CN108858249A - A kind of bio-robot eye driving mechanism - Google Patents
A kind of bio-robot eye driving mechanism Download PDFInfo
- Publication number
- CN108858249A CN108858249A CN201810974852.9A CN201810974852A CN108858249A CN 108858249 A CN108858249 A CN 108858249A CN 201810974852 A CN201810974852 A CN 201810974852A CN 108858249 A CN108858249 A CN 108858249A
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- China
- Prior art keywords
- ball
- bio
- eye
- pull rod
- driving mechanism
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Classifications
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- 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
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- 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)
- Toys (AREA)
Abstract
A kind of bio-robot eye driving mechanism, including upper eyelid, lower eyelid, bracket, left eye ball, right eye ball, steering engine, swing rod, connecting rod, pull rod and ball link.
Description
Technical field
The invention belongs to Intelligent bionic machinery people's technical field, in particular to a kind of bio-robot eye transmission mechanism.
Background technique
One of the important organ that eyes are the mankind and external environment interacts, human perception external environment have 90% with
Upper information is obtained by eyes.Eye rotation is indispensable important feature in robot motion expression.Currently, intelligence
The eye expression mechanism of robot otherwise be mechanism complexity, components are numerous, and size is improper；It is exactly number of degrees of freedom,
Not enough, no image of Buddha human eye rotates freely like that；It is exactly that cannot be acted not true to nature enough around its center rotating.
Summary of the invention
The purpose of the present invention is to provide robot eyes driving mechanisms, it is intended to solve the eye knot of prior art robot
The problem of structure is complicated, is unable to flexible rotating.
To achieve the goals above, the technical solution adopted by the present invention is as follows：
A kind of bio-robot eye driving mechanism is provided, affiliated eye driving mechanism include upper eyelid, lower eyelid, bracket,
Left eye ball, right eye ball, steering engine, swing rod, connecting rod, pull rod and ball link.
Specifically, the spherical surface of the left eye ball and the spherical surface of right eye ball are fixed on by rotatable upper eyelid and lower eyelid
In the ball-and-socket face of ball stand, ball constraints are formed, the rotation up and down of eyeball may be implemented.
Specifically, the left eye ball, bracket, right eye ball, ball link constitute one by the deformable of servo driving
Parallelogram.
Specifically, the ball link has a cylindrical surface.
Specifically, the pull rod has a U slot pillar, and U slot pillar forks the cylindrical surface of ball link, forms sliding and turns
Dynamic connection, servo driving pull rod is dynamic up and down, and then realizes rotating upwardly and downwardly for eyeball.
The beneficial effects of the invention are as follows：Realize that two eyeballs rotate up and down in the same direction simultaneously by eyeball connecting rod,
Upper eyelid center of rotation is on center of rotation.Structure is compact, acts true to nature.
Detailed description of the invention
Fig. 1 is the main body schematic diagram of the present embodiment.
Fig. 2 is the main body perspective view of the explosion of the present embodiment.
Fig. 3 is the schematic diagram of the present embodiment ball portions.
Fig. 4 is the perspective view of the explosion of the present embodiment ball portions.
Fig. 5 is the schematic diagram of the present embodiment upper eyelid part.
Fig. 6 is the perspective view of the explosion of the present embodiment upper eyelid part.
Fig. 7 is the pull rod schematic diagram of the present embodiment.
Specific embodiment
In order to which technical problems, technical solutions and advantages to be solved are more clearly understood, tie below
Accompanying drawings and embodiments are closed, are further elaborated.It should be appreciated that specific embodiment described herein is only used to explain
The present invention is not intended to limit the present invention.
It should be noted that it can be directly another when element is referred to as " being fixed on " or " being set to " another element
On one element or indirectly on another element.When element is referred to as " being connected to " another element, it be can be directly
It is connected to another element or is indirectly connected on another element.
