CN101780675B - Double-faced robot head device - Google Patents
Double-faced robot head device Download PDFInfo
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- CN101780675B CN101780675B CN2010101272838A CN201010127283A CN101780675B CN 101780675 B CN101780675 B CN 101780675B CN 2010101272838 A CN2010101272838 A CN 2010101272838A CN 201010127283 A CN201010127283 A CN 201010127283A CN 101780675 B CN101780675 B CN 101780675B
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Abstract
The invention relates to a double-faced robot head device, which comprises an eye bracket, a mouth mounting frame, four eye horizontal rotating parts, four eyelid parts, two mouth parts, a micro motor 1, a micro motor 2, a micro motor 3, a synchronous belt driving component 1 and a synchronous belt driving component 2, wherein the bottom of the eye bracket is fixedly connected with the mouth mounting frame; the micro motor 1 and the micro motor 2 are fixedly arranged on the eye bracket; the four eye horizontal rotating parts are arranged on the eye bracket; micro motor 1 drives the four eye horizontal rotating parts through the transmission of the synchronous belt driving component 2; the four eyelid parts are arranged on the four eye horizontal rotating parts; the micro motor 2 drives the four eyelid parts through the transmission of the synchronous belt driving component 1; the two mouth parts are arranged on the mouth mounting frame; and the micro motor 3 is fixedly arranged on the mouth mounting frame, and the two mouth parts are driven by the micro motor 3. The device is simple and compact in structure and low in cost and can effectively realize the motions of organs such as eyeballs, eyelids or mouths on two faces of a humanoid robot head.
Description
Technical field
Patent of the present invention relates to a kind of robot head device, particularly a kind of double-faced robot head device.
Background technology
Humanoid robot is a kind ofly desirable can carry out interaction with the people, and behaving provides service to bring the hypothetical machine people of convenient life.Along with expanding economy, also more and more deep in recent years for the research of humanoid robot, and can realize organ movements' such as humanoid robot head eyeball, eyelid and mouth also development thereupon of robot head device.The existing robots head device generally is to utilize various driving element driven machine head part organs to rotate, thereby realizes organ movements such as humanoid robot head eyeball, eyelid and mouth, makes the mechanical device of various robot facial expression.The head organ movement that general robot head device can only be realized the robot single face, then powerless for the bilateral structure requirement, and complex structure is loaded down with trivial details, cost is high.
Summary of the invention
The objective of the invention is to overcome that existing robot head device complex structure is loaded down with trivial details, cost is high and can not realize double-faced robot head organ movement's shortcoming, a kind of simple and compact for structure, double-faced robot head device that cost is low is provided, effectively realize the organ movements such as eyeball, eyelid and mouth of humanoid robot cephalodiprosopus, make the mechanical device of various robot facial expression.Double-faced robot head device simple and compact for structure, that cost is low is according to being about design in 1: 1 with true man's ratio, have four frees degree, drive, can realize horizontally rotating of the two-sided eyeball of robot by micromachine, the vertical rotation of eyeball, the opening and closing of eyelid and the opening and closing of mouth.
For achieving the above object, the present invention adopts following technical proposals:
A kind of double-faced robot head device, comprise an eye bracing frame, a mouth installing rack, a four eyed ball horizontally rotates parts, four eyed eyelid parts, one pair of nozzle component, one of three micromachine---one, micromachine two of a micromachine and three, two of a micromachine are with transmission components synchronously---are with transmission component one and a synchronous band transmission component two synchronously; It is characterized in that fixedly connected described mouth installing rack below the described eye bracing frame, described micromachine one and described micromachine two are fixedly mounted on the described eye bracing frame, described four eyed ball is installed on described eye bracing frame is horizontally rotated parts, described synchronous band transmission component two horizontally rotates parts with described four eyed ball and is connected, and described micromachine one drives described four eyed ball by described synchronous band transmission component two transmissions and horizontally rotates parts; Described four eyed eyelid parts are installed in described four eyed ball and horizontally rotate on the parts, described synchronous band transmission component one is sleeved on described four eyed ball and horizontally rotates on the parts, and be connected with described four eyed eyelid parts, described micromachine two drives described four eyed eyelid parts by described synchronous band transmission component one transmission; Described pair of nozzle component is installed on described mouth installing rack, and described micromachine three is fixedly mounted on the described mouth installing rack, and described pair of nozzle component driven by described micromachine three.
