CN1810463A - Anthropomorphic robot - Google Patents
Anthropomorphic robot Download PDFInfo
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- CN1810463A CN1810463A CN 200510132256 CN200510132256A CN1810463A CN 1810463 A CN1810463 A CN 1810463A CN 200510132256 CN200510132256 CN 200510132256 CN 200510132256 A CN200510132256 A CN 200510132256A CN 1810463 A CN1810463 A CN 1810463A
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Abstract
The anthropomorphic robot includes a robot body and an electric control mechanism. The robot body consists of 5 seven freedom control mechanisms, including 1 for the trunk, 2 for the arms with upper end connected to the middle part of the trunk, and 2 for the legs with upper end connected to the lower end of the trunk; 1 six freedom control mechanism for the head with lower end connected to the upper end of the trunk; and 2 twenty freedom control mechanisms for the palms with upper ends connected separately to the lower ends of the seven freedom control mechanisms for arms. The robot has simple structure, less motors and high motor power utilization rate, and is detachable and easy to miniaturize.
Description
Technical field patent of the present invention is a kind of bio-robot, can be used for fields such as industrial automation control, education, artificial limb, amusement.Belong to mechanical engineering Robotics field.
The background technology robot is widely used in fields such as industrial automation control, education, artificial limb, amusement.But existing robots has following problem:
One. bulky, quality height, complex structure microminaturization difficulty.
Two. need to use a plurality of motor, control is complicated dumb, the motor power (output) waste.
The purpose of summary of the invention patent of the present invention is the above-mentioned deficiency at prior art, designs and develops a kind of compact conformation, quality is low, control is flexible, the motor usage quantity is few, efficient is high robot.
For achieving the above object, the technological facilities that patent of the present invention adopted is: a kind of humanoid robot comprises robot body and electrical control mechanism; Described robot body is made up of five groups of seven freedom controlling organizations, one group of six degree of freedom controlling organization, two group of 20 free degree controlling organization.One group of seven freedom controlling organization is as trunk, the upper end of two groups of seven freedom controlling organizations is connected as two arms with the middle part of the seven freedom controlling organization of trunk respectively, the upper end of two groups of seven freedom controlling organizations is connected as two shanks with the lower end of the seven freedom controlling organization of trunk respectively, the upper end of the seven freedom controlling organization of the lower end of one group of six degree of freedom controlling organization and trunk is connected as head, and the upper end of two group of 20 free degree controlling organization is connected as two palms with the lower end of the seven freedom controlling organization of two arms respectively.Suitable position the robot body is respectively equipped with eight groups of power take-off units, 81 groups of power distribution unit, ten groups of Three Degree Of Freedom joints, 13 groups of two-freedom degree joints, 25 groups of single-degree-of-freedom joints, 13 groups of electric lost electromagnet.
Described seven freedom controlling organization comprises two groups of Three Degree Of Freedom joints, one group of single-degree-of-freedom joint, one group of power take-off unit, seven groups of power distribution unit, two groups of electric lost electromagnet, one group of assembly pulley composition.Two groups of Three Degree Of Freedom joints are respectively as the upper and lower end of seven freedom controlling organization, two groups of electric lost electromagnet are fixedly mounted on the lever arm place of upper and lower end respectively, one group of single-degree-of-freedom joint is as the middle part of seven freedom motion control mechanism, the fixed arm in the Three Degree Of Freedom joint of upper end and the single-degree-of-freedom arthrodesis arm at middle part are connected, the lever arm in the Three Degree Of Freedom arthrodesis arm of lower end and the single-degree-of-freedom joint at middle part is fixedlyed connected, after one group of power distribution unit and seven groups of power distribution unit are connected with a joggle, be fixed on the fixed arm in Three Degree Of Freedom joint, upper end; One group of assembly pulley is fixedly mounted on the single-degree-of-freedom arthrodesis arm at middle part, plays the effect of the steel wire rope direction that changes lower end Three Degree Of Freedom joint; The Three Degree Of Freedom joint is by three groups of steel wire ropes, two semi-round ring shape bracing frames, a circular support frame, a reel, lever arm, fixed arm, three double grooved pulleys, two single groove pulleys are formed, connect by cross axle between fixed arm and the circular support frame, the two ends of two semi-round ring shape bracing frames are connected on the circular support frame by axle respectively, the cross section that the circular support frame is also vertical with lever arm with passing through the cross axle axle center overlaps, two semi-round ring shape bracing frames are respectively by two holes on the fixed arm, two groups of double grooved pulleys are separately fixed at the top in these two holes, and these two groups of double grooved pulleys are tangent with two semi-round ring shape bracing frames respectively, one group of double grooved pulley is also fixed in the top of cross axle, and the axis of this double grooved pulley and semi-round ring shape bracing frame is tangent, two groups of single groove pulleys are separately fixed at the cross axle both sides, and the axis of these two groups single groove pulleys and semi-round ring shape bracing frame is tangent, be positioned at the bottom surface of circular support frame, one end of lever arm is by the center of circle of reel, be vertically fixed on the reel simultaneously, reel links to each other with the circular support frame by axle, axis is by the axle center of cross axle, and vertical with plane, circular support frame place; The mid point of one group of steel wire rope is fixed on the reel of a power distribution unit, and respectively by being wrapped on the reel with counter clockwise direction clockwise, two ends are by the double grooved pulley of cross axle top then, pass through single groove pulley of cross axle both sides more respectively, after changing direction, respectively along clockwise with the reel that counterclockwise is wound on the lever arm on, the tension back is fixing; The mid point of two groups of steel wire ropes is separately fixed on the reel of two power distribution unit, and respectively by being wrapped in respectively on the reel of two power distribution unit with counter clockwise direction clockwise, the two ends of two groups of steel wire ropes two groups of double grooved pulleys of the top by being fixed on two holes respectively separately then, change direction, respectively along being wound on the groove of two semi-round ring shape bracing frame outer surfaces with counter clockwise direction clockwise, be separately fixed at the two ends of two semi-round ring shape bracing frames after the tension again; The single-degree-of-freedom joint is by one group of steel wire rope, a reel, a double grooved pulley, lever arm, fixed arm is formed, fixed arm and lever arm flexibly connect by axle, reel is fixed on the lever arm and plane, place and axis normal, axis is passed through in the center of circle, the mid point of one group of steel wire rope is fixed on the reel of a power distribution unit, two ends are respectively by being wrapped on the reel with counter clockwise direction clockwise, the two ends of steel wire rope are respectively by being fixed on the double grooved pulley on the fixed arm then, change direction, respectively along being wound on the groove in the reel outside that is fixed on the lever arm with counter clockwise direction clockwise, the tension back is fixing again; Power distribution unit is made up of a line shaft, a reel, a decelerator, two clutches, the output of decelerator is fixedlyed connected with reel, the input of decelerator is fixedlyed connected with line shaft, fixedly connected with the output of two clutches respectively in the two ends of line shaft, the input of clutch is gear input, the connection that can be meshing with each other by the input of clutch of the two ends of a plurality of power distribution unit; Power take-off unit is made up of two shaft motor, two gear-boxes, the two ends of two shaft motor connect the input of two gear-boxes respectively, two gear-boxes are by the commutation effect of gear, make the gear rotational speed of outputting power of output of two gear-boxes identical, and direction is opposite; Power distribution unit can be connected by gears engaged with a plurality of power take-off units; Two groups of electric lost electromagnet are fixedly mounted on respectively on the lever arm in upper and lower end Three Degree Of Freedom joint, the electric lost electromagnet produces powerful absorption affinity under off-position, and do not produce absorption affinity at the "on" position lower electromagnet, when the polarity of energising voltage when opposite with normal condition, its powerful absorption affinity can be bigger, when the polarity of energising voltage when identical, can utilize the homopolar-repulsion effect separation of electromagnet with normal condition.
