Robotic head support frame

Abstract

The utility model relates to robot technical field, a kind of robot head support frame body includes the support frame being arranged in robot head;Support frame is provided with the face support of front part, the intermediate support of middle part and the rear support of rear part;The face support is provided with mouth opening, two chutes are provided in the mouth opening both sides of face support, the chute is arc chute;At least one of intermediate support, rear support is provided with speed reducer motor device installation site;Face support upper portion is provided with vertical plate, the vertex of vertical plate is higher than intermediate support and rear support, and two rectangular front speed reducer motor device installation openings are provided on vertical plate;Two front speed reducer motor device installation openings, present the eight character shape of upper portion close to lower portion opening. Can be in small robot head narrow space, reasonable layout multiple speed reducer motor device and drive facial expression mechanism.

Description

Technical Field

[0001] This utility model relates to the field of robot head technology, and in particular to a robot head support frame. Background Technology

[0002] With the rapid development of robotics technology, small humanoid robots are increasingly in demand across various fields due to their anthropomorphic interactive capabilities and flexible application scenarios. Facial expression technology is an important research direction for humanoid robots, and the geared motors, transmission components, and facial expression drive chains within the robot's head require a support frame.

[0003] However, the internal space of the head of a small humanoid robot is extremely limited, making it difficult to reasonably arrange multiple geared motor devices and mechanisms that drive facial expressions within a confined space. Utility Model Content

[0004] The purpose of this section is to outline some aspects of the embodiments of this utility model and to briefly introduce some preferred embodiments. Some simplifications or omissions may be made in this section, as well as in the abstract and title of this application, to avoid obscuring the purpose of this section, the abstract and the title of this utility model. Such simplifications or omissions shall not be used to limit the scope of this utility model.

[0005] In view of the problems existing in the prior art, the present invention is proposed.

[0006] To solve the above-mentioned technical problems, this utility model provides the following technical solution: Robot head support frame; Including the support frame set in the robot's head; With the face of the robot's head as the front, the back of the robot's head as the back, the left and right sides of the robot's head as the outer sides, and the midline of the robot's face as the inner side, the support frame is provided with a front face support, a middle support, and a rear rear support. The facial support is provided with a mouth opening corresponding to the mouth in the front-to-back direction. On both sides of the mouth opening of the facial support, there are two sliding grooves corresponding to the corners of the mouth in the front-to-back direction. The sliding grooves are arc-shaped, with the convex side of the arc facing inward. The sliding grooves are used to pass through components that extend in the front-to-back direction to support the corners of the mouth. A geared motor mounting position is provided on at least one of the intermediate support and the rear support, and a slide groove is correspondingly provided in front of the geared motor mounting position. The upper part of the face support is provided with a vertical plate, the apex of which is higher than the middle support and the rear support. The vertical plate is provided with two rectangular mounting openings for the front geared motor device. The mounting openings for the two front-mounted geared motors are shaped like the number eight, with the upper part closer to the lower part. The facial support is provided with two guide grooves corresponding to the eyebrow area below the mounting opening of the front geared motor device. The guide grooves are arc-shaped, with the convex side of the arc facing outward. The guide grooves are used to pass through components that extend in the front-back direction to support the eyebrow area. The two sides above the vertical plate are designed with arc-shaped structures; The support frame is mounted in the head shell of a robot, and the arc-shaped structure of the vertical plate fits into the inner side of the head shell.

[0007] The aforementioned design, through a three-section layout of the facial support, middle support, and rear support, achieves a reasonable arrangement of multiple geared motors and expression-driven mechanisms within the limited space of a small humanoid robot's head, avoiding motion interference between the mechanisms. The facial support's mouth opening, groove, vertical plate, and figure-eight mounting opening provide precise positioning and guidance for the mouth expression drive and front-mounted motor, adapting to the internal space of the small humanoid robot's head. The curved design of the vertical plate allows for better contact with the inner wall of the robot's head shell, increasing overall strength and guiding the installation of the robot's head shell.

[0008] Preferably, the middle support has a central support platform above it; the rear support has a rear support platform above it; the central support platform and the rear support platform are connected to form a fixed platform, on which a terminal box is fixed; the terminal box has an opening at the top and contains a wiring plug array, the leads of which extend from the bottom of the terminal box; the fixed platform has a hollow structure to avoid the leads extending from the bottom of the terminal box; the top surface of the terminal box is lower than the height of the top of the vertical plate. The fixed platform formed by the connection of the central support platform and the rear support platform, and the hollow structure below the terminal box, allow the leads extending from the bottom of the terminal box to enter the hollow structure, facilitating power connection of the robot head components to the motor or sensor. This achieves centralized management and avoidance of wiring, preventing cable clutter or pressure, and contributing to a compact layout of the robot head mechanism; the terminal box is lower than the vertical plate to avoid interference with the face shell.

[0009] Preferably, the front of the front geared motor device passes through the mounting opening, and the rear of the front geared motor device abuts against the terminal box; the terminal box has a distance of 10-15mm from the vertical plate; the top surface of the terminal box is 5-10mm lower than a fixed point on the vertical plate. The 10-15mm distance between the terminal box and the vertical plate provides sufficient installation space for the front geared motor device; the distance and height difference between the terminal box and the vertical plate ensure sufficient space for inserting and removing cables, and prevent interference between the terminal box and the robot's head shell.