The structure that described four eyed ball horizontally rotates parts is: a horizontal connecting axle two is fixedlyed connected with two horizontal stands, a fixedly connected horizontal connecting axle one and a horizontal connecting axle three are linked to be a whole connecting axle with described horizontal connecting axle two coaxial lines in the outside of described two horizontal stands, and on this connecting axle described four eyed eyelid parts are installed; Horizontal rotating shaft one and a front and back horizontal rotating shaft two are installed in parallel in respectively in described two horizontal stands before and after one, four eyeballs are fixedly connected on respectively on described front and back horizontal rotating shaft one or horizontal rotating shaft two two ends, described front and back, the two ends of described front and back horizontal rotating shaft one and a described front and back horizontal rotating shaft two and a connecting rod are hinged by two bearing pins, constitute a bar linkage structure; Described front and back horizontal rotating shaft two is fixedlyed connected with the output shaft square crossing of a micromachine four.
The structure of described four eyed eyelid parts is: two positive eyelids are by a fixed connecting piece parallel connection, and fixedly connected by the two ends of the eyelid of two parallel connections of an eyelid rotating shaft one and an eyelid rotating shaft two and reverse side in two ends; Described eyelid rotating shaft one and described eyelid rotating shaft two central authorities slide on the described horizontal connecting axle one and described horizontal connecting axle three that described four eyed ball horizontally rotates parts with bearing respectively; Described synchronous band transmission component one is fixedlyed connected with described eyelid rotating shaft one.
The structure of described pair of nozzle component is: front and back four mouth rotating shafts up and down respectively are contained on two rotations in the front and back mandrel with two torsion spring sets respectively, described torsion spring end compresses described mouth rotating shaft, described mouth rotating shaft end compresses described cam, described cam connects the output shaft of described micromachine three, constitutes a cam structure.
The present invention compared with prior art, have following conspicuous outstanding substantive distinguishing features and remarkable advantage: the present invention is rational in infrastructure, simple, compact, easy to manufacture, cost is low, easy to use, be suitable for various modularization robots and use, adopt the least possible drive motors to realize the motion of the two-sided eyeball of robot, eyelid and mouth.The four eyed ball horizontally rotates parts and realizes adopting four eyeballs of a micromachine driving to horizontally rotate by bar linkage structure.Four eyed eyelid parts are installed in eyeball and horizontally rotate on the parts, make eyelid and center of rotation be positioned at same plane, and the rotatable scope of eyeball increases.Eyeball vertical rotation and eyelid rotate and adopt the band kind of drive synchronously, make frame for movement compact more, and the robot head size reduces.Move simplified structure after eyeball and the eyelid center of rotation.Two nozzle components adopt cam structure and torsion spring compacted form, and robot two-sided mouth opening and closing frame for movement realizes effectively simple.
Description of drawings
Fig. 1 is the general structure schematic diagram of one embodiment of the present of invention
Fig. 2 is the right view of Fig. 1
Fig. 3, Fig. 4 are respectively the cutaway views at A-A and B-B place among Fig. 1
Fig. 5 is the shaft side figure of Fig. 1
Fig. 6 is the general structure schematic diagram that the four eyed ball of one embodiment of the present of invention horizontally rotates parts
Fig. 7 is the shaft side figure (hiding the cover plate 29 that connects on the horizontal rotating shaft 1 of front and back for the ease of understanding) of Fig. 6
Fig. 8 is the shaft side figure of the four eyed eyelid parts of one embodiment of the present of invention
Fig. 9 is the shaft side figure of two nozzle components of one embodiment of the present of invention
The specific embodiment
The preferred embodiments of the present invention accompanying drawings is as follows:
Embodiment one: referring to Fig. 1, this double-faced robot head device, comprise an eye bracing frame 7, a mouth installing rack 10, a four eyed ball horizontally rotates 2, one two nozzle components 3 of 1, one four eyed eyelid of parts parts, one of three micromachine---micromachine 1, micromachine 25 and micromachine 38, two band transmission components---synchronously are band transmission component 1 and one band transmission component 29 synchronously synchronously; It is characterized in that eye bracing frame 7 following fixedly connected mouth installing racks 10, micromachine 1 and micromachine 25 are fixedly mounted on the eye bracing frame 7, the four eyed ball is installed on eye bracing frame 7 is horizontally rotated parts 1, be with transmission component 29 to horizontally rotate parts 1 with the four eyed ball synchronously and be connected, micromachine 1 drives the four eyed ball by synchronous band transmission component 29 transmissions and horizontally rotates parts 1; Four eyed eyelid parts 2 are installed in the four eyed ball and horizontally rotate on the parts 1, are with transmission component 1 to be sleeved on the four eyed ball synchronously and horizontally rotate on the parts 1, and be connected with four eyed eyelid parts 2, and micromachine 25 drives four eyed eyelid parts 2 by synchronous band transmission component one 6 transmissions; Two nozzle components 3 are installed on mouth installing rack 10, and micromachine 38 is fixedly mounted on the mouth installing rack 10, and two nozzle components 3 are driven by micromachine 38.
