KR20190055495A - Robot eye device - Google Patents

Abstract

The present invention provides a robot eye device which allows a robot to process natural gaze like a human by synchronizing and operating eyes and eyelids in a gaze direction. According to embodiments of the present invention, the robot eye device comprises: a main body; a left eye unit coupled to a left portion of the main body, wherein a force rotating right and downwards is continuously applied; a left upper eyelid coupled to the main body to be adjacent to an upper portion of the left eye unit, wherein a force rotating upwards is continuously applied; a left lower eyelid coupled to the main body to be adjacent to a lower portion of the left eye unit, wherein a force rotating downwards is continuously applied; a right eye unit coupled to a right portion of the main body, wherein a force rotating left and downwards is continuously applied; a right upper eyelid coupled to the main body to be adjacent to an upper portion of the right eye unit, wherein a force rotating upwards is continuously applied; a right lower eyelid coupled to the main body to be adjacent to a lower portion of the right eye unit, wherein a force rotating downwards is continuously applied; a left/right driving unit which is connected to the left and the right eye unit, rotates the left eye unit in a left direction, and rotates the right eye unit in a right direction; a vertical driving unit which is connected to the left and the right eye unit, rotates the left eye unit upwards, and rotates the right eye unit upwards; an upper eyelid driving unit which is coupled to the left upper eyelid and the right upper eyelid, and rotates the left upper eyelid and the right upper eyelid downwards; and a lower eyelid driving unit which is coupled to the left lower eyelid and the right lower eyelid, and rotates the left lower eyelid and the right lower eyelid upwards.

Description

[0001] ROBOT EYE DEVICE [0002]

BACKGROUND OF THE INVENTION 1. Field of the Invention [0002] The present invention relates to an eyeball apparatus of a robot, and more particularly, to an apparatus in which a robot performs natural gaze processing like a human being, since an eyeball and an eyelid are synchronized and operated according to a direction of a line of sight.

The eye for the robot imitates the eyes of the human body or various animals. The eye for the robot comprises an eyeball member capable of moving and a fixing member for fixing the eyeball member to another member of the head. Since the motion characteristics and the motion direction of the eye member and the fixing member are different, the eye for the robot takes the structure of the joint for changing the direction of the two members.

In recent years, studies have been made on eyeballs for robots that perform natural motion such as human gaze processing, and in general, a method in which a plurality of motors control facial expressions to generate human facial expressions is used.

However, in the case of using the conventional art as described above, a large number of motors or actuators are required for natural gaze processing, which complicates the configuration of the robot.

In Korean Patent No. 10-0881841 (entitled "Eyeball Device for Face of Humanoid Robot"), for independent operation, it is fixed by using a separate fixing frame instead of being fixed to the inner surface or the outer surface of the face portion of the humanoid robot A pair of eyeballs capable of panning movement in the left and right direction and pivoting movement in the up and down direction, which are synchronized in hardware, using a parallelogram link mechanism, which is a relatively simple mechanism, Discloses an eye device for a face portion of a humanoid robot in which an eye movement of a humanoid robot can be naturally simulated, the number of motors used can be reduced to reduce the control burden, and an additional mechanism for eyelid movement and mouth motion can be easily implemented.

Korean Patent No. 10-0881841

In order to solve the above problems, an object of the present invention is to synchronize the operation of eyelids according to the direction of the eyes of a robot eye.

It is an object of the present invention to minimize the number of motors associated with operation in the operation of the eyeball or eyelids of the robot.

It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory and are not intended to limit the invention to the precise form disclosed. There will be.

According to an aspect of the present invention, A left eye part coupled to a left side part of the main body part and having a force continuously rotating in a right direction and a downward direction; An upper left eyelid which is engaged with the main body adjacent to an upper portion of the left eyelid and in which an upward rotating force is continuously applied; A left lower eyelid which is engaged with the main body portion adjacent to a lower portion of the left eye opening portion and in which a downward rotating force is continuously applied; A right eye part coupled to a right side part of the main body part and continuously rotating in a leftward direction and a downward direction; An upper eyelid which is engaged with the main body portion adjacent to an upper portion of the right eyebrow portion and in which an upward rotating force is continuously applied; A right lower eyelid which is engaged with the main body portion adjacent to a lower portion of the right eyebrow portion and in which a downward rotating force is continuously applied; A left and right driving unit connected to the left and right eyelid part and the right eye part to rotate the left eye part leftward and to rotate the right eye part in the right direction; A vertical driver connected to the left and right eyebrows and the right eye part to rotate the left eye part upward and rotate the right eye part upward; An upper eyelid driving part coupled to the upper left eyelid and the upper right eyelid to rotate the left upper eyelid and the right upper eyelid downward; And a lower eyelid driving unit coupled to the lower left eyelid and the lower right eyelid to rotate the lower left eyelid and the lower right eyelid in an upward direction, wherein a part of a driving force of the upper and lower driving units is transmitted to the upper eyelid driving unit, And a part of the driving force of the left and right driving units is transmitted to the lower eyelid driving unit.

In the embodiment of the present invention, the first left eyeball spring, which is formed by a spring, has one end coupled to the right end portion of the left eyebrow portion and the other end coupled to the main body portion, A second left eyeball spring which is formed by a spring and has one end coupled to the lower end of the left eye part and the other end coupled to the body part to maintain the downward rotation of the left eye part, A first right eyeball spring which is coupled to a left end of the right eye ball portion and is coupled to the main body portion at the other end to maintain the leftward rotation state of the right eye ball portion, And a second right eye spring which is coupled with the other end to the main body part and maintains the downward rotation of the right eye part.

In the embodiment of the present invention, a left upper eyelid spring and a spring, which are formed by a spring, one end of which is engaged with the upper end of the left upper eyelid and the other end is engaged with the main body, A left lower eyelid spring and a spring which are engaged with a lower end of the left lower eyelid and the other end is engaged with the main body to maintain the lower left eyelid in a downward rotational state, An upper right eyelid spring for holding the upward eyelid in an upward rotating state and a spring, one end of which is engaged with a lower end of the right lower eyelid, and the other end of which is engaged with the main body, And a right lower eyepiece spring for maintaining the downward rotation of the right lower eyelid.

In the embodiment, the left and right drive portions include left and right drive links which are broken and which rotate around a bent portion, left and right motors that engage with the main body portion and rotate in combination with the left and right drive links, A first left and right driving rope which is a rope which is engaged with one end of the left and right driving links and whose other end engages with a left end of the left eye opening, And a second left-right driving rope that is a rope that engages with the second left-right driving rope.

In the embodiment of the present invention, the up-and-down driving unit may include a first up-down driving link that is a link that is in a bent shape and rotates around a bent portion, A second upper and lower drive link which is a link which is engaged with the main body and is rotatable about a bent portion and which is connected to one end of the first up / down drive link, A first up-down driving rope having one end engaged with the other end of the first up-down driving link and the other end engaged with an upper end of the left eyebrow portion, and a first up- And a second up-down driving rope, which is a rope coupled with the other end and the other end of which is engaged with the upper end of the right eyebrow.

The upper eyelid driving unit may include an upper eyelid motor, an upper eyelid link which is a link rotating around one end coupled to the upper eyelid motor, and a second upper eyelid link coupled to the other end of the upper eyelid link, And an upper eyelid rope in the form of a rope that engages the left upper eyelid and the right upper eyelid.

In the embodiment of the present invention, the lower eyelid drive unit may include a lower eyelid motor, a lower eyelid link that rotates about one end that engages with the lower eyelid motor, and a lower eyelid link that is coupled to the other end of the lower eyelid link, And a lower eyelid rope in which the lower left eyelid and the lower right eyelid are combined with each other.

In the embodiment of the present invention, the up-and-down driving unit may be configured such that one end thereof is engaged with the other end of the first up-down driving link provided in the up-and-down driving unit and the other end is engaged with a part of the upper eyelid rope provided in the up- And a first connecting rope that is a rope.

In the embodiment of the present invention, the up-and-down driving unit may be configured such that one end thereof is engaged with the other end of the second up-down driving link provided in the up-and-down driving unit and the other end is engaged with a part of the bottom eyelid rope provided in the down- And a second connecting rope that is a rope.

In one embodiment of the present invention, the first connecting rope has a first connecting rope spring at one portion of the first connecting rope, and the second connecting rope has a second connecting rope at one end of the second connecting rope, A rope spring may be provided.

The effect of the present invention with the above-described structure is that the eyeball and the eyelid are synchronized and operated according to the direction of the line of sight, so that the robot can perform natural gaze processing like a human being.

The effect of the present invention is to minimize the number of motors and realize various facial expressions using the minimum number of motors, so that the configuration of the eye device can be simplified.

It should be understood that the effects of the present invention are not limited to the above effects and include all effects that can be deduced from the detailed description of the present invention or the configuration of the invention described in the claims.

