CN107030728A - Multi link formula robot neck controlling organization - Google Patents

Multi link formula robot neck controlling organization Download PDF

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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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CN201710334024.4A
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Chinese (zh)
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CN107030728B (en
Inventor
柏龙
陈永志
龚程
程垣皓
陈晓红
陈锐
江沛
刘富樯
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Chongqing University
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Chongqing University
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Priority to CN201710334024.4A priority Critical patent/CN107030728B/en
Publication of CN107030728A publication Critical patent/CN107030728A/en
Application granted granted Critical
Publication of CN107030728B publication Critical patent/CN107030728B/en
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    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J17/00Joints
    • B25J17/02Wrist joints
    • B25J17/0283Three-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

Multi link formula robot neck controlling organization
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.
CN201710334024.4A 2017-05-12 2017-05-12 Multi-connecting-rod robot head and neck control mechanism Active CN107030728B (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201710334024.4A CN107030728B (en) 2017-05-12 2017-05-12 Multi-connecting-rod robot head and neck control mechanism

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Application Number Priority Date Filing Date Title
CN201710334024.4A CN107030728B (en) 2017-05-12 2017-05-12 Multi-connecting-rod robot head and neck control mechanism

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CN107030728B CN107030728B (en) 2020-10-13

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Cited By (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
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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Publication number Priority date Publication date Assignee Title
CN102699914A (en) * 2012-05-15 2012-10-03 郑州大学 Robot
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
CN103273493A (en) * 2013-05-24 2013-09-04 西南交通大学 Robot neck mechanism
CN203293211U (en) * 2013-05-24 2013-11-20 西南交通大学 Robot neck device
CN104739487A (en) * 2013-12-30 2015-07-01 颜炳郎 Hand-held robot for orthopedic surgery and control method thereof
CN105171750A (en) * 2015-09-01 2015-12-23 上海大学 Human-simulated neck moving mechanism
CN106346489A (en) * 2016-10-31 2017-01-25 郑运长 Robot for cleaning bus stop board

Patent Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102699914A (en) * 2012-05-15 2012-10-03 郑州大学 Robot
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
CN103273493A (en) * 2013-05-24 2013-09-04 西南交通大学 Robot neck mechanism
CN203293211U (en) * 2013-05-24 2013-11-20 西南交通大学 Robot neck device
CN104739487A (en) * 2013-12-30 2015-07-01 颜炳郎 Hand-held robot for orthopedic surgery and control method thereof
CN105171750A (en) * 2015-09-01 2015-12-23 上海大学 Human-simulated neck moving mechanism
CN106346489A (en) * 2016-10-31 2017-01-25 郑运长 Robot for cleaning bus stop board

Cited By (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
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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