CN108237538B - Eye structure of robot, head structure of robot, and robot - Google Patents
Eye structure of robot, head structure of robot, and robot Download PDFInfo
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- CN108237538B CN108237538B CN201611208208.8A CN201611208208A CN108237538B CN 108237538 B CN108237538 B CN 108237538B CN 201611208208 A CN201611208208 A CN 201611208208A CN 108237538 B CN108237538 B CN 108237538B
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- eyelid
- robot
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- assembly
- eye
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- 210000000744 eyelid Anatomy 0.000 claims abstract description 69
- 210000001508 eye Anatomy 0.000 claims abstract description 57
- 230000007246 mechanism Effects 0.000 claims abstract description 54
- 210000005252 bulbus oculi Anatomy 0.000 claims abstract description 25
- 210000003128 head Anatomy 0.000 claims abstract description 24
- 238000010008 shearing Methods 0.000 claims abstract description 12
- 230000004397 blinking Effects 0.000 claims abstract description 10
- 230000009471 action Effects 0.000 claims abstract description 8
- 230000008602 contraction Effects 0.000 claims abstract description 6
- 238000009434 installation Methods 0.000 claims description 9
- 238000005096 rolling process Methods 0.000 claims description 9
- 230000001815 facial effect Effects 0.000 claims description 4
- 208000030533 eye disease Diseases 0.000 abstract description 4
- 239000011664 nicotinic acid Substances 0.000 description 10
- 230000004308 accommodation Effects 0.000 description 3
- 238000000034 method Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 241000271566 Aves Species 0.000 description 1
- 241000282414 Homo sapiens Species 0.000 description 1
- 241001465754 Metazoa Species 0.000 description 1
- 241000287127 Passeridae Species 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000014509 gene expression Effects 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 230000002035 prolonged effect Effects 0.000 description 1
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
- 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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Health & Medical Sciences (AREA)
- Audiology, Speech & Language Pathology (AREA)
- General Health & Medical Sciences (AREA)
- Human Computer Interaction (AREA)
- Toys (AREA)
Abstract
The invention provides an eye structure of a robot, a head structure of a robot and a robot, wherein the eye structure comprises: a support plate assembly; the eyeball part is connected with the supporting plate assembly; an oculopathy portion pivotally connected to the support plate assembly, the oculopathy portion moving between a closed position covering the eye portion and an open position exposing the eye portion; the driving assembly comprises a crank sliding block mechanism and a telescopic shearing fork mechanism which are connected, wherein the crank sliding block mechanism is connected with the eyelid part, the telescopic shearing fork mechanism is provided with a contraction position and an extension position, and the telescopic shearing fork mechanism reciprocates between the contraction position and the extension position to drive the eyelid part to switch between a closing position and an opening position so as to realize the blinking action of the eye structure. The invention solves the problems of complex structure, high work failure rate of the eye structure of the robot and complex operation of the existing robot in the prior art.
Description
Technical Field
The present invention relates to the field of robots, and more particularly, to an eye structure of a robot, a head structure of a robot, and a robot.
Background
The bionic robot is a robot which can imitate biology and work with biological characteristics, for example, in western countries, mechanical pets are popular, the bionic sparrow robot can serve as an environment monitoring task, and for example, the bionic robot can provide a plurality of convenience services for human beings, so that the bionic robot is more and more valued by people, and has a good development prospect.
In order to enable the bionic robot to simulate the characteristics of living things more realistically, the bionic robot is generally provided with an eye structure with a blinking function, the existing bionic robot is very complex in eye structure, the complex eye structure is prone to faults, therefore, the running stability of the bionic robot is poor, and the existing bionic robot is generally required to rotate a handle by an operator to obtain power input, so that the existing bionic robot has the problem of complex operation.
Disclosure of Invention
The invention mainly aims to provide an eye structure of a robot, a head structure of the robot and the robot, so as to solve the problems of complex structure, high work failure rate and complex operation of the existing robot of the eye structure of the robot in the prior art.
