CN103111076A - Entertainment robot leg mechanism - Google Patents
Entertainment robot leg mechanism Download PDFInfo
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- CN103111076A CN103111076A CN2013100388953A CN201310038895A CN103111076A CN 103111076 A CN103111076 A CN 103111076A CN 2013100388953 A CN2013100388953 A CN 2013100388953A CN 201310038895 A CN201310038895 A CN 201310038895A CN 103111076 A CN103111076 A CN 103111076A
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Abstract
An entertainment robot leg mechanism comprises a skeleton body, driving units and a control system, the skeleton body comprises a plurality of skeleton units, each two adjacent skeleton units are connected in a rotatable mode, each driving unit is installed between two adjacent skeleton units in a rotatable mode through a universal bearing and drives the skeleton units to rotate, the control system is connected with the driving unit and controls each driving unit to drive the skeleton units to complete preset movements. When the entertainment robot leg mechanism is at work, the control system controls the movements of the driving units, one driving unit is connected between each two adjacent skeleton units in the rotatable mode to drive the skeleton units to move and complete the preset movements. Due to the fact that the entertainment robot leg mechanism comprises the plurality of skeleton units, one driving unit is connected between each two adjacent skeleton units, a multi-driving and multi-degree-of-freedom structure can be formed, and therefore the entertainment robot leg mechanism can achieve movements with various postures, and move more flexibly.
Description
Technical field
The present invention relates to the Robotics field, particularly relate to a kind of amusement robot leg mechanism.
Background technology
Adopted a large amount of amusement robots to build various atmosphere in current popular the 4th generation theme park, especially highly emulated robot, can bring visitor's novelty, stimulation, the unforgettable experience of travelling, improve quality and the popularity of theme park, travel to attract more visitor to make a visit to.
Yet these emulated robot great majority are take action above the waist as main, and shank is action or very simply action not, the leg action underaction.Along with the 4th generation the theme park development, highly emulated robot is required more and more higher, only having above the waist, action has been difficult to satisfy growing demand.
Summary of the invention
Based on this, being necessary provides a kind of amusement robot leg mechanism for leg mechanism motion underaction problem.
A kind of amusement robot leg mechanism comprises:
The skeleton body, described skeleton body comprises a plurality of skeleton units, two adjacent skeleton units connect rotationally;
Driver element is rotatably installed between two adjacent skeleton units by universal bearing, drives described skeleton unit and rotates;
Control system is connected with described driver element, controls each driver element and completes predetermined action to order about described skeleton unit.
Therein in embodiment, described skeleton unit comprises shank pedestal skeleton unit, left thigh bone frame unit, right thigh bone frame unit and crotch's skeleton unit, described left thigh bone frame unit and described right thigh bone frame unit are rotatably installed on described shank pedestal skeleton unit, and described left thigh bone frame unit and described right thigh bone frame unit are connected in described crotch skeleton unit rotationally by rolling bearing respectively.
Therein in embodiment, described left thigh bone frame unit and described right thigh bone frame unit include rotation skeleton, shank skeleton, thigh skeleton and hip joint, and described shank pedestal skeleton unit comprises bearing block; One end of described rotation skeleton is installed on described shank pedestal skeleton unit by bearing block, is provided with described driver element between described rotation skeleton and described shank pedestal skeleton unit; The other end of described rotation skeleton is connected by cross shaft bearing with an end of described shank skeleton, and between be provided with described driver element; One end of the other end of described shank skeleton and described thigh skeleton by hinge hinged, and between be provided with described driver element; The other end of described thigh skeleton and described hip joint by hinge hinged, and between be provided with described driver element; Described hip joint is connected in described crotch skeleton unit by cross shaft bearing.
In embodiment, described driver element all is connected between two adjacent skeleton units by ball joint bearing or cross shaft bearing therein.
In embodiment, comprise position sensor therein, be arranged at described driver element, and be connected with described control system, the position signalling of feedback amusement robot leg mechanism is given described control system.
In embodiment, described driver element is fluid pressure drive device therein.
In embodiment, described control system is controlled the driving amount of each driver element by the action command that pre-enters therein, to realize the different attitudes actions of robot.
In embodiment, described control system comprises memory module therein, stores the action command of different attitudes actions; Input module receives the input message that the required attitude of operator is moved; Control module according to different input messages, reads the action command of different attitude actions; Output module according to action command corresponding to described input message output, drives each driver element motion.
