CN107030728A - Multi link formula robot neck controlling organization - Google Patents
Multi link formula robot neck controlling organization Download PDFInfo
- Publication number
- CN107030728A CN107030728A CN201710334024.4A CN201710334024A CN107030728A CN 107030728 A CN107030728 A CN 107030728A CN 201710334024 A CN201710334024 A CN 201710334024A CN 107030728 A CN107030728 A CN 107030728A
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- China
- Prior art keywords
- neck
- controlling organization
- multi link
- robot
- link formula
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
- B25J17/02—Wrist joints
- B25J17/0283—Three-dimensional joints
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of multi link formula robot neck controlling organization, including fixed for robot trunk base, for robot head fix head support board, the neck between head support board and base and the neck control mechanism for controlling the cervical motion, the neck lower end is articulated with the base by universal coupling;The neck control mechanism includes at least two multi-connecting-rod mechanisms being connected with the neck and corresponds at least two motor I of control multi-connecting-rod mechanism action, mechanism is simple in construction, the incidence action of child flexibly can be truly imitated, makes robot be easier to be received by old man.
Description
Technical field
The present invention relates to a kind of robot field, specifically a kind of multi link formula robot neck controlling organization.
Background technology
Current anthropomorphic robot neck mechanism structure complexity is cumbersome, and kinematic dexterity is poor, and kinematic accuracy is low, particularly
Eyes eyelid movement mechanism underaction;Transmission process is excessively cumbersome, and kinematic pair is unreasonable, and mechanism kinematic frictional resistance is big, make an uproar
Sound is big, and mechanism blockage phenomenon happens occasionally;Tructure arrangement is poor, and integrally-built installation and maintenance are poor;Overall appearance or even
Local size and each organ the head of movable amplitude and speed and the mankind, neck differ larger, integrated machine
Structure coordination is not high.For example, Application No. 201410106710.2,201502990283.9 and 201320291262.9
Three patent applications in, its Robot neck mechanism free degree only has three, it is impossible to which flexibly simulation child sprouts state, non-
Standard component is more, and processing and manufacturing difficulty is big.
Accordingly, it would be desirable to a kind of multi link formula robot neck controlling organization simple in construction, the controlling organization can be flexible
The incidence action of child is truly imitated, makes robot be easier to be received by old man.
The content of the invention
In view of this, the purpose of the present invention is to overcome defect of the prior art there is provided a kind of multi link simple in construction
Formula robot neck controlling organization, the controlling organization flexibly can truly imitate the incidence action of child, make robot
Easily received by old man.
The present invention multi link formula robot neck controlling organization, including for fixed with robot trunk base, use
In the head support board of the head fixation of robot, the neck between head support board and base and for controlling
The neck control mechanism of the cervical motion, the neck lower end is articulated with the base by universal coupling;The neck control
Mechanism processed includes at least two multi-connecting-rod mechanisms being connected with the neck and corresponds control multi-connecting-rod mechanism action
At least two motor I;
Further, each multi-connecting-rod mechanism is collectively forming crank and rocker mechanism with the neck;
Further, the neck includes neck pillar and overcoat is fixed on the connecting plate of the neck pillar;It is described to connect more
Linkage includes the connecting rod for being fixed on the crank of the motor I output shafts and being articulated between the crank and connecting plate;
Further, the connecting plate includes the plate body with via and is fixed on the U-shaped fork body of the plate body, described many
Linkage is two groups, and the connecting rod of two groups of multi-connecting-rod mechanisms corresponds to the end for two bifurcateds for being articulated with U-shaped fork body respectively
Portion;
Further, angle is formed between the U-shaped fork body and plate body;
Further, the connecting rod is articulated with the end that the U-shaped pitches body bifurcated by candan universal joint;
Further, equal sized and on the neck pillar the axisymmetrical distribution of multi-connecting-rod mechanism described in two groups;
The multi link formula robot neck controlling organization of the present invention also includes being used to control the head support board action
Head controlling organization, the head controlling organization includes positioned at the connecting bracket between head support board and neck pillar, is used for
Drive motor II that the connecting bracket is rotated around neck pillar axes and for driving the head support board relative to even
Meet the motor III that support is rotated around horizontal direction.
The beneficial effects of the invention are as follows:The multi link formula robot neck controlling organization of the present invention, two groups of multi-connecting-rod mechanisms
Two groups of crank and rocker mechanisms are formed between neck pillar, the crank of two crank and rocker mechanisms is driven by two motor I respectively
Dynamic, when two motor I are rotate in same direction with identical rotating speed simultaneously, then neck pillar is swung forward or backward, when two motors
I with different rotating speeds it is in the same direction when, then neck beat or beat backward forward;When two motor I are rotated in the opposite direction simultaneously,
Then neck pillar is around axially generation rotational action.As can be seen here, the separately-driven Shuan Zu drive rockers mechanisms of two motor I are moved
Make, the nodding, come back of neck, inclined head and rotary head etc., then the swing free degree between engagement head and neck can be achieved, then can be real
Existing complicated probe, face upward head and the abundant anthropomorphic action such as side is looked up and down.
