[go: up one dir, main page]

WO2017166991A1 - Robot ayant une fonction de clignement - Google Patents

Robot ayant une fonction de clignement Download PDF

Info

Publication number
WO2017166991A1
WO2017166991A1 PCT/CN2017/076268 CN2017076268W WO2017166991A1 WO 2017166991 A1 WO2017166991 A1 WO 2017166991A1 CN 2017076268 W CN2017076268 W CN 2017076268W WO 2017166991 A1 WO2017166991 A1 WO 2017166991A1
Authority
WO
WIPO (PCT)
Prior art keywords
robot
eyelid
function according
blink function
motor
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/CN2017/076268
Other languages
English (en)
Chinese (zh)
Inventor
刘若鹏
雷应波
郝万鈞
刘卓远
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Shenzhen Kuang Chi Hezhong Technology Ltd
Original Assignee
Shenzhen Kuang Chi Hezhong Technology Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Shenzhen Kuang Chi Hezhong Technology Ltd filed Critical Shenzhen Kuang Chi Hezhong Technology Ltd
Publication of WO2017166991A1 publication Critical patent/WO2017166991A1/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J11/00—Manipulators not otherwise provided for
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J11/00—Manipulators not otherwise provided for
    • B25J11/0005—Manipulators having means for high-level communication with users, e.g. speech generator, face recognition means
    • B25J11/0015—Face robots, animated artificial faces for imitating human expressions
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J11/00—Manipulators not otherwise provided for
    • B25J11/003—Manipulators for entertainment

