CN108081245A - A kind of robot head structure of tongue strip expression - Google Patents
A kind of robot head structure of tongue strip expression Download PDFInfo
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- CN108081245A CN108081245A CN201711435320.XA CN201711435320A CN108081245A CN 108081245 A CN108081245 A CN 108081245A CN 201711435320 A CN201711435320 A CN 201711435320A CN 108081245 A CN108081245 A CN 108081245A
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- 230000014509 gene expression Effects 0.000 title claims abstract description 79
- 210000003128 head Anatomy 0.000 claims abstract description 109
- 230000009471 action Effects 0.000 claims abstract description 36
- 210000005252 bulbus oculi Anatomy 0.000 claims abstract description 34
- 210000000744 eyelid Anatomy 0.000 claims abstract description 23
- 210000001508 eye Anatomy 0.000 claims abstract description 10
- 210000004761 scalp Anatomy 0.000 claims abstract description 5
- 210000004974 shell Anatomy 0.000 claims abstract description 4
- 240000007643 Phytolacca americana Species 0.000 claims description 6
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims description 4
- 230000036651 mood Effects 0.000 abstract description 6
- 230000008921 facial expression Effects 0.000 abstract description 5
- 230000000694 effects Effects 0.000 description 15
- 238000010586 diagram Methods 0.000 description 12
- 210000002414 leg Anatomy 0.000 description 10
- 210000000689 upper leg Anatomy 0.000 description 8
- 210000002310 elbow joint Anatomy 0.000 description 7
- 238000010263 activity profiling Methods 0.000 description 5
- 210000000707 wrist Anatomy 0.000 description 4
- 238000010276 construction Methods 0.000 description 2
- 230000009467 reduction Effects 0.000 description 2
- 229920000742 Cotton Polymers 0.000 description 1
- 241000237858 Gastropoda Species 0.000 description 1
- 230000003187 abdominal effect Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- -1 filter Substances 0.000 description 1
- 230000005057 finger movement Effects 0.000 description 1
- 210000000245 forearm Anatomy 0.000 description 1
- 239000002828 fuel tank Substances 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004044 response Effects 0.000 description 1
- 230000000007 visual effect 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
- B25J9/00—Programme-controlled manipulators
-
- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0009—Constructional details, e.g. manipulator supports, bases
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Toys (AREA)
Abstract
The invention discloses a kind of robot head structures of tongue strip expression, including the head formed with head shell, scalp and head fixed seat, head sets tongue component, mouth component and eye component, and each component is configured with each corresponding driving steering engine and its drive actions component；Wherein tongue component includes tongue telescopic component, tongue tilting component and tongue swings component up and down, mouth component acts expression for completing face opening and closing action expression and/or corners of the mouth smile, eye component acts expression for completing eyeball side-to-side movement action expression and/or eyelid blink, and tongue component completes flexible, the upper and lower tilting of tongue and swing to act expression for acting.Tongue strip for anthropomorphic robot can be provided and enrich the abundant facial expressions and acts such as expression, provide to people and experienced using the abundant expression experience being further added by the basis of function on linking up and pleasure mood.
Description
Technical field
The present invention relates to a kind of robot, more particularly, to a kind of robot head structure.
Background technology
It is continuously emerged with the product of robot, robot is obtained application largely, but some existing bands
The anthropomorphic robot on head has movement fast and flexible, has the Motor abilities such as superpower spring, although possessing preferable apery class
Effect；However do not have the abundant facial expressions and acts function such as tongue strip and corners of the mouth expression but, it is impossible to provide on using linking up to people
Abundant expression experience and pleasure mood impression.
The content of the invention
There is without the abundant expression such as tongue strip and the corners of the mouth to solve the anthropomorphic robot of existing headed by the present invention
Holding function, it is impossible to which one provided using present situations such as the abundant expression experience in communication and pleasure mood impressions is provided to people
Kind can provide tongue strip for anthropomorphic robot and enrich the abundant facial expressions and acts such as expression, increase again on the basis of using function to people's offer
Add the robot head structure of the tongue strip expression of the experience of abundant expression and pleasure mood impression on linking up.
