CN102698442B - Artificial eye for medical simulator - Google Patents
Artificial eye for medical simulator Download PDFInfo
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- CN102698442B CN102698442B CN201210163320.XA CN201210163320A CN102698442B CN 102698442 B CN102698442 B CN 102698442B CN 201210163320 A CN201210163320 A CN 201210163320A CN 102698442 B CN102698442 B CN 102698442B
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Abstract
The invention discloses an artificial eye for a medical simulator, wherein drive motors and bracket plates for a winking transmission mechanism and a pupil changing mechanism are fixed on a base. The winking drive motor drives eyelids to wink by a crank rocker transmission mechanism. The pupil drive motor is arranged on the pupil changing mechanism inside an eyeball to achieve pupil change; a pupil size position judging mechanism is connected on the pupil changing mechanism; and a pupil light sensitive mechanism is further connected inside the pupil changing mechanism. The eyeball is connected with the base by the bracket plates. The artificial eye integrates a winking function with a pupil changing function, has a simple and compact structure, and reliable transmission effects; and a control system for controlling the motor to rotate is added on the subsequent part, so as to achieve simulation effects including a function of winking according to different frequencies, and a function of changing the size of the pupil according to interferences of external factors. The artificial eye can be used as an artificial eye for the medical simulator, or an artificial eye for a human-like robot.
Description
Technical field
The present invention relates to a kind of simulation technical field, specifically, what relate to is a kind of Medical simulator artificial eye, comprise automatically, the function that manually nictation and pupil size change, be for Medical simulator that medical simulation is used designs a set of artificial eye mechanism, can be used as other classes humanoid robot as artificial eye simultaneously.
Background technology
Medical simulation eyes mechanism, learning of medicine researcher can be passed through the prior input program of modal patient in study pathology chamber, and then presents certain pathological characters, facilitates student to improve the understanding of pathological characters and grasp.Artificial eye is the most important part of modal patient's face and even head, and a lot of pathology is all to make corresponding judgement by the feature of inspection human eye, especially observes the size of pupil, and medical worker can obtain a lot of pathological informations.
Up to the present, had much for the dummy robot of different purposes and the artificial eye on some toys at home and abroad, had the design of many different types of artificial eyes.From currently available technology, be all to only have simple function substantially, possess the patent of nictation and pupil zoom function seldom simultaneously.Wherein, for nictation mechanism, be mainly roughly divided into that two kinds of methods realize, a kind of is the mode realizing by drives-mechanical mechanism of motor, and another kind is the mode of employing solenoid actuated.Two kinds of mode comparisons, motor-driven mode takes up room larger, but the stability of mechanism and reliability are all more intense, interference is less, the space that solenoid actuated takies is little, but is easily subject to external interference, stability and reliability a little less than.And implementation nictation of a lot of patents is that eyeball links together with eyelid, so simulated effect distortion.Function nictation in design of the present invention is to select to adopt the mode of motor-mechanical mechanism.
Find by literature search, Chinese Patent Application No.: 200920034455.X, this patented technology discloses a kind of high emulation performance robot blink transmission mechanism, main by driving mechanism and be arranged on CD-ROM drive motor and eyelid between transmission mechanism.Its transmission mechanism advantage is that eyelid is separated with eyeball, transmission separately, can reach good simulated effect, but also there is following shortcoming simultaneously, its mechanism is comparatively complicated, and connecting rod component number is numerous, and shared volume is bigger than normal, the distance of transmission is longer, and reliability and stability at work can not well guarantee.
For artificial eye pupil zoom function, for Medical simulator, observe the size of pupil, medical worker can obtain a lot of pathological informations, and has the dummy robot of pupil zoom function, this function can be enriched robot and change function, the variation of simulation people's physiological function.Can obtain higher emulation.According to domestic and international existing patent, the main mode realizing is also diversified.Mainly contain by liquid crystal display, or the form of off-color material, these implementations need to be subject to material or environmental limit, can not guarantee reliability.The present invention will adopt a kind of new implementation, realizes the zoom function of pupil by the mode of mechanical mechanism.
Find by literature search, Chinese Patent Application No.: 200910303816.0 (publication number 101934150A), this patented technology discloses a kind of pupil imitation mechanism, this invention employing be that mode by mechanical mechanism realizes pupil zoom function.Its driving mechanism, substrate, and a plurality of blade.Described substrate comprises a plurality of by the pin-joint mechanism of circular arrangement, a plurality of blades can be around the substrate center of circle interlaced overlapping Wei Cheng Kong dress in order, each blade comprises free end and link, linkage section is connected with the pin-jointed structure of substrate, and the turning cylinder of each blade link is the circumference of substrate, and the free end of a plurality of blades surrounds a circular hole, driving mechanism can promote a plurality of blade links and rotate around turning cylinder, so each blade just opens around circumference pin-jointed structure, in driving mechanism, comprising magnet can restore the blade opening simultaneously, so just reach the effect that pupil size changes.The advantage of this invention is the implementation that has adopted mechanical mechanism, is not subject to the impact of material and environment, and shortcoming is that the circular hole due to pupil is the free end of blade, and blade is just simply by magnet adsorption, and comparatively loose between blade and blade, simulated effect is poor.This mechanism can not control the size that pupil convergent-divergent dwindles accurately simultaneously, and the scope of convergent-divergent is also restricted, can not simulate the excursion of normal person's pupil 1-9mm completely.
