CN107283432A - Robot with blink function - Google Patents
Robot with blink function Download PDFInfo
- Publication number
- CN107283432A CN107283432A CN201610200527.8A CN201610200527A CN107283432A CN 107283432 A CN107283432 A CN 107283432A CN 201610200527 A CN201610200527 A CN 201610200527A CN 107283432 A CN107283432 A CN 107283432A
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- CN
- China
- Prior art keywords
- robot
- eyelid
- blink function
- beak
- head shell
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- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/0005—Manipulators having means for high-level communication with users, e.g. speech generator, face recognition means
- B25J11/0015—Face robots, animated artificial faces for imitating human expressions
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/003—Manipulators for entertainment
Abstract
The invention provides a kind of robot with blink function, the robot includes：Head shell；Fixed seat, the fixed seat is fixed in the head shell；Upper eyelid and lower eyelid, the upper eyelid and the lower eyelid are connected with the drive device being arranged in the fixed seat respectively, and the upper eyelid and the synchronized reverse rotation of the lower eyelid are driven by the drive device；Eyeball, the eyeball is arranged between the upper eyelid and the lower eyelid, and the eyeball is connected with camera, and the camera is fixed in the head shell.The robot that the present invention has blink function can effectively improve the recreational and bio-imitability of robot so that pet robot more adapts to the demand of people's life change.
Description
Technical field
The present invention relates to robot field, more particularly to a kind of robot with blink function, it is adaptable to house pet robot.
Background technology
Robot (Robot) is the automatic installations for performing work, and it can both receive mankind commander, the program of advance layout can be run again, can also be according to the principle guiding principle action formulated with artificial intelligence technology.The life of modern humans, increasing robot is used for the work for assisting or replacing the mankind, for example, produce industry, construction industry, or all kinds of dangerous work.
In addition, as people are to family and the requirement more and more higher of public arena degree of intelligence, robot has been increasingly becoming an indispensable part in people's live and work.
Particularly, with the propulsion of mankind's urbanization process, the work rhythm of people is constantly accelerated, it is necessary to which pet loosens life.But most of intelligent robot does not possess blink function at present, it is impossible to the upper lower eyelid blink as people.Therefore, a kind of structural design scheme of house pet robot blink function is designed, the recreational and bio-imitability of pet robot can be greatly improved.
The content of the invention
The technical problem to be solved in the present invention is that there is provided a kind of robot with blink function in order to overcome robot in the prior art not possess the defect of blink function.
The present invention is to solve above-mentioned technical problem by following technical proposals：A kind of robot with blink function, its feature is that the robot includes：Head shell；
Fixed seat, the fixed seat is fixed in the head shell；
Upper eyelid and lower eyelid, the upper eyelid and the lower eyelid are connected with the drive device being arranged in the fixed seat respectively, and the upper eyelid and the synchronized reverse rotation of the lower eyelid are driven by the drive device；
Eyeball, the eyeball is arranged between the upper eyelid and the lower eyelid, and the eyeball is connected with camera, and the camera is fixed in the head shell.
In one embodiment of the invention, the fixed seat is U-shaped bearing, and the drive device is fixed on the U-shaped bearing madial wall.
In one embodiment of the invention, the drive device includes two micromachines, each micromachine is arranged on the U-shaped bearing madial wall, the side of the output shaft of the micromachine through the U-shaped bearing stretches out, the output shaft and the fixed seat junction are provided with first gear, drive the first gear to rotate by the output shaft；
One end of the upper eyelid is fixed with the output shaft, and positioned at the outside of the first gear, the other end of the upper eyelid is rotated with the eyelid mounting seat being fixed on the head shell and is connected so that upper eyelid folding up and down with the rotation of the output shaft.
In one embodiment of the invention, the drive device also includes second gear and rotating shaft, one end of the rotating shaft is fixed on the U-shaped support outer wall, and positioned at the lower section of the output shaft, the second gear is arranged on the rotating shaft and the U-shaped bearing junction, and the second gear is engaged with the first gear, the axis of rotation is driven by the second gear；
One end of the lower eyelid is fixed in the rotating shaft, and positioned at the outside of the second gear, the other end of the lower eyelid is rotated with the eyelid mounting seat and is connected so that lower eyelid folding up and down with the rotation of the rotating shaft.