Brief description of the drawings
The invention will be further described with reference to the accompanying drawings and examples:
Fig. 1 is axonometric drawing of the invention;
Fig. 2 is front view of the present invention;
Fig. 3 is Fig. 2 left view.
Embodiment
Fig. 1 is axonometric drawing of the invention.As illustrated, the multi link formula robot neck controlling organization in the present embodiment,
Including the base for being fixed with robot trunk, for the head support board 1 with the fixation of the head of robot, positioned at head
Neck between supporting plate 1 and base and the neck control mechanism for controlling the cervical motion, the neck lower end lead to
Cross universal coupling and be articulated with the base;The neck control mechanism includes at least two multi links 7 being connected with the neck
Mechanism and at least two motor I9 for corresponding the control mechanism action of multi link 7;The multi link formula robot of the present embodiment
Neck controlling organization, forms the rocker device of two suite handle 8, the rocking bar of two crank 8 between two groups of mechanisms of multi link 7 and neck pillar 3
The crank 8 of mechanism is driven by two motor I9 respectively, when two motor I9 are rotate in same direction with identical rotating speed simultaneously, then
Neck pillar 3 is swung forward or backward, when two motor I9 are in the same direction with different rotating speeds, then neck beat or backward forward
Beat;When two motor I9 are rotated in the opposite direction simultaneously, then neck pillar 3 is around axially generation rotational action.As can be seen here,
The separately-driven double group drive rocker mechanism actions of two motor I9, can be achieved the nodding, come back of neck, inclined head and rotary head etc.,
The swing free degree between engagement head and neck again, then can be achieved complicated probe, face upward head and the abundant personification such as side is looked up and down
Action
In the present embodiment, the neck includes neck pillar 3 and overcoat is fixed on the connecting plate of the neck pillar 3;Institute
State the mechanism of multi link 7 include being fixed on the crank 8 of the motor I9 output shafts and be articulated with the crank 8 and connecting plate it
Between connecting rod 7, connecting plate is fixedly connected with neck pillar 3, it is ensured that by controlling connecting plate action to drive neck pillar 3
Swung towards any direction, or around own axis.
In the present embodiment, the connecting plate includes the plate body 4 with via and is fixed on the U shapes fork body 6 of the plate body 4,
Neck pillar 3 can be articulated with interference fit with the via of connecting plate, the connecting rod 7 of two groups of mechanisms of multi link 7 is corresponded to respectively
The end of two bifurcateds of U-shaped fork body 6.
In the present embodiment, obtuse angle is formed between the U-shaped fork body 6 and plate body 4, when neck pillar 3 is vertically set
When, U-shaped fork body 6 is tilted down, and is easy to make the end of its two bifurcated be hinged with connecting rod 7.
In the present embodiment, the connecting rod 7 is articulated with the end that the U-shaped pitches the bifurcated of body 6, cross by candan universal joint
Universal joint includes the hinge of two square crossings, and connecting rod 7 and U-shaped fork body 6 can be rotated around two hinges, and then realize connecting rod 7
The universal connection at the right angle of body 6 is pitched with U-shaped.
In the present embodiment, the mechanism of multi link 7 described in two groups equal sized and on the axis pair of the neck pillar 3
Claim distribution, when this arrangement ensure that two motor I9 output shaft turns over identical angle, two groups of mechanisms of multi link 7
The displacement produced on neck pillar 3 is identical, is easy to action and posture of the controlling organization to whole neck pillar 3 to control
System.
The multi link formula robot neck controlling organization of the present embodiment also includes being used to control the head support board 1 to move
The head controlling organization of work, the head controlling organization includes the connection branch being located between head support board 1 and neck pillar 3
Frame 5, for driving motor II10 that the connecting bracket 5 rotates around the axis of neck pillar 3 and for driving the head branch
Fagging 1 is relative to the motor III2 that connecting bracket 5 is rotated around horizontal direction, by motor II10 drive connections support 5 around neck
The axis of pillar 3 rotates the head shaking movement that robot head can be achieved, by motor III2 drive heads supporting plate 1 around level side
The nodding action that robot head can be achieved to rotating.
Finally illustrate, the above embodiments are merely illustrative of the technical solutions of the present invention and it is unrestricted, although with reference to compared with
The present invention is described in detail good embodiment, it will be understood by those within the art that, can be to skill of the invention
Art scheme is modified or equivalent substitution, and without departing from the objective and scope of technical solution of the present invention, it all should cover at this
Among the right of invention.
Claims (8)
1. a kind of multi link formula robot neck controlling organization, it is characterised in that:Including the bottom for being fixed with robot trunk
Head support board that seat, the head for robot are fixed, the neck between head support board and base and it is used for
The neck control mechanism of the cervical motion is controlled, the neck lower end is articulated with the base by universal coupling;The neck
Portion's controlling organization includes at least two multi-connecting-rod mechanisms being connected with the neck and corresponded to control multi-connecting-rod mechanism to move
At least two motor I made.