Summary of the invention
The object of the invention is to the deficiency for existing artificial eye, provide a kind of have both simultaneously nictation function and pupil change the artificial eye of function, compact conformation, mechanism is simple, manufactures processing easy for installation.In outward appearance and size, have higher similitude with true man's eyes, simulated effect is good.
The present invention is achieved by the following technical solutions, the present invention includes: base, eyeball, blink transmission mechanism, pupil changeable mechanism, pupil size position judgment mechanism and pupil sensitization mechanism, wherein: described base is provided with the slotted eye for mounted motor and fixed support plate, the drive motors of described blink transmission mechanism and pupil changeable mechanism and supporting plate are fixed on described base; Described eyeball is connected with described base by supporting plate, and it is inner that described pupil changeable mechanism is installed on described eyeball; Drive motors process crank rocker transmission mechanism nictation of described blink transmission mechanism, is transferred to eyelid and realizes nictation; The pupil drive motors drive installation of described pupil changeable mechanism realizes pupil in the pupil changeable mechanism of eyeball inside and changes; Described pupil size position judgment mechanism is connected with pupil changeable mechanism, and described pupil changeable mechanism inside is provided with pupil sensitization mechanism.
Further, described blink transmission mechanism comprises: the first stepper motor, gear wheel, pinion, two miniature bearings, pinion shaft, gear shaft supporting plate, crank cap, crank pin, crank sleeve, crank, connecting rod, pitman pin, eyelid, eyelid bearing pin, eyeball supporting plate.Connected mode is: the first stepper motor is fixed on base, and the gear wheel of speed increasing gear is directly enclosed within on the motor shaft of the first stepper motor, and pinion is arranged on pinion shaft, and described pinion shaft is fixed in the miniature bearing in gear shaft supporting plate.Motor is transferred to crank after speedup, crank one end is by crank cap and pinion shaft tight fit, the other end of crank coordinates with connecting rod one end by crank pin, the other end of connecting rod coordinates by pitman pin with eyelid, and being radially through on eyelid bearing pin of eyelid, eyelid bearing pin is fixed on eyeball supporting plate.Said crank, connecting rod, eyelid and each bearing pin (crank pin, pitman pin, eyelid bearing pin) just form the blink transmission mechanism of a crank rocker.The first stepping electric machine rotation of blink transmission mechanism, through speed increasing gear to (gear wheel, pinion) speedup after, drive crank to rotate, the eyelid of this crank and rocker mechanism just swings back and forth, and so completes the action of nictation.
Further, described pupil changeable mechanism comprises: the second stepper motor, and moving rotating disk, blade, determines rotating disk, price fixing pin.Connected mode is: moving rotating disk is that one end is a disk, and the other end is the part of a long cylinder, is equidistantly equipped with 12 grooves on disk, and long cylinder middle part is equipped with a hole as follow-up photosensitive resistance lead outlet.Long cylinder is enclosed within on the second stepping motor axle, determine, on the circumference equidistant position of rotating disk, four price fixing pin are housed, described price fixing pin be four with the block of step, four blocks are fixed on and are determined rotating disk in circumferential edge by splicing, during installation, four blocks will entangle moving rotating disk, determine to stretch out in addition two symmetrical small boss in the circumferential edge of rotating disk, described small boss inserts in the inside groove of eyeball, for to determining rotating disk location.The disk of moving rotating disk has four equidistant projections on circumference.Moving rotating disk is enclosed within and is fixed between 4 price fixing pin determining on rotating disk.The small clevis pin with head of 12 blade one sides is inserted in respectively in 12 apertures determining rotating disk, and the small clevis pin with head of another side is inserted in respectively in the individual groove of moving rotating disk.