In one embodiment of the invention, the first gear and the output shaft of the micromachine are interference fitted, the second gear and rotating shaft cooperation really up to the mark.
In one embodiment of the invention, the micromachine is stepper motor.
In one embodiment of the invention, the upper eyelid and the lower eyelid are 1/4 spherical.
In one embodiment of the invention, the angle that the upper eyelid and the lower eyelid are rotated is less than or equal to 60 degree.
In one embodiment of the invention, the L-shaped bulk of eyelid mounting seat, the upper eyelid and the lower eyelid are rotated with the eyelid mounting seat by a connection piece be connected respectively.
In one embodiment of the invention, open up fluted in the eyelid mounting seat, the connector is fixed in the groove, the upper eyelid and the lower eyelid are located on the corresponding connector.
In one embodiment of the invention, the connector is pin, latch or rotating bar.
In one embodiment of the invention, through hole is offered on the eyeball, the camera wears and is fixed in the through hole.
In one embodiment of the invention, the eyeball is made of acrylic material.
In one embodiment of the invention, the robot with blink function also includes：Mouth, the mouth is connected with the head shell so that folding above and below the mouth；
Drive device, the drive device is arranged on the head shell；
Rotating supports, the rotating supports are connected with the drive device, drive the rotating supports to rotate by the drive device, so as to drive folding above and below the mouth.
In one embodiment of the invention, the mouth includes upper and lower beak, and the upper beak and the lower beak are connected by a rotatable parts with the head shell respectively so that the upper beak and the lower beak are relatively rotated around the rotatable parts；
The rotating supports are located between the upper beak and the lower beak, the contoured surface of the rotating supports is contacted with the upper beak and the lower beak respectively, the rotating supports are driven to rotate by the drive device, so as to drive the upper beak and the lower beak to relatively rotate.
In one embodiment of the invention, the drive device includes motor cabinet and direct current generator, and the motor cabinet is fixedly mounted on the head shell, and the direct current generator is arranged on the motor cabinet, and the axle of the direct current generator is connected with the rotating supports.
In one embodiment of the invention, the rotating supports are cam, and the cam is arranged on the tip of the axis of the direct current generator.
In one embodiment of the invention, using interference fit between the axle of the cam and the direct current generator.
In one embodiment of the invention, the bottom face of the upper beak at the cam contact with offering the first groove, and the shape of first groove is matched with the contoured surface of the cam；
The upper surface of the lower beak at the cam contact with offering the second groove, and the shape of second groove is matched with the contoured surface of the cam.
In one embodiment of the invention, the side of the upper beak is connected by the first elastomeric element with the head shell, the side of the lower beak is connected by the second elastomeric element with the head shell, and the side of the upper beak and the side of the lower beak are relative both sides.
In one embodiment of the invention, one end of first elastomeric element is connected with the side of the upper beak, and the other end is connected to the head shell.
In one embodiment of the invention, one end of second elastomeric element is connected with the side of the lower beak, and the other end is connected to the head shell.
In one embodiment of the invention, first elastomeric element and second elastomeric element use back-moving spring.
In one embodiment of the invention, the motor cabinet is fixed on the head shell by screw.
In one embodiment of the invention, the drive device also includes decelerator, and the decelerator is connected with the direct current generator, or the decelerator is integrally formed with the direct current generator.
In one embodiment of the invention, the rotatable parts are gyroaxis.
In one embodiment of the invention, the head shell is penguin head shape.
The positive effect of the present invention is：
The robot that the present invention has blink function is provided with upper eyelid, lower eyelid and eyeball, upper eyelid and lower eyelid are connected by the drive device being arranged in fixed seat respectively, and synchronized reverse rotation is realized by the driving of drive device, this structure is effectively improved the recreational of robot.Meanwhile, there is the present invention robot of blink function to be also provided with the head shell with the head shell, such as penguin shape of high emulation external form so that the robot has high bio-imitability so that pet robot more adapts to the demand of people's life change.
