CN106078762A - Ten head and neck mechanisms of six-degree-of-freedom humanoid robot - Google Patents
Ten head and neck mechanisms of six-degree-of-freedom humanoid robot Download PDFInfo
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- CN106078762A CN106078762A CN201610583958.7A CN201610583958A CN106078762A CN 106078762 A CN106078762 A CN 106078762A CN 201610583958 A CN201610583958 A CN 201610583958A CN 106078762 A CN106078762 A CN 106078762A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/0005—Manipulators having means for high-level communication with users, e.g. speech generator, face recognition means
- B25J11/0015—Face robots, animated artificial faces for imitating human expressions
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- Health & Medical Sciences (AREA)
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- General Health & Medical Sciences (AREA)
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Abstract
The present invention relates to ten head and neck mechanisms of six-degree-of-freedom humanoid robot, connect unit and a neck unit including a pair eyebrow unit, pair of eyes eyelid unit, lower jaw unit, a structure；Structure connects the lower end of unit and is connected with the upper end of neck unit, pair of eyes eyelid unit is separately mounted to structure and connects unit top arranged on left and right sides, a pair eyebrow unit connection corresponding with pair of eyes eyelid unit respectively, lower jaw unit is arranged on structure and connects on unit.The molar behavior harmony of the present invention is good, by head and neck controlling organization, with accurately, coordinate and promptly realize the flexible motion of multiple head and neck organ, express the multiple expression of robot.
Description
Technical field
The present invention relates to emulated robot equipment technical field, specifically ten six-degree-of-freedom humanoid robot head and neck machines
Structure.
Background technology
Current anthropomorphic robot head and neck mechanism structure complexity is loaded down with trivial details, and kinematic dexterity is poor, and kinematic accuracy is low, particularly eye
Eyeball eyelid movement mechanism underaction；Transmission process is the most loaded down with trivial details, and kinematic pair is unreasonable, and mechanism kinematic frictional resistance is big, noise
Greatly, mechanism blockage phenomenon happens occasionally；Tructure arrangement is poor, and integrally-built installation and maintenance are poor；Overall appearance or even office
The amplitude that portion's size and each organ can move differs relatively big with speed with the head of the mankind, cervical region, and integrated model moves
Make harmony the highest.
Summary of the invention
The present invention proposes a kind of ten head and neck mechanisms of six-degree-of-freedom humanoid robot, it is therefore intended that solve existing anthropomorphic robot
Head and neck mechanism complexity is loaded down with trivial details, kinematic dexterity is poor, kinematic accuracy is low, frictional resistance is big, Tructure arrangement is poor, integrated model action
The problem that harmony is the highest.
The present invention designs according to normal adult limb size ratio 1:1, including the translation of eyes eyebrow and spinning movement,
The deflection of eyes and pitching motion, palpebra inferior opening and closing movement, lower jaw opening and closing movement, cervical rotation action, cervical region pitching on a pair
Action, cervical region tilting action amount to ten six-freedom degrees.
Ten head and neck mechanisms of six-degree-of-freedom humanoid robot, described head and neck mechanism includes a pair eyebrow unit, pair of eyes eye
Eyelid unit, lower jaw unit, a structure connect unit and a neck unit；Described structure connects lower end and the neck of unit
The upper end of portion's unit is connected, and pair of eyes eyelid unit is separately mounted to structure and connects unit top arranged on left and right sides, a pair eyebrow
Unit is corresponding with pair of eyes eyelid unit respectively to be connected, and lower jaw unit is arranged on structure and connects on unit.
Each eyebrow unit all includes that eyebrow translation steering wheel, eyebrow rotate steering wheel, eyebrow, tooth bar, eyebrow floating shelf, eyebrow
Engaging with the tooth bar being arranged in eyebrow float plate equipped with gear, gear on translation steering wheel, eyebrow rotates steering wheel and is connected with eyebrow,
Eyebrow is rotated steering wheel and is arranged in eyebrow float plate by eyebrow floating shelf.
Eyebrow translation steering wheel on eyebrow steering wheel fixed mount is installed, eyebrow steering wheel fixed mount and corresponding eyebrow float plate it
Between equipped with the sliding group of ball.
