CN108890664B - Robot head movement mechanism - Google Patents
Robot head movement mechanism Download PDFInfo
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- CN108890664B CN108890664B CN201811008428.5A CN201811008428A CN108890664B CN 108890664 B CN108890664 B CN 108890664B CN 201811008428 A CN201811008428 A CN 201811008428A CN 108890664 B CN108890664 B CN 108890664B
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- 230000007246 mechanism Effects 0.000 title claims abstract description 31
- 230000004886 head movement Effects 0.000 title claims abstract description 11
- 230000005540 biological transmission Effects 0.000 claims abstract description 21
- 230000033001 locomotion Effects 0.000 claims 3
- 230000009471 action Effects 0.000 abstract description 11
- 230000009286 beneficial effect Effects 0.000 description 8
- 238000009434 installation Methods 0.000 description 8
- 238000012423 maintenance Methods 0.000 description 6
- 230000008878 coupling Effects 0.000 description 5
- 238000010168 coupling process Methods 0.000 description 5
- 238000005859 coupling reaction Methods 0.000 description 5
- 238000005299 abrasion Methods 0.000 description 2
- 230000003993 interaction Effects 0.000 description 2
- 238000013473 artificial intelligence Methods 0.000 description 1
- 244000309464 bull Species 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 230000004044 response Effects 0.000 description 1
Classifications
-
- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Health & Medical Sciences (AREA)
- Audiology, Speech & Language Pathology (AREA)
- General Health & Medical Sciences (AREA)
- Human Computer Interaction (AREA)
- Manipulator (AREA)
- Toys (AREA)
Abstract
The invention discloses a robot head movement mechanism which comprises a neck inner part, a neck outer part, a neck connecting part and a head lifting mechanism, wherein the neck outer part is connected with the neck connecting part through a large bearing; the head lifting mechanism comprises a head lifting head big gear, a head lifting head pinion, a head lifting head transmission bevel gear, a head lifting head bevel gear and a head lifting motor, and the horizontal rotating mechanism comprises a horizontal rotating motor, a horizontal rotating big gear and a horizontal rotating pinion. The invention has simple structure, can make corresponding head lifting, nodding and head shaking actions while receiving voice to make corresponding answers, has attractive appearance, is more humanized, has low processing cost and is convenient to maintain.
Description
Technical Field
The invention relates to a robot head movement mechanism, and belongs to the technical field of robots.
Background
The robot for the elderly accompanies the elderly. As the application potential of artificial intelligence technology in the home appliance industry is becoming better and better, the small robot era has come. As a companion home robot he needs to give the experimenter a suitable response like a person.
The existing accompanying type household robot has more lifelike image in humanoid form, can perform voice interaction with a user generally, but the robot can only make corresponding answers according to received voice instructions in the interaction process, but can not make corresponding nodding actions, and some robots can realize nodding, but the mechanism for realizing nodding is complex in structure, attractive in appearance and high in processing and maintenance cost, and is unfavorable for popularization and application of the robot.
Disclosure of Invention
Aiming at the defects in the prior art, the invention provides the robot head movement mechanism which has simple structure and simple operation, can lift and nod the robot and is more humanized.
The technical scheme for solving the technical problems is as follows: the robot head movement mechanism comprises a neck inner part, a neck outer part, a neck connecting part, a neck body connecting part and a head lifting mechanism for driving the robot head to lift up and nod, wherein the neck outer part is connected with the neck body connecting part, a neck supporting shaft and a head lifting supporting shaft are arranged in the neck outer part, the upper end of the neck inner part extends out of the neck outer part to be connected with the robot head, a shaft sleeve is arranged at the lower end of the neck inner part, the shaft sleeve is sleeved on the outer side of the neck supporting shaft, and the neck connecting part is arranged on the neck body connecting part;
The head-up mechanism comprises a head-up big gear, a head-up small gear, a head-up transmission bevel gear, a head-up bevel gear and a head-up motor, wherein the head-up big gear is arranged on the shaft sleeve, the head-up small gear is meshed with the head-up big gear, the head-up small gear is arranged on the head-up transmission bevel gear, the head-up transmission bevel gear is sleeved on the outer side of the head-up supporting shaft, the head-up transmission bevel gear is meshed with the head-up bevel gear, the head-up motor is arranged on the neck connecting piece through the motor connecting piece, and the head-up bevel gear is arranged on an output shaft of the head-up motor.
