Bionic rope-driven robot neck mechanism

Abstract

The invention relates to the technical field of robot bionic joint driving, in particular to a bionic rope-driven robot neck mechanism which comprises a static platform (1), a movable platform (2), a rope driving device (3) and a passive tensioning mechanism (4), the lower portion of the static platform (1) is connected with a robot trunk part, and the upper portion of the movable platform (2) is connected with a robot head. Three groups of rope driving devices (3) and at least three groups of passive tensioning mechanisms (4) are arranged between the static platform and the movable platform, the rope driving devices (3) are annularly and uniformly arranged between the static platform (1) and the movable platform (2), and each rope driving device (3) comprises a rope (31), a reel (32), a driver (33) and a double-pulley guide mechanism (34). And two ropes (31) are wound on the reel (32) in a differential manner. A passive tensioning mechanism with the function similar to that of vertebrae is adopted, and stable supporting and posture self-adaptive capacity of the neck are achieved.

Description

Technical Field

[0001] The present invention relates to the technical field of robot bionic joint driving, and in particular to a bionic rope-driven robot neck mechanism. Background Art

[0002] With the rapid development of humanoid robot technology, its applications in service, healthcare, education, and other fields are becoming increasingly widespread. As the crucial component connecting the robot's head and torso, the neck mechanism not only supports the head but also requires high degrees of freedom, flexibility, and dynamic responsiveness to achieve realistic head movement and posture adjustment. In the human body, the neck is supported by the vertebrae, which are driven and regulated by multiple muscle groups distributed on the front, back, and sides to achieve complex movement functions. Generally speaking, the neck of a humanoid robot must achieve at least three degrees of freedom of rotation in space to meet biomimetic requirements. However, due to the limited space within the robot neck, the neck mechanism must be as compact as possible, and there are strict restrictions on the weight and volume of the moving parts. While traditional robot neck mechanisms offer strong load-bearing capacity, their complex structure, heavy weight, and large size make them difficult to meet the requirements of compactness and lightweight design, hindering the overall load-to-weight ratio and dynamic performance. Therefore, achieving a compact and lightweight neck mechanism while maintaining load-bearing capacity has become a key issue in humanoid robot neck design. Summary of the Invention

[0003] The technical problem to be solved by the present invention is to provide a bionic rope-driven robot neck mechanism that uses a rope as a driving branch chain to address the problems existing in the prior art, thereby achieving more flexible and efficient head movement control compared with the traditional rigid neck mechanism.

[0004] The technical problem to be solved by the present invention is achieved through the following technical solution: a bionic rope-driven robot neck mechanism, comprising a static platform (1), a dynamic platform (2), a rope driving device (3) and a passive tensioning mechanism (4), wherein the static platform (1) is connected to the robot torso at the bottom, and the dynamic platform (2) is connected to the robot head at the top, and three groups of rope driving devices (3) and no less than three groups of passive tensioning mechanisms (4) are arranged between the static platform and the dynamic platform, and the rope driving device (3) is evenly and annularly installed on the static platform (1), the dynamic platform (2) and the neck of the robot. The rope drive device (3) comprises a rope (31), a winding wheel (32), a driver (33) and a double pulley guide mechanism (34). Two ropes (31) are wound around the winding wheel (32) in a differential manner. After the two ropes (31) are guided by the double pulley guide mechanism (34), the rope ends are connected to the movable platform (2). The movable platform (2) can achieve six-degree-of-freedom translation constraint and rotation control under the joint control of the three sets of rope drive devices (3) and the constraint action of the passive tensioning mechanism (4).

[0005] Furthermore, a mounting groove is provided on the side of the static platform (1), and double pulley guide mechanisms (34) are symmetrically installed on both sides of the groove. The driver (33) and the winding wheel (32) are installed in the middle of the groove of the static platform (1), and the output end of the driver (33) is connected to the winding wheel (32).

[0006] Furthermore, the double pulley guide mechanism (34) includes a steering shaft (341), an inner rope guide pulley (342) and an outer rope guide pulley (343), and mounting platforms are provided on both sides of the groove. The steering shaft (341) is rotatably mounted on the mounting platform, and the center of the rotating shaft of the steering shaft (341) is a hollow structure, and the rope (31) passes through the hollow structure of the steering shaft (341).

