CN211639933U

CN211639933U - Robot face mechanism and robot

Info

Publication number: CN211639933U
Application number: CN201922245687.6U
Authority: CN
Inventors: 苏锴坚; 赵琦; 许少强
Original assignee: Shenzhen Banana Intelligent Technology Co ltd
Current assignee: Shenzhen Banana Intelligent Technology Co ltd
Priority date: 2019-12-12
Filing date: 2019-12-12
Publication date: 2020-10-09
Anticipated expiration: 2029-12-12

Abstract

The utility model relates to a bionical mechanical technical field provides a facial mechanism of robot and robot, facial mechanism of robot, including face-piece, an at least eye mechanism, an at least ear mechanism and an at least driving piece. The eye mechanism comprises an eyelid assembly and a driving motor, wherein the eyelid assembly is pivoted on the inner side wall of the face shell, the driving motor drives the eyelid assembly and is installed in the face shell, the ear mechanism is arranged outside the face shell, one end of the driving medium is connected to the eyelid assembly and the other end of the driving medium is connected to the ear mechanism, and the eyelid assembly drives the ear mechanism to synchronously link through the driving medium. Driving motor is when receiving the instruction start-up, and the action of drive eyelid subassembly realization blink, and will drive power transmission to ear's mechanism through the driving medium at the in-process of blinking to drive ear's mechanism and realize trembling the action of ear, the action of blinking of robot promptly and trembling the ear action and only having a driving motor as the power supply, like this, the compact structure of the robot face mechanism of this application, whole volume is littleer.

Description

Robot face mechanism and robot

Technical Field

The utility model relates to a bionical mechanical technical field especially provides a robot face portion mechanism and have robot of this robot face portion mechanism.

Background

At present, an emotional interaction robot belongs to a research hotspot in the field of service robots. The facial expression of the emotion interaction robot can better express the emotion of the robot, more truly simulate the scene of interaction with people, and have an important effect on emotion expression.

The blinking action and the ear shaking action of the existing emotion interaction robot are controlled by different action mechanisms, so that a face mechanism of the robot needs a plurality of power sources, configuration redundancy is achieved, and the head of the robot is large in size.

SUMMERY OF THE UTILITY MODEL

The utility model aims at providing a face mechanism of robot aims at solving the face mechanism of current robot and needs the redundant and whole big problem of volume partially of mechanism that a plurality of power supply output lead to.

In order to achieve the above object, the utility model adopts the following technical scheme: the utility model provides a robot facial features mechanism, includes face-piece, an at least eye mechanism, an at least ear mechanism and an at least transmission piece, eye mechanism include the pin joint in the eyelid subassembly and the drive of the inside wall of face-piece eyelid subassembly just install in driving motor in the face-piece, ear mechanism locates the face-piece is outside, the one end of transmission piece connect in eyelid subassembly and the other end connect in ear mechanism, the eyelid subassembly passes through the transmission piece drives ear mechanism synchronous linkage.

In one embodiment, the eyelid assembly includes an upper eyelid member and a lower eyelid member engaging the upper eyelid member, the output of the driving motor engages the lower eyelid member, and the transmission member is connected to the upper eyelid member or the lower eyelid member.

In one embodiment, the upper eyelid comprises an upper gear pivotally connected to the face shell and a first body disposed on the upper gear, and one end of the transmission member is connected to the upper gear.

In one embodiment, the lower eyelid comprises a lower gear pivoted to the face shell and engaged with the upper gear, and a second body disposed on the lower gear, one end of the transmission member is connected to the lower gear, and the output end of the driving motor is engaged with the lower gear.

In one embodiment, the eye mechanism further comprises a plurality of intermediate gears for driving and connecting the lower gear and the output end of the driving motor, and each intermediate gear is pivoted on the face shell.

In one embodiment, the driving motor comprises a motor main body and a transmission gear arranged at the output end of the motor main body, and a stop block used for limiting the rotation angle of the transmission gear is arranged on the face shell.

In one embodiment, the ear mechanism comprises a root member disposed on the face shell and a tip member pivotally connected to the root member, and the other end of the transmission member is connected to the tip member.

