CN108237537A - The eye structure and robot of robot - Google Patents
The eye structure and robot of robot Download PDFInfo
- Publication number
- CN108237537A CN108237537A CN201611206903.0A CN201611206903A CN108237537A CN 108237537 A CN108237537 A CN 108237537A CN 201611206903 A CN201611206903 A CN 201611206903A CN 108237537 A CN108237537 A CN 108237537A
- Authority
- CN
- China
- Prior art keywords
- eye structure
- eyelid
- steering engine
- eyeball
- eyeball portion
- 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
Classifications
-
- 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
- B25J17/00—Joints
Abstract
The present invention provides the eye structure and robot of a kind of robot, wherein, eye structure includes：Bracket assembly；Eyeball portion, eyeball portion are connect with bracket assembly；Eyelid portion, eyelid portion are pivotly connect with bracket assembly, and eyelid portion moves between the open position for covering the closed position in eyeball portion and exposing eyeball portion；Eyelid portion driving device, eyelid portion driving device driving eyelid portion move and realize the blink action of eye structure between the closed position and the open position.The present invention solves the problems, such as that the complicated of robot eyes structure of the prior art, high failure rate and existing robot manipulation are complicated.
Description
Technical field
The present invention relates to robotic technology field, in particular to the eye structure and robot of a kind of robot.
Background technology
Bio-robot be can mimic biology, be engaged in the robot of biological characteristic work, for example, in western countries, machine
Tool pet is all the fashion, and bionical sparrow robot can serve as the task of environmental monitoring, for another example anthropomorphic robot can be people
Class provides many convenient services, and therefore, bio-robot increasingly obtains the attention of people, has good development prospect.
The characteristics of in order to make bio-robot simulation more true to nature biological, bio-robot are usually provided with blink
The eye structure of function, the eye structure of existing bio-robot is very complicated, complicated eye structure it is easy to appear failure,
It is poor so as to cause the operation stability of bio-robot, and the eye structure of existing bio-robot usually requires operator
Member rotational handle could obtain power input, therefore, existing bio-robot there are it is complicated for operation the problem of.
Invention content
It is a primary object of the present invention to provide a kind of eye structure of robot and robot, to solve in the prior art
The complicated of eye structure of robot, the problem of high failure rate and existing robot manipulation are complicated.
To achieve these goals, according to an aspect of the invention, there is provided a kind of eye structure of robot, packet
It includes：Bracket assembly；Eyeball portion, eyeball portion are connect with bracket assembly；Eyelid portion, eyelid portion pivotly with bracket assembly
Connection, eyelid portion move between the open position for covering the closed position in eyeball portion and exposing eyeball portion；Eyelid portion driving dress
It puts, eyelid portion driving device driving eyelid portion moves and realizes the blink of eye structure and move between the closed position and the open position
Make.
Further, eyeball portion and eyelid portion are two, and two eyeball portions and two eyelid portions are arranged in a one-to-one correspondence.
Further, eyeball portion has crosswise symmetric plane, and eyelid portion includes upper eyelid and lower eyelid, upper eyelid and lower eye
Skin is symmetricly set on the both sides of crosswise symmetric plane.
Further, eyelid portion driving device includes：First steering engine；First rocking arm, the first rocking arm and the first servo driving
Connection, the first rocking arm is swingably arranged on the first steering engine, and the plane of movement of the first rocking arm and eyeball portion is longitudinally asymmetric
Plane is parallel；
Two first connecting rods, the first end of two first connecting rods are cut with scissors with one end far from the first steering engine of the first rocking arm
It connects, the second end of two first connecting rods is hinged respectively with upper eyelid and lower eyelid.
Further, eye structure further includes substrate and the first support plate, and the first steering engine passes through the first support plate and substrate
Connection, the first steering engine position in the first support plate is adjustably set.
Further, eye structure includes substrate, and bracket assembly includes：Second support plate, the second support plate are arranged on
On substrate；First support bar, the first end of first support bar are connect with the second support plate, the second end and eyelid of first support bar
Portion connects.
Further, bracket assembly further includes pivot structure, and first support bar is two, and the second of each first support bar
End is set there are one pivot structure, and the axis of two pivot structures is set along a trans D line in eyeball portion, two shafts
Structure is as eyelid portion and the pivotal axis of first support bar.
Further, bracket assembly further includes second support bar and gimbal structure, the first end of second support bar with
Second support plate connects, and the second end of second support bar is hinged by gimbal structure and eyeball portion.
Further, eye structure further includes First view bulb driving device, and First view bulb driving device includes：Second
Steering engine；Second rocking arm, the second rocking arm are connect with the second servo driving, and the second rocking arm is swingably arranged on the second steering engine, and
The plane of movement of second rocking arm is parallel with the crosswise symmetric plane in eyeball portion；Second connecting rod, the first end of second connecting rod and second
One end far from the second steering engine of rocking arm is hinged, and second end and the eyeball portion of second connecting rod are hinged.
