Human-shaped bionic robot head structure based on electromagnetic relay driving

By adopting electromagnetic relay drive in the bionic robot head structure and using electromagnets and springs to replace stepper motors, the problems of high cost and high failure rate in the existing technology are solved, and a low-cost and stable mechanical drive effect is achieved.

CN223354276UActive Publication Date: 2025-09-19AMILEYUAN INTELLIGENT TECH (BEIJING) CO LTD
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Patent Information

Application Number
CN202422858833.3
Authority / Receiving Office
CN · China
Patent Type
Utility models(China)
Current Assignee / Owner
Filing Date
2024-11-22
Publication Date
2025-09-19
Estimated Expiration
2034-11-22

AI Technical Summary

Technical Problem

The existing humanoid robot head structure relies on stepper motors or servos as drive devices, resulting in high costs and high failure rates, and limited continuous operation time.

Method used

The head structure of a humanoid bionic robot driven by an electromagnetic relay includes a bottom mounting frame, an eye movement device, an eyelid movement device and a mouth movement device. A double-headed electromagnet, a first electromagnet and a second electromagnet are used to replace the stepper motor, and the movement of the eyeballs, eyelids and mouth is achieved through the cooperation of the electromagnet and the spring.

Benefits of technology

The device cost is significantly reduced, the complexity of the mechanical drive structure is simplified, the failure rate is reduced, and the maintenance work is simplified.

✦ Generated by Eureka AI based on patent content.

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Abstract

The utility model provides a humanoid bionic robot head structure based on electromagnetic relay driving, which comprises a bottom mounting frame, a plurality of fixing rods are connected to two sides of the surface of the bottom mounting frame, and a top mounting frame is connected among the plurality of fixing rods; the eye moving device is arranged on one side of the bottom of the top mounting frame, the eyelid moving device is arranged on the surface of the top mounting frame, and the mouth moving device is arranged on the surface of the bottom mounting frame. According to the humanoid bionic robot head structure based on electromagnetic relay driving, the mouth moving device is arranged on the surface of the bottom mounting frame, the eye moving device and the eyelid moving device are arranged on one side of the bottom of the top mounting frame and the top of the top mounting frame respectively, and a conventional motor driving mode is replaced; the device cost is remarkably reduced, the complexity and the overall failure rate of an existing mechanical driving structure are reduced, and meanwhile the maintenance work in the using period is simplified.
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Description

Technical Field

[0001] The utility model relates to the field of robots, in particular to a head structure of a humanoid bionic robot driven by an electromagnetic relay. Background Art

[0002] A robot is a mechanical device that can perform tasks automatically. It can complete various complex operations and tasks through programming or artificial intelligence technology.

[0003] Currently, various types of robots are widely used in various industries, and the application of humanoid robots in particular is constantly expanding. Conventional humanoid robots' moving parts, such as the torso, arms, legs, and head, are all driven by motors.

[0004] The internal structure of a bionic humanoid robot head typically relies on a stepper motor or servo to provide driving force. However, due to the high machining precision requirements and complex internal design of these components, the drive device, which serves as the power core, is expensive. Furthermore, this mechanical structure has a relatively limited duration of trouble-free operation.

[0005] Therefore, it is necessary to provide a humanoid bionic robot head structure driven by an electromagnetic relay to solve the above technical problems. Utility Model Content

[0006] The utility model provides a humanoid bionic robot head structure driven by an electromagnetic relay, which solves the problem that the internal structure of the existing humanoid robot head generally relies on a stepper motor or a servo to provide driving force, the driving device as the power core is expensive, and the duration of trouble-free operation of this mechanical structure is relatively limited.

