Robot head structure

Abstract

The utility model relates to the technical field of robots, and discloses a robot head structure which comprises a neck connecting column, a head support, a head shaking assembly, an eye rotating assembly, an eye closing assembly and a mouth moving assembly, the head shaking assembly comprises a rotating sleeve, a head shaking driving frame and a head shaking motor, and the head support is arranged at the upper end of the rotating sleeve. The rotating sleeve is arranged on the neck connecting column in a sleeving mode, the head shaking driving frame is arranged on one side of the rotating sleeve, a head shaking eccentric wheel is arranged on an output shaft of the head shaking motor, and the head shaking eccentric wheel is located in the head shaking driving frame to drive the head shaking driving frame to swing left and right. The robot head structure solves the problem that an existing robot is stiff and unnatural in expression.

Description

Technical Field

[0001] The utility model relates to the technical field of robots, and particularly relates to a robot head structure. Background Art

[0002] The development of bionic robot technology will have a profound impact on the work and life of today's human society. In particular, the physiological deduction of highly realistic robots is a very crucial indicator. From the current situation of existing robots, the expressions of robots are dull and unnatural, which will result in a poor human-computer interaction experience and also greatly affect the popularization and application of new technologies. Content of the Utility Model

[0003] The purpose of the utility model is to provide a robot head structure to solve at least one of the above problems existing in the prior art.

[0004] To achieve the above purpose, the utility model adopts the following technical solutions:

[0005] A robot head structure includes a neck connecting column, a head support, a head-shaking assembly, an eye-turning assembly, an eye-closing assembly, and a mouth-moving assembly. The head-shaking assembly includes a rotating sleeve, a head-shaking driving frame, and a head-shaking motor. The head support is arranged at the upper end of the rotating sleeve. The rotating sleeve is sleeved on the neck connecting column. The head-shaking driving frame is arranged on one side of the rotating sleeve. A head-shaking eccentric wheel is arranged on the output shaft of the head-shaking motor. The head-shaking eccentric wheel is located inside the head-shaking driving frame to drive the head-shaking driving frame to swing left and right.

[0006] The eye-turning assembly includes an eye-turning driving frame, a left connecting rod, a right connecting rod, a left-eye connecting seat, a right-eye connecting seat, and an eye-turning motor. The eye-turning driving frame includes an eye-turning driving frame, a left extension arm, and a right extension arm. A first rotating shaft is arranged between the positions of the left extension arm and the right extension arm and the head support. The two ends of the left connecting rod are respectively rotatably connected to the outer ends of the left extension arm and the left-eye connecting seat. A second rotating shaft is arranged between the left-eye connecting seat and the head support. A left eyeball is arranged on the left-eye connecting seat. The two ends of the right connecting rod are respectively rotatably connected to the outer ends of the right extension arm and the right-eye connecting seat. A third rotating shaft is arranged between the right-eye connecting seat and the head support. A right eyeball is arranged on the right-eye connecting seat. An eye-turning eccentric wheel is arranged on the output shaft of the eye-turning motor. The eye-turning eccentric wheel is located inside the eye-turning driving frame to drive the eye-turning driving frame to swing left and right.

[0007] The eye-closure assembly includes an eye-closure connecting rod, an eye-closure rocker, an orbital bracket, and an eye-closure motor. An eye-closure rocker arm is provided on the output shaft of the eye-closure motor. One end of the eye-closure rocker arm is rotatably connected to one end of the eye-closure connecting rod, and the other end of the eye-closure connecting rod is rotatably connected to the driving arm of the eye-closure rocker. A fourth rotating shaft is provided between the lower end of the eye-closure rocker and the head bracket. The inner ends of the two orbital brackets are fixedly connected to the eye-closure rocker, and the outer ends of the two orbital brackets are rotatably connected to the corresponding positions of the head bracket.

