Opening and closing linkage mechanism of bionic robot's mouth

Abstract

The application discloses a mouth opening and closing linkage mechanism of a bionic robot, which comprises a fixed frame, a moving frame, bionic teeth, a waterproof motor, a motor base, a shaft coupling and a driving mechanism. The driving mechanism directly drives a driving shaft to drive a driving connecting rod to move, and the driving connecting rod drives a lower connecting rod to rotate, so that the mouth opening and closing is realized. The driving connecting rod also drives a linkage rod to move, so that the teeth are turned over. The synchronous movement of the moving frame and the teeth turning over reduces the movement transmission mechanism, so that the mouth opening and closing linkage mechanism of the bionic robot is small in size, occupies less space and can better adapt to the compact structure requirement of the bionic robot.

Description

Technical Field

[0001] This invention relates to the field of bionic robot technology, and in particular to a robot mouth opening and closing linkage mechanism. Background Technology

[0002] With continuous technological advancements, the global bionic robot market is showing a steady growth trend, with its market size continuously expanding. The widespread application of bionic robots in the entertainment and viewing sectors has further propelled market development. Currently, the mouth mechanisms of bionic robots utilize multi-drive modules combined with tracks to achieve joint movement. This type of mouth mechanism is bulky and complex to control, failing to meet the requirements of compact structure and simple control for underwater bionic robots. Summary of the Invention

[0003] The technical problem solved by this invention is to provide a mouth opening and closing linkage mechanism for a bionic robot that is compact in structure and simple to control.

[0004] The technical solution adopted in this invention is a mouth opening and closing linkage mechanism for a bionic robot, including a fixed frame, a waterproof motor, a motion frame, and a drive mechanism; The waterproof motor is connected to the drive shaft via a coupling. The drive mechanism includes a drive shaft, which is fixed to the fixed frame via a main bearing seat. The drive connecting rod is keyed to the drive shaft. The drive connecting rod has a rotating support arm, the end of which is hinged to the upper end of a transition rod. The lower end of the transition rod is hinged to the middle of a lower connecting rod. The head of the lower connecting rod is mounted to the fixed frame via an auxiliary bearing seat. The tail of the lower connecting rod is equipped with an elbow joint, the axis of which is perpendicular to the lower connecting rod and has a degree of freedom of rotation. The elbow joint also has a slewing arm. The adapter rod has a pivot pin in the middle. One end of the linkage rod is connected to the adapter rod through the pivot pin. The other end of the linkage rod is hinged to the end of the swing arm of the elbow joint. A connecting rod is installed on the elbow joint. Bionic teeth are installed at both ends of the connecting rod. The motion frame includes two side plates, with bearing seats mounted at the base of each side plate. The bearing seats are fixed to the fixed frame. A cross plate is provided between the two side plates, and the cross plate is fixedly installed with the lower connecting rod. The axis of the hole in the bearing seat coincides with the axis of the hole in the auxiliary bearing seat.

[0005] Connecting plates are installed at both ends of the connecting rod, and the bionic teeth are fixedly connected to the adapter plate.

[0006] The linkage rod is an irregularly shaped rod, and its shape fits the lower connecting rod and the adapter rod below.

[0007] The beneficial effect of this invention is that by directly driving the drive shaft with a motor to drive the drive linkage, the motion transmission mechanism is reduced, making the mouth opening and closing linkage mechanism of the bionic robot small in size and occupying less space, which can better meet the requirements of the compact structure of the bionic robot. Attached Figure Description

[0008] Figure 1 This is a schematic diagram of the mouth opening and closing linkage mechanism of a bionic robot.

[0009] Figure 2 This is a schematic diagram of the motion frame.

[0010] Figure 3 This is a schematic diagram of the drive mechanism.

[0011] The markings in the diagram are as follows: 1-Fixed frame, 2-Moving frame, 201-Bearing housing, 202-Side plate, 203-Horizontal plate, 204-Adapter block, 3-Bionic teeth, 4-Waterproof motor, 5-Motor housing, 6-Through coupling, 7-Drive mechanism, 702-Main bearing housing, 704-Auxiliary bearing housing, 1-Fixed frame, 703-Drive shaft, 711-Adapter plate, 704-Auxiliary bearing housing, 708-Lower connecting rod. Detailed Implementation

[0012] The invention will now be further described with reference to the accompanying drawings.

[0013] The mouth opening and closing linkage mechanism of a bionic robot according to this invention patent mainly includes a fixed frame 1, a waterproof motor 4, a motion frame 2, and a drive mechanism 7. The waterproof motor 4 provides power to the drive mechanism 7 and is connected to the drive shaft 703 through a coupling 6.

