CN205870548U - 17 degree of freedom humanoid robot - Google Patents
17 degree of freedom humanoid robot Download PDFInfo
- Publication number
- CN205870548U CN205870548U CN201620791192.7U CN201620791192U CN205870548U CN 205870548 U CN205870548 U CN 205870548U CN 201620791192 U CN201620791192 U CN 201620791192U CN 205870548 U CN205870548 U CN 205870548U
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- robot
- head
- outfan
- control system
- servo motor
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Abstract
The utility model discloses a 17 degree of freedom humanoid robot, including robot head, robot arm, robot chest belly and robot thigh, robot head passes through the free activity pivot and rotates with robot chest belly and be connected, robot chest belly both sides are connected with the robot arm rotation through connecting the pivot, the robot arm terminal is equipped with finger of robot, miniature servo motor sets up at the abdominal lower extreme of robot chest, miniature servo motor passes through the shaft coupling and rotates with the robot thigh and be connected, the robot thigh rotates with the robot shank to be connected, the robot shank has the robot toe through flange swing joint, this 17 degree of freedom humanoid robot, and the motion form is novel, the motion effect is excellent, figure's characteristic has obvious human body characteristic's the soft hardware control system of novel humanoid robot.
Description
Technical field
This utility model belongs to robotics, is specifically related to a kind of 17 Freedom Intelligent Humanoid Robots.
Background technology
Along with the development of science and technology, robot application field is also constantly being widened, gradually by manufacturing industry to nonmanufacturing industry
With service industry development, the anthropomorphic robot that have mankind's resemblance, can imitate behavior of men ability enjoys people to pay close attention to,
This field is integrated with multi-subject knowledge and the multinomial new and high technologies such as artificial intelligence, ergonomics, electronic technology and computer, its
In, the anthropomorphic robot of high-freedom degree (more than 16), because of its greater flexibility and anthropomorphic motion feature, is more suitable for the mankind
With mankind's collaborative work or replacement human work in life, working environment.
Utility model content
The purpose of this utility model is to provide a kind of 17 Freedom Intelligent Humanoid Robots, to solve to carry in above-mentioned background technology
The problem gone out.
For achieving the above object, this utility model following technical scheme of offer: a kind of 17 Freedom Intelligent Humanoid Robots, including
Robot head, robot arm, robot thorax abdomen and robot thigh, described robot head passes through free movable rotation-shaft
Being rotationally connected with robot thorax abdomen, the front of described robot head and both sides are equipped with infrared sensor, described robot
Being provided with photographic head at the eyes of head, described robot head top is provided with acoustic sensor, the output of described infrared sensor
The outfan of end, the outfan of photographic head and acoustic sensor is electrically connected with the input of control system, described robot breast
Abdominal part both sides are rotationally connected with robot arm by connection rotating shaft, and described robot arm terminal is provided with robot finger, institute
Stating the set-up of control system both sides at robot thorax abdomen, the dead ahead of described robot thorax abdomen is provided with power-supply system, described
Two outfans of power-supply system are electrically connected with the input of control system and the input of micro servo motor, described micro-
Type servomotor is arranged on the lower end of robot thorax abdomen, and described micro servo motor is by shaft coupling and robot thigh rotation
Connecting, described robot thigh and robot shank are rotationally connected, and described robot shank is connected with by adpting flange
Robot toe, is provided with GPS localization tracker, the outfan of described GPS localization tracker and control in described micro servo motor
The input of system processed is electrically connected with, and the outfan of described control system is electrically connected with the input of wireless communication module, institute
The input end signal of the outfan and remote monitoring terminal of stating wireless communication module is connected.
Preferably, described micro servo motor includes small direct current motor, change-speed gearing, feedback adjustable potentiometer and electronics
Panel.
Preferably, described control system is Arduino Mega controller.
Preferably, described remote monitoring terminal is computer or panel computer or mobile phone.
