CN101786275A - Thirteen-degree-of-freedom head mechanism of humanoid robot - Google Patents
Thirteen-degree-of-freedom head mechanism of humanoid robot Download PDFInfo
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- CN101786275A CN101786275A CN200910217463A CN200910217463A CN101786275A CN 101786275 A CN101786275 A CN 101786275A CN 200910217463 A CN200910217463 A CN 200910217463A CN 200910217463 A CN200910217463 A CN 200910217463A CN 101786275 A CN101786275 A CN 101786275A
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Abstract
The invention provides a thirteen-degree-of-freedom head mechanism of a humanoid robot and relates to a head mechanism of the humanoid robot, which aims to solve the problems of complex structure, poor flexibility, low movement accuracy and low coordination of an overall mechanism of the conventional head mechanism of the humanoid robot. An eyebrow servo steering engine drives eyebrow axes to rotate around eyebrow axis sleeves through eyebrow swinging rods so as to make eyebrow supporting rods swing; an eyeball upward-downward rotation servo steering engine drives outer sliding rings to swing left and right through eyeball upward-downward steering engine cranks, eyeball upward-downward sliding pins and outer ring swinging rods so as to drive eyeball swinging rods to move; an eyeball left-right swinging servo steering engine drives inner sliding rings to swing through eyeball left-right swinging steering engine cranks, eyeball left-right swinging sliding pins and inner sliding ring swinging rods; an eyelid servo steering engine drives eyelid supporting racks to swing through eyelid open-close cranks, eyelid sliding pins and eyelid swinging rods; and a mouth corner servo steering engine drives mouth corner swinging rods to perform up and down opening and closing movement through mouth corner steering engine cranks, mouth corner sliding pins and mouth corner swinging rods. The thirteen-degree-of-freedom head mechanism of the humanoid robot can realize the thirteen degree-of-freedom movement of the head of the humanoid robot.
Description
Technical field
The present invention relates to a kind of head mechanism of humanoid robot.
Background technology
Present head mechanism of humanoid robot complex structure, kinematic dexterity is poor, kinematic accuracy is low, the motion underaction of eyes particularly, promptly eyes about or to rotate up and down be synchronous; The amplitude that overall appearance and even local size and each organ can move all differs bigger with the mankind's head, and the coordination of whole mechanism is not high.
Summary of the invention
The purpose of this invention is to provide a kind of thirteen-degree-of-freedom head mechanism of humanoid robot, present head mechanism of humanoid robot complex structure, very flexible, kinematic accuracy are low to solve, the not high problem of coordination of whole mechanism.The present invention includes the deflection of eyes independence and face upward the motion of bowing, eyelid and face open and close movement, eyebrow knit tightly with releive, the corners of the mouth move to amount to ten three degree of freedoms.
The present invention solves the problems of the technologies described above the technical scheme of taking to be: thirteen-degree-of-freedom head mechanism of humanoid robot of the present invention is made up of two eyebrow mechanisms, two eye motion mechanisms, nozzle mechanism and base plates; Each eyebrow mechanism is made up of eyebrow steering wheel support, two servo steering wheels of eyebrow, two eyebrow sliding pins, two eyebrow forks, two eyebrow axles, two eyebrow axle sleeves and two eyebrow support bars; Each eye motion mechanism is made up of eyes support, two the servo steering wheels of eyeball, the servo steering wheel of eyelid, eyeball steering wheel support, eye socket, four eye socket axles, two eyeball sliding pins, outer slip ring, outer slip ring fork, two outer slip ring axle sleeves, interior slip ring, interior slip ring fork, two interior slip ring axle sleeves, eyeball fork, eyeball, eyeball cover, eyelid bracing frame, two eyelid axle sleeves, eyelid sliding pin and eyelid forks; Nozzle mechanism is made up of mouth frame, two corners of the mouth steering wheel supports, two servo steering wheels of the corners of the mouth, two corners of the mouth sliding pins, two corners of the mouth forks, two corners of the mouth axle sleeves, two corners of the mouth axles, upper lip, face steering wheel support, the servo steering wheel of face, face sliding pin, lower lip, two face axles and two face axle sleeves;
Eyebrow steering wheel support and eyes support are corresponding one by one to be provided with, eyes support and eyebrow steering wheel support are fixed on the upper surface of base plate from front to back, two servo steering wheels of eyebrow all are packed on the eyebrow steering wheel support, one end of the output of the servo steering wheel of each eyebrow and eyebrow steering wheel crank is affixed, two eyebrow steering wheel cranks are symmetricly set on the outer both sides of eyebrow steering wheel support with respect to the center of eyebrow steering wheel support, the other end of each eyebrow steering wheel crank is fixed with an eyebrow sliding pin, the outer both sides of eyes support respectively are provided with an eyebrow fork, the eyebrow sliding pin is arranged in the eyebrow sliding pin elongated slot that eyebrow fork one end is provided with, and the two is slidingly matched, the other end of eyebrow fork is connected with an end of eyebrow axle, the other end of eyebrow axle is connected with the rear end of eyebrow support bar, be set with eyebrow axle sleeve and the two matched in clearance on the eyebrow axle, the eyebrow axle sleeve is contained in interior and the two interference fit of eyebrow axle sleeve hole on the eyes rack side wall;