Definitions

  • the present invention relates to the field of robots, and more particularly to a robot having a blink function, which is suitable for a family pet robot.
  • Robots are machines that perform work automatically, either by human command, by running pre-programmed programs, or by acting on principles that are based on artificial intelligence. Modern human life, more and more robots are used to assist or replace human work, such as production, construction, or all kinds of dangerous work.
  • the technical problem to be solved by the present invention is to overcome the defect that the robot does not have the blinking function in the prior art.
  • a robot having a blink function characterized in that the robot includes: a head casing;
  • a fixing seat the fixing seat is fixed in the head casing
  • an upper eyelid and a lower eyelid wherein the upper eyelid and the lower eyelid are respectively connected to a driving device disposed on the fixing seat, and the driving device drives the upper eyelid and the lower eyelid to rotate at the same speed Rotation;
  • an eyeball the eyeball is disposed between the upper eyelid and the lower eyelid, and the eyeball is connected to the camera Then, the camera is fixed in the head casing.
  • the fixing base is a U-shaped support
  • the driving device is fixed on the inner side wall of the U-shaped support.
  • the driving device comprises two micro motors, each micro motor is disposed on an inner sidewall of the U-shaped support, and an output shaft of the micro motor passes through the U a side of the support member extends outwardly, and a first gear is disposed at a connection between the output shaft and the fixed seat, and the first gear is rotated by the output shaft;
  • one end of the upper eyelid is fixed to the output shaft, and is located outside the first gear, and the other end of the upper eyelid is rotatably connected with an eyelid mounting fixed to the head casing, so that The upper eyelid is twisted up and down as the output shaft rotates.
  • the driving device further includes a second gear and a rotating shaft, one end of the rotating shaft is fixed on an outer sidewall of the U-shaped bracket, and is located below the output shaft,
  • the second gear is disposed at a position where the rotating shaft is coupled to the u-shaped bearing, and the second gear is meshed with the first gear, and the rotating shaft is driven to rotate by the second gear;
  • one end of the lower eyelid is fixed on the rotating shaft, and is located outside the second gear, and the other end of the lower eyelid is rotatably connected with the eyelid mounting, so that the lower eyelid follows The rotation of the shaft is described above.
  • the first gear has an interference fit with an output shaft of the micro motor, and the second gear is in a hard fit with the shaft.
  • the micromotor is a stepper motor.
  • the upper eyelid and the lower eyelid are both 1/4 sphere.
  • the angle between the upper eyelid and the lower eyelid is less than or equal to 60 degrees
  • the eyelid mount is L-shaped, and the upper eyelid and the lower eyelid are respectively rotatably connected to the eyelid mount through a connecting member.
  • the eyelid mounting seat is provided with a groove
  • the connecting member is fixed in the groove
  • the upper eyelid and the lower eyelid are disposed in the corresponding On the connector.
  • the connector is a pin, a pin or a rotating lever.
  • the eyelid is provided with a through hole, and the camera is pierced and fixed in the through hole.
  • the eyeball is made of an acrylic material.
  • the robot having a blink function further includes: a mouth portion, the mouth portion being coupled to the head case, such that the mouth portion is coupled up and down;
  • a driving device the driving device is mounted on the head casing
  • a rotation support member the rotation support member is coupled to the driving device, and the rotation support member is driven to rotate by the driving device to drive the mouth portion up and down.
  • the mouth portion includes an upper jaw and a lower jaw, and the upper jaw and the lower jaw are respectively connected to the head casing through a rotating member, so that the upper jaw Rotating relative to the lower member about the rotating member;
  • the rotating support is located between the upper jaw and the lower jaw, the contoured surface of the rotating support is in contact with the upper jaw and the lower jaw, respectively, and the driving device drives the The rotating support rotates to drive the upper jaw and the lower jaw to rotate relative to each other.
  • the driving device includes a motor base and a DC motor
  • the motor base is fixedly mounted on the head housing
  • the DC motor is mounted on the motor base.
  • the shaft of the DC motor is coupled to the rotating support.
  • the rotary support is a cam that is mounted at an end of a shaft of the direct current motor.
  • an interference fit is employed between the cam and the shaft of the DC motor.
  • the bottom end surface of the upper jaw and the cam contact portion are provided with a first groove, and the shape of the first groove matches the contour surface of the cam;
  • a second groove is formed in the upper end surface of the lower jaw and the cam, and the shape of the second groove matches the contour surface of the cam.
  • one side of the upper jaw is coupled to the head housing by a first elastic member, and one side of the lower jaw passes through the second elastic member and the head housing Connected, and one side of the upper jaw is opposite to the side of the lower jaw.
