CN207788968U - A kind of robot architecture - Google Patents

Abstract

A kind of robot architecture, including robot base and the robot head of side mounted thereto；The robot base includes pedestal left shell half, pedestal right half-shell, pedestal upper casing, charging interface, pedestal left shell half, pedestal right half-shell and pedestal upper casing are fixed by card slot, rotary head steering engine fixed frame is fixed in the housing by card slot, first steering engine is mounted on by steering engine fixed screw on rotary head steering engine fixed frame, and the first steering wheel is fixed on the first steering engine by steering wheel fixed screw；The robot head rotates upwardly and downwardly mechanism, eyeball left-right rotation mechanism, blink mechanism including nod motion, chin motion, eyeball.The robot architecture can improve the flexibility of revolute, and structure novel, volume is moderate, application easy to spread.

Description

A kind of robot architecture

Technical field

This application involves a kind of robot architectures.

Background technology

With the rapid development of social economy, robot have application to society many aspects, the progress of robot with answer It is the automation of contemporary highest meaning, especially in current industry with being that twentieth century automatically controls most convictive achievement In manufacture, robotics has achieved greatest success.Into 21st century, people more and more experience personally Robot deeply produces, lives and the solid paces of society.

With the continuous development of modern science and technology and computer technology, people need one kind in the information interchange with machine More convenient, natural interactive mode, the interactive voice between realization is man-machine, it is that people dream of to allow machine to understand people's words Thing, the development of speech recognition technology so that this ideal is achieved, the fast development of robot, is given birth to the production of people Work is brought convenience, for domestic robot, it is desirable to be able to easily carry out voice operating.

Utility model content

This application provides a kind of robot architecture, which can improve the flexibility of revolute, knot Structure is novel, and volume is moderate, application easy to spread.

The utility model provides a kind of robot architecture, including robot base and the robot of side mounted thereto Head；The robot base includes pedestal left shell half, pedestal right half-shell, pedestal upper casing, charging interface, the pedestal left half Shell, pedestal right half-shell and pedestal upper casing are fixed by card slot, and rotary head steering engine fixed frame is fixed in the housing by card slot, the first rudder Machine is mounted on rotary head steering engine fixed frame, and the first steering wheel is fixed on the first steering engine；

The robot head rotates upwardly and downwardly mechanism, eyeball or so including nod motion, chin motion, eyeball Rotating mechanism, blink mechanism；Robot head is mounted on robot base by the steering engine fixing bracket of nodding being arranged inside On first steering wheel.

The robot head realizes the rotation of the robot head, the machine by installing steering engine in the base Head part contain mechanism of nodding, chin open/close mechanism, eyeball rotate upwardly and downwardly mechanism, eyeball left-right rotation mechanism, blink mechanism, Master board, servos control module, nonspecific voice module, supply unit, the robot base are provided with steering engine and fix branch Frame, robot base are connect with head by steering wheel, and the application is rotated by the steering wheel being connected with steering engine shaft, realizes each section Movement.

Optionally, the robot head left side central portion is provided with external power interface, the external power interface and institute It states supply unit to be connected, be connected to charge to the supply unit with external power supply by the external power interface.

Optionally, the robot architecture, pedestal are desktop fixed, cannot be walked.

There is removable top on the robot architecture head, there are two circular eyelets to decorate for robot head front side, There are nose decoration, upper lip and upper teeth decoration in front side, has loud speaker dress on the left of movable lower lip and lower tooth, robot head There is microphone decoration hole on jag, right side.

There is multi-purpose stand in the mechanism of nodding of the robot architecture rectangle needed for fixed multiple steering engines to cut Mouth and fixed arm have multigroup internal thread through hole for fixing steering engine, also there is the box-shaped structure of fixed eyeball, the box-shaped structure There is the opening allowed needed for eyelid movement and eye movement in front.

Steering engine holder in the pedestal of the robot architecture will realize that the steering engine of rotary head function is consolidated by 1-shaped open screw Fixed, steering engine is screwed with steering wheel, and steering wheel passes through four tack spiral shells with the steering engine holder mounted on robot head bottom Silk is connected.

The blink mechanism of the robot architecture is shaken by steering engine, steering wheel, steering wheel fixed screw, four screws and blink Arm, the connection of eyelid fixed link, blink rocking arm are connected with eyelid fixed link by male and female threaded pin, can be around the male and female threaded Axis rotation is followed closely, eyelid fixes connecting rod and passes through two couple on same axis with the multi-purpose stand in the mechanism of nodding Male and female threaded pin is connected, and can be rotated around male and female threaded pin axis, the steering engine for mechanism of blinking and the multi-functional branch of nodding Frame is fixed by four 1-shaped open screws.

The chin open/close mechanism of the robot architecture is by steering engine, steering wheel, steering wheel fixed screw, chin rocking arm, lower lip And lower tooth, tongue, tooth baffle form, the steering engine in chin open/close mechanism and the multi-purpose stand in the mechanism of nodding are solid Fixed, chin rocking arm side is fixed with steering wheel by four screws, the other side and by positioned at on the same axis of steering engine shaft Male and female threaded pin is connected.

The eyeball left-right rotation mechanism of the robot architecture is made of two pairs of eyeballs, is symmetrical structure, by rudder The eyeball group of machine, rotating arm, steering wheel, steering wheel fixed screw, right and left eyes ball link, the U-shaped arm with round rectangle slot, belt length round bar At two pairs of male and female screw threads being located on same plumb line are fixed in U-shaped arm one end with the multi-purpose stand in the mechanism of nodding Pin connects, and the U-shaped arm other end connect with one end of right and left eyes ball link by male and female threaded pin, U-shaped arm center hole with consolidate The rotating arm other end being scheduled on steering wheel is fixed by male and female threaded pin.

The Rotation of eyeball mechanism of the robot architecture is made of two pairs of eyeballs, is symmetrical structure, by steering engine, rotation The eyeball composition of pivoted arm, steering wheel, steering wheel fixed screw, connecting rod, the U-shaped arm with round rectangle slot, round bar, belt length round bar, U-shaped arm One end is fixed two pairs of male and female threaded pins being located in same horizontal line with the multi-purpose stand in the mechanism of nodding and is connect, The U-shaped arm other end is connect with cylinder, and cylinder is connect with connecting rod, and connecting rod with a pair of of male and female threaded pin by being connected.

The Rotation of eyeball of the robot architecture, by separately or concurrently controlling two steering engines in eye rotation mechanism, Can drive left and right eyeball synchronize in the horizontal direction, vertical direction or any direction rotation.

The utility model has the beneficial effects that：The robot architecture, can improve the flexibility of revolute, and structure is new Grain husk, volume is moderate, application easy to spread.Robot overall structure is compacter, beautiful in the application.

Description of the drawings

Fig. 1 is the main body schematic diagram for the robot architecture that the utility model embodiment provides；

Fig. 2 is that the decomposition diagram for the robot architecture that the utility model embodiment provides is intended to；

Fig. 3 is robot architecture's chin motion schematic diagram that the utility model embodiment provides；

Fig. 4 is that the robot architecture that provides of the utility model embodiment nods structural scheme of mechanism；

Fig. 5 is robot architecture's blink structural scheme of mechanism that the utility model embodiment provides；

Fig. 6 is robot architecture's eye rotation structural scheme of mechanism that the utility model embodiment provides；

Fig. 7 is robot architecture's functional block diagram that the utility model embodiment provides.

Number explanation in figure：1- robot bases；2- robot heads；3- pedestal left shell half 4- pedestal right half-shells；The bottoms 5- Seat upper casing decoration；6- charging interfaces；7- is switched and status lamp；8- rotary head steering engine fixed frames；9- steering engines；10- steering engines fix spiral shell Silk；11- steering wheels；12- steering wheel fixed screws；13- robot motions mechanism；14- baffles；15- battery compartments one；16- battery compartments Two；17- sound equipments hole is decorated；18- loud speaker fixing grooves；19- loud speakers；20- robot head shells；21- servos control plates； 22. robot head head cover；The nonspecific voice modules of 23-；24- master boards；25- microphones and input decoration hole；26- noses Son；27- right eye circles；28- left eye circles；29- upper lips and upper tooth；30- lower lips and lower tooth；31- steering wheels fix spiral shell with holder Silk；32- tooth baffles；33- tongues；34- chin rotating arms；35- male and females threaded pin _ public affairs；36- male and females threaded pin _ mother； 37- nods steering engine fixing bracket；38- multi-purpose stands；39- hexagonal prisms screws；40- blink rotating arms；41- blink rocking arms； Mono- word bars of 42-；43- round bars；44- right and left eyes ball links；45-U shapes arm one；46- eyeballs；47-U shapes arm two；48-WIF modules； 49- bluetooth modules.

Specific implementation mode

In order to keep the purpose of this utility model, technical solution and advantage clearer, below in conjunction with the accompanying drawings and it is embodied The utility model is described in detail in example.

Embodiment 1：

The present embodiment provides a kind of robot architectures, as shown in Figures 1 to 6：Including robot base 1 and it is disposed thereon The robot head 2 of side.Robot base 1 is by pedestal left shell half 3, pedestal right half-shell 4, pedestal upper casing decoration 5, charging interface 6, switch and status lamp 7 form, and pedestal left shell half 3, pedestal right half-shell 4 and pedestal upper casing decoration 5 are fixed by card slot, rotary head rudder Machine fixed frame 8 is fixed on by card slot in pedestal left shell half 3 and pedestal right half-shell 4, and the first steering engine 9 fixes spiral shell by 4 steering engines Silk 10 is fixed on rotary head steering engine fixed frame 8, and steering wheel 11 is fixed on steering engine 9 by steering wheel fixed screw 12；

Robot head 2 by be arranged inside nod steering engine fixing bracket 37 be fixed on it is straight on robot base 1 The first steering wheel 11 on vertical the first steering engine of infield 9 is fixed by 4 steering wheels with support fixed screw 31, realizes robot head 2 around plumb line direction left-right rotation, and robot head 2 has dismountable robot head head cover 22, and there are two circular for front side Decorate left eye circle 28 and right eye circle 27, nose 26, upper lip and upper tooth 29, the chin rotating arm being connected in chin motion There are sound equipment hole decoration 17, battery compartment one on the 34 and lower lip of exposed parts and lower tooth 30, tooth baffle 32, tongue 32, left side 15, battery compartment 2 16, right side have Mike point input decoration hole 25, inside to secure robot motion mechanism 13, and baffle 14 passes through 4 Hexagonal prisms screw is fixed in robot motion mechanism 13, and servos control plate 21, nonspecific voice mould are secured on baffle 14 Block 23, master board 24, WIFI module 48 and bluetooth module 49, servos control plate 21, nonspecific voice module 23, WIFI module 48 and bluetooth module 49 be connected respectively with a serial ports in more than 24 a serial ports of master board, master board 24 is received by serial ports Signal is simultaneously handled it；

Motion of nodding is fixed by steering engine fixing bracket 37 of nodding, the second horizontal positioned steering engine 9 by 4 steering engines Screw 10, which is fixed on, nods on steering engine fixing bracket 37, the second steering engine 9 connect the second steering wheel 11, the second steering wheel 11 with it is multi-functional Holder 38 passes on left 4 steering wheels and is fixed with support fixed screw 31, and right side with 9 shaft of the second steering engine by being located at same axis On male and female threaded pin _ male 35 and male and female threaded pin _ mother 36 connect, steering engine 9 drives steering wheel rotation to realize robot head Portion 2 is rotated around 9 shaft of the second steering engine；

Chin motion is by the chin rotating arm 34, third steering engine 9, third steering wheel that are connected on multi-purpose stand 38 11, lower lip and lower tooth 30, tooth baffle 32 and the tongue 33 played role in decoration, lower lip and lower tooth 30,32 and of tooth baffle Tongue 33 is fixed on chin rotating arm 34, and steering wheel 11 and steering engine 9 are fixed by steering wheel fixed screw 12, and horizontal positioned the Three steering engines 9 are fixed on by 4 steering engine fixed screws 10 on multi-purpose stand 38, and 34 right side of chin rotating arm passes through 4 steering wheels Itself and third steering wheel 11 are fixed with support fixed screw 31, chin rotating arm 34 is passed on left to be located at 9 shaft of third steering engine Male and female threaded pin _ male 35 and male and female threaded pin _ mother 36 on same axis are connected on multi-purpose stand 38, third rudder Machine 9 drives chin rotating arm 34 to rotate the movement for realizing chin；

Blink mechanism is made of the 4th steering engine 9, the 4th steering wheel 11, first blink rotating arm 40, blink Rocker arm 41, and blink is shaken Arm 41, which is similar on U-shaped thin-walled, attached two four points of global shells, and two side length of U-shaped thin-walled of blink Rocker arm 41 differs, U-shaped 4 left sides one end are provided with rectangle elongated slot, and the other end has circular hole, other side U-shaped to be also provided with circular hole.Two circular holes are located at same level axis On line, steering wheel 11 is fixed with steering engine 9 by steering wheel fixed screw 12, and the 4th steering engine 9 uprightly placed fixes spiral shell by 4 steering engines Silk 10 is fixed on multi-purpose stand 38, and the first blink rotating arm 40 and the 4th steering wheel 11 are fixed, and the first blink rotating arm 40 is logical The rectangular groove that male and female threaded pin _ male 35 and male and female threaded pin _ mother 36 are connected to blink Rocker arm 41 with blink Rocker arm 41 is crossed, Blink Rocker arm 41 is connected on multi-purpose stand 38, and junction is that blink Rocker arm 41 is located at the circular hole of same level axis, is blinked Two four points of global shells on eye Rocker arm 41 are exactly in the arc-shaped gap of multi-purpose stand 38；

Eyes rotate upwardly and downwardly mechanism by the 5th steering engine 9, the 5th steering wheel 11, second blink rotating arm 40, a word bar 42, circle 43, two, bar, one 45, two, U-shaped arm eyeball 46 forms, and the robot architecture is there are two eyeball and eyeball bindiny mechanism, two Eyeball is symmetrical along vertical guide, and the 5th horizontal positioned steering engine 9 is fixed on multi-purpose stand by 4 steering engine fixed screws 10 On 38, blink rotating arm 40 and the 5th steering wheel 11 in eye rotation mechanism are fixed, and blink 40 other end of rotating arm passes through male and female It is connected at threaded pin _ male 35 and male and female threaded pin _ mother 36 and one end circular hole of a word bar 42,42 other end of word bar circle Hole is connected with round bar 43, and the circular hole that horizontal positioned U-shaped arm one is located at U-shaped side passes through male and female threaded pin _ 35 He of public affairs Male and female threaded pin _ mother 36 is connected on multi-purpose stand 38, and round bar 43 is located at another circular hole of U-shaped side with U shapes arm 1 It is connected, the long round bar on eyeball 46 can the left and right activity in the rectangular channel on U shapes arm 1；

Eyes left-right rotation mechanism is by the 6th steering engine 9, the 6th steering wheel 11, third blink rotating arm 40, right and left eyes ball link 44, two U-shaped arms, 2 47, two eyeballs 46 form, and the 6th steering engine 9 placed vertically is fixed by 4 steering engine fixed screws 10 On multi-purpose stand 38, third blink 40 one end of rotating arm in eye rotation mechanism is fixed with the 6th steering wheel, and the other end is logical Male and female threaded pin _ male 35 and male and female threaded pin _ mother 36 is crossed with the circular hole among right and left eyes ball link 44 to be connected, it is left The both ends of right eye ball link 44 are connect with a stomidium of the U-shaped arm 2 47 of left and right eyeball respectively, and 2 47 other end of U-shaped arm passes through public affairs Box thread pin _ male 35 and male and female threaded pin _ mother 36 are connected on multi-purpose stand 38, and the long round bar on eyeball 46 can be in U Vertical direction activity in rectangular channel on shape arm 1；

It, can by individually controlling the five, the six steering engines 9 or controlling the five, the six steering engines 9 simultaneously in eye rotation mechanism It drives U-shaped arm one or U-shaped arm two individually or simultaneously to move, is located at the long round bar of eyeball in the rectangular channel of U-shaped arm along level side Rotation of eyeball is driven to, vertical direction or any direction.

Embodiment 2

The present embodiment provides a kind of robot architecture's systems, as shown in Figure 7：It includes：

Master board, the master board are provided with 3 serial ports, WIFI module, bluetooth modules, and the master board passes through Wireless WIFI module receives the signal that handset Wechat end is sent and handles it；By the bluetooth module and there is bluetooth The mobile phone of communication matches, and receives the signal that cell phone application end is sent with Bluetooth protocol；Master board receives nonspecific voice module hair The signal that send simultaneously is handled it；

Servos control plate 21, servos control plate 21 is communicated by serial communication interface with master board 24, for receiving master The control signal that control panel is sent by nonspecific voice module 23, WIFI module 48 or bluetooth module 49, and separately or concurrently First to the 6th steering engine is controlled；

Nonspecific voice module 23, nonspecific voice module 23 are connected with master board 24 by serial ports, the nonspecific language 23 external loudspeaker 19 of sound module and External microphone 25 can be received by microphone positioned at robot architecture's exterior circumferential Received signal is sent to master board 24 by special sound signal by serial ports, which also has mp3 Playing function can play the MP3 being stored in nonspecific voice module SD card, the recognizable special sound pre-set, root According to the result of identification to 24 transmission data of master board, the rotation of different steering engines is controlled；

Supply unit, supply unit are made of battery compartment 1 and battery compartment 2 16, inside battery compartment one and battery compartment two Rechargeable lithium battery is installed, is connected respectively with master board 24, servos control plate 21, nonspecific voice module 23, supply unit It is charged by being connected with external power supply, and is provided to master board 24, servos control plate 21, nonspecific voice module 23 Electric energy；

As the preferred embodiment of above-described embodiment, 1 left side central portion of robot base is provided with external power interface 6, External power interface is connected with supply unit, is connected to be carried out to supply unit with external power supply by the external power interface Charging.

The preferable specific implementation mode of the above, only the utility model, but the scope of protection of the utility model is not It is confined to this, any one skilled in the art is in the technical scope that the utility model discloses, according to this practicality Novel technical solution and its utility model design are subject to equivalent substitution or change, should all cover the protection model in the utility model Within enclosing.

Claims (6)

1. a kind of robot architecture, which is characterized in that the robot head including robot base and side mounted thereto；

The robot base includes pedestal left shell half, pedestal right half-shell, pedestal upper casing, charging interface, the pedestal left shell half, Pedestal right half-shell and pedestal upper casing are fixed by card slot, and rotary head steering engine fixed frame is fixed in the housing by card slot, the first steering engine On rotary head steering engine fixed frame, the first steering wheel is fixed on the first steering engine；

The robot head rotates upwardly and downwardly mechanism, eyeball left-right rotation including nod motion, chin motion, eyeball Mechanism, blink mechanism；Robot head is mounted on the first of robot base by the steering engine fixing bracket of nodding being arranged inside On steering wheel.

2. a kind of robot architecture according to claim 1, which is characterized in that motion of nodding is fixed including steering engine of nodding Holder and multi-purpose stand, the second horizontal positioned steering engine, which is fixed on, nods on steering engine fixing bracket, the second steering engine both sides difference It is placed in multi-purpose stand by the second steering wheel, shaft.

3. a kind of robot architecture according to claim 2, which is characterized in that chin motion is multi-functional including being connected to Chin rotating arm, third steering engine, third steering wheel, the lower lip played role in decoration on holder and lower tooth, tooth baffle and tongue, The lower lip and lower tooth, tooth baffle and tongue are fixed on chin rotating arm, and third steering wheel passes through steering wheel with third steering engine Fixed screw is fixed, and horizontal positioned third steering engine is fixed on multi-purpose stand, and third steering wheel is fixed on chin rotation The side of arm.

4. a kind of robot architecture according to claim 2, which is characterized in that blink mechanism includes the 4th steering engine, the 4th rudder Disk, the first blink rotating arm, rocking arm of blinking, set on the blink rocking arm there are two four point of one global shell, the U-shaped for rocking arm of blinking is thin Two side length of wall differs, and wherein side is provided with rectangle elongated slot and circular hole, and the other side is also provided with circular hole；Two circular holes are located at same water On flat axis, the 4th steering wheel is fixed with the 4th steering engine by steering wheel fixed screw, and the 4th steering engine uprightly placed is fixed on more work( On energy holder, the first blink rotating arm is connect with the 4th steering wheel, and the first blink rotating arm is connected to the rectangle of blink rocking arm At elongated slot, blink rocking arm is connected on multi-purpose stand, and two four points of global shells are located at the arc-shaped gap of multi-purpose stand In.

5. a kind of robot architecture according to claim 2, which is characterized in that it includes the 5th rudder that eyes, which rotate upwardly and downwardly mechanism, Machine, the 5th steering wheel, the second blink rotating arm, a word bar, round bar, two U-shaped arms, two eyeballs, two eyeballs are along a vertical guide left side Right symmetrical, the 5th horizontal positioned steering engine is fixed on multi-purpose stand, and one end of the second blink rotating arm and the 5th steering wheel are solid Fixed, the blink rotating arm other end is connected with one end circular hole of a word bar, and a word bar other end circular hole is connected with round bar, is horizontally arranged Two U-shaped arms be located on multi-purpose stand, round bar both ends are respectively placed in the circular hole of U-shaped arm, and epibulbar long round bar can Left and right activity in rectangular channel in U-shaped arm.

6. a kind of robot architecture according to claim 2, which is characterized in that eyes left-right rotation mechanism includes the 6th rudder Machine, the 6th steering wheel, third blink rotating arm, right and left eyes ball link, two U-shaped arms, the 6th steering engine placed vertically is fixed on more On functional support, one end of third blink rotating arm is fixed with the 6th steering wheel, the circular hole among the other end and right and left eyes ball link It is connected, the both ends of right and left eyes ball link are connected with U-shaped arm respectively, which is placed on multi-purpose stand, epibulbar oval Bar can the vertical direction activity in the rectangular channel in U-shaped arm.