CN211104002U - Waist control system of bionic robot - Google Patents
Waist control system of bionic robot Download PDFInfo
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- CN211104002U CN211104002U CN201921948324.2U CN201921948324U CN211104002U CN 211104002 U CN211104002 U CN 211104002U CN 201921948324 U CN201921948324 U CN 201921948324U CN 211104002 U CN211104002 U CN 211104002U
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Abstract
The utility model relates to a bionic robot waist control system, its characterized in that: comprises a hand control device and a bionic robot; the bionic robot comprises a trunk assembly, a lower limb moving assembly, a mechanical arm assembly and a control component; a waist rotating component is arranged between the trunk assembly and the lower limb moving assembly, and the trunk assembly is rotationally connected with the lower limb moving assembly through the waist rotating component; a shoulder rotating component is arranged between the trunk assembly and the mechanical arm assembly, and the trunk assembly is rotationally connected with the mechanical arm assembly through the shoulder rotating component; the control component comprises a signal receiver, an arm control chip and a waist control chip; the arm control chip is connected with the shoulder rotating assembly in a control mode; the waist control chip is connected with the waist rotating component in a control way. The waist control system of the bionic robot has the characteristics of convenience in operation, accurate angle, strong synchronism, reduction of the load of an operator, reduction of errors and the like.
Description
Technical Field
The utility model relates to a robot controller specifically is a bionic robot waist control system.
Background
The controller for controlling the bionic robot in the prior art in the market is generally provided with a plurality of keys, more than ten keys are arranged, each key corresponds to one action, the more actions required are, the more keys corresponding to the actions are increased, and the controller is inconvenient to operate; in addition, there is also a controller worn on the body of the operator, and each action is controlled by a specific controller, that is, the operator needs to wear a plurality of controllers, when the robot is required to complete different actions or a certain part of the body needs to rotate, the operator needs to wear a corresponding controller on a certain part of the body, thereby increasing the number of controllers worn by the operator, the more the number is, the more the operation is inconvenient, the operation difficulty is increased, the accuracy of the operator operating the robot is also affected, the signal receiving is affected, the phenomenon of slow action is easy to occur, and the operation is more complicated and inconvenient.
Therefore, further improvements are needed.
SUMMERY OF THE UTILITY MODEL
An object of the utility model is to overcome the not enough of above-mentioned prior art existence, and provide a bionic robot waist control system, it has convenient operation, angle accuracy, synchronism strong, alleviate operator's load, characteristics such as reducing error.
The purpose of the utility model is realized like this:
the utility model provides a bionic robot waist control system which characterized in that: the bionic robot comprises a hand control device and a bionic robot, wherein the hand control device is worn on the hand of an operator and used for sensing hand motions; the bionic robot comprises a trunk assembly, a lower limb moving assembly, a mechanical arm assembly and a control component; a waist rotating component is arranged between the trunk assembly and the lower limb moving assembly, and the trunk assembly is rotationally connected with the lower limb moving assembly through the waist rotating component; a shoulder rotating component is arranged between the trunk assembly and the mechanical arm assembly, and the trunk assembly is rotatably connected with the mechanical arm assembly through the shoulder rotating component; the control component comprises a signal receiver for receiving action instructions from the hand control device, an arm control chip for controlling the mechanical arm assembly to execute the action instructions, and a waist control chip for controlling the trunk assembly to finish waist twisting action; the arm control chip is connected with the shoulder rotating assembly in a control mode; the waist control chip is connected with the waist rotating component in a control mode, when the hand control device controls the action of the mechanical arm assembly to exceed a set limit rotating angle theta and the speed of the limit rotating angle theta exceeds a set instantaneous speed V, the waist control chip controls the trunk assembly to complete waist twisting action through the waist rotating component.
The shoulder rotating assembly comprises a shoulder power motor, the shoulder power motor is arranged on the trunk assembly, an output shaft of the shoulder power motor is in transmission connection with the mechanical arm assembly, the arm control chip is in control connection with the shoulder power motor, and the arm control chip controls the shoulder power motor to work according to action instructions from the hand control device.
Waist rotating assembly includes waist power motor, and waist power motor sets up on the truck assembly, and waist power motor's output shaft transmission connects low limbs and removes the assembly, and waist control chip control connection waist power motor, waist control chip control waist power motor work according to the action command control waist power motor that comes from hand controlling means.