The beneficial effects of the invention are as follows: the head-up head motor moves to drive the head-up head bevel gear to move and simultaneously drive the head-up head transmission bevel gear and the head-up head pinion to move, the bottom of the head-up head big gear is provided with gear teeth meshed with the head-up head pinion, the head-up head pinion drives the head-up head big gear to move, and the head-up big gear is arranged on the shaft sleeve at the lower end of the neck inner part, so that the head-up head big gear drives the neck inner part to rotate around the axis of the neck supporting shaft as a rotating axis, and the neck inner part drives the head of the robot to rotate relative to the neck outer part, thereby realizing head-up and head-up actions of the robot. The robot has simple structure, can make corresponding head lifting and nodding actions while receiving voice to make corresponding answers, has attractive appearance, is more humanized, more vivid and lifelike, has low processing cost and is convenient to maintain.
On the basis of the technical scheme, the invention can be improved as follows.
Further, still include horizontal rotary mechanism, horizontal rotary mechanism includes horizontal rotating electrical machines, horizontal rotation gear wheel and horizontal rotation pinion, horizontal rotating electrical machines installs in the inside of neck body connecting piece, horizontal rotation pinion sets up the output of horizontal rotating electrical machines, horizontal rotation gear wheel installs the outside of neck outer spare, the neck outer spare is connected with the neck body connecting piece through big bearing, horizontal rotation gear wheel with horizontal rotation pinion meshing.
The technical scheme has the advantages that the horizontal rotary motor moves to drive the horizontal rotary pinion to move, the horizontal rotary pinion is meshed with the horizontal rotary large gear, the horizontal rotary pinion drives the horizontal rotary large gear to move, the horizontal rotary large gear is fixedly arranged on the neck outer piece, and the neck outer piece rotates left and right relative to the neck body connecting piece, so that the head shaking action of the head of the robot is realized. The invention has the advantages of simple whole structure, convenient and quick processing and maintenance, low cost, capability of realizing the head shaking action by left and right rotation of the head of the robot, capability of lifting the head to point the head, more humanization of the robot and no influence on the attractive appearance of the robot.
Further, the neck outer piece comprises a first neck piece and a second neck piece, and the first neck piece is clamped with the second neck piece and is connected through bolts.
The technical scheme has the beneficial effects that the support shaft and the neck internal part are convenient to install and maintain.
Further, the neck inner piece comprises a third neck piece and a fourth neck piece, and the third neck piece is clamped with the fourth neck piece and is connected with the fourth neck piece through bolts.
The beneficial effect of adopting above-mentioned further scheme is, the installation of convenient neck internals, the axle sleeve suit of the neck internals of being convenient for is in the outside of back shaft.
Further, the inside big bearing connecting piece that is equipped with of neck body connecting piece, the neck outer piece pass through big bearing with big bearing connecting piece is connected, horizontal rotating electrical machines installs on the big bearing connecting piece.
The adoption of the further scheme has the beneficial effects that the installation of the horizontal rotating motor and the large bearing is convenient, so that the left and right rotation of the neck outer piece relative to the neck connecting piece is realized.
Further, the large bearing connecting piece comprises a first large bearing connecting piece and a second large bearing connecting piece, wherein the first large bearing connecting piece is connected with the neck connecting piece through a bolt, and the second large bearing connecting piece is connected with the first large bearing connecting piece through a bolt.
The technical scheme has the beneficial effects of being convenient for the installation and the positioning of the large bearing.
