CN206123671U - Service robot head - Google Patents
Service robot head Download PDFInfo
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- CN206123671U CN206123671U CN201621032857.2U CN201621032857U CN206123671U CN 206123671 U CN206123671 U CN 206123671U CN 201621032857 U CN201621032857 U CN 201621032857U CN 206123671 U CN206123671 U CN 206123671U
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- nodding
- eyeball
- motor
- eyelid
- pedestal
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Abstract
The utility model discloses a service robot head, including eyeball mechanism, the mouth is opened and is closed the mechanism, the mechanism of nodding, the apparent face guard of mechanism and head of turning round, through eyeball mechanism, the mouth is opened and is closed the mechanism, the mechanism of nodding, the turn round setting of mechanism and robot face guard, make the robot can realize the rotation action of eyeball, the mouth is opened and is closed the action, the action of nodding, the motion of a plurality of degrees of freedom of action of turning round, and make the motion vivid more lifelike through the face guard, this service robot head move freely degree is many, the flexibility ratio is high, this utility model is used for the bionic robot field.
Description
Technical field
This utility model is related to bio-robot field, more particularly to a kind of service-delivery machine head part.
Background technology
Nowadays, with the continuous improvement of people's educational level, fewer and feweri people is ready to be engaged in low technical requirement, low value-added
Service trade, such as welcome, consulting, reception job content.It is increasingly mature with roboticses, especially in apery machine
The development and application of the technologies such as motor control, voice semantics recognition, image recognition, the intelligent interaction in device people field, make humanoid machine
The more life-like image that device people can do, while having a extensive future for apery service humanoid robot future market is also highlighted all the more,
The head of anthropomorphic robot need to complete rotary head, nod, open one's mouth to shut up, a series of actions such as the rotation of eyeball and blink, profile
It is true to nature, it is vivid.
Utility model content
To solve the above problems, this utility model provides a kind of flexibility ratio for completing multifreedom motion high server
Device head part.
This utility model solves the technical scheme that its technical problem adopted：
A kind of service-delivery machine head part, including
Eyeball mechanism, eyeball mechanism includes two eyeballs and drives each oculogyral eyeball motor by drive mechanism；
With the eyeball mechanism mouth open/close mechanism that be connected of lower section, mouth open/close mechanism is including being fixedly installed under eyeball mechanism
The head seat of side, the lower jaw pedestal that can be rotated around head seat and driving lower jaw pedestal rotate to realize mouth open/close mechanism mouth
The mouth opening and closing motor of portion's opening and closing action；
The neck mechanism being connected with mouth open/close mechanism, neck mechanism includes nod mechanism and swing mechanism, mechanism of nodding
Including the pedestal of nodding by rotating nod motor and the fixed motor of nodding that drive neck mechanism to carry out nodding action, rotary head machine
Structure is included by rotating the rotary head motor for driving neck mechanism to carry out rotary head action；And
By eyeball mechanism, mouth open/close mechanism, nod mechanism and swing mechanism cover on inside robot head mask,
Two eyes holes are provided with mask.
Used as the further improvement of above-mentioned technical proposal, the output shaft of eyeball motor is connected with driving gear, is additionally provided with
Two driven gears for engaging with driving gear, each eyeball is respectively arranged with the eyeball rotating shaft being connected with each driven gear.
Used as the further improvement of above-mentioned technical proposal, each eyeball top is provided with eyelid, is additionally provided with connection two
The eyelid rotating shaft of eyelid, be provided with eyelid rotating shaft drive eyelid axis of rotation strip permanent magnet, one end of permanent magnet with
Eyelid rotating shaft connects, and below the permanent magnet other end copper coil is provided with, and by the way that the break-make to copper coil is electrically operated permanent magnetism is realized
Body drives the rotation of eyelid rotating shaft to realize blink action.
Used as the further improvement of above-mentioned technical proposal, mouth opening and closing motor is fixedly installed on nods on pedestal, mouth
Conjunction motor is steering wheel, and the output shaft of mouth opening and closing motor is connected with mouth motor steering wheel, the two ends of lower jaw pedestal be provided with
Pedestal of nodding carries out rotating the lower jaw shaft hole of connection.