In order to achieve the above object, according to one aspect of the present invention, there is provided an eye structure of a robot, comprising: a support plate assembly; the eyeball part is connected with the supporting plate assembly; an oculopathy portion pivotally connected to the support plate assembly, the oculopathy portion moving between a closed position covering the eye portion and an open position exposing the eye portion; the driving assembly comprises a crank sliding block mechanism and a telescopic shearing fork mechanism which are connected, wherein the crank sliding block mechanism is connected with the eyelid part, the telescopic shearing fork mechanism is provided with a contraction position and an extension position, and the telescopic shearing fork mechanism reciprocates between the contraction position and the extension position to drive the eyelid part to switch between a closing position and an opening position so as to realize the blinking action of the eye structure.
Further, the eyeball parts and the eyelid parts are two, the two eyeball parts and the two eyelid parts are arranged in one-to-one correspondence, wherein the eyeball parts are provided with transverse symmetry planes, the eyelid parts comprise upper eyelid and lower eyelid, and the upper eyelid and the lower eyelid are symmetrically arranged on two sides of the transverse symmetry planes.
Further, the crank block mechanism includes: the sliding rod is slidably arranged on the supporting plate assembly, and the telescopic shearing fork mechanism is pivotally connected with the sliding rod to drive the sliding rod to slide; the first ends of the two connecting rods are pivotally connected with the sliding rod, and the second ends of the two connecting rods are respectively pivotally connected with the upper eyelid and the lower eyelid.
Further, the backup pad subassembly is including relative first mounting panel and the second mounting panel that sets up, forms accommodation space between first mounting panel and the second mounting panel, and drive assembly sets up in accommodation space department, and the both ends of sliding rod respectively with first mounting panel and second mounting panel sliding connection.
Further, the backup pad subassembly still includes spout bearing structure, and spout bearing structure is two, and two spout bearing structure set up respectively on first mounting panel and second mounting panel, and drive assembly still includes two antifriction bearing, and two antifriction bearing set up respectively at the axial both ends of slide bar, and slide bar passes through antifriction bearing and spout bearing structure sliding connection.
Further, the two chute supporting structures are mounting grooves respectively formed in the first mounting plate and the second mounting plate.
Further, the slot extension direction of the chute support structure and the telescopic direction of the telescopic scissor mechanism are parallel to the transverse symmetry plane.
Further, the eye structure also comprises a reset spring, and two ends of the reset spring are respectively connected with the two connecting rods.
Further, the telescopic scissor mechanism includes: a driving arm rotatably disposed on the support plate assembly; and the two ends of the driven arm assembly are respectively and pivotally connected with the two sliding rods, and the driving arm is connected with the driven arm assembly to drive the driven arm assembly to reciprocate between the retracted position and the extended position.
Further, the driven arm assembly includes: the first driven arms are sequentially connected in a pivot mode from head to tail; the plurality of second driven arms are correspondingly crossed with the plurality of first driven arms one by one, and a group of corresponding first driven arms and second driven arms are pivotally connected.
Further, a rotating shaft is arranged on the driving arm, the driving arm rotates around the rotating shaft relative to the supporting plate assembly, the driving arm is pivotally connected with a first driven arm, the driving arm is connected with the first driven arm to form two pivot points, and the two pivot points are respectively positioned on two sides of the rotating shaft; or the driving arm is pivotally connected with a second driven arm, and the driving arm and the second driven arm are connected to form two pivot points which are respectively positioned at two sides of the rotating shaft.
Further, the driving assembly further comprises a driving motor and a cam, the driving motor is in driving connection with the cam, the driving motor is arranged on the supporting plate assembly, and the circumferential end face of the cam is abutted to the driving arm to drive the driving arm to rotate.
According to another aspect of the present invention, there is provided a head structure of a robot including a face housing having an installation space and an eye structure provided in the installation space, the eye structure being the above-described eye structure.
Further, the novel face mask further comprises a mouth structure, the face shell is provided with a first avoiding hole and a second avoiding hole, the mouth structure is arranged by the first avoiding hole in a protruding mode to one side away from the installation space, and the eyeball part and eyelid part of the eye structure are located at the second avoiding hole.
Further, the eyelid portion is pivotably disposed between the support plate assembly of the ocular structure and the facial shell.