Further, a neck limiting piece is arranged on the third neck piece.
The beneficial effect of adopting above-mentioned further scheme is, neck locating part one end is installed on the third neck spare, and the other end can act on the neck outer spare, has restricted the position of raising one's head and nodding through the neck locating part.
Further, the shaft sleeve is connected with the neck support shaft through a neck bearing.
The neck inner piece is rotated relative to the neck supporting shaft, and abrasion of the neck supporting shaft is avoided.
Further, a first head lifting point bearing is arranged between the head lifting point bevel gear and the neck connecting piece; and a second head lifting point bearing is arranged between the head lifting point supporting shaft and the head lifting point transmission bevel gear.
The beneficial effect of adopting the further scheme is that the first head lifting point bearing is used for supporting and positioning the head lifting point bevel gear; the second head lifting point bearing is used for supporting and positioning a head lifting point driving bevel gear.
Further, the neck body connecting piece comprises a first neck body connecting piece and a second neck body connecting piece, and the first neck body connecting piece is clamped with the second neck body connecting piece and is connected through bolts.
The further scheme has the beneficial effects that the installation and maintenance of the external part and the internal parts of the neck are convenient.
Drawings
FIG. 1 is a schematic diagram of the structure of the present invention;
FIG. 2 is a cross-sectional view taken along the line A-A in FIG. 1;
FIG. 3 is a cross-sectional view taken along the direction B-B in FIG. 1;
FIG. 4 is an enlarged view of a portion of FIG. 2 at C;
FIG. 5 is a partial enlarged view at D in FIG. 3;
FIG. 6 is a schematic view of the structure of the head-up head gear of the present invention;
FIG. 7 is a schematic view of the configuration of the head-up nodding pinion of the present invention;
In the figure, 1, a horizontal rotating motor; 2. a horizontal rotation bearing; 3. a horizontal rotation pinion; 4. horizontally rotating the large gear; 5. a head-lifting nodding motor; 6. a first head-up nodding bearing; 7. lifting a head-lifting bevel gear; 8. lifting a head point transmission bevel gear; 9. the second head-lifting nodding bearing; 10. a head lifting head pinion; 11. a head lifting point head supporting shaft; 12. a large bearing; 13. a first large bearing connection; 14. a second large bearing connection; 15. a first neck member; 16. a neck support shaft; 17. a neck bearing; 18. a neck limiter; 19. a second neck member; 20. lifting the head-pointing bull gear; 21. a neck connecting member; 22. a motor connector; 23. a first neck body coupling; 24. a second neck body coupling; 25. a third neck member; 26. a fourth neck member; 27. a robot head.
Detailed Description
The principles and features of the present invention are described below in connection with examples, which are set forth only to illustrate the present invention and not to limit the scope of the invention.
As shown in fig. 1-7, the robot head movement mechanism comprises a neck inner part, a neck outer part, a neck connecting part 21, a neck connecting part and a head lifting mechanism for driving the robot head to lift and nod, wherein the neck outer part is connected with the neck connecting part, a neck supporting shaft 16 and a head lifting supporting shaft 11 are arranged in the neck outer part, the upper end of the neck inner part extends out of the neck outer part and is connected with the robot head 27, a shaft sleeve is arranged at the lower end of the neck inner part and sleeved on the outer side of the neck supporting shaft, and the neck connecting part 21 is arranged on the neck connecting part;
The head-up mechanism comprises a head-up big gear 20, a head-up small gear 10, a head-up transmission bevel gear 8, a head-up bevel gear 7 and a head-up motor 5, wherein the head-up big gear is arranged on the shaft sleeve, the head-up small gear is meshed with gear teeth at the bottom of the head-up big gear, the head-up small gear is arranged on a gear shaft of the head-up transmission bevel gear, the head-up transmission bevel gear is sleeved on the outer side of the head-up supporting shaft, the head-up transmission bevel gear is meshed with the head-up bevel gear, the head-up motor is arranged on the neck connecting piece through a motor connecting piece 22, and the head-up bevel gear is arranged on an output shaft of the head-up motor.