The used to solve above-mentioned technical problem specific technical solution of the present invention is：A kind of robot of tongue strip expression
Head construction, including the head formed with head shell, scalp and head fixed seat, it is characterised in that：Head set tongue component,
Mouth component and eye component, each component are configured with each corresponding driving steering engine and its drive actions component；Wherein tongue
Component includes tongue telescopic component, tongue, and tilting component and tongue swing component up and down, and mouth component is for completing face
Opening and closing act expression and/or the corners of the mouth smile action expression, eye component for complete eyeball side-to-side movement action expression and/
Or eyelid blink action expression, flexible, upper and lower tilting and swing action expression of the tongue component for action completion tongue.
It can provide the abundant facial expressions and acts such as tongue strip and corners of the mouth expressiveness for anthropomorphic robot, be provided to people using on the basis of function
The experience of abundant expression and pleasure mood impression being further added by linking up；It is compact-sized, it is easy to control, it is workable.
Preferably, the mouth component includes face component and corners of the mouth component, corners of the mouth component completes mouth for acting
Angle smile action expression, face component complete face opening and closing action expression for work.Mouth activity profiling is improved to enrich
Expression effect.
Preferably, the eye component includes eyeball component and eyelid component, eyeball component completes eye for work
Pearl side-to-side movement acts expression, and eyelid component completes eyelid blink action expression for work.Eye activity profiling is improved to enrich
Expression effect.
Preferably, the tongue component be equipped with tongue reverse component, tongue torsion component include tongue torsion steering engine,
Drive block, torsion rope wheel component and torsion block are reversed, torsion drive block is located on tongue torsion steering engine, and torsion rope wheel component is located at
It reverses on drive block, torsion block is located on torsion rope sheave your component, is reversed and is set tongue on block.It is rich to improve tongue torsion movement profiling
Expressive effect.
Preferably, the tongue swings component include pedestal, main shaft, dovetail groove public affairs plate, the steering engine that swings,
Steering engine arm, slide block, pull-fork assembly, slot straight pin and connecting seat, set steering engine arm on the steering engine that swings, set and pull out on steering engine arm
Component is pitched, fluting straight pin is set on pull-fork assembly, fluting straight pin is connected by connecting seat with dovetail groove public affairs plate.Improve tongue
Expression effect is enriched in the activity profiling of swinging.
Preferably, tilting component includes tilting steering engine, swinging block and tilting rope wheel component, tilting to the tongue up and down
Tilting rope wheel component is set on steering engine, swinging block is set on tilting rope wheel component, tongue is set on swinging block.Improving tongue, tilting is lived up and down
Expression effect is enriched in dynamic profiling.
Preferably, the tongue telescopic component stretches steering engine, dovetail groove male and female plate component, rack assembly including tongue
And swing component, tongue, which stretches, sets rack assembly on steering engine, and dovetail groove male and female plate component, dovetail groove male and female plate group are set in rack assembly
Swing component is set on part, tongue is set on swing component, dovetail groove motherboard moves along a straight line back and forth, drives tongue stretching motion.Improve tongue
Expression effect is enriched in telescopic movable activity profiling.
Preferably, the corners of the mouth component include corners of the mouth steering engine, steering engine disk, crank disc, connecting rod, sliding shoe, guide pad,
Swing arm and upper tooth tooth assembly set steering engine disk on corners of the mouth steering engine, crank disc are set on steering engine disk, two are set on crank disc and is symmetrically connected
Bar sets guide pad and sliding shoe on connecting rod, poke rod is set on sliding shoe, corners of the mouth swing arm is set on poke rod.Improve corners of the mouth activity
Expression effect is enriched in profiling.
Preferably, the eyeball component includes eyeball steering engine, steering engine arm, shifting disc, interlocking bar, swing arm, eyeball
With eyeball steering engine frame, steering engine arm is set on eyeball steering engine, shifting disc is set on steering engine arm, interlocking bar is set on shifting disc, is set in interlocking bar
Swing arm, eyeball is set on swing arm, and interlocking bar action drives left and right eyeball to rotate simultaneously.It improves eyeball activity profiling and enriches activity
Effect.
