CN101219279B - Movement mechanism for flexible eyeball rotation of humanoid robot - Google Patents
Movement mechanism for flexible eyeball rotation of humanoid robot Download PDFInfo
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- CN101219279B CN101219279B CN2008100330025A CN200810033002A CN101219279B CN 101219279 B CN101219279 B CN 101219279B CN 2008100330025 A CN2008100330025 A CN 2008100330025A CN 200810033002 A CN200810033002 A CN 200810033002A CN 101219279 B CN101219279 B CN 101219279B
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- synchronous pulley
- eyeball
- motion
- bearing
- small rack
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Abstract
The invention relates to a motion mechanism of eyeballs of a humanoid robot, which rotates flexibly and pertains to the robot technical field. In the invention, a worm wheel is arranged at the lower end of a transmission shaft that is positioned vertically and connected with a worm. The upper end of the transmission shaft is connected in a hole at the rear end of a guide track. A sliding block is sleeved on the guide track; the rear end of a transmission bracket is arranged on the upper surface of the sliding block. Two sides at the front end of the transmission bracket are respectively connected with the rear end of a small bracket that is positioned on a first bearing of a large frame. A first synchronous belt pulley is arranged on the second half part of each small bracket and connected with a second synchronous belt pulley through a synchronous belt. The second synchronous belt pulley is arranged on a short shaft. One end of the short shaft is arranged in a second bearing of a supporting seat and the other end thereof is connected with one side of the eyeballs; the other side of the eyeballs is connected with an end of the other short shaft. The other end of the short shaft is arranged in a second bearing of the other supporting seat. The up-down rotation and left-right rotation of the eyeballs of the invention are separated so as to realize flexible rotation as well as solve the problem of motion interference.
Description
Technical field
What the present invention relates to is the motion in a kind of Robotics field, specifically, is the motion that a kind of anthropomorphic robot flexible eyeball rotates.
Background technology
Existing relating in the facial expression of anthropomorphic robot, visual perception's system simulation device of the Cog humanoid robot of U.S. MIT is the eyes structures, eyes can rotate around level and vertical axle, each eye is made up of two video cameras, the responsible peripheral field of an extensive angle, another has the center of the responsible scenery of narrow angle." Kansei " robot of Japan Mingzhi university, can imitate human 36 kinds of facial expressions, the EveR-1 humanoid robot face of Korea S's exploitation is built-in with 15 engines, can make the expression of happiness, anger, grief and joy, and can be behind identification the other side's face, aim at sight line with the other side, their design all lays particular emphasis on the design of facial expression, and the design of eye movement mechanism is simple relatively.
Find by prior art documents, the Chinese patent publication number is CN2691802, application number for the CN200420021728.4 denomination of invention is: the robot that can play the piano, the eyeball rotation controling mechanism of this robot comprises motor, crank and rocker mechanism and drive gear mechanism, motor is installed in the head skeleton, one end of crank and rocker mechanism links to each other with the main shaft of motor, the hinge joint of the other end and drive gear mechanism links to each other, and little that is connected eyeball in the other end of drive gear mechanism and the head mechanism is fixedly linked.The weak point of this mechanism is that structure can only realize the left-right rotation of eyeball, can't realize moving up and down of eyeball, the motion of imitation human eye that can not be true to nature.
Summary of the invention
The motion that provides a kind of anthropomorphic robot flexible eyeball to rotate is provided at the deficiencies in the prior art.The present invention is simple for structure, to separate with the rotation of both direction up and down about eyeball, realize the rotation of eyeball complexity by a separate quadric chain of cover and synchronous pulley mechanism, consider the accuracy and the size of the eyeball mechanism of apery, adopt the miniature sizes part, can make eye movement mechanism realize complicated motion in the narrow space relatively.Because the motion of both direction is separate up and down, therefore can not produce the problem of movement interference.And succinct mechanism makes motion be convenient to control, and the quantity of drive motors is reduced to minimum, makes that entire mechanism was both within reason to take up room, and can satisfy the requirement of apery eyes again.
The present invention is achieved by the following technical solutions, the present invention includes: worm gear, worm screw, power transmission shaft, bearing, big support, small rack, clutch shaft bearing, supporting seat, second bearing, second synchronous pulley, first minor axis, eyeball, second minor axis, first motor, guide rail, slide block, gear frame, second motor, first synchronous pulley, synchronous band.Annexation is: worm gear is installed in the power transmission shaft lower end of vertically laying and links to each other with worm screw, the power transmission shaft upper end is connected in the hole of guide rail rear end, slide block set is on guide rail, the gear frame rear end is installed on the slide block upper surface, each links to each other gear frame front end both sides with a small rack rear end, small rack is placed on the clutch shaft bearing of big support, first synchronous pulley is installed in the latter half of each small rack, first synchronous pulley is connected with second synchronous pulley by being with synchronously, second synchronous pulley is installed on the minor axis, this minor axis one end is installed in second bearing of supporting seat, the other end connects eyeball on one side, the another side of eyeball connects an end of another minor axis, and the other end of this minor axis is installed in second bearing of another supporting seat.