During above-mentioned amusement robot leg mechanism work, described control system is controlled the motion of described driver element, and described driver element is connected rotationally with two adjacent skeleton units, drives described skeleton unit motion, completes predetermined action.Because described amusement robot leg mechanism comprises a plurality of skeleton units, and be provided with driver element between every two adjacent skeleton units, one drive multiple-degree-of-freedom mechanism so can form more, make the amusement robot leg mechanism can realize the many attitude action, motion flexibly.
Description of drawings
Fig. 1 is the structural representation of amusement robot leg mechanism;
Fig. 2 is the structural representation that the amusement robot leg mechanism is in interior fork leg state;
Fig. 3 is the structural representation that the amusement robot leg mechanism is in outer fork leg state;
Fig. 4 is the structural representation that the amusement robot leg mechanism is in hyperbolic leg state;
Fig. 5 is the structural representation that the amusement robot leg mechanism is in single leg state;
Fig. 6 is the schematic diagram of control system one embodiment of amusement robot leg mechanism.
The specific embodiment
The invention will be further described below in conjunction with the drawings and specific embodiments.
See also Fig. 1, a kind of amusement robot leg mechanism 100 comprises: skeleton body 110, and described skeleton body 110 comprises a plurality of skeleton units, two adjacent skeleton units connect rotationally; Driver element 120 is rotatably installed between two adjacent skeleton units by universal bearing, drives described skeleton unit and rotates; Control system is connected with described driver element 120, controls each driver element 120 and completes predetermined action to order about described skeleton unit.
During above-mentioned amusement robot leg mechanism work, described control system is controlled the motion of described driver element 120, and described driver element 120 is connected rotationally with two adjacent skeleton units, and two adjacent skeleton units also connect rotationally, so when driver element 120 drives described skeleton unit motion, two adjacent skeleton units can relatively rotate, and form predetermined the rotation, complete predetermined action.Because described amusement robot leg mechanism comprises a plurality of skeleton units, and be provided with driver element 120 between every two adjacent skeleton units, drive multiple-degree-of-freedom mechanism one so can form, thereby the amusement robot leg mechanism can being realized many attitude variation, flexible movements more.
In the present embodiment, described control system is controlled the driving amount of each driver element by the action command that pre-enters, to realize the different attitude actions of robot.For example, can be by calculating the movement relation expression formula in each joint of amusement robot leg mechanism, and described movement relation expression formula is write Maya software carry out animation, design the needed animation of various attitude action, then export the animation script value, described script value is the required action command of various attitude action described in the present embodiment.
See also Fig. 6, in the present embodiment, described control system 200 can comprise memory module 220, stores the action command of different attitude actions, will realize that in advance the required action command of different attitude action deposits memory module 220 in.Input module 210 receives the input message that the required attitude of operator is moved, and when realizing the single leg as needs, can input corresponding informance and get final product.Control module 230, the different input messages according to operator's input read the action command that exists in memory module.Output module 240 according to action command corresponding to described input message output, drives each driver element 120 actions, thereby drives the corresponding motion of each skeleton unit, completes an attitude action.
Also see also Fig. 1, in the present embodiment, described skeleton unit comprises shank pedestal skeleton unit 112, left thigh bone frame unit 114, right thigh bone frame unit 116 and crotch's skeleton unit 118, described left thigh bone frame unit 114 and described right thigh bone frame unit 116 are rotatably installed on described shank pedestal skeleton unit 112, and described left thigh bone frame unit 114 and described right thigh bone frame unit 116 are connected in described crotch skeleton unit 118 rotationally by rolling bearing respectively.Shank pedestal skeleton unit 112 is equivalent to people's foot, left thigh bone frame unit 114 is with respect to people's left leg, right thigh bone frame unit 116 is equivalent to people's right leg, crotch's skeleton unit 118 is equivalent to people's crotch, the structure that arranges like this can be more true to nature imitation people's shank, simultaneously when described control system is controlled driver element 120 and driven a plurality of skeleton units and move, can realize being similar to the motion of people's shank, realize that multi-pose changes, and moves more flexible.
