CN101670585B - Double eyelid eye part movement mechanism of bionic robot - Google Patents
Double eyelid eye part movement mechanism of bionic robot Download PDFInfo
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- CN101670585B CN101670585B CN2009101965538A CN200910196553A CN101670585B CN 101670585 B CN101670585 B CN 101670585B CN 2009101965538 A CN2009101965538 A CN 2009101965538A CN 200910196553 A CN200910196553 A CN 200910196553A CN 101670585 B CN101670585 B CN 101670585B
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- rotating shaft
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- eyeball
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- eyelid
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Abstract
The invention relates to a double eyelid eye part movement mechanism of a bionic robot, which comprises a bottom plate, a left eyeball, a right eyeball, an upper eyelid and a lower eyelid, wherein a rotating shaft is installed above the bottom plate, the two eyeballs are hinged with the rotating shaft and can axially swing along the rotating shaft, and an eyeball up-and-down movement mechanism installed on the bottom plate drives the rotating shaft to rotate so as to realize the up-and-down movement of the eyeballs; an eyeball left-and-right rotation mechanism installed on the rotating shaft drives the eyeballs to axially swing along the rotating shaft so as to realize the left-and-right movement of the eyeballs; and the upper eyelid and the lower eyelid are connected with the rotating shaft in a rotary way, and an eyelid movement component installed on the bottom plate drives the upper eyelid and the lower eyelid to move in opposite directions so as to realize the opening and the closing of the upper eyelid and the lower eyelid. The invention can realize abundant and more vivid eye part actions, can be used as a man-machine interactive research platform for installation and has simple structure and low manufacturing cost.
Description
Technical field
The present invention relates to a kind of bio-robot eye part movement mechanism, particularly a kind of bio-robot eye part movement mechanism with eyes eyelid.
Technical background
In 20th century, the research of robot has obtained huge achievement, and its application relates to human lives's every aspect especially, as industrial production, air-sea exploration, military affairs, hospital, family and some service industries etc.At present, the research at bio-robot mainly concentrates on aspects such as robot perception, bionical multi-finger clever hand, bionical gait and autonomous behavior in the world, and is relative less to the research of the face of robot and expression.When the people carried out expression of feeling, often the use of words only accounted for 7%, and tone accounts for 38%, and remaining 55% is finished by expression and action entirely.So when bio-robot was applied in service field, the research people was also more and more obvious with the importance that the facial expression of robot exchanges.And in expression, the eye motion seems most important, can give expression to the abundant meaning.
The expression implementation method of bio-robot mainly contains two kinds: 1) according to people's expression principle, adopt bionical skull, bionical organ, bionical muscle, bionics skin etc. to constitute the head part, drive the generation expression with artificial-muscle, but it is just present, at bionical muscle, the research in fields such as bionical organ is also very imperfect, implements difficulty, and cost is also high; 2) from the angle analysis of machinery, realize the expression of robot by the motion of eyes, eyelid, eyebrow and lower jaw etc., this method is simple, and cost is also lower.The existing bio-robot eye of analysis-by-synthesis mechanism mostly is simple eye eyelid mechanism, and expression realizes dull relatively.
Summary of the invention
The objective of the invention is to monotonicity, set up a kind of double eyelid eye part movement mechanism at current bio-robot eye part movement mechanism, simple for structure, cheap, the reliability height.
For reaching above-mentioned purpose, design of the present invention is:
Existing bio-robot eye part movement mechanism mostly is simple eye eyelid mechanism greatly, and complex structure realizes that expression is dull, and the present invention adopts eyes eyelid mechanism exactly, realizes multiple eye motion with comparatively simple structure.
The present invention has not only adopted unique eyes eyelid structure, and structure is simpler, and is with low cost, and motion steadily.Described double eyelid eye part movement mechanism is made up of eye movement parts and eyelid movement parts.And the eye movement parts are made up of move up and down parts and eyeball side-to-side movement parts of an eyeball.Described eye movement parts, left and right two eyeballs are connected with rotating shaft by pin respectively, and rotating shaft is fixed on the base plate by two supports of bearing; Described eyelid movement parts drive two driven pulleys up and down by driving gear of motor-driven, make driven pulley promote linkage and drive upper and lower eyelid, the synchronous on-off of palpebra inferior motion in the realization.
