CN108068137A - Robot eye portion mechanism and with its robot - Google Patents
Robot eye portion mechanism and with its robot Download PDFInfo
- Publication number
- CN108068137A CN108068137A CN201610992270.4A CN201610992270A CN108068137A CN 108068137 A CN108068137 A CN 108068137A CN 201610992270 A CN201610992270 A CN 201610992270A CN 108068137 A CN108068137 A CN 108068137A
- Authority
- CN
- China
- Prior art keywords
- eyelid
- eye portion
- robot
- robot eye
- frame
- Prior art date
- 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.)
- Pending
Links
- 230000007246 mechanism Effects 0.000 title claims abstract description 59
- 210000001508 eye Anatomy 0.000 claims abstract description 62
- 210000005252 bulbus oculi Anatomy 0.000 claims abstract description 45
- 210000000744 eyelid Anatomy 0.000 claims description 68
- 239000000758 substrate Substances 0.000 claims description 36
- 238000010276 construction Methods 0.000 description 4
- 238000010586 diagram Methods 0.000 description 4
- 238000005516 engineering process Methods 0.000 description 4
- 230000003993 interaction Effects 0.000 description 4
- 230000000694 effects Effects 0.000 description 3
- 238000004519 manufacturing process Methods 0.000 description 3
- 238000000034 method Methods 0.000 description 2
- VYPSYNLAJGMNEJ-UHFFFAOYSA-N Silicium dioxide Chemical compound O=[Si]=O VYPSYNLAJGMNEJ-UHFFFAOYSA-N 0.000 description 1
- 230000009471 action Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 239000002360 explosive Substances 0.000 description 1
- 239000003292 glue Substances 0.000 description 1
- 210000003128 head Anatomy 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 239000000741 silica gel Substances 0.000 description 1
- 229910002027 silica gel Inorganic materials 0.000 description 1
- 229910052710 silicon Inorganic materials 0.000 description 1
- 239000010703 silicon Substances 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/0025—Means for supplying energy to the end effector
-
- 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
Abstract
The present invention provides a kind of robot eye portion mechanism and with its robot, wherein, robot eye portion mechanism includes：Stent；Eyeball；First driving portion, is arranged on stent, and the first driving portion is drivingly connected to drive Rotation of eyeball with eyeball.By technical solution provided by the invention, it can solve the problems, such as that eye mechanism structure of the prior art is complicated.
Description
Technical field
The present invention relates to robotic technology field, in particular to a kind of robot eye portion mechanism and with its machine
Device people.
Background technology
At present, the eye mechanism of existing emulated robot realizes eye activity using spatial linkage mostly.Eye
Mechanism includes eyeball and eyelid, existing eye mechanism, such as a kind of apery head robots of patent No. CN201510005494.7
Eye part movement mechanism described in, using RSSR mechanism controls eyeball and eyelid, space complexity is high, and interactivity is poor.Such as patent
Described in a kind of eye mechanism of humanoid robot of CN200920277063.6, using linkage, by two motors laterally and
The movement of arbitrary point in plane coordinates is realized on longitudinal direction, which requires more, mechanism redundancy, and interactivity is poor.Therefore,
There is an urgent need for a kind of new mechanisms to solve the problems, such as that existing emulated robot eye mechanism structure is complicated.
The content of the invention
The present invention provides a kind of robot eye portion mechanism and with its robot, to solve eye machine of the prior art
The problem of structure is complicated.
According to an aspect of the invention, there is provided a kind of robot eye portion mechanism, robot eye portion mechanism include：Branch
Frame；Eyeball；First driving portion, is arranged on stent, and the first driving portion is drivingly connected to drive Rotation of eyeball with eyeball.
Further, eyeball includes sphere shell and the Rotational Cylindrical that is arranged on sphere shell, one end of Rotational Cylindrical with
Sphere shell connects, and the other end of Rotational Cylindrical extends towards the centre of sphere direction of sphere shell, and the first driving portion includes：First steering engine,
The output shaft of first steering engine is drivingly connected with Rotational Cylindrical.
Further, stent includes：Substrate；First fixed seat, the first fixed seating are set on the first drive and and base
Plate connects.
