CN101898359B - Humanoid robot eyes - Google Patents
Humanoid robot eyes Download PDFInfo
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- CN101898359B CN101898359B CN200910219711A CN200910219711A CN101898359B CN 101898359 B CN101898359 B CN 101898359B CN 200910219711 A CN200910219711 A CN 200910219711A CN 200910219711 A CN200910219711 A CN 200910219711A CN 101898359 B CN101898359 B CN 101898359B
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- eyeball
- eyelid
- connecting rod
- frame
- motor
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Abstract
The invention relates to humanoid robot eyes which belong to the technical field of robots. In the invention, an eyeball connecting rod extending rod is connected with an eyeball connecting rod by using an extending rod pin shaft in middle of the eyeball connecting rod. The eyeball connecting rod extending rod can slide in grooves of a horizontal coordinate frame and a transverse eyeball coordinate frame which are vertically installed mutually; and the horizontal coordinate frame and the transverse eyeball coordinate frame are respectively connected with an eyeball longitudinal motion motor and an eyeball transverse motion motor by a horizontal coordinate frame rotating shaft and a transverse coordinate frame rotating shaft. When the eyeball longitudinal motion motor and the eyeball transverse motion motor rotate, the eyeball connecting rod extending rod is driven to move in two-dimensional coordinates. The invention is used for converting the rotation of eyeballs into displacement in a two-dimensional coordinate surface by several simple devices and realizes the linkage of the two coordinates by controlling the two motors, thereby realizing the synchronous rotation of double eyeballs of a face robot in any direction at any angle and any speed.
Description
Technical field
The present invention relates to a kind of robot, especially a kind of eye of anthropomorphic robot.
Background technology
Famous American psychologist Albert Mehrabian is through discovering; The people is when carrying out emotional expression, and 7% content only expressed in language, and tone also can only be expressed 38% content; And 55% content is expressed with action by people's expression entirely, the necessity that visible expression exchanges.
Apery service type robot has become a big focus in robot research field at present, and this robotlike's production development is very rapid, and market prospects are wide.The main purposes of apery service type robot has: sweep health in the family and do housework, look after the house and protect institute, supervision domestic electric appliance, treatment old man and children; Help the transmitting-receiving file, transmit message, take in guests; Replace the nursing staff to send food and medicine, look after the daily daily life activity of disabled person for patient; The counseling services of friendship formula are provided in fair, exhibition room, excursion district, public place, show propaganda and performance activity; Spiritual comfort, amusement and recreation, culture and education or the like are provided.This robotlike directly behaves service is provided, with the aspectant direct interchange of people, contact.If this robotlike can be equipped with suitable expression in its work of completion, language exchanges with the people; What let the people feels to face is not only a frosty machine; But one have life, sentient " people ", and robot is better exchanged with the people, for the mankind provide service that more show consideration for, more friendly; Even can replace the mankind to work alone fully in some field, to alleviate human society aging pressure.
Domestic each research institution has carried out some researchs in this field at present; Some positive achievements have also been obtained; But generally also there is following problem in the facial expression robot that has developed: the human eye movement can rotate with the purpose all directions; And " the eyes are the windows of the mind " playing a part very key aspect human emotion's the expression.Motion in an instant about the motion parts of the expression robot eyeball of having developed has only simply mostly, this just makes the facial expression robot that the simulate effect of mankind's expression is had a greatly reduced quality.Part Study mechanism has developed the humanoid robot eyes that eyeball not only can left-right rotation but also can have been rotated up and down, has but caused complex structure, bulky, is difficult to be installed within the simulation skin of making at 1: 1 by human head dimensions and simulation skeleton.At present technical main difficult point be anthropomorphic robot for better mimic human carry out emotional expression the free degree that will realize various; Head particularly; In the very limited space of anthropomorphic robot encephalic, realize numerous frame for movement, drive motors, control system are installed, the eye that will guarantee anthropomorphic robot is satisfying simple, small and exquisite that structure is tried one's best under the prerequisite that apery requires.
Summary of the invention
The objective of the invention is to deficiency to prior art; A kind of humanoid robot eyes is provided; Simple in structure, ingenious, compact, cost is lower, and can realize similar human eye, two synchronous eyeballs are to any direction, rotate with arbitrary speed at any angle.And can realize synchronous, nonsynchronous motion nictation of two eyelids.
