CN202191696U

CN202191696U - Dance robot

Info

Publication number: CN202191696U
Application number: CN2010206730630U
Authority: CN
Inventors: 张永佩
Original assignee: SHANDONG DALU TECHNOLOGY Co Ltd
Priority date: 2010-12-22
Filing date: 2010-12-22
Publication date: 2012-04-18
Anticipated expiration: 2020-12-22

Abstract

The utility model belongs to the technical field of robots, and particularly relates to a dance robot, which consists of head components, a body support, a lower body support, two robot arms, a neck rotation unit, a waist rotation unit, a support, an electric push rod, running wheel components, a base plate, a vision sensor, a steering control unit, a voice system and an electric apparatus control system. Each of the robot arms consists of an upper arm, a lower arm and a wrist which are connected by joints. A motor of a power plant, a motor of the neck rotation device, a motor of the waist rotation mechanism, the steering control unit, the vision sensor, miniature motors for driving the joints of the rotors, the electric push rod and the voice system are connected with the electric apparatus control system. The dance robot has skillful conception, is designed according to the proportion of the human figure, is reasonable in structure, comprehensive in function, fine in simulation effect, capable of dancing cooperatively and vividly along with accompanying sound, and can be applied to entertainment, service and amusement fields.

Description

The dancing robot

One, technical field

The utility model belongs to the Robotics field, refers more particularly to a kind of dancing robot.

Two, background technology

Be born till now from robot, Robotics has experienced an evolution slowly for a long time.Along with computer technology, microelectric technique, network technology etc. develop fast, and Robotics has also obtained develop rapidly.Except the industrial robot level improved constantly, the various advanced robotic systems that are used for nonmanufacturing industry had also had considerable progress.The further raising of control systematic function, laser sensor, vision sensor and the successful Application of power sensor in robot system make the reliability of robot system that large increase arranged.Good condition has been created in the intellectuality that develops into robot of basic technology and device, apery and bionical development.Current, robot not only is applied to industrial circle, and also medical treatment, life, amusement aspect are progressively invented, make, used.

The dancing robot has recreational and ornamental art form as a kind of, has caused people's extensive concern.The innovation and creation of many relevant dancing robots are arranged in recent years; The license notification number be CN201543232U's " a kind of education, the dual-purpose dance robot of amusement "; A kind of device of limb action of the frame for movement robot that demonstrates is provided, but has been difficult to realize dance action and effect.Granted publication number is a kind of toy that imitates human action for CN2392581Y " a kind of dance robot toy ", and its structure and ratio can not realize emulation dance movement and effect, and also more complicated of structure.

Three, summary of the invention

The purpose of the utility model is the defective that overcomes existing dancing robot, and a kind of simulated humanbody type and dance movement, voice are provided, and can be applied to the dancing robot of amusement, service situations.

The basic design of the utility model is to be made up of head assembly, body supports, following body supports, 2 robot arms, neck slewing equipment, waist slew gear, support, electric pushrod, road wheel assembly, base plate, steering control device, voice system, electrical apparatus control systems; Head assembly is made up of eyes assembly, face, the ear of band eyes, and vision sensor is installed at the place between the eyebrows position; Body supports is the rigid member that is made up of two shoulders, neck and upper limb body, and two shoulders connect 2 robot arms through joint of robot, and neck is installed neck slewing equipment and connector parts; Support is fixed on the base plate; Following body supports is rack-mount through hinge, and its upper end is connected with body supports through the waist slew gear or with the waist joint of robot, and the lower end connects electric pushrod, and electric pushrod is fixed on the base plate.The structure of waist slew gear is: the outer ring of floating bearing is fixedly mounted on down the upper end of body supports, at the micromachine of the external stability band gear of this position; With the inner ring that is fixedly mounted on floating bearing of body supports lower end, at the coaxial installation gear ring of the body supports cylindrical and the floating bearing of this position, be fixed on down body supports on motor shaft on the gear formation that is meshed.The road wheel assembly is made up of 2 driving wheels and directive wheel and power set and steering control device, and power set are connected with 2 live axles, and steering control device is installed on the directive wheel; With motor through sprocket wheel or gear with the differential mechanism of transmission of power to the live axle, or give 2 live axles with transmission of power respectively through chain drive and have that electrical apparatus control system is controlled, balance movement speed with 2 motors.2 robot arms respectively are made up of big arm housing, little arm housing, wrist, and are connected together by large-arm joint, little shoulder joint, wrist joint, and are installed in two shoulders of body supports.Joint of robot be by the bevel gear pair of pair of meshing be installed in the micromachine that drives on the bevel gear shaft and constitute.Electrical apparatus control system is made up of control software and connector, and is connected with power supply through control device; The eyes assembly of power set motor, neck slewing equipment motor, waist slew gear motor, steering control device, band eyes, vision sensor, drive machines person joint's micromachine, electric pushrod, voice system are connected with electrical apparatus control system; Head assembly can the outer cover headgear carries out face and face, ear ornament.

