CN105361983B - Robot and robot control method - Google Patents
Robot and robot control method Download PDFInfo
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- CN105361983B CN105361983B CN201510608817.1A CN201510608817A CN105361983B CN 105361983 B CN105361983 B CN 105361983B CN 201510608817 A CN201510608817 A CN 201510608817A CN 105361983 B CN105361983 B CN 105361983B
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Abstract
The invention discloses a robot and a robot control method. Each of a shoulder joint, an elbow joint and a wrist joint is formed by a pneumatic or hydraulic steering device and a sector-shaped air bladder or hydraulic bladder. Finger joints are formed by sector-shaped air bladders or hydraulic bladders, and a pneumatic or hydraulic jack is mounted between each two adjacent finger extension bones of a palm. A computer controls electromagnetic valves to further control feeding and discharging of compressed air or liquid in the pneumatic or hydraulic jacks, the sector-shaped air bladders or hydraulic bladders and the pneumatic or hydraulic steering devices in a robot mechanical arm, and consequently the robot mechanical arm is enabled to operate. Joints of mechanical legs and feet and neck joints of the robot are formed by pneumatic or hydraulic steering devices and the sector-shaped air bladders or hydraulic bladders, and two pneumatic or hydraulic jacks and a sector-shaped air bladder or hydraulic bladder are hidden in a body of the robot. The robot is controlled by the aid of a computer.
Description
Technical field：
The present invention relates to a kind of robot and its control method.
Background technology：
The length of the arm of the manipulator of existing robot is fixed, and each joint is 360 ° of two dimension and turns
To two joints of needs can just do comprehensive steering.So, occur in that the manipulator of the robot in six joints.Each joint
All be by a servomotor plus a reducing gear into because its complex structure and precision are high, China's manufacture
Servomotor and reductor are of low quality, and most of servomotor and almost all reductor need import, so that existing
The cost of the manipulator of robot is very high.The manipulator joint of existing robot, can only do two-dimentional steering；Can't be as staff
Like that, do three-dimensional reorientation in joint.In the range of narrow space, the flexibility ratio of the manipulator of existing robot, not as staff.
For example：Workman on production line can left hand take a screw, in being put into the screw of the household electrical appliance for producing, with the right hand electricity
Dynamic screwdriver is the screw screwin being put in screw.But the manipulator of robot cannot take out wherein one from a pile screw
Screw, and be accurately put in the screw of the household electrical appliance for producing.
The patent No.：201020272916.X《A kind of artificial limb》In prosthetic hand finger-joint, used fan-shaped air bag, hinge
Chain connects and back-moving spring.Air pump compressed air out enters air accumulator, from air accumulator compressed air out through being powered
The intake valve of opening enters fan-shaped air bag, makes fan-shaped airbag aeration expansion, digital flexion；Intake valve has a power failure and closes, digital flexion
Shape invariance；Pressure-relief valve is powered and opens, and the finger of bending is stretched in the presence of back-moving spring.Artificial limb manipulator is empty using compression
Gas is used as power source, and the strength of artificial limb manipulator is sufficiently large.But as the manipulator of robot, using compressed air as
Power source, the strength of robot mechanical arm is not big enough.
At present, domestic robot can only speak chat with people, it is impossible to do chores.Service humanoid robot can be in hotel's end plate
Son, but the use of the manipulator joint cost of servomotor, harmonic wave speed reducing machine is very high.The valency that domestic industrial robot is one
More than 100,000 yuans, import industrial robot one needs hundreds of thousands yuan to lattice.Domestic service humanoid robot
The price of one is also more than 100,000 yuans.The domestic robot that production can do housework, it is important to reduce production cost,
And the key for reducing production ability is the construction for changing domestic robot.
The content of the invention：
The robot of the present invention is made up of head, trunk, mechanical arm, mechanical legs and feet, and their skeleton is made of plastic, modeling
Material case surface covers again one layer of rubber film.Robotic manipulator is made up of upper arm, underarm, hand, on the upper arm of robot
Wing joint is housed between end and trunk, elbow joint is housed between upper arm and underarm, wrist joint is housed between underarm and palm.Hand
Structure is as follows：One deep-slotted chip breaker, deep-slotted chip breaker arc core downwards, notch forward, that bone that middle finger is extended in palm is fixed
At the middle part of deep-slotted chip breaker, successively hinge extends bone to the bone extended in palm of nameless and little finger in the middle finger of deep-slotted chip breaker
The side of head, forefinger extends to another side that the bone hinge in palm extends bone in the middle finger of deep-slotted chip breaker, and thumb extends
Bone in palm is installed adjacent to forefinger and extends on the deep-slotted chip breaker of bone by a joint, and five fingers are all equipped with three fingers
Joint, is equipped with touch sensor on finger tip.Two eyes the inside of robot respectively fills a camera, two ears of robot
Piece the inside respectively fills a microphone, and robot is equipped with the mouth a loudspeaker, and the nose of robot is equipped with ultrasonic radar.Machine
Neck joint is housed between the head and trunk of device people.The mechanical legs and feet of robot are made up of thigh, shank and pin, the trunk of robot
Hip joint is housed between thigh, knee joint is housed between thigh and shank, ankle-joint is housed between shank and pin.Use computer
Control robot.Air pump or liquid pump, air accumulator or fluid reservoir, lithium battery are kept in robot trunk.Also hide in robot upper arm
There are air pump or liquid pump, air accumulator or fluid reservoir, lithium battery.The neck joint of robot be by a steering gear pneumatically or hydraulically and
The air bag of one sector or hydraulic bag are constituted, and fan-shaped air bag or hydraulic bag carries fold, neck joint as accordion air bag
Steering gear pneumatically or hydraulically be fixed on trunk upper end cross section, have one piece of U-board arc edge be fixed on backward the pneumatic of neck joint or