Described six degree of freedom controlling organization comprises that three groups of two-freedom degree joints, one group of power take-off unit, six groups of power distribution unit, one group of electric lost electromagnet, support form.The fixed arm of two groups of two-freedom degree joints is connected with the middle part of support respectively, as the movable device of eyeball; The fixed arm of one group of two-freedom degree joint is connected with the bottom of support, as the movable device of face; One group of electric lost electromagnet is fixedly mounted on the bottom of support; After being connected with a joggle, one group of power take-off unit, six groups of power distribution unit are fixed on the middle part of support; Two-freedom degree joint is by two groups of steel wire ropes, two semi-round ring shape bracing frames, a circular support frame, lever arm, fixed arm, two double grooved pulleys are formed, connect by cross axle between fixed arm and the circular support frame, one end of lever arm is by the center of circle of circular support frame, be vertically fixed on simultaneously on the plane, circular support frame place, the cross section that the circular support frame is also vertical with lever arm with passing through the cross axle axle center overlaps, the two ends of two semi-round ring shape bracing frames are connected on the circular support frame by axle respectively, and the plane at place is orthogonal separately, and respectively by two holes on the fixed arm, two groups of double grooved pulleys are separately fixed at the top in these two holes, and these two groups of double grooved pulleys are tangent with two semi-round ring shape bracing frames respectively; The mid point of two groups of steel wire ropes is separately fixed on the reel of two power distribution unit, and respectively by being wrapped on the reel respectively with counter clockwise direction clockwise, the two ends of two groups of steel wire ropes two groups of double grooved pulleys of the top by being fixed on the hole respectively separately then, after changing direction, respectively along being wound on the groove of two semi-round ring shape bracing frame outer surfaces with counter clockwise direction clockwise, be separately fixed at the two ends of two semi-round ring shape bracing frames after the tension again; Power distribution unit is made up of a line shaft, a reel, one group of decelerator, two clutches, the output of decelerator is fixedlyed connected with reel, the input of decelerator is fixedlyed connected with line shaft, fixedly connected with the output of two clutches respectively in the two ends of line shaft, the input of two clutches is gear input, the connection that can be meshing with each other by the input of clutch of a plurality of power distribution unit; Power take-off unit is made up of two shaft motor, two gear-boxes, the two ends of two shaft motor connect the input of two gear-boxes respectively, two gear-boxes are by the commutation effect of gear, make the gear rotational speed of outputting power of output of two gear-boxes identical, and direction is opposite; Power distribution unit can be connected by gears engaged with a plurality of power take-off units; One group of electric lost electromagnet is fixedly mounted on the bottom of support, the electric lost electromagnet produces powerful absorption affinity under off-position, and do not produce absorption affinity at the "on" position lower electromagnet, when the polarity of energising voltage when opposite with normal condition, its powerful absorption affinity can be bigger, when the polarity of energising voltage when identical, can utilize the homopolar-repulsion effect separation of electromagnet with normal condition; Support is an oval-shaped bracing frame.
