CN205889195U - Intelligent robot - Google Patents

Abstract

The utility model discloses an intelligent robot, its main control section receive to move and order, and according to the action command generation control signal send to action driving part, the action driving part be connected with main control section, receives control signal to realize corresponding action according to control signal drive action executing part, the action executing part is including the freely movable joint of intelligent robot's head, forelimb, waist, shank and ankle, action driving part includes a plurality of steering wheels, is located the joint department of intelligent robot's head, forelimb, waist, shank and ankle respectively for it realizes corresponding action to drive corresponding joint. The utility model discloses two sufficient walkings can be leaned on like the true mankind, lifelike bionical effect is reached, it is loved by all, be fit for the long -term company humanoid robot that the various age people of conduct used, especially regard as autism patient and phrenoblabia person's healing robot, also can become the lifelong companion in the life.

Description

Intelligent robot

Technical field

The utility model is related to Robotics and in particular to a kind of intelligent robot.

Background technology

Existing pet robot major part belongs to toys, is almost all children and manufactures and designs, and mostly belongs to different The fraction crowd of age level or different sexes, wherein most pet robot action is simple, structure is single, function is few, Substantially there is no the robot that adult and the elderly require, the intelligent pet robot of rarer nurse type and company type.

The walking manner of most of intelligent pet robot broadly falls into wheeled, wheeled robot efficiency high, but does not have The bionical apperance of animal itself.Existing penguin robot does not enable the scheme of two foot walkings, in Chinese patent Cn201310005339.1 provides a kind of remote-controlled action toy penguin, and its walking manner is half body one power motor on the lower, warp Bottom wheel is driven to roll walking after gear shift, rolling walking movement control is simple, but difficult to reach penguin machine true to nature The bionical effect of people.

Utility model content

In view of this, the utility model provides a kind of intelligent robot with bionical effect true to nature.

For reaching this purpose, the utility model employs the following technical solutions:

According to one side of the present utility model, provide a kind of intelligent robot, comprising: main control section, action drives portion Point and action executing part, main control section receive action command, and according to described action command generate control signal send to Described action drives part；Described action drives part is connected with described main control section, receives described control signal, and according to Described control signal drive actions executable portion realizes corresponding action；

Wherein, described action executing part includes the work of head, forelimb, waist, leg and the ankle of intelligent robot Movable joint；

Described action drives part includes multiple steering wheels, be located at respectively the head of intelligent robot, forelimb, waist, leg, And the joint of ankle, for driving corresponding turning joint to realize corresponding action.

Preferably, the head of described intelligent robot is connected by the first turning joint with trunk, and described first activity is closed Equipped with the first steering wheel and the second steering wheel at section, described first turning joint has 2 freedoms of motion.

Preferably, the head execution pitching motion of described first servo driving intelligent robot, described second servo driving The head execution head shaking movement of intelligent robot.

Preferably, the left fore of described intelligent robot is connected by the second turning joint with shoulder, described second activity Joint is equipped at least with a steering wheel；The right fore of described intelligent robot is connected by the 3rd turning joint with shoulder, described Equipped at least with a steering wheel at 3rd turning joint.

Preferably, equipped with the 3rd steering wheel and the 4th steering wheel, described 3rd servo driving intelligence at described second turning joint The left fore execution flapping motion action of robot, the left fore execution of described 4th servo driving intelligent robot rocks back and forth Action.

Preferably, equipped with the 5th steering wheel and the 6th steering wheel at described 3rd turning joint, described 5th servo driving intelligence The right fore execution flapping motion action of robot, the right fore execution of described 6th servo driving intelligent robot rocks back and forth Action.

Preferably, the left leg of described intelligent robot is connected by the 4th turning joint with trunk, and described 4th activity is closed Equipped at least with a steering wheel at section；The right leg of described intelligent robot is connected by the 5th turning joint with trunk, and the described 5th Equipped at least with a steering wheel at turning joint.

Preferably, equipped with the 7th steering wheel and the 8th steering wheel at described 4th turning joint, described 7th servo driving intelligence The left leg execution spinning movement of robot, the left leg of described 8th servo driving intelligent robot executes the action that rocks back and forth.

Preferably, equipped with the 9th steering wheel and the tenth steering wheel at described 5th turning joint, described 9th servo driving intelligence The right leg execution spinning movement of robot, the right leg of described tenth servo driving intelligent robot executes the action that rocks back and forth.