[0010] Preferably, the rear side of the face support has a rearward-opening groove below the vertical plate, and two mounting holes are respectively provided on the upper and lower sides of the front groove. The front side of the intermediate support has a front-opening rear groove. The front and rear grooves are spliced ​​and connected along the front-rear direction through their respective openings to form a vertical rectangular groove, which serves as the mounting position for the side-mounted geared motor device. The splicing of the front and rear grooves forms a continuous installation space, which can fix the side-mounted geared motor device, making full use of the lateral gap between the face and the intermediate support. The upper and lower positioning holes ensure that the side-mounted geared motor device is installed stably, adapting to the layout of narrow lateral spaces.

[0011] Preferably, the rear support includes a vertically centered strip plate; the upper and lower sides of the strip plate are respectively provided with horizontally extending supports, and each of the four horizontal supports is provided with mounting positioning holes; the two horizontal supports on the left side form a mounting position for a vertical geared motor device located behind the slide groove on the left side; the two horizontal supports on the right side form a mounting position for a vertical geared motor device located behind the slide groove on the right side; the two vertical geared motor devices are arranged parallel to each other in the left-right direction; on the rear support, below the rear support platform and above the mounting position of the vertical geared motor device on one side, a frame structure extending in the front-back direction is provided, the height of the frame structure being greater than the sum of the thicknesses of the two horizontally placed geared motor devices; mounting positioning holes are respectively provided on the left and right sides of the upper part of the frame structure; a boss is provided on the inner wall of the inner frame of the frame structure, the boss having an upward-facing support surface; the upper frame of the frame structure and the support surface define a mounting position for a horizontally placed geared motor device in the vertical direction, and the mounting position is defined by the left side... The mounting and positioning holes on both sides lock the horizontally mounted geared motor device, the output end of which is located on the front side; the boss has a vertical wall located below the support surface, and the lower frame of the frame structure and the vertical wall define the mounting position of another horizontally mounted geared motor device at a vertical angle; the middle bracket has a positioning wall, the vertical wall and the positioning wall are at the same height and face the same direction, and each has a mounting and positioning hole to lock the other horizontally mounted geared motor device, the output end of which is located on the inner side; the frame structure is provided on one side of the strip plate, and a horizontal rear mounting platform is provided on the upper part of the other side; a horizontal middle mounting platform is provided above the middle bracket; both the middle mounting platform and the rear mounting platform are provided with mounting and positioning holes, and they are close together to form a mounting platform, which serves as the mounting position for the front and rear horizontally mounted geared motor devices; thus forming five geared motor device mounting positions, at least partially on the rear bracket, combined with two front geared motor device mounting openings and one side-mounted geared motor device mounting position, at least eight geared motor device mounting positions are integrated on the support frame. By employing various structural forms such as strip plates, lateral supports, frame structures, and mounting platforms, at least five mounting positions for geared motors are achieved within the confined space of the rear support. Combined with the front geared motor mounting opening and a side-mounted geared motor mounting position on the front support, at least eight geared motor mounting positions are achieved on the support frame, significantly improving space utilization. The vertical geared motor mounting position is located behind the slide rail, facilitating the driving of the mechanisms in the two slide rails by the vertical geared motor. The front and rear transverse motor mounting positions are supported by the intermediate and rear supports, providing good stability and making them suitable for drive mechanisms requiring high torque.

[0012] Preferably, a corner support block is provided in front of the slide groove; a support member is slidably connected to the rear of the corner support block along the track of the slide groove; the support member is connected to the intermediate bracket through a movable joint with left-right and up-down rotational degrees of freedom; two vertical reduction motor devices are connected in the mounting positions of the two vertical reduction motor devices; the vertical reduction motor devices drive a rotating structure, which is provided with a strip-shaped mating groove; the support member is inserted into the mating groove, forming a drive mechanism for the rotating structure to move the support member. Through the dual cooperation of the support member, the mating groove, and the slide groove, a single rotational motion is transformed into a complex facial expression trajectory. Without the need for muscles, the mouth corner support block can achieve mouth movements such as raising and lowering the corners of the mouth by moving along the slide groove with the support member, which can naturally simulate expressions such as smiling and sadness. This simplifies the related mechanisms for achieving mouth expressions.

[0013] Preferably, a mandible is located below the mouth opening; another horizontally mounted geared motor is installed at a different mounting position, and this other horizontally mounted geared motor has a drive gear; a transmission lever structure is located behind the mandible, and the transmission lever structure is rotatably connected to the intermediate support via left and right horizontally mounted rotating shafts; the transmission lever structure is inclined from back to front and from top to bottom, and has a driven rack at its upper end, which meshes with the drive gear; the transmission lever structure has a driven power arm from the rotating shaft to the mandible, and a main power arm from the rotating shaft to the driven rack, the length of the main power arm being greater than the length of the driven power arm; the height of the other horizontally mounted geared motor within the head shell is higher than the height of the eyes. This height of the other horizontally mounted geared motor within the head shell is higher than the height of the eyes to accommodate the head shape structure of a human or robot head, allowing the space-consuming geared motor module to be placed within the support frame. By designing the transmission lever to have a driven arm from the pivot to the mandible and a driven rack from the pivot, with the length of the driven arm being greater than the length of the driven arm, the mandible is driven to move using the seesaw principle, which reduces the space occupied in the head compared to the traditional design.