Described two servo steering wheels of eyeball are respectively that swing servo steering wheel and eyeball of eyeball faced upward to bow and rotated servo steering wheel, the eyeball servo steering wheel that swings is packed on the entablature of eyes support, eyeball is faced upward to bow and is rotated servo steering wheel and the servo steering wheel of eyelid and be arranged between eyes support and the eyebrow steering wheel support and all be packed on the eyeball steering wheel support, eye socket is an annular, the excircle end face of annular eye socket is provided with four eye socket axles that communicate with the interior ring cavity of annular eye socket, and respectively be provided with two eye socket axles on the horizontal center line axis of annular eye socket and the vertical centre axis, four eye socket axles and annular eye socket are made one, the annular eye socket is fixed on the upper surface of the both sides of eyes support and base plate, eyeball face upward bow rotate the output of servo steering wheel and a end that eyeball is faced upward the steering wheel crank of bowing affixed, two eyeball sliding pins are respectively that eyeball is faced upward bow sliding pin and eyeball swing sliding pin, eyeball is faced upward the other end of the steering wheel crank of bowing and eyeball, and to face upward the sliding pin of bowing affixed, one lateral wall of outer slip ring is affixed with outer slip ring fork, outer slip ring fork is provided with outer slip ring elongated slot, the outer slip ring elongated slot that eyeball is faced upward on bow sliding pin and the outer slip ring fork is slidingly matched, the two ends of outer slip ring respectively are provided with an outer slip ring axle sleeve hole, be fixed with an outer slip ring axle sleeve in the outer slip ring axle sleeve hole of on the outer slip ring each, each outer slip ring axle sleeve is sleeved on the eye socket axle that is positioned on the annular eye socket horizontal center line axis and the two matched in clearance;
Eyeball the swing end of steering wheel crank of the output of servo steering wheel and eyeball that swings is affixed, the eyeball other end of steering wheel crank and the eyeball sliding pin that swings that swings is affixed, one lateral wall of interior slip ring and interior slip ring fork are affixed, interior slip ring fork is provided with interior slip ring elongated slot, the interior slip ring elongated slot that eyeball swings on sliding pin and the interior slip ring fork is slidingly matched, the two ends of interior slip ring respectively are provided with an interior slip ring axle sleeve hole, be fixed with an interior slip ring axle sleeve in the slip ring axle sleeve hole in each of interior slip ring, the slip ring axle sleeve is sleeved on the eye socket axle that is positioned on the annular eye socket vertical centre axis and the two matched in clearance in each, one end of eyeball fork is connected with the center of eyeball, outer slip ring is provided with outer slip ring slideway, interior slip ring is provided with interior slip ring slideway, the outer slip ring slideway of the interior slip ring slideway of slip ring and outer slip ring was arranged on the outside of outer slip ring in the other end of eyeball fork passed, eyeball is set between eyeball and the annular eye socket, eyeball cover and annular eye socket interference fit, eyeball cooperates with eyeball cover gap;
The two ends of eyelid bracing frame respectively are provided with an eyelid axle sleeve hole, be fixed with an eyelid axle sleeve in each eyelid axle sleeve hole of eyelid bracing frame, the eyelid axle sleeve is sleeved on the eye socket axle that is positioned on the annular eye socket horizontal center line axis and the two matched in clearance, one end of the output of the servo steering wheel of eyelid and eyelid folding crank is affixed, the other end and the eyelid sliding pin of eyelid folding crank are affixed, eyelid fork and eyelid bracing frame are affixed, and the eyelid elongated slot on eyelid sliding pin and the eyelid fork is slidingly matched;
The upper end of mouth frame and the lower surface of base plate are affixed, two corners of the mouth steering wheel supports all are fixed on the rear side on the mouth frame, be fixed with a servo steering wheel of the corners of the mouth on each corners of the mouth steering wheel support, one end of the output of the servo steering wheel of each corners of the mouth and corners of the mouth steering wheel crank is affixed, the both sides of mouth frame respectively are provided with a corners of the mouth steering wheel crank, the other end and the corners of the mouth sliding pin of each corners of the mouth steering wheel crank are affixed, corners of the mouth chute on each corners of the mouth sliding pin and the corresponding corners of the mouth fork rear end is slidingly matched, the front end of corners of the mouth fork is the corners of the mouth strong point, the middle part of corners of the mouth fork is provided with corners of the mouth axle sleeve hole, corners of the mouth axle sleeve is packed in the corners of the mouth axle sleeve hole on the corners of the mouth fork, corners of the mouth axle with its matched in clearance is housed in each corners of the mouth axle sleeve, two coaxial settings of corners of the mouth axle, the both sides of upper lip and mouth frame are affixed, face steering wheel support is fixed on the mouth frame and is positioned at the front side of the servo steering wheel of the corners of the mouth, one end of the output of the servo steering wheel of face and face steering wheel crank is affixed, the other end and the face sliding pin of face steering wheel crank are affixed, lower lip chute on face sliding pin and the lower lip sidewall is slidingly matched, the both sides of mouth frame respectively are fixed with a face axle, two coaxial settings of face axle, the two ends of lower lip respectively are provided with a face axle sleeve hole, be fixed with a face axle sleeve in each face axle sleeve hole on the lower lip, the face axle sleeve is sleeved on the face axle and the two matched in clearance.
