CN108555935A - A kind of robot and control method - Google Patents
A kind of robot and control method Download PDFInfo
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- CN108555935A CN108555935A CN201810506603.7A CN201810506603A CN108555935A CN 108555935 A CN108555935 A CN 108555935A CN 201810506603 A CN201810506603 A CN 201810506603A CN 108555935 A CN108555935 A CN 108555935A
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Automation & Control Theory (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of robot and control methods, wherein robot includes body and drives the mobile mechanism of body movement, further include an emergent stopping mechanism and body adjustment mechanism, emergent stopping mechanism includes connection shelf, slide bar, sucker stand, compressed spring, sucker, cylindrical cam, pulley spindle, pulley, stops driven gear, stop driving gear, stop motor and solenoid valve；Body adjustment mechanism is made of static shelving, fixed pillar, pitching motor stand, pitching motor, main framing, secondary skeleton, rack, telescope motor and rack drives gear；The present invention emergent stopping mechanism can an emergency situation is encountered in the quick motion process of robot, whens such as encountering pedestrian, animal and cart etc., realize the emergency stop function of robot, prevent from loading onto pedestrian etc., cause safety accident；The emergent stopping mechanism of the present invention is also prevented from robot since center of gravity is excessively high during transporting goods and dynamic change causes robot to overturn.
Description
Technical field
The present invention relates to a kind of safe human nature service robot and control methods, belong to robotics, mechanics, instrument
The crossing domain of science, computer science, automatic control technology, sensor technology etc..
Background technology
Since aging of population trend is apparent in global range, of the right age worker's ratio caused by aging of population is reduced, people
Work cost increases year by year.In face of these problems, robot the relevant technologies and application development are very fast in recent years, and many countries put into effect
Some promote the policy of robotics developments, and robot technology is even military upper in industry, agricultural, service trade
Some have been arrived successfully to apply.In industrial application, since site environment often immobilizes, industrial robot programs operation
Using highly developed；Also there is picking robot, the robot that sprays insecticide etc. in agriculture application aspect；Military aspect, perhaps
The automation weapon such as more unmanned vehicles, underwater unmanned vehicle, land unmanned battlebus is also all robot in military field
Using.
Service industry is faced at present, many service robots has been occurred, such as guest-meeting robot, guide robot, has been sent
Meal robot etc., and the market of service industry is huge, occurs a large amount of service robot research institution and correlation both at home and abroad
Product.And in public arenas such as supermarket, market, hospital, subway stations, crowd's flow is larger, and service type robot application is in face of very
More problems, wherein it is important that personnel safety problem, i.e. robot cannot cause the injury of personnel.
Robot is generally required during serving people certain height, such as close to the height of people, in order into
Work in the daily lifes such as row carry an object cooperates with people and completes certain task dispatching.And the center of gravity of robot can be with height
The increase of degree rises, this causes the high comparable wheeled service robot of the most of at present and person often to have larger and bulky bottom
Disk, and need to move on flatter ground, it is damaged with preventing from overturning.
The movement speed of service robot is required to get caught up in the speed of user, can just meet human engineering in this way
It learns, has preferable man-machine interaction, realization and people's cooperative motion operation, or follow user.However it is comparable with personal height
Wheeled service robot center of gravity is higher, and movement speed again cannot be too fast, turns on one's side or knock object or row when preventing emergent stopping
People.
The service robot occasion larger in crowd density, such as market and supermarket, chassis cannot be excessive, such as part machine
People's product is the improved robot of shopping cart, the problems such as occupying excessive ground space, cause congestion, preferably
Service robot should be had tall " stature ", shuttle that can be in crowd freely as people.
From the point of view of above several aspect analyses, in crowded scene, under the premise of safety first, the people of robot
There are some mutually to restrict for machine natural interaction, the height of robot, movement velocity, dimension volume etc..The occupation of land face of needs
The small, height of product and the comparable service robot of people can quickly follow user, or cooperate with user and complete a few thing,
This proposes prodigious challenge to robot.It is also difficult to find the robot product of such successful application at present, and has this
The robot of sample ability could well be received by user.
With the hair of material science, robotics, instrumental science, computer science, sensor technology, control technology etc.
Exhibition, the development of service robot in recent years is very fast, therefore, a kind of safe human nature service machine is designed using these technical research
People is that those skilled in the art need one of the work done at present.
Invention content
Technical problem：
Technical problem to be solved by the present invention lies in overcome the deficiencies in the prior art, and providing one kind can be in emergency
Lower stopping and the robot and control method for improving robot stability of standing.
Technical solution：
In order to solve the above technical problems, the technical solution adopted by the present invention is：
A kind of robot includes the mobile mechanism of body and the driving body movement, it is characterised in that：Further include one
Emergent stopping mechanism, the emergent stopping mechanism are convex including connection shelf, slide bar, sucker stand, compressed spring, sucker, cylinder
Wheel, pulley, stops driven gear, stops driving gear, stops motor and solenoid valve pulley spindle；The connection shelf is fixed on
The bottom on the chassis of the mobile mechanism, the stopping driven gear, stopping driving gear and stopping motor being fixed on described
Shelf lower end is connected, the cylindrical cam connect with the stopping driven gear and is located at the connection shelf upper end, described
Regulating tank is provided on the cylindrical surface of cylindrical cam, described pulley spindle one end is located in the sucker stand, the pulley spindle other end
It is connect with the pulley for being arranged in the regulating tank, slide bar, the compression is provided between the connection shelf and sucker stand
Spring pocket is on the slide bar；The sucker stand is done up and down on the slide bar relative to connection shelf along the regulating tank
Sliding, when the sucker stand slides into lowest positions, the sucker is attracted with ground makes the robot stop motion.
The regulating tank is made of the straight-line groove of the spiral yarn shaped arc groove of a circle and connection helix head and the tail, wherein
Straight-line groove is along cylinder axis direction.
Further include body adjustment mechanism, the body adjustment mechanism is by static shelving, fixed pillar, pitching motor seat
Son, pitching motor, main framing, secondary skeleton, rack, telescope motor and rack drives gear composition；The static shelving passes through institute
Fixed pillar is stated to be fixed on the chassis；The pitching motor stand is fixed on the static shelving upper surface, the fixation
Pitching motor is fixed on the pitching motor stand；The bottom of the main framing is mounted on pitching motor output shaft；It is described
Secondary skeleton upper and lower linear slide inside main framing；The rack is mounted on the bottom of time skeleton；The telescope motor is fixed on
The top of the main framing；The rack drives gear is fixed on the output shaft of the telescope motor, and is engaged with rack.