Also see also Fig. 1, in the present embodiment, described left thigh bone frame unit 114 comprises anticlockwise skeleton 1141, left leg skeleton 1142, left thigh skeleton 1143 and left hip joint 1144, described right thigh bone frame unit 116 comprises right rotation skeleton 1161, right leg skeleton 1162, right thigh skeleton 1163 and right hip joint 1164, and described shank pedestal skeleton unit 112 comprises bearing block 1122.
Take left thigh bone frame unit 114 as example, connection and the movement relation in each joint is described.Described anticlockwise skeleton 1,141 one ends are installed on described shank pedestal skeleton unit 112 by bearing block 1122, are provided with described driver element 120 between described anticlockwise skeleton 1141 and described shank pedestal skeleton unit 112.Described anticlockwise skeleton 1141 other ends are connected by cross shaft bearing with an end of described left leg skeleton 1142, and between be provided with described driver element 120; One end of the other end of described left leg skeleton 1142 and described left thigh skeleton 1143 by hinge hinged, and between be provided with described driver element 120; The other end of described left thigh skeleton 1143 and described left hip joint 1144 is hinged by hinge, and between be provided with described driver element 120; Described left hip joint 1144 is connected in described crotch skeleton unit 118 by cross shaft bearing.Anticlockwise skeleton 1141 is installed on shank pedestal skeleton unit 112 by bearing block 1122, and an end of driver element 120 is fixed in shank pedestal skeleton unit 112, the other end connects an end of anticlockwise skeleton 1141 by connecting rod, control driver element 120 by control system, order about anticlockwise skeleton 1141 along rotating perpendicular to shank pedestal skeleton unit 112, realize the rotation of anticlockwise skeleton 1141.The other end of anticlockwise skeleton 1141 is connected by cross shaft bearing with an end of left leg skeleton 1142, driver element 120 is connected between anticlockwise skeleton 1141 and left leg skeleton 1142 by ball joint bearing or cross shaft bearing, driver element 120 is controlled by control system, can drive left leg skeleton 1142 and rotate around cross shaft bearing with anticlockwise skeleton 1141.One end of the other end of left leg skeleton 1142 and left thigh skeleton 1143 is hinged by hinge, driver element 120 is connected between left leg skeleton 1142 and left thigh skeleton 1143 by ball joint bearing or cross shaft bearing, drives left leg skeleton 1142 and left thigh skeleton 1143 and relatively rotates.The other end of left thigh skeleton 1143 and left hip joint 1144 are hinged by hinge, driver element 120 is connected between left thigh skeleton 1143 and left hip joint 1144 by ball joint bearing or cross shaft bearing, drives left thigh skeleton 1143 and left hip joint 1144 and relatively rotates.Left hip joint 1144 is connected in crotch's skeleton unit 118 by cross shaft bearing, can realize rotating around crotch's skeleton unit 118.Similarly, right thigh bone frame unit 116 is identical with the structure of left thigh bone frame unit 114, repeats no more here.When the programme-control driver element 120 that control system is enrolled in advance by operation, when ordering about each skeleton unit motion, can realize the variation of interior fork leg, outer fork leg, hyperbolic leg and single leg etc. attitude action.
See also Fig. 2, expression be the attitude action of amusement robot leg mechanism when being positioned at fork leg.During the work of amusement robot leg mechanism, the program of the attitude action of the interior fork leg that described control system operation is enrolled in advance, fork leg action in realizing.When in realizing, fork leg was moved, control system was controlled driver element 120, and driver element 120 drives right rotation skeletons 1161 and anticlockwise skeleton 1141 self rotates along being parallel to shank pedestal skeleton unit 112, and along relative direction rotation.Right leg skeleton 1162 leans around nearly right rotation skeleton 1161 directions rotations, right thigh skeleton 1163 by cross shaft bearing and right leg skeleton 1162 relatively rotates, right hip joint 1164 relatively rotates with right thigh skeleton 1163, right hip joint 1164 rotates around crotch's skeleton unit 118, the left leg skeleton 1142 of left thigh bone frame unit 114, left thigh skeleton 1143, left hip joint 1144 are identical with the motion of right thigh bone frame unit 116, repeat no more.Because anticlockwise skeleton 114 and right rotation skeleton 116 relatively rotate, and the shank skeleton of leg skeleton unit, left and right, thigh skeleton, hip joint motion are identical, so can realize the attitude action of interior fork leg.