[0008] The mouth-moving assembly includes an arc-shaped arm, a first mandibular connecting arm, a second mandibular connecting arm, a first connecting arm, a second connecting arm, and a mouth-moving motor. A mouth-moving rocker arm is provided on the output shaft of the mouth-moving motor. One end of the mouth-moving rocker arm is rotatably connected to the upper end of the arc-shaped arm, and the lower end of the arc-shaped arm is rotatably connected to the rear end of the first mandibular connecting arm. A fifth rotating shaft is provided between the middle of the first mandibular connecting arm and the head bracket. A sixth rotating shaft is provided between the position of the first mandibular connecting arm near the front end and one end of the first connecting arm. The other end of the first connecting arm is rotatably connected to one end of the second connecting arm. A seventh rotating shaft is provided between the middle of the second connecting arm and the head bracket. The other end of the second connecting arm is provided with an upper jaw bracket. The rear end of the second mandibular connecting arm is rotatably connected to the head bracket through the fifth rotating shaft, and the middle of the second mandibular connecting arm is rotatably connected to the first connecting arm through the sixth rotating shaft. The front ends of the first mandibular connecting arm and the second mandibular connecting arm are respectively connected to the mandibular structure.

[0009] In this technical solution, the head-shaking component is used to drive the robot's head to turn left and right. Specifically, the head-shaking motor drives the head-shaking eccentric wheel to rotate. During the rotation of the head-shaking eccentric wheel within the head-shaking drive frame, the head-shaking drive frame swings left and right, and then drives the rotating sleeve to rotate through the head-shaking drive frame, and drives the overall rotation of the head support through the rotating sleeve. The eye-rotating component is used to drive the left and right rotation of the robot's eyes. Specifically, the eye-rotating motor drives the eye-rotating eccentric wheel to rotate. During the rotation of the eye-rotating eccentric wheel within the eye-rotating drive frame, the eye-rotating drive frame swings left and right, and then drives the left extension arm and the right extension arm to swing through the eye-rotating drive frame, and synchronously drives the left eye connecting seat and the right eye connecting seat respectively through the left connecting rod and the right connecting rod, thereby realizing the synchronous rotation of the left eyeball and the right eyeball. The eye-closing component is used to realize the eye-closing action of the robot. Specifically, the eye-closing motor drives the eye-closing rocker arm to rotate, the eye-closing rocker arm drives the eye-closing connecting rod, and the eye-closing connecting rod drives the eye-closing rocker frame to swing, and then synchronously drives the rotation of the two orbital supports through the eye-closing rocker frame to realize the eye-closing and eye-opening actions. The mouth-moving component is used to realize the mouth action of the robot. Specifically, the mouth-moving motor drives the mouth-moving rocker arm to rotate, the mouth-moving rocker arm drives the arc arm, the arc arm drives the first lower jaw connecting arm to swing, and the second lower jaw connecting arm, the first connecting arm and the second connecting arm act synchronously, thereby realizing the opening and closing action of the mouth. In this technical solution, the head-shaking component, the eye-rotating component, the eye-closing component and the mouth-moving component cooperate to act, which can more vividly reflect the head movement, ensure that the robot highly imitates the natural form of humans in dynamic expressions, and at the same time, the overall support transmission connection is tight, effectively reducing the overall volume of the support. Under the condition of ensuring the bionic dynamics of the robot, a larger creative space is left for the later art professional modeling.

[0010] Further, in order to limit the rotation angle of the robot's head within a suitable range, a limit pin is provided on the neck connecting column, a notch is provided on the rotating sleeve, and the cooperation between the limit pin and the notch can limit the rotation angle of the rotating sleeve.

[0011] Further, in order to provide buffer support for the robot's head, a support portion is provided on the neck connecting column, a spring is sleeved on the neck connecting column, the spring is located between the support portion and the rotating sleeve, and the lower end of the rotating sleeve abuts against the spring.

[0012] Further, in order to more conveniently install the robot's head and neck on the head and neck connecting seat, an elastic clamping seat is provided at the lower end of the neck connecting column, and the elastic clamping seat is detachably installed on the installation shaft of the head and neck connecting seat.

[0013] Further, in order to better adjust the stability of the installation of the robot's head and neck, the elastic clamping seat includes an L-shaped plate, a first clamping plate, a second clamping plate, a bolt and a compression spring. The upper end plate of the L-shaped plate is fixedly connected to the neck connecting column. A through hole is provided on the side end plate of the L-shaped plate. The bolt sequentially passes through the through hole, the first clamping plate and the second clamping plate, and the tail of the bolt is tightened with a nut. The compression spring is sleeved on the bolt, and the compression spring is located between the head of the bolt and the L-shaped plate. The first clamping plate and the second clamping plate are clamped on the mounting shaft.

