CN107030728B

CN107030728B - Multi-connecting-rod robot head and neck control mechanism

Info

Publication number: CN107030728B
Application number: CN201710334024.4A
Authority: CN
Inventors: 柏龙; 陈永志; 龚程; 程垣皓; 陈晓红; 陈锐; 江沛; 刘富樯
Original assignee: Chongqing University
Current assignee: Chongqing University
Priority date: 2017-05-12
Filing date: 2017-05-12
Publication date: 2020-10-13
Anticipated expiration: 2037-05-12
Also published as: CN107030728A

Abstract

The invention discloses a multi-connecting-rod robot head-neck control mechanism, which comprises a base, a head supporting plate, a neck and a neck control mechanism, wherein the base is used for being fixed with a robot trunk; the neck control mechanism comprises at least two multi-link mechanisms connected with the neck and at least two motors I for controlling the multi-link mechanisms to act in a one-to-one correspondence manner, the mechanism is simple in structure, and can flexibly and truly simulate the head and neck actions of children, so that the robot is more easily accepted by the old.

Description

Multi-connecting-rod robot head and neck control mechanism

Technical Field

The invention relates to the field of robots, in particular to a multi-connecting-rod robot head-neck control mechanism.

Background

The head and neck mechanism of the prior humanoid robot has complex and fussy structure, poor movement flexibility and low movement precision, and particularly, the eye eyelid movement mechanism is not flexible enough; the transmission process is too complicated, the kinematic pair is unreasonable, the mechanism movement friction resistance is large, the noise is large, and the mechanism is blocked; the structure hierarchy is poor, and the installability and maintainability of the whole structure are poor; the overall appearance and even the local size, and the amplitude and the speed of the motion of each organ are greatly different from the head and the neck of a human, and the action harmony of the overall mechanism is not high. For example, in three patent applications with application numbers 201410106710.2, 201502990283.9 and 201320291262.9, the robot neck mechanism has only three degrees of freedom, which cannot flexibly simulate the sprouting state of a child, and has more nonstandard parts and great processing and manufacturing difficulty.

Therefore, there is a need for a simple structure of a multi-link robot head and neck control mechanism that can flexibly and truly simulate the head and neck movements of children, making the robot more acceptable to the elderly.

Disclosure of Invention

In view of the above, the present invention is directed to overcome the drawbacks of the prior art, and to provide a simple multi-link robot head and neck control mechanism, which can flexibly and truly simulate the head and neck movements of a young child, so that the robot is more easily accepted by the elderly.

The invention discloses a multi-connecting-rod robot head and neck control mechanism, which comprises a base, a head supporting plate, a neck and a neck control mechanism, wherein the base is used for being fixed with the trunk of a robot; the neck control mechanism comprises at least two multi-link mechanisms connected with the neck support and at least two motors I for controlling the multi-link mechanisms to act in a one-to-one correspondence manner;

the head control mechanism comprises a connecting support positioned between the head support plate and the neck support post and a motor II used for driving the connecting support to rotate around the axis of the neck support post.

Further, each multi-link mechanism and the neck part form a crank-rocker mechanism together;

furthermore, the neck part also comprises a connecting plate sleeved and fixed on the neck part support; the multi-connecting-rod mechanism comprises a crank fixed on an output shaft of the motor I and a connecting rod hinged between the crank and a connecting plate;

furthermore, the connecting plate comprises a plate body with a through hole and a U-shaped fork body fixed on the plate body, the number of the multi-link mechanisms is two, and the connecting rods of the two multi-link mechanisms are correspondingly hinged to the two forked end parts of the U-shaped fork body respectively;

furthermore, an included angle is formed between the U-shaped fork body and the plate body;

further, the connecting rod is hinged to the end part of the fork body fork through a cross universal joint;

further, the two sets of said multi-link mechanisms are equal in size and symmetrically distributed about the axis of said neck brace;

further, the head control mechanism further comprises a motor III for driving the head support plate to rotate around the horizontal direction relative to the connecting support.

The invention has the beneficial effects that: according to the multi-link robot head and neck control mechanism, two groups of crank rocker mechanisms are formed between the two groups of multi-link mechanisms and the neck support, cranks of the two crank rocker mechanisms are respectively driven by the two motors I, when the two motors I rotate in the same direction at the same rotating speed, the neck support swings forwards or backwards, and when the two motors I rotate in the same direction at different rotating speeds, the neck swings forwards or backwards; when the two motors I rotate in opposite directions simultaneously, the neck support column rotates around the axial direction. Therefore, the double-group drive rocker mechanisms respectively driven by the two motors I can act to realize nodding, raising, head deviation, head rotation and the like of the neck, and rich anthropomorphic actions such as complex probe, head raising, side measuring and the like can be realized by matching with the swing freedom between the head and the neck.

Drawings

The invention is further described below with reference to the following figures and examples:

FIG. 1 is an isometric view of the present invention;

FIG. 2 is a front view of the present invention;

fig. 3 is a left side view of fig. 2.

