CN206982691U - The head construction and bio-robot of bio-robot - Google Patents
The head construction and bio-robot of bio-robot Download PDFInfo
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- CN206982691U CN206982691U CN201720788506.2U CN201720788506U CN206982691U CN 206982691 U CN206982691 U CN 206982691U CN 201720788506 U CN201720788506 U CN 201720788506U CN 206982691 U CN206982691 U CN 206982691U
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- supercilium
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- steering wheel
- eyelid
- head construction
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Abstract
The utility model provides the head construction and bio-robot of a kind of bio-robot, wherein, head construction includes support frame and supercilium emulation mechanism, and supercilium emulation mechanism includes：Supercilium；Supercilium drive component, is arranged on support frame；Supercilium connection arm assembly, the first end of supercilium connection arm assembly is pivotally connected with support frame, supercilium is arranged on the second end of supercilium connection arm assembly, and the drive end of supercilium drive component is connected to drive supercilium to swing with supercilium connection arm assembly or supercilium and realizes raise one's eyebrows action or the action of frowning of supercilium emulation mechanism.The head construction that the utility model solves bio-robot of the prior art can not be realized and raise one's eyebrows and frown action and cause the facial expression of bionic machine human simulation people single, the problem of simulated effect difference.
Description
Technical field
The utility model is related to robotic technology field, in particular to a kind of head construction of bio-robot and
Bio-robot.
Background technology
Bio-robot be can mimic biology, be engaged in biological characteristic work robot, 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.
In order that the characteristics of bio-robot simulation biology more true to nature, bio-robot is usually provided with head knot
Structure, it can so facilitate the blink of simulation biology, the action such as open one's mouth, and the generally fixation of the supercilium of existing bio-robot is set
Put on head construction, therefore, existing bio-robot can not simulate people raise one's eyebrows and action of frowning, it is existing so as to cause
Bio-robot can not be more true to nature imitate people it is glad or angry when facial expression, and then cause the expression list of bio-robot
One, simulated effect is poor.
Utility model content
Main purpose of the present utility model is the head construction and bio-robot for providing a kind of bio-robot, with solution
The head construction of bio-robot certainly of the prior art can not be realized to raise one's eyebrows and frown and act and cause bionic machine human simulation
The facial expression of people is single, the problem of simulated effect difference.
To achieve these goals, according to one side of the present utility model, there is provided a kind of head of bio-robot
Structure, including support frame and supercilium emulation mechanism, supercilium emulation mechanism include：Supercilium；Supercilium drive component, is arranged on support frame
On；Supercilium connection arm assembly, first end and the support frame of supercilium connection arm assembly are pivotally connected, and supercilium is arranged on supercilium linking arm
Second end of component, the drive end of supercilium drive component are connected with supercilium connection arm assembly or supercilium to drive supercilium to swing.
Further, supercilium connection arm assembly includes the first supercilium linking arm for being connected and the along the direction away from supercilium
Two supercilium linking arms, wherein, the length direction of one end of the remote supercilium of the first supercilium linking arm along the second supercilium linking arm can
Slidably it is connected with the second supercilium linking arm.
Further, supercilium emulation mechanism also includes drive-connecting shaft, and the second supercilium linking arm is connected by drive-connecting shaft and support frame
Connect, the axis direction of drive-connecting shaft is set with vertical direction in angle.
Further, support frame includes top plate, and supercilium drive component includes：Supercilium drives steering wheel, is arranged on top plate；Eyebrow
The steering wheel of portion's drive rod, the first end of supercilium drive rod and supercilium driving steering wheel is pivotally connected, the second end of supercilium drive rod with
First supercilium linking arm is pivotally connected.
Further, support frame includes bottom plate and the face's supporting plate being arranged on bottom plate, and head construction also includes face
Mechanism is emulated, emulation mechanism of face includes face's driving steering wheel, face's linking arm and the face being sequentially connected with, wherein, face drives
Dynamic steering wheel is arranged in face's supporting plate, and face's linking arm is connected to drive face to swing and mould with the steering wheel of face's driving steering wheel
The motion of muscle at anthropomorphic face.
Further, supercilium emulation mechanism and emulation mechanism of face are two, and support frame has vertically vertical
To symmetrical plane, two supercilium emulation mechanisms and Liang Ge faces emulate the both sides that mechanism is symmetricly set on longitudinally asymmetric plane.
Further, support frame includes bottom plate and the eye supporting plate being connected with bottom plate, and head construction is also imitated including eye
Prototype structure, eye emulation mechanism include：Eyeball portion, eyeball portion are connected with eye supporting plate；Eyelid portion, eyelid portion support with eye
Plate is pivotably connected, and eyelid portion moves between the open position for covering the closing position in eyeball portion and exposing eyeball portion；Eye
Skin zone's drive component, eyelid portion drive component driving eyelid portion moves and realizes eye and imitate between the closed position and the open position
The blink action of prototype structure.
Further, eyeball portion and eyelid portion are two, and support frame has a longitudinally asymmetric plane vertically, and two
Individual eyeball portion is symmetricly set on the both sides of longitudinally asymmetric plane, and two eyelid portions and two eyeball portions correspond and set.
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, support frame also includes the first motor support plate being arranged on bottom plate, and eyelid portion drive component includes：
Eyelid portion drives steering wheel, is arranged in the first motor support plate；Eyelid portion drive component, including transition rocker arm and two eyelid portions
Drive rod, one end of transition rocker arm and the steering wheel of eyelid portion driving steering wheel are pivotally connected, the first end of two eyelid portion drive rods
The one end for driving steering wheel with the remote eyelid portion of transition rocker arm is connected, the second end of two eyelid portion drive rods respectively with upper eye
Skin and lower eyelid are pivotally connected.
