CN201816666U - Biped walking bionic robot - Google Patents
Biped walking bionic robot Download PDFInfo
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- CN201816666U CN201816666U CN2010201604256U CN201020160425U CN201816666U CN 201816666 U CN201816666 U CN 201816666U CN 2010201604256 U CN2010201604256 U CN 2010201604256U CN 201020160425 U CN201020160425 U CN 201020160425U CN 201816666 U CN201816666 U CN 201816666U
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Abstract
The utility model provides a biped walking bionic robot, which comprises a body, two connecting rod mechanisms, two foot mechanisms and a control device. The body is connected with the two foot mechanisms, the foot mechanisms comprises a left foot mechanism and a right foot mechanism, the left foot mechanism and the right foot mechanism are arranged on the left side and the right side of the lower part of the body in parallel, the connecting rod mechanisms are respectively connected with the body and the foot mechanisms, the left foot mechanism and the right foot mechanism have the same structure and comprise a leg support rod, a turning steering gear, a rotating rod, a foot plate, a steering gear connector and a turntable, the upper ends and the lower ends of the leg support rods are respectively connected with the body and the rotating rods, the two ends of the rotating rods are connected with the foot plates, the turning steering gears are fixed on the foot plates, the turntables are arranged under the foot plates, and the steering gear connectors are fixed under the turning steering gears and are connected with the turntables; and the control device is respectively connected with the body and the foot mechanisms. The utility model has the advantages that the biped walking bionic robot can turn flexibly, has low cost and multiple functions, and is suitable for popular entertainment and education.
Description
Technical field
The utility model belongs to the Robotics field, particularly a kind of biped walking bionic robot.
Background technology
Along with science and technology development, the kind of robot is more and more, and robot also more and more widely is used for popular amusement education.Because walking robot approaches vital animal with respect to wheeled robot in outward appearance and action, therefore have stronger interest and vitality, is suitable as a kind of carrier that has amusement and education concurrently.According to the quantity and the mode of motion of foot, common walking robot mainly is divided into two classes: multi-foot robot and biped robot.Multi-foot robot mainly is the structure of imitating polypody Reptilias such as spider, and this robot architecture generally needs a large amount of motors to control; Biped robot is divided into two classes again: anthropomorphic robot and biped walking bionic robot according to the object of imitation.
Anthropomorphic robot generally is used to imitate human legs and feet foot, needs to be provided with the degree of freedom more than 6 at least, to imitate human legs and feet foot.Application number is the Chinese utility model patent of " 200810036592.7 ", discloses a kind of walking mechanism of biped robot, comprises buttocks, thigh, shank and foot, totally 12 degree of freedom; Application number is the Chinese utility model patent of " 200810101063.0 ", a kind of biped robot's lower limb mechanism is disclosed, this structure is utilized the parallel mechanism kinematic characteristics of parallel four connecting rod opposite side, designs the double-foot robot lower limb mechanism with 10 degree of freedom; Application number is the Chinese utility model patent of " 200810219823.8 ", a kind of modular six freedom-degree initiative joint type bipod walking robot is disclosed, this robot mainly is made up of six joint modules and two circular feet, each joint module has a rotational freedom, is driven by DC servo motor.Though more than three kinds of structures can both realize having the steady walking of robot than multiple degree of freedom, all need a large amount of motors to carry out controlled motion, and control is complicated, the cost height is not suitable as the popular amusement educational robot that large tracts of land is promoted.The patent No. is the US Patent of " US6146235 ", a kind of mechanism that is used for the rag baby walking movement is disclosed, this structure only uses a motor just can realize the robot walking, but its complicated in mechanical structure, and can't turn, robot movable is dumb, is not suitable as popular amusement educational robot equally.