The present invention realizes through following technical scheme, the present invention includes: eyelid connecting rod, eyelid motor, eyelid motor cabinet, eyeball support, the split pin of eyeball bearing pin, eyelid support, eyelid matrix, eyelid rotating shaft, eyeball axle, eyeball bearing pin, oscillating bearing, eyeball bearing block, eyeball, eyeball connecting rod, prolongation pole socket, extension rod bearing pin, the split pin of extension rod bearing pin, vertical eyeball frame of axes, eyeball connecting rod extension rod, horizontal eyeball frame of axes, the rotating shaft of lateral coordinates frame, the rotating shaft of along slope coordinate frame, eyeball motor cabinet, eyeball transverse movement motor, eyeball lengthwise movement motor.Connecting relation is: the eyelid motor links to each other with the eyelid matrix through the eyelid connecting rod, and the eyelid motor is installed on the eyelid motor cabinet, and the eyelid motor cabinet is installed on the eyeball motor cabinet; The eyelid matrix links to each other with the eyelid support through the eyelid rotating shaft, and the eyelid support is installed on the eyeball support, and the eyeball bearing block is installed on the eyeball support; Oscillating bearing is installed in the eyeball bearing block; The eyeball axle is installed in the oscillating bearing, and eyeball links to each other with eyeball axle front end, and the eyeball shaft rear end links to each other with the eyeball connecting rod through the eyeball bearing pin; Prolonging pole socket is installed on the eyeball connecting rod; Eyeball connecting rod extension rod links to each other with the prolongation pole socket through the extension rod bearing pin, and eyeball transverse movement motor, eyeball lengthwise movement motor are installed on the eyeball motor cabinet, and the along slope coordinate frame links to each other with eyeball lengthwise movement motor through the rotating shaft of along slope coordinate frame; The lateral coordinates frame links to each other with eyeball transverse movement motor through the rotating shaft of lateral coordinates frame, and eyeball connecting rod extension rod slides in the groove of along slope coordinate frame, lateral coordinates frame.
Described eyelid rotating shaft is embedded on the eyelid matrix through screw thread.
Described oscillating bearing is interference with eyeball bearing block, eyeball axle and is connected.
Described eyeball axle links to each other with eyeball through screw thread.
Described eyeball bearing pin locks with the split pin of eyeball bearing pin.
Described eyeball is hollow, and Lower Half cuts away a part, interferes when preventing to move.
Described extension rod bearing pin locks with the split pin of extension rod bearing pin.
End section is a square behind the described eyeball connecting rod extension rod, and measure-alike with the slot name justice on along slope coordinate frame, the lateral coordinates frame, matched in clearance.
The rotating shaft of described along slope coordinate frame is fixed on the along slope coordinate frame with holding screw.
The rotating shaft of described lateral coordinates frame is fixed on the lateral coordinates frame with holding screw.
The model of described eyelid motor, eyeball transverse movement motor, eyeball lengthwise movement motor is steering wheel Tower ProMG995.
Among the present invention, two eyeballs are through linking to each other the eyeball shaft rear end that two eyeballs stretch out with an eyeball connecting rod with two eyeball bearing pins, to realize the synchronous rotation of two eyeballs.Eyeball connecting rod extension rod links to each other with the eyeball connecting rod with an extension rod bearing pin in the centre position of eyeball connecting rod; This extension rod bearing pin can not occur interfering stuck phenomenon perpendicular to two eyeball bearing pins on the eyeball axle to guarantee eyeball transverse movement motor, eyeball lengthwise movement motor-driven eyeball when realizing two coordinate linkages.The cross section of eyeball connecting rod extension rod is a square; Eyeball connecting rod extension rod is installed in the groove of mutual vertically arranged along slope coordinate frame, horizontal eyeball frame of axes; And can in groove, slide, along slope coordinate frame, horizontal eyeball frame of axes link to each other with eyeball lengthwise movement motor, eyeball transverse movement motor through the rotating shaft of along slope coordinate frame, the rotating shaft of lateral coordinates frame respectively again.When eyeball lengthwise movement motor, when eyeball transverse movement motor rotates; Two motion motors drive along slope coordinate frame, laterally eyeball frame of axes motion respectively; Two eyeball frames of axes drive position the moving in two-dimensional coordinate of eyeball connecting rod extension rod again; Eyeball connecting rod extension rod slides in the groove of along slope coordinate frame, lateral coordinates frame simultaneously, and connecting rod is perpendicular to the displacement of two-dimensional coordinate face during with the swing of compensation eyeball connecting rod extension rod.When eyeball lengthwise movement motor, eyeball transverse movement motor rotate the serial transmission through said mechanism, can realize of the rotation of two eyeballs around oscillating bearing.Through control, can realize complete simulation again to the human eye movement to eyeball lengthwise movement motor, eyeball transverse movement motor rotational angle, time, speed.Eyelid support by fixing connects through the eyelid rotating shaft with eyelid, and eyelid can stir around the eyelid rotating shaft, realizes stirring of eyelid through the eyelid connecting rod that the eyelid motor-driven connects with eyelid rear end extension rod.