[0014] Further, to facilitate the installation of the head shaking assembly, the head bracket includes an integrally formed U-shaped bracket plate. A head shaking motor mounting position is provided on one side of the rear end of the U-shaped bracket plate. The head shaking drive frame is located below the head shaking motor mounting position. The output shaft of the head shaking motor passes through the head shaking motor mounting position and is connected to the head shaking eccentric wheel.

[0015] To facilitate the installation of the mouth moving assembly, the mouth moving motor is horizontally installed in the middle of the U-shaped bracket plate. Lower extension arms are symmetrically provided at the lower front position of the U-shaped bracket plate. The first lower jaw connecting arm and the second lower jaw connecting arm are respectively rotatably connected to the lower ends of the corresponding lower extension arms.

[0016] To facilitate the installation of the eye turning assembly, a top bracket plate is clamped on the top of the U-shaped bracket plate. The first rotating shaft is arranged between the top bracket plate and the eye turning drive frame. The eye turning motor is located below the top bracket plate. The output shaft of the eye turning motor passes through the top bracket plate and is connected to the eye turning eccentric wheel.

[0017] To facilitate the installation of the eye closing assembly, a front bracket plate is clamped at the upper front position of the U-shaped bracket plate. A eye closing motor mounting position is provided on the top of the front bracket plate. A left side support plate, a middle support plate and a right side support plate are horizontally arranged in sequence on the front bracket plate. The left side support plate is rotatably connected to the outer end of the left eye socket bracket. The right side support plate is rotatably connected to the outer end of the right eye socket bracket. The lower end of the eye closing rocking frame is rotatably connected to the middle support plate.

[0018] To facilitate the installation of the mouth moving assembly, a front extension arm extending forward is clamped at the lower end of the front bracket plate. The middle part of the second connecting arm is rotatably connected to the front extension arm.

[0019] To facilitate the installation of the eye turning assembly, an eyeball mounting bracket is clamped on the front bracket plate. The eyeball mounting bracket includes a left side arm and a right side arm extending forward. The left eye connecting seat is rotatably connected to the left side arm. The right eye connecting seat is rotatably connected to the right side arm.

[0020] Furthermore, in order to facilitate the installation of the left connecting rod and the right connecting rod, a left avoidance opening and a right avoidance opening are provided on the front bracket plate, and the left connecting rod and the right connecting rod pass through the left avoidance opening and the right avoidance opening respectively.

[0021] The beneficial effects of the utility model are as follows: in the technical scheme, the shaking head assembly is used to drive the robot head to rotate left and right. Specifically, the shaking head motor drives the shaking head eccentric wheel to rotate. During the process of the shaking head eccentric wheel rotating in the shaking head driving frame, the shaking head driving frame is swung left and right, and then the shaking head driving frame drives the rotating sleeve to rotate, and then the rotating sleeve drives the head bracket to rotate as a whole. The eye rotating assembly is used to drive the robot's eyes to rotate left and right. Specifically, the eye rotating motor drives the eye rotating eccentric wheel to rotate. During the process of the eye rotating eccentric wheel rotating in the eye rotating frame, the eye rotating frame is swung left and right, and then the eye rotating frame drives the left extension arm and the right extension arm to swing, and the left eye connecting seat and the right eye connecting seat are synchronously driven by the left connecting rod and the right connecting rod respectively, so as to realize the synchronous rotation of the left eyeball and the right eyeball. The eye closing assembly is used to realize the eye closing action of the robot. Specifically, the eye closing motor drives the eye closing rocker arm to rotate, the eye closing rocker arm drives the eye closing connecting rod, and the eye closing connecting rod drives the eye closing cradle to swing, and then the eye closing cradle drives the two eye socket brackets to rotate synchronously to realize the eye closing and eye opening action. The moving mouth assembly is used to realize the mouth movement of the robot. Specifically, the moving mouth motor drives the moving mouth rocker arm to rotate, the moving mouth rocker arm drives the arc arm, the arc arm drives the first mandibular connecting arm to swing, and the second mandibular connecting arm, the first connecting arm and the second connecting arm move synchronously, thereby realizing the opening and closing movement of the mouth. In this technical solution, the head shaking assembly, the eye turning assembly, the eye closing assembly and the moving mouth assembly cooperate to more realistically reflect the head movement, ensuring that the robot highly imitates the natural form of humans in dynamic expressions. At the same time, the overall bracket transmission connection is tight, which effectively reduces the overall volume of the bracket. Under the condition of ensuring the bionic dynamics of the robot, it leaves more creative space for later professional artistic modeling. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 It is a structural schematic diagram of the utility model from the first perspective;