Biped walking bionic robot mainly is the robot of biological walkings such as simulation dinosaur, penguin, parrot.Be characterized in simple in structure, outward appearance and action are gone up smaller and more exquisite, attractive in appearance, and it is more attractive to be used for popular amusement education.As penguin robot of the prior art, motion structure is simple, lift a foot by waving adjustment robot center of gravity, so that another foot is taken a step, thereby the realization walking, but the robot of this structure turn very inconvenient in addition have can't realize turning function, it is very dumb to move, and control desk adopts low side processor of single chip computer, function singleness.The patent No. is a kind of mechanism that is used for the rag baby walking movement of U.S. Patent Publication of " US5158493 ", and the player is by its motion of remote controller remote control, function singleness; Two foots alternately lift during walking, movable machinery mechanism complexity, four small wheels are installed on the chassis of foot, by wherein two the steamboats rotations of a driven by motor, thereby realize the turning of robot, though this structure can realize turning function, complex structure, and can't accurately control angle of turn, it is dumb to turn.
Interactive voice is one of the critical function that is used for the robot of popular amusement education, in the existing design, the robot that much can realize interactive voice is arranged also.Disclose a kind of electronic toy with parrot repeating words function as application number for the Chinese utility model patent of " 93101084.5 ", the repetition aud. snl. can be imitated and follow the tracks of to this structure as parrot; Application number discloses a kind of Parrot toy for the Chinese utility model patent of " 01207294.X ", can realize that toy combines with recording/playing function.These structures can both realize the function of interactive voice, but can not realize the function of walking, and therefore this structure has bigger limitation, and use occasion also is very restricted.
Therefore, in the prior art, exist following defective for the robot that is used for popular amusement education: (1) is for multi-foot robot and anthropomorphic robot, the degree of freedom that needs is more, and need a large amount of motors to control, have that control is complicated, manufacturing cost is high, be not suitable for popular amusement education; (2) for some anthropomorphic robot, can't turn, robot movable is dumb, is not suitable as popular amusement educational robot equally; (3) for existing biped walking bionic robot, generally all turns very inconvenient in addition have can't realize turning function, it is very dumb to move, and control desk employing low side processor of single chip computer, function singleness; (4) in the prior art,, can not realize voice interactive function though robot can walking, though or can realize voice interactive function, but can not walking, have function very single, recreational weak, applicable situation is narrow, can not be used for multiple occasion simultaneously; (5) in the prior art, though some robot can be turned, its turning function underaction, and complex structure except walking-function, do not have other functions, are not suitable for amusement education.Therefore, the robot for being used for popular amusement education need provide a kind of walking flexibly, can realize that again the original place turns flexibly, and can realize again that interactive voice etc. is multi-functional and have that motor is few, the robot of easy control.
The utility model content
For the shortcoming and deficiency that overcome prior art, it is a kind of simple and reasonable for structure that the purpose of this utility model is to provide, and can turn, control the few biped walking bionic robot of motor flexibly in the original place, can be used as the popular amusement educational robot that large tracts of land is promoted.
The purpose of this utility model is achieved through the following technical solutions: a kind of biped walking bionic robot, comprise fuselage, two pipe link mechanisms, two foot mechanisms and control setup, fuselage is connected with two foot mechanisms, two foot mechanisms are respectively left foot mechanism and right foot mechanism, left side foot mechanism and right foot mechanism also is listed in the left and right sides of fuselage below, two pipe link mechanisms are respectively left pipe link mechanism and right pipe link mechanism, left side pipe link mechanism connects fuselage and left foot mechanism respectively, right side pipe link mechanism connects fuselage and right foot mechanism respectively, the structure of described left foot mechanism is identical with the structure of right foot mechanism, include leg pole, the turning steering wheel, dwang, sole, steering wheel adaptor union and rotating disk, the two ends up and down of described leg pole are connected with dwang with fuselage by pin respectively, the two ends of described dwang are connected on the sole by pin, rotate when waving steering wheel, during body inclination, dwang will rotate; Described turning steering wheel is fixed in the top of sole, and described rotating disk is located at the sole below, and the steering wheel adaptor union is fixed in the below of turning steering wheel and passes sole and is connected with rotating disk, and the rotating disk below is connected with the wheel skin.