In one embodiment, the root of ear spare is including wearing to locate face-piece to outside support and locating root of ear body on the support, this internal first pin joint post that is equipped with of root of ear, the ear tip spare includes the ear tip body and locates this internal and with the driven second pin joint post of first pin joint post pin joint of ear tip, the driving medium passes the root of ear body and connect in the ear tip body.

In one embodiment, the transmission member is a transmission rope or a transmission chain.

The utility model has the advantages that: the utility model provides a robot face mechanism, its working process as follows: driving motor is when receiving the instruction start-up, and the action of drive eyelid subassembly realization blink, and will drive power transmission to ear's mechanism through the driving medium at the in-process of blinking to drive ear's mechanism and realize trembling the action of ear, the action of blinking of robot promptly and trembling the ear action and only having a driving motor as the power supply, like this, the compact structure of the robot face mechanism of this application, whole volume is littleer.

The utility model also provides a robot, including the aforesaid robot face portion mechanism.

The utility model has the advantages that: the utility model provides a robot, on the basis that has above-mentioned robot face mechanism, the facial compact structure of this robot to, have higher recreational and imitative nature.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for the embodiments or the prior art descriptions will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings without creative efforts.

Fig. 1 is a schematic structural diagram of a robot face mechanism according to an embodiment of the present invention;

fig. 2 is another schematic structural diagram of a robot face mechanism according to an embodiment of the present invention;

fig. 3 is a schematic structural diagram of an eye mechanism of a robot face mechanism according to an embodiment of the present invention;

fig. 4 is another schematic structural diagram of an eye mechanism of a robot face mechanism according to an embodiment of the present invention;

fig. 5 is an exploded view of an ear mechanism of a robot face mechanism according to an embodiment of the present invention;

fig. 6 is a front view of a robot face mechanism according to an embodiment of the present invention;

fig. 7 is another front view of a robot face mechanism according to an embodiment of the present invention.

Wherein, in the figures, the respective reference numerals:

the robot facial mechanism 100, the face shell 10, the eye mechanism 20, the ear mechanism 30, the transmission member 40, the eyelid assembly 21, the driving motor 22, the upper eyelid piece 211, the lower eyelid piece 212, the upper gear 2111, the first body 2112, the lower gear 2121, the second body 2122, the middle gear 23, the motor main body 221, the transmission gear 222, the stopper 11, the barrier arm 223, the auricle piece 31, the auricle piece 32, the bracket 311, the auricle body 312, the first pivot post 313, the auricle body 321, the second pivot post 322, the pivot shaft 33, and the spring member 34.

Detailed Description

Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are exemplary and intended to be used for explaining the present invention, and should not be construed as limiting the present invention.

In the description of the present invention, it is to be understood that the terms "length", "width", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like indicate orientations or positional relationships based on those shown in the drawings, and are merely for convenience of description and simplicity of description, and do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present invention.

Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality" means two or more unless specifically limited otherwise.

In the present invention, unless otherwise expressly stated or limited, the terms "mounted," "connected," and "fixed" are to be construed broadly and may, for example, be fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meaning of the above terms in the present invention can be understood according to specific situations by those skilled in the art.

Referring to fig. 1 and 2, a robot face mechanism 100 according to an embodiment of the present invention includes a face shell 10, at least one eye mechanism 20, at least one ear mechanism 30, and at least one transmission member 40. The eye mechanism 20 comprises an eyelid assembly 21 pivoted to the inner side wall of the face shell 10 and a driving motor 22 driving the eyelid assembly 21 and installed in the face shell 10, the ear mechanism 30 is arranged outside the face shell 10, one end of the transmission member 40 is connected to the eyelid assembly 21, the other end of the transmission member 40 is connected to the ear mechanism 30, and the eyelid assembly 21 drives the ear mechanism 30 to synchronously link through the transmission member 40.

The embodiment of the utility model provides a facial mechanism 100 of robot, its working process is as follows: when the driving motor 22 starts up receiving the instruction, the driving eyelid assembly 21 realizes the action of blinking, and transmits the driving force to the ear mechanism 30 through the transmission member 40 in the blinking process, so that the ear mechanism 30 is driven to realize the action of shaking ears, that is, the blinking action and the ear shaking action of the robot are only driven by one driving motor 22 as a power source, thus, the robot face mechanism 100 of the present application has a compact structure and a smaller overall volume.