Preferably, the head sets shake the head component and point head assembly, shake the head component and point head assembly are complete for work
Into head shake the head or nodding action expression, wherein shake the head component include shake the head steering engine, steering engine housing of shaking the head, drive block of shaking the head,
Driving bearing shake the head with rotor of shaking the head, drive block of shaking the head is connected with steering engine of shaking the head, shake the head rotor and drive block phase of shaking the head
Even, drive cruel block that rotor is driven to rotate, drive head head shaking movement；Point head assembly includes nod steering engine, eccentric wheel, swing
Block, swinging axle and face steering engine housing, eccentric wheel are connected with steering engine of nodding, and swinging block is set on eccentric wheel, mouth is set on swinging block
Bar steering engine housing.Improve head shake and abundant expression effect of nodding.
The beneficial effects of the invention are as follows：The abundant expression such as tongue strip and corners of the mouth expressiveness can be provided for anthropomorphic robot to move
Make, provide to people and experienced using the abundant expression experience being further added by the basis of function on linking up and pleasure mood；It is compact-sized,
It is easy to control, it is workable.
Description of the drawings：
The present invention is described in further detail with reference to the accompanying drawings and detailed description.
Fig. 1 is the structure diagram of the head decaptitating rear shell of the robot head structure of tongue strip expression of the present invention.
Fig. 2 is the head front observation structure schematic diagram of the robot head structure of tongue strip expression of the present invention.
Fig. 3 is the head side observation structure schematic diagram of the robot head structure of tongue strip expression of the present invention.
Fig. 4 be tongue strip expression of the present invention robot head structure in tongue tilting component up and down structure diagram.
Fig. 5 be tongue strip expression of the present invention robot head structure in tongue telescopic component structure diagram.
Fig. 6 be tongue strip expression of the present invention robot head structure in tongue swing component sectional structure signal
Figure.
Fig. 7 be tongue strip expression of the present invention robot head structure in tongue swing the structure diagram of component.
Fig. 8 be tongue strip expression of the present invention robot head structure in face component structure diagram.
Fig. 9 be tongue strip expression of the present invention robot head structure in corners of the mouth component structure diagram.
Figure 10 be tongue strip expression of the present invention robot head structure in eyeball component structure diagram.
Figure 11 is that the robot head structure of tongue strip expression of the present invention uses the structure of the wheel leg assembly in robot
Schematic diagram.
Figure 12 is that the robot head structure of tongue strip expression of the present invention uses the structure of the arm component in robot
Schematic diagram.
Figure 13 is that the robot head structure of tongue strip expression of the present invention uses the hip motion component in robot
Structure diagram.
Figure 14 is that the robot head structure of tongue strip expression of the present invention is shown using the rear portion observation structure in robot
It is intended to.
Specific embodiment
Embodiment 1：
In Fig. 1, Fig. 2, Fig. 3, Fig. 4, Fig. 5, Fig. 6, Fig. 7, Fig. 8, Fig. 9, embodiment shown in Fig. 10, a kind of machine of tongue strip expression
Tongue component, group of shaking the head are installed in device head part's structure, the head formed with head shell, scalp and head fixed seat, head 01
Part 50, point head assembly 40, face component 60, corners of the mouth component 70, eyeball component 80, eyelid component 90, head shell 100, scalp and
Head fixed seat 02, each component are configured with each corresponding driving steering engine and its drive actions component；Wherein tongue component bag
Including tongue telescopic component 3A, tongue, tilting component 2A and tongue swing component 4A up and down, and tongue component is completed for acting
Flexible, the upper and lower tilting of tongue and the action expression that swings, corners of the mouth component 70 complete corners of the mouth smile action expression for acting,
Face component 60 completes face opening and closing action expression for work, and eyeball component 80 completes eyeball side-to-side movement for work
Expression is acted, eyelid component 90 completes eyelid blink action expression for work, and shake the head component and point head assembly are complete for work
Into head shake the head or nodding action expression.Tongue component is equipped with tongue and reverses component, and tongue reverses component and reversed including tongue
Steering engine, torsion drive block, torsion rope wheel component and torsion block, torsion drive block are located on tongue torsion steering engine, reverse pulley set
Part is located on torsion drive block, and torsion block is located on torsion rope sheave your component, is reversed and is set tongue on block.Tongue swings component
4A include pedestal 46, main shaft 411, dovetail groove public affairs plate 47, the steering engine 41 that swings, steering engine arm 43, slide block 481, pull-fork assembly,
It slots straight pin and connecting seat, sets steering engine arm on the steering engine that swings, fork component is set on steering engine arm, fluting is set on pull-fork assembly
Straight pin 44, fluting straight pin 44 are connected by connecting seat 45 with dovetail groove public affairs plate 47.Pull-fork assembly includes fork 482, pulls out
Fork shaft 483 and shift fork seat 484, slide block 481 are connected with the steering engine 41 that swings.Main shaft 411 is located on main shaft bearing 412.