Used as the further improvement of above-mentioned technical proposal, motor of nodding is steering wheel, and the output shaft of motor of nodding connects a little
Head motor steering wheel, is additionally provided with transmission board of nodding, and transmission board of nodding includes that the equal and head seat for being located at motor both sides of nodding is consolidated
The transmission board of left and right two of fixed connection, is provided with two head bearing supports, each point head bearing support on pedestal of nodding and installs a little
Head bearing, is provided with the bearing connecting shaft being connected with bearing of respectively nodding, nod motor steering wheel and transmission board of nodding in each transmission board
It is fixedly connected, Motor drive of nodding nods transmission board rotation to realize cervical region nodding action.
Used as the further improvement of above-mentioned technical proposal, the output shaft of rotary head motor is connected with flange output shaft, and flange is defeated
Shaft is fixedly connected with mechanism of nodding, and is additionally provided with the rotary head pedestal of fixed rotary head motor, and rotary head axle is provided with rotary head pedestal
Bearing, is provided with the rotary head bearing being connected with flange output shaft in rotary head bearing block.
As the further improvement of above-mentioned technical proposal, artificial tooth is provided with lower jaw pedestal, artificial tooth includes upper artificial tooth with
Artificial tooth, lower artificial tooth is fixedly installed on lower jaw pedestal, and mouth perforate corresponding with artificial tooth position is provided with mask.
As the further improvement of above-mentioned technical proposal, behind mask includes radiator grille and is detachably connected with radiator grille
Cover, radiator grille is hollow shell, and two eyes holes are arranged on radiator grille top corresponding with two eyeball positions, the left and right two ends of mask
Ear is provided with, nose is additionally provided with radiator grille.
As the further improvement of above-mentioned technical proposal, some connecting poles are provided with radiator grille, are provided with rear mask point
Connection post holes not corresponding with each connecting pole position, radiator grille and rear mask are connected by each connecting pole with corresponding connection post holes
Connect.
Used as the further improvement of above-mentioned technical proposal, each eyeball is arranged on eyeball installing plate, and radiator grille is by arranging
Some radiator grille fixing holes on radiator grille are fixed on eyeball installing plate, some rear masks are provided with rear mask and are fixed
Post, rear mask is fixedly installed on head seat by the through hole being arranged in each rear mask fixed column.
The beneficial effects of the utility model：This service-delivery machine head part passes through eyeball mechanism, mouth open/close mechanism, machine of nodding
The setting of structure, swing mechanism and robot mask, makes robot be realized Rotation of eyeball, mouth opening and closing, be nodded, turned by each driving
The motion of multiple degree of freedom, the setting of mask makes the head image of service robot true to nature, is rich in affinity, the service-delivery machine
Head part's freedom of motion is more, and flexibility ratio is high.
Description of the drawings
Below in conjunction with the accompanying drawings the utility model is described in further detail：
Fig. 1 is head inside and mask exploded perspective view；
Fig. 2 is head overall structure diagram；
Fig. 3 is head inside overall structure diagram；
Fig. 4 is head inside overall structure of the explosion figure；
Fig. 5 is mouth open/close mechanism explosive view；
Fig. 6 is mechanism's explosive view of nodding；
Fig. 7 is swing mechanism explosive view；
Fig. 8 is rotary head foundation means schematic diagram；
Fig. 9 is radiator grille side view；
Figure 10 is radiator grille front view；
Figure 11 is radiator grille internal structure schematic diagram；
Figure 12 is rear mask internal structure schematic diagram.