[0023] Figure 2 It is a structural schematic diagram of the utility model from a second viewing angle;

[0024] Figure 3 It is a structural schematic diagram of the utility model from a third viewing angle;

[0025] Figure 4 This is a schematic diagram of the structure of the utility model from a fourth viewing angle;

[0026] Figure 5 This is a schematic diagram of the top view structure of the utility model;

[0027] Figure 6Schematic left view structure diagram of the present utility model;

[0028] Figure 7 Schematic right view structure diagram of the present utility model;

[0029] Figure 8 Schematic structure diagram of some components of the present utility model;

[0030] Figure 9 Schematic structure diagram of the head support in the present utility model.

[0031] In the figure: neck connecting column 1; head support 2; rotating sleeve 3; shaking head drive frame 4; shaking head motor 5; shaking head eccentric wheel 6; turning eyes drive frame 7; left extension arm 8; right extension arm 9; left connecting rod 10; right connecting rod 11; left eye connecting seat 12; right eye connecting seat 13; turning eyes motor 14; first rotating shaft 15; second rotating shaft 16; left eyeball 17; third rotating shaft 18; right eyeball 19; turning eyes eccentric wheel 20; closing eyes connecting rod 21; closing eyes rocker 22; driving arm 22.1; eye socket support 23; closing eyes motor 24; closing eyes rocker arm 25; fourth rotating shaft 26; arc arm 27; first mandible connecting arm 28; second mandible connecting arm 29; first connecting arm 30; second connecting arm 31; moving mouth motor 32; moving mouth rocker arm 33; fifth rotating shaft 34; sixth rotating shaft 35; seventh rotating shaft 36; upper jaw support 37; lower jaw structure 38; limit pin 39; notch 40; support part 41; spring 42; head and neck connecting seat 43; mounting shaft 44; L-shaped plate 45; first clamping plate 46; second clamping plate 47; bolt 48; pressing spring 49; through hole 50; nut 51; U-shaped support plate 52; shaking head motor mounting position 53; lower extension arm 54; top support plate 55; front support plate 56; left side avoidance opening 56.1; right side avoidance opening 56.2; closing eyes motor mounting position 57; left side support plate 58; middle support plate 59; right side support plate 60; front extension arm 61; eyeball mounting bracket 62; left side support arm 62.1; right side support arm 62.2. Specific embodiments

[0032] In order to more clearly illustrate the technical solutions in the embodiments of the present utility model or the prior art, the following will briefly introduce the present utility model in combination with the drawings and the description of the embodiments or the prior art. Obviously, the following description of the drawing structure is only some embodiments of the present utility model. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings. It should be noted here that the description of these embodiment modes is used to help understand the present utility model, but does not constitute a limitation to the present utility model.

[0033] Embodiment 1:

[0034] As Figures 1-9As shown in the figure, this embodiment provides a robot head structure, which includes a neck connecting column 1, a head bracket 2, a head shaking assembly, an eye turning assembly, an eye closing assembly, and a mouth moving assembly. The head shaking assembly includes a rotating sleeve 3, a head shaking driving frame 4, and a head shaking motor 5. The head bracket 2 is arranged at the upper end of the rotating sleeve 3. The rotating sleeve 3 is sleeved on the neck connecting column 1. The head shaking driving frame 4 is arranged on one side of the rotating sleeve 3. A head shaking eccentric wheel 6 is provided on the output shaft of the head shaking motor 5. The head shaking eccentric wheel 6 is located inside the head shaking driving frame 4 to drive the head shaking driving frame 4 to swing left and right. Specifically, the head shaking driving frame 4 is an oval frame;