The invention has the beneficial effects as follows: one, the head mechanism free degree of the present invention is nearly 13, and adopt fork and sliding pin as driving mechanism, its kinematic dexterity is improved, and especially eye motion mechanism adopts fork and combining of eyeball (ball-and-socket hinge device) that the deflection of the eyeball left and right sides is rotated in+20 °～-20 ° scopes with facing upward to bow in+40 °～-40 ° scopes.Two, all the head with the mankind is close for the amplitude that can move of overall structure of the present invention and even each organ.Three, the coordination of whole mechanism of the present invention is good, by the head controlling organization, promptly realize the position that multiple expression head organ is reached with accurate, humorous mediation, express the multiple expression state of robot, finally make robot carry out natural and tripping emotion communication by enriching lively expression and people.
Description of drawings
Fig. 1 is an overall structure front view of the present invention, and Fig. 2 is the vertical view of Fig. 1, and Fig. 3 is the A-A cutaway view of Fig. 2, and Fig. 4 is the left view of Fig. 1, and Fig. 5 is the B-B cutaway view of Fig. 4, and Fig. 6 is the C portion enlarged drawing of Fig. 1, and Fig. 7 is the D portion enlarged drawing of Fig. 1.
The specific embodiment
The specific embodiment one: in conjunction with Fig. 1～Fig. 7 present embodiment is described, the thirteen-degree-of-freedom head mechanism of humanoid robot of present embodiment is made up of two eyebrow mechanisms, two eye motion mechanisms, nozzle mechanism and base plates 8; Each eyebrow mechanism is made up of the servo steering wheel of eyebrow steering wheel support 32, two eyebrows 1, two eyebrow sliding pins 12, two eyebrow forks 30, two eyebrow axles 19, two eyebrow axle sleeves 18 and two eyebrow support bars 29; Each eye motion mechanism by eyes support 4, two servo steering wheels of eyeball, the servo steering wheel 42 of eyelid, eyeball steering wheel support 43, eye socket 3, four eye socket axles 44, two eyeball sliding pins, outer slip ring 15, outer slip ring fork 47, two outer slip ring axle sleeves 21, interior slip ring 13, interior slip ring fork 48, satisfactory to both parties in slip ring axle sleeve 49, eyeball fork 14, eyeball 5, eyeball cover 6, eyelid bracing frame 16, two eyelid axle sleeves 20, eyelid sliding pin 50 and eyelid forks 51 form; Nozzle mechanism is made up of the servo steering wheel of mouth frame 9, two corners of the mouth steering wheel supports 33, two corners of the mouths 52, two corners of the mouth sliding pins 53, two corners of the mouth forks 26, two corners of the mouth axle sleeves 25, two corners of the mouth axles 24, upper lip 28, face steering wheel support 34, the servo steering wheel 54 of face, face sliding pin 55, lower lip 27, two face axles 23 and two face axle sleeves 22;
Eyebrow steering wheel support 32 and eyes support 4 are corresponding one by one to be provided with, eyes support 4 and eyebrow steering wheel support 32 are fixed on the upper surface of base plate 8 from front to back, two servo steering wheels 1 of eyebrow all are packed on the eyebrow steering wheel support 32, the end of the output of the servo steering wheel 1 of each eyebrow and eyebrow steering wheel crank 1-1 is affixed, two eyebrow steering wheel crank 1-1 are symmetricly set on the outer both sides of eyebrow steering wheel support 32 with respect to the center of eyebrow steering wheel support 32, the other end of each eyebrow steering wheel crank 1-1 is fixed with an eyebrow sliding pin 12, eyes support 4 outer both sides respectively are provided with an eyebrow fork 30, eyebrow sliding pin 12 is arranged in the eyebrow sliding pin elongated slot that eyebrow fork 30 1 ends are provided with, and the two is slidingly matched, the other end of eyebrow fork 30 is connected with an end of eyebrow axle 19, the other end of eyebrow axle 19 is connected with the rear end of eyebrow support bar 29, be set with eyebrow axle sleeve 18 and the two matched in clearance on the eyebrow axle 19, eyebrow axle sleeve 18 is contained in interior and the two interference fit of eyebrow axle sleeve hole on eyes support 4 sidewalls;