The body is made of five sequentially connected bottom from top to bottom, lower part, middle part, top and neck parts；Bottom
Portion is rigid cylindrical barrel structure, is fixed in mobile mechanism；Neck is rigid cylinder structure, is fixed on body adjustment
The top of mechanism；Lower part, middle part and top are the column casing structural housing with certain arc；Middle part is flexible structure material, with
Natural dough deformation occurs in the process as body adjustment mechanism adjusts robot height or does pitching movement convenient for body.
The mobile mechanism is the mobile mechanism of four omnidirectional's wheel drives, including chassis, four motor mounting racks, four electricity
Machine, four shaft couplings and four universal wheels；Chassis is circular sheet；Four motor mounting racks are L-type structure, the installation on one side of L
In chassis lower part, another side is equipped with a motor, and four motors are evenly distributed in circular base plate, and are directed toward circumference by the center of circle
Direction；Four shaft couplings are separately mounted on four motor output shafts, and four omni-directional wheels are separately mounted to four motor output shafts
On
The sucker stand is in crux；The slide bar is eight, and an institute is connected in the lower end of the every slide bar
Sucker is stated, eight suckers are separately fixed at two-by-two on the bottom surface of one end of crux sucker stand, direction
Ground.
Further include display touch screen and mechanical arm；The display touch screen is fixed on the top of the secondary skeleton；It is described
Mechanical arm is by arm pedestal, arm, multi-dimension force sensor, hand, arms swing motor and wobble drive gear；The arm base
Seat is fixed on the main framing close to top；The arm upper end carries operative gear structure, and lower end is connected and installed with multidimensional
Force snesor；The hand is connected to the other end of multi-dimension force sensor, and the hand is an elliptical annular structure, is convenient for human hand
It grasps；The arms swing motor is mounted on arm pedestal, the tooth of wobble drive gear and arm upper end on output shaft
Wheel construction engages.
Further include sensing and controlling device, the sensing and controlling device includes acceleration gyro module, camera, ultrasonic wave
Sensor, infrared thermal imaging sensor, code-disc, control process unit, storage unit, motion control unit and drive module and
Wireless communication unit；The acceleration gyro module is mounted on the chassis, the posture on the chassis for detecting robot
Angle；The camera is mounted on the neck of the body, for detecting environmental information, carries out the identification of barrier and pedestrian；Institute
It includes multiple sensor heads to state ultrasonic sensor, is mounted on the outer surface of the bottom of the body, for detecting barrier
Distance；The infrared thermal imaging sensor is mounted on the lower part of the body, the information for detecting pedestrian；The code-disc
It is the included code-disc of each motor, for detecting motor rotational angle and rotating speed；The control process cell processing sensor number
According to preservation data generate control command to control the mobile mechanism, emergent stopping mechanism, body adjustment to storage unit
Mechanism and human-computer interaction device；The drive module realize to four motors of the mobile mechanism, solenoid valve, stop motor,
The driving of pitching motor, telescope motor and arms swing motor；The wireless communication unit realizes robot and wireless device
Communication.
A kind of control method of robot of the present invention, it is characterised in that：Including mobile mechanism's control, body adjustment mechanism control
System, emergent stopping mechanism controls and human-computer interaction device's control；
Mobile mechanism's control is to realize that robot appoints towards 360 degree by the control to four wheels driving motor
The movement in meaning direction；
The body adjustment mechanism control includes, in robot moving process, by the inclination angle for detecting robot chassis
[α, β], wherein α are the pitch angles on chassis, and β is the roll angle on chassis, and the original place by controlling robot universal wheel rotates so that
Robot can adjust inclination angle of the main framing relative to static shelving, control the center of gravity of entire robot in the range of safety,
Prevent robot from turning on one's side；When robot accelerates to advance, certain angle is swung forward by controlling robot main framing, prevents machine
Device people turns on one's side backward, and when robot slows down stopping, by controlling robot main framing swing backward certain angle, prevent machine
Device people turns on one's side forward, main framing swing angle δ=f (a), and wherein a is the acceleration of robot；
The emergent stopping mechanism controls flow is：
S1：Solenoid valve opening first makes air inlet and gas outlet unicom, and controls motor rotation, and driving cam rotation is convex
Upward direct acting while wheel rotation, the distance for connecting shelf and sucker stand reduce, and compressed spring stores elastic potential energy, in bearing
When the fast peak for reaching spiral groove, cam stops operating, and preparation is ready；
S2：Detect there is pedestrian immediately ahead of robot motion in the ultrasonic sensor and infrared thermal imaging sensor
Or barrier quickly close to when, cam is rotated further, and pulley can quickly slide to the bottom end of groove from backward channel, to trigger
Sucker presses to ground, and the air in sucker is discharged by the pipeline of solenoid valve, solenoid valve is closed rapidly at this time, so as to protect
It demonstrate,proves and is in negative pressure state in solenoid valve and tracheae, on the ground, to provide certain suction, robot is fixed for sucker suction
On the ground, prevent machine person to person from bumping against, the generation to cause the accident；
S3：When robot, which needs to start, to be left, solenoid valve is opened, air enters in sucker, and sucker Automatic-falling is convex
Wheel is rotated further, into the emergent stopping preparation stage of a new round；
Human-computer interaction device's control is operator by showing that touch screen can input certain information, or reception
To the relevant information of robot, to be controlled accordingly robot；Human-computer interaction device's control further includes operator's drawing
During the hands movement of robot, robot perceives the pulling force of people by the multi-dimension force sensor, to control its movement
Speed, speed v are：
V=f (Fx, Fy, Fz)=c1Fx+c2Fx 2+c3Fy+c4Fy 2+c5Fz+c6Fz 2
Wherein, Fx、FyAnd FzIt is the three-dimensional force information that multi-dimension force sensor detects, coefficient ci=fi(θ, γ), i=1,2,
3,4,5,6, θ be the pitch angle of main framing, and γ is the swing angle of arm.
A kind of safe human nature service robot of the present invention includes body, mobile mechanism, emergent stopping mechanism, body adjustment
Mechanism, human-computer interaction device, sensing and controlling device, power module and article container.