The diameter of described first synchronous pulley is less than the diameter of second synchronous pulley.
Described worm screw is linked on first motor output shaft, adopts holding screw to fix between the two.
Described power transmission shaft upper end is fluted, is used for being installed in the hole of guide rail, and can drives the guide rail rotation.
Described slide block upper surface has a cylindrical protrusion, is used for gear frame rear end borehole jack in the above.
Described gear frame is the T font, and the rear end links to each other with power transmission shaft, and two ends, the front end left and right sides respectively connect a small rack.
Described small rack is that the back is narrow preceding wide, is asymmetric isosceles triangle, latter half of second motor and first synchronous pulley laid, and first half is installed supporting seat and is used for laying the eyeball and second synchronous pulley.
Described big support is installed on the sidewall of robot head, about a clutch shaft bearing respectively be installed be used for laying small rack.
Described first synchronous pulley is selected miniature synchronous pulley for use, and the smooth cylindrical part of second synchronous pulley is processed with screwed hole, is used for installing marking closely screw second synchronous pulley being connected with motor output shaft.
Described supporting seat is up-narrow and down-wide, and two screwed holes are arranged at the bottom, and available screw is fixed on the small rack, and second bearing is placed on top.
Respectively cut a part about described eyeball, form circular flat, one hole is respectively arranged, be used for connecting minor axis in the circular flat center of circle.
Among the present invention, the Electric Machine Control worm screw is rotated, worm screw drives worm gear and rotates, the worm gear drives power transmission shaft rotates together, power transmission shaft passes to guide rail with rotation, and guide rail drives slide block and slides, and the quadric chain that slide block drives gear frame and small rack composition rotates, thereby rotate in the original place of realizing small rack, has just realized the left-right rotation of eyeball.On each small rack, driven by motor first synchronous pulley that is placed on the rear portion rotates, and first synchronous pulley drives driving-belt and rotates, and then drives the rotation of second synchronous pulley, drives minor axis then, and eyeball rotates, and realizes the rotation up and down of eyeball.The synchronism that two eyeballs rotate up and down realizes by the encoder of motor separately.
Compared with prior art, the present invention separates with the rotation of both direction up and down about with eyeball.Described power transmission shaft, guide rail are drawn piece, gear frame, small rack and have been constituted quadric chain and drive unit thereof, can realize eyeball about rotate synchronously, mechanism is succinct, the transmission efficiency height.Described big or small drive, supporting seat, minor axis can be realized eyeball in left-right rotation rotation up and down simultaneously, and two motions are independently of one another, can not interfere with each other.
Description of drawings
Fig. 1 looks schematic diagram for structure master of the present invention
Fig. 2 is a structure schematic top plan view of the present invention
The specific embodiment
Below in conjunction with accompanying drawing embodiments of the invention are elaborated: present embodiment is being to implement under the prerequisite with the technical solution of the present invention, 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 and Figure 2, present embodiment comprises: worm gear 1, worm screw 2, power transmission shaft 3, clutch shaft bearing 4, big support 5, small rack 6, supporting seat 7, second bearing 8, second synchronous pulley 9, first minor axis 10, eyeball 11, second minor axis 12, first motor 13, guide rail 14, slide block 15, gear frame 16, second motor 17, first synchronous pulley 18, be with 19 synchronously.
Annexation between the above parts is: worm screw 2 links to each other with first motor, 13 output shafts, worm gear 1 is installed in power transmission shaft 3 lower ends of vertically laying and links to each other with worm screw 2, power transmission shaft 3 upper ends are connected in the hole of guide rail 14 rear ends, slide block 15 is enclosed within on the guide rail 14, gear frame 16 rear ends are installed on the cylindrical protrusion of slide block 15 upper surfaces, each links to each other gear frame 16 front end both sides with small rack 6 rear ends, small rack 6 is placed on the clutch shaft bearing 4 of big support 5, first synchronous pulley 18 is installed in the latter half of each small rack 6, first synchronous pulley 18 is by being with 19 to be connected with second synchronous pulley 9 synchronously, second synchronous pulley 9 is installed on first minor axis 10, first minor axis, 10 1 ends are installed in second bearing 8 of supporting seat 7, the other end connects eyeball 11 on one side, the another side of eyeball 11 connects an end of another second minor axis 12, and the other end of this second minor axis 12 is installed in second bearing 8 of another supporting seat 7.
