CN204471380U - A kind of modularization anthropomorphic robot - Google Patents
A kind of modularization anthropomorphic robot Download PDFInfo
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- CN204471380U CN204471380U CN201520016373.8U CN201520016373U CN204471380U CN 204471380 U CN204471380 U CN 204471380U CN 201520016373 U CN201520016373 U CN 201520016373U CN 204471380 U CN204471380 U CN 204471380U
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Abstract
The utility model discloses a kind of modularization anthropomorphic robot, comprising: head module, body module and central control module three parts; Described head module is by head-somatic movement connector and body model calling, described central control module is arranged in body module, described central control module arranges communication interface, and described head module is connected with described central control module by communication interface with body module.This robot is modularized design, is easy to safeguard; Be convenient to management and the expansion of robot function; Simple.
Description
Technical field
The utility model relates to robot field, is specifically related to a kind of modularized design robot.
Background technology
Along with the development of science and technology, robot field also there occurs surprising change, and increasing anthropomorphic robot enters the visual field of people, and also increasing anthropomorphic robot enters volume production.Current anthropomorphic robot Problems existing is, because the moving component of robot is many, comparatively complicated to the control of its motion process, each moving component needs again to write motion control process, cause the overall control program code of robot tediously long, correct cumbersome to the balance of action.
Utility model content
The utility model is according to above-mentioned prior art Problems existing, a kind of modularization anthropomorphic robot is provided, adopt modularized design, call when convenient exploitation " functional software ", simplify functional software design difficulty, simplify the line number of functional software code, the body balance of robot when ensure that functional software runs.
For solving the problem, the technical solution adopted in the utility model is: a kind of modularization anthropomorphic robot, comprising: head module, body module and central control module three parts; Described head module is by head-somatic movement connector and body model calling, described central control module is arranged in body module, described central control module arranges communication interface, and described head module is connected with described central control module by communication interface with body module.
Further, described head module comprises head control cabinet, video acquisition device, audio collecting device and speech player, described video acquisition device, audio collecting device are connected with described head control cabinet with speech player, described video acquisition device is camera, described audio collecting device is microphone, and described speech player is loudspeaker.
Further, described head control cabinet inside arranges head processor, head memory, video processing module, sound acquisition module and voice module, described head processor connected storage, video processing module, sound acquisition module and voice module, described voice module connects loudspeaker, described sound acquisition module connects microphone, and described camera is connected with described video processing module.
Further, described body module comprises body control cabinet, four limbs Servo-controller and sensor group, described four limbs Servo-controller is arranged on the extremities joint place of body module, described body control cabinet is connected motion couplings with described four limbs Servo-controller and head-body and connects, and the output of described sensor group connects body control cabinet.
Further, body processor, body memory, head-body connection motion controller and Servo-controller motion module are set in described body control cabinet, described head-body connection motion controller is connected telemechanical connector with described head-body and connects, the output of described sensor group connects body processor, described body memory is connected with described body processor with Servo-controller motion module, and the output of described Servo-controller motion module connects Servo-controller.
Further, described central control module comprises center-control case, described communication interface is arranged on the back side of center-control case, described center-control case comprises central processing unit, memory and center power supply, described center power supply is connected with described central processing unit, head processor and body processor, and described central memory is connected with described central processing unit.
Further, described center-control case arranges handle.
Further, described communication interface comprises central authorities-head communication interface, central authorities-body communication interface, power source charges interface and external communication interface, described central authorities-head communication interface is connected with described head control by central authorities-head connecting line, described central authorities-body communication interface is connected with described body controller by central authorities-body connecting line, described power interface is connected with externally fed power supply, and described external communication interface is connected with external equipment.
The utility model has the advantage of: the robot that the utility model provides is modularized design, simplify the design of robot; Arbitrary module damage in three large modules does not affect the normal operation of other module, is easy to safeguard; Modules is responsible for the function of modules, is convenient to management and the expansion of robot function; Each module is independent operating, by calling the matching coordinative realized between module, simple.