[0014] Preferably, a cervical spine connector is connected below the support frame. The front end of the cervical spine connector is rotatably connected to the facial support, and the rear end of the cervical spine connector is rotatably connected to the rear support, forming a left-right swinging connection between the support frame and the cervical spine connector. The support frame is connected to the robot's neck support via the cervical spine connector, allowing it to swing back and forth. The lower side of the middle support is configured as a support structure that opens to both sides, with the support structure correspondingly positioned behind the slide groove. The cervical spine connector is positioned between the two support structures. A rotating structure driven by a vertical reduction motor is mounted on the support structure. The pivot of the transmission lever structure is located in front of the support structure, and another horizontal reduction motor is mounted higher than the support structure. The cervical spine connector enables the head to swing back and forth with the neck support, while simultaneously allowing the support frame to swing left and right with the neck support, forming a simple and stable connection between the support frame and the neck support. The two support structures on both sides of the middle support provide a stable mounting structure for the rotating structure, preventing interference with the transmission lever pivot. This is beneficial for the layout of the head of a small robot.

[0015] Preferably, the horizontally mounted geared motor is installed at the mounting position; a clearance space is provided on the same side of the frame structure behind the intermediate support; the drive shaft of the horizontally mounted geared motor extends forward into the clearance space; the front-to-back width of the clearance space is greater than the length of the support structure, thus creating a gap between the rear side of the support structure and the front side of the rear support; the drive shaft of the horizontally mounted geared motor is inserted into the inner end of a crank, and the outer end of the crank is connected to the top of a pull rod via a rotatable structure; the pull rod is rotatably connected to the cervical spine connector via the gap between the support structure and the rear support; forming a push-pull rod type head-swinging system in which the horizontally mounted geared motor drives the crank, and the crank pushes and pulls the cervical spine connector via the pull rod, causing the head shell to swing along the rotating shaft component; the lower end of the pull rod is provided with a gradually curved structure from the outside to the inside to conform to the contour of the cervical spine connector from the cheek to the back of the cheek. The left and right horizontal motors, in conjunction with the crank and pull rod, realize the left and right swinging motion of the head, resulting in a simple and compact structure. The gradually curved structure at the lower end of the lever conforms to the contour of the cervical spine from the cheek to the back, avoiding interference with the robot's simulated skin or head shell, while ensuring a smooth transmission path. The clearance and spacing design allow for unobstructed lever movement and smooth head-swinging motion.

[0016] Preferably, eyebrow support blocks are provided in front of both guide slots; a movable component is slidably connected to the rear of the eyebrow support blocks along the trajectory of the guide slots; the movable component is connected to the intermediate support via a movable joint with left-right and up-down rotational degrees of freedom, and the movable component is positioned higher than the mouth opening; a vertical plate is located behind the facial support, and a front-mounted geared motor is installed in the opening, driving a rotating frame connected to it, the rotating frame having a strip groove; the movable component is inserted into the strip groove, forming a drive mechanism that moves the movable component by the rotating frame. The movable component is positioned higher than the mouth, avoiding interference with the corners of the mouth and jaw mechanism, and making full use of the upper space of the facial support; the transmission chain is short, there are few parts, and the overall space occupied is small, making it particularly suitable for the extremely limited installation space inside the head shell of small robots. Attached Figure Description

[0017] To more clearly illustrate the technical solutions of the embodiments of this utility model, the drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort. Among them: Figure 1 This is a schematic diagram of the front structure of the support frame of a robot head support frame according to the present invention; Figure 2 This is a schematic diagram of the rear structure of the support frame of a robot head support frame according to the present invention; Figure 3 This is a schematic diagram of the structure of a support frame with a drive mechanism for a robot head support frame according to the present invention; Figure 4 This is a schematic diagram of the drive mechanism in a robot head support frame according to the present invention; Figure 5 This is a schematic diagram of the structure of a robot head support frame installed on a neck support.

[0018] In the diagram: 1. Support frame; 11. Facial support; 111. Mouth opening; 112. Slide groove; 113. Vertical plate; 114. Guide groove; 115. Front geared motor mounting opening; 116. Front groove; 12. Intermediate support; 121. Support structure; 122. Rear groove; 123. Central support platform; 13. Rear support; 131. Strip plate; 132. Frame structure; 133. Horizontal support; 134. Rear support platform; 2. Terminal box; 3. Front geared motor device; 4. Side-mounted geared motor device; 5. Vertical geared motor device; 61. Horizontal geared motor device; 62. Another horizontal geared motor device; 7. Front and rear horizontal geared motor devices; 8. Rotating structure; 9. Transmission lever structure; 100. Cervical spine connector; 101. Pull rod; 102. Movable part; 103. Crank. Detailed Implementation

[0019] To make the above-mentioned objectives, features and advantages of this utility model more readily understood, the specific implementation mechanism of this utility model will be described in detail below with reference to the accompanying drawings.

[0020] refer to Figures 1-3 Robot head support frame.