Described worm screw 2 one ends are linked on first motor 13, are used for transmitting the moment of torsion of first motor, 13 outputs.
Described power transmission shaft 3 upper ends are fluted, are used for being mounted and fixed in the hole of guide rail 14, and can drive guide rail 14 rotations.
Described slide block 15 upper surfaces have a cylindrical protrusion, are used for gear frame 16 freely being rotated with gear frame 16 rear end borehole jacks in the above around this cylindrical protrusion.
Described gear frame 16 is the T font, and the rear end links to each other with slide block 15, and two ends, the front end left and right sides respectively connect a small rack 6.
Described small rack 6 is that the back is narrow preceding wide, is asymmetric isosceles triangle, latter half of second motor 17 and second synchronous pulley 18 laid, and first half is installed supporting seat 7 and is used for fixing the eyeball 11 and first synchronous pulley 9.
Described big support 5 is installed on the sidewall of robot head, about a clutch shaft bearing 4 respectively be installed be used for positioning supports small rack 6.
Described second synchronous pulley 18 is selected miniature synchronous pulley for use, and the smooth cylindrical part of steamboat is equipped with screwed hole, is used for installing marking closely screw second synchronous pulley 18 being connected with second motor 17.
Described supporting seat 7 is up-narrow and down-wide, and the bottom is equipped with two screwed holes, and available screw is fixed on the small rack 6, and second bearing 8 is placed on top.
Described eyeball about 11 respectively cuts a part, forms circular flat, at the circular flat circle centre position one hole is arranged respectively, is used for connecting first minor axis 10, second minor axis 12.
In the present embodiment, first motor 13, worm screw 1, worm gear 2, power transmission shaft 3, guide rail 14, slide block 15, gear frame 16, small rack 6, clutch shaft bearing 4, big support 5 have constituted the left-right rotation mechanism of eyeball, wherein worm screw 1, worm gear 2, power transmission shaft 3 is used for transmitting the torque and the motion of first motor, 13 outputs, guide rail 14, draw piece 15, gear frame 16, small rack 6 constitutes the left-right rotation of quadric chain control eyeball, clutch shaft bearing 4, big support 5 plays the effect of supporting and locating small rack, thereby eyeball can be rotated in the original place.Supporting seat 7, second bearing 8, first synchronous pulley 9, first minor axis 10, second minor axis 12, second motor 17, second synchronous pulley 18, synchronously with 19 rotating mechanisms up and down that constituted eyeball, supporting seat 7, second bearing 8, first minor axis 10, second minor axis 12 are mainly used to fixedly eyeball, and what make that it can be as true man's eyeball realizes various motions in the original place.First synchronous pulley 9, first synchronous pulley 18, synchronously with 19 rotations that are used for transmitting second motor 17, the control eyeball rotates up and down, two oculogyral synchronisms realize by the encoder of motor.The characteristics of this cover mechanism maximum be will eyeball separates with left-right rotation up and down, thereby when realizing flexible rotation, also solved the problem of movement interference.
Claims (10)
1. the motion that rotates of an anthropomorphic robot flexible eyeball, comprise: worm gear, worm screw, power transmission shaft, clutch shaft bearing, big support, small rack, supporting seat, second bearing, first synchronous pulley, first minor axis, eyeball, second minor axis, first motor, guide rail, slide block, gear frame, second motor, second synchronous pulley, be with synchronously, it is characterized in that: worm gear is installed in the power transmission shaft lower end of vertically laying and links to each other with worm screw, the power transmission shaft upper end is connected in the hole of guide rail rear end, slide block set is on guide rail, the gear frame rear end is installed on the slide block upper surface, each links to each other gear frame front end both sides with a small rack rear end, small rack is placed on the clutch shaft bearing of big support, first synchronous pulley is installed in the latter half of each small rack, first synchronous pulley is connected with second synchronous pulley by being with synchronously, second synchronous pulley is installed on first minor axis, this minor axis one end is installed in second bearing of supporting seat, the other end connects eyeball on one side, the another side of eyeball connects an end of another minor axis, and the other end of this minor axis is installed in second bearing of another supporting seat.
2. the motion that anthropomorphic robot flexible eyeball according to claim 1 rotates is characterized in that: described power transmission shaft upper end is fluted.
3. the motion that anthropomorphic robot flexible eyeball according to claim 1 rotates, it is characterized in that: described slide block upper surface has a cylindrical protrusion, with gear frame rear end borehole jack on cylindrical protrusion.