Described fuselage comprises bracing frame, waves steering wheel, the steering wheel of taking a step, steering wheel swing arm and swing arm, the described steering wheel that waves all is fixed in bracing frame with the steering wheel of taking a step, described steering wheel swing arm is connected waves on the steering wheel, the two ends of steering wheel swing arm connect left pipe link mechanism and right pipe link mechanism respectively, and the described steering wheel of taking a step is connected with the swing arm that is positioned at its below;
The two ends of described swing arm connect the leg pole of left foot mechanism and the leg pole of right foot mechanism respectively;
Described control setup is connected with foot mechanism with fuselage respectively.
Described right pipe link mechanism comprises first universal ball end, first Hooke's coupling, connecting rod, second Hooke's coupling and second universal ball end, first Hooke's coupling and second Hooke's coupling are individually fixed in the two ends of connecting rod, the bulbous end of first universal ball end is connected with first Hooke's coupling, the bulbous end of second universal ball end is connected with second Hooke's coupling, the thread end of first universal ball end is connected with an end of steering wheel swing arm, and the thread end of second universal ball end is connected with the sole of right foot mechanism;
The structure of described left pipe link mechanism is identical with the structure of right pipe link mechanism, and the thread end of its first universal ball end is connected with the other end of steering wheel swing arm, and the thread end of its second universal ball end is connected with the sole of left foot mechanism.
Described steering wheel swing arm, left pipe link mechanism and right pipe link mechanism all are located at the place ahead of bracing frame; Swing arm is located at the below of bracing frame;
The leg pole of described left foot mechanism and the leg pole of right foot mechanism are located at the both sides of bracing frame respectively, and are located at the rear of left pipe link mechanism and right pipe link mechanism respectively.
The leg pole of each foot mechanism includes foreleg pole and back leg pole, and the upper end of the upper end of described foreleg pole and back leg pole is connected with bracing frame by pin respectively, pin respectively with foreleg pole and back leg pole free-running fit; The lower end of described foreleg pole and back leg pole is connected with dwang by pin respectively, pin and dwang free-running fit;
Described foreleg pole and back leg pole are set up in parallel, and foreleg pole is located at pipe link mechanism rear, and back leg pole is located at the rear of foreleg pole.
Described steering wheel swing arm and pipe link mechanism all are located at the place ahead of bracing frame.Swing arm is located at the below of bracing frame.
Be equipped with bar-shaped trough on the back leg pole of described left foot mechanism and right foot mechanism, the bar-shaped trough of the back leg pole of the bar-shaped trough of back leg pole of left foot mechanism and right foot mechanism is passed at the two ends of swing arm respectively, and is movably connected with the back leg pole of left foot mechanism and the back leg pole of right foot mechanism.
Described control setup comprises battery, loudspeaker, microphone, embedded Control plate and distance measuring sensor, described embedded Control plate is fixed in the top of bracing frame, described battery is located at the top of the below of embedded Control plate and the steering wheel of taking a step, described loudspeaker are fixed in the both sides of bracing frame, microphone is fixed in the top of embedded Control plate, and described distance measuring sensor is individually fixed in the front end of fuselage and the front end of sole; Described battery is connected by circuit with the embedded Control plate, described distance measuring sensor, loudspeaker and microphone all are connected with the embedded Control plate, the embedded Control plate respectively with wave steering wheel, the steering wheel of taking a step, the turning steering wheel of left foot mechanism and the turning steering wheel of right foot mechanism be connected.
Described distance measuring sensor comprises infrared pickoff and ultrasonic transduter, and infrared pickoff is fixed in the front end of sole, in order to detect locating closely whether obstacle is arranged; Ultrasonic transduter is fixed in the front end of fuselage, in order to detect distant location whether obstacle is arranged; Infrared pickoff all is connected with the embedded Control plate with ultrasonic transduter.