The implementation that pupil of the present invention changes function is: pupil changeable mechanism drives by the second stepper motor, and described the second stepping driven by motor is moved rotating disk, and described moving rotating disk drives 12 blade rotation again.12 described blades are circular arc-shaped metal sheets that respectively there is a small clevis pin with head on two sides.Wherein the small clevis pin with head of one side is inserted in 12 apertures determining rotating disk, and the small clevis pin with head of another side is inserted in 12 grooves of moving rotating disk.12 grooves of described moving rotating disk affect 12 blades that are attached thereto, 12 described blades rotate around the blade small clevis pin with head being inserted in 12 apertures determining on rotating disk respectively, the Circularhole diameter being formed by the interior arc envelope of 12 blades changes along with the rotation of 12 blades, and the circular hole that described interior arc envelope forms is exactly pupil of the present invention.When the second stepping motor positive and inverse, just can realize the big or small variation function of pupil.This mechanism also also has moving dial rotation scope is carried out to spacing function determining rotating disk, is determining, on the circumferential position of rotating disk, four price fixing pin that are equally spaced are housed, and the disk of moving rotating disk has four equidistant projections on circumference.Moving rotating disk is enclosed within four price fixing pin.No matter moving rotating disk rotates according to both forward and reverse directions, while turning to certain angle, four the symmetrical projections of described moving rotating disk disk on circumference are encountered on four price fixing pin that are fixed in the circumference symmetric position of determining rotating disk, mechanism just cannot rotate, thereby realized the function that moving rotating disk can only rotate in certain angle, now, pupil also can only change size within the specific limits.And the present invention is by the size of the interior circular arc of blade is set, and moving rotating disk projection, the size of price fixing pin are set.The scope that obtains the rotation of moving rotating disk forward or reversion is all 80 °, and the size variation scope of pupil is 1-9mm.This setting has not only guaranteed can to simulate the pupil of normal eye by artificial eye, and to change size be the excursion of 1-9mm, and avoided the excessive angle of electric machine rotation and cause the destruction to mechanism.
Further, described pupil size position judgment mechanism comprises: cam, microswitch, holding screw.Cam is to be fixedly connected with moving rotating disk by a holding screw, and microswitch is arranged on eyeball, is just in time positioned at the below of cam.Cam is followed moving rotating disk and is rotated together, when pupil size is 1mm, moving rotating disk just forwards the position that can just contact microswitch to moving cam, this microswitch can produce a signal, be delivered in follow-up control system, thereby be pupil minimum position when judgement the second stepper motor forwards this position to.
Further, described pupil sensitization mechanism comprises: Moving plate lid, photo resistance.Described Moving plate lid Shi Yige center is equipped with the roundel in hole, described Moving plate lid is contained in moving center of turntable hole by interference fit and locates, described photo resistance comprises sensitization part and lead end, photo resistance photographic department is divided in described Moving plate lid central hole, draw in the hole of the driven rotating disk of lead end of photo resistance, and lead wire outlet with glue sealing, drives inner photo resistance to rotate again during anti-stop dial rotation, cause that wiring the end of a thread is loosening, cause loose contact.When the external world has while entering pupil compared with intense light source direct projection, photo resistance is also subject to the effect of external optical signals, so produce a signal, be sent to subsequent control system, control system, by controlling rotation direction and the rotational angle of the second stepper motor, diminishes pupil.From realizing this mechanism, to environment, sensitization causes the analogue simulation effect that pupil changes.
Nictation of the present invention, function, was by driving mechanism nictation, drove blink transmission mechanism, an i.e. crank and rocker mechanism, when described nictation, driving mechanism drove crank to rotate, rocking bar, be eyelid, can reciprocally shake certain angle, thereby realize eyelid action nictation.This mechanism has simple in structure, easy for installation, and the advantage that transmission is reliable for effect can effectively solve the mechanism's volume of blinking in existing robot excessive, the problem of transmission poor effect.
Pupil of the present invention changes function, to change driving mechanism by pupil, the second stepper motor drives, moving rotating disk described in described the second stepping driven by motor, moving rotating disk affects 12 blades that are attached thereto to rotate around being inserted in the small clevis pin with head of determining in rotating disk aperture, the Circularhole diameter that 12 blade envelopes form changes along with the rotation of blade, when stepper motor rotating, just can realize the big or small variation function of pupil.This mechanism can also carry out spacingly by determining rotating disk to the slewing area of moving rotating disk, thereby avoided electric machine rotation to cross wide-angle, destroy mechanism.The cam of pupil size position judgment mechanism, when pupil size is 1mm, just contacts microswitch, and this microswitch can produce a signal, is delivered in follow-up control system, thereby is pupil minimum position when judgement motor forwards this position to.
The above-mentioned pupil of the present invention changes realization and controlling organization has the following advantages: small volume, only need take part eyeball internal volume; Transmission mechanism is simple, and functional reliability is strong, and limited location device all on the extreme position of moving rotating disk rotating can protection mechanism; It is convenient to control, and can arbitrarily control the size of pupil when motor positive and inverse by controlling the angle of electric machine rotation.
To sum up, set function nictation of the present invention and pupil change function at one on the whole, have simple and compact for structure, the advantage that transmission is reliable for effect, as long as increasing by one at further part just can realize eyes are blinked according to different frequency the control system of electric machine rotation, pupil is subject to interior extraneous factor affect and the analogue simulation effect that pupil size changes these two functions occurs, and can be used as Medical simulator artificial eye, or as class humanoid robot artificial eye.