[0014] The drive mechanism 7 includes a drive shaft 703, which is fixed to the fixed frame via a main bearing seat 702. The drive connecting rod 701 is keyed to the drive shaft 703. The drive connecting rod 701 has a rotating support arm, the end of which is hinged to the upper end of a transition rod 707. The lower end of the transition rod 707 is hinged to the middle of a lower connecting rod 708. The head of the lower connecting rod 708 is mounted to the fixed frame via an auxiliary bearing seat 704.

[0015] The motion frame 2 includes: bearing seats, side plates, a cross plate, and a transition block. Bearing seats 201 are installed at the base of the two side plates and are fixed to the fixed frame 1. A cross plate 203 is provided between the two side plates and is fixedly installed to the lower connecting rod 708. The axis of the hole in the bearing seat 201 coincides with the axis of the hole in the auxiliary bearing seat 704, ensuring smooth and synchronous rotation of the lower connecting rod 708 and the motion frame 2.

[0016] Combination Figures 1-3 It can be seen that the drive link 701 drives the lower link 708 to rotate around its bearing seat to a certain extent through the adapter link 707, simulating the opening and closing of the mouth.

[0017] The adapter rod 707 also drives another series of linkage mechanisms, such as... Figure 1 , Figure 3As shown, a pivot pin 706 is provided in the middle of the adapter rod 707, and one end of the linkage rod 713 is connected to the adapter rod 707 through the pivot pin 706. An elbow joint 709 is installed at the tail of the lower connecting rod 708. The axis of the elbow joint 709 is perpendicular to the lower connecting rod 708 and has a degree of rotational freedom. A rotary arm is also mounted on the elbow joint 709. The other end of the linkage rod 713 is hinged to the end of the rotary arm of the elbow joint 709. A connecting rod 710 is mounted on the elbow joint 709, and bionic teeth 3 are mounted at both ends of the connecting rod 710. The rotation of the connecting rod 707 also drives the elbow joint 709 to rotate to a certain extent through the linkage rod 713. The connecting rod 710 on the elbow joint 709 and the bionic teeth 3 on it also rotate synchronously, realizing the tooth retraction and extension action. Because the pivot pin 706 used to hinge the linkage rod 713 is located in the middle of the adapter rod 707, the range of motion of the moving frame caused by the rotation of the adapter rod 707 at a certain angle is greater than the rotation range of the bionic teeth, which better meets the structural requirements. Moreover, since both are driven by the adapter rod 707, they can move simultaneously without the need for an additional mechanism to control their synchronization.

[0018] Considering both installation stability and biomimetic shape, the specific installation structure is as follows: The waterproof motor 4 is fixedly connected to the fixed frame 1 via the motor mount 5. The drive mechanism 7 is fixedly connected to the fixed frame 1 via the main bearing seat 702 and the auxiliary bearing seat 704. The waterproof motor 4 is connected to the drive shaft 703 via the coupling 6. The motion frame 2 is fixedly connected to the fixed frame 1 via the bearing seat 201, with the axis of the hole in the bearing seat 201 coinciding with the axis of the hole in the auxiliary bearing seat 704. The motion frame 2 is fixedly installed to the lower connecting rod 708 via the cross plate 203. The biomimetic teeth 3 are fixedly connected to the adapter plate 711. The motion frame also has interfaces machined to meet the installation requirements of the biomimetic robot's shape and structure. The fixed frame 1 has interfaces machined to connect to the main frame of the biomimetic robot, and also has appropriate interfaces to connect to the various structures of the mouth.

[0019] The side plate 202 and the adapter block 204 are connected by screws, the cross plate 203 is fixedly connected to the adapter block 204 by screws, and the side plate 202 is connected to the bearing seat 201 by pins to form the moving frame 2.

[0020] The drive linkage 701 has shaft holes machined at both ends, the adapter rod 707 has pin holes machined at both ends, and a pivot hole is machined between the two pin holes, the lower linkage 708 has shaft holes machined at both ends, and a pivot hole is machined between the two shaft holes, the toggle 709 has pivot holes machined at both ends, and the linkage rod 713 has pivot holes machined at both ends.

