CN208179588U - The eye structure and robot of robot - Google Patents
The eye structure and robot of robot Download PDFInfo
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- CN208179588U CN208179588U CN201721611364.9U CN201721611364U CN208179588U CN 208179588 U CN208179588 U CN 208179588U CN 201721611364 U CN201721611364 U CN 201721611364U CN 208179588 U CN208179588 U CN 208179588U
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- eyeball
- eyelid
- steering engine
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Abstract
The utility model provides the eye structure and robot of a kind of robot, wherein eye structure includes: support plate component；Eyeball portion, eyeball portion are rotatably arranged on support plate component, and eyeball portion is along first direction reciprocating rotation, and along the second direction reciprocating rotation vertical with first direction；Eyelid portion, eyelid portion are pivotly connect with support plate component, and eyelid portion moves between the closed position for covering eyeball portion and the open position for exposing eyeball portion；Eyeball portion driving device and eyelid portion driving device, wherein eyeball portion driving device driving eyeball portion rotates in the first direction and a second direction；Eyelid portion driving device driving eyelid portion moves between the closed position and the open position.The utility model solve the eye structure of robot in the prior art freedom of motion it is small and can not simulation biology true to nature various facial expressions, cause the problem of robot bionic effect difference.
Description
Technical field
The utility model relates to robotic technology fields, in particular to the eye structure and machine of a kind of robot
People.
Background technique
Bio-robot be can mimic biology, be engaged in the robot of biological characteristic work, for example, in western countries, machine
Tool pet is all the fashion, and bionical sparrow robot can serve as the task of environmental monitoring, for another example anthropomorphic robot can be people
Class provides many convenient services, and therefore, bio-robot increasingly obtains the attention of people, has good development prospect.
In order to enable bio-robot to simulate the feature of biology, being usually provided with for bio-robot has the function of blink
Eye structure, not only structure is complicated for the eye of existing bio-robot, operating difficulties, easily breaks down, and existing
The freedom of motion of eye structure is smaller, can not realistically, visually simulate the various facial expressions of biology, so as to cause existing
With the presence of the bionical effect difference of robot problem.
Utility model content
The main purpose of the utility model is to provide a kind of eye structure of robot and robots, to solve existing skill
The freedom of motion of the eye structure of robot in art it is small and can not simulation biology true to nature various facial expressions, cause machine
The problem of the bionical effect difference of device people.
To achieve the goals above, one aspect according to the present utility model provides a kind of eye structure of robot,
It include: support plate component；Eyeball portion, eyeball portion are rotatably arranged on support plate component, and eyeball portion is past along first direction
Multiple rotation, and along the second direction reciprocating rotation vertical with first direction；Eyelid portion, eyelid portion pivotly with support plate component
Connection, and eyelid portion moves between the closed position for covering eyeball portion and the open position for exposing eyeball portion；The driving of eyeball portion
Device and eyelid portion driving device, wherein eyeball portion driving device driving eyeball portion rotates in the first direction and a second direction
And realize the Rotation of eyeball movement of eye structure；Eyelid portion driving device drives eyelid portion between the closed position and the open position
Move and realize the blink movement of eye structure.
Further, eyeball portion and eyelid portion are two, and two eyeball portions and two eyelid portions are arranged in a one-to-one correspondence.
Further, eyeball portion has crosswise symmetric plane, and first direction is in crosswise symmetric plane, crosswise symmetric plane
It is arranged between horizontal plane in angle.
Further, eye structure further includes sequentially connected eyeball portion support plate, the first support column and the second support column,
Wherein, eyeball portion support plate is obliquely installed and connect with support plate component, the first end of the second support column and the first support column pivot
Turn connection, the second end of the second support column and eyeball portion are hinged.