Brief description of the drawings
The above and other feature of the present invention, property and advantage will be become apparent by description with reference to the accompanying drawings and examples, and identical reference represents identical feature all the time in the accompanying drawings, wherein：
Fig. 1 has the head stereoscopic figure one of the embodiment one of the robot of blink function for the present invention.
Fig. 2 has the head stereoscopic figure two of the embodiment one of the robot of blink function for the present invention.
Fig. 3 has the head rearview of the embodiment one of the robot of blink function for the present invention.
Fig. 4 has the head internal structure schematic diagram of the embodiment one of the robot of blink function for the present invention.
Fig. 5 has the explosive view on the head of the embodiment one of the robot of blink function for the present invention.
Fig. 6 has the schematic diagram of the head shell of the embodiment two of the robot of blink function for the present invention.
Fig. 7 has the mouth structural representation one of the embodiment two of the robot of blink function for the present invention.
Fig. 8 has the mouth structural representation two of the embodiment two of the robot of blink function for the present invention.
Fig. 9 for the present invention have blink function robot embodiment two in upper beak, lower beak and cam cooperation schematic diagram.
Figure 10 has the explosive view of the embodiment two of the robot of blink function for the present invention.
Embodiment
For the above objects, features and advantages of the present invention can be become apparent, the embodiment of the present invention is elaborated below in conjunction with accompanying drawing.
Embodiments of the invention are described with detailed reference to accompanying drawing now.Now with detailed reference to the preferred embodiments of the present invention, its example is shown in the drawings.In the case of any possible, identical will be used to mark to represent same or analogous part in all of the figs.In addition, although the term used in the present invention is selected from public term, but some terms mentioned in description of the invention are probably applicant comes selection, its detailed meanings explanation in the relevant portion of description herein by his or her judgement.In addition, it is desirable to not only by used actual terms, the meaning that is contained by each term is also to understand the present invention.
Embodiment one：
Fig. 1 has the head stereoscopic figure one of the embodiment one of the robot of blink function for the present invention.Fig. 2 has the head stereoscopic figure two of the embodiment one of the robot of blink function for the present invention.Fig. 3 has the head rearview of the embodiment one of the robot of blink function for the present invention.Fig. 4 has the head internal structure schematic diagram of the embodiment one of the robot of blink function for the present invention.Fig. 5 has the explosive view on the head of the embodiment one of the robot of blink function for the present invention.
As shown in Figures 1 to 5, a kind of robot with blink function is disclosed in one embodiment of the present of invention, it includes head shell 10, upper eyelid 20, lower eyelid 30, eyeball 40 and fixed seat 50.Wherein, fixed seat 50 is fixed in head shell 10, upper eyelid 20 and lower eyelid 30 is connected with the drive device being arranged in fixed seat 50 respectively, upper eyelid 20 and the synchronized reverse rotation of lower eyelid 30 are driven by the drive device.
Meanwhile, eyeball 40 is arranged between upper eyelid 20 and lower eyelid 30, and eyeball 40 is connected with camera 41, camera 41 herein is fixed in head shell 10, and eyeball 40 is preferably that acrylic material is made.Through hole is offered on eyeball 40 so that camera 41 wears and is fixed in the through hole.
Certainly, the form of eyeball 40 is not limited to said structure, and it can also add transparent position in eyeball 40, and camera 41 is embedded in the transparent position.Or, pin hole can also will be set on eyeball 40, using pin camera etc..The machine that the present invention has blink function can realize purpose per capita, have each class formation of identical function within the scope of the present invention with said structure.
Preferably, fixed seat 50 selects U-shaped bearing, and the drive device is fixed on the U-shaped bearing inner side edge.Further, heretofore described drive device includes two micromachines 60, each micromachine 60 is arranged on the U-shaped bearing madial wall, the side of the output shaft 61 of micromachine 60 through the U-shaped bearing is stretched out, and output shaft 61 and the junction of fixed seat 50 are provided with first gear 70, drive first gear 70 to rotate by output shaft 61.