The bottom of the head lifting big gear extends out of a connecting end, gear teeth of the head lifting big gear are arranged on the connecting end, and the gear teeth are meshed with the head lifting small gear. The gear teeth are only arranged at the bottom of the head-up head big gear, so that compared with the gear teeth uniformly distributed on the surface of the gear, the power transmission is realized, and the occupied space of the transmission mechanism is reduced; and the gear teeth are at a distance from the center of the large gear, and the head-up pinion can meet the amplitude requirement of the head-up only by rotating a small angle.
Still include horizontal rotary mechanism, horizontal rotary mechanism includes horizontal rotating electrical machines 1, horizontal rotation gear wheel 4 and horizontal rotation pinion 3, horizontal rotating electrical machines installs on the neck connecting piece, horizontal rotation pinion sets up horizontal rotating electrical machines's output, horizontal rotation gear wheel installs the outside of neck outer spare, the neck outer spare is connected with the neck connecting piece through big bearing 12, horizontal rotation gear wheel with horizontal rotation pinion meshing. The horizontal rotation pinion is connected with the first large bearing connector through a horizontal rotation bearing 2. The horizontal rotating motor moves to drive the horizontal rotating pinion to move, the horizontal rotating pinion is meshed with the horizontal rotating big gear, the horizontal rotating pinion drives the horizontal rotating big gear to move, the horizontal rotating big gear is fixedly arranged on the neck outer part, and the neck outer part rotates left and right relative to the neck body connecting part, so that the head shaking action of the head of the robot is realized. The robot head has the advantages that the whole structure is simple, the processing and the maintenance are convenient and quick, the cost is low, the robot head can rotate left and right to realize the head shaking action, the head can be lifted to be at a point, the robot is more humanized, and the appearance of the robot is not influenced.
The outer neck piece comprises a first neck piece 15 and a second neck piece 19, and the first neck piece is clamped with the second neck piece and is connected through bolts. The support shaft and the neck inner piece are convenient to install and maintain.
The neck inner part comprises a third neck part 25 and a fourth neck part 26, and the third neck part is clamped with the fourth neck part and is connected with the fourth neck part through bolts. The installation of the neck internal part is facilitated, and the shaft sleeve of the neck internal part is conveniently sleeved on the outer side of the supporting shaft.
The neck body connecting piece is internally provided with a large bearing connecting piece, the neck outer piece is connected with the large bearing connecting piece through the large bearing 12, and the horizontal rotating motor is installed on the large bearing connecting piece. The installation of horizontal rotating electrical machines and big bearing is convenient for to realize that the neck outer spare rotates left and right for the neck body connecting piece.
The large bearing connecting piece comprises a first large bearing connecting piece 13 and a second large bearing connecting piece 14, wherein the first large bearing connecting piece is connected with the neck connecting piece through a bolt, and the second large bearing connecting piece is connected with the first large bearing connecting piece through a bolt. The installation and the positioning of the large bearing are convenient.
The third neck piece is provided with a neck limiter 18. One end of the neck limiting piece is arranged on the third neck piece, the other end of the neck limiting piece can act on the neck outer piece, and the positions of head lifting and nodding are limited through the neck limiting piece.
The sleeve is connected to the neck support shaft 16 through a neck bearing 17. The rotation of the neck inner piece relative to the neck supporting shaft is realized, and the abrasion of the neck supporting shaft is avoided.
A first head lifting point bearing 6 is arranged between the head lifting point bevel gear 7 and the neck connecting piece 21; a second head lifting point bearing 9 is arranged between the head lifting point supporting shaft 11 and the head lifting point transmission bevel gear 8. The first head lifting point bearing is used for supporting and positioning a head lifting point bevel gear; the second head lifting point bearing is used for supporting and positioning a head lifting point driving bevel gear.
