Facial skin quick replacement device for humanoid robot

Abstract

The utility model discloses a humanoid robot face skin quick replacement device belongs to robot technical field, including the back brain shell, the support base of face skin and face skin main part, the support base is connected on the back brain shell, a plurality of fixed holes are seted up on the support base, the fixed hole is connected with the threaded rod in screw thread, a plurality of fixed column are fixedly arranged on the back brain shell, the threaded rod is connected on the fixed column in screw thread, the face skin main part is connected on the support base, be provided with first magnetic attraction subassembly on the support base, a plurality of first magnetic attraction subassembly are seted up on the support base, be provided with a plurality of second magnetic attraction subassembly with first magnetic attraction subassembly adaptation in the face skin main part, second magnetic attraction subassembly adsorbs on first magnetic attraction subassembly, the utility model discloses have the advantage that the face skin of quick replacement robot.

Description

Technical Field

[0001] This utility model relates to the field of robotics technology, specifically a device for quickly changing the face of a humanoid robot. Background Technology

[0002] With the continuous expansion of humanoid robot application scenarios (such as service robots, simulation interactive robots, etc.), the demand for diversity and replaceability of their head appearance is becoming increasingly prominent. The robot's head mainly consists of the back shell, the face support base, and the face. The face is an important component for humanoid robot simulation; the face support base supports the face, and the face support base and the back shell together form a complete robot head shape.

[0003] Regarding the aforementioned technical conditions, there are still shortcomings. The existing humanoid robot faces are mostly fixedly bonded to the face support base. The bonded structure requires tools to remove the old face and re-apply adhesive, which makes the face replacement speed relatively slow.

[0004] Based on this, the present invention designs a rapid face-changing device for humanoid robots to solve the above problems. Utility Model Content

[0005] The purpose of this invention is to provide a device for quickly changing the face of a humanoid robot, so as to solve the above-mentioned technical problems.

[0006] To achieve the above objectives, this utility model provides the following technical solution: a humanoid robot face skin quick-change device, comprising a back head shell, a face skin support base, and a face skin body. The support base is connected to the back head shell, and the support base has multiple fixing holes. Threaded rods are threadedly connected to the fixing holes. Multiple fixing posts are fixedly disposed on the back head shell, and the threaded rods are threadedly connected to the fixing posts. The face skin body is connected to the support base. A first magnetic attraction component is disposed on the support base, and multiple first magnetic attraction components are disposed on the support base. Multiple second magnetic attraction components adapted to the first magnetic attraction components are disposed in the face skin body, and the second magnetic attraction components are attracted to the first magnetic attraction components.

[0007] Preferably, the first magnetic attraction assembly includes a first magnet ring, a first screw, and a first nut. The support base has a mounting hole, the first magnet ring is installed in the mounting hole, the outer side wall of the first magnet ring abuts against the inner side wall of the mounting hole, the first screw passes through the first magnet ring and the mounting hole and is threaded to the first nut, and the first nut abuts against the support base.

[0008] Preferably, the second magnetic assembly includes a second magnetic ring, a second screw, and a second nut. The second magnetic ring is sleeved on the second screw, the second nut is threaded onto the second screw, and the second magnetic ring is clamped between the second screw and the second nut.

[0009] Preferably, a non-woven fabric is fitted onto the second screw, and the second magnet ring is located between the non-woven fabric and the second nut.

[0010] Preferably, the material of the support substrate is engineering plastic.

[0011] Preferably, the material of the face skin body is silicone.

[0012] In summary, this application has the following beneficial technical effects: When replacing the robot's face, the face body is pulled outward by external force, causing the second magnetic component to separate from the first magnetic component, at which point the face body is detached from the support base. A new face body is then taken out, and the position of the second magnetic component on the face body is aligned with the position of the first magnetic component on the support base. The second magnetic component is then attached to the first magnetic component, at which point the new face body is stably installed on the support base, achieving the effect of quickly replacing the robot's face. Attached Figure Description

[0013] To more clearly illustrate the technical solutions of the embodiments of this utility model, the accompanying 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.