Further, robot eye portion mechanism further includes eyelid frame, and eyelid frame is swingably disposed on the substrate, and eyelid
Frame is located at the outside of eyeball, and robot eye portion mechanism further includes：Second driving portion, is disposed on the substrate, the second driving portion and eye
Skin frame is drivingly connected.
Further, the second driving portion includes：Second steering engine, the second steering engine directly drives with eyelid frame to be connected or the second rudder
Machine is drivingly connected by gear assembly and eyelid frame.
Further, the second steering engine is drivingly connected by gear assembly and eyelid frame, and gear assembly includes：Master gear, with
The output axis connection of second steering engine；Driven gear is arranged on eyelid frame, and is meshed with master gear.
Further, eyelid frame is provided at both ends with connecting rod, and eyelid frame passes through connecting rod and substrate connection, driven gear
It is arranged in connecting rod, card slot is provided in connecting rod, block is provided in the mounting hole of driven gear, block coordinates with card slot
To limit position of the driven gear in connecting rod.
Further, eyelid frame is bent frame, and the both ends of eyelid frame are rotatably arranged on substrate respectively, and second drives
Dynamic portion and the wherein one or both ends of eyelid frame are drivingly connected.
Further, stent further includes：Second fixed seat, the second fixed seating are located on the second driving portion, and and substrate
Connection.
Further, robot eye portion mechanism further includes：Elastic eyelid layer, one end and the eyelid frame of elastic eyelid layer connect
It connects, the other end and substrate connection of elastic eyelid layer.
Further, it is provided with high highlights on eyeball, the center of rotation of high highlights and eyeball is misaligned.
Further, stent further includes：Adjustment seat, substrate position are adjustably disposed in adjustment seat.
According to another aspect of the present invention, a kind of robot is provided, including robot eye portion mechanism, robot eyes machine
Structure is the above-mentioned robot eye portion mechanism provided.
It applies the technical scheme of the present invention, is directly driven and be connected with eyeball by the first driving portion, can so meet
On the basis of the rotating function of eyeball, simplify apparatus structure, and then the whole occupied space of eye mechanism can be saved, reduce
Production cost.
Description of the drawings
The accompanying drawings which form a part of this application are used for providing a further understanding of the present invention, and of the invention shows
Meaning property embodiment and its explanation do not constitute improper limitations of the present invention for explaining the present invention.In the accompanying drawings：
Fig. 1 shows the front side schematic diagram of the robot eye portion mechanism provided according to embodiments of the present invention；
Fig. 2 shows the rear side schematic diagram of robot eye portion mechanism in Fig. 1；
Fig. 3 shows the part-structure schematic diagram of robot eye portion mechanism in Fig. 1；
Fig. 4 shows the part explosive view of robot eye portion mechanism in Fig. 1；
Fig. 5 shows the structure diagram of eyelid frame in Fig. 1.
Wherein, above-mentioned attached drawing is marked including the following drawings：
10th, stent；11st, substrate；12nd, the first fixed seat；13rd, the second fixed seat；14th, adjustment seat；20th, eyeball；21st, highlight
Portion；31st, the first driving portion；32nd, the second driving portion；40th, eyelid frame；51st, master gear；52nd, driven gear.
Specific embodiment
Below in conjunction with the attached drawing in the embodiment of the present invention, the technical solution in the embodiment of the present invention is carried out clear, complete
Site preparation describes, it is clear that described embodiment is only part of the embodiment of the present invention, instead of all the embodiments.Below
Description only actually at least one exemplary embodiment is illustrative, is never used as to the present invention and its application or makes
Any restrictions.Based on the embodiments of the present invention, those of ordinary skill in the art are not making creative work premise
Lower all other embodiments obtained, belong to the scope of protection of the invention.
It should be noted that term used herein above is merely to describe specific embodiment, and be not intended to restricted root
According to the illustrative embodiments of the application.As used herein, unless the context clearly indicates otherwise, otherwise singulative
It is also intended to include plural form, additionally, it should be understood that, when in the present specification using term "comprising" and/or " bag
Include " when, indicate existing characteristics, step, operation, device, component and/or combination thereof.
