Robot structure for realizing nodding action

Abstract

The utility model provides a robot structure for realizing nodding action, which comprises a trunk part, four limb parts, rotating joints, a nodding action driving component and a head part, the trunk part is connected with the four limb parts through the rotating joints, and the nodding action driving component comprises a nodding action driving motor and a linkage component. A nodding action driving motor is installed in the trunk part, and the output end of the nodding action driving motor is in driving connection with the head part through a linkage assembly. The head swinging control device can control the robot to swing the head to nodding, and is simple in structure, stable in operation and high in control precision.

Description

Technical Field

[0001] The utility model relates to the technical field of robot structures, in particular to a robot structure for realizing a nodding action. Background Art

[0002] As people's education level continues to improve, fewer and fewer people are willing to engage in low-tech, low-value-added service industries, such as welcoming guests, consulting, and reception. At the same time, with the increasing maturity of robotics technology, especially the development and application of technologies such as motion control, speech semantic recognition, image recognition, and intelligent interaction in the field of humanoid robots, the future development prospects of humanoid service robots have gradually emerged. Due to the intensification of the aging of the global population, the market for service robots is vast, and humanoid robots have gradually become a hot spot for research and application.

[0003] Many existing robots can realize actions such as nodding and shaking their heads. For example, a robot nodding and turning action mechanism with application number CN200720189946.2 includes a body frame, a motor, a crankshaft, a connecting rod, a fixed disk and a turntable. The fixed disk is connected to the body frame through a fixed frame, the nodding disk is hung on the fixed disk through a pin, the side end of the nodding disk is connected to the connecting rod, the other end of the connecting rod is connected to the crankshaft on the body frame, the crankshaft is connected to the nodding motor, and the turntable motor is installed at the middle lower end of the nodding disk. A sleeve and a limit rod are fixed to the nodding disk, and the turntable is placed on the sleeve. The output shaft of the turntable motor is inserted into the sleeve and connected to the movable shaft. A compression spring and a friction plate are sleeved on the movable shaft. The friction plate on the nodding disk contacts the friction plate on the movable shaft, and the turntable is driven to rotate under the action of the turntable motor. A limit slot is opened on the turntable, and the limit rod on the nodding disk is inserted into the limit slot. The robot nodding and turning mechanism of the utility model can accurately and conveniently complete the nodding and turning movements, and has a simple structure and low production cost. However, the robot structure control accuracy of the existing design is not high, and the stability during movement is not good.

[0004] There is a need for a new type of robot structure with better stability and capable of nodding action, which can solve the above-mentioned problems. Utility Model Content

[0005] The utility model provides a robot structure for realizing a nodding action, and solves the problem that the existing robot structure cannot realize the nodding action accurately and stably by technically transforming the existing robot.

[0006] In order to achieve the above purpose, the technical solution adopted by the utility model is:

[0007] A robot structure for realizing a nodding action comprises a trunk, limbs, rotating joints, a nodding action drive component and a head, wherein the trunk is connected to the limbs via rotating joints, the nodding action drive component comprises a nodding action drive motor and a linkage component, a nodding action drive motor is installed inside the trunk, and an output end of the nodding action drive motor is connected to a head drive via a linkage component.

[0008] Preferably, the nodding action driving motor is fixed to the inner wall of the trunk by fastening screws, and the trunk is a hollow box body made of stainless steel.

[0009] Preferably, the linkage assembly includes a swing rod, a bearing, a rotating shaft connecting rod and a head connecting rod. The trunk is located above the nodding action driving motor and is equipped with a bearing. The rotating shaft connecting rod is rotatably installed on the bearing. The swing rod and the head connecting rod are fixedly installed on the rotating shaft connecting rod. The upper end of the head connecting rod is connected to the head, and the lower end of the swing rod is drivingly connected to the output end of the nodding action driving motor.

[0010] Preferably, a paddle is installed at the output end of the nodding action driving motor, and the paddle makes circular motion around the axis of the output end of the nodding action driving motor in a vertical plane, and a paddle is protrudingly provided with a paddle at one end of the paddle away from the output end of the nodding action driving motor, and the swing arm is provided with a slide groove, and the paddle passes through the slide groove and is movably connected to the swing arm.