[0007] In order to solve the above technical problems, the present invention provides a humanoid bionic robot head structure driven by an electromagnetic relay, comprising:

[0008] A bottom mounting frame, wherein a plurality of fixing rods are connected to both sides of the bottom mounting frame surface, and a top mounting frame is connected between the plurality of fixing rods;

[0009] An eye movable device, the eye movable device is arranged on one side of the bottom of the top mounting frame, the eye movable device includes a double-headed electromagnet, both ends of the double-headed electromagnet are connected to a movable frame, both of the two movable frames are provided with an eyeball component, and a spring is provided between the movable member and the eyeball component;

[0010] an eyelid movable device, the eyelid movable device being disposed on a surface of the top mounting frame and located above the eye movable device;

[0011] A mouth movable device is arranged on the surface of the bottom mounting frame.

[0012] Preferably, both ends of the double-headed electromagnet are sleeved with limit springs.

[0013] Preferably, the eyelid movable device includes a first electromagnet, one end of the first electromagnet is connected to a universal joint, and one end of the universal joint is connected to a movable rod.

[0014] Preferably, one end of the movable rod is connected to a rotating rod, both ends of the rotating rod are connected to eyelid components, and the eyelid components are rotatably connected to the side of the top mounting frame through a rotating shaft.

[0015] Preferably, the mouth movable device includes a second electromagnet, one end of the second electromagnet is rotatably connected to a connecting rod via a rotating shaft, one end of the connecting rod is connected to a movable part, and a rotating rod is provided on one side of the movable part.

[0016] Preferably, a mouth component is connected between the rotating rods, and the mouth component is rotatably connected to the bottom mounting frame through a rotating shaft.

[0017] Preferably, a fixing assembly is provided between the bottom mounting frame and the second electromagnet, the fixing assembly includes a fixing frame, a rubber pad is bonded to the top of the inner wall of the fixing frame, fixing blocks are connected to both sides of the fixing frame, a fixing bolt is provided inside the fixing block, and a fixing hole adapted to the fixing bolt is opened on the surface of the bottom mounting frame.

[0018] Compared with related technologies, the humanoid bionic robot head structure based on electromagnetic relay drive provided by the present invention has the following beneficial effects:

[0019] The utility model provides a humanoid bionic robot head structure driven by an electromagnetic relay, in which a mouth movable device is arranged on the surface of a bottom mounting frame, and an eye movable device and an eyelid movable device are respectively arranged on one side and the top of the bottom of a top mounting frame. The three cooperate to operate, replacing the conventional motor drive method, significantly reducing the cost of the device, reducing the complexity and overall failure rate of the existing mechanical drive structure, and also simplifying the maintenance work during use. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 This is a schematic structural diagram of a first embodiment of the humanoid bionic robot head structure based on electromagnetic relay drive provided by the present invention;

[0021] Figure 2 for Figure 1 An enlarged schematic diagram of part A is shown;

[0022] Figure 3for Figure 1 The schematic diagram of the three-dimensional structure of the device as a whole from a first perspective is shown;

[0023] Figure 4 for Figure 3 An enlarged schematic diagram of part B is shown;

[0024] Figure 5 for Figure 1 A schematic diagram of the three-dimensional structure of the mouth movable device shown;

[0025] Figure 6 for Figure 1 An isometric structural diagram of the mouth movable device shown;

[0026] Figure 7 for Figure 1 An isometric diagram of the eye and eyelid shown;

[0027] Figure 8 for Figure 1 The three-dimensional structure diagram of the eye and eyelid shown;

[0028] Figure 9 for Figure 1 A schematic diagram of the three-dimensional structure of the device as a whole from a second viewing angle is shown;

[0029] Figure 10 This is a structural schematic diagram of the second embodiment of the humanoid bionic robot head structure driven by electromagnetic relays provided by the present invention.