Accompanying drawing explanation
Fig. 1 general structure lateral side view of the present invention;
Fig. 2 general illustration front view of the present invention;
Fig. 3 the present invention remove after base and the second stepper motor nictation mechanism lateral side view and side view;
The three-dimensional side view of the pupil mechanism after Fig. 4 the present invention partly cuts open eyeball;
The explosive view one of Fig. 5 pupil of the present invention mechanism;
The explosive view two of Fig. 6 pupil of the present invention mechanism;
The assembling schematic diagram of Fig. 7 pupil mechanism blade of the present invention;
The overall schematic of Fig. 8 pupil of the present invention mechanism;
The side cutaway view of Fig. 9 pupil of the present invention mechanism;
Figure 10 pupil of the present invention mechanism removes eyeball and determines the front view after rotating disk;
In Fig. 1: base 1, eyeball 2, blink transmission mechanism 3, pupil changeable mechanism 4, pupil size position judgment mechanism 5, pupil sensitization mechanism 6 (being positioned at pupil changeable mechanism 4 inside);
The first stepper motor 3-1, gear wheel 3-2, pinion 3-3, miniature bearing 3-4, gear shaft supporting plate 3-5, pinion shaft 3-6, crank cap 3-7, crank pin 3-8, crank sleeve 3-9, crank 3-10, connecting rod 3-11, pitman pin 3-12, eyelid 3-13, eyelid bearing pin 3-14, eyeball supporting plate 3-15, the second stepper motor 4-1, moving rotating disk 4-2, blade 4-3, determines rotating disk 4-4, price fixing pin 4-5, cam 5-1, microswitch 5-3, holding screw 5-2, Moving plate lid 6-1, photo resistance 6-2.
The specific embodiment
Below embodiments of the invention are elaborated, the present embodiment be take technical solution of the present invention and is implemented as prerequisite, provided detailed embodiment and concrete operating process, but protection scope of the present invention is not limited to following embodiment.
As shown in Figure 1: the present invention includes: base 1, eyeball 2, blink transmission mechanism 3, pupil changeable mechanism 4,, separately there is pupil sensitization mechanism 6 (cannot find out in the figure, this mechanism is in pupil changeable mechanism 4 inside) in pupil size position judgment mechanism 5.Base 1, eyeball 2, blink transmission mechanism 3, pupil changeable mechanism 4, pupil size position judgment mechanism 5 and pupil sensitization mechanism 6, wherein: described base 1 is provided with the slotted eye for mounted motor and fixed support plate, the drive motors of described blink transmission mechanism 3 and pupil changeable mechanism and supporting plate are fixed on described base 1; Described eyeball 2 is connected with described base 1 by supporting plate, and described pupil changeable mechanism 4 is installed on described eyeball 2 inside; Drive motors process crank rocker transmission mechanism nictation of described blink transmission mechanism 3, is transferred to eyelid and realizes nictation; The pupil drive motors drive installation of described pupil changeable mechanism 4 realizes pupil in the pupil changeable mechanism of eyeball 2 inside and changes; Described pupil size position judgment mechanism 5 is connected with described pupil changeable mechanism 4, and described pupil changeable mechanism 4 inside are provided with pupil sensitization mechanism 6.
Eyeball 2 is the semi-round balls that inside is got through, and outer surface painted white, and hole and groove are got for pupil changeable mechanism is installed in inside.
As shown in Figure 2, in the present embodiment, two functions of nictation mechanism and pupil mechanism are put together.On base 1, dig and be useful on installation stepper motor: the first stepper motor 3-1, the second stepper motor 4-1 and gear shaft supporting plate 3-5, the slotted eye of eyeball supporting plate 3-15, is connected and described supporting plate and described base are modes by interference fit.Blink transmission mechanism 3 Hes, the motor of the driving mechanism of pupil changeable mechanism 4 is also by inserted base groove, and fixing by motor fixture and base 1.The drive motors first stepper motor 3-1 of blink transmission mechanism 3 is fixed on base 1, and motor is through large pinion mate (3-2 and 3-3), and crank 3-10 and connecting rod 3-11 are transferred to eyelid 3-13.The drive motors second stepper motor 4-1 of pupil changeable mechanism 4 is fixed on base 1, and pupil changing unit is installed in eyeball 2.Eyeball 2 is fastened on eyeball supporting plate 3-15 by eyelid bearing pin 3-14.Pupil size position judgment mechanism 5 is fixed on pupil changeable mechanism 4 by holding screw 5-2.Pupil sensitization mechanism 6 is installed on the moving rotating disk 4-2 inside of pupil changeable mechanism 4.
