CN105171750B - A kind of apery neck movement mechanism - Google Patents
A kind of apery neck movement mechanism Download PDFInfo
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- CN105171750B CN105171750B CN201510550623.0A CN201510550623A CN105171750B CN 105171750 B CN105171750 B CN 105171750B CN 201510550623 A CN201510550623 A CN 201510550623A CN 105171750 B CN105171750 B CN 105171750B
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- head
- yaw
- motor
- shaking
- nodding
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Abstract
The invention discloses a kind of apery neck movement mechanism.It includes base, oscillating mechanism part, nod mechanism section and oscillating head mechanism part, and shaking the head is to drive large and small gear drive to realize by motor；Nodding, facing upward head is to drive disk folder by motor, and disk folder makes head support plate move, thus realizing nodding, facing upward head motion；Yaw is to be rotated by two yaw motors, so that intermediate bar and draft link is swung by yaw connecting rod, realizes the yaw action of head.This motion structure is simple, strengthens the anthropomorphic effect of anthropomorphic robot；Facing upward head with angle of nodding is all 15 °, and between 45 ° to 45 °, yaw maximum angle is 90 ° to the angle shaken the head in left and right, can complete that normal person can reach shake the head, yaw action, and neck can complete the actions such as Xinjiang dance, seem less stiff during motion, apery Du Genggao.
Description
Technical field
The present invention relates to a kind of anthropomorphic robot neck movement mechanism.Robot neck motion is that expression robot grinds
The part studied carefully, the motion of cervical region can make expression robot more lively.Belong to robotics.
Background technology
There are a lot of researchs to anthropomorphic robot neck structure at present, the motion of existing Robot neck is general just
Be 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 has larger difference；Pendulum
Head action also can be compared and had limitation it is difficult to complete some specific actions that human cervix can complete, such as Xinjiang dance etc..This
The neck movement of secondary design can realize the motion of Xinjiang dance, and cervical region is shaken the head and yaw action can comprehensively be realized, and makes neck
Motion more diversification, makes the expression of robot more vivid.
Content of the invention
It is an object of the invention to overcoming the shortcoming of the anthropomorphic fidelity difference of existing Robot neck motion, a kind of apery is proposed
Neck movement mechanism, is a kind of imitation human cervix that can be true to nature, realizes nodding, shaking the head, and yaw and highly difficult
The motion of the actions such as Xinjiang dance.
For reaching above-mentioned purpose, idea of the invention is that：In order that the motion of neck more diversification, the present invention passes through electric
Machine drives gear drive to realize overall head shaking movement；Disk folder and head support plate is driven to realize fortune of nodding by motor
Dynamic；By the drive link about two motors so as to realize abundant swinging position；So whole mechanism can be achieved with cervical region
Nod, shake the head and yaw action；Movement relation between analysis yaw connecting rod, intermediate bar, by the movement posture of Xinjiang dance, leads to
Cross the control to two yaw motors, to realize Xinjiang dance action.
According to above-mentioned design, the present invention adopts the following technical scheme that：
A kind of apery neck movement mechanism, including base, thrust bearing, axle of shaking the head, gear wheel, screw, little gear, shakes the head
Motor, motor of nodding, head support plate, disk folder, two yaw motors, four yaw connecting rods, draft link, upper pendulum bars, shake the head
Motor rack, hinges and intermediate bar；Described head-shaking motor is fixed on base by head-shaking motor frame and screw, head-shaking motor
Output shaft be connected with little gear, little gear connect gear wheel；Gear wheel passes through key and axle of shaking the head connects, shake the head axle and thrust shaft
Hold and coordinate and be arranged on base, axle of shaking the head is connected by hinges with head support plate；Described motor of nodding is fixed on bottom
On seat, described motor of nodding is pressed from both sides by disk and connects head support plate；One end of described intermediate bar is hinged with head support plate, in
Between the other end of bar and draft link one end hinged, the other end of draft link connects upper pendulum bar；Described two yaw motors are installed
In head support plate, one end of one of two yaw connecting rods being hinged of yaw motor connection, yaw connecting rod another
The hinged draft link in one end, one end of the other two yaw connecting rods being hinged of another yaw motor connection, yaw connecting rod
The hinged intermediate bar of the other end.