Body is made of five sequentially connected bottom from top to bottom, lower part, middle part, top and neck parts；Bottom is
Rigid cylindrical barrel structure, is fixed in mobile mechanism；Neck is rigid cylinder structure, is fixed on body adjustment mechanism
Top；Lower part, middle part and top are the column casing structural housing with certain arc；Middle part is flexible structure material, in order to
As body adjustment mechanism adjusts robot height or does pitching movement in the process natural dough deformation occurs for body.
Mobile mechanism be four omnidirectional's wheel drives mobile mechanism, including chassis, four motor mounting racks, four motors,
Four shaft couplings and four universal wheels；Chassis is circular sheet；Four motor mounting racks are L-type structure, and L's is mounted on bottom on one side
Disk lower part, another side are equipped with a motor, and four motors are evenly distributed in circular base plate, and are directed toward circumference side by the center of circle
To；Four shaft couplings are separately mounted on four motor output shafts, and four omni-directional wheels are separately mounted on four motor output shafts.
Emergent stopping mechanism include connection shelf, eight slide bars, sucker stand, eight linear bearings, eight compressed springs,
Eight suckers, pulley spindle, pulley, thrust bearing, stop driven gear, stop driving gear, stop motor and electricity cylindrical cam
Magnet valve；Connection shelf is cross structure, is fixed on the bottom on chassis, four ends of cross are located at four motor mounting racks
In the neutral gear at interval；Every two upper ends of eight slide bars are separately fixed at an end of connection shelf, and lower end is towards ground；It inhales
Disk stand is also cross structure, and four ends are located at immediately below four ends of connection shelf, and each of which end
There are two bearing mounting holes in portion, are equipped with linear bearing, slide bar passes through linear bearing, and entire sucker stand can be along eight cunnings
Bar is slided up and down relative to connection shelf；Eight compression springs are respectively fitted on eight slide bars, and the upper end is fixed on company
The lower surface of shelf is connect, lower end is fixed on the upper surface of sucker stand so that has when sucker stand is along sliding bar certain
Restraining force；Eight suckers are separately fixed at two-by-two on the bottom surface of one end of crux sucker stand, towards ground；
Cylindrical cam is cylinder, has one to enclose spiral yarn shaped cam groove on side, and the head and the tail of helix pass through one
Be connected directly along the groove in cylinder axis direction it is logical, the upper end of cylindrical cam by connecting the through-hole among shelf and chassis,
Thin axis on the lower face of cylindrical cam passes through the axis hole among sucker stand；Shelf middle part position is connected close to cylindrical cam
Position is provided with the pulley spindle of a transverse direction, and one end of pulley spindle is fixed on connection shelf, and the other end is deep into cylindrical cam
In the groove of side；Pulley is mounted on the other end of pulley spindle, is located in the groove of cylindrical cam, can be rolled along groove；
On the thin axis of cylindrical cam lower part, thrust bearing is fitted with positioned at sucker stand upper and lower faces, ensure cylindrical cam relative to
Friction is small when sucker stand rotates；The lower part of thrust bearing is equipped with stopping driven gear below sucker stand；With stopping
Driven gear engagement is off driving gear, stops driving gear and is mounted on the output shaft for stopping motor；It is solid to stop motor
It is scheduled on the top on the criss-cross one side of sucker stand, is located between sucker stand and connection shelf, motor shaft passes through sucker stand
Towards ground；The solenoid valve is fixed on the upper surface on the chassis, and its air inlet by plastics gas pipeline with
The top aperture connection of eight suckers.
Body adjustment mechanism is by static shelving, eight fixed pillars, pitching motor stand, pitching motor, main framing, secondary bones
Frame, rack, telescope motor and rack drives gear composition；Static shelving is disc-shaped structure, identical as the chassis diameter；Eight
Root pillar even circumferential is distributed, and static shelving is fixed on chassis；Pitching motor stand is L-shaped structure, is level on one side
Direction is fixed on static shelving upper surface, another side vertical direction, for fixing pitching motor；Main framing is that section is side
The carbon fiber pipe of shape, bottom are mounted on pitching motor output shaft；Secondary skeleton is the half that section is rectangular carbon fiber pipe
Side, i.e. section are less than the main framing interior direction length of side close to U-shaped, the secondary skeleton outboard square-like length of side so that secondary skeleton can be in master
Linear slide above and below skeletal internal；Rack is mounted on time bottom of skeleton U-lag；Telescope motor is fixed on the top of main framing；
Rack drives gear is fixed on the output shaft of telescope motor, and is engaged with rack.
Human-computer interaction device includes display touch screen and mechanical arm；Display touch screen is fixed on the top of the secondary skeleton
Portion；Mechanical arm is by arm pedestal, arm, multi-dimension force sensor, hand, arms swing motor and wobble drive gear；Arm base
Seat is fixed on the main framing close to top；Arm is a cylindrical tube, and the upper end carries operative gear structure, lower end connection
Multi-dimension force sensor is installed；Hand is connected to the other end of multi-dimension force sensor, and hand is an elliptical annular structure, is convenient for people
Hand grasps；Arms swing motor is mounted on arm pedestal, the gear of wobble drive gear and arm upper end on output shaft
Structure engages.
Advantageous effect：
The robot and control method of the present invention, the robot shape with stature suitable and slender with human height, just
In the motion work in the more environment of the barriers such as crowd.
The present invention emergent stopping mechanism can an emergency situation is encountered in the quick motion process of robot, such as encounter row
Whens people, animal and cart etc., the emergency stop function of robot is realized, prevent from loading onto pedestrian etc., cause safety accident；This
The emergent stopping mechanism of invention in robot original place quick-adjusting height and can also use the operations such as mechanical arm transports goods
When, robot chassis is absorbed and fixed on ground, prevent robot due to during transporting goods center of gravity it is excessively high and dynamic
Variation causes robot to overturn；It is public in market, supermarket etc. that the emergent stopping mechanism of the present invention can effectively improve the robot
The safety of place application；
The height that the body adjustment mechanism of the present invention can adjust robot can be adjusted in robot high-speed motion
Its height keeps the center of gravity of robot minimum, to improve the safety of movement, prevents from turning on one's side to minimum；The body tune of the present invention
Complete machine structure can also be according to the user of robot and different height, and such as adult and children adjust its height, in order to and use
Person interacts, and realizes the collaborative tasks such as the transmission of article；The body adjustment mechanism of the present invention can also adjust bowing for robot
Elevation angle degree detects the inclination angle on robot chassis, i.e., so as to adjust its position of centre of gravity in the acceleration gyro module of robot
When the gradient on road surface, the pitch angle of robot can be adjusted according to the angle of the gradient, to which the robot for preventing center of gravity very high turns over
, the safety of robotic conveyance article movement is improved；The body adjustment mechanism of the present invention can also adjust the pitching of robot
Angle, before acceleration into when adjust it and lean forward, prevent from overturning backward, adjust its layback when slowing down, prevent tip forwards, to
In the case that robot movement velocity is very high, its overturning is prevented.
