Simulation robot for simulating trigger operation

Abstract

The utility model discloses a simulation robot of simulating trigger operation, including: trunk mechanism, arm mechanism, neck mechanism, head mechanism and actuating mechanism, the arm mechanism and the neck mechanism are both connected to the trunk mechanism, the head mechanism is connected to the neck mechanism, the actuating mechanism is arranged on one side of the trunk mechanism, the actuating mechanism is arranged on the other side of the trunk mechanism, and the actuating mechanism is arranged on the other side of the trunk mechanism. And the executing mechanism is in transmission connection with the arm mechanism. According to the mode, the executing mechanism drives the follow-up joints in the arm mechanism to move, the action of triggering operation of the robot is simulated, the arm mechanism is in linkage action with the neck mechanism and the head mechanism, interaction between the robot and tourists is achieved, and the participation sense and immersion sense of the tourists are improved.

Description

Technical Field

[0001] The utility model relates to the technical field of simulation robots, in particular to a simulation robot capable of simulating trigger operations. Background Art

[0002] With the continuous advancement of technology and the increasing demand for entertainment experiences from consumers, the development trend of theme parks is gradually shifting towards a more personalized, interactive, and immersive experience. In immersive experiences that combine the real and the virtual with a complete storyline, specific plots require visitors to provide certain prompts or guidance to ensure that their attention remains synchronized with the storyline. In existing immersive experience projects, voice prompts are often used to guide visitors and help them understand the storyline. However, due to the lack of visual and physical interaction, visitors' attention is easily distracted, resulting in a lack of synchronization with the main storyline. At the same time, single voice prompts cannot create a realistic and rich sensory experience, and cannot fully mobilize visitors' emotions, resulting in visitors not being able to obtain an immersive experience. Utility Model Content

[0003] The purpose of the utility model is to overcome the deficiencies of the prior art and provide a simulation robot that simulates triggering operations.

[0004] The utility model is achieved through the following technical solutions:

[0005] The utility model proposes a simulation robot for simulating trigger operations, comprising: a torso mechanism, an arm mechanism, a neck mechanism, a head mechanism and an actuator, wherein the arm mechanism and the neck mechanism are both connected to the torso mechanism, the head mechanism is connected to the neck mechanism, the actuator is arranged on one side of the torso mechanism, and the actuator is transmission-connected to the arm mechanism.

[0006] Furthermore, the arm mechanism includes: a left-hand component and a right-hand component, the left-hand component is connected to one side of the trunk mechanism, the right-hand component is connected to the other side of the trunk mechanism, and the actuator is transmission-connected to the left-hand component.

[0007] Furthermore, the left-hand component includes: a connecting base, a first connecting arm and a second connecting arm; the connecting base is connected to the torso mechanism, the first connecting arm is rotatably connected to the connecting base, one end of the second connecting arm is rotatably connected to the first connecting arm, and the rotation direction of the first connecting arm is perpendicular to the rotation direction of the second connecting arm, and the other end of the second connecting arm is transmission-connected to the actuator.

[0008] Furthermore, the actuator includes: a knife support seat, a knife drive motor and a knife, the knife drive motor is fixed to the knife support seat, the knife drive motor is transmission connected to the knife, and the knife is transmission connected to the second connecting arm.

[0009] Furthermore, the right hand component includes: a shoulder component and an elbow component, the shoulder component is connected to the torso mechanism, and the elbow component is transmission-connected to the shoulder component.

[0010] Furthermore, the shoulder component includes: a shoulder swing motor seat, a shoulder swing drive motor, a shoulder twist motor seat, a shoulder twist drive motor and a shoulder-elbow connecting rod, the shoulder swing motor seat is installed on the torso mechanism, the shoulder swing drive motor is fixed to the shoulder swing motor seat, the shoulder twist motor seat is transmission-connected to the shoulder swing drive motor, the shoulder twist drive motor is fixed to the shoulder twist motor seat, one end of the shoulder-elbow connecting rod is transmission-connected to the shoulder twist drive motor, and the other end of the shoulder-elbow connecting rod is connected to the elbow component.