Accompanying drawing explanation
Fig. 1 is the front elevation of a kind of modularized design robot described in the utility model;
Fig. 2 is the side view of a kind of modularized design robot described in the utility model;
Fig. 3 is the back view of a kind of modularized design robot described in the utility model;
Fig. 4 is three large model calling figure of a kind of modularized design robot described in the utility model.
Detailed description of the invention
Below in conjunction with accompanying drawing, the utility model is further detailed.
See Fig. 1 to Fig. 4, wherein Fig. 1 is the front elevation of a kind of modularized design robot described in the utility model; The back view of Fig. 2 to be the side view of a kind of modularized design robot described in the utility model: Fig. 3 be a kind of modularized design robot described in the utility model; Fig. 4 is three large module Mating graph of a kind of modularized design robot described in the utility model.
As shown in Figures 1 to 4, a kind of modularization anthropomorphic robot, comprising: head module 1, body module 2 and central control module 3 three parts; Described head module 1 is connected with body module 2 by head-somatic movement connector 4, described central control module 3 is arranged in body module 2, described central control module 3 arranges communication interface 33, and described head module 1 is connected with described central control module 3 by communication interface 33 with body module 2.
Further, described head module 1 comprises head control cabinet 11, video acquisition device 12, audio collecting device 13 and speech player 14, described video acquisition device 12, audio collecting device 13 are connected with described head control cabinet 11 with speech player 14, described video acquisition device 12 is camera, described audio collecting device 13 is microphone, and described speech player 14 is loudspeaker.
Further, described head control cabinet 11 inside arranges head processor, head memory, video processing module, sound acquisition module and voice module, described head processor connected storage, video processing module, sound acquisition module and voice module, described voice module connects loudspeaker, described sound acquisition module connects microphone, and described camera is connected with described video processing module.
Further, described body module 2 comprises body control cabinet 21, four limbs Servo-controller 22 and sensor group 23, described four limbs Servo-controller 22 is arranged on the extremities joint place of body module 2, described body control cabinet 21 is connected motion couplings 4 with described four limbs Servo-controller 22 and head-body and connects, and the output of described sensor group 23 connects body control cabinet 21.
Further, body processor, body memory, head-body connection motion controller and Servo-controller motion module are set in described body control cabinet 21, described head-body connection motion controller is connected telemechanical connector with described head-body and connects, the output of described sensor group 23 connects body processor, described body memory is connected with described body processor with Servo-controller motion module, and the output of described Servo-controller motion module connects Servo-controller 22.
Further, described central control module 3 comprises center-control case 31, described communication interface 33 is arranged on the back side of center-control case 31, described center-control case 31 comprises central processing unit, memory and center power supply 32, described center power supply 32 is connected with described central processing unit, head processor and body processor, and described central memory is connected with described central processing unit.
Further, described center-control case 3 arranges handle 36.Center-control case 31 can push or extract body out by described handle 36.
Further, described communication interface 33 comprises central authorities-head communication interface, central authorities-body communication interface, power source charges interface and external communication interface, described central authorities-head communication interface is connected with described head control by central authorities-head connecting line 34, described central authorities-body communication interface is connected with described body controller by central authorities-body connecting line 35, described power interface is connected with externally fed power supply, described external communication interface is connected with external equipment, for Data Update and storage.
The utility model by arranging communication interface on center-control case, realize center-control case and the data between head control cabinet and body control cabinet are transmitted, can be connected with external equipment and power supply simultaneously, power supply can be center power supply charging by communication interface, also directly can power for head module, body module and central control module.External equipment can extract the data of each control module by communication interface or be each module downloading data.
In the utility model embodiment, head is stabilized in body module by head-somatic movement connector, and body control cabinet 7 controls the motion of head by controlling head-somatic movement connector.
The utility model is by arranging independently head module, body module and central control module, make the overall control procedure of robot simple, such as body module is not when having connection header module and central control module, be energized to body module and give specific action triggers signal and code, body module can independently complete specific action.