Described two servo steering wheels of eyeball are respectively that swing servo steering wheel 40 and eyeball of eyeball faced upward to bow and rotated servo steering wheel 41, the eyeball servo steering wheel 40 that swings is packed on the entablature of eyes support 4, eyeball is faced upward to bow and is rotated servo steering wheel 41 and the servo steering wheel 42 of eyelid and be arranged between eyes support 4 and the eyebrow steering wheel support 32 and all be packed on the eyeball steering wheel support 43, eye socket 3 is an annular, the excircle end face of annular eye socket 3 is provided with four eye socket axles 44 that communicate with the interior ring cavity of annular eye socket 3, and respectively be provided with two eye socket axles 44 on the horizontal center line axis of annular eye socket 3 and the vertical centre axis, four eye socket axles 44 are made one with annular eye socket 3, annular eye socket 3 is fixed on the upper surface of the both sides of eyes support 4 and base plate 8, eyeball face upward bow rotate the output of servo steering wheel 41 and a end that eyeball is faced upward the steering wheel crank 41-1 that bows affixed, two eyeball sliding pins are respectively that eyeball is faced upward bow sliding pin 45 and eyeball swing sliding pin 46, eyeball is faced upward the other end of the steering wheel crank 41-1 that bows and eyeball, and to face upward the sliding pin 45 of bowing affixed, one lateral wall of outer slip ring 15 and outer slip ring fork 47 are affixed, outer slip ring fork 47 is provided with outer slip ring elongated slot, the outer slip ring elongated slot that eyeball is faced upward on bow sliding pin 45 and the outer slip ring fork 47 is slidingly matched, the two ends of outer slip ring 15 respectively are provided with an outer slip ring axle sleeve hole, be fixed with an outer slip ring axle sleeve 21 in the outer slip ring axle sleeve hole of on the outer slip ring 15 each, each outer slip ring axle sleeve 21 is sleeved on the eye socket axle 44 that is positioned on annular eye socket 3 horizontal center line axis and the two matched in clearance;
Eyeball the swing end of steering wheel crank 40-1 of the output of servo steering wheel 40 and eyeball that swings is affixed, the eyeball other end of steering wheel crank 40-1 and the eyeball sliding pin 46 that swings that swings is affixed, one lateral wall of interior slip ring 13 and interior slip ring fork 48 are affixed, interior slip ring fork 48 is provided with interior slip ring elongated slot, swing sliding pin 46 of eyeball is slidingly matched with interior slip ring elongated slot on the interior slip ring fork 48, the two ends of interior slip ring 13 respectively are provided with an interior slip ring axle sleeve hole, be fixed with an interior slip ring axle sleeve 49 in the slip ring axle sleeve hole in each of interior slip ring 13, slip ring axle sleeve 49 is sleeved on the eye socket axle 44 that is positioned on the annular eye socket 3 vertical centre axis and the two matched in clearance in each, one end of eyeball fork 14 is connected with the center of eyeball 5, outer slip ring 15 is provided with outer slip ring slideway 15-1, interior slip ring 13 is provided with interior slip ring slideway 13-1, the outer slip ring slideway 15-1 of the interior slip ring slideway 13-1 of slip ring 13 and outer slip ring 15 was arranged on the outside of outer slip ring 15 in the other end of eyeball fork 14 passed, eyeball cover 6 is arranged between eyeball 5 and the annular eye socket 3, eyeball cover 6 and annular eye socket 3 interference fit, eyeball 5 overlaps 6 matched in clearance with eyeball;
The two ends of eyelid bracing frame 16 respectively are provided with an eyelid axle sleeve hole, be fixed with an eyelid axle sleeve 20 in each eyelid axle sleeve hole of eyelid bracing frame 16, eyelid axle sleeve 20 is sleeved on the eye socket axle 44 that is positioned on annular eye socket 3 horizontal center line axis and the two matched in clearance, the end of the output of the servo steering wheel 42 of eyelid and eyelid folding crank 42-1 is affixed, the other end and the eyelid sliding pin 50 of eyelid folding crank 42-1 are affixed, eyelid fork 51 is affixed with eyelid bracing frame 16, and the eyelid elongated slot on eyelid sliding pin 50 and the eyelid fork 51 is slidingly matched;