On the rotating shaft upper surface of the steering gear of hydraulic pressure, the lower end of head rear side and U-board arc edge hinge, the fan-shaped air bag of neck joint or
Hydraulic bag is mounted in the space between U-board and head lower surface, is pressed from both sides equipped with torsion at the lower end of head and the hinge at U-board arc edge
Tight spring.The trunk of robot built with two jack and a sector pneumatically or hydraulically air bag or hydraulic bag, it is pneumatic
Or back-moving spring is housed on the jack of hydraulic pressure, there is the flat board of two pieces of front edge hinges in trunk, at the hinge of two pieces of flat boards
Equipped with torsion fastening spring.Between two pieces of flat boards in the air bag equipped with sector or hydraulic bag, trunk left and right two it is pneumatic or
That one flat plate bottom surface hinge below in the upper end of the jack of hydraulic pressure and two pieces of flat boards.The wing of the mechanical arm of robot is closed
Section is made up of the air bag or hydraulic bag of a steering gear and a sector pneumatically or hydraulically.The pneumatically or hydraulically steering in wing joint
Device is fixed on the shoulder of trunk, has one block of inverted U-shaped plate to fix the rotating shaft end of the steering gear pneumatically or hydraulically for being attached to wing joint
On face, the upper end of upper arm is mounted in inverted U-shaped plate with inverted U-shaped plate arc edge upper end hinge, the fan-shaped air bag in wing joint or hydraulic bag
In space between Medial upper arm, torsion fastening spring is housed at the upper end of upper arm and inverted U-shaped plate arc edge upper end hinge.Machine
The elbow joint of tool arm is made up of the air bag or hydraulic bag of a steering gear and a sector pneumatically or hydraulically.Elbow joint
Steering gear pneumatically or hydraulically is fixed on upper arm lower end, has one piece of U-board arc edge to fix in outside and is attached to the pneumatic of elbow joint
Or on the rotating shaft end face of hydraulic steering gear, upper end inner side and U-board linear edge side hinge, the fan-shaped gas of elbow joint of underarm
Capsule or hydraulic bag are mounted in the space between U-board and underarm upper surface, the upper end of underarm and the hinge of U-board linear edge side
It is upper that torsion fastening spring is housed.The wrist joint of mechanical arm by a steering gear and two sectors pneumatically or hydraulically air bag or
Hydraulic bag is constituted, and a downward triangular prism of acute angle is fixed in the rotating shaft of carpal steering gear pneumatically or hydraulically, on palm
Acute angle triangular prism upwards is fixed at end, fixed triangular prism and hand in the rotating shaft of carpal steering gear pneumatically or hydraulically
The triangular prism hinge that palm end is fixed, the triangular prism hinge that palm triangular prism is equipped with the rotating shaft of steering gear pneumatically or hydraulically
Both sides respectively fill the air bag or hydraulic bag of a sector, the triangle that palm triangular prism is equipped with the rotating shaft of steering gear pneumatically or hydraulically
Two torsion fastening springs are housed at the hinge of post.Then two containment vessels are loaded on, a containment vessel is fixed on pneumatic or liquid
On the triangular prism that the rotating shaft of the steering gear of pressure is equipped with, another containment vessel is fixed on palm triangular prism, containment vessel outside
One layer of elastic caoutchouc film of parcel.The articulations digitorum manus of mechanical arm built with fan-shaped air bag or hydraulic bag, between two articulations digitorum manus
Palm of the hand side hinge, is equipped with torsion fastening spring, respectively by activity between two adjacent finger lengthening bones on articulations digitorum manus hinge
One jack pneumatically or hydraulically of connection is connected in parallel, and back-moving spring is housed on jack pneumatically or hydraulically, refers to pass
One support frame is housed on section, torsion fastening spring, articulations digitorum manus and pneumatically or hydraulically are housed at the hinge of each articulations digitorum manus
Jack outside parcel one layer of elastic caoutchouc film.Pass equipped with turning on the wing joint of mechanical arm, elbow joint and articulations digitorum manus
Sensor.The hip joint of robotic's legs and feet by a steering gear and a sector pneumatically or hydraulically air bag or hydraulic bag group
Into the steering gear pneumatically or hydraulically in hip joint is fixed on trunk lower section, has one block of inverted U-shaped plate to fix and is attached to the pneumatic of hip joint
Or on the rotating shaft end face of the steering gear of hydraulic pressure, the upper end of thigh and inverted U-shaped plate arc edge upper end hinge, the fan-shaped gas in hip joint
Capsule or hydraulic bag are mounted in the space between inverted U-shaped plate and femoribus internus, the upper end of thigh and inverted U-shaped plate arc edge upper end hinge
Place is equipped with torsion fastening spring.The knee joint of robotic's legs and feet is a steering gear pneumatically or hydraulically, pneumatically or hydraulically
The short tube of steering gear be fixed on thigh lower end, shank upper end is fixed in the rotating shaft of steering gear pneumatically or hydraulically.Robot
The ankle-joint of mechanical legs and feet is made up of the air bag or hydraulic bag of a steering gear and a sector pneumatically or hydraulically.Ankle-joint
Steering gear pneumatically or hydraulically be fixed on shank lower end, have before and after one piece of U-board arc edge be fixed on the pneumatic of ankle-joint or
On the rotating shaft end face of the steering gear of hydraulic pressure, upper end and U-board arc edge hinge, the fan-shaped air bag of ankle-joint or the hydraulic bag of pin
It is mounted in the space between U-board and pin upper end leading flank, the upper end of pin goes out equipped with torsion clamping with the hinge at U-board arc edge
Spring.Rotation direction sensor is housed on the joint in the hip joint, knee joint and ankle robotic's legs and feet of robotic's legs and feet.Machine
Spring steel plate is housed on the sole of device people machinery legs and feet, foot bottom is equipped with three pressure sensors.From air accumulator sebific duct out
It is followed by fan-shaped air bag by an electromagnetic intake valve and a gas threeway, another interface of gas threeway is vented equipped with electromagnetism
