阅读说明：本技术 一种头部运动机构及机器人 (Head motion and robot ) 是由 黄炫煜 甘泉 谌振宇 于 2021-08-23 设计创作，主要内容包括：本发明涉及机器人技术领域,尤其涉及一种头部运动机构及机器人。该头部运动机构设置在躯干和头部之间,且头部运动机构包括固定座、连杆组件以及驱动件。其中连杆组件包括第一连杆、第二连杆以及第三连杆,第一连杆和第二连杆分别与固定座铰接,第一连杆和第二连杆分别与第三连杆铰接,且第三连杆与头部连接,驱动件设置在连杆组件上,通过驱动件能够驱动连杆组件伸缩以实现头部做升降运动,该连杆组件结构紧凑,体积小,有利于减小机器人的体积。该机器人,包括躯干、头部以及上述的头部运动机构,该头部运动机构分别与躯干和头部连接,从而达到减小机器人体积的效果。(The invention relates to the technical field of robots, in particular to a head movement mechanism and a robot. The head movement mechanism is arranged between the trunk and the head and comprises a fixed seat, a connecting rod assembly and a driving piece. Wherein link assembly includes first connecting rod, second connecting rod and third connecting rod, and first connecting rod and second connecting rod are articulated with the fixing base respectively, and first connecting rod and second connecting rod are articulated with the third connecting rod respectively, and the third connecting rod is connected with the head, and the driving piece setting can drive link assembly through the driving piece and stretch out and draw back and do elevating movement in order to realize the head, and this link assembly compact structure, it is small, be favorable to reducing the volume of robot. The robot comprises a trunk, a head and the head movement mechanism, wherein the head movement mechanism is connected with the trunk and the head respectively, so that the effect of reducing the size of the robot is achieved.)

1. A head movement mechanism provided between a torso (500) and a head (600) of a robot, characterized by comprising:

a holder (100) disposed on the trunk (500);

the connecting rod assembly (200) comprises a first connecting rod (210), a second connecting rod (220) and a third connecting rod (230), the first connecting rod (210) and the second connecting rod (220) are respectively hinged with the fixed seat (100), the first connecting rod (210) and the second connecting rod (220) are respectively hinged with the third connecting rod (230), and the third connecting rod (230) is connected with the head part (600);

the driving piece (300) is arranged on the connecting rod assembly (200), and the driving piece (300) can stretch and retract by driving the connecting rod assembly (200) to drive the head (600) to do lifting motion.

2. The head movement mechanism according to claim 1, wherein the linkage assembly (200) further comprises:

a fourth link (240) hinged to the second link (220), and the fourth link (240) is connected to the head (600).

3. The head movement mechanism according to claim 2, wherein the linkage assembly (200) further comprises:

a fifth link (250), wherein the fifth link (250) is hinged with the fourth link (240) and the third link (230) respectively.

4. The head motion mechanism according to claim 1, wherein a distance from a hinge point of the first link (210) and the third link (230) to a hinge point of the second link (220) and the third link (230) is L1, a distance from a hinge point of the second link (220) and the third link (230) to a connection point of the third link (230) and the head (600) is L2, and the L2 is greater than the L1.

5. The head movement mechanism according to claim 3, wherein the driving member (300) is a linear drive, and the driving member (300) is simultaneously hinged to any two of the first connecting rod (210), the second connecting rod (220), the third connecting rod (230), the fourth connecting rod (240), the fifth connecting rod (250) and the fixed seat (100).

6. The head motion mechanism according to claim 3, wherein the driving member (300) is hinged to the fifth link (250) and the first link (210), a distance from a hinge point of the driving member (300) and the fifth link (250) to a hinge point of the fifth link (250) and the third link (230) is L3, a distance from a hinge point of the fifth link (250) and the fourth link (240) to a hinge point of the fifth link (250) and the third link (230) is L4, and the L3 is greater than the L4.

7. A head movement mechanism according to any of claims 1 to 6, characterized in that the linkage assemblies (200) are in groups.