Preferably, referring to fig. 6 and 7, the eye mechanisms 20 are two in number, the ear mechanisms 30 are two in number, and the transmission members 40 are two in number, and one eye mechanism 20 is connected to the corresponding ear mechanism 30 through a transmission member 40. Referring to fig. 6, when the eyelid of the robot face mechanism 100 is opened, the ear is simultaneously in an opened state, and referring to fig. 7, when the eyelid of the robot face mechanism 100 is in a closed state, the ear is also in a closed state. Namely realizing the linkage of blinking and ear shaking. Of course, the linkage state of the two can be adjusted according to actual requirements, that is, when the eyelid is opened by the robot face mechanism 100, the ear is in a closed state.

Referring to fig. 1, 3 and 4, in the present embodiment, the eyelid assembly 21 includes an upper eyelid 211 and a lower eyelid 212 engaged with the upper eyelid 211, the output end of the driving motor 22 is engaged with the lower eyelid 212, and the transmission member 40 is connected to the upper eyelid 211 or the lower eyelid 212. It can be understood that the driving motor 22 drives the lower eyelid pieces 212 to swing up and down around the mask 10, and at the same time, the lower eyelid pieces 212 are engaged with the upper eyelid pieces 211, i.e. the upper eyelid pieces 211 are driven to swing up and down when the lower eyelid pieces 212 swing up and down, thereby realizing the "blinking" facial expression effect.

With continued reference to fig. 1, 3 and 4, the upper eyelid member 211 includes an upper gear 2111 pivotally connected to the face housing 10 and a first body 2112 provided on the upper gear 2111, and one end of the transmission member 40 is connected to the upper gear 2111. Here, when the upper gear 2111 rotates around the face housing 10, the ear mechanism 30 is pulled by the transmission 40, and a force is output to the ear mechanism 30. The lower eyelid device 212 includes a lower gear 2121 pivotally connected to the face housing 10 and a second body 2122 disposed on the lower gear 2121, and the output end of the driving motor 22 is engaged with the lower gear 2121. Of course, specifically, connecting one end of the transmission member 40 to the lower gear 2121 enables a larger pulling angle of the ear mechanism 30 according to actual transmission requirements, for example, the lower gear 2121 is located below the upper gear 2111 in the vertical direction.

Referring to fig. 1, 3 and 4, in the present embodiment, the eye mechanism 20 further includes a plurality of intermediate gears 23 for driving and connecting the lower gear 2121 and the output end of the driving motor 22, and each intermediate gear 23 is pivotally connected to the face shell 10. It is understood that since the transmission distance between the driving motor 22 and the lower gear 2121 is different due to the arrangement of the components, the transmission is required through the intermediate gear 23. Preferably, referring to fig. 1, 3 and 4, an intermediate gear 23 is provided between the lower gear 2121 and the driving motor 22. When the number of the intermediate gears 23 is large, the intermediate gears 23 are sequentially engaged, and the first and last intermediate gears 23 are respectively engaged with the output end of the driving motor and engaged with the lower gear 2121.

Preferably, referring to fig. 1, 3 and 4, in the present embodiment, the driving motor 22 includes a motor main body 221 and a transmission gear 222 disposed at an output end of the motor main body 221, and the face shell 10 is provided with a stopper 11 for limiting a rotation angle of the transmission gear 222. It can be understood that, in order to limit the rotation amplitude of the upper eyelid and the lower eyelid, when the motor main body 221 outputs power, the transmission gear 222 abuts against the stopper 11 when rotated to the limit position, that is, the transmission gear 222 is further rotated by the stopper 11. Specifically, referring to fig. 3, the transmission gear 222 is provided with a blocking arm 223 outward along the radial direction, and the blocking arm 223 abuts against the block 11 when rotating to the limit position.

Referring to fig. 1 and 5, in the present embodiment, the ear mechanism 30 includes a root member 31 disposed on the face shell 10 and a tip member 32 pivoted to the root member 31, and the other end of the transmission member 40 is connected to the tip member 32. It will be appreciated that the ear root element 31 remains stationary and the transmission element 40, driven by the eyelid assembly 21, pulls the ear tip element 32 to rotate around the ear root element 31, so as to achieve a "trembling" facial expression.