Specific embodiment
With reference to Fig. 1～Figure 12, this utility model is a kind of service-delivery machine head part, including
Eyeball mechanism 1, eyeball mechanism 1 includes eyeball installing plate 18, two eyeballs 12 being arranged on eyeball installing plate 18
The driven gear 15 rotated with driving two eyeball 12, driven gear 15 is engaged with the driving gear 16 for driving driven gear 15 to rotate
Connection, is additionally provided with the eyeball motor 17 for driving driving gear 16 to rotate, and drives driving gear 16 to rotate by eyeball motor 17
And drive driven gear 15 to rotate to realize the rotation of eyeball 12；
The mouth open/close mechanism 2 be connected with eyeball mechanism 1 lower section, mouth open/close mechanism 2 is including being fixedly installed on eyeball machine
The head seat 25 of the lower section of structure 1, is provided with the lower jaw pedestal 21 that can be rotated around head seat 25, lower jaw pedestal on head seat 25
21 are rotated to realize mouth opening and closing action by the driving of mouth opening and closing motor 22；
The mechanism 3 of nodding being connected with mouth open/close mechanism 2, mechanism 3 of nodding includes motor 36 of nodding, under head seat 25
End is fixedly installed transmission board 34 of nodding, and transmission board of nodding 34 is driven by the output shaft of motor 36 of nodding and realizes rotating to complete
Nodding action；
The swing mechanism 4 being connected with mechanism 3 of nodding, swing mechanism 4 includes rotary head motor 42, the output shaft of rotary head motor 42
It is attached with the flange output shaft 44 nodded on pedestal 31 is fixedly installed on, by the driving flange output shaft 44 of rotary head motor 42
Rotate to drive the rotation of pedestal 31 of nodding to realize rotary head action；And
By eyeball mechanism 1, mouth open/close mechanism 2, nod mechanism 3 and swing mechanism 4 covers on the robot head of inside
Mask 5, is respectively arranged with eyes hole 511 corresponding with the position of each eyeball 12 on mask 5, mouth perforate is additionally provided with mask 5
512。
By eyeball mechanism 1, mouth open/close mechanism 2, the setting of nod mechanism 3, swing mechanism 4 and robot mask 5, make
Robot can realize the rotational action of eyeball, mouth opening and closing action, nodding action, the motion of the multiple degree of freedom of rotary head action,
And motion more lifelike image is made by mask, the service robot head movement degree of freedom is more, and flexibility ratio is high.
Used as preferred embodiment, the top of two eyeballs 12 is provided with eyelid 11, and two eyelids 11 pass through eyelid rotating shaft
Link together, be additionally provided with the permanent magnet 13 of the strip for driving eyelid axis of rotation, one end and the eyelid of permanent magnet 13 turn
Axle connects, and below the other end of permanent magnet 13 copper coil 14 is provided with, and by the way that the break-make to copper coil 14 is electrically operated permanent magnetism is realized
Body 13 drives the rotation of eyelid rotating shaft to realize blink action.
Used as eyelid support base preferred embodiment, is provided between two eyelids 11, eyelid rotating shaft turns with eyelid support base
Dynamic connection, two eyelids 11 are the semicircular shell for being provided with eyelid connecting hole, and two eyelids 11 are turned by eyelid connecting hole with eyelid
Axle is attached.
Used as preferred embodiment, mouth opening and closing motor 22 is steering wheel, the output shaft and mouth of mouth opening and closing motor 22
Motor steering wheel 23 connects, and the two ends of lower jaw pedestal 21 are provided with lower jaw rotation hole, and two lower jaw rotation holes pass through respectively mouth
Motor steering wheel 23 and the imaginary axis 26 being arranged on head seat 25 carry out rotation and are connected with head seat 25, also set up in the imaginary axis 26
There is mouth bearing 24.
As the pedestal 31 of nodding for preferred embodiment, being additionally provided with fixed motor 36 of nodding, set on pedestal 31 of nodding
Motor fixing plate of nodding is equipped with, motor 36 of nodding is steering wheel, transmission board of nodding 34 includes the left side being fixedly connected with head seat 25
Right two transmission boards, the transmission board of left and right two is separately positioned on the both sides of motor 36 of nodding, and motor 36 of nodding is by motor of nodding
Steering wheel 35 is fixedly connected with the transmission board on the left side, and in the transmission board of left and right two bearing connecting shaft is provided with, and nods on pedestal 31
It is provided with two head bearing supports 32, the bearing connecting shaft of left and right two and the axle of nodding being separately positioned in each point head bearing support 32
Hold 33 to be fixedly connected.
Used as preferred embodiment, rotary head motor 42 is steering wheel, and rotary head motor 42 is by rotary head motor steering wheel 43 and method
Blue output shaft 44 connects, and flange output shaft 44 is fixedly connected with pedestal 31 of nodding, and is additionally provided with the rotary head of fixed rotary head motor 42
Pedestal 41, the upper end of rotary head pedestal 41 is fixedly installed in rotary head bearing block 45, rotary head bearing block 45 and is fixedly installed rotary head axle
46 are held, flange output shaft 44 is attached with rotary head bearing 46.