Further, the second end of second connecting rod and the hinge joint in eyeball portion are located in the crosswise symmetric plane in eyeball portion.
Further, eye structure further includes substrate and third support plate, and the second steering engine passes through third support plate and substrate
Connection, and the second steering engine position in third support plate is adjustably set.
Further, eye structure further includes the second eyeball portion driving device and transmission component, wherein, transmission component and eye
Bulb is hinged, and the second eyeball portion driving device is drivingly connected with transmission component so that transmission component drives eyeball portion to rotate.
Further, eye structure further includes substrate, and transmission component includes：4th support plate, the 4th support plate are two,
Two the 4th support plates are oppositely arranged on substrate；Optical axis, optical axis are rotatably arranged between two the 4th support plates；It pivots
Connection the first actively fork and the second actively fork, the first actively fork far from the second actively fork one end with second
Bulb driving device is drivingly connected, and one end far from the first actively fork of the second actively fork is sleeved on optical axis；The company of pivot
The first driven lever and the second driven lever connect, one end far from the second driven lever of the first driven lever are cut with scissors with eyeball portion
It connects, one end far from the first driven lever of the second driven lever is connect with optical axis.
Further, the midpoint of the second actively fork and optical axis connects；First driven lever and the second driven lever are
Two, two the second driven levers are connected to the axial both ends of light, and two the first driven levers respectively with two
Eyeball portion is hinged.
Further, the second eyeball portion driving device includes：Third steering engine；Third rocking arm, third rocking arm and third steering engine
It is drivingly connected, third rocking arm is swingably arranged on third steering engine.
Further, third rocking arm, the first actively fork, the second actively fork, the first driven lever and the second slave pendulum
The plane of movement of bar is parallel with the longitudinally asymmetric plane in eyeball portion.
Further, eye structure further includes the 5th support plate, and third steering engine is disposed on the substrate by the 5th support plate,
And third steering engine is adjustably set position in the 5th support plate.
According to an aspect of the invention, there is provided a kind of robot, including：Robot body is set on robot body
It is equipped with eye structure as described above.
Apply the technical scheme of the present invention, due to robot eye structure include substrate, bracket assembly, eyeball portion,
Eyelid portion and eyelid portion driving device；Bracket assembly is disposed on the substrate, and eyeball portion is rotatably connect with bracket assembly,
Eyelid portion is pivotly connect with bracket assembly, and eyelid portion has the closed position for covering eyeball portion and exposes beating for eyeball portion
Open position, eyelid portion driving device are hinged eyelid portion to be driven to move between the closed position and the open position and real with eyelid portion
The blink action of existing eye structure.Eyelid portion is automatically controlled relative to eye in this way, just can be realized by eyelid portion driving device
Bulb moves, and since the motion structure part of the eye structure of the present invention is few, so as to ensure that the reliability of eyelid portion movement, makes machine
Device people favorably accomplishes blink action, and so as to improve the verisimilitude of robot mimic biology, and the robot of the present invention is kept away
The movement of manual operation eye structure is exempted from, has reduced the complexity of robot manipulation, further improve the automation of robot
Degree.
Description of the drawings
The accompanying drawings which form a part of this application are used to provide 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 a kind of eye with eyelid portion driving device of the robot of alternative embodiment according to the present invention
The partial structural diagram of structure；
Partial structurtes Fig. 2 shows the eye structure with First view bulb driving device of the robot in Fig. 1 are shown
It is intended to；
Fig. 3 shows that the partial structurtes of the eye structure with the second eyeball portion driving device of the robot in Fig. 1 are shown
It is intended to.
Wherein, above-mentioned attached drawing is marked including the following drawings：
10th, substrate；20th, bracket assembly；21st, pivot structure；22nd, the second support plate；23rd, first support bar；24th, second
Supporting rod；25th, gimbal structure；30th, eyeball portion；40th, eyelid portion；41st, upper eyelid；42nd, lower eyelid；50th, eyelid portion driving dress
It puts；51st, the first steering engine；52nd, the first rocking arm；53rd, first connecting rod；60th, the first support plate；70th, First view bulb driving device；
71st, the second steering engine；72nd, the second rocking arm；73rd, second connecting rod；80th, third support plate；90th, the second eyeball portion driving device；91st,
Three steering engines；92nd, third rocking arm；100th, transmission component；101st, the 4th support plate；102nd, optical axis；103rd, the first actively fork；104、
Second actively fork；105th, the first driven lever；106th, the second driven lever；110th, the 5th support plate.
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, shall fall within the protection scope of the present 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 " packet
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 practical 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, and 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 are represented in following attached drawing with letter, therefore, once it is defined in a certain Xiang Yi attached drawing, then subsequent attached
It does not need to that it is 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 to illustrate 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 relative to 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 understood that spatially relative term is intended to comprising the orientation in addition to device described in figure
Except different direction 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 in opposite description to 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.