One end of upper eyelid 20 is fixed with output shaft 61, and positioned at the outside of first gear 70, and the other end of upper eyelid 20 is rotated with the eyelid mounting seat 90 being fixed on head shell 10 and is connected so that the folding up and down with the rotation of output shaft 61 of upper eyelid 20.
In addition, the drive device also includes second gear 80 and rotating shaft 91, one end of rotating shaft 91 is fixed on the U-shaped support outer wall, and positioned at the lower section of output shaft 61, and second gear 80 is arranged on rotating shaft 91 and the U-shaped bearing junction, so that second gear 80 is engaged with first gear 70, thus by second gear 80 rotating shaft 91 can be driven to rotate.Therefore, the structure type in robot of the present invention with blink function for eyelid mounting seat 90 can use the multiplicity similar with said structure, can meet the purpose of the present invention.
Similarly, one end of lower eyelid 30 is fixed in rotating shaft 91, and positioned at the outside of second gear 80, and the other end of lower eyelid 30 is rotated with eyelid mounting seat 90 and is connected so that the folding up and down with the rotation of rotating shaft 91 of lower eyelid 30.
Certainly, fixed seat 50 here can also use other shapes, and above-mentioned U-shaped bearing is only for example, it is not limited to this, for example with " work " type bearing, frame-type bearing etc., to ensure that it can realize installation fixed drive device.
Preferably, first gear 70 and the output shaft 61 of micromachine 60 are interference fitted, second gear 80 and rotating shaft cooperation really up to the mark.Micromachine 60 in the present invention can be preferably stepper motor, other kinds of motor can certainly be used, primarily serve the effect that driving first gear 70 is rotated, second gear 80 is driven with this, so that kinetic energy is driven to upper eyelid 20 and lower eyelid 30 so that folding above and below upper eyelid 20 and the progress of lower eyelid 30.
In addition, micromachine 60 can be programmed control herein, frequency of wink, time and upper eyelid 20 and the respective folding angle of lower eyelid 30 to set the robot etc. so that the robot with blink function is more added with intelligent.
In another embodiment, the L-shaped bulk of eyelid mounting seat 90, the rotating shaft uses pin, i.e. upper eyelid 20 and lower eyelid 30 to be rotated respectively by corresponding pin with eyelid mounting seat 90 and is connected.Upper eyelid 20 is spherical using 1/4, and lower eyelid 30 is also spherical using 1/4, and upper eyelid 20 and lower eyelid 30 are rotated by a connecting rod with eyelid mounting seat 90 respectively and are connected.
Especially, the angle that upper eyelid 20 and lower eyelid 30 are rotated is less than or equal to 60 degree so that when upper eyelid 20 and the opening of lower eyelid 30, exposes whole camera position, and when upper eyelid 20 and the closure of lower eyelid 30, forms complete hemisphere shape.
Certainly, the shape of above-mentioned eyelid mounting seat 90 is also not limited to the present embodiment, and it is only for example, and such as eyelid mounting seat 90 can use the block parts of frame structure, an or only installing plate, or be set to U-shaped block parts etc..Eyelid mounting seat 90 primarily serves installation upper eyelid 20 and the one end of lower eyelid 30, so that the one end of upper eyelid 20 and lower eyelid 30 receives first gear 70 in its other end with that under the driving of second gear 80, can be rotated around the eyelid mounting seat 90.
In another embodiment, the robot that the present invention has blink function opens up fluted in its eyelid mounting seat 90, the connector is fixed in the groove, upper eyelid 20 and lower eyelid 30 are located on the corresponding connector.Connector described here can be using pin, latch or rotating bar etc. so that upper eyelid 20 and lower eyelid 30 are under the drive of first gear 70 and second gear 80, while being rotated around the connector, so as to realize the folding up and down of upper eyelid 20 and lower eyelid 30.