Described 20 free degree motion control mechanisms comprise five groups of two-freedom degree joints, ten groups of single-degree-of-freedom joints, one group of power take-off unit, 20 groups of power distribution unit, 15 double grooved pulleys, 20 single groove pulleys, one group of electric lost electromagnet, support is formed, the lever arm of one group of single-degree-of-freedom joint one end is fixedlyed connected with the fixed arm in one group of single-degree-of-freedom joint, the fixed arm of the other end is fixedlyed connected with the lever arm of another group two-freedom degree joint, the fixed arm of two-freedom degree joint is fixedly connected on the upper end of support, on the single-degree-of-freedom joint in the middle of a double grooved pulley is fixed on, and the dead in line in its axis and this single-degree-of-freedom joint, direction with the steel wire rope in the single-degree-of-freedom joint that changes top, four single groove pulleys are fixed on respectively on the plane of axes intersect of the lever arm of two-freedom degree joint and semi-round ring shape bracing frame in twos, four single groove pulleys are tangent with the axis of semi-round ring shape bracing frame respectively, and the axis of four single groove pulleys is vertical with this plane, and four point of contacts lay respectively at the both sides of lever arm; Two double grooved pulleys are fixedly mounted in the plane of axes intersect of the fixed arm of two-freedom degree joint and semi-round ring shape bracing frame, and the axis of these two double grooved pulleys is vertical with this plane, and the axis of these two double grooved pulleys and semi-round ring shape bracing frame is tangent, the point of contact is positioned at the axle center of two-freedom degree joint cross axle, to change direction from the steel wire rope in two single-degree-of-freedom joints, constitute finger, four finger fixed order constitute forefinger respectively in the upper end of support, middle finger, nameless, little finger, a finger is fixedly connected on middle part one side of support, constitutes thumb; After one group of power take-off unit, 20 groups of power distribution unit are connected with a joggle, be fixed on the middle part of support; Two-freedom degree joint is by two groups of steel wire ropes, two semi-round ring shape bracing frames, a circular support frame, lever arm, fixed arm, two double grooved pulleys are formed, connect by cross axle between fixed arm and the circular support frame, one end of lever arm is by the center of circle of circular support frame, be vertically fixed on simultaneously on the plane, circular support frame place, the cross section that the circular support frame is also vertical with lever arm with passing through the cross axle axle center overlaps, the two ends of two semi-round ring shape bracing frames are connected on the circular support frame by axle respectively, and the plane at place is orthogonal separately, and respectively by two holes on the fixed arm, two groups of double grooved pulleys are separately fixed at the top in these two holes, and these two groups of double grooved pulleys are tangent with two semi-round ring shape bracing frames respectively; The mid point of two groups of steel wire ropes is separately fixed on the reel of two power distribution unit, and respectively by being wrapped on the reel respectively with counter clockwise direction clockwise, the two ends of two groups of steel wire ropes two groups of double grooved pulleys of the top by being fixed on the hole respectively separately then, after changing direction, respectively along being wound on the groove of two semi-round ring shape bracing frame outer surfaces with counter clockwise direction clockwise, be separately fixed at the two ends of two semi-round ring shape bracing frames after the tension again; Power distribution unit is made up of a line shaft, a reel, one group of decelerator, two clutches, the output of decelerator is fixedlyed connected with reel, the input of decelerator is fixedlyed connected with line shaft, fixedly connected with the output of two clutches respectively in the two ends of line shaft, the input of two clutches is gear input, the connection that can be meshing with each other by the input of clutch of a plurality of power distribution unit; Power take-off unit is made up of two shaft motor, two gear-boxes, the two ends of two shaft motor connect the input of two gear-boxes respectively, two gear-boxes are by the commutation effect of gear, make the gear rotational speed of outputting power of output of two gear-boxes identical, and direction is opposite; Power distribution unit can be connected by gears engaged with a plurality of power take-off units; One group of electric lost electromagnet is fixedly mounted on the bottom of support, the bottom of support and as the lever arm of the lower end of the seven freedom motion control mechanism of arm, link together by the electromagnetism suction-operated, the electric lost electromagnet produces powerful absorption affinity under off-position, and do not produce absorption affinity at the "on" position lower electromagnet, when the polarity of energising voltage when opposite with normal condition, its powerful absorption affinity can be bigger, when the polarity of energising voltage when identical, can utilize the homopolar-repulsion effect separation of electromagnet with normal condition; Support is a trapezoidal bracing frame.
Described electrical control mechanism comprises: one group of PC main frame, eight groups of single-chip microcomputers, radio transmission apparatus, some positions, speed, temperature, pressure, acceleration, direction, image, sound, taste sensor is formed, eight groups of single-chip microcomputers are connected with the PC main frame by radio transmission apparatus respectively, control five groups of seven freedom motion control mechanisms respectively, one group of six-freedom motion controlling organization, two group of 20 free degree motion control mechanism, each sensor is connected with single-chip microcomputer respectively, provide control required real time data, eight groups of any a slices of single-chip microcomputer can break away from PC and independently control the part that is connected, when eight groups of single-chip microcomputers are independently controlled the part disengaging robot body that is connected, the PC main frame can be controlled eight groups of single-chip microcomputers by radio transmission apparatus and independently control the part that is connected, and also it can be reassembled into a robot body.
The humanoid robot of patent of the present invention makes it compared with prior art owing to adopt above technical scheme, has following advantage and characteristics:
1, volume-diminished, quality reduces, and is simple in structure, is easy to miniaturization.
2, use the motor number to reduce, control is simple, flexible, and motor power (output) can be assigned to other frees degree and get on when one degree of freedom is not moved, improved the utilization ratio of motor power (output).
Description of drawings
Fig. 1 is the main TV structure schematic diagram of patent humanoid robot of the present invention;
Fig. 2 is the structural representation of the seven freedom motion control mechanism of patent humanoid robot of the present invention;
Fig. 3 is the structural representation of the six-freedom motion controlling organization of patent humanoid robot of the present invention;
Fig. 4 is the structural representation of 20 free degree motion control mechanisms of patent humanoid robot of the present invention;
Fig. 5 is the structural representation in the Three Degree Of Freedom joint of patent humanoid robot of the present invention;
Fig. 6 is the structural representation of the two-freedom degree joint of patent humanoid robot of the present invention;
Fig. 7 is the structural representation in the single-degree-of-freedom joint of patent humanoid robot of the present invention;
Fig. 8 is the structural representation of the power take-off unit of patent humanoid robot of the present invention;
Fig. 9 is the structural representation of the power distribution unit of patent humanoid robot of the present invention;
Figure 10 is the structured flowchart of the electrical control part of patent humanoid robot of the present invention.
The specific embodiment
See also Fig. 1, patent humanoid robot of the present invention is grouped into by robot body and electrical control division.The robot body by five groups of seven freedom controlling organizations respectively as trunk 4, left hand arm 2, right arm 6, left shank 5, right shank 8; One group of six-freedom motion controlling organization is as head 1; Two group of 20 free degree motion control mechanism is respectively as the left hand palm 3, the right hand palm 7.Suitable position the robot body is respectively equipped with eight groups of power take-off units, 81 groups of power distribution unit, ten groups of Three Degree Of Freedom joints, 13 groups of two-freedom degree joints, 25 groups of single-degree-of-freedom joints, 13 groups of electric lost electromagnet.