The human-computer interaction device of the present invention is interacted using mechanical arm with people, and mechanical arm adds multi-dimension force sensor inspection
The three-dimensional force information that robot is interacted with hand is surveyed, to control the movement velocity of robot, human-computer interaction device's energy of the invention
The comfort that operator uses enough is improved, the cooperation of machine person to person is realized in crowd, such as robotic conveyance has in supermarket
When commodity, the mobile mechanism of robot provides mobile power, and the pulling force or thrust of mechanical arm perception people, controller move
Speed, be convenient for cooperateing with movement with client in this way, improve the practicability and reliability of robot.
The safe human nature service robot and control method of the present invention can make robot height adjustable, have higher
Movement velocity while, still have good safety, prevent from turning on one's side, and meet the needs of user is to speed, it is man-machine
Interactivity is good；Using the human-computer interaction arm structure with multi-dimensional force information Perception, machine person to person can be effectively completed
Cooperative motion and operation have preferable practical value.The robot and control method of the present invention can be used for market, supermarket, doctor
The occasions such as institute, subway station carry out relevant data acquisition and motion work etc., have good application prospect.
The safe human nature service robot and control method of the present invention, with stature suitable and slender with human height
Robot shape, convenient for the motion work in the more environment of the barriers such as crowd；It is adjusted using emergent stopping mechanism and body
Mechanism coordinates, and robot height can be made adjustable, while having higher movement velocity, still has safety well
Property, it prevents from turning on one's side, and meet the needs of user is to speed, man-machine interaction is good；Using with multi-dimensional force information Perception
Human-computer interaction arm structure can effectively complete machine person to person cooperative motion and operation, have preferable practical value.This
The robot and control method of invention can be used for the occasions such as market, supermarket, hospital, subway station and carry out relevant data acquisition and fortune
Industry etc. is acted, there is good application prospect.
Description of the drawings
Fig. 1 is the robot composition frame chart of the embodiment of the present invention.
Fig. 2 is the robot overall structure diagram of the embodiment of the present invention.
Fig. 3 is machine human organism's schematic diagram schematic diagram of the embodiment of the present invention.
Fig. 4 is the robot moving mechanism schematic top plan view of the embodiment of the present invention.
Fig. 5 is the robot moving mechanism elevational schematic view of the embodiment of the present invention.
Fig. 6 is the robot moving mechanism partial structural diagram of the embodiment of the present invention.
Fig. 7 is the robot moving mechanism and emergent stopping structural scheme of mechanism of the embodiment of the present invention.
Fig. 8 is emergent stopping mechanism of the robot compressed spring compressive state structural schematic diagram of the embodiment of the present invention.
Fig. 9 is emergent stopping mechanism of robot compressed spring extended configuration structural representation Fig. 1 of the embodiment of the present invention.
Figure 10 is emergent stopping mechanism of robot compressed spring extended configuration structural representation Fig. 2 of the embodiment of the present invention.
Figure 11 is partially schematic Fig. 1 of emergent stopping mechanism of robot of the embodiment of the present invention.
Figure 12 is partially schematic Fig. 2 of emergent stopping mechanism of robot of the embodiment of the present invention.
Figure 13 is partially schematic Fig. 3 of emergent stopping mechanism of robot of the embodiment of the present invention.
Figure 14 is the machine human body adjustment mechanism and human-computer interaction device's composed structure schematic diagram 1 of the embodiment of the present invention.
Figure 15 is the machine human body adjustment mechanism and human-computer interaction device's composed structure schematic diagram 2 of the embodiment of the present invention.
Figure 16 is the robot sensing's control device and power module composition schematic diagram of the embodiment of the present invention.
Figure 17 is that the machine human body of the embodiment of the present invention shrinks the short status diagram of change.
Figure 18 is that the robot of the embodiment of the present invention leans back status diagram.
Figure 19 is the robot forward lean status diagram of the embodiment of the present invention.
Figure 20 is the robot typical motion state adjustment schematic diagram of the embodiment of the present invention.
Figure 21 is the robot Transport cargo rack article operation schematic diagram of the embodiment of the present invention.
Figure 22 is the quick motion state schematic diagram of robot uphill, downhill of the embodiment of the present invention.
Figure 23 is the robot acceleration, deceleration motion state schematic diagram of the embodiment of the present invention.
Specific implementation mode
With reference to the accompanying drawings and examples, the operation principle and the course of work of the present invention are described in further detail.
Embodiment：With reference to attached drawing 1, a kind of safe human nature service robot by body 1, mobile mechanism 2, emergent stopping machine
Structure 3, body adjustment mechanism 4, human-computer interaction device 5, sensing and controlling device 6, power module 7 and article container 8 form.
With reference to attached drawing 2, attached drawing 3, attached drawing 4 and attached drawing 14, body 1 is by bottom 1-1, lower part 1-2, middle part 1-3, top 1-4
It is formed with five parts neck 1-5, this five part is sequentially connected from down to up；Bottom 1-1 is rigid cylindrical barrel structure, and installation is solid
It is scheduled in mobile mechanism 2；Neck 1-5 is rigid cylinder structure, is fixed on the top of body adjustment mechanism 4；Lower part 1-2,
Middle part 1-3 and top 1-4 is the column casing structural housing with certain arc；Middle part 1-3 is flexible structure material, in order to body
1 does pitching movement with body adjustment mechanism 4.