Preferably, the waist of described intelligent robot equipped with balance weight and drive described balance weight the 11st steering wheel, Described balance weight is used for controlling center of gravity during intelligent robot walking, has 1 freedom of motion.

Preferably, equipped with the 12nd steering wheel, the right ankle of described intelligent robot at the left ankle of described intelligent robot Place, equipped with the 13rd steering wheel, is respectively provided with 1 freedom of motion at described left ankle and right ankle.

Preferably, described 12nd steering wheel and the 13rd steering wheel drive the left ankle of intelligent robot and right ankle to hold respectively Row spinning movement.

Preferably, described intelligence machine artificially intelligent penguin robot, described forelimb is wing.

The utility model passes through setting at the head of robot, the turning joint of forelimb, leg and ankle and realizes not With multiple steering wheels of the free degree, two foots can be leaned on as real human to walk, reach bionical effect true to nature, loved by all. This intelligent robot is suitable as the long-term company humanoid robot that various ages people use, especially as autistic patients With mentally disturbed cure robot it is also possible to become the lifelong companion in life.

Brief description

By the description to the utility model embodiment referring to the drawings, of the present utility model above-mentioned and other mesh , feature and advantage will be apparent from.

Fig. 1 is the connection block diagram of control system in intelligent robot according to embodiment of the present utility model.

Fig. 2 is the structural representation of the intelligent robot according to embodiment of the present utility model.

Fig. 3 realizes the structural representation of nodding action for intelligent robot.

Fig. 4 a- Fig. 4 b is respectively intelligent robot and realizes the structural representation to right and left head shaking movement.

Fig. 5 a- Fig. 5 e is respectively intelligent robot and realizes that dipteron is agitated up and down, dipteron rocks back and forth and dipteron opens and gathers around Embrace the structural representation of action.

Fig. 6 a- Fig. 6 d is the process schematic of intelligent robot walking motion.

Specific embodiment

Below based on embodiment, the utility model is described, but the utility model is not restricted to these enforcements Example.Below in detailed description of the present utility model, detailed describe some specific detail sections.To people in the art For member, the description of part can also understand the utility model completely without these details.Of the present utility model in order to avoid obscuring Essence, known method, process, flow process, element do not describe in detail.Fig. 1 is the intelligence according to embodiment of the present utility model The connection block diagram of control system in energy robot.As shown in figure 1, this intelligent robot 100 includes main control section 101, action Drive part 102, action executing part 103, main control section 101 is used for receiving the action command of outside input, such as by machine Order entr screen input order on the device person, and control signal is generated according to described action command and sends to described action Drive part 102；Described action drives part 102 is used for receiving described control signal, and is driven dynamic according to described control signal Make executable portion 103 execution action.

The utility model body construction is as shown in Fig. 2 mainly include 20, two forelimb 21-22 of head, 23, two, waist The part-structure such as leg 24-25, Liang Zhi foot 26-27 and ankle (not shown).

Action executing part 103 includes 8 movable joints, be located at respectively the head of intelligent robot 100, forelimb, waist, At leg and ankle.Action drives part 102 includes 13 steering wheels, drives associated joint respectively.Main control section 101 drives Positioned at the head of intelligent robot 100, forelimb, waist, leg, ankle steering wheel, and then realize head, forelimb, waist, leg Portion, the motion of foot.One steering wheel is at least installed at each turning joint at forelimb and leg, preferably two.Master control Part 101 processed, by driving associated joint respectively to the control of motor, can carry out single movement and complex combination action.Foot's row The center of gravity walked leans on the adjustment (not shown) of the balance weight of waist, and described balance weight is by a Motor drive.Robot enables each portion Position single movement and combinative movement (the general speed of service of motor is 0.2sec/60 °).

The utility model body has 13 freedoms of motion, it is possible to achieve head, forelimb, waist, leg, the fortune of foot Dynamic；It is described in detail below, Fig. 3 realizes the schematic diagram of nodding action, Fig. 4 a- for penguin robot taking penguin robot as a example Fig. 4 b respectively penguin robot realizes the schematic diagram to right and left head shaking movement, and nodding action execution action a can achieve, Head shaking movement execution action b can achieve.

1st, the basic free degree:

In terms of motor-shaft extending end, motor rotates clockwise as positive-angle regulation, rotates counterclockwise as negative angle；Penguin vertical During positive stance, the position of motor shaft is the initial position (i.e. zero degree position) of motor.

2nd, head freedom: the connecting portion of head and body has 2 freedoms of motion, it is possible to achieve nods and shakes the head Action.

