CN204215225U - Robot shape of the mouth as one speaks control gear - Google Patents
Robot shape of the mouth as one speaks control gear Download PDFInfo
- Publication number
- CN204215225U CN204215225U CN201420700901.7U CN201420700901U CN204215225U CN 204215225 U CN204215225 U CN 204215225U CN 201420700901 U CN201420700901 U CN 201420700901U CN 204215225 U CN204215225 U CN 204215225U
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- Prior art keywords
- air bag
- action
- mouth
- teeth portion
- robot
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Abstract
The utility model discloses a kind of robot shape of the mouth as one speaks control gear, comprise lip Control Component, lip Control Component comprises action air bag and electronic air pocket pump, electronic air pocket pump comprises gas storage air bag and motor driving part, described action air bag is extension airbag along a direction expanding-contracting action and the appropriate location be embedded in the emulation face of robot, and a gas storage air bag and an action air bag are communicated with by wireway and form a seal air cavity, motor driving part controls gas storage airbag aeration and pumping action, gas storage air bag corresponding control action air bag expanding-contracting action.The utility model by embed emulation face in action air bag adjustment robot the shape of the mouth as one speaks, not only easy to adjust, structure is simple, volume weight is little, cost is low, and imitate the shape of the mouth as one speaks humanized; On the other hand, the utility model carrys out the flexible of control action air bag by gas storage air bag, without the need to arranging valve on wireway, makes at machine man-hour noise little.
Description
Technical field
The utility model relates to a kind of emulated robot, particularly relates to the shape of the mouth as one speaks control gear of emulated robot.
Background technology
The shape of the mouth as one speaks is the important component of expression, and people speaks always along with shape of the mouth as one speaks motion, to form different sound channels, sends various types of voice; When various emotional expression, the shape of the mouth as one speaks also can present different attitudes along with expression.People can be imitated in order to make robot to speak and show emotion, usually the face of robot is divided into four pieces, the left corners of the mouth, the right corners of the mouth, upper lip and lower lip, when imitating the shape of the mouth as one speaks, the left and right corners of the mouth at least respectively has an X to the rectilinear motion with Y-direction, and upper and lower lip at least respectively has a Z-direction rectilinear motion.Like this, need to arrange a large amount of shape of the mouth as one speaks motion control mechanism in narrow and small oral area space, the dimensional requirement of relative motion mechanism closely, the quality requirements of mechanism is as far as possible light, according to the motion of traditional rigid body form, for reducing the weight and volume of mechanism, often make the complex structure of mechanism, to realize cost very high, the effect that the shape of the mouth as one speaks controls is also very undesirable.
For this reason, the robot shape of the mouth as one speaks control gear of a kind of low cost, high oral area space availability ratio is badly in need of in current expression robot field.
Utility model content
The purpose of this utility model is to provide a kind of robot shape of the mouth as one speaks control gear, and the shape of the mouth as one speaks that robot can be made to carry out personalizing is imitated.
In order to realize there is object, the utility model discloses a kind of robot shape of the mouth as one speaks control gear, described robot shape of the mouth as one speaks control gear comprises lip Control Component, described lip Control Component comprises action air bag and electronic air pocket pump, described electronic air pocket pump comprises gas storage air bag and motor driving part, described action air bag is extension airbag along a direction expanding-contracting action and the appropriate location be embedded in the emulation face of robot, and gas storage air bag described in one and action air bag described in are communicated with by wireway and form a seal air cavity, described motor driving part controls described gas storage airbag aeration and pumping action, described gas storage air bag is bled or is inflated and controls described action air bag along a direction expanding-contracting action with correspondence.