Each eyes eyelid unit all includes eyes, upper eyelid, palpebra inferior, and described eyes are provided with eyes change, eye
The side of eyeball change by arrange an eyes connecting rod, an eyes bull stick be connected with an eyes steering wheel, eyes
The opposite side of change by arrange No. two eyes connecting rods, No. two eyes bull sticks be connected with No. two eyes steering wheels, upper eye
Eyelid is connected by the upper eyelid connecting rod arranged upper eyelid steering wheel, and palpebra inferior is connected by the palpebra inferior connecting rod arranged palpebra inferior
Steering wheel.
Described lower jaw unit includes lower jaw steering wheel, lower jaw steering wheel support, condyle axis bearing, lower jaw connecting rod, lower jaw, described under
Jaw steering wheel is arranged on lower jaw steering wheel support, and lower jaw steering wheel is connected with the left side of lower jaw by lower jaw connecting rod, the right side of lower jaw and
Condyle axis bearing is connected.
Described structure connects the bottom of unit and is provided with nose, the upper jaw, and structure connects the sidepiece of unit and is provided with face decoration
Plate.
Described neck unit includes head and neck base, be arranged on head and neck base cervical region bearing block, it is arranged on cervical region bearing
Seat cervical rotation steering wheel support, the cervical rotation steering wheel being arranged on cervical rotation steering wheel support pass through with cervical rotation steering wheel
Cervical region pitch-control motor support, the cervical region pitch-control motor being arranged on cervical region pitch-control motor support and the cervical region that cervical region rotating shaft is connected
The cervical region that pitch-control motor is connected by steering wheel arm support tilts steering wheel.
Beneficial effects of the present invention have following some:
1. the head and neck mechanism freedom of the present invention up to 16, use finished parts in a large number, the sliding group of gear, tooth bar, ball,
L-type spherical plain bearing rod end, miniature bearing, crossed roller bearing replace simple slide bar sliding pin, reduce the frictional resistance of kinematic pair,
Simultaneously a large amount of forms using steering wheel output shafts direct-connected with moving component, it is to avoid the resistance in transmission process, it is to avoid because of machinery
The generation of stuck phenomenon in transmission process so that it is kinematic dexterity improves, especially eye palpebral movement mechanism use connecting rod and L
The combination of type spherical plain bearing rod end makes the deflection of eyes in the range of-35 °～+35 ° and pitch rotation is at-35 °～+35 °
In the range of.
2. the amplitude that the overall structure of the present invention or even each organ can move is close with normal adult head part.
3. the molar behavior harmony of the present invention is good, by head and neck controlling organization, many with accurate, coordination and promptly realization
Plant the flexible motion of head and neck organ, express the multiple expression of robot.
Accompanying drawing explanation
The present invention is further described below in conjunction with the accompanying drawings.
Fig. 1 is the overall structure schematic diagram of the present invention；
Fig. 2 is the eyebrow cellular construction schematic diagram on the right side of the present invention；
Fig. 3 is right side eyes and the eyelid cellular construction schematic diagram of the present invention；
Fig. 4 is right side eyes and the eyelid unit partial structurtes schematic diagram of the present invention；
Fig. 5 is the lower jaw cellular construction schematic diagram of the present invention；
Fig. 6 is that the structure of the present invention connects cellular construction schematic diagram；
Fig. 7 is the neck unit structural representation of the present invention.
Detailed description of the invention
For the technological means making the present invention realize, creation characteristic, reach purpose and be easy to understand with effect, below right
The present invention is expanded on further.
As shown in Figures 1 to 7, ten head and neck mechanisms of six-degree-of-freedom humanoid robot include 100, two eyes of two eyebrow unit
Eyeball eyelid unit 200, lower jaw unit 300, structure connect unit 400, neck unit 500.
As in figure 2 it is shown, each eyebrow unit 100 all includes that eyebrow translation steering wheel 1, eyebrow rotate steering wheel 2, eyebrow steering wheel admittedly
Determine frame 3, eyebrow steering wheel floating shelf 4, eyebrow float plate 5, tooth bar 7 and eyebrow 11.
As it is shown on figure 3, each eyes eyelid unit includes an eyes steering wheel 12, No. two eyes steering wheels 13, eyes eyelids
15, eyes connecting rod of 14, two rudder angle Time-optimum Controllers of installing plate, 17, No. two eyes bull sticks of 16, No. two eyes connecting rods
19, eyes change 20, eyes 21, upper eyelid steering wheel 22, palpebra inferior steering wheel 23,24, two No. two rudder angles of eyelid steering wheel support are fast
Speed actuator 25, upper eyelid connecting rod 26,27, two L-type spherical plain bearing rod ends 28 of palpebra inferior connecting rod, upper eyelid change 29,
Palpebra inferior change 30, upper eyelid 31, palpebra inferior 32.
As shown in Figure 4, lower jaw unit includes lower jaw steering wheel 35, lower jaw steering wheel support 36,37, two lower jaws of condyle axis bearing
38, two lower jaw rotating shafts of miniature bearing, 40, No. two rudder angle Time-optimum Controllers 25 of 39, two split washers, lower jaw connecting rod 41, two
L-type spherical plain bearing rod end 28, lower jaw 42.
As it is shown in figure 5, structure connects unit includes a structural connecting plates 44, No. three structures of 43, No. two mechanism's connecting plates
Connecting plate 46, No. five structural connecting plates 47 of 45, No. four structural connecting plates, nose 48, the upper jaw 49, face decorative panel 50.
As shown in Figure 6, neck unit includes that cervical rotation steering wheel 51, cervical region pitch-control motor 52, cervical region tilt steering wheel 53, head
Neck base 54, cervical rotation steering wheel support 55, cervical rotation shaft coupling 58, cervical region pitch-control motor support 60, steering wheel arm support
61, steering wheel support 62 is tilted.
Said two eyebrow unit 100 is separate unit, and Fig. 2 show the eyebrow unit 100 on right side, and eyebrow translates
Steering wheel 1 is installed on the eyebrow steering wheel fixed mount 3 of respective side, and the outfan of eyebrow translation steering wheel 1 is respectively provided with gear 6, tooth
Wheel 6 engages with the tooth bar 7 being arranged in corresponding eyebrow float plate 5, and eyebrow rotates steering wheel 2 by corresponding eyebrow steering wheel floating shelf 4
Being arranged in the eyebrow float plate 5 of respective side, eyebrow float plate 5 is equipped with the cavity installing bearing, corresponding equipped with eye in cavity
Eyebrow miniature bearing 9, is respectively arranged with the eyebrow of eyebrow shaft coupling 10, eyebrow shaft coupling 10 one end and respective side in eyebrow miniature bearing 9
Rotating steering wheel 2 outfan to connect, the other end of eyebrow shaft coupling 10 is connected with the rod end of eyebrow 11, thus eyebrow 11 is just with corresponding
It is direct-connected that the eyebrow of side rotates steering wheel 2, is respectively arranged with the sliding group 8 of ball between eyebrow steering wheel fixed mount 3 and corresponding eyebrow float plate 5,
The one side of the sliding group 8 of ball connects with corresponding eyebrow steering wheel fixed mount 3, and ball sliding group 8 another sides are with corresponding eyebrow float plate 5 even
Connect, thus eyebrow float plate 5 can be movable in a vertical direction.
The motion flow of eyebrow unit: eyebrow translation steering wheel 1 forward or reverse driven gear 6 rotates, and gear 6, tooth bar 7 are nibbled
Crossed belt moves eyebrow float plate 5 and moves up and down in overall with parts mounted thereto, and eyebrow rotates steering wheel 2 forward or reverse simultaneously
Driving the rotation of eyebrow 11, this serial mechanism eyebrow 11 just has up and down motion and two degree of freedom of planar rotational movement, i.e.
The position and attitude of multiple eyebrow 11 can be realized.
When eyebrow 11 initial position on the basis of the horizontal plane at place, eyebrow 11 rod end axle center, eyebrow 11 initial position is set to
0mm, the upper and lower translation scope of eyebrow 11 is-4mm～+10mm, maximal translation speed 87mm/s；Eyebrow 11 initial angle is 8 °,
The slewing area of eyebrow 11 is-12 °～+29 °, maximum rotational speed 256deg/s.
Said two eyes eyelid unit 200 is separate unit, and Fig. 3 show the eyes eyelid unit 200 on right side,
In eyes mechanism, an eyes steering wheel 12 is arranged on corresponding eyes eyelid installing plate 14 with corresponding No. two eyes steering wheels 13,
The steering wheel arm of a number eyes steering wheel 12 and No. two eyes steering wheels 13 is respectively provided with a rudder angle Time-optimum Controller 15, and eyes are even
One end of bar 16 is hinged with the steering wheel arm of respective side eyes steering wheel 12 by a rudder angle Time-optimum Controller 15, No. two eyes
One end of eyeball connecting rod 17 is by the steering wheel of a rudder angle Time-optimum Controller 15 of respective side with No. two eyes steering wheels 13 of respective side
Arm is hinged.Eyes eyelid installing plate 14 is respectively arranged with an eyes bull stick 18 in the middle of front end, and eyes change is arranged on the one of respective side
On number eyes bull stick 18, eyes change 20 is nylon material, and No. two eyes bull sticks 19 are arranged on the eyes change 20 of respective side
Left side, the eyes change 20 of an eyes bull stick 18 and No. two eyes bull sticks 19 and respective side is matched in clearance, eyes change
Being respectively mounted eyes 21 on 20, eyes 21 are the hollow hemisphere of silica gel material, 90 ° of bending ends that eyes connecting rod 16 is provided with
A number eyes bull stick 18 is corresponding hinged, 90 ° of bending ends hinge corresponding with No. two eyes bull sticks 19 that No. two eyes connecting rods 17 are provided with
Connecing, an eyes connecting rod 16 and No. two eyes connecting rods 17 are thin elastic rod.
The motion flow of eyes: eyes steering wheel 12 forward or reverse drives steering wheel arm to rotate, and steering wheel arm passes through No. one
Rudder angle Time-optimum Controller 15 pulls an eyes connecting rod 16, an eyes connecting rod 16 to drive an eyes bull stick 18 to rotate, eyes
Change 20 can rotate up and down, and No. two eyes steering wheel 13 forward or reverse drive steering wheel arm to rotate simultaneously, and steering wheel arm passes through No. one
Rudder angle Time-optimum Controller 15 pulls No. two eyes connecting rods 17 of respective side, No. two eyes connecting rods 17 drive No. two eyes bull sticks 19 with
The eyes change 20 of respective side rotates around an eyes bull stick 18, this parallel institution can make eyes change 20 with its initial bit
Any direction in the range of axis certain angle is freely rotatable, and test proves, due to an eyes connecting rod 16 and No. two eyes even
Bar 17 is thin elastic rod, does not results in the problem that insufficient DOF is stuck.
When eyes 21 are faced on the basis of eyes 21 axis, the left and right scope initial angle of eyes 21 is 0 °, eyes 21
Left-right rotation scope is-35～+35 °, maximum rotational speed 270deg/s；The initial angle of eyes 21 top/bottom latitude is 0 °, eye
The scope that rotates upwardly and downwardly of eyeball 21 is-35～+35 °, maximum rotational speed 270deg/s.
Said two eyes eyelid unit 200 is separate unit, and Fig. 3 show the eyes eyelid unit 200 on right side,
In eyelid mechanism, upper eyelid steering wheel 22 is arranged on respective side with palpebra inferior steering wheel 23 by the eyelid steering wheel support 24 of respective side
On eyes eyelid installing plate 14, upper eyelid steering wheel 22 and palpebra inferior steering wheel 23 are respectively provided with No. two rudder angle Time-optimum Controllers 25, on
One end of eyelid connecting rod 26 is by the steering wheel of No. two rudder angle Time-optimum Controllers 25 of respective side with the upper eyelid steering wheel 22 of respective side
Arm is hinged, and one end of palpebra inferior connecting rod 27 is by the palpebra inferior steering wheel of No. two rudder angle Time-optimum Controllers 25 of respective side with respective side
The steering wheel arm of 23 is hinged.Upper and lower both sides, eyes eyelid installing plate 14 front end are respectively provided with upper eyelid change 29, palpebra inferior change
30, upper eyelid change 29 with palpebra inferior change 30 all by the way of hinged eyes eyelid installing plate 14 with respective side be connected.
Described upper eyelid 31 and palpebra inferior 32 be separately mounted to upper eyelid change 29 with in palpebra inferior change 30, upper eyelid connecting rod 26 another
One end is connected with the upper eyelid change 29 of respective side by a L-type spherical plain bearing rod end 28 of side, palpebra inferior connecting rod 27
The other end is connected with the palpebra inferior change 30 of respective side by a L-type spherical plain bearing rod end 28 of opposite side.
The motion flow of eyelid: upper eyelid steering wheel 22 forward or reverse drives steering wheel arm to rotate, and steering wheel arm passes through No. two rudders
Angle Time-optimum Controller 25 pulls the upper eyelid connecting rod 26 of respective side, upper eyelid connecting rod 26 drive the upper eyelid change 29 of respective side around
The bearing pin of hinged place rotates, and upper eyelid 31 can rotate up and down around the bearing pin of hinged place, and palpebra inferior 32 principle ibid, completes eyelid
Opening and closing.
When eyes are faced on the basis of eyes axis, the initial angle that upper eyelid 31 rotates is 35 °, the rotation in upper eyelid 31
Scope is-10 °～+55 °, maximum rotational speed 371deg/s；The initial angle that palpebra inferior 32 rotates is-35 °, palpebra inferior 32
Slewing area is-20 °～-45 °, maximum rotational speed 143deg/s.
As shown in Figure 4, lower jaw steering wheel 35 is arranged on lower jaw steering wheel support 36 described lower jaw unit 300, lower jaw steering wheel 35
Steering wheel arm be connected with one end of lower jaw connecting rod 41 by No. two rudder angle Time-optimum Controllers 25, in lower jaw connecting rod 41, one end is passed through
L-type spherical plain bearing rod end 28 is connected with the left side of lower jaw 42, and lower jaw 42 two ends are respectively equipped with lower jaw rotating shaft 39, left side lower jaw rotating shaft 39
Assembling with the lower jaw miniature bearing 38 in lower jaw steering wheel support 36, right side lower jaw rotating shaft 39 is micro-with the lower jaw in condyle axis bearing 37
Profile shaft holds 38 assemblings, and the end of two lower jaw rotating shafts 39 is provided with split washer 40.
The motion flow of lower jaw: lower jaw steering wheel 35 forward or reverse drives steering wheel arm to rotate, and steering wheel arm passes through No. two rudder angles
Time-optimum Controller 25 pulls lower jaw connecting rod 41, lower jaw connecting rod 41 to drive lower jaw 42 to rotate around lower jaw rotating shaft 39, completes 42, lower jaw
Opening and closing is closed.
On the basis of the horizontal plane at place, lower jaw 42 axle center, the rotation that initial angle is-70 ° of lower jaws 42 that lower jaw 42 rotates
Scope is-70 °～-102 °, maximum rotational speed 159deg/s.
Described structure connects unit 400 as shown in Figure 6, and a structural connecting plates 43 connects the basis of unit 400 for structure
Plate, No. two structural connecting plates 44 are connected by the bolt in a middle counter sink of structural connecting plates 43 and a structural connecting plates 43
Connecing, the upper surface at 46 respectively with numbers structural connecting plates 43 two ends of 45, No. four structural connecting plates of No. three structural connecting plates connects, and five
Number structural connecting plates 47 is connected with a middle lower surface of structural connecting plates 43, nose 48 and the upper jaw 49 and No. five structural connecting plates
47 connect, and face decorative panel 50 is connected with a structural connecting plates 43.
As shown in Figure 6, head and neck base 54 is the basis of neck unit 500 to described neck unit 500, and head and neck base 54 is pacified
Equipped with cervical region bearing block 56, cervical rotation steering wheel support 55 is arranged on cervical region bearing block 56, and cervical rotation steering wheel 51 is arranged on
On cervical rotation steering wheel support 55, cervical region bearing block 56, built with crossed roller bearing 57, is equipped with in crossed roller bearing 57
Cervical region rotating shaft 59, one end of cervical region rotating shaft 59 is direct-connected with cervical rotation steering wheel 51 by cervical rotation shaft coupling 58, cervical region rotating shaft
The other end of 59 is connected with cervical region pitch-control motor support 60, and the fuselage of cervical region pitch-control motor 52 is arranged on cervical region pitch-control motor support
On 60, one end of steering wheel arm support 61 is connected with the steering wheel of cervical region pitch-control motor 52, and the other end tilts steering wheel 53 with cervical region
Steering wheel connects, and cervical region tilts the fuselage of steering wheel 53 and installs steering wheel support 62.
Cervical motion flow process: cervical rotation steering wheel 51 forward or reverse drives the parts on cervical region rotating shaft 59 to rotate,
Cervical region pitch-control motor 52 forward or reverse drives steering wheel arm support 61, cervical region to tilt steering wheel 53, tilt steering wheel support 62 entirety
Pitching, cervical region tilts steering wheel 53 forward or reverse and drives steering wheel support 62 to tilt, completes the rotation of cervical region, pitching, inclination.
On the basis of the forward sight datum level at place, cervical rotation axle center, the initial angle of neck rotation is 0 °, turning of cervical region
Dynamic scope is-70 °～+70 °, maximum rotational speed 467deg/s.
On place, cervical region pitching axle center on the basis of datum level, the initial angle of cervical region pitching is 0 °, bowing of cervical region
Scope of facing upward is-40 °～+40 °, maximum rotational speed 430deg/s.
On the basis of the right side at cervical region inclination place, axle center regards datum level, the initial angle that cervical region tilts is 0 °, inclining of cervical region
Tiltedly scope is-45 °～+45 °, maximum rotational speed 360deg/s.
The ultimate principle of the present invention, principal character and advantages of the present invention have more than been shown and described.The technology of the industry
The personnel simply present invention it should be appreciated that the present invention is not restricted to the described embodiments, described in above-described embodiment and description
Principle, without departing from the spirit and scope of the present invention, the present invention also has various changes and modifications, these change and
Improvement both falls within claimed invention.Claimed scope is by appending claims and equivalent circle thereof
Fixed.
Claims (7)
1. ten head and neck mechanism of six-degree-of-freedom humanoid robot, including a pair eyebrow unit, pair of eyes eyelid unit, a lower jaw
Unit, a structure connect unit and a neck unit；It is characterized in that: described structure connects lower end and the cervical region list of unit
The upper end of unit is connected, and pair of eyes eyelid unit is separately mounted to structure and connects unit top arranged on left and right sides, a pair eyebrow unit
Connection corresponding with pair of eyes eyelid unit respectively, lower jaw unit is arranged on structure and connects on unit.
Ten head and neck mechanisms of six-degree-of-freedom humanoid robot the most according to claim 1, it is characterised in that: each eyebrow unit
All include that eyebrow translation steering wheel, eyebrow rotate steering wheel, eyebrow, tooth bar, eyebrow floating shelf, equipped with gear on eyebrow translation steering wheel,
Gear engages with the tooth bar being arranged in eyebrow float plate, and eyebrow rotates steering wheel and is connected with eyebrow, and eyebrow rotates steering wheel and passes through eye
Eyebrow floating shelf is arranged in eyebrow float plate.
Ten head and neck mechanisms of six-degree-of-freedom humanoid robot the most according to claim 2, it is characterised in that: eyebrow translation steering wheel
On eyebrow steering wheel fixed mount is installed, equipped with the sliding group of ball between eyebrow steering wheel fixed mount and corresponding eyebrow float plate.
Ten head and neck mechanisms of six-degree-of-freedom humanoid robot the most according to claim 1, it is characterised in that: each eyes eyelid
Unit all includes eyes, upper eyelid, palpebra inferior, and described eyes are provided with eyes change, and the side of eyes change is by arranging
An eyes connecting rod, an eyes bull stick be connected with an eyes steering wheel, the opposite side of eyes change by arrange
No. two eyes connecting rods, No. two eyes bull sticks be connected with No. two eyes steering wheels, upper eyelid is by the upper eyelid that arranges even
Bar connects upper eyelid steering wheel, and palpebra inferior is connected by the palpebra inferior connecting rod arranged palpebra inferior steering wheel.
Ten head and neck mechanisms of six-degree-of-freedom humanoid robot the most according to claim 1, it is characterised in that: described lower jaw unit
Including lower jaw steering wheel, lower jaw steering wheel support, condyle axis bearing, lower jaw connecting rod, lower jaw, described lower jaw steering wheel is arranged on lower jaw steering wheel
On support, lower jaw steering wheel is connected with the left side of lower jaw by lower jaw connecting rod, and the right side of lower jaw is connected with condyle axis bearing.
Ten head and neck mechanisms of six-degree-of-freedom humanoid robot the most according to claim 1, it is characterised in that: described structure connects
The bottom of unit is provided with nose, the upper jaw, and structure connects the sidepiece of unit and is provided with face decorative panel.
Ten head and neck mechanisms of six-degree-of-freedom humanoid robot the most according to claim 1, it is characterised in that: described neck unit
The cervical region bearing block that including head and neck base, is arranged on head and neck base, it is arranged on cervical region bearing block cervical rotation steering wheel support, peace
It is contained in the cervical rotation steering wheel on cervical rotation steering wheel support, the cervical region pitching being connected with cervical rotation steering wheel by cervical region rotating shaft
Steering wheel support, the cervical region pitch-control motor being arranged on cervical region pitch-control motor support and cervical region pitch-control motor are intersected by steering wheel and prop up
The cervical region that frame connects tilts steering wheel.
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