According to said structure, the robot that the present invention has blink function drives first gear 70 to rotate by micromachine 60, first gear 70 is engaged with second gear 80, drives upper eyelid 20 and the synchronized reverse rotation of lower eyelid 30, the blink function of robot is realized by the rotating of micromachine 60.
Embodiment two：
Fig. 6 has the schematic diagram of the head shell of the embodiment two of the robot of blink function for the present invention.Fig. 7 has the mouth structural representation one of the embodiment two of the robot of blink function for the present invention.Fig. 8 has the mouth structural representation two of the embodiment two of the robot of blink function for the present invention.Fig. 9 for the present invention have blink function robot embodiment two in upper beak, lower beak and cam cooperation schematic diagram.Figure 10 has the explosive view of the embodiment two of the robot of blink function for the present invention.
As illustrated in figures 6-10, the robot in the present embodiment with function of opening one's mouth also includes upper beak 120, lower beak 130, drive device and rotating supports.Wherein, upper beak 120 and lower beak 130 are connected by a rotatable parts with head shell 10 respectively so that upper beak 120 and lower beak 130 are relatively rotated around the rotatable parts.The rotatable parts are preferably gyroaxis, i.e., upper beak 120 is connected by gyroaxis 121 with head shell 10, and lower beak 130 is connected by gyroaxis with head shell 10.
The drive device is arranged on head shell 10, the rotating supports are connected with the drive device, and positioned between upper beak 120 and lower beak 130, the contoured surface of the rotating supports is contacted with upper beak 120 and lower beak 130 respectively, the rotating supports are driven to rotate by the drive device, so as to drive upper beak 120 and lower beak 130 to relatively rotate.
Drive device described in the present embodiment includes motor cabinet 140 and direct current generator 150, and motor cabinet 140 is fixedly mounted on head shell 10, and direct current generator 150 is arranged on motor cabinet 140, and the axle of direct current generator 150 is connected with the rotating supports.
Here direct current generator 150 is preferably by DC micromotor.Certainly, the robot that the present invention has function of opening one's mouth can also use the direct current generator of other forms, can equally reach the purpose of the present invention, the present embodiment is only for example, and protection scope of the present invention is not limited to this.
In addition, motor cabinet 140 is preferably fixed on head shell 10 by screw.Multiple mounting grooves 141 are offered on motor cabinet 140 so that motor cabinet 40 is installed on head shell 10 by the cooperation of bolt and mounting groove 141.Further, two mounting holes 142 can also be added at the two ends of motor cabinet 140, further fixation is played to motor cabinet 140.
Certainly, the installation fixed form of motor cabinet 140 can use diversified form, and the present embodiment is only for example, and protection scope of the present invention is not limited by this citing.
Further, rotating supports described in the present embodiment are preferably cam 160, and cam 160 is arranged on to the tip of the axis of direct current generator 150.Preferably, coordinated between the axle of cam 160 and direct current generator 150 using really up to the mark.
Specifically, the first groove 123 is offered in the bottom face of upper beak 120 and the contact position of cam 160 so that the shape of the first groove 123 is matched with the contoured surface of cam 160.The second groove 133 is offered in the upper surface of lower beak 130 and the contact position of cam 160 so that the shape of the second groove 133 is matched with the contoured surface of cam 160.
Further, the shape for cam 160 can use the symmetrical arc cam in two, and similar ellipse (as shown in Figure 4), this structure can make it that each folding of upper beak 120 and lower beak 130 is in the same size.Certainly, the shape of cam 160 is it can also be provided that the projection size of one end is more than the projection size of the other end, and the protuberance at two ends is smooth circular arc line, the robot that this structure can similarly cause the present invention and have function of opening one's mouth realizes the function of opening one's mouth automatically.
Therefore, the shape of cam 160 is not illustrated by the present embodiment and limited, and other can realize that the structure of identical purpose is within the scope of the present invention.
While in order to ensure that upper beak 1120 and lower beak 130 can be contacted with cam 160 all the time, it is connected in the side of upper beak 120 by the first elastomeric element 122 with head shell 10, the side of lower beak 130 is connected by the second elastomeric element 132 with head shell 10, and causes the side of upper beak 120 to be relative both sides with the side of lower beak 130.
