CN105171750A - Human-simulated neck moving mechanism - Google Patents
Human-simulated neck moving mechanism Download PDFInfo
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- CN105171750A CN105171750A CN201510550623.0A CN201510550623A CN105171750A CN 105171750 A CN105171750 A CN 105171750A CN 201510550623 A CN201510550623 A CN 201510550623A CN 105171750 A CN105171750 A CN 105171750A
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Abstract
The invention discloses a human-simulated neck moving mechanism. The human-simulated neck moving mechanism comprises a base, a head shaking mechanism part, a nodding mechanism part and a head swinging mechanism part, wherein a large gear and a small gear are driven by a motor to perform transmission so as to realize head shaking movement; a disk clamp is driven through the motor to drive a head supporting disk to move, so that nodding movement and head raising movement are realized; two head swinging motors rotate, and a middle rod and a lower swing rod are driven to swing through a head swinging connecting rod so as to realize head swinging movement of the head. The human-simulated neck moving mechanism disclosed by the invention is simple in structure and can improve the humanized effect of a human-simulated robot; a head raising angle is 15 degrees, a nodding angle is 15 degrees, a left head swinging angle is between -45-45 degrees, a right head swinging angle is between -45-45 degrees, a largest head swinging angle is 90 degrees, the human-simulated neck moving mechanism can complete the head shaking movement and the head swinging movement, which a normal person can achieve, a neck can complete movements such as a Xinjiang dance and is flexible during movements, and the human-simulated neck moving mechanism is high in human simulating degree.
Description
Technical field
The present invention relates to a kind of anthropomorphic robot neck movement mechanism.Robot neck motion is a part for expression robot research, and the motion of neck can make expression robot more lively.Belong to robotics.
Background technology
Had at present a lot of research to anthropomorphic robot neck structure, the motion of existing Robot neck be exactly generally nod, shake the head, yaw, but when shaking the head, amplitude of shaking the head is smaller, and truly shaking the head of the mankind exists larger difference; Yaw action also can be compared and had limitation, has been difficult to some specific actions that human cervix can complete, as Xinjiang dance etc.The neck movement of this design can realize the motion of Xinjiang dance, and neck is shaken the head and yaw action can comprehensively realize, and makes the motion more diversification of neck, makes the expression of robot more vivid.
Summary of the invention
The object of the invention is to overcome existing Robot neck to move the shortcoming of anthropomorphic fidelity difference, a kind of apery neck movement mechanism is proposed, be a kind of imitation human cervix that can be true to nature, realize nodding, shaking the head, and the motion of the action such as yaw and highly difficult Xinjiang dance.
For reaching above-mentioned object, design of the present invention is: in order to make the motion more diversification of neck, and the present invention realizes overall head shaking movement by motor driven gear transmission; Motion of nodding is realized by driven by motor disk folder and head supporting disk; By the drive link about two motors, achieve abundant swinging position; Whole like this mechanism just can realize the nodding of neck, shake the head and yaw action; Analyze the movement relation between yaw connecting rod, intermediate bar, by the movement posture of Xinjiang dance, by the control to two yaw motors, realize Xinjiang dance action.
According to above-mentioned design, the present invention adopts following technical scheme:
A kind of apery neck movement mechanism, comprise base, thrust bearing, axle of shaking the head, gear wheel, screw, pinion, head-shaking motor, motor of nodding, head supporting disk, disk folder, two yaw motors, four yaw connecting rods, draft link, upper pendulum bar, head-shaking motor frame, hinges and intermediate bars; Described head-shaking motor is fixed on base by head-shaking motor frame and screw, and the output shaft of head-shaking motor is connected with pinion, and pinion connects gear wheel; Gear wheel is connected with axle of shaking the head by key, and axle of shaking the head coordinates with thrust bearing and is arranged on base, and axle of shaking the head is connected by hinges with head supporting disk; Described motor of nodding is fixed on base, described in nod motor by disk folder connection header supporting disk; One end and the head supporting disk of described intermediate bar are hinged, the other end of intermediate bar and one end of draft link hinged, the other end of draft link connects upper pendulum bar; Described two yaw motors are arranged on head supporting disk, one of them yaw motor connects the one end of the yaw connecting rod that two are hinged, the hinged draft link of the other end of yaw connecting rod, another yaw motor connects one end of other two yaw connecting rods be hinged, the hinged intermediate bar of the other end of yaw connecting rod.
Operation principle of the present invention: steering wheel selected by four motors, after hardware platform has been built, utilize scm application system and servo driving circuit board, establishment control program, controls the start and stop of steering wheel, main story, reversion, coordinate the rotation of four steering wheels, thus realize robot and nod, face upward head, shake the head, yaw, the action such as Xinjiang dance.