The neck body coupling member includes a first neck body coupling member 23 and a second neck body coupling member 24, which are engaged with each other and coupled by bolts. The installation and maintenance of the neck outer piece and each part inside are convenient.
The head-up head motor moves to drive the head-up head bevel gear to move and simultaneously drive the head-up head transmission bevel gear and the head-up head pinion to move, the bottom of the head-up head big gear is provided with gear teeth meshed with the head-up head pinion, the head-up head pinion drives the head-up head big gear to move, and the head-up big gear is arranged on the shaft sleeve at the lower end of the neck inner part, so that the head-up head big gear drives the neck inner part to rotate around the axis of the neck supporting shaft as a rotating axis, and the neck inner part drives the head of the robot to rotate relative to the neck outer part, thereby realizing head-up and head-up actions of the robot. The horizontal rotating motor moves to drive the horizontal rotating pinion to move, the horizontal rotating pinion is meshed with the horizontal rotating big gear, the horizontal rotating pinion drives the horizontal rotating big gear to move, the horizontal rotating big gear is fixedly arranged on the neck outer part, and the neck outer part rotates left and right relative to the neck body connecting part, so that the head shaking action of the head of the robot is realized. The robot head has the advantages that the whole structure is simple, the processing and the maintenance are convenient and quick, the cost is low, the head of the robot can rotate left and right to realize the head shaking action, the head can be lifted and clicked, the robot is more humanized, and the appearance of the robot is not influenced.
The foregoing description of the preferred embodiments of the invention is not intended to limit the invention to the precise form disclosed, and any such modifications, equivalents, and alternatives falling within the spirit and scope of the invention are intended to be included within the scope of the invention.
Claims (7)
1. The robot head movement mechanism is characterized by comprising a neck inner part, a neck outer part, a neck connecting part, a neck body connecting part and a head lifting head mechanism for driving the robot head to lift up and move with a head, wherein the neck outer part is connected with the neck body connecting part, the neck outer part comprises a first neck part and a second neck part, the first neck part is clamped with the second neck part and is connected with the second neck part through bolts, a neck supporting shaft and a head lifting head supporting shaft are arranged in the neck outer part, the neck inner part comprises a third neck part and a fourth neck part, the third neck part is clamped with the fourth neck part and is connected with the robot head through bolts, the upper end of the neck inner part extends out, the lower end of the neck inner part is provided with a shaft sleeve, the shaft sleeve is sleeved on the outer side of the neck supporting shaft, and the neck connecting part is arranged on the neck body connecting part;
The head-up mechanism comprises a head-up big gear, a head-up small gear, a head-up transmission bevel gear, a head-up bevel gear and a head-up motor, wherein the head-up big gear is arranged on the shaft sleeve, the head-up small gear is meshed with the head-up big gear, the bottom of the head-up big gear extends out of a connecting end, gear teeth of the head-up big gear are arranged on the connecting end, the gear teeth are meshed with the head-up small gear, a distance is reserved between the gear teeth and the center of the big gear, the head-up small gear is arranged on the head-up transmission bevel gear, the head-up transmission bevel gear is sleeved on the outer side of the head-up supporting shaft, the head-up transmission bevel gear is meshed with the head-up bevel gear, the head-up motor is arranged on the neck connecting piece through a motor connecting piece, and the head-up bevel gear is arranged on an output shaft of the head-up motor;
Still include horizontal rotary mechanism, horizontal rotary mechanism includes horizontal rotating electrical machines, horizontal rotation gear wheel and horizontal rotation pinion, the inside at the neck body connecting piece is installed to the horizontal rotating electrical machines, horizontal rotation pinion sets up the output of horizontal rotating electrical machines, horizontal rotation gear wheel installs the outside of neck outer spare, the neck outer spare is connected with the neck body connecting piece through big bearing, horizontal rotation gear wheel with horizontal rotation pinion meshing.
