CN205097193U - Robot with nod and shake head function - Google Patents
Robot with nod and shake head function Download PDFInfo
- Publication number
- CN205097193U CN205097193U CN201520742955.4U CN201520742955U CN205097193U CN 205097193 U CN205097193 U CN 205097193U CN 201520742955 U CN201520742955 U CN 201520742955U CN 205097193 U CN205097193 U CN 205097193U
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- nodding
- head
- steering wheel
- shaking
- oscillating
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Abstract
The utility model relates to a robot field, concretely relates to robot with nod and shake head function. The robot includes controller, oscillating mechanism mount pad, install oscillating mechanism on the oscillating mechanism mount pad, set up the mechanism's mounting bracket and setting up in the mechanism of mechanism mounting bracket top of nodding of nodding in the oscillating mechanism top, take place the to shake the head action or nod the mechanism and take place to nod the action of controller control oscillating mechanism. The robot that this scheme provided can realize nodding or shaking the head the body language in man -machine interdynamic, improve quality of service, and the reinforcing service effectiveness furthers and the mutual distance of people, strengthens the joyful atmosphere of man -machine interdynamic. Mechanism and oscillating mechanism are two mutually independent mechanisms owing to nod, thus can independent to perform an action, also can link, can realize regularly nodding or shaking the head the function by the passing signal, also can move often at random according to the signal.
Description
Technical field
The utility model relates to robot field, be specifically related to a kind of have nod and the robot of oscillating function.
Background technology
In recent years, along with the fast development of Robotics, all start applied robot widely in occasions such as catering industry, market, exhibition, the Department of Science and Technology, conference centre, opening celebrations, instead of the manual labor that the mankind carry out to a certain extent.Developing rapidly particularly along with China's catering trade, part dining room has started to introduce food and beverage sevice robot, by food and beverage sevice robot, carries out welcome in the Room, food delivery and tableware and reclaims service item.
But existing food and beverage sevice robot, when restaurant operation, has the following disadvantages:
Current technology is the head mechanism of meal delivery robot is fixing, can not nod and can not shake the head, more stiff with people's interaction, can not promote the atmosphere of human-computer interaction.
Utility model content
For the defect that prior art exists, the utility model provides a kind of and has the robot of nodding with oscillating function, and the head mechanism that effectively can solve existing robot is fixing, and can not nod to shake the head can not realize the problem of human-computer interaction.
The technical solution adopted in the utility model is as follows:
A kind of have the robot of nodding with oscillating function, comprise: controller, oscillating mechanism mount pad, the oscillating mechanism be arranged on described oscillating mechanism mount pad, be arranged on above described oscillating mechanism nod mechanism's installing rack and mechanism's installing rack of nodding described in being arranged on above mechanism of nodding, described controller control described oscillating mechanism generation head shaking movement or described in mechanism of nodding there is nodding action;
It take plumb line as the steering wheel of shaking the head that pivot center carries out rotating that described oscillating mechanism comprises shake the head rotating mechanism and rotating mechanism of shaking the head described in driving; Described rotating mechanism of shaking the head comprises steering wheel connecting axle of shaking the head, shaft coupling of shaking the head, rotating shaft of shaking the head, the steering wheel pallet of shaking the head of described steering wheel of shaking the head is connected with described steering wheel connecting axle of shaking the head, shaft coupling of shaking the head described in described steering wheel connecting axle of shaking the head passes through is connected with described rotating shaft of shaking the head, described in the shake the head lower end of steering wheel be arranged on described oscillating mechanism mount pad;
It take horizontal line as the steering wheel of nodding that pivot center carries out rotating that described mechanism of nodding comprises nod rotating mechanism and rotating mechanism of nodding described in driving, described rotating mechanism of nodding comprises steering wheel connecting axle of nodding, nod shaft coupling and rotating shaft of nodding, the steering wheel steering wheel of nodding of described steering wheel of nodding is connected with described steering wheel connecting axle of nodding, described in nod steering wheel connecting axle pass through described in shaft coupling of nodding be connected with described rotating shaft of nodding.