4. according to the motion of claim 1 or 3 described anthropomorphic robot flexible eyeballs rotations, it is characterized in that: described gear frame is the T font, and its rear end links to each other with slide block, and two ends, the front end left and right sides respectively connect a small rack.
5. the motion that anthropomorphic robot flexible eyeball according to claim 1 rotates, it is characterized in that: described small rack is narrow preceding wide for the back, be asymmetric isosceles triangle, the latter half of motor and first synchronous pulley laid, first half is installed supporting seat and is used for fixing the eyeball and first synchronous pulley.
6. the motion that anthropomorphic robot flexible eyeball according to claim 1 rotates, it is characterized in that: described big support is installed on the sidewall of robot head, about a bearing respectively be installed be used for the positioning supports small rack.
7. the motion that anthropomorphic robot flexible eyeball according to claim 1 rotates, it is characterized in that: described supporting seat is up-narrow and down-wide, and two screwed holes are arranged at the bottom, are screwed on small rack, and bearing is placed on top.
8. the motion that anthropomorphic robot flexible eyeball according to claim 1 rotates is characterized in that: respectively cut a part about described eyeball, form the plane, in the circular flat center of circle one hole is arranged respectively.
9. the motion that anthropomorphic robot flexible eyeball according to claim 1 rotates, it is characterized in that: the diameter of described first synchronous pulley is less than the diameter of second synchronous pulley.
10. according to the motion of claim 1 or 9 described anthropomorphic robot flexible eyeballs rotations, it is characterized in that: described first synchronous pulley is selected miniature synchronous pulley for use, and the smooth cylindrical part of second synchronous pulley has screwed hole.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2008100330025A CN101219279B (en) | 2008-01-24 | 2008-01-24 | Movement mechanism for flexible eyeball rotation of humanoid robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2008100330025A CN101219279B (en) | 2008-01-24 | 2008-01-24 | Movement mechanism for flexible eyeball rotation of humanoid robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN101219279A CN101219279A (en) | 2008-07-16 |
| CN101219279B true CN101219279B (en) | 2010-06-09 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2008100330025A Expired - Fee Related CN101219279B (en) | 2008-01-24 | 2008-01-24 | Movement mechanism for flexible eyeball rotation of humanoid robot |
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| CN (1) | CN101219279B (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105872475A (en) * | 2016-05-20 | 2016-08-17 | 北京格灵深瞳信息技术有限公司 | Monitoring camera device |
Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103072140B (en) * | 2012-12-18 | 2015-08-19 | 北京理工大学 | A kind of binocular solid bionic eye mechanism with panoramic capture, positioning function |
| CN103055512B (en) * | 2012-12-28 | 2015-03-11 | 深圳华强文化科技集团股份有限公司 | Simulated tyrannosaurus robot |
| CN103973033B (en) * | 2013-02-05 | 2017-11-03 | 鸿富锦精密工业（深圳）有限公司 | Motor, rotating mechanism and electronic installation with motor |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2497838Y (en) * | 2001-09-20 | 2002-07-03 | 郑昌祈 | Moveable eyeball for toy |
| CN2500361Y (en) * | 2001-10-29 | 2002-07-17 | 李梁棣芬 | Vergence power device for toy |
| JP2003265869A (en) * | 2002-03-12 | 2003-09-24 | Univ Waseda | Eye-eyebrow structure of robot |
| CN2640559Y (en) * | 2003-01-31 | 2004-09-15 | 袁建水 | Mechanical eyes able to blink and shake |
| CN201001962Y (en) * | 2007-02-14 | 2008-01-09 | 杨建良 | Device for controlling robot eyeball and eyelid action |
-
2008
- 2008-01-24 CN CN2008100330025A patent/CN101219279B/en not_active Expired - Fee Related
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2497838Y (en) * | 2001-09-20 | 2002-07-03 | 郑昌祈 | Moveable eyeball for toy |
| CN2500361Y (en) * | 2001-10-29 | 2002-07-17 | 李梁棣芬 | Vergence power device for toy |
| JP2003265869A (en) * | 2002-03-12 | 2003-09-24 | Univ Waseda | Eye-eyebrow structure of robot |
| CN2640559Y (en) * | 2003-01-31 | 2004-09-15 | 袁建水 | Mechanical eyes able to blink and shake |
| CN201001962Y (en) * | 2007-02-14 | 2008-01-09 | 杨建良 | Device for controlling robot eyeball and eyelid action |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105872475A (en) * | 2016-05-20 | 2016-08-17 | 北京格灵深瞳信息技术有限公司 | Monitoring camera device |
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| Publication number | Publication date |
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| CN101219279A (en) | 2008-07-16 |
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Granted publication date: 20100609 Termination date: 20130124 |