Unless specifically stated otherwise, the component and positioned opposite, the digital table of step otherwise illustrated in these embodiments
It is not limited the scope of the invention up to formula and numerical value.Simultaneously, it should be appreciated that for ease of description, each portion shown in attached drawing
The size divided not is to be drawn according to actual proportionate relationship.For technology, side known to person of ordinary skill in the relevant
Method and equipment may be not discussed in detail, but in the appropriate case, the technology, method and apparatus should be considered as authorizing explanation
A part for book.In shown here and discussion all examples, any occurrence should be construed as merely illustrative, and
Not by way of limitation.Therefore, the other examples of exemplary embodiment can have different values.It should be noted that：Similar label
Similar terms is represented in following attached drawing with letter, therefore, once it is defined in a certain Xiang Yi attached drawing, then subsequent attached
It need not be further discussed in figure.
In the description of the present invention, it is to be understood that the noun of locality such as " forward and backward, upper and lower, left and right ", " laterally, vertical,
Vertically, orientation or position relationship indicated by level " and " top, bottom " etc. are normally based on orientation or position shown in the drawings and close
System is for only for ease of the description present invention and simplifies description, and in the case where not making explanation on the contrary, these nouns of locality do not indicate that
There must be specific orientation with the device or element for implying meaning or with specific azimuth configuration and operation, therefore cannot manage
It solves as limiting the scope of the invention；The noun of locality " inside and outside " refers to compared with inside and outside each component profile in itself.
For ease of description, spatially relative term can be used herein, as " ... on ", " ... top ",
" ... upper surface ", " above " etc., for describing such as a device shown in the figure or feature and other devices or spy
The spatial relation of sign.It should be appreciated that spatially relative term is intended to comprising the orientation except device described in figure
Outside different azimuth in use or operation.For example, if the device in attached drawing is squeezed, it is described as " in other devices
It will be positioned as " under other devices or construction after the device of part or construction top " or " on other devices or construction "
Side " or " under other devices or construction ".Thus, exemplary term " ... top " can include " ... top " and
" in ... lower section " two kinds of orientation.The device can also other different modes positioning (being rotated by 90 ° or in other orientation), and
And respective explanations are made to the opposite description in space used herein above.
Furthermore, it is necessary to explanation, limits parts, it is only for be convenient for using the words such as " first ", " second "
Corresponding parts are distinguished, such as without Stated otherwise, above-mentioned word is there is no particular meaning, therefore it is not intended that this
The limitation of invention protection domain.
As shown in Figures 1 to 5, the present invention provides a kind of embodiments of robot eye portion mechanism, specifically, the robot
Eye mechanism includes stent 10,20 and first driving portion 31 of eyeball.Wherein, eyeball 20 is rotatably arranged on stent 10.
First driving portion 31 is set over the mount 10, and the first driving portion 31 is connected to drive the rotation of eyeball 20 with eyeball 20.Pass through eye
The rotation of ball 20 is interacted with reaching robot with extraneous expression.
In the present embodiment, directly drive to be connected or drive by gear assembly with eyeball 20 by the first driving portion 31 and connect
It connects, can so simplify apparatus structure on the basis of the rotating function of eyeball 20 is met, and then eye mechanism can be saved
Whole occupied space reduces production cost.Further, it is possible to it provides safeguard for robot miniaturization.
Specifically, the first driving portion 31 includes the first steering engine, and the first steering engine can make 20 eccentric rotary of eyeball or with eyeball 20
The centre of sphere rotate.In the present embodiment, the centre of sphere of eyeball 20 is located on the extension line of the output shaft of the first steering engine, to pass through first
Steering engine makes eyeball 20 be rotated according to its centre of sphere.
As shown in figure 4, it in the present embodiment, is drivingly connected for the ease of the first driving portion 31 with eyeball 20, eyeball 20 has
Body includes sphere shell and the Rotational Cylindrical being arranged on sphere shell, one end of Rotational Cylindrical are connected with sphere shell, Rotational Cylindrical
The other end extend towards the centre of sphere direction of sphere shell, and with the output axis connection of the first driving portion 31, pass through Rotational Cylindrical and the
The rotation of eyeball 20 is realized in the connection of one driving portion 31.
Specifically, which includes 11 and first fixed seat 12 of substrate, and the first fixed seat 12 is set in the first driving portion
It is connected on 31 and with substrate 11.To fix the position of the first driving portion 31 on the substrate 11 by the first fixed seat 12.In this reality
Apply in example, the output shaft of the first driving portion 31 is connected through the first fixed seat 12 with eyeball 20, in the first fixed seat 12 with substrate
Connecting hole is both provided on 11, the first fixed seat 12 can be connected with substrate 11 by fastener.