Valve, or be followed by fan-shaped hydraulic bag by an electromagnetism liquid feed valve and a liquid threeway from liquid pump sebific duct out, liquid three
Another logical interface returns liquid valve equipped with electromagnetism, returns liquid valve sebific duct out from electromagnetism and is connected on fluid reservoir.Pneumatically or hydraulically
The structure of steering gear is as follows：One piece of quiet arc column is housed in the radial location of short tube, the big cambered surface of quiet arc column is fixed on
On short tube, caulking gum is posted in other faces of quiet arc column, and the two ends of short tube are equipped with end cap, have a rotating shaft to pass through two end caps
Centre bore.The little cambered surface for having one piece of dynamic arc column is fixed in the rotating shaft in short tube, and sealing is posted in other faces of dynamic arc column
Rubber, the caulking gum of two covering of the fans of quiet arc column is contacted with two rubbing surfaces of end cover.The sealing rubber of the little cambered surface of quiet arc column
Glue and shaft contacts, the caulking gum of two covering of the fans of dynamic arc column is contacted with two rubbing surfaces of end cover, moves the big cambered surface of arc column
Caulking gum contact with short tube inner surface.A sebific duct is respectively filled on the short tube by two sides of quiet arc column, on short tube
Two sebific ducts be connected on air accumulator by respective gas threeway and electromagnetic intake valve.It is equipped with each group gas threeway another interface
Respective electromagnetic exhaust valve.Or two sebific ducts on short tube are connected on oil pump by respective liquid threeway and electromagnetism liquid feed valve,
Liquid valve is returned equipped with respective electromagnetism on another interface of each group liquid threeway, liquid valve sebific duct out is returned from electromagnetism and is connected to fluid reservoir
On.
The control method of robot：Microphone in robot ear listens to the work that owner arranges, and microphone is main
The information of voice prompt that people sends passes to the computer of robot, or owner sends work by mobile phone or computer to robot
Instruct.Computer compares the data message for preserving in the past, computer starting air pump or liquid pump using software, and computer passes through
Open or close each magnetic valve.Steering gear press-in pneumatically or hydraulically or discharge compressed air in robot neck joint
Or liquid, make robot turn one's head, the press-in of fan-shaped air bag or hydraulic bag or discharge compressed air in robot neck joint
Or liquid, robot is come back or is bowed, so that the scope that the camera in robot eyes is seen is broader.In machine
Fan-shaped gas with the help of camera in device eye, in the hip joint of robotic's legs and feet, knee joint and ankle-joint
Capsule or hydraulic bag and the press-in of steering gear pneumatically or hydraulically either discharge compressed air or liquid, make robotic's legs and feet
The action that thigh lift leg, shank knee sprung and pin stretch out, completes the walking task of robot.The two pneumatic or liquid in left and right in trunk
The piston of the jack of pressure rises together raises the top half of robot trunk.The pneumatic or liquid on the left side in robot trunk
The piston of the jack of pressure is motionless or raises few, the piston liter of the jack pneumatically or hydraulically on the right in robot trunk
High more, then robot bends over to the left.The piston of the jack pneumatically or hydraulically on the right is motionless in robot trunk or rises
High few, the piston rising of the jack pneumatically or hydraulically on the left side is more in robot trunk, then robot bends over to the right.Machine
Fan-shaped air bag or hydraulic bag press-in compressed air or liquid robot bend forward in device people's trunk, robot trunk interior wing
The intracapsular compressed air of the air bag or hydraulic pressure of shape or liquid are discharged, and robot directly plays backward waist.The wing of robotic manipulator
Fan-shaped air bag or hydraulic bag and steering gear pneumatically or hydraulically and hand in joint, elbow joint, wrist joint and finger-joint
Compressed air or liquid are either discharged in jack press-in pneumatically or hydraulically in the palm, and the upper arm for making robot mechanical arm is lifted
Liter, lower brachiocylloosis and hand grab the action of object, complete the task of robot.
Because, except air pump or liquid pump use metal, other parts all use plastics or rubber in robot body, and
And not using the servomotor harmonic reductor that expensive, weight is very heavy.Thus robot is lightweight, price is also just
Preferably, it is suitable for very much domestic robot, does chores.Robot puts laundry in washing machine, then opens washing powder lid, robot
According to the quantity of clothing, several spoonfuls of washing powder are thrown in washing machine with the plastic spoon for containing washing powder, the plastic spoon of Sheng washing powder is put
Enter in washing powder box, cover lid.Robot covers cover of washing machine, and the dynamic washing machine that then press...withes one's finger starts case, then presses
Dynamic program for washing selection key, program for washing is chosen, finally start laundry clothes by operation button, washing machine.Washing machine is washed
After clothes, clothes is dried, then shut down and send chimes of doom.Robot hears after chimes of doom, the clothing in washing machine is taken
Go out, discharge in plastic tub, the plastics basin end of transfer clothing to balcony.Robot coat hanger cover is on clothes, with clip clothing
Clothes and clothes hanger are clipped together, then with fork arm being cased with the clothes hanger hook of clothes on the cross bar for putting garments out in the sun.After owner eats up instead, machine
Device people fills the fresh-keeping layer that the surplus plate for having dish is put into refrigerator.Robot opens dish washing machine door, takes out bowl basket, electric discharge dining table
On, then empty bowl and blank panel and chopsticks are put in bowl basket, the bowl basket for filling tableware is pushed in dish-washing machine, shuts door, use hand
Finger presses the program button that washes the dishes, and selects the program that washes the dishes, and then starts to wash the dishes by dish-washing machine operation button, dish-washing machine.Wash the dishes machine washing
After complete bowl, automatic shutdown.