[0007] Furthermore, a wheel frame is provided on the upper portion of the steering shaft (341), and the inner rope guide pulley (342) and the outer rope guide pulley (343) are installed on the wheel frame in a staggered and offset manner. The rope is connected to the moving platform (2) after passing through the inner rope guide pulley (342) and the outer rope guide pulley (343) in sequence.

[0008] Furthermore, the rim of the inner rope guide pulley (342) is tangent to the rotating axis of the steering shaft (341), and the rotating axis of the steering shaft (341) is spatially perpendicular to the rotating axis of the winding wheel (32).

[0009] Furthermore, the passive tensioning mechanism (4) includes a spring (41), a cylindrical auxiliary rod group (42) and a Hooke's hinge (43), wherein the cylindrical auxiliary rod group (42) is a cylindrical auxiliary connection formed by a sliding rod and a sliding sleeve through a sliding sleeve, and the spring (41) is compressed and connected between the sliding rod and the sliding sleeve, and the outer ends of the sliding sleeve and the sliding rod are respectively connected to the static platform (1) and the dynamic platform (2) through the Hooke's hinge (43).

[0010] Furthermore, three groups of anchor points (21) are evenly arranged below the moving platform (2), and the anchor points (21) are used to anchor and fix with the outer ends of two rope locks (31) on the adjacent sides of the adjacent rope drive device (3).

[0011] Furthermore, three groups of branch chain slots (22) are evenly arranged below the moving platform (2), and the branch chain slots (22) are used to connect with corresponding Hooke's hinges (43) of the passive tensioning mechanism (4).

[0012] Compared with the prior art, the present invention has the following advantages:

[0013] (1) The present invention uses a passive tensioning mechanism that functions like the vertebrae to achieve stable support and posture adaptability of the neck. At the same time, it cooperates with multiple groups of rope-driven branches that function like muscles to achieve active posture drive of the neck mechanism. The two cleverly cooperate to achieve complex movements of the entire neck.

[0014] (2) The moving parts of the bionic rope-driven robot neck mechanism of the present invention are driven by parallel support and differential ropes, which has the characteristics of compact structure and light moving parts compared with traditional mechanisms, reducing the system weight and manufacturing cost, and improving the load / weight ratio;

[0015] (3) The present invention adopts a differential drive method of multiple parallel rope groups, which constrains more degrees of freedom of the moving platform with a smaller number of drivers. The ropes are used as driving branches, and the corresponding forward and reverse angle rotations of each group of winding wheels can realize the motion generation of the overall specified posture of the moving platform. The control method is simple, the driving efficiency is high, and the dynamic responsiveness is good. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 This is an overall front view of the neck mechanism of the bionic rope-driven robot of the present invention;

[0017] Figure 2 This is the overall axonometric view of the neck mechanism of the bionic rope-driven robot of the present invention;

[0018] Figure 3 It is a schematic structural diagram of the rope drive device 3 of the present invention;

[0019] Figure 4 Schematic diagram of differential winding inside the winding wheel 32 of the present invention;

[0020] Figure 5 It is a schematic structural diagram of the double pulley guide mechanism 34 of the present invention;

[0021] Figure 6 This is a schematic structural diagram of the passive tensioning mechanism 4 of the present invention;

[0022] Figure 7 This is a structural diagram of the dynamic platform 2 of the present invention;

[0023] Figure 8 This is a schematic diagram of the initial posture of the head structure after installation of the present invention;

[0024] Figure 9 This is a schematic diagram of the head swinging left and right after the head structure of the present invention is installed;

[0025] Figure 10 This is a schematic diagram of the head nodding forward and backward after the head structure of the present invention is installed;

[0026] Figure 11 This is a schematic diagram of the head shaking left and right after the head structure of the present invention is installed;

[0027] 1-static platform, 2-dynamic platform, 21-anchor point, 22-branch chain slot, 3-rope drive device, 31-rope, 32-winding wheel, 33-driver, 34-double pulley guide mechanism, 341-steering shaft, 342-inner rope guide pulley, 343-outer rope guide pulley, 4-passive tensioning mechanism, 41-spring, 42-cylindrical auxiliary rod group, 43-Hooke's hinge. DETAILED DESCRIPTION

[0028] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making any creative efforts shall fall within the scope of protection of the present invention.

