CN109794931A - A kind of robot head elevation mount and control method - Google Patents
A kind of robot head elevation mount and control method Download PDFInfo
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- CN109794931A CN109794931A CN201910206726.3A CN201910206726A CN109794931A CN 109794931 A CN109794931 A CN 109794931A CN 201910206726 A CN201910206726 A CN 201910206726A CN 109794931 A CN109794931 A CN 109794931A
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- platform
- connecting rod
- pitching
- electric pushrod
- robot head
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Abstract
The invention discloses a kind of robot head elevation mounts, including carrying platform, pitching platform, pushing mechanism and at least one connecting rod, one end of the pushing mechanism is connect with carrying platform, the other end of the pushing mechanism and pitching platform are hinged, carrying platform is fixed in one end of the connecting rod, and the other end and pitching platform of the connecting rod are hinged, passes through the effect of pushing mechanism, pitching platform carries out rotation around the hinge joint of itself and connecting rod to realize pitching motion, and the kind of drive is simple.
Description
Technical field
The present invention relates to robot bionic fields, and in particular to a kind of robot head elevation mount and control method.
Background technique
With the continuous development of intelligence science, automation science, intelligent humanoid robot is widely used in life,
It in order to keep humanoid robot more life-like, can preferably be interacted with true man, mankind's nature can physically be imitated by needing to design
Movement, including the robot head of movement of bowing that comes back；But all components inside robot head pass through main shaft at present
It supports and realizes movement, one side structural instability by way of pushing and pulling connecting rod, and imitate not naturally true to nature enough, another party
The strength of materials in face of main shaft and connecting rod is more demanding, so that manufacturing cost is higher.
Summary of the invention
The purpose of the invention is to overcome above the shortcomings of the prior art, a kind of robot head pitching is provided
Device, structure of the invention are stablized, and imitation is true to nature, while manufacturing cost is low；
The present invention also provides a kind of control methods of robot head elevation mount simultaneously.
The purpose of the present invention can be achieved through the following technical solutions:
A kind of robot head elevation mount, including carrying platform, pitching platform, pushing mechanism and at least one connecting rod,
One end of the pushing mechanism is connect with carrying platform, and the other end and pitching platform of the pushing mechanism are hinged, the connecting rod
One end be fixed on carrying platform, the other end and pitching platform of the connecting rod are hinged, and by the effect of pushing mechanism, pitching is flat
Platform carries out rotation around the hinge joint of itself and connecting rod to realize pitching motion, and the kind of drive is simple.
Preferably, the connecting rod is equipped with 2, the hinge joint and the pitching machine of 2 connecting rods and the pitching platform
The hinge joint of structure and the pushing mechanism and carrying platform is in angular distribution, and the structure of triangle has stability, so that each portion
The uniform force of part, thus the requirement to material is reduced, reduce cost.
Preferably, the connecting rod and the pushing mechanism are axially parallel to each other, when can prevent link motion with promotion machine
Structure bumps against.
Preferably, the pushing mechanism includes electric pushrod and angular encoder, the angular encoder and electric pushrod
Connection, the push rod portion of the electric pushrod and pitching platform are hinged, and the pedestal of the electric pushrod is connect with carrying platform, described
Angular encoder rises or falls length by what the angle that turns over of measurement was scaled electric pushrod.
Preferably, pitching platform lower end is fixed with the first hinged seat, and the carrying platform upper end is fixed with the second hinge
Joint chair, the push rod portion are installed on the first hinged seat, and the pedestal is installed on the second hinged seat, and the stable structure of hinged seat makes
Obtaining electric pushrod pushes the movement of pitching platform more accurate.
Preferably, first hinged seat includes bottom plate and two side plates, and two side plates are fixed on the bottom plate two
End, the bottom plate are connect with the pitching platform, and 2 side plates are connect with the push rod portion.
Preferably, shaft is installed, the pushing mechanism is equipped with and wears with what the shaft cooperated on 2 side plates
Hole, the electricity catch bar are hinged with pitching platform after perforation by shaft.
