CN106142095A - A kind of head construction of humanoid service robot - Google Patents
A kind of head construction of humanoid service robot Download PDFInfo
- Publication number
- CN106142095A CN106142095A CN201510187273.6A CN201510187273A CN106142095A CN 106142095 A CN106142095 A CN 106142095A CN 201510187273 A CN201510187273 A CN 201510187273A CN 106142095 A CN106142095 A CN 106142095A
- Authority
- CN
- China
- Prior art keywords
- eyeball
- action
- motor
- crank
- bar
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Abstract
The present invention is a kind of humanoid service robot head construction, it is possible to realize blinking of eyelid, and eyeball is upper and lower, side-to-side movement, the opening and closing of face, and the action shaken the head with left and right of nodding.Structure mainly includes eye portion 1, face part 2, neck portion 3.Eye portion action is realized by parallel linkage 4, crank guide rod mechanism 5 and crank and rocker mechanism respectively, and the opening and closing of face are directly driven by a motor realization, and the nodding of cervical region, head shaking movement is directly driven realization by motor 6,7.Wherein the blinking of eyes eyelid, upper and lower, the side-to-side movement of eyeball, by application linkage, have only to a motor respectively and drive and just can realize synchronization action.Present configuration is simple, compact, can realize the expression action that face is basic.
Description
Technical field
The invention belongs to humanoid service robot field, design a kind of anthropomorphic robot head that can realize eye, mouth and cervical region basic acts
Structure.
Background technology
Research and the application of robot are largely focused on industrial circle, and the research for service robot is increasing in recent years, but to service-delivery machine
The research of human face's expression is the most relatively fewer.
Along with the development of robotics, the raising of people's quality of life, robot will be not limited only to the application of industrial circle, increasing machine
Numerous industries such as device people will come into people's daily life, play a role in service occupation, such as housekeeping, performance, amusement, educate, welcome.Work as machine
When people enters into service field, the industrial robot of operation at full speed compared on automatic production line, it is believed that people more like having similar knot with the mankind
The anthropomorphic robot of structure.
Psychological study shows, mankind's communication for information more than 60% is realized by non-language, such as expression, expression in the eyes, gesture motion etc..
When human lives walked close to by humanoid service robot, for ours at one's side work provide help time, compared to ice-cold plant equipment, if service robot
Some basic head and face action can be realized, such as blink, speech of dehiscing, nod, swagger first-class, obtain liking of people by easier,
Thus efficiently contribute to the popularization of service robot.
Summary of the invention
The present invention devises a kind of anthropomorphic robot head construction, and this head construction is basic apery on apparent size, it is possible to realize motion nictation,
Eyeball is upper and lower, side-to-side movement, the opening and closing of face, and the action nodded, shake the head.Additionally, the eyeball of robot is two photographic head, can will regard
Frequently the real wireless network real-time Transmission of passing through of image is to host computer.
The technical solution used in the present invention: a kind of humanoid service-delivery machine head part, it includes eye 1, mouth 2 and cervical region 3, eye realization
Blinking of eyelid, upper and lower, the left-right rotation action of eyeball；Mouth achieves the opening and closing action of face；Cervical region achieves nods and head shaking movement.
Altogether achieving 6 basic head member's actions, it drives in the layout such as Fig. 1 of motor position 4, in 5,6, Fig. 27,8, shown in 9.
Fig. 3, Fig. 4 and Fig. 5 are the exploded view of eye motion.
Blinking of eyelid is realized by crank guide rod mechanism, and concrete transmission scheme is as follows: motor 4 drives crank 12 to rotate, crank drive leader 11
Swing, it is achieved the rotation of 10 at eyelid adhesion, it is achieved thereby that the action of blinking of eyes.
The side-to-side movement of eyeball is realized by parallel linkage, and rod member 13,15 is identical with 16 keeping parallelisms and dimensions length, motor 7 drive rod
15 rotate, and bar 13,16 is connected with eyeball, under connecting rod 14 drives, and bar 13,16 rotational angles keep consistent with speed with bar 15, it is achieved that
The synchronization action of double eyeball.
The knee-action of eyeball is realized by crank and rocker mechanism, and motor 8 drives crank 19, connecting rod 18 to drive rocking bar 17 to swing, bar 17 and eye
Ball is connected, and eyeball moves with bar 17, thus the synchronization realizing double eyeball moves up and down.
The opening and closing action of face has been rotated by motor 9.
What cervical region realized nods with rotary head by motor 5,6 rotation realization.
The technology of the present invention feature: present configuration is simple, compact, can realize two and blink, two eyeballs are upper and lower, side-to-side movement, by application
Linkage, each action movement of eye is driven by a motor respectively, it is achieved that the synchronization action of two eyes.
Accompanying drawing
Fig. 1 is anthropomorphic robot head overall structure schematic diagram (front) of the present invention.
Fig. 2 is anthropomorphic robot head overall structure schematic diagram (back side) of the present invention.