[0030] Numbers in the figure: 1, bottom mounting bracket; 2, fixing rod; 3, top mounting bracket;

[0031] 4. Eye movement device; 41. Double-headed electromagnet; 42. Movable frame; 43. Limit spring; 44. Eyeball component; 45. Spring;

[0032] 5. Eyelid movable device; 51. First electromagnet; 52. Universal joint; 53. Movable rod; 54. Rotating rod; 55. Eyelid component;

[0033] 6. Mouth movable device; 61. Second electromagnet; 62. Connecting rod; 63. Movable part; 64. Rotating rod; 65. Mouth part;

[0034] 7. Fixing assembly; 71. Fixing bracket; 72. Rubber pad; 73. Fixing block; 74. Fixing bolt. DETAILED DESCRIPTION

[0035] The present invention will be further described below with reference to the accompanying drawings and implementation examples.

[0036] First embodiment

[0037] Please refer to Figure 1 、 Figure 2 、 Figure 3 、 Figure 4 、 Figure 5 、 Figure 6 、 Figure 7 、 Figure 8 and Figure 9 ,in, Figure 1 This is a schematic structural diagram of a first embodiment of the humanoid bionic robot head structure based on electromagnetic relay drive provided by the present invention; Figure 2 for Figure 1 An enlarged schematic diagram of part A is shown; Figure 3 for Figure 1 The schematic diagram of the three-dimensional structure of the device as a whole from a first perspective is shown; Figure 4 for Figure 3 An enlarged schematic diagram of part B is shown; Figure 5 for Figure 1 A schematic diagram of the three-dimensional structure of the mouth movable device shown; Figure 6 for Figure 1 An isometric structural diagram of the mouth movable device shown; Figure 7 for Figure 1 An isometric diagram of the eye and eyelid shown; Figure 8 for Figure 1 The three-dimensional structure diagram of the eye and eyelid shown; Figure 9 for Figure 1 The schematic diagram of the overall three-dimensional structure of the device from the second perspective is shown. The humanoid bionic robot head structure driven by electromagnetic relays includes:

[0038] A bottom mounting frame 1, with multiple fixing rods 2 connected to both sides of the bottom mounting frame 1, and a top mounting frame 3 connected between the multiple fixing rods 2;

[0039] An eye movable device 4 is provided on one side of the bottom of the top mounting frame 3. The eye movable device 4 includes a double-headed electromagnet 41. Both ends of the double-headed electromagnet 41 are connected to a movable frame 42. Eyeball components 44 are provided on both movable frames 42. A spring 45 is provided between the movable member 42 and the eyeball components 44.

[0040] An eyelid movable device 5 , which is disposed on a surface of the top mounting frame 3 and is located above the eye movable device 4 ;

[0041] The mouth movable device 6 is arranged on the surface of the bottom mounting frame 1 .

[0042] Limit springs 43 are sleeved on both ends of the double-headed electromagnet 41 .

[0043] The eyelid movable device 5 includes a first electromagnet 51 , one end of the first electromagnet 51 is connected to a universal joint 52 , and one end of the universal joint 52 is connected to a movable rod 53 .

[0044] The first electromagnet 51 uses one end with a threaded fixing head, and the first electromagnet 51 is installed on the surface of the top mounting frame 3. The eyelid component 55 is sleeved on the surface of the eyeball component 44. The double-headed electromagnet 41 is installed on one side of the bottom of the top mounting frame 3. The use of the spring 45 facilitates the movement of the eyeball component 44 through the movable frame 42. The use of the limit spring 43 facilitates the position limiting when the double-headed electromagnet 41 drives the movable frame 42 to move.

[0045] The double-headed electromagnet 41 , the first electromagnet 52 and the second electromagnet 61 are used as the driving force instead of the current stepping motor.

[0046] The bottom mounting frame 1 and the top mounting frame 3 are integrally formed mounting frames, and a plurality of mounting holes are provided on the sides of the bottom mounting frame 1 and the top mounting frame 3 to facilitate mounting with other devices by means of bolts.

[0047] One end of the movable rod 53 is connected to a rotating rod 54 , and both ends of the rotating rod 54 are connected to eyelid components 55 . The eyelid components 55 are rotatably connected to the side of the top mounting frame 3 via a rotating shaft.