[0029] like Figure 1 Front view of the bionic rope-driven robot neck mechanism Figure 2 Axonometric view of a bionic rope-driven robot neck mechanism. This invention provides a bionic rope-driven robot neck mechanism, consisting of a static platform 1, a dynamic platform 2, a rope drive device 3, and a passive tensioning mechanism 4. The static platform 1 can be connected to the robot's torso at its lower end, while the dynamic platform 2 can be connected to the robot's head at its upper end, thereby enabling movement of the humanoid robot's head under the control of the neck mechanism.

[0030] Three groups of rope drive devices 3 are evenly arranged between the static platform 1 and the dynamic platform 2. Figure 3 The figure shows a detailed view of the rope drive device 3. Each rope drive device 3 comprises two ropes 31, a winding wheel 32, a driver 33, and two double-pulley guide mechanisms 34. The output end of the driver 33 is fixedly connected to the winding wheel 32. The two ropes 31 are differentially wound around the winding wheel 32.

[0031] like Figure 4 Schematic diagram of differential winding, which can achieve synchronous and opposite changes in rope length on both sides. The differential drive method reduces the number of drives, and only three independent drives are needed to achieve 23 translational constraints and 3 rotational controls of the 6-DOF moving platform.

[0032] like Figure 5Schematic diagram of the dual-pulley guide mechanism 34. The dual-pulley guide mechanism 34 consists of a steering shaft 341, an inner rope guide pulley 342, and an outer rope guide pulley 343. The steering shaft 341 is rotatably connected to the static platform 1. The center of the steering shaft 341 is a hollow structure, through which the rope 31 passes. This ensures that the steering shaft 341 does not affect the length of the rope 31 during rotation. After being wound off the winding wheel 32, the rope 31 is constrained along the axis of the steering shaft 341, perpendicular to the axis of the winding wheel 32, to prevent winding deviation caused by the rope 31 being wound in a non-vertical direction. The inner and outer rope guide pulleys 342 and 343 are mounted on the steering shaft 341. The rim of the inner rope guide pulley 342 is tangential to the axis of the steering shaft 341, preventing interference between the rope 31 and the hollow structure of the steering shaft 341. The outer rope guide pulleys 343 and 342 are offset and installed. The rope 31 passes through the inner and outer rope guide pulleys 342 and 343 respectively before being connected to the movable platform 2. The inner and outer rope guide pulleys 342 and 343 are used to adjust the rope path, ensure effective transmission of rope force, and prevent interference between the rope 31 and the overall structure.

[0033] A passive tensioning mechanism 4 is also installed between the static platform 1 and the dynamic platform 2. Figure 6 Detailed view of the passive tensioning mechanism 4. The passive tensioning mechanism 4 consists of a spring 41, a pair of cylindrical levers 42, and two Hooke's hinges 43. The pair of cylindrical levers 42 is formed by two rods connected by a cylindrical pair. The spring 41 is compressed and positioned between the two rods. One end of the two Hooke's hinges 43 is fixedly connected to the ends of the two rods, and the other ends of the two Hooke's hinges 43 are respectively connected to the static platform 2 and the dynamic platform 2. Supported by multiple sets of passive tensioning mechanisms 4, the multiple sets of drive ropes 31 remain tensioned.

[0034] Three groups of anchor points 21 and three groups of branch chain slots 22 are evenly arranged below the moving platform 2. Figure 7 Schematic diagram of the dynamic platform 2. The anchor point 21 is connected to the drive chain rope 31, and the chain slot 22 is connected to one end of the Hook's hinge 43 in the passive tensioning mechanism 4. During actual installation, if the passive tensioning mechanism 4 adopts a standard three-group arrangement, the lower Hook's hinge 43 and the winding wheel 32 are staggered, while the upper chain slot 22 remains adjacent to the corresponding anchor point 21, conforming to the kinematic characteristics of a parallel mechanism.