In order to solve the complicated of robot eyes structure of the prior art, high failure rate and existing robot
The problem of complicated for operation, the present invention provides the eye structure and robot of a kind of robot, wherein, robot includes：Ontology,
Face structure and eye structure, face structure are arranged on ontology, and eye structure is arranged on face structure, under eye structure is
The eye structure stated.
As shown in Figure 1, the eye structure of robot includes bracket assembly 20, eyeball portion 30, eyelid portion 40 and eyelid portion
Driving device 50；Eyeball portion 30 is rotatably connect with bracket assembly 20, eyelid portion 40 pivotly with bracket assembly 20
Connection, eyelid portion 40 move between the open position for covering the closed position in eyeball portion 30 and exposing eyeball portion 30, eyelid portion
Driving device 50 is hinged with eyelid portion 40 and realizes eye so that eyelid portion 40 to be driven to move between the closed position and the open position
The blink action of structure.Eyelid portion 40 is automatically controlled relative to eyeball in this way, just can be realized by eyelid portion driving device 50
Portion 30 moves, and since the motion structure part of the eye structure of the present invention is few, so as to ensure that the reliability of the movement of eyelid portion 40, makes
Robot favorably accomplishes blink action, so as to improve the verisimilitude of robot mimic biology, and the robot of the present invention
The movement of manual operation eye structure is avoided, the complexity of robot manipulation is reduced, further improves the automatic of robot
Change degree.
As shown in figure 3, for the eye of more realistically mimic biology, eyeball portion 30 and eyelid portion 40 are two, two
Eyeball portion 30 and two eyelid portions 40 are arranged in a one-to-one correspondence.
As shown in Figure 1 to Figure 3, similarly, for the eye feature of the various animals of true simulation, make robot face knot
Structure is more true to nature, and so as to improve usage experience sense of the people to robot, eyeball portion 30 has crosswise symmetric plane, and eyelid portion 40 is wrapped
Upper eyelid 41 and lower eyelid 42 are included, upper eyelid 41 and lower eyelid 42 are symmetricly set on the both sides of crosswise symmetric plane.
As shown in Figure 1, eyelid portion driving device 50 includes the first steering engine 51, the first Rocker arm 52 and two first connecting rods 53；
First Rocker arm 52 is drivingly connected with the first steering engine 51, and the first Rocker arm 52 is swingably arranged on the first steering engine 51, and first shakes
The plane of movement of arm 52 is parallel with the longitudinally asymmetric plane in eyeball portion 30, the first ends of two first connecting rods 53 with the first rocking arm
52 one end far from the first steering engine 51 is hinged, and the second end of two first connecting rods 53 is cut with scissors respectively with upper eyelid 41 and lower eyelid 42
It connects.In this way, the first steering engine 51 drives the first Rocker arm 52 to swing, the first Rocker arm 52 drives two first connecting rods 53 to move to pull
Upper eyelid 41 and lower eyelid 42 switch and realize the blink action in eyelid portion 40 between the closed position and the open position.
Since the plane of movement of the first Rocker arm 52 is parallel with the longitudinally asymmetric plane in eyeball portion 30, so as to ensure that first shakes
Arm 52 drives the stability that two first connecting rods 53 move.Due to two first connecting rods 53 first end with the first Rocker arm 52
One end far from the first steering engine 51 is hinged, and the second end of two first connecting rods 53 is hinged with upper eyelid 41 and lower eyelid 42 respectively,
In this way, under the premise of it ensure that 40 connective stability of the first Rocker arm 52, first connecting rod 53 and eyelid portion, is fully increased
Connection degree of freedom between one Rocker arm 52, first connecting rod 53 and eyelid portion 40, avoids movement interference, ensure that robot is smooth
Complete blink action in ground.
Optionally, during upper eyelid 41 moves to open position by closed position, the rotation angle of upper eyelid 41 is more than
Equal to 0 degree and less than or equal to 90 degree.
Optionally as well, during lower eyelid 42 moves to open position by closed position, the rotation angle of lower eyelid 42
More than or equal to 0 degree and less than or equal to 90 degree.
Preferably, upper eyelid 41 is 20 degree by the rotation angle that closed position moves to open position, and lower eyelid 42 is by closing
The rotation angle that conjunction position moves to open position is 35 degree.
Optionally, the rotational angular velocity of upper eyelid 41 and/or lower eyelid 42 is more than or equal to 30 degrees seconds.
As shown in Figure 1, for the ease of eyelid portion 40 is pulled to move, optionally, first connecting rod 53 is hinged with upper eyelid 41
Point and first connecting rod 53 are located at the side of the longitudinally asymmetric plane in eyeball portion 30 with lower eyelid 42.
