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

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-link Robot Head and Neck Control Mechanism

technical field

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

Background technique

The current humanoid robot head and neck mechanism is complicated in structure, poor in motion flexibility, and low in motion accuracy, especially the eyelid motion mechanism is not flexible enough; the transmission process is too cumbersome, the motion pair is unreasonable, the mechanism motion friction resistance is large, the noise is large, and the mechanism is stuck. The phenomenon occurs from time to time; the structure level is poor, the installation and maintenance of the overall structure is poor; the overall appearance and even the local size, as well as the range and speed of the movement of each organ are quite different from those of the human head and neck, and the overall mechanism action Coordination is not high. For example, in the three patent applications with application numbers of 201410106710.2, 201502990283.9 and 201320291262.9, the robot neck mechanism has only three degrees of freedom, which cannot flexibly simulate the cute state of a child, there are many non-standard parts, and it is difficult to process and manufacture.

Therefore, there is a need for a multi-link robot head and neck control mechanism with a simple structure, which can flexibly and truly imitate the head and neck movements of children, so that the robot is more easily accepted by the elderly.

SUMMARY OF THE INVENTION

In view of this, the purpose of the present invention is to overcome the defects in the prior art, and to provide a multi-link robot head and neck control mechanism with a simple structure, which can flexibly and truly imitate the head and neck movements of children, so that the robot more easily accepted by the elderly.

The multi-link type robot head and neck control mechanism of the present invention includes a base for fixing with the robot torso, a head support plate for fixing with the head of the robot, a neck located between the head support plate and the base, and a For the neck control mechanism for controlling the movement of the neck, the neck includes a neck support and the lower end of the neck support is hinged to the base through a universal hinge; the neck control mechanism includes at least two A multi-link mechanism connected by the neck strut and at least two motors I for controlling the action of the multi-link mechanism in one-to-one correspondence;

Also includes a head control mechanism for controlling the action of the head support plate, the head control mechanism including a connecting bracket between the head support plate and the neck support, for driving the connecting bracket around the neck Motor II that rotates the axis of the strut.

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

Further, the neck also includes a connecting plate that is sheathed on the neck support; the multi-link mechanism includes a crank that is fixed to the output shaft of the motor I and a connection that is hinged between the crank and the connecting plate. rod;

Further, the connecting plate includes a plate body with a through hole and a U-shaped fork body fixed on the plate body, the multi-link mechanism is divided into two groups, and the connecting rods of the two groups of multi-link mechanisms are hinged correspondingly respectively. at the ends of the two bifurcations of the U-shaped fork body;

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

Further, the connecting rod is hinged to the bifurcated end of the U-shaped fork body through a cross universal joint;

Further, the two sets of the multi-link mechanisms are equal in size and symmetrically distributed with respect to the axis of the neck strut;

Further, the head control mechanism further includes a motor III for driving the head support plate to rotate in a horizontal direction relative to the connecting bracket.

The beneficial effects of the present invention are: in the multi-link robot head and neck control mechanism of the present invention, two sets of crank-rocker mechanisms are formed between the two sets of multi-link mechanisms and the neck struts, and the cranks of the two crank-rocker mechanisms pass through two Driven by the motor I, when the two motors I rotate in the same direction at the same speed, the neck support swings forward or backward; when the two motors I rotate in the same direction at different speeds, the neck swings forward Or yaw backwards; when the two motors I rotate in opposite directions at the same time, the neck strut will rotate around the axial direction. It can be seen from this that the action of the double-group drive rocker mechanism driven by the two motors I respectively can realize the nodding, raising, tilting and turning of the neck, etc., and then cooperate with the swinging degree of freedom between the head and the neck, then the Realize rich anthropomorphic movements such as complex probes, head-up and side-viewing.

Description of drawings

Below in conjunction with accompanying drawing and embodiment, the present invention is further described:

Fig. 1 is the axonometric view of the present invention;

Fig. 2 is the front view of the present invention;

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

Detailed ways

Figure 1 is an axonometric view of the present invention. As shown in the figure, the multi-link robot head and neck control mechanism in this embodiment includes a base for fixing with the robot torso, a head support plate 1 for fixing with the head of the robot, and a head support plate 1 located on the head support plate 1. a neck between the base and the base and a neck control mechanism for controlling the movement of the neck, the neck includes a neck support and the lower end of the neck support is hinged to the base through a universal hinge; the neck The control mechanism includes at least two multi-link 7 mechanisms connected with the neck support and at least two motors I9 for controlling the action of the multi-link 7 mechanism in one-to-one correspondence; also includes a control mechanism for controlling the action of the head support plate. A head control mechanism, the head control mechanism includes a connecting bracket located between the head support plate and the neck support, a motor II for driving the connecting support to rotate around the axis of the neck support; the connecting support is driven by the motor II10 5. Rotating around the axis of the neck strut 3 can realize the shaking action of the robot head; in the multi-link robot head and neck control mechanism of this embodiment, two sets of cranks 8 are formed between the two sets of multi-link 7 mechanisms and the neck strut 3. The lever mechanism, the cranks 8 of the two cranks 8 and the rocker mechanism are respectively driven by the two motors I9. When the two motors I9 rotate in the same direction at the same speed at the same time, the neck support 3 swings forward or backward. When the motor I9 rotates in the same direction at different speeds, the neck will swing forward or backward; when the two motors I9 rotate in opposite directions at the same time, the neck support 3 will rotate around the axial direction. It can be seen that the action of the double-group drive rocker mechanism driven by the two motors I9 respectively can realize the nodding, raising, tilting and turning of the neck. Realize rich anthropomorphic movements such as complex probes, head-up and side-viewing.

In this embodiment, the neck also includes a connecting plate that is sheathed on the neck support 3 ; the multi-link 7 mechanism includes a crank 8 that is fixed to the output shaft of the motor I9 and is hinged to the crank 8 The connecting rod 7 between the connecting plate and the neck support 3 is fixedly connected to ensure that the neck support 3 can be driven to swing in any direction or rotate around its own axis by controlling the movement of the connecting plate.

In this embodiment, the connecting plate includes a plate body 4 with a through hole and a U-shaped fork body 6 fixed on the plate body 4, and the neck support 3 can be interference fit in the through hole of the connecting plate. The connecting rods 7 of the multi-link 7 mechanism are respectively hinged to the two bifurcated ends of the U-shaped fork body 6 .

In this embodiment, an obtuse angle is formed between the U-shaped fork body 6 and the plate body 4. When the neck support 3 is arranged in the vertical direction, the U-shaped fork body 6 is inclined downward, which is convenient for its two forked ends. The part is hinged with the connecting rod 7.

In this embodiment, the connecting rod 7 is hinged to the bifurcated end of the U-shaped fork body 6 through a universal joint. The universal joint includes two hinge shafts that intersect vertically. The connecting rod 7 and the U-shaped fork The body 6 can rotate around two hinge axes, thereby realizing the universal connection of the connecting rod 7 and the U-shaped fork body 6 at right angles.

In this embodiment, the two sets of the multi-link 7 mechanisms have the same size and are symmetrically distributed with respect to the axis of the neck support 3. This arrangement can ensure that when the output shafts of the two motors I9 rotate through the same angle, the two The displacements generated by the group of multi-link 7 mechanisms on the neck support 3 are the same, which is convenient for the control mechanism to control the movement and posture of the entire neck support 3 .

In this embodiment, the head control mechanism is also used to drive the motor III2 of the head support plate 1 to rotate in the horizontal direction relative to the connecting bracket 5; the motor III2 can drive the head support plate 1 to rotate in the horizontal direction. The nodding motion of the robot head.

Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and not to limit them. Although the present invention has been described in detail with reference to the preferred embodiments, those of ordinary skill in the art should understand that the technical solutions of the present invention can be Modifications or equivalent substitutions without departing from the spirit and scope of the technical solutions of the present invention should be included in the scope of the claims of the present invention.

Claims (7)

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.

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