CN207630052U - A kind of bionic machine head mechanism - Google Patents
A kind of bionic machine head mechanism Download PDFInfo
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- CN207630052U CN207630052U CN201721578803.0U CN201721578803U CN207630052U CN 207630052 U CN207630052 U CN 207630052U CN 201721578803 U CN201721578803 U CN 201721578803U CN 207630052 U CN207630052 U CN 207630052U
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- China
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- flexible cable
- telescoping cylinder
- holder
- lower jaw
- fixed pulley
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Abstract
The utility model discloses a kind of bionic machine head mechanisms, including head shell, it is characterised in that：It is equipped with holder in the head shell, component of opening one's mouth is installed on the holder；The component of opening one's mouth includes maxilla, lower jaw, resetting spring of shutting up, the first flexible cable, the first fixed pulley and the first jack, the maxilla is fixed in the holder, the lower jaw rear end is hinged with the maxilla rear end, the first flexible cable one end and lower jaw middle part are affixed, first fixed pulley is located at below the lower jaw, the first flexible cable other end is connect after bypassing first fixed pulley with the first jack, the lower jaw rear end is equipped with rearwardly extending ear, which is connect by the resetting spring of shutting up with the holder.The bionic machine head part of the utility model can realize the actions such as open one's mouth, and vivid, and structure simplifies reliable in action again, takes up space small.
Description
Technical field
The utility model belongs to a kind of bio-robot technical field more particularly to a kind of bionic machine head mechanism.
Background technology
" bio-robot " refers to mimic biology, is engaged in the robot of biological characteristic work.With world population ages
Continuous aggravation, there is different degrees of falling tendency in the workforce population of multiple countries, and labour is in short supply to be increasingly becoming one
The urgent social concern of kind.The continuous development of manufacturing industry technology has pushed the rapid development of robot, wherein also including that apery takes
Wu Lei robots, apery service class robot can imitate the mankind and complete a series of elemental motions, it might even be possible to reach very high essence
Degree, alternative labour carries out some repeatability or simple service class action, in the workforce population side that replacement constantly declines
Face is sent to great expectations.
With the propulsion of mankind's urbanization process, the work rhythm of people is constantly accelerated, need bio-robot improve,
It provides amenities for the people；And for embodying the head of affection exchange, it is desirable that have automatic mold apery class and the actions such as blink, open one's mouth, in addition by
It is small in head inner space, when configuring multiple actions, it is desirable that both vivid, reliable in action, structure simplify, while requiring to account for
It is small according to space.
Utility model content
In order to solve one or more drawbacks described above in the prior art, technical problem to be solved in the utility model is
A kind of bionic machine head mechanism is provided, is opened one's mouth both vivid, structure simplifies reliable in action again, takes up space small.
To achieve the above object, the utility model provides a kind of bionic machine head mechanism, including head shell (1),
It is characterized in that：It is equipped with holder (2) in the head shell (1), component of opening one's mouth is installed on the holder (2)；The component packet of opening one's mouth
Maxilla (3), lower jaw (4), resetting spring of shutting up (5), the first flexible cable (6), the first fixed pulley (7) and the first jack (8) are included,
The maxilla (3) is fixed in the holder (2), and lower jaw (4) rear end and maxilla (3) rear end are hinged, first flexible cable (6) one
End with the lower jaw (4) in the middle part of it is affixed, first fixed pulley (7) be located at the lower jaw (4) lower section, the first flexible cable (6) other end around
It crosses first fixed pulley (7) to connect with the first jack (8) afterwards, which is equipped with rearwardly extending ear (41), after this
It is connect to ear (41) is extended with the holder (2) by the resetting spring of shutting up (5).
Using the above scheme, when opening one's mouth, the first jack (8) reels the first flexible cable (6) one end, first flexible cable
(6) other end drives lower jaw (4) to rotate and front end tilts downward, the lower jaw (4) relative to maxilla (3) opened with certain angle,
And then realize and open one's mouth to act, and vivid, reliable in action；In addition, when shutting up, it is soft that the first jack (8) unclasps first
Rope (6) one end, which, which loses, obligates, and the lower jaw (4) then can be in the bullet of the resetting spring of shutting up (5) at this time
Under force effect, which resets, and the lower jaw (4) is substantially parallel with maxilla (3), and then realizes action of shutting up；
Action control is realized due to being flexibly connected using first flexible cable (6), can avoid interfering, while overcoming existing in confined space
The problem of interior inconvenient assembly.