With reference to attached drawing 1, attached drawing 2, attached drawing 3, mobile mechanism 2 is the mobile mechanism of four omnidirectional's wheel drives, including chassis 2-
1, one 2-2 of motor mounting rack, two 2-3 of motor mounting rack, three 2-4 of motor mounting rack, four 2-5 of motor mounting rack, one 2-6 of motor,
Two 2-7 of motor, three 2-8 of motor, four 2-9 of motor, one 2-10 of universal wheel, two 2-11 of universal wheel, three 2-12 of universal wheel, universal wheel four
2-13；One 2-14 of shaft coupling, four 2-17 of two 2-15 of shaft coupling, three 2-16 of shaft coupling and shaft coupling；One 2-2 of motor mounting rack, electricity
Two 2-3 of machine mounting bracket, three 2-4 of motor mounting rack and four 2-5 of motor mounting rack be mounted on chassis 2-1 lower part, one 2-6 of motor,
Two 2-7 of motor, three 2-8 of motor and four 2-9 of motor are separately mounted to one 2-2 of motor mounting rack, two 2-3 of motor mounting rack, motor
On four 2-5 of three 2-4 of mounting bracket and motor mounting rack；One 2-10 of universal wheel, two 2-11 of universal wheel, three 2-12 of universal wheel and universal wheel
Four 2-13 are connected to motor by one 2-14 of shaft coupling, two 2-15 of shaft coupling, three 2-16 of shaft coupling and four 2-17 of shaft coupling respectively
One 2-6, four 2-9 of two 2-7 of motor, three 2-8 of motor and motor output shaft on.
With reference to attached drawing 1, attached drawing 7, attached drawing 8, attached drawing 9, attached drawing 10, attached drawing 11, attached drawing 12, attached drawing 13, attached drawing 14, attached drawing
16, attached drawing 17, attached drawing 18 and attached drawing 19, emergent stopping mechanism 3 include connection shelf 3-1, one 3-2 of slide bar, two 3-3 of slide bar, cunning
Three 3-4 of bar, four 3-5 of slide bar, five 3-6 of slide bar, six 3-7 of slide bar, seven 3-8 of slide bar, eight 3-9 of slide bar, sucker stand 3-10, linear axis
Hold a 3-11, two 3-12 of linear bearing, three 3-13 of linear bearing, four 3-14 of linear bearing, five 3-15 of linear bearing, linear bearing
Six 3-16, seven 3-17 of linear bearing, eight 3-18 of linear bearing, one 3-19 of compressed spring, two 3-20 of compressed spring, compressed spring three
3-21, four 3-22 of compressed spring, five 3-23 of compressed spring, six 3-24 of compressed spring, seven 3-25 of compressed spring, eight 3- of compressed spring
26, one 3-27 of sucker, two 3-28 of sucker, three 3-29 of sucker, four 3-30 of sucker, five 3-31 of sucker, six 3-32 of sucker, seven 3- of sucker
33, eight 3-34 of sucker, cylindrical cam 3-35, pulley spindle 3-36, pulley 3-37, thrust bearing 3-38, stop driven gear 3-39,
Stop driving gear 3-40, stop motor 3-41 and solenoid valve 3-42；Connection shelf 3-1 is fixed on the bottom of chassis 2-1；Slide bar
One 3-2, two 3-3 of slide bar, three 3-4 of slide bar, four 3-5 of slide bar, five 3-6 of slide bar, six 3-7 of slide bar, seven 3-8 of slide bar, eight 3-9 of slide bar are solid
It is scheduled on four ends of connection shelf 3-1；Be equipped on sucker stand 3-10 one 3-11 of linear bearing, two 3-12 of linear bearing,
Three 3-13 of linear bearing, four 3-14 of linear bearing, five 3-15 of linear bearing, six 3-16 of linear bearing, seven 3-17 of linear bearing and
Eight 3-18 of linear bearing, one 3-2 of slide bar, two 3-3 of slide bar, three 3-4 of slide bar, four 3-5 of slide bar, five 3-6 of slide bar, six 3-7 of slide bar, cunning
Seven 3-8 of bar and eight 3-9 of slide bar is each passed through one 3-11 of linear bearing, two 3-12 of linear bearing, three 3-13 of linear bearing, linear axis
Four 3-14, five 3-15 of linear bearing, eight 3-18 of six 3-16 of linear bearing, seven 3-17 of linear bearing and linear bearing are held, it is entire to inhale
Disk stand 3-10 can be along one 3-2 of slide bar, two 3-3 of slide bar, three 3-4 of slide bar, four 3-5 of slide bar, five 3-6 of slide bar, six 3- of slide bar
7, seven 3-8 of slide bar and eight 3-9 of slide bar is slided up and down relative to connection shelf 3-1；One 3-19 of compressed spring, two 3- of compressed spring
20, three 3-21 of compressed spring, four 3-22 of compressed spring, five 3-23 of compressed spring, six 3-24 of compressed spring, seven 3-25 of compressed spring
It is respectively fitted over one 3-2 of slide bar, two 3-3 of slide bar, three 3-4 of slide bar, four 3-5 of slide bar, five 3-6 of slide bar, cunning with eight 3-26 of compressed spring
On eight 3-9 of six 3-7 of bar, seven 3-8 of slide bar and slide bar, and the upper end is fixed on the lower surface of connection shelf 3-1, and lower end is fixed on
The upper surface of sucker stand 3-10；One 3-27 of sucker, two 3-28 of sucker, three 3-29 of sucker, four 3-30 of sucker, five 3-31 of sucker,
Six 3-32 of sucker, seven 3-33 of sucker and eight 3-34 of sucker are fixed on the bottom surface of sucker stand 3-10；Cylindrical cam 3-35 is circle
Cylindricality, with the cam groove that a circle is spiral yarn shaped on side, and the head and the tail of helix by one along cylinder axis
The groove in direction is connected directly logical, and the upper end of cylindrical cam 3-35 passes through the through-hole connected among shelf 3-1 and chassis 2-1, circle
Thin axis on the lower face of column cam 3-35 passes through the axis hole among sucker stand；It is provided with pulley spindle 3- on connection shelf 3-1
One end of 36, pulley spindle 3-36 are fixed on connection shelf 3-1, and the other end is deep into the groove of the sides cylindrical cam 3-35；
Pulley 3-37 is mounted on the other end of pulley spindle 3-36, can be along concave slot sports in the groove of cylindrical cam 3-35；Circle
The thin axle position of the lower parts column cam 3-35 is fitted with thrust bearing 3-38 in sucker stand 3-10 upper and lower faces, ensures that cylinder is convex
Friction is small when wheel 3-35 is rotated relative to sucker stand 3-10；The lower part peace of thrust bearing 3-38 below sucker stand 3-10
Equipped with stopping driven gear 3-39；It is off driving gear 3-40 with what stopping driven gear 3-39 was engaged, stops driving gear
3-40 is mounted on the output shaft for stopping motor 3-41；Stop the top that motor 3-41 is fixed on sucker stand 3-10, motor shaft
Across sucker stand 3-10 towards ground；Solenoid valve 3-42 is fixed on the upper surface of chassis 2-1, and its air inlet passes through modeling
Material gas pipeline is connect with the top aperture of eight suckers.