Further, eye emulation mechanism also includes support arm and universal joint, first end and the eye supporting plate of support arm
Connection, the second end of support arm is hinged by universal joint and eyeball portion.
Further, support frame also includes gusset among top plate and two pieces, and top plate is oppositely arranged with bottom plate, two pieces of intermediate ribs
Plate is arranged between top plate and bottom plate and set at intervals, and eye emulation mechanism also includes First view bulb drive component, wraps
Include：First view bulb drives steering wheel, is arranged on bottom plate；First view bulb drive rod, the first end of First view bulb drive rod
It is pivotally connected with the steering wheel of First view bulb driving steering wheel；Bull stick component, bull stick component are rotatably arranged in two pieces of intermediate ribs
Between plate, the second end of First view bulb drive rod is with bull stick member hinges to drive bull stick component to rotate；First view bulb from
Lever, first end and the bull stick component of First view bulb follower lever are pivotally connected, the second end of First view bulb follower lever and eye
The upper end or lower end in bulb are hinged to drive eyeball portion vertically to be rotated around support arm.
Further, bull stick component includes：Bull stick, bull stick is rotatably supported among two pieces between gusset, and bull stick
Both ends be each passed through gussets among two pieces；Actively fork, actively fork are connected with bull stick, First view bulb drive rod and active
Swing rod is hinged；Driven lever, driven lever are arranged on the end of bull stick, and First view bulb follower lever pivots with driven lever to be connected
Connect.
Further, actively fork is arranged on the middle position of bull stick, driven lever be located at middle gusset away from master
The side of driven fork.
Further, actively fork and driven lever are set in angle.
Further, eye emulation mechanism also includes the second eyeball portion drive component, including：Second eyeball portion drives rudder
Machine, it is arranged on bottom plate；Transmission component, the second eyeball portion driving steering wheel are connected to drive eyeball by transmission component with eyeball portion
Portion rotates in the horizontal direction around support arm.
Further, transmission component includes：Bull stick is driven, the first end and bottom plate for being driven bull stick are pivotally connected, and transmission turns
Second end of bar forms driving rotating disk, is driven the diameter parallel of the axis of bull stick and the steering wheel of the second eyeball portion driving steering wheel；Together
Connecting rod is walked, the both ends of synchronising (connecting) rod drive the steering wheel of steering wheel and driving rotating disk to be pivotally connected to realize two with the second eyeball portion respectively
Person's synchronous axial system；Second eyeball portion follower lever, the first end of the second eyeball portion follower lever are pivotally connected with driving rotating disk, second
Second end of bulb follower lever is hinged with eyeball portion.
Further, support frame includes bottom plate, and head construction also includes mouth emulation mechanism, and mouth emulation mechanism includes：
Maxilla portion, is fixedly connected with bottom plate；Lower jaw portion, be movably disposed on bottom plate, lower jaw portion away from maxilla portion direction and
Moved towards the direction in maxilla portion to simulate the opening and closing of people's mouth；Lower jaw portion drive component, lower jaw portion drive component with
Lower jaw portion is connected to drive lower jaw portion to be moved away from or towards maxilla portion.
Further, lower jaw portion is rotationally connected with bottom plate, and lower jaw portion drive component includes：Lower jaw portion drives steering wheel,
It is arranged on bottom plate；Lower jaw portion linking arm, the first end and the steering wheel of lower jaw portion driving steering wheel of lower jaw portion linking arm are pivotally connected,
Second end of lower jaw portion linking arm is connected with lower jaw portion.
Further, head construction also includes facial skeleton, and facial skeleton is connected with support frame and is located at supercilium replicating machine
The outer circumferential side of structure, multiple avoid holes are offered on facial skeleton.
According to another aspect of the present utility model, there is provided a kind of bio-robot, including above-mentioned head construction.
Using the technical solution of the utility model, by setting supercilium to emulate mechanism, eyebrow on the support frame of head construction
Emulation mechanism of portion includes supercilium, supercilium drive component and supercilium connection arm assembly, wherein, supercilium drive component is arranged on support frame
On, first end and the support frame of supercilium connection arm assembly are pivotally connected, and supercilium is arranged on the second end of supercilium connection arm assembly, eyebrow
The drive end of portion's drive component is connected to drive supercilium to swing with supercilium connection arm assembly or supercilium and realizes supercilium and emulate mechanism
Raise one's eyebrows action or action of frowning.So, supercilium can realize swing under the driving effect of supercilium drive component, so as to reach
The effect of the supercilium organ movement of realistic simulation people, is matched with other simulated organ parts of head construction, can make head
Structure more effectively simulate people it is glad or angry when facial expression, add head construction emulation expression diversity, enter
And improve the simulated effect of bio-robot.
In addition, supercilium drive component is stably mounted on support frame, and eyebrow is reliably driven by supercilium connection arm assembly
Portion moves, and whole supercilium emulation mechanism motion structure part is few, ensure that the reliability of supercilium motion, makes the head of bio-robot
Structure can favorably accomplish raise one's eyebrows action or action of frowning, and therefore, bio-robot of the present utility model not only increases mould
The verisimilitude of anthropomorphic facial expression, and there is very high automaticity, reduce the complex operation to bio-robot
Degree.
Brief description of the drawings
The Figure of description for forming the part of the application is used for providing further understanding to of the present utility model, this practicality
New schematic description and description is used to explain the utility model, does not form to improper restriction of the present utility model.