Preferably, two connecting rods pass through horizontal optical axis bracket and are fixed on carrying platform, and horizontal optical axis bracket makes to connect
The lower end fixing-stable of bar.
Preferably, two connecting rods pass through universal joint and pitching platform is hinged, universal joint freedom degree with higher,
So that the rotation of pitching platform is more smooth.
Preferably, a kind of control method of robot head elevation mount, comprising the following steps:
When electric pushrod receives forward drive signal, electric pushrod controls push rod portion and drives on one end of pitching platform
It rises, the other end of pitching platform is rotated around with the hinge joint of connecting rod, completes new line movement, and angular encoder calculates electric pushrod
Lifting height return to robot control chip formed feedback loop；
When electric pushrod receives reverse drive signal, electric pushrod is controlled under one end that push rod portion drives pitching platform
The other end of drop, pitching platform is rotated around with the hinge joint of connecting rod, completes movement of bowing, and angular encoder calculates electric pushrod
Falling head return to robot control chip formed feedback loop.
Compared with the prior art, the invention has the following advantages and beneficial effects:
1, the effect of the invention by pushing mechanism, pitching platform carry out rotation around the hinge joint of itself and connecting rod to real
Existing pitching motion, the kind of drive is simple, features simple structure.
2, connecting rod and pushing mechanism and carrying platform Mulit-point Connection of the present invention, connecting rod and pushing mechanism are equal to pitching platform
There is supporting role, so that the stress of each component is more uniform thus of less demanding to the strength of materials, manufacturing cost is lower.
Detailed description of the invention
Fig. 1 is a kind of structural schematic diagram of robot head elevation mount of the invention；
Fig. 2 is a kind of schematic diagram of robot head elevation mount new line movement of the present invention；
Fig. 3 is that a kind of robot head elevation mount of the present invention is bowed the schematic diagram of movement；
Wherein, 1 is pitching platform, and 2 be universal joint, and 3 be connecting rod, and 4 be horizontal optical axis bracket, and 5 be carrying platform, and 6 be electricity
Dynamic push rod, 61 be push rod portion, and 62 be pedestal, and 7 be the first hinged seat, and 71 be bottom plate, and 72 be side plate, and 73 be shaft, and 8 be the second hinge
Joint chair, 9 be lightening hole.
Specific embodiment
Present invention will now be described in further detail with reference to the embodiments and the accompanying drawings, but embodiments of the present invention are unlimited
In this.
As shown in Figure 1, a kind of robot head elevation mount, including carrying platform 5, pitching platform 1, pushing mechanism and company
One end of bar 3, the pushing mechanism is connect with carrying platform 5, and the other end and pitching platform 1 of the pushing mechanism are hinged, institute
Carrying platform 5 is fixed in the one end for stating connecting rod 3, and the other end and pitching platform 1 of the connecting rod 3 are hinged, pass through pushing mechanism
Effect, pitching platform 1 carry out rotation around the hinge joint of itself and connecting rod 3 to realize pitching motion, and the kind of drive is simple.
The connecting rod 3 is equipped with 2, the hinge joint and the pushing mechanism of 2 connecting rods 3 and the pitching platform 1 with
The hinge joint of pitching platform 1 is in angular distribution.The structure of triangle has stability, so that the uniform force of each component, thus
The requirement to material is reduced, cost is reduced.
When the connecting rod is equipped with 1, the connecting rod 3 is located at the pushing mechanism front end, and structure is simple, save the cost.
When the connecting rod is equipped with 3, the hinge joint of third connecting rod and the pitching platform 1 be located at 2 connecting rods 3 with
Between the hinge joint line of the pitching platform 1, the hinge joint and the pushing mechanism of the connecting rod 3 and the pitching platform 1
Line with the hinge joint of pitching platform 1 is in angular distribution.