8. The head movement mechanism according to claim 7, wherein the linkage assemblies (200) are in two sets, and the two first links (210) are in a first integral U-shaped configuration.

9. The head movement mechanism according to claim 7, wherein the linkage assemblies (200) are in two sets, and the two second links (220) are in a second integral U-shaped configuration.

10. A robot, characterized by comprising a trunk (500), a head (600) and a head movement mechanism according to any of claims 1-9, said head movement mechanism being connected to said trunk (500) and said head (600), respectively.

Technical Field

The invention relates to the technical field of robots, in particular to a head movement mechanism and a robot.

Background

With the development of computer technology, microelectronic technology and network technology, the robot technology has also been developed rapidly. At present, robots are not only applied to the industrial field, but also applied to the fields closely related to human life, such as service robots, educational robots, entertainment robots and the like, and the invention, production and application of the robots bring convenience and fun to human life.

In the prior art, the robot comprises a trunk and a head, the head of most of the robots can do the actions of nodding, shaking and swinging with three degrees of freedom, but the head of the robot is easy to vibrate and other unstable conditions in the moving process.

In order to solve the problem, a head movement mechanism capable of enabling the head of the robot to do telescopic movement is developed, the movement mechanism comprises a manipulator and a movable sliding table, the manipulator is used for connecting the head and the trunk, and the movable sliding table can drive the head to do telescopic movement along the vertical direction. However, the head movement mechanism needs to provide a groove on the trunk to accommodate the manipulator, the movable sliding table and the contracted head, which results in a large robot volume and a complex structure.

Therefore, it is desirable to provide a head moving mechanism and a robot to solve the above problems.

Disclosure of Invention

One object of the present invention is to provide a head movement mechanism to achieve the effects of compact structure and reduced robot size.

In order to achieve the purpose, the invention adopts the following technical scheme:

a head movement mechanism disposed between a torso and a head of a robot, the head movement mechanism comprising:

the fixing seat is arranged on the trunk;

the connecting rod assembly comprises a first connecting rod, a second connecting rod and a third connecting rod, the first connecting rod and the second connecting rod are respectively hinged with the fixed seat, the first connecting rod and the second connecting rod are respectively hinged with the third connecting rod, and the third connecting rod is connected with the head;

the driving piece is arranged on the connecting rod assembly and can stretch out and draw back to drive the head to do lifting motion through driving the connecting rod assembly.

As an implementable aspect, the connecting rod assembly further includes:

and the fourth connecting rod is hinged with the second connecting rod and is connected with the head.

As an implementable aspect, the connecting rod assembly further includes:

and the fifth connecting rod is hinged with the fourth connecting rod and the third connecting rod respectively.

As an implementation, a distance from a hinge point of the first link and the third link to a hinge point of the second link and the third link is L1, a distance from a hinge point of the second link and the third link to a connection point of the third link and the head is L2, and L2 is greater than L1.

As an implementable scheme, the driving element is linearly driven, and the driving element is simultaneously hinged to any two of the first connecting rod, the second connecting rod, the third connecting rod, the fourth connecting rod, the fifth connecting rod and the fixed seat.

As an implementation, the driving member is hinged to the fifth link and the first link, a distance from a hinge point of the driving member and the fifth link to a hinge point of the fifth link and the third link is L3, a distance from a hinge point of the fifth link and the fourth link to a hinge point of the fifth link and the third link is L4, and L3 is greater than L4.

As an implementable solution, the connecting rod assemblies are in a plurality of groups.

As an implementable scheme, the connecting rod assemblies are two groups, and the two first connecting rods are of an integrated first U-shaped structure.

As an implementable scheme, the two connecting rod assemblies are in two groups, and the two second connecting rods are in an integrated second U-shaped structure.

Another object of the present invention is to provide a robot, wherein the head moving mechanism is used to reduce the size of the robot.

A robot comprises a trunk, a head and the head movement mechanism, wherein the head movement mechanism is connected with the trunk and the head respectively.

