CN210732471U - Multifunctional humanoid multi-legged robot - Google Patents
Multifunctional humanoid multi-legged robot Download PDFInfo
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- CN210732471U CN210732471U CN201921625748.5U CN201921625748U CN210732471U CN 210732471 U CN210732471 U CN 210732471U CN 201921625748 U CN201921625748 U CN 201921625748U CN 210732471 U CN210732471 U CN 210732471U
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Abstract
A multifunctional humanoid multi-legged robot comprises at least four multi-joint or multi-degree-of-freedom bionic mechanical legs, wherein the at least four bionic mechanical legs are connected with the bottom or the periphery of a trunk of the humanoid robot; or the at least four bionic mechanical legs form a multi-legged robot platform through connecting pieces and then are connected with the trunk of the humanoid robot. The utility model can greatly improve the adaptability of the traditional humanoid robot to complex terrains and the ability of climbing and running; the loading capacity of the robot can be greatly improved, and the problems of complicated structure and large amount of servo adjustment and control required for gravity center change of the humanoid robot can be simply solved; the device can be suitable for multiple fields such as security, defense, service, entertainment, performance, communication and the like, and can meet various requirements of people by one machine.
Description
Technical Field
The utility model relates to a bionic robot technical field, concretely relates to multi-functional imitative sufficient robot of people.
Background
The humanoid robot is a robot which has the appearance of a person, can imitate the physical function, the perception system and the social ability of a part of the human body in an energy efficiency mode, can complete certain specific work as the human, and enables the person to have strong cognition and identity feeling.
In recent years, with the improvement of the technological level, all countries in the world invest great energy in the development of humanoid robots, and the humanoid robots are greatly developed, so that more and more functions can be realized, and the environment adaptation capability is stronger and stronger; however, the humanoid robot as a biped robot has many limited and even difficult functions: firstly, the gravity center position needs to be strictly controlled to realize the static stability of the gravity center, and the dynamic stability and the balance need to be adjusted by the gravity center adjustment of a mechanical structure and a servo control algorithm, so that the structural design and the servo algorithm are very complex, and the adaptability to complex terrains is poor; secondly, the heavy object carrying aspect has great limitation, only is suitable for carrying the light object, and the whole gravity center may be greatly changed and the self stability cannot be maintained when the heavy object is carried; thirdly, the practical expansion space is greatly restricted, and although the functions which can be realized along with the technological progress are more and more, most of the functions mainly comprise services, entertainment, communication and the like, and the functions cannot be greatly expanded to different fields; fourthly, the flexibility is limited greatly, the two feet are provided, the degree of freedom is low, and the flexibility of the humanoid robot is limited; fifthly, the walking, running or climbing of uneven or rugged terrain is difficult, and at present, only few parts realize single or partial functions through attitude algorithm adjustment.
The multi-legged animals in nature, such as horses, cheetah, scorpions, ants, etc., have very little restriction on the terrain, and are superior in speed, load-bearing and stability. The self stability, bearing capacity, functionality and performance of the bionic multi-legged robot have superior conditions which are incomparable with those of a biped robot.
At present, a great number of scientific and technological workers research and produce more achievements in the aspects of humanoid robots and multi-legged robots, but the multifunctional humanoid multi-legged robots which can greatly improve the application range are not found in the aspects of humanoid robots or multi-legged robots.
Disclosure of Invention
The utility model aims to solve the technical problem, overcome prior art's is not enough, provide one kind and possess higher self static state and dynamic stability, can improve heavy burden performance and transport heavy object, the walking of adaptation complicated topography environment that can be better, run and the climbing, have stronger deterrence power at removal or attack form, unanimous have stronger affinity with the real person at the state of standing, can expand application scope by a wide margin, can be applicable to the multi-functional imitative many sufficient robot of security, defence, service, amusement, performance, interchange field better.
The technical scheme that the utility model solves the technical problem adopts is that, a multifunctional humanoid multi-legged robot comprises a humanoid mechanical head neck, a humanoid mechanical arm, a humanoid mechanical trunk and a bionic mechanical leg, wherein the bionic mechanical leg is a multi-joint or multi-degree-of-freedom bionic mechanical leg, the number of the bionic mechanical legs is more than or equal to 4, and the bionic mechanical leg is connected with the bottom or the periphery of the humanoid mechanical trunk; or the bionic mechanical legs form a multi-legged robot platform through connecting pieces and then are connected with the human-simulated mechanical trunk. The multiple bionic mechanical legs of the humanoid multi-legged robot can not only greatly improve the stability of the humanoid multi-legged robot, but also can use the redundant bionic mechanical legs as attacking and defending weapons and/or grabbing and placing actuators.