As shown in Figure 1, eye structure further includes 10 and first support plate 60 of substrate, the first steering engine 51 passes through the first support plate
60 connect with substrate 10, and the first steering engine 51 is adjustably set position in the first support plate 60.In this way, by adjusting first
Position of the steering engine 51 in the first support plate 60, while the hinge joint position of first connecting rod 53 and eyelid portion 40 is adjusted, it can not only
It is enough reasonably the output driving power of the first steering engine 51 to be laid out, but also the overall volume of eye structure be reduced,
The space in robot face structure is effectively utilized, so as to reach to robot Miniaturization Design or modularized design.
As shown in Figure 1, eye structure includes substrate 10, bracket assembly 20 includes the second support plate 22 and first support bar
23, the second support plate 22 is set on the substrate 10, and the first end of first support bar 23 is connect with the second support plate 22, the first support
The second end of bar 23 is connect with eyelid portion 40.In this way, it is effectively guaranteed the connection between eyelid portion 40 and bracket assembly 20
Stability makes eyelid portion 40 reliably move.
As shown in Figure 1, bracket assembly 20 further includes pivot structure 21, first support bar 23 is two, each first support
The second end setting of bar 23 is there are one pivot structure 21, the trans D of the axis of two pivot structures 21 along eyeball portion 30
Setting, pivotal axis of two pivot structures 21 as eyelid portion 40 and first support bar 23.In this way, upper eyelid 41 and lower eyelid
42 are pivotably attached to two pivot structures 21, improve the rotational stability of upper eyelid 41 and lower eyelid 42.
As shown in Fig. 2, in order to make steadily to connect between eyeball portion 30 and bracket assembly 20, while ensure eyeball portion 30
It is capable of the eyeball feature of true simulation biology with very high rotary freedom, bracket assembly 20 further includes the second support
Bar 24 and gimbal structure 25, the first end of second support bar 24 are connect with the second support plate 22, and the second of second support bar 24
End is hinged with eyeball portion 30 by gimbal structure 25.
As shown in Fig. 2, eye structure further includes First view bulb driving device 70, First view bulb driving device 70 includes
Second steering engine 71, the second rocking arm 72 and second connecting rod 73, the second rocking arm 72 are drivingly connected with the second steering engine 71, and the second rocking arm 72 can
It is swingingly arranged on the second steering engine 71, and the plane of movement of the second rocking arm 72 is parallel with the crosswise symmetric plane in eyeball portion 30,
One end far from the second steering engine 71 of the first end of second connecting rod 73 and the second rocking arm 72 is hinged, the second end of second connecting rod 73 with
Eyeball portion 30 is hinged.In this way, the second steering engine 71 drive the second rocking arm 72 swing, the second rocking arm 72 drive second connecting rod 73 move from
And eyeball portion 30 is pulled to rotate.
Since the plane of movement of the second rocking arm 72 is parallel with the crosswise symmetric plane in eyeball portion 30, so as to ensure that second shakes
Arm 72 drives the stability of 30 rotation of eyeball portion.Due to the first end of second connecting rod 73 and separate second steering engine of the second rocking arm 72
71 one end is hinged, and the second end of second connecting rod 73 and eyeball portion 30 are hinged.In this way, ensure that the second rocking arm 72, second company
Under the premise of 30 connective stability of bar 73 and eyeball portion, the second rocking arm 72, second connecting rod 73 and eyeball portion 30 are fully increased
Between connection degree of freedom, avoid movement interference.
Optionally, the hinge joint in the second end of second connecting rod 73 and eyeball portion 30 is located at the crosswise symmetric plane in eyeball portion 30
It is interior, in such manner, it is possible to ensure that the second rocking arm 72 drives second connecting rod 73 to move to pull eyeball portion 30 around the shaft of vertical direction
Rotation, makes the left-right rotation in the horizontal plane of eyeball portion 30, realizes the Rotation of eyeball action of robot.
Optionally, second connecting rod 73 drive eyeball portion 30 by eyeball portion 30 sight center around vertical direction shaft
The rotation angle rotated clockwise is more than or equal to 0 degree and less than or equal to 30 degree.
Optionally as well, second connecting rod 73 drives eyeball portion 30 by the sight center in eyeball portion 30 around vertical direction
Shaft is more than or equal to 0 degree and less than or equal to 30 degree along the rotation angle rotated counterclockwise.
Preferably, second connecting rod 73 drive eyeball portion 30 by eyeball portion 30 sight center around vertical direction shaft
The rotation angle rotated clockwise is 20 degree, the drive of second connecting rod 73 eyeball portion 30 by eyeball portion 30 sight center around
The shaft of vertical direction is 20 degree along the rotation angle rotated counterclockwise.
Optionally, the rotational angular velocity in eyeball portion 30 is more than or equal to 30 degrees seconds.