The invention has the beneficial effects that:

the invention provides a head movement mechanism. The head movement mechanism is arranged between the trunk and the head and comprises a fixed seat, a connecting rod assembly and a driving piece. Wherein link assembly includes first connecting rod, second connecting rod and third connecting rod, first connecting rod and second connecting rod are articulated with the fixing base respectively, first connecting rod and second connecting rod are articulated with the third connecting rod respectively, and the third connecting rod is connected with the head, the driving piece sets up on link assembly, can drive link assembly through the driving piece and stretch out and draw back and do elevating movement in order to realize the head, thereby make fixing base and link assembly form a four-bar linkage, the driving piece sets up on link assembly, the driving piece can stretch out and draw back in order to realize that drive head is elevating movement through drive link assembly. The head movement mechanism has a compact structure, is convenient to assemble and is beneficial to maintenance of a user. Meanwhile, the head movement mechanism is small in size, so that the size of the robot is reduced, and the flexibility of the robot in the application process is improved. When the robot does the rapid movement, the driving piece can drive the connecting rod assembly to contract, so that the head can descend, and the head is prevented from shaking due to the rapid movement of the robot. Meanwhile, the head of the robot can ascend and descend, so that a better bionic effect is achieved, and personalized requirements of different users can be met.

The invention also provides a robot, which comprises a trunk, a head and the head movement mechanism, wherein the head movement mechanism is respectively connected with the trunk and the head, so that the effect of reducing the size of the robot is achieved.

Drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings used in the description of the embodiments of the present invention will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the contents of the embodiments of the present invention and the drawings without creative efforts.

Fig. 1 is a schematic structural diagram of a robot according to an embodiment of the present invention;

FIG. 2 is a schematic mechanical diagram of a head movement mechanism according to an embodiment of the present invention;

FIG. 3 is a schematic mechanical diagram of a head movement mechanism according to a first embodiment of the present invention;

fig. 4 is a schematic structural diagram of a head movement mechanism according to a second embodiment of the present invention;

FIG. 5 is a schematic mechanical diagram of a head movement mechanism according to a second embodiment of the present invention;

FIG. 6 is a schematic mechanical diagram of a head movement mechanism according to a second embodiment of the present invention;

fig. 7 is a schematic structural diagram of a head movement mechanism according to a second embodiment of the present invention in a contracted state;

FIG. 8 is a schematic structural view of a head movement mechanism provided in accordance with a second embodiment of the present invention in a transition state from retracted to extended;

FIG. 9 is a schematic structural view of a head movement mechanism provided in accordance with a second embodiment of the present invention in an extended state;

fig. 10 is a schematic mechanical diagram of a head movement mechanism according to a third embodiment of the present invention.

The figures are labeled as follows:

100-a fixed seat;

200-a linkage assembly; 210-a first link; 220-a second link; 230-a third link; 240-fourth link; 250-a fifth link;

300-a driver; 400-a connecting shaft; 500-torso; 510-torso body; 520-foot part; 600-head.

Detailed Description

The present invention will be described in further detail with reference to the accompanying drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting of the invention. It should be further noted that, for the convenience of description, only the structures related to the present invention are shown in the drawings, not the entire structures.

In the description of the present invention, unless expressly stated or limited otherwise, the terms "connected," "connected," and "fixed" are to be construed broadly, e.g., as meaning permanently connected, removably connected, or integral to one another; can be mechanically or electrically connected; they may be directly connected or indirectly connected through intervening media, or may be structurally related or interoperable between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.

In the present invention, unless otherwise expressly stated or limited, "above" or "below" a first feature means that the first and second features are in direct contact, or that the first and second features are not in direct contact but are in contact with each other via another feature therebetween. Also, the first feature being "on," "above" and "over" the second feature includes the first feature being directly on and obliquely above the second feature, or merely indicating that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature includes the first feature being directly under and obliquely below the second feature, or simply meaning that the first feature is at a lesser elevation than the second feature.