Further, eyeball portion driving device includes the first eyeball rotate driving portion and the second Rotation of eyeball driving portion,
In, the first eyeball rotate driving portion includes: the first steering engine, and the first steering engine is arranged on support plate component or eyeball portion support plate；
First rocker arm, the first rocker arm are connect with the first servo driving, and the first rocker arm is swingably arranged on the first steering engine；First connects
Bar, the first end of first connecting rod and the first rocker arm are hinged, and the second end of first connecting rod and eyeball portion are hinged, and the first steering engine passes through the
One rocker arm and first connecting rod drive eyeball portion along first direction reciprocating rotation；Second Rotation of eyeball driving portion includes: the second steering engine,
Second steering engine is arranged on support plate component or eyeball portion support plate；Second rocker arm, the second rocker arm are connect with the second servo driving,
Second rocker arm is swingably arranged on the second steering engine；Second connecting rod, the first end of second connecting rod and the second rocker arm are hinged, and second
The second end of connecting rod and the second support are column articulated, and the second steering engine drives eyeball portion in second party by the second rocker arm and second connecting rod
To reciprocating rotation.
Further, support plate component includes first substrate, the second base for being successively spaced setting along the vertical direction and connecting
Plate and mounting plate, wherein installation space is formed between first substrate and the second substrate, the first steering engine and the second steering engine are arranged at
On mounting plate.
Further, eyelid portion includes upper eyelid and lower eyelid, and upper eyelid and lower eyelid are symmetricly set on lateral symmetry flat
The two sides in face, eye structure further include connecting plate, and connecting plate is two, and two connecting plates are separately positioned on the two of the first support column
Side, and the first end of connecting plate is connect with eyeball portion support plate, the second end is pivoted connection of upper eyelid and lower eyelid and connecting plate.
Further, eyelid portion driving device includes: third steering engine, and third steering engine is arranged in support plate component or eyeball portion
In support plate；Third rocker arm, third rocker arm are connect with third servo driving, and third steering engine is swingably arranged in third rocker arm
On；Two third connecting rods, the first end of two third connecting rods is hinged with third rocker arm, the second end point of two third connecting rods
It is not hinged with upper eyelid and lower eyelid.
Further, sliding long hole is offered on third rocker arm, is set to the first end position-adjustable of two third connecting rods
It sets in sliding long hole.
Another aspect according to the present utility model provides a kind of robot, comprising: robot body, robot body
On be provided with above-mentioned eye structure.
Using the technical solution of the utility model, since the eye structure of robot includes support plate component, eyeball portion, eye
Skin zone, eyeball portion driving device and eyelid portion driving device, wherein eyeball portion is rotatably arranged on support plate component, and
Eyeball portion is along first direction reciprocating rotation, and along the second direction reciprocating rotation vertical with first direction, and eyelid portion is pivotly
It is connect with support plate component, and eyelid portion transports between the closed position for covering eyeball portion and the open position for exposing eyeball portion
Dynamic, eyeball portion driving device driving eyeball portion rotates in the first direction and a second direction and realizes the Rotation of eyeball of eye structure
Movement；Eyelid portion driving device driving eyelid portion moves between the closed position and the open position and realizes the blink of eye structure
Movement.
In this way, eyeball portion driving device can be realized automatically control it is reciprocal on the sub- first direction in eyeball portion and second direction
Rotation, eyelid portion driving device, which just can be realized, automatically controls eyelid portion relative to the movement of eyeball portion, so that the eye of the application
Structure has a three-degree-of-freedom motion, and the movement in eyeball portion and eyelid portion, which cooperates, enables the effect of eye structure simulation true to nature
The various facial expressions of biology, improve the bionical effect of robot.
Further, since the motion structure part of the eye structure of the application is few, to ensure that eyeball portion and the movement of eyelid portion
Reliability, make robot favorably accomplish Rotation of eyeball and blink etc. movement, improve the true to nature of robot mimic biology
Property, and the robot of the application avoids the movement of manual operation eye structure, the complexity of robot manipulation is reduced, into one
Step improves the degree of automation of robot.
Detailed description of the invention
The accompanying drawings constituting a part of this application is used to provide a further understanding of the present invention, this is practical
Novel illustrative embodiments and their description are not constituteed improper limits to the present invention for explaining the utility model.