[0021] Including the support frame 1 set in the robot's head; With the face of the robot head as the front, the back of the robot head as the back, the left and right sides of the robot head as the outer sides, and the midline of the robot's face as the inner side, the support frame 1 is provided with a front face support 11, a middle support 12, and a rear side support 13. The facial support 11 is provided with a mouth opening 111 corresponding to the mouth in the front-back direction. On both sides of the mouth opening 111 of the facial support 11, there are two grooves 112 corresponding to the corners of the mouth in the front-back direction. The grooves 112 are arc-shaped, and the convex side of the arc of the grooves 112 faces inward. The grooves 112 are used to pass through components that extend in the front-back direction to support the corners of the mouth. At least one of the intermediate support 12 and the rear support 13 is provided with a geared motor mounting position, and the slide groove 112 is correspondingly provided at the front of the geared motor mounting position. The face support 11 is provided with a vertical plate 113 on its upper part. The top of the vertical plate 113 is higher than the middle support 12 and the rear support 13. The vertical plate 113 is provided with two rectangular front geared motor mounting openings 115. The two front-mounted geared motors have mounting openings 115, which are shaped like an "eight" with the upper part close to the lower part. The facial support 11 is provided with two guide grooves 114 corresponding to the eyebrow area below the front geared motor device mounting opening 115. The guide grooves 114 are arc-shaped, and the arc-shaped convex side of the guide grooves 114 faces outward. The guide grooves 114 are used to pass through the components that extend in the front-back direction to support the eyebrow area. The two sides above the vertical plate 113 are configured with arc-shaped structures; The support frame 1 is supported in the head shell of a robot, and the arc-shaped structure of the vertical plate 113 is attached to the inner side of the head shell.

[0022] The above design, through a three-section layout of the facial support 11, the middle support 12, and the rear support 13, achieves a reasonable arrangement of multiple geared motor devices and expression driving mechanisms within the limited space of the small humanoid robot's head, avoiding motion interference between the mechanisms of the small humanoid robot's head. The mouth opening 111, the slide 112, the vertical plate 113, and the figure-eight mounting opening of the facial support 11 provide precise positioning and guidance for the mouth expression drive and the front motor, adapting to the internal space of the small humanoid robot's head. The arc-shaped vertical plate 113 allows for better contact between the vertical plate 113 and the inner wall of the robot's head shell, increasing overall strength and guiding the installation of the robot's head shell.

[0023] Example 1: Reference Figures 1-3 This is the first embodiment of the present utility model.

[0024] Preferably, a central support platform 123 is located above the intermediate support 12; a rear support platform 134 is located above the rear support 13; the central support platform 123 and the rear support platform 134 are connected to form a fixed platform, on which a terminal box 2 is fixed; the terminal box 2 has an opening at the top and contains a wiring plug array, the leads of which extend from the bottom of the terminal box 2; the fixed platform has a hollow structure to avoid the leads extending from the bottom of the terminal box 2; the top surface of the terminal box 2 is lower than the height of the apex of the vertical plate 113. The fixed platform formed by the connection of the central support platform 123 and the rear support platform 134, and the hollow structure at the bottom of the terminal box 2, allow the leads extending from the bottom of the terminal box 2 to enter the hollow structure, facilitating power connection of the robot head components to the motor or sensor, achieving centralized management and avoidance of wiring, preventing cable clutter or pressure, and contributing to the compact layout of the robot head mechanism; the terminal box 2 is lower than the vertical plate 113 to avoid interference with the face shell.

[0025] Preferably, the front part of the front geared motor device 3 passes through the front geared motor device mounting opening 115, and the rear side of the front geared motor device 3 abuts against the terminal box 2; the terminal box 2 has a distance of 10-15mm from the vertical plate 113; the top surface of the terminal box 2 is 5-10mm lower than a fixed point of the vertical plate 113. The 10-15mm distance between the terminal box 2 and the vertical plate 113 provides sufficient installation space for the front geared motor device 3; the distance and height difference between the terminal box 2 and the vertical plate 113 ensure sufficient space for inserting and removing cables from the terminal box 2, and avoid interference between the terminal box 2 and the robot's head shell.

[0026] Preferably, the rear side of the face support 11 has a rearward-opening front groove 116 below the vertical plate 113, and two mounting positioning holes are respectively provided on the upper and lower sides of the front groove 116. The front side of the intermediate support 12 has a front-opening rear groove 122. The front groove 116 and the rear groove 122 are spliced ​​and connected along the front-rear direction through their respective openings to form a vertical rectangular groove, which serves as the mounting position for the side-standing reduction motor device 4. The splicing of the front and rear grooves forms a continuous installation space, which can fix the side-standing reduction motor device 4, making full use of the lateral gap between the face and the intermediate support 12. The upper and lower positioning holes ensure that the side-standing reduction motor device 4 is installed firmly, adapting to the layout of narrow lateral spaces.