In the description of the present embodiment, the terms "upper", "lower", "left", "right", and the like are used based on the orientations and positional relationships shown in the drawings only for convenience of description and simplification of operation, and do not indicate or imply that the referred device or element must have a specific orientation, be configured and operated in a specific orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first" and "second" are used only for descriptive purposes and are not intended to have a special meaning.

Example one

With the development of computer technology, microelectronic technology and network technology, the robot technology has also been developed rapidly. At present, robots are not only applied to the industrial field, but also applied to the fields closely related to human life, such as service robots, educational robots, entertainment robots and the like, and the invention, production and application of the robots bring convenience and fun to human life.

The embodiment provides a robot applied to human-computer communication, and referring to fig. 1, the robot comprises a trunk 500 and a head 600, wherein the head 600 is arranged on the trunk 500, and the trunk 500 drives the head 600 to move, so that the overall movement of the robot is realized. Specifically, trunk 500 includes trunk body 510 and foot 520, and foot 520 is articulated with trunk body 510, when the robot need walk about, can drive the whole removal of robot through the articulated motion of foot 520 with trunk body 510, makes the motion mode of robot more be close to the biology, reaches better bionical effect to help improving user experience's satisfaction. As a preferable scheme, the feet 520 may be provided in four, thereby making the robot look similar to an animal. In other embodiments, the foot 520 can be designed to be any number of two, three, five, six, etc., without limitation.

Further, the head 600 may be a static functional component, thereby enabling the robot to implement basic functions of human-computer interaction. The head 600 may also include one or more degrees of freedom, so that the head 600 has a richer man-machine interaction module, which is beneficial to improving the satisfaction of the user experience. Exemplarily, the head 600 may include a combination of three degrees of freedom, namely Roll, Pitch, and Yaw, so that the head 600 can perform head nodding, head shaking, and head swinging. However, the head 600 of the robot commonly used at present is prone to unstable situations such as shaking, vibration and the like during the movement of the robot, and is not beneficial to meeting the personalized requirements of different users.

In order to solve the above problems, referring to fig. 1, the present embodiment improves the structure of the robot, and by providing a head movement mechanism between the trunk 500 and the head 600, the head 600 can perform a lifting movement on the basis of a movement with one or more degrees of freedom, thereby avoiding unstable situations such as shaking, vibration and the like easily occurring in the movement process of the robot, and the head 600 of the robot can perform a lifting and lowering movement, achieving a better effect of preventing effectiveness, and being beneficial to meeting personalized requirements of different users.

The head motion mechanism that prior art can make concertina movement by robot head includes the manipulator and removes the slip table, and the manipulator is used for connecting head and truck, removes the slip table and can drive the head and do the motion of following vertical direction flexible. This head motion need set up the recess on the truck and hold the manipulator, remove the head after slip table and the shrink, and in the high speed motion process of robot, can be the shrink motion through removing slip table drive head, shrink to the recess of truck in to avoid the robot motion in-process to take place to rock, the problem of vibration. However, the structural design causes the robot to have the problems of large volume, complex structure and the like.

In order to solve the above-mentioned problems of the prior art, the present embodiment improves the structure of the head movement mechanism. The detailed structure of the head movement mechanism will now be described with reference to fig. 2.

As shown in fig. 2, fig. 2 is a schematic mechanical diagram of a head movement mechanism according to an embodiment of the present invention. The head moving mechanism includes a holder 100, a link assembly 200, and a driving member 300. Wherein, fixing base 100 sets up on trunk 500, and link assembly 200 is connected with fixing base 100 and head 600 respectively, makes link assembly 200's position be similar to the neck position of animal, can make the robot reach bionic effect in the outward appearance. Optionally, the head 600 and the connecting rod assembly 200 may also be fixedly connected by welding, so as to avoid the looseness of the connection position caused by long-term shaking or nodding of the head 600 of the robot, which is beneficial to improving the safety and reliability of the robot. Meanwhile, the head movement mechanism is beneficial to improving the anti-biotic effect of the robot and more beneficial to meeting the individual requirements of different users. In other embodiments, the connecting rod assembly 200 is removably coupled to the head 600 to facilitate assembly and maintenance by a user. Illustratively, the head 600 and the connecting rod assembly 200 may be connected by screws, rivets, etc., which are conventional components, are convenient for users to purchase and replace, and have the advantage of low cost.