In the accompanying drawings：
Fig. 1 shows a kind of master of the head construction of bio-robot according to a kind of alternative embodiment of the present utility model
Depending on schematic diagram；
Fig. 2 shows the structural representation of the head construction for eliminating facial skeleton in Fig. 1；
Fig. 3 shows the partial structural diagram of the head construction with supercilium emulation mechanism in Fig. 1；
Fig. 4 shows the eye supporting plate of the head construction in Fig. 1 and the structural representation of part eye emulation mechanism；
Fig. 5 is shown in Fig. 1 emulates mechanism with support frame, emulation mechanism of face, eye emulation mechanism and mouth
The partial structural diagram of head construction；
Fig. 6 is shown in Fig. 1 emulates mechanism with support frame, emulation mechanism of face, eye emulation mechanism and mouth
The partial structural diagram at another visual angle of head construction；
Fig. 7 is shown in Fig. 1 emulates mechanism with support frame, emulation mechanism of face, eye emulation mechanism and mouth
The partial structural diagram at another visual angle of head construction.
Wherein, above-mentioned accompanying drawing marks including the following drawings：
100th, support frame；110th, top plate；120th, bottom plate；130th, eye supporting plate；140th, the first motor support plate；150th, in
Between gusset；160th, face's supporting plate；200th, supercilium emulation mechanism；210th, supercilium；220th, supercilium drive component；221st, supercilium drives
Steering wheel；222nd, supercilium drive rod；230th, supercilium connection arm assembly；231st, the first supercilium linking arm；232nd, the second supercilium linking arm；
240th, drive-connecting shaft；300th, face's emulation mechanism；310th, face's driving steering wheel；320th, face's linking arm；330th, face；400th, eye
Emulate mechanism；410th, eyeball portion；420th, eyelid portion；421st, upper eyelid；422nd, lower eyelid；430th, eyelid portion drive component；431、
Eyelid portion drives steering wheel；432nd, eyelid portion drive component；4321st, rocking arm is crossed；4322nd, eyelid portion drive rod；440th, support arm；
450th, universal joint；460th, First view bulb drive component；461st, First view bulb driving steering wheel；462nd, First view bulb drives
Bar；463rd, bull stick component；4631st, bull stick；4632nd, actively fork；4633rd, driven lever；464th, First view bulb follower lever；
470th, the second eyeball portion drive component；471st, the second eyeball portion driving steering wheel；472nd, transmission component；4721st, it is driven bull stick；
4722nd, driving rotating disk；4723rd, synchronising (connecting) rod；4724th, the second eyeball portion follower lever；500th, mouth emulation mechanism；510th, maxilla
Portion；520th, lower jaw portion；530th, lower jaw portion drive component；531st, lower jaw portion driving steering wheel；532nd, lower jaw portion linking arm；600th, it is facial
Skeleton；610th, avoid holes.
Embodiment
Below in conjunction with the accompanying drawing in the utility model embodiment, the technical scheme in the embodiment of the utility model is carried out
Clearly and completely describing, it is clear that described embodiment is only the utility model part of the embodiment, rather than whole
Embodiment.The description only actually at least one exemplary embodiment is illustrative to be never used as to this practicality below
New and its application or any restrictions used.Based on the embodiment in the utility model, those of ordinary skill in the art are not having
There is the every other embodiment made and obtained under the premise of creative work, belong to the scope of the utility model protection.
In order to solve the head construction of bio-robot of the prior art can not realize raise one's eyebrows and frown action and cause
The facial expression of bionic machine human simulation people is single, and the problem of simulated effect difference, the utility model provides a kind of bionic machine
The head construction and bio-robot of people, wherein, bio-robot includes above-mentioned and following head construction.
As shown in Figures 2 and 3, the head construction of bio-robot includes support frame 100 and supercilium emulation mechanism 200, eyebrow
Emulation mechanism 200 of portion includes supercilium 210, supercilium drive component 220 and supercilium connection arm assembly 230, and supercilium drive component 220 is set
Put on support frame 100, first end and the support frame 100 of supercilium connection arm assembly 230 are pivotally connected, and supercilium 210 is arranged on eyebrow
Second end of portion's connection arm assembly 230, drive end and supercilium connection arm assembly 230 or the supercilium 210 of supercilium drive component 220 connect
Connect to drive supercilium 210 to swing and realize raise one's eyebrows action or the action of frowning of supercilium emulation mechanism 200.
By setting supercilium to emulate mechanism 200 on the support frame 100 of head construction, supercilium emulation mechanism 200 includes eyebrow
Portion 210, supercilium drive component 220 and supercilium connection arm assembly 230, wherein, supercilium drive component 220 is arranged on support frame 100
On, first end and the support frame 100 of supercilium connection arm assembly 230 are pivotally connected, and supercilium 210 is arranged on supercilium connection arm assembly
230 the second end, the drive end of supercilium drive component 220 are connected to drive supercilium with supercilium connection arm assembly 230 or supercilium 210
210 swing and realize raise one's eyebrows action or the action of frowning of supercilium emulation mechanism 200.So, supercilium 210 is in supercilium drive component
Swing can be realized under 220 driving effect, so as to reach the effect of the supercilium organ movement of realistic simulation people, is matched with head
Other simulated organ parts of portion's structure, can make head construction more effectively simulate people it is glad or angry when facial table
Feelings, add the diversity of head construction emulation expression, and then improve the simulated effect of bio-robot.
In addition, supercilium drive component 220 is stably mounted on support frame 100, and it is reliable by supercilium connection arm assembly 230
Ground drives supercilium 210 to move, and whole supercilium emulation mechanism 200 motion structure part is few, ensure that the reliability that supercilium 210 is moved,
The head construction of bio-robot is set to favorably accomplish raise one's eyebrows action or action of frowning, it is therefore, of the present utility model bionical
Robot not only increases the verisimilitude of the facial expression of simulation people, and has very high automaticity, reduces to imitative
The operation complexity of raw robot.
