TWI414339B - Activity Robot - Google Patents

Abstract

The invention relates to an acting robot. The acting robot includes a main body, a head, at least an upper limb mechanism and at least a lower limb mechanism. The main body includes a main controller, at least one upper limb servo motor and at least one lower limb servo motor. The upper limb mechanism and the lower limb mechanism couples to the upper limb servo motor and the lower limb servo motor. The upper limb mechanism includes a &sud; -shaped shoulder joint, an arm, a ∩ -shaped arm joint, a wrist and a hand. The lower limb mechanism includes a ∩ -shaped hip joint, a leg, a ∪ -shaped leg joint, a ∩ -shaped foot joint and foot. The parts of the acting robot are easy to be assembled and cheap. Through the shape design of each joint, easy installation and education module can be achieved.

Description

Active robot

The invention relates to an active robot, in particular to an active robot which can be easily assembled and effectively reduced in cost, and can be used for modularized teaching.

Robots have great importance and business opportunities, whether in home or leisure, or even in industrial use. Therefore, robotic R&D technology has always played an important role in the development of electronics and machinery in various countries.

At present, the robot technology of various advanced countries or developing countries has become increasingly mature, and various industrial-grade or defense-grade robots have been successfully developed and used in large quantities, and nursing robots and educational robots used in homes or schools have also been launched. It is foreseeable that the potential market size of the robot and the huge business opportunities in the future.

The control system of the conventional robot includes an actuator mounted at each joint of the shaft and a circuit system for driving the actuator. Except for the industrial-grade and defense-grade robots, most of the actuators are non-modular. The structural design of the modularization, the modular structure is simpler than the non-modularization, and the assembly is convenient, and in terms of transmission noise, friction coefficient, and frictional heat effect, compared with the non-modular structure. Lower, so it has a higher output torque. However, these industrial-grade and defense-grade modular actuators, and the robots constructed by the modular actuators are very expensive to manufacture, so it is impossible to popularize them in ordinary households or schools, and nowadays in the market. The toy company also sells a variety of robots, but its robots also modularize the components for users to assemble, and the manufacturing cost is also very expensive, and can not achieve the teaching effect; therefore, the prior art has the following disadvantages. :

1. High manufacturing costs;

2. Unusable use;

3. Can not achieve the purpose of teaching.

Therefore, how to solve the above problems and problems in the past, that is, the inventors of this case and the relevant manufacturers engaged in this industry are eager to study the direction of improvement.

Accordingly, in order to effectively solve the above problems, the main object of the present invention is to provide an active robot that is easy to assemble and reduces cost.

Another object of the present invention is to provide an active robot that facilitates assembly of teaching and teaching modules by utilizing the shape design of each joint.

In order to achieve the above object, the present invention provides a mobile robot including: a main body, a head, a first upper limb mechanism, a second upper limb mechanism, a first lower limb mechanism, and a second lower limb mechanism. The main body is provided with a main controller and a power supply unit, and is provided with at least one upper limb servo motor and at least a lower limb servo motor; the head portion is disposed at the top of the main body, and the head position is provided with a a head servo motor; a first upper limb mechanism disposed on one side of the main body, and the first upper limb mechanism has a first squat shoulder joint portion and connected to the upper limb servo motor, the other end of the first squat shoulder joint portion A first arm portion, a first crotch arm joint portion, a first wrist portion and a first hand portion are sequentially connected; a second upper limb mechanism is disposed on the other side of the main body, and the second upper limb mechanism is disposed The second squat shoulder joint portion is connected to the other upper limb servo motor, and the other end of the second squat shoulder joint portion is sequentially connected with a second arm portion, a second squat arm joint portion, and a first Two wrists and second hand; The first lower limb mechanism is disposed at the bottom of the main body, and the first lower limb mechanism has a first upper hip joint portion and is assembled to the bottom of the main body, and the other end of the first upper hip joint portion is sequentially assembled. a first lower jaw hip joint portion, a first leg portion, a first squat leg joint portion, a first sacral foot joint portion and a first foot portion; and a second lower limb mechanism disposed at the bottom of the body And the second lower limb mechanism has a second upper hip joint and is assembled to the bottom of the body, and the other end of the second upper hip joint is sequentially connected with a second lower hip joint, a second leg portion, a second crotch-leg joint portion, a second crotch-foot joint portion and a second leg portion, so that the components of the movable robot are easy to assemble and reduce cost when assembled and constructed. The utility model utilizes the shape design of each joint to achieve the effect of facilitating assembly teaching and teaching modularization; therefore, the invention has the following advantages:

1. Facilitate assembly and reduce costs;

2. Facilitate assembly teaching and teaching modularization;

3. Improve usage penetration.

The detailed description of the present invention and the accompanying drawings are intended to be understood as

The above object of the present invention, as well as its structural and functional features, will be described in accordance with the preferred embodiments of the drawings.

Referring to FIG. 1 and FIG. 2, the present invention is a mobile robot 10. In the preferred embodiment of the present invention, it is an exploded perspective view and a perspective view of the present invention. The mobile robot 10 includes a main body 20. a head 30, a first upper limb mechanism 40, a second upper limb mechanism 50, a first lower limb mechanism 60 and a second lower limb mechanism 70. The main body 20 is provided with a main controller 201, a power supply unit 202, and a a first upper limb servo motor 21, a second upper limb servo motor 22, a first lower limb servo motor 23 and a second lower limb servo motor 24, and the main body 20 is provided with a neck joint 25 at the top. The neck joint portion 25 is connected to the head portion 30. The head portion 30 is provided with a head servo motor 31, and the first upper limb mechanism 40 and the second upper limb mechanism are respectively disposed at two sides of the main body 20. The first upper limb mechanism 40 has a first squat shoulder joint portion 41 having a closed end portion and a first upper limb servo motor 21 coupled to the one side thereof. And the other end of the first crotch joint portion 41 is open One end of the first arm portion 42 is connected to the other end of the first arm portion 42. The other end of the first arm portion 42 is coupled to a closed end of the first elbow arm joint portion 43. The other end of the first elbow arm joint portion 43 is an open end. A first arm portion 44 and a first hand portion 45 are sequentially disposed, wherein the first arm portion 42 is disposed at a position of a first arm servo motor 421, and the first arm servo motor 421 is coupled to the first arm portion An open end of the shoulder joint portion 41 is disposed, and a first wrist servo motor 441 is disposed at a position of the first wrist portion 44. The first wrist servo motor 441 is coupled to the first ankle arm joint portion 43. Open The second upper limb mechanism 50 has a second dorsal shoulder joint portion 51 having a second upper limb servo motor 22 with a closed end assembled to be coupled to the other side thereof, and The other end of the second crotch-arm joint portion 51 is an open end of one end of the second arm portion 52, and the other end of the second arm portion 52 is coupled to a closed end of the second crotch-arm joint portion 53. The second arm portion 54 and the second hand portion 55 are sequentially disposed at the other end of the second crotch arm joint portion 53. The second arm portion 52 is additionally provided with a second arm servo motor 521 at the position of the second arm portion 52. The second arm servo motor 521 is connected to the open end of the second dorsal shoulder joint portion 51, and the second wrist portion 54 is provided with a second wrist servo motor 541, the second wrist servo The motor 541 is connected to the open end of the second ankle-arm joint portion 53. The bottom portion of the main body 20 is provided with the first lower limb mechanism 60 and the second lower limb mechanism 70. The first lower limb mechanism 60 has a first jaw. Forming a hip joint portion 61 having an open end fitting assembly connected to the a first lower limb servo motor 23, and the other end of the first upper hip joint portion 61 is a closed end end with a closed end of the first lower jaw hip joint portion 62, the first lower jaw hip joint The other end of the portion 62 has a first leg portion 63 connected to the open end, and the other end of the first leg portion 63 is sequentially connected with a first crotch-leg joint portion 64, a first crotch-foot joint portion 65 and a first portion. One foot 66. The first crotch-leg joint portion 64 has a closed end and an open end connected to the first leg portion 63. The first crotch-foot joint portion 65 has a closed end connected to the first crotch-leg joint portion 64. A closed end and an open end connect the first leg 66. Disposing the upper and lower portions of the first leg portion 63 A first upper leg servo motor 631 and a first lower leg servo motor 632 are connected, and the first upper leg servo motor 631 is connected to the open end of the first dorsal lower hip joint portion 62. The first lower leg servo motor 632 is coupled to the open end of the first leg joint portion 64, and the first leg portion 66 is disposed with a first foot servo motor 661, the first foot servo motor 661 is connected to the open end of the first ankle joint portion 65; the second lower limb mechanism 70 has a second upper hip joint portion 71 having an open end system The second lower limb servo motor 24 is assembled and coupled to the other end of the second upper hip joint portion 71. The second end shaped lower hip joint portion 72 is coupled to the closed end portion. The other end of the joint portion 72 is connected with a second leg portion 73. The other end of the second leg portion 73 is sequentially connected with a second castet joint portion 74, a second castellated joint portion 75 and a second foot. Part 76. The second crotch-leg joint portion 74 has a closed end and an open end connected to the second leg portion 73. The second crotch-foot joint portion 75 has a closed end connected to the second crotch-leg joint portion 74. A closed end and an open end connect the second foot 76. A second upper leg servo motor 731 and a second lower leg servo motor 732 are further disposed at an upper portion and a lower portion of the second leg portion 73. The second upper leg servo motor 731 is coupled to the second port. The hip joint portion 72 is formed, and the second lower leg servo motor 732 is connected to the second castet joint portion 74, and the second foot portion 76 is further provided with a second foot servo motor 761. The second foot servo motor 761 is coupled to the second crotch-foot joint portion 75; wherein the head servo motor 31 is electrically connected to the main via the transmission line 80 The controller 201, and the first and second arm servo motors 421 and 521 and the first and second arm servo motors 441 and 541 are electrically connected to the first and second upper limb servo motors 21 and 22 via the transmission line 80. Connected to the main controller 201, the first and second upper leg servo motors 631, 731 and the first and second leg servo motors 632, 732 and the first and second leg servo motors 661, 761 are connected via the transmission line 80. The first and second lower limb servo motors 23, 24 are electrically connected to the main controller 201, and the components are electrically connected to the power supply unit 202 via the main controller 201 to maintain the power of the mobile robot 10.

Please refer to FIG. 2, FIG. 3, FIG. 4, FIG. 5, which is a schematic diagram of the implementation of the preferred embodiment of the present invention. After the main controller 201 receives the control signal, the main controller 201 transmits a control signal for control. The components move, wherein the head servo motor 31 is rotated to the neck joint 25 when the head servo motor 31 is driven to rotate the head 30 to the neck joint 25, and the first upper limb mechanism 40 and the second upper limb mechanism 50 Similarly, the driving operation of the main controller 201 is performed, and the first upper limb servo motor 21 relative to the first upper limb mechanism 40 is driven by the main controller 201 to drive the first squat shoulder joint portion 41 to rotate relative thereto. The main body 20 drives the first upper limb mechanism 40 to swing, or the first arm servo motor 421 of the first arm portion 42 is driven by the main controller 201 to drive the first arm portion 42 to rotate relative to the first arm portion 42. The shoulder-shaped shoulder portion 41 drives the first ankle-arm joint portion 43, the first wrist portion 44 and the first hand portion 45, or the first wrist servo motor 441 of the first wrist portion 44 is controlled by the main arm When the device 201 is driven, the first wrist 44 is relatively rotated to the first arm Section portion 43 and its hand drive portion 45, a first limb to complete the control The components of mechanism 40 operate oppositely.

In addition, when the second upper limb servomotor 22 relative to the second upper limb mechanism 50 is driven by the main controller 201, the second rake shoulder joint portion 51 is driven to rotate relative to the main body 20, and the second upper limb is driven. When the mechanism 50 is swung, or the second arm servo motor 521 of the second arm portion 52 is driven by the main controller 201, the second arm portion 52 is driven to rotate relative to the second dorsal shoulder joint portion 51, and is driven. The second crotch arm joint portion 53, the second wrist portion 54 and the second hand portion 55, or the second wrist servo motor 541 of the second wrist portion 54 are driven by the main controller 201 to drive the second The wrist 54 is relatively rotated about the second ankle joint portion 53 and carries the second hand 55 thereof to complete the control of the relative movement of the components of the second upper limb mechanism 50.

Please refer to FIGS. 6, 7, and 8 as a schematic diagram of another embodiment of the present invention, wherein the main controller 201 (see FIG. 2) receives the control signal, and then The main controller 201 transmits a control signal to control the operation of each component, and the first lower limb mechanism 60 and the second lower limb mechanism 70 are driven by the main controller 201, and the first relative to the first lower limb mechanism 60 When the lower limb servo motor 23 is driven by the main controller 201, the first upper hip joint portion 61 is driven to rotate relative to the main body 20, and the first lower limb mechanism 60 is swung, or the first leg portion 63 is driven. When the first upper leg servo motor 631 is driven by the main controller 201, the first leg portion 63 is driven to rotate relative to the first lower leg joint portion 62, and the first leg portion 63 is driven. The first leg portion 64, the first crotch foot joint portion 65 and the first leg portion 66, or the first lower leg servo motor 632 of the first leg portion 63 are driven by the main controller 201 joint The portion 64 is relatively rotated to the first leg portion 63 and drives the first crotch-foot joint portion 65 and the first leg portion 66, or the first foot servo motor 661 of the first leg portion 66 is received by the main controller When the 201 is driven, the first foot portion 66 is relatively rotated relative to the first crotch-foot joint portion 65 to complete the action of controlling the relative components of the first lower limb mechanism 60.

In addition, when the second lower limb servo motor 24 is driven by the main controller 201 with respect to the second lower limb mechanism 70, the second upper hip joint portion 71 is driven to rotate relative to the main body 20, and the second motor is driven. The second lower limb mechanism 70 swings, or the second upper leg servo motor 731 of the second leg portion 73 is driven by the main controller 201 to drive the second leg portion 73 relative to the second underarm hip joint portion. 72, and driving the second leg portion 73, the second crotch-leg joint portion 74, the second crotch-foot joint portion 75 and the second leg portion 76, or the second leg portion servo of the second leg portion 73 When the motor 732 is driven by the main controller 201, the second crotch-leg joint portion 74 is relatively rotated to the second leg portion 73, and the second crotch-foot joint portion 75 and the second leg portion 76 are driven, or the When the second foot servomotor 761 of the biped portion 76 is driven by the main controller 201, the second foot portion 76 is relatively rotated relative to the second crotch-foot joint portion 75 to complete control of the components of the second lower limb mechanism 70 thereof. The action, and thereby achieving the convenience of assembly and cost reduction of the components of the robot 10 in the assembly and construction And the use of physical design at each joint of the effectiveness of teaching and to achieve easy assembly of modular teaching.

It should be noted that the above is only the preferred embodiment of the present case and is not intended to limit the creation. If the changes made in accordance with the concept of the creation are within the scope of the spirit of the creation, for example, for the configuration or arrangement Type change, for various changes The equivalent functions produced by the modification, application and application shall be included in the scope of the rights of this case and shall be combined with Chen Ming.

The above description is only a preferred embodiment of the present invention, but the features of the present invention are not limited thereto, and any changes or modifications that can be easily conceived in the field of the present invention are known to those skilled in the art. It is intended to be included in the scope of the claims of the present invention below.

10‧‧‧Active robot

20‧‧‧ Subject

201‧‧‧Master controller

202‧‧‧Power supply unit

21‧‧‧First upper limb servo motor

22‧‧‧Second upper limb servo motor

23‧‧‧First lower limb servo motor

24‧‧‧Second lower limb servo motor

25‧‧‧ neck joint

30‧‧‧ head

31‧‧‧ head servo motor

40‧‧‧First upper limb institution

41‧‧‧First sacral shoulder joint

42‧‧‧First arm

421‧‧‧First arm servo motor

43‧‧‧First elbow joint

44‧‧‧First wrist

441‧‧‧First wrist servo motor

45‧‧‧ first hand

50‧‧‧Second upper limb institution

51‧‧‧Second sacral shoulder joint

52‧‧‧ second arm

521‧‧‧Second arm servo motor

53‧‧‧Second sacral arm joint

54‧‧‧second wrist

541‧‧‧Second wrist servo motor

55‧‧‧ second hand

60‧‧‧First lower limb body

61‧‧‧First upper hip joint

62‧‧‧First lower hip joint

63‧‧‧First leg

631‧‧‧First upper leg servo motor

632‧‧‧First lower leg servo motor

64‧‧‧The first sickle leg joint

65‧‧‧First clavicular foot joint

66‧‧‧First foot

661‧‧‧First foot servo motor

70‧‧‧Second lower limb body

71‧‧‧Second upper hip joint

72‧‧‧Second lower hip joint

73‧‧‧Second leg

731‧‧‧Second upper leg servo motor

732‧‧‧Second lower leg servo motor

74‧‧‧Second cramped leg joint

75‧‧‧Second sacral foot joint

76‧‧‧Second foot

761‧‧‧Second foot servo motor

80‧‧‧ transmission line

1 is a perspective view of a movable robot of the present invention; FIG. 2 is another perspective view of the movable robot of the present invention; FIG. 3 is a schematic diagram of the implementation of the movable robot of the present invention; and FIG. 4 is a schematic diagram of the implementation of the movable robot of the present invention. Figure 5 is a schematic diagram of the implementation of the mobile robot of the present invention; Figure 6 is a schematic diagram of the implementation of the mobile robot of the present invention; Figure 7 is a schematic diagram of the implementation of the mobile robot of the present invention; and Figure 8 is the implementation of the mobile robot of the present invention. Schematic six;

10. . . Active robot

20. . . main body

201. . . main controller

202. . . Power supply unit

twenty one. . . First upper limb servo motor

twenty two. . . Second upper limb servo motor

twenty three. . . First lower limb servo motor

twenty four. . . Second lower limb servo motor

25. . . Neck junction

30. . . head

31. . . Head servo motor

40. . . First upper limb mechanism

41. . . First sacral shoulder joint

42. . . First arm

421. . . First arm servo motor

43. . . First squat arm joint

44. . . First wrist

441. . . First wrist servo motor

45. . . First hand

50. . . Second upper limb mechanism

51. . . Second dorsal shoulder joint

52. . . Second arm

521. . . Second arm servo motor

53. . . Second ankle joint

54. . . Second wrist

541. . . Second wrist servo motor

55. . . Second hand

60. . . First lower limb mechanism

61. . . First sacral upper hip joint

62. . . First squat lower hip joint

63. . . First leg

631. . . First upper leg servo motor

632. . . First lower leg servo motor

64. . . First sickle leg joint

65. . . First metatarsal foot joint

66. . . First foot

661. . . First foot servo motor

70. . . Second lower limb mechanism

71. . . Second sacral upper hip joint

72. . . Second squat lower hip joint

73. . . Second leg

731. . . Second upper leg servo motor

732. . . Second lower leg servo motor

74. . . Second sickle leg joint

75. . . Second ankle joint

76. . . Second foot

761. . . Second foot servo motor

80. . . Transmission line

Claims (10)

An active robot includes: a main body, a main controller, at least one upper limb servo motor and at least a lower limb servo motor; a head disposed at the top of the main body and having a head at the head position a servo motor; a first upper limb mechanism disposed on one side of the main body, wherein the first upper limb mechanism has a first squat shoulder joint portion and is coupled to the upper limb servo motor, and the other end of the first sacral shoulder joint portion is The first group of arms, a first arm joint portion, a first wrist portion and a first hand portion, wherein the first jaw joint portion has a closed end connecting the upper limb servo motor and a The open end is connected to the first arm portion, the first elbow joint portion has a closed end connecting the first arm portion and an open end connecting the first wrist portion; and a second upper limb mechanism disposed on the other side of the main body And the second upper limb mechanism has a second ankle joint and is connected to the other upper limb servo motor, and the other end of the second ankle joint is sequentially connected with a second arm and a second arm. An arm joint, a second wrist and a second hand portion, wherein the second squat shoulder joint portion has a closed end connected to the other upper limb servo motor and an open end connected to the second arm portion, the second squat arm joint portion having a closed end connecting the first portion The second arm and the open end are connected to the second wrist; a first lower limb mechanism is disposed at the bottom of the body, and the first lower limb mechanism has a first upper hip joint and is assembled at the bottom of the body. The first dorsal upper hip The other end of the joint portion is sequentially connected with a first lower jaw hip joint portion, a first leg portion, a first sickle leg joint portion, a first sickle foot joint portion and a first foot portion, wherein the first leg portion The first dorsal upper hip joint has an open end and a closed end, the first dorsal lower hip joint has a closed end connecting the first upper hip joint and an open end connecting the first leg The first crotch-leg joint has a closed end and an open end connecting the first leg, the first crotch-foot joint having a closed end connecting the closed end of the first crotch-leg joint, and An open end is connected to the first foot; and a second lower limb mechanism is disposed at the bottom of the body, and the second lower limb mechanism has a second upper hip joint and is assembled to the bottom of the body, the second lower jaw The other end of the hip joint is sequentially connected with a second lower hip joint portion, a second leg portion, a second sickle leg joint portion, a second sickle foot joint portion and a second foot portion. Wherein the second dorsal hip joint has an open end and a closed end, the second dorsal lower hip joint Having a closed end connecting the second upper hip joint portion and an open end connecting the second leg portion, the second sickle leg joint portion having a closed end and an open end connecting the second leg portion The di-shaped foot joint has a closed end connecting the closed end of the second crotch-leg joint, and an open end connecting the second leg. The mobile robot of claim 1, wherein the first arm portion and the second arm portion are respectively provided with an arm servo motor, and the arm servo motors are respectively connected to the first dome shape. The shoulder joint and the open end of the second dorsal shoulder joint. The mobile robot of claim 1, wherein the first wrist portion and the second wrist portion are respectively provided with a wrist servo motor, and the wrist servo motor is respectively connected to the first dome shape. An open end of the arm joint portion and the second ankle arm joint portion. The mobile robot of claim 1, wherein an upper leg servo motor is disposed at each of the first leg portion and the second leg portion, and an upper leg servo motor is respectively coupled to the The first dorsal lower hip joint and the open end of the second dorsal lower hip joint. The mobile robot of claim 1, wherein the first leg portion and the second leg portion are respectively provided with a lower leg servo motor, and a lower leg servo motor is respectively connected to the The first dove leg joint portion and the open end of the second crotch leg joint portion. The mobile robot of claim 1, wherein the first foot portion and the second foot portion are respectively provided with a foot servo motor, and a foot servo motor is respectively connected to the first dome shape. The open end of the foot joint and the second ankle joint. The mobile robot according to claim 1 or 2 or 3, wherein the upper limb servo motor, the arm servo motor, and the wrist servo motor are electrically connected to the main controller via a transmission line. The mobile robot according to claim 1 or 4 or 5 or 6, wherein the lower limb servo motor, the upper leg servo motor, the lower leg servo motor, and the foot servo motor are electrically connected to each other via a transmission line. main controller. The mobile robot of claim 1, wherein the main body is provided with a neck joint with respect to the head position, and a head servo motor is connected to the neck joint and electrically connected to the neck via a transmission line. main controller. The mobile robot of claim 1, wherein the body further comprises a power supply unit.