In the accompanying drawings:
Fig. 1 shows a kind of structural representation of the eye structure of the robot of alternative embodiment according to the present utility model
Figure；
Fig. 2 shows the connection relationship diagrams in the eyeball portion of the eye structure in Fig. 1 and eyeball portion driving device；
Fig. 3 shows the eyelid portion of the eye structure in Fig. 1 and the connection relationship diagram of eyelid portion driving device.
Wherein, the above drawings include the following reference numerals:
10, support plate component；11, first substrate；12, the second substrate；13, mounting plate；20, eyeball portion；30, eyelid portion；
31, upper eyelid；32, lower eyelid；40, eyeball portion driving device；41, the first eyeball rotate driving portion；411, the first steering engine；412,
First rocker arm；413, first connecting rod；42, the second Rotation of eyeball driving portion；421, the second steering engine；422, the second rocker arm；423,
Two connecting rods；50, eyelid portion driving device；51, third steering engine；52, third rocker arm；521, long hole is slid；53, third connecting rod；60,
Eyeball portion support plate；70, the first support column；80, the second support column；90, connecting plate.
Specific embodiment
The following will be combined with the drawings in the embodiments of the present invention, carries out the technical scheme in the embodiment of the utility model
Clearly and completely describe, it is clear that the described embodiments are only a part of the embodiments of the utility model, rather than whole
Embodiment.Be to the description only actually of at least one exemplary embodiment below it is illustrative, never as to this is practical
Novel and its application or any restrictions used.Based on the embodiments of the present invention, those of ordinary skill in the art are not having
Every other embodiment obtained under the premise of creative work is made, is fallen within the protection scope of the utility model.
Freedom of motion in order to solve the eye structure of robot in the prior art it is small and can not simulation true to nature it is raw
The various facial expressions of object, cause the problem of robot bionic effect difference, and the utility model provides a kind of eye of robot
Structure and robot, wherein robot includes robot body, and eye structure is provided on robot body, and eye structure is
Above-mentioned and following eye structure.
As shown in Figure 1 to Figure 3, the eye structure of robot includes support plate component 10, eyeball portion 20, eyelid portion 30, eye
Bulb driving device 40 and eyelid portion driving device 50, wherein eyeball portion 20 is rotatably arranged on support plate component 10, and
Along first direction reciprocating rotation, and along the second direction reciprocating rotation vertical with first direction, eyelid portion 30 can pivot in eyeball portion 20
Turn ground to connect with support plate component 10, and eyelid portion 30 is in the closed position for covering eyeball portion 20 and the opening for exposing eyeball portion 20
It is moved between position, eyeball portion driving device 40 drives eyeball portion 20 to rotate in the first direction and a second direction and realize eye
The Rotation of eyeball of structure acts；Eyelid portion driving device 50 drive eyelid portion 30 move between the closed position and the open position and
Realize the blink movement of eye structure.
It is automatically controlled in the sub- first direction in eyeball portion 20 and second direction in this way, eyeball portion driving device 40 can be realized
Reciprocating rotation, eyelid portion driving device 50, which just can be realized, automatically controls eyelid portion 30 relative to the movement of eyeball portion 20, so that this
The eye structure of application has three-degree-of-freedom motion, and the movement in eyeball portion 20 and eyelid portion 30 cooperates the effect so that eye structure
It is capable of the various facial expressions of simulation biology true to nature, improves the bionical effect of robot.
Further, since the motion structure part of the eye structure of the application is few, to ensure that eyeball portion 20 and eyelid portion 30
The reliability of movement makes robot favorably accomplish the movement such as Rotation of eyeball and blink, improves robot mimic biology
Verisimilitude, and the robot of the application avoids the movement of manual operation eye structure, reduces the complexity of robot manipulation,
Further improve the degree of automation of robot.
As shown in Figure 1, eyeball portion 20 and eyelid portion 30 are two, two for the eye of more realistically mimic biology
Eyeball portion 20 and two eyelid portions 30 are arranged in a one-to-one correspondence.