2.1 nod-a: head erect, and eyes are set to head initial position when looking squarely front and motor rotates 0 degree of position, motor 1 movement range scope is -60 °～30 °, and motor rotation speed is adjustable, you can realize head pitching motion；(action model when nodding Enclose for: -30 °～10 °, motor rotation speed be 0.2sec/60 °).

2.2 shake the head-b: head erect, and eyes are set to head initial position when looking squarely front be that motor rotates 0 degree of position, motor 2 actuating ranges are -90 °～90 °, and motor rotation speed is adjustable, you can realize the rocking action in head level direction；(when shaking the head Movement range is -60 °～60 °, and motor rotation speed is 0.2sec/60 °).

Fig. 5 a- Fig. 5 e is respectively penguin robot and realizes that dipteron is agitated up and down, dipteron rocks back and forth and dipteron opens and gathers around Embrace the schematic diagram of action.

3rd, the forelimb free degree: each forelimb is respectively provided with 2 freedoms of motion, it is possible to achieve the flapping motion of forelimb and front The action waved afterwards.

3.1 left side forelimb flapping motion-c: forelimb rounding states be original state, motor 3 action, actuating range be 0 °～ 135 °, motor speed is adjustable, you can realize agitating of forelimb vertical direction on the left of penguin.

3.2 right side forelimb flapping motion-d: forelimb rounding states be original state, motor 5 action, actuating range be- 135 °～0 °, motor speed is adjustable, you can realize agitating of forelimb vertical direction on the right side of penguin.

3.3 left side forelimbs rock back and forth-e: forelimb rounding state for original state, motor 4 action, motor action amplitude For -60 °～120 °, motor speed is adjustable, you can realize waving of forelimb fore-and-aft direction on the left of penguin.

3.4 right side forelimbs rock back and forth-f: forelimb rounding state for original state, motor 6 action, motor action amplitude For -120 °～60 °, motor speed is adjustable, you can realize waving of forelimb fore-and-aft direction on the right side of penguin.

As shown in Fig. 5 a- Fig. 5 b, execution action c and action d realizes dipteron and agitates up and down, and action c and action d is simultaneously same Speed operates.Using the motor shaft position of motor 3 as initial position, motor 3 and motor 5 drive forelimb first to move to top simultaneously 30 degree, then positive and negative rotation back and forth between 30 °～60 °, rotating speed can be adjusted as needed, can slowly agitate, also can be quick Flap.

As shown in Fig. 5 c- Fig. 5 d, execution action e, f realize dipteron and rock back and forth, and action e and action f same speed simultaneously Run.Using the motor shaft position of motor 4 as initial position, motor 4 and 6 drives forelimb first to move to the 30 degree of positions in front simultaneously Put, then 30 degree of rearward movement, move back and forth between -30 °～30 °, speed speed can be by adjusting motor rotation speed Spend and to realize.

As depicted in fig. 5e, action c, d, e, f interoperation can be realized dipteron and opens (embracing action), with the electricity of motor 3 Crankshaft position rotates to 90 degree of position as initial position, motor 3,5 actions from initial position；Motor axle position with motor 4 Put as initial position, motor 4,6 also rotates to 90 degree of positions from 0 degree of position simultaneously, now penguin dipteron open up into completely with Take on concordant position.

Fig. 6 a- Fig. 6 d is the process schematic of penguin robot ambulation action.

4th, the leg free degree: each leg is respectively provided with 2 freedoms of motion, realizes leg rotation and rocks back and forth Action.

4.1 left leg spinning movement-g: penguins motor of attentioning when standing is original state, and motor 7 rotates, and rotating range is 0 ° ～360 °, motor speed is adjustable.

4.2 right leg spinning movement-h: penguins motor of attentioning when standing is original state, and motor 9 rotates, and rotating range is 0 ° ～360 °, motor speed is adjustable.

4.3 left legs action-i: the penguin motor of attentioning when standing that rocks back and forth is original state, and motor 8 rotates, rotating range For 0 °～30 °.

4.4 right legs action-j: the penguin motor of attentioning when standing that rocks back and forth is original state, and motor 10 rotates, and rotates model Enclose for -30 °～0 °.

5th, the waist free degree: the center of gravity of foot's walking leans on the balance weight adjustment of waist, described balance weight is driven by a motor Dynamic.

It is original state that balance weight deflection-k: balance weight center of gravity is in during minimum point, and motor 11 rotates, rotating speed with 0.1sec/60 ° of rotation, slewing area (slewing area is determined according to balance) undetermined.