[0027] Preferably, the rear support 13 includes a vertically centered strip plate 131 along the left-right direction; the upper and lower sides of the strip plate 131 are respectively provided with horizontally extending supports 133, and each of the four horizontal supports 133 is provided with mounting positioning holes; the two horizontal supports 133 on the left side form a mounting position for a vertical reduction motor device 5 located behind the slide groove 112 on the left side; the two horizontal supports 133 on the right side form a mounting position for a vertical reduction motor device 5 located behind the slide groove 112 on the right side; the two vertical reduction motor devices 5 are arranged parallel to each other along the left-right direction; On the rear support 13, below the rear support platform 134 and above the mounting position of the vertical geared motor device 5 on one side, a frame structure 132 extending in the front-to-back direction is provided. The height of the frame structure 132 is greater than the sum of the thicknesses of the two horizontal geared motor devices 61. Mounting and positioning holes are provided on the left and right sides of the upper part of the frame structure 132. A protrusion is provided on the inner wall of the inner frame of the frame structure 132, and the protrusion has an upward-facing support surface. The upper frame of the frame structure 132 and the support surface define a horizontal geared motor device in the vertical direction. The mounting position of 61 is secured by mounting holes on both sides, and the output end of the horizontal geared motor 61 is located on the front side; the boss has a vertical wall located below the support surface, and the lower frame of the frame structure 132 and the vertical wall define the mounting position of another horizontal geared motor 62 at a vertical angle; the intermediate bracket 12 is provided with a positioning wall, the vertical wall and the positioning wall are located at the same height and face the same direction, and are respectively provided with mounting holes to lock the other horizontal geared motor 62, the output end of the other horizontal geared motor 62 is located on the inner side; the strip plate body The frame structure 132 is provided on one side of the support frame 131, and a horizontal rear mounting platform is provided on the upper part of the other side. A horizontal central mounting platform is provided above the intermediate support 12. Both the central mounting platform and the rear mounting platform are provided with mounting positioning holes and are close together to form a mounting platform, which serves as the mounting position for the front and rear horizontally placed geared motor devices 7. This forms five geared motor device mounting positions, at least partially on the rear support 13. Combined with the two front geared motor device mounting openings 115 and one side-mounted geared motor device 4 mounting position, at least eight geared motor device mounting positions are integrated on the support frame 1. Through various structural forms such as the strip plate 131, the horizontal support 133, the frame structure 132, and the mounting platform, at least five geared motor device mounting positions are achieved in the narrow space of the rear support 13. Combined with the front geared motor device mounting opening 115 and one side-mounted geared motor device 4 mounting position of the front support 11, at least eight geared motor device mounting positions are achieved on the support frame 1, which greatly improves the space utilization rate.The vertical geared motor 5 is mounted at the rear of the slide 112, which facilitates the vertical geared motor 5 to drive the mechanisms in the two slides 112. The front and rear horizontal motor mounting positions are supported by the middle bracket 12 and the rear bracket 13, which provides good stability and is suitable for drive mechanisms that require high torque.

[0028] In use, a front-mounted geared motor 3 is installed in the two figure-eight-shaped front geared motor mounting openings 115 of the facial support 11 to drive the eyebrow expression mechanism; a side-mounted geared motor 4 is installed in the side-mounted geared motor 4 mounting position formed by splicing the front groove 116 of the facial support 11 and the rear groove 122 of the middle support 12 to assist facial movements; a vertical geared motor 5, a horizontal geared motor 61, another horizontal geared motor 62, and front and rear horizontal geared motors 7 are respectively installed in the five mounting positions of the rear support 13. The leads of all motors are centrally connected to the terminal box 2 on the fixed platform, and the leads are led downward through the hollow structure to avoid wire tangling. Finally, the overall support frame 1 is installed into the robot head shell, so that the arc structure of the vertical plate 113 fits the inner wall of the head shell, and the height of the terminal box 2 is lower than the top of the vertical plate 113 to prevent interference with the facial shell.

[0029] Example 2: Reference Figures 3-5 This is the second embodiment of the present invention, which is based on the previous embodiment.

[0030] Preferably, a corner support block is provided in front of the slide groove 112; a support member connected to the rear of the corner support block is slidably fitted along the trajectory of the slide groove 112; the support member is connected to the intermediate bracket 12 through a movable joint with left-right rotational freedom and up-down rotational freedom; two vertical reduction motor devices 5 are connected in the mounting positions of the two vertical reduction motor devices 5; a rotating structure 8 is driven by the vertical reduction motor device 5, and a strip-shaped mating groove is provided on the rotating structure 8; the support member is inserted into the mating groove, forming a driving mechanism for the rotating structure 8 to move the support member. Through the dual cooperation of the support member, the mating groove, and the slide groove 112, a single rotational motion is transformed into a complex facial expression trajectory. Without the need for muscles, the mouth corner support block can achieve mouth movements such as raising and lowering the corners of the mouth by following the movement of the support member along the slide groove 112, which can naturally simulate expressions such as smiling and sadness. While realizing mouth expressions, it simplifies the related mechanisms for realizing mouth expressions.

[0031] Preferably, a mandible is provided below the mouth opening 111; another horizontally mounted geared motor 62 is installed at the mounting position, and the other horizontally mounted geared motor 62 is provided with a drive gear; a transmission lever structure 9 is provided behind the mandible, and the transmission lever structure 9 is rotatably connected to the intermediate support 12 through left and right horizontally mounted rotating shafts; the transmission lever structure 9 is inclined from back to front and from top to bottom, and the upper end of the transmission lever structure 9 has a driven rack, which meshes with the drive gear; and the transmission lever structure 9 has a driven power arm from the rotating shaft to the mandible, and a main power arm from the rotating shaft to the driven rack, the length of the main power arm being greater than the length of the driven power arm; the height of the other horizontally mounted geared motor 62 inside the head shell is higher than the height of the eyes. The height of the other horizontally mounted geared motor 62 inside the head shell being higher than the height of the eyes is to adapt to the head shape structure of the human or robot head, and the space-consuming geared motor module is placed inside the support frame 1. By designing the transmission lever structure 9 to have a driven arm from the pivot to the mandible and a driven rack from the pivot, with the length of the driven arm being greater than the length of the driven arm, the mandible is driven to move using the seesaw principle, which reduces the space occupied in the head compared to the traditional design.