[0011] Furthermore, the elbow component includes: an elbow motor seat, an elbow drive motor, an elbow output frame and a palm connecting piece, the elbow motor seat is connected to the shoulder-elbow connecting rod, the elbow drive motor is fixed to the elbow motor seat, one end of the elbow output frame is transmission-connected to the elbow drive motor, and the other end of the elbow output frame is connected to the palm connecting piece.

[0012] Furthermore, the neck mechanism includes: a neck twisting motor seat, a neck twisting drive motor, a neck pitching motor seat, a neck pitching drive motor, a neck pitching output frame and a neck pitching connecting plate, the neck twisting motor seat is connected to the torso mechanism, the neck twisting drive motor is fixed to the neck twisting motor seat, the neck pitching motor seat is transmission connected to the neck twisting drive motor, the neck pitching drive motor is fixed to the neck pitching motor seat, one end of the neck pitching output frame is transmission connected to the neck pitching drive motor, the other end of the neck pitching output frame is the neck pitching connecting plate, and the head mechanism is transmission connected to the neck pitching connecting plate.

[0013] Furthermore, the head mechanism includes: a mouth assembly and an eye assembly, the mouth assembly is transmission-connected to the neck pitch connecting plate, the eye assembly is connected to the mouth assembly, the mouth assembly includes a mouth opening and closing motor seat, a mouth opening and closing drive motor, a mouth opening and closing output frame, a mouth opening and closing connecting frame and a mouth opening and closing auxiliary frame, the mouth opening and closing motor seat is transmission-connected to the neck pitch connecting plate, the mouth opening and closing drive motor is fixed to the mouth opening and closing motor seat, the mouth opening and closing output frame is transmission-connected to the mouth opening and closing drive motor, the mouth opening and closing auxiliary frame is rotatably connected to the mouth opening and closing motor seat, one side of the mouth opening and closing connecting frame is connected to the mouth opening and closing auxiliary frame, and the other side of the mouth opening and closing connecting frame is connected to the mouth opening and closing output frame.

[0014] Furthermore, the eye assembly includes: a blinking base, a blinking drive motor, a blinking output structure, a blinking bearing seat, a blinking axis, eyelids and eyeballs, the blinking base is connected to the top of the mouth opening and closing motor seat, the blinking drive motor and the blinking bearing seat are both fixed to the blinking base, eyeball mounting seats are provided on both sides of the blinking bearing seat, the eyeballs are mounted on the eyeball mounting seats, the blinking axis is passed through the blinking bearing seat, eyelid mounting seats are provided at both ends of the blinking axis, the eyelids are mounted on the eyelid mounting seats, one end of the blinking output structure is transmission connected to the blinking drive motor, and the other end of the blinking output structure is transmission connected to the blinking axis.

[0015] Beneficial effects of the utility model:

[0016] Compared with the existing technology, the simulation robot with simulated trigger operation proposed in the utility model has an actuator that drives the movement of each follower joint in the arm mechanism, simulating the action of the robot trigger operation. The arm mechanism is linked with the neck mechanism and the head mechanism to realize the interaction between the robot and tourists, thereby enhancing the tourists' sense of participation and immersion.

[0017] The above description is only an overview of the technical solution of the present invention. In order to more clearly understand the technical means of the present invention, it can be implemented in accordance with the contents of the specification. In addition, in order to make the above and other purposes, features and advantages of the present invention more obvious and easy to understand, the following preferred embodiments are specifically cited and described in detail as follows. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 This is a schematic diagram of the overall structure of a simulation robot that simulates triggering operations proposed in an embodiment of the utility model;

[0019] Figure 2 A schematic diagram of an application scenario of a simulation robot for simulating triggering operations proposed in an embodiment of the present utility model;

[0020] Figure 3 This is a schematic diagram of the internal structure of an actuator in a simulation robot for simulating trigger operations proposed in an embodiment of the present utility model;