1 is a front perspective view of an eyeball apparatus according to an embodiment of the present invention.
2 is an upper perspective view of an eye device according to an embodiment of the present invention.
3 is a bottom perspective view of an eye device according to an embodiment of the present invention.
4 is an enlarged view of one part of an eye device according to an embodiment of the present invention.
5 is an enlarged view of an ocular device according to an embodiment of the present invention.

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, the present invention will be described with reference to the accompanying drawings. The present invention may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein. In order to clearly illustrate the present invention, parts not related to the description are omitted, and similar parts are denoted by like reference characters throughout the specification.

Throughout the specification, when a part is referred to as being "connected" (connected, connected, coupled) with another part, it is not only the case where it is "directly connected" "Is included. Also, when an element is referred to as " comprising ", it means that it can include other elements, not excluding other elements unless specifically stated otherwise.

The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. The singular expressions include plural expressions unless the context clearly dictates otherwise. In this specification, the terms "comprises" or "having" and the like refer to the presence of stated features, integers, steps, operations, elements, components, or combinations thereof, But do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, or combinations thereof.

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, the present invention will be described in detail with reference to the accompanying drawings.

FIG. 1 is a front perspective view of an eyeball apparatus according to an embodiment of the present invention, FIG. 2 is an upper perspective view of an eyeball apparatus according to an embodiment of the present invention, FIG. 3 is an exploded perspective view of an eyeball according to an embodiment of the present invention, Figure 3 is a bottom perspective view of the device. 4 is an enlarged view of one part of an eye device according to an embodiment of the present invention, and FIG. 5 is an enlarged view of another part of an eye device according to an embodiment of the present invention.

1 to 5, an eye device of the present invention includes a main body 10; A left eye part 110 coupled to a left side part of the main body part 10 and continuously rotating in a rightward direction and a downward direction; An upper left eyelid 210 which is engaged with the body portion 10 adjacent to the upper portion of the left eyebrow 110 and in which an upward rotating force is continuously applied; A left lower eyelid which is engaged with the body portion 10 adjacent to the lower portion of the left eyebrow 110 and in which a downward rotating force is continuously applied; A right eye part 120 coupled to a right side part of the main body part 10 and continuously rotating in a leftward direction and a downward direction; An eyelid eyelid 220 coupled with the body portion 10 adjacent to the upper portion of the right eyebrow 120 and having an upwardly rotating force applied thereto; A lower right eyelid which is engaged with the body portion 10 adjacent to the lower portion of the right eyebrow 120 and in which a downward rotating force is continuously applied; Left and right driving parts connected to the left and right eyelid 110 and the right eye part 120 to rotate the left and right eyelid 110 in the left direction and rotate the right eye part 120 in the right direction; A vertical driver connected to the left eye 110 and the right eye 120 to rotate the left eye 110 in the upward direction and rotate the right eye 120 in the upward direction; An upper eyelid driving part coupled with the upper left eyelid 210 and the upper right eyelid 220 and rotating the upper left eyelid 210 and the upper right eyelid 220 in a downward direction; And a lower eyelid driving part coupled to the lower left eyelid and the lower right eyelid and rotating the lower left eyelid and the lower right eyelid upwardly.

A part of the driving force of the upper and lower driving parts is transmitted to the upper eyelid driving part, and a part of the driving force of the left and right driving parts is transmitted to the lower eyelid driving part.

The left eye 110 and the right eye 120 may be formed in a spherical shape, and each eyeball may be provided with an optical sensor that performs an imaging function.

The body 10 is shaped to form a part of the face of the humanoid robot, and the left and right eye 110 and the right eye 120 may be installed on both sides of the nose.

The eyeball apparatus of the present invention is formed by a spring and has one end coupled to the right end of the left eye 110 and the other end coupled to the body 10 to maintain the left eye 110 in the right- A first left eyeball spring 111 and a spring and has one end coupled to the lower end of the left eye 110 and the other end coupled to the body 10 to maintain a downward rotation of the left eye 110 And the other end is coupled to the main body 10 and the right eye 120 is rotated in the leftward direction of the right eye 120. [ A first right eyeball spring 121 for holding the right eyeball part 120 and a spring and having one end coupled to the lower end of the right eye part 120 and the other end coupled to the body part 10, And a second right eye spring 122 for maintaining the rotation state.

The eye device of the present invention may use a plurality of springs which are coupled to the left eye 110 and the right eye 120 to minimize the operation by the motor.