As an implementable solution, referring to fig. 2, the link assembly 200 includes a first link 210, a second link 220, and a third link 230, the first link 210 and the second link 220 are respectively hinged to the fixing base 100, the first link 210 and the second link 220 are respectively hinged to the third link 230, and the third link 230 is connected to the head 600, so that the fixing base 100, the first link 210, the second link 220, and the third link 230 form a four-bar linkage, the driving member 300 is disposed on the link assembly 200, and the driving member 300 can extend and contract by driving the link assembly 200 to drive the head 600 to move up and down. The head movement mechanism has a compact structure, is convenient to assemble and is beneficial to maintenance of a user. Meanwhile, the head movement mechanism is small in size, so that the size of the robot is reduced, and the flexibility of the robot in the application process is improved. When the robot moves rapidly, the driving member 300 can drive the connecting rod assembly 200 to contract, so that the head 600 can descend, and the head 600 is prevented from shaking due to rapid movement of the robot. Meanwhile, the head 600 of the robot can ascend and descend to achieve a better bionic effect, and personalized requirements of different users can be met.

Further, referring to fig. 2, one end of the first link 210 is hinged to the fixing base 100, the other end is hinged to one end of the third link 230, one end of the second link 220 is hinged to the fixing base 100, the other end is hinged to any position in the middle of the third link 230, and one end of the third link 230, which is far away from the hinged point with the second link 220, is connected to the head 600, so that the structure of the link assembly 200 is further simplified, the volume of the link assembly 200 is reduced, and the overall weight of the robot is reduced.

Alternatively, the driver 300 may be a linear drive or a rotary drive. The linear driving drives the head movement mechanism to expand and contract through outputting linear movement, and the rotary driving drives the head movement mechanism to expand and contract through outputting rotary movement. Particularly, linear electric motor and sharp cylinder can be chooseed for use to linear drive, and rotary electric motor etc. can be chooseed for use to rotary drive, and linear electric motor, sharp cylinder and rotary electric motor all belong to conventional part, the purchase of being convenient for. And the linear motor, the linear cylinder and the rotating motor have good stability, and the service performance of the head movement mechanism is favorably ensured.

Further, as shown in fig. 2, when the driving member 300 is driven linearly, the driving member 300 is hinged to the fixing base 100 and the third link 230 simultaneously. During operation, the driving member 300 can output a linear extending motion, and the driving member 300 drives one end of the third connecting rod 230 close to the head 600 to move upwards, so as to drive the first connecting rod 210 and the second connecting rod 220 to rotate anticlockwise, and the connecting rod assembly 200 makes an extending motion, so that the head 600 performs a lifting motion. Meanwhile, the driving member 300 can drive one end of the third link 230 close to the head 600 to move downwards, and at this time, the first link 210 and the second link 220 rotate clockwise, and the link assembly 200 makes a retracting movement, so that the head 600 can descend.

Referring to fig. 3, fig. 3 is a schematic view of the mechanism when the driving member 300 is rotationally driven. For example, the driving member 300 may be a rotating motor, and the driving member 300 is disposed on the fixing base 100. During operation, the driving member 300 can drive the second connecting rod 220 to rotate, so as to drive the third connecting rod 230 to move, and further drive the head 600 to ascend or descend, thereby achieving the effect that the robot head 600 can stretch.

Example two

The present embodiment provides a head movement mechanism. The structure of the head moving mechanism of the present embodiment is substantially the same as that of the head moving mechanism of the first embodiment, and the head moving mechanism of the present embodiment is different from that of the first embodiment in that: the design location of the driving member 300 is different, and the fourth link 240 and the fifth link 250 are added with corresponding structural improvement.