The arm assembly has an extreme angle of rotation theta of 60 deg. -70 deg., preferably 65 deg., relative to the torso assembly.
The extreme angle of rotation β of the torso assembly relative to the lower limb movement assembly is 45-55, preferably 50.
The hand control device comprises a handle controller and an arm controller which are communicated and interconnected with each other; the handle controller comprises a handle sensing module for sensing wrist actions and a handle control chip for converting the wrist actions into wrist action signals, and the handle control chip is communicated and interconnected with the arm control chip through a signal receiver; the arm controller comprises a rear arm sensing module used for sensing the action of the rear arm and a rear arm control chip used for converting the action of the rear arm into a rear arm action signal, and the rear arm control chip is communicated and interconnected with the arm control chip through a signal receiver.
The specific embodiment of the hand control device is as follows: the handle controller comprises a left handle controller and a right handle controller; the arm controller comprises a left arm controller matched and connected with the left handle controller and a right arm controller matched and connected with the right handle controller; the left handle controller and the right handle controller are respectively provided with a forward key and a backward key; simultaneously touching a forward key on the left handle controller and a forward key on the right handle controller to control the bionic robot to move forward; simultaneously touching a back key on the left handle controller and a back key on the right handle controller to control the bionic robot to back; simultaneously touching a forward key on the left handle controller and a backward key on the right handle controller to control the bionic robot to turn left; simultaneously touching a backward key on the left handle controller and a forward key on the right handle controller to control the bionic robot to rotate rightwards; the movement action and the waist twisting action of the bionic robot are simultaneously carried out or respectively and independently carried out.
The utility model has the advantages as follows:
the waist control system of the bionic robot can control the bionic robot to complete the waist rotation action at will under the condition that an operator does not wear a specific waist control device; specifically, an operator controls the shoulder of the bionic robot to rotate by using a hand control device to generate an angle and a speed, and when the arm action meets two conditions of a set angle requirement and a set speed requirement, the system can control the bionic robot to finish waist twisting action; because no specific waist control device is needed to be worn, the number of the control devices needed to be worn by an operator can be reduced, the load of the operator is further reduced, the action of the operator is more flexible, the bionic robot can be controlled more conveniently, the synchronism and the accuracy of the action of the bionic robot cannot be influenced, and the error value is also reduced.
Drawings
Fig. 1 is a schematic diagram of an operator control state according to an embodiment of the present invention.
Fig. 2 is a schematic diagram of the bionic robot simulating the actions of the operator according to an embodiment of the present invention.
Fig. 3 is a top view of an operator control state in an embodiment of the present invention.
Fig. 4 is a top view of the bionic robot mechanical arm assembly rotating to the limit rotation angle θ according to an embodiment of the present invention.
Fig. 5 is a top view of the torso assembly of the biomimetic robot rotating to the limit rotation angle β according to an embodiment of the present invention.
Fig. 6 is a partial schematic view of an initial state of a robot arm assembly according to an embodiment of the present invention.
Fig. 7 is a partial schematic view illustrating the rotation of the robot arm assembly to the limit rotation angle θ according to an embodiment of the present invention.
Fig. 8 is a partial schematic view of the torso assembly rotated to the limit rotation angle β in accordance with an embodiment of the present invention.
Fig. 9 is a control flow chart according to an embodiment of the present invention.
Detailed Description
The present invention will be further described with reference to the accompanying drawings and examples.
Referring to fig. 1 to 9, the waist control system of the bionic robot comprises a hand control device worn on the hand of an operator and used for sensing the hand motion, and the bionic robot communicated and interconnected with the hand control device; the bionic robot comprises a trunk assembly C, a lower limb moving assembly D, two mechanical arm assemblies E and control components, wherein the mechanical arm assemblies E are arranged in two sets, so that the shape of the bionic robot is closer to that of a human, and the two mechanical arm assemblies E are respectively arranged on the left side and the right side of the trunk assembly C; a waist rotating component is arranged between the trunk assembly C and the lower limb moving assembly D, and the trunk assembly C is rotatably connected with the top of the lower limb moving assembly D through the waist rotating component; a shoulder rotating component is arranged between the trunk assembly C and the mechanical arm assembly E, and the top of the trunk assembly C is rotatably connected with the mechanical arm assembly E through the shoulder rotating component; the control component comprises a signal receiver for receiving action instructions from the hand control device, an arm control chip for controlling the mechanical arm assembly E to execute the action instructions, and a waist control chip for controlling the trunk assembly C to finish waist twisting action; the hand control device is communicated and interconnected with the signal receiver through wireless communication modes such as 5G communication, wifi communication, Bluetooth communication and the like so as to carry out remote control; the arm control chip is connected with the shoulder rotating component in a control mode so as to control the mechanical arm assembly E to complete relevant actions through the shoulder rotating component; the waist control chip is connected with the waist rotating component in a control mode, when the hand control device controls the action of the mechanical arm assembly E to exceed a set limit rotating angle theta and the speed of the limit rotating angle theta exceeds a set instantaneous speed V, the waist control chip controls the trunk assembly C to complete waist twisting action through the waist rotating component.