Described control setup also comprises vision sensor and soft-touch control, and described vision sensor all is connected with the embedded Control plate with soft-touch control, and described soft-touch control is fixed in the top of embedded Control plate, and vision sensor is installed on the front end of fuselage.Soft-touch control is in order to perception people's touch incoming signal, and microphone is used to receive the interactive voice signal, and loudspeaker are in order to output device people's aud. snl..
Described control setup also comprises blue tooth interface and USB interface, and blue tooth interface all is connected with the embedded Control plate with USB interface.The embedded Control plate carries out radio communication by blue tooth interface and computing machine (or smart mobile phone), or carries out wire communication by USB interface, in order to the telecommand of accepting computing machine or smart mobile phone or download.
Described battery is preferably lithium cell.
Principle of the present utility model is: the embedded Control plate obtains ambient condition information from various sensors such as distance measuring sensor, microphone, vision sensor and soft-touch controls, these information are carried out Treatment Analysis, steering wheel is waved in the output pwm signal of making a strategic decision then control, the rotation of the turning steering wheel of the turning steering wheel of the steering wheel of taking a step, left foot mechanism and right foot mechanism, thereby realize the various walkings of robot and action such as turning flexibly, and output audio signal is given sound horn.Steering wheel rotates and the rotation of dwang by waving, banking can drive this robot center of gravity, make the foot mechanism ground of keeping in touch, another foot mechanism built on stilts, take a step steering wheel rotate to drive liftoff foot mechanism forward (or backward) take a step, land by waving the foot mechanism that steering wheel rotates and the dwang Spin Control is taken a step again, thereby realize the walking action that robot advances or retreats; When a foot mechanism of robot was liftoff, the turning steering wheel of controlling another foot mechanism rotated and makes robot to turn flexibly in the original place.
The utility model compared with prior art has following advantage and beneficial effect:
(1) compares with multi-foot robot or multivariant anthropomorphic robot, robot of the present utility model has overcome the defective of the many motors of prior art, only four steering wheels need be set can realize walking, because steering wheel quantity is few, thereby reduce manufacturing cost and control complexity greatly, have that steering wheel quantity is few, cost is low and control advantages such as simple.
(2) compare with existing biped walking bionic robot, robot of the present utility model is provided with rotating disk in foot mechanism bottom, and by the control of turning of turning steering wheel, can accurately control angle of turn, make robot turn flexibly, can realize 90 ° of rotatings in the original place; The utility model is except turning flexibly, simultaneously also can realize voice interactive function, be that this robot is equipped with high-end embedded Control plate, and obtain ambient condition information by distance measuring sensor, vision sensor, microphone, blue tooth interface and USB interface etc. and carry out processing controls, has multi-functional advantage, be suitable as the popular amusement educational robot that large tracts of land is promoted, also be fit to the various amusement functions of exploitation simultaneously and carry out secondary development.
(3) compare with the existing Parrot toy robot of voice interactive function (or have), robot of the present utility model also has walking-function except having voice interactive function, and applicable situation is wider, has superior recreational, interest and vitality.
(4) compare with existing walking robot by minority motor-driven and complicated drive mechanism, robot architecture of the present utility model is simple, and an amount of steering wheel is controlled and developed different walking step states to the user chance is provided.
Description of drawings
Fig. 1 is an overall structure scheme drawing of the present utility model.
Fig. 2 is the left view of robot shown in Figure 1.
Fig. 3 is the structural representation of shown in Figure 1 right pipe link mechanism.
Fig. 4 is the local enlarged diagram in A place shown in Figure 3.
Fig. 5 is the perspective view of right foot mechanism shown in Figure 1.
Fig. 6 is another view of right foot mechanism shown in Figure 5.
Fig. 7 is the utility model ROBOT CONTROL device scheme drawing.
The specific embodiment
Below in conjunction with embodiment and accompanying drawing the utility model is described in further detail, but embodiment of the present utility model is not limited thereto.