Compared with prior art, the utility model by embedding machine people emulate in face action air bag adjustment robot the shape of the mouth as one speaks, not only easy to adjust, structure is simple, volume weight is little, cost is low; On the other hand, action air bag embedding machine people can be emulated the position, muscle place (corners of the mouth and/or lip) that face correspondence affects the face shape of the mouth as one speaks by the utility model, thus comprehensive apish shape of the mouth as one speaks action, make the robot shape of the mouth as one speaks humanized; Again on the one hand, the utility model carrys out the flexible of control action air bag by gas storage air bag, without the need to arranging valve on wireway, makes at machine man-hour noise little.Again on the one hand, the utility model stretching by double-air sac structure control action air bag, action air bag, the environment that between gas storage air bag and wireway, formation one is airtight, the side-play amount of control action air bag is carried out by the dilatability controlling gas storage air bag in guide cylinder, not only control conveniently, and it is accurate to control result.
Preferably, described action air bag comprises the lip air bag in the emulation lip being embedded in described emulation face and is embedded in the corners of the mouth air bag around the emulation corners of the mouth of described emulation face, and described corners of the mouth air bag one end is connected on the skeleton of described robot, the other end is connected to the corners of the mouth of described robot simulation face.
Preferably, described lip air bag comprises the upper lip air bag of the upper lip being positioned at emulation face, is positioned at the lower lip air bag of the lower lip of emulation face, the pore of described lip air bag is opened in the centre of the cyst wall of described lip air bag, described corners of the mouth air bag is arranged along the corners of the mouth muscle group correspondence of described robot simulation face, comprises left levator labii superioris air bag, left greater zygomatic muscle air bag, left Albinus' muscle air bag, left depressor muscle of angle of mouth air bag, left depressor muscle of lower lip air bag, right levator labii superioris air bag, right greater zygomatic muscle air bag, right Albinus' muscle air bag, right depressor muscle of angle of mouth air bag and right depressor muscle of lower lip air bag.The program makes action air bag can the action of omnibearing imitation lip, thus makes the robot shape of the mouth as one speaks humanized.
Preferably, described extension airbag comprises airbag body and is opened in the pore on described airbag body, described airbag body comprises bladder sidewall and is positioned at described bladder sidewall two ends and seals the air bag end wall of described bladder sidewall, and described bladder sidewall is formed by connecting along folding retractable direction by several collapsible corrugated plates; Described action air bag is axially arranged with some support members along it, and the crest that described support member supports described corrugated plate along the circumference of described action air bag caves in prevent described crest.
Particularly, described support member be embedded in described bladder sidewall outer wall or inwall on, the bracing ring be coated on the outer wall of described bladder sidewall.More specifically, described bracing ring is quoit.
Preferably, described support member is the bracing ring, bracing frame or the elastic component that are supported on the inwall of described bladder sidewall.
Preferably, the piston rod that described electronic air pocket pump also comprises guide cylinder, is slidably mounted on the piston in described guide cylinder and is connected with described piston, described gas storage air bag is the extension airbag along a direction expanding-contracting action, and described gas storage air bag is installed between the barrel of described guide cylinder and piston and also can stretches along the barrel of described guide cylinder; Described motor driving part is connected with described piston rod to control described piston rod expanding-contracting action, described piston rod drives described piston to slide along the barrel of described guide cylinder, and gas storage air bag expanding-contracting action described in described piston driving is to make described action airbag aeration or to bleed.Program structure is simple, and is convenient to the decrement controlling gas storage air bag.
More preferably, be also provided with Compress Spring in described gas storage air bag, described Compress Spring provides the elastic force of reply to described gas storage air bag.When the program makes piston away from gas storage air bag, gas storage air bag can stretch in time, certainly, also can be directly connected with piston one end of gas storage air bag, the other end is connected with the barrel of guide cylinder, directly can drive the Tension and Compression of gas storage air bag when piston is moved.
