CN105150215A - Tongue movement mechanism of humanoid head robot - Google Patents
Tongue movement mechanism of humanoid head robot Download PDFInfo
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- CN105150215A CN105150215A CN201510550507.9A CN201510550507A CN105150215A CN 105150215 A CN105150215 A CN 105150215A CN 201510550507 A CN201510550507 A CN 201510550507A CN 105150215 A CN105150215 A CN 105150215A
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Abstract
The invention discloses a tongue movement mechanism of a humanoid head robot. The tongue movement mechanism comprises a tongue tip special-shaped block, a connection shaft, a tongue body special-shaped block, a tongue root special-shaped block, a tongue and telescopic connection rod connection shaft, a telescopic stepped shaft, a coupler, an upper plate, a driving gear, a swing motor, a driven motor, a gear shaft, a lower plate, a telescopic motor, a screw nut, a screw, a telescopic supporting shaft, a curling motor and a telescopic connection rod. The tongue movement mechanism is rarely found in a conventional head robot and improves the human-imitativeness of the head robot further. Telescoping control of a tongue is achieved according to the diamond instability, and the method is simple and reliable. The curling part of the tongue is far from the motors. According to the invention, steel wires are adopted for driving, and the difficulty of remote driving is overcome.
Description
Technical field
The present invention relates to a kind of tongue motion of apery head robot, belong to robotics.
Background technology
The tongue motion of apery head robot has inseparable relation with personalizing of robot, tongue plays very crucial booster action for the expression of the various exaggeration expression of anthropomorphic robot and the masticatory movement of mouth, and the apery tongue mechanism studied close to human body tongue movements is the important topic in robot research field always.But up to the present, in the mouth mechanism of most of apery head robot, be all only realize the upper jaw and the lower jaw motion, seldom relate to the design of tongue mechanism.So the tongue motion of research class people function is most important.
Summary of the invention
The object of the invention is to the personification improving apery head robot further, devise a kind of tongue motion of apery head robot, overcome head robot in the past and do not have tongued shortcoming.
For achieving the above object, design of the present invention:
Driving gear drives driven gear to rotate, and driven gear drives whole tongue to realize swinging action.The stretching motion of tongue is realized by the shrinking connecting-rod cooperatively interacted, and the translation of tongue assembly right-hand member, according to the unstability of rhombus, by pulling the left end of expansion link assembly to realize overall stretching, thus is seen off by operating principle.The curling function of tongue is realized by three special-shaped blocks, is connected between block with block with axle, makes them relatively rotate.Concrete curling function is completed by motor and wire: above lick journey by three line traffic controls, and last volume process is also by three line traffic controls, and every root line is through the hole of the porose axle of previous special-shaped block, and the position reaching line is relatively fixing.On lick journey by the shortening of an Electric Machine Control line in group of motors and reach completing of action, last volume process is similar, by another Electric Machine Control line in group of motors shortening thus reach completing of action.
According to foregoing invention design, the present invention adopts following technical proposals:
A tongue motion for apery head robot, comprises the tip of the tongue special-shaped block, connecting axle, tongue body special-shaped block, root of the tongue special-shaped block, tongue and shrinking connecting-rod connecting axle, flexible multidiameter, shaft coupling, upper plate, driving gear, oscillating motor, driven gear, gear shaft, lower plate, telescope motor, feed screw nut, leading screw, retractable support axle, curling motor, shrinking connecting-rod; Described oscillating motor is fixed in lower plate, and the output shaft of oscillating motor connects driving gear, and described driving gear and driven gear engage each other, and described driven gear is arranged on gear shaft, and described gear shaft upper end connects upper plate, and lower end connects lower plate; Described telescope motor is arranged on upper plate, the output shaft of telescope motor connects leading screw, feed screw nut cooperation is arranged on leading screw, one end of described shrinking connecting-rod connects feed screw nut, middle part is supported on upper plate by retractable support axle, the other end is connected root of the tongue special-shaped block by tongue with shrinking connecting-rod connecting axle, and described root of the tongue special-shaped block connects tongue body special-shaped block by a connecting axle, and tongue body special-shaped block connects the tip of the tongue special-shaped block by a connecting axle; Two curling motors are for being symmetrically arranged, and two flexible multidiameters connect two curling motors by shaft coupling; Each flexible multidiameter fixes one end of three steel wire ropes respectively, and the other end of steel cable, through the hole of three connecting axles, is then fixed with the hole on the tip of the tongue special-shaped block; The other end of second steel wire rope, through the hole of the first two connecting axle, is then fixed with the hole on tongue body special-shaped block; The other end of the 3rd steel wire rope passes the hole of tongue and shrinking connecting-rod connecting axle, then fixes with the hole on root of the tongue special-shaped block.
Compared with prior art, the present invention has following apparent outstanding substantive distinguishing features and remarkable advantage:
The present invention devises the tongue mechanism that a kind of robot of head in the past seldom has, and further increases the personification of head robot; The extension and contraction control of tongue is according to the unstability of rhombus, and method is simple and reliable; The crimping portion distance motor of tongue is comparatively far away, and the design is driven by wire, overcomes the remote difficulty driven.
Accompanying drawing explanation
Fig. 1 is structural representation of the present invention.
Fig. 2 is that tongue swings schematic diagram.
Fig. 3 is that tongue stretches schematic diagram.
Fig. 4 is method of the wearing schematic diagram of tongue curled wire line.
Fig. 5 is the upper and lower curling schematic diagram of tongue.
Detailed description of the invention
Below in conjunction with accompanying drawing and preferred embodiment, the present invention is further detailed explanation.
As shown in Figure 1, a tongue motion for apery head robot, comprises the tip of the tongue special-shaped block 1, connecting axle 2, tongue body special-shaped block 3, root of the tongue special-shaped block 4, tongue and shrinking connecting-rod connecting axle 5, flexible multidiameter 6, shaft coupling 7, upper plate 8, driving gear 9, oscillating motor 10, driven gear 11, gear shaft 12, lower plate 13, telescope motor 14, feed screw nut 15, leading screw 16, retractable support axle 17, curling motor 18, shrinking connecting-rod 19; Described oscillating motor 10 is fixed in lower plate 13, the output shaft of oscillating motor 10 connects driving gear 9, and described driving gear 9 engages each other with driven gear 11, and described driven gear 11 is arranged on gear shaft 12, described gear shaft 12 upper end connects upper plate 8, and lower end connects lower plate 13; Described telescope motor 14 is arranged on upper plate 8, the output shaft of telescope motor 14 connects leading screw 16, feed screw nut 15 cooperation is arranged on leading screw 16, one end of described shrinking connecting-rod 19 connects feed screw nut 15, middle part is supported on upper plate 8 by retractable support axle 17, the other end is connected root of the tongue special-shaped block 4 by tongue with shrinking connecting-rod connecting axle 5, and described root of the tongue special-shaped block 4 connects tongue body special-shaped block 3 by a connecting axle 2, and tongue body special-shaped block 3 connects the tip of the tongue special-shaped block 1 by a connecting axle 2; Two curling motors 18 are for being symmetrically arranged, and two flexible multidiameters 6 connect two curling motors 18 by shaft coupling 7; Each flexible multidiameter 6 fixes one end of three steel wire ropes respectively, and the other end of steel cable, through the hole of three connecting axles, is then fixed with the hole on the tip of the tongue special-shaped block 1; The other end of second steel wire rope, through the hole of the first two connecting axle, is then fixed with the hole on tongue body special-shaped block 3; The other end of the 3rd steel wire rope passes the hole of tongue and shrinking connecting-rod connecting axle 5, then fixes with the hole on root of the tongue special-shaped block 4.
As shown in Figure 2, oscillating motor 10 drives driving gear 9 to rotate, and driving gear 9 drives driven gear 11 to rotate, and upper plate 8 relatively lower plate 13 swings, thus realizes swinging of tongue.
As shown in Figure 3, the stretching motion of tongue is realized by the shrinking connecting-rod 19 cooperatively interacted, and operating principle is similar to automatic extendible door, by pulling the left end of shrinking connecting-rod 19 to realize overall stretching, thus the translation of tongue assembly right-hand member is seen off.Telescope motor 14 drives leading screw 16 to move, feed screw nut 15 and retractable support axle 17 can control a rhombus, when feed screw nut 15 moves on leading screw 16, its diamond shape controlled changes, thus the collapsing length of whole shrinking connecting-rod 19 changes, and which achieves the stretching motion of tongue.
As shown in Figure 4, be method of the wearing schematic diagram of tongue curled wire line.As shown in Figure 5, the tie point composition acute triangle on the tie point on tongue, the hole on connecting axle and flexible multidiameter, when curling motor 18 rotates, wire can produce moment, thus tongue is curling.Last volume process is similar, drives the wire being through tongue another side to realize by another curling motor 18.
Claims (1)
1. the tongue motion of an apery head robot, it is characterized in that, comprise the tip of the tongue special-shaped block (1), connecting axle (2), tongue body special-shaped block (3), root of the tongue special-shaped block (4), tongue and shrinking connecting-rod connecting axle (5), flexible multidiameter (6), shaft coupling (7), upper plate (8), driving gear (9), oscillating motor (10), driven gear (11), gear shaft (12), lower plate (13), telescope motor (14), feed screw nut (15), leading screw (16), retractable support axle (17), curling motor (18), shrinking connecting-rod (19), described oscillating motor (10) is fixed in lower plate (13), the output shaft of oscillating motor (10) connects driving gear (9), described driving gear (9) and driven gear (11) engage each other, described driven gear (11) is arranged on gear shaft (12), described gear shaft (12) upper end connects upper plate (8), and lower end connects lower plate (13), described telescope motor (14) is arranged on upper plate (8), the output shaft of telescope motor (14) connects leading screw (16), feed screw nut (15) cooperation is arranged on leading screw (16), one end of described shrinking connecting-rod (19) connects feed screw nut (15), middle part is supported on upper plate (8) by retractable support axle (17), the other end is connected root of the tongue special-shaped block (4) by tongue with shrinking connecting-rod connecting axle (5), described root of the tongue special-shaped block (4) connects tongue body special-shaped block (3) by a connecting axle (2), tongue body special-shaped block (3) connects the tip of the tongue special-shaped block (1) by a connecting axle (2), two curling motors (18) are for being symmetrically arranged, and two flexible multidiameters (6) connect two curling motors (18) by shaft coupling (7), each flexible multidiameter (6) fixes one end of three steel wire ropes respectively, and the other end of steel cable, through the hole of three connecting axles, is then fixed with the hole on the tip of the tongue special-shaped block (1), the other end of second steel wire rope, through the hole of the first two connecting axle, is then fixed with the hole on tongue body special-shaped block (3), the other end of the 3rd steel wire rope passes the hole of tongue and shrinking connecting-rod connecting axle (5), then fixes with the hole on root of the tongue special-shaped block (4).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510550507.9A CN105150215B (en) | 2015-09-01 | 2015-09-01 | A kind of tongue motion of apery head robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510550507.9A CN105150215B (en) | 2015-09-01 | 2015-09-01 | A kind of tongue motion of apery head robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105150215A true CN105150215A (en) | 2015-12-16 |
| CN105150215B CN105150215B (en) | 2017-07-25 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510550507.9A Expired - Fee Related CN105150215B (en) | 2015-09-01 | 2015-09-01 | A kind of tongue motion of apery head robot |
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| Country | Link |
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| CN (1) | CN105150215B (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108068117A (en) * | 2016-11-10 | 2018-05-25 | 深圳光启合众科技有限公司 | Tongue mechanism of robot and with its robot |
| CN108081245A (en) * | 2017-12-26 | 2018-05-29 | 欢乐飞（上海）机器人有限责任公司 | A kind of robot head structure of tongue strip expression |
| JP2018117703A (en) * | 2017-01-23 | 2018-08-02 | 国立大学法人電気通信大学 | Tongue device |
| KR20190012016A (en) * | 2017-07-26 | 2019-02-08 | 한국식품연구원 | Devices that implement tongue motion |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB2199810A (en) * | 1987-01-17 | 1988-07-20 | Tomy Kogyo Co | Money or savings box |
| JP2004233585A (en) * | 2003-01-29 | 2004-08-19 | Univ Waseda | Medical simulator |
| WO2012134212A2 (en) * | 2011-03-31 | 2012-10-04 | Korea Institute Of Industrial Technology | Tongue module for robot |
| CN204143738U (en) * | 2014-10-17 | 2015-02-04 | 济南市中心医院 | A kind of thyroid model |
-
2015
- 2015-09-01 CN CN201510550507.9A patent/CN105150215B/en not_active Expired - Fee Related
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB2199810A (en) * | 1987-01-17 | 1988-07-20 | Tomy Kogyo Co | Money or savings box |
| JP2004233585A (en) * | 2003-01-29 | 2004-08-19 | Univ Waseda | Medical simulator |
| WO2012134212A2 (en) * | 2011-03-31 | 2012-10-04 | Korea Institute Of Industrial Technology | Tongue module for robot |
| CN204143738U (en) * | 2014-10-17 | 2015-02-04 | 济南市中心医院 | A kind of thyroid model |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108068117A (en) * | 2016-11-10 | 2018-05-25 | 深圳光启合众科技有限公司 | Tongue mechanism of robot and with its robot |
| CN108068117B (en) * | 2016-11-10 | 2024-06-14 | 深圳光启合众科技有限公司 | Robot tongue mechanism and robot with same |
| JP2018117703A (en) * | 2017-01-23 | 2018-08-02 | 国立大学法人電気通信大学 | Tongue device |
| KR20190012016A (en) * | 2017-07-26 | 2019-02-08 | 한국식품연구원 | Devices that implement tongue motion |
| KR102286056B1 (en) | 2017-07-26 | 2021-08-03 | 한국식품연구원 | Devices that implement tongue motion |
| CN108081245A (en) * | 2017-12-26 | 2018-05-29 | 欢乐飞（上海）机器人有限责任公司 | A kind of robot head structure of tongue strip expression |
Also Published As
| Publication number | Publication date |
|---|---|
| CN105150215B (en) | 2017-07-25 |
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