It is to be appreciated that term " length ", " width ", "upper", "lower", "front", "rear", "left", "right", "vertical",
The orientation or positional relationship of the instructions such as "horizontal", "top", "bottom", "inner", "outside" is that orientation based on the figure or position are closed
System is merely for convenience of the description present invention or simplifies description, rather than the device or element of indication or suggestion meaning must have
Specific orientation is constructed or is operated with specific orientation, therefore is not considered as limiting the invention.
In addition, term " first ", " second " are used for descriptive purposes only and cannot be understood as indicating or suggesting relative importance
Or implicitly indicate the quantity of indicated technical characteristic.Therefore, define " first ", the feature of " second " can be expressed or
It impliedly include one or more this feature.In the description of the present invention, the meaning of " plurality " is two or more, remove
It is non-in addition to have clearly specific restriction.
Referring to Fig.1, Fig. 2, Fig. 6, Fig. 7, a kind of bio-robot eye driving mechanism include：Lower eyelid 1, upper eyelid 2, branch
Frame 3, left eye ball 4, right eye ball 5, steering engine 6, swing rod 7, connecting rod 8, steering engine 9, ball link 10, swing rod 11, connecting rod 12, pull rod 13, branch
Frame 14, steering engine 15.Left eye ball 4 and right eye ball 5 are pressed in the ball of bracket 3 by the spherical surface 101 of the spherical surface 201 of upper eyelid 2 and lower eyelid 1
In nest face 301, such left eye ball 4 or right eye ball 5 and bracket 3 form a ball constraints, and the eyeball that may be implemented up and down turns
Dynamic.The shaft 202 of upper eyelid 2 is pressed in the cylinder groove 302 of bracket 3 by lower eyelid 1 simultaneously, such upper eyelid 2 can on
Lower rotation, realizes the effect of blink.On the centre of sphere in ball-and-socket face 301, such the upper and lower of upper eyelid 2 blinks in the axle center of cylinder groove 302
Eye will not influence the rotation of left eye ball 4 or right eye ball 5.Steering engine 6 is fixed on bracket 3, and about 2 upper eyelid of driving is blinked, pull rod
1301 sets of sliding slot on 13 allow pull rod 13 that can go up downslide on the support 14 by the driving of steering engine 15 on the traveller 1401 of bracket 14
It is dynamic, and then realize that two eyeballs rotate upwardly and downwardly.
Referring to Fig. 3, Fig. 4, in the shaft hole 1002 of ball link 10, steering engine 9 is fixed on for 401 sets of shaft on left eye ball 4
On ball link 10, the shaft of steering engine 9 is inserted directly into the shaft hole 501 of right eye ball 5.Left eye ball 4, ball link 10, right eye in this way
Ball 5 and bracket 3 are formed a parallelogram.Steering engine 9 directly drives left eye ball 4 and right eye ball 5 left/right rotation in the same direction simultaneously
It is dynamic.Steering engine 15 connects swing rod 11, and swing rod 11 connects connecting rod 12, and 12 connecting rod 13 of connecting rod, material is thus formed crank block machines
The U slot pillar 1302 of structure, pull rod 13 is pitched on the cylindrical surface of ball link 10 1001, and ball link 10 is pulled same by about 13 pull rod
When also can rotate and slide in U slot pillar 1302.Steering engine 15 drives swing rod 11 to swing and also transports with regard to about 10 stretchy ball link
It is dynamic, and then make left eye ball 4 and right eye ball 5 while rotating upwardly and downwardly in the same direction.
Referring to Fig. 5, Fig. 6, steering engine 6 connects swing rod 7, and swing rod 7 connects connecting rod 8, and connecting rod 8 connects upper eyelid 2.Steering engine 6 in this way
Rotation can be such that upper eyelid 2 rotates, and realize the process of blink.
The above is merely preferred embodiments of the present invention, it is not intended to limit the invention, it is any to be familiar with the art
Technical staff within the technical scope of the present disclosure, according to the technical scheme of the invention and its inventive conception made by it is any
Modifications, equivalent substitutions and improvements etc., should all be included in the protection scope of the present invention.