The lower surface of the upper end of mouth frame 9 and base plate 8 is affixed, two rear sides that corners of the mouth steering wheel support 33 all is fixed on the mouth frame 9, be fixed with a servo steering wheel 52 of the corners of the mouth on each corners of the mouth steering wheel support 33, the end of the output of the servo steering wheel 52 of each corners of the mouth and corners of the mouth steering wheel crank 52-1 is affixed, the both sides of mouth frame 9 respectively are provided with a corners of the mouth steering wheel crank 52-1, the other end and the corners of the mouth sliding pin 53 of each corners of the mouth steering wheel crank 52-1 are affixed, corners of the mouth chute on each corners of the mouth sliding pin 53 and corresponding corners of the mouth fork 26 rear ends is slidingly matched, the front end of corners of the mouth fork 26 is the corners of the mouth strong point, the middle part of corners of the mouth fork 26 is provided with corners of the mouth axle sleeve hole, corners of the mouth axle sleeve 25 is packed in the corners of the mouth axle sleeve hole on the corners of the mouth fork 26, corners of the mouth axle 24 with its matched in clearance is housed in each corners of the mouth axle sleeve 25, two corners of the mouth axle 24 coaxial settings, upper lip 28 is affixed with the both sides of mouth frame 9, face steering wheel support 34 is fixed on the mouth frame 9 and is positioned at the front side of the servo steering wheel 52 of the corners of the mouth, the end of the output of the servo steering wheel 54 of face and face steering wheel crank 54-1 is affixed, the other end and the face sliding pin 55 of face steering wheel crank 54-1 are affixed, lower lip chute on face sliding pin 55 and lower lip 27 sidewalls is slidingly matched, the both sides of mouth frame 9 respectively are fixed with a face axle 23, two face axle 23 coaxial settings, the two ends of lower lip 27 respectively are provided with a face axle sleeve hole, be fixed with a face axle sleeve 22 in each face axle sleeve hole on the lower lip 27, face axle sleeve 22 is sleeved on the face axle 23 and the two matched in clearance.The equal outsourcing of employed servo steering wheel in the present embodiment.
The specific embodiment two: in conjunction with Fig. 1 present embodiment is described, present embodiment is a benchmark with the horizontal center line axis of eyebrow axle 19, the front end of eyebrow support bar 29 swing up and down scope+5mm～-5mm in.So be provided with, can meet design requirement.
The specific embodiment three: in conjunction with Fig. 1 present embodiment is described, present embodiment is a benchmark with the vertical centre axis of annular eye socket 3, and the left-right rotation scope of eyeball 5 is between+40 °～-40 °.So be provided with, can meet design requirement.Other is identical with the specific embodiment one or two.
The specific embodiment four: in conjunction with Fig. 1 present embodiment is described, present embodiment is a benchmark with the horizontal center line axis of annular eye socket 3, and facing upward of eyeball 5 bowed slewing area between+20 °～-20 °.So be provided with, can meet design requirement.Other is identical with the specific embodiment three.
The specific embodiment five: in conjunction with Fig. 5 present embodiment is described, present embodiment is a benchmark with the horizontal center line axis of corners of the mouth axle 24, the front end of corners of the mouth fork 26 swing up and down scope+10mm～-10mm between.So be provided with, can meet design requirement.Other is identical with the specific embodiment one or four.
Operation principle
Eyebrow mechanism is by controlling the realization that moves up and down of an eyebrow two-end-point.The servo steering wheel of eyebrow 1 drives eyebrow axles 19 by eyebrow fork 30 and rotates around eyebrow axle sleeve 18, thereby makes 29 swings of eyebrow support bar, can realize eyebrow one end move up and down-5mm～+ 5mm, the eyebrow other end also is like this.
In the eye motion mechanism, eyeball is faced upward to bow and is rotated servo steering wheel 41 and face upward the steering wheel crank 41-1 that bows, eyeball by eyeball and face upward bow sliding pin 45 and outer slip ring fork 47 (promptly constituting oscillating guidebar mechanism) and drive outer slip ring 15 and swing, thereby can rotate around annular eye socket 3 horizontal center line axis and drive 14 motions of eyeball fork, facing upward of eyeball 5 of realization bowed slewing area between+20 °～-20 °; Eyeball swing servo steering wheel 40 by eyeball swing steering wheel crank 40-1, eyeball swing sliding pin 46 and in slip ring fork 48 (being oscillating guidebar mechanism) drive in slip ring 13 swings, thereby can rotate around the vertical centre axis of annular eye socket 3 and drive 14 motions of eyeball fork, the left-right rotation scope that realizes eyeball 5 is between+40 °～-40 °; The servo steering wheel 42 of eyelid drives 16 swings of eyelid bracing frame by eyelid folding crank 42-1, eyelid sliding pin 50 and eyelid fork 51 (being oscillating guidebar mechanism), thereby can rotate the folding that realizes eyelid around the horizontal center line axis of annular eye socket 3; Another eyes also are like this.