As preferred embodiment, being additionally provided with artificial tooth 27 corresponding with the position of mouth perforate 512 on lower jaw pedestal 21,
Artificial tooth 27 includes upper artificial tooth and lower artificial tooth, and upper artificial tooth is fixedly installed on eyeball installing plate 18, and lower artificial tooth is fixedly installed on lower jaw
On pedestal 21.
Used as preferred embodiment, mask 5 includes radiator grille 51 and the rear mask 52 being detachably connected with radiator grille 51,
Radiator grille 51 is hollow shell, and two eyes holes 511 are arranged in the pit for caving inward on the top of radiator grille 51, a left side for mask 5
Right two ends are provided with ear 523, and on radiator grille 51 nose is additionally provided with.
As preferred embodiment, it is provided with radiator grille 51 in some connecting poles 513, rear mask 52 and is provided with difference
Connection post holes 521 corresponding with each connecting pole 513, by each connecting pole 513 and corresponding connection between radiator grille 51 and rear mask 52
Connection between post holes 521 is attached.
Used as some radiator grille fixing holes 514 preferred embodiment, are additionally provided with radiator grille 51, radiator grille 51 passes through
Each radiator grille fixing hole 514 is fixedly installed on eyeball installing plate 18, and some rear mask fixed columns are provided with rear mask 52
522, through hole is provided with each rear mask fixed column 522, rear mask 522 is fixedly installed on head seat 25 by each through hole.
Used as preferred embodiment, eyeball mechanism 1 is including eyeball installing plate 18, positioned at the two of the top of eyeball installing plate 18
Individual eyeball 12 and drive respectively each eyeball 12 rotate driven gear 15, be additionally provided with and engage what is be connected with two driven gears 15
The eyeball motor 17 that driving gear 16 and driving driving gear 16 are rotated.By setting for two driven gears 15 and driving gear 16
Put, drive driving gear 16 to rotate by eyeball motor 17, the rotation of driving gear 16 further drives two driven gears 15 to rotate, and enters
And the rotational motion of two eyeballs 12 of drive, the rotation of eyeball 12 is realized, each driven gear 15 is incomplete gear mechanism, driven
One end of gear 15 is provided with the gear teeth being engaged with driving gear 16, and the other end of driven gear 15 is provided with connection
Hole, the lower end of each eyeball 12 is provided with the eyeball rotating shaft penetrated in connecting hole.Driven gear is while being provided with connecting hole
Taper, while to arrange cogged circular arc, the setting of incomplete gear mechanism has been saved the inside of mechanism and has been taken up room.Eye
The cross section of ball rotating shaft is ellipse, and the connecting hole of driven gear 15 is and eyeball rotating shaft cross section identical slotted eye.Eye
The cross section of ball rotating shaft can also be circular, be fixedly connected with the connecting hole on driven gear 15, certainly, eyeball rotating shaft
Cross section can also be the shapes such as polygon, and the connecting hole cross section of each driven gear 15 is set to and the polygonal shape phase
Same cross section, by the rotation of each driven gear 15 each eyeball 12 is passed motion to.The axis of two eyeball rotating shafts is mutually put down
OK, this ensure that the angle that two eyeball 12 is rotated is identical, and rotation direction is consistent.Two are provided with eyeball installing plate 18
Individual bearing base, is separately installed with eyeball bearing in each bearing base, through the eyeball rotating shaft in each connecting hole respectively with each eye
Ball bearing is fixedly connected, and eyeball bearing is Yi Gesi bearings, to realize more preferable motion transmission effect.On eyeball installing plate 18
Through hole is provided with, driving gear 16 and eyeball motor 17 are separately positioned on the upper and lower ends of eyeball installing plate 18, eyeball motor 17
For steering wheel, steering wheel outfan is connected with eyeball motor steering wheel, and eyeball motor steering wheel is connected with driving gear 16, eyeball motor 17
Can also be other servomotors, stretch out output shaft by the through hole on eyeball installing plate 18 to drive driving gear 16.Rudder
Machine is threaded connection and is fixed on eyeball installing plate 18, and fixed mode has various, is not limited to the connected mode that is screwed.Respectively
It is provided with eyeball 12 in electronic display, each eyeball 12 and is additionally provided with the eyeball control of control electronic display screen displays expression in the eyes change
Device processed.The eyelid pedestal and connection bottom that connection top eyelid mechanism is additionally provided with eyeball installing plate 18 is opened one's mouth the connection of mechanism
Plate.