Tilting component includes pedestal 21, main shaft 22, tilting steering engine 23, swinging block 29 and tilting rope wheel component, tilting steering engine to tongue up and down
Tilting rope wheel component on 23 is installed, swinging block 29 is set on tilting rope wheel component, tongue is set on swinging block.Tilting rope wheel component includes
Rim pulley 24, rope sheave link block 25, passive rope sheave 27 and cotton rope 26.Tongue telescopic component stretches steering engine 37, swallow including tongue
Stern notch male and female plate component, rack assembly and swing component, tongue, which stretches, sets rack assembly on steering engine 37, and the tongue steering engine 37 that stretches is installed
On flexible steering engine seat 381, dovetail groove male and female plate component is set in rack assembly, swing component 34 is set on dovetail groove male and female plate component,
Tongue 03 is set on swing component, dovetail groove motherboard moves along a straight line back and forth, drives tongue stretching motion.Rack assembly include rack 36,
Gear 38 and gear link block.Dovetail groove male and female plate component includes dovetail groove public affairs plate 32 and dovetail groove motherboard 38.Face component by
Face steering engine 61, steering engine arm, chin 65, lower teeth 64 form.Steering engine arm is driven by face steering engine, then is driven down by steering engine arm 63
Bars 65 and lower teeth 64 swing up and down, realize face opening and closing movement.Corners of the mouth component includes corners of the mouth steering engine 71, steering engine disk 72, crank
Disk, connecting rod, sliding shoe 74, guide pad 77, swing arm 76 and upper tooth tooth assembly 751, upper tooth tooth assembly 751 are located at upper teeth and fix
Below plate 75, steering engine disk 72 is set on corners of the mouth steering engine 71, crank disc is set on steering engine disk, two symmetrical connecting rods are set on crank disc, even
It sets guide pad 77 and sliding shoe 74 on bar, poke rod 79 is installed on sliding shoe 74, connection mouth angle swing swing arm 76 on poke rod 79.It shakes
Head assembly includes shake the head steering engine, steering engine housing of shaking the head, drive block of shaking the head, shake the head driving bearing and rotor of shaking the head, driving of shaking the head
Block is connected with steering engine of shaking the head, and rotor of shaking the head is connected with drive block of shaking the head, and drives cruel block that rotor is driven to rotate, and drives head
Head shaking movement；Point head assembly includes nod steering engine, eccentric wheel, swinging block, swinging axle and face steering engine housing, and eccentric wheel is with nodding
Steering engine is connected, and swinging block is set on eccentric wheel, and face steering engine housing is set on swinging block.Eyeball component includes eyeball steering engine 81, rudder
Horn 83, shifting disc 84, interlocking bar 87, swing arm 86, eyeball 88 and eyeball steering engine frame 82 install steering engine on eyeball steering engine 81
Arm sets shifting disc 84 on steering engine arm, and interlocking bar 87 is set on shifting disc, swing arm 86, swing arm are installed in 87 two ends of interlocking bar
86 front ends set eyeball 88, and interlocking bar action drives left and right eyeball to rotate simultaneously.The left and right eyelid 91 of eyelid component is respectively by eyelid
Steering engine, eyelid slide block, eyelid frame, eyelid steering engine housing eyelid steering engine lid composition.Left and right drives eyelid respectively by eyelid steering engine
Slide block drives eyelid frame to swing up and down by eyelid slide block again, realizes blink action.