In the nozzle mechanism, the middle part of corners of the mouth fork 26 can be rotated around the corners of the mouth axle 24 that is fixed on the mouth frame 9, and the servo steering wheel 52 of the corners of the mouth drives by corners of the mouth steering wheel crank 52-1, corners of the mouth sliding pin 53 and corners of the mouth fork 26 (being oscillating guidebar mechanism) about the front end realization corners of the mouth one end of corners of the mouth fork 26-10mm～+ motion of 10mm; Another corners of the mouth also is like this.The servo steering wheel 54 of face drives lower lip 27 swings by face steering wheel crank 54-1 and face sliding pin 55, thereby realizes the open and close movement of face.
Claims (5)
1. thirteen-degree-of-freedom head mechanism of humanoid robot, described head mechanism is made up of two eyebrow mechanisms, two eye motion mechanisms, nozzle mechanism and base plates (8); It is characterized in that: each eyebrow mechanism is made up of eyebrow steering wheel support (32), two servo steering wheels of eyebrow (1), two eyebrow sliding pins (12), two eyebrow forks (30), two eyebrow axles (19), two eyebrow axle sleeves (18) and two eyebrow support bars (29); Each eye motion mechanism is by eyes support (4), two servo steering wheels of eyeball, the servo steering wheel of eyelid (42), eyeball steering wheel support (43), eye socket (3), four eye socket axles (44), two eyeball sliding pins, outer slip ring (15), outer slip ring fork (47), two outer slip ring axle sleeves (21), interior slip ring (13), interior slip ring fork (48), two interior slip ring axle sleeves (49), eyeball fork (14), eyeball (5), eyeball cover (6), eyelid bracing frame (16), two eyelid axle sleeves (20), eyelid sliding pin (50) and eyelid fork (51) are formed; Nozzle mechanism is made up of mouth frame (9), two corners of the mouth steering wheel supports (33), two servo steering wheels of the corners of the mouth (52), two corners of the mouth sliding pins (53), two corners of the mouth forks (26), two corners of the mouth axle sleeves (25), two corners of the mouth axles (24), upper lip (28), face steering wheel support (34), the servo steering wheel of face (54), face sliding pin (55), lower lip (27), two face axles (23) and two face axle sleeves (22);
Eyebrow steering wheel support (32) and eyes support (4) are corresponding one by one to be provided with, eyes support (4) and eyebrow steering wheel support (32) are fixed on the upper surface of base plate (8) from front to back, two servo steering wheels of eyebrow (1) all are packed on the eyebrow steering wheel support (32), one end of the output of the servo steering wheel of each eyebrow (1) and eyebrow steering wheel crank (1-1) is affixed, two eyebrow steering wheel cranks (1-1) are symmetricly set on the outer both sides of eyebrow steering wheel support (32) with respect to the center of eyebrow steering wheel support (32), the other end of each eyebrow steering wheel crank (1-1) is fixed with an eyebrow sliding pin (12), the outer both sides of eyes support (4) respectively are provided with an eyebrow fork (30), eyebrow sliding pin (12) is arranged in the eyebrow sliding pin elongated slot that eyebrow fork (30) one ends are provided with, and the two is slidingly matched, the other end of eyebrow fork (30) is connected with an end of eyebrow axle (19), the other end of eyebrow axle (19) is connected with the rear end of eyebrow support bar (29), be set with eyebrow axle sleeve (18) and the two matched in clearance on the eyebrow axle (19), eyebrow axle sleeve (18) is contained in interior and the two interference fit of eyebrow axle sleeve hole on eyes support (4) sidewall;
Described two servo steering wheels of eyeball are respectively that swing servo steering wheel (40) and eyeball of eyeball faced upward to bow and rotated servo steering wheel (41), the eyeball servo steering wheel (40) that swings is packed on the entablature of eyes support (4), eyeball is faced upward to bow and is rotated servo steering wheel (41) and the servo steering wheel of eyelid (42) and be arranged between eyes support (4) and the eyebrow steering wheel support (32) and all be packed on the eyeball steering wheel support (43), eye socket (3) is an annular, the excircle end face of annular eye socket (3) is provided with the four eye socket axles (44) that communicate with the interior ring cavity of annular eye socket (3), and respectively be provided with two eye socket axles (44) on the horizontal center line axis of annular eye socket (3) and the vertical centre axis, four eye socket axles (44) are made one with annular eye socket (3), annular eye socket (3) is fixed on the upper surface of the both sides of eyes support (4) and base plate (8), it is affixed that eyeball is faced upward the end that the bow output that rotates servo steering wheel (41) and eyeball face upward the steering wheel crank (41-1) of bowing, two eyeball sliding pins are respectively that eyeball is faced upward sliding pin of bowing (45) and eyeball swing sliding pin (46), eyeball is faced upward the other end of the steering wheel crank (41-1) of bowing and eyeball, and to face upward the sliding pin of bowing (45) affixed, one lateral wall of outer slip ring (15) is affixed with outer slip ring fork (47), outer slip ring fork (47) is provided with outer slip ring elongated slot, the outer slip ring elongated slot that eyeball is faced upward on sliding pin of bowing (45) and the outer slip ring fork (47) is slidingly matched, the two ends of outer slip ring (15) respectively are provided with an outer slip ring axle sleeve hole, be fixed with an outer slip ring axle sleeve (21) in the outer slip ring axle sleeve hole of on the outer slip ring (15) each, each outer slip ring axle sleeve (21) is sleeved on the eye socket axle (44) that is positioned on annular eye socket (3) horizontal center line axis and goes up and the two matched in clearance;
