CN107813284A - A kind of robot of variable facial expressions - Google Patents
A kind of robot of variable facial expressions Download PDFInfo
- Publication number
- CN107813284A CN107813284A CN201711035376.6A CN201711035376A CN107813284A CN 107813284 A CN107813284 A CN 107813284A CN 201711035376 A CN201711035376 A CN 201711035376A CN 107813284 A CN107813284 A CN 107813284A
- Authority
- CN
- China
- Prior art keywords
- spur gear
- facial
- face
- robot
- steering wheel
- 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
- 230000008921 facial expression Effects 0.000 title claims abstract description 15
- 230000001815 facial effect Effects 0.000 claims abstract description 29
- 210000005252 bulbus oculi Anatomy 0.000 claims abstract description 27
- 230000033001 locomotion Effects 0.000 claims abstract description 8
- 230000005540 biological transmission Effects 0.000 claims description 2
- 210000000078 claw Anatomy 0.000 abstract description 10
- 230000007613 environmental effect Effects 0.000 abstract description 2
- 238000010586 diagram Methods 0.000 description 3
- 210000000887 face Anatomy 0.000 description 3
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 230000014509 gene expression Effects 0.000 description 1
- 210000003128 head Anatomy 0.000 description 1
- 238000000034 method Methods 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/08—Gripping heads and other end effectors having finger members
- B25J15/10—Gripping heads and other end effectors having finger members with three or more finger members
- B25J15/103—Gripping heads and other end effectors having finger members with three or more finger members for gripping the object in three contact points
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/0005—Manipulators having means for high-level communication with users, e.g. speech generator, face recognition means
- B25J11/0015—Face robots, animated artificial faces for imitating human expressions
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/005—Manipulators mounted on wheels or on carriages mounted on endless tracks or belts
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0084—Programme-controlled manipulators comprising a plurality of manipulators
- B25J9/0087—Dual arms
Abstract
The invention discloses a kind of robot of variable facial expressions, the present invention includes base, rotating basis, body；Its center base is connected by the rotating basis on base with body, body both sides are provided with arm structure, face structure is connected with above body, face structure includes facial support, lateral aspect of face support, eyeball, face, pin, steering wheel II, L-type bar, facial intermediate support, rope, deflecting plate, steering wheel III, eyeball frame, fix bar；Base both sides are provided with drive mechanism, the movement of drive mechanism, and band mobile robot moves.Face structure of the present invention separates various pieces, and effectively facial expression can be controlled, and makes robot more diversified；The scope of the three claw robot crawl object of gripping portion design is wide, strong adaptability；Drive mechanism is simply efficient, can be operated in a variety of environmental conditions, is not susceptible to the event of rollover.
Description
Technical field
The present invention relates to a kind of robot of variable facial expressions, belong to robotic technology field.
Background technology
With the rapid development of robot technology, all kinds of robots are widely used to the industry spot of every field.Machine
Device people's species is various, including industrial robot, agricultural robot, domestic robot, Medical Robot, service class robot etc.,
All kinds of robots have different design methods according to its demand, and involved by the application is a kind of service humanoid robot, general clothes
Business humanoid robot is seldom designed into facial expression application in use, meanwhile, adaptability is poor on hand grasping mechanism, is moving
Dynamic aspect stability is general, it is therefore desirable to invents a kind of service humanoid robot that can be solved the above problems preferably to use.
The content of the invention
In order to solve the deficiencies in the prior art, the invention provides a kind of robot of variable facial expressions.
The technical scheme is that：A kind of robot of variable facial expressions, including base 1, rotating basis 2, body 3；Its
Center base 1 is connected by the rotating basis 2 on base 1 with body 3, and the both sides of body 3 are provided with arm structure, the top of body 3
Face structure is connected with, face structure includes facial support 10, lateral aspect of face support 11, eyeball 12, face 13, pin 25, rudder
Machine II 26, L-type bar 27, facial intermediate support 28, rope 29, deflecting plate 30, steering wheel III 31, eyeball frame 32, fix bar 34, face knot
Structure from front to back, provided with several facial supports 10, is connected between facial support 10 by pin 25, facial intermediate support 28,
The lateral aspect of face support 11 of facial both sides is connected with facial support 10, and the top of facial support 10 of forefront is provided with eyeball 12, under
Side is provided with face 13, and the rear side of face 13 is connected by L-type bar 27 with steering wheel II 26, and eyeball frame 32, fix bar are provided with after eyeball 12
34, eyeball frame 32 is connected by rope 29 with deflecting plate 30, and deflecting plate 30 is connected with steering wheel III 31；The both sides of base 1 are provided with transmission and tied
Structure, the movement of drive mechanism, band mobile robot move.