Preferably, described robot shape of the mouth as one speaks control gear also comprises teeth portion Control Component, described teeth portion Control Component comprises described action air bag, teeth portion transmission component and described electronic air pocket pump, described teeth portion transmission component comprises teeth portion guide cylinder, teeth portion piston rod, to be slidably mounted in described teeth portion guide cylinder and the teeth portion piston be connected with the front end of described teeth portion piston rod, be installed on the teeth portion spring between described teeth portion guide cylinder and teeth portion piston, described action air bag is installed on also can along the barrel expanding-contracting action of described teeth portion guide cylinder between the inwall of described teeth portion guide cylinder and teeth portion piston, described teeth portion spring provides the elastic force of described action air bag of conflicting to described teeth portion piston, on the upper jaw skeleton that the end of described teeth portion piston rod and teeth portion guide cylinder are installed on described robot respectively and lower jaw skeleton, described electronic air pocket pump controls described action air bag and to stretch work, described action air bag drives described teeth portion piston action to make the tooth folding of described robot.
Wherein, described emulation face is silica gel face.
Accompanying drawing explanation
Fig. 1 is the structural drawing of the lip Control Component of robot described in the utility model shape of the mouth as one speaks control gear.
Fig. 2 is the scheme of installation of action air bag on emulation face of the lip Control Component of robot described in the utility model shape of the mouth as one speaks control gear.
Fig. 3 a-Fig. 3 c is the structural drawing of action air bag described in the utility model.
Fig. 4 is the structural drawing of the teeth portion control gear of robot described in the utility model shape of the mouth as one speaks control gear.
Fig. 5 is the scheme of installation of action air bag in robot of the teeth portion control gear of robot described in the utility model shape of the mouth as one speaks control gear.
Fig. 6 a is the connection diagram of action air bag and support member described in the utility model one embodiment.
Fig. 6 b is the structural drawing of support member described in Fig. 6 a.
Fig. 6 c is the connection diagram of action air bag and support member described in another embodiment of the utility model.
Fig. 6 d is the structural drawing of support member described in another embodiment of the utility model.
Fig. 6 e is the structural drawing of the utility model support member described in an embodiment again.
Embodiment
By describing technology contents of the present utility model, structural attitude in detail, realized object and effect, accompanying drawing is coordinated to be explained in detail below in conjunction with embodiment.
Referring to figs. 1 to Fig. 2, the utility model discloses a kind of robot shape of the mouth as one speaks control gear 20, described robot shape of the mouth as one speaks control gear 20 comprises lip Control Component 101, described lip Control Component 101 comprises action air bag 31 and electronic air pocket pump 32, described electronic air pocket pump 32 comprises air bag drive division 321 and motor driving part 322, described air bag drive division 321 comprises gas storage air bag 62, described action air bag 31 is extension airbag along a direction expanding-contracting action and the appropriate location be embedded in the emulation face 101 of robot, and gas storage air bag 62 described in one and action air bag 31 described in are communicated with by wireway 33 and form a seal air cavity, described motor driving part 322 controls described gas storage air bag 62 and inflates and pumping action, described gas storage air bag 62 is bled or is inflated and controls described action air bag 31 along a direction expanding-contracting action with correspondence.Wherein, the appropriate location in emulation face 101 refers to be needed to carry out shrinking the position controlled, and refers in particular to the position, muscle place that robot simulation face correspondence affects the face shape of the mouth as one speaks.Wherein, described motor driving part 322 comprises driving circuit and drive motor.
With reference to figure 3a-Fig. 3 c, the pore 312 that described action air bag 31 (extension airbag) comprises airbag body 311 and is opened on described airbag body 311, described wireway 33 is connected with pore 312; Described airbag body 311 comprises bladder sidewall 3111 and is positioned at described bladder sidewall 3111 two ends and seals the air bag end wall 3112 of described bladder sidewall 3111, and described bladder sidewall 3111 is formed by connecting along folding retractable direction by several collapsible corrugated plates.Particularly, described bladder sidewall 3111 is in column (as shown in Figure 3 a, 3 b) or round table-like (as shown in Figure 3 c).