Eyeball the swing end of steering wheel crank (40-1) of the output of servo steering wheel (40) and eyeball that swings is affixed, the eyeball other end of steering wheel crank (40-1) and the eyeball sliding pin (46) that swings that swings is affixed, one lateral wall of interior slip ring (13) and interior slip ring fork (48) are affixed, interior slip ring fork (48) is provided with interior slip ring elongated slot, the interior slip ring elongated slot that eyeball swings on sliding pin (46) and the interior slip ring fork (48) is slidingly matched, the two ends of interior slip ring (13) respectively are provided with an interior slip ring axle sleeve hole, be fixed with an interior slip ring axle sleeve (49) in the slip ring axle sleeve hole in each of interior slip ring (13), each interior slip ring axle sleeve (49) is sleeved on the eye socket axle (44) that is positioned on annular eye socket (3) the vertical centre axis and goes up and the two matched in clearance, one end of eyeball fork (14) is connected with the center of eyeball (5), outer slip ring (15) is provided with outer slip ring slideway (15-1), interior slip ring (13) is provided with interior slip ring slideway (13-1), the outer slip ring slideway (15-1) that the other end of eyeball fork (14) passes the interior slip ring slideway (13-1) of interior slip ring (13) and outer slip ring (15) is arranged on the outside of outer slip ring (15), eyeball cover (6) is arranged between eyeball (5) and the annular eye socket (3), eyeball cover (6) and annular eye socket (3) interference fit, eyeball (5) and eyeball cover (6) matched in clearance;
The two ends of eyelid bracing frame (16) respectively are provided with an eyelid axle sleeve hole, be fixed with an eyelid axle sleeve (20) in each eyelid axle sleeve hole of eyelid bracing frame (16), eyelid axle sleeve (20) is sleeved on the eye socket axle (44) that is positioned on annular eye socket (3) horizontal center line axis and goes up and the two matched in clearance, one end of the output of the servo steering wheel of eyelid (42) and eyelid folding crank (42-1) is affixed, the other end of eyelid folding crank (42-1) and eyelid sliding pin (50) are affixed, eyelid fork (51) is affixed with eyelid bracing frame (16), and the eyelid elongated slot on eyelid sliding pin (50) and the eyelid fork (51) is slidingly matched;
The lower surface of the upper end of mouth frame (9) and base plate (8) is affixed, two corners of the mouth steering wheel supports (33) all are fixed on the rear side on the mouth frame (9), be fixed with a servo steering wheel of the corners of the mouth (52) on each corners of the mouth steering wheel support (33), one end of the output of the servo steering wheel of each corners of the mouth (52) and corners of the mouth steering wheel crank (52-1) is affixed, the both sides of mouth frame (9) respectively are provided with a corners of the mouth steering wheel crank (52-1), the other end of each corners of the mouth steering wheel crank (52-1) and corners of the mouth sliding pin (53) are affixed, corners of the mouth chute on each corners of the mouth sliding pin (53) and corresponding corners of the mouth fork (26) rear end is slidingly matched, the front end of corners of the mouth fork (26) is the corners of the mouth strong point, the middle part of corners of the mouth fork (26) is provided with corners of the mouth axle sleeve hole, corners of the mouth axle sleeve (25) is packed in the corners of the mouth axle sleeve hole on the corners of the mouth fork (26), corners of the mouth axle (24) with its matched in clearance is housed in each corners of the mouth axle sleeve (25), the coaxial setting of two corners of the mouth axles (24), upper lip (28) is affixed with the both sides of mouth frame (9), face steering wheel support (34) is fixed on the front side that the servo steering wheel of the corners of the mouth (52) was gone up and be positioned to mouth frame (9), one end of the output of the servo steering wheel of face (54) and face steering wheel crank (54-1) is affixed, the other end of face steering wheel crank (54-1) and face sliding pin (55) are affixed, lower lip chute on face sliding pin (55) and lower lip (27) sidewall is slidingly matched, the both sides of mouth frame (9) respectively are fixed with a face axle (23), the coaxial setting of two face axles (23), the two ends of lower lip (27) respectively are provided with a face axle sleeve hole, be fixed with a face axle sleeve (22) in each face axle sleeve hole on the lower lip (27), face axle sleeve (22) is sleeved on face axle (23) and goes up and the two matched in clearance.