As depicted in figs. 1 and 2, for a kind of optional mounting means in eyeball portion 20, in order to keep eyeball portion 20 true to nature
The eye feature of birds or birds etc. at simulation, eyeball portion 20 have crosswise symmetric plane, and first direction is lateral symmetry flat
In face, it is arranged between crosswise symmetric plane and horizontal plane in angle.
As shown in Fig. 2, eye structure further includes sequentially connected eyeball portion support plate 60, the first support column 70 and second
Dagger 80, wherein eyeball portion support plate 60 is obliquely installed and connect with support plate component 10, the first end of the second support column 80 with
First support column 70 is pivotally connected, and the second end of the second support column 80 and eyeball portion 20 are hinged.In this way, the second support column 80 is not only
Play the supporting role to eyeball portion 20, and to can be realized eyeball portion 20 past in second direction for the swing of the second support column 80
Multiple rotation, while the second end of the second support column 80 and eyeball portion 20 are hinged, additionally it is possible to realize eyeball portion 20 relative to second
The second end of dagger 80 rotates and realizes the reciprocating rotation in a first direction of eyeball portion 20.
Specifically, as shown in Figures 2 and 3, eyeball portion driving device 40 includes the first eyeball rotate driving portion 41 and second
Rotation of eyeball driving portion 42, wherein the first eyeball rotate driving portion 41 includes the first steering engine 411, the first Rocker arm 4 12 and the first company
Bar 413, the first steering engine 411 are arranged on support plate component 10 or eyeball portion support plate 60, the first Rocker arm 4 12 and the first steering engine
411 are drivingly connected, and the first Rocker arm 4 12 is swingably arranged on the first steering engine 411, the first end of first connecting rod 413 and first
Rocker arm 4 12 is hinged, and the second end of first connecting rod 413 and eyeball portion 20 are hinged, and the first steering engine 411 passes through the first Rocker arm 4 12 and the
One connecting rod 413 drives the reciprocating rotation in a first direction of eyeball portion 20；Second Rotation of eyeball driving portion 42 include the second steering engine 421,
Second Rocker arm 4 22 and second connecting rod 423, the second steering engine 421 are arranged on support plate component 10 or eyeball portion support plate 60, and second
Rocker arm 4 22 and the second steering engine 421 are drivingly connected, and the second Rocker arm 4 22 is swingably arranged on the second steering engine 421, second connecting rod
423 first end and the second Rocker arm 4 22 are hinged, and the second end of second connecting rod 423 and the second support column 80 are hinged, the second steering engine
421 drive eyeball portion 20 in second direction reciprocating rotation by the second Rocker arm 4 22 and second connecting rod 423.
As shown in Figure 1, support plate component 10 include along the vertical direction successively interval be arranged and connect first substrate 11, the
Two substrates 12 and mounting plate 13, wherein the first steering engine 411 and the second steering engine 421 are arranged on mounting plate 13.In this way, first
Installation space, the structural frames of first substrate 11 and the second substrate 12 as support plate component 10 are formed between substrate and the second substrate
Frame improves the overall stability of eye structure convenient for various elements are mounted on first substrate 11 or the second substrate 12；Together
When, it is arranged on a mounting board on 421 mounting plate 13 of the first steering engine 411 and the second steering engine, effectively improves 411 He of the first steering engine
The mounting stability of second steering engine 421.
As shown in figure 3, eyelid portion 30 includes upper eyelid 31 and lower eyelid 32, upper eyelid 31 and lower eyelid 32 are symmetricly set on
The two sides of crosswise symmetric plane, eye structure further include connecting plate 90, and connecting plate 90 is two, and two connecting plates 90 are respectively set
In the two sides of the first support column 70, and the first end of connecting plate 90 is connect with eyeball portion support plate 60, upper eyelid 31 and lower eyelid
32 connect with the second end is pivoted of connecting plate 90.In this way, being effectively guaranteed the company between eyelid portion 30 and support plate component 10
Connect stability, move eyelid portion 30 reliably, and upper eyelid 31 and lower eyelid 32 movement it is more true to nature simulate biology
Blink movement.