As shown in Figure 3, blink transmission mechanism 3 comprises: the first stepper motor 3-1, gear wheel 3-2, pinion 3-3, two miniature bearing 3-4, gear shaft supporting plate 3-5, pinion shaft 3-6, crank cap 3-7, crank pin 3-8, crank sleeve 3-9, crank 3-10, connecting rod 3-11, pitman pin 3-12, eyelid 3-13, eyelid bearing pin 3-14, eyeball supporting plate 3-15.Because the present invention is for cost-saving, so select the most cheap stepper motor, in order to make up the deficiency of this motor on rotating speed is lower, so increase a pair of speed increasing gear to (gear wheel 3-2, pinion 3-3) speedup, improve blink speed.Connected mode is: the first stepper motor 3-1 is fixed on base 1, the gear wheel 3-2 of speed increasing gear is directly enclosed within on the motor shaft 3-1a of the first stepper motor 3-1, it is upper that pinion 3-3 is arranged on pinion shaft 3-6, and described pinion shaft 3-6 is fixed in two miniature bearing 3-4 in gear shaft supporting plate 3-5.Motor is transferred to crank 3-10 after speedup, crank one end 3-10a is by crank cap 3-7 and pinion shaft 3-6 tight fit, the other end 3-10b of crank coordinates with connecting rod one end 3-11a by crank pin 3-8, the other end 3-11b of connecting rod coordinates by pitman pin 3-12 with eyelid 3-13, and eyelid 3-13 is through eyelid bearing pin 3-14 above, eyelid bearing pin 3-14 is fixed on eyeball supporting plate 3-15.Said crank 3-10, connecting rod 3-11, eyelid 3-13 and each bearing pin (crank pin 3-8, pitman pin 3-12, eyelid bearing pin 3-14) just form the blink transmission mechanism 3 of a crank rocker.The first stepper motor 3-1 of blink transmission mechanism 3 rotates, through speed increasing gear to (gear wheel 3-2, pinion 3-3) speedup after, drive crank 3-10 to rotate, the eyelid 3-13 of this crank and rocker mechanism just swings back and forth, and so completes the action of nictation.
As Fig. 4, Fig. 5, shown in Fig. 6, pupil changeable mechanism 4 comprises: the second stepper motor 4-1, moving rotating disk 4-2, blade 4-3, determines rotating disk 4-4, price fixing pin 4-5.Connected mode is: moving rotating disk 4-2 is that one end is a disk 4-2a, and the other end is the part of a long cylinder 4-2b, is equidistantly equipped with 12 groove 4-2a2 on disk 4-2a, and long cylinder 4-2b middle part is equipped with a hole 4-2b1 as follow-up photosensitive resistance lead outlet.It is upper that long cylinder 4-2b is enclosed within the second stepper motor 4-1 motor shaft 4-1a, determine, on the circumference equidistant position of rotating disk 4-4, four price fixing pin 4-5 are housed, and moves rotating disk 4-2 and be enclosed within and be fixed between 4 price fixing pin 4-5 that determine on rotating disk 4-4.The small clevis pin with head 4-3b of 12 blade 4-3 one sides is inserted in respectively in 12 aperture 4-4b that determine rotating disk 4-4, and the small clevis pin with head 4-3a of another side is inserted in respectively in 12 groove 4-2a2 of moving rotating disk 4-2.
Described price fixing pin 4-5 is four blocks with step 4-5a (seeing Fig. 6), four blocks are fixed on and are determined rotating disk 4-4 in circumferential edge by splicing, during installation, four blocks will entangle moving rotating disk 4-2, determine to stretch out in addition two symmetrical small boss 4-4a in the circumferential edge of rotating disk 4-4, described small boss 4-4a inserts in the inside groove 2-1a of eyeball 2, for locating determining rotating disk.The disk 4-2a of moving rotating disk 4-2 has four equidistant projection 4-2a1 on circumference.
As Fig. 7, the arrangement of 12 blade 4-3 is as figure, and blade is a circular-arc foil, and two sides is welded with respectively a small clevis pin with head 4-3a, 4-3b.12 blade 4-3 stack gradually, and the envelope of the stacking formation of interior circular arc 4-3c of blade forms and is approximately a circular hole 4-3d, and this circumference is pupil of the present invention.
As shown in Figure 5,6, the implementation that pupil of the present invention changes function is: pupil changeable mechanism 4 drives by the second stepper motor 4-1, and described the second stepper motor 4-1 drives moving rotating disk 4-2, and described moving rotating disk drives 12 blade 4-3 to rotate again.12 described blade 4-3 are circular arc-shaped metal sheets that respectively there is a small clevis pin with head (4-3a and 4-3b) on two sides.Wherein the small clevis pin with head 4-3b of one side is inserted in 12 aperture 4-4b that determine rotating disk 4-4, and the small clevis pin with head 4-3a of another side is inserted in 12 groove 4-2a2 of moving rotating disk 4-2.12 groove 4-2a2 of described moving rotating disk 4-2 affect 12 blade 4-3 that are attached thereto, 12 described blade 4-3 rotate around the blade small clevis pin with head 4-3b being inserted in 12 aperture 4-4b that determine on rotating disk 4-4 respectively, the circular hole 4-3d diameter being formed by the interior circular arc 4-3c envelope of 12 blade 4-3 is along with the rotation of 12 blades change (seeing Fig. 7), and the circular hole 4-3d that described interior circular arc 4-3c envelope forms is exactly pupil of the present invention.When the second stepper motor 4-1 rotating, just can realize the big or small variation function of pupil.This mechanism also also has moving rotating disk 4-2 slewing area is carried out to spacing function determining rotating disk 4-4, and four price fixing pin 4-5 that are equally spaced are housed on the circumferential position of determining rotating disk 4-4, and the disk 4-2a of moving rotating disk 4-2 has four equidistant projection 4-2a1 on circumference.Moving rotating disk is enclosed within four price fixing pin.No matter moving rotating disk 4-2 rotates according to both forward and reverse directions, while turning to certain angle, four the symmetrical projection 4-2a1s of described moving rotating disk disk 4-2a on circumference meet on four price fixing pin 4-5 that are fixed in the circumference symmetric position of determining rotating disk 4-4, mechanism just cannot rotate, thereby realized the function that moving rotating disk 4-2 can only rotate in certain angle, now, pupil also can only change size within the specific limits.And the present invention is by the size of the interior circular arc 4-3c of blade 4-3 is set, and moving rotating disk projection 4-2a1, the size of price fixing pin 4-5 are set.The scope that obtains the rotation of moving rotating disk 4-2 forward or reversion is all 80 °, and the size variation scope of pupil is 1-9mm.This setting has not only guaranteed can to simulate the pupil of normal eye by artificial eye, and to change size be the excursion of 1-9mm, and avoided the excessive angle of electric machine rotation and cause the destruction to mechanism.
