CN117437835A - Humanoid robot with temporomandibular joint movement function - Google Patents
Humanoid robot with temporomandibular joint movement function Download PDFInfo
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- CN117437835A CN117437835A CN202311586618.6A CN202311586618A CN117437835A CN 117437835 A CN117437835 A CN 117437835A CN 202311586618 A CN202311586618 A CN 202311586618A CN 117437835 A CN117437835 A CN 117437835A
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- 230000033001 locomotion Effects 0.000 title claims abstract description 35
- 210000001738 temporomandibular joint Anatomy 0.000 title abstract description 6
- 210000004373 mandible Anatomy 0.000 claims abstract description 53
- 210000001847 jaw Anatomy 0.000 claims abstract description 24
- 230000007246 mechanism Effects 0.000 claims abstract description 7
- 230000009471 action Effects 0.000 claims description 14
- 230000005540 biological transmission Effects 0.000 claims description 6
- 239000011664 nicotinic acid Substances 0.000 description 8
- 230000008859 change Effects 0.000 description 6
- 210000000214 mouth Anatomy 0.000 description 4
- 238000004088 simulation Methods 0.000 description 3
- 230000002123 temporal effect Effects 0.000 description 3
- 230000007547 defect Effects 0.000 description 2
- 210000003128 head Anatomy 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 210000003625 skull Anatomy 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 210000000988 bone and bone Anatomy 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 210000004268 dentin Anatomy 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 238000003745 diagnosis Methods 0.000 description 1
- 201000010099 disease Diseases 0.000 description 1
- 208000037265 diseases, disorders, signs and symptoms Diseases 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 230000002452 interceptive effect Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 235000001968 nicotinic acid Nutrition 0.000 description 1
- 230000008569 process Effects 0.000 description 1
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- G—PHYSICS
- G09—EDUCATION; CRYPTOGRAPHY; DISPLAY; ADVERTISING; SEALS
- G09B—EDUCATIONAL OR DEMONSTRATION APPLIANCES; APPLIANCES FOR TEACHING, OR COMMUNICATING WITH, THE BLIND, DEAF OR MUTE; MODELS; PLANETARIA; GLOBES; MAPS; DIAGRAMS
- G09B23/00—Models for scientific, medical, or mathematical purposes, e.g. full-sized devices for demonstration purposes
- G09B23/28—Models for scientific, medical, or mathematical purposes, e.g. full-sized devices for demonstration purposes for medicine
- G09B23/283—Models for scientific, medical, or mathematical purposes, e.g. full-sized devices for demonstration purposes for medicine for dentistry or oral hygiene
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
- B25J17/02—Wrist joints
- B25J17/0258—Two-dimensional joints
- B25J17/0266—Two-dimensional joints comprising more than two actuating or connecting rods
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- Medicinal Chemistry (AREA)
- Oral & Maxillofacial Surgery (AREA)
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- Business, Economics & Management (AREA)
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- Educational Technology (AREA)
- Theoretical Computer Science (AREA)
- Robotics (AREA)
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Abstract
The invention discloses a humanoid robot with a temporomandibular joint movement function, which comprises a trunk frame, wherein the upper end of the trunk frame is provided with a neck frame capable of rotating left and right, the neck frame is provided with a jaw mounting plate capable of moving up and down, the lower end of the jaw mounting plate is provided with a maxillary framework and an adjustable mandibular framework, the middle part of the jaw mounting plate is provided with a mounting opening, and a driving mechanism for controlling the mandibular framework to move is arranged in the mounting opening. According to the invention, the two movable blocks are symmetrically arranged, the mandible framework is connected with the movable blocks, and the positions of the mandible framework are adjusted by controlling the movable blocks to rotate, so that the adjustment of the angle of the mandible condyloid canal is realized, the mandible of a human in different states is simulated, the functionality of the robot is greatly improved, and the position of the mandible can be more directly observed by people when the angle of the condyloid canal changes, thereby bringing great convenience to medical training projects.
Description
Technical Field
The invention relates to the technical field of jaw motion bionics, in particular to a humanoid robot with a temporomandibular joint motion function.