[0035] The eye turning assembly includes an eye turning driving frame, a left connecting rod 10, a right connecting rod 11, a left eye connecting seat 12, a right eye connecting seat 13, and an eye turning motor 14. The eye turning driving frame includes an eye turning driving frame 7, a left extension arm 8, and a right extension arm 9. A first rotating shaft 15 is provided between the positions of the left extension arm 8 and the right extension arm 9 and the head bracket 2. The two ends of the left connecting rod 10 are respectively rotatably connected to the outer ends of the left extension arm 8 and the left eye connecting seat 12. A second rotating shaft 16 is provided between the left eye connecting seat 12 and the head bracket 2. A left eyeball 17 is provided on the left eye connecting seat 12. The two ends of the right connecting rod 11 are respectively rotatably connected to the outer ends of the right extension arm 9 and the right eye connecting seat 13. A third rotating shaft 18 is provided between the right eye connecting seat 13 and the head bracket 2. A right eyeball 19 is provided on the right eye connecting seat 13. An eye turning eccentric wheel 20 is provided on the output shaft of the eye turning motor 14. The eye turning eccentric wheel 20 is located inside the eye turning driving frame 7 to drive the eye turning driving frame 7 to swing left and right. Specifically, the eye turning driving frame 7 is an oval frame;

[0036] The eye closing assembly includes an eye closing connecting rod 21, an eye closing rocking frame 22, an eye socket bracket 23, and an eye closing motor 24. An eye closing rocker arm 25 is provided on the output shaft of the eye closing motor 24. One end of the eye closing rocker arm 25 is rotatably connected to one end of the eye closing connecting rod 21. The other end of the eye closing connecting rod 21 is rotatably connected to the driving arm 22.1 of the eye closing rocking frame 22. A fourth rotating shaft 26 is provided between the lower end of the eye closing rocking frame 22 and the head bracket 2. The inner ends of the two eye socket brackets 23 are fixedly connected to the eye closing rocking frame 22. Specifically, an easy-to-install clamping connection method is adopted. The outer ends of the two eye socket brackets 23 are rotatably connected to the corresponding positions of the head bracket 2;

[0037] The moving mouth component includes an arc-shaped arm 27, a first lower jaw connecting arm 28, a second lower jaw connecting arm 29, a first connecting arm 30, a second connecting arm 31, and a moving mouth motor 32. A moving mouth rocker arm 33 is provided on the output shaft of the moving mouth motor 32. One end of the moving mouth rocker arm 33 is rotatably connected to the upper end of the arc-shaped arm 27, and the lower end of the arc-shaped arm 27 is rotatably connected to the rear end of the first lower jaw connecting arm 28. A fifth rotating shaft 34 is provided between the middle of the first lower jaw connecting arm 28 and the head bracket 2. A sixth rotating shaft 35 is provided between a position near the front end of the first lower jaw connecting arm 28 and one end of the first connecting arm 30. The other end of the first connecting arm 30 is rotatably connected to one end of the second connecting arm 31. A seventh rotating shaft 36 is provided between the middle of the second connecting arm 31 and the head bracket 2. The other end of the second connecting arm 31 is provided with an upper jaw bracket 37. The rear end of the second lower jaw connecting arm 29 is rotatably connected to the head bracket 2 through the fifth rotating shaft 34, and the middle of the second lower jaw connecting arm 29 is rotatably connected to the first connecting arm 30 through the sixth rotating shaft 35. The front ends of the first lower jaw connecting arm 28 and the second lower jaw connecting arm 29 are respectively connected to the lower jaw structure 38.

[0038] In the present technical solution, the shaking assembly is used to drive the robot head to rotate left and right. Specifically, the shaking motor 5 drives the shaking eccentric wheel 6 to rotate. When the shaking eccentric wheel 6 rotates in the shaking driving frame 4, the shaking driving frame 4 swings left and right, and then the rotating sleeve 3 is driven to rotate through the shaking driving frame 4, and the head bracket 2 is driven to rotate as a whole through the rotating sleeve 3. The eye rotating assembly is used to drive the robot's eyes to rotate left and right. Specifically, the eye rotating motor 14 drives the eye rotating eccentric wheel 20 to rotate. When the eye rotating eccentric wheel 20 rotates in the eye rotating driving frame 7, the eye rotating driving frame 7 swings left and right, and then the left extension arm 8 and the right extension arm 9 are driven to swing through the eye rotating driving frame 7, and the left eye connecting seat 12 and the right eye connecting seat 13 are synchronously driven through the left connecting rod 10 and the right connecting rod 11 respectively, so as to realize the synchronous rotation of the left eyeball 17 and the right eyeball 19. The eye-closing component is used to realize the eye-closing action of the robot. Specifically, the eye-closing motor 24 drives the eye-closing rocker arm 25 to rotate, the eye-closing rocker arm 25 drives the eye-closing connecting rod 21, and the eye-closing connecting rod 21 drives the eye-closing cradle 22 to swing, and then the eye-closing cradle 22 synchronously drives the two eye socket brackets 23 to rotate to realize the eye-closing and eye-opening actions. The moving mouth component is used to realize the mouth action of the robot. Specifically, the moving mouth motor 32 drives the moving mouth rocker arm 33 to rotate, the moving mouth rocker arm 33 drives the arc arm 27, the arc arm 27 drives the first mandibular connecting arm 28 to swing, and the second mandibular connecting arm 29, the first connecting arm 30 and the second connecting arm 31 move synchronously, thereby realizing the opening and closing action of the mouth. In this technical solution, the head shaking component, the eye-turning component, the eye-closing component and the moving mouth component cooperate to more realistically reflect the head action, ensuring that the robot highly imitates the natural form of humans in dynamic expressions. At the same time, the overall bracket transmission connection is tight, which effectively reduces the overall volume of the bracket. Under the condition of ensuring the bionic dynamics of the robot, it leaves more creative space for the later professional artistic modeling.