Compared with prior art; The present invention is through some simple devices; The rotation of eyeball changes into for the displacement in the two-dimensional coordinate face; Realized the interlock of two coordinates can realizing synchronous, the rotation in any direction, any angle, any speed of facial robot two eyeballs through control to two motors.The present invention has adopted sheet metal part, standard component in a large number, and weight, cost are all declined to a great extent.
Description of drawings
Fig. 1 is an eyeball component sketch map of the present invention
Fig. 2 is an eyeball rotatable parts sketch map of the present invention
Fig. 3 is an overall structure sketch map of the present invention
The specific embodiment
Below in conjunction with accompanying drawing embodiment of the present invention is elaborated:
Like Fig. 1, Fig. 2, shown in Figure 3, the present invention includes: eyelid connecting rod 1, eyelid motor 2, eyelid motor cabinet 3, eyeball support 4, eyeball bearing pin split pin 5, eyelid support 6, eyelid matrix 7, eyelid rotating shaft 8, eyeball axle 9, eyeball bearing pin 10, oscillating bearing 11, eyeball bearing block 12, eyeball 13, eyeball connecting rod 14, prolongation pole socket 15, extension rod bearing pin 16, extension rod bearing pin split pin 17, vertical eyeball frame of axes 18, eyeball connecting rod extension rod 19, horizontal eyeball frame of axes 20, lateral coordinates frame rotating shaft 21, along slope coordinate frame rotating shaft 22, eyeball motor cabinet 23, eyeball transverse movement motor 24, eyeball lengthwise movement motor 25.
Connecting relation between the above parts is: eyelid motor 2 links to each other with eyelid matrix 7 through eyelid connecting rod 1; Eyelid motor 2 is installed on the eyelid motor cabinet 3, and eyelid motor cabinet 3 is installed on the eyeball motor cabinet 23, and eyelid matrix 7 links to each other with eyelid support 6 through eyelid rotating shaft 8; Eyelid support 6 is installed on the eyeball support 4; Eyeball bearing block 11 is installed on the eyeball support 4, and oscillating bearing 10 is installed in the eyeball bearing block 11, and eyeball axle 9 is installed in the oscillating bearing 10; Eyeball 13 links to each other with eyeball axle 9 front ends; Eyeball axle 9 rear ends link to each other with eyeball connecting rod 14 through eyeball bearing pin 10, prolong pole socket 15 and are installed on the eyeball connecting rod 14, and eyeball connecting rod extension rod 19 links to each other with prolongation pole socket 15 through extension rod bearing pin 16; Eyeball transverse movement motor 24, eyeball lengthwise movement motor 25 are installed on the eyeball motor cabinet 23; Along slope coordinate frame 18 links to each other with eyeball lengthwise movement motor 25 through along slope coordinate frame rotating shaft 22, and lateral coordinates frame 20 links to each other with eyeball transverse movement motor 24 through lateral coordinates frame rotating shaft 21, and eyeball connecting rod extension rod 9 slides in the groove of along slope coordinate frame 18, lateral coordinates frame 20.
Described eyelid rotating shaft 8 is embedded on the eyelid matrix 7 through screw thread.
Described oscillating bearing 10 is interference with eyeball bearing block 12, eyeball axle 9 and is connected.
Described eyeball axle 9 links to each other with eyeball 13 through screw thread.
Described eyeball bearing pin 10 usefulness eyeball bearing pin split pins 5 lockings.
Described eyeball 13 is hollow, and Lower Half cuts away a part, interferes when preventing to move.
Described extension rod bearing pin 16 usefulness extension rod bearing pin split pins 17 lockings.