[0035] Under the joint control of the three groups of rope drive devices 3, the present invention can realize any posture of the moving platform 2 in space, such as Figure 8-11 , demonstrating the basic movements that the bionic rope-driven robot neck mechanism can perform.

[0036] The foregoing description is merely a preferred embodiment of the present invention and is not intended to limit the present invention. Those skilled in the art will readily appreciate that various modifications and variations of the present invention are possible. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention are intended to be within the scope of protection of the present invention.

Claims

1. A bionic rope-driven robot neck mechanism, characterized by: The invention comprises a static platform (1), a dynamic platform (2), a rope driving device (3) and a passive tensioning mechanism (4), wherein the static platform (1) is connected to the trunk of the robot at the bottom, and the dynamic platform (2) is connected to the head of the robot at the top, and three groups of rope driving devices (3) and no less than three groups of passive tensioning mechanisms (4) are arranged between the static platform and the dynamic platform, and the rope driving device (3) is evenly and annularly installed between the static platform (1) and the dynamic platform (2), and the rope driving device (3) comprises a rope (31), a winding wheel (32), a driver (33) and a double pulley guide mechanism (34), and two ropes (31) are wound around the winding wheel (32) in a differential manner, and after the two ropes (31) are guided by the double pulley guide mechanism (34), the rope ends are connected to the dynamic platform (2), and the dynamic platform (2) can realize six-degree-of-freedom translation constraint and rotation control under the joint control of the three groups of rope driving devices (3) and the constraint action of the passive tensioning mechanism (4).

2. The bionic rope-driven robot neck mechanism according to claim 1, characterized in that: The side of the static platform (1) is provided with a mounting groove, and double pulley guide mechanisms (34) are symmetrically installed on both sides of the groove. The driver (33) and the winding wheel (32) are installed in the middle of the groove of the static platform (1), and the output end of the driver (33) is connected to the winding wheel (32).

3. The bionic rope-driven robot neck mechanism according to claim 2, characterized in that: The double pulley guide mechanism (34) includes a steering shaft (341), an inner rope guide pulley (342) and an outer rope guide pulley (343). Mounting platforms are provided on both sides of the groove. The steering shaft (341) is rotatably mounted on the mounting platform. The center of the rotating shaft of the steering shaft (341) is a hollow structure, and the rope (31) passes through the hollow structure of the steering shaft (341).

4. The bionic rope-driven robot neck mechanism according to claim 3, characterized in that: A wheel frame is provided on the upper portion of the steering shaft (341); the inner rope guide pulley (342) and the outer rope guide pulley (343) are installed on the wheel frame in a staggered and offset manner; and the rope is connected to the moving platform (2) after passing through the inner rope guide pulley (342) and the outer rope guide pulley (343) in sequence.

5. The bionic rope-driven robot neck mechanism according to claim 3, characterized in that: The wheel rim of the inner rope guide pulley (342) is tangent to the rotating axis of the steering shaft (341), and the rotating axis of the steering shaft (341) is spatially perpendicular to the rotating axis of the winding wheel (32).

6. The bionic rope-driven robot neck mechanism according to claim 1, characterized in that: The passive tensioning mechanism (4) comprises a spring (41), a cylindrical auxiliary rod group (42) and a Hooke's hinge (43); the cylindrical auxiliary rod group (42) is a cylindrical auxiliary connection formed by a sliding rod and a sliding sleeve through a sliding sleeve; the spring (41) is compressed and connected between the sliding rod and the sliding sleeve; the outer ends of the sliding sleeve and the sliding rod are respectively connected to the static platform (1) and the dynamic platform (2) through the Hooke's hinge (43).

7. The bionic rope-driven robot neck mechanism according to claim 6, characterized in that: Three groups of anchor points (21) are evenly arranged below the moving platform (2), and the anchor points (21) are used to anchor and fix with the outer ends of two rope locks (31) on adjacent sides of the adjacent rope driving device (3).

8. The bionic rope-driven robot neck mechanism according to claim 6, characterized in that: Three groups of branch chain slots (22) are evenly arranged below the moving platform (2), and the branch chain slots (22) are used to connect with corresponding Hooke's hinges (43) of the passive tensioning mechanism (4).

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