See also Fig. 3, expression be the attitude action of amusement robot leg mechanism when being positioned at outer fork leg.During the work of amusement robot leg mechanism, the program of the attitude action of the outer fork leg that described control system operation is enrolled in advance realizes outer fork leg action.When realizing outer fork leg motion, control system is controlled driver element 120, and driver element 120 drives right rotation skeleton 116 and anticlockwise skeleton 116 self rotates along being parallel to shank pedestal skeleton unit 112, and rotates along opposite direction.Right leg skeleton 1162 leans around nearly right rotation skeleton 1161 directions rotations, right thigh skeleton 1163 by cross shaft bearing and right leg skeleton 1162 relatively rotates, right hip joint 1164 relatively rotates with right thigh skeleton 1163, right hip joint 1164 rotates around crotch's skeleton unit 118, the left leg skeleton 1142 of left thigh bone frame unit 114, left thigh skeleton 1143, left hip joint 1144 are identical with the motion of right thigh bone frame unit 116, repeat no more.Because anticlockwise skeleton 114 and right rotation skeleton 116 rotates toward opposite direction, and the shank skeleton of left and right leg unit, thigh skeleton, hip joint motion are identical, so can realize the attitude action of outer fork leg.
See also Fig. 4, expression be the attitude action of amusement robot leg mechanism when being positioned at the hyperbolic leg.During the work of amusement robot leg mechanism, the program of the attitude action of the hyperbolic leg that described control system operation is enrolled in advance realizes the action of hyperbolic leg.Described control system is controlled driver element 120, this moment, the left rotation and right rotation skeleton did not rotate, driver element 120 drives simultaneously left leg skeleton 1142 and leans around by cross shaft bearing that nearly anticlockwise skeleton 1141 directions are rotated, left thigh skeleton 1143 relatively rotates with left leg skeleton 1142, left hip joint 1144 relatively rotates with left thigh skeleton 1143, left hip joint 1144 rotates around crotch's skeleton unit 118, the simultaneously motion of right thigh bone frame unit 116 is identical with left thigh bone frame unit 114, so can realize that the attitude of hyperbolic leg moves.
See also Fig. 5, expression be the attitude action of amusement robot leg mechanism when being positioned at the single leg.During the work of amusement robot leg mechanism, the program of the attitude action of the single leg that described control system operation is enrolled in advance realizes the action of single leg.Described control system is controlled driver element 120, this moment, the left leg skeleton 1142 of left thigh bone frame 114 leant around by cross shaft bearing that nearly anticlockwise skeleton 1141 directions are rotated, left thigh skeleton 1143 relatively rotates with left leg skeleton 1142, left hip joint 1144 relatively rotates with left thigh skeleton 1143, left hip joint 1144 rotates around crotch's skeleton unit 118, right thigh bone frame unit 116 does not move, and realizes the attitude action of single leg.
Certainly, in other embodiment, robot can also control driver element by control system and order about the skeleton unit motion, realizes different attitude actions.For example, can realize that single leg kneels the attitude action that ground or both legs are kneeled when ground, can also realize on one side in fork leg, on one side the attitude of outer fork leg move.
In the present embodiment, comprise position sensor, be arranged at described driver element 120, and be connected with described control system, the position signalling of feedback amusement robot leg mechanism is to control system.Position sensor is the sensor of robot measurement self-position, and the positional information of amusement robot leg mechanism is converted into output signal, pass to control system, control system is regulated the position of each skeleton unit of amusement robot leg mechanism by controlling driver element, avoids amusement robot leg mechanism movement position deviation to occur.
In the present embodiment, described driver element 120 is fluid pressure drive device.The characteristics such as fluid pressure drive device has that rapidity is good, the Unit Weight power output is large, stable drive, antijamming capability are strong so make the motion of amusement robot leg mechanism more flexible, realize that various attitudes change.It is to be noted, described fluid pressure drive device just can further improve the flexibility of robot leg, when using other type of drive such as cylinder driver, do not affect the amusement robot leg mechanism yet and realize the multivariant realizations that drive more, so fluid pressure drive device is not necessary.
The above embodiment has only expressed several embodiment of the present invention, and it describes comparatively concrete and detailed, but can not therefore be interpreted as the restriction to the scope of the claims of the present invention.Should be pointed out that for the person of ordinary skill of the art, without departing from the inventive concept of the premise, can also make some distortion and improvement, these all belong to protection scope of the present invention.Therefore, the protection domain of patent of the present invention should be as the criterion with claims.