As preferably, the thrust block keep being positioned at described thrust metal upper end that circumference around described rotating shaft of shaking the head is provided with thrust metal and matches with described thrust metal, be provided with oscillating mechanism pillar between described oscillating mechanism mount pad and described thrust block keep, described oscillating mechanism pillar is arranged around described steering wheel of shaking the head.
As preferably, be provided with at least two oscillating mechanism pillars between described oscillating mechanism mount pad and described thrust block keep, all oscillating mechanism pillars are uniformly distributed.
As preferably, described in shake the head the upper end of rotating shaft be provided with install dull and stereotyped, described in mechanism's installing rack of nodding be fixedly installed on described installation flat board.
As preferably, described in nod above mechanism's installing rack and be provided with steering wheel fixed mount of nodding, described in nod steering wheel be fixedly mounted on described in nod on steering wheel fixed mount.
As preferably, described mechanism's installing rack of nodding comprises the U-shaped gripper shoe of installing column and being arranged on above described installation column, the riser of the wherein side of described U-shaped gripper shoe is provided with through hole, described in nod rotating shaft from the outside of described through hole through described riser.
As preferably, described have to nod and the robot of oscillating function also comprises helmet fixed support, the support bracket fastened one end of the described helmet by the first mounting disc be fixedly mounted on be positioned at outside described riser described in nod in rotating shaft, the support bracket fastened other end of the described helmet is fixedly mounted on by the second mounting disc on the riser of the opposite side of described U-shaped gripper shoe.
As preferably, described helmet fixed support is provided with the helmet.
As preferably, described have to nod and the robot of oscillating function also comprises human-computer interaction module, described human-computer interaction module is connected with described controller, described human-computer interaction module passes to described controller after receiving signal, described controller processes to the received signal, and according to result control described oscillating mechanism or described in mechanism of nodding complete corresponding operation, control described human-computer interaction module simultaneously and complete corresponding voice and/or word exports.
As preferably, described have to nod and the robot of oscillating function also comprises navigation driver module, described navigation driver module is connected with described controller, and detection signal for detecting extraneous barrier, and is passed to described controller and processes by described navigation driver module.
What the utility model provided have nods and the robot of oscillating function has the following advantages:
(1) robot that the application provides has nod mechanism and oscillating mechanism, and robot, while human-computer interaction, can realize body language of nodding or shake the head, improve service quality, enhancement service effect, furthers and people's interaction distance, strengthens the joyful atmosphere of human-computer interaction.Because nod mechanism and oscillating mechanism are two separate mechanisms, so can independently perform an action, also can link; Timing can be realized by signal to nod or oscillating function, also can according to the random action constantly of signal.
(2) robot provided due to this programme comprises human-computer interaction module, human-computer interaction module is connected with controller, robot can pass through human-computer interaction module Received signal strength, and by controller, signal is processed, controller completes to nod mechanism and the instruction of oscillating mechanism sending action control to nod mechanism and oscillating mechanism a consecutive do action of nodding and shake the head, and carries out interactive voice simultaneously.Robot can also follow the note playing music and realize nodding action or head shaking movement, according to the power of volume, controls the amplitude of nodding or shaking the head.
(3) robot provided due to this programme also comprises navigation driver module, navigation driver module is connected with described controller, navigation driver module has keeps away barrier sensor, keep away barrier sensor for detecting extraneous obstacle signal, and detection signal is passed to described controller and process, controller continues to walk about or stop to walk about according to result control.
Accompanying drawing explanation
What Fig. 1 provided for the utility model has the front view of nodding with the robot of oscillating function;
What Fig. 2 provided for the utility model has the right view of nodding with the robot of oscillating function;
What Fig. 3 provided for the utility model has the left view of nodding with the robot of oscillating function;
What Fig. 4 provided for the utility model has the structured flowchart of nodding with the robot of oscillating function.
Wherein, 1-nods steering wheel steering wheel; 2-nods steering wheel connecting axle; 3-nods shaft coupling; 4-nods rotating shaft; 5-nods mechanism's installing rack; 6-nods steering wheel; 7-nods steering wheel fixed mount; 8-stop screw; 9-helmet fixed support; 10-shakes the head rotating shaft; 11-thrust block keep; 12-thrust metal; 13-horizontal baffle; 14-shakes the head shaft coupling; 15-oscillating mechanism pillar; 16-shakes the head steering wheel connecting axle; 17-shakes the head steering wheel pallet; 18-shakes the head steering wheel; 19-oscillating mechanism mount pad; 20-installs flat board; 21-first mounting disc; 22-second mounting disc;
501-installs column; 502-U type gripper shoe; 5021-riser.