As shown in Fig. 2, eye structure further includes substrate 10 and third support plate 80, the second steering engine 71 passes through third support plate
80 connect with substrate 10, and the second steering engine 71 position in third support plate 80 is adjustably set.In this way, by adjusting second
Position of the steering engine 71 in third support plate 80, while the hinge joint position of second connecting rod 73 and eyeball portion 30 is adjusted, it can not only
It is enough reasonably the output driving power of the second steering engine 71 to be laid out, but also the overall volume of eye structure be reduced,
The space in robot face structure is effectively utilized, so as to reach to robot Miniaturization Design or modularized design.
As shown in figure 3, eye structure further includes the second eyeball portion driving device 90 and transmission component 100, wherein, transmission group
Part 100 is hinged with eyeball portion 30, and the second eyeball portion driving device 90 is drivingly connected with transmission component 100 so that transmission component 100
Eyeball portion 30 is driven to rotate.In this way, transmission component 100 is driven to move by the second eyeball portion driving device 90, transmission component 100
Eyeball portion 30 is driven successfully to be rotated in perpendicular around horizontal axis.
As shown in figure 3, eye structure further includes substrate 10, transmission component 100 include the 4th support plate 101, optical axis 102,
The first actively fork 103 and the second actively fork 104 that are pivotally connected and the first driven lever 105 and second being pivotally connected
Driven lever 106, the 4th support plate 101 are two, and two the 4th support plates 101 are oppositely arranged on the substrate 10, and optical axis 102 can
It is rotatably arranged between two the 4th support plates 101, one end far from the second actively fork 104 of the first actively fork 103
It is drivingly connected with the second eyeball portion driving device 90, one end of separate first actively fork 103 of the second actively fork 104 and light
One end far from the second driven lever 106 that axis 102 connects the first driven lever 105 is hinged with eyeball portion 30, the second slave pendulum
One end far from the first driven lever 105 of bar 106 is connect with optical axis 102.
In an embodiment of the present invention, as shown in figure 3, in order to realize the synchronous rotation in two eyeball portions 30, second actively
Swing rod 104 is connect with the midpoint of optical axis 102；First driven lever 105 and the second driven lever 106 are two, two second
Driven lever 106 is connected to the axial both ends of optical axis 102, and two the first driven levers 105 respectively with two eyeballs
Portion 30 is hinged.
As shown in figure 3, the second eyeball portion driving device 90 include third steering engine 91 and third rocking arm 92, third rocking arm 92 with
Third steering engine 91 is drivingly connected, and third rocking arm 92 is swingably arranged on third steering engine 91.In this way, successfully realize third
Steering engine 91 drives 92 pendulum motion of third rocking arm, it is achieved thereby that the reciprocating rotation in eyeball portion 30.
Optionally, the first driven lever 105 drives eyeball portion 30 by the sight center in eyeball portion 30 around horizontal direction
The rotation angle that rotates clockwise of shaft be more than or equal to 0 degree and be less than or equal to 30 degree.
Optionally as well, the first driven lever 105 drives eyeball portion 30 by the sight center in eyeball portion 30 around level
The shaft in direction is more than or equal to 0 degree and less than or equal to 30 degree along the rotation angle rotated counterclockwise.
Preferably, the first driven lever 105 drives eyeball portion 30 by the sight center in eyeball portion 30 around horizontal direction
The rotation angle that rotates clockwise of shaft be 20 degree, 30 regarding by eyeball portion 30 of the first driven lever 105 drive eyeball portion
Line center is 20 degree around the rotation angle that the shaft edge of horizontal direction rotates counterclockwise.
Optionally, the rotational angular velocity in eyeball portion 30 is more than or equal to 30 degrees seconds.
Optionally, third rocking arm 92, the first actively fork 103, the second actively fork 104, the first driven lever 105 and
The plane of movement of two driven levers 106 is parallel with the longitudinally asymmetric plane in eyeball portion 30.This way it is ensured that the second eyeball portion drives
Device 90 and transmission component 100 can drive eyeball portion 30 to be rotated in perpendicular around horizontal axis, that is to say, that realize
The eyeball portion 30 of robot rotates upwardly and downwardly.
As shown in figure 3, eye structure further includes the 5th support plate 110, third steering engine 91 is set by the 5th support plate 110
On the substrate 10, and third steering engine 91 is adjustably set position in the 5th support plate 110.In this way, by adjusting third rudder
Position of the machine 91 in the 5th support plate 110, while the first driven lever 105 and the hinge joint position in eyeball portion 30 are adjusted, no
Only reasonably the output driving power of third steering engine 91 can be laid out, but also the whole body of eye structure can be reduced
Product, effectively utilizes the space in robot face structure, so as to reach to robot Miniaturization Design or modularized design.
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 " packet
Include " when, indicate existing characteristics, step, work, device, component and/or combination thereof.