Claims (8)
1. an amusement robot leg mechanism, is characterized in that, comprising:
The skeleton body, described skeleton body comprises a plurality of skeleton units, two adjacent skeleton units connect rotationally;
Driver element is rotatably installed between two adjacent skeleton units by universal bearing, drives described skeleton unit and rotates;
Control system is connected with described driver element, controls each driver element and completes predetermined action to order about described skeleton unit.
2. amusement robot leg mechanism according to claim 1, is characterized in that, described skeleton unit comprises shank pedestal skeleton unit, left thigh bone frame unit, right thigh bone frame unit and crotch's skeleton unit; Described left thigh bone frame unit and described right thigh bone frame unit are rotatably installed on described shank pedestal skeleton unit, and described left thigh bone frame unit and described right thigh bone frame unit are connected in described crotch skeleton unit rotationally by rolling bearing respectively.
3. amusement robot leg mechanism according to claim 2, it is characterized in that, described left thigh bone frame unit and described right thigh bone frame unit include rotation skeleton, shank skeleton, thigh skeleton and hip joint, and described shank pedestal skeleton unit comprises bearing block; One end of described rotation skeleton is installed on described shank pedestal skeleton unit by bearing block, is provided with described driver element between described rotation skeleton and described shank pedestal skeleton unit; The other end of described rotation skeleton is connected by cross shaft bearing with an end of described shank skeleton, and between be provided with described driver element; One end of the other end of described shank skeleton and described thigh skeleton by hinge hinged, and between be provided with described driver element; The other end of described thigh skeleton and described hip joint by hinge hinged, and between be provided with described driver element; Described hip joint is connected in described crotch skeleton unit by cross shaft bearing.
4. amusement robot leg mechanism according to claim 3, is characterized in that, described driver element all is connected between two adjacent skeleton units by ball joint bearing or cross shaft bearing.
5. amusement robot leg mechanism according to claim 4, is characterized in that, comprises position sensor, is arranged at described driver element, and be connected with described control system, and the position signalling of feedback amusement robot leg mechanism is given described control system.
6. amusement robot leg mechanism according to claim 5, is characterized in that, described driver element is fluid pressure drive device.
7. the described amusement robot leg mechanism of any one according to claim 1 to 6, is characterized in that, described control system is controlled the driving amount of each driver element by the action command that pre-enters, to realize the different attitude actions of robot.
8. amusement robot leg mechanism according to claim 7, is characterized in that, described control system comprises memory module, stores the action command of different attitude actions; Input module receives the input message that the required attitude of operator is moved; Control module according to different input messages, reads the action command of different attitude actions; Output module according to action command corresponding to described input message output, drives each driver element motion.
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| CN201310038895.3A CN103111076B (en) | 2013-01-31 | 2013-01-31 | Entertainment robot leg mechanism |
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| CN201310038895.3A CN103111076B (en) | 2013-01-31 | 2013-01-31 | Entertainment robot leg mechanism |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN108818527A (en) * | 2018-06-06 | 2018-11-16 | 华强方特（深圳）科技有限公司 | A kind of emulated robot leg device |
| CN109392753A (en) * | 2018-11-30 | 2019-03-01 | 马耀民 | Bionic toy |
| CN109986579A (en) * | 2019-04-28 | 2019-07-09 | 山东大学 | Multi-mode moves imitative primate robot |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN108818527A (en) * | 2018-06-06 | 2018-11-16 | 华强方特（深圳）科技有限公司 | A kind of emulated robot leg device |
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| CN109986579A (en) * | 2019-04-28 | 2019-07-09 | 山东大学 | Multi-mode moves imitative primate robot |
| CN109986579B (en) * | 2019-04-28 | 2021-06-15 | 山东大学 | Multi-mode motion primate-imitating robot |
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Address after: The development of high-tech building a road in Shenzhen City Huaqiang Nanshan District science and technology of Guangdong province 518000 13 floor Patentee after: Huaqiang infante (Shenzhen) Intelligent Technology Co. Address before: The development of high-tech building a road in Shenzhen City Huaqiang Nanshan District science and technology of Guangdong province 518000 13 floor Patentee before: Shenzhen Huaqiang Intelligent Technology Co., Ltd. |