CN216759910U - Robot - Google Patents

Abstract

The utility model provides a robot, which comprises a head in a space rectangular coordinate system with an X, Y, Z axis as a coordinate axis, wherein the head comprises an inner head support (1), the front part of the inner head support (1) comprises an eye frame (11) and a mouth frame (12) which are arranged up and down, the eye frame (11) is connected with a left eye assembly (2) and a right eye assembly (3), the eye frame (11) and the mouth frame (12) are connected through an eye socket connecting rotating shaft (13), the axis of the eye socket connecting rotating shaft (13) is parallel to an X axis, the eye frame (11) is connected with an eye up-down driving mechanism (4), and the eye up-down driving mechanism (4) can drive the eye frame (11), the left eye assembly (2) and the right eye assembly (3) to synchronously swing with the eye socket connecting rotating shaft (13) as an axis. The eyeball of the robot has the function of swinging up and down.

Description

Robot

Technical Field

The present invention relates to a robot.

Background

Robots designed and manufactured to simulate the shape and behavior of a human are humanoid robots, and generally have limbs and heads of the human respectively or simultaneously. The humanoid robot has human appearance, can adapt to human living and working environments, replaces human beings to finish various operations, can expand the human abilities in many aspects, and is widely applied to various fields such as service, medical treatment, education, entertainment and the like. With the development of science and technology and the continuous innovation of technology, the humanoid robot is also continuously perfected, so that the humanoid robot can become the most ideal robot which is mutually influenced by people, and because the humanoid robot is shaped like a human, the thinking mode and the behavior mode of the humanoid robot are closer to the human. The humanoid robot can continuously obtain new knowledge through interaction with the environment, and can complete various tasks in a mode which cannot be imagined by a designer, and the humanoid robot can adapt to the unstructured and dynamic environment.

Once we had to adapt to our machines because of the limitations of our manufacturing machines, humanoid robots are the best chance to accomplish this dream, and we want to adapt our machines to our. The head actions of the humanoid robot comprise eyeball rotation, eye blinking, mouth opening and closing, nodding and head turning and other series of actions.

SUMMERY OF THE UTILITY MODEL

The utility model aims to provide a robot capable of realizing up-and-down swinging of eyeballs, wherein the eyeballs of the robot have an up-and-down swinging function.

The technical scheme adopted by the utility model for solving the technical problem is as follows:

the utility model provides a robot, in the space rectangular coordinate system who uses the X, Y, Z axle as the coordinate axis, the robot includes the head, the head contains overhead support, and the front portion of overhead support contains eye frame and mouth frame that sets up from top to bottom, and eye frame attach has left eye subassembly and right eye subassembly, connects the pivot through the orbit between eye frame and the mouth frame and connects, and the axis that the pivot was connected to the orbit is parallel with the X axle, and eye frame attach has eye upper and lower actuating mechanism, and eye upper and lower actuating mechanism can drive eye frame, left eye subassembly and right eye subassembly and use the orbit to connect the pivot as the axle swing in step.

The upper and lower driving mechanism for the eyes comprises an upper steering engine for the eyes, a first upper connecting rod and a second upper connecting rod, a rudder arm of the upper and lower steering engines for the eyes is connected with one end of the first upper connecting rod through a first upper rotating shaft, the other end of the first upper connecting rod is connected with one end of the second upper connecting rod through a second upper rotating shaft, the other end of the second upper connecting rod is fixedly connected with the upper part of the eye frame, and the upper and lower steering engines for the eyes can drive the eye frame, the left eye assembly and the right eye assembly to synchronously swing by taking the eye socket connecting rotating shaft as a shaft.

The inner head support also comprises a hindbrain support which is positioned behind the eye frame, the upper and lower eye steering engines are connected with the hindbrain support, and the output shafts of the upper and lower eye steering engines, the axis of the first upper rotating shaft and the axis of the second upper connecting rod are parallel to the X axis; the other end of the second upper connecting rod is fixedly connected with the upper portion of the eye frame through an upper bolt, the eye frame comprises a left eye socket and a right eye socket which are connected in a left-right mode, eye socket connecting through holes are formed in the left eye socket and the right eye socket respectively, the eye socket connecting through holes are track-shaped through holes, the upper bolt penetrates through the eye socket connecting through holes, and the length direction of the eye socket connecting through holes is the same as the X-axis direction.

The left eye subassembly contains the left eyeball and the left eye bottom plate that set up around, and the upper end of left eye bottom plate is through upper left pivot and eye frame attach, and the lower extreme of left eye bottom plate is through pivot and eye frame attach under the left side, and the axis of upper left pivot and the axis coincidence of lower left pivot, the axis of upper left pivot can be parallel with the Z axle, and the left eye subassembly can use the upper left pivot to swing as the axle.