Specifically, one end of the first elastomeric element 122 is connected with the side of upper beak 120, the other end is connected to head shell 10.One end of second elastomeric element 132 is connected with the side of lower beak 130, the other end is connected to head shell 10.The first elastomeric element 122 and the second elastomeric element 132 are both preferably back-moving spring in the present embodiment.Upper beak 120 and lower beak 130 can be thus connected with head shell 10 respectively by back-moving spring, be rotated after the energization of DC micromotor 150, so that driving cam 160 rotates.
Certainly, the first elastomeric element and the second elastomeric element can also be using the flexible of other forms and the parts that can be resetted in robot of the present invention with function of opening one's mouth, and it can equally play a part of so that upper and lower beak complete opening and closing movement.Said structure is only for example, the invention is not limited in this, other can its be also contained in the structure type of identical effect in protection scope of the present invention.
In addition, the drive device also includes decelerator 170, decelerator 170 is connected with direct current generator 150, or decelerator 170 is integrally formed with direct current generator 150, this structure can further optimize the performance of direct current generator 150.
Described according to said structure, the present invention has the robot for function of opening one's mouth by driving end respectively by upper beak 120 and the jack-up of lower beak 130, and drives upper beak 120 and lower beak 130 to relatively rotate, so as to realize the opening and closing function of face.When the every revolution of direct current generator 150, an opening and closing are realized, the frequency of opening and closing mouth can be realized by the voltage of regulation motor.
Further specifically, i.e., direct current generator 150 is rotated, and band moving cam 160 is rotated, upper beak 120 and lower beak 130 are headed on by cam 160 to rotate relative to bearing pin, realization is shut up function, and in the presence of the first elastomeric element 122 and the second elastomeric element 132, is returned to initial position and opened one's mouth.
There is the head shell 10 that the robot of blink function is used exemplified by emulating penguin in the present embodiment, and the perforate of multiple different shape sizes is offered on head shell 10, it primarily serves the effect of loss of weight so that the present invention has the robot of blink function more portable and smart.Certainly, the shape of head shell 10 is only for example herein, is not limited by the present embodiment.In fact, the robot that the present invention has blink function can use the external form of all kinds of artificial animals, the external form of general pets can be emulated, so that robot more life-stylize, is more prone to incorporate daily life.
In summary, the present invention has the robot of blink function by using preventing the head shell of pet, and set drive device to enable folding above and below robot eyes, realize the function that robot blinks automatically, so as to effectively improve the recreational and bio-imitability of robot so that pet robot more adapts to the demand of people's life change.
Although the foregoing describing the embodiment of the present invention, it will be appreciated by those of skill in the art that these are merely illustrative of, protection scope of the present invention is defined by the appended claims.Those skilled in the art can make various changes or modifications on the premise of the principle and essence without departing substantially from the present invention to these embodiments, but these changes and modification each fall within protection scope of the present invention.
Claims (27)
1. a kind of robot with blink function, it is characterised in that the robot includes：
Head shell；
Fixed seat, the fixed seat is fixed in the head shell；
Upper eyelid and lower eyelid, the upper eyelid and the lower eyelid are respectively with being arranged in the fixed seat
Drive device is connected, and the upper eyelid and synchronized reverse turn of the lower eyelid are driven by the drive device
It is dynamic；
Eyeball, the eyeball is arranged between the upper eyelid and the lower eyelid, and the eyeball and shooting
Head connection, the camera is fixed in the head shell.
2. the robot as claimed in claim 1 with blink function, it is characterised in that the fixed seat
For U-shaped bearing, the drive device is fixed on the U-shaped bearing madial wall.
3. the robot as claimed in claim 2 with blink function, it is characterised in that the driving dress
Put including two micromachines, each micromachine is arranged on the U-shaped bearing madial wall, described miniature
The side of the output shaft of motor through the U-shaped bearing stretches out, in the output shaft and the fixed seat
Junction is provided with first gear, drives the first gear to rotate by the output shaft；
One end of the upper eyelid is fixed with the output shaft, and positioned at the outside of the first gear, it is described
The other end of upper eyelid is rotated with the eyelid mounting seat being fixed on the head shell and is connected so that on described
Eyelid folding up and down with the rotation of the output shaft.
