Head structure of humanoid service robot

A link mechanism, two-eye technology, applied in the direction of manipulators, manufacturing tools, etc., can solve the problem that there are relatively few researches on facial expressions of service robots, and achieve the effect of simple structure

Inactive Publication Date: 2016-11-23
HARBIN INST OF TECH SHENZHEN GRADUATE SCHOOL
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Problems solved by technology

[0002] Most of the research and application of robots is concentrated in the industrial field. In recent years, the resear...

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  • Head structure of humanoid service robot
  • Head structure of humanoid service robot
  • Head structure of humanoid service robot

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Embodiment Construction

[0024] The present invention is further described in conjunction with implementation examples and accompanying drawings.

[0025] figure 1 and figure 2 It is the overall structure of the head of a humanoid robot, which mainly includes three moving parts: eyes, mouth and neck. In the figure, the opening and closing of the mouth is directly driven by the motor 9. Nodding up and down and turning head left and right are directly driven by motors 5 and 6 respectively, and the rotation of the motor directly drives the nodding up and down of the head and turning head left and right. Figure 3 ~ Figure 5 The blinking of the eyes, the left and right, and up and down movements of the eyeballs are respectively realized through the link mechanism. The three parts can be used as individual modules to realize part of the movements of the head organs, or they can be used in combination to realize the basic movements of the head, eyes, mouth and neck.

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Abstract

The invention provides a head structure of a humanoid service robot. By means of the head structure, blinking of eyelids, up-down and left-right movement of eyeballs, opening and closing of the mouth and nodding and left-right head shaking actions can be achieved. The structure mainly comprises eye parts 1, a mouth part 2 and a neck part 3. Actions of the eye parts are achieved through a parallel connecting rod mechanism 4, a crank and guide rod mechanism 5 and a crank and rocker mechanism correspondingly. Opening and closing of the mouth are achieved through direct drive of a motor. The nodding and head shaking actions of the neck are achieved through direct drive of motors (6 and 7). By means of the rod mechanisms, blinking of the eyelids of the two eyes and the up-down movement and the left-right movement of the eyeballs can be synchronously achieved through drive of the motors correspondingly. The head structure is simple and compact in structure, and the basic face expression actions can be achieved.

Description

technical field [0001] The invention belongs to the field of humanoid service robots, and designs a humanoid robot head structure capable of realizing basic movements of eyes, mouth and neck. Background technique [0002] Most of the research and application of robots is concentrated in the industrial field. In recent years, the research on service robots has been increasing, but the research on the facial expressions of service robots is still relatively little. [0003] With the development of robot technology and the improvement of people's quality of life, robots will not be limited to industrial applications, more and more robots will enter people's daily life and play a role in service industries, such as housekeeping, performances, entertainment, education, Welcoming guests and many other industries. When robots enter the service field, compared to industrial robots working at high speed on automated production lines, people believe that people prefer humanoid robots...

Claims

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Application Information

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IPC IPC(8): B25J11/00
Inventor 杨晓钧钟春号李兵
Owner HARBIN INST OF TECH SHENZHEN GRADUATE SCHOOL
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