CN208278192U - A kind of apery two leg walking robot - Google Patents
A kind of apery two leg walking robot Download PDFInfo
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- CN208278192U CN208278192U CN201820399182.8U CN201820399182U CN208278192U CN 208278192 U CN208278192 U CN 208278192U CN 201820399182 U CN201820399182 U CN 201820399182U CN 208278192 U CN208278192 U CN 208278192U
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Abstract
本实用新型公开了一种仿人双足行走机器人，具有17个自由度，包括机器人下身、机器人腰部与机器人上身，且机器人上身设有电源与控制系统；机器人下身包括对称的左脚、右脚、踝部、小腿、膝盖、大腿、髋部、平行四边形支撑机构；机器人上身包括对称的肩部、胳膊、躯干及其连接；机器人上身与机器人下身均与机器人腰部相连。本实用新型双足机器人仿人程度高，踝关节、髋关节、肩关节具有2个自由度，膝关节、肘关节、腕关节具有1个自由度，每个自由度单独由舵机驱动，可实现预定设计动作。
The utility model discloses a humanoid bipedal walking robot, which has 17 degrees of freedom, including the lower body of the robot, the waist of the robot and the upper body of the robot, and the upper body of the robot is provided with a power supply and a control system; the lower body of the robot includes symmetrical left and right feet. , ankle, calf, knee, thigh, hip, parallelogram support mechanism; the upper body of the robot includes symmetrical shoulders, arms, torso and their connections; the upper body of the robot and the lower body of the robot are connected to the waist of the robot. The biped robot of the utility model has a high degree of human imitation. The ankle joint, hip joint and shoulder joint have two degrees of freedom, and the knee joint, elbow joint and wrist joint have one degree of freedom. Realize the predetermined design action.
Description
Technical field
The utility model relates to robot field, in particular to a kind of apery two leg walking robot.
Background technique
With the development of science and technology, the research and application of human emulated robot are grown rapidly.Anthropomorphic robot research one
It is directly the hot spot of robot research field, by extensive development and application.The development of anthropomorphic robot not only relies on intelligence
Control, relies more on the ingehious design of mechanical structure.The utility model anthropomorphic robot structure is simply easily achieved, operating system letter
Just, flexible movements are quick.Double-legged system has kinetic characteristics very rich, very low to the environmental requirement of walking, to environment
There is good adaptability.
Summary of the invention
The purpose of this utility model is that designing a kind of apery two leg walking robot, anthropomorphic robot is solved intricately
Face is walked unstable problem, and robot is made to keep stablizing under walking states.
The specific technical solution that the utility model is implemented is as follows:
A kind of apery two leg walking robot, including the robot lower part of the body, robot waist and machine upper part of human body, and robot
Upper body is equipped with power supply and control system；The robot lower part of the body includes the left leg of symmetrical robot, right leg, includes that robot ankle closes
Section, machine human knee joint, robot hip joint and parallelogram supporting mechanism；Machine upper part of human body include symmetrical shoulder joint,
Robot elbow joint, wrist joint of robot；Machine upper part of human body and the robot lower part of the body are connected with robot waist.
Steering engine is digital rudder controller at the joint of robot, and each joint is that digital rudder controller passes through metal steering wheel and component
Connection is operated alone.
The left leg of the robot, right leg include robot anklebone, machine human knee joint, robot hip joint；Robot
Ankle-joint has 2 freedom degrees, and machine human knee joint has 1 freedom degree, and robot hip joint has 2 freedom degrees；It is described
Robot anklebone is connected with machine human knee joint, constitutes robot calf；Machine human knee joint and robot hip joint phase
Even, robot huckle is constituted；Robot hip joint is connected with robot waist.
The left arm of the robot, right arm include robot shoulder joint, Robot elbow joint, wrist joint of robot；
The robot shoulder joint, Robot elbow joint, wrist joint of robot all have 1 freedom degree；Robot shoulder joint and machine
People's trunk is connected, and robot shoulder joint is connected with Robot elbow joint, and Robot elbow joint is connected with wrist joint of robot, machine
People's wrist joint can external mechanical hand etc..
The left and right leg of the robot respectively has 5 freedom degrees, and each freedom degree is provided by a steering engine.From the bottom up
It is ordered as the 1 to 5, the 1st steering engine and realizes that the side of leg is mobile, robot can swerve the weight, and can step foot to side；2nd rudder
Machine realizes the back-and-forth motion of leg, and the rhaeboscelia for completing robot with the 3rd, 4 steering engine cooperations acts；5th steering engine realizes adjustment leg
Lateral gradient carries out when standing with one foot to the knee with the cooperation of the 2nd steering engine.