4. the robot as claimed in claim 3 with blink function, it is characterised in that the driving dress
Putting also includes second gear and rotating shaft, and one end of the rotating shaft is fixed on the U-shaped support outer wall, and
Positioned at the lower section of the output shaft, the second gear is arranged on the rotating shaft and the U-shaped bearing junction,
And the second gear is engaged with the first gear, the axis of rotation is driven by the second gear；
One end of the lower eyelid is fixed in the rotating shaft, and positioned at the outside of the second gear, it is described
The other end of lower eyelid is rotated with the eyelid mounting seat and is connected so that the lower eyelid is with the rotating shaft
Rotate and folding up and down.
5. the robot as claimed in claim 4 with blink function, it is characterised in that first tooth
The output shaft of wheel and the micromachine is interference fitted, the second gear and rotating shaft cooperation really up to the mark.
6. the robot as claimed in claim 3 with blink function, it is characterised in that the micro electric
Machine is stepper motor.
7. the robot as claimed in claim 4 with blink function, it is characterised in that the upper eyelid
It is 1/4 spherical with the lower eyelid.
8. the robot as claimed in claim 7 with blink function, it is characterised in that the upper eyelid
It is less than or equal to 60 degree with the angle that the lower eyelid is rotated.
9. the robot as claimed in claim 4 with blink function, it is characterised in that the eyelid peace
The L-shaped bulk of seat is filled, the upper eyelid and the lower eyelid are installed by a connection piece and the eyelid respectively
Seat rotates connection.
10. the robot as claimed in claim 9 with blink function, it is characterised in that the eyelid
Open up fluted in mounting seat, the connector is fixed in the groove, the upper eyelid and the lower eye
Skin is located on the corresponding connector.
11. the robot as claimed in claim 10 with blink function, it is characterised in that the connection
Part is pin, latch or rotating bar.
12. the robot with blink function as described in claim 1-11 any one, it is characterised in that
Through hole is offered on the eyeball, the camera wears and is fixed in the through hole.
13. the robot as claimed in claim 12 with blink function, it is characterised in that the eyeball
It is made of acrylic material.
14. the robot as claimed in claim 1 with blink function, it is characterised in that described to have
The robot of blink function also includes：
Mouth, the mouth is connected with the head shell so that folding above and below the mouth；
Drive device, the drive device is arranged on the head shell；
Rotating supports, the rotating supports are connected with the drive device, are driven by the drive device
The dynamic rotating supports rotation, so as to drive folding above and below the mouth.
15. the robot as claimed in claim 14 with blink function, it is characterised in that the mouth
Including upper and lower beak, the upper beak and the lower beak pass through a rotatable parts and the head shell phase respectively
Even so that the upper beak and the lower beak are relatively rotated around the rotatable parts；
The rotating supports are located between the upper beak and the lower beak, the contoured surface of the rotating supports
Contacted respectively with the upper beak and the lower beak, drive the rotating supports to revolve by the drive device
Turn, so as to drive the upper beak and the lower beak to relatively rotate.
16. the robot as claimed in claim 15 with blink function, it is characterised in that the driving
Device includes motor cabinet and direct current generator, and the motor cabinet is fixedly mounted on the head shell, described straight
Flow motor to be arranged on the motor cabinet, the axle of the direct current generator is connected with the rotating supports.
17. the robot as claimed in claim 16 with blink function, it is characterised in that the rotation
Supporting member is cam, and the cam is arranged on the tip of the axis of the direct current generator.
18. the robot as claimed in claim 17 with blink function, it is characterised in that the cam
Using interference fit between the axle of the direct current generator.
19. the robot as claimed in claim 18 with blink function, it is characterised in that the upper beak
Bottom face and the cam contact at offer the first groove, shape and the cam of first groove
Contoured surface matching；
The upper surface of the lower beak at the cam contact with offering the second groove, the shape of second groove
Shape is matched with the contoured surface of the cam.