Background
The oral cavity mandibular movement model is a bionic device capable of imitating human oral cavity mandibular movement, is widely applied to the projects of oral cavity dentin detection, prosthesis manufacturing, temporal mandibular joint and occlusion disease diagnosis and treatment, oral doctor clinical training and the like, can also carry out bionic simulation performance in a range of bionic garden mechanical equipment, at present, some common mandibular robots on the market can only carry out some simple occlusion movements, some mandibular extending and mandibular left and right swinging movements are carried out by individual robots with full functionality, the movements are only basic mandibular movements, the joint structures of the existing mandibular model robots are basically fixed, but the angle positions of the temporal mandibular joints are different due to the development condition of bones of the actual human body or the occurrence of tooth deficiency condition, namely, the angle of condyloid channels is different, the angles of the condyloid channels of the robots at present are always fixed and cannot be adjusted according to different conditions, so that the bionic functions are poor, and the simulated movements are difficult to bring great inconvenience to medical training projects of providing different angle mandibular simulated angles for people.
Disclosure of Invention
The invention aims to avoid the defects of the prior art and provide the humanoid robot with the temporal joint movement function, thereby effectively solving the defects in the prior art.
In order to achieve the above purpose, the technical scheme adopted by the invention is as follows: the humanoid robot with the temporomandibular joint movement function comprises a trunk frame, wherein the upper end of the trunk frame is provided with a neck frame capable of rotating left and right, the neck frame is provided with a jaw mounting plate capable of moving up and down, the lower end of the jaw mounting plate is provided with a maxillary framework and an adjustable mandibular framework, the middle part of the jaw mounting plate is provided with a mounting opening, and a driving mechanism for controlling the mandibular framework to move is arranged in the mounting opening;
the driving mechanism comprises fixing frames arranged on two sides of the mounting opening, the fixing frames are fixedly connected with the jawbone mounting plate, rotating blocks are arranged on one sides of the fixing frames on two sides opposite to each other, the lower ends of the rotating blocks are rotationally connected with the fixing frames, and adjustable movable frames are arranged on the rotating blocks on two sides;
the movable frame is provided with a first driving motor for controlling the mandible framework to perform occluding motion, a second driving motor for controlling the mandible framework to perform back-and-forth swinging motion and a third driving motor for controlling the mandible framework to perform left-and-right swinging motion;
the rear side of jaw mounting panel upper end is provided with electric putter, electric putter is used for control the turning block rotates.
Further, the mount is including setting firmly the locating frame of installing port both sides, the cross-section of locating frame is the U font, be provided with the slider that can adjust from top to bottom in the locating frame, the lower extreme of turning block pass through the turning pin with the lower extreme of slider articulates.
Further, a strip-shaped positioning groove is formed in the side edge of the positioning frame along the vertical direction, a positioning pin capable of sliding up and down is arranged at the positioning groove, and the positioning pin penetrates through the positioning groove and is fixedly connected with the sliding block;
the sliding block is also provided with an arc-shaped chute, the rotating block is also provided with a guide pin, and the guide pin penetrates through the chute and slides along the chute.
Further, the both sides install the linkage horizontal pole between the turning block, both sides be provided with the mounting bracket between the locating frame, electric putter rear end with the rear end of mounting bracket articulates, electric putter's telescopic link with the middle part of linkage horizontal pole articulates.
Further, the rotating block is provided with inclined sliding rails on one side opposite to each other, sliding seats are arranged on two sides of the movable frame, and the sliding seats are slidably arranged on the sliding rails.
Further, first driving motor installs the front end of movable frame, be provided with the bearing frame in the position that corresponds first driving motor on the movable frame, first driving motor rotatable install on the bearing frame, first driving motor's lower extreme is provided with the mounting box, first driving motor's pivot set up downwards and its pivot is provided with towards the transmission shaft that the mounting box lower extreme extends, the both sides of mounting box lower extreme still are provided with the driven shaft, the one end of driven shaft extends to the outside of mounting box respectively, the lower extreme of transmission shaft is provided with first bevel gear, and both sides driven shaft is provided with the second bevel gear in the one end that is opposite each other, first bevel gear and both sides the second bevel gear intermesh, the both ends and the both sides driven shaft of mandible skeleton are located the one end outside the mounting box and are connected.
