WO2017166991A1

WO2017166991A1 - Robot having blinking function

Info

Publication number: WO2017166991A1
Application number: PCT/CN2017/076268
Authority: WO
Inventors: 刘若鹏; 雷应波; 郝万鈞; 刘卓远
Original assignee: 深圳光启合众科技有限公司
Priority date: 2016-03-31
Filing date: 2017-03-10
Publication date: 2017-10-05
Also published as: CN107283432A

Abstract

A robot having a blinking function, comprising: a head housing (10); a fixed base (50) fixed inside the head housing; an upper eyelid (20) and a lower eyelid (30) that are separately connected to a driving device provided on the fixed base, and are driven by the driving device to rotate at the same speed in opposite directions; and an eyeball (40) provided between the upper eyelid and the lower eyelid and connected to a camera (41) that is fixed inside the head housing. The robot having a blinking function can effectively improve the entertainment and bio-mimetic property of the robot, so that a pet robot can better meet the people's demands in changing lives.

Description

Instruction manual Title: Robot with blinking function Technical field

[0001] 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.

Background technique

[0002] 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.

[0003] In addition, as people become more and more demanding in terms of family and public intelligence, robots have gradually become an indispensable part of people's lives and work.

technical problem

[0004] In particular, with the advancement of human urbanization, people's work pace is accelerating, requiring pets to relax. However, most of the current intelligent robots do not have the function of blinking, and they cannot blink up and down like people. Therefore, designing a structural design scheme for the blink function of a home pet robot will greatly enhance the entertainment and bionics of the pet robot.

Problem solution

Technical solution

[0005] 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.

, Provides a robot with a blinking function.

[0006] The present invention solves the above technical problems by the following technical solutions: A robot having a blink function, characterized in that the robot includes: a head casing;

[0007] a fixing seat, the fixing seat is fixed in the head casing;

[0008] 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; [0009] 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.

[0010] In an embodiment of the invention, the fixing base is a U-shaped support, and the driving device is fixed on the inner side wall of the U-shaped support.

[0011] In an embodiment of the invention, 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;

[0012] 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.

[0013] In an embodiment of the present invention, 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;

[0014] 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.

[0015] In an embodiment of the invention, 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.

[0016] In one embodiment of the invention, the micromotor is a stepper motor.

[0017] In one embodiment of the invention, the upper eyelid and the lower eyelid are both 1/4 sphere.

[0018] In an embodiment of the invention, the angle between the upper eyelid and the lower eyelid is less than or equal to 60 degrees

In one embodiment of the invention, 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.

[0020] In an embodiment of the present invention, the eyelid mounting seat is provided with a groove, the connecting member is fixed in the groove, and the upper eyelid and the lower eyelid are disposed in the corresponding On the connector. [0021] In one embodiment of the invention, the connector is a pin, a pin or a rotating lever.

[0022] In an embodiment of the invention, the eyelid is provided with a through hole, and the camera is pierced and fixed in the through hole.

[0023] In one embodiment of the invention, the eyeball is made of an acrylic material.

[0024] In an embodiment of the present invention, 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;

[0025] a driving device, the driving device is mounted on the head casing;

[0026] 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.

[0027] In an embodiment of the invention, 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;

[0028] 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.

[0029] In an embodiment of the present invention, the driving device includes a motor base and a DC motor, the motor base is fixedly mounted on the head housing, and the DC motor is mounted on the motor base. The shaft of the DC motor is coupled to the rotating support.

In one embodiment of the invention, the rotary support is a cam that is mounted at an end of a shaft of the direct current motor.

[0031] In one embodiment of the invention, an interference fit is employed between the cam and the shaft of the DC motor.

[0032] In an embodiment of the present invention, 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;

[0033] 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.

[0034] In one embodiment of the invention, 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. [0035] In one embodiment of the invention, 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.

[0036] In one embodiment of the invention, 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.

[0037] In an embodiment of the invention, the first elastic member and the second elastic member each employ a return spring.

[0038] In an embodiment of the invention, the motor base is fixed to the head housing by screws.

[0039] In an embodiment of the invention, 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.

[0040] In one embodiment of the invention, the rotating member is a rotary shaft.