Continuation is referring to Fig. 2, and the seven freedom controlling organization of patent of the present invention is made up of two groups of Three Degree Of Freedom joints, one group of single-degree-of-freedom joint, one group of power take-off unit, seven groups of power distribution unit, two groups of electric lost electromagnet, one group of assembly pulley; Two groups of Three Degree Of Freedom joints are respectively as upper end 9, the lower end 15 of seven freedom motion control mechanism, electric lost electromagnet 16, electric lost electromagnet 17 are separately fixed on upper end 9, the lever arm 18 of lower end 15, the lever arm 19, one group of single-degree-of-freedom joint is as middle part 12, the fixed arm 10 of upper end 9 and the fixed arm 11 at middle part 12 are fixedlyed connected, the fixed arm 14 of lower end 15 is fixedlyed connected with the lever arm 13 at middle part 12, and one group of power take-off unit 20, seven groups of power distribution unit 21 are fixed on the fixed arm 10 of upper end 9 after being connected with a joggle; One group of assembly pulley 22 is fixedly mounted on the fixed arm 11 at middle part 12, and is axle with the axis in single-degree-of-freedom joint, middle part, plays the effect of the steel wire rope direction that changes 15 places, lower end.
Continuation is referring to Fig. 3, and the structure of the six-freedom motion controlling organization of patent of the present invention comprises that three groups of two-freedom degree joints, one group of power take-off unit, six groups of power distribution unit, one group of electric lost electromagnet, support form.The fixed arm of one group of two-freedom degree joint is fixedlyed connected as left eye 23 with the middle part of support 29, the fixed arm of another group two-freedom degree joint is fixedlyed connected as right eye 24 with the middle part of support 29, fixed arm of another group two-freedom degree joint is fixedlyed connected the middle part that is fixed on support 29 after being connected with a joggle as 25, one groups of power take-off units of mouth 26, six groups of power distribution unit 27 with the bottom of support 29; One group of electric lost electromagnet 28 is fixedly mounted on the bottom of support 29, electric lost electromagnet 28 produces powerful absorption affinity under off-position, and do not produce absorption affinity at the "on" position lower electromagnet, when the polarity of energising voltage when opposite with normal condition, its powerful absorption affinity can be bigger, when the polarity of energising voltage when identical, can utilize the homopolar-repulsion effect separation of electromagnet with normal condition; Support 29 is oval-shaped bracing frames.
Continuation comprises five groups of two-freedom degree joints referring to 20 free degree motion control mechanisms of Fig. 4 patent of the present invention, ten groups of single-degree-of-freedom joints, one group of power take-off unit, 20 groups of power distribution unit, one group of electric lost electromagnet, 15 double grooved pulleys, 20 single groove pulleys, support is formed, the lever arm 31 of one group of single-degree-of-freedom joint 30 1 end is fixedlyed connected with the fixed arm 33 in another group single-degree-of-freedom joint 32, the fixed arm 34 of the other end is fixedlyed connected with the lever arm 36 of one group of two-freedom degree joint 35, the fixed arm 37 of two-freedom degree joint 35 is fixedly connected on the upper end of support 38, on the single-degree-of-freedom joint 30 in the middle of a double grooved pulley 39 is fixed on, and the dead in line in its axis and this single-degree-of-freedom joint 30, direction with the steel wire rope in the single-degree-of-freedom joint 32 that changes top, four single groove pulleys 40,41,42,43 are fixed on respectively on the plane of axes intersect of one of them semi-round ring shape bracing frame of the lever arm 36 of two-freedom degree joint 35 and two-freedom degree joint 35 in twos, four single groove pulleys 40,41,42,43 is tangent with the axis of one of them semi-round ring shape bracing frame of two-freedom degree joint 35 respectively, four point of contacts lay respectively at the both sides of lever arm 36, and four single groove pulleys 40,41,42,43 axis is vertical with this plane, two double grooved pulleys 44,45 are fixedly mounted in the plane of axes intersect of one of them semi-round ring shape bracing frame of the fixed arm 37 of two-freedom degree joint 35 and two-freedom degree joint 35, and these two double grooved pulleys 44,45 axis is vertical with this plane, and these two double grooved pulleys 44,45 and the axis of one of them semi-round ring shape bracing frame of two-freedom degree joint 35 tangent, the point of contact is positioned at the axle center of the cross axle of two-freedom degree joint 35, to change from two single-degree-of-freedom joints 30, the direction of 32 steel wire rope constitutes finger; Four finger fixed order constitute forefinger 46, middle finger 47, nameless 48, middle part one side that 49, one fingers of little finger are fixedly connected on support respectively in the upper end of support, constitute thumb 50; One group of electric lost electromagnet 51 is fixedly mounted on the bottom of support 38, the bottom of support 38 and as the lever arm of the lower end of the seven freedom controlling organization of arm, link together by the electromagnetism suction-operated, after 52,20 groups of power distribution unit 53 of one group of power take-off unit are connected with a joggle, be fixed on the middle part of support 38.