During application through button or remotely monitored sensor energized (power supply is the battery or the external power supply of random installation); Software program according to establishment in advance under the control control of software moves; The luminous realization eyes of eyes assembly blinks, and the neck slewing equipment is realized the rotation of head; The planet swing is rotated or done to two robot arms, two bevel gears under the driving of motor that are installed in two shoulders; Shoulder joint realizes the arm revolution; Large-arm joint, little shoulder joint, carpal two bevel gears do the planet swing; Realize large and small, the bending of wrist, swing, the motor of waist slew gear rotates realizes swaying one's hips action, and electric pushrod is done when flexible the action of bowing of realization robot; The road wheel assembly drives 2 driving wheels by drive motors; Direction realization robot by steering control device control directive wheel advances, retreats and rotates; Under the voice system sound accompaniment, show dancing, walking action; When in service when running into obstacle vision sensor feedback information in time controlled steering adjustment direction to electrical apparatus control system avoid obstacle, or the control drive motors is shut down braking.The music of voice and language, arm bending, swing, robot body and head rotation, the resultant effect of bowing can be realized variation through the control software that prelists according to application need.

The utility model is compared with existing dancing robot, is skillfully constructed, and is rational in infrastructure; With the human body proportion design, dance movement is coordinated true to nature, and robot represents dance movement in sound accompaniment; Function is complete, simulated effect is good, multiple public place such as can be applicable to amusement, serve, travel.

Four, description of drawings:

Fig. 1 is the structural representation of the utility model;

Fig. 2 is the arm structure sketch map of the utility model;

The form sketch map that Fig. 3 bows and moves for the utility model enforcement.

Reference numeral:

1; Head assembly 1-1; Eyes 1-2; Face 1-3; Ear 1-4; Vision sensor 1-5; Neck slewing equipment 2; Body supports assembly 2-1; Waist slew gear 2-2; Following body supports 2-3; Hinge 3; Right arm 3-1; Shoulder joint 3-1-1; Bevel gear 3-1-2; Bevel gear 3-1-3; Micromachine 3-2; Large-arm joint 3-3; Big arm housing 3-4; forearm joint 3-5; forearm housing 3-6; wrist joint 4; left arm 5; support 6; road wheel assembly 6-1; directive wheel 6-2; steering control device 6-3 driving wheel 6-4; power set 7; base plate 8; electric pushrod 8-1; hinge 9; electrical apparatus control system

Five, the specific embodiment:

Be described in detail the implementation process of the utility model in conjunction with accompanying drawing.

Like Fig. 1, Fig. 2, shown in Figure 3:

Copying person height design height is the dancing robot of 168cm-175cm.The headgear of the various looks that head piece 1 can outer cover be made with colorful rubber carries out face and face, ear ornament, robot health outer cover dancing clothes.Eyes assembly 1-1, vision sensor 1-4, mouth 1-2, electric pushrod 8, can choose the existing device in market.Voice system, control device are chosen the existing device in market, needing establishment, select software for use according to the utility model.Neck slewing equipment 1-5 useable electric moter drives worm-and-wheel gear or micromachine directly is installed, or selects the existing slewing equipment in market for use.Waist slew gear 2-1 can be according to processing shown in Figure 3; The part that body supports 2-2 is connected with following body supports 2-3 is cylinder or the sub-shape of pipe; The outer ring of floating bearing is fixedly mounted on down in the endoporus of body supports 2-3 upper end and body supports 2 connecting portions; 2 times end-journals of body supports are fixedly mounted on the inner ring of floating bearing; Body supports cylindrical and the coaxial installation gear ring of floating bearing in this position, be fixed on down body supports 2-3 on motor shaft on the gear formation that is meshed; Or adopt with the existing waist joint of robot in market.Shoulder joint 3-1, large-arm joint 3-2, forearm joint 3-4, wrist joint 3-6 by the minitype motor driving bevel gear pair, or select existing robots joint, market for use according to manufacturing shown in Figure 2; The existing robots hand is installed on wrist joint 3-6.Body supports assembly 2 is the rigid members that are made up of two shoulders, neck and upper limb body, connects two

