CN205660734U - Robot - Google Patents
Robot Download PDFInfo
- Publication number
- CN205660734U CN205660734U CN201620516247.3U CN201620516247U CN205660734U CN 205660734 U CN205660734 U CN 205660734U CN 201620516247 U CN201620516247 U CN 201620516247U CN 205660734 U CN205660734 U CN 205660734U
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- CN
- China
- Prior art keywords
- foot
- robot
- pressure transducer
- actuator
- controller
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
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Abstract
The utility model discloses a robot, including the foot, the foot includes preceding sole and heel, preceding sole and heel bottom is provided with pressure sensor A and pressure sensor B respectively, pressure sensor A and pressure sensor B respectively before being used for the measuring sole and heel exert the pressure on ground, the solar power ultraviolet ray mosquito killer further comprises a controller, pressure sensor A and pressure sensor B respectively with the controller is connected, still include the shank, the foot articulates on the shank, be provided with an actuating mechanism who is used for controlling the articulated angle of foot between foot and the shank, an actuating mechanism with the controller is connected. The utility model discloses a robot has solved the problem that present robot balance control is with high costs, the control structure is complicated, has higher adjustment simultaneously.
Description
Technical field
This utility model relates to the robot of a kind of higher balance.
Background technology
Existing robot, its balance system is typically necessary many sensing elements such as gyroscope, obliquity sensor, and needs
Coordinating the control system of complexity, nonetheless, its balance control performance is the most not satisfactory.
Utility model content
In view of this, the purpose of this utility model is to provide a kind of robot, and this robot solves current robot and puts down
Weighing apparatus controls the problem that cost is high, control structure is complicated, has higher degree of balance simultaneously.
This utility model is by the techniques below means above-mentioned technical problem of solution:
Robot of the present utility model, including foot, described foot includes forefoot and heel, described forefoot and heel
Bottom is respectively arranged with pressure transducer A and pressure transducer B, pressure transducer A and pressure transducer B and detects respectively at being used for
Forefoot and heel are applied to the pressure on ground；Also include controller, described pressure transducer A and pressure transducer B respectively with
Described controller connects；Also include that leg, described foot are hinged on leg, be provided with for controlling between described foot and leg
First actuator of foot processed hinge angle, described first actuator is connected with described controller.
Further, also including machine upper body, below described machine upper body, universal hinging has two legs portion, described machine upper body
And it is provided with the second actuator for controlling leg hinge angle, described second actuator and described control between leg
Device connects；
Further, described first actuator and/or the second actuator are motor, electromagnetism telescoping cylinder, cylinder or hydraulic pressure
One in cylinder.
This utility model has the advantages that robot of the present utility model, including foot, before described foot includes
Sole and heel, be respectively arranged with pressure transducer A and pressure transducer B, pressure transducer A bottom described forefoot and heel
With pressure transducer B respectively at for detecting forefoot and heel is applied to the pressure on ground；Also include controller, described pressure
Sensors A and pressure transducer B are connected with described controller respectively；Also including leg, described foot is hinged on leg, described
Being provided with the first actuator for controlling foot's hinge angle between foot and leg, described first actuator is with described
Controller connects.Robot of the present utility model solves current robot balance and controls cost height, complicated the asking of control structure
Topic, has higher degree of balance simultaneously.
Accompanying drawing explanation
With embodiment, this utility model is further described below in conjunction with the accompanying drawings.
Fig. 1 is the side view of this utility model robot.
Detailed description of the invention
Below with reference to accompanying drawing, this utility model is described in detail:
As it is shown in figure 1, the robot in the present embodiment, including foot 1, described foot 1 includes forefoot 1a and heel 1b,
Pressure transducer A 2 and pressure transducer B 3 it is respectively arranged with bottom described forefoot 1a and heel 1b；Also include controller 4,
Described pressure transducer A 2 and pressure transducer B 3 is connected with described controller 4 respectively；Also including leg 5, described foot 1 cuts with scissors
It is connected on leg 5, between described foot 1 and leg 5, is provided with the first actuator 6 for controlling foot 1 hinge angle, institute
State the first actuator 6 to be connected with described controller 4.In the present embodiment, robot also includes machine upper body 7, on described machine
Below body 7, universal hinging has two legs portion 5, is provided with for controlling leg 5 splice angle between described machine upper body 7 and leg 5
Second actuator 8 of degree, described second actuator 8 is connected with described controller 4；First actuator 6 and second performs
Mechanism 8 uses electromagnetism telescoping cylinder, hinged at the expansion link of described electromagnetism telescoping cylinder and the heel of foot.This utility model machine
The balance control principle of people is as follows: when robot center of gravity tilts to tiptoe, and pressure transducer A 2 pressure experienced is more than pressure
Sensor B 3 pressure experienced, now controller controls the first actuator 6 action, makes foot stretch forward adjustment；When
Robot center of gravity is when heel tilts, and pressure transducer A 2 pressure experienced is less than pressure transducer B 3 pressure experienced, this
Time controller control the first actuator 6 action, make foot's dorsiflex center-of-gravity regulating forward.
Finally illustrating, above example is only in order to illustrate the technical solution of the utility model and unrestricted, although ginseng
According to preferred embodiment, this utility model is described in detail, it will be understood by those within the art that, can be to this
The technical scheme of utility model is modified or equivalent, without deviating from objective and the model of technical solutions of the utility model
Enclosing, it all should be contained in the middle of right of the present utility model.
Claims (3)
1. a robot, it is characterised in that: include that foot, described foot include forefoot and heel, described forefoot and foot
Examine respectively at being used for bottom is respectively arranged with pressure transducer A and pressure transducer B, pressure transducer A and pressure transducer B
Survey forefoot and heel are applied to the pressure on ground；Also include that controller, described pressure transducer A and pressure transducer B are respectively
It is connected with described controller；Also include that leg, described foot are hinged on leg, be provided with between described foot and leg for
Controlling the first actuator of foot's hinge angle, described first actuator is connected with described controller.
Robot the most according to claim 1, it is characterised in that: also include machine upper body, below described machine upper body ten thousand
To being hinged with two legs portion, between described machine upper body and leg, it is provided with the second execution machine for controlling leg hinge angle
Structure, described second actuator is connected with described controller.
Robot the most according to claim 2, it is characterised in that: described first actuator and/or the second actuator
For the one in motor, electromagnetism telescoping cylinder, cylinder or hydraulic cylinder.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620516247.3U CN205660734U (en) | 2016-05-31 | 2016-05-31 | Robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620516247.3U CN205660734U (en) | 2016-05-31 | 2016-05-31 | Robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN205660734U true CN205660734U (en) | 2016-10-26 |
Family
ID=57158198
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201620516247.3U Expired - Fee Related CN205660734U (en) | 2016-05-31 | 2016-05-31 | Robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN205660734U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109188982A (en) * | 2018-10-08 | 2019-01-11 | 芜湖市越泽机器人科技有限公司 | Robot with automatic center-of-gravity regulating |
-
2016
- 2016-05-31 CN CN201620516247.3U patent/CN205660734U/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109188982A (en) * | 2018-10-08 | 2019-01-11 | 芜湖市越泽机器人科技有限公司 | Robot with automatic center-of-gravity regulating |
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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: 20161026 Termination date: 20200531 |