Further, the bionic mechanical leg is a foot type mechanical leg with three to six joints or degrees of freedom; the bionic mechanical leg comprises an elastic shock absorption part and/or an elastic foot and/or a shock absorption foot and/or a claw hooking foot.
Furthermore, the bionic mechanical leg is provided with a control mechanism with autonomous power and a power supply mechanism.
Furthermore, the bionic mechanical leg part or the bionic mechanical leg part is or is completely provided with a flexible mechanical leg or a flexible mechanical arm which is pneumatic or hydraulic.
Further, the multi-legged robot platform or the bionic mechanical leg is fixed on the waist or the hip of the bionic mechanical trunk.
Furthermore, the humanoid mechanical trunk is composed of an upright post, a framework and artificial silica gel skin positioned on the surface of the framework, or a humanoid trunk containing multi-joint multi-freedom-degree elastic and/or flexible waist and hips is adopted; the humanoid mechanical arm adopts a humanoid mechanical arm with four to seven degrees of freedom and a humanoid mechanical arm with multiple degrees of freedom or a dexterous hand.
Furthermore, the human-simulated mechanical trunk is also provided with a control device, a driving device and a power supply device, wherein the control device, the driving device and the power supply device are arranged in the human-simulated mechanical trunk.
Further, the human-simulated mechanical head and neck is also provided with a laser device and/or emotional colored lamps, the laser device is positioned in the human-simulated mechanical head and neck, the controlled emitted laser beam is positioned in the center of the human-simulated mechanical head, neck and eyes, and the emotional colored lamps are positioned on the face and around the human-simulated mechanical head and neck and are controlled and driven by the control device and the driving device.
Furthermore, a voice interaction device and/or an ultrasonic device are/is arranged at the mouth of the human-simulated mechanical head and neck; a pickup system is arranged at the ear of the human-simulated mechanical head and neck, and the direction and the size of a sound source are distinguished.
Furthermore, the robot is also provided with an identification device and/or a navigation obstacle avoidance device, wherein the identification device and the navigation obstacle avoidance device are arranged in the humanoid mechanical head-neck or the humanoid mechanical trunk.
The working process is as follows:
the multifunctional humanoid multi-legged robot controls the head, the neck, the arms and the trunk of the humanoid robot by a control and driving device arranged in the trunk of the bionic machine, realizes the mechanical action functions of blinking, mouth occlusion, turning, nodding, facial expression, arm and mechanical hand action, bending, waist or hip rotation, leg folding, erecting, stretching, walking, running, dancing, climbing and the like, can also communicate with people through a voice interaction device, expresses emotion to people through emotional colored lamps, mechanical action and the like, and enhances the entertainment and performance interestingness; collecting environmental information and personnel information through an identification device, and serving specific personnel or performing security, defense and other work for a specific area; the navigation obstacle avoidance device acquires current environment information data in real time, and the control device plans a route and adjusts the driving device in real time to complete autonomous movement and obstacle avoidance functions; by utilizing the multi-foot static and dynamic stability and the load-carrying performance of the climbing robot, the climbing robot can be suitable for the complicated rugged terrains and can simply realize the crossing and climbing of the ground with different gradients. Under the moving or attacking state, the multi-functional humanoid multi-foot robot has the advantages that the human face is multi-foot, so that the robot can provide strong deterrence force for people, and meanwhile, the multi-foot robot can be used as a weapon, so that the robot is more suitable for security and defense tasks; when the robot is in a standing posture, the bionic mechanical legs are folded and the clothes are worn, so that the bionic robot has no difference with a real person, a human simulation effect is formed, the affinity is high, and the robot is easy to approach and accept by people.
The utility model discloses following positive effect has:
(1) the self stability is high, the static and dynamic stability of the robot is greatly improved by utilizing a plurality of mechanical legs, and the adaptability and the climbing and running capacity of the traditional humanoid robot to complex terrains can be greatly improved;
(2) the loading capacity of the robot can be greatly improved, and the problems that the design of the humanoid robot is complex and the change of the gravity center needs a large amount of servo adjustment control can be simply solved.
(3) The movement and attack forms of the anti-theft door have stronger deterrent force and better meet the requirements of security and defense; the flexibility of the toy is greatly enhanced due to the multiple functions of the toy, and the toy has better ornamental value in the aspects of entertainment, performance and the like; the standing state of the robot can form the effect of a simulated person and realize voice interaction, and can better serve and communicate with people, so that the robot has great affinity.
(4) The humanoid multi-legged robot can greatly expand the function and the application of the humanoid robot, can be suitable for more fields such as security, defense, service, entertainment, performance, communication and the like, can meet various requirements of people by one machine, and has considerable development prospect and benefit.