As Fig. 5, shown in Fig. 6, pupil size position judgment mechanism 5 comprises: cam 5-1, microswitch 5-3, holding screw 5-2.Cam 5-1 is fixedly connected with moving rotating disk 4-2 by a holding screw 5-2, and microswitch 5-3 is arranged on eyeball 2, is just in time positioned at the below of cam 5-1.Cam 5-1 follows moving rotating disk 4-2 and rotates together, when pupil size is 1mm, moving rotating disk 4-2 just forwards the position that can just contact microswitch 5-3 to moving cam 5-1, this microswitch 5-3 can produce a signal, be delivered in follow-up control system, thereby be pupil minimum position when judgement the second stepper motor 4-1 forwards this position to.
As Fig. 8, shown in 9,10, pupil sensitization of the present invention mechanism 6 comprises Moving plate lid 6-1, photo resistance 6-2.Described Moving plate lid 6-1 Shi Yige center is equipped with the roundel in hole, described Moving plate lid 6-1 is contained in moving 4-2a3 place, center of turntable hole (seeing Fig. 5) by interference fit, described photo resistance 6-2 comprises sensitization part 6-2a and lead end 6-2b, sensitization part 6-2a is contained in described Moving plate lid 6-1 centre bore 6-1a (seeing Fig. 6) and locates, the hole 4-2b1 of the driven rotating disk of lead end 6-2b draws, lead wire outlet seals 6-2b2 with glue again, anti-stop rotating disk 4-2 drives inner photo resistance 6-2 to rotate while rotating, cause that wiring the end of a thread is loosening, cause loose contact.The implementation of this function is: when the external world has while entering pupil compared with intense light source direct projection, photo resistance 6-2 is also subject to the effect of external optical signals, so produce a signal, be sent to subsequent control system, control system, by controlling rotation direction and the rotational angle of the second stepper motor 4-1, diminishes pupil.From realizing this mechanism, to environment, sensitization causes the analogue simulation effect that pupil changes.
Eyelid of the present invention practical function nictation has simple in structure, and the advantage that transmission is reliable for effect can effectively solve the mechanism's volume of blinking in existing robot excessive, the problem of transmission poor effect.Pupil change to be realized and controlling organization has the following advantages: 1. small volume, need take part eyeball internal volume; 2. transmission mechanism is simple, and functional reliability is strong, and limited location device all on the extreme position of determining rotating disk rotating can protection mechanism; 3. it is convenient to control, and can arbitrarily control the size of pupil when motor positive and inverse by controlling the angle of electric machine rotation; 4. have ambient light power is caused to the analogue simulation function that pupil changes.
The present invention can simulation eye normal eyelid function nictation, variation function with eye pupil size, comprise automatic control and be subject to the impact of extraneous factor and the variation that causes, as long as increase a control system of controlling electric machine rotation at further part, just can realize eyes are blinked according to different frequency, pupil is affected by interior extraneous factor and the analogue simulation effect that pupil size changes these two functions occurs.Can be used as emulated robot, a part for simulation organism.
Although content of the present invention has been done detailed introduction by above preferred embodiment, will be appreciated that above-mentioned description should not be considered to limitation of the present invention.Those skilled in the art, read after foregoing, for the multiple modification of way of realization of the present invention with to substitute will be all apparent.Therefore, protection scope of the present invention should be limited to the appended claims.