The arm structure includes three claw robot 6, steering wheel I 7, connecting plate I 8, connecting plate II 9；Wherein connecting plate II 9 is logical
Cross connecting plate I 8 to be connected with three claw robot 6, between connecting plate I 8, steering wheel I 7 is connected between connecting plate II 9, passes through steering wheel I 7
Control the motion of three claw robot 6, connecting plate I 8, connecting plate II 9.
The drive mechanism include outer seal 4, cover plate 5, crawler belt 14, spur gear I 15, spur gear II 16, spur gear III 17,
Spur gear IV 18, bevel gear I 19, bevel gear II 20, motor 21, inner cover 22, end cap 23 and bearing 24；Wherein inner cover 22 with
Base 1 connects, and inner cover 22 is provided with spur gear I 15, spur gear II 16, spur gear III 17, spur gear II 16, spur gear III 17
Coaxially, spur gear III 17 engages with spur gear IV 18, and spur gear IV 18 is coaxially provided with bevel gear I 19, bevel gear I 19 and cone tooth
Take turns II 20 engagements, bevel gear II 20 coordinates with motor 21, and motor 21 is connected with inner cover 22, spur gear I 15, spur gear II 16,
The place axle of spur gear IV 18 is connected by bearing 24 with inner cover 22, and spur gear I 15, spur gear II 16 and crawler belt 14 coordinate, outside
Capping 4 is fixed on the outside of each gear by end cap 23 and cover plate 5.
Also include the camera 33 positioned at the rear of eyeball 12.
The lateral aspect of face support 11 of the facial both sides is directly connected by prominent and groove with facial support 10.
The beneficial effects of the invention are as follows：
1st, face structure separates various pieces, can be efficiently used for being controlled facial expression, make robot more more
Sample；
2nd, the scope of the three claw robot crawl object of gripping portion design is wide, strong adaptability；
3rd, drive mechanism is simply efficient, can be operated in a variety of environmental conditions, is not susceptible to the event of rollover.
Brief description of the drawings
Fig. 1 is the overall structure diagram of the present invention；
Fig. 2 is the drive mechanism schematic diagram of the present invention；
Fig. 3 is the head face structural representation of the present invention；
Fig. 4 is the head eyeball structure schematic diagram of the present invention.
In figure respectively marked as：1- bases, 2- rotating basis, 3- bodies, 4- outer seals, 5- cover plates, 6- three claw robots, 7-
Steering wheel I, 8- connecting plates I, 9- connecting plates II, 10- faces support, 11- lateral aspect of face support, 12- eyeballs, 13- faces, 14- are carried out
Band, 15- spur gears I, 16- spur gears II, 17- spur gears III, 18- spur gears IV, 19- bevel gears I, 20- bevel gears II, 21-
Motor, 22- inner covers, 23- end caps, 24- bearings, 25- pins, 26- steering wheels II, 27-L types bar, 28- faces intermediate support, 29-
Rope, 30- deflecting plates, 31- steering wheels III, 32- eyeballs frame, 33- cameras, 34- fix bars.
Embodiment
Embodiment 1：As Figure 1-4, a kind of robot of variable facial expressions, including base 1, rotating basis 2, body 3；Its
Middle rotating basis 2 is bolted on base 1, and rotating basis 2 is connected with body 3, and the both sides of body 3 are provided with arm structure,
The top of body 3 is connected with face structure, face structure include facial support 10, lateral aspect of face support 11, eyeball 12, face 13,
Pin 25, steering wheel II 26, L-type bar 27, facial intermediate support 28, rope 29, deflecting plate 30, steering wheel III 31, eyeball frame 32, fix bar
34, face structure from front to back, provided with several facial supports 10, passes through branch among pin 25, face between facial support 10
Frame 28 is connected, and the lateral aspect of face support 11 of facial both sides is connected with facial support 10, and the top of facial support 10 of forefront is provided with
Eyeball 12, lower section are provided with face 13, and the rear side of face 13 is connected by L-type bar 27 with steering wheel II 26, and eyeball frame is provided with after eyeball 12
32nd, fix bar 34, eyeball frame 32 are connected by rope 29 with deflecting plate 30, and deflecting plate 30 is connected with steering wheel III 31；The both sides of base 1 are set
There are drive mechanism, the movement of drive mechanism, band mobile robot moves.