[0039] Embodiment 2:

[0040] This embodiment is optimized based on the above-mentioned embodiment 1.

[0041] In order to limit the rotation angle of the robot head to a suitable range, a limit pin 39 is provided on the neck connecting column 1 and a notch 40 is provided on the rotating sleeve 3. The cooperation between the limit pin 39 and the notch 40 can limit the rotation angle of the rotating sleeve 3.

[0042] Embodiment 3:

[0043] This embodiment is optimized based on the above-mentioned embodiment 1.

[0044] In order to provide buffer support for the robot head, a support portion 41 is provided on the neck connecting column 1 , and a spring 42 is sleeved on the neck connecting column 1 . The spring 42 is located between the support portion 41 and the rotating sleeve 3 , and the lower end of the rotating sleeve 3 abuts against the spring 42 .

[0045] Example 4:

[0046] This example is an optimization based on the above Example 1.

[0047] In order to more conveniently install the robot's head and neck on the head and neck connecting seat 43, an elastic clamping seat is provided at the lower end of the neck connecting column 1, and the elastic clamping seat is detachably installed on the mounting shaft 44 of the head and neck connecting seat 43.

[0048] Example 5:

[0049] This example is an optimization based on the above Example 4.

[0050] In order to better adjust the stability of the installation of the robot's head and neck, the elastic clamping seat includes an L-shaped plate 45, a first clamping plate 46, a second clamping plate 47, a bolt 48 and a compression spring 49. The upper end plate of the L-shaped plate 45 is fixedly connected to the neck connecting column 1. A through hole 50 is provided on the side end plate of the L-shaped plate 45. The bolt 48 sequentially passes through the through hole 50, the first clamping plate 46 and the second clamping plate 47, and the tail of the bolt 48 is tightened with a nut 51. The compression spring 49 is sleeved on the bolt 48, and the compression spring 49 is located between the head of the bolt 48 and the L-shaped plate 45. The first clamping plate 46 and the second clamping plate 47 clamp the mounting shaft 44.

[0051] Example 6:

[0052] This example is an optimization based on the above Example 1.

[0053] In order to facilitate the installation of the head shaking assembly, the head bracket 2 includes an integrally formed U-shaped bracket plate 52. A head shaking motor mounting position 53 is provided on one side of the rear end of the U-shaped bracket plate 52. The head shaking drive frame 4 is located below the head shaking motor mounting position 53. The output shaft of the head shaking motor 5 passes through the head shaking motor mounting position 53 and is connected to the head shaking eccentric wheel 6;

[0054] In order to facilitate the installation of the mouth moving assembly, the mouth moving motor 32 is horizontally installed in the middle of the U-shaped bracket plate 52. Lower extension arms 54 are symmetrically provided at the lower front position of the U-shaped bracket plate 52. The first lower jaw connecting arm 28 and the second lower jaw connecting arm 29 are respectively rotatably connected to the lower ends of the corresponding lower extension arms 54;

[0055] In order to facilitate the installation of the eye turning assembly, a top bracket plate 55 is clamped on the top of the U-shaped bracket plate 52. The first rotating shaft 15 is arranged between the top bracket plate 55 and the eye turning drive frame. The eye turning motor 14 is located below the top bracket plate 55. The output shaft of the eye turning motor 14 passes through the top bracket plate 55 and is connected to the eye turning eccentric wheel 20;

