CN204748648U - Multi freedom robot - Google Patents
Multi freedom robot Download PDFInfo
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- CN204748648U CN204748648U CN201520489083.5U CN201520489083U CN204748648U CN 204748648 U CN204748648 U CN 204748648U CN 201520489083 U CN201520489083 U CN 201520489083U CN 204748648 U CN204748648 U CN 204748648U
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Abstract
The utility model provides a multi freedom robot, including a fuselage, still include: about head rotary joint, go up shoulder joint, shoulder joint connecting seat, down about shoulder joint, elbow joint, head rotary joint, go up hip joint, hip joint connecting seat, hip joint, thigh spare, knee joint, shank spare, preceding ankle joint, back hip joint, back ankle joint, sole down, rotary joint about rotary joint and the head about fuselage top assembly head for connect machine number of people portion, the shoulder joint is installed to the shoulder position about the fuselage, goes up the shoulder joint and links to each other with the shoulder joint connecting seat, and the shoulder joint is continuous again with down for shoulder joint connecting seat lower extreme, and lower shoulder joint is passed through the elbow joint and is connected robot arm, the hip joint is connected respectively to the lower extreme about the fuselage, goes up the hip joint and connects the hip joint connecting seat, and hip joint connecting seat lower extreme is with the hip joint is continuous down, and hip joint connecting seat rear end is connected with the back hip joint, back hip joint is with the hip joint is continuous down, can imitate people's action, the gesture is lifelike betterly.
Description
Technical field
The utility model relates to a kind of robot, especially a kind of multi-freedom robot shown.
Background technology
Robot, along with development that is mechanical and electron controls technology, progresses in the practical application of all trades and professions.
At automatic welding, spray paint, carry, assemble, the occasion such as casting, have increasing robot to drop into application.In addition, be not suitable for the occasion of mankind's activity, also have more robot to drop into application, to help the mankind to carry out space Science Explorations, the operations such as investigation under water.But above-mentioned robot is professional machines people mainly, can be competent at the application needs of professional domain, mass motion attitude is then true to nature not.
Existing robot, real-time, the flexibility of motion are strong not.In order to real time control machine device people motion and send different actions according to the real-time requirement control of the mankind, robot needs, according to the needs of designer, to realize multivariant motion.
Summary of the invention
For the deficiencies in the prior art, the utility model provides a kind of multi-freedom robot, can apish action preferably, and attitude is true to nature, can be used for amusement, welcome, display.The technical solution adopted in the utility model is:
A kind of multi-freedom robot, comprises a fuselage, also comprises:
The upper and lower rotary joint of head, upper shoulder joint, shoulder joint Connection Block, lower shoulder joint, elbow joint, head left rotation and right rotation joint, upper hip joint, hip joint Connection Block, lower hip joint, large leg piece, knee joint, little leg piece, front ankle-joint, rear hip joint, rear ankle-joint, sole;
Fuselage roof assembling head left rotation and right rotation joint and the upper and lower rotary joint of head, for connecting robot head;
Shoulder joint is installed at the right and left shoulders position of fuselage, and upper shoulder joint is connected with shoulder joint Connection Block, and shoulder joint Connection Block lower end is connected with lower shoulder joint again, and lower shoulder joint connects robot arm by elbow joint;
Lower end, fuselage left and right connects hip joint respectively, and upper hip joint connects hip joint Connection Block, and hip joint Connection Block lower end is connected with lower hip joint, and hip joint Connection Block rear end is connected with rear hip joint; Rear hip joint is connected with lower hip joint;
Large leg piece is connected with rear hip joint with lower hip joint; Large leg piece lower end is connected with little leg piece by knee joint; Little leg piece lower end connects front ankle-joint and rear ankle-joint; Front ankle-joint is connected with rear ankle-joint;
Sole is connected with rear ankle-joint with front ankle-joint.
Further, described multi-freedom robot, also comprises: protection case, described protection case is arranged on fuselage back part.
Further, described multi-freedom robot, also comprises: the microprocessor controlling each joint action, described microprocessor wireless connections host computer.
The utility model has the advantage of:
1) action of robot is almost consistent with human action, and its movement locus is flexible, can complete various ingenious action.
2) robot angle, speed, the acceleration information in each joint of human body that can provide by Kniect, apish action is more true to nature.
Accompanying drawing explanation
Fig. 1 is Facad structure schematic diagram of the present utility model.
Fig. 2 is side structure schematic diagram of the present utility model.
Detailed description of the invention
Below in conjunction with concrete drawings and Examples, the utility model is described in further detail.
