Blinking device suitable for robot and pet robot

Abstract

The present application discloses a blinking device suitable for a robot and a pet robot. The blinking device suitable for a robot comprises: a drive device mounting seat; an eyelid, which comprises a left upper eyelid and a right upper eyelid, and the two ends of the left upper eyelid and the right upper eyelid are respectively rotatably mounted on the drive device mounting seat; a rotating shaft, which is arranged between the left upper eyelid and the right upper eyelid, and the two ends of the rotating shaft are respectively fixedly connected to the left upper eyelid and the right upper eyelid; and a drive device, which is mounted on the drive device mounting seat, is contact-connected with the rotating shaft, and drives the rotating shaft to rotate. The pet robot comprises a head shell and a blinking device. Since the left upper eyelid and the right upper eyelid are connected together by the rotating shaft, and the rotating shaft is rotated under the action of the driving device, the rotating shaft drives the left upper eyelid and the right upper eyelid to blink at the same time, and the pet robot with the function of blinking at the same time is more lively, which increases the entertainment and bionics of the pet robot.

Description

Technical Field

[0001] The present application relates to the field of robot technology, and in particular to a blinking device suitable for robots and a pet robot. Background Art

[0002] With the advancement of human urbanization, people's work pace is accelerating, and they need robots to relax their lives. Robots can accompany people for simple communication and interaction, but the eyes of existing robots cannot blink synchronously, so robots are not humane enough and lack agility.

[0003] Pet robots are relatively popular robots. They replace real animals. Their appearance is consistent with some small animals. They are relatively clean and easy to take care of, so they are becoming more and more popular among people. However, most pet robots currently do not have the function of synchronized blinking and cannot blink like humans, which makes pet robots lack entertainment and bionics. Summary of the invention

[0004] The present application provides a blinking device with a synchronized blinking function applicable to a robot and a pet robot capable of synchronized blinking.

[0005] On the one hand, an embodiment provides a blinking device suitable for a robot, comprising:

[0006] A drive device mounting seat;

[0007] Eyelids, including a left upper eyelid and a right upper eyelid, two ends of which are rotatably mounted on a drive device mounting seat;

[0008] A rotating shaft is arranged between the left upper eyelid and the right upper eyelid, and two ends of the rotating shaft are respectively fixedly connected to the left upper eyelid and the right upper eyelid;

[0009] And a driving device is installed on the driving device mounting seat and is contact-connected with the rotating shaft to drive the rotating shaft to rotate.

[0010] Further, it also includes a return spring;

[0011] The driving device comprises a motor and a cam, the motor is mounted on a driving device mounting seat, and the cam is mounted on an output shaft of the motor;

[0012] The rotating shaft includes connecting parts at two ends and a bending part in the middle, the rotation centers of the connecting parts at two ends are on a straight line, and the bending part can rotate around the connecting parts at two ends; the connecting parts at two ends are respectively connected to the left upper eyelid and the right upper eyelid, and the bending part is located above the cam;

[0013] One end of the return spring is fixedly mounted on the drive device mounting seat, and the other end is mounted on the bent portion of the rotating shaft. The return spring is in a stretched state, and the tension of the return spring causes the bent portion of the rotating shaft to always contact the cam.

[0014] Furthermore, the thickness of the cam is greater than or equal to the distance that the bending portion of the rotating shaft moves along the axial direction of the motor during the swinging process.

[0015] Furthermore, the connecting ends at both ends of the rotating shaft are rotatably mounted on the driving device mounting seat respectively.

[0016] Furthermore, it also includes an eyelid mounting seat, which includes a left eyelid mounting seat and a right eyelid mounting seat, and the left eyelid mounting seat and the right eyelid mounting seat are respectively fixedly mounted on the driving device mounting seat; the left end of the left upper eyelid is rotatably mounted on the left eyelid mounting seat through a pin shaft, and the right end of the left upper eyelid is fixedly connected to the connecting part of the rotating shaft; the right end of the right upper eyelid is rotatably mounted on the right eyelid mounting seat through a pin shaft, and the left end of the right upper eyelid is fixedly connected to the connecting part of the rotating shaft.