Optionally, during upper eyelid 31 moves to open position by closed position, the rotation angle of upper eyelid 31 is greater than
Equal to 0 degree and it is less than or equal to 90 degree.
Optionally as well, during lower eyelid 32 moves to open position by closed position, the rotation angle of lower eyelid 32
More than or equal to 0 degree and it is less than or equal to 90 degree.
As shown in figure 3, eyelid portion driving device 50 includes third steering engine 51, third Rocker arm 52 and two third connecting rods 53,
Third steering engine 51 is arranged on support plate component 10 or eyeball portion support plate 60, and third Rocker arm 52 and the driving of third steering engine 51 connect
Connect, third Rocker arm 52 is swingably arranged on third steering engine 51, the first end of two third connecting rods 53 with third Rocker arm 52
It is hinged, the second end of two third connecting rods 53 is hinged with upper eyelid 31 and lower eyelid 32 respectively.In this way, realizing upper eyelid 31
With moving synchronously for lower eyelid 32, the authenticity that eye structure simulates biological eye motion feature is improved.
Optionally, as shown in figure 3, offering sliding long hole 521, the first end of two third connecting rods 53 on third Rocker arm 52
Position-adjustable it is arranged in sliding long hole 521.In this way, convenient for the relative position to the first ends of two third connecting rods 53 into
Row is adjusted, so as to adjust the rotation angle of upper eyelid 31 and lower eyelid 32.
It should be noted that term used herein above is merely to describe specific embodiment, and be not intended to restricted root
According to the illustrative embodiments of the application.As used herein, unless the context clearly indicates otherwise, otherwise singular
Also it is intended to include plural form, additionally, it should be understood that, when in the present specification using term "comprising" and/or " packet
Include " when, indicate existing characteristics, step, operation, device, component and/or their combination.
Unless specifically stated otherwise, positioned opposite, the digital table of the component and step that otherwise illustrate in these embodiments
Up to the unlimited the scope of the utility model processed of formula and numerical value.Simultaneously, it should be appreciated that for ease of description, each shown in attached drawing
The size of a part is not to draw according to actual proportionate relationship.For skill known to person of ordinary skill in the relevant
Art, method and apparatus may be not discussed in detail, but in the appropriate case, and the technology, method and apparatus should be considered as awarding
Weigh part of specification.In shown here and discussion all examples, any occurrence should be construed as merely example
Property, not as limitation.Therefore, the other examples of exemplary embodiment can have different values.It should also be noted that similar
Label and letter similar terms are indicated in following attached drawing, therefore, once be defined in a certain Xiang Yi attached drawing, then with
In attached drawing afterwards do not need that it is further discussed.
In the description of the present invention, it should be understood that the noun of locality such as " front, rear, top, and bottom, left and right ", " laterally,
Vertically, vertically, it is horizontal " and " pushing up, bottom " etc. indicated by orientation or positional relationship be normally based on orientation or position shown in the drawings
Relationship is set, is merely for convenience of describing the present invention and simplifying the description, in the absence of explanation to the contrary, these nouns of locality
Do not indicate that and imply that signified device or element must have a particular orientation or be constructed and operated in a specific orientation, because
This should not be understood as the limitation to scope of protection of the utility model；The noun of locality " inside and outside " refers to the wheel relative to each component itself
Wide is inside and outside.
For ease of description, spatially relative term can be used herein, as " ... on ", " ... top ",
" ... upper surface ", " above " etc., for describing such as a device shown in the figure or feature and other devices or spy
The spatial relation of sign.It should be understood that spatially relative term is intended to comprising the orientation in addition to device described in figure
Except different direction in use or operation.For example, being described as if the device in attached drawing is squeezed " in other devices
It will be positioned as " under other devices or construction after part or construction top " or the device of " on other devices or construction "
Side " or " under other devices or construction ".Thus, exemplary term " ... top " may include " ... top " and
" in ... lower section " two kinds of orientation.The device can also be positioned with other different modes and (is rotated by 90 ° or in other orientation), and
And respective explanations are made to the opposite description in space used herein above.