According to another aspect of the present invention, there is provided a robot comprising a head structure as described above.
By applying the technical scheme of the invention, the eye structure of the robot comprises the supporting plate assembly, the eyeball part, the eyelid part and the driving assembly, wherein the eyeball part is connected with the supporting plate assembly, the eyelid part is pivotally connected with the supporting plate assembly, the eyelid part moves between a closed position covering the eyeball part and an open position exposing the eyeball part, the driving assembly comprises the crank block mechanism and the telescopic scissor mechanism which are connected, the crank block mechanism is connected with the eyelid part, the telescopic scissor mechanism is provided with a contracted position and an extended position, and the telescopic scissor mechanism reciprocates between the contracted position and the extended position to drive the eyelid part to switch between the closed position and the open position so as to realize the blinking action of the eye structure. Therefore, the movement of the telescopic shearing fork mechanism can drive the crank sliding block mechanism to move so as to pull the eyelid, and as the movement structural members of the eye structure are less, the reliability of the eyelid movement is ensured, the robot successfully completes the blinking action, thereby improving the reality of the robot imitating living beings, and the robot avoids the movement of the eye structure by manual operation, reduces the operation complexity of the robot and further improves the automation degree of the robot.
Drawings
The accompanying drawings, which are included to provide a further understanding of the application and are incorporated in and constitute a part of this specification, illustrate embodiments of the application and together with the description serve to explain the application. In the drawings:
Fig. 1 shows a schematic structural view of an eye structure of a robot according to an alternative embodiment of the present invention;
Fig. 2 shows a schematic view of the mouth structure of the robot of fig. 1 and an eye structure with the first mounting plate omitted;
Fig. 3 shows a schematic structural view of a head structure of a robot according to an alternative embodiment of the present invention;
fig. 4 shows a schematic structural view of the head structure of fig. 3 from another perspective.
Wherein the above figures include the following reference numerals:
1. A facial shell; 15. an installation space; 16. a first avoidance hole; 17. a second avoidance hole; 2. a mouth structure; 3. an ocular structure; 10. a support plate assembly; 11. a first mounting plate; 12. a second mounting plate; 13. an accommodation space; 14. a chute support structure; 20. an eyeball part; 30. an eyelid portion; 31. upper eyelid; 32. lower eyelid; 40. a drive assembly; 41. a crank slider mechanism; 411. a sliding rod; 412. a connecting rod; 42. a telescopic scissors mechanism; 421. a drive arm; 422. a driven arm assembly; 423. a first driven arm; 424. a second driven arm; 425. a rotation shaft; 426. a pivot point; 43. a rolling bearing; 50. a return spring; 60. a driving motor; 70. a cam.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. The following description of at least one exemplary embodiment is merely exemplary in nature and is in no way intended to limit the invention, its application, or uses. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of exemplary embodiments according to the present application. As used herein, the singular is also intended to include the plural unless the context clearly indicates otherwise, and furthermore, it is to be understood that the terms "comprises" and/or "comprising" when used in this specification are taken to specify the presence of stated features, steps, operations, devices, components, and/or combinations thereof.
The relative arrangement of the components and steps, numerical expressions and numerical values set forth in these embodiments do not limit the scope of the present invention unless it is specifically stated otherwise. Meanwhile, it should be understood that the sizes of the respective parts shown in the drawings are not drawn in actual scale for convenience of description. Techniques, methods, and apparatus known to one of ordinary skill in the relevant art may not be discussed in detail, but should be considered part of the specification where appropriate. In all examples shown and discussed herein, any specific values should be construed as merely illustrative, and not a limitation. Thus, other examples of the exemplary embodiments may have different values. It should be noted that: like reference numerals and letters denote like items in the following figures, and thus once an item is defined in one figure, no further discussion thereof is necessary in subsequent figures.
In the description of the present invention, it should be understood that the azimuth or positional relationships indicated by the azimuth terms such as "front, rear, upper, lower, left, right", "lateral, vertical, horizontal", and "top, bottom", etc., are generally based on the azimuth or positional relationships shown in the drawings, merely to facilitate description of the present invention and simplify the description, and these azimuth terms do not indicate and imply that the apparatus or elements referred to must have a specific azimuth or be constructed and operated in a specific azimuth, and thus should not be construed as limiting the scope of protection of the present invention; the orientation word "inner and outer" refers to inner and outer relative to the contour of the respective component itself.