Embodiment 2：
In embodiment shown in Figure 11, Figure 12, Figure 13, Figure 14, robot head includes wheel leg assembly, hip motion with lower component
Component, arm component, hand component, abdominal exercise component and balance component 06.Taking turns leg assembly includes wheel assembly 04 and leg group
Part, leg assembly include shank bar 041 and thigh parts, and thigh parts include thigh flesh frame 043 and thigh activity control connecting rod
042,041 lower end of shank bar is flexibly connected with wheel assembly 04,041 upper end of shank bar and 042 lower end of thigh activity control connecting rod
And 043 lower end of thigh flesh frame is mutually flexibly connected, thigh activity controls 042 upper end of connecting rod and 043 upper end of thigh flesh frame and hip
Moving parts are mutually flexibly connected, and hip motion component includes bearing connection component 044, fixed seat outer panel 045, hip oil cylinder group
Part 046, oil cylinder hinge axis 047, fixed seat interior plate（15.7）, connecting plate 048 forms.Hip motion component is by hip oil cylinder group
Part piston rod stretches that upper body realization is driven to bend over to act.Hip motion modular construction, bearing connection component 044 are connected by bearing
Set, bearing connector sleeve and intersection bearing are formed.Arm component include A Worm reduction motor 05A, A decelerating motors fixed plate,
Drive sleeve, intersect bearing, B Worm reduction motor 05B, B decelerating motors fixed plate, upper arm hinge 051, electric putter 052, on
Arm pipe 053, elbow joint, preceding armed lever 056, wrist motor 057, wrist motor fixing seat 059, worm-wheel shaft 05C, worm screw 058, worm gear
05D and hand hinge seat 05E；Electric putter it is flexible come band forearm rotation of starting complete the rotation in elbow portion, motor drives worm screw snail
Wheel rotates, then wrist hinge is driven to rotate the rotation for completing wrist portion, and decelerating motor A, which is rotated, drives upper arm hinge and upper armed lever to turn
The dynamic rotation for completing upper arm；The rotation of decelerating motor drives the swing of the entire arm of drive sleeve completion.Elbow joint includes A elbow joints
055 and B elbow joints 054, B elbow joints 054 are connected with 053 lower end of upper arm pipe, 052 lower end phase of A elbow joints 055 and electric putter
Connection improves the flexible validity of exercising elbow joint.Take turns the hydraulic system power part and other component of robot leg：Hydraulic system
Power part is by fuel tank, filter, oil pump, overflow valve, ball-type accumulator, high response solenoid valve, servo valve, leg oil cylinder, hip
Oil cylinder forms.Hydraulic system provides power for oil cylinder, and passes through control valve, realizes the movement of leg and the movement of hip, such as stands
Stand, squat down, turning, excessively unilateral slope, the actions such as spring.Electric appliance and power supply：It is by accumulator and charging unit, each motor control
Module and control mainboard composition.It provides power for each motor, and arm component four is realized by control module and control mainboard
Degree of freedom action, five finger movements of hand component and balance component gravity center adjustment function, while pass through hydraulic control mould
Block and control mainboard realize the motion control to leg and hip.Sensor：There are visual sensor, range sensor, pressure to pass
Sensor, touch sensor, proximity sensor, gyroscope（Angular transducer）, wheel portion encoder etc..Pass through the defeated of these sensors
Enter signal, moving equilibrium, avoidance, upper and lower unilateral slope, spring, hand are realized in control mainboard control in which can make wheel leg intelligent robot
Crawl object and transport goods, outdoor is slided with facial expressions and acts etc..
In position relationship of the present invention description, there are the fingers such as term " interior ", " outer ", " on ", " under ", "left", "right"
Show that orientation or position relationship are based on orientation shown in the drawings or position relationship, description embodiment merely for convenience and letter
Change description rather than instruction or imply that signified device or element there must be specific orientation, with specific azimuth configuration
And operation, therefore be not considered as limiting the invention.