[0032] Preferably, a cervical spine connector 100 is connected below the support frame 1. The front end of the cervical spine connector 100 is rotatably connected to the facial support 11, and the rear end of the cervical spine connector 100 is rotatably connected to the rear support 13, forming a left-right swinging connection between the support frame 1 and the cervical spine connector 100. The support frame 1 is connected to the robot's neck support through the cervical spine connector 100, which can swing back and forth. The lower side of the intermediate support 12 is configured as a support structure 121 that opens to both sides. The support structure 121 is correspondingly arranged behind the slide groove 112, and the cervical spine connector 100 is arranged between the two support structures 121. The rotating structure 8 driven by the vertical reduction motor device 5 is mounted on the support structure 121. The rotating shaft of the transmission lever structure 9 is arranged in front of the support structure 121, and another horizontal reduction motor device 62 is installed higher than the support structure 121. The cervical spine connector 100 enables the head and neck support to swing back and forth, while the support frame 1 can swing left and right to the neck support, forming a simple and stable connection between the support frame 1 and the neck support; the two support structures 121 on both sides of the middle support 12 provide a stable mounting structure for the rotating structure 8, and will not interfere with the shaft of the transmission lever structure 9; this is beneficial for the layout of the head of the small robot.

[0033] Preferably, the horizontally mounted geared motor 61 is installed at its mounting position; a clearance space is provided behind the intermediate bracket 12 on the same side as the frame structure 132; the drive shaft of the horizontally mounted geared motor 61 extends forward into the clearance space; the front-to-back width of the clearance space is greater than the length of the support structure 121, thus creating a gap between the rear side of the support structure 121 and the front side of the rear bracket 13; the drive shaft of the horizontally mounted geared motor 61 is inserted into the inner end of a crank 103, and the outer end of the crank 103 is rotatably connected to the crank 103. The structure is connected to the top of a pull rod 101; the pull rod 101 is rotatably connected to the cervical spine connector 100 through the distance between the support structure 121 and the rear bracket 13; forming a push-pull rod type head-swinging system where the horizontally mounted reduction motor device 61 drives the crank 103, and the crank 103 pushes and pulls the cervical spine connector 100 through the pull rod 101, causing the head shell to swing along the rotating shaft component; the lower end of the pull rod 101 is provided with a gradually curved structure from the outside to the inside to conform to the contour of the cervical spine connector 100 from the cheek to the back of the cheek. The left and right horizontal motors cooperate with the crank 103 and the pull rod 101 to realize the left and right swinging motion of the head, with a simple and compact structure. The gradually curved structure at the lower end of the pull rod 101 conforms to the contour of the cervical spine connector 100 from the cheek to the back, avoiding interference with the robot's simulated skin or the robot's head shell, while ensuring a smooth transmission path. The clearance space and spacing design allow the pull rod 101 to move without obstruction and the head-swinging motion to be smooth.

[0034] Preferably, eyebrow support blocks are provided in front of both guide grooves 114; a movable component 102 is slidably connected to the rear of the eyebrow support blocks along the trajectory of the guide grooves 114; the movable component 102 is connected to the intermediate support 12 through a movable joint with left-right and up-down rotational degrees of freedom, and the movable component 102 is positioned higher than the mouth opening 111; the vertical plate 113 is located behind the face support 11, and the front geared motor device 3 in the front geared motor device mounting opening 115 drives a rotating frame, which is provided with a strip groove; the movable component 102 is inserted into the strip groove, forming a drive mechanism for the rotating frame to move the movable component 102. The movable component 102 is positioned higher than the mouth opening 111, avoiding interference with the corners of the mouth and jaw mechanism, and making full use of the upper space of the face support 11; the transmission chain is short, there are few parts, and the overall space occupied is small, which is especially suitable for the extremely limited installation space inside the head shell of small robots.

[0035] In use, the single rotational motion is transformed into a complex facial expression trajectory through the dual cooperation of the support member and the mating groove and slide 112. No muscles are required; the mouth movements, such as raising and lowering the corners of the mouth, are achieved simply by the mouth corner support block moving along the slide 112 with the support member. The front and rear horizontally placed reduction motor device 7 is positioned higher than the eye level within the head shell to accommodate the head shape of the human or robot. The space-consuming reduction motor module is housed within the support frame 1. By designing the transmission lever structure 9 as having a driven arm from the pivot to the chin and a main power arm from the pivot to the driven rack, with the main power arm being longer than the driven arm, the chin is driven using a seesaw principle, reducing the space occupied by the chin compared to traditional designs. The gradually curved structure at the lower end of the pull rod 101 conforms to the contour of the cervical spine connector 100 from the cheek to the back, avoiding interference with the robot's simulated skin or head shell while ensuring a smooth transmission path. The clearance space and spacing design allow the pull rod 101 to move without obstruction, resulting in smooth head-shaking movements. The movable component 102 is positioned higher than the mouth opening 111 to avoid interference with the corners of the mouth and jaw mechanism, making full use of the upper space of the facial support 11. With a short transmission chain and few parts, it occupies little space overall, making it particularly suitable for the extremely limited installation space within the head shell of small robots. All movements can be performed simultaneously without interference, and are centrally powered and controlled via the terminal block 2, resulting in smooth overall movement and natural expressions.