20. the robot as claimed in claim 19 with blink function, it is characterised in that the upper beak
Side be connected by the first elastomeric element with the head shell, the side of the lower beak passes through the second elasticity
Part is connected with the head shell, and the side of the upper beak and the side of the lower beak are relative two
Side.
21. the robot as claimed in claim 20 with blink function, it is characterised in that described first
One end of elastomeric element is connected with the side of the upper beak, and the other end is connected to the head shell.
22. the robot as claimed in claim 20 with blink function, it is characterised in that described second
One end of elastomeric element is connected with the side of the lower beak, and the other end is connected to the head shell.
23. the robot as claimed in claim 20 with blink function, it is characterised in that described first
Elastomeric element and second elastomeric element use back-moving spring.
24. the robot as claimed in claim 16 with blink function, it is characterised in that the motor
Seat is fixed on the head shell by screw.
25. the robot as claimed in claim 16 with blink function, it is characterised in that the driving
Device also includes decelerator, and the decelerator be connected with the direct current generator, or the decelerator and it is described directly
Flow motor integral shaping.
26. the robot as claimed in claim 15 with blink function, it is characterised in that the rotation
Part is gyroaxis.
27. the robot with blink function as described in claim 1-26 any one, it is characterised in that
The head shell is penguin head shape.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610200527.8A CN107283432A (en) | 2016-03-31 | 2016-03-31 | Robot with blink function |
| PCT/CN2017/076268 WO2017166991A1 (en) | 2016-03-31 | 2017-03-10 | Robot having blinking function |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610200527.8A CN107283432A (en) | 2016-03-31 | 2016-03-31 | Robot with blink function |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107283432A true CN107283432A (en) | 2017-10-24 |
Family
ID=59963434
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610200527.8A Withdrawn CN107283432A (en) | 2016-03-31 | 2016-03-31 | Robot with blink function |
Country Status (2)
| Country | Link |
|---|---|
| CN (1) | CN107283432A (en) |
| WO (1) | WO2017166991A1 (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2019237996A1 (en) * | 2018-06-14 | 2019-12-19 | 丁英卓 | Head structure of robot |
| CN113787528A (en) * | 2021-09-18 | 2021-12-14 | 上海电机学院 | Bionic penguin robot |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108098787A (en) * | 2017-12-25 | 2018-06-01 | 大连大学 | A kind of voice interface robot architecture and its system |
Family Cites Families (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CA2035505A1 (en) * | 1990-02-09 | 1991-08-10 | Rouben Terzian | Toy character with lighted eyes and mechanically openable eyelids |
| JP2003230770A (en) * | 2002-02-12 | 2003-08-19 | Chubu Kagaku Gijutsu Center | Robot showing expression |
| JP4896100B2 (en) * | 2008-08-15 | 2012-03-14 | 株式会社バースデイ | A doll that repeats light sleep |
| TWI391172B (en) * | 2009-12-21 | 2013-04-01 | Hon Hai Prec Ind Co Ltd | Emulation eye |
| CN203344065U (en) * | 2013-07-24 | 2013-12-18 | 蔡继文 | Human-simulated robot head |
| CN205660730U (en) * | 2016-03-31 | 2016-10-26 | 深圳光启合众科技有限公司 | Robot with nictation function |
-
2016
- 2016-03-31 CN CN201610200527.8A patent/CN107283432A/en not_active Withdrawn
-
2017
- 2017-03-10 WO PCT/CN2017/076268 patent/WO2017166991A1/en active Application Filing
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2019237996A1 (en) * | 2018-06-14 | 2019-12-19 | 丁英卓 | Head structure of robot |
| CN113787528A (en) * | 2021-09-18 | 2021-12-14 | 上海电机学院 | Bionic penguin robot |
Also Published As
| Publication number | Publication date |
|---|---|
| WO2017166991A1 (en) | 2017-10-05 |
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Application publication date: 20171024 |