Spatially relative terms, such as "above … …," "above … …," "upper surface on … …," "above," and the like, may be used herein for ease of description to describe one device or feature's spatial location relative to another device or feature as illustrated in the figures. It will be understood that the spatially relative terms are intended to encompass different orientations in use or operation in addition to the orientation depicted in the figures. For example, if the device in the figures is turned over, elements described as "above" or "over" other devices or structures would then be oriented "below" or "beneath" the other devices or structures. Thus, the exemplary term "above … …" may include both orientations "above … …" and "below … …". The device may also be positioned in other different ways (rotated 90 degrees or at other orientations) and the spatially relative descriptors used herein interpreted accordingly.
In addition, the terms "first", "second", etc. are used to define the components, and are only for convenience of distinguishing the corresponding components, and the terms have no special meaning unless otherwise stated, and therefore should not be construed as limiting the scope of the present invention.
In order to solve the problems of complex structure, high work failure rate and complex operation of the existing robot of the eye structure of the robot in the prior art, the invention provides an eye structure of the robot, a head structure of the robot and the robot, wherein the robot comprises a body structure and a head structure arranged on the body structure, and the head structure is the following head structure; as shown in fig. 3 and 4, the head structure of the robot includes a face housing 1 and an eye structure 3, the face housing 1 having a mounting space 15, the eye structure 3 being disposed in the mounting space 15, the eye structure 3 being an eye structure described below; as shown in fig. 3, in order to improve the reality of the outline of the robot simulated living things, the head structure further includes a mouth structure 2, a first avoidance hole 16 and a second avoidance hole 17 are formed in the face housing 1, the mouth structure 2 is protruded from the first avoidance hole 16 to a side far away from the installation space 15, and an eyeball part 20 and an eyelid part 30 of the eye structure 3 are located at the second avoidance hole 17.
Optionally, in order to increase the flexibility of movement of the eyelid portion 30, ensuring that the ocular structure 3 simulates a biological blink, the eyelid portion 30 is pivotably arranged between the support plate assembly 10 of the ocular structure 3 and the facial shell 1.
Alternatively, the face housing 1 of the robot is a bird-like face housing, and the mouth structure 2 of the robot is a bird-like mouth structure, so that the head structure of the robot is a bird-like head outline structure. Of course, the head structure of the robot of the present invention is not limited to simulating birds.
As shown in fig. 1 to 4, since the eye structure of the robot includes the haptic assembly 10, the eyeball part 20, the eyelid part 30 and the driving assembly 40, the eyeball part 20 is connected to the haptic assembly 10, the eyelid part 30 is pivotably connected to the haptic assembly 10, the eyelid part 30 moves between a closed position covering the eyeball part 20 and an open position exposing the eyeball part 20, and the driving assembly 40 includes a slider-crank mechanism 41 and a telescopic scissor mechanism 42 connected, wherein the slider-crank mechanism 41 is connected to the eyelid part 30, the telescopic scissor mechanism 42 has a retracted position and an extended position, and the telescopic scissor mechanism 42 reciprocates between the retracted position and the extended position to drive the eyelid part 30 to switch between the closed position and the open position to perform the blinking motion of the eye structure 3.
In this way, the crank block mechanism 41 can be driven to move by the movement of the telescopic shearing fork mechanism 42 to realize pulling of the eyelid 30, and as the movement structural members of the eyelid structure 3 are few, the reliability of the eyelid 30 movement is ensured, so that the robot successfully completes blinking actions, thereby improving the reality of the robot imitating living beings, and the robot of the invention avoids the movement of the manually operated eyelid structure 3, reduces the complexity of the robot operation, and further improves the automation degree of the robot.