With reference to attached drawing 14, attached drawing 15, attached drawing 17, attached drawing 18 and attached drawing 19, body adjustment mechanism 4 is by static shelving 4-1, solid
One 4-2 of fixed column, two 4-3 of fixed pillar, three 4-4 of fixed pillar, four 4-5 of fixed pillar, five 4-6 of fixed pillar, fixed pillar
It is six 4-7, fixed seven 4-8 of pillar, eight 4-9 of fixed pillar, pitching motor stand 4-10, pitching motor 4-11, main framing 4-12, secondary
Skeleton 4-13, rack 4-14, telescope motor 4-15 and rack drives gear 4-16 compositions；One 4-2 of fixed pillar, fixed pillar two
4-3, fixed three 4-4 of pillar, four 4-5 of fixed pillar, five 4-6 of fixed pillar, six 4-7 of fixed pillar, fixed seven 4-8 of pillar and solid
Static shelving 4-1 is fixed on the 2-1 of chassis by eight 4-9 of fixed column；Pitching motor stand 4-10 is fixed on static shelving upper surface；
Pitching motor 4-11 is fixed on pitching motor stand 4-10；Main framing 4-12 is that section is rectangular carbon fiber pipe, bottom
On pitching motor 4-11 output shafts；Secondary skeleton 4-13 is half of, the secondary skeleton 4- that section is rectangular carbon fiber pipe
13 can inside main framing 4-12 up and down linear slide；Rack 4-14 is mounted on time skeleton 4-13；Telescope motor 4-15 is solid
It is scheduled on the top of main framing 4-12；Rack drives gear 4-16 is fixed on the output shaft of telescope motor 4-15, and with rack 4-
14 engagements；Pitching motor 4-11 rotations can drive the part of entire main framing 4-12 or more to swing, and realize the machine person
The pitching movement of body, the position of centre of gravity of adjusting；Telescope motor 4-15 rotations can adjust the height of robot.
With reference to attached drawing 2, attached drawing 14, attached drawing 15, attached drawing 17, attached drawing 18 and attached drawing 19, human-computer interaction device 5 includes that display is touched
Touch screen 5-1 and mechanical arm 5-2；Display touch screen 5-1 is fixed on time top of skeleton 4-13；Mechanical arm 5-2 is by arm base
Seat 5-2-1, arm 5-2-2, multi-dimension force sensor 5-2-3, hand 5-2-4, arms swing motor 5-2-5 and wobble drive gear 5-
2-6；Arm pedestal 5-2-1 is fixed on main framing 4-12；The upper ends arm 5-2-2 carry operative gear structure, arm 5-2-2's
Lower end is equipped with multi-dimension force sensor 5-2-3；Hand 5-2-4 is connected to the end of multi-dimension force sensor 5-2-3；Arms swing motor
5-2-5 is mounted on arm pedestal 5-2-1, wobble drive gear 5-2-6 and arm on arms swing motor 5-2-5 output shafts
The gear structure of the upper ends 5-2-2 engages；The rotation of arms swing motor 5-2-5 can drive swinging up and down for arm 5-2-2.
With reference to attached drawing 1, attached drawing 2 and attached drawing 16, sensing and controlling device 6 by acceleration gyro module 6-1, camera 6-2,
Ultrasonic sensor 6-3, infrared thermal imaging sensor 6-4, code-disc 6-5, control process unit 6-6, storage unit 6-7, movement
Control unit 6-8, drive module 6-9 and wireless communication unit 6-10 compositions；The chassis that acceleration gyro module 6-1 is mounted on
On 2-1, the attitude angle for detecting robot chassis 2-1；Camera 6-2 is mounted on the neck 1-5 of body 1, for detecting ring
Border information carries out the identification of barrier and people；Ultrasonic sensor 6-3 includes multiple sensor heads, is mounted on the bottom of body
On the outer surface of cylindrical drum, the distance for detecting barrier；Infrared thermal imaging sensor 6-4 is mounted on the lower part of body, uses
In the information of detection pedestrian；Code-disc 6-5 is located at the rear end of motor, rotating speed and rotational angle for detecting motor；At control
Unit 6-6, storage unit 6-7 and motion control unit 6-8 is managed all to be mounted on the 2-1 of chassis；The 6-6 processing of control process unit passes
Sensor data preserve data to storage unit 6-7, and generate control command to control the mobile mechanism 2, emergent stopping machine
Structure 3, body adjustment mechanism 4 and human-computer interaction device 5；Drive module 6-9 is realized to the mobile mechanism 2, emergent stopping mechanism
3, the driving of the Mechatronic Systems of body adjustment mechanism 4 and human-computer interaction device 5；Wireless communication unit 6-10 realizes robot and clothes
It is engaged in the communication of device and wireless device etc..
With reference to attached drawing 14 and attached drawing 15, power module 7 includes lithium battery 7-1 and voltage transformation module 7-2.
With reference to attached drawing 18 and attached drawing 19, article container 8 is cylindrical tube shape structure, is mounted on main framing 4-12, and object is used for
Product are held.
With reference to 20 robot typical motion state of attached drawing, 9 higher, the centers of gravity that are that machine human body regulating mechanism adjusts its height
Also state when higher, robot are moved forward with low speed, prevent from overturning；10 be robot adjust height it is relatively low when, center of gravity
Relatively low, robot high speed moves forward at this time；11 be the camera 6-2, ultrasonic sensor 6-3, infrared thermal imaging of robot
When sensor 6-4 detects that there are emergent barrier or pedestrian in front, the emergent stopping mechanism 3 of robot triggers fast quick-mounting
Machine ground on the ground by robot absorption prevents collision；12 be the release withdrawal of emergent stopping mechanism 3 of robot, machine
Device people is detached from ground, restarts to move ahead.
When with reference to attached drawing 21 robots Transport cargo rack article operation, 13 being that robotic manipulator 5-2 holds article 15,
During carrying article 15, due to robot gravity center shift, in order to prevent robot overturning, emergent stopping mechanism 3 works, by machine
Device people fixes on the ground；14 be that head is faced upward by the adjustment of body adjustment mechanism 4 robot, is fallen as possible in preferable position with adjusting its center of gravity
It sets, prevents robot from overturning, ensure safety work.