As a preferable scheme, referring to fig. 4, fig. 4 is a schematic structural diagram of a head movement mechanism according to a second embodiment of the present invention. The head moving mechanism in this embodiment further includes a fourth link 240, the fourth link 240 is hinged to the second link 220, and the fourth link 240 is connected to the head 600. Through the arrangement of the fourth connecting rod 240, the fourth connecting rod 240 and the third connecting rod 230 are connected with the head 600 at the same time, so that two points of the head 600 are fixed, the stability of the head 600 in the ascending and descending processes is improved, and the head 600 is prevented from nodding or raising in the ascending and descending processes as much as possible.

Further, referring to fig. 4, the connecting rod assembly 200 further includes a fifth connecting rod 250, the fifth connecting rod 250 is hinged to the fourth connecting rod 240 and the third connecting rod 230, respectively, so that the second connecting rod 220, the third connecting rod 230, the fourth connecting rod 240 and the fifth connecting rod 250 form another four-bar linkage, which is beneficial to ensuring the stability of the transmission process of the connecting rod movement assembly, and the fifth connecting rod 250 connects the movement relationship of the third connecting rod 230 and the fourth connecting rod 240, which is beneficial to improving the flexibility of the design of the connecting rod movement mechanism.

Based on the above structure, the driving member 300 can be hinged to any two of the first connecting rod 210, the second connecting rod 220, the third connecting rod 230, the fourth connecting rod 240, the fifth connecting rod 250 and the fixing seat 100 at the same time, so that the driving member 300 can drive the connecting rods to move and transmit, and the head 600 can be driven to move up and down, thereby improving the design flexibility of the head movement mechanism and contributing to enlarging the application range of the head movement mechanism.

For example, as shown in fig. 4, when the driving member 300 is driven by a straight line, the driving member 300 may be hinged to the first connecting rod 210 and the fifth connecting rod 250, and when the driving member 300 performs an extending motion, the driving member 300 can drive the fifth connecting rod 250 to rotate around the hinge point with the third connecting rod 230 counterclockwise, and the driving member 300 rotates around the hinge point with the first connecting rod 210 clockwise to drive the fourth connecting rod 240 and the third connecting rod 230 to rotate clockwise, so that the fifth connecting rod 250 is lifted, and the head 600 is lifted. When the driving member 300 performs the retracting motion, the driving member 300 can drive the fifth connecting rod 250 to rotate clockwise, and the driving member 300 rotates counterclockwise around the hinge point of the driving member 300 and the first connecting rod 210 to drive the fourth connecting rod 240 and the third connecting rod 230 to rotate counterclockwise, so that the fifth connecting rod 250 descends, and the head 600 descends. In other embodiments, the driving member 300 may also be disposed between any two of the first link 210, the second link 220, the third link 230, the fourth link 240, the fifth link 250, and the fixing base 100, which is not limited herein. Illustratively, the linear drive may be a linear motor, a linear cylinder, or the like, which is a conventional component and is convenient to purchase, and the linear motor and the linear cylinder may provide the linear drive driving member 300.

Specifically, the link motion mechanism further comprises a connecting shaft 400, and the link motion mechanism drives each hinge point to be connected through the connecting shaft 400, so that the assembly and the maintenance of an operator are facilitated. Meanwhile, the connecting shaft 400 has the function of supporting two structures which rotate relatively, motion and power can be transmitted simultaneously, and the connecting shaft 400 has better wear resistance, so that the service life of the two structures which are connected with each other is prolonged. The specific type of the connecting shaft 400 can be selected according to the size of different connecting positions, and is not limited herein.

Alternatively, as shown in FIG. 4, the linkage assembly 200 is in multiple groups. The plurality of groups of connecting rod assemblies 200 are arranged in parallel, so that the structural strength of the connecting rod assemblies 200 is improved, and the stability of the head movement mechanism in the movement process is improved. Specifically, in order to simplify the structure of the head moving mechanism in this embodiment, the two sets of link moving assemblies are provided, and the two sets of link moving assemblies are arranged in parallel and at intervals, so as to achieve the effect of improving the stability of the head moving mechanism in the moving process. In other embodiments, the connection assembly 200 may be provided in three, four or more groups, which is not limited herein.