The left eye subassembly and the right eye subassembly are each the mirror image for each other, and the right eye subassembly contains the right eyeball and the right eye bottom plate that set up around, and the upper end of right eye bottom plate is connected with the eyes frame through upper right pivot, and the lower extreme of right eye bottom plate is connected with the eyes frame through lower right pivot, and left eye bottom plate and right eye ground plate are connected with actuating mechanism about the eyes, and actuating mechanism can drive the left eye subassembly and use upper left pivot as the axle and the right eye subassembly uses upper right pivot to swing in step as the axle about the eyes.

The left and right driving mechanism for the eyes comprises left and right steering engines for the eyes, a first connector, a second connector and a rear connecting rod, wherein a rudder arm of the left and right steering engines for the eyes is connected and fixed with the first connector, one end of the first connector is connected with one end of the second connector through an elastic connecting piece, the second connector is connected and fixed with the rear connecting rod through a rear bolt, the rear connecting rod comprises a left rear connecting rod and a right rear connecting rod which are connected left and right, connecting rod connecting through holes are arranged in the left rear connecting rod and the right rear connecting rod, the connecting rod connecting through holes are runway-shaped through holes, a rear bolt passes through the connecting rod connecting through holes, the length direction of the connecting rod connecting through holes is the same as the X-axis direction, the rear connecting rod extends along the left and right direction, the left end of the rear connecting rod is connected with the left end of a left eye bottom plate sequentially through a left rotating shaft and a left connecting rod, the right end of the rear connecting rod is connected with the right end of a right eye bottom plate sequentially through a right rotating shaft and a right connecting rod, the left and right steering engines of the eyes can enable the rear connecting rod to swing left and right, and the left eye component synchronously swings with the left upper rotating shaft as an axis and the right eye component synchronously swings with the right upper rotating shaft as an axis; the inner support of the head also comprises a hindbrain support which is positioned behind the eye frame, the left steering engine and the right steering engine of the eyes are connected with the hindbrain support, the output shafts of the left steering engine and the right steering engine of the eyes are parallel to the Y axis, and the axis of the left rotating shaft and the axis of the right rotating shaft can be parallel to the Z axis.

The head still contains the eyelid subassembly, and the eyelid subassembly contains left eyelid, eyelid connecting rod and the right eyelid that connects gradually from a left side to the right side, and the eyelid connecting rod is T shape structure, and the eyelid subassembly is connected with actuating mechanism about the eyelid, and actuating mechanism about the eyelid can drive the eyelid subassembly and use the orbit to connect the pivot as the axle swing.

The eyelid up-and-down driving mechanism comprises an eyelid up-and-down steering engine, a third upper connecting rod and a fourth upper connecting rod, a rudder arm of the eyelid up-and-down steering engine is connected with one end of the third upper connecting rod through a third upper rotating shaft, the other end of the third upper connecting rod is connected with one end of the fourth upper connecting rod through a fourth upper rotating shaft, the other end of the fourth upper connecting rod is fixedly connected with the eyelid connecting rod through an eyelid bolt, an eyelid connecting through hole is arranged in the eyelid connecting rod, the eyelid connecting through hole is a runway-shaped through hole, the eyelid bolt penetrates through the eyelid connecting through hole, the length direction of the eyelid connecting through hole can be the same as the Y-axis direction, the fourth upper connecting rod is connected with the eyepit connecting rotating shaft, and the eyelid up-and-down steering engine can drive an eyelid assembly to swing by taking the eyepit connecting rotating shaft as a shaft; the head support also comprises a hindbrain support which is positioned at the rear of the eye frame, the upper and lower eyelid steering gears are connected with the hindbrain support, and the output shafts of the upper and lower eyelid steering gears, the axis of the third upper rotating shaft, the axis of the fourth upper rotating shaft and the axis of the eyelid bolt are all parallel to the X axis.

The left eye subassembly contains the left eyeball and the left eye bottom plate that set up around, and the left eye bottom plate is connected with the left eye mount pad, and the left eye ball passes through the magnet piece to be connected with the left eye mount pad, and the left eye ball is half spherical structure, and the left eye subassembly is the mirror image for each other with the right eye subassembly.