As shown in figure 3, the first supercilium that supercilium connection arm assembly 230 includes being connected along the direction away from supercilium 210 connects
The supercilium linking arm 232 of arm 231 and second is connect, wherein, one end of the remote supercilium 210 of the first supercilium linking arm 231 is along the second eyebrow
The length direction of portion's linking arm 232 is slideably connected with the second supercilium linking arm 232.So, when supercilium drive component 220 is logical
Supercilium connection arm assembly 230 is crossed while driving supercilium 210 to swing, the first supercilium linking arm 231 and the second supercilium connect
Relative disPlacement motion can also be occurred by connecing arm 232, so that the supercilium 210 being connected with the first supercilium linking arm 231 does not rotate only
The free degree, but also with the free degree to move along a straight line, and then the motion of supercilium 210 is transported closer to the supercilium of true people
It is dynamic, while avoiding the other elements of head construction from causing movement interference to supercilium 210, improve the emulation effect of head construction
Fruit.
As shown in figure 3, in order to improve the connective stability between supercilium drive component 220 and support frame 100, supercilium emulation
Mechanism 200 also includes drive-connecting shaft 240, and the second supercilium linking arm 232 is connected by drive-connecting shaft 240 with support frame 100, drive-connecting shaft
240 axis direction is set with vertical direction in angle.So, supercilium drive component 220 can be tilted around drive-connecting shaft 240 and turned
It is dynamic, so that supercilium 210 can tilt upward raise up motion or motion of frowning diagonally downward, further increase head construction and imitate
The effect of the facial expression of true man.
As shown in figure 3, support frame 100 includes top plate 110, supercilium drive component 220 includes：Supercilium drives the He of steering wheel 221
Supercilium drive rod 222, supercilium driving steering wheel 221 are arranged on top plate 110, and first end and the supercilium of supercilium drive rod 222 drive
The steering wheel of steering wheel 221 is pivotally connected, and the second end of supercilium drive rod 222 is pivotally connected with the first supercilium linking arm 231.So,
Supercilium drives the power source that steering wheel 221 moves as driving supercilium 210, and the steering wheel of supercilium driving steering wheel 221 is along opposite two
Reverse reciprocally swinging, drive the realization of supercilium 210 to raise one's eyebrows so as to pull supercilium connection arm assembly 230 to move and act or frown dynamic
Make.
As shown in Fig. 2 and Fig. 5 to Fig. 7, support frame 100 includes bottom plate 120 and the face's supporting plate being arranged on bottom plate 120
160, head construction also includes emulation mechanism 300 of face, and emulation mechanism 300 of face includes the face's driving steering wheel being sequentially connected with
310th, face's linking arm 320 and face 330, wherein, face's driving steering wheel 310 is arranged in face's supporting plate 160, face's connection
Arm 320 drives the steering wheel of steering wheel 310 to be connected to drive face 330 to swing and simulates the motion of muscle at face with face.
As depicted in figs. 1 and 2, supercilium emulation mechanism 200 and emulation mechanism 300 of face are two, and support frame 100 has
Longitudinally asymmetric plane vertically, two supercilium emulation mechanisms 200 and emulation mechanism 300 of Liang Ge faces are symmetricly set on
The both sides of longitudinally asymmetric plane.So, the eyebrow of true simulation people is capable of in supercilium emulation mechanism 200 and emulation mechanism 300 of face
Feature at portion or dimple, make head construction vivider more true to nature, so as to improve usage experience sense of the people to bio-robot.
As shown in Fig. 2 and Fig. 4 to Fig. 7, support frame 100 includes bottom plate 120 and the eye supporting plate being connected with bottom plate 120
130, head construction also includes eye emulation mechanism 400, and eye emulation mechanism 400 includes eyeball portion 410, eyelid portion 420 and eye
Skin zone's drive component 430, eyeball portion 410 are connected with eye supporting plate 130, and eyelid portion 420 and eye supporting plate 130 are pivotly
Connection, eyelid portion 420 move between the open position for covering the closing position in eyeball portion 410 and exposing eyeball portion 410, eyelid
Portion's drive component 430 drives eyelid portion 420 to move between the closed position and the open position and realizes eye emulation mechanism 400
Blink acts.
So, the motion by stretching eyelid portion drive component 430 can pull eyelid portion 420 to move, because this practicality is new
The motion structure part of the eye emulation mechanism 400 of type is few, so as to ensure that the reliability of the motion of eyelid portion 420, makes bionic machine
People favorably accomplishes blink action, and so as to improve the verisimilitude that bio-robot imitates face feature, and this practicality is new
The bio-robot of type avoids manual operation eye emulation mechanism 400 and moved, and reduces the head construction behaviour of bio-robot
The complexity of work, further increase the automaticity of bio-robot.
As shown in Fig. 2 and Fig. 4 to Fig. 7, eyeball portion 410 and eyelid portion 420 are two, and support frame 100 has along vertical
The longitudinally asymmetric plane in direction, two eyeball portions 410 are symmetricly set on the both sides of longitudinally asymmetric plane, two Hes of eyelid portion 420
Two eyeball portions 410, which correspond, to be set.So, eyeball portion 410 and eyelid portion 420 be capable of true simulation people eye it is special
Sign, makes the head construction of bio-robot vivider more true to nature, so as to improve usage experience good opinion of the people to bio-robot.
Specifically, as shown in Fig. 2 eyeball portion 410 has crosswise symmetric plane, eyelid portion 420 includes upper eyelid 421 with
Eyelid 422, upper eyelid 421 and lower eyelid 422 are symmetricly set on the both sides of crosswise symmetric plane.Upper eyelid 421 and lower eyelid 422
Relative motion be used for simulate people blink action.