The robot leg portion and lower leg portion equal length, when leg curvature, robot center of gravity is maintained at ankle pass
On section and hip joint vertical direction.
The robot waist has 1 freedom degree, convenient for changing center of gravity when robot direction of travel.
It is equipped with the mechanism of installation power supply and control system inside the robot trunk, views from above robot center of gravity and is located at machine
The center of device people.
The robot arm is made of 3DOF, and each freedom degree is provided by a steering engine.By trunk connection
It is ordered as the 1 to 3, the 1st steering engine and realizes arm swing, the 2nd steering engine realizes that arm is lifted, put down, and the 3rd steering engine realizes that wrist turns
It is dynamic.
The robot leg is equipped with parallelogram supporting mechanism, and parallelogram supporting mechanism includes quarter butt, stock；
The quarter butt is connected with three joint of leg, and the stock is connected with the quarter butt；Parallelogram supporting mechanism transports robot
Move more stable, Auxiliary support robot realization multi-motion form.
The utility model has the beneficial effects that a kind of apery two leg walking robot provided by the utility model includes robot
Upper body, robot waist and the robot lower part of the body, apery degree are high；Thigh length is identical as lower-leg length, effectively avoids center of gravity inclined
From；The parallelogram supporting mechanism that leg is equipped with keeps robot ambulation more stable；Each joint is passed through by individual servo driving
The movement of control system feedback regulation steering engine, left and right leg is alternately lifted and leapfrogs, and can stand with one foot to the knee, can be on more complex ground
Walking.
Detailed description of the invention
Fig. 1 is a kind of apery two leg walking robot assembly of devices front view；
Fig. 2 is the robot lower part of the body and lumbar device assembly axonometric drawing；
Fig. 3 is machine upper part of human body assembly of devices axonometric drawing.
Specific embodiment
As shown in Figure 1 and Figure 2, the mechanical body structure of the utility model includes machine upper part of human body 7, robot waist 8 and machine
The device people lower part of the body 9；It is hinged with body part that the steering engine of each joint passes through metal steering wheel, forms 17 freedom degrees of whole body；Steering engine
It is fixedly connected with rack shaft hole, forms parts of body assembly of devices.
As shown in Figure 1 and Figure 2, left and right leg is symmetrical, and hip joint axis is the same as height under standing state；Ankle steering engine 12 with
Ankle pylon 11 is composed of a fixed connection ankle assembly of devices, and the metal steering wheel and sole 10 of ankle steering engine 12 realize ankle-joint 1
Swing；Calf steering engine 13 and calf bracket 14 are composed of a fixed connection lower-leg device assembly, the metal of calf steering engine 13
Steering wheel realizes bending and stretching for ankle-joint 1 with ankle pylon 12；Lower-leg device assembly and knee brace 15 are composed of a fixed connection knee dress
Set assembly；Huckle steering engine 16,17 and huckle bracket 18 are composed of a fixed connection huckle assembly of devices, huckle steering engine 16
Metal steering wheel and knee brace 15 realize kneed movement, and the metal steering wheel and hip bracket 19 of huckle steering engine 17 realize hip
It bends and stretches in joint 3；Hip steering engine 20 and 19 axis hole of hip bracket are composed of a fixed connection hip assembly of devices, the gold of hip steering engine 20
Belong to steering wheel and hip bracket 19 realizes the swing of hip joint 3.
As shown in Figure 1 and Figure 2, bearing spider 23 and bearing 22 hingedly form lumbar support, bearing outer ring and machine upper part of human body
7 contact auxiliary waist rotations；Lumbar support and waist bracket 21 are composed of a fixed connection lumbar device assembly, and waist steering engine is set to machine
It in 7 trunk of device upper part of human body, and is fixedly connected with 7 trunk of machine upper part of human body, waist steering engine metal steering wheel and lumbar device assembly are cut with scissors
Composition rotation waist joint is connect, realizes the rotary motion of machine upper part of human body opposed robots' lower part of the body.
As shown in Figure 1, Figure 3, shoulder steering engine is set in 7 trunk of machine upper part of human body, and is fixed and connected with 7 trunk of machine upper part of human body
It connects, shoulder metal steering wheel realizes bending and stretching for shoulder joint with shoulder support 26；It realizes the steering engine 28 for swinging elbow joint and realizes that wrist closes
The steering engine 29 of section function is all fixedly connected with arm bracket 27, forms arm assembly of devices；The metal steering wheel 30 of steering engine 29 can be outer
The equipment such as welding manipulator realize the Function Extension of robot.