  • one end of the first elastic member is coupled to one side of the upper jaw and the other end is coupled to the head housing.
  • one end of the second elastic member is coupled to one side of the lower jaw and the other end is coupled to the head housing.
  • the first elastic member and the second elastic member each employ a return spring.
  • the motor base is fixed to the head housing by screws.
  • the driving device further includes a speed reducer, the speed reducer is connected to the DC motor, or the speed reducer is integrally formed with the DC motor.
  • the rotating member is a rotary shaft.
  • the head housing is a penguin head shape.
  • the technical problem to be solved by the present invention is to overcome the defect that the robot does not have the blinking function in the prior art.
  • a robot having a blinking function characterized in that the robot comprises: a head casing;
  • a fixing seat the fixing seat is fixed in the head housing
  • an upper eyelid and a lower eyelid wherein the upper eyelid and the lower eyelid are respectively connected to a driving device disposed on the fixing seat, and the driving device drives the upper eyelid and the lower eyelid to rotate at the same speed Rotation of direction
  • an eyeball the eyeball being disposed between the upper eyelid and the lower eyelid, and the eyeball is coupled to a camera, and the camera is fixed in the head casing.
  • the fixing base is a U-shaped support
  • the driving device is fixed on the inner side wall of the U-shaped support.
  • the driving device includes two micro motors, each of which is disposed on an inner sidewall of the U-shaped support, and an output shaft of the micro motor passes through the U a side of the support member extends outwardly, and a first gear is disposed at a connection between the output shaft and the fixed seat, and the first gear is rotated by the output shaft; [0049] one end of the upper eyelid is fixed to the output shaft, and is located outside the first gear, and the other end of the upper eyelid is rotatably connected with an eyelid mount fixed on the head casing, so that The upper eyelid is twisted up and down as the output shaft rotates.
  • the driving device further includes a second gear and a rotating shaft, one end of the rotating shaft is fixed on an outer sidewall of the U-shaped bracket, and is located below the output shaft,
  • the second gear is disposed at a position where the rotating shaft is coupled to the u-shaped bearing, and the second gear is meshed with the first gear, and the rotating shaft is driven to rotate by the second gear;
  • one end of the lower eyelid is fixed on the rotating shaft, and is located outside the second gear, and the other end of the lower eyelid is rotatably connected with the eyelid mounting seat, so that the lower eyelid is along with the The rotation of the shaft is described above.
  • the first gear has an interference fit with an output shaft of the micro motor, and the second gear is in a hard fit with the shaft.
  • the micromotor is a stepper motor.
  • the upper eyelid and the lower eyelid are both 1/4 sphere-shaped.
  • the angle between the upper eyelid and the lower eyelid is less than or equal to 60 degrees
  • the eyelid mount is L-shaped, and the upper eyelid and the lower eyelid are respectively rotatably connected to the eyelid mount through a connecting member.
  • the eyelid mounting seat is provided with a groove
  • the connecting member is fixed in the groove
  • the upper eyelid and the lower eyelid are disposed in the corresponding On the connector.
  • the connecting member is a pin, a pin or a rotating rod.
  • the eyeball is provided with a through hole, and the camera is bored and fixed in the through hole.
  • the eyeball is made of an acrylic material.
  • the robot having a blink function further includes: a mouth portion, the mouth portion being coupled to the head case, such that the mouth portion is coupled up and down;
  • a driving device the driving device is mounted on the head casing;
  • a rotation support member the rotation support member is coupled to the driving device, and the rotation support member is driven to rotate by the driving device to drive the mouth portion up and down.
  • the mouth portion includes an upper jaw and a lower jaw, and the upper jaw and the lower jaw are respectively connected to the head housing by a rotating member, such that the upper jaw Rotating relative to the lower member about the rotating member;
  • the rotating support is located between the upper jaw and the lower jaw, and the contoured surface of the rotating support is in contact with the upper jaw and the lower jaw, respectively, and the driving device drives the The rotating support rotates to drive the upper jaw and the lower jaw to rotate relative to each other.
  • the driving device includes a motor base and a DC motor
  • the motor base is fixedly mounted on the head housing
  • the DC motor is mounted on the motor base.
  • the shaft of the DC motor is coupled to the rotating support.
  • the rotary support is a cam that is mounted at an end of a shaft of the direct current motor.
  • an interference fit is employed between the cam and the shaft of the DC motor.
  • the bottom end surface of the upper jaw and the cam contact portion are provided with a first groove, and the shape of the first groove matches the contour surface of the cam;
  • the upper end surface of the lower jaw is in contact with the cam, and a second groove is formed, and the shape of the second groove matches the contour surface of the cam.