It is possible to further set the arm structure to include three claw robot 6, steering wheel I 7, connecting plate I 8, connecting plate II
9；Wherein connecting plate II 9 is connected by connecting plate I 8 with three claw robot 6, is connected between connecting plate I 8, between connecting plate II 9
Steering wheel I 7, the motion of three claw robot 6, connecting plate I 8, connecting plate II 9 is controlled by steering wheel I 7.
It is possible to further set the drive mechanism to include outer seal 4, cover plate 5, crawler belt 14, spur gear I 15, straight-tooth
Take turns II 16, spur gear III 17, spur gear IV 18, bevel gear I 19, bevel gear II 20, motor 21, inner cover 22, end cap 23 and axle
Hold 24；Wherein inner cover 22 is connected by screw with base 1, and inner cover 22 is provided with spur gear I 15, spur gear II 16, straight-tooth
Take turns III 17, spur gear II 16, spur gear III 17 are coaxial, and spur gear III 17 engages with spur gear IV 18, spur gear IV 18 coaxially on
Provided with bevel gear I 19, bevel gear I 19 engages with bevel gear II 20, and bevel gear II 20 coordinates with motor 21, and motor 21 passes through bolt
It is connected with inner cover 22, spur gear I 15, spur gear II 16, the place axle of spur gear IV 18 are connected by bearing 24 with inner cover 22,
Spur gear I 15, spur gear II 16 and crawler belt 14 coordinate, and outer seal 4 is fixed on the outside of each gear by end cap 23 and cover plate 5.
It is possible to further set the camera 33 also included positioned at the rear of eyeball 12, can be used for by camera 33
Surrounding environment is identified, for subsequent expansion.
It is possible to further set the lateral aspect of face support 11 of the facial both sides by prominent and groove directly with face
Support 10 connects.
The present invention use principle be：
In use, motor 21, by coordinating between bevel gear and spur gear, drives crawler belt 14 to cause machine with dynamic bevel gear II 20
People moves；The three claw robot 6 of the both sides of body 3 carries out article or other objects by steering wheel I 7, connecting plate I 8, connecting plate II 9
Grasping movement；The face of the top of body 3, internal each steering wheel drive the eyeball 12 of face, face 13 to move respectively.In addition,
Camera 33 can also be set, for environment-identification, more accurately controlled for follow-up expression.
Above in conjunction with accompanying drawing to the present invention embodiment be explained in detail, but the present invention be not limited to it is above-mentioned
Embodiment, can also be before present inventive concept not be departed from those of ordinary skill in the art's possessed knowledge
Put that various changes can be made.
Claims (5)
- A kind of 1. robot of variable facial expressions, it is characterised in that：Including base（1）, rotating basis（2）, body（3）；Its midsole Seat（1）By positioned at base（1）On rotating basis（2）With body（3）Connection, body（3）Both sides are provided with arm structure, body （3）Top is connected with face structure, and face structure includes facial support（10）, lateral aspect of face support（11）, eyeball（12）, face （13）, pin（25）, steering wheel II（26）, L-type bar（27）, facial intermediate support（28）, rope（29）, deflecting plate（30）, steering wheel III （31）, eyeball frame（32）, fix bar（34）, face structure from front to back, provided with several facial supports（10）, facial support （10）Between pass through pin（25）, facial intermediate support（28）Connection, the lateral aspect of face support of facial both sides（11）Propped up with face Frame（10）Connection, the facial support of forefront（10）Top is provided with eyeball（12）, lower section is provided with face（13）, face（13）Rear side Pass through L-type bar（27）With steering wheel II（26）Connection, eyeball（12）Eyeball frame is provided with afterwards（32）, fix bar（34）, eyeball frame（32） Pass through rope（29）With deflecting plate（30）Connection, deflecting plate（30）With steering wheel III（31）Connection；Base（1）Both sides are provided with transmission and tied Structure, the movement of drive mechanism, band mobile robot move.