[0021] Figure 4 A schematic structural diagram of the right-hand component of a simulation robot for simulating triggering operation proposed in an embodiment of the present utility model;

[0022] Figure 5 This is a schematic structural diagram of a left-hand component in a simulation robot for simulating triggering operations proposed in an embodiment of the present utility model;

[0023] Figure 6 This is a schematic diagram of the neck mechanism structure of a simulation robot for simulating triggering operation proposed in an embodiment of the present utility model;

[0024] Figure 7 This is a schematic diagram of the head mechanism structure of a simulation robot for simulating trigger operations proposed in an embodiment of the utility model.

[0025] Description of reference numerals:

[0026] 10. Head mechanism; 11. Mouth assembly; 111. Mouth opening and closing motor seat; 112. Mouth opening and closing drive motor; 113. Mouth opening and closing output frame; 114. Mouth opening and closing connecting frame; 115. Mouth opening and closing auxiliary frame; 12. Eye assembly; 121. Blinking base; 122. Blinking drive motor; 123. Blinking output structure; 1231. Blinking crank; 1232. Blinking connecting rod; 1233. Blinking swing rod; 124. Blinking bearing seat; 125. Eyeball mounting seat; 126. Blinking axis; 127. Eyelid mounting seat; 128. Eyelid; 129. Eyeball; 20. Neck mechanism; 21. Neck twisting motor seat; 22. Neck twisting drive motor; 23. Neck pitching motor seat; 24. Neck pitching drive motor; 25. Neck pitching output frame; 28. Neck pitching Upward connecting plate; 30. Arm mechanism; 31. Left hand assembly; 311. Connecting seat; 312. First connecting arm; 313. Second connecting arm; 32. Right hand assembly; 321. Shoulder member; 3211. Shoulder swing motor seat; 3212. Shoulder swing drive motor; 3213. Shoulder twist motor seat; 3214. Shoulder twist drive motor; 3215. Shoulder-elbow connecting rod; 322. Elbow member; 3221. Elbow motor seat; 3222. Elbow drive motor; 3223. Elbow output frame; 3234. Palm connecting piece; 40. Torso mechanism; 41. Base; 42. Support frame; 50. Leg mechanism; 51. Left leg assembly; 52. Right leg assembly; 60. Actuator; 61. Blade support seat; 62. Blade drive motor; 63. Blade; 70. Housing. DETAILED DESCRIPTION

[0027] In order to make the purpose, technical solutions and advantages of the present invention more clear, the present invention will be further described in detail below with reference to the accompanying drawings and specific implementation methods.

[0028] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the embodiments described are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without making creative efforts shall fall within the scope of protection of the present invention.

[0029] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise" and the like indicate orientations or positional relationships based on the orientations or positional relationships described in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present invention.

[0030] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of the technical features being referred to. Thus, a feature specified as "first" or "second" may explicitly or implicitly include one or more of such features. In the description of this utility model, "plurality" means two or more, unless otherwise specifically defined.

[0031] In this utility model, unless otherwise specified or limited, the terms "installed," "connected," "connect," "fixed," etc. should be understood in a broad sense. For example, they can refer to connection, detachable connection, or integration; mechanical connection or electrical connection; direct connection or indirect connection through an intermediate medium; internal communication between two components or interaction between two components. For those skilled in the art, the specific meanings of the above terms in this utility model can be understood according to specific circumstances.

[0032] In the present invention, unless otherwise expressly specified or limited, a first feature being "above" or "below" a second feature may include the first and second features being in direct contact, or may include the first and second features being in contact not directly but through another feature between them. Moreover, a first feature being "above," "above," and "above" a second feature may include the first feature being directly above or obliquely above the second feature, or may simply mean that the first feature is higher in level than the second feature. A first feature being "below," "below," and "below" a second feature may include the first feature being directly below or obliquely below the second feature, or may simply mean that the first feature is lower in level than the second feature.

[0033] In the description of this specification, the reference terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" mean that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic expressions of the above terms should not be understood as necessarily referring to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art can combine and combine the different embodiments or examples described in this specification.