Further, the shoulder rotating component comprises a shoulder power motor 1, the shoulder power motor 1 is fixedly arranged at the top of the trunk assembly C, and an output shaft of the shoulder power motor 1 is in transmission connection with the mechanical arm assembly E; the arm control chip is connected with the shoulder power motor 1 in a control mode, the arm control chip controls the shoulder power motor 1 to work according to action instructions from the hand control device, and the mechanical arm assembly E can complete forward rotation relative to the trunk assembly C under the driving of the shoulder power motor 1.
Further, the waist rotating component comprises a waist power motor 2, the waist power motor 2 is fixedly arranged at the bottom of the trunk assembly C, and an output shaft of the waist power motor 2 is in transmission connection with the lower limb moving assembly D; the waist control chip is connected with the waist power motor 2 in a control mode, the waist control chip controls the waist power motor 2 to work according to action instructions from the hand control device, and the trunk assembly C can finish waist twisting action relative to the lower limb movement assembly D under the driving of the waist power motor 2.
Further, the maximum rotation angle ω of the robot arm assembly E relative to the lower limb movement assembly D is the sum of the limit rotation angle θ and the limit rotation angle β, that is, the maximum rotation angle ω = the limit rotation angle θ + the limit rotation angle β =115 °, since the limit rotation angle θ of the robot arm assembly E relative to the trunk assembly C is 65 ° and the limit rotation angle β of the trunk assembly C relative to the lower limb movement assembly D is 50 °.
Further, the hand control device comprises a handle controller and an arm controller which are communicated and interconnected with each other; the handle controller comprises a handle sensing module for sensing wrist actions and a handle control chip for converting the wrist actions into wrist action signals, the handle sensing module is connected with the handle control chip in a wired mode, the handle control chip is communicated and interconnected with the signal receiver in wireless communication modes such as 5G communication, wifi communication, Bluetooth communication and the like, and the handle control chip is communicated and interconnected with the arm control chip through the signal receiver; the arm controller comprises a rear arm sensing module used for sensing the movement of the rear arm and a rear arm control chip used for converting the movement of the rear arm into a rear arm movement signal, the rear arm sensing module is connected with the rear arm control chip in a wired mode, the rear arm control chip is communicated and interconnected with a signal receiver in a wireless communication mode such as 5G communication, wifi communication, Bluetooth communication and the like, and the rear arm control chip is communicated and interconnected with the arm control chip through the signal receiver.
Specifically, to facilitate manipulation by an operator with both hands, the handle controller includes a left handle controller a1 and a right handle controller B1; the arm controller comprises a left arm controller A2 matched and connected with the left handle controller A1 and a right arm controller B2 matched and connected with the right handle controller B1; the left handle controller A1 and the right handle controller B1 are respectively provided with a forward key and a backward key; simultaneously touching a forward key on the left handle controller A1 and a forward key on the right handle controller B1 to control the bionic robot to move forward; simultaneously touching a backward key on the left handle controller A1 and a backward key on the right handle controller B1 to control the bionic robot to backward; simultaneously touching a forward key on the left handle controller A1 and a backward key on the right handle controller B1 to control the bionic robot to turn left; simultaneously touching a backward key on the left handle controller A1 and a forward key on the right handle controller B1 to control the bionic robot to rotate right; the movement action and the waist twisting action of the bionic robot are simultaneously carried out or respectively and independently carried out.
The foregoing is a preferred embodiment of the present invention showing and describing the basic principles, main features and advantages of the present invention. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, which are intended to illustrate the principles of the invention, and that various changes and modifications may be made without departing from the spirit and scope of the invention, and the scope of the invention is to be protected. The scope of the invention is defined by the appended claims and equivalents thereof.