As shown in figure 5, support frame 100 also includes the first motor support plate 140 being arranged on bottom plate 120, eyelid portion drives
Dynamic component 430 includes eyelid portion driving steering wheel 431 and eyelid portion drive component 432, and eyelid portion driving steering wheel 431 is arranged on first
In motor support plate 140, eyelid portion drive component 432 includes transition rocker arm 4321 and two eyelid portion drive rods 4322, transition
One end of Rocker arm 4 321 and the steering wheel of eyelid portion driving steering wheel 431 are pivotally connected, the first end of two eyelid portion drive rods 4322
One end of steering wheel 431 is driven to be connected with the remote eyelid portion of transition rocker arm 4321, the second of two eyelid portion drive rods 4322
End is pivotally connected with upper eyelid 421 and lower eyelid 422 respectively.The setting of eyelid portion drive component 430 not only successfully realizes
The relative motion of upper eyelid 421 and lower eyelid 422, improves the automaticity of head construction, and eye is emulated mechanism
400 more accurately simulate human eye movement, and move with making each mechanism stable of eye emulation mechanism 400, improve eye and imitate
The reliability that prototype structure 400 works.
As shown in Figure 4 and Figure 5, in order that stably being connected between eyeball portion 410 and eye supporting plate 130, ensure simultaneously
Eyeball portion 410 has very high rotary freedom and is capable of the eyeball feature of true simulation people, and eye emulates mechanism 400 and also wrapped
Support arm 440 and universal joint 450 are included, the first end of support arm 440 is connected with eye supporting plate 130, the second end of support arm 440
It is be hinged by universal joint 450 and eyeball portion 410.
As shown in fig. 6, support frame 100 also includes gusset 150 among top plate 110 and two pieces, top plate 110 and the phase of bottom plate 120
To setting, gusset 150 is arranged between top plate 110 and bottom plate 120 and set at intervals among two pieces, eye emulation mechanism
400 also include First view bulb drive component 460, including First view bulb driving steering wheel 461, First view bulb drive rod 462,
Bull stick component 463 and First view bulb follower lever 464, First view bulb driving steering wheel 461 are arranged on bottom plate 120, First view
The first end of bulb drive rod 462 and the steering wheel of First view bulb driving steering wheel 461 are pivotally connected, and bull stick component 463 is rotatable
Ground is arranged among two pieces between gusset 150, and the second end of First view bulb drive rod 462 and bull stick component 463 are be hinged with band
Turn bar assembly 463 is rotated, and first end and the bull stick component 463 of First view bulb follower lever 464 are pivotally connected, First view bulb
Second end of follower lever 464 and the upper end in eyeball portion 410 or lower end are be hinged to drive eyeball portion 410 around support arm 440 along vertical
Direction rotates.So, rotating upwardly and downwardly for eyeball portion 410 is successfully realized.
Specifically, as shown in fig. 7, bull stick component 463 includes bull stick 4631, actively fork 4632 and driven lever 4633,
Bull stick 4631 is rotatably supported among two pieces between gusset 150, and the both ends of bull stick 4631 are each passed through two pieces of intermediate ribs
Plate 150, actively fork 4632 are connected with bull stick 4631, and First view bulb drive rod 462 is be hinged with actively fork 4632, slave pendulum
Bar 4633 is arranged on the end of bull stick 4631, and First view bulb follower lever 464 is pivotally connected with driven lever 4633.So, surely
Surely the linkage between each structure member is realized, ensure that eyeball portion 410 stably moves.
It is main for the ease of bull stick component 463 is assembled or fabricated in the embodiment of the utility model diagram
Driven fork 4632 is arranged on the middle position of bull stick 4631, and driven lever 4633 is located at being put away from active for middle gusset 150
The side of bar 4632.
Drive bull stick 4631 to rotate for the ease of actively fork 4632 and drive driven lever 4633 to rotate, such as Fig. 5 to Fig. 7
Shown, actively fork 4632 and driven lever 4633 are set in angle.
As shown in Figure 6 and Figure 7, eye emulation mechanism 400 also includes the second eyeball portion drive component 470, the second eyeball portion
Drive component 470 includes the second eyeball portion driving steering wheel 471 and transmission component 472, and the second eyeball portion driving steering wheel 471 is arranged on
On bottom plate 120, the second eyeball portion driving steering wheel 471 is connected to drive eyeball portion 410 by transmission component 472 with eyeball portion 410
Rotated in the horizontal direction around support arm 440.So, the left-right rotation in eyeball portion 410 is successfully realized.
As shown in Figure 6 and Figure 7, specifically, transmission component 472 includes transmission bull stick 4721, synchronising (connecting) rod 4723 and second
Eyeball portion follower lever 4724, the first end of transmission bull stick 4721 are pivotally connected with bottom plate 120, are driven the second end shape of bull stick 4721
Into driving rotating disk 4722, the diameter parallel of the axis of bull stick 4721 and the steering wheel of the second eyeball portion driving steering wheel 471 is driven, it is synchronous
The both ends of connecting rod 4723 are pivotally connected to realize two with the steering wheel and driving rotating disk 4722 of the second eyeball portion driving steering wheel 471 respectively
Person's synchronous axial system, the first end of the second eyeball portion follower lever 4724 are pivotally connected with driving rotating disk 4722, and the second eyeball portion is driven
Second end of bar 4724 is be hinged with eyeball portion 410.So, between each structure member for stably realizing transmission component 472
Linkage, ensure that eyeball portion 410 stably moves.
As shown in Figures 5 to 7, support frame 100 includes bottom plate 120, and head construction also includes mouth emulation mechanism 500, mouth
Emulation mechanism 500 of portion includes maxilla portion 510, lower jaw portion 520 and lower jaw portion drive component 530, and maxilla portion 510 is solid with bottom plate 120
Fixed connection, lower jaw portion 520 are movably disposed on bottom plate 120, and lower jaw portion 520 is in the direction away from maxilla portion 510 and direction
The direction in maxilla portion 510 is moved to simulate the opening and closing of people's mouth, and lower jaw portion drive component 530 is connected with lower jaw portion 520
To drive lower jaw portion 520 to be moved away from or towards maxilla portion 510.So, the mouth of the reliable simulation people of head construction is enable
Motion feature.