[0014] Figure 1 This is a schematic diagram of the robot's head structure in this embodiment; Figure 2 This is a schematic diagram of the bottom structure of the robot's head in this embodiment; Figure 3 This is a schematic diagram of the face skin installation structure in this embodiment; Figure 4 This is a schematic diagram of the rear structure of the face skin mounting structure in this embodiment; Figure 5 This is a schematic diagram of the robot head mounting structure in this embodiment; Figure 6 This is a schematic diagram of the installation structure of the second magnetic suction component in this embodiment; Figure 7 This is a schematic diagram of the installation structure of the first magnetic suction component in this embodiment; Figure 8 This is a schematic diagram of the internal structure of the lower mold in this embodiment; Figure 9 This is a schematic diagram of the internal structure of the upper mold in this embodiment.

[0015] The attached diagram lists the components represented by each number as follows: 1. Back of head shell; 2. Face skin main body; 3. Support base; 4. First magnetic suction component; 5. Threaded rod; 6. Second magnetic suction component; 7. First screw; 8. First nut; 9. First magnet ring; 10. Fixing post; 11. Mounting hole; 12. Second screw; 13. Non-woven fabric; 14. Second magnet ring; 15. Second nut; 16. Glue channel; 17. Lower mold; 18. Magnet piece; 19. Upper mold. Detailed Implementation

[0016] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those skilled in the art without creative effort are within the protection scope of the present utility model.

[0017] The following is in conjunction with the appendix Figure 1-7 This application will be described in further detail.

[0018] A humanoid robot face-changing device includes a back shell 1, a face-supporting base 3, and a face-body 2. The supporting base 3 is connected to the back shell 1 and has multiple fixing holes, with threaded rods 5 threaded into each hole. Multiple fixing posts 10 are fixedly mounted on the back shell 1, with the distribution of the fixing posts 10 matching the distribution of the fixing holes. The threaded rods 5 are threaded into the fixing posts 10. Through the threaded rods 5 and the fixing posts 10, the supporting base 3 is fixedly mounted on the back shell 1.

[0019] The face skin body 2 is connected to a support base 3. The support base 3 is equipped with 6-12 first magnetic components 4, distributed across the forehead, cheeks, and chin areas. The face skin body 2 also has multiple second magnetic components 6 that are compatible with the first magnetic components 4. The second magnetic components 6 are magnetically coupled to the first magnetic components 4, and are attracted to them. Through the arrangement of the first and second magnetic components 4, the face skin is stably mounted on the support base 3.

[0020] Since the face skin body 2 is fixed to the support base 3 by the cooperation of the first magnetic component 4 and the second magnetic component 6, when replacing the face skin body 2, the face skin body 2 can be pulled outward by external force to separate the second magnetic component 6 from the first magnetic component 4, and the face skin body 2 can be removed from the support base 3, making it convenient to remove the face skin body 2 from the support base 3 and replace the face skin body 2.

[0021] The first magnetic attraction assembly 4 includes a first magnetic ring 9, a first screw 7, and a first nut 8. A mounting hole 11 is provided on the support base 3. The first magnetic ring 9 is installed in the mounting hole 11, with its outer sidewall abutting against the inner sidewall of the mounting hole 11. The first screw 7 passes through the first magnetic ring 9 and the mounting hole 11 sequentially and is then threaded onto the first nut 8. The first nut 8 is pressed against the support base 3. At this point, under the combined action of the first nut 8 and the first screw 7, the first magnetic ring 9 is fixedly installed on the support base 3.

[0022] The second magnetic assembly 6 includes a second magnetic ring 14, a second screw 12, and a second nut 15. The second magnetic ring 14 is sleeved on the screw, and the second nut 15 is threaded onto the second screw 12. The second magnetic ring 14 is clamped between the second screw 12 and the second nut 15.

[0023] A non-woven fabric 13 is fitted onto the second screw 12. A second magnetic ring 14 is positioned between the non-woven fabric 13 and the second nut 15. Through the cooperation of the second nut 15 and the second screw 12, the non-woven fabric 13 and the second magnetic ring 14 are fixedly installed on the second screw 12. The non-woven fabric 13 is 2cm × 2cm square, used to increase the contact area between the second magnetic component 6 and the face skin body 2, preventing the second magnetic component 6 from detaching from the face skin body 2.

[0024] The supporting substrate 3 is made of engineering plastic or metal alloy; the face skin body 2 is made of medical grade silicone or food grade silicone with a Shore hardness of 25A-35A; when the face skin body 2 is injected and molded, the silicone penetrates the fiber gaps of the non-woven fabric 13 and forms a mechanical interlocking structure with the non-woven fabric 13, making it difficult for the second magnetic suction component 6 to fall off from the molded face skin body 2.