[0041] In one embodiment of the invention, the head housing is a penguin head shape.

Advantageous effects of the invention

Beneficial effect

[0042] 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.

, Provides a robot with a blinking function.

[0043] The present invention solves the above technical problems by the following technical solutions: A robot having a blinking function, characterized in that the robot comprises: a head casing;

[0044] a fixing seat, the fixing seat is fixed in the head housing;

[0045] 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

[0046] 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.

[0047] In an embodiment of the invention, the fixing base is a U-shaped support, and the driving device is fixed on the inner side wall of the U-shaped support.

[0048] In one embodiment of the present invention, 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.

[0050] In an embodiment of the present invention, 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;

[0051] 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.

In one embodiment of the invention, 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.

[0053] In one embodiment of the invention, the micromotor is a stepper motor.

[0054] In one embodiment of the invention, the upper eyelid and the lower eyelid are both 1/4 sphere-shaped.

[0055] In an embodiment of the invention, the angle between the upper eyelid and the lower eyelid is less than or equal to 60 degrees

In an embodiment of the invention, 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.

[0057] In an embodiment of the present invention, the eyelid mounting seat is provided with a groove, the connecting member is fixed in the groove, and the upper eyelid and the lower eyelid are disposed in the corresponding On the connector.

[0058] In one embodiment of the invention, the connecting member is a pin, a pin or a rotating rod.

In one embodiment of the present invention, the eyeball is provided with a through hole, and the camera is bored and fixed in the through hole.

[0060] In one embodiment of the invention, the eyeball is made of an acrylic material.

[0061] In an embodiment of the present invention, 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;

[0062] a driving device, the driving device is mounted on the head casing; [0063] 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.

[0064] In one embodiment of the invention, 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;

[0065] 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.

[0066] In an embodiment of the present invention, the driving device includes a motor base and a DC motor, the motor base is fixedly mounted on the head housing, and the DC motor is mounted on the motor base. The shaft of the DC motor is coupled to the rotating support.

[0068] In one embodiment of the invention, an interference fit is employed between the cam and the shaft of the DC motor.

[0069] In an embodiment of the present invention, 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;

[0070] 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.

[0071] In one embodiment of the invention, 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.

[0072] In one embodiment of the invention, 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.

[0073] In one embodiment of the invention, 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.

[0074] In an embodiment of the invention, the first elastic member and the second elastic member each employ a reset spring.

[0075] In an embodiment of the invention, the motor base is fixed to the head housing by screws. [0076] In an embodiment of the invention, 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.

[0077] In an embodiment of the invention, the rotating member is a rotary shaft.

[0078] In one embodiment of the invention, the head housing is a penguin head shape.

Brief description of the drawing

DRAWINGS

The above and other features, advantages and advantages of the present invention will become more apparent from the description of the appended claims <

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.

2 is a perspective view of a head of a first embodiment of a robot having a blink function according to the present invention.

3 is a rear view of the head of Embodiment 1 of the robot having a blink function according to the present invention.

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.

[0084] FIG. 5 is an exploded view of the head of the first embodiment of the present invention having a blink function.

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.

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.

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.

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.

[0089] FIG. 10 is an exploded view of an embodiment of a robot having a blink function according to the present invention.

Embodiments of the invention

The above described objects, features and advantages of the present invention will become more apparent from the aspects of the appended claims.

[0091] Embodiments of the present invention will now be described in detail with reference to the drawings. Reference will now be made in detail to the preferred embodiments embodiments embodiments Wherever possible, the same reference numerals reference Further, although the terms used in the present invention are selected from well-known public terms, some of the terms mentioned in the specification of the present invention may be selected by the applicant according to his or her judgment, and its detailed meaning Related parts of the description in this article Explain. In addition, it is required that the present invention be understood not only by the actual terms used, but also by the meaning of each term.

Embodiment 1:

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.

[0094] As shown in FIG. 1 to FIG. 5, 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.

[0095] In the same manner, 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. Here, 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.

[0096] Of course, 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. Alternatively, 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.

[0097] Preferably, the fixing base 50 is a U-shaped support, and the driving device is fixed on the inner side of the U-shaped support. Further, 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.

[0098] 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.