6th, foot's free degree: each foot is respectively provided with 1 freedom of motion, realizes the spinning movement of ankle.

6.1 left ankle action-l: penguins motor of attentioning when standing is original state, and motor 12 rotates, and rotating speed presses 0.1sec/ 60 °, slewing area is -30 °～0 °.

6.2 right ankle action-m: penguins motor of attentioning when standing is original state, and motor 13 rotates, and rotating speed presses 0.1sec/ 60 °, slewing area is 0 °～30 °.

As shown in Fig. 6 a-6b, robot body is kept right, and (balance weight beat to the right, left foot lifts, and body with right crus of diaphragm is for rotation Axle rotates).Penguin is uprightly stood, and it is original state that balance weight center of gravity is in during minimum point；Action herein, motor 8, motor 9, electricity Machine 11 and motor 13 need action simultaneously, motor 11,13 action first, and motor 11 clockwise direction is with 0.1sec/60 ° of rotation 45 Degree, simultaneously motor 13 rotate 15 degree with 0.1sec/60 ° of clockwise direction (now penguin center of gravity fully fall on right leg, and left leg is not Stress), then motor 8 rotates clockwise 30 with 30 degree rotationally clockwise of 0.2sec/60 ° of rotating speed, meanwhile motor 9 Degree, rotating speed is 0.1sec/60 °, and the left foot now realized in walking motion steps forth.

As shown in Fig. 6 c-6d, robot body keeps left, and (balance weight beat to the left, right crus of diaphragm lifts, and body with left foot is for rotation Axle rotates).Penguin is uprightly stood, and it is original state that balance weight center of gravity is in during minimum point；Action herein, motor 7, motor 10, Motor 11 and motor 12 need action simultaneously, motor 11,12 action first, and motor 11 counter clockwise direction is rotated with 0.1sec/60 ° 45 degree, with 15 degree of 0.1sec/60 ° of speed rotate counterclockwise, (now penguin center of gravity fully falls on left leg motor 12, right leg simultaneously Do not stress), then motor 10 is turned counterclockwise with 0.2sec/60 ° of 30 degree of rotating speed rotate in an anti-clockwise direction, meanwhile motor 7 Dynamic 30 degree, rotating speed is 0.1sec/60 °, and the right crus of diaphragm now realized in walking motion steps forth.

Additionally, it should be understood by one skilled in the art that provided herein accompanying drawing be provided to descriptive purpose, and Accompanying drawing is not necessarily drawn to scale.

It will also be appreciated that example embodiment is provided, so that the disclosure is comprehensive, and its scope is fully passed on To those skilled in the art.A lot of specific detail (example of such as particular elements, equipment and method) are presented to provide to this Disclosed comprehensive understanding.It will be apparent to one skilled in the art that not needing to adopt specific detail, example embodiment can be with much not Same form is carried out, and example embodiment is understood not to limit the scope of the present disclosure.In some example embodiments, Well-known device structure and widely-known technique are not described in.

When an element or layer be mentioned as another element or layer " on ", " being engaged to ", " being connected to " or " coupled Arrive " another element or during layer, its can directly on another element or layer, directly engaged, be connected or coupled to another element or Layer, or there may be intermediary element or layer.By contrast, when an element be mentioned as " direct " another element or layer " on ", When " being bonded directly to ", " being directly coupled to " or " being directly coupled to " another element or layer, can not there is intermediary element Or layer.Other words for describing relation between element should be explained in a similar manner (for example, " and between " with " directly exist Between ", " neighbouring " and " being directly adjacent to " etc.).As used herein, term "and/or" includes the listed of one or more associations Arbitrary or whole combination in project.

Although term first, second, third, etc. here can be used for describing each element, part, region, floor and/or area Section, but these elements, part, region, layer and/or section should not be limited by these terms.These terms can be only used for by One element, part, region, layer or section are distinguished with another element, region, layer or section.Such as " first ", " second " Term and other numerical value term do not mean that order or order, unless clearly indicated by the context when used herein.Thus, below The first element, part, region, layer or the section that discuss are referred to alternatively as the second element, part, region, layer or section, without departing from The teaching of example embodiment.Additionally, of the present utility model description in, unless otherwise stated, " multiple " be meant that two or Two or more.Be outward ease of explanation, such as " interior ", " outward ", " under ", " lower section ", " bottom ", " top ", " top " etc. Space correlation term here is used for describing the relation of an element of in figure illustration or feature and another element or feature.To manage Solution, space correlation term may be intended to comprise equipment in use or operation different in addition to the orientation that in figure is described Orientation.For example, if the equipment of in figure is reversed, be described as be in other elements or feature " lower section " or " under " element Then this other element or feature " top " will be positioned in.Thus, above and below exemplary term " lower section " can comprise Both orientation.Equipment can otherwise be directed (ratate 90 degrees or at other orientations), and space as used herein Associated description word should be interpreted accordingly.