As shown in fig. 1 to 3, the eyeball part 20 and the eyelid part 30 are two, and the two eyeball parts 20 and the two eyelid parts 30 are arranged in one-to-one correspondence, wherein the eyeball part 20 has a transverse symmetry plane, the eyelid part 30 comprises an upper eyelid 31 and a lower eyelid 32, and the upper eyelid 31 and the lower eyelid 32 are symmetrically arranged at both sides of the transverse symmetry plane. Thus, the eye structure 3 can truly simulate the eye characteristics of various animals, so that the head structure of the robot is more vivid, and the use experience of people on the robot is improved.
As shown in fig. 1 and 2, the crank slider mechanism 41 includes a sliding rod 411 and two connecting rods 412, the sliding rod 411 is slidably disposed on the support plate assembly 10, the telescopic scissor mechanism 42 is pivotally connected to the sliding rod 411 to drive the sliding rod 411 to slide, first ends of the two connecting rods 412 are pivotally connected to the sliding rod 411, and second ends of the two connecting rods 412 are pivotally connected to the upper eyelid 31 and the lower eyelid 32, respectively. In this way, the telescopic scissor mechanism 42 reciprocates between the retracted position and the extended position to push the sliding rod 411 to do linear motion, so that the sliding rod 411 can drive the two connecting rods 412 to rotate to pull the upper eyelid 31 and the lower eyelid 32 to rotate, and further the blinking action of the robot is realized.
As shown in fig. 1, 2 and 4, the support plate assembly 10 includes a first mounting plate 11 and a second mounting plate 12 disposed opposite to each other, an accommodating space 13 is formed between the first mounting plate 11 and the second mounting plate 12, the driving assembly 40 is disposed at the accommodating space 13, and both ends of the sliding rod 411 are slidably coupled with the first mounting plate 11 and the second mounting plate 12, respectively. In this way, the first mounting plate 11 and the second mounting plate 12 not only play a role in effectively supporting and limiting the sliding rod 411 and effectively planning the sliding path of the sliding rod 411, but also the accommodating space 13 between the first mounting plate 11 and the second mounting plate 12 provides enough movement space for the crank block mechanism 41 and the telescopic scissor mechanism 42, and ensures the movement reliability of the crank block mechanism 41 and the telescopic scissor mechanism 42.
In order to effectively and reasonably use the installation space 15 of the face housing 1, the first installation plate 11 and the second installation plate 12 are arranged in parallel. Specifically, the first mounting plate 11 and the second mounting plate 12 are connected through a plurality of connecting columns, and the connecting columns are located in the accommodating space 13 and are arranged around the periphery of the first mounting plate 11 or the second mounting plate 12 at intervals, so that the connection stability between the first mounting plate 11 and the second mounting plate 12 is ensured, and the phenomenon that the movement of the crank slider mechanism 41 or the telescopic scissor mechanism 42 is interfered due to the fact that too much space occupies the interior of the accommodating space 13 is avoided.
As shown in fig. 1 and 2, the support plate assembly 10 further includes two chute support structures 14, two chute support structures 14 are respectively disposed on the first mounting plate 11 and the second mounting plate 12, the driving assembly 40 further includes two rolling bearings 43, the two rolling bearings 43 are respectively disposed at two axial ends of the sliding rod 411, and the sliding rod 411 is slidably connected with the chute support structures 14 through the rolling bearings 43. Like this, antifriction bearing 43 rolls in spout bearing structure 14 department, has reduced the frictional force between slide bar 411 and the backup pad subassembly 10 effectively, has prolonged the life of eye structure 3, sets up the spout bearing structure 14 that can dismantle with backup pad subassembly 10 and be connected moreover, and spout bearing structure 14 not only can effectively plan the slip route of slide bar 411, improves the connection stability of slide bar 411 and backup pad subassembly 10, but also is convenient for change worn spout bearing structure 14, has played the effect of extension eye structure 3's life equally.
Alternatively, in an alternative embodiment of the invention, not shown, the two chute support structures 14 are mounting slots formed in the first mounting plate 11 and the second mounting plate 12, respectively.
In this embodiment, the chute supporting structure 14 disposed on the first mounting plate 11 is a box structure, and the chute supporting structure 14 is detachably connected with the first mounting plate 11, the chute supporting structure 14 disposed on the second mounting plate 12 is a mounting groove, the chute supporting structure 14 having a guiding chute in the box structure, one end of the sliding rod 411 is disposed in the guiding chute through a rolling bearing 43, and the other end of the sliding rod 411 is slidably overlapped at the edge of the mounting groove through a rolling bearing 43.