Description of the drawings：
Do further concrete detailed description to the present invention with reference to the accompanying drawings and detailed description.
Fig. 1 is the structural representation of robot mechanical arm in the present invention.
Fig. 2 is the A-A sectional views of robot mechanical arm in the present invention.
Fig. 3 is the steering gear sectional view pneumatically or hydraulically in the present invention.
Fig. 4 is the outside drawing of the air bag of sector or hydraulic bag in the present invention.
Fig. 5 is the sectional view of five fingers in the present invention.
Fig. 6 is the structural representation of the robot in the present invention.
Specific embodiment：
Shown in Fig. 1, Fig. 2, Fig. 3, Fig. 4, Fig. 5 and Fig. 6, the robot of the present invention is by 10, trunk, mechanical arm, machinery
Legs and feet are constituted, and their skeleton is made of plastic, and plastic casing surface covers again one layer of rubber film.Robotic manipulator by
Upper arm 1, underarm 2, hand 3 are constituted, and wing joint is housed between the upper end of upper arm 1 of robot and trunk, are filled between upper arm 1 and underarm 2
There is elbow joint, wrist joint is housed between underarm 2 and palm.The structure of hand 3 is as follows：One deep-slotted chip breaker, deep-slotted chip breaker arc core is downward, groove
Forward, middle finger 303 extends to the middle part that bone in palm is fixed on deep-slotted chip breaker, the third finger 302 and little finger 301 to mouth
The bone extended in palm successively hinge extends the side of bone in the middle finger 303 of deep-slotted chip breaker, forefinger 304 extends to palm
In bone hinge extend another side of bone in the middle finger 303 of deep-slotted chip breaker, the bone that thumb 305 is extended in palm passes through
One joint is installed adjacent to forefinger 304 and extends on the deep-slotted chip breaker of bone, and five fingers are all equipped with three articulations digitorum manus, fill on finger tip
Tactile sensor.Two eyes the inside of robot respectively fills a camera, and two ears the inside of robot respectively fills one
Microphone, robot is equipped with the mouth a loudspeaker, and the nose of robot is equipped with ultrasonic radar.10 and body of robot
Neck joint is housed between dry.The mechanical legs and feet of robot are made up of thigh 11, shank 12 and pin 13, the trunk and thigh of robot
Hip joint is housed between 11, knee joint is housed between thigh 11 and shank 12, ankle-joint is housed between shank 12 and pin 13.Use tricks
Calculation machine controls robot.Air pump or liquid pump 9, air accumulator or fluid reservoir 8, lithium battery 7 are kept in robot trunk.Robot upper arm
Inside also keep air pump or liquid pump 9, air accumulator or fluid reservoir 8, lithium battery 7.The neck joint of robot be by one pneumatically or hydraulically
Steering gear 5 and the air bag or hydraulic bag 4 of a sector constitute, fan-shaped air bag or hydraulic bag 4 is such with accordion air bag
Fold, the steering gear 5 pneumatically or hydraulically of neck joint is fixed on trunk upper end cross section, has one piece of U-board arc edge to be fixed on backward
On the upper surface of rotating shaft 502 of the pneumatically or hydraulically steering gear 5 of neck joint, 10 lower end rear side and U-board arc edge hinge, neck
The fan-shaped air bag or hydraulic bag 4 in joint is mounted in the space between U-board and 10 lower surface, 10 lower end and U-board
Torsion fastening spring is housed at the hinge at arc edge.The trunk of robot is built with two jack 6 and pneumatically or hydraulically
Individual fan-shaped air bag or hydraulic bag 4, are equipped with back-moving spring on jack 6 pneumatically or hydraulically, there is two pieces of front edges in trunk
The flat board of hinge, is equipped with torsion fastening spring at the hinge of two pieces of flat boards.Between two pieces of flat boards the air bag equipped with sector or
Hydraulic bag 4, in trunk in the upper end of two jack 6 pneumatically or hydraulically in left and right and two pieces of flat boards below that one flat plate bottom
Face hinge.The wing joint of the mechanical arm of robot by pneumatically or hydraulically steering gear 5 and a sector air bag or hydraulic pressure
Capsule 4 is constituted.The steering gear 5 pneumatically or hydraulically in wing joint is fixed on the shoulder of trunk, is had one block of inverted U-shaped plate to fix and is attached to wing
On the end face of rotating shaft 502 of the steering gear 5 pneumatically or hydraulically in joint, the upper end of upper arm 1 and inverted U-shaped plate arc edge upper end hinge,
The fan-shaped air bag or hydraulic bag 4 in wing joint is mounted in the space between inverted U-shaped plate and the inner side of upper arm 1, the upper end of upper arm 1 with fall
Torsion fastening spring is housed at the hinge of U-board arc edge upper end.The elbow joint of mechanical arm be by one pneumatically or hydraulically turn
Constitute to the air bag or hydraulic bag 4 of device 5 and a sector.The steering gear 5 pneumatically or hydraulically of elbow joint is fixed under upper arm 1
End, has one piece of U-board arc edge to fix in outside and is attached on the end face of rotating shaft 502 of the steering gear 5 pneumatically or hydraulically of elbow joint,
Upper end inner side and the U-board linear edge side hinge of underarm 2, the fan-shaped air bag or hydraulic bag 4 of elbow joint are mounted in U-board with
In space between the upper surface of arm 2, torsion fastening spring is housed on the upper end of underarm 2 and the hinge of U-board linear edge side.Machine
The wrist joint of tool arm is made up of the air bag or hydraulic bag 4 of a steering gear 5 and two sectors pneumatically or hydraulically, carpal
Fix a downward triangular prism of acute angle in the rotating shaft 502 of steering gear 5 pneumatically or hydraulically, palm upper end fix an acute angle to
On triangular prism, fixed triangular prism and palm upper end are fixed in the rotating shaft 502 of carpal steering gear 5 pneumatically or hydraulically
