CN109366526A - A kind of mouth structure of bio-robot - Google Patents
A kind of mouth structure of bio-robot Download PDFInfo
- Publication number
- CN109366526A CN109366526A CN201811559587.4A CN201811559587A CN109366526A CN 109366526 A CN109366526 A CN 109366526A CN 201811559587 A CN201811559587 A CN 201811559587A CN 109366526 A CN109366526 A CN 109366526A
- Authority
- CN
- China
- Prior art keywords
- lower jaw
- mouth
- lip portion
- drawstring
- driving motor
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
Abstract
The invention discloses a kind of mouth structures of bio-robot, including being arranged in the intraskeletal lower jaw mechanism of robot head and mouth mechanism, oral cavity is offered in robot head skeleton, the lower jaw mechanism and mouth mechanism are installed in oral cavity, one inner sidewall of oral cavity is fixedly installed with positioning box, and the lower jaw mechanism and mouth mechanism are connect with positioning box.By starting the first driving motor, lower jaw frame is set to generate the movement of upper and lower displacement, when lower jaw frame moves up and down, lower lip portion is pulled by the second drawstring, lower lip portion can be made to be deformed, by starting the second driving motor, first drawstring is so as to pulling upper lip portion, it is deformed upper lip portion, the present invention drives lower jaw mechanism and mouth mechanism, energy apish mouth true to nature using two motors respectively, it is acted with lower jaw, it realizes a variety of shape of the mouth as one speaks movements, enhances the mouth personification effect of anthropomorphic robot, structure is simple.
Description
Technical field
The present invention relates to robotic technology fields, more specifically, in particular to the mouth structure of a kind of bio-robot.
Background technique
The movement of robot mouth has inseparable relationship with the emotional expression of robot, explores and most rationally, most connects
The design scheme of person of modern times's body mouth structure feature is still the important topic of robotic technology field.Current many anthropomorphic robots
The movement of mouth mechanism is only limitted to the opening and closing of upper and lower two boards, though this scheme is easily controllable, degree true to nature is poor.
Summary of the invention
The purpose of the present invention is to provide a kind of mouth structures of bio-robot.
In order to achieve the above object, The technical solution adopted by the invention is as follows: a kind of mouth structure of bio-robot, packet
It includes setting and offers oral cavity, the lower jaw in the intraskeletal lower jaw mechanism of robot head and mouth mechanism, robot head skeleton
Mechanism and mouth mechanism are installed in oral cavity, and one inner sidewall of oral cavity is fixedly installed with positioning box, the lower jaw mechanism and
Mouth mechanism is connect with positioning box.
Further, the lower jaw structure includes U-shaped card plate, lower jaw frame, the first driving motor and roller bearing, the U-shaped card
Downward, U-shaped card plate is stuck in positioning box upper surface, lower jaw frame upper end and U-shaped card plate by opening activity for the open end of plate
Lower end is fixedly connected, and the positioning box both side surface symmetrically offers semicircle sliding slot, and the U-shaped card plate two side ends middle part is solid
Surely it is inserted with gag lever post, the equal activity of gag lever post is inserted in the semicircle sliding slot of corresponding position, is plugged in the middle part of the lower jaw frame
There is pin shaft, lower jaw frame is movably hinged by pin shaft and oral cavity inner sidewall, and first driving motor is fixedly mounted on oral cavity Nei Ding
Surface one end, the roller bearing are fixedly connected with the output shaft of the first driving motor, and roller surface side is provided with integral structure
Tooth socket portion, U-shaped card plate upper surface are fixedly installed with clamping groove plate, and clamping groove plate upper surface offers card slot, and clamping groove plate passes through card
Slot is engaged with tooth socket portion, and the positioning box both side surface is fixedly installed with first baffle, and the lower jaw frame both side surface is corresponding
It is fixedly installed with second baffle corresponding to first baffle position, is fixedly connected between the first baffle and second baffle
Reset spring.