Used as preferred embodiment, the top of each eyeball 12 is provided with eyelid 11, and two eyelids 11 are connected by eyelid rotating shaft
Together, the permanent magnet 13 of the strip for driving eyelid axis of rotation is additionally provided with, one end and the eyelid rotating shaft of permanent magnet 13 connect
Connect, below the other end of permanent magnet 13 copper coil 14 is provided with, by the way that the break-make to copper coil 14 is electrically operated permanent magnet 13 is realized
The rotation of eyelid rotating shaft is driven to realize blink action.Permanent magnet 13 can be various shapes, permanent magnet 13 and eyelid rotating shaft
The position that link position and permanent magnet 13 are driven by copper coil 14 so just can should be realized forever respectively at the two ends of permanent magnet 13
Magnet 13 drives the effect of eyelid axis of rotation, and copper coil 14 is plate-like copper coil.Eyelid support base is provided between two eyelids 11,
Eyelid rotating shaft and eyelid support base are rotated and are connected, and eyelid rotating shaft can be that various ways carry out rotation and are connected with eyelid support base,
Can carry out rotating with the through hole being arranged on inside eyelid support base being connected, or carrying out with the outside of eyelid support base
Connection is rotated, it is of course also possible to be that eyelid rotating shaft is divided into into two sections of left and right, rotation is carried out with eyelid rotating shaft respectively and is connected.Eyelid
11 is spherical shell or hemispherical shell, mainly imitates the profile of true man's eyelid, and two eyelids 11 are provided with eyelid connecting hole,
Two eyelids 11 are connected respectively by eyelid connecting hole with eyelid rotating shaft, typically eyelid connecting hole are arranged on into each eyelid 11 and eye
The medium position of eyelid rotating shaft connecting side, so can precisely realize rotating upwardly and downwardly for eyelid 11, but it is also possible to by the eyelid connection
Hole is arranged on the rear portion of each eyelid 11 or other positions.The two ends of eyelid rotating shaft are provided with eyelid bearing, and two eyelids 11 are distinguished
It is attached with eyelid rotating shaft by eyelid bearing.Eyelid support base includes upper cover plate and the lower base being fixedly connected with upper cover plate
The link position of seat, upper cover plate and bottom base is provided with the shaft hole for realizing eyelid axis of rotation, and the bottom base left and right sides is all provided with
The side plate being fixedly connected with upper cover plate is equipped with, the transverse slat for placing copper coil 14, the setting master of upper cover plate are additionally provided with bottom base
If for convenience when mounted.The eyeball installing plate 18 of fixed base is additionally provided with, is provided with eyeball installing plate 18
Eyeball bearing is installed, the lower end of each eyeball 12 is respectively arranged with the company being connected with eyeball bearing in two bearing blocks, each bearing block
Spindle, certainly, can also produce top base, bottom base and eyeball installing plate 18 as a component here, bottom base and
Eyeball installing plate 18 plays a part of mainly to support or install fixed effect.It is provided with imitation pupil on each eyeball 12 to become
The pupil controller that control display screen shows change is additionally provided with the display screen of change, each eyeball 12.It is respectively provided with two eyelids 11
There is eyelash.Be additionally provided with two eyelids 11 blink after reset spring or rubber band, so eyelid rotating shaft produce failure without
Method can automatically make each eyelid 11 reset when rotating by the spring or rubber band, and keep normally using, and simply cannot blink,
The normal attractive in appearance and using effect of product is not further affected.Eyeball bearing and eyelid bearing are Yi Gesi bearings.
Used as preferred embodiment, mouth open/close mechanism 2 includes lower jaw pedestal 21, head seat 25 and is fixed on head
Mouth opening and closing motor 22 on pedestal 25, the two ends of lower jaw pedestal 21 are provided with connecting plate, are provided with connecting plate and point
Head pedestal carries out rotating the lower jaw shaft hole of connection, and mouth opening and closing motor 22 is steering wheel, and the output shaft of mouth opening and closing motor 22 connects
Mouth opening and closing motor steering wheel 23 is connected to, connecting shaft 26 is additionally provided with pedestal 25 of nodding, mouth bearing is connected with connecting shaft 26
24, the connecting plate at the two ends of lower jaw pedestal 21 by each lower jaw shaft hole respectively with mouth opening and closing motor steering wheel 23 and mouth bearing 24
It is attached, lower artificial tooth is fixedly installed on lower jaw pedestal 21, upper artificial tooth is fixedly installed on eyeball installing plate 18, upper artificial tooth is consolidated
Surely it is arranged on the bottom base on eyeball installing plate 18.