The body processor of body module mainly processes the command instruction that central control module is sent; Body module stores all four limbs body action code database, headwork code database and sensor Information Monitoring database by memory, call corresponding action code and drive the specific action of four limbs body complete independently, after instructing action to complete, execution is fed back to central control module with signal form; Independently can carry out the collection of sensing data simultaneously, and to the data analysis process gathered, be obtained a result by comparison data storehouse; Call the motion of corresponding head movement code complete independently head, after instructing headwork to complete, execution is fed back to central control module with signal form.
Head module is independently vision, the sense of hearing and voice module, and when not installing center-control case and body module, be electrified to head module and specific triggering signal, head module can independently complete visual performance, auditory function and phonetic function.Head module has oneself independently memory: memory stores vision comparison data storehouse, voice data storage, voice data comparison data storehouse, speech database.By camera collection vision data, by video processing module, the video data analyzing and processing gathered and comparison visual database are obtained a result; By microphone collected sound signal, by acoustic processing module, analyzing and processing is carried out and obtain a result in comparison audible data storehouse to the acoustic information gathered; Transfer speech database by speech player to sound; By above result according to central control module need feed back to central control module, the command instruction that head module is transmitted by head processor process central control module.
Central control module is task matching, issue an order, regulate and control the module that head module and four limbs body module finish the work jointly, namely do not load in robot body, central control module still can according to task program outwards give an order instruction, receive and represent the external electric signal of result, central control module has oneself independently memory: memory stores Android operation system and represents the Apk program of corresponding task.
Central control module mainly task matching, issue an order, regulating and controlling effect: when needs robot completes a certain particular task, android system calls corresponding Apk program; After specific Apk program is called, system gives an order instruction to head module or body four limbs module, after head module or body four limbs module are finished the work, returns a result to central control module; Central control module judges according to the result returned, and then sends next command instruction to head module or four limbs body module, after head module or the corresponding action of four limbs driver module complete independently, returns a result to central module; Central control module continues to perform the content after Apk program according to the result returned, and continues to send command instruction to complete whole task to head module or four limbs driver module.
The robot that the utility model provides is modularized design, simplifies the design of robot; Arbitrary module damage in three large modules does not affect the normal operation of other module, is easy to safeguard; Modules is responsible for the function of modules, is convenient to management and the expansion of robot function; Each module is independent operating, by calling the matching coordinative realized between module, simple.
By reference to the accompanying drawings the utility model preferred embodiment is explained in detail above, but the utility model is not limited to above-mentioned embodiment, in the ken that those of ordinary skill in the art possess, can also make a variety of changes under the prerequisite not departing from the utility model aim.Do not depart from design of the present utility model and scope can make many other and change and remodeling.Should be appreciated that the utility model is not limited to specific embodiment, scope of the present utility model is defined by the following claims.
Claims (8)
1. a modularization anthropomorphic robot, is characterized in that, comprising: head module (1), body module (2) and central control module (3) three parts; Described head module (1) is connected with body module (2) by head-somatic movement connector (4), described central control module (3) is arranged in body module (2), described central control module (3) is arranged communication interface (33), described head module (1) is connected with described central control module (3) by communication interface (33) with body module (2).
2. a kind of modularization anthropomorphic robot according to claim 1, it is characterized in that, described head module (1) comprises head control cabinet (11), video acquisition device (12), audio collecting device (13) and speech player (14), described video acquisition device (12), audio collecting device (13) is connected with described head control cabinet (11) with speech player (14), described video acquisition device (12) is camera, described audio collecting device (13) is microphone, described speech player (14) is loudspeaker.
3. a kind of modularization anthropomorphic robot according to claim 2, it is characterized in that, described head control cabinet (11) inside arranges head processor, head memory, video processing module, sound acquisition module and voice module, described head processor connected storage, video processing module, sound acquisition module and voice module, described voice module connects loudspeaker, described sound acquisition module connects microphone, and described camera is connected with described video processing module.
4. a kind of modularization anthropomorphic robot according to claim 1, it is characterized in that, described body module (2) comprises body control cabinet (21), four limbs Servo-controller (22) and sensor group (23), described four limbs Servo-controller (22) is arranged on the extremities joint place of body module (2), described body control cabinet (21) is connected motion couplings (4) with described four limbs Servo-controller (22) and head-body and connects, and the output of described sensor group (23) connects body control cabinet (21).
5. a kind of modularization anthropomorphic robot according to claim 4, it is characterized in that, in described body control cabinet (21), body processor is set, body memory, head-body connects motion controller and Servo-controller motion module, described head-body connection motion controller is connected telemechanical connector with described head-body and connects, the output of described sensor group (23) connects body processor, described body memory is connected with described body processor with Servo-controller motion module, the output of described Servo-controller motion module connects Servo-controller (22).
6. a kind of modularization anthropomorphic robot according to claim 1, it is characterized in that, described central control module (3) comprises center-control case (31), described communication interface (33) is arranged on the back side of center-control case (31), described center-control case (31) comprises central processing unit, memory and center power supply (32), described center power supply (32) is connected with described central processing unit, head processor and body processor, and described central memory is connected with described central processing unit.
7. a kind of modularization anthropomorphic robot according to claim 6, is characterized in that, described center-control case (31) arranges handle (36).
8. a kind of modularization anthropomorphic robot according to claim 1, it is characterized in that, described communication interface (33) comprises central authorities-head communication interface, central authorities-body communication interface, power source charges interface and external communication interface, described central authorities-head communication interface is connected with described head control by central authorities-head connecting line (34), described central authorities-body communication interface is connected with described body controller by central authorities-body connecting line (35), described power interface is connected with externally fed power supply, and described external communication interface is connected with external equipment.
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| CN201520016373.8U CN204471380U (en) | 2015-01-06 | 2015-01-06 | A kind of modularization anthropomorphic robot |
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| CN201520016373.8U CN204471380U (en) | 2015-01-06 | 2015-01-06 | A kind of modularization anthropomorphic robot |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105364916A (en) * | 2015-12-17 | 2016-03-02 | 成都英博格科技有限公司 | Robot structure |
| CN105751220A (en) * | 2016-05-13 | 2016-07-13 | 齐鲁工业大学 | Walking human-shaped robot and fusion method for multiple sensors thereof |
| CN105798949A (en) * | 2016-06-02 | 2016-07-27 | 安徽声讯信息技术有限公司 | Robot self-maintaining and self-overhauling system |
| CN105881534A (en) * | 2015-01-06 | 2016-08-24 | 李书申 | Modular anthropomorphic robot |
| CN108247640A (en) * | 2018-02-05 | 2018-07-06 | 广东职业技术学院 | A kind of humanoid robot processing system for video |
| CN110978001A (en) * | 2019-11-28 | 2020-04-10 | 江苏金猫机器人科技有限公司 | Industrial robot system based on voice control |
-
2015
- 2015-01-06 CN CN201520016373.8U patent/CN204471380U/en not_active Expired - Fee Related
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105881534A (en) * | 2015-01-06 | 2016-08-24 | 李书申 | Modular anthropomorphic robot |
| CN105364916A (en) * | 2015-12-17 | 2016-03-02 | 成都英博格科技有限公司 | Robot structure |
| CN105364916B (en) * | 2015-12-17 | 2017-06-09 | 成都英博格科技有限公司 | Robot architecture |
| CN105751220A (en) * | 2016-05-13 | 2016-07-13 | 齐鲁工业大学 | Walking human-shaped robot and fusion method for multiple sensors thereof |
| CN105798949A (en) * | 2016-06-02 | 2016-07-27 | 安徽声讯信息技术有限公司 | Robot self-maintaining and self-overhauling system |
| CN108247640A (en) * | 2018-02-05 | 2018-07-06 | 广东职业技术学院 | A kind of humanoid robot processing system for video |
| CN110978001A (en) * | 2019-11-28 | 2020-04-10 | 江苏金猫机器人科技有限公司 | Industrial robot system based on voice control |
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| C14 | Grant of patent or utility model | ||
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| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20150715 Termination date: 20180106 |
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| CF01 | Termination of patent right due to non-payment of annual fee |