[0017] Furthermore, the eyelids also include a left lower eyelid and a right lower eyelid, a left gear set is provided between the left upper eyelid and the left lower eyelid, and a right gear set is provided between the right upper eyelid and the right lower eyelid; the two ends of the left lower eyelid and the right lower eyelid are respectively rotatably mounted on a driving device mounting seat, the left gear set drives the left upper eyelid and the left lower eyelid to be connected together, and the left upper eyelid and the left lower eyelid rotate in opposite directions, and the right gear set drives the right upper eyelid and the right lower eyelid to be connected together, and the right upper eyelid and the right lower eyelid rotate in the same direction.

[0018] Further, the left gear group includes an upper left gear and a lower left gear meshed together, and the right gear group includes an upper right gear and a lower right gear meshed together; the left end of the left lower eyelid is rotatably mounted on the left eyelid mounting seat through a pin shaft, and the right end of the left lower eyelid is rotatably mounted on the driving device mounting seat through a pin shaft, the lower left gear is fixed on the pin shaft at the right end of the left lower eyelid, and the upper left gear is fixed on the connecting part of the right end of the left upper eyelid; the right end of the right lower eyelid is rotatably mounted on the right eyelid mounting seat through a pin shaft, and the left end of the right lower eyelid is rotatably mounted on the driving device mounting seat through a pin shaft, the lower right gear is fixed on the pin shaft at the left end of the right lower eyelid, and the upper right gear is fixed on the connecting part of the left end of the right upper eyelid.

[0019] Furthermore, the drive device mounting base includes a base plate and two side plates vertically fixed in the middle of the base plate; the motor is fixedly mounted on the base plate, and the motor is located in the middle of the two side plates, the connecting parts at both ends of the rotating shaft are respectively rotatably mounted on the two side plates, the right end of the left lower eyelid and the right lower eyelid are respectively rotatably mounted on the side plates through pins, and one end of the return spring is fixedly mounted on the side plate.

[0020] Furthermore, the left eyelid mounting seat and the right eyelid mounting seat are respectively vertically fixed on two ends of the bottom plate.

[0021] In other embodiments, a control device is further included. The control device is installed in the head shell and is electrically connected to the motor to control the rotation of the motor.

[0022] Furthermore, there is also a sensing device, which is installed on the driving device mounting seat and is electrically connected to the control device. The sensing device is used to sense movements outside the pet's eye field and generate a sensing signal based on the sensing movement and send it to the control device. The control device controls the motor to rotate based on the sensing signal to achieve blinking.

[0023] Furthermore, the motor is a micro DC motor.

[0024] On the other hand, another embodiment provides a pet robot, comprising:

[0025] Head shell;

[0026] And the above-mentioned blinking device suitable for a robot, wherein the blinking device is installed in the head shell.

[0027] According to the blinking device suitable for robots and the pet robot according to the above-mentioned embodiments, the blinking device suitable for robots connects the left upper eyelid and the right upper eyelid together through a rotating shaft, and the rotating shaft rotates under the action of a driving device, and the rotating shaft drives the left upper eyelid and the right upper eyelid to blink simultaneously. The robot with the simultaneous blinking function is more lively, and the entertainment and agility of the robot are increased; the pet robot equipped with the blinking device can achieve synchronous blinking, making the pet robot more entertaining and bionic. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] Figure 1 A schematic diagram of the structure of a blinking device suitable for a robot in one embodiment;

[0029] Figure 2 is a schematic structural diagram of a blinking device suitable for a robot in another embodiment;

[0030] Figure 3 is a structural block diagram of a blinking device suitable for a robot in another embodiment;

[0031] Figure 4 A partial front view of a pet robot in one embodiment;

[0032] Figure 5 A partial rear view of a pet robot in one embodiment. DETAILED DESCRIPTION

[0033] The present invention will be further described in detail below through specific implementation modes in conjunction with the accompanying drawings.

