CN107932527A - Bionical eye - Google Patents
Bionical eye Download PDFInfo
- Publication number
- CN107932527A CN107932527A CN201711424261.6A CN201711424261A CN107932527A CN 107932527 A CN107932527 A CN 107932527A CN 201711424261 A CN201711424261 A CN 201711424261A CN 107932527 A CN107932527 A CN 107932527A
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- Prior art keywords
- eyelid
- connecting rod
- eye
- eyeball
- drive
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- 210000001508 eye Anatomy 0.000 claims abstract description 102
- 230000007246 mechanism Effects 0.000 claims abstract description 78
- 210000005252 bulbus oculi Anatomy 0.000 claims abstract description 72
- 210000004709 eyebrow Anatomy 0.000 claims abstract description 48
- 230000001360 synchronised effect Effects 0.000 claims abstract description 25
- 230000004424 eye movement Effects 0.000 claims abstract description 8
- 210000000744 eyelid Anatomy 0.000 claims description 221
- 230000008921 facial expression Effects 0.000 abstract description 3
- 230000014509 gene expression Effects 0.000 description 6
- 238000004088 simulation Methods 0.000 description 6
- 238000010586 diagram Methods 0.000 description 5
- 238000005516 engineering process Methods 0.000 description 4
- 230000009471 action Effects 0.000 description 2
- 230000006872 improvement Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 230000003278 mimic effect Effects 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000009467 reduction Effects 0.000 description 1
- 238000007665 sagging Methods 0.000 description 1
- 238000009987 spinning Methods 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/0005—Manipulators having means for high-level communication with users, e.g. speech generator, face recognition means
- B25J11/0015—Face robots, animated artificial faces for imitating human expressions
Landscapes
- Engineering & Computer Science (AREA)
- Health & Medical Sciences (AREA)
- Audiology, Speech & Language Pathology (AREA)
- General Health & Medical Sciences (AREA)
- Human Computer Interaction (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Prostheses (AREA)
Abstract
A kind of bionical eye, including eye stent, the eye stent are equipped with：Eye movement unit, including it is articulated with the eyeball of the eye stent and the first connecting rod mechanism for driving the eyeball rotation；Eyebrow moving cell, including it is articulated with the eyebrow of the eye stent and for driving the rotating second connecting rod mechanism of the eyebrow, the eyeball has synchronous pitching rotation relationship with the eyebrow；Drive shaft, for driving the driving link of the first connecting rod mechanism and the driving link of the second connecting rod mechanism at the same time.Bionical eye provided by the invention, has the performance that is synchronized with the movement between its building block, and the eye facial expressions and acts of biology are realistically reproduced with the concertedness of height, has prominent bionical performance.
Description
Technical field
The invention belongs to robotic technology field, is a kind of bionical eye specifically.
Background technology
With the fast development of robot technology, functional requirement one of the people for robot is further added by, and is no longer satisfied with
Traditional clumsy concept.For this reason, the bionical performance of robot gradually becomes important, lived with the joint of the altitude simulation mankind or animal
Dynamic or facial expressions and acts.
At present, the bionical performance study of bio-robot focuses mostly in motion morphology, the still aobvious scarcity of the research for expression.
The omission of expression expression structure, it is frosty a pile machinery to make existing apery or animal robot, is lacked and user friend
Good interaction.
Wherein, eyes are the important windows that biology is communicated views, and show important especially for the bionical performance for improving robot.It is existing
Some bio-robots, have only had the eye structure of symbolization more, or can not act, or action is very stiff, and
Synergisticing performance is very low, the still difficult simulation requirements for meeting bio-robot.
The content of the invention
For overcome the deficiencies in the prior art, the present invention provides a kind of bionical eye, have between its building block same
Exercise performance is walked, the eye facial expressions and acts of biology are realistically reproduced with the concertedness of height, there is prominent bionical performance.