[0034] See also Figures 1 to 7 The utility model proposes a simulation robot for simulating trigger operations, comprising: a trunk mechanism 40, an arm mechanism 30, a neck mechanism 20, a head mechanism 10 and an actuator 60, wherein the arm mechanism 30 and the neck mechanism 20 are both connected to the trunk mechanism 40, the head mechanism 10 is connected to the neck mechanism 20, and the actuator 60 is arranged on one side of the trunk mechanism, and the actuator 60 is connected to the arm mechanism 30 through transmission.

[0035] In this embodiment, the arm mechanism 30 , the neck mechanism 20 , the head mechanism 10 and the actuator 60 are all controlled by a control system.

[0036] In this embodiment, see Figure 1 and Figure 2 The torso mechanism 40 consists of a base 41 and a support frame 42. The base 41 is installed on the ground. The lower end of the support frame 42 is connected to the base 41. The neck mechanism 20 and the arm mechanism 30 are both connected to the upper end of the support frame 42. The base 41 is fixed on the ground to provide stable support; the lower end of the support frame 42 is connected to the base 41, and the upper end is connected to the neck mechanism 20 and the arm mechanism 30, simulating human movements and enhancing the interactivity between the robot and tourists.

[0037] In actual use, when the robot conveys to visitors the information that an action is about to be triggered, the actuator 60 drives the various follower joints in the arm mechanism 30 to move, simulating the robot's triggering action. At the same time, the head mechanism 10 is connected to the neck mechanism 20 through a transmission mechanism. The neck mechanism 20 is mounted above the torso mechanism 40, and the head mechanism 10 is connected to the upper end of the neck mechanism 20. This allows the arm mechanism 30 to move in conjunction with the neck mechanism 20 and the head mechanism 10, reducing the robot's mechanical feel and making it more like a living character. The neck mechanism 20 can drive the head mechanism 10 to twist and pitch, and the head mechanism 10 can blink and open and close its mouth, making the robot's movements more realistic, reducing the mechanical feel, enhancing affinity, and improving visitors' sense of participation and immersion.

[0038] In this example, see Figure 1 and Figure 2 The simulation robot that simulates trigger operation also includes: a leg mechanism 50, the leg mechanism 50 includes: a left leg component 51 and a right leg component 52, the left leg component 51 and the right leg component 52 are respectively connected to the two sides of the lower end of the support frame 42, making the robot more realistic, reducing the mechanical feel, and improving the robot's affinity.

[0039] In this example, if Figure 2 As shown, after appropriately adding detailed skeleton structures and covering with a shell 70, the posture of the simulated robot in the figure can be presented.

[0040] The simulated robot with simulated trigger operation proposed in this embodiment has an actuator 60 that drives the movement of each follower joint in the arm mechanism 30 to simulate the action of the robot trigger operation. The arm mechanism 30 is linked with the neck mechanism 20 and the head mechanism 10 to realize the interaction between the robot and tourists, thereby enhancing the tourists' sense of participation and immersion.

[0041] See also Figure 1 and Figure 2 The arm mechanism 30 includes: a left hand component 31 and a right hand component 32, the left hand component 31 is connected to one side of the trunk mechanism 40, the right hand component 32 is connected to the other side of the trunk mechanism 40, and the actuator 60 is transmission-connected to the left hand component 31.

[0042] Specifically, the left-hand assembly 31 is connected to one side of the trunk mechanism 40, and the right-hand assembly 32 is connected to the other side. The robot mimics human two-handed manipulation, making it more engaging for visitors. The right-hand assembly 32 can perform shoulder swings, shoulder twists, and elbow swings. The actuator 60 drives the follower joints in the left-hand assembly 31 to simulate the actions that trigger the robot's operation, making the robot's movements more realistic and enhancing visitors' immersive experience.