The multi-freedom robot that the utility model provides, as shown in Figure 1, comprises a fuselage 100, also comprises:
The upper and lower rotary joint of head 1, upper shoulder joint 2, shoulder joint Connection Block 3, lower shoulder joint 4, elbow joint 5, head left rotation and right rotation joint 6, upper hip joint 7, hip joint Connection Block 8, lower hip joint 9, large leg piece 10, knee joint 11, little leg piece 12, front ankle-joint 13, protection case 14, rear hip joint 15, rear ankle-joint 16, sole 17;
Assembling head left rotation and right rotation joint 6, fuselage 100 top and the upper and lower rotary joint 1 of head, for connecting robot head;
Shoulder joint 2 is installed at the right and left shoulders position of fuselage 100, and upper shoulder joint 2 is connected with shoulder joint Connection Block 3, and shoulder joint Connection Block 3 lower end is connected with lower shoulder joint 4 again, and lower shoulder joint 4 connects robot arm by elbow joint 5;
Fuselage about 100 lower end connects hip joint 7 respectively, and upper hip joint 7 connects hip joint Connection Block 8, and hip joint Connection Block 8 lower end is connected with lower hip joint 9, and hip joint Connection Block 8 rear end is connected with rear hip joint 15; Rear hip joint 15 is connected with lower hip joint 9;
Large leg piece 10 is connected with rear hip joint 15 with lower hip joint 9; Large leg piece 10 lower end is connected with little leg piece 12 by knee joint 11; Little leg piece 12 lower end connects front ankle-joint 13 and rear ankle-joint 16; Front ankle-joint 13 is connected with rear ankle-joint 16;
Sole 17 is connected with rear ankle-joint 16 with front ankle-joint 13.
Described protection case 14 is arranged on fuselage 100 back part.
Each joint of above-mentioned robot is a steering wheel, during control motion, ARM microprocessor can be adopted to send corresponding rotational angle, speed, acceleration information by serial ports to the driving of each steering wheel, carry out each action in control motion process.
In order to make robot to imitate human motion, all right wireless connections host computer of microprocessor of this robot, such as a high speed workstation is as host computer.High speed workstation provides Kinect interface, connect a Kinect, when a people makes an action in the face of Kinect, work station just can utilize Kinect to obtain angle, speed, the acceleration information in each joint of human body, and wirelessly sends the microcontroller of robot to; After microcontroller receives, just can according to the Data Control robot motion of associated joint.
Kinect be Microsoft on the E3 great Zhan on June 2nd, 2009, the formal XBOX360 body sense periphery peripheral hardware announced.
Claims (3)
1. a multi-freedom robot, comprises a fuselage (100), it is characterized in that, also comprise:
The upper and lower rotary joint of head (1), upper shoulder joint (2), shoulder joint Connection Block (3), lower shoulder joint (4), elbow joint (5), head left rotation and right rotation joint (6), upper hip joint (7), hip joint Connection Block (8), lower hip joint (9), large leg piece (10), knee joint (11), little leg piece (12), front ankle-joint (13), rear hip joint (15), rear ankle-joint (16), sole (17);
Fuselage (100) top assembling head left rotation and right rotation joint (6) and the upper and lower rotary joint of head (1), for connecting robot head;
Shoulder joint (2) is installed at the right and left shoulders position of fuselage (100), upper shoulder joint (2) is connected with shoulder joint Connection Block (3), shoulder joint Connection Block (3) lower end is connected with lower shoulder joint (4) again, and lower shoulder joint (4) connects robot arm by elbow joint (5);
Fuselage (100) lower end, left and right connects hip joint (7) respectively, upper hip joint (7) connects hip joint Connection Block (8), hip joint Connection Block (8) lower end is connected with lower hip joint (9), and hip joint Connection Block (8) rear end is connected with rear hip joint (15); Rear hip joint (15) is connected with lower hip joint (9);
Large leg piece (10) is connected with rear hip joint (15) with lower hip joint (9); Large leg piece (10) lower end is connected with little leg piece (12) by knee joint (11); Little leg piece (12) lower end connects front ankle-joint (13) and rear ankle-joint (16); Front ankle-joint (13) is connected with rear ankle-joint (16);
Sole (17) is connected with rear ankle-joint (16) with front ankle-joint (13).
2. multi-freedom robot as claimed in claim 1, is characterized in that, also comprise: protection case (14), described protection case (14) is arranged on fuselage (100) back part.
3. multi-freedom robot as claimed in claim 1, is characterized in that, also comprise: the microprocessor controlling each joint action, described microprocessor wireless connections host computer.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520489083.5U CN204748648U (en) | 2015-07-08 | 2015-07-08 | Multi freedom robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520489083.5U CN204748648U (en) | 2015-07-08 | 2015-07-08 | Multi freedom robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN204748648U true CN204748648U (en) | 2015-11-11 |
Family
ID=54463400
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201520489083.5U Expired - Fee Related CN204748648U (en) | 2015-07-08 | 2015-07-08 | Multi freedom robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN204748648U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104942821A (en) * | 2015-07-08 | 2015-09-30 | 无锡顺达智能自动化工程股份有限公司 | Multi-degree-of-freedom robot |
| CN112873195A (en) * | 2021-01-22 | 2021-06-01 | 北京理工大学 | Humanoid robot and highly-integrated modular humanoid mechanical arm thereof |
-
2015
- 2015-07-08 CN CN201520489083.5U patent/CN204748648U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104942821A (en) * | 2015-07-08 | 2015-09-30 | 无锡顺达智能自动化工程股份有限公司 | Multi-degree-of-freedom robot |
| CN112873195A (en) * | 2021-01-22 | 2021-06-01 | 北京理工大学 | Humanoid robot and highly-integrated modular humanoid mechanical arm thereof |
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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 | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20151111 Termination date: 20200708 |