The purpose of the present invention is achieved through the following technical solutions：
A kind of bionical eye, including eye stent, the eye stent are equipped with：
Eye movement unit, including it is articulated with the eyeball component of the eye stent and for driving the eyeball component to revolve
The first connecting rod mechanism turned；
Eyebrow moving cell, including it is articulated with the eyebrow of the eye stent and for driving the eyebrow rotating second
Linkage, the eyeball component have synchronous pitching rotation relationship with the eyebrow；
Drive shaft, for driving the driving link of the first connecting rod mechanism and the active of the second connecting rod mechanism at the same time
Part.
As the improvement of above-mentioned technical proposal, eyelid movement unit, the eyelid movement are additionally provided with the eye stent
Unit includes：
Eyelid component, including it is hingedly connected to the upper eyelid and lower eyelid of the eye stent；
Third connecting rod mechanism and/or fourth link mechanism, the third connecting rod mechanism are used to drive the upper eyelid and institute
Lower eyelid synchronization pitching rotation is stated, the fourth link mechanism is used to drive the upper eyelid to revolve with the lower eyelid synchronous backward
Turn.
Further as above-mentioned technical proposal is improved, and the drive shaft is used for the active for driving the third connecting rod mechanism
Part.
Further as above-mentioned technical proposal is improved, and the eyelid component further includes eyelid actuator, upper eyelid driving
Bar and lower eyelid drive rod, the third connecting rod mechanism are used to drive the eyelid actuator to rotate, the fourth link mechanism
For driving the eyelid actuator to move along a straight line, the upper eyelid drive rod both ends are respectively articulated with the eyelid actuator and institute
Upper eyelid is stated, the lower eyelid drive rod both ends are respectively articulated with the eyelid actuator and the lower eyelid.
Further as above-mentioned technical proposal is improved, and the third connecting rod mechanism includes the 3rd hinged successively active
Part, the first eyelid connecting rod and the second eyelid connecting rod, the 3rd driving link are fixedly connected with the drive shaft, second eyelid
Connecting rod and the eyelid member hinges.
Further as above-mentioned technical proposal is improved, and the fourth link mechanism includes the 4th hinged successively active
Part, the 3rd eyelid connecting rod and the 4th eyelid connecting rod, the 4th eyelid connecting rod and the eyelid member hinges.
Further as above-mentioned technical proposal is improved, and described 4th eyelid connecting rod one end is articulated with the eye stent,
The articulated shaft of the 4th eyelid connecting rod and the eyelid component is slidably held on the eye stent.
Further as above-mentioned technical proposal is improved, and the first connecting rod mechanism includes the first hinged successively active
Part, First view ball link and the second eyeball connecting rod, first driving link are fixedly connected on the drive shaft, second eyeball
Connecting rod is connected with the eyeball component.
Further as above-mentioned technical proposal is improved, and the eyeball component includes eyeball and eyeball mounting base, the eye
Ball pitching rotation and can rotate horizontally ground ground and be held in the eyeball mounting base, the eyeball mounting base and the eye stent
It is fixedly connected.
Further as above-mentioned technical proposal is improved, and the second connecting rod mechanism includes the second hinged successively driving link
With eyebrow connecting rod, second driving link is fixedly connected on the drive shaft, and the eyebrow connecting rod is connected with the eyebrow.
The beneficial effects of the invention are as follows：
Eye movement unit is with the driving eyeball component pitching rotation of first connecting rod mechanism, and eyebrow moving cell is with second connecting rod
Mechanism driving eyebrow pitching rotation, while first connecting rod mechanism and the driving link of second connecting rod mechanism are driven by drive shaft at the same time,
Make eyeball component that there is synchronous pitching rotation relationship with eyebrow, the collaboration pitching motion of the two is realized, so as to fulfill to eye
Lift the height reduction of eye or vertical eye, there is provided a kind of exsertile bionical eye of simulation quality.
To enable the above objects, features and advantages of the present invention to become apparent, preferred embodiment cited below particularly, and coordinate
Appended attached drawing, is described in detail below.
Brief description of the drawings
In order to illustrate the technical solution of the embodiments of the present invention more clearly, below will be to needed in the embodiment attached
Figure is briefly described, it will be appreciated that the following drawings illustrate only certain embodiments of the present invention, therefore be not construed as pair
The restriction of scope, for those of ordinary skill in the art, without creative efforts, can also be according to this
A little attached drawings obtain other relevant attached drawings.