Triangular prism hinge, the both sides of the triangular prism hinge that palm triangular prism is equipped with the rotating shaft 502 of steering gear 5 pneumatically or hydraulically respectively fill
The air bag or hydraulic bag 4 of one sector, the triangular prism that palm triangular prism is equipped with the rotating shaft 502 of steering gear 5 pneumatically or hydraulically
Hinge at be equipped with two torsion fastening springs.Then two containment vessels are loaded on, a containment vessel is fixed on pneumatically or hydraulically
Steering gear 5 the triangular prism that is equipped with of rotating shaft 502 on, another containment vessel is fixed on palm triangular prism, outside containment vessel
Bread wraps up in one layer of elastic caoutchouc film.The articulations digitorum manus of mechanical arm built with fan-shaped air bag or hydraulic bag 4, two articulations digitorum manus it
Between palm of the hand side hinge, on articulations digitorum manus hinge be equipped with torsion fastening spring, between two adjacent finger lengthening bones respectively by live
One jack 6 pneumatically or hydraulically of dynamic connection is connected in parallel, and back-moving spring is housed on jack 6 pneumatically or hydraulically,
On articulations digitorum manus be equipped with a support frame, at the hinge of each articulations digitorum manus be equipped with torsion fastening spring, articulations digitorum manus and it is pneumatic or
The outside of jack 6 one layer of elastic caoutchouc film of parcel of hydraulic pressure.Equipped with turning on the wing joint of mechanical arm, elbow joint and articulations digitorum manus
To sensor.The hip joint of robotic's legs and feet by a steering gear 5 and a sector pneumatically or hydraulically air bag or liquid
Pressure capsule 4 is constituted, and the steering gear 5 pneumatically or hydraulically in hip joint is fixed on trunk lower section, is had one block of inverted U-shaped plate to fix and is attached to hip pass
On the end face of rotating shaft 502 of the steering gear 5 pneumatically or hydraulically of section, the upper end of thigh 11 and inverted U-shaped plate arc edge upper end hinge, hip
The fan-shaped air bag or hydraulic bag 4 in joint is mounted in the space between inverted U-shaped plate and the inner side of thigh 11, the upper end of thigh 11 with fall
Torsion fastening spring is housed at the hinge of U-board arc edge upper end.The knee joint of robotic's legs and feet be one pneumatically or hydraulically
Steering gear 5, the short tube 501 of steering gear 5 pneumatically or hydraulically is fixed on the lower end of thigh 11, the upper end of shank 12 be fixed on it is pneumatic or
In the rotating shaft 502 of the steering gear 5 of hydraulic pressure.The ankle-joint of robotic's legs and feet is by a He of steering gear 5 pneumatically or hydraulically
The air bag or hydraulic bag 4 of one sector is constituted.The steering gear 5 pneumatically or hydraulically of ankle-joint is fixed on the lower end of shank 12, there is one
It is fixed on before and after block U-board arc edge on the end face of rotating shaft 502 of the steering gear 5 pneumatically or hydraulically of ankle-joint, the upper end of pin 13
With U-board arc edge hinge, the fan-shaped air bag or hydraulic bag 4 of ankle-joint are mounted between U-board and the upper end leading flank of pin 13
In space, the upper end of pin 13 goes out equipped with torsion fastening spring with the hinge at U-board arc edge.The hip of robotic's legs and feet is closed
Rotation direction sensor is housed on the joint of section, knee joint and ankle robotic's legs and feet.Fill on the plate of pin 13 of robotic's legs and feet
Flexible steel plate, the bottom of pin 13 is equipped with three pressure sensors.From air accumulator sebific duct out by electromagnetic intake valve and
One gas threeway is followed by fan-shaped air bag, another interface of gas threeway is equipped with electromagnetic exhaust valve, or from liquid pump 9 out
Sebific duct is followed by fan-shaped hydraulic bag 4 by an electromagnetism liquid feed valve and a liquid threeway, and another interface of liquid threeway is equipped with
Electromagnetism returns liquid valve, returns liquid valve sebific duct out from electromagnetism and is connected on fluid reservoir 8.The structure of steering gear 5 pneumatically or hydraulically is as follows：
One piece of quiet arc column 504 is housed in the radial location of short tube 501, the big cambered surface of quiet arc column 504 is fixed on short tube 501
On, caulking gum is posted in other faces of quiet arc column 504, and the two ends of short tube 501 are equipped with end cap, have a rotating shaft 502 to pass through two
The centre bore of individual end cap.The little cambered surface for having one piece of dynamic arc column 503 is fixed in the rotating shaft 502 in short tube 501, moves arc column
Caulking gum is posted in 503 other faces, and the caulking gum of 504 two covering of the fans of quiet arc column is contacted with two rubbing surfaces of end cover.It is quiet
The caulking gum of the little cambered surface of arc column 504 is contacted with rotating shaft 502, move arc column 503 two covering of the fans caulking gum and two
Rubbing surface of end cover is contacted, and the caulking gum of the big cambered surface of dynamic arc column 503 is contacted with the inner surface of short tube 501.Near quiet arc column
A sebific duct is respectively filled on short tube 501 by 504 two sides, two on short tube 501 sebific duct is by respective gas threeway and electricity
Magnetic intake valve is connected on air accumulator.Respective electromagnetic exhaust valve is housed on each group gas threeway another interface.Or on short tube 501
Two sebific ducts be connected on liquid pump 9 by respective liquid threeway and electromagnetism liquid feed valve, on another interface of each group liquid threeway fill
There is respective electromagnetism to return liquid valve, return liquid valve sebific duct out from electromagnetism and be connected on fluid reservoir 8.