Furthermore, referring to fig. 4, in this embodiment, the two first connecting rods 210 are connected to form an integrated first U-shaped structure, so that the two second connecting rods 220 can be embedded in the first U-shaped structure between the two first connecting rods 210, and the first U-shaped structure can avoid and accommodate the structure of the second connecting rods 220, which is beneficial to reducing the occupied space of the head 600 moving structure of this embodiment. This structural design can make the visual effect of the side structure of head 600 motion fine, and can reduce the whole weight and the volume of head motion.

Referring to fig. 4, the two second links 220 are connected to each other and also configured in a second U-shaped configuration, and the fourth link 240 is disposed in the middle of the second U-shaped configuration of the second links 220, so that the second U-shaped configuration forms a bypass for the fourth link 240. This structural design can make the visual effect of the side structure of head 600 motion fine, and can reduce the whole weight and the volume of head motion. In the scheme, only one fourth connecting rod 240 may be provided, one fourth connecting rod 240 is disposed in the middle of the second U-shaped structure, and the second connecting rod 220 and the third connecting rod 230 are clamped and fixed at two ends of the fourth connecting rod 240, which is beneficial to ensuring effective movement of the connecting rod assembly 200 and further simplifying the structure.

As a preferable scheme, referring to fig. 4, in order that the visual effects of the fourth link 240 and the third link 230 along the extension directions thereof coincide, the fourth link 240 has an arc structure, one end of the arc structure is bent to be able to hinge with the second link 220, the other end of the arc structure is bent to be able to hinge with the two fifth links 250, and meanwhile, the extension direction and the angle of the middle position of the arc structure can coincide with the projection of the third link 230, thereby being beneficial to making the visual effect of the side structure of the head 600 moving structure slim and reducing the overall weight and volume of the head moving mechanism.

As a preferable scheme, referring to fig. 5, fig. 5 is a schematic mechanical diagram of a head movement mechanism according to a second embodiment of the present invention. The output end of the driving member 300 is hinged to the fifth link 250, the distance from the hinge point of the driving member 300 and the fifth link 250 to the hinge point of the fifth link 250 and the third link 230 is L3, the distance from the hinge point of the fifth link 250 and the fourth link 240 to the hinge point of the fifth link 250 and the third link 230 is L4, and L3 is greater than L4. When the head movement mechanism works, the driving piece 300 drives the fifth connecting rod 250 to rotate around the rotating shaft of the fifth connecting rod 250 and the rotating shaft of the third connecting rod 230, and it can be understood that according to the lever movement principle, the hinge point of the fifth connecting rod 250 and the third connecting rod 230 is equivalent to a fulcrum, the L3 is equivalent to a power arm, the L4 is equivalent to a resistance arm, and the L3 is larger than the L4, so that the output force of the driving piece 300 is favorably reduced, the full utilization of the output energy of the output piece is improved, and the cost of the head movement mechanism is reduced. Meanwhile, when the L3 is greater than the L4, the telescopic motion of the driving member 300 can drive the power arm L3 to rotate a small distance, so that it is ensured that the resistance arm L4 rotates a small distance to drive the head movement mechanism to integrally contract, thereby being beneficial to avoiding the phenomena of nodding and raising of the head 600 in the lifting process as much as possible and improving the stability of the head 600 in the movement process.

Further, referring to fig. 6, fig. 6 is another schematic view of the head moving mechanism according to the second embodiment of the present invention. The distance from the hinge point of the first link 210 and the third link 230 to the hinge point of the second link 220 and the third link 230 is L1, the distance from the hinge point of the second link 220 and the third link 230 to the connection point of the third link 230 and the head 600 is L2, and L2 is greater than L1. According to the force transmission and the motion principle of the four-bar linkage, when the driving member 300 drives the fifth link 250 to rotate, the fifth link 250 drives the third link 230 to rotate, a new component similar to lever motion is formed in the rotation process of the third link 230, the hinge point of the third link 230 and the second link 220 is equivalent to a fulcrum, L2 is a power arm, and L1 is a resistance arm. From the lever principle, it can be understood that by making L2 larger than L1, the effect of movement is facilitated by a smaller driving force. Meanwhile, when the L2 is larger than the L1, the effect of overall contraction of the head movement mechanism can be realized by overall small rotation of the third connecting member, which is also beneficial to avoiding the phenomena of nodding and raising of the head 600 in the lifting process as much as possible, and improving the stability of the head 600 in the movement process.