Fig. 1 is the first schematic diagram of bionical eye provided in an embodiment of the present invention；
Fig. 2 is enlarged diagram at the M of bionical eye in Fig. 1；
Fig. 3 is the structure diagram of the eyeball component of bionical eye provided in an embodiment of the present invention；
Fig. 4 is the second schematic diagram of bionical eye provided in an embodiment of the present invention；
Fig. 5 is the 3rd schematic diagram of bionical eye provided in an embodiment of the present invention.
Main element symbol description：
The bionical eyes of 1000-, 0100- eye stents, 0110- straights, 0200- eye movement units, 0210- eyeballs
Component, 0211- eyeballs, 0212- eyeball mounting bases, 0213- longitudinal rotating shafts, 0220- first connecting rods mechanism, 0221- first are led
Moving part, 0222- First view ball links, 0223- the second eyeball connecting rods, 0300- eyebrow moving cells, 0310- eyebrows, 0320-
Two linkages, the second driving links of 0321-, 0322- eyebrow connecting rods, 0400- drive shafts, 0500- eyelid movement units, 0510-
Eyelid component, 0511- upper eyelids, 0512- lower eyelids, 0513- eyelid actuators, 0514- upper eyelid drive rods, eye under 0515-
Skin drive rod, 0520- third connecting rods mechanism, the 3rd driving links of 0521-, 0522- the first eyelid connecting rods, 0522a- the first waist types
Hole, 0523- the second eyelid connecting rods, 0530- fourth links mechanism, the 4th driving links of 0531-, the 3rd eyelid connecting rods of 0532-,
The 4th eyelid connecting rods of 0533-, the second waist-shaped holes of 0533a-, the first steering engines of 0600-, the second steering engines of 0700-.
Embodiment
For the ease of understanding the present invention, bionical eye is described more fully below with reference to relevant drawings.Attached drawing
In give the preferred embodiment of bionical eye.But bionical eye can be realized by many different forms, and it is unlimited
In embodiment described herein.On the contrary, the purpose for providing these embodiments is to make to the disclosure of bionical eye more
Thorough and comprehensive.
It should be noted that when element is referred to as " being fixed on " another element, it can be directly on another element
Or there may also be element placed in the middle.When an element is considered as " connection " another element, it can be directly connected to
To another element or it may be simultaneously present centering elements.On the contrary, when element be referred to as " directly existing " another element " on " when,
There is no intermediary element.Term as used herein " vertically ", " horizontal ", "left", "right" and similar statement are
For illustrative purposes.
Unless otherwise defined, all of technologies and scientific terms used here by the article is with belonging to technical field of the invention
The normally understood implication of technical staff is identical.It is intended merely to describe in the term used in the description of bionical eye herein
The purpose of specific embodiment, it is not intended that the limitation present invention.Term as used herein " and/or " include one or more phases
The arbitrary and all combination of the Listed Items of pass.
Embodiment 1
Fig. 1~4 are please referred to, the present embodiment provides a kind of bionical eye 1000, which includes eye
Stent 0100, eye stent 0100 are equipped with the eye movement unit 0200 and eyebrow moving cell 0300 that can be synchronized with the movement.Its
In, eye movement unit 0200 is driven at the same time with eyebrow moving cell 0300 by same drive shaft 0400, realizes eyeball component
0210 pitching rotation synchronous with eyebrow 0310, realizes the height emulation to biological eye, with abundant and true to nature eye
Portion's expression.Describe in detail below to the main construction of the bionical eye 1000.
Eye movement unit 0200 includes eyeball component 0210 and first connecting rod mechanism 0220, is used for realization eyeball component
0210 pitching rotation.Wherein, eyeball component 0210 is articulated with eye stent 0100, has pitching rotatory power.First connecting rod
Mechanism 0220 is used to drive eyeball component 0210 to rotate, and ensures the rotation function of eyeball component 0210.
It should be appreciated that so-called pitching rotation, acts corresponding to the lift eye and vertical eye of biology.More accurately, i.e., eye in
Spinning movement in vertical guide.Rotated by pitching, eyeball component 0210 is able to the eye of mimic biology true to nature with eyebrow 0310
Action.
Preferably, eyeball component 0210 includes eyeball 0211 and eyeball mounting base 0212.Eyeball 0211 can pitching rotatably
It is held in eyeball mounting base 0212, eyeball mounting base 0212 is fixedly connected with eye stent 0100.Exemplarily, eyeball 0211
Horizontally hinged with eyeball mounting base 0212, articulated shaft is axial in the horizontal direction.Under such configuration, the pitching rotation of eyeball 0211 is dynamic
Ensured.
Further preferably, eyeball 0211 is hinged by longitudinal rotating shaft 0213 and eyeball mounting base 0212, longitudinal rotating shaft
0213 axial direction is vertical with horizontal direction.It is articulated and connected by two level, eyeball 0211 can timesharing pitching rotation and horizontal rotation ground
Ground is held in eyeball mounting base 0212, is had multidirectional rotary ability and is enriched eye motion.
Wherein, first connecting rod mechanism 0220 is linkage, also known as low counter gear, is one in mechanical part
Class, refers to the machine being made of some (two or more) the component of definite relative motion with low secondary (revolute pair or prismatic pair) connection
Structure.Usually, the implementation of first connecting rod mechanism 0220 includes the type such as spatial linkage and planar linkage mechanism.
Exemplarily, first connecting rod mechanism 0220 is planar linkage mechanism.First connecting rod mechanism 0220 includes hinged successively
The first driving link 0221,0222 and second eyeball connecting rod 0223 of First view ball link, the first driving link 0221 is fixedly connected on
Drive shaft 0400, the second eyeball connecting rod 0223 are connected with eyeball component 0210.
Under the drive of drive shaft 0400, the first driving link 0221 is rotated around drive shaft 0400, and drives First view successively
0222 and second eyeball connecting rod 0223 of ball link, rotates the second eyeball connecting rod 0223.In the driving of the second eyeball connecting rod 0223
Under, eyeball component 0210 is rotated around the articulated shaft pitching of itself and eye stent 0100.Wherein, the second eyeball connecting rod 0223 and eyeball
Component 0210 can be fixedly connected, and can be also hinged.In an exemplary embodiment, the second eyeball connecting rod 0223 is directly connected in
Eyeball 0211.
Eyebrow moving cell 0300 includes eyebrow 0310 and second connecting rod mechanism 0320, is used for realization the pitching of eyebrow 0310
Rotation.Wherein, eyebrow 0310 is articulated with eye stent 0100, has pitching rotatory power.Second connecting rod mechanism 0320 is used to drive
Dynamic eyebrow 0310 rotates, and ensures the rotation function of eyebrow 0310.
Wherein, second connecting rod mechanism 0320 is linkage, its implementation may include spatial linkage and plane machine
The types such as structure.Exemplarily, second connecting rod mechanism 0320 is planar linkage mechanism.Second connecting rod mechanism 0320 includes hinged successively
The second driving link 0321 and eyebrow connecting rod 0322, the second driving link 0321 be fixedly connected on drive shaft 0400, eyebrow connecting rod
0322 is connected with eyebrow 0310.
Under the drive of drive shaft 0400, the second driving link 0321 is rotated around drive shaft 0400, and drives eyebrow connecting rod
0322 rotates.Under the driving of eyebrow connecting rod 0322, eyebrow 0310 is rotated around the articulated shaft pitching of itself and eye stent 0100.Its
In, it can be fixedly connected between eyebrow connecting rod 0322 and eyebrow 0310, can also adopt hinged relationship.
Drive shaft 0400 is used to drive the driving link of first connecting rod mechanism 0220 and the master of second connecting rod mechanism 0320 at the same time
Moving part, makes eyeball component 0210 have synchronous pitching rotation relationship with eyebrow 0310.Wherein, drive shaft 0400 is rotatably kept
In on eye stent 0100, there is active rotation ability.