Alternatively, the slot extension direction of the slot support structure 14 and the telescoping direction of the telescoping scissor mechanism 42 are both parallel to the transverse plane of symmetry. In this way, the movements of the upper eyelid 31 and the lower eyelid 32 can be performed synchronously, and the positions of the upper eyelid 31 and the lower eyelid 32 can be set at two sides of the transverse symmetry plane at all times, so that the reliability of the eye structure 3 for simulating the biological blinking action is improved.
As shown in fig. 1 and 2, the telescopic scissor mechanism 42 includes a driving arm 421 and a driven arm assembly 422, the driving arm 421 is rotatably provided on the support plate assembly 10, both ends of the driven arm assembly 422 are respectively pivotally connected to two sliding bars 411, and the driving arm 421 is connected to the driven arm assembly 422 to drive the driven arm assembly 422 to reciprocate between a retracted position and an extended position.
Specifically, the driven arm assembly 422 includes a plurality of first driven arms 423 and a plurality of second driven arms 424; the first driven arms 423 are sequentially and pivotally connected end to end, the second driven arms 424 are correspondingly and crosswise arranged with the first driven arms 423, and a group of corresponding first driven arms 423 and second driven arms 424 are pivotally connected. In this way, a stable telescopic movement of the telescopic scissor mechanism 42 is ensured.
Optionally, a plurality of first driven arms 423 are pivotally connected end-to-end in sequence in a direction away from the eyelid portion 30.
As shown in fig. 2, the driving arm 421 is provided with a rotation shaft 425, and the driving arm 421 rotates about the rotation shaft 425 with respect to the support plate assembly 10, specifically, the driving arm 421 is pivotally connected to the first mounting plate 11 by pivoting about the rotation shaft 425. In this embodiment, the driving arm 421 is pivotally connected to a first driven arm 423, and the driving arm 421 and the first driven arm 423 are connected to form two pivot points 426, and the two pivot points 426 are located on two sides of the rotation shaft 425 respectively.
Of course, to ensure flexibility in the connection between the master arm 421 and the slave arm assembly 422, the master arm 421 is pivotally connected to a second slave arm 424, and the master arm 421 and the second slave arm 424 are connected to form two pivot points 426, the two pivot points 426 being located on opposite sides of the rotational axis 425, respectively.
As shown in fig. 1 and 2, in order to ensure the reliability of the movement of the ocular structure 3, the driving assembly 40 further includes a driving motor 60 and a cam 70, the driving motor 60 is in driving connection with the cam 70, the driving motor 60 is disposed on the support plate assembly 10, and the circumferential end surface of the cam 70 abuts against the driving arm 421 to drive the driving arm 421 to rotate. Wherein the driving motor 60 and the cam 70 drive the crank block mechanism 41 and the telescopic scissor mechanism 42 to stably move as the power part of the driving assembly 40.
As shown in fig. 1 and 2, the eye structure 3 further includes a return spring 50, and both ends of the return spring 50 are connected to the two connecting rods 412, respectively. When the telescopic scissor mechanism 42 is in the extended position and the eyeball part 20 is in the closed position, the return spring 50 is in a stretched state, so that the return spring 50 always provides a pulling force to the two connecting rods 412, and the eyeball part 20 has a tendency to move towards the open position, thereby ensuring that the main arm 421 always contacts the cam 70.
It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of exemplary embodiments according to the present application. As used herein, the singular is also intended to include the plural unless the context clearly indicates otherwise, and furthermore, it is to be understood that the terms "comprises" and/or "comprising" when used in this specification are taken to specify the presence of stated features, steps, operations, devices, components, and/or combinations thereof.
It should be noted that the terms "first," "second," and the like in the description and the claims of the present application and the above figures are used for distinguishing between similar objects and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used may be interchanged where appropriate such that embodiments of the application described herein may be implemented in sequences other than those illustrated or otherwise described herein.