Fig. 3 is motion parts structural representation nictation of the present invention.
Fig. 4 is the eyeball side-to-side movement structural representation of the present invention.
Fig. 5 is the eyeball up and down motion structural representation of the present invention.
In Fig. 1: 1. eye portion, 2. face part, 3. neck portion, 4. eyelid blinks galvanic electricity machine, and 5. cervical region is nodded motor, 6. cervical region
Rotary head motor.
In Fig. 2: 7. eyeball left-right rotation motor, 8. eyeball up and down motion motor, 9. face opening and closing motor.
In Fig. 3: 10. at eyelid adhesion, 11. eyelids blink guide rod, and 12. eyelids blink crank.
In Fig. 4: 13. right eye ball left/right rotation levers, about 14. eyeball action link rods, about 15. eyeball action cranks, 16. left eye ball actions
Rotate bar.
In Fig. 5: 17. eyeball up and down motion rocking bars, 18. eyeball up and down motion connecting rods, 19. eyeball up and down motion cranks.
Detailed description of the invention
It is further discussed below the present invention in conjunction with embodiment and accompanying drawing.
Fig. 1 and Fig. 2 is anthropomorphic robot head overall structure, mainly includes eye, mouth and three motion parts of cervical region, and in figure, mouth is opened
Closing and directly driven by motor 9, the rotational movement lower jaw of motor 9 makees opening and closing campaign；Cervical region up and down nod motion and left and right nutation movement respectively by
Motor 5,6 directly drive, the rotary motion of motor directly drive nodding up and down and left and right nutation movement of head.Fig. 3～Fig. 5 is respectively by even
Linkage realizes the blinking of eyes, the left and right of eyeball, upper and lower motion respectively.Three parts can realize the part of head member as separate modular
Action, it is also possible to be applied in combination the basic acts realizing head eye, mouth and cervical region.
Claims (4)
1. by application linkage, it is achieved that two are blinked, two eyeballs are upper and lower, side-to-side movement, and each action movement is driven by a motor respectively,
Achieve the synchronization action of two eyes.
The most according to claim 1: blinking of eyelid is realized by crank guide rod mechanism, and concrete transmission scheme is as follows: motor 4 drives crank 12 to rotate,
Crank drive leader 11 swings, it is achieved the rotation of 10 at eyelid adhesion, it is achieved thereby that the action of blinking of eyes.
The most according to claim 1: the side-to-side movement of eyeball is realized by parallel linkage, rod member 13,15 and 16 keeping parallelism and dimensions length
Identical, bar 13,16 is connected with eyeball, and motor 7 drive rod 15 rotates, under connecting rod 14 drives, and bar 13,16 rotational angles and speed
Keep consistent with bar 15, it is achieved that the synchronization action of double eyeball.
The most according to claim 1: the knee-action of eyeball is realized by crank and rocker mechanism, motor 8 drives crank 19, connecting rod 18 to drive rocking bar
17 swing, and bar 17 is connected with eyeball, and eyeball moves with bar 17, thus the synchronization realizing double eyeball moves up and down.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510187273.6A CN106142095A (en) | 2015-04-17 | 2015-04-17 | A kind of head construction of humanoid service robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510187273.6A CN106142095A (en) | 2015-04-17 | 2015-04-17 | A kind of head construction of humanoid service robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106142095A true CN106142095A (en) | 2016-11-23 |
Family
ID=58058931
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510187273.6A Pending CN106142095A (en) | 2015-04-17 | 2015-04-17 | A kind of head construction of humanoid service robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106142095A (en) |
Cited By (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106625702A (en) * | 2016-12-08 | 2017-05-10 | 成都炬石科技有限公司 | Humanoid mechanical head and humanoid robot |
| CN106737757A (en) * | 2017-02-15 | 2017-05-31 | 华南理工大学 | A kind of intelligent robot head construction |
| CN106826908A (en) * | 2017-03-20 | 2017-06-13 | 芜湖星途机器人科技有限公司 | Robot with movable head |
| CN106826794A (en) * | 2017-02-20 | 2017-06-13 | 刘海涛 | A kind of adaptive robot visual inspection webcam driver structure |
| CN106903702A (en) * | 2017-04-27 | 2017-06-30 | 深圳中智科创机器人有限公司 | A kind of Prosthetic Hand telecontrol equipment |
| CN108098787A (en) * | 2017-12-25 | 2018-06-01 | 大连大学 | A kind of voice interface robot architecture and its system |