More than content and structure describes the basic principle, main feature and advantages of the present invention of product of the present invention, one's own profession
The technical staff of industry should be recognized that.Merely illustrating the principles of the invention described in examples detailed above and specification is not departing from this
On the premise of spirit and scope, various changes and modifications of the present invention are possible, these changes and improvements belong to requirement and protect
Within the scope of the invention of shield.The scope of the present invention is defined by the appended claims and its equivalents.
Claims (10)
1. a kind of robot head structure of tongue strip expression, including the head formed with head shell, scalp and head fixed seat
Portion, it is characterised in that：Head sets tongue component, mouth component and eye component, and each component is configured with respective corresponding driving
Steering engine and its drive actions component；Wherein tongue component includes tongue telescopic component, tongue tilting component and tongue or so up and down
Wobble component, mouth component are used for completing face opening and closing action expression and/or corners of the mouth smile action expression, eye component
In completing eyeball side-to-side movement action expression and/or eyelid blink action expression, tongue component, which is used to act, completes stretching for tongue
Contracting, upper and lower tilting and the action expression that swings.
2. the robot head structure of tongue strip expression described in accordance with the claim 1, it is characterised in that：The mouth component
Including face component and corners of the mouth component, corners of the mouth component completes corners of the mouth smile action expression for acting, and face component is used for work
Complete face opening and closing action expression.
3. the robot head structure of tongue strip expression described in accordance with the claim 1, it is characterised in that：The eye component
Including eyeball component and eyelid component, eyeball component completes eyeball side-to-side movement action expression for work, and eyelid component is used for
Eyelid blink action expression is completed in work.
4. the robot head structure of tongue strip expression described in accordance with the claim 1, it is characterised in that：The tongue component
Component is reversed equipped with tongue, tongue torsion component includes tongue torsion steering engine, torsion drive block, torsion rope wheel component and torsion
Block, torsion drive block are located on tongue torsion steering engine, and torsion rope wheel component is located on torsion drive block, and torsion block is located at torsion rope
It takes turns on your component, reverses and set tongue on block.
5. the robot head structure of tongue strip expression described in accordance with the claim 1, it is characterised in that：Described tongue or so
Wobble component includes pedestal, main shaft, dovetail groove public affairs plate, the steering engine that swings, steering engine arm, slide block, pull-fork assembly, fluting cylinder
Pin and connecting seat set steering engine arm on the steering engine that swings, fork component are set on steering engine arm, fluting straight pin is set on pull-fork assembly,
Fluting straight pin is connected by connecting seat with dovetail groove public affairs plate.
6. the robot head structure of tongue strip expression described in accordance with the claim 1, it is characterised in that：Above and below the tongue
Tilting component includes tilting steering engine, swinging block and tilting rope wheel component, and tilting rope wheel component, tilting pulley set are set on tilting steering engine
Swinging block is set on part, tongue is set on swinging block.
7. the robot head structure of tongue strip expression described in accordance with the claim 1, it is characterised in that：The tongue stretches
Component stretches steering engine, dovetail groove male and female plate component, rack assembly and swing component including tongue, and tongue, which stretches, sets rack group on steering engine
Part sets dovetail groove male and female plate component in rack assembly, sets swing component on dovetail groove male and female plate component, tongue, swallow are set on swing component
Stern notch motherboard moves along a straight line back and forth, drives tongue stretching motion.
8. the robot head structure of tongue strip expression described in accordance with the claim 2, it is characterised in that：The corners of the mouth component
Including corners of the mouth steering engine, steering engine disk, crank disc, connecting rod, sliding shoe, guide pad, swing arm and upper tooth tooth assembly, set on corners of the mouth steering engine
Steering engine disk sets crank disc on steering engine disk, two symmetrical connecting rods is set on crank disc, guide pad and sliding shoe are set on connecting rod, slides
Poke rod is set on block, corners of the mouth swing arm is set on poke rod.
9. the robot head structure of tongue strip expression described in accordance with the claim 3, it is characterised in that：The eyeball component
Including eyeball steering engine, steering engine arm, shifting disc, interlocking bar, swing arm, eyeball and eyeball steering engine frame, steering engine arm is set on eyeball steering engine,
Shifting disc is set on steering engine arm, interlocking bar is set on shifting disc, swing arm is set in interlocking bar, eyeball, interlocking bar action are set on swing arm
Left and right eyeball is driven to rotate simultaneously.