It should be noted that term " first " in the description and claims of this application and above-mentioned attached drawing, "
Two " etc. be the object for distinguishing similar, and specific sequence or precedence are described without being used for.It should be appreciated that it uses in this way
Data can be interchanged in the appropriate case, so that presently filed embodiment described herein can be in addition to illustrating herein
Or the sequence other than those of description is implemented.
The foregoing is only a preferred embodiment of the present invention, is not intended to restrict the invention, for the skill of this field
For art personnel, the invention may be variously modified and varied.All within the spirits and principles of the present invention, that is made any repaiies
Change, equivalent replacement, improvement etc., should all be included in the protection scope of the present invention.
Claims (18)
1. a kind of eye structure of robot, which is characterized in that including：
Bracket assembly (20)；
Eyeball portion (30), the eyeball portion (30) connect with support frame as described above component (20)；
Eyelid portion (40), the eyelid portion (40) pivotly connect with support frame as described above component (20), the eyelid portion (40)
It is moved between the closed position of the eyeball portion (30) and the open position for exposing the eyeball portion (30) covering；
Eyelid portion driving device (50), eyelid portion driving device (50) drive the eyelid portion (40) in the closed position
The blink action of the eye structure is moved and realized between the open position.
2. eye structure according to claim 1, which is characterized in that the eyeball portion (30) and the eyelid portion (40) are equal
It it is two, two eyeball portions (30) and two eyelid portions (40) are arranged in a one-to-one correspondence.
3. eye structure according to claim 1 or 2, which is characterized in that the eyeball portion (30) has lateral symmetry flat
Face, the eyelid portion (40) include upper eyelid (41) and lower eyelid (42), and the upper eyelid (41) and the lower eyelid (42) are right
Title is arranged on the both sides of the crosswise symmetric plane.
4. eye structure according to claim 3, which is characterized in that eyelid portion driving device (50) includes：
First steering engine (51)；
First rocking arm (52), first rocking arm (52) are drivingly connected with first steering engine (51), first rocking arm (52)
It is swingably arranged on first steering engine (51), and the plane of movement of first rocking arm (52) and the eyeball portion (30)
Longitudinally asymmetric plane it is parallel；
Two first connecting rods (53), the separate institute of the first ends of described two first connecting rods (53) with first rocking arm (52)
The one end for stating the first steering engine (51) is hinged, the second ends of described two first connecting rods (53) respectively with the upper eyelid (41) and institute
It is hinged to state lower eyelid (42).
5. eye structure according to claim 4, which is characterized in that the eye structure further includes substrate (10) and first
Support plate (60), first steering engine (51) are connect by first support plate (60) with the substrate (10),
And first steering engine (51) is adjustably set position on first support plate (60).
6. eye structure according to claim 1 or 2, which is characterized in that the eye structure includes substrate (10), described
Bracket assembly (20) includes：
Second support plate (22), second support plate (22) are arranged on the substrate (10)；
First support bar (23), the first end of the first support bar (23) are connect with second support plate (22), and described
The second end of one supporting rod (23) is connect with the eyelid portion (40).
7. eye structure according to claim 6, which is characterized in that support frame as described above component (20) further includes pivot structure
(21), the first support bar (23) is two, and there are one the shafts for the second end setting of each first support bar (23)
Structure (21), the axis of two pivot structures (21) are set along a trans D line of the eyeball portion (30), two
The pivot structure (21) is as the eyelid portion (40) and the pivotal axis of the first support bar (23).
8. eye structure according to claim 6, which is characterized in that support frame as described above component (20) further includes the second support
Bar (24) and gimbal structure (25), the first end of the second support bar (24) are connect with second support plate (22), institute
The second end for stating second support bar (24) is hinged by the gimbal structure (25) and the eyeball portion (30).
9. eye structure according to claim 1 or 2, which is characterized in that the eye structure further includes First view bulb
Driving device (70), First view bulb driving device (70) include：
Second steering engine (71)；
Second rocking arm (72), second rocking arm (72) are drivingly connected with second steering engine (71), second rocking arm (72)
It is swingably arranged on second steering engine (71), and the plane of movement of second rocking arm (72) and the eyeball portion (30)
Crosswise symmetric plane it is parallel；
Second connecting rod (73), the first end of the second connecting rod (73) is with second rocking arm (72) far from second steering engine
(71) one end is hinged, and the second end of the second connecting rod (73) is hinged with the eyeball portion (30).
10. eye structure according to claim 9, which is characterized in that the second end of the second connecting rod (73) with it is described
The hinge joint in eyeball portion (30) is located in the crosswise symmetric plane of the eyeball portion (30).
11. eye structure according to claim 9, which is characterized in that the eye structure further includes substrate (10) and
Three support plates (80), second steering engine (71) are connect by the third support plate (80) with the substrate (10),
And second steering engine (71) is adjustably set position on the third support plate (80).