Continuation is referring to Fig. 5, the Three Degree Of Freedom joint of patent humanoid robot of the present invention is by three groups of steel wire ropes, two semi-round ring shape bracing frames, a circular support frame, a reel, lever arm, fixed arm, three double grooved pulleys, two single groove pulleys are formed, connect by cross axle 56 between fixed arm 63 and the circular support frame 55, two semi-round ring shape bracing frames 57,58 two ends are respectively by axle 59,60,61,62 are connected on the circular support frame 55, circular support frame 55 overlaps with the axle center of passing through cross axle 56 and with lever arm 54 vertical cross sections, two semi-round ring shape bracing frames 57,58 respectively by two holes 64 on the fixed arm 63,65, two groups of double grooved pulleys 66,67 are separately fixed at this two holes 64,65 top, and these two groups of double grooved pulleys 66,67 respectively with two semi-round ring shape bracing frames 57,58 is tangent, one group of double grooved pulley 68 is also fixed in the top of cross axle 56, and this double grooved pulley 68 is tangent with the axis of semi-round ring shape bracing frame 58, two groups of single groove pulleys 69,70 are separately fixed at cross axle 56 both sides, and these two groups single groove pulleys 69,70 and the axis of semi-round ring shape bracing frame 58 tangent, be positioned at the bottom surface of circular support frame 55, one end of lever arm 54 is by the center of circle of reel 71, be vertically fixed on simultaneously on the reel 71, reel 71 links to each other with circular support frame 55 by axle 72, axis passes through the axle center of cross axle 56, and vertical with plane, circular support frame 55 place; The mid point of one group of steel wire rope 73 is fixed on the reel 75 of a power distribution unit 74, and respectively by being wrapped on the reel 75 with counter clockwise direction clockwise, two ends are by the double grooved pulley 68 of cross axle 56 tops then, pass through single groove pulley 69,70 of cross axle 56 both sides more respectively, after changing direction, along being wound on the groove of reel 71 outer surfaces on the lever arm 54 with counter clockwise direction clockwise, be fixed on after the tension on the reel 71 respectively; Two groups of steel wire ropes 76,77 mid point is separately fixed at two power distribution unit 78,79 reel 80, on 81, and respectively by being wrapped in two power distribution unit 78 respectively with counter clockwise direction clockwise, 79 reel 80, on 81, two groups of steel wire ropes 76 then, 77 two ends are separately respectively by being fixed on two holes 65, two groups of double grooved pulleys 67 of 64 top, 66, change direction, again respectively along being wound into two semi-round ring shape bracing frames 57 with counter clockwise direction clockwise, on the groove of 58 outer surfaces, be separately fixed at two semi-round ring shape bracing frames 57 after the tension, 58 two ends;
Continuation is referring to Fig. 6, the two-freedom degree joint of patent humanoid robot of the present invention, two-freedom degree joint is by two groups of steel wire ropes, two semi-round ring shape bracing frames, a circular support frame, lever arm, fixed arm, two double grooved pulleys are formed, connect by cross axle 84 between fixed arm 82 and the circular support frame 83, one end of lever arm 85 is by the center of circle of circular support frame 83, be vertically fixed on simultaneously on the plane, circular support frame 83 place, circular support frame 83 with by cross axle 84 axle center and and the vertical cross sections coincidence of lever arm 85, two semi-round ring shape bracing frames 86,87 two ends are respectively by axle 88,89,90,91 are connected on the circular support frame 83, and the plane at place is orthogonal separately, and respectively by two holes 92 on the fixed arm 82,93, two groups of double grooved pulleys 94,95 are separately fixed at this two holes 92,93 top, and these two groups of double grooved pulleys 94,95 respectively with two semi-round ring shape bracing frames 86,87 is tangent; The mid point of two groups of steel wire ropes 96,97 is separately fixed on the reel 100,101 of two power distribution unit 98,99, and respectively by being wrapped in respectively on the reel 100,101 with counter clockwise direction clockwise, the two ends of two groups of steel wire ropes 96,97 two groups of double grooved pulleys 94,95 of the top by being fixed on hole 92,93 respectively separately then, after changing direction, respectively along being wound on the groove of two semi-round ring shape bracing frame 86,87 outer surfaces with counter clockwise direction clockwise, be separately fixed at the two ends of two semi-round ring shape bracing frames 86,87 after the tension again.
Continuation is referring to Fig. 7, the single-degree-of-freedom joint of patent humanoid robot of the present invention, the single-degree-of-freedom joint is by one group of steel wire rope, a reel, a double grooved pulley, lever arm, fixed arm is formed, fixed arm 102 and lever arm 103 flexibly connect by axle 104, reel 105 is fixed on the lever arm 103 and plane, place and axle 104 axis normal, axis is passed through in the center of circle, the mid point of one group of steel wire rope 109 is fixed on the reel 107 of a power distribution unit 106, two ends are respectively by being wrapped on the reel 105 with counter clockwise direction clockwise, the two ends of steel wire rope are respectively by being fixed on the double grooved pulley 108 on the fixed arm 102 then, change direction, respectively along being wound on the groove in reel 105 outsides that are fixed on the lever arm 103 with counter clockwise direction clockwise, the tension back is fixing again
Continuation is referring to Fig. 8, the power take-off unit of patent humanoid robot of the present invention, power take-off unit is made up of two shaft motor, two gear-boxes, the two ends of two shaft motor 110 connect the input of two gear-boxes 111,112 respectively, two gear-boxes 111,112 pass through the commutation effect of gear, make the gear rotational speed of outputting power of output of two gear-boxes 111,112 identical, direction is opposite; Power distribution unit can be connected by gears engaged with power take-off unit;
Continuation is referring to Fig. 9, the power distribution unit of patent humanoid robot of the present invention, power distribution unit is by a line shaft, a reel, a decelerator, two clutches are formed, the output of decelerator 113 is fixedlyed connected with reel 114, the input of decelerator 113 is fixedlyed connected with line shaft 115, the two ends of line shaft 115 respectively with two clutches 116,117 output is fixedly connected, clutch 116,117 input is the gear input, and the two ends of power distribution unit and power take-off unit can be meshing with each other by the input of clutch and be connected;
Continuation is referring to Figure 10, the structured flowchart of the electrical control mechanism of patent humanoid robot of the present invention, described electrical control mechanism comprises: one group of PC main frame 118, eight groups of single-chip microcomputers 119, radio transmission apparatus 120, some positions 121, speed 122, temperature 123, pressure 124, acceleration 125, direction 126, image 127, sound 128, the sense of taste 129 sensors are formed, eight groups of single-chip microcomputers 119 are connected with PC main frame 118 by radio transmission apparatus 120 respectively, control five groups of seven freedom motion control mechanisms respectively, one group of six-freedom motion controlling organization, two group of 20 free degree motion control mechanism, each sensor is connected with single-chip microcomputer respectively, provide control required real time data, eight groups of any a slices of single-chip microcomputer can break away from PC and independently control the part that is connected, when eight groups of single-chip microcomputers are independently controlled the part disengaging robot body that is connected, the PC main frame can be controlled eight groups of single-chip microcomputers by radio transmission apparatus and independently control the part that is connected, and also it can be reassembled into a robot body.
