45results about How to "Improve anthropomorphism" patented technology

The invention relates to a smart under-actuated bionic robot finger device with parallel-connected tendon ropes, which belongs to the technical field of anthropomorphic robots. A diarticular finger device comprises a pedestal, a first motor, a second motor, a juxta-articular shaft, a first finger segment, a distal-articular shaft, an tail end finger segment and a return spring. The device also comprises a first rope wheel, a second rope wheel, a third rope wheel, a first tendon rope, a second tendon rope and a third tendon rope. A polyarticular finger device also comprises at least one middlefinger segment and at least one middle rope wheel. The device comprehensively realizes the special effect of combining finger original configuration variability and self-adaptive grasp by utilizing the motors, the rope wheels, the tendon ropes and the return spring. The device can flexibly bend the middle joints of fingers before grasp to achieve a stable and anthropomorphic prebent gesture and grasps an object in a self-adaptive under-actuated mode when in grasp. The grasping action of the device more approaches to a human hand, and the device can self-adaptively and stably grasp different objects and is applicable to an anthropomorphic robot hand.

The invention discloses an auxiliary ankle recovering device with sphere-pin pairs. The auxiliary ankle recovering device comprises an upper platform and a lower platform. A dorsiflex / plantar flexion drive device, an introversion / extroversion drive device and an ankle device are disposed between the upper platform and the lower platform. The dorsiflex / plantar flexion drive device is respectively connected with the upper platform and the lower platform through the sphere-pin pairs. The introversion / extroversion drive device is respectively connected with the upper platform and the lower platform through the sphere-pin pairs. Connecting pairs formed by U-shaped connectors and connecting platforms and connecting pairs formed by mobile boxes and connecting platforms are sphere-pin pairs. By the sphere-pin pairs, rotations except self-rotation are achieved, problems caused by self-rotation are avoided, and high anthropomorphic degree is achieved. The auxiliary ankle recovering device is capable of fully saving energy consumption. Different motor driving modes can be selected according to different restoring requirements of patients.

The invention discloses a head motion system of a robot. The system comprises a vertical shaft. The upper part of the vertical shaft stretches into a head part, the lower part of the vertical shaft is rotationally fixed to a trunk, and accordingly horizontal rotation of the head part of the robot is achieved. Above the vertical shaft, a cross shaft is arranged in the head part, the head part can rotate around the cross shaft, and accordingly the pitching motion of the head part of the robot is achieved. The vertical shaft is fixed to the trunk of the robot through bearings, a rack fixed to the head part is driven by a gear on the vertical shaft to rotate so as to drive the head part of the robot to rotate, and by means of the motion system, the direction and angle of a projector on the head part of the robot can be adjusted.

The invention discloses a two-degree-of-freedom humanoid ankle joint. The two-degree-of-freedom humanoid ankle joint comprises a upper shank part, a lower shank part, a driving device I, a driving device II, a double-jointed component, a foot and a brake cable; the double-jointed component comprises an ankle joint driving device and a subtarlar joint driving device; the ankle joint driving device comprises an ankle joint shaft; the subtarlar joint driving device comprises a subtarlar joint shaft; the ankle joint comprises an upper shaft and a lower shaft, wherein the upper shaft is the ankle joint shaft, and the lower shaft is the subtarlar joint shaft; and the ankle joint shaft and the subtarlar joint shaft are in space cross, and the axes of the ankle joint shaft and the subtarlar joint shaft are not in the same plane. The two-degree-of-freedom humanoid ankle joint provided by the invention can be used for a humanoid robot and improves the personification of a humanoid robot. The mechanism can achieve three movement angles by controlling two parameters, namely, the space two-degree-of-freedom mechanism approximately achieves the three-degree-of-freedom movement of the ankle joint and improves the flexibility of the movement.

The present invention provides a control system. The control system includes: PCU performs voltage conversion on the voltage of the battery system; a vehicle control unit receives operation instructions and generates cleaning path data; according to the cleaning path data, the obstacle information and the The above position information generates decision result information; and thus generates torque control information and steering control information; the motor controller controls the speed of the motor of the vehicle; the EPS controller controls the steering of the EPS of the vehicle; the body controller sends a start signal or turns off The cleaning brush controller is used to start the cleaning brush motor and the cleaning brush lifting control motor according to the starting signal; the induced draft fan controller is used to start the induced draft motor according to the starting signal. By applying the control system provided by the present invention, the voltage of the battery system can be converted and processed by the PCU, and the EPS controller can be powered separately to reduce the interference to the EPS controller. At the same time, the control system has higher sensitivity and more anthropomorphism. high.