Preferably, with reference to figure 6a, in order to prevent described action air bag 31 fill bleed time corrugated plate crest place cave in, described action air bag 31 is axially arranged with some support members 34 along it, and the crest that described support member 34 supports described corrugated plate along the circumference of described action air bag caves in prevent described crest.Continue with reference to figure 6a and Fig. 6 b, in the present embodiment, described support member 34, for being embedded in the steel ring on the outer wall of described bladder sidewall 3111, caving in prevent crest or outwards expands.Certainly, described steel ring can be replaced by the bracing ring of other quoits or other materials, described bracing ring except being embedded on the outer wall of described bladder sidewall 3111, on the outer wall that can also be coated on described bladder sidewall (not shown) or be embedded in bladder sidewall 3111 inwall on (not shown) or be supported in described bladder sidewall 3111 inwall on (as fig. 6 c).
Certainly, described support member 34 is except sealed supporting ring structure, can also be bracing frame 34 ' (as shown in fig 6d), support frame as described above 34 ' is installed on (not shown) in described action air bag 31 and the crest inwall of described corrugated plate of conflicting caves in prevent described crest; Described support member 34 also can be an elastic component 34 " (as Fig. 6 e); described elastic component 34 " to be installed in described action air bag 31 and to provide support the elastic force of the crest of described corrugated plate, to prevent described crest from caving in, cost of manufacture is low, and technique is simple.
Preferably, with reference to figure 4 and Fig. 5, described robot shape of the mouth as one speaks control gear 20 also comprises teeth portion control gear 102, described teeth portion control gear 102 comprises action air bag 11, teeth portion transmission component and described electronic air pocket pump 32, described teeth portion transmission component comprises teeth portion guide cylinder 12, teeth portion piston 13, teeth portion spring 14 and teeth portion piston rod 17, described teeth portion piston 13 to be slidably mounted in described teeth portion guide cylinder 12 and to be connected with the front end of described teeth portion piston rod 17, described action air bag 11 is installed on also can along the barrel expanding-contracting action of described teeth portion guide cylinder 12 between the inwall of described teeth portion guide cylinder 12 and teeth portion piston 13, described teeth portion spring 14 to be installed between the inwall of teeth portion guide cylinder 12 and teeth portion piston 13 and described teeth portion piston 13 to be provided to the elastic force of described action air bag 11 of conflicting, on the upper jaw skeleton 103 that the end of described teeth portion piston rod 17 and teeth portion guide cylinder 12 are installed on described robot respectively and lower jaw skeleton 104.Wherein, described teeth portion piston rod 17 is rotatably connected on upper jaw skeleton 103, teeth portion guide cylinder 12 is rotatably connected on lower jaw skeleton 104 by connecting link 16, described teeth portion spring 14 and action air bag 11 lay respectively at the both sides of teeth portion piston 13, and described teeth portion guide cylinder 12 is provided with some exhausr ports 121.
Because action air bag 11 is identical with action air bag 31 structure, and annexation between electronic air pocket pump 32 and action air bag 11 is identical with the annexation of action air bag 31 with electronic air pocket pump 32, is not described in detail at this.
When electronic air pocket pump 32 pairs of action air bags 11 carry out air suction process, action air bag 11 shrinks, teeth portion piston 13 moves under the elastic force of teeth portion spring 14 in teeth portion guide cylinder 12, teeth portion transmission component shrinks, lower jaw skeleton 104 folds relative to upper jaw skeleton 103, and described robot tooth does snap-action; When electronic air pocket pump 32 pairs of action air bags 11 carry out charge operation, action air bag 11 stretches, teeth portion piston 13 moves under the conflict of action air bag 11 outside teeth portion guide cylinder 12, teeth portion transmission component extends, lower jaw skeleton 104 opens relative to upper jaw skeleton 103, and described robot tooth does expansion action.