2. The robot head movement mechanism according to claim 1, wherein the neck connecting member is internally provided with a large bearing connecting member, the neck outer member is connected with the large bearing connecting member through the large bearing, and the horizontal rotating motor is mounted on the large bearing connecting member.
3. The robot head motion mechanism of claim 2, wherein the large bearing connector includes a first large bearing connector connected to the neck body connector by a bolt and a second large bearing connector connected to the first large bearing connector by a bolt.
4. The robot head movement mechanism of claim 1, wherein the third neck member is provided with a neck limiter.
5. The robot head motion mechanism of claim 1, wherein the sleeve is coupled to the neck support shaft via a neck bearing.
6. The robot head motion mechanism of claim 1, wherein a first head lifting point bearing is disposed between the head lifting point bevel gear and the neck connector; and a second head lifting point bearing is arranged between the head lifting point supporting shaft and the head lifting point transmission bevel gear.
7. The robotic head movement mechanism of claim 1, wherein the neck body attachment member comprises a first neck body attachment member and a second neck body attachment member, the first neck body attachment member being engaged with the second neck body attachment member and being connected by a bolt.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811008428.5A CN108890664B (en) | 2018-08-31 | 2018-08-31 | Robot head movement mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811008428.5A CN108890664B (en) | 2018-08-31 | 2018-08-31 | Robot head movement mechanism |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108890664A CN108890664A (en) | 2018-11-27 |
| CN108890664B true CN108890664B (en) | 2024-05-07 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811008428.5A Active CN108890664B (en) | 2018-08-31 | 2018-08-31 | Robot head movement mechanism |
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| Country | Link |
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| CN (1) | CN108890664B (en) |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101020119A (en) * | 2007-01-05 | 2007-08-22 | 陈国梁 | Simulating electronic doll |
| CN101745921A (en) * | 2009-12-21 | 2010-06-23 | 大连理工大学 | Human eye and human neck simulating vision device |
| US7942720B1 (en) * | 2007-05-29 | 2011-05-17 | Rima Galoustian | Animated “peek-a-boo” stuffed toy creature |
| CN106976098A (en) * | 2017-06-05 | 2017-07-25 | 游尔（北京）机器人科技股份有限公司 | A kind of service robot neck structure |
| CN107081752A (en) * | 2017-05-15 | 2017-08-22 | 中国科学院西安光学精密机械研究所 | Compact robot head and compact robot |
| CN206748427U (en) * | 2017-05-31 | 2017-12-15 | 河北工业大学 | One kind can the rotatable robot head structure of pitching |
| CN209007555U (en) * | 2018-08-31 | 2019-06-21 | 山东锘博特智能科技有限公司 | A kind of robot head movement mechanism |
-
2018
- 2018-08-31 CN CN201811008428.5A patent/CN108890664B/en active Active
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101020119A (en) * | 2007-01-05 | 2007-08-22 | 陈国梁 | Simulating electronic doll |
| US7942720B1 (en) * | 2007-05-29 | 2011-05-17 | Rima Galoustian | Animated “peek-a-boo” stuffed toy creature |
| CN101745921A (en) * | 2009-12-21 | 2010-06-23 | 大连理工大学 | Human eye and human neck simulating vision device |
| CN107081752A (en) * | 2017-05-15 | 2017-08-22 | 中国科学院西安光学精密机械研究所 | Compact robot head and compact robot |
| CN206748427U (en) * | 2017-05-31 | 2017-12-15 | 河北工业大学 | One kind can the rotatable robot head structure of pitching |
| CN106976098A (en) * | 2017-06-05 | 2017-07-25 | 游尔（北京）机器人科技股份有限公司 | A kind of service robot neck structure |
| CN209007555U (en) * | 2018-08-31 | 2019-06-21 | 山东锘博特智能科技有限公司 | A kind of robot head movement mechanism |
Also Published As
| Publication number | Publication date |
|---|---|
| CN108890664A (en) | 2018-11-27 |
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