Fig. 1～Fig. 7 shows the concrete structure scheme drawing of present embodiment, as shown in Figure 1, this biped walking bionic robot, comprise fuselage, two pipe link mechanisms, two foot mechanisms and control setup, fuselage is connected with two foot mechanisms, two foot mechanisms are respectively left foot mechanism and right foot mechanism, left side foot mechanism and right foot mechanism also is listed in the left and right sides of fuselage below, two pipe link mechanisms are respectively left pipe link mechanism 18 and right pipe link mechanism, left side pipe link mechanism 18 connects fuselage and left foot mechanism respectively, right side pipe link mechanism connects fuselage and right foot mechanism respectively, as shown in Figure 5, right foot mechanism is positioned at the right side of fuselage below, comprise leg pole, turning steering wheel 7, dwang 14, sole 10, steering wheel adaptor union 8 and rotating disk 12, the two ends up and down of described leg pole are connected with dwang 14 with fuselage by pin respectively, and the two ends of described dwang 14 are by pin 13,22 are connected on the sole 10, as depicted in figs. 1 and 2; Described turning steering wheel 7 is fixed in the top of sole 10, and described rotating disk 12 is located at the below of sole 10, and steering wheel adaptor union 8 is fixed in the below of turning steering wheel 7 and passes sole 10 and is connected with rotating disk 12; As shown in Figure 6, rotating disk 12 belows are connected with wheel skin 11; The structure of described left foot mechanism is identical with the structure of right foot mechanism, and is positioned at the left side of fuselage below.
As shown in Figure 1, fuselage comprises bracing frame 21, waves steering wheel 1, the steering wheel 20 of taking a step, steering wheel swing arm 2 and swing arm 19, waving steering wheel 1 all is fixed on the bracing frame 21 with the steering wheel 20 of taking a step, steering wheel swing arm 2 is connected waves on the steering wheel 1, the two ends of steering wheel swing arm 2 connect left pipe link mechanism 18 and right pipe link mechanism respectively, and the described steering wheel 20 of taking a step is connected with the swing arm 19 that is positioned at its below;
The two ends of swing arm 19 connect the back leg pole 17 of left foot mechanism and the back leg pole 5 of right foot mechanism respectively;
Described control setup is connected with foot mechanism with fuselage respectively.
As shown in Figure 3, described right pipe link mechanism comprises that first universal ball end 25, first Hooke's coupling 3, connecting rod 4, second Hooke's coupling 9 and second universal ball end, 26, the first Hooke's couplings 3 and second Hooke's coupling 9 are individually fixed in the two ends of connecting rod 4; As shown in Figure 4, the bulbous end 28 of first universal ball end 25 is connected with first Hooke's coupling 3, the bulbous end of second universal ball end 26 is connected with second Hooke's coupling 9, the thread end 27 of first universal ball end 25 is connected with an end of steering wheel swing arm 2, and the thread end of second universal ball end 26 is connected with the sole of right foot mechanism 10;
The structure of described left pipe link mechanism 18 is identical with the structure of right pipe link mechanism, and the thread end of its first universal ball end is connected with the other end of steering wheel swing arm 2, and the thread end of its second universal ball end is connected with the sole of left foot mechanism.
Described steering wheel swing arm 2, left pipe link mechanism and right pipe link mechanism all are located at the place ahead of bracing frame 21; Swing arm 19 is located at the below of bracing frame 21;
The leg pole of described left foot mechanism and the leg pole of right foot mechanism are located at the both sides of bracing frame 21 respectively, and are located at the rear of left pipe link mechanism and right pipe link mechanism respectively.