With reference to the 22 quick motion state of robot uphill, downhill of attached drawing, 16 be the acceleration gyro module 6-1 inspections of robot
Chassis inclination angle of the robot in upslope motion is measured, to control the pitch angle that body adjustment mechanism 4 adjusts robot, to protect
The main framing 4-12 of robot is demonstrate,proved close to vertical state, the center of gravity of robot is fallen as possible in preferable position, prevents robot from turning over
, ensure that safety is gone up a slope；17 be after robot detects ground level, and body adjustment mechanism 4 adjusts the pitch angle of robot
Close to 0 degree, control pitch angle is safely travel close to 0 degree；18 be that the acceleration gyro module 6-1 of robot detects machine
Chassis inclination angle of the device people in downslope motion, to control the pitch angle that body adjustment mechanism 4 adjusts robot, to ensure machine
The main framing 4-12 of people is fallen as possible close to vertical state, the center of gravity of robot in preferable position, prevents robot from overturning, and is ensured
Safe downslope motion.
With reference to the acceleration, deceleration campaign of 23 robots of attached drawing, 19 be during robot accelerates, to control body adjustment mechanism
4 make robot have certain inclination angle forward, prevent robot from overturning backward；20 be robot close to uniform motion or low
When speed movement, control pitch angle is close to 0 degree；During 21 are robot retarded motion, control body adjustment mechanism 4 makes robot
Robot tip forwards are prevented to the elevation angle with certain, to ensure the safety moving of robot.
Service robot control method includes mobile mechanism's control, the control of body adjustment mechanism, emergent stopping mechanism controls
It is controlled with human-computer interaction device；
Mobile mechanism's control is to realize motion control by the control to four wheels driving motor；
With reference to attached drawing 14, attached drawing 15, attached drawing 17, attached drawing 18 and attached drawing 19, the control of body adjustment mechanism includes, in robot
In moving process, by detecting the inclination angle [α, β] on robot chassis, wherein α is the pitch angle on chassis, and β is the roll angle on chassis,
By the original place rotation for controlling robot universal wheel so that robot can adjust inclination angle of the main framing relative to static shelving,
As controlled its center of gravity when uphill, downhill in the range of safety, prevent robot from turning on one's side；When robot accelerates to advance, pass through control
Robot main framing processed swings forward certain angle, prevents robot from turning on one's side backward, and when robot slows down stopping, passing through control
Robot main framing swing backward certain angle processed, prevents robot from turning on one's side forward；
Emergent stopping mechanism controls flow is：
S1：Solenoid valve, which is opened, first makes air inlet and gas outlet unicom, and controls motor rotation, and driving cam rotation is convex
The distance of upward direct acting while wheel rotation, chassis and sucker stand reduces, and compressed spring stores elastic potential energy, bearing near
Up to spiral groove peak when, cam stops operating, and preparation is ready；
S2：Ultrasonic sensor and infrared thermal imaging sensor detect immediately ahead of robot motion have pedestrian or
Barrier quickly close to when, cam is rotated further, and pulley can slide to the bottom end of groove from backward channel, be pressed to trigger sucker
Air in sucker is discharged by the pipeline of solenoid valve, closes solenoid valve rapidly at this time, thereby may be ensured that solenoid valve by ground
On the ground, to provide certain power, robot is fixed on the ground in negative pressure state, sucker suction in tracheae,
Prevent the generation of accident；
S3：When robot, which needs to start, to be left, solenoid valve is opened, air enters in sucker, and sucker Automatic-falling is convex
Wheel is rotated further, into the emergent stopping preparation stage of a new round.
Human-computer interaction device's control is operator can input certain information by display touch screen, or receive machine
The relevant information of device people, to be controlled accordingly robot；Human-computer interaction device's control further includes that operator hauls machine
During the hands movement of device people, robot by perceive people pulling force, to control its movement velocity, speed v=f (Fx, Fy,
Fz)=c1Fx+c2Fx 2+c3Fy+c4Fy 2+c5Fz+c6Fz 2, F herex、FyAnd FzIt is the three-dimensional force letter that multi-dimension force sensor detects
Breath, ci=fi(θ, γ), i=1,2,3,4,5,6, θ be the pitch angle of main framing, and γ is the swing angle of arm, by analysis and
Experiment can determine parameter ci。
Claims (9)
1. a kind of robot includes the mobile mechanism of body and the driving body movement, it is characterised in that：Further include one tight
Emergency stop locking mechanism, the emergent stopping mechanism include connection shelf, slide bar, sucker stand, compressed spring, sucker, cylindrical cam,
Pulley spindle, pulley stop driven gear, stop driving gear, stop motor and solenoid valve；The connection shelf is fixed on described
The bottom on the chassis of mobile mechanism, the stopping driven gear, stopping driving gear and stopping motor being fixed on the connection
Shelf lower end, the cylindrical cam connect with the stopping driven gear and is located at the connection shelf upper end, in the cylinder
Regulating tank is provided on the cylindrical surface of cam, described pulley spindle one end is located in the sucker stand, the pulley spindle other end with set
The pulley connection in the regulating tank is set, slide bar, the compressed spring are provided between the connection shelf and sucker stand
It is sleeved on the slide bar；In the lower end of the slide bar, the sucker is set；The solenoid valve is fixed on the chassis, solenoid valve
Air inlet pass through the top aperture of gas pipeline and sucker and connect；The sucker stand is along the regulating tank in the slide bar
On slided up and down relative to connection shelf, when the sucker stand slides into lowest positions, the sucker and ground are inhaled
Conjunction makes the robot stop motion.
2. robot according to claim 1, it is characterised in that：The regulating tank is by the spiral yarn shaped arc groove of a circle
It is constituted with the straight-line groove of connection helix head and the tail, wherein straight-line groove is along cylinder axis direction.
3. robot according to claim 2, it is characterised in that：Further include body adjustment mechanism, the body adjustment
Mechanism is by static shelving, fixed pillar, pitching motor stand, pitching motor, main framing, secondary skeleton, rack, telescope motor and tooth
Drive gear set at；The static shelving is fixed on by the fixed pillar on the chassis；The pitching motor stand
It is fixed on the static shelving upper surface, the fixed pitching motor is fixed on the pitching motor stand；The main framing
Bottom be mounted on pitching motor output shaft on；The secondary skeleton upper and lower linear slide inside main framing；The rack installation
In the bottom of secondary skeleton；The telescope motor is fixed on the top of the main framing；The rack drives gear is fixed on described
On the output shaft of telescope motor, and engaged with rack.