Detailed description of the invention
Below in conjunction with accompanying drawing, the utility model is described in detail:
As shown in Figures 1 to 4, what the application provided has the robot of nodding with oscillating function, comprise: controller, oscillating mechanism mount pad 19, the oscillating mechanism be arranged on described oscillating mechanism mount pad 19, be arranged on above described oscillating mechanism nod mechanism's installing rack 5 and mechanism's installing rack 5 of nodding described in being arranged on above mechanism of nodding, described controller control described oscillating mechanism generation head shaking movement or described in mechanism of nodding there is nodding action.
It take plumb line as the steering wheel 18 of shaking the head that pivot center carries out rotating that described oscillating mechanism comprises shake the head rotating mechanism and rotating mechanism of shaking the head described in driving; Described rotating mechanism of shaking the head comprises steering wheel connecting axle 16 of shaking the head, shaft coupling 14 of shaking the head, rotating shaft 10 of shaking the head, described upper end of shaking the head steering wheel 18 has steering wheel pallet 17 of shaking the head, steering wheel pallet 17 of shaking the head is connected with described steering wheel connecting axle 16 of shaking the head, shaft coupling 14 of shaking the head described in described steering wheel connecting axle 16 of shaking the head passes through is connected with described rotating shaft 10 of shaking the head, described in the shake the head lower end of steering wheel 18 be arranged on described oscillating mechanism mount pad 19.
It take horizontal line as the steering wheel 6 of nodding that pivot center carries out rotating that described mechanism of nodding comprises nod rotating mechanism and rotating mechanism of nodding described in driving, described rotating mechanism of nodding comprises steering wheel connecting axle 2 of nodding, nod shaft coupling 3 and rotating shaft 4 of nodding, described one end of nodding steering wheel 6 has steering wheel steering wheel 1 of nodding, described steering wheel steering wheel 1 of nodding is connected with described steering wheel connecting axle 2 of nodding, described in nod steering wheel connecting axle 2 pass through described in shaft coupling 3 of nodding be connected with described rotating shaft 4 of nodding.
The robot that the application provides has nod mechanism and oscillating mechanism, and robot, while human-computer interaction, can realize body language of nodding or shake the head, improve service quality, enhancement service effect, furthers and people's interaction distance, strengthens the joyful atmosphere of human-computer interaction.Because nod mechanism and oscillating mechanism are two separate mechanisms, so can independently perform an action, also can link; Timing can be realized by signal to nod or oscillating function, also can according to the random action constantly of signal.
Preferably, around the thrust block keep 11 being positioned at described thrust metal 12 upper end that described circumference of shaking the head rotating shaft 10 is provided with thrust metal 12 and matches with described thrust metal 12, the lower end of described thrust metal 12 is provided with adjusting nut 13, and adjusting nut 13 coordinates elasticity for regulating to shake the head between rotating shaft 10 with thrust metal 12.Be provided with oscillating mechanism pillar 15 between described oscillating mechanism mount pad 19 and described thrust block keep 11, described oscillating mechanism pillar 15 is arranged around described steering wheel 18 of shaking the head.
Be provided with at least two oscillating mechanism pillars 15 between described oscillating mechanism mount pad 19 and described thrust block keep 11, all oscillating mechanism pillars 15 are uniformly distributed.
In the present embodiment, preferably, described in the shake the head upper end of rotating shaft 10 be provided with and install dull and stereotyped 20, described in mechanism's installing rack 5 of nodding be fixedly installed on described installations flat board 20.
In the present embodiment, preferably, described in nod above mechanism's installing rack 5 and be provided with steering wheel fixed mount 7 of nodding, described in nod steering wheel 6 be fixedly mounted on described in nod on steering wheel fixed mount 7.