Shown in Fig. 1, Fig. 2, Fig. 3, Fig. 4, Fig. 5 and Fig. 6, the control method of robot：Microphone in robot ear
The work that owner arranges is listened to, microphone passes to the information of voice prompt that owner sends the computer of robot, Huo Zhezhu
People sends work order by mobile phone or computer to robot.Computer compares the data message for preserving in the past, meter using software
Calculation machine booster air pump or liquid pump 9, computer is by opening or closing each magnetic valve.Pneumatic in robot neck joint or
The steering gear 5 of hydraulic pressure is pressed into and either discharge compressed air or liquid, makes robot turn one's head 10, the sector in robot neck joint
Air bag or hydraulic bag 4 be pressed into and either discharge compressed air or liquid, make robot come back and 10 or bow 10, so that machine
The scope that camera in eye is seen is broader.With the help of camera in robot eyes, robotic
Fan-shaped air bag or hydraulic bag 4 and steering gear pneumatically or hydraulically 5 in the hip joint of legs and feet, knee joint and ankle-joint be pressed into or
Person discharges compressed air or liquid, and make that the thigh 11 of robotic's legs and feet lifts that leg, the knee sprung of shank 12 and pin 13 stretch out is dynamic
Make, complete the walking task of robot.The piston of two jack 6 pneumatically or hydraulically in left and right rises together in trunk makes machine
The top half of people's trunk is raised.The piston of the jack 6 pneumatically or hydraulically on the left side is motionless in robot trunk or raises
Seldom, the piston rising of the jack 6 pneumatically or hydraulically on the right is more in robot trunk, then robot bends over to the left.Machine
The piston of the jack 6 pneumatically or hydraulically on the right is motionless in device people trunk or raises seldom, the left side in robot trunk
The piston rising of jack 6 pneumatically or hydraulically is more, then robot bends over to the right.Fan-shaped air bag or liquid in robot trunk
Pressure capsule 4 press-in compressed air or liquid robot bend forward, the pressure in robot trunk in the air bag or hydraulic bag 4 of sector
Contracting air or liquid are discharged, and robot directly plays backward waist.The wing joint of robotic manipulator, elbow joint, wrist joint and hand
In articulations digitorum manus on fan-shaped air bag or hydraulic bag 4 and steering gear pneumatically or hydraulically 6 and hand bone pneumatically or hydraulically thousand
Compressed air or liquid are either discharged in the press-in of jin top 6, make that the lifting of upper arm 1 of robot mechanical arm, underarm 2 bend and hand 3 is grabbed
The action of object, completes the task of robot.
Claims (2)
1. a kind of robot, it is made up of head, trunk, mechanical arm, mechanical legs and feet, and their skeleton is made of plastic, plastics
Case surface covers again one layer of rubber film, and robotic manipulator is made up of upper arm, underarm, hand, the upper arm upper end of robot
Wing joint is housed between trunk, elbow joint is housed between upper arm and underarm, wrist joint, the knot of hand are housed between underarm and palm
Structure is as follows：One deep-slotted chip breaker, deep-slotted chip breaker arc core downwards, notch forward, that bone that middle finger is extended in palm is fixed on
The middle part of deep-slotted chip breaker, successively hinge extends bone to the bone extended in palm of nameless and little finger in the middle finger of deep-slotted chip breaker
Side, forefinger extends to another side that bone hinge in palm extends bone in the middle finger of deep-slotted chip breaker, and thumb is extended to
Bone in palm is installed adjacent to forefinger and extends on the deep-slotted chip breaker of bone by a joint, and five fingers all refer to pass equipped with three
Section, is equipped with touch sensor on finger tip, two eyes the inside of robot respectively fills a camera, two ears of robot
The inside respectively fills a microphone, and robot is equipped with the mouth a loudspeaker, and the nose of robot is equipped with ultrasonic radar, machine
Neck joint is housed, the mechanical legs and feet of robot are made up of thigh, shank and pin between the head and trunk of people, the trunk of robot with
Hip joint is housed between thigh, knee joint is housed between thigh and shank, ankle-joint is housed between shank and pin, use computer control
Robot processed；It is characterized in that：Air pump or liquid pump (9), air accumulator or fluid reservoir (8), lithium battery are kept in robot trunk
(7) air pump or liquid pump (9), air accumulator or fluid reservoir (8), lithium battery (7), are also kept in robot upper arm, the neck of robot is closed
Section is made up of the air bag or hydraulic bag (4) of a steering gear (5) and a sector pneumatically or hydraulically, the air bag or liquid of sector
With fold as accordion air bag, the steering gear (5) pneumatically or hydraulically of neck joint is fixed on trunk upper end cross section to pressure capsule (4),
There is one piece of U-board arc edge to be fixed on backward on rotating shaft (502) upper surface of steering gear (5) pneumatically or hydraulically of neck joint,
Lower end rear side and U-board arc edge hinge, the fan-shaped air bag of neck joint or the hydraulic bag (4) of the head (10) is mounted in U-board
In the space between the head (10) lower surface, torsion is housed at the lower end of the head (10) and the hinge at U-board arc edge
Fastening spring；Air bag or hydraulic bag of the trunk of robot built with two jack (6) and a sector pneumatically or hydraulically
(4) back-moving spring is housed on jack (6), pneumatically or hydraulically, there is the flat board of two pieces of front edge hinges in trunk, two pieces are put down