[0034] Embodiment 1:

[0035] In this embodiment, a blinking device suitable for a robot is provided. The device is mainly installed on a pet robot, or a robot with other appearances, such as a human robot or a cartoon character robot, etc. The robot is equipped with a built-in blinking device, so that the robot has the function of blinking simultaneously.

[0036] like Figure 1 As shown, the blinking device suitable for the robot mainly includes an eyelid 2, a rotating shaft 3, a driving device 4, a reset spring 5, a driving device mounting seat 6 and an eyelid mounting seat 7.

[0037] The drive device mounting seat 6 includes a bottom plate 61 and two side plates 62 . The two side plates 62 are vertically fixed in the middle of the bottom plate 61 , and there is a preset distance between the two side plates 62 .

[0038] The eyelid 2 includes a left upper eyelid 21 and a right upper eyelid 22, which are rotatably mounted on a drive device mounting seat 6. Specifically, the eyelid mounting seat 7 includes a left eyelid mounting seat 71 and a right eyelid mounting seat 72, which are vertically fixed at both ends of the bottom plate 61, respectively. The left side of the left upper eyelid 21 is rotatably mounted on the left eyelid mounting seat 71 through a pin, and the right side of the right upper eyelid 21 is rotatably mounted on the right eyelid mounting seat 72 through a pin. The left upper eyelid 21 and the right upper eyelid 22 are connected together by a rotating shaft 3, and the rotating shaft 3 is rotatably mounted on two side plates 62. Finally, the left upper eyelid 21 and the right upper eyelid 22 form a rotatable structure. The rotating shaft 3 includes connecting parts 31 at both ends and a bending part 32 in the middle. The rotation centers of the connecting parts 31 at both ends are on a straight line. The bending part 32 can rotate around the connecting parts 31 at both ends. The bending part 32 forms a force arm that can drive the connecting part 31 to rotate, that is, the rotating shaft 3 is a crankshaft. The connecting parts 31 at both ends of the rotating shaft 3 are rotatably mounted on the two side plates 62, and are respectively connected to the right end of the left upper eyelid 21 and the left end of the right upper eyelid 22. The rotation of the rotating shaft 3 drives the left upper eyelid 21 and the right upper eyelid 22 to blink synchronously.

[0039] The driving device 4 includes a motor 41 and a cam 42. The motor 41 is a micro DC motor. The micro DC motor has the characteristics of small size, large output torque and easy control. It can be installed on a robot with a small size and can achieve blinking slowly and quickly. The motor 41 is installed on the base plate 61, and the cam 42 is installed on the output shaft of the motor 41. Under the drive of the motor 41, the cam 42 rotates periodically. The bending portion 32 of the rotating shaft 3 is located at the upper end of the cam 42, and the bending portion 32 always keeps in contact with the upper end of the cam 42 to form a contact connection. The cam 42 can drive the bending portion 32 to rotate periodically. In order to ensure that the bending portion 32 can always be in contact with the cam 42, the thickness of the cam 42 is greater than or equal to the distance moved by the bending portion 32 in the axial direction of the motor 41 during the swinging process, that is, when the robot is in a standing state, the bending portion 32 moves forward and backward during the up and down swinging process.

[0040] In order to make the bending part 32 have the ability to reset, a reset spring 5 is added. One end of the reset spring 5 is fixedly mounted on the side plate 62, and the other end is fixedly mounted on the bending part 32. The reset spring 5 is in a stretched state, so under the pulling force of the reset spring 5, the bending part 32 always keeps in contact with the cam 42. When the cam 42 drives the bending part 32 to swing upward, the reset spring 5 drives the bending part 32 to swing downward, realizing the up and down reciprocating swing of the bending part 32, and finally making the eyelid 2 blink up and down synchronously. In other embodiments, the reset spring 5 includes two, which are respectively arranged at both ends of the bending part 32, so that the bending part 32 has a more balanced restoring force and the swing of the bending part 32 is more stable.