In the present embodiment, preferably, described mechanism's installing rack 5 of nodding comprises the U-shaped gripper shoe 502 of installing column 501 and being arranged on above described installation column 501, the two ends of described U-shaped gripper shoe 502 have riser 5021, the riser 5021 of wherein side is provided with through hole, described in nod rotating shaft 4 from the outside of described through hole through described riser 5021.
Described have to nod and the robot of oscillating function also comprises helmet fixed support 9, one end of described helmet fixed support 9 by the first mounting disc 21 be fixedly mounted on be positioned at outside described riser 5021 described in nod in rotating shaft 4, the other end of described helmet fixed support 9 is fixedly mounted on by the second mounting disc 22 on the riser 5021 of the opposite side of described U-shaped gripper shoe 502.Preferably, described helmet fixed support 9 is fixedly connected with the second mounting disc 22 by stop screw 8.Described helmet fixed support 9 is provided with the helmet.
In the present embodiment, as preferably, as shown in Figure 4, described in have and to nod and the robot of oscillating function also comprises human-computer interaction module, described human-computer interaction module is connected with described controller, people can realize interaction by human-computer interaction module and robot, such as can by human-computer interaction module and robot dialogue, wherein, dialogue can adopt voice mode, also can adopt mode word, or adopt voice mode and mode word simultaneously.Described human-computer interaction module passes to described controller after receiving voice signal and/or letter signal, described controller processes to the received signal, and according to result control described oscillating mechanism shake the head or described in nod the first-class corresponding operation of mechanism's point, control described human-computer interaction module simultaneously and complete corresponding voice and/or word exports.Wherein, voice output comprises broadcasting music.
The robot provided due to this programme comprises human-computer interaction module, human-computer interaction module is connected with controller, robot can pass through human-computer interaction module Received signal strength, and by controller, signal is processed, controller completes to nod mechanism and the instruction of oscillating mechanism sending action control to nod mechanism and oscillating mechanism a consecutive do action of nodding and shake the head, and carries out interactive voice simultaneously.
In the present embodiment, preferably, robot can also follow the note playing music and realize nodding action or head shaking movement, according to the power of volume, controls the amplitude of nodding or shaking the head.
Described have to nod and the robot of oscillating function also comprises navigation driver module, described navigation driver module is connected with described controller, described navigation driver module has keeps away barrier sensor, keep away barrier sensor for detecting extraneous obstacle signal, and detection signal is passed to described controller and process, controller continues to walk about or stop to walk about according to result control.
The above is only preferred embodiment of the present utility model; it should be pointed out that for those skilled in the art, under the prerequisite not departing from the utility model principle; can also make some improvements and modifications, these improvements and modifications also should look protection domain of the present utility model.
Claims (10)
1. one kind has the robot of nodding with oscillating function, it is characterized in that, comprise: controller, oscillating mechanism mount pad (19), the oscillating mechanism be arranged on described oscillating mechanism mount pad (19), be arranged on the mechanism of nodding of nod mechanism's installing rack (5) and mechanism's installing rack (5) top of nodding described in being arranged on above described oscillating mechanism, described controller control described oscillating mechanism generation head shaking movement or described in mechanism of nodding there is nodding action;
It take plumb line as the steering wheel of shaking the head (18) that pivot center carries out rotating that described oscillating mechanism comprises shake the head rotating mechanism and rotating mechanism of shaking the head described in driving; Described rotating mechanism of shaking the head comprises steering wheel connecting axle (16) of shaking the head, shaft coupling of shaking the head (14), rotating shaft of shaking the head (10), the steering wheel pallet (17) of shaking the head of described steering wheel of shaking the head (18) is connected with described steering wheel connecting axle (16) of shaking the head, shaft coupling (14) of shaking the head described in described steering wheel connecting axle (16) of shaking the head passes through is connected with described rotating shaft of shaking the head (10), described in the shake the head lower end of steering wheel (18) be arranged on described oscillating mechanism mount pad (19);
It take horizontal line as the steering wheel of nodding (6) that pivot center carries out rotating that described mechanism of nodding comprises nod rotating mechanism and rotating mechanism of nodding described in driving, described rotating mechanism of nodding comprises steering wheel connecting axle (2) of nodding, shaft coupling of nodding (3) and rotating shaft of nodding (4), the steering wheel steering wheel (1) of nodding of described steering wheel of nodding (6) is connected with described steering wheel connecting axle (2) of nodding, described in nod steering wheel connecting axle (2) pass through described in shaft coupling (3) of nodding be connected with described rotating shaft of nodding (4).
2. according to claim 1 have the robot of nodding with oscillating function, it is characterized in that, the thrust block keep (11) being positioned at described thrust metal (12) upper end that circumference around described rotating shaft of shaking the head (10) is provided with thrust metal (12) and matches with described thrust metal (12), be provided with oscillating mechanism pillar (15) between described oscillating mechanism mount pad (19) and described thrust block keep (11), described oscillating mechanism pillar (15) is arranged around described steering wheel of shaking the head (18).
3. according to claim 2 have the robot of nodding with oscillating function, it is characterized in that, be provided with at least two oscillating mechanism pillars (15) between described oscillating mechanism mount pad (19) and described thrust block keep (11), all oscillating mechanism pillars (15) are uniformly distributed.
4. according to claim 1 have the robot of nodding with oscillating function, it is characterized in that, the upper end of described rotating shaft of shaking the head (10) is provided with installs dull and stereotyped (20), described in mechanism's installing rack (5) of nodding be fixedly installed in described installations flat board (20).
5. according to claim 1 have the robot of nodding with oscillating function, it is characterized in that, described nod mechanism's installing rack (5) top be provided with steering wheel fixed mount (7) of nodding, described in nod steering wheel (6) be fixedly mounted on described in nod on steering wheel fixed mount (7).
6. according to claim 1 have the robot of nodding with oscillating function, it is characterized in that, described mechanism's installing rack (5) of nodding comprises the U-shaped gripper shoe (502) of installing column (501) and being arranged on described installation column (501) top, the riser (5021) of the wherein side of described U-shaped gripper shoe (502) is provided with through hole, described in nod rotating shaft (4) from the outside of described through hole through described riser (5021).
7. according to claim 6 have the robot of nodding with oscillating function, it is characterized in that, also comprise helmet fixed support (9), one end of described helmet fixed support (9) is fixedly mounted on to be positioned at by the first mounting disc (21) nods in rotating shaft (4) described in described riser (5021) outside, and the other end of described helmet fixed support (9) is fixedly mounted on the riser (5021) of the opposite side of described U-shaped gripper shoe (502) by the second mounting disc (22).
8. according to claim 7 have the robot of nodding with oscillating function, it is characterized in that, described helmet fixed support (9) is provided with the helmet.
9. according to claim 1 have the robot of nodding with oscillating function, it is characterized in that, also comprise human-computer interaction module, described human-computer interaction module is connected with described controller, described human-computer interaction module passes to described controller after receiving signal, described controller processes to the received signal, and according to result control described oscillating mechanism or described in mechanism of nodding complete corresponding operation, control described human-computer interaction module simultaneously and complete corresponding voice and/or word exports.
10. according to claim 1 have the robot of nodding with oscillating function, it is characterized in that, also comprise navigation driver module, described navigation driver module is connected with described controller, detection signal for detecting extraneous barrier, and is passed to described controller and processes by described navigation driver module.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520742955.4U CN205097193U (en) | 2015-09-23 | 2015-09-23 | Robot with nod and shake head function |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520742955.4U CN205097193U (en) | 2015-09-23 | 2015-09-23 | Robot with nod and shake head function |
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| Publication Number | Publication Date |
|---|---|
| CN205097193U true CN205097193U (en) | 2016-03-23 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201520742955.4U Expired - Fee Related CN205097193U (en) | 2015-09-23 | 2015-09-23 | Robot with nod and shake head function |
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Cited By (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105825794A (en) * | 2016-05-18 | 2016-08-03 | 吴昊 | Display system on robot |
| CN105856255A (en) * | 2016-06-03 | 2016-08-17 | 杭州艾米机器人有限公司 | Service robot |
| CN106003099A (en) * | 2016-08-05 | 2016-10-12 | 苏州库浩斯信息科技有限公司 | Intelligent housekeeper type robot |
| CN107538496A (en) * | 2016-06-24 | 2018-01-05 | 沈阳新松机器人自动化股份有限公司 | Robot double freedom head mechanism |
| CN108000529A (en) * | 2017-12-08 | 2018-05-08 | 子歌教育机器人（深圳）有限公司 | Intelligent robot |
| CN109215419A (en) * | 2018-10-25 | 2019-01-15 | 重庆鲁班机器人技术研究院有限公司 | Educational robot and Experiencing teaching system |
| CN109571454A (en) * | 2018-12-29 | 2019-04-05 | 深圳市优必选科技有限公司 | Robot and its head movement structure |
| CN109712454A (en) * | 2019-03-11 | 2019-05-03 | 荆州职业技术学院 | A kind of intelligence Language for English learning system |
| CN109910023A (en) * | 2019-03-26 | 2019-06-21 | 深圳勇艺达机器人有限公司 | A kind of service robot connecting rod oscillating mechanism |
| CN109992010A (en) * | 2017-12-29 | 2019-07-09 | 沈阳新松机器人自动化股份有限公司 | Multifreedom motion device |
| CN111781125A (en) * | 2020-07-30 | 2020-10-16 | 佛山市顺德致可智能科技有限公司 | Intelligent head model for testing children mask and testing method of children mask |
| CN113129657A (en) * | 2021-03-30 | 2021-07-16 | 杭州湘豫科技有限公司 | Interactive topic analysis system and use method thereof |
| CN113618752A (en) * | 2021-08-20 | 2021-11-09 | 天津大学 | Mobile guide dog robot and head rotating device thereof |
-
2015
- 2015-09-23 CN CN201520742955.4U patent/CN205097193U/en not_active Expired - Fee Related
Cited By (15)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105825794A (en) * | 2016-05-18 | 2016-08-03 | 吴昊 | Display system on robot |
| CN105856255A (en) * | 2016-06-03 | 2016-08-17 | 杭州艾米机器人有限公司 | Service robot |
| CN107538496A (en) * | 2016-06-24 | 2018-01-05 | 沈阳新松机器人自动化股份有限公司 | Robot double freedom head mechanism |
| CN106003099A (en) * | 2016-08-05 | 2016-10-12 | 苏州库浩斯信息科技有限公司 | Intelligent housekeeper type robot |
| CN108000529A (en) * | 2017-12-08 | 2018-05-08 | 子歌教育机器人（深圳）有限公司 | Intelligent robot |
| CN109992010A (en) * | 2017-12-29 | 2019-07-09 | 沈阳新松机器人自动化股份有限公司 | Multifreedom motion device |
| CN109992010B (en) * | 2017-12-29 | 2022-02-11 | 沈阳新松机器人自动化股份有限公司 | Multi-degree-of-freedom movement device |
| CN109215419A (en) * | 2018-10-25 | 2019-01-15 | 重庆鲁班机器人技术研究院有限公司 | Educational robot and Experiencing teaching system |
| CN109571454A (en) * | 2018-12-29 | 2019-04-05 | 深圳市优必选科技有限公司 | Robot and its head movement structure |
| CN109712454A (en) * | 2019-03-11 | 2019-05-03 | 荆州职业技术学院 | A kind of intelligence Language for English learning system |
| CN109712454B (en) * | 2019-03-11 | 2021-04-30 | 荆州职业技术学院 | Intelligent English teaching language learning system |
| CN109910023A (en) * | 2019-03-26 | 2019-06-21 | 深圳勇艺达机器人有限公司 | A kind of service robot connecting rod oscillating mechanism |
| CN111781125A (en) * | 2020-07-30 | 2020-10-16 | 佛山市顺德致可智能科技有限公司 | Intelligent head model for testing children mask and testing method of children mask |
| CN113129657A (en) * | 2021-03-30 | 2021-07-16 | 杭州湘豫科技有限公司 | Interactive topic analysis system and use method thereof |
| CN113618752A (en) * | 2021-08-20 | 2021-11-09 | 天津大学 | Mobile guide dog robot and head rotating device thereof |
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| Date | Code | Title | Description |
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| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20160323 Termination date: 20190923 |