The mouth frame contains mouth front frame, mouth back frame and mouth underframe, the head still contains mouth actuating mechanism that opens and shuts, the mouth underframe passes through mouth pivot and is connected with mouth back frame, mouth actuating mechanism that opens and shuts contains mouth steering wheel and lower connecting rod, the rudder arm of mouth steering wheel that opens and shuts is connected with the one end of lower connecting rod through first pivot, the other end of lower connecting rod passes through second pivot and is connected with the mouth underframe, the mouth steering wheel that opens and shuts can drive the mouth underframe and use the mouth pivot as the axle swing, the axis of mouth pivot, the axis of first pivot and the axis of second pivot all are parallel with the X axle.

The utility model has the beneficial effects that:

1. the eyeball of the robot has the function of swinging up and down.

2. The eyeball of the robot has the function of swinging left and right.

3. The eyelid of the robot has the function of swinging up and down.

Drawings

The accompanying drawings, which are incorporated in and constitute a part of this application, illustrate embodiments of the utility model and, together with the description, serve to explain the utility model and not to limit the utility model.

Fig. 1 is a schematic front view of a robot according to the present invention.

Fig. 2 is a rear perspective view of the robot of the present invention.

Fig. 3 is a perspective view of a first perspective of the head of the robot of the present invention.

Fig. 4 is a perspective view of a second perspective of the head of the robot of the present invention.

Fig. 5 is a perspective view of a third perspective view of the head of the robot of the present invention.

Fig. 6 is a perspective view of a fourth perspective view of the head of the robot of the present invention.

Fig. 7 is a perspective view of a fifth perspective view of the head of the robot of the present invention.

Fig. 8 is a perspective view of a sixth perspective view of the head of the robot of the present invention.

Fig. 9 is a schematic perspective view of the robot of the present invention with the left eye socket removed from the head.

Fig. 10 is a perspective view of the eye left-right driving mechanism.

1. An intra-head support; 2. a left eye assembly; 3. a right eye assembly; 4. an eye up-down driving mechanism; 5. a left and right eye driving mechanism; 6. an eyelid assembly; 7. an eyelid up-and-down driving mechanism; 8. a mouth opening and closing drive mechanism; 9. a head up-down swinging mechanism;

11. an eye frame; 12. a mouth frame; 13. the eye socket is connected with the rotating shaft; 14. a hindbrain scaffold;

21. a left eyeball; 22. a left eye chassis; 23. a left upper rotating shaft; 24. a left lower shaft; 25. a left eye mount;

31. the right eyeball; 32. a right eye base plate; 33. a right upper rotating shaft; 34. a lower right rotating shaft; 35. a right eye mount;

41. an eye up-down steering engine; 42. a first upper link; 43. a second upper link; 44. a first upper rotating shaft; 45. a second upper rotating shaft; 46. screwing a bolt;

51. left and right steering engines for eyes; 52. a first connector; 53. a second connector; 54. a rear connecting rod; 55. an elastic connecting member; 56. a left rotating shaft; 57. a left connecting rod; 58. a right rotating shaft; 59. a right connecting rod; 510. a rear bolt;

61. a left eyelid; 62. an eyelid linkage; 63. right eyelid;

71. an eyelid up-down steering engine; 72. a third upper link; 73. a fourth upper link; 74. a third upper rotating shaft; 75. a fourth upper rotating shaft; 76. an eye bolt;

81. the mouth part is opened and closed with the steering engine; 82. a lower connecting rod; 83. a first lower rotating shaft; 84. a second lower rotating shaft;

121. a front mouth frame; 122. a mouth rear frame; 123. a lower mouth frame; 124. a mouth rotating shaft;

411. rudder arms of the upper steering engine and the lower steering engine on the eyes;

511. rudder arms of left and right steering engines of eyes;

711. rudder arms of the eyelid upper and lower steering engines;

811. the mouth opens and shuts the rudder arm of steering wheel.

Detailed Description

It should be noted that the embodiments and features of the embodiments in the present application may be combined with each other without conflict. The present invention will be described in detail below with reference to the embodiments with reference to the attached drawings.

In a rectangular spatial coordinate system with X, Y, Z axes as coordinate axes, the robot comprises a head and a neck, the head comprises an intra-head support 1, the front part of the intra-head support 1 comprises an eye frame 11 and a mouth frame 12 which are arranged up and down, the eye frame 11 is connected with a left eye component 2 and a right eye component 3, the eye frame 11 and the mouth frame 12 are directly or indirectly connected through an eye socket connecting rotating shaft 13, the axis of the eye socket connecting rotating shaft 13 is parallel to the X axis, the eye frame 11 is connected with an eye up-down driving mechanism 4, and the eye up-down driving mechanism 4 can drive the eye frame 11, the left eye component 2 and the right eye component 3 to synchronously swing by taking the eye socket connecting rotating shaft 13 as an axis, as shown in fig. 1 to 10.