[0011] Preferably, a U-shaped socket is provided at the upper end of the head connecting rod, a head sleeve mounting seat is fixed in the U-shaped socket by fixing bolts, a head connecting sleeve is nested and fixedly installed at the upper end of the head sleeve mounting seat, and the head connecting sleeve is detachably connected to the head.

[0012] The beneficial effects of the utility model are:

[0013] The utility model has a nodding action driving motor fixedly installed on the inner side wall of the robot body. When the nodding action driving motor is started, it drives the paddle to rotate in a circle. At this time, the paddle rod protruding from the paddle moves in the slide groove of the swing rod, thereby driving the swing rod to swing back and forth. When the swing rod swings, it drives the rotating shaft connecting rod installed on the bearing to rotate. When the rotating shaft connecting rod rotates, it drives the head connecting rod to swing back and forth. The head connecting rod is connected to the head, and finally the nodding action of the robot's head swinging back and forth is realized.

[0014] The utility model can control the robot to swing its head to realize the action of nodding, has simple structure, stable operation and high control accuracy. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 It is a structural diagram of the utility model;

[0016] Figure 2 This is a schematic diagram of the internal structure of the front elevation of the trunk of the utility model;

[0017] Figure 3 This is a schematic diagram of the connection structure of the internal linkage components of the side torso of the utility model;

[0018] Figure 4 This is a schematic diagram of the installation structure of the head connecting rod of the utility model;

[0019] Explanation of the accompanying figures: trunk 1, limbs 2, rotating joints 3, nodding motion drive assembly 4, nodding motion drive motor 41, linkage assembly 42, swing rod 421, slide groove 4211, bearing 422, shaft connecting rod 423, head connecting rod 424, U-shaped seat 4241, paddle 425, paddle 4251, head 5, fastening screw 6, head sleeve mounting seat 7, head connecting sleeve 71. DETAILED DESCRIPTION

[0020] The specific contents of the utility model are described in detail below with reference to the accompanying drawings and embodiments.

[0021] See also Figure 1-4 As shown, the utility model provides a robot structure for realizing a nodding action, comprising a trunk 1, limbs 2, rotating joints 3, a nodding action drive component 4 and a head 5, the trunk 1 is connected to the limbs 2 through the rotating joints 3, the nodding action drive component 4 comprises a nodding action drive motor 41 and a linkage component 42, a nodding action drive motor 41 is installed inside the trunk 1, and the output end of the nodding action drive motor 41 is drive-connected to the head 5 through the linkage component 42.

[0022] Furthermore, in order to fix the nodding action driving motor 41, the nodding action driving motor 41 is fixed to the inner wall of the trunk 1 by fastening screws 6, and the trunk 1 is a hollow box body made of stainless steel.

[0023] Furthermore, in order to achieve the driving connection effect of the linkage component 42, the linkage component 42 includes a swing rod 421, a bearing 422, a rotating shaft connecting rod 423 and a head connecting rod 424. The trunk 1 is located above the nodding action driving motor 41 and is installed with a bearing 422. The rotating shaft connecting rod 423 is rotatably installed on the bearing 422. The swing rod 421 and the head connecting rod 424 are fixedly installed on the rotating shaft connecting rod 423. The upper end of the head connecting rod 424 is connected to the head 5, and the lower end of the swing rod 421 is drivingly connected to the output end of the nodding action driving motor 41.

[0024] Furthermore, a paddle 425 is installed at the output end of the nodding action driving motor 41, and the paddle 425 performs circular motion around the axis of the output end of the nodding action driving motor 41 in a vertical plane, and a lever 4251 is protrudingly provided at one end of the paddle 425 away from the output end of the nodding action driving motor 41, and the swinging rod 421 is provided with a slide groove 4211, and the lever 4251 passes through the slide groove 4211 and is movably connected to the swinging rod 421. When the paddle 425 drives the lever 4251 to perform circular motion, the lever 4251 moves in the slide groove 4211 of the swinging rod 421, and the swinging rod 421 is driven by the lever 4251 to swing back and forth around the rotating shaft connecting rod 423.