[0056] For the convenience of installing the eye - closing component, a front support plate 56 is clamped at the upper position in front of the U - shaped support plate 52. A position for installing the eye - closing motor 57 is provided at the top of the front support plate 56. Horizontally arranged on the front support plate 56 are a left support plate 58, a middle support plate 59, and a right support plate 60 in sequence. The left support plate 58 is rotatably connected to the outer end of the left eye - orbit support 23, the right support plate 60 is rotatably connected to the outer end of the right eye - orbit support 23, and the lower end of the eye - closing rocker 22 is rotatably connected to the middle support plate 59;

[0057] For the convenience of installing the mouth - moving component, a front extension arm 61 extending forward is clamped at the lower end of the front support plate 56, and the middle of the second connecting arm 31 is rotatably connected to the front extension arm 61;

[0058] For the convenience of installing the eye - rotating component, an eyeball mounting bracket 62 is clamped on the front support plate 56. The eyeball mounting bracket 62 includes a left support arm 62.1 and a right support arm 62.2 extending forward. The left - eye connecting seat 12 is rotatably connected to the left support arm 62.1, and the right - eye connecting seat 13 is rotatably connected to the right support arm 62.2.

[0059] Embodiment 7:

[0060] This embodiment is an optimization based on the above - mentioned Embodiment 6.

[0061] For the convenience of installing the left connecting rod 10 and the right connecting rod 11, a left avoidance opening 56.1 and a right avoidance opening 56.2 are provided on the front support plate 56, and the left connecting rod 10 and the right connecting rod 11 respectively pass through the left avoidance opening 56.1 and the right avoidance opening 56.2.

[0062] Finally, it should be noted that the above are only the preferred embodiments of the present utility model and are not used to limit the protection scope of the present utility model. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present utility model shall be included within the protection scope of the present utility model.

Claims

1. A robot head structure, characterized in that: It includes a neck connecting column, a head bracket, an oscillating head assembly, an eye rotating assembly, an eye closing assembly and a moving mouth assembly. The oscillating head assembly includes a rotating sleeve, an oscillating head driving frame and an oscillating head motor. The head bracket is arranged at the upper end of the rotating sleeve. The rotating sleeve is arranged on the neck connecting column. The oscillating head driving frame is arranged on one side of the rotating sleeve. An oscillating head eccentric wheel is arranged on the output shaft of the oscillating head motor. The oscillating head eccentric wheel is arranged in the oscillating head driving frame to drive the oscillating head driving frame to swing left and right. The eye rotating assembly comprises an eye rotating drive frame, a left connecting rod, a right connecting rod, a left eye connecting seat, a right eye connecting seat and an eye rotating motor, the eye rotating drive frame comprises an eye rotating drive frame, a left extension arm and a right extension arm, a first rotating shaft is provided between the position between the left extension arm and the right extension arm and the head support, two ends of the left connecting rod are respectively rotatably connected with the left extension arm and the outer end of the left eye connecting seat, a second rotating shaft is provided between the left eye connecting seat and the head support, a left eyeball is provided on the left eye connecting seat, two ends of the right connecting rod are respectively rotatably connected with the right extension arm and the outer end of the right eye connecting seat, a third rotating shaft is provided between the right eye connecting seat and the head support, a right eyeball is provided on the right eye connecting seat, an eye rotating eccentric wheel is provided on the output shaft of the eye rotating motor, and the eye rotating eccentric wheel is located in the eye rotating drive frame to drive the eye rotating drive frame to swing left and right; The eye-closing assembly comprises an eye-closing connecting rod, an eye-closing cradle, an eye socket support and an eye-closing motor, an eye-closing rocker arm is provided on the output shaft of the eye-closing motor, one end of the eye-closing rocker arm is rotatably connected to one end of the eye-closing connecting rod, the other end of the eye-closing connecting rod is rotatably connected to the driving arm of the eye-closing cradle, a fourth rotating shaft is provided between the lower end of the eye-closing cradle and the head support, the inner ends of the two eye socket supports are fixedly connected to the eye-closing cradle, and the outer ends of the two eye socket supports are rotatably connected to the corresponding positions of the head support; The moving mouth assembly includes an arc arm, a first mandibular connecting arm, a second mandibular connecting arm, a first connecting arm, a second connecting arm and a moving mouth motor, a moving mouth rocker arm is provided on the output shaft of the moving mouth motor, one end of the moving mouth rocker arm is rotatably connected to the upper end of the arc arm, the lower end of the arc arm is rotatably connected to the rear end of the first mandibular connecting arm, a fifth rotating shaft is provided between the middle part of the first mandibular connecting arm and the head support, a sixth rotating shaft is provided between a position of the first mandibular connecting arm near the front end and one end of the first connecting arm, the other end of the first connecting arm is rotatably connected to one end of the second connecting arm, a seventh rotating shaft is provided between the middle part of the second connecting arm and the head support, an upper jaw support is provided at the other end of the second connecting arm, the rear end of the second mandibular connecting arm is rotatably connected to the head support via the fifth rotating shaft, the middle part of the second mandibular connecting arm is rotatably connected to the first connecting arm via the sixth rotating shaft, and the front ends of the first mandibular connecting arm and the second mandibular connecting arm are respectively connected to the mandibular structure.