Embodiment two: present embodiment is identical with embodiment one, special feature is as follows: referring to Fig. 1 and Fig. 2, the four eyed ball horizontally rotates parts 1 two ends and is set with abutment sleeve and miniature bearing, four eyed eyelid parts 2 are installed in described four eyed ball and horizontally rotate on the parts 1, by the abutment sleeve axial location, the four eyed ball horizontally rotates parts 1 and is set with two of miniature bearing and terminal supports by eye bracing frame 7 two ends through holes, and carries out axial location at fixedly connected two the eye bearing (ball) covers 13 in described eye bracing frame 7 both sides; Micromachine 25 is fixedlyed connected with a motor mounting plate 1, and motor mounting plate 1 is fixedlyed connected with eye bracing frame 7; Micromachine 1 is fixedlyed connected with a motor mounting plate 2 12, and motor mounting plate 2 12 is fixedlyed connected with eye bracing frame 7; Two nozzle components 3 two ends are set with abutment sleeve and miniature bearing, are set with six the through holes supports of the shaft end of miniature bearing by mouth installing rack 10 two ends, and fixedly connected two mouth bearing (ball) covers 14 carry out axial location on mouth installing rack 10 both sides.
Referring to Fig. 3 and Fig. 4, an eyeball vertical rotation limiting plate 15 is fixedlyed connected with eye bracing frame 7 with two eyelid limited blocks 16.Referring to Fig. 6 and Fig. 7, the structure that the four eyed ball horizontally rotates parts 1 is: a horizontal connecting axle 2 23 is fixedlyed connected with two horizontal stands 25, a fixedly connected horizontal connecting axle 1 and a horizontal connecting axle 3 22 are linked to be a whole connecting axle with horizontal connecting axle 2 23 coaxial lines in the outside of two horizontal stands 25, and four eyed eyelid parts 1 are installed on this connecting axle; Horizontal rotating shaft 1 and a front and back horizontal rotating shaft 2 20 are installed in parallel in respectively in two horizontal stands 25 before and after one, two cover plates 29 (only showing one among Fig. 7) is connected with described two horizontal stands 25 respectively, front and back horizontal rotating shaft 1 shaft shoulder place in two ends is installed miniature bearing with the front and back horizontal rotating shaft about in the of 2 20, the miniature bearing place is installed to be installed on respectively in two horizontal stands 25 and the two cover plates 29 center shrinkage pools, four eyeballs 17 are fixedly connected on respectively on front and back horizontal rotating shaft 1 or front and back horizontal rotating shaft 2 20 two ends, the two ends of front and back horizontal rotating shaft 1 and a front and back horizontal rotating shaft 2 20 and a connecting rod 19 are hinged by two bearing pins 28, constitute a bar linkage structure; A motor mounting plate 3 26 is fixedlyed connected with a cover plate 29, and a micromachine 4 27 is fixedlyed connected with motor mounting plate 3 26, and front and back horizontal rotating shaft 2 20 is fixedlyed connected with the output shaft square crossing of micromachine 4 27; Two levels spacing 21 are fixedlyed connected with horizontal rotating shaft 2 20.
Referring to Fig. 8, the structure of four eyed eyelid parts 2 is: two positive eyelids 30 are fixedlyed connected parallel connection respectively with a fixed connecting piece 33, and fixedly connected by the two ends of the eyelid 30 of two parallel connections of an eyelid rotating shaft 1 and an eyelid rotating shaft 2 32 and reverse side in two ends; Eyelid rotating shaft 1 and eyelid rotating shaft 2 32 central authorities slide on the horizontal connecting axle 1 and horizontal connecting axle 3 22 that four eyed ball shown in Figure 6 horizontally rotates parts 1 with bearing respectively; Synchronous band transmission component 1 shown in Figure 1 is fixedlyed connected with eyelid rotating shaft 1.