[0099] In addition, 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.

[0100] Similarly, 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.

[0101] Of course, 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.

Preferably, the first gear 70 is in an interference fit with the output shaft 61 of the micromotor 60, and 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. Of course, 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

[0103] In addition, 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.

[0104] In another embodiment, 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.

[0105] In particular, 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.

[0106] Of course, the shape of the above-mentioned eyelid mount 90 is not limited to the embodiment, and it is merely an example. For 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.

Under the driving of 0, it is possible to rotate around the eyelid mount 90.

[0107] In another embodiment, 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.

[0108] According to the above configuration, 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.

[0109] Embodiment 2:

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.

As shown in FIGS. 6-10, 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.

[0112] 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.

[0113] 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. [0114] The DC motor 150 herein preferably employs a micro DC motor. Of course, 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.

[0115] In addition, 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. Further, two mounting holes 142 may be added to both ends of the motor base 140 to further fix the motor base 140.

[0116] Of course, the mounting and fixing manner of the motor base 140 can adopt various forms. This embodiment is merely an example, and the scope of protection of the present invention is not limited by this example.

Further, in the present embodiment, 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. Preferably, an excessive fit is employed between the cam 160 and the shaft of the DC motor 150.

Specifically, 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.

[0119] Further, for the shape of the cam 160, a two-headed circular arc cam may be used, which is similar to an elliptical shape.

(As shown in Fig. 4), this structure can make the size of each of the upper jaw 120 and the lower jaw 130 uniform. Of course, 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.

Therefore, 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.

[0121] In order to ensure that the upper jaw 1120 and the lower jaw 130 can always be in contact with the cam 160, 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.

[0122] Specifically, one end of the first elastic member 122 is connected to one side of the upper jaw 120, and the other end is connected to the head housing 10. One end of the second elastic member 132 is connected to one side of the lower jaw 130, and the other end is connected to the head housing 10. In the present embodiment, each of the first elastic member 122 and the second elastic member 132 is preferably a return spring. Thus, 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.

[0123] Of course, in the robot having the mouth opening function, 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. The above structure 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.

[0124] In addition, 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.

[0125] According to the above structural description, 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. When the DC motor 150 makes one revolution per revolution, the frequency of the nozzle can be adjusted by adjusting the voltage of the motor.

[0126] Further specifically, 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.

[0127] 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. Of course, the shape of the head casing 10 here is merely an example and is not limited by the embodiment. In fact, 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.

[0128] In summary, 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.

While the invention has been described with respect to the embodiments of the present invention, it is understood that the scope of the invention is defined by the appended claims. Those skilled in the art can make various embodiments of the invention without departing from the principles and spirit of the invention. Modifications or modifications are intended to fall within the scope of the invention.

Claims

Claim

[Claim 1] A robot having a blink function, wherein the robot includes:

Head shell

a fixing seat, the fixing seat being fixed in the head housing;

Upper eyelid and lower eyelid, respectively, the upper eyelid and the lower eyelid are respectively connected with a driving device disposed on the fixing seat, and the driving of the upper eyelid and the lower eyelid is reversed by the driving device ;

An eyeball, the eyeball being disposed between the upper eyelid and the lower eyelid, and the eyeball being coupled to a camera, the camera being fixed to the head casing.

[Claim 2] The robot having a blink function according to claim 1, wherein the fixing base is a U-shaped holder, and the driving device is fixed to an inner side wall of the U-shaped holder.

[Claim 3] The robot having a blink function according to claim 2, wherein the driving device includes two micro motors, each of which is disposed on an inner side wall of the U-shaped support, An output shaft of the micro motor extends outwardly through a side of the U-shaped support, 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 The eyelids are twisted up and down as the output shaft rotates.

[Claim 4] The robot having the blink function according to claim 3, wherein the driving device further includes a second gear and a rotating shaft, and one end of the rotating shaft is fixed on the outer side wall of the U-shaped bracket And located below the output shaft, the second gear is disposed at a junction of the rotating shaft and the U-shaped mount, and the second gear meshes with the first gear, and passes through the second gear Driving the rotating shaft to rotate;

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 rotating shaft Rotate and twist up and down.