As shown in figure 5, in order to improve expression interaction effect, robot eye portion mechanism further includes eyelid frame 40, eyelid frame 40
It swingably sets on the substrate 11, and eyelid frame 40 is located at the outside of eyeball 20.Robot eye portion mechanism further includes the second drive
Dynamic portion 32, the second driving portion 32 are set on the substrate 11, and the second driving portion 32 is drivingly connected with eyelid frame 40, so can be in eyeball
20 coordinate eyelid frame 40 to act while rotation, so that expression is more lively.
Second driving portion 32 can be directly connected to eyelid frame 40, by the second driving portion 32 eyelid frame 40 to be driven to rotate；
Also by gear assembly transmission eyelid frame 40 can be driven to rotate.By the second driving portion 32 directly drive eyelid frame 40 move or
By gear assembly eyelid frame 40 is driven to move, apparatus structure can be simplified while expression interaction effect is improved, save dress
The occupied space put, reducing apparatus cost.
Specifically, which includes the second steering engine, and the second steering engine is driven by gear assembly and eyelid frame 40
Connection.Wherein, by gear assembly eyelid frame 40 is driven to rotate, the slewing rate of eyelid frame 40 can be adjusted, set its satisfaction
The requirement of meter person.
Specifically, which includes master gear 51 and driven gear 52.Wherein, 51 and second driving portion 32 of master gear
Output axis connection, driven gear 52 is arranged on eyelid frame 40, and is meshed with master gear 51.During work, pass through the second rudder
Machine driving master gear 51 rotates, and then driven gear 52 is driven to rotate, and driven gear 52 drives eyelid frame 40 to rotate.
In the present embodiment, which is provided at both ends with connecting rod, and eyelid frame 40 passes through connecting rod and substrate 11
Connection.Driven gear 52 is arranged in connecting rod, wherein, driven gear 52 can be disposed therein in a connecting rod, also may be used
To be respectively provided in two connecting rods.Total in the present embodiment, driven gear 52 is disposed therein in a connecting rod, the connecting rod
On be provided with card slot, be provided with block in the mounting hole of driven gear 52, pass through the cooperation of block and card slot and realize driven gear 52
Clamping with connecting rod positions, and then can limit position of the driven gear 52 in connecting rod.
In order to improve the stability of the second driving portion 32 on the substrate 11, which further includes the second fixed seat 13, the
Two fixed seats 13 are set on the second driving portion 32, and are connected with substrate 11.The output shaft of second driving portion 32 is solid through second
Reservation 13 is drivingly connected with eyelid frame 40.With being both provided with connecting hole, the second fixed seat 13 on substrate 11 in second fixed seat 13
It can be connected with substrate 11 by fastener.
As shown in figure 5, in the present embodiment, eyelid frame 40 is bent frame, and the both ends difference of eyelid frame 40 is rotationally
It sets on the substrate 11.Wherein, the second driving portion 32 can be drivingly connected with wherein one end of eyelid frame 40, also can respectively with eye
The both ends of skin frame 40 are drivingly connected.In the present embodiment, wherein one end of the second driving portion 32 and eyelid frame 40 is drivingly connected, with
Simplify structure.
Specifically, which further includes elastic eyelid layer, and one end and the eyelid frame 40 of elastic eyelid layer connect
It connects, the other end of elastic eyelid layer is connected with substrate 11.Eyelid frame 40 is when rotating, stretchable elasticity eyelid layer, to imitate people
Eyelid blinks.Wherein, elastic eyelid layer can be made of materials such as rubber, silica gel, and elastic eyelid layer uses silicon in the present embodiment
Glue is made.
In order to improve the vividness of the expression of the eye mechanism, high highlights 21, and high highlights 21 are provided on eyeball 20
It is misaligned with the center of rotation of eyeball 20.Specifically, eyeball 20 can be coated black, by high 21 coated white of highlights.So may be used
The action of the eyeball of people is simulated, enhances interaction sense.