The above description is only of the preferred embodiments of the present invention and is not intended to limit the present invention, but various modifications and variations can be made to the present invention by those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (12)
1. An eye structure of a robot, comprising:
a support plate assembly (10);
an eye portion (20), the eye portion (20) being connected to the support plate assembly (10);
An eyelid portion (30), the eyelid portion (30) being pivotally connected to the support plate assembly (10), the eyelid portion (30) being movable between a closed position covering the eye portion (20) and an open position exposing the eye portion (20);
The driving assembly (40), the driving assembly (40) comprises a crank block mechanism (41) and a telescopic shearing fork mechanism (42) which are connected, wherein the crank block mechanism (41) is connected with the eyelid part (30), the telescopic shearing fork mechanism (42) has a contraction position and an extension position, and the telescopic shearing fork mechanism (42) reciprocates between the contraction position and the extension position to drive the eyelid part (30) to switch between the closed position and the open position so as to realize the blinking action of the eye part structure (3);
The eyeball parts (20) and the eyelid parts (30) are two, the two eyeball parts (20) and the two eyelid parts (30) are arranged in a one-to-one correspondence manner, wherein the eyeball parts (20) are provided with transverse symmetry planes, the eyelid parts (30) comprise upper eyelid parts (31) and lower eyelid parts (32), and the upper eyelid parts (31) and the lower eyelid parts (32) are symmetrically arranged at two sides of the transverse symmetry planes; the crank block mechanism (41) comprises: the sliding rod (411) is slidably arranged on the supporting plate assembly (10), and the telescopic scissor mechanism (42) is pivotally connected with the sliding rod (411) to drive the sliding rod (411) to slide; the first ends of the two connecting rods (412) are pivotally connected with the sliding rod (411), and the second ends of the two connecting rods (412) are respectively pivotally connected with the upper eyelid (31) and the lower eyelid (32); the telescopic scissor mechanism (42) comprises: -a master arm (421), said master arm (421) being rotatably arranged on said support plate assembly (10); -a driven arm assembly (422), both ends of the driven arm assembly (422) being pivotally connected to two of the sliding bars (411), respectively, the driving arm (421) being connected to the driven arm assembly (422) to drive the driven arm assembly (422) to reciprocate between the retracted position and the extended position;
The support plate assembly (10) comprises a first mounting plate (11) and a second mounting plate (12) which are oppositely arranged, an accommodating space (13) is formed between the first mounting plate (11) and the second mounting plate (12), the driving assembly (40) is arranged at the accommodating space (13), and two ends of the sliding rod (411) are respectively connected with the first mounting plate (11) and the second mounting plate (12) in a sliding mode.
2. The eye structure according to claim 1, wherein the support plate assembly (10) further comprises four sliding groove support structures (14), two sliding groove support structures (14) are arranged on the first mounting plate (11) and the second mounting plate (12), the driving assembly (40) further comprises four rolling bearings (43), the four rolling bearings (43) are respectively arranged at two axial ends of the sliding rods (411), and the sliding rods (411) are in sliding connection with the sliding groove support structures (14) through the rolling bearings (43).
3. The eye structure according to claim 2, wherein the four chute support structures (14) are mounting grooves provided on the first mounting plate (11) and the second mounting plate (12), respectively.
4. Eye structure according to claim 2, characterized in that the slot extension direction of the chute support structure (14) and the telescoping direction of the telescoping scissor mechanism (42) are both parallel to the transverse symmetry plane.
5. The ocular structure according to claim 1, characterized in that the ocular structure (3) further comprises a return spring (50), both ends of the return spring (50) being connected with two of the connecting rods (412), respectively.
6. The ocular structure of claim 1, characterized in that the slave arm assembly (422) comprises:
the first driven arms (423) are sequentially connected in a pivot mode from head to tail;
the plurality of second driven arms (424), the plurality of second driven arms (424) and the plurality of first driven arms (423) are arranged in a one-to-one corresponding and crossed mode, and a group of corresponding first driven arms (423) and second driven arms (424) are connected in a pivoting mode.