In foregoing demonstration example, the driving link of first connecting rod mechanism 0220 is the first driving link 0221, second connecting rod machine
The driving link of structure 0320 is the second driving link 0321.First driving link 0221 and the second driving link 0321 are fixedly connected with driving
On axis 0400, there is the kinetic characteristic of synchronous rotary, protected the pitching rotation synchronous with eyebrow 0310 of eyeball component 0210
Card.Still goodly, the first driving link 0221, the second driving link 0321 are integrally formed with drive shaft 0400.
Preferably, drive shaft 0400 is also associated with driving source, is used for realization the active rotation of drive shaft 0400.Wherein, drive
Dynamic source can use the types such as hydraulic motor, servomotor, stepper motor.Exemplarily, driving source is the first steering engine 0600.First
Steering engine 0600 is a kind of servo-driver with position feedback control, its essence belongs to the servo-control system of closed-loop control.
Embodiment 2
Fig. 1~5 are please referred to, on the basis of embodiment 1, the present embodiment provides one kind to have eyelid synchronization pitching work(
Can bionical eye 1000, further improve bionical degree, make robot eyes expression more true to nature, have eyeball component 0210,
The pitching synchronous with eyelid of eyebrow 0310.
Preferably, eyelid movement unit 0500 is additionally provided with eye stent 0100, eyelid movement unit 0500 includes eyelid
Component 0510 and third connecting rod mechanism 0520, are used for realization eyelid component 0510 and are rotated with the synchronous pitching of eyeball component 0210.
Wherein, eyelid component 0510 includes upper eyelid 0511 and lower eyelid 0512, and upper eyelid 0511 is hingedly connected to lower eyelid 0512
Eye stent 0100, is respectively provided with pitching rotatory power.
Third connecting rod mechanism 0520 is used to drive upper eyelid 0511 to rotate with 0512 synchronous pitching of lower eyelid, ensures upper eyelid
0511 with the rotation function and synchronism of lower eyelid 0512.In other words, third connecting rod mechanism 0520 drives upper eyelid at the same time
0511 with lower eyelid 0512, and upper eyelid 0511 and lower eyelid 0512 have identical direction of rotation, while upper lift or sagging.
Wherein, eyelid component 0510 has synchronous pitching rotation relationship with eyeball component 0210, eyebrow 0310, ensures eye
The concertedness of pitching motion.It is synchronized with the movement here, can be accomplished in several ways, exemplarily, third connecting rod mechanism 0520
Driving link is driven by drive shaft 0400.In other words, drive shaft 0400 drives the driving link of first connecting rod mechanism 0220, second at the same time
The driving link of linkage 0320 and the driving link of third connecting rod mechanism 0520, ensure eyeball component 0210, eyebrow 0310 and eye
The pitching rotary motion of skin component 0510 is synchronous.
Wherein, third connecting rod mechanism 0520 is linkage, its implementation may include spatial linkage and plane machine
The types such as structure.Exemplarily, third connecting rod mechanism 0520 is planar linkage mechanism.Preferably, third connecting rod mechanism 0520 includes
The 3rd hinged driving link 0521, the first eyelid connecting rod 0522 and the second eyelid connecting rod 0523 successively, the 3rd driving link 0521 with
Drive shaft 0400 is fixedly connected, and the second eyelid connecting rod 0523 and eyelid component 0510 are hinged.
Under the drive of drive shaft 0400, the 3rd driving link 0521 is rotated around drive shaft 0400, and drives First view successively
0522 and second eyelid connecting rod 0523 of skin connecting rod, rotates the second eyelid connecting rod 0523.In the driving of the second eyelid connecting rod 0523
Under, eyelid component 0510 corresponds to movement, makes upper eyelid 0511 with lower eyelid 0512 around each articulated shaft with eye stent 0100
Synchronously pitching rotates.
Wherein, eyelid component 0510 further includes driving member, for the rotary motion of the second eyelid connecting rod 0523 to be converted to
The pitching rotation synchronous with lower eyelid 0512 of upper eyelid 0511.Preferably, driving member includes eyelid actuator 0513, upper eyelid drives
Lever 0514 and lower eyelid drive rod 0515.