In the apparatus, stent 10 further includes adjustment seat 14, is arranged in adjustment seat 14 to 11 position-adjustable of substrate.It is logical
Setting adjustment seat 14 is crossed, the position of substrate 11 is adjusted, and then the position of eyeball 20 can be adjusted, to adapt to the position of different spaces
Requirement is put, the eye mechanism is avoided to be interfered with other mechanisms.Specifically, bar hole, substrate can be set in adjustment seat 14
11 are connected with the bar hole in adjustment seat 14.Further, which can be vertically arranged in adjustment seat 14, also can be along level
Direction is arranged in adjustment seat 14, in the present embodiment, bar hole setting is vertically arranged in adjustment seat 14, to adjust substrate
11 position in the vertical direction.
By robot eye portion mechanism provided by the invention, while the rotation of eyeball 20 is met, apparatus structure is simplified,
The occupied space of device is saved, reduces production cost.Also, by setting eyelid frame 40, eyelid layer and epibulbar
High highlights 21 improves the interaction sense of eyeball 20, makes robot eyes more vivid.
The present invention also provides a kind of robot, which includes robot eye portion mechanism.Wherein, the robot eyes
Mechanism is the robot eye portion mechanism that above-described embodiment provides.
The foregoing is only a preferred embodiment of the present invention, is not intended to limit the invention, for the skill of this field
For art personnel, the invention may be variously modified and varied.Within the spirit and principles of the invention, that is made any repaiies
Change, equivalent substitution, improvement etc., should all be included in the protection scope of the present invention.
Claims (13)
1. a kind of robot eye portion mechanism, which is characterized in that the robot eye portion mechanism includes：
Stent (10)；
Eyeball (20)；
First driving portion (31) is arranged on the stent (10), and first driving portion (31) drives with the eyeball (20)
It connects that the eyeball (20) is driven to rotate.
2. robot eye portion mechanism according to claim 1, which is characterized in that the eyeball (20) include sphere shell with
And the Rotational Cylindrical on the sphere shell is arranged on, one end of the Rotational Cylindrical is connected with the sphere shell, the Rotational Cylindrical
The other end extend towards the centre of sphere direction of the sphere shell, first driving portion (31) includes：
First steering engine, output shaft and the Rotational Cylindrical of first steering engine are drivingly connected.
3. robot eye portion mechanism according to claim 1, which is characterized in that the stent (10) includes：
Substrate (11)；
First fixed seat (12), first fixed seat (12) be set on first driving portion (31) and with the substrate
(11) connect.
4. robot eye portion mechanism according to claim 3, which is characterized in that the robot eye portion mechanism further includes eye
Skin frame (40), the eyelid frame (40) are swingably arranged on the substrate (11), and the eyelid frame (40) is positioned at described
The outside of eyeball (20), the robot eye portion mechanism further include：
Second driving portion (32) is arranged on the substrate (11), and second driving portion (32) is driven with the eyelid frame (40)
Dynamic connection.
5. robot eye portion mechanism according to claim 4, which is characterized in that second driving portion (32) includes：
Second steering engine, second steering engine directly drives with the eyelid frame (40) to be connected or second steering engine passes through gear set
Part is drivingly connected with the eyelid frame (40).
6. robot eye portion mechanism according to claim 5, which is characterized in that second steering engine by gear assembly with
The eyelid frame (40) is drivingly connected, and the gear assembly includes：
Master gear (51), the output axis connection with second steering engine；
Driven gear (52) is arranged on the eyelid frame (40), and is meshed with the master gear (51).
7. robot eye portion mechanism according to claim 6, which is characterized in that eyelid frame (40) are provided at both ends with
Connecting rod, the eyelid frame (40) are connected by the connecting rod with the substrate (11), and the driven gear (52) is arranged on
In the connecting rod, card slot is provided in the connecting rod, block is provided in the mounting hole of the driven gear (52), it is described
Block coordinates to limit position of the driven gear (52) in the connecting rod with the card slot.
8. robot eye portion mechanism according to claim 4, which is characterized in that the eyelid frame (40) is bent frame,
The both ends of the eyelid frame (40) are rotatably arranged in respectively on the substrate (11), second driving portion (32) with it is described
The wherein one or both ends of eyelid frame (40) are drivingly connected.
9. robot eye portion mechanism according to claim 4, which is characterized in that the stent (10) further includes：
Second fixed seat (13), second fixed seat (13) are set on second driving portion (32), and with the substrate
(11) connect.