Further, the second driving motor is installed one side of fly frame rear end, and the second driving motor lower extreme is provided with the carousel that follows motor rotation, be provided with first eccentric rod on the carousel in its eccentric position, the one end and the carousel of first eccentric rod are articulated, the other end of first eccentric rod with be close to its own one side the rear end of rotor block is articulated, second driving motor, first eccentric rod and rotor block cooperate each other and control the fly frame to follow the slide rail removes.
Further, the third driving motor is symmetrically installed on one side of the second driving motor, the lower end of the third driving motor is also provided with the rotary table, the rotary table is provided with a second eccentric rod, the lower end of the first driving motor is provided with a mounting block, one end of the second eccentric rod is hinged with the rotary table, the other end of the second eccentric rod is hinged with the mounting block, and the third driving motor, the second eccentric rod and the mounting block are matched with each other to control the first driving motor to reciprocate in the bearing seat.
Further, the neck frame comprises a base connected with the trunk frame, a fourth driving motor is arranged on the base and is rotatably and transversely arranged on the base, a supporting frame is arranged above the fourth driving motor, the rear end of the jaw mounting plate is fixedly connected with the supporting frame, and the fourth driving motor controls the jaw mounting plate to perform the action of nodding.
Further, the lower extreme in the truck frame is provided with the fifth driving motor, still is provided with vertical pole setting in the truck frame, the fifth driving motor control the pole setting rotates, the upper end of pole setting pass the upper end of truck frame and with the lower extreme fixed connection of base.
The technical scheme of the invention has the following beneficial effects: according to the invention, the two movable blocks are symmetrically arranged, the mandible framework is connected with the movable blocks, and the positions of the mandible framework are adjusted by controlling the movable blocks to rotate, so that the adjustment of the angle of the mandible condyloid channel is realized, the mandible of a human being in different states is simulated, the functionality of the robot is greatly improved, the position of the mandible under the angle change of the condyloid channel can be more directly observed by people, great convenience is brought to medical training projects, and the real multidimensional meshing motion is simulated through torque feedback, so that the function of simulating and restoring the mandible motion is realized, and the delicate simulated action performance is provided for vast tourists in bionic garden mechanical equipment through the real simulated mandible motion, so that the bionic interaction experience is excellent.
Drawings
FIG. 1 is a schematic perspective view of an embodiment of the present invention;
fig. 2 is a schematic perspective view of a torso frame according to an embodiment of the present invention after disassembly;
FIG. 3 is a schematic view showing a partial perspective structure of a jawbone skeleton according to an embodiment of the present invention;
FIG. 4 is a schematic view showing a disassembled structure of a jawbone skeleton according to an embodiment of the present invention;
FIG. 5 is a second schematic view of a disassembled structure of a jawbone skeleton according to an embodiment of the present invention;
FIG. 6 is a third schematic view of a disassembled structure of a jawbone skeleton according to an embodiment of the present invention;
FIG. 7 is a schematic view showing a disassembled structure of a jawbone skeleton according to an embodiment of the present invention;
fig. 8 is a schematic bottom perspective view of a movable frame according to an embodiment of the present invention.
Detailed Description
In order that the above-recited objects, features and advantages of the present invention can be more clearly understood, a more particular description of the invention will be rendered by reference to specific embodiments thereof which are illustrated in the appended drawings, it being understood that the embodiments and features of the embodiments may be combined with each other without conflict.
In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention, however, the present invention may be practiced otherwise than as described herein, and therefore the scope of the present invention is not limited to the specific embodiments disclosed below.
As shown in fig. 1-8, the humanoid robot with the temporomandibular joint movement function in this embodiment includes a trunk frame 1, a neck frame capable of rotating left and right is provided at the upper end of the trunk frame 1, a jaw mounting plate 2 capable of moving up and down is provided on the neck frame, a maxillary skeleton 31 and an adjustable mandibular skeleton 3 are provided at the lower end of the jaw mounting plate 2, a mounting opening is provided in the middle of the jaw mounting plate 2, and a driving mechanism for controlling the mandibular skeleton 3 to move is provided in the mounting opening;
the driving mechanism comprises fixing frames 4 arranged at two sides of the mounting opening, the fixing frames 4 are fixedly connected with the jawbone mounting plate 2, rotating blocks 5 are arranged at one sides of the fixing frames 4 at two sides opposite to each other, the lower ends of the rotating blocks 5 are rotationally connected with the fixing frames 4, and adjustable movable frames 6 are arranged on the rotating blocks 5 at two sides;
the movable frame 6 is provided with a first driving motor 7 for controlling the mandible framework 3 to perform occluding motion, a second driving motor 8 for controlling the mandible framework 3 to perform back-and-forth swinging motion and a third driving motor 9 for controlling the mandible framework 3 to perform left-and-right swinging motion;
the rear side of the upper end of the jaw mounting plate 3 is provided with an electric push rod 10, and the electric push rod 10 is used for controlling the rotation of the rotating block 5.