The leg branching rod structure of right foot mechanism is identical with the leg branching rod structure of left foot mechanism, and the leg pole of each foot mechanism includes foreleg pole and back leg pole; As shown in Figure 1, the leg pole of right foot mechanism includes foreleg pole 6 and back leg pole 5, as shown in Figure 2, the upper end of the upper end of described foreleg pole 6 and back leg pole 5 is connected with bracing frame 21 by pin 24,23 respectively, pin 24,23 respectively with foreleg pole 6 and back leg pole 5 free-running fits; As shown in Figure 1, the lower end of the lower end of described foreleg pole 6 and back leg pole 5 is connected with dwang 14 by pin 15,16 respectively, pin 15,16 respectively with dwang 14 free-running fits;
As shown in Figure 1, the foreleg pole 6 and the back leg pole 5 of right foot mechanism are set up in parallel, and foreleg pole 6 is located at the rear of right pipe link mechanism, and back leg pole 5 is located at the rear of foreleg pole 6; Similarly, the foreleg pole and the back leg pole of left side foot mechanism also are set up in parallel, and foreleg pole is located at the rear of left pipe link mechanism, and back leg pole is located at the rear of foreleg pole, and steering wheel swing arm 2, right pipe link mechanism and left pipe link mechanism all are located at the place ahead of bracing frame 21.
As shown in Figure 2, the back leg pole 5 of right foot mechanism is provided with bar-shaped trough, similarly, also be provided with bar-shaped trough on the back leg pole 17 of left side foot mechanism, the bar-shaped trough of the back leg pole 5 of the bar-shaped trough of back leg pole 17 of left foot mechanism and right foot mechanism is passed at the two ends of swing arm 19 respectively, and is movably connected with the back leg pole 17 of left foot mechanism and the back leg pole 5 of right foot mechanism.
As shown in Figure 7, described control setup comprises lithium cell, loudspeaker, microphone, embedded Control plate, distance measuring sensor, vision sensor, soft-touch control, blue tooth interface and USB interface, described embedded Control plate is fixed in the top of bracing frame 21, lithium cell is located at the below of embedded Control plate and the top of steering wheel 20 of taking a step, and described distance measuring sensor is individually fixed in the front end of the sole of the front end of fuselage and the right and left; Described lithium cell is connected by circuit with the embedded Control plate, described distance measuring sensor is connected with the embedded Control plate, the embedded Control plate respectively with wave steering wheel 1, the turning steering wheel 7 of the turning steering wheel of take a step steering wheel 20, left foot mechanism and right foot mechanism is connected;
Distance measuring sensor comprises infrared pickoff and ultrasonic transduter, and infrared pickoff is installed on the front end of sole 10, and ultrasonic transduter is installed on the front end of fuselage, and infrared pickoff all is connected with the embedded Control plate with ultrasonic transduter.
Described loudspeaker, microphone, vision sensor and soft-touch control all are connected with the embedded Control plate, and described loudspeaker are fixed in the both sides of bracing frame 21, and microphone and soft-touch control all are fixed in the top of embedded Control plate, and vision sensor is fixed in the front end of fuselage.
Blue tooth interface all is connected with the embedded Control plate with USB interface, in order to the telecommand of receiving computer or smart mobile phone or download, as shown in Figure 7.
The embedded Control plate carries out radio communication by blue tooth interface and computing machine (or smart mobile phone), or carries out wire communication by USB interface.The embedded Control plate obtains ambient condition information from various sensors such as distance measuring sensor, microphone, vision sensor and soft-touch controls, these information are carried out Treatment Analysis, steering wheel 1 is waved in the output pwm signal of making a strategic decision then control, the rotation of the turning steering wheel 7 of the turning steering wheel of take a step steering wheel 20, left foot mechanism and right foot mechanism, give loudspeaker by output audio signal, thereby realize that the various walkings of robot and flexible turning wait action and sounding.