Claims (5)
1. a kind of bio-robot eye driving mechanism, including upper eyelid, lower eyelid, bracket, left eye ball, right eye ball, steering engine, pendulum
Bar, connecting rod, pull rod and ball link.
2. bio-robot eye driving mechanism as described in claim 1, it is characterised in that：The spherical surface and right eye ball of left eye ball
Spherical surface be fixed on by rotatable upper eyelid and lower eyelid in the ball-and-socket face of ball stand, formed ball constraints, eyeball may be implemented
Rotation up and down.
3. bio-robot eye driving mechanism as described in claim 1, it is characterised in that：Left eye ball, bracket, right eye ball,
Ball link constitutes a deformable parallelogram by servo driving.
4. ball link as described in claim 1, it is characterised in that：Ball link has a cylindrical surface.
5. pull rod as described in claim 1, it is characterised in that：Pull rod has a U slot pillar, and U slot pillar forks ball link
Cylindrical surface forms sliding and rotation connection, and servo driving pull rod is dynamic up and down, and then realizes rotating upwardly and downwardly for eyeball.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810974852.9A CN108858249A (en) | 2018-08-24 | 2018-08-24 | A kind of bio-robot eye driving mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810974852.9A CN108858249A (en) | 2018-08-24 | 2018-08-24 | A kind of bio-robot eye driving mechanism |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108858249A true CN108858249A (en) | 2018-11-23 |
Family
ID=64321595
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810974852.9A Pending CN108858249A (en) | 2018-08-24 | 2018-08-24 | A kind of bio-robot eye driving mechanism |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108858249A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111745656A (en) * | 2019-03-26 | 2020-10-09 | 深圳市网睿科技有限公司 | Bionic robot eye system |
| CN113547526A (en) * | 2020-04-23 | 2021-10-26 | 深圳市网睿科技有限公司 | Head of robot simulating human |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101670584A (en) * | 2009-09-25 | 2010-03-17 | 上海大学 | bionic mechanical eyeball |
| CN101898359A (en) * | 2009-11-09 | 2010-12-01 | 沈阳工业大学 | Humanoid robot eyes |
| CN104723349A (en) * | 2015-03-30 | 2015-06-24 | 北京电影学院 | Electronic machinery bionic role producing system |
| US20170087726A1 (en) * | 2015-09-27 | 2017-03-30 | Gnana Haranth | Human socializable entity for improving digital health care delivery |
| CN207058582U (en) * | 2017-06-29 | 2018-03-02 | 深圳市赛洛诗健康科技有限公司 | Robot eyes drive mechanism |
| CN107932527A (en) * | 2017-12-25 | 2018-04-20 | 深圳艾比仿生机器人科技有限公司 | Bionical eye |
-
2018
- 2018-08-24 CN CN201810974852.9A patent/CN108858249A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101670584A (en) * | 2009-09-25 | 2010-03-17 | 上海大学 | bionic mechanical eyeball |
| CN101898359A (en) * | 2009-11-09 | 2010-12-01 | 沈阳工业大学 | Humanoid robot eyes |
| CN104723349A (en) * | 2015-03-30 | 2015-06-24 | 北京电影学院 | Electronic machinery bionic role producing system |
| US20170087726A1 (en) * | 2015-09-27 | 2017-03-30 | Gnana Haranth | Human socializable entity for improving digital health care delivery |
| CN207058582U (en) * | 2017-06-29 | 2018-03-02 | 深圳市赛洛诗健康科技有限公司 | Robot eyes drive mechanism |
| CN107932527A (en) * | 2017-12-25 | 2018-04-20 | 深圳艾比仿生机器人科技有限公司 | Bionical eye |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111745656A (en) * | 2019-03-26 | 2020-10-09 | 深圳市网睿科技有限公司 | Bionic robot eye system |
| CN113547526A (en) * | 2020-04-23 | 2021-10-26 | 深圳市网睿科技有限公司 | Head of robot simulating human |
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| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
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Application publication date: 20181123 |