Wherein, third connecting rod mechanism 0520 is used to drive eyelid actuator 0513 to rotate.In previous exemplary example, second
Skin connecting rod 0523 is hinged with eyelid actuator 0513.0514 both ends of upper eyelid drive rod be respectively articulated with eyelid actuator 0513 with it is upper
Eyelid 0511,0515 both ends of lower eyelid drive rod are respectively articulated with eyelid actuator 0513 and lower eyelid 0512.
Wherein, the one end of eyelid actuator 0513 away from upper eyelid drive rod 0514 and lower eyelid drive rod 0515 and second
Eyelid connecting rod 0523 is hinged.In other words, upper eyelid drive rod 0514 is located at eyelid actuator 0513 with lower eyelid drive rod 0515
Homonymy, the second eyelid connecting rod 0523 is located at the opposite side of eyelid actuator 0513.In an exemplary embodiment, eyelid
The hinged relationship of trigonometric expression is formed on actuator 0513.Further, along the locus of vertical, the second eyelid connecting rod
0523 with the articulated section of eyelid actuator 0513, positioned at the articulated section of upper eyelid drive rod 0514 and eyelid actuator 0513 and under
Between the articulated section of eyelid drive rod 0515 and eyelid actuator 0513.
Here, the second eyelid connecting rod 0523 driving eyelid actuator 0513 rotates, eyelid actuator 0513 drives upper eyelid
Drive rod 0514 rotates in the same direction with lower eyelid drive rod 0515, and then drives upper eyelid 0511 and lower eyelid 0512 along same
One direction pitching rotation, ensures the rotating synchronism of pitching.
Further preferably, the middle part of the first eyelid connecting rod 0522 is articulated with eye stent 0100, makes the first eyelid connecting rod 0522
Articulated shaft around itself and eye stent 0100 rotates.Further, 0522 one end of the first eyelid connecting rod is equipped with the first waist-shaped hole
0522a, it is hinged by the first waist-shaped hole 0522a and the 3rd driving link 0521, avoid 0522 reverse impact of the first eyelid connecting rod the
Three driving links 0521, ensure drive mechanism safety.
Embodiment 3
Fig. 1~5 are please referred to, on the basis of embodiment 1, there is eyelid folding the present embodiment provides a kind of
Bionical eye 1000, to emulate the opening and closing function of biological eye, is allowed to more true to nature, further enhances bionical eye 1000
Simulation performance.
Preferably, eyelid movement unit 0500 is additionally provided with eye stent 0100, eyelid movement unit 0500 includes eyelid
Component 0510 and fourth link mechanism 0530.Wherein, eyelid component 0510 is identical with the structure described in embodiment 2, herein no longer
Repeat.
Fourth link mechanism 0530 is used to drive upper eyelid 0511 and 0512 synchronous backward of lower eyelid to rotate, i.e., the latter two
Rotation is synchronous and direction is on the contrary, realize the closure and opening of eyelid.For example, when upper eyelid 0511 is relatively revolved with lower eyelid 0512
When transferring near, eyelid realizes closure；When upper eyelid 0511 is privately pivoted away from 0512 phase of lower eyelid, eyelid, which is realized, to be opened.
Wherein, fourth link mechanism 0530 is linkage, its implementation may include spatial linkage and plane machine
The types such as structure.Exemplarily, fourth link mechanism 0530 includes the 4th hinged successively driving link 0531, the 3rd eyelid connecting rod
0532 and the 4th eyelid connecting rod 0533, the 4th eyelid connecting rod 0533 and eyelid component 0510 it is hinged.
4th driving link 0531 is rotatably held on eye stent 0100, has active rotation ability.4th actively
Part 0531 drives the 3rd eyelid connecting rod 0532 and the 4th eyelid connecting rod 0533 successively, rotates the 4th eyelid connecting rod 0533.
Under the driving of four eyelid connecting rods 0533, eyelid component 0510 corresponds to movement, make upper eyelid 0511 and lower eyelid 0512 around each with
The articulated shaft of eye stent 0100 synchronously reversely rotates.