Drawings
Fig. 1 is a schematic view of the overall structure of embodiment 1 of the present invention;
fig. 2 is a schematic overall side view structure of embodiment 1 of the present invention;
FIG. 3 is a schematic diagram of the overall internal structure of embodiment 1 of the present invention;
fig. 4 is a top view of the bionic robot platform of embodiment 1 of the present invention in a standing state;
fig. 5 is a schematic view of the overall structure of embodiment 2 of the present invention;
fig. 6 is a schematic view of the overall structure of embodiment 3 of the present invention;
fig. 7 is a schematic view of the connection between the bionic mechanical leg and the waist according to embodiment 3 of the present invention.
In the figure, 1-human-simulated mechanical head and neck, 101-laser device, 102-emotional colored lamp, 103-voice interaction device, 104-sound pickup system, 2-human-simulated mechanical arm, 201-human-simulated mechanical arm, 202-dexterous hand, 3-human-simulated mechanical trunk, 301-upright post, 302-framework, 303-artificial silica gel skin, 4-bionic mechanical leg, 401-elastic damping part, 402-elastic foot, 403-claw foot, 404-control mechanism, 405 power supply mechanism, 5-multi-foot robot platform, 601-control device, 602-drive device, 603-power supply device, 7-recognition device and 8-navigation obstacle avoidance device.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and examples.
Example 1
Referring to fig. 1 to 4, the robot comprises a human-simulated mechanical head and neck 1, a human-simulated mechanical arm 2, a human-simulated mechanical trunk 3 and a human-simulated mechanical leg 4, wherein the human-simulated mechanical leg 4 is a five-degree-of-freedom bionic mechanical leg 4, the number of the bionic mechanical legs 4 is eight, and the bionic mechanical leg 4 is connected with the human-simulated mechanical trunk 3 after forming a multi-legged robot platform 5 through a connecting piece.
The bionic mechanical leg 4 is a foot type mechanical leg with five joints; the bionic mechanical leg 4 comprises an elastic shock absorption part 401, an elastic foot 402 and a claw-hooking foot 403.
The multi-legged robot platform 5 is fixed on the hip of the humanoid robot trunk 3.
The human-simulated mechanical body 3 is composed of a vertical column 301, a framework 302 and an artificial silica gel skin 303 positioned on the surface of the framework 302, and the human-simulated mechanical arm 2 adopts a four-degree-of-freedom human-simulated mechanical arm 201 and a nine-degree-of-freedom dexterous hand 202.
The human-simulated mechanical trunk 3 is further provided with a control device 601, a driving device 602 and a power supply device 603, wherein the control device 601, the driving device 602 and the power supply device 603 are arranged in the human-simulated mechanical trunk 3.
The human-simulated mechanical head and neck 1 is further provided with a laser device 101 and emotional colored lamps 102, the laser device 101 is located in the human-simulated mechanical head and neck 1, the controlled emitted laser beams are located in the center of the eyes of the human-simulated mechanical head and neck 1, the emotional colored lamps 102 are located on the face and the periphery of the human-simulated mechanical head and neck 1 and are controlled and driven by a control device 601 and a driving device 602.
A voice interaction device 103 is also arranged at the mouth of the humanoid mechanical head and neck 1; the ear of the humanoid mechanical head and neck 1 is provided with a pickup system 104 for distinguishing the direction and the size of the sound source.
The robot is further provided with an identification device 7 and a navigation obstacle avoidance device 8, wherein the identification device 7 and the navigation obstacle avoidance device 8 are arranged in the humanoid mechanical head and neck 1.
Example 2
Referring to fig. 5, the main difference between this embodiment and embodiment 1 is that this embodiment employs four five-degree-of-freedom bionic mechanical legs 4, and the bionic mechanical legs 4 are connected to the bottom of the trunk 3 of the humanoid robot to form a humanoid quadruped robot; the bionic mechanical leg 4 is provided with a control mechanism 404 with autonomous power and a power supply mechanism 405, and the control mechanism 404 is controlled by a control device 601; in the embodiment, a multi-legged robot platform is not arranged, and the bionic mechanical leg 4 is directly connected with the bionic mechanical trunk 3; in this embodiment, the humanoid robot trunk 3 adopts a flexible humanoid mechanical trunk with a flexible waist, and can realize the bowing or bending of the human body.
Example 3
Referring to fig. 6 and 7, the main difference between this embodiment and embodiment 1 is that the present embodiment employs six five-degree-of-freedom bionic mechanical legs 4, the bionic mechanical legs 4 are connected to the waist periphery of the human-simulated mechanical trunk 3, and the present embodiment is directly connected to the waist of the human-simulated mechanical trunk 3 by the bionic mechanical legs 4 without a multi-legged robot platform to form the human-simulated multi-legged robot.
