CN208992718U - A kind of movable silica gel robot head - Google Patents
A kind of movable silica gel robot head Download PDFInfo
- Publication number
- CN208992718U CN208992718U CN201821683046.8U CN201821683046U CN208992718U CN 208992718 U CN208992718 U CN 208992718U CN 201821683046 U CN201821683046 U CN 201821683046U CN 208992718 U CN208992718 U CN 208992718U
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- head
- silica gel
- shell
- robot
- movable
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Abstract
The utility model discloses a kind of movable silica gel robot heads, comprising: head shell, the neck for connecting head shell and body shell, is placed in the intracorporal body-post of body shell, the head executive component in head shell at body shell；It is characterized by: the appearance of the neck sets layer of silica gel；The layer of silica gel is bonded on head shell and body shell；The inner surface adhesion of the head shell and body shell has air bag layer；Head movement mechanism is set in the neck；Head executive component lower end is supported in head movement mechanism, and head movement mechanism supports are on body-post；The head movement mechanism drives the rotation of head executive component and swings.It by using the movable silica gel robot head, realizes that the robot is free and relaxed in rotary head or while nodding, realizes nodding and rotating for the movable silica gel robot head, realize that robot accurately identifies signal and completes to exchange with the mankind.
Description
Technical field
The utility model relates to robotic technology fields, more particularly to a kind of movable silica gel robot head.
Background technique
Robot is the automatic installations for executing work, it can not only receive mankind commander, but also can run preparatory volume
The program of row, can also be according to principle program action formulated with artificial intelligence technology, with advances in technology, a large amount of intelligence
Robot is designed and manufactured out and apply in the production and life of society, to improve social productive forces and promote people's
Quality of the life.
Production class robot is chiefly used in the manufacturing and material transportation of factory etc., such as common intelligent machine arm, AGV machine
Device people etc.；The robot of home services class is mainly used for sanitation and hygiene and human-computer interaction etc., such as common sweeping robot, early education
Robot, house keeper robot etc.；The home services class robot of the prior art, is provided with sensor and camera on head, can
To track human body, with human motion, the instruction of people is identified by image and speech input output device, then the finger of executor
It enables.
Since the height differences of people are larger, and its head of existing robot is fixedly connected with main body, since there is no such as
The same neck bascule of the mankind, traditional robot head not can be carried out to come back perhaps to bow and act or can only carry out
Headwork is rotated, and most heads and body are dividing bodies, when execution follows movement, cannot accurately identify and follow object,
And headwork is stiff, cannot give full play to robot and the function of Human communication.
Utility model content
The utility model is intended to provide a kind of movable silica gel robot head, with solve its head of existing robot with
Main body is fixedly connected, due to the neck bascule not as the mankind, traditional robot head not can be carried out new line or
Person bows movement, when execution follows movement, cannot accurately identify and tracking object, and headwork is stiff, cannot sufficiently send out
The problem of waving the function of robot and Human communication.
To achieve the above object, the technical solution that the utility model uses is: providing a kind of movable silica gel machine
Head part, comprising: head shell, the neck for connecting head shell and body shell, is placed in the intracorporal body of body shell at body shell
Body support frame, the head executive component in head shell；The appearance of the neck sets layer of silica gel；The layer of silica gel is bonded in head
On portion's shell and body shell；The inner surface adhesion of the head shell and body shell has air bag layer；Head is set in the neck
Portion's movable device；Head executive component lower end is supported in head movement mechanism, and head movement mechanism supports are in body branch
On frame；The head movement mechanism drives the rotation of head executive component and swings.
Further, the layer of silica gel is being in accordion along the vertical direction.
Further, the head movement mechanism includes: the fixed block for being connected to head executive component lower part, is connected to admittedly
Determine the hydraulic connecting rod, rotating disc, the fixing bearing connecting with rotating disc bearing, the motor being drivingly connected with rotating disc of block lower part.
Further, the hydraulic connecting rod is made of connecting rod and hydraulic stem；The small end and fixed block are affixed, lower end
It is fixed on the rotating disc；The hydraulic stem upper end connects the connecting rod, and lower end is fixed on the rotating disc；It is described hydraulic
Bar lower part sets hydraulic electric motor.
Further, spring is also connected between the connecting rod and fixed block.
Further, the body-post lower part is fixed with controller；The head executive component and head movement mechanism
It is electrically connected to the controller.