Preferably, the 4th driving link 0531 is also associated with driving source, is used for realization the active rotation of the 4th driving link 0531.
Wherein, driving source can use the types such as hydraulic motor, servomotor, stepper motor.Exemplarily, driving source is the second steering engine
0700.Second steering engine 0700 is a kind of servo-driver with position feedback control, its essence belongs to the servo of closed-loop control
Control system.
Preferably, 0533 one end of the 4th eyelid connecting rod is articulated with eye stent 0100, the 4th eyelid connecting rod 0533 and eyelid
The articulated shaft of component 0510 is slidably held on eye stent 0100.Preferably, fourth link mechanism 0530 is used to drive
Eyelid actuator 0513 moves along a straight line, eyelid actuator 0513 respectively with upper eyelid drive rod 0514, lower eyelid drive rod 0515
Slider-crank mechanism is formed, linear motion is converted to the rotation of upper eyelid drive rod 0514 and lower eyelid drive rod 0515, from
And realize synchronous backward and rotate.
Wherein, eyelid component 0510 further includes driving member, for the rotary motion of the second eyelid connecting rod 0523 to be converted to
The pitching rotation synchronous with lower eyelid 0512 of upper eyelid 0511.Preferably, driving member includes eyelid actuator 0513, upper eyelid drives
Lever 0514 and lower eyelid drive rod 0515.
Wherein, fourth link mechanism 0530 is used to drive eyelid actuator 0513 to move along a straight line, and makes upper eyelid 0511 with
Eyelid 0512.In previous exemplary example, 0533 one end of the 4th eyelid connecting rod is articulated with eye stent 0100, the 4th eyelid connecting rod
0533 is slidably held on eye stent 0100 with the articulated shaft of eyelid component 0510 (be specially eyelid actuator 0513).
In other words, eye stent 0100 is equipped with straight 0110, which is slidably held in straight 0110.On
0514 both ends of eyelid drive rod are respectively articulated with eyelid actuator 0513 and upper eyelid 0511,0515 both ends of lower eyelid drive rod difference
Hinged eyelid actuator 0513 and lower eyelid 0512.
Under the driving of the 3rd eyelid connecting rod 0532, the 4th eyelid connecting rod 0533 is around its articulated shaft with eye stent 0100
Rotation, and make eyelid actuator 0513 that there is rotation trend.4th eyelid connecting rod 0533 is subject to straight line to slide with eyelid component 0510
The constraint of groove 0110, makes the rotation trend of eyelid actuator 0513 be converted to actual linear motion.Eyelid actuator 0513 divides
Slider-crank mechanism is not formed with upper eyelid drive rod 0514, lower eyelid drive rod 0515, linear motion is converted to upper eyelid
The rotation of drive rod 0514 and lower eyelid drive rod 0515, rotates so as to fulfill synchronous backward.
Further preferably, the 4th eyelid connecting rod 0533 is equipped with the second waist-shaped hole 0533a, passes through the second waist-shaped hole 0533a
It is hinged with eyelid actuator 0513, the 4th eyelid connecting rod 0533 of 0513 reverse impact of eyelid actuator is avoided, ensures drive mechanism
Safety.
Embodiment 4
Fig. 1~5 are please referred to, on the basis of embodiment 2 and 3, the present embodiment provides a kind of bionical eye 1000, tool
There is the eyelid for having pitching and folding function concurrently, to the eyelid function of the biological eye of further emulation, be allowed to more true to nature, into one
Step strengthens the simulation performance of bionical eye 1000.
Specifically, the bionical eye 1000 of the present embodiment includes eyelid movement unit 0500, the eyelid movement unit 0500
The eyelid component 0510 introduced including embodiment 2 and 3, third connecting rod mechanism 0520 and fourth link mechanism 0530, both can be with
The synchronous pitching rotation of eyeball component 0210, eyebrow 0310, and rotatable opening and closing eyelid, have prominent simulation capacity.