[0048] The mouth movable device 6 includes a second electromagnet 61 , one end of the second electromagnet 61 is rotatably connected to a connecting rod 62 via a rotating shaft, one end of the connecting rod 62 is connected to a movable part 63 , and a rotating rod 64 is provided on one side of the movable part 63 .

[0049] The second electromagnet 61 is mounted on one side of the surface of the bottom mounting frame 1 , and the connecting rod 62 is connected to one end of the second electromagnet 61 with a movable spring.

[0050] A mouth component 65 is connected between the rotating rods 64 , and the mouth component 65 is rotatably connected to the bottom mounting frame 1 via a rotating shaft.

[0051] The electromagnet is used as the power source, which is low in cost and simple to operate because it has only two working modes.

[0052] The use of a simple and reliable connecting part such as a spring solves the problem that the electromagnet outputs linear motion and needs to be converted into circular motion of the eyeball. The structure is stable and reliable and easy to implement.

[0053] Aiming at the complex mechanical structure of robot heads on the market, the fixing structure is optimized and integrated into a sheet metal part, thereby reducing costs and simplifying installation.

[0054] The working principle of the humanoid bionic robot head structure based on electromagnetic relay drive provided by the utility model is as follows:

[0055] When in use, when driving the eyeball component 44 to move left and right, first start the double-headed electromagnet 41 to push the two movable frames 42 to move to both sides. When the two movable frames 42 move to both sides, the spring 45 pulls the eyeball component 44 to move at one end of the top mounting frame 3.

[0056] When the eyelid component 55 is driven to move up and down, the first electromagnet 51 is first started to push the movable rod 53 to move through the universal joint 52. When the movable rod 53 moves, the eyelid component 55 is driven to move up and down through the rotating rod 54.

[0057] When the mouthpiece 65 is driven to move up and down, the second electromagnet 61 is first started to pull the connecting rod 62 to move. When the connecting rod 62 moves, the movable part 63 drives the rotating rod 64 to move. When the rotating rod 64 moves, it drives the mouthpiece 65 to move up and down.

[0058] Compared with related technologies, the humanoid bionic robot head structure based on electromagnetic relay drive provided by the present invention has the following beneficial effects:

[0059] The utility model provides a humanoid bionic robot head structure driven by an electromagnetic relay, in which a mouth movable device 6 is arranged on the surface of a bottom mounting frame 1, and an eye movable device 4 and an eyelid movable device 5 are respectively arranged on one side and the top of the bottom of a top mounting frame 3. The three cooperate with each other to replace the conventional motor drive method, significantly reduce the cost of the device, reduce the complexity and overall failure rate of the existing mechanical drive structure, and also simplify the maintenance work during use.

[0060] Second embodiment

[0061] Please refer to Figure 10 Based on the electromagnetic relay-driven humanoid bionic robot head structure provided in the first embodiment of this application, the second embodiment of this application proposes another electromagnetic relay-driven humanoid bionic robot head structure. The second embodiment is merely a preferred embodiment of the first embodiment, and the implementation of the second embodiment will not affect the independent implementation of the first embodiment.

[0062] Specifically, the difference of the humanoid bionic robot head structure driven by electromagnetic relays provided in the second embodiment of the present application is that, in the humanoid bionic robot head structure driven by electromagnetic relays, a fixing component 7 is arranged between the bottom mounting frame 1 and the second electromagnet 61, and the fixing component 7 includes a fixing frame 71, and a rubber pad 72 is bonded to the top of the inner wall of the fixing frame 71, and fixing blocks 73 are connected to both sides of the fixing frame 71, and a fixing bolt 74 is arranged inside the fixing block 73, and a fixing hole adapted to the fixing bolt 74 is opened on the surface of the bottom mounting frame 1.