10. the robot head structure of tongue strip expression described in accordance with the claim 1, it is characterised in that：The head is set
Shake the head component and point head assembly, shake the head component and put head assembly for work complete head shake the head or nodding action expression,
In component of shaking the head include shaking the head steering engine, steering engine housing of shaking the head, drive block of shaking the head, shake the head driving bearing and rotor of shaking the head, shake the head
Drive block is connected with steering engine of shaking the head, and rotor of shaking the head is connected with drive block of shaking the head, and drives cruel block that rotor is driven to rotate, and drives
Head head shaking movement；Point head assembly includes nodding steering engine, eccentric wheel, swinging block, swinging axle and face steering engine housing, eccentric wheel with
Steering engine of nodding is connected, and swinging block is set on eccentric wheel, and face steering engine housing is set on swinging block.
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| CN201711435320.XA CN108081245A (en) | 2017-12-26 | 2017-12-26 | A kind of robot head structure of tongue strip expression |
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Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108714902A (en) * | 2018-06-28 | 2018-10-30 | 香港中文大学（深圳） | Apery expression robot head construction and robot head control system |
| CN108858227A (en) * | 2018-07-20 | 2018-11-23 | 上海楷沃机器人科技有限公司 | A kind of humanoid robot head movement mechanism |
| CN109129422A (en) * | 2018-09-05 | 2019-01-04 | 深圳全智能机器人科技有限公司 | Multi-functional modular robot head |
| CN109276247A (en) * | 2018-10-23 | 2019-01-29 | 中国科学院上海生命科学研究院 | A kind of animal fixing device and its application |
| CN109483560A (en) * | 2018-10-11 | 2019-03-19 | 深圳全智能机器人科技有限公司 | A kind of novel intelligent service humanoid robot |
| CN110026995A (en) * | 2019-04-22 | 2019-07-19 | 扬州哈工科创机器人研究院有限公司 | A kind of head construction of emulated robot |
| CN112164281A (en) * | 2020-10-30 | 2021-01-01 | 李明顺 | Oral training device capable of displaying details in English pronunciation |
| CN116443568A (en) * | 2023-06-16 | 2023-07-18 | 中国科学院沈阳科学仪器股份有限公司 | Large-scale vacuum mechanical arm |
| CN117124343A (en) * | 2023-09-25 | 2023-11-28 | 深圳无芯科技有限公司 | Head and neck structure of bionic robot and bionic robot |
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| CN109129422A (en) * | 2018-09-05 | 2019-01-04 | 深圳全智能机器人科技有限公司 | Multi-functional modular robot head |
| CN109483560A (en) * | 2018-10-11 | 2019-03-19 | 深圳全智能机器人科技有限公司 | A kind of novel intelligent service humanoid robot |
| CN109276247B (en) * | 2018-10-23 | 2024-04-09 | 中国科学院脑科学与智能技术卓越创新中心 | Animal fixing device and application thereof |
| CN109276247A (en) * | 2018-10-23 | 2019-01-29 | 中国科学院上海生命科学研究院 | A kind of animal fixing device and its application |
| CN110026995A (en) * | 2019-04-22 | 2019-07-19 | 扬州哈工科创机器人研究院有限公司 | A kind of head construction of emulated robot |
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| CN112164281A (en) * | 2020-10-30 | 2021-01-01 | 李明顺 | Oral training device capable of displaying details in English pronunciation |
| CN116443568B (en) * | 2023-06-16 | 2023-08-22 | 中国科学院沈阳科学仪器股份有限公司 | Large-scale vacuum mechanical arm |
| CN116443568A (en) * | 2023-06-16 | 2023-07-18 | 中国科学院沈阳科学仪器股份有限公司 | Large-scale vacuum mechanical arm |
| CN117124343A (en) * | 2023-09-25 | 2023-11-28 | 深圳无芯科技有限公司 | Head and neck structure of bionic robot and bionic robot |
| CN117124343B (en) * | 2023-09-25 | 2024-02-23 | 深圳无芯科技有限公司 | Head and neck structure of bionic robot and bionic robot |
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