Claims (9)
1. a Medical simulator artificial eye, it is characterized in that comprising: base (1), eyeball (2), blink transmission mechanism (3), pupil changeable mechanism (4), pupil size position judgment mechanism (5) and pupil sensitization mechanism (6), wherein: described base (1) is provided with the slotted eye for mounted motor and fixed support plate, the drive motors of described blink transmission mechanism (3) and pupil changeable mechanism and supporting plate are fixed on described base (1); Described eyeball (2) is connected with described base (1) by supporting plate, and described pupil changeable mechanism (4) is installed on described eyeball (2) inside; Drive motors process crank rocker transmission mechanism nictation of described blink transmission mechanism (3), is transferred to eyelid and realizes nictation; The pupil drive motors drive installation of described pupil changeable mechanism (4) realizes pupil in the inner pupil changeable mechanism of eyeball (2) and changes; Described pupil size position judgment mechanism (5) is connected with described pupil changeable mechanism (4), and described pupil changeable mechanism (4) inside is provided with pupil sensitization mechanism (6);
Described pupil changeable mechanism (4) comprising: the second stepper motor (4-1), and moving rotating disk (4-2), blade (4-3), determines rotating disk (4-4) and price fixing pin (4-5), connected mode is: moving rotating disk (4-2) is that one end is a disk (4-2a), the other end is the part of a long cylinder (4-2b), on disk (4-2a), be equidistantly provided with 12 grooves, long cylinder (4-2b) middle part is provided with a hole (4-2b1) as follow-up photosensitive resistance lead outlet, long cylinder (4-2b) is enclosed within on the second stepper motor (4-1) motor shaft (4-1a), the circumference equidistant position of determining rotating disk (4-4) is provided with four price fixing pin (4-5), moving rotating disk (4-2) is enclosed within and is fixed between 4 price fixing pin (4-5) of determining on rotating disk (4-4), 12 blades (4-3) are that two sides respectively has a small clevis pin with head (4-3a, circular arc-shaped metal sheet 4-3b), the small clevis pin with head (4-3b) of 12 blades (4-3) one side is inserted in respectively in 12 apertures (4-4b) of determining rotating disk (4-4), the small clevis pin with head of another side (4-3a) is inserted in respectively in 12 grooves (4-2a2) of moving rotating disk (4-2).
2. Medical simulator artificial eye according to claim 1, it is characterized in that: described 12 blades (4-3) be arranged as blade overlapping arrangement successively, blade is a circular-arc foil, two sides is welded with respectively a small clevis pin with head (4-3a, 4-3b), 12 blades (4-3) stack gradually, and the envelope of the stacking formation of interior circular arc (4-3c) of blade forms and is approximately a circular hole (4-3d), and this circular hole is pupil.
3. Medical simulator artificial eye according to claim 2, it is characterized in that: described pupil changeable mechanism (4) drives by the second stepper motor (4-1), described the second stepper motor (4-1) drives moving rotating disk (4-2), and described moving rotating disk drives 12 blades (4-3) to rotate again; 12 grooves (4-2a2) of described moving rotating disk (4-2) affect 12 blades (4-3) that are attached thereto, described 12 blades (4-3) rotate around the blade small clevis pin with head (4-3b) being inserted in 12 apertures (4-4b) of determining on rotating disk (4-4) respectively, circular hole (4-3d) diameter being formed by interior circular arc (4-3c) envelope of 12 blades (4-3) changes along with the rotation of 12 blades, the circular hole (4-3d) that described interior circular arc (4-3c) envelope forms is exactly pupil, when the second stepper motor (4-1) rotating, just can realize the big or small variation function of pupil.
4. Medical simulator artificial eye according to claim 1, it is characterized in that: described price fixing pin (4-5) be four with the block of step (4-5a), four blocks are fixed on and are determined rotating disk (4-4) in circumferential edge by splicing, during installation, four blocks will entangle moving rotating disk (4-2), determine to stretch out in addition two symmetrical small boss (4-4a) in the circumferential edge of rotating disk (4-4), described small boss (4-4a) inserts in the inside groove (2-1a) of eyeball (2), for locating determining rotating disk; The disk (4-2a) of moving rotating disk (4-2) has four equidistant projections (4-2a1) on circumference; When moving rotating disk (4-2) turns an angle, four the symmetrical projections (4-2a1) of described moving rotating disk disk (4-2a) on circumference are encountered on four the price fixing pin (4-5) that are fixed in the circumference symmetric position of determining rotating disk (4-4), realization to moving rotating disk (4-2) slewing area carry out spacing, now, pupil also can only change size within the specific limits.
5. the Medical simulator artificial eye of stating according to claim 4, is characterized in that: the scope of the rotation of described moving rotating disk (4-2) forward or reversion is 80 °, and the size variation scope of pupil is 1-9mm.