7. The ocular structure of claim 6, wherein the active arm (421) is provided with a rotation axis (425), the active arm (421) rotates around the rotation axis (425) with respect to the support plate assembly (10),
Two sides of the driving arm (421) are respectively and pivotally connected with one first driven arm (423), the driving arm (421) and the first driven arm (423) are connected to form two pivot points (426), and the two pivot points (426) are respectively positioned at two sides of the rotating shaft (425); or (b)
The two sides of the driving arm (421) are respectively and pivotally connected with one second driven arm (424), the driving arm (421) and the second driven arm (424) are connected to form two pivot points (426), and the two pivot points (426) are respectively located on two sides of the rotating shaft (425).
8. The ocular structure of claim 1, characterized in that the driving assembly (40) further comprises a driving motor (60) and a cam (70), the driving motor (60) is in driving connection with the cam (70), the driving motor (60) is arranged on the support plate assembly (10), and a circumferential end surface of the cam (70) abuts against the driving arm (421) to drive the driving arm (421) to rotate.
9. A head structure of a robot, characterized by comprising a face housing (1) and an eye structure (3), wherein the face housing (1) has a mounting space (15), the eye structure (3) is arranged in the mounting space (15), the eye structure (3) is an eye structure according to any one of claims 1 to 8.
10. The head structure according to claim 9, further comprising a mouth structure (2), wherein a first avoidance hole (16) and a second avoidance hole (17) are formed in the face housing (1), the mouth structure (2) is arranged by protruding from the first avoidance hole (16) to a side far away from the installation space (15), and an eyeball part (20) and an eyelid part (30) of the eye structure (3) are located at the second avoidance hole (17).
11. The head structure according to claim 9, characterized in that the eyelid portion (30) is pivotably arranged between a support plate assembly (10) of the ocular structure (3) and the facial shell (1).
12. A robot comprising a head structure as claimed in any one of claims 9 to 11.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201611208208.8A CN108237538B (en) | 2016-12-23 | 2016-12-23 | Eye structure of robot, head structure of robot, and robot |
| PCT/CN2017/117665 WO2018113722A1 (en) | 2016-12-23 | 2017-12-21 | Eye structure of robot, head structure of robot, and robot |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201611208208.8A CN108237538B (en) | 2016-12-23 | 2016-12-23 | Eye structure of robot, head structure of robot, and robot |
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| CN108237538B true CN108237538B (en) | 2024-06-28 |
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| CN206296917U (en) * | 2016-12-23 | 2017-07-04 | 深圳光启合众科技有限公司 | The eye structure of robot, the head construction of robot and robot |
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| US6149490A (en) * | 1998-12-15 | 2000-11-21 | Tiger Electronics, Ltd. | Interactive toy |
| JP4247819B2 (en) * | 2003-01-29 | 2009-04-02 | 学校法人早稲田大学 | Medical simulator |
| CN102133483B (en) * | 2010-01-26 | 2013-07-31 | 深圳华强智能技术有限公司 | Simulation shrimp |
| CN103055512B (en) * | 2012-12-28 | 2015-03-11 | 深圳华强文化科技集团股份有限公司 | Simulated tyrannosaurus robot |
| CN203344065U (en) * | 2013-07-24 | 2013-12-18 | 蔡继文 | Human-simulated robot head |
| CN105437247B (en) * | 2016-01-27 | 2017-06-20 | 龙卷风机电科技（昆山）有限公司 | A kind of expression robot |
| CN205730336U (en) * | 2016-05-11 | 2016-11-30 | 深圳光启合众科技有限公司 | A kind of device and pet robot nictation being applicable to robot |
| 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 |
| CN106078762B (en) * | 2016-07-23 | 2018-11-06 | 芜湖哈特机器人产业技术研究院有限公司 | Ten neck mechanisms of six-degree-of-freedom humanoid robot |
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| EP0441566A1 (en) * | 1990-02-09 | 1991-08-14 | BRESLOW, MORRISON, TERZIAN & ASSOCIATES, INC. | Toy character with lighted eyes and mechanically openable eyelids |
| CN206296917U (en) * | 2016-12-23 | 2017-07-04 | 深圳光启合众科技有限公司 | The eye structure of robot, the head construction of robot and robot |
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