CN201350631Y - Simulation robot - Google Patents
Simulation robot Download PDFInfo
- Publication number
- CN201350631Y CN201350631Y CNU2009200364801U CN200920036480U CN201350631Y CN 201350631 Y CN201350631 Y CN 201350631Y CN U2009200364801 U CNU2009200364801 U CN U2009200364801U CN 200920036480 U CN200920036480 U CN 200920036480U CN 201350631 Y CN201350631 Y CN 201350631Y
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- servomotor
- motors
- servo motors
- direct current
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Abstract
Disclosed is a simulation robot consisting of 12 servo motors, 4 DC motors and a plurality of brackets which connect all the motors into a whole body according to human skeleton. The middle servo motor at the chest of the human body is respectively connected with the lower body servo motor and the head modules; the servo motors symmetrically connected at two sides of the middle servo motor are respectively connected with the main arm servo motors which can move upwards; the main arm servo motors are respectively connected with forearm servo motors which move relatively to the main arm servo motors; the forearm servo motors are connected with the wrist DC motors; the two sides of the lower body servo motor are respectively connected with the thigh servo motors which are connected with the crus servo motors; and the crus servo motors are connected with the foot DC motors which can move relatively to the crus servo motors. During movements, the simulation robot can content the restrictions of the movements to simulate the movements of jogging, sword-dancing, going up and down steps and splitting of the human body and can satisfy the balance conditions at all the points and is stable during the movements.
Description
Technical field
The utility model relates to a kind of robot, especially a kind ofly can realize strolling, performs a sword-dance, the emulated robot of split apery action.
Background technology
Anthropomorphic robot is exactly apish form and the robot that designs, promptly has the four limbs and the head of apery, can imitate the people and finish exercises, adapts to external environment condition, with function such as people's interaction.
Articulated robot all is the equation of motion of setting up each joint earlier at present, goes to simulate the motion in each joint then by the motion of motor.This method is calculated loaded down with trivial details, and it is bigger influenced by machining accuracy.Though starting point and terminating point balance in motion are held easily, the difficult control of the balance in the motion process, thereby cause unbalance, displacement etc.
Summary of the invention
The purpose of this utility model is in order to overcome the loaded down with trivial details of existing anthropomorphic robot precision and stable deficiency and design process, a kind of anthropomorphic robot is provided, this robot can not only accomplish the balance of each point and motion steadily, can also realize that multiple apery posture is as action such as strolling, perform a sword-dance.
The technical scheme in the invention for solving the technical problem: it is by a plurality of servomotors, connecting a plurality of direct current generators of a plurality of servomotors and a plurality of that all motors are connected as one according to the skeleton shape is configured to, wherein: human chest is made up of three servomotors, projecting shaft of servomotor connects lower body servomotor and head module respectively in the middle of it, the servomotor of servomotor both sides connected the big arm servomotor that can move upward by support respectively in the middle of symmetry was connected, big arm servomotor connects with it by connecting plate the forearm servomotor of moving motion mutually; the forearm servomotor is connected with the wrist direct current generator by two supports, forms the robot entire arms; Lower body servomotor both sides connect the thigh servomotor respectively by symmetrically arranged triangle link, the thigh servomotor connects the shank servomotor by support, the shank servomotor connects with it by support relative moving foot's direct current generator, forms the whole shank of human body.
The bottom of described foot direct current generator has been provided with the footing dish of stabilization.
Emulated robot of the present utility model, adopt 12 servomotors, four direct current generators to be formed by connecting according to the skeleton shape by support, left and right sides arm can be worn various stage property objects as required, the machine human chest is made up of three servomotors, middle motor projecting shaft connects lower body and head, the motor both sides connected two arms in the middle of all the other two motors were located at respectively.Various continuous motions can be decomposed into monopodia and support, biped supports, the upper body rotation, the both arms independently moving, can be decomposed into forward again, the motion of side direction and three directions of deflection, the input signal of regulating servomotor that moves through of this robot is controlled, by motor at X, the free degree that the implementation space is gone in the vertical stack of the Y direction free degree, servomotor and direct current generator separate supply with microcontroller power supply, make that this control panel volume is little, and antijamming capability is strong, motion process is by programme-control, a plurality of frees degree are arranged, enriched the action of anthropomorphic robot, and the flexibility that has improved biped robot, this anthropomorphic robot can be finished walking, side step, climb step, perform a sword-dance, split.Its compact conformation, be convenient to control, have very high recreational.
Description of drawings
Accompanying drawing is the structure chart of the utility model emulated robot.
Among the figure: 1-thigh servomotor, 2-support, 3-shank servomotor, 4-support, 5-foot direct current generator, 6-footing dish, 7-aluminium sword, 8-wrist direct current generator, the 9-support, 10-support, 11-forearm servomotor, the 12-connecting plate, the big arm servomotor of 13-, 14-support five, the 15-servomotor, 16-head module, servomotor in the middle of the 17-, the 18-support, 19-lower body servomotor, 20-triangle link.
The specific embodiment
The utility model will be further described below in conjunction with the embodiment in the accompanying drawing:
Emulated robot of the present utility model, by 12 servomotors, four direct current generators and a plurality of that all motors are connected as one according to the skeleton shape are configured to, the machine human chest is made up of three servomotors, left-right symmetry, the projecting shaft of middle servomotor 17 connects lower body servomotor 19 and head module 16 respectively, be connected with support 18 between middle servomotor 17 and the lower body servomotor 19, servomotor 17 both sides in the middle of servomotor 15 symmetries are connected, become balanced, symmetrical to fix, connect left and right sides arm by support 14 respectively, left and right sides arm is respectively by big arm servomotor 13; forearm servomotor 11 and wrist direct current generator 8 constitute; big arm servomotor 13 is connected by connecting plate 12 with forearm servomotor 11; connecting plate 12 is that aluminum is square, and an end has groove, and servomotor 11 is installed and fixed.Be fixed with support 10 on the forearm servomotor 11, be fixed with support 9 on the wrist direct current generator 8, by support 10,9 forearm servomotor 11 and wrist direct current generator 8 are fixed as one, wrist direct current generator 8 is fixed with aluminium sword 7 by support 9, during 8 motions of wrist direct current generator, drive aluminium sword 7 action thereupon; Lower body servomotor 19 both sides connect thigh servomotor 1 respectively by symmetrically arranged triangle link 20, thigh servomotor 1 connects shank servomotor 3 by support 2, support 2 is fixed on the servomotor 3, shank servomotor 3 connects with it by support 4 relative moving foot's direct current generator 5, support 4 is hinged on the projecting shaft of foot's direct current generator 5, constitutes the whole shank of human body; The bottom of foot's direct current generator 5 has been fixed with the footing dish 6 of stabilization.
Claims (2)
1. emulated robot, it is characterized in that: it is by a plurality of servomotors, connecting a plurality of direct current generators of a plurality of servomotors and a plurality of that all motors are connected as one according to the skeleton shape is configured to, wherein: human chest is made up of three servomotors, the projecting shaft of middle servomotor (17) connects lower body servomotor (19) and head module (16) respectively, the servomotor (15) of servomotor (17) both sides connected the big arm servomotor (13) that can move upward by support (14) respectively in the middle of symmetry was connected, big arm servomotor (13) connects the forearm servomotor (11) that relative motion is arranged with it by connecting plate (12); forearm servomotor (11) is connected with wrist direct current generator (8) by two supports (10; 9), constitutes the human body entire arms; Lower body servomotor (19) both sides connect thigh servomotor (1) respectively by symmetrically arranged triangle link (20), thigh servomotor (1) connects shank servomotor (3) by support (2), shank servomotor (3) connects with it by support (4) relative moving foot's direct current generator (5), constitutes the whole shank of robot.
2. emulated robot according to claim 1 is characterized in that: the bottom of described foot direct current generator (5) has been provided with the footing dish (6) of stabilization.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNU2009200364801U CN201350631Y (en) | 2009-02-17 | 2009-02-17 | Simulation robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNU2009200364801U CN201350631Y (en) | 2009-02-17 | 2009-02-17 | Simulation robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN201350631Y true CN201350631Y (en) | 2009-11-25 |
Family
ID=41374019
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CNU2009200364801U Expired - Fee Related CN201350631Y (en) | 2009-02-17 | 2009-02-17 | Simulation robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN201350631Y (en) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102975784A (en) * | 2012-11-13 | 2013-03-20 | 王斌 | Novel humanoid speed racing robot |
| CN103659818A (en) * | 2013-12-03 | 2014-03-26 | 西北农林科技大学 | 10-DOF floor exercise robot |
| CN103624788B (en) * | 2013-11-28 | 2015-12-30 | 湖州师范学院 | A kind of deformable educational robot |
| CN105857431A (en) * | 2016-03-29 | 2016-08-17 | 刘子骞 | Robot with reasonable structural design |
| CN106313106A (en) * | 2016-11-15 | 2017-01-11 | 安徽商贸职业技术学院 | Robot big arm rotating machinery system |
| CN109015696A (en) * | 2018-09-10 | 2018-12-18 | 广东宏穗晶科技服务有限公司 | A kind of stage performance robot |
-
2009
- 2009-02-17 CN CNU2009200364801U patent/CN201350631Y/en not_active Expired - Fee Related
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102975784A (en) * | 2012-11-13 | 2013-03-20 | 王斌 | Novel humanoid speed racing robot |
| CN102975784B (en) * | 2012-11-13 | 2015-08-12 | 王斌 | A kind of novel apery is competed for speed robot |
| CN103624788B (en) * | 2013-11-28 | 2015-12-30 | 湖州师范学院 | A kind of deformable educational robot |
| CN103659818A (en) * | 2013-12-03 | 2014-03-26 | 西北农林科技大学 | 10-DOF floor exercise robot |
| CN105857431A (en) * | 2016-03-29 | 2016-08-17 | 刘子骞 | Robot with reasonable structural design |
| CN105857431B (en) * | 2016-03-29 | 2017-12-29 | 刘子骞 | A kind of robot reasonable in design |
| CN106313106A (en) * | 2016-11-15 | 2017-01-11 | 安徽商贸职业技术学院 | Robot big arm rotating machinery system |
| CN109015696A (en) * | 2018-09-10 | 2018-12-18 | 广东宏穗晶科技服务有限公司 | A kind of stage performance robot |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| C17 | Cessation of patent right | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20091125 Termination date: 20100217 |