[0043] See also Figure 1 、 Figure 2 and Figure 5 The left-hand component 31 includes: a connecting base 311, a first connecting arm 312 and a second connecting arm 313; the connecting base 311 is connected to the torso mechanism 40, the first connecting arm 312 is rotatably connected to the connecting base 311, one end of the second connecting arm 313 is rotatably connected to the first connecting arm 312, and the rotation direction of the first connecting arm 312 is perpendicular to the rotation direction of the second connecting arm 313, and the other end of the second connecting arm 313 is transmission-connected to the actuator 60.

[0044] Specifically, the actuator 60 drives the first connecting arm 312 to move, thereby driving the entire left-hand component 31 to move, so as to simulate the action of triggering the robot triggering operation, thereby enhancing the robot's action performance ability and realism.

[0045] See also Figures 1 to 3 The actuator 60 includes: a knife support seat 61, a knife drive motor 62 and a knife 63. The knife drive motor 62 is fixed to the knife support seat 61. The knife drive motor 62 is transmission-connected to the knife 63. The knife 63 is transmission-connected to the second connecting arm 313.

[0046] Specifically, the knife drive motor 62 drives the knife 63 to move, synchronously drives the second connecting arm 313 to move, and then drives the entire left-hand component 31 to move, so as to simulate the action of triggering the robot triggering operation, making the robot's action more realistic and enhancing the tourists' immersive experience.

[0047] See also Figure 1 、 Figure 2 and Figure 4 The right hand component 32 includes: a shoulder component 321 and an elbow component 322 , the shoulder component 321 is connected to the trunk mechanism 40 , and the elbow component 322 is transmission-connected to the shoulder component 321 .

[0048] Specifically, the shoulder component 321 drives the elbow component 322 to move, thereby realizing the shoulder swinging, shoulder twisting, and elbow swinging movements of the right hand component 21, making the robot's movements more realistic, reducing the mechanical feel, and enhancing the tourists' immersive experience.

[0049] Please refer again Figure 4The shoulder component 321 includes: a shoulder swing motor seat 3211, a shoulder swing drive motor 3212, a shoulder twist motor seat 3213, a shoulder twist drive motor 3214 and a shoulder-elbow connecting rod 3215. The shoulder swing motor seat 3211 is installed on the torso mechanism 40, the shoulder swing drive motor 3212 is fixed to the shoulder swing motor seat 3211, the shoulder twist motor seat 3213 is transmission-connected to the shoulder swing drive motor 3212, the shoulder twist drive motor 3214 is fixed to the shoulder twist motor seat 3213, one end of the shoulder-elbow connecting rod 3215 is transmission-connected to the shoulder twist drive motor 3214, and the other end of the shoulder-elbow connecting rod 3215 is connected to the elbow component 322.

[0050] Specifically, the shoulder swing drive motor 3212 drives the shoulder twist motor base 3213 to swing, while the shoulder twist drive motor 3214 drives the shoulder-elbow connecting rod 3215 to twist, thereby achieving the simulated triggering operation of the simulated robot's shoulder swing and twisting motion. Through the design of the motor drive and transmission connecting rod, the robot's shoulder can simulate the movement of a human shoulder, thereby enhancing the robot's performance and realism.

[0051] Please refer again Figure 4 The elbow component 322 includes: an elbow motor seat 3221, an elbow drive motor 3222, an elbow output frame 3223 and a palm connecting piece 3234. The elbow motor seat 3221 is connected to the shoulder-elbow connecting rod 3215, the elbow drive motor 3222 is fixed to the elbow motor seat 3221, one end of the elbow output frame 3223 is transmission-connected to the elbow drive motor 3222, and the other end of the elbow output frame 3223 is connected to the palm connecting piece 3234.

[0052] Specifically, the elbow drive motor 3222 rotates the elbow output frame 3223, which in turn drives the palm connector 3234, thereby driving the robot's hand. Through the design of the motor drive and transmission connection, the robot's hand can simulate the movements of a human hand, thereby enhancing the robot's interactive capabilities.