Further, the mouth mechanism includes support plate, flexible labial lamina, the first drawstring, the second drawstring, the second driving electricity
Machine and set axis, one side surface of positioning box are fixedly installed with pull rod, and the support plate is fixedly welded with pull rod, the flexible lip
Plate two side ends are respectively fixedly connected with the both ends in one side surface of support plate, and flexible labial lamina upper and lower side is respectively divided into upper lip portion under
Lip portion, is provided with telescopic resilience band in the upper lip portion and lower lip portion, telescopic resilience band both ends fixed peace respectively
Mounted in one side surface both ends of support plate, second driving motor is fixedly mounted on the oral cavity inner top surface other end, the set axis
It is fixedly mounted on the output shaft of the second driving motor, first drawstring one end is fixedly connected with set axis, and the first drawstring is another
It holds and is fixedly connected in the middle part of the telescopic resilience band with upper lip portion, in the telescopic resilience band in second drawstring one end and lower lip portion
Portion is fixedly connected, and the second drawstring other end is fixedly connected with lower jaw frame lower end upper surface.
Preferably, U-shaped card plate lower surface and positioning box upper surface have gap.
Preferably, it is smooth surface state that the roller surface, which removes outside tooth socket portion,.
Compared with the prior art, the advantages of the present invention are as follows:
By starting the first driving motor, the first driving motor drives roller bearing rotation, and roller bearing passes through the tooth socket portion on its surface
When moving at clamping groove plate, tooth socket portion is engaged with clamping groove plate, and U-shaped board can be put within the scope of semicircle chute size at this time
It is dynamic, so that lower jaw frame be made to generate the movement of upper and lower displacement, when lower jaw frame moves up and down, lower lip portion is pulled by the second drawstring,
Lower lip portion can be made to be deformed, by starting the second driving motor, the second driving motor is set axis rotation, and set axis rotated
First drawstring can be wrapped in its surface, the first drawstring makes upper lip portion generate change so as to pull upper lip portion in journey
Shape, the present invention drive lower jaw mechanism and mouth mechanism using two motors respectively, and apish mouth and lower jaw that can be true to nature be dynamic
Make, realizes a variety of shape of the mouth as one speaks movements, enhance the mouth personification effect of anthropomorphic robot, structure is simple.
Detailed description of the invention
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technical description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this
Some embodiments of invention for those of ordinary skill in the art without creative efforts, can be with
It obtains other drawings based on these drawings.
Fig. 1 is a kind of cross-sectional view of the mouth structure of bio-robot of the present invention；
Fig. 2 is lower jaw mechanism structure schematic diagram of the invention；
Fig. 3 is flexible lip configurations schematic diagram of the invention；
Fig. 4 is flexible labial lamina cross-sectional view of the invention.
In figure: 1 robot head skeleton, 2 oral cavities, 3 positioning boxes, 4 U-shaped card plates, 5 lower jaw framves, 6 pin shafts, 7 semicircle sliding slots, 8
Gag lever post, 9 first baffles, 10 second baffles, 11 reset springs, 12 clamping groove plates, 13 first driving motors, 14 roller bearings, 15 tooth sockets
Portion, 16 pull rods, 17 support plates, 18 upper lip portions, 19 lower lip portions, 20 telescopic resilience bands, 21 first drawstrings, 22 second drawstrings,
23 second driving motors, 24 sets of axis.
Specific embodiment
The preferred embodiment of the present invention is described in detail with reference to the accompanying drawing, so that advantages and features of the invention energy
It is easier to be readily appreciated by one skilled in the art, so as to make a clearer definition of the protection scope of the present invention.
Refering to fig. 1, shown in Fig. 2, Fig. 3 and Fig. 4, the present invention provides a kind of mouth structure of bio-robot, including setting
Lower jaw mechanism and mouth mechanism in robot head skeleton 1 offer oral cavity 2, lower jaw mechanism and mouth in robot head skeleton 1
Bar mechanism is installed in oral cavity 2, and 2 one inner sidewall of oral cavity is fixedly installed with positioning box 3, and lower jaw mechanism and mouth mechanism are and fixed
Position box 3 connects.