Claims (7)
1, a kind of humanoid robot is characterized in that: comprise robot body and electrical control mechanism; Described robot body is made up of five groups of seven freedom controlling organizations, one group of six degree of freedom controlling organization, two group of 20 free degree controlling organization.One group of seven freedom controlling organization is as trunk, the upper end of two groups of seven freedom controlling organizations is connected as two arms with the middle part of the seven freedom controlling organization of trunk respectively, the upper end of two groups of seven freedom controlling organizations is connected as two shanks with the lower end of the seven freedom controlling organization of trunk respectively, the upper end of the seven freedom controlling organization of the lower end of one group of six degree of freedom controlling organization and trunk is connected as head, and the upper end of two group of 20 free degree controlling organization is connected as two palms with the lower end of the seven freedom controlling organization of two arms respectively.Suitable position the robot body is respectively equipped with eight groups of power take-off units, 81 groups of power distribution unit, ten groups of Three Degree Of Freedom joints, 13 groups of two-freedom degree joints, 25 groups of single-degree-of-freedom joints, 13 groups of electric lost electromagnet.
2, humanoid robot as claimed in claim 1 is characterized in that: described seven freedom controlling organization comprises two groups of Three Degree Of Freedom joints, one group of single-degree-of-freedom joint, one group of power take-off unit, seven groups of power distribution unit, two groups of electric lost electromagnet, one group of assembly pulley composition.Two groups of Three Degree Of Freedom joints are respectively as the upper and lower end of seven freedom controlling organization, two groups of electric lost electromagnet are fixedly mounted on the lever arm place of upper and lower end respectively, one group of single-degree-of-freedom joint is as the middle part of seven freedom motion control mechanism, the fixed arm in the Three Degree Of Freedom joint of upper end and the single-degree-of-freedom arthrodesis arm at middle part are connected, the lever arm in the Three Degree Of Freedom arthrodesis arm of lower end and the single-degree-of-freedom joint at middle part is fixedlyed connected, after one group of power distribution unit and seven groups of power distribution unit are connected with a joggle, be fixed on the fixed arm in Three Degree Of Freedom joint, upper end; One group of assembly pulley is fixedly mounted on the single-degree-of-freedom arthrodesis arm at middle part, plays the effect of the steel wire rope direction that changes lower end Three Degree Of Freedom joint; The Three Degree Of Freedom joint is by three groups of steel wire ropes, two semi-round ring shape bracing frames, a circular support frame, a reel, lever arm, fixed arm, three double grooved pulleys, two single groove pulleys are formed, connect by cross axle between fixed arm and the circular support frame, the two ends of two semi-round ring shape bracing frames are connected on the circular support frame by axle respectively, the cross section that the circular support frame is also vertical with lever arm with passing through the cross axle axle center overlaps, two semi-round ring shape bracing frames are respectively by two holes on the fixed arm, two groups of double grooved pulleys are separately fixed at the top in these two holes, and these two groups of double grooved pulleys are tangent with two semi-round ring shape bracing frames respectively, one group of double grooved pulley is also fixed in the top of cross axle, and the axis of this double grooved pulley and semi-round ring shape bracing frame is tangent, two groups of single groove pulleys are separately fixed at the cross axle both sides, and the axis of these two groups single groove pulleys and semi-round ring shape bracing frame is tangent, be positioned at the bottom surface of circular support frame, one end of lever arm is by the center of circle of reel, be vertically fixed on the reel simultaneously, reel links to each other with the circular support frame by axle, axis is by the axle center of cross axle, and vertical with plane, circular support frame place; The mid point of one group of steel wire rope is fixed on the reel of a power distribution unit, and respectively by being wrapped on the reel with counter clockwise direction clockwise, two ends are by the double grooved pulley of cross axle top then, pass through single groove pulley of cross axle both sides more respectively, after changing direction, respectively along clockwise with the reel that counterclockwise is wound on the lever arm on, the tension back is fixing; The mid point of two groups of steel wire ropes is separately fixed on the reel of two power distribution unit, and respectively by being wrapped in respectively on the reel of two power distribution unit with counter clockwise direction clockwise, the two ends of two groups of steel wire ropes two groups of double grooved pulleys of the top by being fixed on two holes respectively separately then, change direction, respectively along being wound on the groove of two semi-round ring shape bracing frame outer surfaces with counter clockwise direction clockwise, be separately fixed at the two ends of two semi-round ring shape bracing frames after the tension again; The single-degree-of-freedom joint is by one group of steel wire rope, a reel, a double grooved pulley, lever arm, fixed arm is formed, fixed arm and lever arm flexibly connect by axle, reel is fixed on the lever arm and plane, place and axis normal, axis is passed through in the center of circle, the mid point of one group of steel wire rope is fixed on the reel of a power distribution unit, two ends are respectively by being wrapped on the reel with counter clockwise direction clockwise, the two ends of steel wire rope are respectively by being fixed on the double grooved pulley on the fixed arm then, change direction, respectively along being wound on the groove in the reel outside that is fixed on the lever arm with counter clockwise direction clockwise, the tension back is fixing again; Power distribution unit is made up of a line shaft, a reel, a decelerator, two clutches, the output of decelerator is fixedlyed connected with reel, the input of decelerator is fixedlyed connected with line shaft, fixedly connected with the output of two clutches respectively in the two ends of line shaft, the input of clutch is gear input, the connection that can be meshing with each other by the input of clutch of the two ends of a plurality of power distribution unit; Power take-off unit is made up of two shaft motor, two gear-boxes, the two ends of two shaft motor connect the input of two gear-boxes respectively, two gear-boxes are by the commutation effect of gear, make the gear rotational speed of outputting power of output of two gear-boxes identical, and direction is opposite; Power distribution unit can be connected by gears engaged with a plurality of power take-off units; Two groups of electric lost electromagnet are fixedly mounted on respectively on the lever arm in upper and lower end Three Degree Of Freedom joint, the electric lost electromagnet produces powerful absorption affinity under off-position, and do not produce absorption affinity at the "on" position lower electromagnet, when the polarity of energising voltage when opposite with normal condition, its powerful absorption affinity can be bigger, when the polarity of energising voltage when identical, can utilize the homopolar-repulsion effect separation of electromagnet with normal condition.