The movement process of the present embodiment will be described with reference to fig. 7 to 9.

Referring to fig. 7, fig. 7 is a schematic structural view of a head movement mechanism in a contracted state according to a second embodiment of the present invention. When the head movement mechanism is in the position as described in fig. 7, the robot head 600 is in a contracted state. This state is suitable for the robot movement process or the robot transport process. When the robot moves, the head moving mechanism is in a contracted state, which is beneficial to improving the stability of the head 600 and avoiding the head 600 from shaking. When the robot is transported, the head moving mechanism is contracted, so that the head 600 is prevented from shaking to cause damage, the occupied space is reduced, and the packaging cost and the transportation cost are saved.

Referring to fig. 8, fig. 8 is a schematic structural view of a head movement mechanism in a transition state from a retracted state to an extended state according to a second embodiment of the present invention. When the user needs to extend the robot head 600, the driving member 300 can drive the fifth connecting rod 250 to move upward and rotate at a small angle, so as to drive the head 600 to be lifted, and meanwhile, the fifth connecting rod 250 drives the third connecting rod 230 and the fourth connecting rod 240 to rotate, so that the connecting rod assembly 200 is unfolded, and the purpose of gradually extending the head movement mechanism is achieved.

Referring to fig. 9, fig. 9 is a schematic structural view of the head movement mechanism provided in the second embodiment of the present invention in an extended state. When the driving member 300 is extended to the maximum length, the head moving mechanism can reach the state shown in fig. 9, that is, the fully-unfolded state is achieved, and the head 600 is lifted to the highest position.

It will be appreciated that the head 600 lowering process is the reverse of the lifting process described above and will not be described in detail herein.

EXAMPLE III

The present embodiment provides a head movement mechanism. The structure of the head moving mechanism of the present embodiment is substantially the same as that of the second embodiment, and the head moving mechanism of the present embodiment is different from that of the second embodiment in that: the type and design of the driver 300 is different.

Referring to fig. 10, fig. 10 is a schematic diagram of a mechanism for implementing three head movements according to the present invention. In this embodiment, the driving element 300 may be a rotating motor, and the rotating motor is disposed on the fixing base 100, so that the rotating motor can drive the second connecting rod 220 to rotate in the clockwise direction or the counterclockwise direction; or the rotary motor can drive the first link 210 to rotate in a clockwise direction or in a counterclockwise direction. As shown in fig. 10, during operation, the rotating motor can drive the second connecting rod 220 to rotate counterclockwise, so as to drive the third connecting rod 230 to rotate clockwise, and simultaneously drive the fourth connecting rod 240 to rotate clockwise, so that the fifth connecting rod 250 can move upward along with the fourth connecting rod, and drive the head 600 to lift upward, so that the connecting rod assembly 200 gradually expands, and the head moving mechanism drives the head 600 to lift. Of course, it can be understood that the rotating electrical machine can also drive the second connecting rod 220 to rotate clockwise, so as to drive the third connecting rod 230 to rotate counterclockwise, and simultaneously drive the fourth connecting rod 240 to rotate counterclockwise, so that the fifth connecting rod 250 can move downward to drive the head 600 to descend, and the connecting rod assembly 200 gradually contracts, thereby realizing the lowering of the head 600 by the head moving mechanism driving head.

It is noted that the foregoing shows and describes the general principles and features of the present invention, together with the advantages thereof. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, which are merely illustrative of the principles of the present invention, but that various changes and modifications may be made without departing from the spirit and scope of the invention, which is defined by the appended claims and their equivalents.