Referring to Fig. 9, the structure of two nozzle components 3 is: front and back four mouth rotating shafts 34 up and down respectively are sleeved on two rotations in the front and back mandrel 38 with two torsion springs 35 respectively, four rotating shaft bearing end caps 37 respectively with medium pore in miniature bearing is installed four mouth rotating shafts 34 fixedly connected, torsion spring 35 ends compress described mouth rotating shaft 34, mouth rotating shaft 34 ends compress described cam 36, cam 36 connects the output shaft of described micromachine 38, constitutes a cam structure.
Embodiment two motion flows: micromachine 4 27 starts forward or reverse, horizontal rotating shaft 2 20 horizontal huntings before and after driving, linkage transmission by front and back horizontal rotating shaft 1, connecting rod 19 and front and back horizontal rotating shaft 2 20 hinged formations, horizontal rotating shaft one 18 horizontal huntings before and after driving, thereby four eyeball 17 horizontal huntings, realized horizontally rotating of the two-sided eyeball of robot, by horizontal rotating shaft 2 20 and front and back horizontal rotating shaft one 18 horizontal hunting scopes before and after spacing 21 restrictions of level, carry out mechanical position limitation thereby the two-sided eyeball of robot horizontally rotated; Micromachine 1 starts forward or reverse, transmission by synchronous band transmission component 29, thereby the four eyed ball that drive to constitute a whole connecting axle horizontally rotates parts 1 vertical rotation makes four eyeball 17 vertical oscillations, realized the vertical rotation of the two-sided eyeball of robot, horizontally rotate parts 1 vertical rotation scope by eyeball vertical rotation limiting plate 15 restriction four eyed balls, thereby robot two-sided eyeball vertical rotation scope is carried out mechanical position limitation; Micromachine 25 starts forward or reverse, transmission by synchronous band transmission component 1, thereby driving 2 rotations of four eyed eyelid parts makes four eyelids 30 swing, realized the opening and closing of the two-sided eyelid of robot, by eyelid limited block 16 restriction eyelid rotating shafts one 31 slewing areas, thereby robot two-sided eyelid opening and closing scope is carried out mechanical position limitation; Mouth rotating shaft 34 relies on torsion spring 35 to act on and compresses cam 36, and micromachine 38 starts rotation, driving cam 36 rotations, thus make each lip-syncing rotating shaft 34 cycle opening and closing of front and back, realized the opening and closing of the two-sided mouth of robot.
Claims (1)
1. double-faced robot head device, comprise an eye bracing frame (7), a mouth installing rack (10), a four eyed ball horizontally rotates parts (1), four eyed eyelid parts (2), a two nozzle component (3), three micromachines---two (5) and micromachines three (8) of one (4), micromachine of a micromachine, two synchronous band transmission components---be with one (6) and one of transmission component to be with transmission component two (9) synchronously synchronously for one; It is characterized in that the following fixedly connected described mouth installing rack (10) of described eye bracing frame (7), described micromachine one (4) and described micromachine two (5) are fixedly mounted on the described eye bracing frame (7), go up the described four eyed ball of installation at described eye bracing frame (7) and horizontally rotate parts (1), described synchronous band transmission component two (9) horizontally rotates parts (1) with described four eyed ball and is connected, and described micromachine one (4) drives described four eyed ball by described synchronous band transmission component two (9) transmissions and horizontally rotates parts (1); Described four eyed eyelid parts (2) are installed in described four eyed ball and horizontally rotate on the parts (1), described synchronous band transmission component one (6) is sleeved on described four eyed ball and horizontally rotates on the parts (1), and be connected with described four eyed eyelid parts (2), described micromachine two (5) drives described four eyed eyelid parts (2) by described synchronous band transmission component one (6) transmission; Go up installation described pair of nozzle component (3) at described mouth installing rack (10), described micromachine three (8) is fixedly mounted on the described mouth installing rack (10), and described pair of nozzle component (3) driven by described micromachine three (8);
Described four eyed ball horizontally rotates the structure of parts (1): a horizontal connecting axle two (23) is fixedlyed connected with two horizontal stands (25), one (24) and horizontal connecting axle three (22) of a fixedly connected horizontal connecting axle is linked to be a whole connecting axle with described horizontal connecting axle two (23) coaxial lines in the outside of described two horizontal stands (25), and the described four eyed ball of installation horizontally rotates parts (1) on this connecting axle; Horizontal rotating shaft one (18) is installed in parallel in respectively in described two horizontal stands (25) with a front and back horizontal rotating shaft two (20) before and after one, four eyeballs (17) are fixedly connected on respectively on described front and back horizontal rotating shaft one (18) or described front and back horizontal rotating shaft two (20) two ends, described front and back horizontal rotating shaft one (18) and described front and back horizontal rotating shaft two (20) are hinged by two bearing pins (28) with the two ends of a connecting rod (19), constitute a bar linkage structure; Described front and back horizontal rotating shaft two (20) is fixedlyed connected with the output shaft square crossing of a micromachine four (27);
The structure of described four eyed eyelid parts (2): positive two eyelids (30) are by a fixed connecting piece (33) parallel connection, and fixedly connected with the two ends of the eyelid (30) of two parallel connections of reverse side with an eyelid rotating shaft two (32) by an eyelid rotating shaft one (31) in two ends; Described eyelid rotating shaft one (31) and described eyelid rotating shaft two (32) central authorities slide on the described horizontal connecting axle one (24) and described horizontal connecting axle three (22) that described four eyed ball horizontally rotates parts (1) with bearing respectively; Described synchronous band transmission component one (6) is fixedlyed connected with described eyelid rotating shaft one (31);
The structure of described pair of nozzle component (3): front and back four mouth rotating shafts (34) up and down respectively are sleeved on front and back two rotations mandrels (38) with two torsion springs (35) respectively, described torsion spring (35) end compresses described mouth rotating shaft (34), described mouth rotating shaft (34) end compresses a cam (36), described cam (36) connects the output shaft of described micromachine three (8), constitutes a cam structure.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2010101272838A CN101780675B (en) | 2010-03-19 | 2010-03-19 | Double-faced robot head device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2010101272838A CN101780675B (en) | 2010-03-19 | 2010-03-19 | Double-faced robot head device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN101780675A CN101780675A (en) | 2010-07-21 |
| CN101780675B true CN101780675B (en) | 2011-08-31 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2010101272838A Expired - Fee Related CN101780675B (en) | 2010-03-19 | 2010-03-19 | Double-faced robot head device |
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| CN (1) | CN101780675B (en) |
Families Citing this family (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103406907B (en) * | 2013-08-30 | 2015-12-09 | 上海大学 | Anthropomorphic robot shape of face converting means |
| CN103495987B (en) * | 2013-09-26 | 2015-10-07 | 上海大学 | A kind of bevel gear differential apery eye part movement mechanism |
| CN105437211A (en) * | 2015-12-11 | 2016-03-30 | 塔米智能科技（北京）有限公司 | Double-expression service robot |
| CN105437242A (en) * | 2015-12-11 | 2016-03-30 | 塔米智能科技（北京）有限公司 | Head of movable double-expression service robot |
| CN205380679U (en) * | 2016-01-12 | 2016-07-13 | 纳恩博（北京）科技有限公司 | Robot head construction |
| CN106426196B (en) * | 2016-08-31 | 2018-01-30 | 佛山博文机器人自动化科技有限公司 | A kind of service-delivery machine head part |
| CN109159136B (en) * | 2018-10-12 | 2022-03-18 | 山东宇坤健康科技有限公司 | Intelligent robot with medical domestic combined function |
| CN111086012B (en) * | 2019-12-30 | 2021-09-17 | 深圳市优必选科技股份有限公司 | Head structure and robot |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2147028Y (en) * | 1993-01-14 | 1993-11-24 | 田江 | Robot head toy |
| CN2192363Y (en) * | 1994-04-21 | 1995-03-22 | 舒宏琦 | Twinkling structure of bionic animal |
| CN200998593Y (en) * | 2007-02-14 | 2008-01-02 | 杨建良 | Face act device of the robot |
| CN201001962Y (en) * | 2007-02-14 | 2008-01-09 | 杨建良 | Device for controlling robot eyeball and eyelid action |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6650965B2 (en) * | 2000-03-24 | 2003-11-18 | Sony Corporation | Robot apparatus and behavior deciding method |
-
2010
- 2010-03-19 CN CN2010101272838A patent/CN101780675B/en not_active Expired - Fee Related
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2147028Y (en) * | 1993-01-14 | 1993-11-24 | 田江 | Robot head toy |
| CN2192363Y (en) * | 1994-04-21 | 1995-03-22 | 舒宏琦 | Twinkling structure of bionic animal |
| CN200998593Y (en) * | 2007-02-14 | 2008-01-02 | 杨建良 | Face act device of the robot |
| CN201001962Y (en) * | 2007-02-14 | 2008-01-09 | 杨建良 | Device for controlling robot eyeball and eyelid action |
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|---|---|
| CN101780675A (en) | 2010-07-21 |
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