12. eye structure according to claim 2, which is characterized in that the eye structure further includes the drive of the second eyeball portion
Dynamic device (90) and transmission component (100), wherein, the transmission component (100) is hinged with the eyeball portion (30), and described second
Eyeball portion driving device (90) is drivingly connected with the transmission component (100) so that the transmission component (100) drives the eye
Bulb (30) rotates.
13. eye structure according to claim 12, which is characterized in that the eye structure further includes substrate (10), institute
Transmission component (100) is stated to include：
4th support plate (101), the 4th support plate (101) are two, and two the 4th support plates (101) are oppositely arranged
On the substrate (10)；
Optical axis (102), the optical axis (102) are rotatably arranged between two the 4th support plates (101)；
The first actively fork (103) and the second actively fork (104) being pivotally connected, first actively fork (103) it is remote
One end from second actively fork (104) is drivingly connected with the second eyeball portion driving device (90), second master
One end far from first actively fork (103) of driven fork (104) is sleeved on the optical axis (102)；
The first driven lever (105) and the second driven lever (106) being pivotally connected, first driven lever (105) it is remote
One end from second driven lever (106) is hinged with the eyeball portion (30), second driven lever (106) it is separate
One end of first driven lever (105) is connect with the optical axis (102).
14. eye structure according to claim 13, which is characterized in that second actively fork (104) and the light
The midpoint connection of axis (102)；First driven lever (105) and second driven lever (106) are two,
Two second driven levers (106) are connected to the axial both ends of the optical axis (102), and two described the
One driven lever (105) is hinged with two eyeball portions (30) respectively.
15. eye structure according to claim 13, which is characterized in that the second eyeball portion driving device (90) packet
It includes：
Third steering engine (91)；
Third rocking arm (92), the third rocking arm (92) are drivingly connected with the third steering engine (91), the third rocking arm (92)
It is swingably arranged on the third steering engine (91).
16. eye structure according to claim 15, which is characterized in that the third rocking arm (92), described first are actively
Swing rod (103), second actively fork (104), first driven lever (105) and second driven lever (106)
Plane of movement it is parallel with the longitudinally asymmetric plane of the eyeball portion (30).
17. eye structure according to claim 15, which is characterized in that the eye structure further includes the 5th support plate
(110), the third steering engine (91) is arranged on by the 5th support plate (110) on the substrate (10), and the third
Steering engine (91) is adjustably set position on the 5th support plate (110).
18. a kind of robot, which is characterized in that including：Robot body, setting is just like claim on the robot body
Eye structure described in any one of 1 to 17.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611206903.0A CN108237537A (en) | 2016-12-23 | 2016-12-23 | The eye structure and robot of robot |
| PCT/CN2017/117665 WO2018113722A1 (en) | 2016-12-23 | 2017-12-21 | Eye structure of robot, head structure of robot, and robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611206903.0A CN108237537A (en) | 2016-12-23 | 2016-12-23 | The eye structure and robot of robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108237537A true CN108237537A (en) | 2018-07-03 |
Family
ID=62704173
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201611206903.0A Pending CN108237537A (en) | 2016-12-23 | 2016-12-23 | The eye structure and robot of robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108237537A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108818557A (en) * | 2018-08-07 | 2018-11-16 | 宣城南巡智能科技有限公司 | A kind of emulated robot blink structure |
| CN109514587A (en) * | 2019-01-17 | 2019-03-26 | 大连蒂艾斯科技发展股份有限公司 | A kind of eyeball control structure applied to bio-robot |
| CN117124343A (en) * | 2023-09-25 | 2023-11-28 | 深圳无芯科技有限公司 | Head and neck structure of bionic robot and bionic robot |
Citations (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5407376A (en) * | 1993-01-31 | 1995-04-18 | Avital; Noni | Voice-responsive doll eye mechanism |
| JP2003079960A (en) * | 2001-09-11 | 2003-03-18 | Microjenics Inc | Eyelid-moving mechanism |
| CN101297999A (en) * | 2008-07-01 | 2008-11-05 | 舒宏琦 | Artificial human eyeball rotation and eyelid blinking motion mechanism |