  • one side of the upper jaw is coupled to the head housing by a first elastic member, and one side of the lower jaw passes through the second elastic member and the head housing Connected, and one side of the upper jaw is opposite to the side of the lower jaw.
  • one end of the first elastic member is coupled to one side of the upper jaw and the other end is coupled to the head housing.
  • one end of the second elastic member is coupled to one side of the lower jaw and the other end is coupled to the head housing.
  • the first elastic member and the second elastic member each employ a reset spring.
  • the motor base is fixed to the head housing by screws.
  • the driving device further includes a speed reducer, the speed reducer is connected to the DC motor, or the speed reducer is integrally formed with the DC motor.
  • the rotating member is a rotary shaft.
  • the head housing is a penguin head shape.
  • FIG. 1 is a perspective view of a first embodiment of a first embodiment of a robot having a blink function according to the present invention.
  • FIG. 2 is a perspective view of a head of a first embodiment of a robot having a blink function according to the present invention.
  • Embodiment 3 is a rear view of the head of Embodiment 1 of the robot having a blink function according to the present invention.
  • FIG. 4 is a schematic diagram showing the internal structure of a head of a first embodiment of a robot having a blink function according to the present invention.
  • FIG. 5 is an exploded view of the head of the first embodiment of the present invention having a blink function.
  • FIG. 6 is a schematic view of a head casing of a second embodiment of a robot having a blink function according to the present invention.
  • FIG. 7 is a schematic diagram 1 of a mouth structure of a second embodiment of a robot having a blink function according to the present invention.
  • FIG. 8 is a second schematic diagram of a mouth structure of a second embodiment of a robot having a blink function according to the present invention.
  • FIG. 9 is a second embodiment of a robot with a blink function according to the present invention. The cooperation of the upper middle jaw, the lower jaw and the cam is shown.
  • FIG. 10 is an exploded view of an embodiment of a robot having a blink function according to the present invention.
  • Embodiment 1 is a diagrammatic representation of Embodiment 1:
  • FIG. 1 is a perspective view of a first embodiment of a first embodiment of a robot having a blink function according to the present invention.
  • Fig. 2 is a perspective view of the head of the first embodiment of the robot having the blink function of the present invention.
  • Fig. 3 is a rear elevational view of the first embodiment of the robot having the blink function of the present invention.
  • Fig. 4 is a schematic view showing the internal structure of the head of the first embodiment of the robot having the blink function of the present invention.
  • Fig. 5 is an exploded view of the head of the first embodiment of the robot having the blink function of the present invention.
  • an embodiment of the present invention discloses a robot having a blink function, which includes a head casing 10, an upper eyelid 20, a lower eyelid 30, an eyeball 40, and a fixing seat 50.
  • the fixing base 50 is fixed in the head casing 10, and the upper eyelid 20 and the lower eyelid 30 are respectively connected to a driving device disposed on the fixing base 50, and the upper eyelid 20 and the lower eyelid 30 are driven at the same speed by the driving device. Reverse rotation.
  • the eyeball 40 is disposed between the upper eyelid 20 and the lower eyelid 30, and the eyeball 40 is connected to the camera 41.
  • the camera 41 is fixed in the head casing 10, and the eyeball 40 is preferably made of acrylic material. to make.
  • a through hole is formed in the eyeball 40 so that the camera 41 is bored and fixed in the through hole.
  • the form of the eyeball 40 is not limited to the above structure, and a transparent portion may be added to the eyeball 40 to embed the camera 41 in the transparent portion.
  • a pinhole may be provided on the eyeball 40, a pinhole type camera or the like may be used.
  • the robot having the blink function of the present invention can achieve the object, and various structures having the same functions as those of the above structure are within the protection scope of the present invention.
  • the fixing base 50 is a U-shaped support
  • the driving device is fixed on the inner side of the U-shaped support.
  • the driving device of the present invention comprises two micro motors 60, each of which is disposed on the inner side wall of the U-shaped holder, and passes the output shaft 61 of the micro motor 60 through the U-shaped branch.
  • the side of the seat extends outwardly, and a first gear 70 is disposed at the connection of the output shaft 61 and the fixed seat 50, and the first gear 70 is rotated by the output shaft 61.
  • One end of the upper eyelid 20 is fixed to the output shaft 61 and is located outside the first gear 70, and the other end of the upper eyelid 20 is rotatably coupled to the eyelid mount 90 fixed to the head casing 10, so that the upper eyelid 20 is provided.
  • the output shaft 61 is twisted up and down as the output shaft 61 rotates.
  • the driving device further includes a second gear 80 and a rotating shaft 91, and one end of the rotating shaft 91 is fixed to the U