In this embodiment, the eye up-down driving mechanism 4 includes an eye up-down steering gear 41, a first upper link 42 and a second upper link 43, a rudder arm 411 of the eye up-down steering gear is connected to one end of the first upper link 42 through a first upper rotating shaft 44, the first upper link 42 extends in the front-rear direction, the other end of the first upper link 42 is connected to one end of the second upper link 43 through a second upper rotating shaft 45, the other end of the second upper link 43 is fixed to the upper portion of the eye frame 11 through a screw, the eye up-down steering gear 41 can drive the eye frame 11, the left eye assembly 2 and the right eye assembly 3 to synchronously swing relative to the mouth frame 12 around an eye socket connecting rotating shaft 13, and the eye socket connecting rotating shaft 13 is located in the middle of the eye frame 11 (about the nose portion of the robot) along the X-axis direction.

In this embodiment, the inner head support 1 further includes a hindbrain support 14, the hindbrain support 14 is located behind the eye frame 11, the upper and lower eye steering gears 41 are connected to the hindbrain support 14, the upper and lower eye steering gears 41 are located behind the eye frame 11, the upper and lower eye steering gears 41 are located on the right side of the upper portion of the inner head, and the output shafts of the upper and lower eye steering gears 41, the axis of the first upper rotating shaft 44, and the axis of the second upper connecting rod 43 are all parallel to the X axis.

In this embodiment, the other end of the second upper link 43 is connected and fixed to the upper portion of the eye frame 11 by an upper bolt 46 and a nut, the eye frame 11 includes a left eye socket and a right eye socket connected left and right, the left eye socket and the right eye socket are both provided with an eye socket connecting through hole, the eye socket connecting through hole is a racetrack-shaped through hole, the upper bolt 46 penetrates through the eye socket connecting through hole, the length direction of the eye socket connecting through hole is the same as the X-axis direction, and the eye socket connecting through hole is a racetrack-shaped through hole, so that the length of the eye frame 11 in the X-axis direction can be adjusted.

In this embodiment, the left eye socket and the right eye socket are both substantially C-shaped, the left eye assembly 2 is located in the left eye socket, and the right eye assembly 3 is located in the right eye socket. Left eyeball 21 and left eye bottom plate 22 that left eye subassembly 2 contained the front and back setting, and the upper end of left eye bottom plate 22 is connected with eye frame 11 through left upper pivot 23, and the lower extreme of left eye bottom plate 22 is connected with eye frame 11 through left lower pivot 24, and the axis of left upper pivot 23 coincides with the axis of left lower pivot 24, and the axis of left upper pivot 23 can be parallel with the Z axle, and left eye subassembly 2 can use left upper pivot 23 to swing for eye frame 11 as the axle.

In this embodiment, the left eye component 2 and the right eye component 3 have the same structure and are mirror images of each other, the left eye component 2 and the right eye component 3 are symmetrical left and right, the right eye component 3 contains a right eyeball 31 and a right fundus plate 32 which are arranged in front and back, the upper end of the right fundus plate 32 is connected with the eye frame 11 through a right upper rotating shaft 33, the lower end of the right fundus plate 32 is connected with the eye frame 11 through a right lower rotating shaft 34, the axis of the right upper rotating shaft 33 coincides with the axis of the right lower rotating shaft 34, the axis of the right upper rotating shaft 33 can be parallel to the Z axis, and the right eye component 3 can swing relative to the eye frame 11 by using the right upper rotating shaft 33 as the axis. The left eye base plate 22 and the right eye base plate 32 are connected to an eye left and right driving mechanism 5, and the eye left and right driving mechanism 5 can drive the left eye unit 2 to synchronously swing with respect to the eye frame 11 about the left upper rotating shaft 23 and the right eye unit 3 about the right upper rotating shaft 33, as shown in fig. 1 to 10.

In this embodiment, actuating mechanism 5 about the eye contains steering wheel 51 about the eye, first connector 52, second connector 53 and back connecting rod 54, and rudder arm 511 and first connector 52 of steering wheel are connected fixedly about the eye, and the one end of first connector 52 is passed through elastic connection spare 55 with the one end of second connector 53 and is connected, and second connector 53 is connected fixedly through back bolt 510 and nut with back connecting rod 54, and back connecting rod 54 contains left back connecting rod and the right back connecting rod of controlling the connection, all be equipped with connecting rod connect the through-hole in left back connecting rod and the right back connecting rod, connecting rod connect the through-hole and be runway shape through-hole, back bolt 510 passes connecting rod connect the through-hole, connecting rod connect the through-hole's length direction and X axle direction the same. The connecting rod connecting through hole is a runway-shaped through hole, and the length of the rear connecting rod 54 in the X-axis direction can be adjusted.