Present embodiment except that following characteristics other structures with embodiment 1: described control setup comprises lithium cell, embedded Control plate, infrared pickoff, ultrasonic transduter, loudspeaker and microphone, described embedded Control plate is fixed in the top of bracing frame 21, lithium cell is located at the top of the below of embedded Control plate and the steering wheel 20 of taking a step, infrared pickoff is fixed in the front end of sole, and described ultrasonic transduter is fixed in the front end of fuselage; Described lithium cell is connected by circuit with the embedded Control plate, infrared pickoff all is connected with the embedded Control plate with ultrasonic transduter, the embedded Control plate respectively with wave steering wheel 1, the turning steering wheel 7 of the turning steering wheel of take a step steering wheel 20, left foot mechanism and right foot mechanism is connected.Described loudspeaker all are connected with the embedded Control plate with microphone, and described loudspeaker are fixed in the both sides of bracing frame 21, and microphone is fixed in the top of embedded Control plate.USB interface is connected with the embedded Control plate, in order to the telecommand of receiving computer or smart mobile phone or download.
The various embodiments described above are the utility model preferred implementation; but embodiment of the present utility model is not restricted to the described embodiments; other any do not deviate from change, the modification done under spirit of the present utility model and the principle, substitutes, combination, simplify; all should be the substitute mode of equivalence, be included within the protection domain of the present utility model.
Claims (10)
1. biped walking bionic robot, comprise fuselage, two pipe link mechanisms, two foot mechanisms and control setup, fuselage is connected with two foot mechanisms, two foot mechanisms are respectively left foot mechanism and right foot mechanism, left side foot mechanism and right foot mechanism also is listed in the left and right sides of fuselage below, two pipe link mechanisms are respectively left pipe link mechanism and right pipe link mechanism, left side pipe link mechanism connects fuselage and left foot mechanism respectively, right side pipe link mechanism connects fuselage and right foot mechanism respectively, it is characterized in that: the structure of described left foot mechanism is identical with the structure of right foot mechanism, include leg pole, the turning steering wheel, dwang, sole, steering wheel adaptor union and rotating disk, the two ends up and down of described leg pole are connected with dwang with fuselage by pin respectively, the two ends of described dwang are connected on the sole by pin, described turning steering wheel is fixed in the top of sole, described rotating disk is located at the sole below, the steering wheel adaptor union is fixed in the below of turning steering wheel and passes sole and is connected with rotating disk, and the rotating disk below is connected with the wheel skin;
Described fuselage comprises bracing frame, waves steering wheel, the steering wheel of taking a step, steering wheel swing arm and swing arm, the described steering wheel that waves all is fixed on the bracing frame with the steering wheel of taking a step, described steering wheel swing arm is connected waves on the steering wheel, the two ends of steering wheel swing arm connect left pipe link mechanism and right pipe link mechanism respectively, and the described steering wheel of taking a step is connected with the swing arm that is positioned at its below;
The two ends of described swing arm connect the leg pole of left foot mechanism and the leg pole of right foot mechanism respectively;
Described control setup is connected with foot mechanism with fuselage respectively.
2. biped walking bionic robot according to claim 1, it is characterized in that: described right pipe link mechanism comprises first universal ball end, first Hooke's coupling, connecting rod, second Hooke's coupling and second universal ball end, first Hooke's coupling and second Hooke's coupling are individually fixed in the two ends of connecting rod, the bulbous end of first universal ball end is connected with first Hooke's coupling, the bulbous end of second universal ball end is connected with second Hooke's coupling, the thread end of first universal ball end is connected with an end of steering wheel swing arm, and the thread end of second universal ball end is connected with the sole of right foot mechanism;
The structure of described left pipe link mechanism is identical with the structure of right pipe link mechanism, and the thread end of its first universal ball end is connected with the other end of steering wheel swing arm, and the thread end of its second universal ball end is connected with the sole of left foot mechanism.
3. biped walking bionic robot according to claim 1 is characterized in that: described steering wheel swing arm, left pipe link mechanism and right pipe link mechanism all are located at the place ahead of bracing frame; Swing arm is located at the below of bracing frame;
The leg pole of described left foot mechanism and the leg pole of right foot mechanism are located at the both sides of bracing frame respectively, and are located at the rear of left pipe link mechanism and right pipe link mechanism respectively.