As shown in Fig. 2, the robot leg is equipped with parallelogram supporting mechanism, parallelogram supporting mechanism includes
Quarter butt 24, stock 25；The quarter butt 24 is connected with three joint of leg, and the stock 25 is connected with the quarter butt 24, stock 25 with
The connection of quarter butt 24 relies on the realization such as bearing, washer, bolt, nut；Parallelogram supporting mechanism makes robot motion more
Stablize, Auxiliary support robot realizes multi-motion form.
Each steering engine, sensor are connected with robot trunk internal controller realizes communication control, signal feedback command, controller
Transmittable different instruction control robot activities, molar behavior, cooperation movement, realize design action.
Claims (3)
1. a kind of apery two leg walking robot, the robot is by the robot lower part of the body (9), robot waist (8) and robot
Upper body (7) composition；The machine upper part of human body (7) is connected with the robot waist (8) respectively with the robot lower part of the body (9)；
The robot lower part of the body (9) leg is equipped with supporting mechanism；The machine upper part of human body (7) is equipped with power supply and control system, the machine
The device people lower part of the body (9) includes the left leg of robot, the right leg of robot, it is characterised in that: the left leg of the robot, right leg include machine
People's ankle-joint (1), machine human knee joint (2), robot hip joint (3)；Robot anklebone (1) has 2 freedom degrees, machine
Human knee joint (2) has 1 freedom degree, and robot hip joint (3) has 2 freedom degrees；The robot anklebone (1) and machine
Device human knee joint (2) is connected, and constitutes robot calf；Machine human knee joint (2) is connected with robot hip joint (3), constitutes
Robot huckle；Robot hip joint (3) is connected with robot waist (8), inside and outside the left leg of the robot, right leg
Equipped with parallelogram supporting mechanism；Parallelogram supporting mechanism includes quarter butt (24), stock (25)；The quarter butt (24) with
Three joint of leg is connected, and the stock (25) is connected with the quarter butt (24), robot leg portion and lower leg portion length phase
Deng.
2. a kind of apery two leg walking robot according to claim 1, it is characterised in that: robot waist (8) has 1
A freedom degree；A pair of of rolling bearing (23) is equipped with before and after the robot waist, bearing outer ring and upper body contact Auxiliary support machine
Device people movement.
3. a kind of apery two leg walking robot according to claim 1, it is characterised in that: the machine upper part of human body (7)
Including left arm, right arm；The left arm of the robot, right arm include robot shoulder joint (6), Robot elbow joint
(5), wrist joint of robot (4)；The robot shoulder joint (6), Robot elbow joint (5), wrist joint of robot (4) all have
1 freedom degree；Robot shoulder joint (6) is connected with robot trunk, robot shoulder joint (6) and Robot elbow joint (5) phase
Even, Robot elbow joint (5) is connected with wrist joint of robot (4), wrist joint of robot (4) outer welding manipulator.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820399182.8U CN208278192U (en) | 2018-03-23 | 2018-03-23 | A kind of apery two leg walking robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820399182.8U CN208278192U (en) | 2018-03-23 | 2018-03-23 | A kind of apery two leg walking robot |
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| Publication Number | Publication Date |
|---|---|
| CN208278192U true CN208278192U (en) | 2018-12-25 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201820399182.8U Expired - Fee Related CN208278192U (en) | 2018-03-23 | 2018-03-23 | A kind of apery two leg walking robot |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109664310A (en) * | 2018-12-28 | 2019-04-23 | 江苏集萃智能制造技术研究所有限公司 | A kind of biped walking educational robot of combination wheeled locomotion mechanism |
| CN110723231A (en) * | 2019-11-11 | 2020-01-24 | 太原科技大学 | A bipedal parallel ground walking robot |
| CN111633639A (en) * | 2020-06-08 | 2020-09-08 | 阳泉煤业（集团）股份有限公司 | Three-dimensional omnidirectional control device based on multi-steering-engine connection |
-
2018
- 2018-03-23 CN CN201820399182.8U patent/CN208278192U/en not_active Expired - Fee Related
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109664310A (en) * | 2018-12-28 | 2019-04-23 | 江苏集萃智能制造技术研究所有限公司 | A kind of biped walking educational robot of combination wheeled locomotion mechanism |
| CN110723231A (en) * | 2019-11-11 | 2020-01-24 | 太原科技大学 | A bipedal parallel ground walking robot |
| CN111633639A (en) * | 2020-06-08 | 2020-09-08 | 阳泉煤业（集团）股份有限公司 | Three-dimensional omnidirectional control device based on multi-steering-engine connection |
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| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20181225 Termination date: 20210323 |
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| CF01 | Termination of patent right due to non-payment of annual fee |