With reference to figure 1 and Fig. 4, described electronic air pocket pump 32 comprises air bag drive division 321 and motor driving part 322, the piston rod 64 that described air bag drive division 321 also comprises guide cylinder 61, is slidably mounted on the piston 63 in described guide cylinder 61 and is connected with described piston 63, and described gas storage air bag 62 is extension airbag along a direction expanding-contracting action and between the barrel being installed on described guide cylinder 61 and piston 63, and can stretch along the barrel of described guide cylinder 61; Described motor driving part 322 is connected with described piston rod 64, and drives described piston 63 to slide along the barrel of described guide cylinder 61 by described piston rod 64, and described piston 63 drives described gas storage air bag 62 expanding-contracting action inflate to make described action air bag 31 or bleed.Wherein, described guide cylinder 61 barrel offers some exhausr ports 611.
Preferably, described air bag drive division 321 also comprises back-moving spring 65, and described back-moving spring 65 is installed in described gas storage air bag 62, and provides the elastic force of reply to described gas storage air bag 62.In this scenario, described gas storage air bag 62 to contact between the barrel of guide cylinder 61 and piston 63 and is not connected with piston 63 with the barrel of guide cylinder 61.Certainly, the two ends of described gas storage air bag 62 also can be connected with piston 63 with the barrel of described guide cylinder 61, now, directly can drive gas storage air bag 62 expanding-contracting action when described piston 63 does expanding-contracting action.
Continue with reference to figure 2, the action air bag 31 of described lip Control Component 101 comprises the lip air bag 41,42 in the emulation lip being embedded in described emulation face 101 and is embedded in the corners of the mouth air bag 43-52 around the emulation corners of the mouth of described emulation face 101.Particularly, described lip air bag 41,42 comprises the upper lip air bag 41 be installed on emulation lip in lip and the lower lip air bag 42 be installed under described emulation lip in lip, and described pore 312 is opened in the centre of the cyst wall of described lip air bag 41,42.Described corners of the mouth air bag is arranged along the corners of the mouth muscle group correspondence of described robot simulation face, comprise the left levator labii superioris air bag 43 being positioned at left levator labii superioris correspondence position, be positioned at the left greater zygomatic muscle air bag 44 of left greater zygomatic muscle correspondence position, be positioned at the left Albinus' muscle air bag 45 of left Albinus' muscle correspondence position, be positioned at the left depressor muscle of angle of mouth air bag 46 of left depressor muscle of angle of mouth correspondence position, be positioned at the left depressor muscle of lower lip air bag 47 of left depressor muscle of lower lip correspondence position, be positioned at the right levator labii superioris air bag 48 of right levator labii superioris correspondence position, be positioned at the right greater zygomatic muscle air bag 49 of right greater zygomatic muscle correspondence position, be positioned at the right Albinus' muscle air bag 50 of right Albinus' muscle correspondence position, be positioned at the right depressor muscle of angle of mouth air bag 51 of right depressor muscle of angle of mouth correspondence position, be positioned at the right depressor muscle of lower lip air bag 52 of right depressor muscle of lower lip correspondence position.
Because the contractive action of lip motion primarily of levator labii superioris, greater zygomatic muscle, Albinus' muscle, depressor muscle of angle of mouth, depressor muscle of lower lip, musculus orbicularis oris forms, teeth portion action is comparatively simple, only open, be engaged two kinds of counter motions, its motion is formed primarily of the contractive action of lateral pterygoid muscle, masseter etc.Therefore mouth movements is decomposed into seven by the utility model, and by the action air bag controlled of correspondence:
Post-tensioning---the Albinus' muscle of the CB:Conner Back corners of the mouth, passes through the corners of the mouth by left Albinus' muscle air bag 45, right Albinus' muscle air bag 50;
Rising---the greater zygomatic muscle of the CU:Conner Up corners of the mouth, by left greater zygomatic muscle air bag 44, right greater zygomatic muscle air bag 49;
Decline---the depressor muscle of angle of mouth of the CD:Conner Down corners of the mouth, is controlled by left depressor muscle of angle of mouth air bag 46, right depressor muscle of angle of mouth air bag 51;
Lifting---the levator labii superioris of LU:Lip Up upper lip, by left levator labii superioris air bag 43, right levator labii superioris air bag 48;
Decline---the depressor muscle of lower lip of LD:Lip Down lower lip, is controlled by left depressor muscle of lower lip air bag 47, right depressor muscle of lower lip air bag 52;
Contraction---the musculus orbicularis oris of LC:Lip Contraction upperlip, is controlled by upper lip air bag 41 and lower lip air bag 42;
MOC:Mouth Opening and closjng oral area opening and closing (opening of teeth portion is stung)---lateral pterygoid muscle, masseter, controlled by action air bag 11.