Torsion fastening spring is housed, the air bag or hydraulic bag (4) equipped with a sector between two pieces of flat boards is left in trunk at the hinge of plate
That one flat plate bottom surface hinge below in the upper end of right two jack (6) pneumatically or hydraulically and two pieces of flat boards；Robot
The wing joint of mechanical arm be made up of the air bag or hydraulic bag (4) of a steering gear (5) and a sector pneumatically or hydraulically,
The steering gear (5) pneumatically or hydraulically in wing joint is fixed on the shoulder of trunk, is had one block of inverted U-shaped plate to fix and is attached to wing joint
On rotating shaft (502) end face of steering gear (5) pneumatically or hydraulically, the upper end of the upper arm (1) is cut with scissors with inverted U-shaped plate arc edge upper end
Chain, the fan-shaped air bag in wing joint or hydraulic bag (4) are mounted in the space between inverted U-shaped plate and the upper arm (1) inner side, described
Torsion fastening spring is housed at the upper end of upper arm (1) and inverted U-shaped plate arc edge upper end hinge；The elbow joint of mechanical arm is by one
Individual steering gear (5) and a sector pneumatically or hydraulically air bag or hydraulic bag (4) composition, elbow joint pneumatically or hydraulically turn
The upper arm (1) lower end is fixed on to device (5), has one piece of U-board arc edge that the pneumatic or liquid for being attached to elbow joint is fixed in outside
On rotating shaft (502) end face of the steering gear (5) of pressure, upper end inner side and U-board linear edge side hinge, the elbow of the underarm (2)
The fan-shaped air bag in joint or hydraulic bag (4) are mounted in the space between U-board and the underarm (2) upper surface, the underarm
(2) torsion fastening spring is housed on upper end and the hinge of U-board linear edge side；The wrist joint of mechanical arm is pneumatic by one
Or steering gear (5) and air bag or hydraulic bag (4) composition of two sectors of hydraulic pressure, carpal steering gear pneumatically or hydraulically
(5) a downward triangular prism of acute angle is fixed in rotating shaft (502), acute angle triangular prism upwards, wrist are fixed in palm upper end
The triangular prism hinge that fixed triangular prism is fixed with palm upper end in the rotating shaft (502) of the steering gear (5) pneumatically or hydraulically in joint
Chain, the both sides of the triangular prism hinge that palm triangular prism is equipped with the rotating shaft (502) of steering gear (5) pneumatically or hydraulically respectively fill one
The triangle that fan-shaped air bag or the rotating shaft (502) of hydraulic bag (4), palm triangular prism and steering gear (5) pneumatically or hydraulically is equipped with
Two torsion fastening springs are housed at the hinge of post, two containment vessels are then loaded on, a containment vessel is fixed on pneumatic or liquid
On the triangular prism that the rotating shaft (502) of the steering gear (5) of pressure is equipped with, another containment vessel is fixed on palm triangular prism, is protected
Protective case outside one layer of elastic caoutchouc film of parcel；The articulations digitorum manus of mechanical arm built with fan-shaped air bag or hydraulic bag (4), two
Palm of the hand side hinge between articulations digitorum manus, is equipped with torsion fastening spring, between two adjacent finger lengthening bones on articulations digitorum manus hinge
Respectively a jack (6) pneumatically or hydraulically by being flexibly connected is connected in parallel, and fills on jack (6) pneumatically or hydraulically
There is back-moving spring, a support frame is housed on articulations digitorum manus, torsion fastening spring is housed at the hinge of each articulations digitorum manus, refer to pass
Section and the outside of jack (6) pneumatically or hydraulically one layer of elastic caoutchouc film of parcel, the wing joint of mechanical arm, elbow joint and refer to
Rotation direction sensor is housed on joint；The hip joint of robotic's legs and feet is by a steering gear (5) pneumatically or hydraulically and one
Fan-shaped air bag or hydraulic bag (4) is constituted, and the pneumatically or hydraulically steering gear (5) in hip joint is fixed on trunk lower section, there is one piece of U
Shape plate fix be attached on rotating shaft (502) end face of the pneumatically or hydraulically steering gear (5) in hip joint, the upper end of the thigh (11) with
Inverted U-shaped plate arc edge upper end hinge, the fan-shaped air bag in hip joint or hydraulic bag (4) are mounted in inverted U-shaped plate with the thigh (11)
In space between inner side, torsion fastening spring is housed at the upper end of the thigh (11) and inverted U-shaped plate arc edge upper end hinge；
The knee joint of robotic's legs and feet is a steering gear (5) pneumatically or hydraulically, the short tube of steering gear (5) pneumatically or hydraulically
(501) thigh (11) lower end is fixed on, shank (12) upper end is fixed on the rotating shaft of steering gear (5) pneumatically or hydraulically
(502) on；The ankle-joint of robotic's legs and feet be by a steering gear (5) and a sector pneumatically or hydraulically air bag or
Hydraulic bag (4) is constituted, and the steering gear (5) pneumatically or hydraulically of ankle-joint is fixed on the shank (12) lower end, there is one piece of U-board
Be fixed on before and after arc edge on rotating shaft (502) end face of steering gear (5) pneumatically or hydraulically of ankle-joint, the pin (13) it is upper
End and U-board arc edge hinge, the fan-shaped air bag of ankle-joint or hydraulic bag (4) are mounted in before U-board and the pin (13) upper end