[Claim 5] The robot having a blink function according to claim 4, wherein the first The gear has an interference fit with an output shaft of the micro motor, and the second gear is coupled to the shaft.

[Claim 6] The robot having a blink function according to claim 3, wherein the micro motor is a stepping motor.

[Claim 7] The robot having a blink function according to claim 4, wherein the upper eyelid and the lower eyelid are both 1/4 sphere-shaped.

[Claim 8] The robot having a blink function according to claim 7, wherein an angle at which the upper eyelid and the lower eyelid rotate is 60 degrees or less.

[Claim 9] The robot having a blink function according to claim 4, wherein the eyelid mounting seat has an L-shaped block shape, and the upper eyelid and the lower eyelid respectively pass through a connecting member and the The eyelid mount is pivotally connected.

[Claim 10] The robot having a blink function according to claim 9, wherein the eyelid mounting seat is provided with a groove, and the connecting member is fixed in the groove, the upper eyelid And the lower eyelid is disposed on the corresponding connecting member.

[Claim 11] The robot having a blink function according to claim 10, wherein the connector is a pin, a pin, or a rotating lever.

[Claim 12] The robot having a blink function according to any one of claims 1 to 11, characterized in that

The eyeball is provided with a through hole, and the camera is pierced and fixed in the through hole.

[Claim 13] The robot having a blink function according to claim 12, wherein the eyeball is made of an acrylic material.

[Claim 14] The robot having a blink function according to claim 1, wherein the robot having a blink function further comprises:

a mouth portion, the mouth portion being coupled to the head casing, such that the mouth portion is coupled up and down; a driving device, the driving device is mounted on the head casing; a rotating support member, the rotating support member and The driving device is connected, and the rotating support member is driven to rotate by the driving device, thereby driving the mouth to be twisted up and down.

[Claim 15] The robot having a blink function according to claim 14, wherein the mouth portion includes an upper jaw and a lower jaw, and the upper jaw and the lower jaw are respectively passed through a rotating member Head The outer casing is connected such that the upper jaw and the lower jaw rotate relative to the rotating member; the rotating support is located between the upper jaw and the lower jaw, and the contour surfaces of the rotating support are respectively The upper jaw and the lower jaw are in contact with each other, and the rotating support member is driven to rotate by the driving device, thereby driving the upper jaw and the lower jaw to rotate relative to each other.

[Claim 16] The robot having a blink function according to claim 15, wherein the driving device includes a motor holder and a DC motor, and the motor holder is fixedly mounted on the head housing, the DC A motor is mounted on the motor block, and a shaft of the DC motor is coupled to the rotating support.

The robot having a blink function according to claim 16, wherein the rotary support member is a cam, and the cam is attached to an end of a shaft of the direct current motor.

[Claim 18] The robot having a blink function according to claim 17, wherein an interference fit is applied between the cam and a shaft of the DC motor.

[Claim 19] The robot having a blink function according to claim 18, wherein a bottom surface of the upper jaw is in contact with the cam, and a first groove is provided, the first groove The shape matches the contoured 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.

[Claim 20] The robot having a blink function according to claim 18, wherein a bottom surface of the upper jaw is in contact with the cam, and a first groove is provided, the first groove The shape matches the contoured surface of the cam;

[Claim 21] The robot having a blink function according to claim 20, wherein one end of the first elastic member is connected to one side of the upper jaw, and the other end is connected to the head housing

[Claim 22] The robot having a blink function according to claim 20, wherein one end of the second elastic member is connected to one side of the lower jaw, and the other end is connected to the head housing

[Claim 23] The robot having a blink function according to claim 20, wherein the first elastic member and the second elastic member each employ a return spring.

[Claim 24] The robot having a blink function according to claim 16, wherein the motor base is fixed to the head casing by screw mounting.

[Claim 25] The robot having a blink function according to claim 16, wherein the driving device further includes a speed reducer, the speed reducer is connected to the DC motor, or the speed reducer and the The DC motor is integrally formed.

[Claim 26] The robot having a blink function according to claim 15, wherein the rotating member is a rotary shaft.

[Claim 27] The robot having a blink function according to any one of claims 1 to 26, characterized in that

The head shell is a penguin head shape.