CN203612098U - Human-simulated dancing robot - Google Patents
Human-simulated dancing robot Download PDFInfo
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- CN203612098U CN203612098U CN201320732418.2U CN201320732418U CN203612098U CN 203612098 U CN203612098 U CN 203612098U CN 201320732418 U CN201320732418 U CN 201320732418U CN 203612098 U CN203612098 U CN 203612098U
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Abstract
The utility model discloses a human-simulated dancing robot. The human-simulated dancing robot comprises a head part, the head part is connected with a body part, the body part is connected with arm parts through shoulder joint modules and connected with leg parts through a crotch joint module, a waist part joint is also connected between the body part and the crotch joint module, and a movable neck part joint is also connected between the head part and the body part. The beneficial effects of the human-simulated dancing robot are that the waist part joint is added, such that the robot can complete left and right rotating actions of the waist part joint and thus can complete complicated and splendid dancing actions; the neck joint is added, such that the robot can complete left-right rotation and front-back nodding actions of the head part and thus can complete emotion actions; and U-shaped connectors are adopted in crotch part steering gears and leg part steering gears, so distance between two steering gears is shortened, and stability and flexibility of the robot are ensured.
Description
Technical field
The utility model belongs to robot building technical field, relates to a kind of apery type Dancing Robot.
Background technology
At present the general unresolved motion planning of human emulated robot and dynamics problem and unresolved key position be as the degree of freedom problem of waist and neck, not only can not stabilized walking, but also can not complete the dance movement that comprises various compound movements.Moreover, adopt production domesticization parts to design anthropomorphic robot in order to reduce price, be just difficult to realize the fundamental operation of anthropomorphic robot due to zero point adjustment and equilibrium problem, certainly more can not realize dance movement.The maximum feature of anthropomorphic robot is that its structure is made up of both arms, both legs, body, head four large parts as the mankind, and various compound movements are all realized by several joint motions in every position.Existing robot major part is on each arm and leg, to be provided with 3 to 5 joints to realize various motions.But because the stability problem of robot all dare not arrange joint so far on waist and neck, thereby make existing robot cannot realize various compound actions as disabled person.In addition, consider from motion control angle, joint of every increase just must increase motor that driving joint uses and supporting driving circuit thereof, and this motor not only increases volume concerning robot, but also gain in weight, lack of equilibrium while making robot motion and falling down, this just need to overcome the imbalance problem bringing owing to increasing volume and weight.The problem that human emulated robot exists is now, because head, waist, crotch are all linked to be rigid construction, there is not waist joint and neck joint, make robot as disabled person, can not complete waist action cannot to realize with neck action the dance movement of various beauties.
In anthropomorphic robot, degree of freedom problem is one of very important gordian technique, and this is because degree of freedom determines stability and the dexterity of action of the action of robot.It relates to the kinematics and dynamics of robot.Degree of freedom is appreciated that a joint into people, its decider's each position sense of motion and coordinate.The mankind probably have 78 joints, and the degree of freedom of robot is more, and robot motion's ability is more close to the mankind, more as a real people.And the degree of freedom of our dance robot is subject to the restriction of robot price, volume and technology and concrete purposes etc., general 16 left and right.
For these problems, this programme is to make robot strengthen various locomitivities by increasing waist joint and neck joint, thereby realize various dancing actions, but immediately and the problem of coming is to have made robot lack of equilibrium, stability destroyed owing to having increased waist joint and neck joint, therefore how by motion planning and robot ZMP adjustment algorithm at zero point, make robot in the time doing various waist turning actions and neck action, still keep stability.
Utility model content
The purpose of this utility model is providing a kind of humanoid Dancing Robot.
The technical scheme that the utility model adopts is to comprise head, head is connected with body, body is by shoulder joint module arm portions, body connects shank by crotch's joint module, between body and crotch's joint module, be also connected with can be movable waist joint, between head and body, be also connected with can be movable neck joint.