The fixing frame 4 comprises a positioning frame 4a fixedly arranged on two sides of the mounting opening, the cross section of the positioning frame 4a is U-shaped, a sliding block 4b capable of being adjusted up and down is arranged in the positioning frame 4a, and the lower end of the rotating block 5 is hinged with the lower end of the sliding block 4b through a rotating pin 23.
A strip-shaped positioning groove 4c is formed in the side edge of the positioning frame 4a along the vertical direction, a positioning pin 11 capable of sliding up and down is arranged at the positioning groove 4c, and the positioning pin 11 penetrates through the positioning groove 4c and is fixedly connected with the sliding block 4 b;
the slide block 4b is slid up and down, and the positions of the movable frame 6 and the mandible skeleton 3 can be adjusted, so that the mandible skeleton 3 is adjusted, and after the position is selected, the positioning pin 11 is screwed, so that the slide block 4b is fixed in the mounting frame 4 a.
The slide block 4b is also provided with an arc-shaped slide groove 4d, the rotating block 5 is also provided with a guide pin 12, and the guide pin 12 passes through the slide groove 4d and slides along the slide groove 4 d.
When the electric push rod 10 is started and controls the rotating block 5 to rotate along the rotating pin 23, the guide pin 12 on the rotating block 5 slides along the sliding groove 4 d.
A linkage cross rod 13 is arranged between the two side rotating blocks 5, a mounting frame 14 is arranged between the two side positioning frames 4a, the mounting frame 14 is positioned at the rear end of the positioning frame 4a, the rear end of the electric push rod 10 is hinged with the rear end of the mounting frame 14, and the telescopic rod of the electric push rod 10 is hinged with the middle part of the linkage cross rod 13.
When the telescopic rod of the electric push rod 10 stretches out, the telescopic rod can rotate along the mounting frame 14, meanwhile, the linkage cross rod 13 can drive the rotating blocks 5 on two sides to rotate, when the rotating blocks 5 rotate along the rotating pins 23, the telescopic rod can change in angle, the structure simulates the structure of the human mandible, the rotation of the rotating blocks 5 can simulate the change in angle of the condylar canal of the mandible skeleton 3, and accordingly oral structures of people in different states can be better simulated.
The rotating block 5 is provided with inclined slide rails 15 on one side opposite to each other, and the movable frame 6 is provided with slide carriages 16 on both sides, and the slide carriages 16 are slidably mounted on the slide rails 15.
The front end at movable frame 6 is installed to first driving motor 7, be provided with bearing frame 17 in the position that corresponds first driving motor 7 on the movable frame 6, first driving motor 7 rotatable installs on bearing frame 17, the lower extreme of first driving motor 7 is provided with mounting box 18, the pivot of first driving motor 7 sets up downwards and is provided with the transmission shaft 19 that extends to mounting box 18 lower extreme in its pivot, the both sides of mounting box 18 lower extreme still are provided with the driven shaft, the one end of driven shaft extends to the outside of mounting box 18 respectively, the lower extreme of transmission shaft 19 is provided with first bevel gear 20, both sides driven shaft is provided with second bevel gear 21 in the one end that is opposite each other, first bevel gear 20 and both sides second bevel gear 21 intermesh, the both ends and the both sides driven shaft of mandible skeleton 3 are located the one end of mounting box 18 outside and are connected.
When the first driving motor 7 rotates, the driven shaft is driven to rotate through the cooperation between the first bevel gear 20 and the second bevel gear 21, and the positive and negative rotation of the first driving motor 7 is controlled, so that the occlusion action of the mandible framework 3 can be realized.
The second driving motor 8 is installed on one side of the rear end of the movable frame 6, the lower end of the second driving motor 8 is provided with a turntable which rotates along with the motor, a first eccentric rod 22 is arranged on the turntable at the eccentric position of the turntable, one end of the first eccentric rod 22 is hinged with the turntable, the other end of the first eccentric rod 22 is hinged with the rear end of the rotating block 5 close to one side of the first eccentric rod 22, and the second driving motor 8, the first eccentric rod 22 and the rotating block 5 are matched with each other to control the movable frame 6 to move along the sliding rail 15.
Along with the rotation of the second driving motor 8, the first eccentric rod 22 with an eccentric state rotates along with the rotation, a pulling force is generated on the rotating block 5 according to the position of the first eccentric rod 22, and when the electric push rod 10 is not started, the rotating block 5 is in a fixed state, so that the pulling force generated by the rotation of the first eccentric rod 22 drives the sliding seat 16 on the movable frame 6 to slide reciprocally along the inclined sliding rail 15, and along with the sliding of the movable frame 6 along the sliding rail 15, the action of stretching the mandible skeleton 3 forwards can be simulated.
The third driving motor 9 is symmetrically arranged on one side of the second driving motor 8, the lower end of the third driving motor 9 is also provided with a rotary disc, the rotary disc is provided with a second eccentric rod 24, the lower end of the first driving motor 7 is provided with a mounting block 25, the mounting block 25 is positioned on the rear side of the mounting box 18, one end of the second eccentric rod 24 is hinged with the rotary disc, the second eccentric rod 24 is hinged at the eccentric position of the rotary disc, the other end of the second eccentric rod 24 is hinged with the mounting block 25, and the third driving motor 9, the second eccentric rod 24 and the mounting block 25 are matched with each other to control the first driving motor 7 to reciprocate in the bearing seat 17.
When the third driving motor 9 rotates, the second eccentric rod 24 at the eccentric position is driven to rotate along with the rotation, and when the position of the second eccentric rod 24 changes, a tensile force is generated, when the second eccentric rod 24 applies a force to the mounting block 25, the mounting block 25 drives the first driving motor 7 to rotate in the bearing seat 17, and along with the rotation of the first driving motor 7, the mounting box 18 at the lower end of the mounting box moves along with the rotation, so that the mandible skeleton 3 is controlled to simulate a left-right swinging motion.
The first eccentric rod 22 and the second eccentric rod 24 may be replaced with a belt and gear co-driving.
The neck frame includes the base 26 of being connected with truck frame 1, be provided with fourth driving motor 27 on the base 26, fourth driving motor 27 rotationally transversely sets up on the base 26, the top of fourth driving motor 27 is provided with support frame 28, the rear end and the support frame 28 fixed connection of jaw mounting panel 2, the action of nodding is being made to jaw mounting panel 2 to fourth driving motor 27 control, fourth driving motor 27 rotates with the base 26 to be connected, when fourth driving motor 27 rotates, it can rotate along the base 26 by oneself, control its just reverses, can make the action of nodding of whole jaw skeleton simulation.
The lower extreme in the truck frame 1 is provided with fifth driving motor 29, still is provided with vertical pole setting 30 in the truck frame 1, and fifth driving motor 29 control pole setting 29 rotates, and the upper end of pole setting 29 passes the upper end of truck frame 1 and with the lower extreme fixed connection of base 26.
The fifth driving motor 29 can be connected in series with the lower end of the upright rod 30 through a gear, a belt and other structures, and when the fifth driving motor 29 rotates positively and negatively, the fifth driving motor can drive the neck frame to rotate left and right, so that the whole jaw skeleton is controlled to make left and right twisting motions.
The working principle of the invention is as follows: the invention controls the mandible to make some human actions so as to achieve the teaching purpose of bionic simulation, controls the whole mandible skeleton to swing left and right when controlling the fifth driving motor 29 to rotate so as to simulate the action of shaking head, controls the whole mandible skeleton to swing up and down when controlling the fourth driving motor 27 to rotate so as to simulate the action of shaking head, controls the mandible skeleton 3 to rotate by taking the driven shaft as the rotation center when starting the first driving motor 7 so as to simulate the action of opening and closing the mouth of the mandible skeleton 3 when starting the second driving motor 8, controls the first eccentric rod 22 to rotate and generate external force so as to drive the whole movable frame 6 to slide up and down along the sliding rail 15, and as the mandible skeleton 3 is connected with the installation box 18 at the lower end of the first driving motor 7, so the mandible skeleton 3 can stretch back and forth to simulate the action of stretching back and forth of the mandible, when the third driving motor 9 is started, the third driving motor controls the second eccentric rod 24 to rotate and generate external force to drag the mounting block 25 at the lower end of the first driving motor 7, thereby driving the first driving motor 7 to rotate reciprocally in the bearing seat 17 by a small extent, the mandible skeleton 3 is further driven to swing left and right because of being mounted at the lower end of the first driving motor 7, thus simulating the action of swinging left and right of the mandible, aiming at the crowd with different skeleton structures, the angle of the connection part of the mandible and the skull is changed to a certain extent, especially the crowd with missing teeth, the position and the permanent of the whole mandible are different, the angle of the joint of the mandible and the skull is called as the condyloid angle, in order to better simulate the change of the condyloid angle of different crowds, the telescopic rod of the electric push rod 10 can be controlled to stretch and retract, the linkage cross rod 13 can be pushed along with the work of the electric push rod 10, the rotating blocks 5 on two sides of the mandible mounting plate 2 are controlled to rotate along the rotating pins 23, the rotating blocks 5 rotate to drive the movable frame 6 to rotate, the mandible skeleton 3 is controlled to rotate and generate angle change, and the change of the condyloid angle of the mandible is simulated.
In the practical application process, the invention realizes the control of each driving motor and the electric push rod 10 through programming, and can control each driving motor to cooperatively work, so that the mechanical mandible in the invention can completely simulate the movement of the mandible of a human, synchronously carry out occlusion and swing in all directions, thereby better simulating the actual movement of the mandible of the human, and the invention can also cooperate with the action acquisition equipment to acquire the mandible movement of an experimenter when carrying out bionic performance, and can carry out the mandible movement identical to the acquired person through the robot in the invention, and different mandible movements of different experimenters can be cooperated for display, thereby improving the interactive feeling of the experimenter and the robot and greatly increasing the visiting experience.
The embodiments of the invention have been presented for purposes of illustration and description, and are not intended to be exhaustive or limited to the invention in the form disclosed. Many modifications and variations will be apparent to those of ordinary skill in the art. The embodiments were chosen and described in order to best explain the principles of the invention and the practical application, and to enable others of ordinary skill in the art to understand the invention for various embodiments with various modifications as are suited to the particular use contemplated.
Claims (10)
1. Humanoid robot with temporal-inferior joint motion function, its characterized in that: the device comprises a trunk frame, wherein the upper end of the trunk frame is provided with a neck frame capable of rotating left and right, the neck frame is provided with a jaw mounting plate capable of moving up and down, the lower end of the jaw mounting plate is provided with a maxillary framework and an adjustable mandibular framework, the middle part of the jaw mounting plate is provided with a mounting opening, and a driving mechanism for controlling the mandibular framework to move is arranged in the mounting opening;
the driving mechanism comprises fixing frames arranged on two sides of the mounting opening, the fixing frames are fixedly connected with the jawbone mounting plate, rotating blocks are arranged on one sides of the fixing frames on two sides opposite to each other, the lower ends of the rotating blocks are rotationally connected with the fixing frames, and adjustable movable frames are arranged on the rotating blocks on two sides;
the movable frame is provided with a first driving motor for controlling the mandible framework to perform occluding motion, a second driving motor for controlling the mandible framework to perform back-and-forth swinging motion and a third driving motor for controlling the mandible framework to perform left-and-right swinging motion;
the rear side of jaw mounting panel upper end is provided with electric putter, electric putter is used for control the turning block rotates.
2. The humanoid robot with temporal-temporal articulation function according to claim 1, characterized in that: the fixing frame comprises positioning frames fixedly arranged on two sides of the mounting opening, the cross section of each positioning frame is U-shaped, a sliding block capable of being adjusted up and down is arranged in each positioning frame, and the lower end of each rotating block is hinged to the lower end of each sliding block through a rotating pin.
3. The humanoid robot with temporal-temporal articulation function according to claim 2, characterized in that: a strip-shaped positioning groove is formed in the side edge of the positioning frame along the vertical direction, a positioning pin capable of sliding up and down is arranged at the positioning groove, and the positioning pin penetrates through the positioning groove and is fixedly connected with the sliding block;
the sliding block is also provided with an arc-shaped chute, the rotating block is also provided with a guide pin, and the guide pin penetrates through the chute and slides along the chute.
4. A humanoid robot with temporal-temporal articulation according to claim 3, characterized in that: the two sides install the linkage horizontal pole between the turning block, both sides be provided with the mounting bracket between the locating frame, electric putter rear end with the rear end of mounting bracket articulates, electric putter's telescopic link with the middle part of linkage horizontal pole articulates.
5. The humanoid robot with temporal-temporal articulation function of claim 4, wherein: the rotating block is provided with inclined sliding rails on one side opposite to each other, sliding seats are arranged on two sides of the movable frame, and the sliding seats are slidably arranged on the sliding rails.
6. The humanoid robot with temporal-temporal articulation function of claim 5, wherein: the front end of movable frame is installed to first driving motor, is provided with the bearing frame in the position that corresponds first driving motor on the movable frame, and first driving motor rotatable installs on the bearing frame, first driving motor's lower extreme is provided with the mounting box, and first driving motor's pivot sets up downwards and its pivot is provided with towards the transmission shaft that the mounting box lower extreme extends, and the both sides of mounting box lower extreme still are provided with the driven shaft, the one end of driven shaft extends to the outside of mounting box respectively, the lower extreme of transmission shaft is provided with first bevel gear, and the both sides driven shaft is provided with the second bevel gear in the one end that is opposite each other, first bevel gear and both sides the second bevel gear intermesh, the both ends and the both sides driven shaft of mandible skeleton are located the outer one end of mounting box and are connected.
7. The humanoid robot with temporal-temporal articulation function of claim 6, wherein: the second driving motor is installed one side of movable frame rear end, and the second driving motor lower extreme is provided with the carousel that follows motor pivoted, be provided with first eccentric rod on the carousel in its eccentric position, the one end of first eccentric rod is articulated with the carousel, the other end of first eccentric rod with be close to its own one side the rear end of rotor is articulated, second driving motor, first eccentric rod and rotor cooperate each other control movable frame edge the slide rail removes.
8. The humanoid robot with temporal-temporal articulation function of claim 7, wherein: the third driving motor is symmetrically arranged on one side of the second driving motor, the lower end of the third driving motor is also provided with the rotary table, the rotary table is provided with a second eccentric rod, the lower end of the first driving motor is provided with a mounting block, one end of the second eccentric rod is hinged with the rotary table, the other end of the second eccentric rod is hinged with the mounting block, and the third driving motor, the second eccentric rod and the mounting block are mutually matched to control the first driving motor to reciprocally rotate in the bearing seat.
9. The humanoid robot with temporal-temporal articulation function of claim 8, wherein: the neck frame comprises a base connected with the trunk frame, a fourth driving motor is arranged on the base and is rotatably and transversely arranged on the base, a supporting frame is arranged above the fourth driving motor, the rear end of the jaw mounting plate is fixedly connected with the supporting frame, and the fourth driving motor controls the jaw mounting plate to make a nodding action.
10. The humanoid robot with temporal-temporal articulation function of claim 9, wherein: the lower extreme in the truck frame is provided with the fifth driving motor, still is provided with vertical pole setting in the truck frame, the fifth driving motor control the pole setting rotates, the upper end of pole setting pass the upper end of truck frame and with the lower extreme fixed connection of base.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311586618.6A CN117437835A (en) | 2023-11-27 | 2023-11-27 | Humanoid robot with temporomandibular joint movement function |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311586618.6A CN117437835A (en) | 2023-11-27 | 2023-11-27 | Humanoid robot with temporomandibular joint movement function |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN117437835A true CN117437835A (en) | 2024-01-23 |
Family
ID=89553461
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202311586618.6A Pending CN117437835A (en) | 2023-11-27 | 2023-11-27 | Humanoid robot with temporomandibular joint movement function |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN117437835A (en) |
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2023
- 2023-11-27 CN CN202311586618.6A patent/CN117437835A/en active Pending
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