| CN101670585A (en) * | 2009-09-27 | 2010-03-17 | 上海大学 | Double eyelid eye part movement mechanism of bionic robot |
| CN101898359A (en) * | 2009-11-09 | 2010-12-01 | 沈阳工业大学 | Humanoid robot eyes |
| CN103056880A (en) * | 2012-12-31 | 2013-04-24 | 深圳华强智能技术有限公司 | Simulated monkey robot head structure |
| CN203344065U (en) * | 2013-07-24 | 2013-12-18 | 蔡继文 | Human-simulated robot head |
| CN103495987A (en) * | 2013-09-26 | 2014-01-08 | 上海大学 | Bevel gear differential-motion human eye movement imitating mechanism |
| CN205667713U (en) * | 2016-05-11 | 2016-11-02 | 深圳光启合众科技有限公司 | A kind of device and pet robot nictation being applicable to robot |
| CN106078762A (en) * | 2016-07-23 | 2016-11-09 | 芜湖哈特机器人产业技术研究院有限公司 | Ten head and neck mechanisms of six-degree-of-freedom humanoid robot |
| CN206296918U (en) * | 2016-12-23 | 2017-07-04 | 深圳光启合众科技有限公司 | The eye structure and robot of robot |
-
2016
- 2016-12-23 CN CN201611206903.0A patent/CN108237537A/en active Pending
Patent Citations (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5407376A (en) * | 1993-01-31 | 1995-04-18 | Avital; Noni | Voice-responsive doll eye mechanism |
| JP2003079960A (en) * | 2001-09-11 | 2003-03-18 | Microjenics Inc | Eyelid-moving mechanism |
| CN101297999A (en) * | 2008-07-01 | 2008-11-05 | 舒宏琦 | Artificial human eyeball rotation and eyelid blinking motion mechanism |
| CN101670585A (en) * | 2009-09-27 | 2010-03-17 | 上海大学 | Double eyelid eye part movement mechanism of bionic robot |
| CN101898359A (en) * | 2009-11-09 | 2010-12-01 | 沈阳工业大学 | Humanoid robot eyes |
| CN103056880A (en) * | 2012-12-31 | 2013-04-24 | 深圳华强智能技术有限公司 | Simulated monkey robot head structure |
| CN203344065U (en) * | 2013-07-24 | 2013-12-18 | 蔡继文 | Human-simulated robot head |
| CN103495987A (en) * | 2013-09-26 | 2014-01-08 | 上海大学 | Bevel gear differential-motion human eye movement imitating mechanism |
| CN205667713U (en) * | 2016-05-11 | 2016-11-02 | 深圳光启合众科技有限公司 | A kind of device and pet robot nictation being applicable to robot |
| CN106078762A (en) * | 2016-07-23 | 2016-11-09 | 芜湖哈特机器人产业技术研究院有限公司 | Ten head and neck mechanisms of six-degree-of-freedom humanoid robot |
| CN206296918U (en) * | 2016-12-23 | 2017-07-04 | 深圳光启合众科技有限公司 | The eye structure and robot of robot |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108818557A (en) * | 2018-08-07 | 2018-11-16 | 宣城南巡智能科技有限公司 | A kind of emulated robot blink structure |
| CN109514587A (en) * | 2019-01-17 | 2019-03-26 | 大连蒂艾斯科技发展股份有限公司 | A kind of eyeball control structure applied to bio-robot |
| CN117124343A (en) * | 2023-09-25 | 2023-11-28 | 深圳无芯科技有限公司 | Head and neck structure of bionic robot and bionic robot |
| CN117124343B (en) * | 2023-09-25 | 2024-02-23 | 深圳无芯科技有限公司 | Head and neck structure of bionic robot and bionic robot |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN206296918U (en) | The eye structure and robot of robot | |
| CN108237537A (en) | The eye structure and robot of robot | |
| CN109202915A (en) | The head construction and bio-robot of bio-robot | |
| WO2018113722A1 (en) | Eye structure of robot, head structure of robot, and robot | |
| CN207564488U (en) | The head construction of robot and with its robot | |
| CN107490169B (en) | The control method of air conditioner | |
| CN206623102U (en) | A kind of thumb component and robot | |
| CN107932527A (en) | Bionical eye | |
| CN111496824A (en) | Bionic manipulator and bionic manipulator control method | |
| SE512931C2 (en) | Apparatus for relative movement of two elements | |
| CN206982691U (en) | The head construction and bio-robot of bio-robot | |
| CN109048988A (en) | A kind of mechanical wrist constructional device | |
| CN206296919U (en) | The wing motion and the robot with it of robot | |
| CN108656151A (en) | The eye structure of robot, the head construction of robot and robot | |
| CN116101525A (en) | Bionic flapping wing device and aircraft | |
| CN114671021A (en) | Unmanned aerial vehicle based on gesture control | |
| CN206913177U (en) | A kind of highly emulated robot arm and robot | |
| CN111745616B (en) | Force feedback master-slave operation controller | |
| CN210307811U (en) | Power device and robot with same | |
| CN108237538A (en) | The eye structure of robot, the head construction of robot and robot | |
| CN207682396U (en) | Bionical eye | |
| CN209107574U (en) | A kind of attitude-adjusting system and tandem type Minimally Invasive Surgery main manipulator | |
| CN206717906U (en) | A kind of end rotation device and the robot head in central rotation | |
| WO2011000146A1 (en) | Remote-control model helicopter | |
| CN206780420U (en) | A kind of robot eyebrow component and robot |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |