Robot neck mechanism

A robot and neck technology, applied in manipulators, manufacturing tools, etc., can solve the problems of reduced service life, poor neck movement stability, long neck length, etc., to reduce manufacturing difficulty and volume, and have good stability and flexibility. , The effect of simple and compact structure

Inactive Publication Date: 2013-09-04
SOUTHWEST JIAOTONG UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

In this structure, the upper, middle and lower neck racks and the three motors are superimposed in series, resulting in a complex structure and large volume, especially in the vertical direction, which easily leads to an excessively long neck length. reduce the similarity with people
In addition, the three motors connected in series a

Method used

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  • Robot neck mechanism

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Embodiment

[0015] figure 1 As shown, a specific implementation of the present invention is a robot neck mechanism, including a neck lower frame 1 connected to the shoulder 11, and a neck upper frame 8 connected to the head 9, which is characterized in that :

[0016] The head rotating motor 7 is installed on the frame 8 on the neck, the shaft of the head rotating motor 7 is connected with the head 9, and the rear part of the frame 8 on the neck is connected with the lower part of the neck through a universal joint 10. The upper plate of the frame 1 is connected, and the front left and right sides of the frame 8 on the neck are respectively connected with the rotating shafts of the stepper motors 2 on the left and right sides of the frame 1 under the neck through a ball joint linkage mechanism; Among them, the specific composition of the ball joint linkage mechanism is:

[0017] The upper end of the upper ball joint 6 is fixed on the neck upper frame 8, the lower end of the upper ball j...

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PUM

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Abstract

The invention discloses a robot neck mechanism. The robot neck mechanism comprises a neck lower rack (1) which is connected with a shoulder (11) and a neck upper rack (8) which is connected with a head (9). A head rotating motor (7) is installed on the neck upper rack (8). A shaft of the head rotating motor (7) is connected with the head (9). The rear of the neck upper rack (8) is connected with an upper plate of the neck lower rack (1) through a universal joint (10). The left side and the right side of the front of the neck upper rack (8) are respectively connected with rotating shafts of stepping motors (2) on the left side and the right side on the neck lower rack (1) through a ball joint connecting rod mechanism. The robot neck mechanism is small in size, compact in structure, high in human similarity, good in moving stability and flexibility, easy to manufacture, and long in service life.

Description

technical field [0001] The invention relates to a robot neck mechanism. Background technique [0002] With the advancement of robot technology, there are more and more domestic service robots, and the anthropomorphic degree of robots is gradually pursued, especially the head movement. Since the human head movement is a three-degree-of-freedom rotational movement under the control of the neck, in order to realize the three-degree-of-freedom free rotation of the robot's head, the neck mechanism must be required to be able to realize the three-degree-of-freedom free rotation. The existing robot neck mechanism usually realizes the rotation on one degree of freedom by one motor; three motors are installed on the upper, middle and lower neck frames in series, and the three motors work together to realize three degrees of freedom rotation. In this structure, the upper, middle and lower neck racks and the three motors are superimposed in series, resulting in a complex structure an...

Claims

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Application Information

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IPC IPC(8): B25J11/00
Inventor 高宏力黄海凤许明恒陈晨郭亮明涛赵斌吕金洲孔德松王振刚
Owner SOUTHWEST JIAOTONG UNIV
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