Specifically, as shown in Figures 5 to 7, lower jaw portion 520 is rotationally connected with bottom plate 120, lower jaw portion drive component
530 include lower jaw portion driving steering wheel 531 and lower jaw portion linking arm 532, and lower jaw portion driving steering wheel 531 is arranged on bottom plate 120, under
The first end of jaw portion linking arm 532 and the steering wheel of lower jaw portion driving steering wheel 531 are pivotally connected, and the second of lower jaw portion linking arm 532
End is connected with lower jaw portion 520.So, the linkage between each structure member of lower jaw portion drive component 530 is stably realized, is protected
Lower jaw portion 520 has been demonstrate,proved stably to move.
As shown in figure 1, head construction also includes facial skeleton 600, facial skeleton 600 is connected and is located at support frame 100
Supercilium emulates the outer circumferential side of mechanism 200, and multiple avoid holes 610 are offered on facial skeleton 600.So, facial skeleton 600 is true to nature
Simulation human face's bone, by setting soft body structure just can simulate the skin of people on facial skeleton 600, avoid in addition
Hole 610 is naked by supercilium 210, eyeball portion 410, eyelid portion 420, face 330 and part maxilla portion 510 and part lower jaw portion 520
Dew is set, and simulates the facial characteristics of people.
It should be noted that term used herein above is merely to describe 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 this manual using term "comprising" and/or " bag
Include " when, it indicates existing characteristics, step, operation, device, component and/or combinations thereof.
Unless specifically stated otherwise, the part and positioned opposite, the digital table of step otherwise illustrated in these embodiments
Up to the unlimited the scope of the utility model processed of formula and numerical value.Simultaneously, it should be appreciated that each shown in accompanying drawing for the ease of description
The size of individual part is not to be drawn according to the proportionate relationship of reality.For skill known to person of ordinary skill in the relevant
Art, method and apparatus may be not discussed in detail, but in the appropriate case, the technology, method and apparatus should be considered as awarding
Weigh part for specification.In shown here and discussion all examples, any occurrence should be construed as merely example
Property, not as limitation.Therefore, the other examples of exemplary embodiment can have different values.It should be noted that：It is similar
Label and letter similar terms is represented in following accompanying drawing, therefore, once be defined in a certain Xiang Yi accompanying drawing, then with
It need not be further discussed in accompanying drawing afterwards.
In description of the present utility model, it is to be understood that the noun of locality such as " forward and backward, upper and lower, left and right ", " horizontal,
Vertically, vertically, it is horizontal " and " pushing up, bottom " etc. indicated by orientation or position relationship be normally based on orientation or position shown in the drawings
Relation is put, description the utility model is for only for ease of and simplifies description, in the case where not making opposite explanation, these nouns of locality
Do not indicate that and imply that the device of meaning or element there must be specific orientation or with specific azimuth configuration and operation, because
This is it is not intended that limitation to scope of protection of the utility model；The noun of locality " inside and outside " refers to the wheel relative to each part in itself
Wide is inside and outside.
For the ease of description, space relative terms can be used herein, as " ... on ", " ... top ",
" ... upper surface ", " above " etc., for describing such as a device shown in the figure or feature and other devices or spy
The spatial relation of sign.It should be appreciated that space relative terms are intended to comprising the orientation except device described in figure
Outside different azimuth in use or operation.For example, if the device in accompanying drawing is squeezed, it is described as " in other devices
It will be positioned as " under other devices or construction after the device of part or construction top " or " on other devices or construction "
Side " or " under other devices or construction ".Thus, exemplary term " ... top " can include " ... top " and
" in ... lower section " two kinds of orientation.The device can also other different modes positioning (being rotated by 90 ° or in other orientation), and
And respective explanations are made to the relative description in space used herein above.
Furthermore, it is necessary to explanation, limits parts, it is only for be easy to using the word such as " first ", " second "
Corresponding parts to be distinguished, do not have Stated otherwise such as, above-mentioned word does not have particular meaning, therefore it is not intended that to this
The limitation of utility model protection scope.
It should be noted that term used herein above is merely to describe 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 this manual using term "comprising" and/or " bag
Include " when, it indicates existing characteristics, step, work, device, component and/or combinations thereof.
It should be noted that term " first " in the description and claims of this application and above-mentioned accompanying drawing, "
Two " etc. be for distinguishing similar object, without for describing specific order or precedence.It should be appreciated that so use
Data can exchange in the appropriate case, so that presently filed embodiment described herein can be with except illustrating herein
Or the order beyond those of description is implemented.
Preferred embodiment of the present utility model is the foregoing is only, is not limited to the utility model, for this
For the technical staff in field, the utility model can have various modifications and variations.It is all in the spirit and principles of the utility model
Within, any modification, equivalent substitution and improvements made etc., it should be included within the scope of protection of the utility model.
Claims (21)
- A kind of 1. head construction of bio-robot, it is characterised in that mechanism (200) is emulated including support frame (100) and supercilium, The supercilium emulation mechanism (200) includes：Supercilium (210)；Supercilium drive component (220), it is arranged on support frame as described above (100)；Supercilium connection arm assembly (230), first end and the support frame as described above (100) of the supercilium connection arm assembly (230) pivot Connection, the supercilium (210) are arranged on the second end of the supercilium connection arm assembly (230), the supercilium drive component (220) Drive end be connected with the supercilium connection arm assembly (230) or the supercilium (210) with drive the supercilium (210) swing.