Wherein, the action of whole shape of the mouth as one speaks motions will be realized in robot, need 12 relatively independent motions, so many motion will be arranged in narrow and small oral area space, to the dimensional requirement of relative motion mechanism closely, also require that the quality of mechanism is as far as possible light, to reduce motional inertia simultaneously; According to the motion of traditional rigid body form, for reducing the weight and volume of mechanism, often makes the complex structure of mechanism, to realize cost very high, therefore the utility model only adopts action air bag 11,31 to control shape of the mouth as one speaks action, structure is simple, volume is little, lightweight and cost is low.
Above disclosedly be only preferred embodiment of the present utility model, certainly can not limit the interest field of the utility model with this, therefore according to the equivalent variations that the utility model claim is done, still belong to the scope that the utility model is contained.
Claims (10)
1. a robot shape of the mouth as one speaks control gear, it is characterized in that, comprise lip Control Component, described lip Control Component comprises action air bag and electronic air pocket pump, described electronic air pocket pump comprises gas storage air bag and motor driving part, described action air bag is extension airbag along a direction expanding-contracting action and the appropriate location be embedded in the emulation face of robot, and gas storage air bag described in one and action air bag described in are communicated with by wireway and form a seal air cavity, described motor driving part controls described gas storage airbag aeration and pumping action, described gas storage air bag is bled or is inflated and controls described action air bag along a direction expanding-contracting action with correspondence.
2. robot as claimed in claim 1 shape of the mouth as one speaks control gear, it is characterized in that, described action air bag comprises the lip air bag in the emulation lip being embedded in described emulation face and is embedded in the corners of the mouth air bag around the emulation corners of the mouth of described emulation face, and described corners of the mouth air bag one end is connected on the skeleton of described robot, the other end is connected to the corners of the mouth of described robot simulation face.
3. robot as claimed in claim 2 shape of the mouth as one speaks control gear, it is characterized in that, described lip air bag comprises the upper lip air bag of the upper lip being positioned at emulation face, be positioned at the lower lip air bag of the lower lip of emulation face, the pore of described lip air bag is opened in the centre of the cyst wall of described lip air bag, described corners of the mouth air bag is arranged along the corners of the mouth muscle group correspondence of described robot simulation face, comprise left levator labii superioris air bag, left greater zygomatic muscle air bag, left Albinus' muscle air bag, left depressor muscle of angle of mouth air bag, left depressor muscle of lower lip air bag, right levator labii superioris air bag, right greater zygomatic muscle air bag, right Albinus' muscle air bag, right depressor muscle of angle of mouth air bag and right depressor muscle of lower lip air bag.
4. robot as claimed in claim 1 shape of the mouth as one speaks control gear, it is characterized in that, described extension airbag comprises airbag body and is opened in the pore on described airbag body, described airbag body comprises bladder sidewall and is positioned at described bladder sidewall two ends and seals the air bag end wall of described bladder sidewall, and described bladder sidewall is formed by connecting along folding retractable direction by several collapsible corrugated plates; Described action air bag is axially arranged with some support members along it, and the crest that described support member supports described corrugated plate along the circumference of described action air bag caves in prevent described crest.
5. robot as claimed in claim 4 shape of the mouth as one speaks control gear, is characterized in that, described support member be embedded in described bladder sidewall outer wall or inwall on, the bracing ring be coated on the outer wall of described bladder sidewall.
6. robot as claimed in claim 5 shape of the mouth as one speaks control gear, it is characterized in that, described bracing ring is quoit.