2. thirteen-degree-of-freedom head mechanism of humanoid robot according to claim 1 is characterized in that: the horizontal center line axis with eyebrow axle (19) is a benchmark, the front end of eyebrow support bar (29) swing up and down scope+5mm～-5mm in.
3. thirteen-degree-of-freedom head mechanism of humanoid robot according to claim 1 and 2 is characterized in that: the vertical centre axis with annular eye socket (3) is a benchmark, and the left-right rotation scope of eyeball (5) is between+40 °～-40 °.
4. thirteen-degree-of-freedom head mechanism of humanoid robot according to claim 3 is characterized in that: the horizontal center line axis with annular eye socket (3) is a benchmark, and facing upward of eyeball (5) bowed slewing area between+20 °～-20 °.
5. according to claim 1 or 4 described thirteen-degree-of-freedom head mechanism of humanoid robot, it is characterized in that: the horizontal center line axis with corners of the mouth axle (24) is a benchmark, the front end of corners of the mouth fork (26) swing up and down scope+10mm～-10mm between.
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| CN2009102174632A CN101786275B (en) | 2009-12-30 | 2009-12-30 | Thirteen-degree-of-freedom head mechanism of humanoid robot |
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| CN2009102174632A CN101786275B (en) | 2009-12-30 | 2009-12-30 | Thirteen-degree-of-freedom head mechanism of humanoid robot |
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| CN103770121A (en) * | 2014-02-20 | 2014-05-07 | 西北工业大学 | Combined facial expression simulation device |
| CN106217409A (en) * | 2016-07-29 | 2016-12-14 | 上海新世纪机器人有限公司 | A kind of robot head |
| CN106426196A (en) * | 2016-08-31 | 2017-02-22 | 佛山博文机器人自动化科技有限公司 | Service robot head |
| CN108044637A (en) * | 2017-12-26 | 2018-05-18 | 杭州欢乐飞机器人科技股份有限公司 | A kind of anthropomorphic robot |
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| CN108818525A (en) * | 2018-09-03 | 2018-11-16 | 沧州菲漫电子科技有限公司 | A kind of robot face structure and robot |
| CN108942973A (en) * | 2018-09-29 | 2018-12-07 | 哈尔滨理工大学 | Science and technology center's guest-greeting machine department of human head and neck device with temperature and humidity casting function |
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| CN111300449A (en) * | 2020-03-12 | 2020-06-19 | 河海大学常州校区 | Facial organ mechanism of humanoid expression robot |
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| CN108098787B (en) * | 2017-12-25 | 2024-06-11 | 大连大学 | Voice interaction robot structure and system thereof |
| CN108044637A (en) * | 2017-12-26 | 2018-05-18 | 杭州欢乐飞机器人科技股份有限公司 | A kind of anthropomorphic robot |
| CN108044637B (en) * | 2017-12-26 | 2023-10-20 | 陕西捷泰智能传动有限公司 | Humanoid robot |
| CN108818525B (en) * | 2018-09-03 | 2023-09-22 | 沧州菲漫电子科技有限公司 | Robot face structure and robot |
| CN108818525A (en) * | 2018-09-03 | 2018-11-16 | 沧州菲漫电子科技有限公司 | A kind of robot face structure and robot |
| CN108942973A (en) * | 2018-09-29 | 2018-12-07 | 哈尔滨理工大学 | Science and technology center's guest-greeting machine department of human head and neck device with temperature and humidity casting function |
| CN111300449A (en) * | 2020-03-12 | 2020-06-19 | 河海大学常州校区 | Facial organ mechanism of humanoid expression robot |
| CN111531553A (en) * | 2020-04-01 | 2020-08-14 | 哈尔滨工业大学 | Humanoid robot head based on connecting rod smooth expression control mechanism |
| CN111531553B (en) * | 2020-04-01 | 2021-12-28 | 哈尔滨工业大学 | Humanoid robot head based on connecting rod smooth expression control mechanism |
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| CN101786275B (en) | 2011-06-15 |
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Assignee: HARBIN ZD ROBOT AUTOMATION CO., LTD. Assignor: Harbin Institute of Technology Contract record no.: 2012230000136 Denomination of invention: Thirteen-degree-of-freedom head mechanism of humanoid robot Granted publication date: 20110615 License type: Exclusive License Open date: 20100728 Record date: 20120323 |
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