The connecting rod 3 and the pushing mechanism are axially parallel to each other, can prevent from bumping against when link motion with pushing mechanism.
The pushing mechanism includes electric pushrod 6 and angular encoder, and the angular encoder is installed in electric pushrod
Portion, the push rod portion 61 of the electric pushrod 6 and pitching platform 1 are hinged, and the pedestal 62 and carrying platform 5 of the electric pushrod 6 connect
It connects, the angular encoder rises or falls length by what the angle that turns over of measurement was scaled electric pushrod 6.
1 lower end of pitching platform is fixed with the first hinged seat 7, and 5 upper end of carrying platform is fixed with the second hinged seat
8, the push rod portion 61 is installed on the first hinged seat 7, and the pedestal 62 is installed on the second hinged seat 8, the stable structure of hinged seat,
So that electric pushrod 6 pushes the movement of pitching platform 1 more accurate.
First hinged seat 7 includes bottom plate 71 and two side plates 72, and two side plates 72 are fixed on the bottom plate 71
Both ends, the bottom plate 71 are connect with the pitching platform 1, and 2 side plates 72 are connect with the electric catch bar 62, and described second
8 structure of hinged seat is identical as the first hinged seat 7.
Shaft 73 is installed, described catch bar 62 is equipped with the perforation cooperated with the shaft on 2 side plates 72.
The push rod portion 61 is hinged with pitching platform 1 after perforation by shaft 73.
Two connecting rods 3 are installed on carrying platform 5 by horizontal optical axis bracket 4, and horizontal optical axis bracket 4 makes connecting rod 3
Lower end fixing-stable.
Two connecting rods 3 are hinged by universal joint 2 and pitching platform, the freedom degree with higher of universal joint 2, so that
The rotation of pitching platform 1 is more smooth.
The pitching platform 1 is equipped with multiple lightening holes 9, can reduce the weight of product, improve efficiency.
A kind of control method of robot head elevation mount, comprising the following steps:
As shown in Fig. 2, when electric pushrod 6 receives forward drive signal, electric pushrod 6 controls push rod portion 61 and drives pitching
One end of platform 1 rises, and the other end of pitching platform 1 is rotated around with the hinge joint of connecting rod 3, completes new line movement, and angle is compiled
The control chip that the lifting height that code device calculates electric pushrod 6 returns to robot forms feedback loop；
As shown in figure 3, controlling push rod portion 61 when electric pushrod 6 receives reverse drive signal by electric pushrod 6 and driving
One end of pitching platform 1 declines, and the other end of pitching platform 1 is rotated around with the hinge joint of connecting rod 3, completes movement of bowing, angle
The control chip that the falling head that degree encoder calculates electric pushrod 6 returns to robot forms feedback loop.
The present invention imitates the movement of face musculi colli by electric pushrod 6, imitates mankind's neck by connecting rod 3 and universal joint 2
Vertebra makes pitching platform realize pitching motion, overall plan high efficient and reliable.
Above-mentioned specific embodiment is the preferred embodiment of the present invention, can not be limited the invention, and others are appointed
The change or other equivalent substitute modes what is made without departing from technical solution of the present invention, are included in protection of the invention
Within the scope of.
Claims (10)
1. a kind of robot head elevation mount, which is characterized in that including carrying platform, pitching platform, pushing mechanism and at least
One connecting rod, one end of the pushing mechanism are connect with carrying platform, and the other end and pitching platform of the pushing mechanism are hinged,
Carrying platform is fixed in one end of the connecting rod, and the other end and pitching platform of the connecting rod are hinged.
2. a kind of robot head elevation mount according to claim 1, which is characterized in that the connecting rod is equipped with 2,2
The hinge joint and the pushing mechanism of a connecting rod and the pitching platform and the hinge joint of pitching platform are in angular distribution.
3. a kind of robot head elevation mount according to claim 1, which is characterized in that the connecting rod and the promotion
Mechanism is axially parallel to each other.
4. a kind of robot head elevation mount according to claim 1, which is characterized in that the pushing mechanism includes electricity
Dynamic push rod and angular encoder, the angular encoder are connect with electric pushrod, and the push rod portion of the electric pushrod and pitching are flat
Table-hinges connects, and the pedestal of the electric pushrod is connect with carrying platform.
5. a kind of robot head elevation mount according to claim 4, which is characterized in that pitching platform lower end is solid
Surely there is the first hinged seat, the carrying platform upper end is fixed with the second hinged seat, and the push rod portion is installed on the first hinged seat, institute
It states pedestal and is installed on the second hinged seat.
6. a kind of robot head elevation mount according to claim 5, which is characterized in that first hinged seat includes
Bottom plate and two side plates, two side plates are fixed on the bottom plate both ends, and the bottom plate is connect with the pitching platform, and two
The side plate is connect with the push rod portion.
7. a kind of robot head elevation mount according to claim 5, which is characterized in that installed on 2 side plates
There is shaft, the pushing mechanism is equipped with the perforation cooperated with the shaft.
8. a kind of robot head elevation mount according to claim 1, which is characterized in that the connecting rod passes through horizontal light
Bracing strut is fixed on carrying platform.
9. a kind of robot head elevation mount according to claim 1, which is characterized in that the connecting rod passes through universal joint
It is hinged with pitching platform.
10. the control method based on a kind of robot head elevation mount described in claim 1~9, which is characterized in that including
Following steps:
When electric pushrod receives forward drive signal, electric pushrod controls push rod portion and one end of pitching platform is driven to rise, bows
The other end for facing upward platform is rotated around with the hinge joint of connecting rod, completes new line movement, and angular encoder calculates the upper of electric pushrod
The control chip that rise returns to robot forms feedback loop；
When electric pushrod receives reverse drive signal, electric pushrod controls one end decline that push rod portion drives pitching platform, bows
The other end for facing upward platform is rotated around with the hinge joint of connecting rod, completes movement of bowing, and angular encoder calculates under electric pushrod
The control chip that drop height returns to robot forms feedback loop.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910206726.3A CN109794931A (en) | 2019-03-19 | 2019-03-19 | A kind of robot head elevation mount and control method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910206726.3A CN109794931A (en) | 2019-03-19 | 2019-03-19 | A kind of robot head elevation mount and control method |
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| Publication Number | Publication Date |
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| CN109794931A true CN109794931A (en) | 2019-05-24 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910206726.3A Pending CN109794931A (en) | 2019-03-19 | 2019-03-19 | A kind of robot head elevation mount and control method |
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| CN (1) | CN109794931A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112936245A (en) * | 2021-02-05 | 2021-06-11 | 华南理工大学 | Head and eye gaze control device and method for humanoid robot |
| CN113400002A (en) * | 2021-07-13 | 2021-09-17 | 四川顶锐液压设备制造有限公司 | Multi-station assembly platform control method suitable for aircraft engine unit body |
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Patent Citations (8)
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|---|---|---|---|---|
| EP0266396A1 (en) * | 1986-04-18 | 1988-05-11 | Thermwood Corporation | Wrist assembly for industrial robots |
| JPH09225146A (en) * | 1996-02-27 | 1997-09-02 | Japan Small Corp | Neck joint instrument for mechanistic robot |
| US20040135045A1 (en) * | 2000-12-01 | 2004-07-15 | Larson John E. | Unaligned multiple-column height adjustable pedestals for tables and chairs that tilt and slide |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112936245A (en) * | 2021-02-05 | 2021-06-11 | 华南理工大学 | Head and eye gaze control device and method for humanoid robot |
| CN112936245B (en) * | 2021-02-05 | 2023-07-18 | 华南理工大学 | Head and eye gaze control device and method of humanoid robot |
| CN113400002A (en) * | 2021-07-13 | 2021-09-17 | 四川顶锐液压设备制造有限公司 | Multi-station assembly platform control method suitable for aircraft engine unit body |
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