[0025] Furthermore, a U-shaped socket 4241 is provided at the upper end of the head connecting rod 424, and a head sleeve mounting seat 7 is fixed in the U-shaped socket 4241 by fixing bolts. A head connecting sleeve 71 is nested and fixedly installed at the upper end of the head sleeve mounting seat 7, and the head connecting sleeve 71 is detachably connected to the head 5.

[0026] In this embodiment, a nodding action driving motor 41 is fixedly installed on the inner side wall of the robot body 1. When the nodding action driving motor 41 is started, it drives the paddle 425 to rotate in a circle. At this time, the paddle rod 4251 protruding from the paddle 425 moves in the slide groove 4211 of the swing rod 421, thereby driving the swing rod 421 to swing back and forth. When the swing rod 421 swings, it drives the rotating shaft connecting rod 423 installed on the bearing 422 to rotate. When the rotating shaft connecting rod 423 rotates, it drives the head connecting rod 424 to swing back and forth. The head connecting rod 424 is connected to the head 5, finally realizing the nodding action of the robot head 5 swinging back and forth.

[0027] This embodiment can control the robot to swing its head to achieve a nodding action, and has a simple structure, stable operation, and high control accuracy.

[0028] Finally, it should be noted that the above embodiments are only used to illustrate the technical solution of the utility model rather than to limit it. Although the utility model has been described in detail with reference to the preferred embodiments, ordinary technicians in the field should understand that the technical solution of the utility model can be modified or replaced by equivalents without departing from the purpose and scope of the technical solution of the utility model, which should be included in the scope of the claims of the utility model.

[0029] The standard parts used in the utility model can all be purchased from the market, and special-shaped parts can be customized according to the instructions and the drawings. The specific connection methods of each part adopt the conventional means such as mature bolts, rivets, welding, etc. in the prior art. The machinery, parts and equipment all adopt conventional models in the prior art, and the circuit connection adopts the conventional connection method in the prior art, which will not be described in detail here.

[0030] In the description of the present invention, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", and "fixed" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be directly connected or connected through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements. For those skilled in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

Claims

1. A robot structure for realizing a nodding action, characterized in that: It includes a trunk, limbs, rotating joints, a nodding motion drive component and a head. The trunk is connected to the limbs through rotating joints. The nodding motion drive component includes a nodding motion drive motor and a linkage component. A nodding motion drive motor is installed inside the trunk, and the output end of the nodding motion drive motor is connected to the head drive through the linkage component.

2. A robot structure for realizing a nodding action according to claim 1, characterized in that: The nodding action driving motor is fixed to the inner wall of the trunk by fastening screws, and the trunk is a hollow box body made of stainless steel.

3. A robot structure for realizing a nodding action according to claim 1, characterized in that: The linkage assembly includes a swing rod, a bearing, a rotating shaft connecting rod and a head connecting rod. The trunk is located above the nodding action driving motor and is equipped with a bearing. The rotating shaft connecting rod is rotatably installed on the bearing. The swing rod and the head connecting rod are fixedly installed on the rotating shaft connecting rod. The upper end of the head connecting rod is connected to the head, and the lower end of the swing rod is drivingly connected to the output end of the nodding action driving motor.

4. A robot structure for realizing a nodding action according to claim 3, characterized in that: A paddle is installed at the output end of the nodding action driving motor, and the paddle makes circular motion around the axis of the output end of the nodding action driving motor in a vertical plane, and a paddle is protrudingly provided with a paddle at one end of the paddle away from the output end of the nodding action driving motor, and a sliding groove is provided on the swing arm, and the paddle passes through the sliding groove and is movably connected to the swing arm.

5. The robot structure for realizing a nodding action according to claim 3, characterized in that: A U-shaped holder is provided at the upper end of the head connecting rod, a head sleeve mounting seat is fixed in the U-shaped holder by means of fixing bolts, a head connecting sleeve is nested and fixedly installed at the upper end of the head sleeve mounting seat, and the head connecting sleeve is detachably connected to the head.

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