10. robot eye portion mechanism according to claim 4, which is characterized in that the robot eye portion mechanism further includes：
Elastic eyelid layer, one end of the elasticity eyelid layer are connected with the eyelid frame (40), the elastic eyelid layer it is another
End is connected with the substrate (11).
11. robot eye portion mechanism according to claim 1, which is characterized in that be provided on the eyeball (20) highlighted
Portion (21), the high highlights (21) and the center of rotation of the eyeball (20) are misaligned.
12. robot eye portion mechanism according to claim 3, which is characterized in that the stent (10) further includes：
Adjustment seat (14) is arranged in the adjustment seat (14) to substrate (11) position-adjustable.
13. a kind of robot, including robot eye portion mechanism, which is characterized in that the robot eye portion mechanism is claim 1
To the robot eye portion mechanism any one of 12.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610992270.4A CN108068137A (en) | 2016-11-10 | 2016-11-10 | Robot eye portion mechanism and with its robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610992270.4A CN108068137A (en) | 2016-11-10 | 2016-11-10 | Robot eye portion mechanism and with its robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108068137A true CN108068137A (en) | 2018-05-25 |
Family
ID=62154872
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610992270.4A Pending CN108068137A (en) | 2016-11-10 | 2016-11-10 | Robot eye portion mechanism and with its robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108068137A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109760109A (en) * | 2018-11-30 | 2019-05-17 | 沈阳工业大学 | A kind of voice coil motor formula robot eyeball |
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| JPH06304339A (en) * | 1993-04-22 | 1994-11-01 | Takara Co Ltd | Doll toy having eyeball and eyelid cooperated each other |
| KR20010079075A (en) * | 2001-06-12 | 2001-08-22 | 이병준 | Motion structure eyes of entertainment robot |
| CN2497838Y (en) * | 2001-09-20 | 2002-07-03 | 郑昌祈 | Moveable eyeball for toy |
| CN101297999A (en) * | 2008-07-01 | 2008-11-05 | 舒宏琦 | Artificial human eyeball rotation and eyelid blinking motion mechanism |
| CN201223724Y (en) * | 2007-10-17 | 2009-04-22 | 周志昌 | Doll eye driven by electro-magnet |
| CN101570019A (en) * | 2009-05-26 | 2009-11-04 | 上海大学 | Robot with humanoid facial expression |
| CN201445789U (en) * | 2009-09-04 | 2010-05-05 | 西安超人机器人科技有限公司 | Blink transmission mechanism for high-emulation performance robot |
| KR20120077452A (en) * | 2010-12-30 | 2012-07-10 | 한국생산기술연구원 | Robot eye ball device |
| CN103963074A (en) * | 2014-04-28 | 2014-08-06 | 上海大学 | Three-degree-of-freedom bionic eye platform based on flexible cable driving parallel mechanism |
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| CN206982730U (en) * | 2016-11-10 | 2018-02-09 | 深圳光启合众科技有限公司 | Robot eye portion mechanism and there is its robot |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH06304339A (en) * | 1993-04-22 | 1994-11-01 | Takara Co Ltd | Doll toy having eyeball and eyelid cooperated each other |
| KR20010079075A (en) * | 2001-06-12 | 2001-08-22 | 이병준 | Motion structure eyes of entertainment robot |
| CN2497838Y (en) * | 2001-09-20 | 2002-07-03 | 郑昌祈 | Moveable eyeball for toy |
| CN201223724Y (en) * | 2007-10-17 | 2009-04-22 | 周志昌 | Doll eye driven by electro-magnet |
| CN101297999A (en) * | 2008-07-01 | 2008-11-05 | 舒宏琦 | Artificial human eyeball rotation and eyelid blinking motion mechanism |
| CN101570019A (en) * | 2009-05-26 | 2009-11-04 | 上海大学 | Robot with humanoid facial expression |
| CN201445789U (en) * | 2009-09-04 | 2010-05-05 | 西安超人机器人科技有限公司 | Blink transmission mechanism for high-emulation performance robot |
| KR20120077452A (en) * | 2010-12-30 | 2012-07-10 | 한국생산기술연구원 | Robot eye ball device |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109760109A (en) * | 2018-11-30 | 2019-05-17 | 沈阳工业大学 | A kind of voice coil motor formula robot eyeball |
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