[0025] The face skin body 2 is formed by injection molding. The mold is provided with an injection channel 16. The mold includes an upper mold 19 and a lower mold 17, and a molding cavity is formed between the upper mold 19 and the lower mold 17. The injection channel 16 communicates with the molding cavity. A magnetic piece 18 is fixedly installed in the lower mold 17. Multiple magnetic pieces 18 are provided in the lower mold 17. The position distribution of the multiple magnetic pieces 18 is the same as the position distribution of the first magnetic attraction component 4 on the support base 3.

[0026] Before the upper mold 19 and lower mold 17 are closed, the second magnetic component 6 is attached to the magnet piece 18, so that the second magnetic component 6 is pre-embedded in the lower mold 17. Then the upper mold 19 and lower mold 17 are closed, and silicone is poured into the molding cavity of the mold through the injection channel 16. The silicone cools and solidifies in the molding cavity. The cooled and solidified face skin body 2 is removed from the mold, and the second magnetic component 6 is fixedly set in the cooled and solidified face skin body 2.

[0027] The implementation principle of this embodiment is as follows: When replacing the robot's face skin, the face skin body 2 is pulled outward by external force, causing the second magnetic suction component 6 to separate from the first magnetic suction component 4. At this time, the face skin body 2 is detached from the support base 3. A new face skin body 2 is taken out, and the position of the second magnetic suction component 6 on the face skin body 2 is aligned with the position of the first magnetic suction component 4 on the support base 3. The second magnetic suction component 6 is then attached to the first magnetic suction component 4. At this time, the new face skin is stably installed on the support base 3, achieving the effect of quickly replacing the robot's face skin.

[0028] In the description of this utility model, it should be understood that the terms "coaxial", "bottom", "one end", "top", "middle", "other end", "upper", "side", "top", "inner", "front", "center", "both ends", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings. They are only for the convenience of describing this utility model and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this utility model.

[0029] In this utility model, unless otherwise explicitly specified and limited, the terms "installation", "setting", "connection", "fixing", "screw connection", etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal connection of two components or the interaction between two components. Unless otherwise explicitly limited, those skilled in the art can understand the specific meaning of the above terms in this utility model according to the specific circumstances.

[0030] Although embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the present invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A humanoid robot face skin quick-change device, comprising a back head shell (1), a face skin support base (3), and a face skin body (2), characterized in that: The support base (3) is connected to the back shell (1). The support base (3) has multiple fixing holes, and the fixing holes are threaded with threaded rods (5). The back shell (1) is fixed with multiple fixing posts (10). The threaded rods (5) are threaded to the fixing posts (10). The face skin body (2) is connected to the support base (3). The support base (3) is provided with a first magnetic suction assembly (4). Multiple first magnetic suction assemblies (4) are provided on the support base (3). Multiple second magnetic suction assemblies (6) adapted to the first magnetic suction assembly (4) are provided in the face skin body (2). The second magnetic suction assemblies (6) are attracted to the first magnetic suction assembly (4).

2. The humanoid robot face-changing device according to claim 1, characterized in that: The first magnetic suction assembly (4) includes a first magnet ring (9), a first screw (7) and a first nut (8). The support base (3) has a mounting hole (11). The first magnet ring (9) is installed in the mounting hole (11). The outer side wall of the first magnet ring (9) abuts against the inner side wall of the mounting hole (11). The first screw (7) passes through the first magnet ring (9) and the mounting hole (11) and is threaded to the first nut (8). The first nut (8) abuts against the support base (3).

3. The humanoid robot face-changing device according to claim 1, characterized in that: The second magnetic assembly (6) includes a second magnetic ring (14), a second screw (12), and a second nut (15). The second magnetic ring (14) is sleeved on the second screw (12), and the second nut (15) is threaded onto the second screw (12). The second magnetic ring (14) is clamped between the second screw (12) and the second nut (15).

4. The humanoid robot face-changing device according to claim 3, characterized in that: The second screw (12) is fitted with a non-woven fabric (13), and the second magnet ring (14) is between the non-woven fabric (13) and the second nut (15).

5. The humanoid robot face-changing device according to claim 1, characterized in that: The supporting substrate (3) is made of engineering plastic.

6. The humanoid robot face-changing device according to claim 1, characterized in that: The material of the face skin body (2) is silicone.

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