Further, the air bag layer is communicated with gas tube；The gas tube lower end connects gas pressure regulator.
Further, the gas pressure regulator is electrically connected on the controller.
Further, the material of the head shell and body shell is silica gel.
Further, the head executive component includes image and voice transfer unit.
The beneficial effects of the utility model are: being provided with connection by using the setting of movable silica gel robot head
The silica gel neck of head shell and body shell, and appearance sets layer of silica gel, realize the robot rotary head or when nodding easily from
Such as, and by the inner surface adhesion of head shell and body shell have air bag layer protect head shell and body shell it is intracorporal its
His component, improves the movable safety of robot head；Head is driven to hold by setting head movement mechanism in the neck
Units rotation and swing, realize nodding and rotating for the movable silica gel robot head, realize that robot accurately identifies letter
Number and complete to exchange with the mankind.
Detailed description of the invention
Fig. 1 is a kind of external side view of movable silica gel robot head provided by the utility model；
Fig. 2 is cross-sectional view of the Fig. 1 along line A-A.
Appended drawing reference: 1- head shell, 2- body shell, 3- neck, 4- body-post, the head 5- executive component, 6- silicon
Glue-line, 7- air bag layer, 8- head movement mechanism, 81- fixed block, 82- hydraulic connecting rod, 83- rotating disc, 84- fixing bearing, 83-
Rotating disc, 85- motor, 822- hydraulic stem, 821- connecting rod, 823- hydraulic electric motor, 41 controllers, 51- image portion, 52- voice portion,
72- gas pressure regulator, 71- gas tube, 811- spring.
Specific embodiment
Below in conjunction with attached drawing to a kind of embodiment progress of movable silica gel robot head provided by the utility model
Detailed description.
Herein it should be noted that in the description of the present invention, it should be noted that term " on ", under ", it is interior ",
"outside" positional relationship is to be based on the orientation or positional relationship shown in the drawings, and " one end ", " other end ", " first ", " second " are only
For ease of description the utility model and simplify description, rather than the device or part of indication or suggestion meaning must have it is specific
Orientation, be constructed and operated in a specific orientation, therefore should not be understood as limiting the present invention.
As shown in Figure 1 to Figure 2, movable silica gel robot head provided by the utility model, comprising: head shell 1, body
Body shell body 2, the body-post 4 being placed in body shell 1, is set to head shell at the neck 3 for connecting head shell 1 and body shell 2
Head executive component 5 in body 2；The appearance of the neck 3 sets layer of silica gel 6；The layer of silica gel 6 is bonded in head shell 1 and body
On body shell body 2；The inner surface adhesion of the head shell 1 and body shell 2 has air bag layer 7；Head movement is set in the neck 3
Mechanism 8；5 lower end of head executive component is supported in head movement mechanism 8, and head movement mechanism 8 is supported on body-post
On；The head movement mechanism 8 drives the rotation of head executive component 5 and swings.
By robot head shell 1 and body shell 2 be arranged neck, such as foregoing description, connection head shell 1 with
The neck 3 of body shell 2, and the external table of neck 3 sets layer of silica gel 6, silica gel are that quality is softer than plastics and flexible object
Therefore matter connects head shell 1 and body shell 2 by the neck 3 of silica gel outer layer, reaching makes robot head phase
It will not be twisted and swing damages shell itself because opposite between head shell 1 and body shell 2 when for body swing, together
When, the surface layer of neck 3 is one section of layer of silica gel, makes head shell 1 when swinging relative to body shell 2 not by 1 body of head shell
The position of shell 2 limits, thus unrestricted when making the head of robot relative to body action and influence, so as to preferably real
The yaw and nodding action of existing robot.
Herein it should be noted that 6 upper end of the layer of silica gel is bonded on head shell 1, lower end is bonded in body shell 2
On, the bonding can be to be bonded by thermoplastic processes, is also possible to be bonded by colloid, is not particularly limited.
By the gas injection in air bag layer 7, reaching makes the inner surface of the head shell 1 there are also the mesh of a protective layer
, when the head executive component 5 inside head shell 1 moves, machine portion shell 1 to the end can be touched, the inside of air bag layer 7 is passed through
Buffer function has buffered head executive component 5 during exercise with the collision of head shell, has on the one hand protected head elements 5, separately
Drive head shell 1 slowly and natural when swinging when head part 5 on the one hand also being made to rotate or swing.
As shown in Fig. 2, the head movement mechanism 8 includes: the fixed block 81 for being connected to 5 lower part of head executive component, connects
Connect the hydraulic connecting rod 82 in 81 lower part of fixed block, rotating disc 83, the fixing bearing 84 connecting with 83 bearing of rotating disc and rotating disc
83 motors 85 being drivingly connected.Fixed block 81 plays the purpose for supporting and fixing head executive component 5, by under fixed block 81
Portion connects hydraulic connecting rod 82, hydraulic connecting rod 82, and hydraulic connecting rod 82 is made of connecting rod 821 and hydraulic stem 822, passes through hydraulic stem
822 flexible drive connecting rod 821 moves up and down, to make the fixed block 81 connecting with 82 top of hydraulic connecting rod to Right deviation
Tiltedly, so that robot head be driven to swing the movement realized and nodded.
Also, rotating disc 83 is drivingly connected by fixing bearing 81 with the motor 85 being fixed on the body-support frame 4,
When motor 85 start when, driving rotating disc 83 rotate, rotated by rotating disc 83, driven be fixed on it is hydraulic on rotating disc 83
Link rotatable, so that the rotation of executive component 5 is driven, so that the rotation of robot head is realized, when robot head turns to
When relative to robot body side, the above-mentioned movement nodded may be implemented, to realize the robot head to different direction
Nodding action, herein it should be noted that also needing to turn to another avris after robot head turns to body side
When portion, need to restore to be reversed again to non-rotary state to the other side and realize head rotation.
Preferably, the layer of silica gel 6 is being in along the vertical direction accordion, makes the length of Robot neck 3 in the vertical direction
Degree increases, and avoids the power that robot head drives the twisting of neck 3 in rotation and layer of silica gel 6 to be overcome to pull, ensure that
Flexibility when robot head rotates.
Preferably, 821 upper end of connecting rod and fixed block 81 are affixed, and lower end is fixed on the rotating disc 83；The liquid
822 upper end of compression bar connects the connecting rod 821, and lower end is fixed on the rotating disc 83；822 lower part of hydraulic stem sets hydraulic electricity
Machine 823 can pull or push fixed block 81 to tilt when moving by connecting rod 821 and the affixed realization connecting rod 821 of fixed block, without
It is to move up and down fixed block 81 together with executive component 5, to ensure that the accurate realization of robot head nodding action.
Preferably, it is also connected with spring 811 between the connecting rod 831 and fixed block 81, when the effect of connecting rod 831 makes fixed block
When 81 inclination, spring 811 has the slight tug for pulling fixed block 81 because being pulled, thus after ensure that fixed block 81 tilts
Smoothly return just, increase the action stability of the robot head.
Preferably, 4 lower part of body-post is fixed with controller 41；The head executive component 5 and head movement machine
Structure 8 is electrically connected to the controller 41, and the controller is the small controller that robot generally uses, and does not limit particularly
System, and executive component 5 and head movement mechanism 8 acquire executive component 5 by controller using the controller is electrically connected to
With the movement for regulating and controlling executive component 5 and head movement mechanism 8 after the electric signal of head movement mechanism 8.
Preferably, the air bag layer 7 is communicated with gas tube 71；71 lower end of gas tube connects gas pressure regulator 72, institute
The gas pressure regulator for stating the model MIKIHOUSE type of gas pressure regulator 72, by gas pressure regulator to being inflated simultaneously in air bag layer 7
The case where stablizing air pressure inside, avoiding explosion appearance, ensure that the security performance that robot uses.
Preferably, the gas pressure regulator 72 is electrically connected on the controller 41, and the gas pressure regulator 72 passes through inspection
The air pressure in air bag layer 7 is surveyed and controlled, and atmospheric pressure value is passed through in electric signal transmission to controller 41, to realize controller
The real-time situation of supervisory-controlled robot.
Preferably, the material of the head shell 1 and body shell 2 is silica gel, by using the head of silica gel material
Shell 1 and body shell 2 make the outside of robot have protective effect, reduce robot because internal when accident is beaten or fallen
The damage of the component in portion.
Preferably, the head executive component 5 includes image portion 51 and voice portion 52, herein it should be noted that described
Image portion 51 is the equipment that image is received and exported, and can be camera and video player, passes through the image outside acquisition
Information is by electric signal transmission to controller, to realize the picture recognition function of robot, the voice portion 52 connects for sound
Receipts and output equipment, can be phonographic recorder and broadcaster, by the acoustic information outside acquisition by electric signal transmission to control
Device realizes the speech identifying function of robot, and passes through the electric signal instruction execution output function of controller, needs herein
Bright is the picture recognition function and speech identifying function is the function that controller used in universal robot is able to achieve.
The above description is only the embodiments of the present invention, and therefore it does not limit the scope of the patent of the utility model, all
Equivalent structure or equivalent flow shift made based on the specification and figures of the utility model, is applied directly or indirectly in
Other related technical areas are also included in the patent protection scope of the utility model.
Claims (10)
1. a kind of movable silica gel robot head, comprising: head shell, body shell, connection head shell and body shell
Neck, be placed in the intracorporal body-post of body shell, the head executive component in head shell；It is characterized by: described
The appearance of neck sets layer of silica gel；The layer of silica gel is bonded on head shell and body shell；The head shell and body shell
The inner surface adhesion of body has air bag layer；Head movement mechanism is set in the neck；Head executive component lower end is supported on head
On portion's movable device, head movement mechanism supports are on body-post；The head movement mechanism drives head executive component to turn
Dynamic and swing.
2. movable silica gel robot head according to claim 1, it is characterised in that: the layer of silica gel is along the vertical direction
In accordion.
3. movable silica gel robot head according to claim 1, it is characterised in that: the head movement mechanism includes:
It is connected to the fixed block of head executive component lower part, the hydraulic connecting rod for being connected to fixed block lower part, rotating disc and rotating disc bearing
The fixing bearing of connection, the motor being drivingly connected with rotating disc.
4. movable silica gel robot head according to claim 3, it is characterised in that: the hydraulic connecting rod is by connecting rod and liquid
Compression bar composition；The small end and fixed block are affixed, and lower end is fixed on the connecting rod on the rotating disc；The hydraulic stem upper end
The connecting rod is connected, lower end is fixed on the rotating disc；The hydraulic stem lower part sets hydraulic electric motor.
5. movable silica gel robot head according to claim 4, it is characterised in that: between the connecting rod and fixed block also
It is connected with spring.
6. movable silica gel robot head according to claim 1, it is characterised in that: the body-post lower part is fixed with
Controller；The head executive component and head movement mechanism are electrically connected to the controller.
7. movable silica gel robot head according to claim 6, it is characterised in that: the air bag layer is communicated with inflation
Pipe；The gas tube lower end connects gas pressure regulator.
8. movable silica gel robot head according to claim 7, it is characterised in that: the gas pressure regulator is electrically connected to
On described in the controller.
9. movable silica gel robot head according to claim 1, it is characterised in that: the head shell and body shell
Material be silica gel.
10. movable silica gel robot head according to claim 1, it is characterised in that: the head executive component includes
Image and voice transfer unit.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821683046.8U CN208992718U (en) | 2018-10-17 | 2018-10-17 | A kind of movable silica gel robot head |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821683046.8U CN208992718U (en) | 2018-10-17 | 2018-10-17 | A kind of movable silica gel robot head |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN208992718U true CN208992718U (en) | 2019-06-18 |
Family
ID=66803936
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201821683046.8U Expired - Fee Related CN208992718U (en) | 2018-10-17 | 2018-10-17 | A kind of movable silica gel robot head |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN208992718U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2023160071A1 (en) * | 2022-02-22 | 2023-08-31 | 公安部第三研究所 | Head and shoulder structure having turning function |
-
2018
- 2018-10-17 CN CN201821683046.8U patent/CN208992718U/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2023160071A1 (en) * | 2022-02-22 | 2023-08-31 | 公安部第三研究所 | Head and shoulder structure having turning function |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20191203 Address after: 610000 No.606, floor 6, unit 2, building 3, No.146, north section of Hongqi Avenue, Deyuan town (Jingrong town), Pidu District, Chengdu, Sichuan Province Patentee after: CHENGDU PANHUO DEPOSITION INCUBATOR MANAGEMENT Co.,Ltd. Address before: 610000 Hetaoyan Road, Wuhou District, Chengdu City, Sichuan Province, No. 51, No. 1 Building, No. 11, Floor 22 Patentee before: CHENGDU CITY WUHOU DISTRICT SMALL AND MICRO BUSINESSES DEVELOPMENT PROMOTION ASSOCIATION |
|
| 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: 20190618 Termination date: 20211017 |