[0053] See also Figure 1 、 Figure 2 and Figure 6The neck mechanism 20 includes: a neck twisting motor seat 21, a neck twisting drive motor 22, a neck pitching motor seat 23, a neck pitching drive motor 24, a neck pitching output frame 25 and a neck pitching connecting plate 28. The neck twisting motor seat 21 is connected to the torso mechanism 40, the neck twisting drive motor 22 is fixed to the neck twisting motor seat 21, the neck pitching motor seat 23 is transmission connected to the neck twisting drive motor 22, the neck pitching drive motor 24 is fixed to the neck pitching motor seat 23, one end of the neck pitching output frame 25 is transmission connected to the neck pitching drive motor 24, the other end of the neck pitching output frame 25 is the neck pitching connecting plate 28, and the head mechanism 10 is transmission connected to the neck pitching connecting plate 28.

[0054] Specifically, the neck twist drive motor 22 rotates the neck pitch motor mount 23, while the neck pitch drive motor 24 pitches the neck pitch output frame 25 and the neck pitch connection plate 28, thereby driving the head mechanism 10 to twist and pitch, simulating the neck motion of the trigger-activated robot. Through the design of the motor drive and transmission connection, the robot's neck can simulate the motion of a human neck, thereby enhancing the robot's posture changes and interactive capabilities.

[0055] See also Figure 1 、 Figure 2 and Figure 7 The head mechanism 10 includes: a mouth assembly 11 and an eye assembly 12, the mouth assembly 11 is transmission-connected to the neck pitch connecting plate 28, the eye assembly 12 is connected to the mouth assembly 11, the mouth assembly 11 includes a mouth opening and closing motor base 111, a mouth opening and closing drive motor 112, a mouth opening and closing output frame 113, a mouth opening and closing connecting frame 114 and a mouth opening and closing auxiliary frame 115, the mouth opening and closing motor base 111 is transmission-connected to the neck pitch connecting plate 28, the mouth opening and closing drive motor 112 is fixed to the mouth opening and closing motor base 111, the mouth opening and closing output frame 113 is transmission-connected to the mouth opening and closing drive motor 112, the mouth opening and closing auxiliary frame 115 is rotationally connected to the mouth opening and closing motor base 111, one side of the mouth opening and closing connecting frame 114 is connected to the mouth opening and closing auxiliary frame 115, and the other side of the mouth opening and closing connecting frame 114 is connected to the mouth opening and closing output frame 113.

[0056] Specifically, the mouth opening and closing drive motor 112 drives the mouth opening and closing output frame 113 to rotate, and the mouth opening and closing output frame 113 drives the mouth opening and closing connecting frame 114 to open and close, thereby realizing the mouth opening and closing movement. The mouth opening and closing auxiliary frame 115 is rotatably connected to the mouth opening and closing motor base 111. One side of the mouth opening and closing connecting frame 114 is connected to the mouth opening and closing auxiliary frame 115, and the other side of the mouth opening and closing connecting frame 114 is connected to the mouth opening and closing output frame 113. When the mouth opening and closing output frame 113 drives the mouth opening and closing connecting frame 114 to open and close, the mouth opening and closing auxiliary frame 115 plays a guiding and supporting role, allowing the robot to maintain balance and stability when performing the mouth opening and closing movement.

[0057] Please refer again Figure 7 The eye assembly 12 includes: a blinking base 121, a blinking drive motor 122, a blinking output structure 123, a blinking bearing seat 124, a blinking axis 126, an eyelid 128 and an eyeball 129. The blinking base 121 is connected to the top of the mouth opening and closing motor seat 111, the blinking drive motor 122 and the blinking bearing seat 124 are both fixed to the blinking base 121, and eyeball mounting seats 125 are provided on both sides of the blinking bearing seat 124. The eyeball 129 is installed on the eyeball mounting seat 125, the blinking axis 126 is passed through the blinking bearing seat 124, and eyelid mounting seats 127 are provided at both ends of the blinking axis 126. The eyelid 128 is installed on the eyelid mounting seat 127. One end of the blinking output structure 123 is transmission connected to the blinking drive motor 122, and the other end of the blinking output structure 123 is transmission connected to the blinking axis 126.