7. robot as claimed in claim 4 shape of the mouth as one speaks control gear, it is characterized in that, described support member is the bracing ring, bracing frame or the elastic component that are supported on the inwall of described bladder sidewall.
8. robot as claimed in claim 1 shape of the mouth as one speaks control gear, it is characterized in that, the piston rod that described electronic air pocket pump also comprises guide cylinder, is slidably mounted on the piston in described guide cylinder and is connected with described piston, described gas storage air bag is the extension airbag along a direction expanding-contracting action, and described gas storage air bag is installed between the barrel of described guide cylinder and piston and also can stretches along the barrel of described guide cylinder; Described motor driving part is connected with described piston rod to control described piston rod expanding-contracting action, described piston rod drives described piston to slide along the barrel of described guide cylinder, and gas storage air bag expanding-contracting action described in described piston driving is to make described action airbag aeration or to bleed.
9. robot as claimed in claim 1 shape of the mouth as one speaks control gear, it is characterized in that, be also provided with Compress Spring in described gas storage air bag, described Compress Spring provides the elastic force of reply to described gas storage air bag.
10. robot as claimed in claim 1 shape of the mouth as one speaks control gear, it is characterized in that, also comprise teeth portion Control Component, described teeth portion Control Component comprises described action air bag, teeth portion transmission component and described electronic air pocket pump, described teeth portion transmission component comprises teeth portion guide cylinder, teeth portion piston rod, to be slidably mounted in described teeth portion guide cylinder and the teeth portion piston be connected with the front end of described teeth portion piston rod, be installed on the teeth portion spring between described teeth portion guide cylinder and teeth portion piston, described action air bag is installed on also can along the barrel expanding-contracting action of described teeth portion guide cylinder between the inwall of described teeth portion guide cylinder and teeth portion piston, described teeth portion spring provides the elastic force of described action air bag of conflicting to described teeth portion piston, on the upper jaw skeleton that the end of described teeth portion piston rod and teeth portion guide cylinder are installed on described robot respectively and lower jaw skeleton, described electronic air pocket pump controls described action air bag and to stretch work, described action air bag drives described teeth portion piston action to make the tooth folding of described robot.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420700901.7U CN204215225U (en) | 2014-11-19 | 2014-11-19 | Robot shape of the mouth as one speaks control gear |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420700901.7U CN204215225U (en) | 2014-11-19 | 2014-11-19 | Robot shape of the mouth as one speaks control gear |
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| Publication Number | Publication Date |
|---|---|
| CN204215225U true CN204215225U (en) | 2015-03-18 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201420700901.7U Withdrawn - After Issue CN204215225U (en) | 2014-11-19 | 2014-11-19 | Robot shape of the mouth as one speaks control gear |
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| CN (1) | CN204215225U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104536374A (en) * | 2014-11-19 | 2015-04-22 | 曾洪鑫 | Robot mouth shape control mechanism and system |
| CN112051775A (en) * | 2020-09-10 | 2020-12-08 | 东莞理工学院 | Eye action control structure of robot and control system thereof |
-
2014
- 2014-11-19 CN CN201420700901.7U patent/CN204215225U/en not_active Withdrawn - After Issue
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104536374A (en) * | 2014-11-19 | 2015-04-22 | 曾洪鑫 | Robot mouth shape control mechanism and system |
| CN104536374B (en) * | 2014-11-19 | 2018-07-06 | 曾洪鑫 | Robot shape of the mouth as one speaks control mechanism and its control system |
| CN112051775A (en) * | 2020-09-10 | 2020-12-08 | 东莞理工学院 | Eye action control structure of robot and control system thereof |
| CN112051775B (en) * | 2020-09-10 | 2021-07-16 | 东莞理工学院 | Eye action control structure of robot and control system thereof |
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| Date | Code | Title | Description |
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| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| AV01 | Patent right actively abandoned | ||
| AV01 | Patent right actively abandoned |
Granted publication date: 20150318 Effective date of abandoning: 20180706 |