front side of machine (first right-hand side water holding pipe washes away mobile chamber, then clean a pot lid) two sides with boiling water towards the liquid magazine.Can brush when the brushing silk floss makes behind each pot row in the machine and wipe the rear portion, and allow manipulator grab rod to push away in the brush machine, separation layer and dividing plate separate auxiliary material and thermal source under the material storehouse, can put into ice in the bin lattice, and summer, good the day dish can make material guarantee the quality.7. the beverage output channel can be washed away by end points plain boiled water or running water.Still must regularly use the scale remover scale removal.8. the stifled bead of auxiliary material valve is with cork or nontoxic plastic film.

4, safety: (1) robot outer cover bullet barrier gown, barrier gown is an insulator.(2) to limit the distance that drive motors low cruise and people sit swivel chair and manipulator be that manipulator stretches operation (refer to man style get a haircut) when haircut.(3) bar of the solenoid actuated of the switching circuit in circuit shear chamber 9 and the device is an insulating part.(4). power line is established sheath.(5). fried dish, wipe by manipulator the wiping instrument in the toolroom of regularly grabbing and to climb a possible diving oil in oil and the pot.(6). each several part is many by metal material system dish.(7). the other several leaf springs of switch 3t of weighing make the interior oil of fried groove as being less than 200g, i.e. switch motion is cut off the power supply electric furnace automatically.Material has dual timing with the heating that just oils in each pot, anti-problem on fire.(9). the people is near complete machine and complete machine time spent not, and magnet 4 cuts off the circuit of large-current electric devices such as motor, electric furnace.(10). elastic sponge and soft nonmetal brush all are light aluminum alloy or plastics, also can establish movable fence or initially limit the corner to use.(11). oil just begins to be removed by the end user in the fried groove.(12). the beverage group does not initially establish liquor.(13). the metal manufacturing of the oil feed chamber among the auxiliary material group, make provision against emergencies.(14). be provided with standby warning device.(15) but. according to feelings AC power cord overcoat fire protection pipe.(16.) each furnace temperature is established detection piece, and the energising of stove has the multiple tracks switch, eliminates and leads burning things which may cause a fire disaster, also can initially not establish fried groove platen, limits its scope that may catch fire, cooperates warning device.

5, lubricated, sealing, heat radiation, mist extractor steam: α: heat radiation.For the processing equipment also complete machine of seat above freezer, except that the material and size change of freezer framework, the processing machine foot is made with plastics underlay offset plate, and there is one deck dividing plate to form two-layer air insulated between freezer and the processing machine, the dividing plate radioresistance of holding concurrently, ventilation fan ventilates, and can set up dividing plate in case of necessity to increase separation layer.And can be on dividing plate coated radioresistance or reflection be coated with thing.Complete machine is bright open type, and smoke exhaust can be set up in its side.β: lubricated, sealing.(1) Figure 33 shows and moulds cover 33k between manipulator canalis carpi 31k and the forearm pipe 12k, and moulds plate between the semicircle bail 28k.But elastic weld wood 27k and semicircle bail 28k contact site be the embedding sticking one thin circle of moulding also.Can set up one between big arm pipe 49k and the telescoping tube 41k and mould cover, oil dripping is lubricious also can.Moisten arm with fat between 3 cone pulley 37k, the 43k, its bearing and backing plate all are viscous crude or grease lubrication or oiliness bearing with oiliness bearing with the bearing that contains oiled-plate method, cone pulley central siphon 82k ' and big arm axis of cone 53k all.Gear 112k, cone pulley 50k, 82k ' all get grease lubrication.Press lever 70k, the 86k of clutch discs and the contact site embedding of replaceable shim 64k, 87k that oil-containing sheet is arranged.Sealing ring 66k, 89k separate clutch discs 67k, 90k and band oil part.The other double dot dash line of wheel 47k is shown can increase a thin plate of moulding.Two pinion 117k, 130k among Figure 41 are grease lubrication.Flexible spiral 116k is the oil can drip lubrication.Arm wheel 50k and steamboat are viscous lubrication among Figure 44.Figure 36 shows and drives bar 96k that pawl closes up for moulding bar.Figure 31 shows that each bar 2k, 3k, 4k are fat liquoring assembling, with rotating shaft be not the bar of resilient connection, being in contact with it has the groove that scribbles fat on the axle.Oil separating plate 1k, 9k stick at trough rim.Figure 33 king-rod 46k oil removal part up and down can make oily unlikely brake shoe and lock circle 60k contact position.Figure 33 intermediate membrane and sealing ring be grease proofing goes into clutch discs 90k place.The reinforcement bar 85k that it is other etc. are with fat or viscous lubrication.The dish at big arm axis of cone 53k place, lever, reinforcement bar etc. are deposited grease lubrication with the fat liquoring assembling in the engagement shaft groove.Figure 46 Figure 49 shows that reinforcement bar 46k bar is the fat liquoring assembling, the fluted fat of depositing in friction position on the engagement shaft.Sticking reinforcement the restrictor bar felt collar or the cushion rubber of sheet frame all around of being embedded in, the fat that causes when frequently moving for anti-each rod member becomes fluid.In the native system operation, generally this situation is few, and can avoid.The surface also scribbled fat when the piece 78k of apical axis assembled.Big arm reinforcement lock also can change with the forearm lock, the restrictor bar that the lengthening straight line comes and goes, and the sealing segment length, effective.Nut 165k among Figure 44 moulds nut.(2) for single motor-driven system, Figure 84 top worm gear 26t and other running part are got drip lubrication.Among Figure 61 among δ and Figure 84 the ε place hole that can stretch into fuel can nozzle is arranged.(3) for walking the dynamic formula robot under the figure, worm screw is for 16 times the thin oil groove of haftplatte sealing.Bull wheel 24 is plastics with pad 19.Be the oil-containing semicircular ring between semicircle bail 22 ' and the upper ledge 20.The axle of travelling wheel has oiliness bearing.Each reinforcement bar is also all got kinematic axis oiliness bearing.Figure 18 shows that cone pulley gets drip lubrication, and other takes from profit more.(4) auxiliary manipulator and other servicing unit are taken from lubricated or drip lubrication or grease lubrication more.Screw off spile, tegillum on the haul box 8 can be taken down, take out motor 127 ', give oil drippings such as steamboat 133,134.(5) for higher speed operation, can set up fan coolling, for example motor left fan 215t among Figure 84 has cooperating fan in the power supply room of Figure 12.There is fan machine hall and each shear chamber, motor power chamber.Each dust-proof plate of electric apparatus room of not expressing that ventilation mesh, guard build-in are all arranged.Wind axis is porose on plate.

6, vibration, balance, locking, noise abatement: the laundry dehydration is to move in the circle alive, and clothing is gathered in the basin middle part, and car washing installation is partly consolidated the vibration damping connection by the bar and the cooking of big quality.Get sticking locking mainly is to move part with bullet pad, noise abatement more, motor can be increased a sound proof box in addition.

7, get the raw materials ready: the right-hand side cooperates the shredding mechanism of scrubbing in available Fig. 7 left side to be equipped with cooking material with middle hand, the assorted cold dishes that past food market of end user or phone have been got ready and prepared from the food market order also can, and menu can be given the businessman of joining assorted cold dishes, by they get the raw materials ready by menu and every day or several days deliver in the user family or the grid of appointment on the bin in.Also certain, user oneself purchases material and gets the raw materials ready or purchase assorted cold dishes and also can.

Ten, reliability: tame bar work has numerous letter that has, and said herein reliability refers to do the reliability of the system of general housework temporarily

1, anti-interference: (1). the robot inner chamber mider hole of walking about is walked the motor conductor signal lines and is walked from external.(2). each electric fan that storage cell 2 makes progress among Figure 12, usually need not, turn round during only tropical high temperature season, the family of cold district does not establish usually, can (cabinet is set up outward, and wind is drawn in the air channel, and the four seasons are commonly used yet.(3). main frame is away from current elements such as motor, electric furnaces, and in screened room, and cabling is separately, the cabling shielding.(4). Figure 131 and Figure 135 are located in the screened room with the movement parts of transformation approach.(5). circuit diagram shows that employing light is every technology.(6). Fig. 6 not metal frid holds up wiring board, and wiring board place screened room can increase layer shielding as one sees fit.(7). suitable ground connection, all join prior art.

2, critical technological point simple analysis: housework is loaded down with trivial details, trickle, and what have has at a high speed a requirement with higher load:

1, the cooking: α, the vegetables of getting the raw materials ready are 1. picked yellow must the detection; 2. piece, sheet, bar, cleaning with earth in the block feed collet seam of multiclass material such as loose are removed, the sheet material is not damaged after cleaning, do not lose after not at random after the strip material is cleaned, bulk cargo (as the flour silk) is washed and non-impurity-doped difficult: 3. the meat material is if any the thin clothing superposition of clay and position of living in, and be difficult for cleaning: 4. cut apart: soft material is difficult for grasping the dimensional accuracy of its chopping; Meat pick the position that muscle must the identification muscle: 5. aquatic products: fish remove the gill to cut open the belly to pick squama, shrimp go must, removing must recognition site, also anti-skidding.Of a great variety, as hairtail, mandarin fish, soft-shelled turtle etc. give and handle all differences.6. shelling that egg boils do not scratch inside, must grasp precision; 7. the fowl defeathering cut open the belly not staying assorted must identification: the 8. preparation of oil, face, seasoning matter, the preparation of seasoning matter will with the tunnel, provide processing unit (plant) for oneself for well.1. β, processing fry, the fixed load that stir-fried of one pot of melon block of material, and pot will rock.The fried flour fire wants accurate.It is few to fry the caraway amount, but will turn over evenly, and during fried rice with eggs, meal must not have bigger bulk.Deng: 2. boiling, material will be put even, spread floating end must not stay assorted too much, and stirring has load: 3. fried, a kind of unscientific processing method, but material handling can accelerate the ripening in short-term.The dregs of fat gather, and are difficult in short-term removing, and the accurate and few deformation of stirring has requirement for egg.4. roasting, thick material is difficult for roasting even, and volume is little is difficult for smoothening with seasoning matter etc.: 5. engraving, and near handicraft, style is particular about, and requires highly, but family feast has it to intersperse, and makes owner that satisfied sensation be arranged.2, laundry, dirty place will discern.3, cleaning, corner and upper tool can cleaning place easy cleaning not.4, cutting out, stitch, knit, is the requirement height with the seam, changes into stickingly, requires also high.5, haircut: safety first, woman style hair style require the hand free degree many, and the in men's style vision that has is difficult for staying residual, or the like.

Difficult point solves: 1, shift: pick Huang by selling the dish people, the piece material is cut apart, and impurity eliminations such as chicken, fish are cut apart and chopping, section and the clay of the soft material of meat approach clothing excision etc.2, progressive walking: owner can participate in part work, for example, but the fried rice with eggs owner with block meal with chopsticks or even crushing, boiled egg oneself is peeled off etc.3, continuity: for example, washing machine is still used in laundry.4, keep away: for example haircut can temporarily be avoided, and still toward barber shop haircut, seeking medical advice also is.

Above-mentioned solution is for obviously feasible.

3, about real-time control: because that housework requires operation time period is not tight, only cooks burner and grasp,, overheated etc. there is quick requirement at the anti-end of sticking with paste with oily, can solve with conversion means, and being compensated by servicing unit (at a low price) can.

11, do non-housework work for owner.1, the cutting of service trade, promptly use Figure 104 showing device: the course of work is best two stepping motor reservation up and down also with aforementioned, when business is busy, can adapt to quick requirement, very little cloth spare cutting can be only setting-out, cut out voluntarily by the end user, give birth to the full-automatic sanction of crossing many fingers hand gradually.2, medical matters: Figure 140 shows that the super multi-joint domestic robot with nearly 170 frees degree has 5 aperies, 28 free degree the five fingers hands (but the 1st joint self-movement of staff thumb), can be used as the medical work personnel or the servant of medical station work at home.Many hands are to set up for operation, also can increase arm again, do not operate, and can reduce arm.Robot is other to be auxiliary examination patient's bed 86, and each diagnostic equipment 89 of shared robot control computer is established on one side, and resilient sleeve 85 is separators.The inside detailed structure of this robot is open separately, and the sensor that the search pulse is arranged on 87 is overlapped in the other search of bed, and pulse is looked for moving or rotate on its cover patient arm by robot, and robot uses diagnostic device not elsewhere specified (NES)s such as B ultrasonic sniffer.Domestic robot spreads all trades and professions for the work that owner can do as the general-purpose machine, and only 2 examples are lifted in letter herein, and other is no longer narrated.88 is stools among the figure, the 80th, and the voice dialogue device, the 81st, printer 83 is display screens, the 84th, remove the medical equipment that software control is docked with robot control maincenter through cable, the socket that other increases.Can peg graft voluntarily by robot, so that the different equipment such as medical instrument of its maincenter control.

12, expansion, development, prospect: 1, expansion: prior art is adopted in the upgrading of (1) control section.For example cpu motherboard is changed, and adjusted interface board or the like.(2) can establish connector, for example groove or plate patch the element of setting up.(3) can set up a storage chest, the vocational work operation sequence storage part of housework with owner separated.By cable butting.(4) auxiliary housework device can extend to the various devices of system diagram.(5) arm all can take off in big arm joint, is changed to dexterousr many fingers arm.(6) increase the sensing detection part.2, development: will be related with the development of various robots, development spreads out in the utilization of omnipotent operation arm, new material new technology, new control technology, thinking reasoning part or the like, also will be embodied in the development of aspects such as food processing technology, washing process, cleaning technology, do housework servicing unit development for example: the artistic performance device of robot, police service crime prevention device or the like.3, prospect: following world is the world that high-tech is popularized, and robot will enter the every aspect of human lives and work with its distinctive performance, and it can enter the mankind's the life and the each side of work more rapidly, and the development of itself is also rapid more.Its thinking speed and information storage space have surmounted the mankind.The approaching mankind of its limbs and pass joint number and strength have surmounted the mankind.It can receive the information that 200 information points more than hundred million provide rapidly.Its skin and even internal organs all have the possibility of reproducing and surmounting the mankind.

Embodiment 1 the 2nd son example: internal type.Figure 115 is the structure chart of the example of Robot actions in the refrigerator, has wherein removed refrigerator doors, has omitted the expression with the middle manipulator 172t of the 1st embodiment.This routine structure is various, also can outer manipulator 9r (expression is simplified in the middle part double dot dash line) also be established in the refrigerator as the profile of double dot dash line expression among Figure 118.The manipulator 1r that the double dot dash line in left side simplify to be expressed among Figure 118, scalable with can changeing of expressing of right side, arm around axle, but and the structure of the structure of the manipulator 4r that moves right of integral left and manipulator shown in Figure 33 all close, the expression of omitting its internal structure.Right side hand 4r is by roughly the same example 1 the 1st son example and the omission haul dish 5r carrying spiral 8r up-downgoing longitudinally of expression in detail.Omitted the expression of long spiral among Figure 115.Transport tape 6r or 7r reach material on the dish, and hand 4r can grab each layered material frame 3r material loading of right side in the case.The processing machine 11r that class the same the 1st sub-example provides is located at left side top (also can set up desk and make and be located at right-handly, the processing support is on table), and heat abstractor 10r keeps the refrigerator top not to be heated with the side.The door 2r at refrigerator top walks to the top when the haul dish, opened by manipulator when material is spread out of refrigerator, or electromagnet is opened.Also in the case hand 4r material is passed out refrigerator, but the also material on the grasping operation charging tray of roughly the same the 1st son exception hand that express with reduced graph at Figure 115 top and the left manipulator 1r that longitudinally moves up and down.Omit the expression of parts such as freezer compressor, condenser among the figure, all adopted prior art.Stepper motor 0r (or brushless electric machine) drives left hand.For middle hand, the right-hand side, its structure is all omitted expression with precedent the 1st son example with its internal structure and drive motors.All can set up processing unit (plant) in the case with on the haul dish 5r.

Embodiment 1 the 3rd son example: double-row type.Figure 116 and Figure 117 are this son example structure diagrams.It is simplified left view and shows that the manipulator 15r close with the 1st sub routine structure upward moves in framework 18r two side tooth bar 17r.The auxiliary hopper 13r of main reservoir 12r moves in the top.There is the 14r of operating room that carries out other processing at two ends, can carry out circuit welding, stick with paste packing box or the like, and indoor have an auxiliary working apparatus.Motor 16r driving device hand.Structure is the 1st son example roughly the same.

Embodiment 1 the 4th son example: colony's formula.Figure 119,120 has provided device for cooking group's example, certainly also other equipment group.This type of domestic robot not only can help owner to do housework, and can help owner to process outward.The top is main auxiliary hopper 20r among the figure, and the below is equipment 21r, and manipulator 23r simplifies expression, and structure is the 1st son example roughly the same.

Embodiment 1 the 5th son example: pipeline system.Figure 121 letter show the left side material loading can be through the left side the 1st heating, arrive the 2nd heating in middle part again, also can arrive right part stove 44r and heat for last the 3rd time.The roughly the same flour water mixing (expression of omission water-supply apparatus among the figure) will band 49r caught of single stirring rod 39r of the 1st son example, fork plate 41r, push pedal 42r, washboard 38r are transported to dough 43r under the filling bucket 36r, behind the pressing plate 35r compressing tablet, cutting plate 37r cuts off and to wear, and goes up filling and push and wrap.Oil pipe 31r oils for dish 47r.Motor 45r turns auxiliary material case 34r, can give frying pan saucepan 46r material loading.Among the auxiliary material case group space is arranged, allow the dough that has wrapped filling fall.This routine manipulator 32r and drive unit are also with the 1st son example.

Embodiment 1 the 6th son example: circle seat formula.Figure 122 shows that material storehouse, toolroom, the chamber of getting the raw materials ready, the chamber of washing be located on the framework 56r of approximate half-circular.Manipulator 50r walks about on bull gear 52r, can grab framework 56r and go up thing.Motor 54r can drive auxiliary material case 53r to be changeed, and motor 57r can be through the whole commentaries on classics of wheel driving.Manipulator 50r is example 1 roughly the same also.Omitting detailed structure herein expresses.More than the manipulators of 2 to 6 son examples all get to simplify and express.

Embodiment 1 the 7th son example: apery formula.Figure 21 and 105 ' also is the domestic robot that is referred to hand by apery more.Only provide among the figure big arm clutch take off hang to realize two big arm cradle heads about a cover control device control take off the extension arrangement of clutch.Splitting semi-circular plate 227 and will take turns 226 and hang among the figure, any energising of two side electromagnet 225 through two split clutch tooth embedding 229 that semi-circular plate 230 drives its homonymies and tooth embedding cone pulley 226 combine after, among Figure 105 ' " 1 ", " 2 ", " 3 " representative power set promptly through little cone pulley to 226, axle 232, the drive robot ' s arm rotates, after reaching specified angle, electromagnet 237,225 actions successively, the latter is outage, separate with cone pulley tooth embedding 226 by recovering spring 231 driving clutch tooth embeddings 229, the former is 238 motions of energising driving force bar, after lever 239 is pressed band-type brakes and the friction pulley coaxial with worm gear is combined, wheel and the bull wheel 240 that is fixed in the big arm rotating shaft through coaxial with worm screw pin big arm.Among the figure 235, the 236th, the forearm swing component

Embodiment 2: cheap multi-joint agricultural robot.Right-hand double dot dash line of agricultural robot shown in Figure 2 is shown manipulator and robot manipulator structure shown in Figure 33 roughly the same, so no longer provide its inner detailed structure.The drive unit of manipulator is located at big knee-joint head below, directly drives steamboat shown in Figure 44, and detailed structure is also expressed no longer in detail.Being taken as 3 takes turns away.Thereafter the two axle 21a that take turns 11a are driven, thereby whole device can be travelled through cone pulley 14a, cone pulley 12a, cone pulley 20a by power set 2a.Stepper motor 24a drives the commutation of worm gear 9a control front-wheel through worm screw 10a, thus control entire machine people's travel direction.The travelling wheel of robot and wheel bearing can use with existing non-motor-driven or motor vehicle on identical, do not give detail drawing in addition.Complete machine can increase buffering shock-absorbing device.For example, set up used spring of carrier loader or steel spring plate etc.Battery 25a is fixed in by the stepper motor.The supporting original paper of stepper motor etc. is located at below the vibration absorber 16a among the figure, and computer is located among the vibration absorber 16a, and switch 19a gives the computer power on/off.1 to No. 10 each part is that existing agriculture people backpack chemical spraying device is formed main body among Fig. 2, and its detailed structure enchashment has technology, does not express in addition, and whole device amplifies.Set up self-con-tained unit herein.Power 2a is through crank 1a, connecting rod 3a, a pair of power bar 8a, bar 7a stay 6a, and stopper rod 5, skin wrist 8 are driven when up, and water intake ball valve 10 is up, and liquid enters tube 6: when the descending and tamponade bar of bar 6a left end 5 was descending, valve 10 closed and valve 9 is up, and liquid is pressed into chamber 7.Constantly drive stopper rod 5 operations, even liquid increases in the chamber 7, air pressure increases, and opens when electromagnet 15a drives switch 1, and liquid is promptly through spray boom 2, shower nozzle 3 ejections in the chamber 7, and jet length is adjusted by becoming the pressurization size.Motor 5a drives bar 13a through worm gear 4a and small crank and leads spray boom 2 and wave, and adds travelling of complete machine, realizes that evenly spray is removed.Via 4 water supply of pipe 18a feeding bucket are pump 17a that power set beam warp key drives.Pump 17a herein is suction pump or centrifugal pump etc., and its suction part enchashment has technology, and internal structure is no longer expressed.When electromagnet 15a cut off the power supply, the return spring in the electromagnet promptly pressed down switch 1 pressed again and resets, and stops spraying.This device can be automatic watering function or sprays medicinally, takes off liquid bucket 4 grades sprinkling irrigations appliance, and this machine can be transportation and uses: cutter is established at the machine two ends, can be harvester: during water drainage, pump 17a is main, by pipe 18a water delivery.Battery 25a gives each electric power supply of complete machine.

Embodiment 3: cheap multi-joint industrial robot: aforementioned domestic robot also can be used as industrial robot.Fig. 5 is than the used industrial robot of domestic robot load High-Field, and only an example is lifted in letter.Its waist changes taking off of joint and hangs and walk the dynamic formula robot among clutch and the similar Fig. 7 of braking.Bottom power set 17 are suitable devices such as motor.Axle 18 drives cone pulley 1, wheel 2, axle 5 for the main transmission chain, top clutch magnet MQZ sucts the reinforcement bar, cone pulley piece 6 is moved to right, can make cone pulley 15 and big cone pulley 14 engagements, drive on the pawls 13 and move down thereby make big cone pulley can drive spiral 12, drive dish 4 and move, also can make dish 4 press spirals 3 to change thereby the electromagnet NQZ of below drives bar 16 through the reinforcement bar, drive nut 17, make arm pipe move left and right.

2 to the 6 son examples of above embodiment 1 all can be identical with the controller of embodiment 1 the 1st son example with the controller of the 2nd, 3 two embodiment, so no longer describe in detail.

Obviously each example can doublely use it for anything else, and loads onto wheel or does not load onto wheel, all can set up the auxiliary equipment of many industries in other departments such as factory, hospitals as multiple purpose aeroplane device human.The present invention subsequently will be to complete each style of cooking and each dish production process of the novel scientific matching style of cooking and storage part thereof.Do other work control program and storage part and corollary equipment to the whole family with robot.Aids such as the present invention will further be stitched entirely on existing basis, knits, medical care are given the settlement procedure and the storage part thereof of complete sanctions, hair and beauty etc., give that it is applied to the application program and the servicing unit of industry-by-industries such as industry, agricultural entirely.

The present invention compared with prior art has following marked improvement:

1, the invention solves a series of key issues that practical domestic robot is realized, opened comprehensive home automation gate, human from loaded down with trivial details housework with making Free in the work. The housework amount of most families is descended greatly, affect family harmony. Human progress there is profound influence.

2, the present invention will improve majority's diet present situation, and affect many people's eating habit, dietary structure, and it will enrich human life, improve dietetic hygiene Level, the science collocation, reasonable diet will improve the healthy of the mankind.

3, for food, beverage trade provides a kind of available automatic manufacturing device, accelerate the realization of diet service trade automation.

4, the present invention realizes expert's prophesy of " practical domestic robot entered family in 2004 " in advance for many years.

5,15 joints that make former 15 motor-driven 3 manipulators become 3 motors even 1 motor is realized from containing to take off extension: conversion control method makes information sensing, and close cost is low with executive item is close: controlling device share method for robot makes robot performance's price than high: add the high gimmick such as high speed transfer of carrying.This robot is significantly made a price reduction, average family is afforded.Moved the biggest obstacle of universal robot.

6, cheap robot enters into factory or processing stand, with the outer processing of domestic robot, mixes suitable load-shedding equipment, condition is provided for the birth in whole society's robotize epoch.Bring glad tidings not only for many old,weak,sick and disabled people, and quicken human liberation from arduous work.

7, the present invention will make human family life step into the preliminary full-automatic epoch.

Claims (10)

1, articulated robot is made up of power set, control device, motion arm etc., it is characterized in that: be provided with in the robot system and realize that one overlaps the device that control device is controlled a plurality of joints.

2, domestic robot is characterized in that: be provided with realization one cover control device in the robot system and control the device in a plurality of joints, and be provided with the auxiliary device that does housework.

3, a kind of industrial robot, compositions such as power set, control device, motion arm is characterized in that: be provided with realization one cover control device in the robot system and control the device in a plurality of joints, and be provided with auxiliary working apparatus.

4, a kind of agricultural robot is made up of power set, control device, motion arm etc., it is characterized in that: be provided with realization one cover control device in the robot system and control the device in a plurality of joints, and be provided with auxiliary working apparatus.

5, medical robot is characterized in that: be provided with realization one cover control device in the robot system and control the device in a plurality of joints, and be provided with auxiliary working apparatus.

6, according to the described implement device of claim 1 to 5, it is characterized in that: implement device is that the device of hanging clutch is taken off in robot motion joint and main transmission chain.

7, according to the described implement device of claim 1 to 5, it is characterized in that: be provided with control device in the implement device.

8, control the device of a plurality of movable joints according to the described realization one cover control device of claim 1 to 5, it is characterized in that: the control section of implement device has movement parts to participate in the shear line contacts.

9, according to the described implement device of claim 1 to 5, it is characterized in that: the control section of implement device is to being connected to the electric device of the miscellaneous equipment that can get in touch with it

10, robot according to claim 2 is characterized in that: the device that does housework in the robot system is an auxiliary manipulator.

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