Example 4
The main difference between the present embodiment and embodiment 1 is that the bionic mechanical leg 4 of the present embodiment adopts a flexible mechanical leg driven by liquid, and the bionic mechanical leg 4 of the present embodiment is directly connected with the waist of the human-simulated mechanical trunk 3 without a multi-legged robot platform.
Various modifications and variations of the embodiments of the present invention may be made by those skilled in the art, and they are still within the scope of the present invention, provided they are within the scope of the claims and their equivalents.
What is not described in detail in the specification is prior art that is well known to those skilled in the art.
Claims (10)
1. The multifunctional humanoid multi-legged robot comprises a humanoid mechanical head and neck, humanoid mechanical arms, a humanoid mechanical trunk and bionic mechanical legs, wherein the bionic mechanical legs are multi-joint or multi-degree-of-freedom bionic mechanical legs, and the multifunctional humanoid multi-legged robot is characterized in that the number of the bionic mechanical legs is more than or equal to 4, and the bionic mechanical legs are connected with the bottom or the periphery of the humanoid mechanical trunk; or the bionic mechanical legs form a multi-legged robot platform through connecting pieces and then are connected with the human-simulated mechanical trunk.
2. The multifunctional humanoid multi-legged robot of claim 1, characterized in that: the bionic mechanical leg is a foot type mechanical leg with three to six joints or degrees of freedom; the bionic mechanical leg comprises an elastic shock absorption part and/or an elastic foot and/or a shock absorption foot and/or a claw hooking foot.
3. The multifunctional humanoid multi-legged robot of claim 1, wherein the bionic mechanical leg is provided with a control mechanism with autonomous power and a power supply mechanism.
4. The multifunctional humanoid multi-legged robot of claim 1, characterized in that: the bionic mechanical leg part or the bionic mechanical leg part is or is completely provided with a pneumatic or hydraulic flexible mechanical leg or a flexible mechanical arm.
5. The multifunctional humanoid polypod robot of one of claims 1-4, characterized in that: the multi-legged robot platform or the bionic mechanical leg is fixed on the waist or the hip of the bionic mechanical trunk.
6. The multifunctional humanoid polypod robot of one of claims 1-4, characterized in that: the humanoid mechanical trunk is composed of a stand column, a skeleton and artificial silica gel skin positioned on the surface of the skeleton, or a humanoid trunk which comprises an elastic and/or flexible waist and hips with multiple joints and multiple degrees of freedom is adopted; the humanoid mechanical arm adopts a humanoid mechanical arm with four to seven degrees of freedom and a humanoid mechanical arm with multiple degrees of freedom or a dexterous hand.
7. The multifunctional humanoid polypod robot of one of claims 1-4, characterized in that: the human-simulated mechanical trunk is characterized by further comprising a control device, a driving device and a power supply device, wherein the control device, the driving device and the power supply device are arranged in the human-simulated mechanical trunk.
8. The multifunctional humanoid polypod robot of one of claims 1-4, characterized in that: the human-simulated mechanical head and neck is further provided with a laser device and/or emotional colored lamps, the laser device is located in the human-simulated mechanical head and neck, the controlled emitted laser beams are located in the center of the human-simulated mechanical head, neck and eyes, and the emotional colored lamps are located on the face and the periphery of the human-simulated mechanical head and neck.
9. The multifunctional humanoid polypod robot of one of claims 1-4, characterized in that: a voice interaction device and/or an ultrasonic device are/is further arranged at the mouth of the human-simulated mechanical head and neck; a pickup system is arranged at the ear of the human-simulated mechanical head and neck, and the direction and the size of a sound source are distinguished.
10. The multifunctional humanoid polypod robot of one of claims 1-4, characterized in that: the human-simulated mechanical head and neck or human-simulated mechanical trunk is further provided with an identification device and/or a navigation obstacle avoidance device, wherein the identification device and the navigation obstacle avoidance device are arranged in the human-simulated mechanical head and neck or the human-simulated mechanical trunk.
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| CN201921625748.5U CN210732471U (en) | 2019-09-27 | 2019-09-27 | Multifunctional humanoid multi-legged robot |
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| CN201921625748.5U CN210732471U (en) | 2019-09-27 | 2019-09-27 | Multifunctional humanoid multi-legged robot |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110524561A (en) * | 2019-09-27 | 2019-12-03 | 长沙紫宸科技开发有限公司 | A kind of Multifunctional apery multi-foot robot |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110524561A (en) * | 2019-09-27 | 2019-12-03 | 长沙紫宸科技开发有限公司 | A kind of Multifunctional apery multi-foot robot |
| CN110524561B (en) * | 2019-09-27 | 2024-03-26 | 长沙紫宸科技开发有限公司 | Multifunctional humanoid multi-foot robot |
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