2. multi link formula robot neck controlling organization according to claim 1, it is characterised in that:Each multi link
Mechanism is collectively forming crank and rocker mechanism with the neck.
3. multi link formula robot neck controlling organization according to claim 2, it is characterised in that:The neck includes neck
Bilge cod and overcoat are fixed on the connecting plate of the neck pillar;The multi-connecting-rod mechanism includes being fixed on the motor I outputs
The crank of axle and the connecting rod being articulated between the crank and connecting plate.
4. multi link formula robot neck controlling organization according to claim 3, it is characterised in that:The connecting plate includes
Plate body with via and the U-shaped fork body for being fixed on the plate body, the multi-connecting-rod mechanism is two groups, two groups of multi-connecting-rod mechanisms
The connecting rod corresponds to the end for two bifurcateds for being articulated with U-shaped fork body respectively.
5. multi link formula robot neck controlling organization according to claim 4, it is characterised in that:U-shaped fork body with
Angle is formed between plate body.
6. multi link formula robot neck controlling organization according to claim 5, it is characterised in that:The connecting rod passes through ten
Word universal joint articulated pitches the end of body bifurcated in the U-shaped.
7. multi link formula robot neck controlling organization according to claim 6, it is characterised in that:Multi link described in two groups
Equal sized and on the neck pillar the axisymmetrical distribution of mechanism.
8. multi link formula robot neck controlling organization according to claim 7, it is characterised in that:Also include being used to control
The head controlling organization of the head support board action, the head controlling organization includes being located at head support board and neck pillar
Between connecting bracket, for driving motor II that the connecting bracket rotates around neck pillar axes and described for driving
Head support board is relative to the motor III that connecting bracket is rotated around horizontal direction.
Priority Applications (1)
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CN201710334024.4A CN107030728B (en) | 2017-05-12 | 2017-05-12 | Multi-connecting-rod robot head and neck control mechanism |
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CN201710334024.4A CN107030728B (en) | 2017-05-12 | 2017-05-12 | Multi-connecting-rod robot head and neck control mechanism |
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CN107030728A true CN107030728A (en) | 2017-08-11 |
CN107030728B CN107030728B (en) | 2020-10-13 |
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Cited By (6)
Publication number | Priority date | Publication date | Assignee | Title |
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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 |
CN108858274A (en) * | 2018-08-07 | 2018-11-23 | 科大讯飞股份有限公司 | Robot head runner assembly and robot |
CN109617289A (en) * | 2019-01-24 | 2019-04-12 | 王平 | A kind of intelligent robot motor connection protection mechanism |
CN111086012A (en) * | 2019-12-30 | 2020-05-01 | 深圳市优必选科技股份有限公司 | Head structure and robot |
US20210199183A1 (en) * | 2019-12-30 | 2021-07-01 | Ubtech Robotics Corp Ltd | Head mechanism and robot |
CN118456473A (en) * | 2024-07-08 | 2024-08-09 | 北京人形机器人创新中心有限公司 | Robot head and neck structure and robot |
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CN104739487A (en) * | 2013-12-30 | 2015-07-01 | 颜炳郎 | Hand-held robot for orthopedic surgery and control method thereof |
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CN106346489A (en) * | 2016-10-31 | 2017-01-25 | 郑运长 | Robot for cleaning bus stop board |
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CN202805199U (en) * | 2012-08-16 | 2013-03-20 | 成都四威高科技产业园有限公司 | Three-freedom-degree robot head movement mechanism |
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Publication number | Priority date | Publication date | Assignee | Title |
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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 |
CN108858274A (en) * | 2018-08-07 | 2018-11-23 | 科大讯飞股份有限公司 | Robot head runner assembly and robot |
CN109617289A (en) * | 2019-01-24 | 2019-04-12 | 王平 | A kind of intelligent robot motor connection protection mechanism |
CN109617289B (en) * | 2019-01-24 | 2020-12-04 | 宿州大地网络科技有限公司 | Intelligent robot motor connection protection mechanism |
CN111086012A (en) * | 2019-12-30 | 2020-05-01 | 深圳市优必选科技股份有限公司 | Head structure and robot |
US20210199183A1 (en) * | 2019-12-30 | 2021-07-01 | Ubtech Robotics Corp Ltd | Head mechanism and robot |
CN111086012B (en) * | 2019-12-30 | 2021-09-17 | 深圳市优必选科技股份有限公司 | Head structure and robot |
US11708882B2 (en) * | 2019-12-30 | 2023-07-25 | Ubtech Robotics Corp Ltd | Head mechanism and robot |
CN118456473A (en) * | 2024-07-08 | 2024-08-09 | 北京人形机器人创新中心有限公司 | Robot head and neck structure and robot |
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