In the present embodiment, the rear link 54 extends in the left-right direction, the rear link 54 is located behind the eye frame 11, the left end of the rear link 54 is connected to the left end of the left eye base plate 22 via the left rotation shaft 56 and the left link 57 in order, the right end of the rear link 54 is connected to the right end of the right fundus oculi plate 32 via the right rotation shaft 58 and the right link 59 in order, the rudder arms 511 of the eye left-right steering gear swing left and right, and the rudder arms 511 of the eye left-right steering gear can swing the rear link 54 left and right, so that the left eye module 2 swings synchronously about the left upper rotation shaft 23 and the right eye module 3 about the right upper rotation shaft 33, as shown in fig. 1 to 10.

In this embodiment, left and right eye steering engines 51 are located behind the eye frame 11, left and right eye steering engines 51 are located in the middle of the head, left and right eye steering engines 51 are located below the upper and lower eye steering engines 41, left and right eye steering engines 51 are connected with the afterbrain support 14, output shafts of the left and right eye steering engines 51 are parallel to the Y axis, and both the axis of the left rotating shaft 56 and the axis of the right rotating shaft 58 can be parallel to the Z axis. The elastic connection 55 may be a spring, a rubber band or a string, the elastic connection 55 being in tension. The rudder arm 511 of the left and right eye steering engine swings left and right, and the first connector 52 drives the second connector 53 and the rear connecting rod 54 to swing left and right through the elastic connector 55.

In this embodiment, the head further includes an eyelid assembly 6, the eyelid assembly 6 includes a left eyelid 61, an eyelid connecting rod 62 and a right eyelid 63 connected in sequence from left to right, the eyelid connecting rod 62 is a T-shaped structure, a first end and a second end of the eyelid connecting rod 62 are connected to the left eyelid 61 and the right eyelid 63 respectively, the eyelid assembly 6 is connected to an eyelid up-down driving mechanism 7, a third end of the eyelid connecting rod 62 is connected to the eyelid up-down driving mechanism 7, the eyelid connecting rod 62 is further connected to the orbit connecting rotating shaft 13, and the eyelid up-down driving mechanism 7 can drive the eyelid assembly 6 to swing around the orbit connecting rotating shaft 13 as a shaft, as shown in fig. 1 to 10.

In this embodiment, the eyelid up-down driving mechanism 7 includes an eyelid up-down steering gear 71, a third upper link 72 and a fourth upper link 73, a rudder arm 711 of the eyelid up-down steering gear is connected to one end of the third upper link 72 through a third upper rotating shaft 74, the third upper link 72 extends in the front direction, the other end of the third upper link 72 is connected to one end of the fourth upper link 73 through a fourth upper rotating shaft 75, the fourth upper link 73 is a curved structure, the other end of the fourth upper link 73 is fixedly connected to the eyelid link 62 through an eyelid bolt 76 and a nut, an eyelid connecting through hole is provided in the eyelid link 62, the eyelid connection through-hole is a racetrack shaped through-hole, an eyelid bolt 76 passes through the eyelid connection through-hole, the length direction of the eyelid connecting through hole can be the same as the Y-axis direction, the eyelid connecting through hole is arranged to be a runway-shaped through hole, the distance of the eyelid assembly 6 from the left and right eye assemblies 2 and 3 in the Y-axis direction can be adjusted. The fourth upper connecting rod 73 is connected with the orbit connecting rotating shaft 13, and the eyelid upper and lower steering gears 71 can drive the eyelid assembly 6 to swing by taking the orbit connecting rotating shaft 13 as a shaft.

In this embodiment, the eyelid upper and lower steering gear 71 is connected to the hindbrain support 14, the eyelid upper and lower steering gear 71 is located behind the eye frame 11, and the eyelid upper and lower steering gear 71 is located on the left side of the upper portion in the head. The upper and lower eye steering gears 41 and the upper and lower eyelid steering gears 71 are bilaterally symmetrical and are mirror images of each other. The output shaft of the eyelid up-down steering gear 71, the axis of the third upper rotating shaft 74, the axis of the fourth upper rotating shaft 75, and the axis of the eyelid bolt 76 are all parallel to the X-axis, as shown in fig. 1 to 10.