Technique effect of the present utility model and advantage: this 17 Freedom Intelligent Humanoid Robot, have compound movement system, outside
Shape and Activity design upper mold apery class, have hand, foot, head and trunk etc., be that one is readily available mankind's good opinion, gets close to
Feel and can meet a kind of robot of the affective identification.Moving robot compared to other, this utility model has bigger adaptation
Property and motility, be more suitable for human lives, work environment in mankind's work compound, or replace human work.It is not only
Mankind's operation can be replaced in having radiation, dust and toxic environment, but also multiple field will be widely used in, such as cure
Treatment, nursing, home services, entertain, educate, biotechnology, the disaster relief etc..
Accompanying drawing explanation
Fig. 1 is structural representation of the present utility model；
Fig. 2 is control circuit block diagram representation of the present utility model.
In figure: 1 robot head, 2 robot arms, 3 robot thorax abdomen, 4 robot thighs, 5 infrared sensors, 6
Photographic head, 7 acoustic sensors, 8 free movable rotation-shafts, 9 connection rotating shafts, 10 robot fingers, 11 power-supply systems, 12 control systems
System, 13 micro servo motors, 14 shaft couplings, 15 robot shanks, 16 adpting flanges, 17 robot toes, 18 wireless telecommunications moulds
Block, 19 remote control terminals, 20 GPS localization trackers.
Detailed description of the invention
Below in conjunction with the accompanying drawing in this utility model embodiment, the technical scheme in this utility model embodiment is carried out
Clearly and completely describe, it is clear that described embodiment is only a part of embodiment of this utility model rather than whole
Embodiment.Based on the embodiment in this utility model, those of ordinary skill in the art are not under making creative work premise
The every other embodiment obtained, broadly falls into the scope of this utility model protection.
This utility model provides one 17 Freedom Intelligent Humanoid Robot as shown in Fig. 1 and Fig. 2, including robot head
Portion 1, robot arm 2, robot thorax abdomen 3 and robot thigh 4, described robot head 1 by free movable rotation-shaft 8 and
Robot thorax abdomen 3 is rotationally connected, and the front of described robot head 1 and both sides are equipped with infrared sensor 5, described robot
Being provided with photographic head 6 at the eyes of head 1, described robot head 1 top is provided with acoustic sensor 7, described infrared sensor 5
The outfan of outfan, the outfan of photographic head 6 and acoustic sensor 7 is electrically connected with the input of control system 12, described
Robot thorax abdomen 3 both sides are rotationally connected with robot arm 2 by connection rotating shaft 9, and described robot arm 2 terminal is provided with machine
Device finger 10, described control system 12 is arranged on the both sides of robot thorax abdomen 3, the dead ahead of described robot thorax abdomen 3
Being provided with power-supply system 11, two outfans of described power-supply system 11 are electrically connected with the input of control system 12 and miniature
The input of servomotor 13, described micro servo motor 13 is arranged on the lower end of robot thorax abdomen 3, described miniature servo electricity
Machine 13 is rotationally connected with robot thigh 4 by shaft coupling 14, and described robot thigh 4 is rotationally connected with robot shank 15,
Described robot shank 15 is connected with robot toe 17 by adpting flange 16, is provided with in described micro servo motor 13
GPS localization tracker 20, the input of the outfan control system 12 of described GPS localization tracker 20 is electrically connected with, described control
The input of the outfan of system 12 processed and wireless communication module 18 is electrically connected with, the outfan of described wireless communication module 18 with
The input end signal of remote monitoring terminal 19 connects.
Further, described micro servo motor 13 include small direct current motor, change-speed gearing, feedback adjustable potentiometer and
Electronic control panel.
Further, described control system 12 is Arduino Mega controller.
Further, described remote monitoring terminal 19 is computer or panel computer or mobile phone.
Mechanism's master-plan of this 17 Freedom Intelligent Humanoid Robot has 17 degree of freedom, is respectively as follows: 1 freedom of head
Degree, 6 degree of freedom of both hands, 10 degree of freedom of both feet.The front of head and the left and right sides are equipped with infrared sensor 5 to detect barrier
Hindering thing, acoustic sensor 7 is carried to detect sound in the crown.For meeting the complete airborneization requirement of onboard electrical part, utilize machine
It is the most airborne that head part and extremity dispersion space realize distributed electrical module, utilizes robot thorax abdomen carrying power subsystem
With the airborneization installing space of control subsystem, fully meet Mass Distribution balance and stability in the large requirement.