As a preferred embodiment, first jack (8) includes the first telescoping cylinder (81) and flexible cable interconnecting piece
(82), first telescoping cylinder (81) is positioned horizontally in above first fixed pulley (7), and the output end of first telescoping cylinder (81) is equipped with
First perforation (811), the flexible cable interconnecting piece (82) are located above first perforation (811)；First flexible cable (6) other end bypasses
First fixed pulley (7) and again gap pass through first perforation (811) to be connect afterwards with the flexible cable interconnecting piece (82).Due to this first
Telescoping cylinder (81) moves smaller stroke, you can makes first flexible cable (6) realization is longer to reel, due to the first telescoping cylinder (81)
Relatively short stroke can be selected, therefore can directly reduce the first telescoping cylinder (81) appearance and size, limited space has been saved, to stay
Sufficient space, convenient for assembly.
As another preferred embodiment, first jack (8) includes the first telescoping cylinder (81), first telescoping cylinder
(81) vertically arranged and its output end is located above first fixed pulley (7), and the first flexible cable (6) other end is first fixed around this
Pulley (7) is affixed with the output end of first telescoping cylinder (81) afterwards.
Further, blink component is installed on the holder (2)；The blink component include eyeball (9), upper eyelid (10),
Lower eyelid (11), blink resetting spring (12), the second flexible cable (13), two the second fixed pulleys (14) and the second telescoping cylinder (15)；
The upper eyelid (10) and lower eyelid (11) respectively symmetrically set that there are two radial pivoted arm (101) and this two radial pivoted arms (101)
End is hinged；Two second fixed pulleys (14) are between the upper and lower every setting, the second flexible cable (13) one end and one of radial direction
It is affixed in the middle part of pivoted arm (101), the second flexible cable (13) other end bypass successively after two second fixed pulleys (14) again with it is another
It is affixed in the middle part of a radial direction pivoted arm (101)；Second telescoping cylinder (15) is horizontally disposed, and positioned at two the second fixed pulleys (14) it
Between the second flexible cable (13) connect with the second telescoping cylinder (15) output end；The mouth resetting spring (12) is connected to two diameters
To between pivoted arm (101).When opening one's eyes, the second telescoping cylinder (15) output end, which drives, to be located between two the second fixed pulleys (14)
Second flexible cable (13) moves backwards, and the radial pivoted arm (101) in symmetrical two of the first flexible cable (6) both ends, should away from rotation at this time
Upper eyelid (10), lower eyelid (11) are relatively distant from and realize action of opening one's eyes；In addition, when closing one's eyes, the second telescoping cylinder (15) output
End drives the second flexible cable (13) advance the puck being located between two the second fixed pulleys (14), second flexible cable (13) to lose by force
Beam is restricted, realizes revolution under the elastic force effect of blink resetting spring (12) between upper eyelid (10) and lower eyelid (11) at this time
It resets, the upper eyelid (10) and lower eyelid (11) are close to each other, and then realize action of sleeping, reciprocal above-mentioned action, you can realize
Blink control..
Preferably, the head shell (1) is human-like head.
The utility model at least has the advantages that：The utility model can make bionic machine head part have open one's mouth,
The biological functions such as blink, and it is vivid, structure simplifies reliable in action again, takes up space small, convenient for assembly.
Description of the drawings
Structural schematic diagram when Fig. 1 is a kind of embodiment of the utility model.
Fig. 2 is the top Local map of Fig. 1.
Fig. 3 is the lower part Local map of Fig. 1.
Structural schematic diagram when Fig. 4 is the utility model another embodiment.
Specific implementation mode
The utility model is described in further detail with reference to the accompanying drawings and examples：
Referring to shown in Fig. 1-4：A kind of bionic machine head mechanism, including head shell 1, the head shell 1 is interior to be equipped with branch
Frame 2 is equipped with open one's mouth component and blink component on the holder 2.
Referring to Fig. 1-3, which includes maxilla 3, lower jaw 4, resetting spring 5 of shutting up, the first flexible cable 6, first are slided calmly
Wheel 7 and the first jack 8, the maxilla 3 are fixed in the holder 2,4 rear end of the lower jaw (right end in figure) and 3 rear end of maxilla
(right end in figure) is hinged, and 6 one end of the first flexible cable and 4 middle part of lower jaw are affixed, which is located at 4 lower section of lower jaw,
First flexible cable, 6 other end is connect after bypassing first fixed pulley 7 with the first jack 8, which is equipped with prolongs backward
Ear 41 is stretched, which is connect by the resetting spring 5 of shutting up with the holder 2, specifically, the resetting spring 5 of shutting up
Vertically arranged, which connect with holder 2, which connects with rearwardly extending ear 41
It connects.