[0021] The drive shaft 703 is connected to the drive connecting rod 701 via a key. The main bearing housing 702 is connected to the drive shaft 703 via a bearing. Pins connect the pin holes at both ends of the adapter rod 707 to the lower connecting rod 708 and the drive connecting rod 701 respectively, allowing them to rotate relative to each other. The linkage rod 713 is connected to the adapter rod 707 via a pivot pin 706 and to the toggle 709 via a pin 712, also allowing them to rotate relative to each other. The lower connecting rod 708 is connected to the auxiliary bearing housing 704 via the driven shaft 705 and a bearing, allowing it to rotate around the driven shaft 705. The connecting rod 710 is fixedly connected to the toggle 709 after passing through the shaft hole at the end of the lower connecting rod 708. The adapter plate 711 is fixedly connected to the connecting rod 710. All the aforementioned parts are made of waterproof and corrosion-resistant materials and meet strength and rigidity requirements.

[0022] In use, the waterproof motor 4 rotates clockwise, driving the drive shaft 703 and drive rod 701 to rotate clockwise around the drive shaft axis via the coupling. Simultaneously, the adapter rod 707 rotates relative to the shaft hole axis of one end of the drive rod 701, pushing the lower connecting rod 708 to rotate clockwise around the driven shaft. This, in turn, pushes the side plate 202, cross plate 203, and adapter block 204 to rotate clockwise around the bearing seat hole axis, completing the mouth opening action. Simultaneously, the adapter rod 707 pushes the linkage rod 713 forward via the pivot pin 706. The linkage rod 713 pushes the elbow joint 709, causing the connecting rod 710, adapter plate 711, and bionic teeth 3 to rotate clockwise, completing the bionic teeth flipping action. The reverse motion of the above process achieves the mouth closing and bionic teeth retraction actions, realizing the linkage between mouth opening and closing and bionic teeth retraction. Furthermore, by rationally designing the length of each connecting rod, the relationship between the mouth opening angle and the bionic teeth flipping angle can be flexibly designed, thus achieving different viewing effects.

[0023] This invention, while fully considering structural manufacturability and assemblability, achieves the mouth-opening and closing linkage mechanism function of a bionic robot using a small number of parts. It improves the manufacturability of the parts while significantly reducing assembly requirements, increasing production efficiency and lowering costs. By rationally designing the lengths of each link, it achieves flexible design of the relationship between the mouth opening angle and the protrusion angle of the bionic teeth, thus realizing different aesthetic effects. This enhances the design flexibility and efficiency of the mouth-opening and closing linkage mechanism of the bionic robot.

Claims

1. A mouth opening and closing linkage mechanism for a bionic robot, characterized in that: The system includes a fixed frame (1), a waterproof motor (4), a moving frame (2), and a drive mechanism (7). The waterproof motor (4) is connected to the drive shaft (703) via a coupling (6). The drive mechanism (7) includes a drive shaft (703), which is fixed to the fixed frame via a main bearing seat (702). A drive connecting rod (701) is keyed to the drive shaft (703). The drive connecting rod (701) has a rotating support arm, the end of which is hinged to the upper end of a transition rod (707). The lower end of the transition rod (707) is hinged to the middle of a lower connecting rod (708). The head of the lower connecting rod (708) is mounted to the fixed frame via an auxiliary bearing seat (704). An elbow joint (709) is mounted at the tail of the lower connecting rod (708). The axis of the elbow joint (709) is perpendicular to the lower connecting rod (708). 08) and has rotational freedom, and there is also a rotary arm on the elbow (709); the middle part of the adapter rod (707) is provided with a pivot pin (706), one end of the linkage rod (713) is connected to the adapter rod (707) through the pivot pin (706), the other end of the linkage rod (713) is hinged to the end of the rotary arm of the elbow (709), a connecting rod (710) is installed on the elbow (709), and bionic teeth are installed at both ends of the connecting rod (710); the motion frame includes two side plates, and a bearing seat (201) is installed at the root of the two side plates. The bearing seat (201) is fixed to the fixed frame (1), and a horizontal plate is provided between the two side plates. The horizontal plate (203) is fixedly installed with the lower connecting rod (708). The axis of the hole of the bearing seat (201) coincides with the axis of the hole of the auxiliary bearing seat (704).

2. The mouth opening and closing linkage mechanism of the bionic robot as described in claim 1, characterized in that: The connecting rod (710) has adapter plates (711) installed at both ends, and the bionic teeth (3) are fixedly connected to the adapter plates (711).

3. The mouth opening and closing linkage mechanism of the bionic robot as described in claim 1, characterized in that: The linkage rod (713) is an irregularly shaped rod, and the shape of the linkage rod (713) fits the lower connecting rod (708) and the adapter rod (707) below.

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