Feature of the present utility model is also that waist joint is made up of waist bearing and waist steering wheel, and body is movably connected by waist bearing and waist steering wheel, and waist steering wheel is fixedly mounted in crotch's joint module; Head is made up of head steering wheel, and neck joint is made up of neck steering wheel, and head steering wheel is movably connected by head adaptor union and neck steering wheel.Crotch's joint module comprises the left crotch steering wheel and the right crotch steering wheel that are arranged on a horizontal surface, shank comprises the left shank steering wheel and the right shank steering wheel that are arranged on a horizontal surface, left crotch steering wheel is flexibly connected the U-shaped adaptor union in the left side first, the U-shaped adaptor union in the left side first is fixedly connected with the left side second U-shaped adaptor union cross type shape, and the U-shaped adaptor union in the left side second is flexibly connected left shank steering wheel; Right crotch steering wheel is flexibly connected the right the first U-shaped adaptor union, and the U-shaped adaptor union in the right first is fixedly connected with the right second U-shaped adaptor union cross type shape, and the U-shaped adaptor union in the right second is flexibly connected right shank steering wheel.
The beneficial effects of the utility model are to have increased waist joint and neck joint with it at robot, make robot can complete various compound actions under stability condition.
Accompanying drawing explanation
Fig. 1 is the waist structure schematic diagram of a kind of humanoid Dancing Robot of the utility model;
Fig. 2 is the neck structure schematic diagram of a kind of humanoid Dancing Robot of the utility model;
Fig. 3 is crotch's structural representation of a kind of humanoid Dancing Robot of the utility model.
In figure, 1. head adaptor union, 2. body, 3. crotch's joint module, 4. head steering wheel, 5. neck steering wheel, 6. waist bearing, 7. waist steering wheel, 8. left crotch steering wheel, 9. right crotch steering wheel, the 10. U-shaped adaptor union in the left side first, the 11. U-shaped adaptor unions in the left side second, the 12. U-shaped adaptor unions in the right first, the 13. U-shaped adaptor unions in the right second, 14. left shank steering wheels, 15. right shank steering wheels.
The specific embodiment
Below in conjunction with the drawings and specific embodiments, the utility model is elaborated.
The utility model comprises head as shown in Figure 1, head is connected with body 2, body 2 is by shoulder joint module arm portions, body 2 connects shank by crotch's joint module 3, between body 2 and crotch's joint module 3, be also connected with can be movable waist joint, between head and body 2, be also connected with can activity neck joint.Waist joint is made up of waist bearing 6 and waist steering wheel 7, and body 2 is movably connected by waist bearing 6 and waist steering wheel 7, and waist steering wheel 7 is fixedly mounted in described crotch joint module 3; As shown in Figure 2, head is made up of head steering wheel 4, and neck joint is made up of neck steering wheel 5, and head steering wheel 4 is movably connected by head adaptor union 1 and neck steering wheel 5.As shown in Figure 3, crotch's joint module 3 comprises the left crotch steering wheel 8 and the right crotch steering wheel 9 that are arranged on a horizontal surface, shank comprises the left shank steering wheel 14 and the right shank steering wheel 15 that are arranged on a horizontal surface, left crotch steering wheel 8 is flexibly connected the U-shaped adaptor union 10 in the left side first, the U-shaped adaptor union 10 in the left side first is fixedly connected with the U-shaped adaptor union 11 cross type shapes in the left side second, and the U-shaped adaptor union 11 in the left side second is flexibly connected left shank steering wheel 14; Right crotch steering wheel 9 is flexibly connected the right the first U-shaped adaptor union 12, and the U-shaped adaptor union 12 in the right first is fixedly connected with the U-shaped adaptor union 13 cross type shapes in the right second, and the U-shaped adaptor union 13 in the right second is flexibly connected right shank steering wheel 15.