[0063] The fixing frame 71 is U-shaped and is sleeved on the surface of the second electromagnet 61. The rubber pad 72 can play a protective role when the fixing frame 71 is fixed between the second electromagnet 61 to prevent the second electromagnet 61 from being damaged by squeezing.

[0064] The working principle of the humanoid bionic robot head structure based on electromagnetic relay drive provided by the utility model is as follows:

[0065] During use, when installing the second electromagnet 61 and the bottom mounting frame 1, first, the fixing frame 71 with the rubber pad 72 and the two fixing blocks 73 is placed on the surface of the second electromagnet 61, and the bottom of the fixing block 73 contacts the surface of the bottom mounting frame 1. Then, the fixing bolt 74 is used to pass through the fixing block 73 and connect to the bottom mounting frame 1.

[0066] Compared with related technologies, the humanoid bionic robot head structure based on electromagnetic relay drive provided by the present invention has the following beneficial effects:

[0067] The utility model provides a humanoid bionic robot head structure driven by an electromagnetic relay, wherein a fixing assembly 7 is provided between a bottom mounting frame 1 and a second electromagnet 61 to facilitate fixing the second electromagnet 61 on the surface of the bottom mounting frame 1 .

[0068] The above description is merely an embodiment of the present invention and does not limit the patent scope of the present invention. Any equivalent structure or equivalent process transformation made by using the contents of the description and drawings of the present invention, or directly or indirectly applied in other related technical fields, are also included in the patent protection scope of the present invention.

Claims

1. A humanoid bionic robot head structure driven by an electromagnetic relay, characterized in that: include: A bottom mounting frame, wherein a plurality of fixing rods are connected to both sides of the bottom mounting frame surface, and a top mounting frame is connected between the plurality of fixing rods; An eye movable device, the eye movable device is arranged on one side of the bottom of the top mounting frame, the eye movable device includes a double-headed electromagnet, both ends of the double-headed electromagnet are connected to a movable frame, both of the two movable frames are provided with an eyeball component, and a spring is provided between the movable frame and the eyeball component; an eyelid movable device, the eyelid movable device being disposed on a surface of the top mounting frame and located above the eye movable device; A mouth movable device is arranged on the surface of the bottom mounting frame.

2. The humanoid bionic robot head structure based on electromagnetic relay drive according to claim 1 is characterized in that: Both ends of the double-headed electromagnet are sleeved with limit springs.

3. The humanoid bionic robot head structure based on electromagnetic relay drive according to claim 1 is characterized in that: The eyelid movable device includes a first electromagnet, one end of the first electromagnet is connected to a universal joint, and one end of the universal joint is connected to a movable rod.

4. The humanoid bionic robot head structure based on electromagnetic relay drive according to claim 3 is characterized in that: One end of the movable rod is connected to a rotating rod, both ends of the rotating rod are connected to eyelid components, and the eyelid components are rotatably connected to the side of the top mounting frame through a rotating shaft.

5. The humanoid bionic robot head structure based on electromagnetic relay drive according to claim 1, characterized in that: The mouth movable device includes a second electromagnet, one end of the second electromagnet is rotatably connected to a connecting rod through a rotating shaft, one end of the connecting rod is connected to a movable part, and a rotating rod is provided on one side of the movable part.

6. The humanoid bionic robot head structure based on electromagnetic relay drive according to claim 5, characterized in that: A mouth component is connected between the rotating rods, and the mouth component is rotatably connected to the bottom mounting frame through a rotating shaft.

7. The humanoid bionic robot head structure based on electromagnetic relay drive according to claim 5, characterized in that: A fixing assembly is provided between the bottom mounting frame and the second electromagnet, and the fixing assembly includes a fixing frame, a rubber pad is bonded to the top of the inner wall of the fixing frame, and fixing blocks are connected to both sides of the fixing frame. A fixing bolt is provided inside the fixing block, and a fixing hole adapted for the fixing bolt is opened on the surface of the bottom mounting frame.