| CN108346361A (en) * | 2018-03-06 | 2018-07-31 | 自贡亘古龙腾科技有限公司 | A kind of mechanical dinosaur of brushless motor modular driving |
| CN109968368A (en) * | 2019-04-03 | 2019-07-05 | 广东工业大学 | A kind of robot bionic eye |
| WO2019237997A1 (en) * | 2018-06-14 | 2019-12-19 | 丁英卓 | Device for controlling facial expression of robot |
| CN110744569A (en) * | 2019-11-21 | 2020-02-04 | 苏州溪能环保科技有限公司 | Service robot with identity recognition function and control method thereof |
| CN111300449A (en) * | 2020-03-12 | 2020-06-19 | 河海大学常州校区 | Facial organ mechanism of humanoid expression robot |
| CN112265007A (en) * | 2020-10-27 | 2021-01-26 | 广东富利盛仿生机器人股份有限公司 | Head of robot with human-face-expression imitation |
| CN112847394A (en) * | 2021-01-04 | 2021-05-28 | 唐山海容机器人应用技术研究院 | Human eye and head movement simulating mechanism |
| CN114770545A (en) * | 2022-05-10 | 2022-07-22 | 湖北工业大学 | Bifocal autonomous inspection robot for distribution room |
-
2015
- 2015-04-17 CN CN201510187273.6A patent/CN106142095A/en active Pending
Cited By (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106625702A (en) * | 2016-12-08 | 2017-05-10 | 成都炬石科技有限公司 | Humanoid mechanical head and humanoid robot |
| CN106737757A (en) * | 2017-02-15 | 2017-05-31 | 华南理工大学 | A kind of intelligent robot head construction |
| CN106826794A (en) * | 2017-02-20 | 2017-06-13 | 刘海涛 | A kind of adaptive robot visual inspection webcam driver structure |
| CN106826908A (en) * | 2017-03-20 | 2017-06-13 | 芜湖星途机器人科技有限公司 | Robot with movable head |
| CN106903702A (en) * | 2017-04-27 | 2017-06-30 | 深圳中智科创机器人有限公司 | A kind of Prosthetic Hand telecontrol equipment |
| CN108098787A (en) * | 2017-12-25 | 2018-06-01 | 大连大学 | A kind of voice interface robot architecture and its system |
| CN108346361A (en) * | 2018-03-06 | 2018-07-31 | 自贡亘古龙腾科技有限公司 | A kind of mechanical dinosaur of brushless motor modular driving |
| WO2019237997A1 (en) * | 2018-06-14 | 2019-12-19 | 丁英卓 | Device for controlling facial expression of robot |
| CN109968368A (en) * | 2019-04-03 | 2019-07-05 | 广东工业大学 | A kind of robot bionic eye |
| CN110744569A (en) * | 2019-11-21 | 2020-02-04 | 苏州溪能环保科技有限公司 | Service robot with identity recognition function and control method thereof |
| CN111300449A (en) * | 2020-03-12 | 2020-06-19 | 河海大学常州校区 | Facial organ mechanism of humanoid expression robot |
| CN112265007A (en) * | 2020-10-27 | 2021-01-26 | 广东富利盛仿生机器人股份有限公司 | Head of robot with human-face-expression imitation |
| CN112847394A (en) * | 2021-01-04 | 2021-05-28 | 唐山海容机器人应用技术研究院 | Human eye and head movement simulating mechanism |
| CN114770545A (en) * | 2022-05-10 | 2022-07-22 | 湖北工业大学 | Bifocal autonomous inspection robot for distribution room |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN106142095A (en) | A kind of head construction of humanoid service robot | |
| CN203344065U (en) | Human-simulated robot head | |
| CN106272459B (en) | A kind of anthropomorphic robot | |
| CN103056880B (en) | Simulated monkey robot head structure | |
| KR101002619B1 (en) | Face robot for giving expression | |
| CN109822590B (en) | Robot eye movement device and control method | |
| CN112265007B (en) | Head of robot with human-face-expression imitation | |
| CN110103234A (en) | A kind of robot with humanoid facial expression | |
| CN101670585A (en) | Double eyelid eye part movement mechanism of bionic robot | |
| CN206123670U (en) | Humanoid robot | |
| CN101297999A (en) | Artificial human eyeball rotation and eyelid blinking motion mechanism | |
| WO2019001036A1 (en) | Head structure of biomimetic robot, and biomimetic robot | |
| CN106426295A (en) | Mechanical bionic eye device | |
| CN115533932A (en) | Mechanical structure of robot with multiple motion control points and expressions | |
| CN215471165U (en) | Head structure of expression robot | |
| CN101898359B (en) | Humanoid robot eyes | |
| CN202607678U (en) | Eyeball movement mechanism for bionic-robot | |
| TWI586415B (en) | Simulated eyeball apparatus | |
| CN111300449A (en) | Facial organ mechanism of humanoid expression robot | |
| CN211806165U (en) | Robot expression simulation mechanism | |
| CN203379592U (en) | Doll robot | |
| CN212794971U (en) | Robot eye mechanism | |
| CN212039003U (en) | Bionic bird robot head device and bionic bird robot head | |
| CN109015598B (en) | Facial expression bionic mechanism based on SMA | |
| CN201760882U (en) | Eye mechanism of humanoid robot |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| WD01 | Invention patent application deemed withdrawn after publication | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20161123 |