3, as claim 1 fast humanoid robot, it is characterized in that: described six degree of freedom controlling organization comprises that three groups of two-freedom degree joints, one group of power take-off unit, six groups of power distribution unit, one group of electric lost electromagnet, support form.The fixed arm of two groups of two-freedom degree joints is connected with the middle part of support respectively, as the movable device of eyeball; The fixed arm of one group of two-freedom degree joint is connected with the bottom of support, as the movable device of face; One group of electric lost electromagnet is fixedly mounted on the bottom of support; After being connected with a joggle, one group of power take-off unit, six groups of power distribution unit are fixed on the middle part of support; Two-freedom degree joint is by two groups of steel wire ropes, two semi-round ring shape bracing frames, a circular support frame, lever arm, fixed arm, two double grooved pulleys are formed, connect by cross axle between fixed arm and the circular support frame, one end of lever arm is by the center of circle of circular support frame, be vertically fixed on simultaneously on the plane, circular support frame place, the cross section that the circular support frame is also vertical with lever arm with passing through the cross axle axle center overlaps, the two ends of two semi-round ring shape bracing frames are connected on the circular support frame by axle respectively, and the plane at place is orthogonal separately, and respectively by two holes on the fixed arm, two groups of double grooved pulleys are separately fixed at the top in these two holes, and these two groups of double grooved pulleys are tangent with two semi-round ring shape bracing frames respectively; The mid point of two groups of steel wire ropes is separately fixed on the reel of two power distribution unit, and respectively by being wrapped on the reel respectively with counter clockwise direction clockwise, the two ends of two groups of steel wire ropes two groups of double grooved pulleys of the top by being fixed on the hole respectively separately then, after changing direction, respectively along being wound on the groove of two semi-round ring shape bracing frame outer surfaces with counter clockwise direction clockwise, be separately fixed at the two ends of two semi-round ring shape bracing frames after the tension again; Power distribution unit is made up of a line shaft, a reel, one group of decelerator, two clutches, the output of decelerator is fixedlyed connected with reel, the input of decelerator is fixedlyed connected with line shaft, fixedly connected with the output of two clutches respectively in the two ends of line shaft, the input of two clutches is gear input, the connection that can be meshing with each other by the input of clutch of a plurality of power distribution unit; Power take-off unit is made up of two shaft motor, two gear-boxes, the two ends of two shaft motor connect the input of two gear-boxes respectively, two gear-boxes are by the commutation effect of gear, make the gear rotational speed of outputting power of output of two gear-boxes identical, and direction is opposite; Power distribution unit can be connected by gears engaged with a plurality of power take-off units; One group of electric lost electromagnet is fixedly mounted on the bottom of support, the electric lost electromagnet produces powerful absorption affinity under off-position, and do not produce absorption affinity at the "on" position lower electromagnet, when the polarity of energising voltage when opposite with normal condition, its powerful absorption affinity can be bigger, when the polarity of energising voltage when identical, can utilize the homopolar-repulsion effect separation of electromagnet with normal condition; Support is an oval-shaped bracing frame.
4, humanoid robot as claimed in claim 1, it is characterized in that: described 20 free degree motion control mechanisms comprise five groups of two-freedom degree joints, ten groups of single-degree-of-freedom joints, one group of power take-off unit, 20 groups of power distribution unit, 15 double grooved pulleys, 20 single groove pulleys, one group of electric lost electromagnet, support is formed, the lever arm of one group of single-degree-of-freedom joint one end is fixedlyed connected with the fixed arm in one group of single-degree-of-freedom joint, the fixed arm of the other end is fixedlyed connected with the lever arm of another group two-freedom degree joint, the fixed arm of two-freedom degree joint is fixedly connected on the upper end of support, on the single-degree-of-freedom joint in the middle of a double grooved pulley is fixed on, and the dead in line in its axis and this single-degree-of-freedom joint, direction with the steel wire rope in the single-degree-of-freedom joint that changes top, four single groove pulleys are fixed on respectively on the plane of axes intersect of the lever arm of two-freedom degree joint and semi-round ring shape bracing frame in twos, four single groove pulleys are tangent with the axis of semi-round ring shape bracing frame respectively, and the axis of four single groove pulleys is vertical with this plane, and four point of contacts lay respectively at the both sides of lever arm; Two double grooved pulleys are fixedly mounted in the plane of axes intersect of the fixed arm of two-freedom degree joint and semi-round ring shape bracing frame, and the axis of these two double grooved pulleys is vertical with this plane, and the axis of these two double grooved pulleys and semi-round ring shape bracing frame is tangent, the point of contact is positioned at the axle center of two-freedom degree joint cross axle, to change direction from the steel wire rope in two single-degree-of-freedom joints, constitute finger, four finger fixed order constitute forefinger respectively in the upper end of support, middle finger, nameless, little finger, a finger is fixedly connected on middle part one side of support, constitutes thumb; After one group of power take-off unit, 20 groups of power distribution unit are connected with a joggle, be fixed on the middle part of support; Two-freedom degree joint is by two groups of steel wire ropes, two semi-round ring shape bracing frames, a circular support frame, lever arm, fixed arm, two double grooved pulleys are formed, connect by cross axle between fixed arm and the circular support frame, one end of lever arm is by the center of circle of circular support frame, be vertically fixed on simultaneously on the plane, circular support frame place, the cross section that the circular support frame is also vertical with lever arm with passing through the cross axle axle center overlaps, the two ends of two semi-round ring shape bracing frames are connected on the circular support frame by axle respectively, and the plane at place is orthogonal separately, and respectively by two holes on the fixed arm, two groups of double grooved pulleys are separately fixed at the top in these two holes, and these two groups of double grooved pulleys are tangent with two semi-round ring shape bracing frames respectively; The mid point of two groups of steel wire ropes is separately fixed on the reel of two power distribution unit, and respectively by being wrapped on the reel respectively with counter clockwise direction clockwise, the two ends of two groups of steel wire ropes two groups of double grooved pulleys of the top by being fixed on the hole respectively separately then, after changing direction, respectively along being wound on the groove of two semi-round ring shape bracing frame outer surfaces with counter clockwise direction clockwise, be separately fixed at the two ends of two semi-round ring shape bracing frames after the tension again; Power distribution unit is made up of a line shaft, a reel, one group of decelerator, two clutches, the output of decelerator is fixedlyed connected with reel, the input of decelerator is fixedlyed connected with line shaft, fixedly connected with the output of two clutches respectively in the two ends of line shaft, the input of two clutches is gear input, the connection that can be meshing with each other by the input of clutch of a plurality of power distribution unit; Power take-off unit is made up of two shaft motor, two gear-boxes, the two ends of two shaft motor connect the input of two gear-boxes respectively, two gear-boxes are by the commutation effect of gear, make the gear rotational speed of outputting power of output of two gear-boxes identical, and direction is opposite; Power distribution unit can be connected by gears engaged with a plurality of power take-off units; One group of electric lost electromagnet is fixedly mounted on the bottom of support, the bottom of support and as the lever arm of the lower end of the seven freedom motion control mechanism of arm, link together by the electromagnetism suction-operated, the electric lost electromagnet produces powerful absorption affinity under off-position, and do not produce absorption affinity at the "on" position lower electromagnet, when the polarity of energising voltage when opposite with normal condition, its powerful absorption affinity can be bigger, when the polarity of energising voltage when identical, can utilize the homopolar-repulsion effect separation of electromagnet with normal condition; Support is a trapezoidal bracing frame.