In all examples being illustrated and described herein, any occurrence should be construed as merely exemplary, without
It is that therefore, other examples of exemplary embodiment can have different values as limitation.
It should be noted that：Similar label and letter represents similar terms in following attached drawing, therefore, once a certain Xiang Yi
It is defined, then it further need not be defined and explained in subsequent attached drawing in a attached drawing.
Embodiment described above only expresses the several embodiments of the present invention, its description is more specific and detailed, but simultaneously
Therefore limitation of the scope of the invention cannot be interpreted as.It should be pointed out that for those of ordinary skill in the art,
Without departing from the inventive concept of the premise, various modifications and improvements can be made, these belong to the protection model of the present invention
Enclose.Therefore, protection scope of the present invention should be determined by the appended claims.
Claims (10)
1. a kind of bionical eye, it is characterised in that including eye stent, the eye stent is equipped with：
Eye movement unit, including it is articulated with the eyeball component of the eye stent and for driving the eyeball component rotating
First connecting rod mechanism；
Eyebrow moving cell, including it is articulated with the eyebrow of the eye stent and for driving the rotating second connecting rod of the eyebrow
Mechanism, the eyeball component have synchronous pitching rotation relationship with the eyebrow；
Drive shaft, for driving the driving link of the first connecting rod mechanism and the driving link of the second connecting rod mechanism at the same time.
2. bionical eye according to claim 1, it is characterised in that be additionally provided with eyelid movement list on the eye stent
Member, the eyelid movement unit include：
Eyelid component, including it is hingedly connected to the upper eyelid and lower eyelid of the eye stent；
Third connecting rod mechanism and/or fourth link mechanism, the third connecting rod mechanism be used for drive the upper eyelid with it is described under
Eyelid synchronization pitching rotates, and the fourth link mechanism is used to drive the upper eyelid to rotate with the lower eyelid synchronous backward.
3. bionical eye according to claim 2, it is characterised in that the drive shaft is used to drive the third connecting rod machine
The driving link of structure.
4. bionical eye according to claim 2, it is characterised in that the eyelid component further include eyelid actuator, on
Eyelid drive rod and lower eyelid drive rod, the third connecting rod mechanism are used to drive the eyelid actuator to rotate, and the described 4th
Linkage is used to drive the eyelid actuator to move along a straight line, and the upper eyelid drive rod both ends are respectively articulated with the eyelid and drive
Moving part and the upper eyelid, the lower eyelid drive rod both ends are respectively articulated with the eyelid actuator and the lower eyelid.
5. bionical eye according to claim 2, it is characterised in that the third connecting rod mechanism includes successively hinged the
Three driving links, the first eyelid connecting rod and the second eyelid connecting rod, the 3rd driving link are fixedly connected with the drive shaft, and described
Two eyelid connecting rods and the eyelid member hinges.
6. bionical eye according to claim 2, it is characterised in that the fourth link mechanism includes successively hinged the
Four driving links, the 3rd eyelid connecting rod and the 4th eyelid connecting rod, the 4th eyelid connecting rod and the eyelid member hinges.
7. bionical eye according to claim 6, it is characterised in that described 4th eyelid connecting rod one end is articulated with the eye
Portion's stent, the articulated shaft of the 4th eyelid connecting rod and the eyelid component are slidably held on the eye stent.
8. bionical eye according to claim 1, it is characterised in that the first connecting rod mechanism includes successively hinged the
One driving link, First view ball link and the second eyeball connecting rod, first driving link are fixedly connected on the drive shaft, and described
Two eyeball connecting rods are connected with the eyeball component.
9. bionical eye according to claim 1, it is characterised in that the eyeball component includes eyeball and installed with eyeball
Seat, the eyeball can pitching rotation and rotate horizontally ground be held in the eyeball mounting base, the eyeball mounting base and institute
Eye stent is stated to be fixedly connected.
10. bionical eye according to claim 1, it is characterised in that the second connecting rod mechanism includes hinged successively
Second driving link and eyebrow connecting rod, second driving link are fixedly connected on the drive shaft, the eyebrow connecting rod and the eye
Eyebrow connects.
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