In this embodiment, a left eye mounting seat 25 is connected to the left eye base plate 22, the left eye mounting seat 25 is connected to the left eye base plate 22 through a left eye bolt, and a left eye spring is disposed between the left eye mounting seat 25 and the left eye base plate 22 and sleeved outside the left eye bolt. The left eyeball 21 and the left eye mounting seat 25 are detachably connected, so that the eyeballs with different colors can be conveniently used, preferably, the left eyeball 21 is connected with the left eye mounting seat 25 through a magnet block, the magnet block can be one or more, and the left eyeball 21 and the left eye mounting seat 25 are connected through magnetic force. The left eyeball 21 has a hemispherical structure, and the left eye assembly 2 and the right eye assembly 3 have the same structure and are mirror images of each other, as shown in fig. 1 to 10. Correspondingly, the right eye fundus plate 32 is connected with a right eye mounting seat 35, the right eye mounting seat 35 is connected with the right eye fundus plate 32 through a right eye bolt, and a right eye spring is arranged between the right eye mounting seat 35 and the right eye fundus plate 32 and sleeved outside the bolt. The right eyeball 31 is detachably connected to the right eye mount 35. The right eyeball 31 is detachably connected to the right eye mount 35 in the same manner as the left eyeball 21 is detachably connected to the left eye mount 25.

In this embodiment, the mouth frame 12 includes a front mouth frame 121, a rear mouth frame 122, and a lower mouth frame 123, the head further includes a mouth opening and closing driving mechanism 8, the lower mouth frame 123 is connected to the rear mouth frame 122 through a mouth rotating shaft 124, the mouth opening and closing driving mechanism 8 includes a mouth opening and closing steering engine 81 and a lower link 82, a rudder arm 811 of the mouth opening and closing steering engine is connected to one end of the lower link 82 through a first lower rotating shaft 83, the other end of the lower link 82 is connected to the lower mouth frame 123 through a second lower rotating shaft 84, the rudder arm 811 of the mouth opening and closing steering engine can drive the lower mouth frame 123 to swing about the mouth rotating shaft 124, and an output shaft of the mouth opening and closing driving mechanism 8, an axis of the mouth rotating shaft 124, an axis of the first lower rotating shaft 83, and an axis of the second lower rotating shaft 84 are all parallel to the X axis, as shown in fig. 1 to 10.

In this embodiment, an eye support is disposed between the eye frame 11 and the mouth frame 12, the eye support is connected and fixed to the front mouth frame 121 in an up-and-down manner, and the eye frame 11 is connected to the eye support through an eye socket connecting rotating shaft 13, that is, the eye frame 11 and the mouth frame 12 are indirectly connected through the eye socket connecting rotating shaft 13. The front mouth frame 121 and the rear mouth frame 122 are relatively fixed, and the mouth opening and closing steering gear 81 is fixed between the front mouth frame 121 and the rear mouth frame 122. The hindbrain support 14 and the posterior mouth frame 122 are relatively fixed. The head of the robot also comprises a head up-down swinging mechanism 9, and the head up-down swinging mechanism 9 can make the head of the robot swing up and down.

The operation of the robot is described below.

1. The rudder arm 411 of the eye upper and lower steering engine swings to drive the eye frame 11, the left eye component 2 and the right eye component 3 to swing synchronously by taking the eye socket connecting rotating shaft 13 as a shaft, and the eyeball of the robot realizes the function of swinging up and down.

2. The rudder arm 511 of the left and right eye steering engine swings to make the rear connecting rod 54 swing left and right, so as to drive the left eye component 2 to synchronously swing with the left upper rotating shaft 23 as an axis and the right eye component 3 with the right upper rotating shaft 33 as an axis, and the eyeball of the robot realizes the function of swinging left and right.

3. The rudder arm 711 of the eyelid up-and-down steering engine swings to drive the eyelid assembly 6 to swing by taking the orbit connection rotating shaft 13 as a shaft, and the eyelid of the robot realizes the up-and-down swinging function, namely the blinking function.

4. The head up-down swing mechanism 9 can swing the head of the robot up and down, thereby realizing an up-down nodding function, as shown in fig. 1 to 10.

For convenience of understanding and description, the present invention has been described in terms of absolute positional relationship in combination with a spatial rectangular coordinate system, where the term "up" denotes an upper direction in fig. 1, the term "down" denotes a lower direction in fig. 1, the term "left" denotes a right direction in fig. 1, the term "right" denotes a left direction in fig. 1, the term "front" denotes a direction perpendicular to the paper surface of fig. 1 and pointing to the outside of the paper surface, and the term "rear" denotes a direction perpendicular to the paper surface of fig. 1 and pointing to the inside of the paper surface, unless otherwise specified. The X-axis direction corresponds to the left-right direction, the Y-axis direction corresponds to the front-back direction, and the Z-axis direction corresponds to the up-down direction.