[0041] The principle of synchronized blinking of the blinking device of the robot in this embodiment is as follows: the motor 41 drives the cam 42 to rotate, the cam 42 drives the bending part 32 to swing upward, the bending part 32 drives the connecting parts 31 at both ends to rotate simultaneously, and the connecting parts 31 at both ends drive the left upper eyelid 21 and the right upper eyelid 22 to rotate downward at the same time to achieve closing the eyes; then the cam 42 continues to rotate, the reset spring 5 drives the bending part 32 to swing downward, and the connecting parts 31 at both ends drive the left upper eyelid 21 and the right upper eyelid 22 to rotate upward at the same time to achieve opening the eyes. The combination of the above two actions, one closing and one opening, forms a blink, and it is set that the motor 41 drives the cam 4 to rotate one circle to complete a blink. The speed of blinking can be achieved by programming the control device, and the control device controls the voltage of the motor 41 to control the rotation speed of the motor 41 to achieve the frequency of blinking.

[0042] The present embodiment provides a blinking device suitable for a robot. The left upper eyelid 21 and the right upper eyelid 22 are connected together by a rotating shaft 3, and the rotating shaft 3 and the cam 42 are always kept in contact under the action of a reset spring 5, so that the rotating shaft 3 swings up and down along the outer contour of the cam under the drive of a motor, and finally drives the left upper eyelid 21 and the right upper eyelid 22 to blink at the same time. The robot with the blinking device is more lively, and the entertainment and bionics of the robot are increased.

[0043] Embodiment 2:

[0044] The blinking device suitable for a robot provided in this embodiment adds a lower eyelid on the basis of the above embodiment, and blinking is completed by rotating the upper and lower eyelids at the same time, making the blinking of the pet robot more vivid and dexterous.

[0045] like Figure 2 As shown, the eyelid 2 of a blinking device suitable for a robot provided in this embodiment also includes a left lower eyelid 23 and a right lower eyelid 24. In order to make the upper and lower eyelids rotate simultaneously, a left gear set 8 is provided between the left upper eyelid 21 and the left lower eyelid 23, and a right gear set (not shown in the figure) is provided between the right upper eyelid 22 and the right lower eyelid 24; the left gear set 8 includes an upper left gear and a lower left gear meshed together, and the right gear set includes an upper right gear and a lower right gear meshed together.

[0046] The left end of the left lower eyelid 23 is rotatably mounted on the left eyelid mounting seat 71 through a pin shaft, and the right end of the left lower eyelid 23 is rotatably mounted on the driving device mounting seat 6 through a pin shaft. The lower left gear is fixed on the pin shaft at the right end of the left lower eyelid 23, and the upper left gear is fixed on the connecting part 31 at the right end of the left upper eyelid 21. The upper left gear is meshed with the lower left gear up and down, and the upper left gear drives the lower left gear shaft, so that the upper left eyelid 21 and the lower left eyelid 23 rotate in opposite directions, thereby realizing the simultaneous closing and opening of the upper left eyelid 21 and the lower left eyelid 23.

[0047] The right end of the right lower eyelid 24 is rotatably mounted on the right eyelid mounting seat 72 through a pin shaft, and the left end of the right lower eyelid 24 is rotatably mounted on the driving device mounting seat 6 through a pin shaft. The right lower gear is fixed on the pin shaft at the left end of the right lower eyelid 24, and the right upper gear is fixed on the connecting part 31 at the left end of the right upper eyelid 22. That is, the right upper eyelid 22 and the right lower eyelid 24 rotate in opposite directions, and finally the four eyelids on the left and right sides blink up and down at the same time.