Compared with prior art, the present invention has following remarkable advantage:
Simulating human neck, strengthens the anthropomorphic effect of anthropomorphic robot; Come back and nod angle by Electric Machine Control of nodding 15
°in scope, there will not be the situation of interference; The angle shaken the head in left and right is-45
°to 45
°between, the head shaking movement that normal person reaches can be realized; Yaw maximum angle is 90
°, by analyzing the movement relation between yaw connecting rod, intermediate bar, four yaw connecting rods, by the movement posture of Xinjiang dance, by the control to two yaw motors, realizing Xinjiang dance action, seeming so not stiff during motion, apery Du Genggao.
Accompanying drawing explanation
Fig. 1 is the master-plan schematic diagram of mechanism.
Fig. 2 is the bottom sectional view of mechanism.
Fig. 3 is that mechanism realizes yaw motion schematic diagram.
Fig. 4 is that mechanism realizes nodding, facing upward a motion schematic diagram.
Fig. 5 is that mechanism realizes yaw motion schematic diagram.
Fig. 6 has been Xinjiang dance action schematic diagram.
Detailed description of the invention
Below in conjunction with the drawings and specific embodiments, the present invention is further detailed explanation.
As depicted in figs. 1 and 2, a kind of apery neck movement mechanism, comprise base 1, thrust bearing 2, axle 3 of shaking the head, gear wheel 4, screw 5, pinion 6, head-shaking motor 7, motor 8 of nodding, head supporting disk 9, disk folder 10, two yaw motors 11, four yaw connecting rods 12, draft link 13, upper pendulum bar 14, head-shaking motor frame 15, hinges 16 and intermediate bars 17; Described head-shaking motor 7 is fixed on base 1 by head-shaking motor frame 15 and screw 5, and the output shaft of head-shaking motor 7 is connected with pinion 6, and pinion 6 connects gear wheel 4; Gear wheel 4 is connected with axle 3 of shaking the head by key, and axle 3 of shaking the head coordinates with thrust bearing 2 and is arranged on base 1, and axle 3 of shaking the head is connected by hinges 16 with head supporting disk 9; Described motor 8 of nodding is fixed on base 1, described in motor 8 of nodding press from both sides 10 connection header supporting disks 9 by disk; One end and the head supporting disk 9 of described intermediate bar 17 are hinged, the other end of intermediate bar 17 and one end of draft link 13 hinged, the other end of draft link 13 connects upper pendulum bar 14; Described two yaw motors 11 are arranged on head supporting disk 9, one of them yaw motor 11 connects the one end of the yaw connecting rod 12 that two are hinged, the hinged draft link 13 of the other end of yaw connecting rod 12, another yaw motor 11 connects one end of other two yaw connecting rods 12 be hinged, the hinged intermediate bar 17 of the other end of yaw connecting rod 12.
As shown in Figures 1 to 5, described head-shaking motor 7 rotates, and drives pinion 6 to rotate, and pinion 6 rotates and gear wheel 4 is rotated thereupon, thus make to shake the head axle 3 and head supporting disk 9 rotate, and realize the head shaking movement of whole head; When nodding, the axle 8 of motor of nodding will with the axis being parallel of hinges 16, motor 8 of nodding rotates and drives disk folder 10 to rotate, and under the effect of disk folder 10, head supporting disk 9 starts to nod or face upward head, thus makes whole head realize nodding action; Two described yaw motors 11 rotate, and by yaw connecting rod 12, intermediate bar 17 and draft link 13 are swung, realize the yaw action of head.
As shown in Figure 6, by the attitude of Xinjiang dance, neck structure can be divided into two parts, namely intermediate bar 17 and draft link 13, realize the action of Xinjiang dance, need draft link 13 to keep vertical with head supporting disk 9, but intermediate bar 17 swings to realize; Analyze draft link 13, movement relation between intermediate bar 17 and four yaw connecting rods 12, by the control to two yaw motors 11, make draft link 13, intermediate bar 17 and four yaw connecting rods 12 reach desired movement to realize Xinjiang dance action.
Claims (1)
1. an apery neck movement mechanism, it is characterized in that, comprise base (1), thrust bearing (2), axle of shaking the head (3), gear wheel (4), screw (5), pinion (6), head-shaking motor (7), motor of nodding (8), head supporting disk (9), disk folder (10), two yaw motors (11), four yaw connecting rods (12), draft link (13), upper pendulum bar (14), head-shaking motor frame (15), hinges (16) and intermediate bars (17); Described head-shaking motor (7) is fixed on base (1) by head-shaking motor frame (15) and screw (5), and the output shaft of head-shaking motor (7) is connected with pinion (6), and pinion (6) connects gear wheel (4); Gear wheel (4) is connected with axle of shaking the head (3) by key, and axle of shaking the head (3) coordinates with thrust bearing (2) and is arranged on base (1), and axle of shaking the head (3) is connected by hinges (16) with head supporting disk (9); Described motor of nodding (8) is fixed on base (1), described in nod motor (8) by disk folder (10) connection header supporting disk (9); One end and the head supporting disk (9) of described intermediate bar (17) are hinged, the other end of intermediate bar (17) and one end of draft link (13) hinged, the other end of draft link (13) connects upper pendulum bar (14); Described two yaw motors (11) are arranged on head supporting disk (9), one of them yaw motor (11) connects one end of two yaw connecting rods (12) be hinged, the hinged draft link of the other end (13) of yaw connecting rod (12), another yaw motor (11) connects one end of other two yaw connecting rods (12) be hinged, the hinged intermediate bar of the other end (17) of yaw connecting rod (12).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510550623.0A CN105171750B (en) | 2015-09-01 | 2015-09-01 | A kind of apery neck movement mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510550623.0A CN105171750B (en) | 2015-09-01 | 2015-09-01 | A kind of apery neck movement mechanism |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105171750A true CN105171750A (en) | 2015-12-23 |
| CN105171750B CN105171750B (en) | 2017-03-08 |
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| CN201510550623.0A Expired - Fee Related CN105171750B (en) | 2015-09-01 | 2015-09-01 | A kind of apery neck movement mechanism |
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Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105397818A (en) * | 2015-12-29 | 2016-03-16 | 芜湖华强文化科技产业有限公司 | Robot for entertainment |
| CN106003094A (en) * | 2016-07-18 | 2016-10-12 | 美的集团股份有限公司 | Robot head connecting device and robot |
| CN106826908A (en) * | 2017-03-20 | 2017-06-13 | 芜湖星途机器人科技有限公司 | Robot with movable head |
| CN106976098A (en) * | 2017-06-05 | 2017-07-25 | 游尔（北京）机器人科技股份有限公司 | A kind of service robot neck structure |
| CN107030728A (en) * | 2017-05-12 | 2017-08-11 | 重庆大学 | Multi link formula robot neck controlling organization |
| CN107160413A (en) * | 2017-07-18 | 2017-09-15 | 歌尔科技有限公司 | A kind of apery incidence robot |
| CN107538517A (en) * | 2016-06-23 | 2018-01-05 | 江苏雷动智能制造有限公司 | A kind of robot head rotating mechanism |
| CN108098827A (en) * | 2017-12-26 | 2018-06-01 | 常州大学 | A kind of special neck joint structure of Three Degree Of Freedom robot |
| CN108161976A (en) * | 2017-12-26 | 2018-06-15 | 常州大学 | It is a kind of being capable of double swerve and the front and rear apery flexibility neck joint nodded |
| CN108818555A (en) * | 2018-07-06 | 2018-11-16 | 宣城南巡智能科技有限公司 | A kind of emulated robot neck structure |
| CN111086462A (en) * | 2018-10-23 | 2020-05-01 | 蔚来汽车有限公司 | Vehicle-mounted intelligent terminal and vehicle using same |
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| CN101837592A (en) * | 2010-05-12 | 2010-09-22 | 哈尔滨工业大学 | Humanoid robot head based on bevel gear differential coupling mechanism |
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Cited By (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105397818A (en) * | 2015-12-29 | 2016-03-16 | 芜湖华强文化科技产业有限公司 | Robot for entertainment |
| CN107538517A (en) * | 2016-06-23 | 2018-01-05 | 江苏雷动智能制造有限公司 | A kind of robot head rotating mechanism |
| CN106003094A (en) * | 2016-07-18 | 2016-10-12 | 美的集团股份有限公司 | Robot head connecting device and robot |
| CN106826908A (en) * | 2017-03-20 | 2017-06-13 | 芜湖星途机器人科技有限公司 | Robot with movable head |
| CN107030728A (en) * | 2017-05-12 | 2017-08-11 | 重庆大学 | Multi link formula robot neck controlling organization |
| CN107030728B (en) * | 2017-05-12 | 2020-10-13 | 重庆大学 | Multi-connecting-rod robot head and neck control mechanism |
| CN106976098A (en) * | 2017-06-05 | 2017-07-25 | 游尔（北京）机器人科技股份有限公司 | A kind of service robot neck structure |
| CN107160413A (en) * | 2017-07-18 | 2017-09-15 | 歌尔科技有限公司 | A kind of apery incidence robot |
| CN107160413B (en) * | 2017-07-18 | 2023-10-17 | 歌尔科技有限公司 | Humanoid head and neck robot |
| CN108098827A (en) * | 2017-12-26 | 2018-06-01 | 常州大学 | A kind of special neck joint structure of Three Degree Of Freedom robot |
| CN108161976A (en) * | 2017-12-26 | 2018-06-15 | 常州大学 | It is a kind of being capable of double swerve and the front and rear apery flexibility neck joint nodded |
| CN108818555A (en) * | 2018-07-06 | 2018-11-16 | 宣城南巡智能科技有限公司 | A kind of emulated robot neck structure |
| CN111086462A (en) * | 2018-10-23 | 2020-05-01 | 蔚来汽车有限公司 | Vehicle-mounted intelligent terminal and vehicle using same |
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| CN105171750B (en) | 2017-03-08 |
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