The above description is only exemplary of the utility model and should not be taken as limiting the scope of the utility model, so that the utility model is intended to cover all modifications and equivalents of the embodiments, which may be included within the spirit and scope of the utility model. In addition, the technical features and the technical schemes, and the technical schemes can be freely combined and used.

Claims (10)

1. The utility model provides a robot, in the space rectangular coordinate system who uses the X, Y, Z axle as the coordinate axis, a serial communication port, the robot includes the head, the head contains overhead support (1), the front portion of overhead support (1) contains eye frame (11) and mouth frame (12) that set up from top to bottom, eye frame (11) are connected with left eye subassembly (2) and right eye subassembly (3), connect through eye socket connection pivot (13) between eye frame (11) and the mouth frame (12), the axis that pivot (13) was connected to the eye socket is parallel with the X axle, eye frame (11) are connected with eye upper and lower actuating mechanism (4), eye upper and lower actuating mechanism (4) can drive eye frame (11), left eye subassembly (2) and right eye subassembly (3) use eye socket connection pivot (13) to swing as the axle with eye socket in step.

2. The robot according to claim 1, wherein the eye up-and-down driving mechanism (4) comprises an eye up-and-down steering engine (41), a first upper connecting rod (42) and a second upper connecting rod (43), a rudder arm (411) of the eye up-and-down steering engine is connected with one end of the first upper connecting rod (42) through a first upper rotating shaft (44), the other end of the first upper connecting rod (42) is connected with one end of the second upper connecting rod (43) through a second upper rotating shaft (45), the other end of the second upper connecting rod (43) is fixedly connected with the upper part of the eye frame (11), and the eye up-and-down steering engine (41) can drive the eye frame (11), the left eye assembly (2) and the right eye assembly (3) to synchronously swing by taking the eye socket connecting rotating shaft (13) as a shaft.

3. The robot according to claim 2, wherein the intra-head support (1) further comprises a hindbrain support (14), the hindbrain support (14) is located behind the eye frame (11), the eye upper and lower steering engines (41) are connected with the hindbrain support (14), and the output shafts of the eye upper and lower steering engines (41), the axis of the first upper rotating shaft (44) and the axis of the second upper connecting rod (43) are parallel to the X axis; the other end of the second upper connecting rod (43) is fixedly connected with the upper portion of the eye frame (11) through an upper bolt (46), the eye frame (11) comprises a left eye socket and a right eye socket which are connected left and right, eye socket connecting through holes are formed in the left eye socket and the right eye socket and are runway-shaped through holes, the upper bolt (46) penetrates through the eye socket connecting through holes, and the length direction of the eye socket connecting through holes is the same as the X-axis direction.

4. The robot according to claim 1, wherein the left eye assembly (2) comprises a left eyeball (21) and a left eye base plate (22) which are arranged in a front-back manner, the upper end of the left eye base plate (22) is connected with the eye frame (11) through an upper left rotating shaft (23), the lower end of the left eye base plate (22) is connected with the eye frame (11) through a lower left rotating shaft (24), the axis of the upper left rotating shaft (23) coincides with the axis of the lower left rotating shaft (24), the axis of the upper left rotating shaft (23) can be parallel to the Z axis, and the left eye assembly (2) can swing by taking the upper left rotating shaft (23) as an axis.

5. The robot according to claim 4, wherein the left eye module (2) and the right eye module (3) are mirror images of each other, the right eye module (3) comprises a right eyeball (31) and a right eye base plate (32) which are arranged in front and back, the upper end of the right eye base plate (32) is connected with the eye frame (11) through an upper right rotating shaft (33), the lower end of the right eye base plate (32) is connected with the eye frame (11) through a lower right rotating shaft (34), the left eye base plate (22) and the right eye base plate (32) are connected with a left and right eye driving mechanism (5), and the left and right eye driving mechanism (5) can drive the left eye module (2) to synchronously swing by taking the upper left rotating shaft (23) as an axis and the right eye module (3) to synchronously swing by taking the upper right rotating shaft (33) as an axis.