  • the outer side wall of the type bearing is located below the output shaft 61, and the second gear 80 is disposed at the connection of the rotating shaft 91 and the U-shaped bearing, so that the second gear 80 meshes with the first gear 70, so that the The second gear 80 drives the rotating shaft 91 to rotate. Therefore, in the robot having the blink function of the present invention, the structural form of the eyelid mount 90 can adopt a diversified structure similar to the above-described structure, and can satisfy the object of the present invention.
  • one end of the lower eyelid 30 is fixed on the rotating shaft 91, and is located outside the second gear 80, and the other end of the lower eyelid 30 is rotatably connected with the eyelid mounting seat 90, so that the lower eyelid 30 follows the rotating shaft 91.
  • the rotation is up and down.
  • the fixing base 50 may also adopt other shapes.
  • the U-shaped support is only an example, and is not limited thereto, for example, a "work" type support, a frame type support, etc., to ensure It is possible to install a fixed drive unit.
  • the first gear 70 is in an interference fit with the output shaft 61 of the micromotor 60
  • the second gear 80 is in a hard fit with the shaft.
  • the micro motor 60 in the present invention may preferably be a stepping motor.
  • other types of motors may be used, mainly to drive the rotation of the first gear 70, thereby driving the second gear 80, so as to transmit the kinetic energy to the upper eyelid 20 and Lower eyelid 30, so that upper eyelid 20 and lower eyelid 30 are top and bottom
  • the micro motor 60 can be programmed to set the blink frequency of the robot, the turn-around angle of the eyelid and the upper eyelid 20 and the lower eyelid 30, etc., so that the robot with the blink function is more There is a smart type.
  • the eyelid mount 90 is in the form of an L-shaped block, and the shaft is pinned, that is, the upper eyelid 20 and the lower eyelid 30 are respectively rotatably coupled to the eyelid mount 90 by corresponding pins.
  • the upper eyelid 20 is in the form of a 1/4 sphere, and the lower eyelid 30 is also in the shape of a 1/4 sphere.
  • the upper eyelid 20 and the lower eyelid 30 are rotatably connected to the eyelid mount 90 through a connecting rod, respectively.
  • the upper eyelid 20 and the lower eyelid 30 are rotated at an angle of 60 degrees or less, so that the upper eyelid 20 and the lower eyelid 30 are snoring to expose the entire camera portion, and the upper eyelid 20 and the lower eyelid 30 are closed, forming Complete hemisphere.
  • the shape of the above-mentioned eyelid mount 90 is not limited to the embodiment, and it is merely an example.
  • the eyelid mount 90 may be a block member of a frame structure, or only a mounting plate, or set. It is a U-shaped block part and so on.
  • the eyelid mount 90 mainly serves to mount the upper eyelid 20 and the lower eyelid 30-end. One end portion of the upper eyelid 20 and the lower eyelid 30 is caused to receive the first gear 70 and the second gear 8 at the other end portion thereof.
  • the robot having the blink function of the present invention has a groove on the eyelid mount 90, and the connector is fixed in the groove, the upper eyelid 20 and the lower eyelid 30. It is worn on the corresponding connecting member.
  • the connecting member described herein may be a pin, a pin or a rotating rod or the like, so that the upper eyelid 20 and the lower eyelid 30 are rotated by the first gear 70 and the second gear 80 while being wound around the connecting member, thereby realizing The top and bottom of the eyelid 20 and the lower eyelid 30 are twisted together.
  • the robot having the blink function of the present invention drives the first gear 70 to rotate by the micro motor 60, and the first gear 70 meshes with the second gear 80 to drive the rotation of the upper eyelid 20 and the lower eyelid 30 at the same speed.
  • the blinking function of the robot is realized by the forward and reverse rotation of the micro motor 60.
  • Embodiment 2 [0109]
  • FIG. 6 is a schematic view of a head casing of a second embodiment of a robot having a blink function according to the present invention.
  • Fig. 7 is a first schematic view showing the structure of the mouth of the second embodiment of the robot having the blink function.
  • Fig. 8 is a second schematic structural view of the mouth of the second embodiment of the robot having the blink function of the present invention.
  • Fig. 9 is a schematic view showing the cooperation of the upper jaw, the lower jaw and the cam in the second embodiment of the robot having the blink function.
  • Fig. 10 is an exploded view of the second embodiment of the robot having the blink function of the present invention.
  • the robot having a mouth opening function in this embodiment further includes an upper jaw 120, a lower jaw 130, a driving device, and a rotary support member.
  • the upper jaw 120 and the lower jaw 130 are respectively coupled to the head housing 10 via a rotating member such that the upper jaw 120 and the lower jaw 130 are relatively rotated about the rotating member.
  • the rotating member is preferably a rotary shaft, i.e., the upper jaw 120 is coupled to the head housing 10 via a rotary shaft 121, and the lower jaw 130 is coupled to the head housing 10 via a rotary shaft.
  • the driving device is mounted on the head casing 10, and the rotating support member is connected to the driving device and located between the upper jaw 120 and the lower jaw 130, and the contour surfaces of the rotating support members are respectively upper and upper
  • the cymbal 120 is in contact with the lower jaw 130, and the rotating support member is driven to rotate by the driving device, thereby driving the upper cymbal 120 and the lower cymbal 130 to rotate relative to each other.
  • the driving device in the embodiment includes a motor base 140 and a DC motor 150.
  • the motor base 140 is fixedly mounted on the head housing 10, and the DC motor 150 is mounted on the motor base 140.
  • the shaft and the DC motor 150 are mounted.
  • the rotating support is connected.
  • the DC motor 150 herein preferably employs a micro DC motor.
  • the robot with the mouth opening function of the present invention can also use other forms of DC motor, and the object of the present invention can also be achieved. This embodiment is merely an example, and the scope of protection of the present invention is not limited thereto.
  • the motor mount 140 is preferably fixed to the head housing 10 by screw mounting.
  • a plurality of mounting grooves 141 are formed in the motor base 140 such that the motor base 40 is attached to the head housing 10 by the engagement of the bolts with the mounting grooves 141.
  • two mounting holes 142 may be added to both ends of the motor base 140 to further fix the motor base 140.
  • the rotary support member is preferably a cam 160 that mounts the cam 160 at the end of the shaft of the direct current motor 150.
  • an excessive fit is employed between the cam 160 and the shaft of the DC motor 150.
  • a first groove 123 is provided at a contact of the bottom end surface of the upper cymbal 120 with the cam 160 such that the shape of the first groove 123 matches the contour surface of the cam 160.
  • a second groove 133 is provided at the upper end surface of the lower jaw 130 in contact with the cam 160 such that the shape of the second groove 133 matches the contour surface of the cam 160.
  • a two-headed circular arc cam may be used, which is similar to an elliptical shape.
  • this structure can make the size of each of the upper jaw 120 and the lower jaw 130 uniform.
  • the shape of the cam 160 can also be set such that the protrusion of one end is larger than the size of the protrusion of the other end, and the protrusions at both ends are smooth circular arc lines.
  • This structure can also make the invention have a mouth open. The functional robot realizes the function of automatic opening.
  • the shape of the cam 160 is not limited by the example of the embodiment, and other structures capable of achieving the same object are all within the scope of the present invention.
  • one side of the upper jaw 120 is connected to the head housing 10 via the first elastic member 122, and one side of the lower jaw 130 passes through the second
  • the elastic member 132 is coupled to the head housing 10 such that one side of the upper jaw 120 and one side of the lower jaw 130 are opposite sides.
  • each of the first elastic member 122 and the second elastic member 132 is preferably a return spring.
  • the upper jaw 120 and the lower jaw 130 can be connected to the head housing 10 by the return spring, respectively.
  • the micro DC motor 150 is rotated after being energized, thereby driving the cam 160 to rotate.
  • the first elastic member and the second elastic member may also adopt other forms of elastic and resettable components, which can also be used to complete the upper and lower jaws.
  • the role of the action is merely an example, and the present invention is not limited thereto, and other structural forms capable of achieving the same effects are also included in the scope of the present invention.
  • the driving device further includes a speed reducer 170, which connects the speed reducer 170 with the DC motor 150, or integrally forms the speed reducer 170 with the DC motor 150.
  • This structure can further optimize the performance of the DC motor 150.
  • the robot having the mouth opening function pushes up the upper jaw 120 and the lower jaw 130 respectively through the driving end, and drives the upper jaw 120 and the lower jaw 130 to rotate relatively, thereby realizing the opening and closing of the mouth.
  • the DC motor 150 makes one revolution per revolution, the frequency of the nozzle can be adjusted by adjusting the voltage of the motor.
  • the DC motor 150 rotates to drive the cam 160 to rotate, and the cam 160 is rotated relative to the pin shaft against the upper jaw 120 and the lower jaw 130, thereby achieving the shut-off function, and at the first elastic member 122 and Under the action of the second elastic member 132, the nozzle is returned to the initial position.
  • the head housing 10 of the robot having the blink function in the embodiment is exemplified by a simulated penguin, and a plurality of pupils of different shapes and sizes are arranged on the head housing 10, which mainly serves to reduce weight.
  • the utility model makes the robot with the blink function of the invention more light and dexterous.
  • the shape of the head casing 10 here is merely an example and is not limited by the embodiment.
  • the robot with the blinking function of the present invention can adopt the appearance of various types of simulated animals, and the appearance of the general pet type can be simulated, thereby making the robot more life-oriented and more easily integrated into people's daily life.
  • the robot with the blink function of the present invention can prevent the robot's eyes from being smashed up and down by adopting a head casing that prevents the pet, and a driving device, thereby realizing the function of automatically blinking the robot, thereby effectively improving the robot's Entertainment and bionics make pet robots more adaptable to the changing needs of people's lives.