Detailed Description

Fig. 1 is an isometric view of the present invention. As shown in the figures, the multi-link robot head and neck control mechanism in this embodiment includes a base for fixing with a trunk of a robot, a head support plate 1 for fixing with a head of the robot, a neck located between the head support plate 1 and the base, and a neck control mechanism for controlling the action of the neck, wherein the neck includes a neck pillar, and a lower end of the neck pillar is hinged to the base through a universal hinge; the neck control mechanism comprises at least two multi-link mechanisms 7 connected with the neck support and at least two motors I9 for controlling the actions of the multi-link mechanisms 7 in a one-to-one correspondence manner; the head control mechanism comprises a connecting bracket positioned between the head supporting plate and the neck support post and a motor II used for driving the connecting bracket to rotate around the axis of the neck support post; the head shaking motion of the robot head can be realized by driving the connecting bracket 5 to rotate around the axis of the neck support 3 through the motor II 10; in the multi-link robot head and neck control mechanism of the embodiment, two crank 8 rocker mechanisms are formed between two sets of multi-link 7 mechanisms and the neck support 3, the cranks 8 of the two crank 8 rocker mechanisms are respectively driven by two motors I9, when the two motors I9 rotate in the same direction at the same speed, the neck support 3 swings forwards or backwards, and when the two motors I9 rotate in the same direction at different speeds, the neck swings forwards or backwards; when the two motors I9 rotate in opposite directions simultaneously, the neck support 3 rotates axially. Therefore, the double-group drive rocker mechanisms respectively driven by the two motors I9 can realize the nodding, head raising, head deviation, head rotation and the like of the neck, and the rich anthropomorphic actions such as complex probe, head raising, side measuring and the like can be realized by matching with the swing freedom between the head and the neck.

In this embodiment, the neck further comprises a connecting plate externally sleeved and fixed on the neck pillar 3; the multi-connecting-rod 7 mechanism comprises a crank 8 fixed on an output shaft of the motor I9 and a connecting rod 7 hinged between the crank 8 and a connecting plate, and the connecting plate is fixedly connected with the neck support 3, so that the neck support 3 can be driven to swing towards any direction or rotate around the axis of the neck support 3 by controlling the action of the connecting plate.

In this embodiment, the connecting plate includes a plate body 4 having a through hole and a U-shaped fork body 6 fixed to the plate body 4, the neck support 3 may be in interference fit with the through hole of the connecting plate, and the connecting rods 7 of the two sets of multi-connecting-rod 7 mechanisms are respectively and correspondingly hinged to two bifurcated ends of the U-shaped fork body 6.

In this embodiment, an obtuse angle is formed between the U-shaped fork 6 and the plate 4, and when the neck support 3 is disposed in the vertical direction, the U-shaped fork 6 is inclined downward, so that the two forked ends thereof are hinged to the connecting rod 7.

In this embodiment, the connecting rod 7 is hinged to the end of the branch of the U-shaped fork 6 through a cross universal joint, the cross universal joint includes two hinge shafts which are vertically crossed, and the connecting rod 7 and the U-shaped fork 6 can rotate around the two hinge shafts, so as to realize the right-angled universal connection between the connecting rod 7 and the U-shaped fork 6.

In this embodiment, the two sets of multi-link 7 mechanisms have the same size and are symmetrically distributed about the axis of the neck support 3, and this arrangement can ensure that the two sets of multi-link 7 mechanisms generate the same displacement on the neck support 3 when the output shafts of the two motors I9 rotate through the same angle, so that the control mechanism can control the action and posture of the whole neck support 3.

In this embodiment, the head control mechanism is further configured to drive the motor III2 for rotating the head support plate 1 relative to the connecting bracket 5 in the horizontal direction; the nodding action of the robot head can be realized by driving the head supporting plate 1 to rotate around the horizontal direction through the motor III 2.

Finally, the above embodiments are only for illustrating the technical solutions of the present invention and not for limiting, although the present invention has been described in detail with reference to the preferred embodiments, it should be understood by those skilled in the art that modifications or equivalent substitutions may be made to the technical solutions of the present invention without departing from the spirit and scope of the technical solutions of the present invention, and all of them should be covered in the claims of the present invention.

Claims

1. The utility model provides a many connecting rods formula robot head neck control mechanism which characterized in that: the robot comprises a base used for being fixed with a robot trunk, a head supporting plate used for being fixed with a head of the robot, a neck positioned between the head supporting plate and the base and a neck control mechanism used for controlling the action of the neck, wherein the neck comprises a neck support column, and the lower end of the neck support column is hinged to the base through a universal hinge; the neck control mechanism comprises at least two multi-link mechanisms connected with the neck support and at least two motors I for controlling the multi-link mechanisms to act in a one-to-one correspondence manner;

the head control mechanism comprises a connecting support positioned between the head supporting plate and the neck support column and a motor II used for driving the connecting support to rotate around the neck support column;

the neck part also comprises a connecting plate sleeved and fixed on the neck part support; the multi-link mechanism comprises a crank fixed on an output shaft of the motor I and a connecting rod hinged between the crank and the connecting plate.

2. The multi-link robot head and neck control mechanism of claim 1, wherein: each multi-link mechanism and the neck together form a crank and rocker mechanism.

3. The multi-link robot head and neck control mechanism of claim 1, wherein: the connecting plate comprises a plate body with a through hole and a U-shaped fork body fixed on the plate body, the number of the multi-link mechanisms is two, and the connecting rods of the two groups of multi-link mechanisms are correspondingly hinged to the two forked end portions of the U-shaped fork body respectively.

4. The multi-link robotic head and neck control mechanism of claim 3, wherein: an included angle is formed between the U-shaped fork body and the plate body.

5. The multi-link robotic head and neck control mechanism of claim 4, wherein: the connecting rod is hinged to the end part of the fork of the U-shaped fork body through a cross universal joint.

6. The multi-link robotic head and neck control mechanism of claim 5, wherein: the two sets of said multi-link mechanisms are equal in size and symmetrically distributed about the axis of said neck brace.

7. The multi-link robotic head and neck control mechanism of claim 6, wherein: the head control mechanism further comprises a motor III for driving the head support plate to rotate around the horizontal direction relative to the connecting bracket.