Described eyeball connecting rod extension rod 19 back end sections are square, and measure-alike with the slot name justice on along slope coordinate frame 18, the lateral coordinates frame 20, matched in clearance.
Described along slope coordinate frame rotating shaft 22 usefulness holding screws are fixed on the along slope coordinate frame 18.
Described lateral coordinates frame rotating shaft 21 usefulness holding screws are fixed on the lateral coordinates frame 20.
The model of described eyelid motor 2, eyeball transverse movement motor 24, eyeball lengthwise movement motor 25 is steering wheel Tower Pro MG995.
Eyelid connecting rod 1; Eyelid motor 2; Eyelid motor cabinet 3; Eyeball support 4; Eyeball bearing pin split pin 5; Eyelid support 6; Eyelid matrix 7; Eyelid rotating shaft 8; Eyeball axle 9; Eyeball bearing pin 10; Oscillating bearing 11; Eyeball bearing block 12; Eyeball 13; Eyeball connecting rod 14; Prolong pole socket 15; Extension rod bearing pin 16; Extension rod bearing pin split pin 17; Vertical eyeball frame of axes 18; Eyeball connecting rod extension rod 19; Horizontal eyeball frame of axes 20; Lateral coordinates frame rotating shaft 21; Along slope coordinate frame rotating shaft 22; Eyeball motor cabinet 23; Eyeball transverse movement motor 24; Eyeball lengthwise movement motor 25.
In this instance, two eyeballs are through linking to each other eyeball axle 9 rear ends that two eyeballs 13 stretch out with an eyeball connecting rod 14 with two eyeball bearing pins 10, to realize the synchronous rotation of two eyeballs.Eyeball connecting rod extension rod 19 links to each other with eyeball connecting rod 14 with an extension rod bearing pin 16 in the centre position of eyeball connecting rod 14; This extension rod bearing pin 16 can not occur interfering stuck phenomenon perpendicular to two eyeball bearing pins 10 on the eyeball axle 9 to guarantee that eyeball transverse movement motor 24, eyeball lengthwise movement motor 25 drive when eyeball 13 is realized two coordinate linkages.The cross section of eyeball connecting rod extension rod 19 is a square; Eyeball connecting rod extension rod 19 is installed in mutual vertically arranged along slope coordinate frame 18, laterally in the groove of eyeball frame of axes 20; And can in groove, slide, along slope coordinate frame 18, horizontal eyeball frame of axes 20 link to each other with eyeball lengthwise movement motor 25, eyeball transverse movement motor 24 through along slope coordinate frame rotating shaft 22, lateral coordinates frame rotating shaft 21 respectively again.When eyeball lengthwise movement motor 25, when eyeball transverse movement motor 24 rotates; Two motion motors drive along slope coordinate frame 18, laterally eyeball frame of axes 20 motions respectively; Two eyeball frames of axes drive position the moving in two-dimensional coordinate of eyeball connecting rod extension rod 14 again; Eyeball connecting rod extension rod 14 slides in the groove of along slope coordinate frame 18, lateral coordinates frame 20 simultaneously, and connecting rod is perpendicular to the displacement of two-dimensional coordinate face during with 14 swings of compensation eyeball connecting rod extension rod.Serial transmission when eyeball lengthwise movement motor 25, eyeball transverse movement motor 24 rotate through said mechanism can realize the rotation of two eyeballs 13 around oscillating bearing 10.Through control, can realize complete simulation again to the human eye movement to eyeball lengthwise movement motor 25, eyeball transverse movement motor 24 rotational angles, time, speed.Eyelid support 6 by fixing connects through eyelid rotating shaft 8 with eyelid 7, and eyelid 7 can stir around eyelid rotating shaft 8, drives the eyelid connecting rod 1 that connects with eyelid 7 rear end extension rods through eyelid motor 2 and realizes stirring of eyelid 7.This instance is through some simple devices; The rotation of eyeball changes into for the displacement in the two-dimensional coordinate face; Realized the interlock of two coordinates can realizing synchronous, the rotation in any direction, any angle, any speed of facial robot two eyeballs through control to two motors.The present invention has adopted sheet metal part, standard component in a large number, and weight, cost are all declined to a great extent.