Claims (7)
1. The utility model provides a bionic robot waist control system which characterized in that: the bionic robot comprises a hand control device and a bionic robot, wherein the hand control device is worn on the hand of an operator and used for sensing hand motions; the bionic robot comprises a trunk assembly (C), a lower limb moving assembly (D), a mechanical arm assembly (E) and a control component; a waist rotating component is arranged between the trunk assembly (C) and the lower limb moving assembly (D), and the trunk assembly (C) is rotationally connected with the lower limb moving assembly (D) through the waist rotating component; a shoulder rotating component is arranged between the trunk assembly (C) and the mechanical arm assembly (E), and the trunk assembly (C) is rotatably connected with the mechanical arm assembly (E) through the shoulder rotating component; the control component comprises a signal receiver for receiving action instructions from the hand control device, an arm control chip for controlling the mechanical arm assembly (E) to execute the action instructions, and a waist control chip for controlling the trunk assembly (C) to finish waist twisting action; the arm control chip is connected with the shoulder rotating assembly in a control mode; the waist control chip is connected with the waist rotating assembly in a control mode, when the hand control device controls the action of the mechanical arm assembly (E) to exceed a set limit rotating angle theta and the speed of the limit rotating angle theta exceeds a set instantaneous speed V, the waist control chip controls the trunk assembly (C) to complete waist twisting action through the waist rotating assembly.
2. The bionic robot waist control system of claim 1, wherein: the shoulder rotating assembly comprises a shoulder power motor (1), the shoulder power motor (1) is arranged on the trunk assembly (C), an output shaft of the shoulder power motor (1) is in transmission connection with a mechanical arm assembly (E), an arm control chip is in control connection with the shoulder power motor (1), and the arm control chip controls the shoulder power motor (1) to work according to an action instruction from the hand control device.
3. The bionic robot waist control system of claim 1, wherein: waist rotating assembly includes waist power motor (2), and waist power motor (2) set up on truck assembly (C), and the output shaft transmission of waist power motor (2) is connected low limbs and is removed assembly (D), waist power motor (2) are connected in waist control chip control, and waist control chip controls waist power motor (2) work according to the action command that comes from hand control device.
4. The bionic robot waist control system of claim 1, wherein: the ultimate rotation angle theta of the mechanical arm assembly (E) relative to the trunk assembly (C) is 60-70 degrees.
5. The waist control system of the bionic robot as claimed in claim 1, wherein the limit rotation angle β of the trunk assembly (C) relative to the lower limb movement assembly (D) is 45-55 degrees.
6. The bionic robot waist control system of claim 1, wherein: the hand control device comprises a handle controller and an arm controller which are communicated and interconnected with each other; the handle controller comprises a handle sensing module for sensing wrist actions and a handle control chip for converting the wrist actions into wrist action signals, and the handle control chip is communicated and interconnected with the arm control chip through a signal receiver; the arm controller comprises a rear arm sensing module used for sensing the action of the rear arm and a rear arm control chip used for converting the action of the rear arm into a rear arm action signal, and the rear arm control chip is communicated and interconnected with the arm control chip through a signal receiver.
7. The bionic robot waist control system as claimed in claim 6, wherein: the handle controller comprises a left handle controller (A1) and a right handle controller (B1); the arm controller comprises a left arm controller (A2) matched and connected with a left handle controller (A1) and a right arm controller (B2) matched and connected with a right handle controller (B1); the left handle controller (A1) and the right handle controller (B1) are respectively provided with a forward key and a backward key; the movement action and the waist twisting action of the bionic robot are simultaneously carried out or respectively and independently carried out.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921948324.2U CN211104002U (en) | 2019-11-11 | 2019-11-11 | Waist control system of bionic robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921948324.2U CN211104002U (en) | 2019-11-11 | 2019-11-11 | Waist control system of bionic robot |
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| CN211104002U true CN211104002U (en) | 2020-07-28 |
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| CN201921948324.2U Active CN211104002U (en) | 2019-11-11 | 2019-11-11 | Waist control system of bionic robot |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110653827A (en) * | 2019-11-11 | 2020-01-07 | 路邦科技授权有限公司 | Waist control system of bionic robot |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110653827A (en) * | 2019-11-11 | 2020-01-07 | 路邦科技授权有限公司 | Waist control system of bionic robot |
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