4. biped walking bionic robot according to claim 3, it is characterized in that: the leg pole of each foot mechanism includes foreleg pole and back leg pole, the upper end of the upper end of described foreleg pole and back leg pole is connected with bracing frame by pin respectively, pin respectively with foreleg pole and back leg pole free-running fit; The lower end of the lower end of described foreleg pole and back leg pole is connected with dwang by pin respectively, pin and dwang free-running fit;
Described foreleg pole and back leg pole are set up in parallel, and foreleg pole is located at pipe link mechanism rear, and back leg pole is located at the rear of foreleg pole.
5. biped walking bionic robot according to claim 4, it is characterized in that: be equipped with bar-shaped trough on the back leg pole of described left foot mechanism and right foot mechanism, the bar-shaped trough of the back leg pole of the bar-shaped trough of back leg pole of left foot mechanism and right foot mechanism is passed at the two ends of swing arm respectively, and is movably connected with the back leg pole of left foot mechanism and the back leg pole of right foot mechanism.
6. biped walking bionic robot according to claim 1, it is characterized in that: described control setup comprises battery, loudspeaker, microphone, embedded Control plate and distance measuring sensor, described embedded Control plate is fixed in the top of bracing frame, described battery is located at the top of the below of embedded Control plate and the steering wheel of taking a step, described loudspeaker are fixed in the both sides of bracing frame, microphone is fixed in the top of embedded Control plate, and described distance measuring sensor is individually fixed in the front end of fuselage and the front end of sole; Described battery is connected by circuit with the embedded Control plate, described distance measuring sensor, loudspeaker and microphone all are connected with the embedded Control plate, the embedded Control plate respectively with wave steering wheel, the steering wheel of taking a step, the turning steering wheel of left foot mechanism and the turning steering wheel of right foot mechanism be connected.
7. biped walking bionic robot according to claim 6, it is characterized in that: described distance measuring sensor comprises infrared pickoff and ultrasonic transduter, infrared pickoff is fixed in the front end of sole, ultrasonic transduter is fixed in the front end of fuselage, and infrared pickoff all is connected with the embedded Control plate with ultrasonic transduter.
8. biped walking bionic robot according to claim 6, it is characterized in that: described control setup also comprises vision sensor and soft-touch control, described vision sensor all is connected with the embedded Control plate with soft-touch control, described soft-touch control all is fixed in the top of embedded Control plate, and vision sensor is fixed in the front end of fuselage.
9. biped walking bionic robot according to claim 8 is characterized in that: described control setup also comprises blue tooth interface and USB interface, and blue tooth interface all is connected with the embedded Control plate with USB interface.
10. biped walking bionic robot according to claim 6 is characterized in that: described battery is a lithium cell.
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| Application Number | Priority Date | Filing Date | Title |
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| CN2010201604256U CN201816666U (en) | 2010-04-09 | 2010-04-09 | Biped walking bionic robot |
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| CN2010201604256U CN201816666U (en) | 2010-04-09 | 2010-04-09 | Biped walking bionic robot |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101823516A (en) * | 2010-04-09 | 2010-09-08 | 华南理工大学 | Biped walking bionic robot |
| CN106542018A (en) * | 2017-01-19 | 2017-03-29 | 吉林大学 | A kind of semi-passive double feet walking machine with bionical metatarsophalangeal joints |
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2010
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101823516A (en) * | 2010-04-09 | 2010-09-08 | 华南理工大学 | Biped walking bionic robot |
| CN101823516B (en) * | 2010-04-09 | 2012-06-13 | 华南理工大学 | Biped walking bionic robot |
| CN106542018A (en) * | 2017-01-19 | 2017-03-29 | 吉林大学 | A kind of semi-passive double feet walking machine with bionical metatarsophalangeal joints |
| CN106542018B (en) * | 2017-01-19 | 2018-08-17 | 吉林大学 | A kind of semi-passive double feet walking machine with bionical articulationes metatarsophalangeae |
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Granted publication date: 20110504 Effective date of abandoning: 20120613 |