6. according to the Medical simulator artificial eye described in claim 1-5 any one, it is characterized in that: described blink transmission mechanism (3) comprising: the first stepper motor (3-1), gear wheel (3-2), pinion (3-3), two miniature bearings (3-4), gear shaft supporting plate (3-5), pinion shaft (3-6), crank cap (3-7), crank pin (3-8), crank sleeve (3-9), crank (3-10), connecting rod (3-11), pitman pin (3-12), eyelid (3-13), eyelid bearing pin (3-14) and eyeball supporting plate (3-15), connected mode is: the first stepper motor (3-1) is fixed on base (1), the gear wheel of speed increasing gear (3-2) is directly enclosed within on the motor shaft (3-1a) of the first stepper motor (3-1), it is upper that pinion (3-3) is arranged on pinion shaft (3-6), and described pinion shaft (3-6) is fixed in two miniature bearings (3-4) in gear shaft supporting plate (3-5), motor is transferred to crank (3-10) after speedup, crank one end (3-10a) is by crank cap (3-7) and pinion shaft (3-6) tight fit, the other end of crank (3-10b) coordinates with connecting rod one end (3-11a) by crank pin (3-8), the other end of connecting rod (3-11b) coordinates by pitman pin (3-12) with eyelid (3-13), and eyelid (3-13) is through on eyelid bearing pin (3-14), eyelid bearing pin (3-14) is fixed on eyeball supporting plate (3-15), said crank (3-10), connecting rod (3-11), eyelid (3-13) and crank pin (3-8), pitman pin (3-12), eyelid bearing pin (3-14) just forms the blink transmission mechanism (3) of a crank rocker, first stepper motor (3-1) of blink transmission mechanism (3) rotates, through speed increasing gear to speedup after, drive crank (3-10) to rotate, the eyelid of this crank and rocker mechanism (3-13) just swings back and forth, and so completes the action of nictation.
7. according to the Medical simulator artificial eye described in claim 1-5 any one, it is characterized in that: described pupil size position judgment mechanism (5) comprising: cam (5-1), microswitch (5-3) and holding screw (5-2), cam (5-1) is to be fixedly connected with moving rotating disk (4-2) by a holding screw (5-2), microswitch (5-3) is arranged on eyeball (2), just in time be positioned at the below of cam (5-1), cam (5-1) is followed moving rotating disk (4-2) and is rotated together, when pupil size is setting value, moving rotating disk (4-2) just forwards the position that can just contact microswitch (5-3) to moving cam (5-1), this microswitch (5-3) produces a signal, be delivered in follow-up control system, thereby judgement the second stepper motor (4-1) is pupil minimum position while forwarding this position to.
8. according to the Medical simulator artificial eye described in claim 1-5 any one, it is characterized in that: described pupil sensitization mechanism (6) comprising: Moving plate lid (6-1) and photo resistance (6-2), the described porose roundel in Moving plate lid (6-1) Shi Yige center, described Moving plate lid (6-1) is contained in moving center of turntable hole (4-2a3) by interference fit and locates, described photo resistance (6-2) comprises sensitization part (6-2a) and lead end (6-2b), sensitization part (6-2a) is contained in described Moving plate lid (6-1) centre bore (6-1a) and locates, the driven rotating disk fairlead of lead end (6-2b) (4-2b1) is drawn, lead wire outlet seals with glue again, when the external world has while entering pupil compared with intense light source direct projection, photo resistance (6-2) is also subject to the effect of external optical signals, produce a signal and be sent to subsequent control system, control system is passing through to control rotation direction and the rotational angle of the second stepper motor (4-1), pupil is diminished.
9. according to the Medical simulator artificial eye described in claim 1-5 any one, it is characterized in that: described eyeball (2) is a semi-round ball that inside is got through, and outer surface painted white, inside is provided with hole and groove for pupil changeable mechanism (4) is installed.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201210163320.XA CN102698442B (en) | 2012-05-23 | 2012-05-23 | Artificial eye for medical simulator |
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| CN201210163320.XA CN102698442B (en) | 2012-05-23 | 2012-05-23 | Artificial eye for medical simulator |
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| CN103055514B (en) * | 2013-01-16 | 2015-04-22 | 上海弘联医学科技集团有限公司 | Medical human eye pupil and eyelid motion simulation structure and control method thereof |
| CN104463079A (en) * | 2013-09-16 | 2015-03-25 | 展讯通信(天津)有限公司 | Method for creating eye opening template |
| GB2533863A (en) * | 2015-01-02 | 2016-07-06 | Imc Toys Sa | A Mechanical eye for a toy |
| CN109166433B (en) * | 2018-08-16 | 2021-09-28 | 医博士医教科技（深圳）有限公司 | Medical anthropomorphic dummy system |
| CN110900616A (en) * | 2018-09-17 | 2020-03-24 | 汕头市美致模型有限公司 | Bee-shaped voice interaction robot |
| CN110930843A (en) * | 2019-10-30 | 2020-03-27 | 杭州梦栖教育咨询有限公司 | Control method for simulating eye action and simulated eye |
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| JP2001190856A (en) * | 2000-01-12 | 2001-07-17 | Sente Creations:Kk | Operatable toy |
| JP4332276B2 (en) * | 2000-02-28 | 2009-09-16 | 株式会社センテクリエイションズ | Facial expression change device |
| JP2003265869A (en) * | 2002-03-12 | 2003-09-24 | Univ Waseda | Eye-eyebrow structure of robot |
| CN201001962Y (en) * | 2007-02-14 | 2008-01-09 | 杨建良 | Device for controlling robot eyeball and eyelid action |
| CN101721819A (en) * | 2008-10-29 | 2010-06-09 | 鸿富锦精密工业（深圳）有限公司 | Simulated eye |
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