Operation principle of the present invention：Steering wheel selected by four motors, after the completion of hardware platform is built, using scm application system
And servo driving circuit board, work out control program, control the start and stop of steering wheel, main story, reversion, coordinate the rotation of four steering wheels, from
And 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：
Simulation human cervix, strengthens the anthropomorphic effect of anthropomorphic robot；Come back and existed by motor control of nodding with angle of nodding
15°In the range of, be not in the situation of interference；The angle shaken the head of left and right is -45°To 45°Between, it is capable of normal person and reach
Head shaking movement；Yaw maximum angle is 90°, closed by the motion between analysis yaw connecting rod, intermediate bar, four yaw connecting rods
System, by the movement posture of Xinjiang dance, by the control to two yaw motors, to realize Xinjiang dance action, to seem during motion
Less stiff, apery Du Genggao.
Brief description
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 is realized nodding, facing upward a motion schematic diagram.
Fig. 5 is that mechanism realizes yaw motion schematic diagram.
Fig. 6 is to complete Xinjiang dance action schematic diagram.
Specific embodiment
The present invention is further detailed explanation with reference to the accompanying drawings and detailed description.
As depicted in figs. 1 and 2, a kind of apery neck movement mechanism, including base 1, thrust bearing 2, shake the head axle 3, canine tooth
Wheel 4, screw 5, little gear 6, head-shaking motor 7, motor 8 of nodding, head support plate 9, disk press from both sides 10, two yaw motors 11, four
Individual yaw connecting rod 12, draft link 13, upper pendulum bar 14, head-shaking motor frame 15, hinges 16 and intermediate bar 17；Described head-shaking motor
7 are 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 little gear 6, little gear 6
Connect gear wheel 4；Gear wheel 4 passes through key and axle 3 of shaking the head connects, and axle 3 of shaking the head coordinates and is arranged on base 1 with thrust bearing 2,
Axle 3 of shaking the head is connected by hinges 16 with head support plate 9；Described motor 8 of nodding is fixed on base 1, described electricity of nodding
Machine 8 is by disk folder 10 connection head support plate 9；One end of described intermediate bar 17 is hinged with head support plate 9, intermediate bar 17
One end of the other end and draft link 13 is hinged, and the other end of draft link 13 connects upper pendulum bar 14；Described two yaw motors 11 are pacified
It is contained in head support plate 9, one of yaw motor 11 connects one end of two yaw connecting rods 12 being hinged, yaw is even
The hinged draft link of the other end 13 of bar 12, another yaw motor 11 connects the one of the other two yaw connecting rods 12 being hinged
End, the hinged intermediate bar of the other end 17 of yaw connecting rod 12.
As shown in Figures 1 to 5, described head-shaking motor 7 rotates, and drives little gear 6 to rotate, little gear 6 rotates and makes canine tooth
Taking turns 4 concomitant rotation, so that shaking the head axle 3 and head support plate 9 rotates, realizing the head shaking movement of whole head；When nodding, point
The axle 8 of head motor will be with the diameter parallel of hinges 16, and motor 8 of nodding rotates and drives disk folder 10 rotation, presss from both sides 10 in disk
In the presence of, head support plate 9 starts to nod or faces upward head, so that whole head realizes nodding action；Two described yaws
Motor 11 rotates, and so that intermediate bar 17 and draft link 13 is swung by yaw connecting rod 12, realizes the yaw action of head.
As shown in fig. 6, by the attitude of Xinjiang dance, neck structure can be divided into two parts, i.e. intermediate bar 17 and draft link
13, the action of Xinjiang dance to be realized, need draft link 13 to keep vertical with head support plate 9, but intermediate bar 17 swings
To realize；Movement relation between analysis draft link 13, intermediate bar 17 and four yaw connecting rods 12, by two yaw motors
11 control, makes draft link 13, intermediate bar 17 and four yaw connecting rods 12 reach desired movement to realize Xinjiang dance action.
Claims (1)
1. a kind of apery neck movement mechanism is it is characterised in that include base（1）, thrust bearing（2）, axle of shaking the head（3）, canine tooth
Wheel（4）, screw（5）, little gear（6）, head-shaking motor（7）, motor of nodding（8）, head support plate（9）, disk folder（10）, two
Yaw motor（11）, four yaw connecting rods（12）, draft link（13）, upper pendulum bar（14）, head-shaking motor frame（15）, hinges
（16）And intermediate bar（17）；Described head-shaking motor（7）By head-shaking motor frame（15）And screw（5）It is fixed on base（1）On, shake
Head motor（7）Output shaft and little gear（6）Connect, little gear（6）Connect gear wheel（4）；Gear wheel（4）By key and shaking the head
Axle（3）Connect, axle of shaking the head（3）With thrust bearing（2）Coordinate and be arranged on base（1）On, axle of shaking the head（3）With head support plate
（9）By hinges（16）Connect；Described motor of nodding（8）It is fixed on base（1）On, described motor of nodding（8）By circle
Disk folder（10）Connect head support plate（9）；Described intermediate bar（17）One end and head support plate（9）Hinged, intermediate bar（17）
The other end and draft link（13）One end hinged, draft link（13）The other end connect upper pendulum bar（14）；Described two yaws
Motor（11）It is arranged on head support plate（9）On, one of yaw motor（11）Connect two yaw connecting rods being hinged
（12）One end, yaw connecting rod（12）The hinged draft link of the other end（13）, another yaw motor（11）Connect other two
The yaw connecting rod being hinged（12）One end, yaw connecting rod（12）The hinged intermediate bar of the other end（17）.
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 CN105171750A (en) | 2015-12-23 |
| CN105171750B true CN105171750B (en) | 2017-03-08 |
Family
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510550623.0A Expired - Fee Related CN105171750B (en) | 2015-09-01 | 2015-09-01 | A kind of apery neck movement mechanism |
Country Status (1)
| Country | Link |
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| CN (1) | CN105171750B (en) |
Families Citing this family (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105397818B (en) * | 2015-12-29 | 2017-05-31 | 华强方特（芜湖）文化科技有限公司 | A kind of amusement 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 |
| CN106003094B (en) * | 2016-07-18 | 2019-01-22 | 美的集团股份有限公司 | Robot head connecting connection parts 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 |
| 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 |
| CN107160413B (en) * | 2017-07-18 | 2023-10-17 | 歌尔科技有限公司 | Humanoid head and neck robot |
| CN108161976B (en) * | 2017-12-26 | 2021-01-29 | 常州大学 | Humanoid flexible neck joint capable of shaking left and right and nodding front and back |
| CN108098827B (en) * | 2017-12-26 | 2021-07-30 | 常州大学 | Special neck joint structure of three-degree-of-freedom robot |
| 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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| CN203293211U (en) * | 2013-05-24 | 2013-11-20 | 西南交通大学 | Robot neck device |
| CN103787204A (en) * | 2014-02-27 | 2014-05-14 | 钦州学院 | Two-DOF (Degree-of-Freedom) seven-bar hybrid-driven front hoisting crane |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| US20140137688A1 (en) * | 2012-11-21 | 2014-05-22 | Future Robot Co., Ltd. | Robot neck joint structure |
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- 2015-09-01 CN CN201510550623.0A patent/CN105171750B/en not_active Expired - Fee Related
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| JP4401558B2 (en) * | 2000-11-17 | 2010-01-20 | 本田技研工業株式会社 | Humanoid robot |
| KR100935450B1 (en) * | 2007-03-15 | 2010-01-06 | 가부시키가이샤 히타치세이사쿠쇼 | Robot |
| 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 |
| CN202622810U (en) * | 2012-05-15 | 2012-12-26 | 郑州大学 | Head and neck design of intelligent robot |
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| Publication number | Publication date |
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| CN105171750A (en) | 2015-12-23 |
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Granted publication date: 20170308 Termination date: 20190901 |