6. The robot according to claim 5, wherein the left and right eye driving mechanism (5) comprises left and right eye steering gears (51), a first connector (52), a second connector (53) and a rear connecting rod (54), rudder arms (511) of the left and right eye steering gears are fixedly connected with the first connector (52), one end of the first connector (52) is connected with one end of the second connector (53) through an elastic connector (55), the second connector (53) is fixedly connected with the rear connecting rod (54) through a rear bolt (510), the rear connecting rod (54) comprises a left rear connecting rod and a right rear connecting rod which are connected in a left-right manner, connecting rod connecting through holes are respectively arranged in the left rear connecting rod and the right rear connecting rod, the connecting rod connecting through holes are track-shaped through holes, the rear bolt (510) penetrates through the connecting rod connecting through holes, and the length direction of the connecting rod connecting through holes is the same as the X-axis direction, the rear connecting rod (54) extends in the left-right direction, the left end of the rear connecting rod (54) is connected with the left end of the left eye bottom plate (22) sequentially through a left rotating shaft (56) and a left connecting rod (57), the right end of the rear connecting rod (54) is connected with the right end of the right eye bottom plate (32) sequentially through a right rotating shaft (58) and a right connecting rod (59), and the left-right eye steering engine (51) can enable the rear connecting rod (54) to swing left and right and enable the left eye component (2) to swing synchronously with the left upper rotating shaft (23) as an axis and the right eye component (3) to swing synchronously with the right upper rotating shaft (33) as an axis;

the inner support (1) further comprises a hindbrain support (14), the hindbrain support (14) is located behind the eye frame (11), left and right eye steering engines (51) are connected with the hindbrain support (14), output shafts of the left and right eye steering engines (51) are parallel to a Y axis, and axes of the left rotating shaft (56) and the right rotating shaft (58) can be parallel to the Z axis.

7. The robot according to claim 1, wherein the head further comprises an eyelid assembly (6), the eyelid assembly (6) comprises a left eyelid (61), an eyelid connecting rod (62) and a right eyelid (63) which are sequentially connected from left to right, the eyelid connecting rod (62) is in a T-shaped structure, the eyelid assembly (6) is connected with an eyelid up-down driving mechanism (7), and the eyelid up-down driving mechanism (7) can drive the eyelid assembly (6) to swing by taking the orbit connecting rotating shaft (13) as an axis.

8. The robot according to claim 7, wherein the eyelid up-and-down driving mechanism (7) comprises an eyelid up-and-down steering gear (71), a third upper link (72) and a fourth upper link (73), a rudder arm (711) of the eyelid up-and-down steering gear is connected with one end of the third upper link (72) through a third upper rotating shaft (74), the other end of the third upper link (72) is connected with one end of the fourth upper link (73) through a fourth upper rotating shaft (75), the other end of the fourth upper link (73) is fixedly connected with the eyelid link (62) through an eyelid bolt (76), an eyelid connecting through hole is formed in the eyelid link (62), the eyelid connecting through hole is a runway-shaped through hole, the eyelid bolt (76) passes through the eyelid connecting through hole, the length direction of the eyelid connecting through hole can be the same as the direction of the Y axis, and the fourth upper link (73) is connected with the eyelid connecting rotating shaft (13), the eyelid up-and-down steering engine (71) can drive the eyelid assembly (6) to swing by taking the orbit connecting rotating shaft (13) as a shaft;

the inner support (1) further comprises a hindbrain support (14), the hindbrain support (14) is located behind the eye frame (11), the eyelid upper and lower steering gears (71) are connected with the hindbrain support (14), and output shafts of the eyelid upper and lower steering gears (71), the axis of the third upper rotating shaft (74), the axis of the fourth upper rotating shaft (75) and the axis of the eyelid bolt (76) are parallel to the X axis.

9. The robot according to claim 1, wherein the left eye assembly (2) comprises a left eyeball (21) and a left eye base plate (22) which are arranged in a front-back manner, the left eye base plate (22) is connected with a left eye mounting seat (25), the left eyeball (21) is connected with the left eye mounting seat (25) through a magnet block, the left eyeball (21) is of a hemispherical structure, and the left eye assembly (2) and the right eye assembly (3) are mirror images of each other.

10. Robot according to claim 1, characterized in that the mouth frame (12) comprises a front mouth frame (121), a rear mouth frame (122) and a lower mouth frame (123), the head further comprises a mouth opening and closing driving mechanism (8), a mouth lower frame (123) is connected with a mouth rear frame (122) through a mouth rotating shaft (124), the mouth opening and closing driving mechanism (8) comprises a mouth opening and closing steering engine (81) and a lower connecting rod (82), a rudder arm (811) of the mouth opening and closing steering engine is connected with one end of the lower connecting rod (82) through a first lower rotating shaft (83), the other end of the lower connecting rod (82) is connected with the mouth lower frame (123) through a second lower rotating shaft (84), the mouth opening and closing steering engine (81) can drive the mouth lower frame (123) to swing by taking the mouth rotating shaft (124) as a shaft, and the axis of the mouth rotating shaft (124), the axis of the first lower rotating shaft (83) and the axis of the second lower rotating shaft (84) are parallel to an X axis.

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