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Thirteen-degree-of-freedom head mechanism of humanoid robot

A technology of humanoid robot and degree of freedom, applied in manipulators, manufacturing tools, etc., can solve the problems of low motion precision, poor flexibility, and low coordination of the overall mechanism, and achieve the effect of good motion coordination and improved motion flexibility

Inactive Publication Date: 2010-07-28
HARBIN INST OF TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0003] The purpose of the present invention is to provide a thirteen-degree-of-freedom humanoid robot head mechanism to solve the problems of complex structure, poor flexibility, low motion precision and low coordination of the overall mechanism of the current humanoid robot head mechanism

Method used

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  • Thirteen-degree-of-freedom head mechanism of humanoid robot
  • Thirteen-degree-of-freedom head mechanism of humanoid robot
  • Thirteen-degree-of-freedom head mechanism of humanoid robot

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Experimental program
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specific Embodiment approach 1

[0012] Specific implementation mode one: combine Figure 1 to Figure 7 Describe this embodiment, the thirteen degrees of freedom humanoid robot head mechanism of this embodiment is made up of two eyebrow mechanisms, two eye movement mechanisms, mouth mechanism and base plate 8; An eyebrow servo steering gear 1, two eyebrow sliding pins 12, two eyebrow swing bars 30, two eyebrow shafts 19, two eyebrow axle sleeves 18 and two eyebrow support rods 29 are formed; each eye movement mechanism is composed of eye supports 4. Two eyeball servo steering gears, eyelid servo steering gear 42, eyeball steering gear bracket 43, eye socket 3, four eye socket shafts 44, two eye ball sliding pins, outer slip ring 15, outer slip ring swing rod 47, two Outer slip ring bushing 21, inner slip ring 13, inner slip ring swing rod 48, two inner slip ring bushings 49, eyeball swing rod 14, eyeball 5, eyeball sleeve 6, eyelid support frame 16, two eyelid bushings 20. The eyelid sliding pin 50 and the e...

specific Embodiment approach 2

[0018] Specific implementation mode two: combination figure 1 Describe this embodiment, this embodiment takes the horizontal center axis of the eyebrow axis 19 as a reference, and the front end of the eyebrow support rod 29 swings up and down within +5mm--5mm. Such setting can meet the design requirements.

specific Embodiment approach 3

[0019] Specific implementation mode three: combination figure 1 Describe this embodiment, this embodiment takes the vertical center axis of the circular eye socket 3 as a reference, and the left and right rotation range of the eyeball 5 is between +40°~-40°. Such setting can meet the design requirements. Others are the same as in the first or second embodiment.

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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 [0001] The invention relates to a head mechanism of a humanoid robot. Background technique [0002] The head mechanism of the current humanoid robot has complex structure, poor movement flexibility, and low movement precision, especially the movement mechanism of the eyes is not flexible enough, that is, the left and right or up and down rotation of the eyes is synchronous; the overall appearance and even the partial size, and each organ The range of movement that can be performed is quite different from that of the human head, and the movement coordination of the overall mechanism is not high. Contents of the invention [0003] The purpose of the present invention is to provide a thirteen-degree-of-freedom humanoid robot head mechanism to solve the problems of the current humanoid robot head mechanism with complex structure, poor flexibility, low motion precision, and low coordination of the overall mechanism. The invention includes independent deflection...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J19/00
Inventor 李瑞峰孙中远王珂卞子超
Owner HARBIN INST OF TECH
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