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Health & Medical Sciences (AREA)
  • Audiology, Speech & Language Pathology (AREA)
  • General Health & Medical Sciences (AREA)
  • Human Computer Interaction (AREA)
  • Toys (AREA)
  • Manipulator (AREA)

Abstract

L'invention concerne un robot ayant une fonction de clignement, comprenant : un boîtier de tête (10) ; une base fixe (50) fixée à l'intérieur du boîtier de tête ; une paupière supérieure (20) et une paupière inférieure (30) qui sont reliées séparément à un dispositif d'entraînement disposé sur la base fixe et qui sont entraînées par le dispositif d'entraînement pour tourner à la même vitesse dans des directions opposées ; et un globe oculaire (40) disposé entre la paupière supérieure et la paupière inférieure et relié à une caméra (41) qui est fixée à l'intérieur du boîtier de tête. Le robot ayant une fonction de clignement peut efficacement améliorer la propriété de divertissement et de biomimétique du robot, de telle sorte qu'un robot du type animal de compagnie puisse mieux répondre aux exigences des personnes dont les besoins évoluent au cours de la vie.
PCT/CN2017/076268 2016-03-31 2017-03-10 Robot ayant une fonction de clignement Ceased WO2017166991A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
CN201610200527.8A CN107283432A (zh) 2016-03-31 2016-03-31 具有眨眼功能的机器人
CN201610200527.8 2016-03-31

Publications (1)

Publication Number Publication Date
WO2017166991A1 true WO2017166991A1 (fr) 2017-10-05

Family

ID=59963434

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/CN2017/076268 Ceased WO2017166991A1 (fr) 2016-03-31 2017-03-10 Robot ayant une fonction de clignement

Country Status (2)

Country Link
CN (1) CN107283432A (fr)
WO (1) WO2017166991A1 (fr)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN108098787A (zh) * 2017-12-25 2018-06-01 大连大学 一种语音互动机器人结构及其系统

Families Citing this family (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN108568806B (zh) * 2018-06-14 2024-02-13 深圳埃米电子科技有限公司 一种机器人的头部结构
CN111376278B (zh) * 2020-05-06 2024-11-22 常州路飞智能科技有限公司 一种大型鸟类机器人眼球运动装置
CN113787528A (zh) * 2021-09-18 2021-12-14 上海电机学院 一种仿生企鹅机器人

Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0441566A1 (fr) * 1990-02-09 1991-08-14 BRESLOW, MORRISON, TERZIAN & ASSOCIATES, INC. Jouet de type figurine avec des yeux illuminés et des paupières pouvant être ouvertes de façon mécanique
JP2003230770A (ja) * 2002-02-12 2003-08-19 Chubu Kagaku Gijutsu Center 表情表出ロボット
JP4896100B2 (ja) * 2008-08-15 2012-03-14 株式会社バースデイ 浅い眠り動作を繰り返す人形
TWI391172B (zh) * 2009-12-21 2013-04-01 Hon Hai Prec Ind Co Ltd 仿真眼睛
CN203344065U (zh) * 2013-07-24 2013-12-18 蔡继文 仿人机器头
CN205660730U (zh) * 2016-03-31 2016-10-26 深圳光启合众科技有限公司 具有眨眼功能的机器人

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0441566A1 (fr) * 1990-02-09 1991-08-14 BRESLOW, MORRISON, TERZIAN & ASSOCIATES, INC. Jouet de type figurine avec des yeux illuminés et des paupières pouvant être ouvertes de façon mécanique
JP2003230770A (ja) * 2002-02-12 2003-08-19 Chubu Kagaku Gijutsu Center 表情表出ロボット
JP4896100B2 (ja) * 2008-08-15 2012-03-14 株式会社バースデイ 浅い眠り動作を繰り返す人形
TWI391172B (zh) * 2009-12-21 2013-04-01 Hon Hai Prec Ind Co Ltd 仿真眼睛
CN203344065U (zh) * 2013-07-24 2013-12-18 蔡继文 仿人机器头
CN205660730U (zh) * 2016-03-31 2016-10-26 深圳光启合众科技有限公司 具有眨眼功能的机器人

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN108098787A (zh) * 2017-12-25 2018-06-01 大连大学 一种语音互动机器人结构及其系统
CN108098787B (zh) * 2017-12-25 2024-06-11 大连大学 一种语音互动机器人结构及其系统

Also Published As

Publication number Publication date
CN107283432A (zh) 2017-10-24

Similar Documents

Publication Publication Date Title
CN209422402U (zh) 一种头皮按摩器
WO2017166991A1 (fr) Robot ayant une fonction de clignement
CN2437232Y (zh) 婴儿头部塑型床
CN205660730U (zh) 具有眨眼功能的机器人
TWM469897U (zh) 一種搖擺按摩的按摩機芯
WO2019114143A1 (fr) Structure de tête de robot et robot la comportant
CN209719882U (zh) 一种串联曲柄摇杆机构的仿生鱼尾鳍装置
WO2017166992A1 (fr) Robot ayant une fonction d'ouverture de la bouche
CN209422403U (zh) 一种头部按摩器
CN209781252U (zh) 一种电扇
CN101219279B (zh) 仿人机器人眼球灵活转动的运动机构
CN205746210U (zh) 一种便携灯
JP2009268626A (ja) 揺動玩具
CN103919666B (zh) 海丁格氏刷弱视治疗仪及其控制方法
CN205660729U (zh) 具有张嘴功能的机器人
CN107362545B (zh) 一种适用于机器人的眨眼装置及宠物机器人
CN208381808U (zh) 可多角度旋转方向的手持灯
CN209270808U (zh) 一种转头闭眼的玩具玩偶
CN208804502U (zh) 一种消防智能应急照明灯具
CN106217388B (zh) 单自由度仿人形展示机器人
CN205215672U (zh) 一种按摩装置
CN209153371U (zh) 一种花式搓背机
CN2841102Y (zh) 用于玩具的磁铁控制式眨眼眼珠部件
CN213676213U (zh) 一种跑马工艺品
CN104338323A (zh) 可以多方位转动的机器人眼球

Legal Events

Date Code Title Description
NENP Non-entry into the national phase

Ref country code: DE

121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 17773022

Country of ref document: EP

Kind code of ref document: A1

122 Ep: pct application non-entry in european phase

Ref document number: 17773022

Country of ref document: EP

Kind code of ref document: A1