[0036] It should be noted that the above embodiments are only used to illustrate the technical solution of this utility model and are not intended to limit it. Although this utility model has been described in detail with reference to preferred embodiments, those skilled in the art should understand that modifications or equivalent substitutions can be made to the technical solution of this utility model without departing from the spirit and scope of the technical solution of this utility model, and all such modifications or substitutions should be covered within the scope of the claims of this utility model.

Claims

1. A robot head support frame, characterized in that: Including a support frame (1) set in the robot head; With the face of the robot head as the front, the back of the robot head as the back, the left and right sides of the robot head as the outer side, and the midline of the robot face as the inner side, the support frame (1) is provided with a front face support (11), a middle support (12) in the middle and a rear side support (13) at the back. The facial support (11) is provided with a mouth opening (111) corresponding to the mouth in the front-back direction. On both sides of the mouth opening (111) of the facial support (11), there are two grooves (112) corresponding to the corners of the mouth in the front-back direction. The grooves (112) are arc-shaped grooves. The convex side of the arc of the grooves (112) faces inward. The grooves are used to pass through components that extend in the front-back direction to support the corners of the mouth. A geared motor mounting position is provided on at least one of the intermediate support (12) and the rear support (13), and the slide groove (112) is correspondingly provided at the front of the geared motor mounting position; The face support (11) is provided with a vertical plate (113) on the upper part. The top of the vertical plate (113) is higher than the middle support (12) and the rear support (13). The vertical plate (113) is provided with two rectangular front geared motor device mounting openings (115). The two front-mounted geared motor mounting openings (115) are shaped like an octagon, with the upper part close to the lower part. The facial support (11) is provided with two guide grooves (114) corresponding to the eyebrow area below the front geared motor device mounting opening (115). The guide grooves (114) are arc-shaped, and the arc-shaped convex side of the guide grooves (114) faces outward. The guide grooves are used to pass through the components that extend along the front-back direction to support the eyebrow area. The upper sides of the vertical plate (113) are configured with arc-shaped structures; The support frame (1) is supported in the head shell of a robot, and the arc structure of the vertical plate (113) is attached to the inner side of the head shell.

2. The robot head support frame according to claim 1, characterized in that: The intermediate support (12) has a central support platform (123) above it. The rear support (13) has a rear support platform (134) above it. The central support platform (123) and the rear support platform (134) are connected to form a fixed platform, and a terminal box (2) is fixed on the fixed platform. The terminal box (2) has an opening at the top and contains a wiring plug array. The leads of the wiring plug array extend from the bottom of the terminal box (2). The fixed platform is provided with a hollow structure to avoid the lead wires extending from below the terminal box (2); The top surface of the terminal box (2) is lower than the height of the top of the vertical plate (113).

3. The robot head support frame according to claim 1, characterized in that: The front part of the front geared motor device (3) passes through the front geared motor device mounting opening (115), and the rear side of the front geared motor device (3) hits the terminal box (2). The terminal box (2) and the vertical plate (113) have a distance of 10-15mm; The top surface of the terminal box (2) is 5-10mm lower than the fixed point of the vertical plate (113).

4. The robot head support frame according to claim 2, characterized in that: The face support (11) has a front groove (116) opening to the rear below the vertical plate (113) on the rear side. The front groove (116) has two mounting and positioning holes on the upper and lower sides respectively. The middle support (12) has a rear groove (122) opening to the front on the front side. The front groove (116) and the rear groove (122) are spliced ​​and connected along the front-rear direction through their respective openings to form a vertical rectangular groove, which serves as the mounting position for the side-mounted geared motor device (4).

5. The robot head support frame according to claim 4, characterized in that: The rear support (13) includes a strip plate (131) that is centered and vertically placed in the left-right direction. The upper and lower sides of the strip plate (131) are provided with left and right extended transverse supports (133), and each of the four transverse supports (133) is provided with mounting positioning holes. The two horizontal supports (133) on the left side form the mounting position of a vertical geared motor device (5) located behind the slide groove (112) on the left side; the two horizontal supports (133) on the right side form the mounting position of a vertical geared motor device (5) located behind the slide groove (112) on the right side; the two vertical geared motor devices (5) are arranged parallel to each other in the left and right directions. On the rear support (13), below the rear support platform (134) and above the mounting position of the vertical geared motor device (5) on one side, there is a frame structure (132) that runs through the front and rear direction. The height of the frame structure (132) is greater than the sum of the thicknesses of the two horizontal geared motor devices. The frame structure (132) has mounting and positioning holes on the left and right sides of the upper part; the frame structure (132) has a boss on the inner wall of the inner frame, which has a support surface facing upward; the upper frame of the frame structure (132) and the support surface define a mounting position for a horizontally mounted geared motor device (61) in the vertical direction, and the horizontally mounted geared motor device (61) is locked by the mounting and positioning holes on the left and right sides, and the output end of the horizontally mounted geared motor device (61) is located on the front side; The boss has a vertical wall located below the support surface. The lower frame of the frame structure (132) and the vertical wall define the mounting position of another horizontally mounted geared motor device (62) at a vertical angle. The intermediate bracket (12) is provided with a positioning wall. The vertical wall and the positioning wall are located at the same height and face the same direction. They are respectively provided with mounting positioning holes to lock the other horizontally mounted geared motor device (62). The output end of the other horizontally mounted geared motor device (62) is located on the inner side. The frame structure (132) is provided on one side of the strip plate (131), and a horizontal rear mounting platform is provided on the upper part of the other side; The intermediate support (12) has a horizontal central mounting platform above it; Both the central mounting platform and the rear mounting platform are provided with mounting positioning holes and are closely connected to form a mounting platform, which serves as the mounting position for the front and rear horizontally placed geared motor device (7); This forms five geared motor mounting positions, at least partially on the rear support (13), combined with two front geared motor mounting openings (115) and one side-mounted geared motor mounting position (4), integrating at least eight geared motor mounting positions on the support frame (1).