Design and the programming mechanisms driving element has 17 degree of freedom, micro servo motor 13 is internal include one small-sized
D.c. motor, one group of change-speed gearing, a feedback adjustable potentiometer and one piece of electronic control panel, be a kind of orientable unidirectional current
Machine, when receiving a position command, will move to specify position.This micro servo motor 13 has high torque, Gao Xing
, can control the advantages such as simple, assembling is flexible, price is low, the mashed up brightness of this project is contained digital rudder controller and is made with Power HD digital rudder controller
For driving element, 32 road servos control plates of arranging in pairs or groups, it is achieved motion drives.17 steering wheels are controlled by 32 road servos control plates, rudder
Machine panel is by serial communication and master controller communication.
Control system 12 uses Arduino Mega to control, and its core is ATmega2560, have 54 railway digitals input/defeated
Outlet (wherein 16 tunnels can export as PWM), 16 tunnels simulate inputs, 4 tunnel UART interface, 16MHz crystal oscillator, one
USB port, a supply socket, an ICSP header and a SR.Main controller transmits instructions to rudder by serial ports
Machine panel.Servos control plate converts instructions into relevant voltage signal and exports steering wheel, it is achieved motor control.
Robot compound movement design
According to simulation of human body theory, the action of the anthropomorphic robot that research and development highly personalize, it is achieved dancing, wushu, body
The compound actions such as behaviour.Stronger stability in the large, robustness and the height under non-linear environment is embodied in dynamic process
Adaptability.Realizing automatic obstacle avoiding, based on dynamic stability biped is walked, collocation sensor gathers environmental information, real
Existing multi-sensor information fusion robot decision-making altogether, it is achieved robot autonomous walking and avoidance.
Anthropomorphic robot integrates the multi-door science such as machinery, electronics, computer, material, sensor and control technology, generation
A national development in Hi-Tech level by table.Anthropomorphic robot belongs to service robot category, is the robot of profile class people,
In profile and Activity design upper mold apery class, there are hand, foot, head and trunk etc., be one be readily available mankind's good opinion,
Friendliness also can meet a kind of robot of the affective identification.Moving robot compared to other, this utility model has bigger
Adaptability and motility, be more suitable for human lives, work environment in mankind's work compound, or replace human work.It
It is possible not only in having radiation, dust and toxic environment replace mankind's operation, but also multiple field will be widely used in, than
As medical treatment, nursing, home services, entertain, educate, biotechnology, the disaster relief etc..
Last it is noted that the foregoing is only preferred embodiment of the present utility model, it is not limited to this
Utility model, although being described in detail this utility model with reference to previous embodiment, for those skilled in the art
For, the technical scheme described in foregoing embodiments still can be modified by it, or to wherein portion of techniques feature
Carry out equivalent, all within spirit of the present utility model and principle, any modification, equivalent substitution and improvement etc. made, all
Within protection domain of the present utility model should be included in.