Certainly, this utility model is not limited to above-mentioned embodiment, and those of ordinary skill in the art are without prejudice to this
Equivalent variations or replacement can be also made on the premise of utility model spirit, the deformation or replacement of these equivalents are all contained in the application
In claim limited range.
Claims (10)
1. a kind of service-delivery machine head part, it is characterised in that：Including
Eyeball mechanism（1）, the eyeball mechanism（1）Including two eyeballs（12）Each eyeball is driven with by drive mechanism（12）Turn
Dynamic eyeball motor（17）；
With the eyeball mechanism（1）The mouth open/close mechanism of lower section connection（2）, the mouth open/close mechanism（2）Set including fixation
Put in eyeball mechanism（1）The head seat of lower section（25）, can be around head seat（25）The lower jaw pedestal of rotation（21）Under driving
Gnathobase seat（21）Rotate to realize mouth open/close mechanism（2）The mouth opening and closing motor of mouth opening and closing action（22）；
With the mouth open/close mechanism（2）The neck mechanism of connection, the neck mechanism includes mechanism of nodding（3）And swing mechanism
（4）, the mechanism of nodding（3）Including by rotating the motor of nodding for driving neck mechanism to carry out nodding action（36）And fixing point
Head motor（36）Pedestal of nodding（31）, the swing mechanism（4）Rotary head action is carried out including by rotating driving neck mechanism
Rotary head motor（42）；And
By the eyeball mechanism（1）, mouth open/close mechanism（2）, mechanism of nodding（3）And swing mechanism（4）Cover on the machine of inside
The mask of head part（5）, the mask（5）On be provided with two eyes holes（511）.
2. service-delivery machine head part according to claim 1, it is characterised in that：The eyeball motor（17）Output shaft connect
It is connected to driving gear（16）, be additionally provided with the driving gear（16）Two driven gears of engagement（15）, each eye
Ball（12）It is respectively arranged with and each driven gear（15）The eyeball rotating shaft of connection.
3. service-delivery machine head part according to claim 1, it is characterised in that：Each eyeball（12）Top is provided with
Eyelid（11）, it is additionally provided with eyelid described in connection two（11）Eyelid rotating shaft, be provided with the eyelid rotating shaft drive eyelid turn
The permanent magnet of the strip that axle is rotated（13）, the permanent magnet（13）One end be connected with eyelid rotating shaft, the permanent magnet（13）
Copper coil is provided with below the other end（14）, by the copper coil（14）Break-make electrically operated realize permanent magnet（13）Band
The rotation of dynamic eyelid rotating shaft is realizing blink action.
4. service-delivery machine head part according to claim 1, it is characterised in that：The mouth opening and closing motor（22）Fixation sets
Put in pedestal of nodding（25）On, the mouth opening and closing motor（22）For steering wheel, the mouth opening and closing motor（22）Output shaft connect
It is connected to mouth motor steering wheel（23）, the lower jaw pedestal（21）Two ends be provided with and nod pedestal（25）Carry out rotation connection
Lower jaw shaft hole.
5. service-delivery machine head part according to claim 1, it is characterised in that：The motor of nodding（36）For steering wheel, institute
State motor of nodding（36）Output shaft be connected with motor steering wheel of nodding（35）, it is additionally provided with transmission board of nodding（34）, it is described to nod
Transmission board（34）Including positioned at motor of nodding（36）The equal and head seat of both sides（25）The transmission board of the left and right being fixedly connected two,
The pedestal of nodding（31）On be provided with two head bearing supports（32）, each described head bearing support（32）Axle of nodding inside is installed
Hold（33）, it is provided with each transmission board and bearing of respectively nodding（33）The bearing connecting shaft of connection, the motor steering wheel of nodding
（35）With transmission board of nodding（34）It is fixedly connected, the motor of nodding（36）Driving is nodded transmission board（34）Rotate to realize cervical region
Nodding action.
