CN103831828B - Robot and neck mechanism thereof - Google Patents
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- CN103831828B CN103831828B CN201410106710.2A CN201410106710A CN103831828B CN 103831828 B CN103831828 B CN 103831828B CN 201410106710 A CN201410106710 A CN 201410106710A CN 103831828 B CN103831828 B CN 103831828B
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- 230000007246 mechanism Effects 0.000 title claims abstract description 66
- 230000036541 health Effects 0.000 abstract description 9
- 230000033001 locomotion Effects 0.000 description 16
- 238000010586 diagram Methods 0.000 description 4
- 238000000265 homogenisation Methods 0.000 description 3
- 230000003068 static effect Effects 0.000 description 3
- 229920000742 Cotton Polymers 0.000 description 2
- 241000219146 Gossypium Species 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 239000006260 foam Substances 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 239000011435 rock Substances 0.000 description 2
- 230000008901 benefit Effects 0.000 description 1
- 230000002146 bilateral effect Effects 0.000 description 1
- 238000004364 calculation method Methods 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 238000004141 dimensional analysis Methods 0.000 description 1
- 230000005489 elastic deformation Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 238000003754 machining Methods 0.000 description 1
- 230000010355 oscillation Effects 0.000 description 1
- 230000009467 reduction Effects 0.000 description 1
- 238000004904 shortening Methods 0.000 description 1
- 239000007779 soft material Substances 0.000 description 1
Abstract
The invention discloses a kind of robot and neck mechanism thereof, described neck mechanism comprises a upper plate, one lower plate, one universal joint and two linkages being positioned at described universal joint both sides, described universal joint two ends connect upper plate and lower plate respectively, described linkage comprises a retractor device, described retractor device stretches up and down for driving described linkage, described retractor device upper end is toward extending to form a upper push-rod obliquely away from described universal joint direction, lower end is toward extending to form a lower push-rod obliquely away from described universal joint direction, described upper push-rod is connected with described upper plate, described lower push-rod is connected with described lower plate.Thus reduce the radial dimension of Robot neck on the one hand; On the other hand, because head and health are also stretched in neck mechanism two ends, so the space of a part of head and health can be utilized, make linkage two ends can increase the arm of force by radial extension as much as possible, thus decrease overall power density requirements and the actual gap of mechanism, reduce cost.
Description
Technical field
The present invention relates to robotics, especially relate to a kind of robot and neck mechanism thereof.
Background technology
For anthropomorphic robot, its neck needs the motion possessing Three Degree Of Freedom, and Robot neck limited space, makes its structure must be as far as possible compact, and particularly radial dimension need be as far as possible tiny.
Application number be 201310198652.6 patent document disclose a kind of neck mechanism of robot, its motor adopts square motor, layout is on pivot universal joint side, total seems more too fat to move, if the mechanism of such layout will be put into Robot neck completely, Robot neck can be made thicker, make robot human body proportion imbalance, affect attractive in appearance.
If put into neck again after mechanism's Scaling, mechanism's arm of force opposing headers size can be caused again too short, cause series of problems.First, in active force, need larger active force to drive load, therefore need to increase power of motor density; Secondly, in rigidity, the confining force needed for motor also will be exaggerated, and the elastic deformation of each assembly is also exaggerated, and finally show as rigidity lower; In addition, in gap, equally amplify by the less arm of force, need higher processing and assembly precision just can meet the demands.Cost is finally caused to increase.
In a word, because Robot neck space is narrower, existing Robot neck mechanism, or allow Robot neck design thicker, sacrifice the harmony of human body proportion and the aesthetic property of robot and reduce costs; The coordination of robot human body proportion is kept by the power density and machining accuracy increasing motion.You can't have both at the same time.
Summary of the invention
Main purpose of the present invention is to provide a kind of robot and neck mechanism thereof, reduces costs while being intended to keep Robot neck eurythmy.
To achieve these objectives, the present invention proposes a kind of neck mechanism of robot, comprise a upper plate, one lower plate, one universal joint and two linkages being positioned at described universal joint both sides, described universal joint two ends connect upper plate and lower plate respectively, described linkage comprises a retractor device, described retractor device stretches up and down for driving described linkage, described retractor device upper end is toward extending to form a upper push-rod obliquely away from described universal joint direction, lower end is toward extending to form a lower push-rod obliquely away from described universal joint direction, described upper push-rod is connected with described upper plate, described lower push-rod is connected with described lower plate.
Preferably, described upper push-rod and lower push-rod are flexibly connected with described upper plate and lower plate respectively by ball-joint.
Preferably, described upper push-rod and lower push-rod are all towards the same side, and described retractor device is linear electric motors, and described linkage arcuately.
Preferably, described neck mechanism also comprises the steering wheel that is connected to described upper plate.
Preferably, described linkage connects described universal joint by an elastic component.
Preferably, described linkage connects described steering wheel by an elastic component.
Preferably, line between the tie point of described linkage and described upper plate and the tie point of described universal joint and described upper plate, and the angle between robot human body central cross-section face is θ, and tan θ=F2/F1, the maximum weighted of linkage when wherein F1 is robot head swing, F2 is the maximum weighted of robot head linkage when swinging.
Preferably, described retractor device outside is coated with bolster.
Preferably, described bolster is made by rubber, foam, sponge or cotton.
Preferably, described two linkages are symmetrically distributed in described universal joint both sides.
Preferably, described universal joint two ends connect the middle part of described upper plate and lower plate respectively.
The present invention proposes a kind of robot simultaneously, comprise a neck mechanism, described neck mechanism comprises a upper plate, one lower plate, one universal joint and two linkages being positioned at described universal joint both sides, described universal joint two ends connect upper plate and lower plate respectively, described linkage comprises a retractor device, described retractor device stretches up and down for driving described linkage, described retractor device upper end is toward extending to form a upper push-rod obliquely away from described universal joint direction, lower end is toward extending to form a lower push-rod obliquely away from described universal joint direction, described upper push-rod is connected with described upper plate, described lower push-rod is connected with described lower plate.
Provided by the present invention a kind of by adopting the linkage that radial dimension little two ends, a kind of middle part radial dimension is large, have devised a kind of elongated neck mechanism.Reduce the radial dimension of Robot neck on the one hand, meet the harmony of neck ratio, ensure that the aesthetic property of robot human body; On the other hand, because head and health are also stretched in neck mechanism two ends, so the space of a part of head and health can be utilized, make linkage two ends can increase the arm of force by radial extension as much as possible, thus decrease overall power density requirements and the actual gap of mechanism, therefore do not need to select heavy-duty motor with high costs and high-precision part, greatly reduce cost.
And linkage is movably connected on upper and lower plates and adopt elastic component to carry out flexible constraint to it, both dynamic reduces the horizontal space that occupies of linkage, in turn ensure that the flexibility of motion; Linkage adopts parallel configuration simultaneously, and determine that linkage connects the position of upper and lower plates by optimizing to calculate, Output power homogenization, further increases the flexibility of motion.
Accompanying drawing explanation
Fig. 1 is the perspective view of neck mechanism one embodiment of the present invention;
Fig. 2 is the schematic diagram that neck mechanism of the present invention is placed in robot;
Fig. 3 is that the linkage of neck mechanism in Fig. 1 is without freely rotating schematic diagram during flexible constraint;
Fig. 4 is the rearview of the neck mechanism in Fig. 1;
Fig. 5 is the top view of the neck mechanism in Fig. 1;
Schematic diagram when Fig. 6 is the neck mechanism swing in Fig. 1;
Fig. 7 is the schematic diagram of the neck mechanism in Fig. 1 when swinging;
Fig. 8 is the reduced graph of neck mechanism of the present invention;
Fig. 9 is the two dimensional analysis figure of neck mechanism of the present invention.
The realization of the object of the invention, functional characteristics and advantage will in conjunction with the embodiments, are described further with reference to accompanying drawing.
Detailed description of the invention
Should be appreciated that specific embodiment described herein only in order to explain the present invention, be not intended to limit the present invention.
Shown in Fig. 1-Fig. 7, neck mechanism one embodiment of robot of the present invention is proposed.Described neck mechanism comprises upper plate 100, lower plate 200, universal joint 300, steering wheel 500 and two linkages 400, wherein lower plate 200 is for stretching into robot shoulder and the fixed frame be connected with shoulder, upper plate 100 is for stretching into the movable platform of robot head, two boards is linked together by universal joint 300 and linkage 400, and steering wheel 500 is fixedly connected in the middle part of upper plate 100.
The steering wheel 510 of steering wheel 500 is connected with robot head, and can driven machine head part rotate in the horizontal direction, realizes the rotary freedom of horizontal direction.
Universal joint 300 one end upwards extends and is fixedly connected with upper plate 100, the other end is fixedly connected with to downward-extension with lower plate 200, preferred two ends connect middle part and the geometric center of upper plate 100 and lower plate 200 respectively, and universal joint 300 retrains upper plate 100 can only front and back and the rotary freedom motion of two, left and right.
Two linkages 400 are positioned at universal joint 300 both sides in parallel connection, are preferable over the distribution of universal joint 300 bilateral symmetry, and as far as possible near universal joint 300, to reduce the radial dimension in the middle part of neck mechanism.Linkage 400 comprises retractor device 410, upper push-rod 420 and a lower push-rod 430, retractor device 410 is linear electric motors preferably, whole linkage about 400 can be driven to stretch, thus promote before and after upper plate 100 and swing, and then drive head lateral deviation and pitching two free degree motions; Upper push-rod 420 is formed from retractor device 410 upper end toward away from universal joint 300 direction extends obliquely, and is connected with upper plate 100; Lower push-rod 430 is formed from retractor device 410 lower end toward away from universal joint 300 direction extends obliquely, and is connected with lower plate 200; Preferred upper push-rod 420 and lower push-rod 430 all towards the same side, thus make linkage 400 entirety arcuately.As shown in Figure 2, thinner place, centre is just positioned over neck location in the position that neck mechanism is placed in robot, and the radial dimension of upper plate 100 and lower plate 200 is comparatively large, stretches into head and health respectively; Due to linkage 400 entirety arcuately, ingeniously walk around the less position of neck size, make its scope of activities still within human body contour outline, make it be more suitable for human body proportion.
Further, upper push-rod 420 and lower push-rod 430 are flexibly connected with upper plate 100 and lower plate 200 respectively by ball-joint 600, namely ball-joint 600 is fixedly connected on upper plate 100 and lower plate 200, upper push-rod 420 and lower push-rod 430 are connected the ball-joint 600 in upper plate 100 and lower plate 200 respectively, the preferred bearing of described ball-joint.Thus make linkage 400 have the rotary freedom of horizontal direction as shown in Figure 3, namely linkage can rotate around the line of centres of upper and lower plates (100,200) upper two ball-joints 600.Thus linkage 400 drive about head and swing time more flexible, be not easily stuck.
Further, the upper push-rod 420 of linkage 400 connects steering wheel 500 by an elastic component 700, and elastic component 700 gives linkage 400 1 flexible constraints, and for retraining the rotary freedom of its underconstrained, described elastic component 700 is spring preferably.Thus no matter static linkage 400 is or motion state, elastic component 700 allows linkage 400 draw close toward centre all the time, makes the size that neck remains thin as far as possible.In certain embodiments, linkage 400 also can pass through elastic component 700 universal-joint 300, the top of preferred universal-joint 300.
Further, in order to cushion linkage 400 in motion process with the collision of universal joint 300 and reduce and collide time the noise that sends, can at the outside coated bolster 411 of the retractor device 410 of linkage 400, to play a cushioning effect.Described bolster 411 can be made up of soft materials such as rubber, foam, sponge, cottons, and preferably sheathed 1 ~ 3 rubber ring is outside at retractor device 410.
Further, in conjunction with the top view of neck mechanism shown in Figure 5, wherein figure top is the dead ahead of robot head, Y-axis line is the projection line in robot human body central cross-section face, line L between the tie point of linkage 400 and upper plate 100 and the tie point of universal joint 300 and upper plate 100 is the arm of force of linkage 400, and the angle between Y-axis line and line L is θ.Point arm of force of the arm of force in X-axis is LX, and point arm of force of the arm of force in Y-axis is LY, then tan θ=LX/LY.Wherein divide arm of force LY to impel robot head swing, a point arm of force LX impels robot head to swing; When supposing to impel robot head swing, the maximum weighted of linkage 400 is F1, and when impelling robot head to swing, the maximum weighted of linkage 400 is F2; According to lever principle, the arm of force and active force are inversely proportional to, i.e. LX/LY=F2/F1, then tan θ=F2/F1.Therefore, as long as the maximum weighted F2 of linkage 400 when the maximum weighted F1 of linkage 400 and robot head swing when calculating robot head swing, more just approximate calculation angle θ can be gone out according to formula tan θ=F2/F1.And then determine that linkage 400 is connected to the position of upper plate 100 according to this angle θ, attempt design neck mechanism, observe each side such as interference and whether meet the requirements, finally according to actual conditions correction θ value.Center of gravity due to human body head is positioned at the front at neck center, and therefore impel the directed force F 1 of head swing to need larger than the directed force F 2 making head swing, therefore θ should be less than 45 °, thus makes the motion of head more flexible.
As shown in Figure 6, when the retractor device 410 of two linkages 400 extends or when shortening, neck mechanism will swing forwards, backwards simultaneously simultaneously.As shown in Figure 7, when the retractor device 410 of a linkage 400 extends, when the retractor device 420 of another linkage 400 shortens, neck mechanism will swing to the left and right.Because linkage 400 is connected to steering wheel 500 by elastic component 700, therefore when neck mechanism turn right as shown in Figure 7 swing time, the linkage 400 on the right due to the pulling force of elastic component 700 toward anticlockwise near universal joint 300; And the linkage 400 on the left side is owing to encountering universal joint 300, be forced to, toward anticlockwise, therefore can not interfere.Thus the present invention, by under the synergy of the constraint of universal joint 300 and two linkages 400 in parallel, achieves the motion of robot head lateral deviation and pitching two frees degree; Realized the rotary freedom motion of robot head horizontal direction simultaneously again by steering wheel 500, finally achieve three-degree-of-freedom motion.
In the present invention, two-freedom-degree parallel mechanism sketch as shown in Figure 8.If use the linkage 400 of straight line, the radial dimension in the middle part of neck mechanism will become very large.And in the present invention, the middle part radial dimension little two ends radial dimension of linkage 400 is large and make neck size tiny, even if linkage 400 is arranged near neck mechanism center, due to the upper lower push-rod (420 of linkage 400,430) extend outward, therefore the actual loading point of neck mechanism still outside.Because its actual arm of force is the upper push-rod 420 of linkage 400 and the distance between the tie point of upper plate 100 and universal joint 300, linkage 400 of the present invention can make the arm of force long as much as possible, can radially extend, so its arm of force even can be longer than the size of neck at head and body interior respectively due to upper push-rod 420 and lower push-rod 430.According to lever principle, under same moment, the longer arm of force can reduce the stressed of linkage 400, and can reduce the head oscillation idle running because reduction box gap, fit-up gap and the deformation of part natural resiliency produce, and namely allows head accurate positioning as far as possible when static.
For illustrating that the long arm of force reduces actual gap, existing three-dimensional structure is reduced to plane sketch as shown in Figure 9.Be universal joint 300 in the middle of in figure, the left side is linkage 400, and the right is head maximum radius place (being assumed to be nose place), and top is upper plate 100.The idle running scope (figure for exaggerate display, be in fact less than the gap of 1 millimeter) of dotted line for producing due to gap, inside this segment limit, even if linkage 400 is motionless, upper plate 100 still arbitrarily can rock within the scope of this.So final performance is, and head shell has certain angle at will to rock, and neck mechanism cannot limit its rocking in this low-angle.The gap produced after supposing linkage assembling is X1, so at gap X2=(X1/L1) the * L2 that head distalmost end produces.The gap X1 that assembling and linkage itself cause is inevitable, so in order to reduce X2, so must increase L1 as far as possible, i.e. the torque arm length of linkage.And the linkage 400 in the present invention just can realize the arm of force large as far as possible, therefore, it is possible to reduce the actual gap of neck mechanism, head is located when static more accurate.
Accordingly, neck mechanism of the present invention, by adopting the linkage 400 that radial dimension little two ends, a kind of middle part radial dimension is large, have devised a kind of elongated neck mechanism.Reduce the radial dimension of Robot neck on the one hand, meet the harmony of neck ratio, ensure that the aesthetic property of robot human body; On the other hand, because head and health are also stretched in neck mechanism two ends, so the space of a part of head and health can be utilized, make the upper lower push-rod (420 at linkage 400 two ends, 430) arm of force can be increased by radial extension as much as possible, thus decrease overall power density requirements and the actual gap of mechanism, therefore do not need to select heavy-duty motor with high costs and high-precision part, greatly reduce cost.
And linkage 400 is movably connected on upper and lower plates (100,200) and adopt elastic component 700 to carry out flexible constraint to it, both dynamic reduces the horizontal space that occupies of linkage 400, in turn ensure that the flexibility of motion; Linkage 400 adopts parallel configuration simultaneously, and determine that linkage 400 connects the position of upper and lower plates (100,200) by optimizing calculating, Output power homogenization, further increases the flexibility of motion.
The present invention proposes a kind of robot simultaneously, it comprises a neck mechanism, described neck mechanism comprises a upper plate, one lower plate, one universal joint and two linkages being positioned at described universal joint both sides, described universal joint two ends connect upper plate and lower plate respectively, described linkage comprises a retractor device, described retractor device stretches up and down for driving described linkage, described retractor device upper end is toward extending to form a upper push-rod obliquely away from described universal joint direction, lower end is toward extending to form a lower push-rod obliquely away from described universal joint direction, described upper push-rod is connected with described upper plate, described lower push-rod is connected with described lower plate.Neck mechanism described in the present embodiment is the neck mechanism in the present invention involved by above-described embodiment, does not repeat them here.
Robot of the present invention, by adopting the linkage that radial dimension little two ends, a kind of middle part radial dimension is large, have devised a kind of elongated neck mechanism.Reduce the radial dimension of Robot neck on the one hand, meet the harmony of neck ratio, ensure that the aesthetic property of robot human body; On the other hand, because head and health are also stretched in neck mechanism two ends, so the space of a part of head and health can be utilized, make linkage two ends can increase the arm of force by radial extension as much as possible, thus decrease overall power density requirements and the actual gap of mechanism, therefore do not need to select heavy-duty motor with high costs and high-precision part, greatly reduce cost.
And linkage is movably connected on upper and lower plates and adopt elastic component to carry out flexible constraint to it, both dynamic reduces the horizontal space that occupies of linkage, in turn ensure that the flexibility of motion; Linkage adopts parallel configuration simultaneously, and determine that linkage connects the position of upper and lower plates by optimizing to calculate, Output power homogenization, further increases the flexibility of motion.
Should be understood that; these are only the preferred embodiments of the present invention; can not therefore limit the scope of the claims of the present invention; every utilize description of the present invention and accompanying drawing content to do equivalent structure or equivalent flow process conversion; or be directly or indirectly used in other relevant technical fields, be all in like manner included in scope of patent protection of the present invention.
Claims (10)
1. the neck mechanism of a robot, comprise a upper plate, one lower plate, one universal joint and two linkages being positioned at described universal joint both sides, described universal joint two ends connect upper plate and lower plate respectively, it is characterized in that, described linkage comprises a retractor device, described retractor device stretches up and down for driving described linkage, described retractor device upper end is toward extending to form a upper push-rod obliquely away from described universal joint direction, lower end is toward extending to form a lower push-rod obliquely away from described universal joint direction, described upper push-rod is connected with described upper plate, described lower push-rod is connected with described lower plate.
2. the neck mechanism of robot according to claim 1, is characterized in that, described upper push-rod and lower push-rod are flexibly connected with described upper plate and lower plate respectively by ball-joint.
3. the neck mechanism of robot according to claim 2, is characterized in that, described upper push-rod and lower push-rod are all towards the same side, and described retractor device is linear electric motors, and described linkage arcuately.
4. the neck mechanism of robot according to claim 1, is characterized in that, described neck mechanism also comprises the steering wheel that is connected to described upper plate.
5. the neck mechanism of the robot according to any one of claim 1-4, is characterized in that, described linkage connects described universal joint by an elastic component.
6. the neck mechanism of robot according to claim 4, is characterized in that, described linkage connects described steering wheel by an elastic component.
7. the neck mechanism of the robot according to any one of claim 1-4, is characterized in that, described retractor device outside is coated with bolster.
8. the neck mechanism of the robot according to any one of claim 1-4, is characterized in that, described two linkages are symmetrically distributed in described universal joint both sides.
9. the neck mechanism of the robot according to any one of claim 1-4, is characterized in that, described universal joint two ends connect the middle part of described upper plate and lower plate respectively.
10. a robot, is characterized in that, comprises the neck mechanism as described in any one of claim 1-9.
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| CN201410106710.2A CN103831828B (en) | 2014-03-21 | 2014-03-21 | Robot and neck mechanism thereof |
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| CN201410106710.2A CN103831828B (en) | 2014-03-21 | 2014-03-21 | Robot and neck mechanism thereof |
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| CN103831828B true CN103831828B (en) | 2015-11-25 |
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Families Citing this family (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106272532B (en) * | 2016-10-16 | 2018-05-25 | 福州幻科机电科技有限公司 | A kind of cervical vertebra joint assembly of artificial intelligence robot |
| CN107618044B (en) * | 2017-09-26 | 2020-12-15 | 上海大学 | Head and eye coordinated movement device for humanoid robot |
| CN211590137U (en) * | 2019-12-30 | 2020-09-29 | 深圳市优必选科技股份有限公司 | Head structure and robot |
| US20210331310A1 (en) * | 2020-04-28 | 2021-10-28 | Ubtech Robotics Corp Ltd | Neck mechanism for robot |
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Effective date of registration: 20160713 Address after: 518000 Guangdong province Shenzhen City Guangming Street million Daiheng high tech Industrial Park No. 5 Building 5 floor Patentee after: Shenzhen City Zhongzhi Kechuang Robot Co.,Ltd. Address before: 518063 Guangdong city of Shenzhen province Nanshan District Hing Road two No. 6 Wuhan University B815 Shenzhen research building room Patentee before: SMART CITIES SYSTEM SERVICES (PRC)CO., Ltd. |
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Address after: 518000 Shenzhen, Guangdong Guangming New District Guangming Street Wan Dai Heng hi tech Industrial Park 5, 5 floor. Patentee after: SMART SECURITY & SURVEILLANCE ROBOT Co.,Ltd. Address before: 518000 Shenzhen, Guangdong Guangming New District Guangming Street Wan Dai Heng hi tech Industrial Park 5, 5 floor. Patentee before: Shenzhen City Zhongzhi Kechuang Robot Co.,Ltd. |
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Effective date of registration: 20180904 Address after: 518000 Shenzhen, Guangdong Guangming New District Guangming Street Wan Dai Heng hi tech Industrial Park 5, 5 floor. Patentee after: SHENZHEN ZHONGZHI KECHUANG ROBOT Co.,Ltd. Address before: 518000 Shenzhen, Guangdong Guangming New District Guangming Street Wan Dai Heng hi tech Industrial Park 5, 5 floor. Patentee before: SMART SECURITY & SURVEILLANCE ROBOT Co.,Ltd. |
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Effective date of registration: 20210513 Address after: 518000 Room 201, building a, No.1 Qianhai 1st Road, Qianhai Shenxiang cooperation zone, Shenzhen City, Guangdong Province Patentee after: Shenzhen Zhongzhi Weian Robot Technology Co.,Ltd. Address before: 518000 5th floor, No.5 workshop, wandaiheng hi tech Industrial Park, Guangming Street, Guangming New District, Shenzhen City, Guangdong Province Patentee before: SHENZHEN ZHONGZHI KECHUANG ROBOT Co.,Ltd. |
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