6. The robot head support frame according to claim 5, characterized in that: A corner support block is provided in front of the slide (112); A support member connected to the rear of the corner support block is provided along the track of the groove (112); The support member is connected to the intermediate bracket (12) via a movable joint having left-right rotational freedom and up-down rotational freedom. Two vertical geared motor devices (5) are connected in the mounting position; A vertical reduction motor device (5) is driven by a rotating structure (8), and the rotating structure (8) is provided with a strip-shaped mating groove; The support member is inserted into the mating groove to form a rotating structure (8) and a drive mechanism that moves the support member.

7. The robot head support frame according to claim 6, characterized in that: A mandibular piece is provided below the mouth opening (111); Another horizontally mounted geared motor device (62) is installed at another horizontally mounted geared motor device (62), and the other horizontally mounted geared motor device (62) is provided with a drive gear; The lower jaw piece has a transmission lever structure (9) at the rear, and the transmission lever structure (9) is rotatably connected to the intermediate bracket (12) via left and right horizontal rotating shafts. The transmission lever structure (9) is inclined from back to front and from top to bottom. The upper end of the transmission lever structure (9) has a driven rack, which meshes with the driving gear. Furthermore, the transmission lever structure (9) has a driven arm extending from the pivot to the lower jaw piece, and a main driven arm extending from the pivot to the driven rack, with the length of the main driven arm being greater than the length of the driven arm. Another horizontally mounted geared motor device (62) is located inside the head shell at a height higher than the height of the eyes.

8. The robot head support frame according to claim 7, characterized in that: The support frame (1) is connected to a cervical spine connector (100) below. The front end of the cervical spine connector (100) is rotatably connected to the facial support (11), and the rear end of the cervical spine connector (100) is rotatably connected to the rear support (13), forming a left-right swing connection between the support frame (1) and the cervical spine connector (100). The support frame (1) is connected to the robot's neck support by means of a cervical spine connector (100) that can swing back and forth. The lower side of the intermediate support (12) is configured as a support structure (121) that opens to both sides. The support structure (121) is correspondingly arranged behind the slide groove (112). The cervical spine connector (100) is arranged between the two support structures (121). The rotating structure (8) driven by the vertical geared motor device (5) is mounted on the support structure (121); The shaft of the transmission lever structure (9) is located in front of the support structure (121), and the other horizontally mounted geared motor device (62) is installed higher than the support structure (121).

9. The robot head support frame according to claim 8, characterized in that: The horizontal geared motor device (61) is installed at the mounting position of the horizontal geared motor device (61). A clearance space is provided behind the intermediate support (12) on the same side as the frame structure (132); The drive shaft of the transversely mounted geared motor (61) extends forward into the clearance space; The front and rear width of the clearance space is greater than the length of the support structure (121), so that there is a gap between the rear side of the support structure (121) and the front side of the rear support (13); The drive shaft of the transverse geared motor device (61) is inserted into the inner end of a crank (103), and the outer end of the crank (103) is connected to the top of a pull rod (101) through a rotatable structure. The pull rod (101) is rotatably connected to the cervical spine connector (100) through the distance between the support structure (121) and the rear bracket (13). The horizontally mounted geared motor device (61) drives the crank (103), and the crank (103) pushes and pulls the cervical spine connector (100) through the pull rod (101), thereby causing the head shell to swing along the rotating shaft component in a push-pull rod type head swinging system; The lower end of the pull rod (101) is provided with a gradually curved structure that curves from the outside to the inside to conform to the contour of the cervical spine connector (100) from the cheek to the back of the cheek.

10. The robot head support frame according to claim 1, characterized in that: An eyebrow support block is provided in front of each of the two guide grooves (114); A movable part (102) connected to the rear of the eyebrow support block is provided along the trajectory of the guide groove (114). The movable part (102) is connected to the intermediate support (12) through a movable joint with left and right rotational degrees of freedom and up and down rotational degrees of freedom. The movable part (102) is positioned higher than the mouth opening (111). The vertical plate (113) is located behind the face support (11). The front geared motor device (3) in the front geared motor device installation opening (115) is driven to connect to a rotating frame, and the rotating frame is provided with a strip groove. The movable part (102) is inserted into the strip groove to form a drive mechanism that moves the movable part (102) by rotating the frame.

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