- 2. head construction according to claim 1, it is characterised in that the supercilium connection arm assembly (230) is along away from institute The first supercilium linking arm (231) and the second supercilium linking arm (232) that the direction of supercilium (210) includes being connected are stated, wherein, institute State length of the one end of the remote supercilium (210) of the first supercilium linking arm (231) along the second supercilium linking arm (232) Direction is slideably connected with the second supercilium linking arm (232).
- 3. head construction according to claim 2, it is characterised in that the supercilium emulation mechanism (200) also includes pivot joint Axle (240), the second supercilium linking arm (232) is connected by the drive-connecting shaft (240) with support frame as described above (100), described The axis direction of drive-connecting shaft (240) is set with vertical direction in angle.
- 4. head construction according to claim 2, it is characterised in that support frame as described above (100) includes top plate (110), institute Stating supercilium drive component (220) includes：Supercilium driving steering wheel (221), is arranged on the top plate (110)；Supercilium drive rod (222), the first end and the steering wheel of supercilium driving steering wheel (221) of the supercilium drive rod (222) It is pivotally connected, the second end of the supercilium drive rod (222) is pivotally connected with the first supercilium linking arm (231).
- 5. head construction according to claim 1, it is characterised in that support frame as described above (100) includes bottom plate (120) and set Face's supporting plate (160) on the bottom plate (120) is put, the head construction also includes emulation mechanism of face (300), described Emulation mechanism of face (300) includes face's driving steering wheel (310), face's linking arm (320) and the face (330) being sequentially connected with, Wherein, face's driving steering wheel (310) is arranged on face's supporting plate (160), face's linking arm (320) and institute The steering wheel for stating face's driving steering wheel (310) connects to drive the face (330) to swing and simulates the motion of muscle at face.
- 6. head construction according to claim 5, it is characterised in that the supercilium emulation mechanism (200) and the face It is two to emulate mechanism (300), and support frame as described above (100) has longitudinally asymmetric plane vertically, two eyebrows Emulation mechanism of portion (200) and two emulation mechanisms of face (300) are symmetricly set on the both sides of the longitudinally asymmetric plane.
- 7. head construction according to claim 1, it is characterised in that support frame as described above (100) include bottom plate (120) and with The eye supporting plate (130) of bottom plate (120) connection, the head construction also include eye emulation mechanism (400), the eye Emulation mechanism of portion (400) includes：Eyeball portion (410), the eyeball portion (410) are connected with the eye supporting plate (130)；Eyelid portion (420), the eyelid portion (420) are pivotably connected with the eye supporting plate (130), the eyelid portion (420) moved between the open position for covering the closing position of the eyeball portion (410) and exposing the eyeball portion (410)；Eyelid portion drive component (430), eyelid portion drive component (430) drive the eyelid portion (420) in the closure Moved between position and the open position and realize the blink action of the eye emulation mechanism (400).
- 8. head construction according to claim 7, it is characterised in that the eyeball portion (410) and the eyelid portion (420) It it is two, support frame as described above (100) has longitudinally asymmetric plane vertically, and two eyeball portions (410) are symmetrically The both sides of the longitudinally asymmetric plane are arranged on, two eyelid portions (420) and two eyeball portions (410) correspond Set.
- 9. the head construction according to claim 7 or 8, it is characterised in that the eyeball portion (410) has lateral symmetry flat Face, the eyelid portion (420) include upper eyelid (421) and lower eyelid (422), the upper eyelid (421) and the lower eyelid (422) both sides of the crosswise symmetric plane are symmetricly set on.
- 10. head construction according to claim 9, it is characterised in that support frame as described above (100) is also described including being arranged on The first motor support plate (140) on bottom plate (120), eyelid portion drive component (430) include：Eyelid portion driving steering wheel (431), is arranged on first motor support plate (140)；Eyelid portion drive component (432), including transition rocker arm (4321) and two eyelid portion drive rods (4322), the transition are shaken One end of arm (4321) and the steering wheel of eyelid portion driving steering wheel (431) are pivotally connected, described two eyelid portions drive rod (4322) one end of first end with the remote eyelid portion driving steering wheel (431) of the transition rocker arm (4321) is connected, Second end of described two eyelid portions drive rod (4322) pivots with the upper eyelid (421) and the lower eyelid (422) respectively Connection.
- 11. the head construction according to claim 7 or 8, it is characterised in that the eye emulation mechanism (400) also includes Support arm (440) and universal joint (450), the first end of the support arm (440) are connected with the eye supporting plate (130), institute The second end for stating support arm (440) is be hinged by the universal joint (450) and the eyeball portion (410).
- 12. head construction according to claim 11, it is characterised in that support frame as described above (100) also includes top plate (110) With two pieces of middle gussets (150), the top plate (110) is oppositely arranged with the bottom plate (120), two pieces of middle gussets (150) it is arranged between the top plate (110) and the bottom plate (120) and sets at intervals, the eye emulates mechanism (400) First view bulb drive component (460) is also included, including：First view bulb driving steering wheel (461), is arranged on the bottom plate (120)；First view bulb drive rod (462), the first end of First view bulb drive rod (462) are driven with the First view bulb The steering wheel of dynamic steering wheel (461) is pivotally connected；Bull stick component (463), the bull stick component (463) are rotatably arranged between two pieces of middle gussets (150), institute The second end for stating First view bulb drive rod (462) is hinged with the bull stick component (463) to drive the bull stick component (463) Rotate；First view bulb follower lever (464), the first end of First view bulb follower lever (464) and the bull stick component (463) it is pivotally connected, the second end of First view bulb follower lever (464) and the upper end or lower end of the eyeball portion (410) It is hinged to drive the eyeball portion (410) vertically to be rotated around the support arm (440).
