CN107351060B - Bionic robot head and neck flexible structure - Google Patents
Bionic robot head and neck flexible structure Download PDFInfo
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- CN107351060B CN107351060B CN201710554960.6A CN201710554960A CN107351060B CN 107351060 B CN107351060 B CN 107351060B CN 201710554960 A CN201710554960 A CN 201710554960A CN 107351060 B CN107351060 B CN 107351060B
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- neck
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0009—Constructional details, e.g. manipulator supports, bases
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Abstract
The invention provides a head and neck flexible structure of a bionic robot, which comprises: a head having a headtop jaw mount; the upper neck part is movably connected with the head part and is provided with an upper neck part bracket and a first stepping motor; the lower neck part is movably connected with the upper neck part and is provided with a lower neck part support and a second stepping motor; and the fixed part is movably connected with the lower neck part and is provided with a fixed part support and a third stepping motor, wherein one end of the upper neck part support is movably connected with the head and upper jaw support, the first stepping motor is arranged on the head and upper jaw support and is used for driving the head to move, one end of the lower neck part support is connected with the other end of the upper neck part support, the second stepping motor is arranged on the lower neck part support and is used for driving the upper neck part to move, one end of the fixed part support is connected with the other end of the lower neck part support, and the third stepping motor is arranged on the fixed part support and is used for driving the lower neck part to move. The head and the neck of the bionic robot can swing flexibly by adjusting the forward and reverse rotation speed ratio of the stepping motor.
Description
Technical Field
The invention relates to a bionic robot, in particular to a head and neck flexible structure of the bionic robot.
Background
Along with the development of science and technology, the application of the robot is more and more extensive, and the bionic robot is more and more emphasized and developed more and more quickly as a subject for the development and application of the robot, and is applied to a plurality of places or fields in life.
However, most of the bionic robots in the prior art are affected by the driving element, which results in that the left-right swing or the rotation angle of the bionic robot is not flexible enough or cannot meet some use requirements, and the complexity of the bionic robot is inevitably increased on the basis of meeting the use requirements, so that the production cost of the bionic robot is increased.
Disclosure of Invention
The present invention is made to solve the above problems, and an object of the present invention is to provide a flexible structure of a head and a neck of a biomimetic robot.
The invention provides a head and neck flexible structure of a bionic robot, which is characterized by comprising the following components: a head having a headtop jaw mount; the upper neck part is movably connected with the head part and is provided with an upper neck part bracket and a first stepping motor; the lower neck part is movably connected with the upper neck part and is provided with a lower neck part support and a second stepping motor; and the fixed part is movably connected with the lower neck part and is provided with a fixed part support and a third stepping motor, wherein one end of the upper neck part support is movably connected with the head and upper jaw support, the first stepping motor is arranged on the head and upper jaw support and is used for driving the head to move, one end of the lower neck part support is connected with the other end of the upper neck part support, the second stepping motor is arranged on the lower neck part support and is used for driving the upper neck part to move, one end of the fixed part support is connected with the other end of the lower neck part support, and the third stepping motor is arranged on the fixed part support and is used for driving the lower neck part to move.
In the head and neck flexible structure of the bionic robot provided by the invention, the head and neck flexible structure can also have the following characteristics: the head is provided with a jaw, the jaw is movably connected with the head jaw support, the head jaw support is further provided with a fourth stepping motor for driving the jaw to move and a fourth crank connected with the fourth motor, the jaw is connected with the fourth crank through a fourth connecting rod, and the jaw moves under the driving of the fourth stepping motor and the fourth crank.
In the head and neck flexible structure of the bionic robot provided by the invention, the head and neck flexible structure can also have the following characteristics: wherein, still be provided with head connecting rod support on the first palace support, be provided with first connecting rod on this head connecting rod support, this first connecting rod is connected with first step motor through first crank, and the head carries out the motion under first step motor and first articulate drive through first connecting rod.
In the head and neck flexible structure of the bionic robot provided by the invention, the head and neck flexible structure can also have the following characteristics: wherein, still be provided with neck connecting rod support on going up the neck support body, be provided with the second connecting rod on this neck connecting rod support, this second connecting rod passes through the second crank and is connected with second step motor, goes up the neck and carries out the motion under second step motor and second crank's drive through the second connecting rod.
In the head and neck flexible structure of the bionic robot provided by the invention, the head and neck flexible structure can also have the following characteristics: wherein, still be provided with neck connecting rod support down on the neck support body down, be provided with the third connecting rod on this neck connecting rod support down, this third connecting rod passes through the third crank and is connected with third step motor, and lower neck passes through the third connecting rod and moves under third step motor and third crank's drive.
In the head and neck flexible structure of the bionic robot provided by the invention, the head and neck flexible structure can also have the following characteristics: the upper neck part is hinged with the head part, the lower neck part is hinged with the upper neck part, and the fixing part is hinged with the lower neck part.
In the head and neck flexible structure of the bionic robot provided by the invention, the head and neck flexible structure can also have the following characteristics: wherein, the first stepping motor is arranged at 1/6-1/3 parts of the upper neck support close to the head.
In the head and neck flexible structure of the bionic robot provided by the invention, the head and neck flexible structure can also have the following characteristics: the second stepping motor is arranged on the lower neck support and close to 1/3-1/2 of the upper neck.
In the head and neck flexible structure of the bionic robot provided by the invention, the head and neck flexible structure can also have the following characteristics: the third stepping motor is arranged at 1/6-1/3 positions, close to the lower neck, on the fixed part support.
Action and Effect of the invention
According to the bionic robot head and neck flexible structure, the head, the upper neck, the lower neck and the fixed part which are movably connected are adopted, and the first stepping motor for driving the head to move, the second stepping motor for driving the upper neck and the third stepping motor for driving the lower neck are respectively arranged, so that the bionic robot head and neck flexible structure utilizes the forward and reverse rotation of the stepping motors, and the swing angle of the head and neck of the bionic robot can be larger and the rotation angle is not controlled by reasonably setting the forward and reverse rotation speed ratio of the stepping motors and the rotation speed ratio among the stepping motors. In addition, compared with the head and neck structure of the traditional bionic robot, the head and neck structure of the bionic robot is simpler, the operation is more convenient, and meanwhile, the production cost of the bionic robot is saved.
Drawings
FIG. 1 is a schematic structural diagram of a head and neck flexible structure of a bionic robot in an embodiment of the invention;
FIG. 2 is a schematic top view of the head, upper neck and lower neck of an embodiment of the present invention;
FIG. 3 is a schematic view of the upper head maxilla support according to an embodiment of the present invention;
FIG. 4 is a schematic structural view of an upper neck support in an embodiment of the present invention;
FIG. 5 is a schematic view of the construction of a lower neck brace in an embodiment of the invention; and
FIG. 6 is a schematic view of a fixing portion bracket according to an embodiment of the present invention.
Detailed Description
In order to make the technical means, the creation features, the achievement purposes and the effects of the invention easy to understand, the following embodiments specifically describe the head and neck flexible structure of the bionic robot in combination with the accompanying drawings.
Fig. 1 is a schematic structural diagram of a head and neck flexible structure of a biomimetic robot in an embodiment of the present invention, and fig. 2 is a schematic structural diagram of a head, an upper neck and a lower neck in a top view in an embodiment of the present invention.
As shown in fig. 1 and 2, the head and neck flexible structure 100 of the biomimetic robot includes a head 10, an upper neck 20, a lower neck 30, and a fixing portion 40.
The head 10 includes a head maxilla support 11, a fourth stepping motor 12, and a chin 13.
Fig. 3 is a schematic view of the structure of the upper head maxilla support in an embodiment of the present invention.
As shown in fig. 3, the head maxilla support 11 is provided with a mouth hinge support 111, a head hinge support 112, and a head link support 113.
As shown in fig. 2 at a partial enlargement, a fourth stepping motor 12 is provided on the headtop jaw support 11 and is connected with a fourth crank 121 for driving the chin 13.
As shown in fig. 1 and 2, the chin 13 is hinged to the headtop jaw support 11 through a mouth hinge support 111, and a fourth connecting rod 131 is disposed on the chin 13, and the fourth connecting rod 131 is connected to the fourth crank 121. The chin 13 is driven by the fourth stepping motor 12 and the fourth crank 121 to swing left and right and rotate by the fourth link 131.
The head link support 113 is provided with a first link 1131.
The upper neck 20 has an upper neck support 21 and a first stepping motor 22.
FIG. 4 is a schematic view of the structure of an upper neck support in an embodiment of the present invention.
As shown in fig. 4, the upper neck bracket 21 is provided with an upper neck front-section hinge support 211, an upper neck link support 212, and an upper neck rear-section hinge support 213.
As shown in fig. 1 and 2, the upper neck forward segment hinge support 211 is hingedly connected to the head hinge support 112.
A second link 2121 is provided on the upper neck link support 212.
The first stepping motor 22 is provided at 1/6-1/3 of the upper neck support 21 near the head 10 and connected to the first link 1131 through the first crank 221.
The head 10 is driven by the first stepping motor 22 and the first crank 221 to swing left and right and rotate by the first link 1131. In the present embodiment, the first stepping motor 22 is provided at 1/6 of the upper neck support 21 near the head 10.
The lower neck 30 has a lower neck support 31 and a second stepping motor 32.
Fig. 5 is a schematic view of the structure of a lower neck brace in an embodiment of the invention.
As shown in fig. 5, a lower neck front-section hinge support 311, a lower neck link support 312, and a lower neck rear-section hinge support 313 are provided under the lower neck bracket 31.
As shown in fig. 1 and 2, the lower neck front-section hinge support 311 is hinged to the upper neck rear-section hinge support 213.
A third link 3121 is disposed below the lower neck link support 312.
The second stepping motor 32 is disposed at 1/3-1/2 of the lower neck support 31 near the upper neck 20 and connected to the second link 2121 via a second crank 321.
The upper neck 20 is driven by the second stepping motor 32 and the second crank 321 through the second connecting rod 2121 to swing left and right and rotate. In the present embodiment, the second stepping motor 32 is provided at 1/3 of the lower neck brace 31 near the upper neck 30.
The fixing portion 40 has a fixing portion holder 41 and a third stepping motor 42.
FIG. 6 is a schematic view of a fixing portion bracket according to an embodiment of the present invention.
As shown in fig. 6, the fixed bracket 41 is provided with a fixed front hinge support 411, and the fixed front hinge support 411 is hinged to the lower neck rear hinge support 313.
As shown in fig. 1 and 2, the third stepping motor 42 is disposed at 1/6-1/3 on the fixed part bracket 41 near the lower neck part 30, and is connected to the third link 3121 through the third crank 421.
The lower neck 30 swings left and right and rotates by the third stepping motor 42 and the third crank 421 via the third link 3121. In the present embodiment, the third stepping motor 42 is provided at 1/6 of the fixing section holder 41 near the lower neck section 30.
The bionic robot head and neck flexible structure 100 has the working process that: the chin 13 is connected to the head-upper jaw support 11 through a mouth hinge support 111; the head upper jaw support 11 is connected with the upper neck 20 through a revolute pair formed by matching the head hinged support 112 and the upper neck front-section hinged support 211; the upper neck part 20 is connected with the lower neck part 30 through an upper neck part rear end hinge support 213 and a lower neck part front section hinge support 311; the lower neck 30 is connected to the fixed part bracket 41 through a lower neck rear end hinge support 313 and a fixed part front section hinge support 411; the fourth stepping motor 12, the first stepping motor 22, the second stepping motor 32, and the third stepping motor 42 are respectively provided on the head/upper jaw support 11, the upper neck support 21, the lower neck support 31, and the fixing portion support 41.
The fourth stepping motor 12 is connected with the fourth crank 121 and connected with the chin 13 through the fourth connecting rod 131 to drive the rotation thereof.
The first stepping motor 22 is connected to the first crank 221, and drives the head 10 to rotate by connecting the head hinge support 112 via the first connecting rod 1131.
The second stepping motor 32 is connected to the second crank 321, and is connected to the upper neck rear end hinge support 213 through the second connecting rod 2121 to drive the upper neck 20 to rotate.
The third stepping motor 42 is connected with a third crank 421, and is connected with the lower neck rear end hinge support 313 through a third connecting rod 3121 to drive the lower neck 30 to rotate; the joint structure is sequentially connected to form a swing pair and a revolute pair, so that flexible movement of the structure is realized.
Effects and effects of the embodiments
According to the head and neck flexible structure of the bionic robot in the embodiment, the head, the upper neck, the lower neck and the fixed part which are movably connected are adopted, and the first stepping motor for driving the head to move, the second stepping motor for driving the upper neck and the third stepping motor for driving the lower neck are respectively arranged, so that the head and neck flexible structure of the bionic robot utilizes the forward and reverse rotation of the stepping motors, and the swing angle of the head and neck of the bionic robot can be larger and the rotation angle is not controlled by reasonably setting the forward and reverse rotation speed ratio of the stepping motors and the rotation speed ratio among the stepping motors. In addition, compared with the head and neck structure of the traditional bionic robot, the head and neck structure of the bionic robot is simpler, the operation is more convenient, and meanwhile, the production cost of the bionic robot is saved.
In addition, articulated connection is adopted between the head and the upper neck, between the upper neck and the lower neck and between the lower neck and the fixed part in the bionic robot head-neck flexible structure in the embodiment, the connection mode enables the whole flexible structure to be more flexible and convenient in movement, and meanwhile, the structure complexity is simplified.
The above embodiments are preferred examples of the present invention, and are not intended to limit the scope of the present invention.
Claims (8)
1. The utility model provides a bionic robot head neck flexible construction which characterized in that includes:
a head having a headtop jaw mount;
the upper neck is movably connected with the head and is provided with an upper neck bracket and a first stepping motor;
the lower neck part is movably connected with the upper neck part and is provided with a lower neck part support and a second stepping motor; and
a fixing part which is movably connected with the lower neck part and is provided with a fixing part bracket and a third stepping motor,
wherein one end of the upper neck support is movably connected with the head upper jaw support,
the first stepping motor is arranged on the upper neck support and is used for driving the head to move,
one end of the lower neck support is connected with the other end of the upper neck support,
the second stepping motor is arranged on the lower neck support and is used for driving the upper neck to move,
one end of the fixed part bracket is connected with the other end of the lower neck bracket,
the third stepping motor is arranged on the fixed part bracket and is used for driving the lower neck part to move,
the upper neck part is hinged with the lower neck part,
the upper neck support body is also provided with an upper neck connecting rod support, the upper neck connecting rod support is provided with a second connecting rod, the second connecting rod is connected with the second stepping motor through a second crank,
the upper neck part moves under the driving of the second stepping motor and the second crank through the second connecting rod.
2. The bionic robot head-neck flexible structure of claim 1, characterized in that:
wherein the head is also provided with a jaw which is movably connected with the upper jaw bracket of the head,
the head upper jaw support is also provided with a fourth stepping motor for driving the jaw to move and a fourth crank connected with the fourth stepping motor,
the jaw is connected with the fourth crank through a fourth connecting rod and moves under the driving of the fourth stepping motor and the fourth crank.
3. The bionic robot head-neck flexible structure of claim 1, characterized in that:
wherein the head upper jaw support is also provided with a head connecting rod support, the head connecting rod support is provided with a first connecting rod, the first connecting rod is connected with the first stepping motor through a first crank,
the head part moves under the driving of the first stepping motor and the first crank through the first connecting rod.
4. The bionic robot head-neck flexible structure of claim 1, characterized in that:
wherein the lower neck support body is also provided with a lower neck connecting rod support, the lower neck connecting rod support is provided with a third connecting rod, the third connecting rod is connected with the third stepping motor through a third crank,
the lower neck part moves under the driving of the third stepping motor and the third crank through the third connecting rod.
5. The bionic robot head-neck flexible structure of claim 1, characterized in that:
the upper neck part is hinged with the head part and the fixing part is hinged with the lower neck part.
6. The bionic robot head-neck flexible structure of claim 1, characterized in that:
wherein the first stepping motor is arranged on the upper neck support close to 1/6-1/3 of the head.
7. The bionic robot head-neck flexible structure of claim 1, characterized in that:
wherein the second stepping motor is arranged on the lower neck support close to 1/3-1/2 of the upper neck.
8. The bionic robot head-neck flexible structure of claim 1, characterized in that:
the third stepping motor is arranged at 1/6-1/3 positions, close to the lower neck, on the fixing part support.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710554960.6A CN107351060B (en) | 2017-07-10 | 2017-07-10 | Bionic robot head and neck flexible structure |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710554960.6A CN107351060B (en) | 2017-07-10 | 2017-07-10 | Bionic robot head and neck flexible structure |
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| Publication Number | Publication Date |
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| CN107351060A CN107351060A (en) | 2017-11-17 |
| CN107351060B true CN107351060B (en) | 2020-07-14 |
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| CN201710554960.6A Active CN107351060B (en) | 2017-07-10 | 2017-07-10 | Bionic robot head and neck flexible structure |
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Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN108161977B (en) * | 2017-12-26 | 2020-10-27 | 常州大学 | Two-degree-of-freedom flexible neck joint structure of bionic robot |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5306199A (en) * | 1989-02-08 | 1994-04-26 | Salvatore Locricchio | Manually actuated toy dinosaur structure and method |
| CN201150798Y (en) * | 2008-01-07 | 2008-11-19 | 苏州工业园区若态科技有限公司 | Electric toy head limb neck connecting system |
| CN103963867A (en) * | 2014-04-25 | 2014-08-06 | 中科宇博（北京）文化有限公司 | Biomimetic mechanical dinosaur |
| CN105751248A (en) * | 2016-05-09 | 2016-07-13 | 上海理工大学 | Head and neck structure for bionic hydraulic four-legged mechanical dinosaur |
| CN105965514A (en) * | 2016-05-09 | 2016-09-28 | 上海理工大学 | Bionic hydraulic four-foot machine dinosaur structure |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US7238079B2 (en) * | 2003-01-14 | 2007-07-03 | Disney Enterprise, Inc. | Animatronic supported walking system |
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2017
- 2017-07-10 CN CN201710554960.6A patent/CN107351060B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5306199A (en) * | 1989-02-08 | 1994-04-26 | Salvatore Locricchio | Manually actuated toy dinosaur structure and method |
| CN201150798Y (en) * | 2008-01-07 | 2008-11-19 | 苏州工业园区若态科技有限公司 | Electric toy head limb neck connecting system |
| CN103963867A (en) * | 2014-04-25 | 2014-08-06 | 中科宇博（北京）文化有限公司 | Biomimetic mechanical dinosaur |
| CN105751248A (en) * | 2016-05-09 | 2016-07-13 | 上海理工大学 | Head and neck structure for bionic hydraulic four-legged mechanical dinosaur |
| CN105965514A (en) * | 2016-05-09 | 2016-09-28 | 上海理工大学 | Bionic hydraulic four-foot machine dinosaur structure |
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