Lower jaw structure includes U-shaped card plate 4, lower jaw frame 5, the first driving motor 13 and roller bearing 14, the open end of U-shaped card plate 4
Downward, U-shaped card plate 4 is stuck in 3 upper surface of positioning box by opening activity, it is worth mentioning at this point that lower jaw frame 5 is similar people's lower jaw
The structure of skeleton, 5 upper end of lower jaw frame are fixedly connected with 4 lower end of U-shaped card plate, and 3 both side surface of positioning box symmetrically offers semicircle
Sliding slot 7,4 two side ends of U-shaped card plate middle part are fixedly plugged with gag lever post 8, and the equal activity of gag lever post 8 is inserted in the semicircle of corresponding position
In sliding slot 7, pin shaft 6 is inserted in the middle part of lower jaw frame 5, lower jaw frame 5 is movably hinged by pin shaft 6 and 2 inner sidewall of oral cavity, the first driving
Motor 13 is fixedly mounted on 2 inner top surface one end of oral cavity, and roller bearing 14 is fixedly connected with the output shaft of the first driving motor 13, roller bearing
14 surfaces side are provided with the tooth socket portion 15 of integral structure, and 4 upper surface of U-shaped card plate is fixedly installed with clamping groove plate 12, clamping groove plate 12
Upper surface offers card slot, and clamping groove plate 12 is engaged by card slot with tooth socket portion 15, and 3 both side surface of positioning box is fixedly installed with the
One baffle 9, corresponding 9 position of first baffle that corresponds to of 5 both side surface of lower jaw frame are fixedly installed with second baffle 10, first baffle
Reset spring 11 is fixedly connected between 9 and second baffle 10, by starting the first driving motor 13, the first driving motor 13
Roller bearing 14 is driven to rotate, when roller bearing 14 is moved at clamping groove plate 12 by the tooth socket portion 15 on its surface, tooth socket portion 15 and clamping groove plate
12 engagements, U-shaped board 4 can be swung in 7 size range of semicircle sliding slot at this time, so that lower jaw frame 5 be made to generate upper and lower displacement
Movement, when lower jaw frame 5 moves up and down, by the second drawstring 22 pull lower lip portion 19, can make lower lip portion 19 generate change
Shape, by the effect of reset spring 11, when tooth socket portion 15 is detached from 12 surface of clamping groove plate, lower jaw frame 5 can restore to the original state, this mistake
Lower lip portion 19 and upper lip 18 can generate the movement of opening and closing in journey.
Mouth mechanism includes support plate 17, flexible labial lamina, the first drawstring 21, the second drawstring 22,23 and of the second driving motor
Axis 24 is covered, flexible labial lamina is silica gel structure, and higher with the similarity of mouth lip, 3 one side surface of positioning box is fixedly installed with pull rod
16, support plate 17 is fixedly welded with pull rod 16, and flexible labial lamina two side ends are respectively fixedly connected with the two of 17 1 side surface of support plate
End, flexible labial lamina upper and lower side are respectively divided into upper lip portion 18 and lower lip portion 19, are all provided in upper lip portion 18 and lower lip portion 19
It is equipped with telescopic resilience band 20,20 both ends of telescopic resilience band are respectively and fixedly installed to 17 1 side surface both ends of support plate, and second drives
Dynamic motor 23 is fixedly mounted on the 2 inner top surface other end of oral cavity, and set axis 24 is fixedly mounted on the output shaft of the second driving motor 23
On, 21 one end of the first drawstring is fixedly connected with set axis 24, the telescopic resilience band 20 of 21 other end of the first drawstring and upper lip portion 18
Middle part is fixedly connected, and is fixedly connected in the middle part of 22 one end of the second drawstring and the telescopic resilience band 20 in lower lip portion 19, the second drawstring 22
The other end is fixedly connected with 5 lower end upper surface of lower jaw frame, and by starting the second driving motor 23, the second driving motor 23 is set axis
24 rotations, the first drawstring 21 can be wrapped in its surface by covering in 24 rotation process of axis, the first drawstring 21 so as to pull on
Lip portion 18 is deformed upper lip portion 18.
In the present embodiment, 4 lower surface of U-shaped card plate and 3 upper surface of positioning box have gap, have U-shaped card plate 4 certain living
Dynamic space.
In the present embodiment, it is smooth surface state that 14 surface of roller bearing, which removes outside tooth socket portion 15,.
Working principle: by starting the first driving motor 13, the first driving motor 13 drives roller bearing 14 to rotate, and roller bearing 14 is logical
When crossing the tooth socket portion 15 on its surface and moving at clamping groove plate 12, tooth socket portion 15 is engaged with clamping groove plate 12, and U-shaped board 4 can be at this time
It is swung in 7 size range of semicircle sliding slot, to make the movement of the generation upper and lower displacement of lower jaw frame 5, lower jaw frame 5 is moved up and down
When, lower lip portion 19 is pulled by the second drawstring 22, lower lip portion 19 can be made to be deformed, by starting the second driving motor
23, the second driving motor 23 is that set axis 24 rotates, its surface can be wrapped in for the first drawstring 21 by covering in 24 rotation process of axis, the
One drawstring 21 is deformed upper lip portion 18 so as to pull upper lip portion 18.
Although the embodiments of the invention are described in conjunction with the attached drawings, but patent owner can be in appended claims
Within the scope of make various deformations or amendments, as long as it does not exceed the scope of protection described in the claims to the invention, all should
Within protection scope of the present invention.
Claims (5)
1. the mouth structure of a kind of bio-robot, including the lower jaw mechanism and mouth machine being arranged in robot head skeleton (1)
Structure, robot head skeleton (1) is interior to offer oral cavity (2), it is characterised in that: the lower jaw mechanism and mouth mechanism are installed in mouth
In chamber (2), (2) one inner sidewall of oral cavity is fixedly installed with positioning box (3), the lower jaw mechanism and mouth mechanism with positioning
Box (3) connection.
2. a kind of mouth structure of bio-robot according to claim 1, it is characterised in that: the lower jaw structure includes
U-shaped card plate (4), lower jaw frame (5), the first driving motor (13) and roller bearing (14), the open end of the U-shaped card plate (4) downward,
U-shaped card plate (4) is stuck in positioning box (3) upper surface by opening activity, and lower jaw frame (5) upper end and U-shaped card plate (4) lower end are solid
Fixed connection, positioning box (3) both side surface symmetrically offer semicircle sliding slot (7), in the middle part of U-shaped card plate (4) two side ends
It is fixedly plugged with gag lever post (8), the gag lever post (8) activity is inserted in the semicircle sliding slot (7) of corresponding position, under described
It being inserted with pin shaft (6) in the middle part of jaw frame (5), lower jaw frame (5) is movably hinged by pin shaft (6) and oral cavity (2) inner sidewall, and described first
Driving motor (13) is fixedly mounted on oral cavity (2) inner top surface one end, and the roller bearing (14) is defeated with the first driving motor (13)
Shaft is fixedly connected, and roller bearing (14) surface side is provided with the tooth socket portion (15) of integral structure, U-shaped card plate (4) upper surface
It is fixedly installed with clamping groove plate (12), clamping groove plate (12) upper surface offers card slot, and clamping groove plate (12) passes through card slot and tooth socket portion
(15) it engages, positioning box (3) both side surface is fixedly installed with first baffle (9), lower jaw frame (5) both side surface pair
First baffle (9) position should be corresponded to be fixedly installed with second baffle (10), the first baffle (9) and second baffle (10)
Between be fixedly connected to reset spring (11).