Specifically, when the left eye 110 and the right eye 120 are installed for the first time, as described above, the left eye 110 is held by the first left eyeball 111 and the second left eyeball 112 And the right eye part 120 is provided in a state of being rotated to the rotation limit in the right and left directions (the left and right eye 110 or the right and left eye part 120 can rotate with respect to each direction) And may be installed in a state of being rotated to the rotation limit in the leftward direction and the downward direction by the spring 121 and the second right eye spring 122.

The left eye 110 and the right eye 120 may be connected to the left and right motors 330 by respective ropes. Accordingly, by the operation of the left and right motor 330, the left eye 110 can rotate from the right rotation limit position to the left rotation limit position, and the right eye 120 can rotate from the left rotation limit position It can be rotated to the right rotation limit point.

In addition, the left eye 110 and the right eye 120 can be connected to the vertical motor 430 by respective ropes. Accordingly, by the operation of the up-and-down motor 430, the left eye 110 can rotate from the downward rotation limit to the upward rotation limit, and the right eye 120 can rotate from the downward rotation limit It is possible to rotate up to an upper rotation limit point.

Since the operation of the left eye 110 or the right eye 120 can be controlled by the two motors as described above, it is possible to control the complex eye treatment of the left eye 110 and the right eye 120 using a minimum number of motors Can be implemented.

The connection of the respective ropes to the left eye 110 and the right eye 120 and the connection of the respective ropes to the left and right motors 330 and the up and down motors 430 will be described below.

The eyeball apparatus of the present invention is formed by a spring and has one end engaged with the upper end of the upper left eyelid 210 and the other end engaged with the upper end of the body portion 10, A left lower eyepiece spring and a spring which are formed by a flap spring 211 and a spring and one end thereof is engaged with the lower end portion of the lower left eyelid and the other end is engaged with the body portion 10 to maintain the lower left eyelid rotation state An upper right phalanx spring 221 which is engaged with the upper end of the right upper eyelid 220 and the other end is engaged with the body portion 10 to maintain the upward rotation of the upper right eyelid 220, And a right lower eyepiece spring that has one end engaged with the lower end of the right lower eyelid and the other end engaged with the body portion 10 to maintain the lower right eyelid in a downward rotation state.

The eye device of the present invention can use a plurality of springs which are coupled to each eyelid to minimize the operation by the motor.

Specifically, when the left upper eyelid 210 and the lower left eyelid are installed for the first time, as described above, the left upper eyelid 210 is installed in a state of being rotated up to the rotation limit by the upper left eyelid spring 211, The eyelid can be installed in a state of being rotated downward to the rotation limit by the left lower eyepiece spring.

As described above, when the right upper eyelid 220 and the lower right eyelid are initially installed, the upper right eyelid 220 is installed in a state of being rotated up to the rotation limit by the upper right eyelid spring 221, Can be installed in a state of being rotated downward to the rotation limit by the lower left lower leaf spring.

In addition, the upper left eyelid 210 and upper right eyelid 220 may be connected to the upper eyelid motor 530 by respective ropes. Accordingly, by the operation of the upper eyelid motor 530, the upper left eyelid 210 or the upper right eyelid 220 can rotate from the upper rotation limit point to the lower rotation limit point.

Likewise, the lower left eyelid and lower right eyelid can be connected to the lower eyelid motor 630 by respective ropes. Accordingly, by the operation of the lower eyelid motor 630, the lower left eyelid or lower right eyelid can rotate from the lower rotation limit point to the upper rotation limit point.

As described above, since the operation of the left upper eyelid 210, the lower left eyelid, the upper right eyelid 220, or the lower right lower eyelid can be controlled by the two motors, the left upper eyelid 210, The eyelid 220 and the right lower eyelid can operate in conjunction with the left eye 110 and the right eye 120. [

The combination of the respective ropes to the upper left eyelid 210, the lower left eyelid, the upper right eyelid 220 and the lower right eyelid and the combination of the respective ropes to the upper eyelid motor 530 and lower eyelid motor 630 Will be described below.

The left lower eyelid, the lower right eyelid, the lower left lower eyelash spring, and the lower right eyelid spring may be formed to correspond to the left upper eyelid 210, and the right lower eyelid may correspond to the right upper eyelid 220. The left lower eyelid spring may be formed so as to correspond to the upper left eyelid spring 211, and the right lower eyepiece spring may be formed to correspond to the upper eyelid spring 221.

As shown in FIGS. 2, 4, and 5, the left and right driving units are coupled to the left and right driving links 310 and the main body unit 10, which are in the form of broken and bent portions, A first left and right driving ropes 321 which are ropes each having one end engaged with one end of the left and right driving links 310 and the other end joined with the left end of the left eye 110, And a second left and right driving ropes 322, which are ropes, one end of which is coupled with the other end of the left and right driving links 310 and the other end of which is a rope engaging with the right end of the right eye part 120.

The upper and lower drive portions are connected to each other by a first up-and-down drive link 411, which is a link that is turned around a bent portion, A motor 430 and a second up-down driving link 412 coupled to the main body 10 and serving as a link that rotates about a bent portion and is bent, one end of which engages with one end of the first up-down driving link 411 A connecting link 440 whose one end is coupled to the other end of the first up-down driving link 411 and the other end is engaged with the upper end of the left eye opening 110, A first up-down driving rope 421 which is a rope to be joined and a second up-down driving rope 421 which is a rope whose one end is engaged with the other end of the second up-down driving link 412 and the other end is connected to the upper end of the right- 422, < / RTI >

The first and second left and right driving ropes 321 and 322 and the first and second upper and lower driving ropes 421 and 422 may include reaction control springs 700. The left or right eyebrow section 120 is operated by the operation of the first left and right driving ropes 321, the second left and right driving ropes 322, the first upper and lower driving ropes 421 or the second upper and lower driving ropes 422 A difference in the reaction of the left eye 110 and the right eye 120 may occur due to the difference in response of the respective ropes.

To prevent this, each of the ropes described above may have a reaction control spring 700 at one site.

2, 4, and 5, when the left and right driving links 310 are rotated in the counterclockwise direction, the left and right driving links 310 are pulled out with respect to the first left and right driving ropes 321, The left eye opening 110 and the right eye opening 120 are rotated in the right direction so that the left eye opening 110 is rotated by the first left and right driving ropes 322, The force by the rope 321 and the force by the first left eyeball spring 111 can act. In addition, the right eye 120 can have a force by the second right and left driving ropes 322 and a force by the first right eye spring 121.

Here, a difference in gaze processing between the left eye 110 and the right eye 120 may be caused by a difference in reaction between the ropes and the springs (caused by the elastic deformation and movement length). 2 and 4, a reaction control spring 700 may be provided at one part of the first left and right driving ropes 321 so that the eyes of the left and right eye 110 and the right eye 120, The processing difference can be adjusted.

Although the reaction control spring 700 is provided in the first left and right driving ropes 321 in the above embodiment, the reaction control spring 700 is disposed between the second left and right driving ropes 322, The same effect can be achieved by providing the driving rope 421 or the second up-down driving rope 422.

The same effect can be achieved by providing the reaction adjusting spring 700 in the upper eyelid rope 520 or the lower eyelid rope 620 by applying the above-mentioned matters.

That is, the first left and right driving ropes 321, the second left and right driving ropes 322, the first upper and lower driving ropes 421, the second upper and lower driving ropes 422, the upper eyelid ropes 520, The left eye 110, the right eye 120, the upper left eyelid 210, the lower left eyelid, the upper right eyelid 220 and the lower right eyelid are interlocked with each other The operation of the left upper eyelid 210, the lower left eyelid, the upper right eyelid 220 and the lower right eyelid can be performed naturally as a person in accordance with the gaze processing of the left eye 110 and the right eye 120.

When the left and right driving links 310 rotate clockwise, the left and right driving links 310 perform pulling with respect to the first left and right driving ropes 321 and perform pulling-off with respect to the second left and right driving ropes 322 The left eye 110 and the right eye 120 are rotated in the left direction so that the force of the first left and right driving ropes 321 and the force of the first left eyeball 111 Can be applied. In addition, the right eye 120 can have a force by the second right and left driving ropes 322 and a force by the first right eye spring 121.

When the first up-down driving link 411 rotates in the clockwise direction, the second up-down driving link 412 connected by the first up-down driving link 411 and the connecting link 440 also rotates clockwise, , The first up-down driving link 411 pulls the first up-down driving rope 421 and the second up-down driving link 412 pulls the second up-down driving rope 422, And the right eye 120 can rotate in the upward direction. Here, the force of the first up / down driving rope 421 and the force of the second left eyeball spring 112 may act on the left eye 110. The right eyebrow 120 can be acted upon by the force of the second upper and lower driving ropes 422 and the force of the second right eye ball 122. [

When the first up-down driving link 411 rotates counterclockwise, the second up-down driving link 412 connected by the first up-down driving link 411 and the connecting link 440 also rotates counterclockwise, Thus, the first up-and-down driving link 411 performs pull-back release to the first up-down driving rope 421 and the second up-down driving link 412 performs the pull-back releasing to the second up and down driving rope 422, The left eye 110 and the right eye 120 can be rotated downward. Here, the force of the first up / down driving rope 421 and the force of the second left eyeball spring 112 may act on the left eye 110. The right eyebrow 120 can be acted upon by the force of the second upper and lower driving ropes 422 and the force of the second right eye ball 122. [

The upper eyelid drive portion includes an upper eyelid motor 530, an upper eyelid link 510 that is a link rotating around one end that engages with the upper eyelid motor 530, and a second upper eyelid link 510 that is coupled to the other end of the upper eyelid link 510 And an upper eyelid rope 520 in which the other end is a rope in which the upper left eyelid 210 and the right upper eyelid 220 are engaged.

The lower eyelid drive unit includes a lower eyelid link 610 that rotates around one end that engages with the lower eyelid motor 630 and the lower eyelid motor 630 and a lower eyelid link 610 that is rotated around the other end of the lower eyelid link 610 And the lower eyelid rope 620 in which the other end joins the left lower eyelid and the lower right eyelid.

When the upper eyelid link 510 rotates counterclockwise and the lower eyelid link 610 rotates clockwise, the upper eyelid link 510 performs pulling on the upper eyelid rope 520, The upper eyelid 210 and upper eyelid 220 rotate upward so that the eyelid link 610 pulls against the lower eyelid rope 620, A force by the upper eyelid spring 520 and a force by the upper eyelid spring 211 act on the upper eyelid 220 and a force by the upper eyelid rope 520 and a force by the upper right eyelid spring 221 can act on the upper eyelid 220.

Specifically, as shown in FIGS. 2, 4 and 5, when the upper eyelid link 510 rotates counterclockwise and the lower eyelid link 610 rotates clockwise, the upper eyelid link 510, The upper eyelid 210 and the upper right eyelid 220 rotate upward and the lower eyelid link 610 performs pulling on the lower eyelid rope 620 And the left lower eyelid and lower right eyelid can be rotated downward.

Then, when the upper eyelid link 510 rotates clockwise and the lower eyelid link 610 rotates counterclockwise, the upper eyelid link 510 performs a pull-out operation on the upper eyelid rope 520 The left upper eyelid 210 and the upper right eyelid 220 rotate downward and the lower eyelid link 610 performs pulling-off with respect to the lower eyelid rope 620 so that the lower left eyelid and lower right eyelid rotate upward can do.

The eye blinking operation can be performed in the eye device of the present invention by operating the left upper eyelid 210, the upper right eyelid 220, the lower left eyelid and the lower right eyelid.

The upper and lower driving parts are connected to the other end of the first up-down driving link 411 provided at the upper and lower driving part, and the other end is connected to the first eyelash rope 520 provided at the upper eyelid driving part, A rope 450 may be provided. The upper and lower driving portions are connected to the other end of the second up-down driving link 412 provided at the upper and lower driving portion and the other end is connected to one portion of the lower eyelid rope 620 provided at the lower eyelid driving portion. Two connecting ropes 460 may be provided.

The first connection rope 450 has a first connection rope spring 451 at one portion of the first connection rope 450 and the second connection rope 460 is connected to the second connection rope 460 A second connecting rope spring 461 may be provided.

When the first up-down driving link 411 and the second up-down driving link 412 rotate clockwise to rotate the left eye 110 and the right eye 120 in the upward direction, the first up-down driving link 411 The first connecting rope 450 performs pulling on the upper eyelid rope 520 while the second upper driving link 412 pulls the second connecting rope 450 on the second connecting rope 460, And the second connecting rope 460 can perform pulling on the upper eyelid rope 520.

The left upper eyelid 210, the lower left eyelid, the right upper eyelid 220, and the left upper eyelid 210 are moved relative to the operation of the left eye 110 and the right eye 120 separately from the operation of the upper eyelid link 510 and the lower eyelid link 610, The operation of the right lower eyelid 210, the left lower eyelid, the upper right eyelid 220, and the lower right eyelid in accordance with the gaze treatment of the left eye 110 and the right eye 120, Lt; / RTI >

The first connecting rope spring 451 and the second connecting rope spring 461 perform the same function as the reaction adjusting spring 700 so that the operation of the left eye 110 and the right eye 120 The upper left eyelid 210, the lower left eyelid, the right upper eyelid 220, and the lower right eyelid, which are linked to each other, can be adjusted.

The main body 10 includes a first left and right driving ropes 321, a second right and left driving ropes 322, a first upper and lower driving ropes 421, a second upper and lower driving ropes 422, upper eyelid ropes 520, The guide rails 620, the first connection ropes 450, and the second connection ropes 460 may be provided with a plurality of guides for adjusting connection paths of at least one selected rope.

2, the first left and right driving ropes 321 are guided by the first guide 810 and the second guide 820 so that the connecting path is adjusted so that the first left and right driving ropes 321 321 can be coupled to one end of the left and right drive link 310 and the left end of the left eye 110.

The second left and right driving ropes 322 are guided by the third guide 830 so that the connecting path is adjusted so that the second left and right driving ropes 322 are connected to the other end of the left and right driving links 310, 120). ≪ / RTI >

In the embodiment of the present invention, it is described that each rope is adjusted in its connecting path by the respective guides as described above. However, the present invention is not limited to this, and according to the design of the eye device of the present invention, The connection path can be adjusted.

1 to 5, the left and right eyelid 110 and the right and left eyelid 120 are installed in all directions of the main body 10 and are located adjacent to the left eye 110. The left upper eyelid 210 and the left lower eyelid 210, And the right upper eyelid 220 and the right lower eyelid may be provided adjacent to the right eye 120. [ The left and right motors 330 and the up and down motors 430 are installed on both sides of the main body 10 and the upper eyelid motor 530 is provided between the left and right motors 330 and the up and down motors 430. [ And a lower eyelid motor 630 may be installed.

However, the present invention is not limited to this, and the installation position of each component may be changed according to the design of the eye device of the present invention.

A robot including the eye device of the present invention can be manufactured. The robot operation system including the eye apparatus of the present invention can be constructed.

It will be understood by those skilled in the art that the foregoing description of the present invention is for illustrative purposes only and that those of ordinary skill in the art can readily understand that various changes and modifications may be made without departing from the spirit or essential characteristics of the present invention. will be. It is therefore to be understood that the above-described embodiments are illustrative in all aspects and not restrictive. For example, each component described as a single entity may be distributed and implemented, and components described as being distributed may also be implemented in a combined form.

The scope of the present invention is defined by the appended claims, and all changes or modifications derived from the meaning and scope of the claims and their equivalents should be construed as being included within the scope of the present invention.

10:
110: left eye bend
111: first left eye ball spring
112: second left eye ball spring
120: right eye bending
121: First right eyeball spring
122: second right eye ball spring
210: upper left eyelid
211: Left upper eyelid spring
220: Eyelid
221: Right upper eyelid spring
310: left and right driving link
321: first left and right driving ropes
322: second left and right driving ropes
330: Right and left motor
411: First up-and-down driving link
412: second up-down driving link
421: first up / down driving rope
422: second up-down driving rope
430: Up and down motor
440: Link Link
450: first connecting rope
451: first connecting rope spring
460: second connecting rope
461: second connecting rope spring
510: Upper eyelid link
520: Upper eyelid rope
530: Upper eyelid motor
610: Lower eyelid link
620: Lower eyelid rope
630: Lower eyelid motor
700: reaction adjustment spring
810: First Guide
820: Second Guide
830: Third Guide

Claims (12)

A body portion;
A left eye part coupled to a left side part of the main body part and having a force continuously rotating in a right direction and a downward direction;
An upper left eyelid which is engaged with the main body adjacent to an upper portion of the left eyelid and in which an upward rotating force is continuously applied;
A left lower eyelid which is engaged with the main body portion adjacent to a lower portion of the left eye opening portion and in which a downward rotating force is continuously applied;
A right eye part coupled to a right side part of the main body part and continuously rotating in a leftward direction and a downward direction;
An upper eyelid which is engaged with the main body portion adjacent to an upper portion of the right eyebrow portion and in which an upward rotating force is continuously applied;
A right lower eyelid which is engaged with the main body portion adjacent to a lower portion of the right eyebrow portion and in which a downward rotating force is continuously applied;
A left and right driving unit connected to the left and right eyelid part and the right eye part to rotate the left eye part leftward and to rotate the right eye part in the right direction;
A vertical driver connected to the left and right eyebrows and the right eye part to rotate the left eye part upward and rotate the right eye part upward;
An upper eyelid driving part coupled to the upper left eyelid and the upper right eyelid to rotate the left upper eyelid and the right upper eyelid downward; And
And a lower eyelid drive unit coupled to the lower left eyelid and the lower right eyelid to rotate the lower left eyelid and the lower right eyelid upward,
Wherein a part of the driving force of the up and down driving part is transmitted to the upper eyelid driving part and a part of the driving force of the left and right driving part is transmitted to the lower eyelid driving part.
The method according to claim 1,
A first left eyeball spring which is formed by a spring and has one end coupled to the right end of the left eye and the other end coupled to the body to maintain the rightward rotation of the left eye,
A second left eyeball spring which is formed by a spring and has one end coupled to the lower end of the left eye part and the other end coupled to the body part to maintain the downward rotation of the left eye part,
A first right eyeball spring which is formed by a spring and has one end coupled to the left end of the right eyebrow portion and the other end coupled to the main body portion to maintain the leftward rotation of the right eyebrow portion,
And a second right eye spring which is formed by a spring and has one end coupled to the lower end of the right eye part and the other end coupled to the body part to maintain the downward rotation of the right eye part. The eyeball device of the robot.
The method according to claim 1,
An upper left eyelid spring which is formed by a spring and has one end engaged with the upper end of the left upper eyelid and the other end engaged with the main body to maintain the upward rotational state of the left upper eyelid,
A lower left eye blade which is formed by a spring and has one end coupled to a lower end portion of the left lower eyelid and the other end engaged with the body portion to maintain the lower left eyelid in a downward rotational state,
An upper right eyelid spring which is formed by a spring and has one end engaged with the upper end of the right upper eyelid and the other end engaged with the body portion to maintain the upward eyelid upward rotation,
And a right lower eyepiece spring which is formed by a spring and has one end engaged with a lower end portion of the right lower eyelid and the other end engaged with the body portion to maintain the lower right eyelid in a downward rotation state, Device.
The method according to claim 1,
Wherein the left-
A left and right drive link which is a link that rotates around a bent portion,
A left and right motor coupled to the main body and coupled to the left and right drive links for rotation,
A first left and right driving ropes, one end of which is coupled with one end of the left and right driving links and the other end is a rope engaging with a left end of the left eye opening portion,
And a second left and right driving ropes each of which is a rope whose one end is engaged with the other end of the left and right drive links and whose other end is engaged with the right end of the right eye opening.
The method according to claim 1,
The up-
A first up-and-down drive link that is a bent link and rotates around a bent portion,
A vertical motor coupled to the main body and coupled with the first up /
A second up-and-down drive link which is a link which is engaged with the main body and rotates around a bent portion,
A connection link which is a link whose one end is engaged with one end of the first up-down driving link and the other end is engaged with one end of the second up-down driving link,
A first up-down driving rope which is a rope whose one end is engaged with the other end of the first up-down driving link and the other end is engaged with the upper end of the left eye opening portion, and
And a second up-down driving rope which is a rope whose one end is engaged with the other end of the second up-down driving link and the other end is engaged with the upper end of the right eyebrow portion.
The method according to claim 1,
Wherein the upper eyelid driving portion includes:
Upper eyelid motor,
An upper eyelid link that is a link that rotates about one end that engages with the upper eyelid motor,
And an upper eyelid rope which is once connected to the other end of the eyelid link and whose other end is a rope that engages the left upper eyelid and the right upper eyelid.
The method according to claim 1,
Wherein the lower eyelid drive unit includes:
Lower eyelid motor,
A lower eyelid link which rotates about one end of the lower eyelid motor which engages with the lower eyelid motor,
And a lower eyelid rope which is once connected to the other end of the lower eyelid link and whose other end is joined to the lower left eyelid and the lower right eyelid.
The method according to claim 1,
The upper and lower driving unit may include a first connecting rope having one end coupled to the other end of the first up-down driving link provided in the up-and-down driving unit and the other end connected to a part of the upper eyelid rope provided in the upper eyelid driving unit And the eyeball device of the robot.
The method of claim 8,
The upper and lower drive unit includes a second connection rope having one end coupled to the other end of the second up-and-down drive link provided in the up-and-down driving unit and the other end connected to a part of the lower eyelid rope provided in the lower eyelid drive unit And the eyeball device of the robot.
The method of claim 9,
Wherein the first connecting rope includes a first connecting rope spring at a portion of the first connecting rope and the second connecting rope includes a second connecting rope spring at a portion of the second connecting rope, Of the robot.
A robot comprising an eye device of a robot according to any one of claims 1 to 10.
The robot operating system according to any one of claims 1 to 10, further comprising an eye apparatus of the robot.

Images