Claims (4)
1. 17 Freedom Intelligent Humanoid Robot, including robot head (1), robot arm (2), robot thorax abdomen (3)
With robot thigh (4), it is characterised in that: described robot head (1) is by free movable rotation-shaft (8) and robot thorax abdomen
(3) being rotationally connected, the front of described robot head (1) and both sides are equipped with infrared sensor (5), described robot head
(1) being provided with photographic head (6) at eyes, described robot head (1) top is provided with acoustic sensor (7), described infrared sensing
The outfan of the outfan of device (5), the outfan of photographic head (6) and acoustic sensor (7) and the input of control system (12)
Being electrically connected with, described robot thorax abdomen (3) both sides are rotationally connected with robot arm (2) by connection rotating shaft (9), described machine
Device human arm (2) terminal is provided with robot finger (10), and described control system (12) is arranged on the two of robot thorax abdomen (3)
Side, the dead ahead of described robot thorax abdomen (3) is provided with power-supply system (11), and two outfans of described power-supply system (11) divide
It is not electrically connected with input and the input of micro servo motor (13) of control system (12), described micro servo motor (13)
Being arranged on the lower end of robot thorax abdomen (3), described micro servo motor (13) is by shaft coupling (14) and robot thigh (4)
Being rotationally connected, described robot thigh (4) is rotationally connected with robot shank (15), and described robot shank (15) is by connecting
Flange (16) is connected with robot toe (17), is provided with GPS localization tracker (20) in described micro servo motor (13),
The outfan of described GPS localization tracker (20) is electrically connected with the input of control system (12), described control system (12)
The input of outfan and wireless communication module (18) be electrically connected with, the outfan of described wireless communication module (18) with remotely
The input end signal of monitor terminal (19) connects.
A kind of 17 Freedom Intelligent Humanoid Robots the most according to claim 1, it is characterised in that: described micro servo motor
(13) small direct current motor, change-speed gearing, feedback adjustable potentiometer and electronic control panel are included.
A kind of 17 Freedom Intelligent Humanoid Robots the most according to claim 1, it is characterised in that: described control system (12) is
Arduino Mega controller.
A kind of 17 Freedom Intelligent Humanoid Robots the most according to claim 1, it is characterised in that: described remote monitoring terminal
(19) it is computer or panel computer or mobile phone.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620791192.7U CN205870548U (en) | 2016-07-26 | 2016-07-26 | 17 degree of freedom humanoid robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620791192.7U CN205870548U (en) | 2016-07-26 | 2016-07-26 | 17 degree of freedom humanoid robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN205870548U true CN205870548U (en) | 2017-01-11 |
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ID=57697419
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201620791192.7U Expired - Fee Related CN205870548U (en) | 2016-07-26 | 2016-07-26 | 17 degree of freedom humanoid robot |
Country Status (1)
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| CN (1) | CN205870548U (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108082472A (en) * | 2017-12-16 | 2018-05-29 | 佛山市神风航空科技有限公司 | A kind of highly emulated tool bird |
| CN109176551A (en) * | 2018-09-21 | 2019-01-11 | 上海飞珀机器人科技有限公司 | A kind of multi-joint class people's biped walking intelligent robot |
| CN111152237A (en) * | 2020-01-22 | 2020-05-15 | 深圳国信泰富科技有限公司 | Robot head with laser radars arranged on two sides and environment sampling method thereof |
| CN117944055A (en) * | 2024-03-26 | 2024-04-30 | 中科璀璨机器人(成都)有限公司 | Humanoid robot limb cooperative balance control method and device |
-
2016
- 2016-07-26 CN CN201620791192.7U patent/CN205870548U/en not_active Expired - Fee Related
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108082472A (en) * | 2017-12-16 | 2018-05-29 | 佛山市神风航空科技有限公司 | A kind of highly emulated tool bird |
| CN109176551A (en) * | 2018-09-21 | 2019-01-11 | 上海飞珀机器人科技有限公司 | A kind of multi-joint class people's biped walking intelligent robot |
| CN111152237A (en) * | 2020-01-22 | 2020-05-15 | 深圳国信泰富科技有限公司 | Robot head with laser radars arranged on two sides and environment sampling method thereof |
| CN111152237B (en) * | 2020-01-22 | 2023-12-22 | 深圳国信泰富科技有限公司 | Robot head with laser radars arranged on two sides and environment sampling method thereof |
| CN117944055A (en) * | 2024-03-26 | 2024-04-30 | 中科璀璨机器人(成都)有限公司 | Humanoid robot limb cooperative balance control method and device |
| CN117944055B (en) * | 2024-03-26 | 2024-06-11 | 中科璀璨机器人(成都)有限公司 | Humanoid robot limb cooperative balance control method and device |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20170111 Termination date: 20170726 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |