CN105171750A - Human-simulated neck moving mechanism - Google Patents

Abstract

The invention discloses a humanoid neck movement mechanism. It includes the base, the head shaking mechanism, the nodding mechanism and the head swinging mechanism. The head shaking is realized by driving the large and small gears driven by the motor; the nodding and head tilting are driven by the motor to drive the disc clamp, and the disc clamp moves the head support plate , so as to realize the movement of nodding and raising the head; the swinging head is rotated by two swinging head motors, and the middle rod and the lower swinging rod are swung through the swinging head connecting rod to realize the swinging action of the head. The structure of the motion mechanism is simple, which enhances the anthropomorphic effect of the humanoid robot; the angles of head up and nodding are both 15°, the angle of shaking the head left and right is between -45° and 45°, and the maximum angle of swinging the head is 90°, which can complete normal human It can achieve head shaking and head swinging movements, and the neck can complete Xinjiang dance and other movements. It looks less stiff and more human-like when exercising.

Description

A humanoid neck movement mechanism

technical field

The invention relates to a neck movement mechanism of a humanoid robot. The robot neck movement mechanism is a part of the expression robot research, and the neck movement can make the expression robot more vivid. It belongs to the field of robotics.

Background technique

At present, there have been many studies on the neck structure of humanoid robots. The neck movements of existing robots are generally nodding, shaking their heads, and shaking their heads. However, when shaking their heads, the amplitude of shaking their heads is relatively small, which is quite different from that of humans. ; Head swinging movements will also be more limited, and it is difficult to complete some specific movements that human necks can complete, such as Xinjiang dance. The neck movement designed this time can realize the movement of Xinjiang dance, and the neck shaking and head shaking movements can be realized comprehensively, which makes the neck movement more diversified and makes the robot's expression more vivid and realistic.

Contents of the invention

The purpose of the present invention is to overcome the shortcoming of the poor anthropomorphic fidelity of the existing robot neck movement, and propose a humanoid neck movement mechanism, which can realistically imitate the human neck, realize nodding, shaking the head, swinging the head and high The movement mechanism of the difficult Xinjiang dance and other movements.

In order to achieve the above-mentioned purpose, the idea of the present invention is: in order to make the movement of the neck more diversified, the present invention realizes the overall shaking head action through the motor-driven gear transmission; realizes nodding through the motor-driven disc clamp and the head support plate Movement; through the left and right driving links of two motors, it can realize rich swing postures; in this way, the whole mechanism can realize neck nodding, head shaking and head swinging movements; analyze the kinematic relationship between the swinging head link and the middle rod , from the movement posture of Xinjiang dance, through the control of two swinging motors, the movement of Xinjiang dance is realized.

According to above-mentioned design, the present invention adopts following technical scheme:

A human-like neck motion mechanism, including a base, a thrust bearing, an oscillating shaft, a large gear, a screw, a pinion, an oscillating motor, a nodding motor, a head support plate, a disc clamp, two oscillating motors, four Swing head connecting rod, lower swing link, upper swing link, swing head motor frame, living hinge and middle rod; the swing head motor is fixed on the base through the swing head motor frame and screws, the output shaft of the swing head motor is connected with the pinion, and the pinion is connected with Large gear; the large gear is connected to the oscillating shaft through a key, and the oscillating shaft cooperates with the thrust bearing and is installed on the base, and the oscillating shaft is connected to the head support plate through a movable hinge; the nodding motor is fixed on the base, and the nodding motor The head support plate is connected by a disc clamp; one end of the middle rod is hinged to the head support plate, the other end of the middle rod is hinged to one end of the lower swing rod, and the other end of the lower swing rod is connected to the upper swing rod; the two swing rods The head motor is installed on the head support plate, one of the swing head motors is connected to one end of two mutually hinged swing head links, the other end of the swing head link is hinged to the lower swing bar, and the other swing head motor is connected to the other two hinged links. One end of the swing head connecting rod, and the other end of the swing head connecting rod is hinged to the middle rod.

The working principle of the present invention: four motors use steering gear, after the hardware platform is built, use the single-chip microcomputer application system and the steering gear to drive the circuit board, compile the control program, control the start and stop of the steering gear, forward transmission, reverse rotation, and coordinate the four steering gears The rotation of the machine, so as to realize the actions of the robot such as nodding, raising the head, shaking the head, swinging the head, and Xinjiang dance.

Compared with the prior art, the present invention has the following significant advantages:

Simulate the human neck to enhance the anthropomorphic effect of the humanoid robot; the angle of raising the head and nodding is controlled by the nodding motor within 15 ^° , and there will be no interference; the angle of shaking the head left and right is between -45 ^° and 45 ^° , which can realize The head shaking movement achieved by normal people; the maximum angle of head shaking is 90 ^° . By analyzing the movement relationship between the head swing connecting rod, the middle rod and the four head swing connecting rods, the movement posture of Xinjiang dance is analyzed by the two head swings. The control of the motor is used to realize the Xinjiang dance movement, which looks less rigid and more human-like.

Description of drawings

Figure 1 is a schematic diagram of the overall design of the mechanism.

Figure 2 is a bottom sectional view of the mechanism.

Fig. 3 is a schematic diagram of the head shaking movement realized by the mechanism.

Fig. 4 is a schematic diagram of the mechanism realizing nodding and raising the head.

Fig. 5 is a schematic diagram of the mechanism realizing the swinging movement.

Fig. 6 is a schematic diagram of completing Xinjiang dance movements.

Detailed ways

The present invention will be further described in detail below in conjunction with the accompanying drawings and specific embodiments.

As shown in Figures 1 and 2, a humanoid neck movement mechanism includes a base 1, a thrust bearing 2, an oscillating shaft 3, a large gear 4, a screw 5, a pinion 6, an oscillating motor 7, a nodding motor 8, Head support plate 9, disc clip 10, two swing head motors 11, four swing head connecting rods 12, lower swing rod 13, upper swing rod 14, swing head motor frame 15, movable hinge 16 and middle rod 17; The oscillating motor 7 is fixed on the base 1 by the oscillating motor bracket 15 and the screw 5, the output shaft of the oscillating motor 7 is connected with the pinion 6, and the pinion 6 is connected with the large gear 4; the large gear 4 is connected with the oscillating shaft 3 through a key, and the oscillating shaft 3 is matched with the thrust bearing 2 and installed on the base 1, the shaking head shaft 3 is connected with the head support plate 9 through a movable hinge 16; Connect the head support plate 9; one end of the middle rod 17 is hinged with the head support plate 9, the other end of the middle rod 17 is hinged with one end of the lower swing rod 13, and the other end of the lower swing rod 13 is connected to the upper swing rod 14; Two swing head motors 11 are installed on the head support plate 9, wherein one swing head motor 11 connects one end of two mutually hinged swing head connecting rods 12, the other end of the swing head connecting rod 12 is hinged lower swing rod 13, and the other The swing head motor 11 is connected to one end of two other swing head connecting rods 12 hinged to each other, and the other end of the swing head connecting rod 12 is hinged to the intermediate rod 17 .

As shown in Figures 1 to 5, the oscillating head motor 7 rotates to drive the pinion gear 6 to rotate, and the rotation of the pinion gear 6 causes the large gear 4 to rotate accordingly, thereby causing the oscillating head shaft 3 and the head support plate 9 to rotate, realizing the whole The shaking action of the head; when nodding, the shaft 8 of the nodding motor will be parallel to the axis of the living hinge 16, and the rotation of the nodding motor 8 will drive the disc clamp 10 to rotate. Under the action of the disc clamp 10, the head support disc 9 starts Nodding or raising the head, so that the whole head can realize the nodding action; the two swinging head motors 11 rotate, and the middle rod 17 and the lower swinging rod 13 are swung through the swinging head connecting rod 12, so as to realize the swinging action of the head.

As shown in Figure 6, the neck structure can be divided into two parts by the posture of Xinjiang dance, namely the middle rod 17 and the lower swing rod 13. To realize the movements of Xinjiang dance, the lower swing rod 13 needs to be kept perpendicular to the head support plate 9 , but the middle rod 17 swings left and right to achieve; analyze the kinematic relationship between the lower swing rod 13, the middle rod 17 and the four swing head connecting rods 12, through the control of the two swing head motors 11, the lower swing rod 13, the middle rod 17 and four swing head connecting rods 12 reach expected motion and realize Xinjiang dance action.

Claims (1)

1. A humanoid neck movement mechanism, characterized in that it includes a base (1), a thrust bearing (2), an oscillating shaft (3), a large gear (4), a screw (5), and a pinion (6) , shaking head motor (7), nodding motor (8), head support plate (9), disc clamp (10), two swinging head motors (11), four swinging head connecting rods (12), lower swing rod ( 13), the upper swing rod (14), the swing motor frame (15), the living hinge (16) and the middle rod (17); the swing motor (7) is fixed on the On the base (1), the output shaft of the oscillating head motor (7) is connected to the pinion (6), and the pinion (6) is connected to the large gear (4); the large gear (4) is connected to the oscillating shaft (3) through a key, and the oscillating head The shaft (3) cooperates with the thrust bearing (2) and is installed on the base (1), and the shaking head shaft (3) is connected with the head support plate (9) through a movable hinge (16); the nodding motor (8) is fixed On the base (1), the nodding motor (8) is connected to the head support plate (9) through the disc clamp (10); one end of the middle rod (17) is hinged to the head support plate (9), and the middle The other end of the rod (17) is hinged to one end of the lower swing rod (13), and the other end of the lower swing rod (13) is connected to the upper swing rod (14); the two swing motors (11) are installed on the head support plate ( 9), one of the swing head motors (11) is connected to one end of two mutually hinged swing head connecting rods (12), the other end of the swing head connecting rods (12) is hinged to the lower swing rod (13), and the other swing head motor (11) Connect one end of the other two swing head connecting rods (12) which are hinged to each other, and the other end of the swing head connecting rod (12) is hinged to the middle rod (17).