Referring to Fig. 1-3, when opening one's mouth, the first jack 8 reels 6 one end of the first flexible cable, 6 other end band of the first flexible cable
Dynamic lower jaw 4 rotates and front end tilts downward, which realizes relative to 3 opened with certain angle of maxilla and open one's mouth to act,
And vivid, reliable in action；In addition, when shutting up, the first jack 8 unclasps 6 one end of the first flexible cable, first flexible cable 6
It loses and obligates, the lower jaw 4 then can be under the effect of the elastic force of the resetting spring 5 of shutting up at this time, and 4 reversed turning of lower jaw is multiple
Position, the lower jaw 4 is substantially parallel with the maxilla 3, and then realizes action of shutting up；Due to real using first flexible cable 6 flexible connection
Existing action control, can avoid interfering, while overcome the problems, such as existing assembly inconvenient in confined space.
Referring to Fig. 1-3, first jack 8 includes the first telescoping cylinder 81 and flexible cable interconnecting piece 82, this is first flexible
Cylinder 81 is positioned horizontally in 7 top of the first fixed pulley, and the output end of first telescoping cylinder 81 is equipped with the first perforation 811, which connects
Socket part 82 is located at 811 top of the first perforation；First flexible cable, 6 other end bypasses first fixed pulley 7 and gap passes through this again
It is connect with the flexible cable interconnecting piece 82 after first perforation 811.Since first telescoping cylinder 81 moves smaller stroke, you can make this first
Flexible cable 6 realize it is longer reel, since relatively short stroke can be selected in the first telescoping cylinder 81, can directly reduce by first telescoping cylinder
81 appearance and sizes have saved limited space, to stay sufficient space, convenient for assembly.
Referring to Fig. 4, alternatively embodiment, first jack 8 include the first telescoping cylinder 81, this
One telescoping cylinder 81 is vertically arranged and its output end is located at first fixed pulley, 7 top, 6 other end of the first flexible cable around this first
It is affixed with the output end of first telescoping cylinder 81 after fixed pulley 7.Therefore 81 output end of the first telescoping cylinder can pass through contractile motion
And automatically control the folding and unfolding of first flexible cable 6.
Specifically, which can be used hydraulic cylinder or cylinder.
Referring to Fig. 1-4, blink component is installed on the holder 2；The blink component includes eyeball 9, upper eyelid 10, lower eye
Skin 11, blink resetting spring 12,13, two the second fixed pulleys 14 of the second flexible cable and the second telescoping cylinder 15；The upper eyelid 10 is under
Eyelid 11 is respectively symmetrically set there are two radial pivoted arm 101, and the end of the 10 radial direction pivoted arm 101 of upper eyelid and lower eyelid 11 are radial
The end of pivoted arm 101 is hinged, this two radial 101 initial angles of pivoted arm are acute angle (preferably 30-60 °), this two second
Fixed pulley 14 is between the upper and lower every setting and positioned at the rear side of this two 101 hinged places of radial pivoted arm (right side in figure), second flexible cable
13 one end and one of 101 middle part of radial pivoted arm are affixed, and 13 other end of the second flexible cable is fixed sliding around this two second successively
It is affixed with another 101 middle part of radial pivoted arm again after wheel 14；Second telescoping cylinder 15 is horizontally disposed and output end is forward (in figure
Left side), the second flexible cable 13 being located between two the second fixed pulleys 14 is connect with 15 output end of the second telescoping cylinder；The mouth is multiple
Position spring 12 is connected between this two radial pivoted arms 101.When opening one's eyes, which, which drives, is located at two
The second flexible cable 13 between second fixed pulley 14 (in figure to the right) moves backwards, at this time in the 6 both ends symmetrical pulling force of the first flexible cable
Under effect, this two radial pivoted arms 101 then can simultaneously be rotated towards departing direction, and the upper eyelid 10, lower eyelid 11 can be relatively distant from
And realize action of opening one's eyes；In addition, when closing one's eyes, 15 output end of the second telescoping cylinder, which drives, to be located between two the second fixed pulleys 14
(in the figure to the left) movement forward of second flexible cable 13, which, which loses, obligates, at this time upper eyelid 10 and lower eyelid 11
Between blink resetting spring 12 elastic force effect under realize revolution reset, the upper eyelid 10 and lower eyelid 11 are close to each other, into
And realize action of sleeping, reciprocally above-mentioned action, you can realize repeatedly blink control.
Preferably, the head shell 1 is human-like head.