[0058] Specifically, the eyeball mounting seat 125 is fixed to the blink bearing seat 124, and the eyeball 129 is mounted on the eyeball mounting seat 125, that is, the eyeball 129 is stationary; the eyelid mounting seat 127 is fixed to the blink axis 126, and the eyelid mounting seat 127 is located above the eyeball mounting seat 125, that is, the eyelid 128 is located above the eyeball 129, and the eyelid 128 moves up and down along the eyeball 129. The blinking drive motor 122 drives the blinking output structure 123 to rotate, the blinking output structure 123 drives the blinking axis 126 to rotate, the blinking axis 126 drives the eyelid mounting seat 127 to move, and the eyelids 128 synchronously follow the movement of the eyelid mounting seat 127, thereby realizing the blinking action of both eyes; that is, the blinking and gazing movement of the robot's eyes is realized. Through the design of the motor drive and transmission connection, the robot's eyes can simulate the blinking and gazing movement of human eyes, thereby enhancing the robot's realism and expressiveness. For the simulation robot that simulates trigger operation, this improves its application effects in communication, performance, and emotional communication, making it more humane and attractive.

[0059] In this embodiment, if Figure 7As shown, the blinking output structure 123 includes: a blinking crank 1231, a blinking connecting rod 1232 and a blinking rocker 1233. The blinking crank is connected to the blinking drive motor 122, one end of the blinking connecting rod 1232 is connected to the blinking crank 1231, and the other end of the blinking connecting rod 1232 is connected to the blinking rocker 1233. The blinking rocker 1233 is connected to the blinking shaft 126 in a transmission connection. When the blinking crank 1231 and the blinking connecting rod 1232 of the blinking drive motor 122 move, the blinking rocker 1233 will drive the blinking shaft 126 to move up and down, thereby realizing the opening and closing of the eyelids 128.

[0060] Compared with the existing technology, the simulated robot with simulated trigger operation proposed in the utility model has an actuator 60 that drives the movement of each follower joint in the arm mechanism 30, simulating the action of the robot trigger operation. The arm mechanism 30 is linked with the neck mechanism 20 and the head mechanism 10 to realize the interaction between the robot and tourists, thereby enhancing the tourists' sense of participation and immersion.

[0061] The above description is merely a specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any person skilled in the art can easily conceive of various equivalent modifications or substitutions within the technical scope disclosed in the present invention, and such modifications or substitutions are intended to be within the scope of protection of the present invention. Therefore, the scope of protection of the present invention shall be subject to the scope of protection of the claims.

Claims

1. A simulation robot for simulating trigger operation, characterized in that: include: A trunk mechanism, an arm mechanism, a neck mechanism, a head mechanism and an actuator, wherein the arm mechanism and the neck mechanism are both connected to the trunk mechanism, the head mechanism is connected to the neck mechanism, the actuator is arranged on one side of the trunk mechanism, and the actuator is transmission-connected to the arm mechanism.

2. The simulation robot for simulating trigger operation according to claim 1, characterized in that: The arm mechanism includes: a left-hand component and a right-hand component, the left-hand component is connected to one side of the trunk mechanism, the right-hand component is connected to the other side of the trunk mechanism, and the actuator is in transmission connection with the left-hand component.

3. The simulation robot for simulating trigger operation according to claim 2, characterized in that: The left-hand component includes: a connecting base, a first connecting arm and a second connecting arm; the connecting base is connected to the torso mechanism, the first connecting arm is rotatably connected to the connecting base, one end of the second connecting arm is rotatably connected to the first connecting arm, and the rotation direction of the first connecting arm is perpendicular to the rotation direction of the second connecting arm, and the other end of the second connecting arm is transmission-connected to the actuator.

4. The simulation robot for simulating trigger operation according to claim 3, characterized in that: The actuator includes: a knife support seat, a knife drive motor and a knife. The knife drive motor is fixed to the knife support seat, the knife drive motor is transmission-connected to the knife, and the knife is transmission-connected to the second connecting arm.