According to the foregoing invention design, the present invention adopts following technical proposals:
A kind of double eyelid eye part movement mechanism of bionic robot, comprise a base plate, about two eyeballs and be configured in the last palpebra inferior of two eyeball fronts, it is characterized in that described base plate top installs a rotating shaft, described two eyeballs can be along rotating shaft axial wobble with the rotating shaft hinge; There is an eyeball up-down mechanism that is installed on the described base plate to drive described rotating shaft and rotates, realize that eyeball moves up and down; There is an eyeball side-to-side movement mechanism that is installed in the described rotating shaft to drive eyeball, realizes the eyeball side-to-side movement along rotating shaft axial wobble; Described upward palpebra inferior and rotating shaft are rotationally connected, and have eyelid movement parts that are installed on the described base plate to drive and go up palpebra inferior move toward one another, the switching campaign of palpebra inferior in the realization.
Described two eyeballs are respectively by two pins and described rotating shaft hinge, and described rotating shaft is installed in the top of described base plate by two supports, and the mechanism of described eyeball up-down mechanism is; A motor is fixedly mounted on the described base plate by an electric machine support, one end of a crank of output shaft hinge of described first motor, one end of the other end of described crank and a connecting rod is hinged, one end of the other end of described connecting rod and second connecting rod is hinged, and the other end of described second connecting rod is fixedlyed connected with described rotating shaft.
The mechanism of described eyeball side-to-side movement mechanism is: one second motor is installed on one second electric machine support, described second electric machine support is fixed in the described rotating shaft, one end of one second crank and described second motor output shaft are hinged, one end of the other end and a third connecting rod is hinged, the middle part of the other end of third connecting rod and one the 4th connecting rod is hinged, and the two ends of described the 4th connecting rod are hinged with two pins respectively.
The mechanism of described eyelid movement parts is: a driving gear and two driven gears are installed on the support, one the 3rd motor is fixed on the described support, this support is fixed on the described base plate, the output shaft of described the 3rd motor is fixedlyed connected with described driving wheel, eccentric shaft on one end of one the 5th connecting rod and the described driven gear is hinged, and the other end and upper eyelid are hinged; Eccentric shaft on one end of one the 6th connecting rod and described another driven gear is hinged, and the other end and palpebra inferior are hinged.
The present invention compares with existing bio-robot eye part movement mechanism, has following conspicuous outstanding substantive distinguishing features and remarkable advantage: the present invention adopts upper and lower eyes eyelid mechanism, can realize abundanter, vivider eye motion; Eyeball up-down mechanism and eyeball side-to-side movement mechanism all adopt toggle, do not have the dead point, and motor can turn round continuously can be not stuck; The eyelid movement parts adopt gear mechanism to realize, operate steadily, and reliable in structure, simple in structure, cost is low, can be as the research platform of man-machine interaction.
Description of drawings
Fig. 1 is the overall structure schematic diagram of an example of the present invention.
Fig. 2 is the eye movement modular construction schematic diagram of Fig. 1 example.
Fig. 3 is the right view of Fig. 2.
Fig. 4 is the move up and down structural representation of parts of the eyeball of Fig. 2 example.
Fig. 5 is the right view of Fig. 4.
Fig. 6 is the eyeball side-to-side movement modular construction schematic diagram of Fig. 2 example.
Fig. 7 is the eyelid movement modular construction schematic diagram of Fig. 1 example.
Specific implementation method
A preferred embodiment accompanying drawings of the present invention is as follows;
Referring to Fig. 1 and Fig. 2, this double eyelid eye part movement mechanism of bionic robot comprise a base plate 10, about two eyeballs 5,6 and be configured in the last palpebra inferior 23,24 of two eyeballs, 5,6 fronts, a rotating shaft 7 is installed in base plate 10 tops, and described two eyeballs 5,6 can be along rotating shaft 7 axial wobbles with rotating shaft 7 hinges; There is an eyeball up-down mechanism 3 that is installed on the described base plate 10 to drive described rotating shaft 7 and rotates, realize that eyeball 5,6 moves up and down; There is an eyeball side-to-side movement mechanism 4 that is installed in the described rotating shaft 7 to drive eyeball 5,6, realizes eyeball 5,6 side-to-side movements along rotating shaft 7 axial wobbles; Described upward palpebra inferior 23,24 and rotating shaft 7 are rotationally connected, and have eyelid movement parts 2 that are installed on the described base plate 10 to drive and go up palpebra inferior 23,24 move toward one another, the switching campaign of palpebra inferior 23,24 in the realization.