- 13. head construction according to claim 12, it is characterised in that the bull stick component (463) includes：Bull stick (4631), the bull stick (4631) are rotatably supported between two pieces of middle gussets (150), and described turn The both ends of bar (4631) are each passed through two pieces of middle gussets (150)；Actively fork (4632), the actively fork (4632) are connected with the bull stick (4631), the First view bulb driving Bar (462) is be hinged with the actively fork (4632)；Driven lever (4633), the driven lever (4633) are arranged on the end of the bull stick (4631), First view bulb from Lever (464) is pivotally connected with the driven lever (4633).
- 14. head construction according to claim 13, it is characterised in that the actively fork (4632) is arranged on described turn The middle position of bar (4631), the driven lever (4633) are located at being put away from the active for the middle gusset (150) The side of bar (4632).
- 15. head construction according to claim 13, it is characterised in that the actively fork (4632) and the slave pendulum Bar (4633) is set in angle.
- 16. head construction according to claim 11, it is characterised in that eye emulation mechanism (400) also includes the Two eyeball portion drive components (470), including：Second eyeball portion driving steering wheel (471), is arranged on the bottom plate (120)；Transmission component (472), the second eyeball portion driving steering wheel (471) pass through the transmission component (472) and the eyeball Portion (410) is connected to drive the eyeball portion (410) to be rotated in the horizontal direction around the support arm (440).
- 17. head construction according to claim 16, it is characterised in that the transmission component (472) includes：Bull stick (4721) is driven, the first end of the transmission bull stick (4721) is pivotally connected with the bottom plate (120), the transmission Second end of bull stick (4721) forms driving rotating disk (4722), the axis of the transmission bull stick (4721) and the second eyeball portion Drive the diameter parallel of the steering wheel of steering wheel (471)；Synchronising (connecting) rod (4723), the both ends of the synchronising (connecting) rod (4723) drive steering wheel (471) with the second eyeball portion respectively Steering wheel and the driving rotating disk (4722) be pivotally connected to realize the two synchronous axial system；Second eyeball portion follower lever (4724), first end and the driving rotating disk of the second eyeball portion follower lever (4724) (4722) it is pivotally connected, the second end of the second eyeball portion follower lever (4724) is be hinged with the eyeball portion (410).
- 18. head construction according to claim 1, it is characterised in that support frame as described above (100) includes bottom plate (120), institute Stating head construction also includes mouth emulation mechanism (500), and the mouth emulation mechanism (500) includes：Maxilla portion (510), it is fixedly connected with the bottom plate (120)；Lower jaw portion (520), it is movably disposed on the bottom plate (120), the lower jaw portion (520) is away from the maxilla portion (510) direction and the direction towards the maxilla portion (510) are moved to simulate the opening and closing of people's mouth；Lower jaw portion drive component (530), the lower jaw portion drive component (530) are connected to drive with the lower jaw portion (520) Lower jaw portion (520) is stated to move away from or towards the maxilla portion (510).
- 19. head construction according to claim 18, it is characterised in that the lower jaw portion (520) rotationally with it is described Bottom plate (120) connects, and the lower jaw portion drive component (530) includes：Lower jaw portion driving steering wheel (531), is arranged on the bottom plate (120)；Lower jaw portion linking arm (532), first end and the lower jaw portion driving steering wheel (531) of the lower jaw portion linking arm (532) Steering wheel be pivotally connected, the second end of the lower jaw portion linking arm (532) is connected with the lower jaw portion (520).
- 20. head construction according to claim 18, it is characterised in that the head construction also includes facial skeleton (600), the facial skeleton (600) is connected with support frame as described above (100) and positioned at the periphery of supercilium emulation mechanism (200) Side, multiple avoid holes (610) are offered on the facial skeleton (600).
- 21. a kind of bio-robot, it is characterised in that including the head construction any one of claim 1 to 20.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720788506.2U CN206982691U (en) | 2017-06-30 | 2017-06-30 | The head construction and bio-robot of bio-robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720788506.2U CN206982691U (en) | 2017-06-30 | 2017-06-30 | The head construction and bio-robot of bio-robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206982691U true CN206982691U (en) | 2018-02-09 |
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ID=61400629
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201720788506.2U Expired - Fee Related CN206982691U (en) | 2017-06-30 | 2017-06-30 | The head construction and bio-robot of bio-robot |
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| Country | Link |
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| CN (1) | CN206982691U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108568806A (en) * | 2018-06-14 | 2018-09-25 | 深圳埃米电子科技有限公司 | A kind of head construction of robot |
| CN109015598A (en) * | 2018-07-17 | 2018-12-18 | 东北大学 | A kind of facial expression bio-mechanism based on SMA |
| WO2019001036A1 (en) * | 2017-06-30 | 2019-01-03 | 深圳光启合众科技有限公司 | Head structure of biomimetic robot, and biomimetic robot |
-
2017
- 2017-06-30 CN CN201720788506.2U patent/CN206982691U/en not_active Expired - Fee Related
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2019001036A1 (en) * | 2017-06-30 | 2019-01-03 | 深圳光启合众科技有限公司 | Head structure of biomimetic robot, and biomimetic robot |
| CN109202915A (en) * | 2017-06-30 | 2019-01-15 | 深圳光启合众科技有限公司 | The head construction and bio-robot of bio-robot |
| CN108568806A (en) * | 2018-06-14 | 2018-09-25 | 深圳埃米电子科技有限公司 | A kind of head construction of robot |
| CN108568806B (en) * | 2018-06-14 | 2024-02-13 | 深圳埃米电子科技有限公司 | Head structure of robot |
| CN109015598A (en) * | 2018-07-17 | 2018-12-18 | 东北大学 | A kind of facial expression bio-mechanism based on SMA |
| CN109015598B (en) * | 2018-07-17 | 2020-05-08 | 东北大学 | Facial expression bionic mechanism based on SMA |
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