3. a kind of mouth structure of bio-robot according to claim 1, it is characterised in that: the mouth mechanism includes
Support plate (17), flexible labial lamina, the first drawstring (21), the second drawstring (22), the second driving motor (23) and set axis (24), it is described
(3) one side surface of positioning box is fixedly installed with pull rod (16), and the support plate (17) is fixedly welded with pull rod (16), the flexibility
Labial lamina two side ends are respectively fixedly connected with the both ends in (17) one side surface of support plate, and flexible labial lamina upper and lower side is respectively divided into upper lip
Portion (18) and lower lip portion (19) are provided with telescopic resilience band (20) in the upper lip portion (18) and lower lip portion (19),
Telescopic resilience band (20) both ends are respectively and fixedly installed to (17) one side surface both ends of support plate, second driving motor (23)
It is fixedly mounted on oral cavity (2) inner top surface other end, the set axis (24) is fixedly mounted on the output of the second driving motor (23)
On axis, described first drawstring (21) one end is fixedly connected with set axis (24), the first drawstring (21) other end and upper lip portion (18)
Telescopic resilience band (20) in the middle part of be fixedly connected, the telescopic resilience band of described second drawstring (22) one end and lower lip portion (19)
(20) middle part is fixedly connected, and the second drawstring (22) other end is fixedly connected with lower jaw frame (5) lower end upper surface.
4. a kind of mouth structure of bio-robot according to claim 1, it is characterised in that: under the U-shaped card plate (4)
Surface and positioning box (3) upper surface have gap.
5. a kind of mouth structure of bio-robot according to claim 1, it is characterised in that: roller bearing (14) surface
Removing outside tooth socket portion (15) is smooth surface state.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811559587.4A CN109366526A (en) | 2018-12-20 | 2018-12-20 | A kind of mouth structure of bio-robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811559587.4A CN109366526A (en) | 2018-12-20 | 2018-12-20 | A kind of mouth structure of bio-robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109366526A true CN109366526A (en) | 2019-02-22 |
Family
ID=65370874
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811559587.4A Pending CN109366526A (en) | 2018-12-20 | 2018-12-20 | A kind of mouth structure of bio-robot |
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| Country | Link |
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| CN (1) | CN109366526A (en) |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101850554A (en) * | 2010-04-30 | 2010-10-06 | 东南大学 | Low-noise humanoid robot head system |
| CN103341859A (en) * | 2013-07-02 | 2013-10-09 | 上海大学 | Robot mouth five-rod moving mechanism |
| CN103358310A (en) * | 2013-07-04 | 2013-10-23 | 上海大学 | Mouth movement mechanism of humanoid robot |
| CN207058612U (en) * | 2017-06-29 | 2018-03-02 | 深圳市赛洛诗健康科技有限公司 | Robot mouth drive mechanism |
| CN108145697A (en) * | 2018-01-22 | 2018-06-12 | 深圳市赛洛诗健康科技有限公司 | A kind of robot head |
| CN207564488U (en) * | 2017-12-12 | 2018-07-03 | 深圳光启合众科技有限公司 | The head construction of robot and with its robot |
| CN207630052U (en) * | 2017-11-23 | 2018-07-20 | 重庆红精灵仿生机器人有限公司 | A kind of bionic machine head mechanism |
-
2018
- 2018-12-20 CN CN201811559587.4A patent/CN109366526A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101850554A (en) * | 2010-04-30 | 2010-10-06 | 东南大学 | Low-noise humanoid robot head system |
| CN103341859A (en) * | 2013-07-02 | 2013-10-09 | 上海大学 | Robot mouth five-rod moving mechanism |
| CN103358310A (en) * | 2013-07-04 | 2013-10-23 | 上海大学 | Mouth movement mechanism of humanoid robot |
| CN207058612U (en) * | 2017-06-29 | 2018-03-02 | 深圳市赛洛诗健康科技有限公司 | Robot mouth drive mechanism |
| CN207630052U (en) * | 2017-11-23 | 2018-07-20 | 重庆红精灵仿生机器人有限公司 | A kind of bionic machine head mechanism |
| CN207564488U (en) * | 2017-12-12 | 2018-07-03 | 深圳光启合众科技有限公司 | The head construction of robot and with its robot |
| CN108145697A (en) * | 2018-01-22 | 2018-06-12 | 深圳市赛洛诗健康科技有限公司 | A kind of robot head |
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Application publication date: 20190222 |