[0048] The present embodiment provides a blinking device suitable for a robot. Since the eyelids have left and right lower eyelids and left and right upper eyelids, and through the setting of left and right gear sets, the left and right gear sets drive the left and right lower eyelids and the left and right upper eyelids to rotate synchronously and blink, making the robot's blinking more vivid and dexterous.

[0049] Embodiment three:

[0050] This embodiment provides a blinking device suitable for a robot, which adds a control device 9 and a sensor device 10 on the basis of the first or second embodiment.

[0051] The control device 9 is mounted on the drive device mounting seat 6, and specifically, the control device 9 is fixedly mounted on the bottom plate 61. The sensor device 10 is mounted on the head shell of the robot, and specifically, the sensor device 10 is mounted on the robot eye. Figure 3 As shown, the control device 9 is electrically connected to the motor 41 and the sensor device 10 respectively. The sensor device 10 is a microwave sensor or an infrared sensor, which is used to sense the movement within the field of view of the pet's eyes, and generates a sensing signal according to the sensing movement and sends it to the control device 9. The control device 9 controls the motor to rotate according to the sensing signal to achieve blinking. In other embodiments, the sensor device 10 is installed at other positions outside the robot's eyes to sense other movements outside the robot's field of view, thereby improving the robot's perception ability.

[0052] The blinking device of the present embodiment comprises a control device 9 and a sensor device 10. The blinking device can trigger the blinking device person to blink through gestures or other actions, thereby making the robot more intelligent and more humane.

[0053] Embodiment 4:

[0054] This embodiment provides a pet robot, which has the appearance of a penguin. The pet robot can also be other animals, such as a puppy, a kitten, or other pet robot.

[0055] like Figure 4 and Figure 5 As shown, the penguin robot includes a head shell 1 and the blinking device of the above embodiment. The penguin robot has eyelids that can blink up and down at the same time, which makes the penguin robot's expression richer and improves its ability to interact with people. The penguin robot has higher agility, entertainment and bionics.

[0056] The drive device mounting seat 6 is inside the head shell 1. In other embodiments, the drive device mounting seat 6 and the eyelid mounting seat 7 are an integrated structure with the head shell 1, that is, the drive device mounting seat 6 and the eyelid mounting seat 7 are part of the head shell 1, and the eyelid 2, the rotating shaft 3, the drive device 4, and the return spring 5 are directly mounted on the head shell 1.

[0057] The above specific examples are used to illustrate the present invention, which is only used to help understand the present invention and is not intended to limit the present invention. For those skilled in the art, according to the concept of the present invention, some simple deductions, modifications or substitutions can be made.

Claims

1. A blinking device suitable for a robot, characterized in that: include: A drive device mounting seat; Eyelids, including a left upper eyelid and a right upper eyelid, both ends of which are rotatably mounted on the drive device mounting seat; A rotating shaft, the rotating shaft comprises connecting parts at two ends and a bending part in the middle, the rotation centers of the connecting parts at two ends are on a straight line, and the bending part can rotate around the connecting parts; the connecting parts at two ends are respectively connected to the left upper eyelid and the right upper eyelid; A driving device, the driving device comprising a motor and a cam, the motor being mounted on the driving device mounting seat, the cam being mounted on the output shaft of the motor, the cam being in contact connection with the rotating shaft to drive the rotating shaft to rotate; and A return spring, wherein the return spring is mounted on the bent portion of the rotating shaft, the return spring is in a stretched state, and the tension of the return spring causes the bent portion of the rotating shaft to always contact the cam; When the cam drives the bending part to swing upward, the return spring drives the bending part to swing downward, so that the bending part swings back and forth up and down, and finally the left upper eyelid and the right upper eyelid blink synchronously up and down.

2. The blinking device suitable for a robot as claimed in claim 1, characterized in that: The thickness of the cam is greater than or equal to the distance that the bent portion of the rotating shaft moves along the axial direction of the motor during the swinging process.