4. robot according to claim 3, it is characterised in that：The body by sequentially connected bottom from top to bottom,
Five lower part, middle part, top and neck parts form；Bottom is rigid cylindrical barrel structure, is fixed in mobile mechanism；Neck
Portion is rigid cylinder structure, is fixed on the top of body adjustment mechanism；Lower part, middle part and top are with certain arc
Column casing structural housing；Middle part is flexible structure material, in order to which body is as body adjustment mechanism adjusts robot height or does
Natural dough deformation occurs during pitching movement.
5. robot according to claim 4, it is characterised in that：The mobile mechanism is the movement of four omnidirectional's wheel drives
Mechanism, including chassis, four motor mounting racks, four motors, four shaft couplings and four universal wheels；Chassis is circular sheet；
Four motor mounting racks are L-type structure, and L's is mounted on chassis lower part on one side, and another side is equipped with a motor, and four motors are equal
It is even to be distributed in circular base plate, and circumferencial direction is directed toward by the center of circle；Four shaft couplings are separately mounted on four motor output shafts,
Four omni-directional wheels are separately mounted on four motor output shafts.
6. robot according to claim 5, it is characterised in that：The sucker stand is in crux；The slide bar is
Eight, a sucker is connected in the lower end of the every slide bar, eight suckers are separately fixed at described ten two-by-two
On the bottom surface of one end of cabinet frame shape sucker stand, towards ground.
7. robot according to claim 6, it is characterised in that：Further include display touch screen and mechanical arm；It is described aobvious
Show that touch screen is fixed on the top of the secondary skeleton；The mechanical arm is by arm pedestal, arm, multi-dimension force sensor, hand, hand
Arm swing motor and wobble drive gear；The arm pedestal is fixed on the main framing close to top；Arm upper end band
There are operative gear structure, lower end to be connected and installed with multi-dimension force sensor；The hand is connected to the other end of multi-dimension force sensor,
The hand is an elliptical annular structure, is grasped convenient for human hand；The arms swing motor is mounted on arm pedestal, defeated
Wobble drive gear on shaft is engaged with the gear structure of arm upper end.
8. robot according to claim 7, it is characterised in that：Further include sensing and controlling device, the sensing control dress
It sets including acceleration gyro module, camera, ultrasonic sensor, infrared thermal imaging sensor, code-disc, control process list
Member, storage unit, motion control unit and drive module and wireless communication unit；The acceleration gyro module is mounted on
On the chassis, the attitude angle on the chassis for detecting robot；The camera is mounted on the neck of the body, for examining
Environmental information is surveyed, the identification of barrier and pedestrian is carried out；The ultrasonic sensor includes multiple sensor heads, is mounted on described
On the outer surface of the bottom of body, the distance for detecting barrier；The infrared thermal imaging sensor is mounted on the machine
The lower part of body, the information for detecting pedestrian；The code-disc is the included code-disc of each motor, for detecting motor rotational angle
And rotating speed；The control process cell processing sensing data preserves data to storage unit, and generates control command to control
The mobile mechanism, emergent stopping mechanism, body adjustment mechanism and human-computer interaction device；The drive module is realized to the shifting
Four motors of motivation structure, solenoid valve, the driving for stopping motor, pitching motor, telescope motor and arms swing motor；The nothing
Line communication unit realizes the communication of robot and wireless device.
9. the control method based on any robots of claim 1-8, it is characterised in that：Including mobile mechanism's control, body
The control of body adjustment mechanism, emergent stopping mechanism controls and human-computer interaction device's control；
Mobile mechanism's control is to realize robot towards 360 degree of arbitrary sides by the control to four wheels driving motor
To movement；
Body adjustment mechanism control includes, in robot moving process, by detect robot chassis inclination angle [α,
β], wherein α is the pitch angle on chassis, and β is the roll angle on chassis, and the original place by controlling robot universal wheel rotates so that machine
Device people can adjust inclination angle of the main framing relative to static shelving, control the center of gravity of entire robot in the range of safety, prevent
Only robot turns on one's side；When robot accelerates to advance, certain angle is swung forward by controlling robot main framing, prevents machine
People turns on one's side backward, and when robot slows down stopping, by controlling robot main framing swing backward certain angle, prevent machine
People turns on one's side forward, main framing swing angle δ=f (a), and wherein a is the acceleration of robot；
The emergent stopping mechanism controls flow is：
S1：Solenoid valve opening first makes air inlet and gas outlet unicom, and controls motor rotation, and driving cam rotation, cam turns
Upward direct acting while dynamic, the distance for connecting shelf and sucker stand reduce, and compressed spring stores elastic potential energy, bearing near
Up to spiral groove peak when, cam stops operating, and preparation is ready；
S2：The ultrasonic sensor and infrared thermal imaging sensor detect immediately ahead of robot motion have pedestrian or
Barrier quickly close to when, cam is rotated further, and pulley can quickly slide to the bottom end of groove from backward channel, to trigger sucker
Ground is pressed to, the air in sucker is discharged by the pipeline of solenoid valve, solenoid valve is closed rapidly at this time, thereby may be ensured that electricity
Negative pressure state is in magnet valve and tracheae, robot on the ground, to provide certain suction, is fixed on ground by sucker suction
On face, prevent machine person to person from bumping against, the generation to cause the accident；
S3：When robot, which needs to start, to be left, open solenoid valve, air enters in sucker, sucker Automatic-falling, cam after
Continuous rotation, into the emergent stopping preparation stage of a new round；
Human-computer interaction device's control is operator can input certain information by display touch screen, or receive machine
The relevant information of device people, to be controlled accordingly robot；Human-computer interaction device's control further includes that operator hauls machine
During the hands movement of device people, robot perceives the pulling force of people by the multi-dimension force sensor, to control its movement velocity,
Its speed v is：
V=f (Fx, Fy, Fz)=c1Fx+c2Fx 2+c3Fy+c4Fy 2+c5Fz+c6Fz 2
Wherein, Fx、FyAnd FzIt is the three-dimensional force information that multi-dimension force sensor detects, coefficient ci=fi(θ, γ), i=1,2,3,4,
5,6, θ be the pitch angle of main framing, and γ is the swing angle of arm.
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