In space between side, the upper end of the pin (13) goes out equipped with torsion fastening spring with the hinge at U-board arc edge；Robot
Rotation direction sensor is housed on the joint in the hip joint, knee joint and ankle robotic's legs and feet of mechanical legs and feet；Robotic's leg
Spring steel plate is housed, pin (13) bottom is equipped with three pressure sensors on the pin (13) plate of pin；From air accumulator out
Sebific duct be followed by fan-shaped air bag by an electromagnetic intake valve and a gas threeway, another interface of gas threeway is equipped with electricity
Magnetic air bleeding valve, or be followed by fan-shaped hydraulic pressure by an electromagnetism liquid feed valve and a liquid threeway from liquid pump (9) sebific duct out
On capsule (4), another interface of liquid threeway returns liquid valve equipped with electromagnetism, returns liquid valve sebific duct out from electromagnetism and is connected to fluid reservoir (8)
On；The structure of steering gear (5) pneumatically or hydraulically is as follows：One piece of quiet arc column is housed in the radial location of short tube (501)
(504), the big cambered surface of quiet arc column (504) is fixed on short tube (501), and sealing is posted in other faces of quiet arc column (504)
Rubber, the two ends of short tube (501) are equipped with end cap, there is centre bore of the rotating shaft (502) through two end caps, there is one piece of dynamic arc
The little cambered surface of post (503) is fixed in the rotating shaft (502) in short tube (501), and sealing rubber is posted in other faces of dynamic arc column (503)
Glue, the caulking gum of (504) two covering of the fans of quiet arc column is contacted with two rubbing surfaces of end cover, the little cambered surface of quiet arc column (504)
Caulking gum contact with rotating shaft (502), the caulking gum of dynamic (503) two covering of the fans of arc column connects with two rubbing surfaces of end cover
Touch, the caulking gum of the big cambered surface of dynamic arc column (503) is contacted with short tube (501) inner surface, near quiet arc column (504) two
Each on short tube (501) by side to fill a sebific duct, two sebific ducts on short tube (501) are entered by respective gas threeway and electromagnetism
Air valve is connected on air accumulator, and respective electromagnetic exhaust valve, or two on short tube are housed on each group gas threeway another interface
Sebific duct is connected on liquid pump (9) by respective liquid threeway and electromagnetism liquid feed valve, equipped with each on another interface of each group liquid threeway
From electromagnetism return liquid valve, from electromagnetism return liquid valve sebific duct out be connected on fluid reservoir (8).
2. the control method of robot, it is characterised in that：Microphone in robot ear listens to the work that owner arranges, wheat
Gram wind passes to the information of voice prompt that owner sends the computer of robot, or owner by mobile phone or computer to machine
Human hair goes out work order, and computer compares the data message for preserving in the past, computer starting air pump or liquid pump using software
(9), computer is by opening or closing each magnetic valve；Steering gear (5) pressure pneumatically or hydraulically in robot neck joint
Enter and either discharge compressed air or liquid, make robot turn one's head (10), the fan-shaped air bag or hydraulic pressure in robot neck joint
Compressed air or liquid are either discharged in capsule (4) press-in, robot is come back (10) or is bowed (10), so that robot eyes
In the scope seen of camera it is broader；With the help of camera in robot eyes, robotic's legs and feet
Fan-shaped air bag or hydraulic bag (4) in hip joint, knee joint and ankle-joint and the press-in of steering gear (5) pneumatically or hydraulically or
Compressed air or liquid are discharged, thigh (11) lift leg, shank (12) knee sprung and the pin (13) for making robotic's legs and feet stretches out
Action, complete the walking task of robot；The piston of two jack (6) pneumatically or hydraulically in left and right rises together in trunk
The top half for making robot trunk is raised, and the piston of the jack (6) pneumatically or hydraulically on the left side is motionless in robot trunk
Or raise it is few, in robot trunk the piston of the jack (6) pneumatically or hydraulically on the right raise it is more, then robot to
Bend on a left side；The piston of the jack (6) pneumatically or hydraulically on the right is motionless in robot trunk or raises seldom, robot body
The piston rising of the jack (6) pneumatically or hydraulically on the left side is more in dry, then robot bends over to the right；Robot trunk interior wing
Air bag or hydraulic bag (4) the press-in compressed air of shape or liquid robot bend forward, fan-shaped air bag in robot trunk
Or the compressed air in hydraulic bag (4) or liquid are discharged, robot directly plays backward waist；The wing joint of robotic manipulator,
Fan-shaped air bag or hydraulic bag (4) in elbow joint, wrist joint and finger-joint and steering gear (5) pneumatically or hydraulically and hand
Compressed air or liquid are either discharged in jack (6) press-in pneumatically or hydraulically in the palm, make the upper arm of robot mechanical arm
(1) lifting, underarm (2) bending and hand (3) grab the action of object, complete the task of robot.
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| CN109035884A (en) * | 2018-08-20 | 2018-12-18 | 安徽倍思特教育科技有限公司 | A kind of aided education education robot |
| CN112051775B (en) * | 2020-09-10 | 2021-07-16 | 东莞理工学院 | Eye action control structure of robot and control system thereof |
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