Preferably, referring to fig. 1 and 5, the ear root piece 31 includes a support 311 penetrating the face shell 10 to the outside and an ear root body 312 disposed on the support 311, and a first pivot column 313 is disposed in the ear root body 312. The ear tip 32 includes an ear tip body 321 and a second pivot post 322 disposed in the ear tip body 321 and pivotally connected to the first pivot post 313 for transmission, and the transmission member 40 passes through the ear root body 312 and is connected to the ear tip body 321. Here, the pivot shaft 33 and the spring element 34 are disposed between the first pivot post 313 and the second pivot post 322, and the spring element 34 is in an extended state, and one end thereof is inserted through the first pivot post 313 and the other end thereof is inserted through the second pivot post 322. When the transmission member 40 pulls the ear tip body 321, the spring member 34 is pressed, and the ear tip body 321 moves toward the ear root body 312 around the pivot shaft 33 to open and close.

Preferably, the transmission member 40 is a transmission rope or a transmission chain. The transmission member 40 needs to have a certain flexibility and ductility because it needs to be routed inside the robot face mechanism 100.

The utility model also provides a robot, including foretell robot face mechanism 100. On the basis of the robot face mechanism 100, the face structure of the robot is compact, and the robot has higher entertainment and imitative properties.

The above description is only exemplary of the present invention and should not be construed as limiting the present invention, and any modifications, equivalents and improvements made within the spirit and principles of the present invention are intended to be included within the scope of the present invention.

Claims

1. The utility model provides a robot face mechanism which characterized in that: including face-piece, an at least eye mechanism, an at least ear mechanism and an at least transmission piece, eye mechanism include the pin joint in the eyelid subassembly and the drive of the inside wall of face-piece eyelid subassembly just install in driving motor in the face-piece, ear mechanism locates the face-piece is outside, the one end of transmission piece connect in eyelid subassembly and the other end connect in ear mechanism, the eyelid subassembly passes through the transmission piece drives ear mechanism synchronous linkage.

2. The robotic face mechanism of claim 1, wherein: the eyelid assembly comprises an upper eyelid piece and a lower eyelid piece connected with the upper eyelid piece in an engaged mode, the output end of the driving motor is connected with the lower eyelid piece in an engaged mode, and the transmission piece is connected with the upper eyelid piece or the lower eyelid piece.

3. The robotic face mechanism of claim 2, wherein: the upper eyelid piece comprises an upper gear pivoted on the face shell and a first body arranged on the upper gear, and one end of the transmission piece is connected to the upper gear.

4. The robotic face mechanism of claim 3, wherein: the lower eyelid piece comprises a lower gear which is pivoted on the face shell and is in meshed connection with the upper gear and a second body which is arranged on the lower gear, one end of the transmission piece is connected with the lower gear, and the output end of the driving motor is in meshed connection with the lower gear.

5. The robotic face mechanism of claim 4, wherein: the eye mechanism further comprises a plurality of intermediate gears which are used for being in transmission connection with the lower gears and the output end of the driving motor, and the intermediate gears are all pivoted on the face shell.

6. The robotic face mechanism of claim 4 or 5, wherein: the driving motor comprises a motor main body and a transmission gear arranged at the output end of the motor main body, and a stop block used for limiting the rotation angle of the transmission gear is arranged on the face shell.

7. The robotic face mechanism of claim 1, wherein: ear mechanism is including locating ear root spare and pin joint on the face-piece in the ear point spare of ear root spare, the other end of driving medium connect in ear point spare.

8. The robotic face mechanism of claim 7, wherein: ear root spare is including wearing to locate face-piece to outside support and locating ear root body on the support, this internal first pin joint post that is equipped with of ear root, ear tip spare includes the ear tip body and locates this internal and with the driven second pin joint post of first pin joint post pin joint, the driving medium passes ear root body and connect in the ear tip body.

9. The robotic face mechanism of claim 1, wherein: the transmission part is a transmission rope or a transmission chain.

10. A robot, characterized by: comprising a robotic face mechanism as claimed in any one of claims 1 to 9.