2. A robot head structure according to claim 1, characterized in that: A limiting pin is provided on the neck connecting column, and a notch is provided on the rotating sleeve.

3. A robot head structure according to claim 1, characterized in that: The neck connection column is provided with a support portion, and the neck connection column is sleeved with a spring. The spring is located between the support portion and the rotating sleeve, and the lower end of the rotating sleeve is in contact with the spring.

4. The robot head structure according to claim 1, characterized in that: An elastic clamping seat is arranged at the lower end of the neck connection column, and the elastic clamping seat is detachably mounted on the mounting shaft of the head and neck connection seat.

5. A robot head structure according to claim 4, characterized in that: The elastic clamping seat includes an L-shaped plate, a first clamping plate, a second clamping plate, a bolt and a compression spring. The upper end plate of the L-shaped plate is fixedly connected to the neck connecting column. The side end plate of the L-shaped plate is provided with a through hole. The bolt passes through the through hole, the first clamping plate and the second clamping plate in sequence. The tail of the bolt is tightened with a nut. The compression spring is sleeved on the bolt. The compression spring is located between the bolt head and the L-shaped plate. The first clamping plate and the second clamping plate are clamped on the mounting shaft.

6. The robot head structure according to claim 1, characterized in that: The head bracket includes an integrally formed U-shaped bracket plate, a rear end side of the U-shaped bracket plate is provided with a shaking motor installation position, the shaking drive frame is located below the shaking motor installation position, and the output shaft of the shaking motor passes through the shaking motor installation position and is connected to the shaking eccentric wheel; The movable mouth motor is transversely mounted in the middle of the U-shaped bracket plate, and a lower extension arm is symmetrically arranged at the lower front end of the U-shaped bracket plate, and the first lower jaw connecting arm and the second lower jaw connecting arm are respectively rotatably connected to the lower end of the corresponding lower extension arm; The top of the U-shaped bracket plate is clamped with a top bracket plate, the first rotating shaft is arranged between the top bracket plate and the rotating eye driving frame, the rotating eye motor is located below the top bracket plate, and the output shaft of the rotating eye motor passes through the top bracket plate and is connected to the rotating eye eccentric wheel; A front bracket plate is clamped at an upper front position of the U-shaped bracket plate, a closing eye motor installation position is provided on the top of the front bracket plate, a left support plate, a middle support plate and a right support plate are provided in sequence on the front bracket plate, the left support plate is rotatably connected to the outer end of the left eye socket bracket, the right support plate is rotatably connected to the outer end of the right eye socket bracket, and the lower end of the closing eye cradle is rotatably connected to the middle support plate; The lower end of the front bracket plate is clamped with a front extension arm extending forward, and the middle portion of the second connecting arm is rotatably connected to the front extension arm; An eyeball mounting bracket is clamped on the front bracket plate, and the eyeball mounting bracket includes a left arm and a right arm extending forward, the left eye connecting seat is rotatably connected to the left arm, and the right eye connecting seat is rotatably connected to the right arm.

7. A robot head structure according to claim 6, characterized in that: The front bracket plate is provided with a left side avoidance opening and a right side avoidance opening, and the left connecting rod and the right connecting rod pass through the left side avoidance opening and the right side avoidance opening respectively.

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