robot arms

3 and 4 at two shoulders through shoulder joint 3-1, and neck is installed neck slewing equipment 1-5, securement head assembly 1 on neck slewing equipment 1-5.Support 5 is fixed on the base plate 7; Following body supports 2-2 is installed on the support 5 through hinge 2-3, and its upper end is connected with body supports 2 through waist slew gear 2-1, and the lower end connects electric pushrod 8 through hinge 8-1, and electric pushrod 8 is fixed on the base plate 7.Road wheel assembly 6 is made up of 2 driving wheel 6-3 and directive wheel 6-1 and power set 6-4 and steering control device 6-2, and steering control device 6-2 is installed on the directive wheel 6-1; Give 2 driving wheel 6-3 with transmission of power respectively through chain drive and drive with 2 motors, or select for use motor to pass through sprocket wheel or gear drives transmission of power to the differential mechanism (differential mechanism can be selected for use existing) on the live axle by electrical apparatus control system control, balance movement speed.Electrical apparatus control system 9 is made up of control software and connector; And be connected with power supply (power supply is the battery or the external power supply of random installation) through the electrical equipment control device, power set motor, neck slewing equipment motor, waist slew gear motor, steering control device 6-2, vision sensor, drive machines person joint's micromachine, electric pushrod 8, voice system are connected with electrical apparatus control system 9.

Through button or remotely monitored sensor energized, according to the software program operation of establishment in advance, the luminous realization eyes of eyes assembly blinks under the control control of software during application, and neck slewing equipment 1-5 realizes the rotation of head; Two

robot arms

3 and 4 that are installed in two shoulders are under the driving of the micromachine 3-1-3 of shoulder joint 3-1, and two bevel gear 3-1-1 and 3-1-2 rotate or do the planet swing, and shoulder joint realizes the arm revolution; Large-arm joint 3-2, forearm joint 3-4, carpal two bevel gears do planet swing, realize large and small, the bending of wrist, swing; The motor of waist slew gear 2-1 rotates realizes swaying one's hips action, and electric pushrod 8 is done when flexible the action of bowing of realization robot; Road wheel assembly 6 is advanced, is retreated and rotated by the direction realization robot of steering control device 6-2 control directive wheel 6-1 by 2 driving wheel 6-3 of drive device drives, under the voice system sound accompaniment, shows dancing, walking action; When in service when running into obstacle vision sensor 1-4 avoid obstacle for electrical apparatus control system 9 control steering control device 6-2 adjustment in time directions feedback information, or control power set 6-4 implements to shut down braking.The music of voice and language, arm bending, swing, are bowed and the exercises of head rotation are implemented according to the control software of the establishment that prelists in advance at the twisting of machine human body waist.This dancing robot function is complete, functional, can emulation reproduce dancing arts.

Claims

1. dancing robot; It is characterized by, constitute by head assembly, body supports, following body supports, 2 robot arms, neck slewing equipment, waist slew gear, support, electric pushrod, road wheel assembly, base plate, steering control device, voice system, electrical apparatus control systems; Head assembly is made up of eyes assembly, face, the ear of band eyes, and vision sensor is installed at the place between the eyebrows position; Body supports is the rigid member that is made up of two shoulders, neck and upper limb body, and two shoulders connect 2 robot arms through joint of robot, and neck is installed neck slewing equipment and connector parts; Support is fixed on the base plate; Following body supports is rack-mount through hinge, and its upper end is connected with body supports through the waist slew gear or with the waist joint of robot, and the lower end connects electric pushrod, and electric pushrod is fixed on the base plate; The road wheel assembly is made up of 2 driving wheels and directive wheel and power set and steering control device, and power set are connected with 2 live axles, and steering control device is installed on the directive wheel; 2 robot arms respectively are made up of big arm housing, little arm housing, wrist, and are connected together by large-arm joint, little shoulder joint, wrist joint, and are installed in two shoulders of body supports; The eyes assembly of power set motor, neck slewing equipment motor, waist slew gear motor, steering control device, band eyes, vision sensor, drive machines person joint's micromachine, electric pushrod, voice system are connected with electrical apparatus control system.

2. dancing according to claim 1 robot is characterized by, and the structure of described waist slew gear is: the outer ring of floating bearing is fixedly mounted on down the upper end of body supports, at the micromachine of the external stability band gear of this position; With the inner ring that is fixedly mounted on floating bearing of body supports lower end, at the coaxial installation gear ring of the body supports cylindrical and the floating bearing of this position, be fixed on down body supports on motor shaft on gear be meshed.

3. dancing according to claim 1 robot is characterized by, described joint of robot be by the bevel gear pair of pair of meshing be installed in the micromachine that drives on the bevel gear shaft and constitute.

4. dancing according to claim 1 robot; It is characterized by; The power set of said road wheel assembly be with motor through sprocket wheel or gear with the differential mechanism of transmission of power to the live axle, or with 2 motors through chain drive respectively with transmission of power to 2 live axles.