5, humanoid robot as claimed in claim 1, it is characterized in that: described power take-off unit is made up of two shaft motor, two gear-boxes, the two ends of two shaft motor connect the input of two gear-boxes respectively, two gear-boxes pass through the commutation effect of gear, make the gear rotational speed of outputting power of output of two gear-boxes identical, direction is opposite;
Power distribution unit is made up of a line shaft, a reel, a decelerator, two clutches, the output of decelerator is fixedlyed connected with reel, the input of decelerator is fixedlyed connected with line shaft, fixedly connected with the output of two clutches respectively in the two ends of line shaft, the input of clutch is gear input, the connection that can be meshing with each other by the input of clutch of the two ends of a plurality of power distribution unit; Power distribution unit can be connected by gears engaged with power take-off unit;
Clutch in the described power distribution unit is electromagnetic clutch, pneumatic clutch, hydraulic clutch, hysteresis clutch or other types clutch.
6, humanoid robot as claimed in claim 1, it is characterized in that: five groups of seven freedom motion control mechanisms of described composition robot body, one group of six-freedom motion controlling organization, two group of 20 free degree motion control mechanism connection each other is that the magnetic force suction-operated by the electric lost electromagnet realizes, separation each other simultaneously also can realize by the magnetic repellence effect of electric lost electromagnet, the electric lost electromagnet produces powerful absorption affinity under power failure state, and do not produce absorption affinity at the "on" position lower electromagnet, when the polarity of energising voltage when opposite with normal condition, its powerful absorption affinity can be bigger, when the polarity of energising voltage when identical with normal condition, can utilize the homopolar-repulsion effect of electromagnet to separate, also can adopt other forms of electromagnet or electromagnet and permanent magnet to be used in combination.
7, humanoid robot as claimed in claim 1, it is characterized in that: described electrical control mechanism comprises: one group of PC main frame, eight groups of single-chip microcomputers, radio transmission apparatus, some positions, speed, temperature, pressure, acceleration, direction, image, sound, taste sensor is formed, eight groups of single-chip microcomputers are connected with the PC main frame by radio transmission apparatus respectively, control five groups of seven freedom motion control mechanisms respectively, one group of six-freedom motion controlling organization, two group of 20 free degree motion control mechanism, each sensor is connected with single-chip microcomputer respectively, provide control required real time data, eight groups of any a slices of single-chip microcomputer can break away from the pC machine and independently control the part that is connected, when eight groups of single-chip microcomputers are independently controlled the part disengaging robot body that is connected, the PC main frame can be controlled eight groups of single-chip microcomputers by radio transmission apparatus and independently control the part that is connected, and also it can be reassembled into a robot body.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 200510132256 CN1810463A (en) | 2005-12-27 | 2005-12-27 | Anthropomorphic robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 200510132256 CN1810463A (en) | 2005-12-27 | 2005-12-27 | Anthropomorphic robot |
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| CN1810463A true CN1810463A (en) | 2006-08-02 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
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| CN 200510132256 Pending CN1810463A (en) | 2005-12-27 | 2005-12-27 | Anthropomorphic robot |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101224343B (en) * | 2007-01-19 | 2011-08-24 | 鸿富锦精密工业（深圳）有限公司 | Biology-like and parts controlling module thereof |
| CN105619392A (en) * | 2016-03-29 | 2016-06-01 | 刘子骞 | Robot with stable balance performance and control method of robot |
| CN108818560A (en) * | 2018-07-06 | 2018-11-16 | 宣城南巡智能科技有限公司 | A kind of emulated robot |
| CN111347403A (en) * | 2018-12-21 | 2020-06-30 | 沈阳新松机器人自动化股份有限公司 | Modular component mounting mechanism |
| CN111631906A (en) * | 2020-05-29 | 2020-09-08 | 河南大学 | Auxiliary robot for rehabilitation of patient with muscular atrophy and implementation method thereof |
-
2005
- 2005-12-27 CN CN 200510132256 patent/CN1810463A/en active Pending
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101224343B (en) * | 2007-01-19 | 2011-08-24 | 鸿富锦精密工业（深圳）有限公司 | Biology-like and parts controlling module thereof |
| CN105619392A (en) * | 2016-03-29 | 2016-06-01 | 刘子骞 | Robot with stable balance performance and control method of robot |
| CN105619392B (en) * | 2016-03-29 | 2017-06-23 | 刘子骞 | The robot and its control method of a kind of balance quality stabilization |
| CN108818560A (en) * | 2018-07-06 | 2018-11-16 | 宣城南巡智能科技有限公司 | A kind of emulated robot |
| CN111347403A (en) * | 2018-12-21 | 2020-06-30 | 沈阳新松机器人自动化股份有限公司 | Modular component mounting mechanism |
| CN111631906A (en) * | 2020-05-29 | 2020-09-08 | 河南大学 | Auxiliary robot for rehabilitation of patient with muscular atrophy and implementation method thereof |
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