Referring to Fig. 4 and Fig. 5, the move up and down structure of parts 3 of above-mentioned eyeball: by 5,6, rotating shaft 7 of left and right two eyeballs, 10, one first motors 11 of 8,9, one base plates of two supports of bearing, 13, two connecting rods of 12, one cranks of an electric machine support 14,15 are formed; Left and right two eyeballs are by pin 16,17 are hinged in rotating shaft 7, rotating shaft 7 is installed in the dead eye of the support of bearing 8,9, support 8,9 is fixedlyed connected with base plate 10 by locating hole, first motor 11 is contained on the electric machine support 12, and electric machine support 12 is fixed on the base plate 10 by locating hole, and crank 13 1 ends link to each other with motor output shaft, the other end links to each other with connecting rod 14, and connecting rod 14 other ends link to each other with second connecting rod 15 on being fixed on rotating shaft 7.Drive toggle by first motor 11, double eyeball 5,6 is rotated up and down synchronously around central rotating shaft 7.Crank and rocker mechanism does not have the dead point, and first motor 11 can turn round continuously can be not stuck.
Referring to Fig. 6, the structure of above-mentioned eyeball side-to-side movement parts 4: one second motor 18 is installed on one second electric machine support 19, described second electric machine support 19 is fixed in the described rotating shaft 7, one end of one second crank 20 and described second motor, 18 output shafts are hinged, one end of the other end and a third connecting rod 21 is hinged, the middle part of the other end of third connecting rod 21 and one the 4th connecting rod 22 is hinged, and the two ends of described the 4th connecting rod 22 are hinged with two pins 16,17 respectively.Crank and rocker mechanism does not have the dead point, and second motor 18 can turn round continuously can be not stuck.
Referring to Fig. 7, the structure of above-mentioned eyelid movement parts 2: a driving gear 27 and two driven gears 28,29 are installed on the support 25, one the 3rd motor 26 is fixed on the described support 25, this support 25 is fixed on the described base plate 10, the output shaft of described the 3rd motor 26 is fixedlyed connected with described driving wheel 27, eccentric shaft on one end of one the 5th connecting rod 30 and the described driven gear 28 is hinged, and the other end and upper eyelid 23 are hinged; Eccentric shaft on one end of one the 6th connecting rod 31 and described another driven gear 29 is hinged, and the other end and palpebra inferior 24 are hinged.The 3rd motor 26 can speed governing, to change the folding speed of eyelid.
The present invention has set up a double eyelid eye part movement mechanism of bionic robot, can realize enriching, eye motion flexibly, can be as the research platform of expression robot.Overcome the monotonicity of the simple eye eyelid mechanism of existing bio-robot eye part movement mechanism.
Claims (3)
1. double eyelid eye part movement mechanism of bionic robot, comprise a base plate (10), about two eyeballs (5,6) and be configured in the last palpebra inferior (23,24) of two eyeballs (5,6) front, it is characterized in that the installation rotating shaft (7) of described base plate (10) top, described two eyeballs (5,6) can be along rotating shaft (7) axial wobble with rotating shaft (7) hinge; There is an eyeball up-down mechanism (3) that is installed on the described base plate (10) to drive described rotating shaft (7) and rotates, realize that eyeball (5,6) moves up and down; There is an eyeball side-to-side movement mechanism (4) that is installed in the described rotating shaft (7) to drive eyeball (5,6), realizes eyeball (5,6) side-to-side movement along rotating shaft (7) axial wobble; The described palpebra inferior (23,24) of going up is rotationally connected with rotating shaft (7), palpebra inferior (23,24) move toward one another in eyelid movement parts (2) driving that is installed on the described base plate (10) is arranged, the switching campaign of palpebra inferior in the realization (23,24);
The mechanism of described eyelid movement parts (2) is: a driving gear (27) and two driven gears (28,29) are installed on the support (25), one the 3rd motor (26) is fixed on the described support (25), this support (25) is fixed on the described base plate (10), the output shaft of described the 3rd motor (26) is fixedlyed connected with described driving gear (27), eccentric shaft on one end of one the 5th connecting rod (30) and the described driven gear (28) is hinged, and the other end and upper eyelid (23) are hinged; Eccentric shaft on one end of one the 6th connecting rod (31) and described another driven gear (29) is hinged, and the other end and palpebra inferior (24) are hinged.