- 2. the robot of variable facial expressions according to claim 1, it is characterised in that：The arm structure includes three-jaw machinery Hand（6）, steering wheel I（7）, connecting plate I（8）, connecting plate II（9）；Wherein connecting plate II（9）Pass through connecting plate I（8）With three-jaw machinery Hand（6）Connection, connecting plate I（8）Between, connecting plate II（9）Between be connected with steering wheel I（7）, pass through steering wheel I（7）Control three-jaw machine Tool hand（6）, connecting plate I（8）, connecting plate II（9）Motion.
- 3. the robot of variable facial expressions according to claim 1, it is characterised in that：The drive mechanism includes outer seal （4）, cover plate（5）, crawler belt（14）, spur gear I（15）, spur gear II（16）, spur gear III（17）, spur gear IV（18）, cone tooth Wheel I（19）, bevel gear II（20）, motor（21）, inner cover（22）, end cap（23）And bearing（24）；Wherein inner cover（22）With Base（1）Connection, inner cover（22）It is provided with spur gear I（15）, spur gear II（16）, spur gear III（17）, spur gear II （16）, spur gear III（17）Coaxially, spur gear III（17）With spur gear IV（18）Engagement, spur gear IV（18）It is coaxial to be provided with cone Gear I（19）, bevel gear I（19）With bevel gear II（20）Engagement, bevel gear II（20）With motor（21）Coordinate, motor（21）With Inner cover（22）Connection, spur gear I（15）, spur gear II（16）, spur gear IV（18）Place axle passes through bearing（24）With interior envelope Lid（22）Connection, spur gear I（15）, spur gear II（16）With crawler belt（14）Coordinate, outer seal（4）Pass through end cap（23）And cover plate （5）It is fixed on the outside of each gear.
- 4. the robot of variable facial expressions according to claim 1, it is characterised in that：Also include being located at eyeball（12）Rear Camera（33）.
- 5. the robot of variable facial expressions according to claim 1, it is characterised in that：The lateral aspect of face branch of the facial both sides Frame（11）By prominent and groove directly with facial support（10）Connection.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711035376.6A CN107813284A (en) | 2017-10-30 | 2017-10-30 | A kind of robot of variable facial expressions |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711035376.6A CN107813284A (en) | 2017-10-30 | 2017-10-30 | A kind of robot of variable facial expressions |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107813284A true CN107813284A (en) | 2018-03-20 |
Family
ID=61603903
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711035376.6A Pending CN107813284A (en) | 2017-10-30 | 2017-10-30 | A kind of robot of variable facial expressions |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107813284A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109048843A (en) * | 2018-09-14 | 2018-12-21 | 昆明理工大学 | A kind of ball picking robot |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105415379A (en) * | 2015-12-03 | 2016-03-23 | 昆山穿山甲机器人有限公司 | Simulation guest greeting robot |
| CN205310237U (en) * | 2015-11-26 | 2016-06-15 | 方家祥 | Transfer robot of making an uproar falls |
| CN106078762A (en) * | 2016-07-23 | 2016-11-09 | 芜湖哈特机器人产业技术研究院有限公司 | Ten head and neck mechanisms of six-degree-of-freedom humanoid robot |
| CN207578389U (en) * | 2017-10-30 | 2018-07-06 | 昆明理工大学 | A kind of robot of variable facial expressions |
-
2017
- 2017-10-30 CN CN201711035376.6A patent/CN107813284A/en active Pending
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN205310237U (en) * | 2015-11-26 | 2016-06-15 | 方家祥 | Transfer robot of making an uproar falls |
| CN105415379A (en) * | 2015-12-03 | 2016-03-23 | 昆山穿山甲机器人有限公司 | Simulation guest greeting robot |
| CN106078762A (en) * | 2016-07-23 | 2016-11-09 | 芜湖哈特机器人产业技术研究院有限公司 | Ten head and neck mechanisms of six-degree-of-freedom humanoid robot |
| CN207578389U (en) * | 2017-10-30 | 2018-07-06 | 昆明理工大学 | A kind of robot of variable facial expressions |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109048843A (en) * | 2018-09-14 | 2018-12-21 | 昆明理工大学 | A kind of ball picking robot |
| CN109048843B (en) * | 2018-09-14 | 2024-03-29 | 昆明理工大学 | Ball picking robot |
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| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20180320 |
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| RJ01 | Rejection of invention patent application after publication |