5. The simulation robot for simulating trigger operation according to claim 2, characterized in that: The right hand component includes: a shoulder component and an elbow component, the shoulder component is connected to the trunk mechanism, and the elbow component is transmission-connected to the shoulder component.

6. The simulation robot for simulating trigger operation according to claim 5, characterized in that: The shoulder component includes: a shoulder swing motor seat, a shoulder swing drive motor, a shoulder twist motor seat, a shoulder twist drive motor and a shoulder-elbow connecting rod. The shoulder swing motor seat is installed on the torso mechanism, the shoulder swing drive motor is fixed to the shoulder swing motor seat, the shoulder twist motor seat is transmission-connected to the shoulder swing drive motor, the shoulder twist drive motor is fixed to the shoulder twist motor seat, one end of the shoulder-elbow connecting rod is transmission-connected to the shoulder twist drive motor, and the other end of the shoulder-elbow connecting rod is connected to the elbow component.

7. The simulation robot for simulating trigger operation according to claim 6, characterized in that: The elbow component includes: an elbow motor seat, an elbow drive motor, an elbow output frame and a palm connecting piece. The elbow motor seat is connected to the shoulder-elbow connecting rod, the elbow drive motor is fixed to the elbow motor seat, one end of the elbow output frame is transmission-connected to the elbow drive motor, and the other end of the elbow output frame is connected to the palm connecting piece.

8. The simulation robot for simulating trigger operation according to claim 1, characterized in that: The neck mechanism includes: a neck twist motor seat, a neck twist drive motor, a neck pitch motor seat, a neck pitch drive motor, a neck pitch output frame and a neck pitch connecting plate. The neck twist motor seat is connected to the torso mechanism, the neck twist drive motor is fixed to the neck twist motor seat, the neck pitch motor seat is transmission connected to the neck twist drive motor, the neck pitch drive motor is fixed to the neck pitch motor seat, one end of the neck pitch output frame is transmission connected to the neck pitch drive motor, the other end of the neck pitch output frame is the neck pitch connecting plate, and the head mechanism is transmission connected to the neck pitch connecting plate.

9. The simulation robot for simulating trigger operation according to claim 8, characterized in that: The head mechanism includes: a mouth assembly and an eye assembly, the mouth assembly is transmission-connected to the neck pitch connecting plate, the eye assembly is connected to the mouth assembly, the mouth assembly includes a mouth opening and closing motor base, a mouth opening and closing drive motor, a mouth opening and closing output frame, a mouth opening and closing connecting frame and a mouth opening and closing auxiliary frame, the mouth opening and closing motor base is transmission-connected to the neck pitch connecting plate, the mouth opening and closing drive motor is fixed to the mouth opening and closing motor base, the mouth opening and closing output frame is transmission-connected to the mouth opening and closing drive motor, the mouth opening and closing auxiliary frame is rotationally connected to the mouth opening and closing motor base, one side of the mouth opening and closing connecting frame is connected to the mouth opening and closing auxiliary frame, and the other side of the mouth opening and closing connecting frame is connected to the mouth opening and closing output frame.

10. The simulation robot for simulating trigger operation according to claim 9, characterized in that: The eye assembly includes: a blinking base, a blinking drive motor, a blinking output structure, a blinking bearing seat, a blinking axis, eyelids and eyeballs. The blinking base is connected to the top of the mouth opening and closing motor seat, the blinking drive motor and the blinking bearing seat are both fixed to the blinking base, eyeball mounting seats are provided on both sides of the blinking bearing seat, the eyeballs are mounted on the eyeball mounting seats, the blinking axis is passed through the blinking bearing seat, eyelid mounting seats are provided at both ends of the blinking axis, the eyelids are mounted on the eyelid mounting seats, one end of the blinking output structure is transmission connected to the blinking drive motor, and the other end of the blinking output structure is transmission connected to the blinking axis.

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