Claims (5)
1. humanoid robot eyes; Comprise: eyelid connecting rod, eyelid motor, eyelid motor cabinet, eyeball support, the split pin of eyeball bearing pin, eyelid support, eyelid matrix, eyelid rotating shaft, eyeball axle, eyeball bearing pin, oscillating bearing, eyeball bearing block, eyeball, eyeball connecting rod, prolongation pole socket, extension rod bearing pin, the split pin of extension rod bearing pin, vertical eyeball frame of axes, eyeball connecting rod extension rod, horizontal eyeball frame of axes, the rotating shaft of lateral coordinates frame, the rotating shaft of along slope coordinate frame, eyeball motor cabinet, eyeball transverse movement motor, eyeball lengthwise movement motor; It is characterized in that: the eyelid motor links to each other with the eyelid matrix through the eyelid connecting rod; The eyelid motor is installed on the eyelid motor cabinet; The eyelid motor cabinet is installed on the eyeball motor cabinet; The eyelid matrix links to each other with the eyelid support through the eyelid rotating shaft, and the eyelid support is installed on the eyeball support, and the eyeball bearing block is installed on the eyeball support; Oscillating bearing is installed in the eyeball bearing block; The eyeball axle is installed in the oscillating bearing, and eyeball links to each other with eyeball axle front end, and two eyeballs are through linking to each other the eyeball shaft rear end that two eyeballs stretch out with an eyeball connecting rod with two eyeball bearing pins; Prolonging pole socket is installed on the eyeball connecting rod; Eyeball connecting rod extension rod links to each other with the prolongation pole socket through the extension rod bearing pin, and eyeball transverse movement motor, eyeball lengthwise movement motor are installed on the eyeball motor cabinet, and vertically the eyeball frame of axes links to each other with eyeball lengthwise movement motor through the rotating shaft of along slope coordinate frame; Laterally the eyeball frame of axes links to each other with eyeball transverse movement motor through the rotating shaft of lateral coordinates frame, and eyeball connecting rod extension rod slides in the groove of vertical eyeball frame of axes, horizontal eyeball frame of axes.
2. humanoid robot eyes according to claim 1 is characterized in that: described eyeball rotates around oscillating bearing.
3. humanoid robot eyes according to claim 1 is characterized in that: be interference fit joint between described oscillating bearing Internal and external cycle and the eyeball axle that connects with it, the eyeball bearing block.
4. humanoid robot eyes according to claim 1; It is characterized in that: the cross section of described eyeball connecting rod extension rod is square; Eyeball connecting rod extension rod is installed in the groove of mutual vertically arranged vertical eyeball frame of axes, horizontal eyeball frame of axes, and can in groove, slide.
5. humanoid robot eyes according to claim 1 is characterized in that: described eyeball is hollow, and Lower Half is cut away a part.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN200910219711A CN101898359B (en) | 2009-11-09 | 2009-11-09 | Humanoid robot eyes |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN200910219711A CN101898359B (en) | 2009-11-09 | 2009-11-09 | Humanoid robot eyes |
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| Publication Number | Publication Date |
|---|---|
| CN101898359A CN101898359A (en) | 2010-12-01 |
| CN101898359B true CN101898359B (en) | 2012-10-17 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN200910219711A Expired - Fee Related CN101898359B (en) | 2009-11-09 | 2009-11-09 | Humanoid robot eyes |
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Families Citing this family (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106426196B (en) * | 2016-08-31 | 2018-01-30 | 佛山博文机器人自动化科技有限公司 | A kind of service-delivery machine head part |
| CN108237537B (en) * | 2016-12-23 | 2024-06-28 | 深圳光启合众科技有限公司 | Eye structure of robot and robot |
| CN108039105B (en) * | 2018-01-20 | 2020-05-15 | 郑丛 | Robot eyeball that can blink |
| CN108459720B (en) * | 2018-04-19 | 2023-11-21 | 京东方科技集团股份有限公司 | Video control device and method for controlling terminal by using video control device |
| CN108858249A (en) * | 2018-08-24 | 2018-11-23 | 深圳市网睿科技有限公司 | A kind of bio-robot eye driving mechanism |
| CN112847394A (en) * | 2021-01-04 | 2021-05-28 | 唐山海容机器人应用技术研究院 | Human eye and head movement simulating mechanism |
Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN201760882U (en) * | 2009-12-08 | 2011-03-16 | 沈阳工业大学 | Eye mechanism of humanoid robot |
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Patent Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN201760882U (en) * | 2009-12-08 | 2011-03-16 | 沈阳工业大学 | Eye mechanism of humanoid robot |
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| CN101898359A (en) | 2010-12-01 |
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