Robot in the utility model, two degree of freedom in neck joint are added with it at the robot of 16 traditional degree of freedom, i.e. head steering wheel 4 and neck steering wheel 5, the in addition one degree of freedom in waist joint, be waist steering wheel 7, make robot there are 19 degree of freedom.In humanoid robot, waist joint is that connection upper body is the critical tie that arm is connected with shank, therefore it is to make robot in the time of left rotation and right rotation, arm, upper body and leg action keep the very important technology of continuity, for this reason, we have adopted seamless link bearing arrangement, in the time of design waist joint structure, the subject matter producing is to increase waist joint robot weight and volume above the waist is all promoted and cause sharply declining stability, this project is to this problem, and by robot motion planning algorithm and robot ZMP, adjustment algorithm solves zero point.In addition, in people's health, waist is the position of stressed maximum, so making waist joint normally works, must guarantee to bear the impulsive force of enough large moment and all directions, in order to guarantee to bear the impulsive force of maximum moment and all directions, we have adopted the steering wheel of high-torque to the steering wheel of this waist joint, in addition by placed side by side 3 li of crotch's joint modules with the steering wheel of controlling waist two steering wheels controlling crotch, make to greatest extent center of gravity down, guarantee the stability of robot.The neck of considering the mankind can complete the rotation of head and nod two and move, and 16 common degree of freedom robot do not have neck action, so be difficult to show the emotion action of robot.And the robot of our research and development can ideally complete rotary head and nod two and move simultaneously, make the headwork of robot more as the mankind, show various emotions.Therefore head itself is made to little steering wheel, then this little steering wheel is connected with neck steering wheel 5 by head adaptor union 1, has realized cleverly a difficult problem for neck double freedom.Omnidirectional connects and refers to that in robot, having two degree-of-freedom joints is connected by double-U-shaped adaptor union with two motors of shoulder joint dexterously as trans-articular, the left crotch steering wheel 8 and the right crotch steering wheel 9 that make to be connected on U-shaped adaptor union can rotate around X-axis, and left shank steering wheel 14 and right shank steering wheel 14 can rotate around Y-axis simultaneously.And by U-shaped adaptor union, shorten the distance between crotch's steering wheel and shank steering wheel, increased the alerting ability of health, guaranteed the stability of robot.
The beneficial effects of the utility model are to have increased waist joint, can make robot complete the action of waist joint left rotation and right rotation, thereby make robot complete complicated excellent dance movement.Increase neck joint, can make robot complete left rotation and right rotation and the front and back nodding action of head, thereby made robot complete emotion action.Crotch's steering wheel and shank steering wheel use U-shaped adaptor union, have shortened the distance between two steering wheels, have guaranteed stability and the alerting ability of robot.And all can adopt domestic parts, make 10 times of left and right of prices of robot.
Claims (3)
1. a humanoid Dancing Robot, comprise head, head is connected with body (2), body (2) is by shoulder joint module arm portions, body (2) connects shank by crotch's joint module (3), it is characterized in that: between described body (2) and described crotch joint module (3), be also connected with can be movable waist joint, between described head and body (2), be also connected with can activity neck joint.
2. according to a kind of humanoid Dancing Robot described in claim 1, it is characterized in that: described waist joint is made up of waist bearing (6) and waist steering wheel (7), described body (2) is movably connected by waist bearing (6) and waist steering wheel (7), and waist steering wheel (7) is fixedly mounted in described crotch joint module (3); Described head is made up of head steering wheel (4), and described neck joint is made up of neck steering wheel (5), and head steering wheel (4) is movably connected by head adaptor union (1) and neck steering wheel (5).
3. according to a kind of humanoid Dancing Robot described in claim 1, it is characterized in that: described crotch joint module (3) comprises the left crotch steering wheel (8) and the right crotch steering wheel (9) that are arranged on a horizontal surface, described shank comprises the left shank steering wheel (14) and the right shank steering wheel (15) that are arranged on a horizontal surface, left crotch steering wheel (8) is flexibly connected the U-shaped adaptor union in the left side first (10), the U-shaped adaptor union in the left side first (10) is fixedly connected with the U-shaped adaptor union in the left side second (11) cross type shape, the U-shaped adaptor union in the left side second (11) is flexibly connected left shank steering wheel (14), right crotch steering wheel (9) is flexibly connected the right the first U-shaped adaptor union (12), the right the first U-shaped adaptor union (12) is fixedly connected with the U-shaped adaptor union in the right second (13) cross type shape, and the U-shaped adaptor union in the right second (13) is flexibly connected right shank steering wheel (15).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201320732418.2U CN203612098U (en) | 2013-11-20 | 2013-11-20 | Human-simulated dancing robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201320732418.2U CN203612098U (en) | 2013-11-20 | 2013-11-20 | Human-simulated dancing robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN203612098U true CN203612098U (en) | 2014-05-28 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201320732418.2U Expired - Fee Related CN203612098U (en) | 2013-11-20 | 2013-11-20 | Human-simulated dancing robot |
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| CN (1) | CN203612098U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111702746A (en) * | 2020-06-19 | 2020-09-25 | 南方科技大学 | Multi-direction pivoted robot |
-
2013
- 2013-11-20 CN CN201320732418.2U patent/CN203612098U/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111702746A (en) * | 2020-06-19 | 2020-09-25 | 南方科技大学 | Multi-direction pivoted robot |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20140528 Termination date: 20151120 |
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| EXPY | Termination of patent right or utility model |