3. The blinking device suitable for a robot as claimed in claim 2, characterized in that: The connecting ends at both ends of the rotating shaft are rotatably mounted on the driving device mounting seat respectively.

4. The blinking device suitable for a robot as claimed in claim 3, characterized in that: It also includes an eyelid mounting seat, which includes a left eyelid mounting seat and a right eyelid mounting seat, and the left eyelid mounting seat and the right eyelid mounting seat are respectively fixedly mounted on the driving device mounting seat; the left end of the left upper eyelid is rotatably mounted on the left eyelid mounting seat through a pin shaft, and the right end of the left upper eyelid is fixedly connected to the connecting part of the rotating shaft; the right end of the right upper eyelid is rotatably mounted on the right eyelid mounting seat through a pin shaft, and the left end of the right upper eyelid is fixedly connected to the connecting part of the rotating shaft.

5. The blinking device suitable for a robot as claimed in claim 4, characterized in that: The eyelids also include a left lower eyelid and a right lower eyelid, a left gear set is provided between the left upper eyelid and the left lower eyelid, and a right gear set is provided between the right upper eyelid and the right lower eyelid; the two ends of the left lower eyelid and the right lower eyelid are respectively rotatably mounted on the driving device mounting seat, the left gear set drives the left upper eyelid and the left lower eyelid to be connected together, and the left upper eyelid and the left lower eyelid rotate in opposite directions, and the right gear set drives the right upper eyelid and the right lower eyelid to be connected together, and the right upper eyelid and the right lower eyelid rotate in the same direction.

6. The blinking device suitable for a robot as claimed in claim 5, characterized in that: The left gear group includes an upper left gear and a lower left gear meshed together, and the right gear group includes an upper right gear and a lower right gear meshed together; the left end of the left lower eyelid is rotatably mounted on the left eyelid mounting seat through a pin shaft, and the right end of the left lower eyelid is rotatably mounted on the driving device mounting seat through a pin shaft, the lower left gear is fixed to the pin shaft at the right end of the left lower eyelid, and the upper left gear is fixed to the connecting part at the right end of the left upper eyelid; the right end of the right lower eyelid is rotatably mounted on the right eyelid mounting seat through a pin shaft, and the left end of the right lower eyelid is rotatably mounted on the driving device mounting seat through a pin shaft, the lower right gear is fixed to the pin shaft at the left end of the right lower eyelid, and the upper right gear is fixed to the connecting part at the left end of the right upper eyelid.

7. The blinking device suitable for a robot as claimed in claim 6, characterized in that: The drive device mounting base includes a base plate and two side plates vertically fixed in the middle of the base plate; the motor is fixedly mounted on the base plate, and the motor is located in the middle of the two side plates, the connecting parts at both ends of the rotating shaft are rotatably mounted on the two side plates respectively, the right end of the left lower eyelid and the right lower eyelid are rotatably mounted on the side plates respectively through pins, and one end of the return spring is fixedly mounted on the side plates.

8. The blinking device suitable for a robot as claimed in claim 7, characterized in that: The left eyelid mounting seat and the right eyelid mounting seat are respectively vertically fixed on the two ends of the bottom plate.

9. The blinking device suitable for a robot according to any one of claims 1 to 8, characterized in that: It also includes a control device, which is installed on the driving device mounting seat and is electrically connected to the motor to control the rotation of the motor.

10. The blinking device suitable for a robot as claimed in claim 9, characterized in that: It also includes a sensor device, which is installed on the driving device mounting seat and is electrically connected to the control device. The sensor device is used to sense movements outside the robot's field of view, generate a sensing signal based on the sensed movement and send it to the control device, and the control device controls the motor to rotate based on the sensing signal to achieve blinking.

11. The blinking device suitable for a robot as claimed in claim 10, characterized in that: The motor is a micro DC motor.

12. A pet robot, characterized in that: include: Head shell; And a blinking device suitable for a robot according to any one of claims 1 to 11, wherein the blinking device is installed in the head shell.

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