6. service-delivery machine head part according to claim 1, it is characterised in that：The rotary head motor（42）Output shaft connect
It is connected to flange output shaft（44）, the flange output shaft（44）With mechanism of nodding（3）It is fixedly connected, is additionally provided with fixed rotary head electricity
Machine（42）Rotary head pedestal（41）, the rotary head pedestal（41）On be provided with rotary head bearing block（45）, the rotary head bearing block
（45）Inside it is provided with and flange output shaft（44）The rotary head bearing of connection（46）.
7. service-delivery machine head part according to claim 1, it is characterised in that：The lower jaw pedestal（21）On be provided with vacation
Tooth（27）, the artificial tooth（27）Including upper artificial tooth and lower artificial tooth, the lower artificial tooth is fixedly installed on lower jaw pedestal（21）On, it is described
Mask（5）On be provided with and artificial tooth（27）The corresponding mouth perforate in position（512）.
8. service-delivery machine head part according to claim 1, it is characterised in that：The mask（5）Including radiator grille（51）
And with radiator grille（51）The rear mask being detachably connected（52）, the radiator grille（51）For hollow shell, eyes hole described in two
（511）It is arranged on and two eyeballs（12）The corresponding radiator grille in position（51）Top, the mask（5）Left and right two ends be provided with ear
Piece（523）, the radiator grille（51）On be additionally provided with nose.
9. service-delivery machine head part according to claim 8, it is characterised in that：The radiator grille（51）If being inside provided with involvement
Connect post（513）, the rear mask（52）Inside be provided with respectively with each connecting pole（513）The corresponding connection post holes in position（521）, institute
State radiator grille（51）And rear mask（52）By each connecting pole（513）With corresponding connection post holes（521）It is attached.
10. service-delivery machine head part according to claim 8, it is characterised in that：Each eyeball（12）It is arranged on eyeball
Installing plate（18）On, the radiator grille（51）By being arranged on radiator grille（51）On some radiator grille fixing holes（514）It is fixed
In eyeball installing plate（18）On, the rear mask（52）On be provided with some rear mask fixed columns（522）, the rear mask（52）
By being arranged on each rear mask fixed column（522）Interior through hole is fixedly installed on head seat（25）On.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621032857.2U CN206123671U (en) | 2016-08-31 | 2016-08-31 | Service robot head |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621032857.2U CN206123671U (en) | 2016-08-31 | 2016-08-31 | Service robot head |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206123671U true CN206123671U (en) | 2017-04-26 |
Family
ID=58568236
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201621032857.2U Expired - Fee Related CN206123671U (en) | 2016-08-31 | 2016-08-31 | Service robot head |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206123671U (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106426196A (en) * | 2016-08-31 | 2017-02-22 | 佛山博文机器人自动化科技有限公司 | Service robot head |
| CN107618044A (en) * | 2017-09-26 | 2018-01-23 | 上海大学 | A kind of head eye coordination telecontrol equipment for anthropomorphic robot |
| CN109202936A (en) * | 2018-11-01 | 2019-01-15 | 华南智能机器人创新研究院 | A kind of two-freedom service-delivery machine head part and service robot |
| CN111604918A (en) * | 2020-05-22 | 2020-09-01 | 北京理工大学 | Five-degree-of-freedom binocular anti-shake bionic eye mechanism |
-
2016
- 2016-08-31 CN CN201621032857.2U patent/CN206123671U/en not_active Expired - Fee Related
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106426196A (en) * | 2016-08-31 | 2017-02-22 | 佛山博文机器人自动化科技有限公司 | Service robot head |
| CN107618044A (en) * | 2017-09-26 | 2018-01-23 | 上海大学 | A kind of head eye coordination telecontrol equipment for anthropomorphic robot |
| CN107618044B (en) * | 2017-09-26 | 2020-12-15 | 上海大学 | Head and eye coordinated movement device for humanoid robot |
| CN109202936A (en) * | 2018-11-01 | 2019-01-15 | 华南智能机器人创新研究院 | A kind of two-freedom service-delivery machine head part and service robot |
| CN111604918A (en) * | 2020-05-22 | 2020-09-01 | 北京理工大学 | Five-degree-of-freedom binocular anti-shake bionic eye mechanism |
| CN111604918B (en) * | 2020-05-22 | 2022-09-13 | 北京理工大学 | Five-degree-of-freedom binocular anti-shake bionic eye mechanism |
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