Preferably, referring to Fig. 2, which is equipped with the second perforation 151, which wears
It is connected in second perforation 151.Since second flexible cable 13 can automatically adjust, it can avoid second flexible cable 13 rigid connection and block
Extremely.
The preferred embodiment of the utility model described in detail above.It should be appreciated that the ordinary skill people of this field
Member according to the present utility model can conceive without creative work makes many modifications and variations.Therefore, all this technology necks
Technical staff passes through logic analysis, reasoning or limited reality on the basis of existing technology according to the design of the utility model in domain
Available technical solution is tested, it all should be in the protection domain being defined in the patent claims.
Claims (5)
1. a kind of bionic machine head mechanism, including head shell (1), it is characterised in that：Holder is equipped in the head shell (1)
(2), component of opening one's mouth is installed on the holder (2)；
The component of opening one's mouth include maxilla (3), lower jaw (4), resetting spring of shutting up (5), the first flexible cable (6), the first fixed pulley (7) and
First jack (8), the maxilla (3) are fixed in the holder (2), and lower jaw (4) rear end and maxilla (3) rear end are hinged,
First flexible cable (6) one end and the lower jaw (4) middle part are affixed, which is located at below the lower jaw (4), this first
Flexible cable (6) other end is connect with the first jack (8) afterwards around first fixed pulley (7), which is equipped with backward
Extend ear (41), which is connect by the resetting spring of shutting up (5) with the holder (2).
2. a kind of bionic machine head mechanism as described in claim 1, it is characterised in that：First jack (8) packet
It includes the first telescoping cylinder (81) and flexible cable interconnecting piece (82), first telescoping cylinder (81) is positioned horizontally in above first fixed pulley (7),
The output end of first telescoping cylinder (81) is equipped with the first perforation (811), which is located at first perforation (811)
Top；First flexible cable (6) other end around first fixed pulley (7) and again gap pass through this first perforation (811) afterwards with this
Flexible cable interconnecting piece (82) connects.
3. a kind of bionic machine head mechanism as described in claim 1, it is characterised in that：First jack (8) packet
The first telescoping cylinder (81) is included, first telescoping cylinder (81) is vertically arranged and its output end is located above first fixed pulley (7), should
First flexible cable (6) other end is affixed with the output end of first telescoping cylinder (81) afterwards around first fixed pulley (7).
4. a kind of bionic machine head mechanism as claimed in any one of claims 1-3, it is characterised in that：On the holder (2)
Blink component is installed；
The blink component includes eyeball (9), upper eyelid (10), lower eyelid (11), blink resetting spring (12), the second flexible cable
(13), two the second fixed pulleys (14) and the second telescoping cylinder (15)；The upper eyelid (10) and lower eyelid (11) are respectively symmetrically equipped with
The end of two radial pivoted arms (101) and this two radial pivoted arms (101) is hinged；Two second fixed pulleys (14) are between the upper and lower
Every setting, the second flexible cable (13) one end and affixed, the second flexible cable (13) other end in the middle part of one of radial pivoted arm (101)
Successively around affixed with another radial pivoted arm (101) middle part again after two second fixed pulleys (14)；Second telescoping cylinder
(15) it is horizontally disposed with, and the second flexible cable (13) between two the second fixed pulleys (14) is exported with second telescoping cylinder (15)
End connection；The mouth resetting spring (12) is connected between this two radial pivoted arms (101).
5. a kind of bionic machine head mechanism as claimed in any one of claims 1-3, it is characterised in that：The head shell
(1) it is human-like head.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721578803.0U CN207630052U (en) | 2017-11-23 | 2017-11-23 | A kind of bionic machine head mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721578803.0U CN207630052U (en) | 2017-11-23 | 2017-11-23 | A kind of bionic machine head mechanism |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207630052U true CN207630052U (en) | 2018-07-20 |
Family
ID=62857645
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201721578803.0U Expired - Fee Related CN207630052U (en) | 2017-11-23 | 2017-11-23 | A kind of bionic machine head mechanism |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN207630052U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109366526A (en) * | 2018-12-20 | 2019-02-22 | 盘锦伊艾克斯机器人有限公司 | A kind of mouth structure of bio-robot |
-
2017
- 2017-11-23 CN CN201721578803.0U patent/CN207630052U/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109366526A (en) * | 2018-12-20 | 2019-02-22 | 盘锦伊艾克斯机器人有限公司 | A kind of mouth structure of bio-robot |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20180720 Termination date: 20191123 |
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| CF01 | Termination of patent right due to non-payment of annual fee |