2. double eyelid eye part movement mechanism of bionic robot according to claim 1, it is characterized in that described two eyeballs (5,6) are hinged by two pins (16,17) and described rotating shaft (7) respectively, described rotating shaft (7) is installed in the top of described base plate (10) by two supports (8,9), and the mechanism of described eyeball up-down mechanism (3) is; First motor (11) is fixedly mounted on the described base plate (10) by an electric machine support (12), one end of an output shaft crank of hinge (13) of described first motor (11), one end of the other end of described crank (13) and a connecting rod (14) is hinged, one end of the other end of described connecting rod (14) and second connecting rod (15) is hinged, and the other end of described second connecting rod (15) is fixedlyed connected with described rotating shaft (7).
3. double eyelid eye part movement mechanism of bionic robot according to claim 1, the mechanism that it is characterized in that described eyeball side-to-side movement mechanism (4) is: one second motor (18) is installed on one second electric machine support (19), described second electric machine support (19) is fixed in the described rotating shaft (7), one end of one second crank (20) and described second motor (18) output shaft are hinged, one end of the other end and a third connecting rod (21) is hinged, the middle part of the other end of third connecting rod (21) and one the 4th connecting rod (22) is hinged, the two ends of described the 4th connecting rod (22) respectively with two pins (16,17) be hinged.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2009101965538A CN101670585B (en) | 2009-09-27 | 2009-09-27 | Double eyelid eye part movement mechanism of bionic robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2009101965538A CN101670585B (en) | 2009-09-27 | 2009-09-27 | Double eyelid eye part movement mechanism of bionic robot |
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| Publication Number | Publication Date |
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| CN101670585A CN101670585A (en) | 2010-03-17 |
| CN101670585B true CN101670585B (en) | 2011-05-04 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN2009101965538A Expired - Fee Related CN101670585B (en) | 2009-09-27 | 2009-09-27 | Double eyelid eye part movement mechanism of bionic robot |
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Families Citing this family (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103056880B (en) * | 2012-12-31 | 2015-03-25 | 深圳华强文化科技集团股份有限公司 | Simulated monkey robot head structure |
| CN103271781B (en) * | 2013-05-06 | 2016-01-13 | 上海交通大学 | The ARTIFICIAL EYELID device of simulation ocular movement and visual signal acquisition function |
| CN104552306A (en) * | 2015-01-07 | 2015-04-29 | 上海大学 | Spatial RSSR mechanism based biomimetic eye movement mechanism |
| CN105563497A (en) * | 2016-03-07 | 2016-05-11 | 东南大学 | Body and head mechanism of humanoid robot |
| CN106625702A (en) * | 2016-12-08 | 2017-05-10 | 成都炬石科技有限公司 | Humanoid mechanical head and humanoid robot |
| CN106422345A (en) * | 2016-12-10 | 2017-02-22 | 袁正华 | Driving mechanism for bionic animal nose |
| CN108237537A (en) * | 2016-12-23 | 2018-07-03 | 深圳光启合众科技有限公司 | The eye structure and robot of robot |
| WO2018113722A1 (en) * | 2016-12-23 | 2018-06-28 | 深圳光启合众科技有限公司 | Eye structure of robot, head structure of robot, and robot |
| CN106903702A (en) * | 2017-04-27 | 2017-06-30 | 深圳中智科创机器人有限公司 | A kind of Prosthetic Hand telecontrol equipment |
| CN108145697A (en) * | 2018-01-22 | 2018-06-12 | 深圳市赛洛诗健康科技有限公司 | A kind of robot head |
| CN109822590B (en) * | 2019-03-19 | 2023-05-05 | 华南理工大学 | Robot eye movement device and control method |
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| CN101670585A (en) | 2010-03-17 |
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Owner name: NANTONG AILITE ELECTROMECHANICAL MANUFACTURING CO. Free format text: FORMER OWNER: SHANGHAI UNIVERSITY Effective date: 20140610 |
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Free format text: CORRECT: ADDRESS; FROM: 200444 BAOSHAN, SHANGHAI TO: 226600 NANTONG, JIANGSU PROVINCE |
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Effective date of registration: 20140610 Address after: 19 226600 and 27 sets of Nantong village, Haian Town, Haian County, Jiangsu, China Patentee after: Nantong Ailite Electromechanical Manufacturing Co., Ltd. Address before: 200444 Baoshan District Road, Shanghai, No. 99 Patentee before: Shanghai University |
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Granted publication date: 20110504 Termination date: 20180927 |
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| CF01 | Termination of patent right due to non-payment of annual fee |