In addition, it should be noted that, limiting components using the words such as " first ", " second ", it is only for be convenient for
Corresponding components are distinguished, do not have Stated otherwise such as, there is no particular meanings for above-mentioned word, therefore should not be understood as to this
The limitation of utility model protection range.
It should be noted that term used herein above is merely to describe specific embodiment, and be not intended to restricted root
According to the illustrative embodiments of the application.As used herein, unless the context clearly indicates otherwise, otherwise singular
Also it is intended to include plural form, additionally, it should be understood that, when in the present specification using term "comprising" and/or " packet
Include " when, indicate existing characteristics, step, work, device, component and/or their combination.
It should be noted that the description and claims of this application and term " first " in above-mentioned attached drawing, "
Two " etc. be to be used to distinguish similar objects, without being used to describe a particular order or precedence order.It should be understood that using in this way
Data be interchangeable under appropriate circumstances, so that presently filed embodiment described herein can be in addition to illustrating herein
Or the sequence other than those of description is implemented.
The above descriptions are merely preferred embodiments of the present invention, is not intended to limit the utility model, for this
For the technical staff in field, various modifications and changes may be made to the present invention.It is all in the spirit and principles of the utility model
Within, any modification, equivalent replacement, improvement and so on should be included within the scope of protection of this utility model.
Claims (9)
1. a kind of eye structure of robot characterized by comprising
Support plate component (10)；
Eyeball portion (20), the eyeball portion (20) is rotatably arranged on the support plate component (10), and the eyeball portion
(20) along first direction reciprocating rotation and along the second direction reciprocating rotation vertical with the first direction；
Eyelid portion (30), the eyelid portion (30) pivotly connect with the support plate component (10), and the eyelid portion
(30) it is moved between the closed position for covering the eyeball portion (20) and the open position for exposing the eyeball portion (20)；
Eyeball portion driving device (40) and eyelid portion driving device (50), wherein eyeball portion driving device (40) drives institute
Eyeball portion (20) is stated to be rotated up in the first direction and the second party and realize that the Rotation of eyeball of the eye structure is dynamic
Make；Eyelid portion driving device (50) drives the eyelid portion (30) to transport between the closed position and the open position
Blink movement that is dynamic and realizing the eye structure；The eyeball portion (20) has crosswise symmetric plane, and the first direction exists
In the crosswise symmetric plane, it is arranged between the crosswise symmetric plane and horizontal plane in angle.
2. eye structure according to claim 1, which is characterized in that the eyeball portion (20) and the eyelid portion (30) are equal
It is two, two eyeball portions (20) and two eyelid portions (30) are arranged in a one-to-one correspondence.
3. eye structure according to claim 1, which is characterized in that the eye structure further includes sequentially connected eyeball
Portion's support plate (60), the first support column (70) and the second support column (80), wherein eyeball portion support plate (60) is obliquely installed
And connect with the support plate component (10), the first end of second support column (80) and first support column (70) pivot
Connection, the second end of second support column (80) and the eyeball portion (20) are hinged.
4. eye structure according to claim 3, which is characterized in that eyeball portion driving device (40) includes First view
Ball rotate driving portion (41) and the second Rotation of eyeball driving portion (42), wherein the first eyeball rotate driving portion (41) includes:
First steering engine (411), first steering engine (411) are arranged in the support plate component (10) or eyeball portion support plate
(60) on；
First rocker arm (412), first rocker arm (412) and first steering engine (411) are drivingly connected, first rocker arm
(412) swingably it is arranged on first steering engine (411)；
Hingedly, described first connects for first connecting rod (413), the first end of the first connecting rod (413) and first rocker arm (412)
The second end of bar (413) and the eyeball portion (20) hingedly, first steering engine (411) by first rocker arm (412) and
The first connecting rod (413) drives the eyeball portion (20) along the first direction reciprocating rotation；
The second Rotation of eyeball driving portion (42) includes:
Second steering engine (421), the second steering engine (421) are arranged in the support plate component (10) or eyeball portion support plate (60)
On；
Second rocker arm (422), second rocker arm (422) and second steering engine (421) are drivingly connected, second rocker arm
(422) swingably it is arranged on second steering engine (421)；
Hingedly, described second connects for second connecting rod (423), the first end of the second connecting rod (423) and second rocker arm (422)
Hingedly, second steering engine (421) passes through second rocker arm for the second end of bar (423) and second support column (80)
(422) and the second connecting rod (423) drives the eyeball portion (20) in the second direction reciprocating rotation.