The foregoing is only preferred embodiment of the present utility model, be not limited to the utility model, for this area For technical staff, the utility model can have various change and change.All institutes within spirit of the present utility model and principle Any modification, equivalent substitution and improvement made etc., should be included within protection domain of the present utility model.

Claims (13)

1. a kind of intelligent robot is it is characterised in that include: main control section, action drives part and action executing part；Institute State the action command outside the reception of main control section, and control signal is generated according to described action command and send to described action drive Dynamic part；Described action drives part receives described control signal, and real according to described control signal drive actions executable portion Now corresponding action；

Wherein, described action executing part includes the activity pass of head, forelimb, waist, leg and the ankle of intelligent robot Section；

Described action drives part includes multiple steering wheels, be located at respectively the head of intelligent robot, forelimb, waist, leg and At the turning joint of ankle, for driving corresponding turning joint to realize corresponding action.

2. intelligent robot according to claim 1 is it is characterised in that the head of described intelligent robot and trunk pass through First turning joint is connected, equipped with the first steering wheel and the second steering wheel at described first turning joint, described first turning joint tool There are 2 freedoms of motion.

3. intelligent robot according to claim 2 is it is characterised in that the head of described first servo driving intelligent robot Portion executes pitching motion, the head execution head shaking movement of described second servo driving intelligent robot.

4. intelligent robot according to claim 1 is it is characterised in that the left fore of described intelligent robot is led to shoulder Cross the second turning joint to be connected, equipped at least with a steering wheel at described second turning joint；The right fore of described intelligent robot It is connected by the 3rd turning joint with shoulder, equipped at least with a steering wheel at described 3rd turning joint.

5. intelligent robot according to claim 4 is it is characterised in that equipped with the 3rd steering wheel at described second turning joint With the 4th steering wheel, the left fore execution flapping motion action of described 3rd servo driving intelligent robot, described 4th steering wheel drives The left fore of dynamic intelligent robot executes the action that rocks back and forth.

6. the intelligent robot according to claim 4 or 5 is it is characterised in that equipped with the 5th at described 3rd turning joint Steering wheel and the 6th steering wheel, the right fore execution flapping motion action of described 5th servo driving intelligent robot, described 6th rudder Machine drives the right fore of intelligent robot to execute the action that rocks back and forth.

7. intelligent robot according to claim 1 is it is characterised in that the left leg of described intelligent robot is passed through with trunk 4th turning joint is connected, equipped at least with a steering wheel at described 4th turning joint；The right leg of described intelligent robot and body Dry connected by the 5th turning joint, equipped at least with a steering wheel at described 5th turning joint.

8. intelligent robot according to claim 7 is it is characterised in that equipped with the 7th steering wheel at described 4th turning joint With the 8th steering wheel, the left leg execution spinning movement of described 7th servo driving intelligent robot, described 8th servo driving intelligence The left leg of robot executes the action that rocks back and forth.

9. the intelligent robot according to claim 7 or 8 is it is characterised in that equipped with the 9th at described 5th turning joint Steering wheel and the tenth steering wheel, the right leg execution spinning movement of described 9th servo driving intelligent robot, described tenth servo driving The right leg of intelligent robot executes the action that rocks back and forth.

10. intelligent robot according to claim 1 is it is characterised in that the waist of described intelligent robot is equipped with balance Block and the 11st steering wheel driving described balance weight, described balance weight is used for controlling center of gravity during intelligent robot walking, tool There is 1 freedom of motion.

11. intelligent robots according to claim 1 it is characterised in that at the left ankle of described intelligent robot equipped with 12nd steering wheel, equipped with the 13rd steering wheel at the right ankle of described intelligent robot, is respectively provided with 1 at described left ankle and right ankle Individual freedom of motion.

12. intelligent robots according to claim 11 are it is characterised in that described 12nd steering wheel and the 13rd steering wheel divide Qu Dong not the left ankle of intelligent robot and right ankle execution spinning movement.

13. intelligent robots according to claim 1 are it is characterised in that described intelligence machine artificially intelligent penguin machine People, described forelimb is wing.