5. eye structure according to claim 4, which is characterized in that the support plate component (10) includes along the vertical direction
Successively first substrate (11), the second substrate (12) and mounting plate (13) that interval is arranged and connects, wherein the first substrate
(11) installation space is formed between the second substrate (12), first steering engine (411) and second steering engine (421) are equal
It is arranged on the mounting plate (13).
6. eye structure according to claim 3, which is characterized in that the eyelid portion (30) include upper eyelid (31) and under
Eyelid (32), the upper eyelid (31) and the lower eyelid (32) are symmetricly set on the two sides of the crosswise symmetric plane, described
Eye structure further includes connecting plate (90), and the connecting plate (90) is two, and two connecting plates (90) are separately positioned on institute
The two sides of the first support column (70) are stated, and the first end of the connecting plate (90) is connect with eyeball portion support plate (60), institute
It states upper eyelid (31) and the lower eyelid (32) is connect with the second end is pivoted of the connecting plate (90).
7. eye structure according to claim 6, which is characterized in that eyelid portion driving device (50) includes:
Third steering engine (51), third steering engine (51) are arranged in the support plate component (10) or eyeball portion support plate (60)
On；
Third rocker arm (52), the third rocker arm (52) and the third steering engine (51) are drivingly connected, the third rocker arm (52)
Swingably it is arranged on the third steering engine (51)；
Two third connecting rods (53), the first end of described two third connecting rods (53) is hinged with the third rocker arm (52),
The second end of described two third connecting rods (53) is hinged with the upper eyelid (31) and the lower eyelid (32) respectively.
8. eye structure according to claim 7, which is characterized in that offer sliding long hole on the third rocker arm (52)
(521), the first end position-adjustable of two third connecting rods (53) it is arranged in the sliding long hole (521).
9. a kind of robot characterized by comprising robot body is arranged just like claim 1 on the robot body
To eye structure described in any one of 8.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721611364.9U CN208179588U (en) | 2017-11-24 | 2017-11-24 | The eye structure and robot of robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721611364.9U CN208179588U (en) | 2017-11-24 | 2017-11-24 | The eye structure and robot of robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN208179588U true CN208179588U (en) | 2018-12-04 |
Family
ID=64441817
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201721611364.9U Expired - Fee Related CN208179588U (en) | 2017-11-24 | 2017-11-24 | The eye structure and robot of robot |
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| Country | Link |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109514587A (en) * | 2019-01-17 | 2019-03-26 | 大连蒂艾斯科技发展股份有限公司 | A kind of eyeball control structure applied to bio-robot |
| CN110782760A (en) * | 2019-10-30 | 2020-02-11 | 杭州梦栖教育咨询有限公司 | Artificial eyeball |
| CN111376278A (en) * | 2020-05-06 | 2020-07-07 | 常州路飞智能科技有限公司 | Large-scale bird robot eyeball motion device |
-
2017
- 2017-11-24 CN CN201721611364.9U patent/CN208179588U/en not_active Expired - Fee Related
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109514587A (en) * | 2019-01-17 | 2019-03-26 | 大连蒂艾斯科技发展股份有限公司 | A kind of eyeball control structure applied to bio-robot |
| CN110782760A (en) * | 2019-10-30 | 2020-02-11 | 杭州梦栖教育咨询有限公司 | Artificial eyeball |
| CN111376278A (en) * | 2020-05-06 | 2020-07-07 | 常州路飞智能科技有限公司 | Large-scale bird robot eyeball motion device |
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