CN109702769A - A kind of robot and its ophthalmotrope - Google Patents
A kind of robot and its ophthalmotrope Download PDFInfo
- Publication number
- CN109702769A CN109702769A CN201910168507.0A CN201910168507A CN109702769A CN 109702769 A CN109702769 A CN 109702769A CN 201910168507 A CN201910168507 A CN 201910168507A CN 109702769 A CN109702769 A CN 109702769A
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- ontology
- eyeball
- driving section
- pedestal
- ophthalmotrope
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- 210000005252 bulbus oculi Anatomy 0.000 claims abstract description 98
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims abstract description 36
- 230000007246 mechanism Effects 0.000 claims abstract description 16
- 210000004279 orbit Anatomy 0.000 claims abstract description 14
- 230000008859 change Effects 0.000 claims description 31
- 210000000744 eyelid Anatomy 0.000 claims description 15
- 230000010355 oscillation Effects 0.000 claims description 10
- 230000033001 locomotion Effects 0.000 claims description 8
- 238000009826 distribution Methods 0.000 claims description 3
- 230000000694 effects Effects 0.000 abstract description 6
- 238000012423 maintenance Methods 0.000 abstract description 3
- 230000005540 biological transmission Effects 0.000 description 25
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- 238000005299 abrasion Methods 0.000 description 3
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- 238000006073 displacement reaction Methods 0.000 description 2
- 239000002360 explosive Substances 0.000 description 2
- 230000006872 improvement Effects 0.000 description 2
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- 238000005516 engineering process Methods 0.000 description 1
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- 239000000463 material Substances 0.000 description 1
- 230000008569 process Effects 0.000 description 1
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- 238000005096 rolling process Methods 0.000 description 1
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Abstract
The invention discloses a kind of ophthalmotropes, comprising: pedestal；Eyeball ontology；Set on pedestal, the eye socket mechanism to install eyeball ontology；Set on pedestal, to drive what eyeball ontology rotated along the vertical direction to drive upside down portion；Set on pedestal, the left and right driving portion to drive eyeball ontology to rotate in left-right direction；Two groups be in rope band shape driving section；Wherein, the first end of one group of driving section with the portion of driving upside down to be connected, and the second end of one group of driving section with eyeball ontology to be connected, and the first end of another group of driving section with left and right driving portion to be connected, the second end of another group of driving section with eyeball ontology to be connected, to realize that eyeball ontology rotates.The driving section structure of above-mentioned ophthalmotrope is simple, it is only necessary to which the rotation of eyeball ontology, the maintenance work of easy access personnel can be realized by occupying lesser activity space.In addition, the invention also discloses a kind of robots including above-mentioned ophthalmotrope.
Description
Technical field
The present invention relates to bio-robot technical fields, more particularly to a kind of ophthalmotrope.Moreover, it relates to one
Kind includes the robot of above-mentioned ophthalmotrope.
Background technique
With the continuous development of bio-robot, the facial expression of robot is also more and more abundant, wherein how is ophthalmotrope
Realize that rotation is particularly important for the expression of robot face expression.
Currently, a kind of ophthalmotrope, by taking the facial expression robot eyes constructional device of Publication No. CN20516694 as an example,
The device using two groups of brace and connecting rod frameworks of servo driving respectively come realize eyeball left and right and upper and lower four freedom degrees rotation.
But in order to improve the rotational angle of eyeball, crank link mechanism needs to occupy biggish activity space, and two groups of cranks connect
Rod structure setting is close, so that structure is complicated for whole device, is not easy to staff and overhauls to the eye structure device.
Summary of the invention
The object of the present invention is to provide a kind of ophthalmotrope, the driving section structure of the ophthalmotrope is simple, it is only necessary to occupy lesser
Activity space can realize the rotation of eyeball ontology, the maintenance work of easy access personnel.It is a further object of the present invention to provide
A kind of robot including above-mentioned ophthalmotrope.
To achieve the above object, the present invention provides a kind of ophthalmotrope, comprising: pedestal；Eyeball ontology；Set on the pedestal,
To install the eye socket mechanism of the eyeball ontology；Set on the pedestal, to drive the eyeball ontology to turn along the vertical direction
Dynamic drives upside down portion；Set on the pedestal, the left and right driving portion to drive the eyeball ontology to rotate in left-right direction；Two
Group is in the driving section of rope band shape；Wherein, the first end of driving section described in one group with the portion of driving upside down to be connected, and one group
The second end of the driving section to be connected with the eyeball ontology, the first end of driving section described in another group to the left side
Right driving portion is connected, and the second end of driving section described in another group with the eyeball ontology to be connected, to realize the eyeball sheet
Body rotation.
Preferably, further includes: set on the pedestal, to driving section described in changing two groups extending direction steering portion；
The steering portion includes: from top to bottom to be sequentially distributed, be changed into up and down direction with the extending direction for driving section described in one group
Upper steering body and lower steering body；It is sequentially distributed from left to right, with so that the extending direction of driving section described in another set changes
For the left steering body and right turn body of left and right directions；Set on the pedestal, to the fixation upper steering body, the lower steering
The bracket of body, the left steering body and the right turn body；Wherein, the eye socket mechanism is set to the front surface of the bracket.
Preferably, the upper steering body, the lower steering body, the left steering body and the right turn body are to turn to
Component；The steering assembly includes: with race, to change the steering of the driving section extending direction to the eyeball ontology
Wheel；Set on the bracket, the housing to support the deflecting roller；Wherein, the housing is equipped with through-hole, and the driving section passes through
The through-hole is connected with the eyeball ontology.
Preferably, the rear and front end of the housing is equipped with the axle sleeve rotated for the housing；Wherein, the axle sleeve
The mounting hole of the bracket is installed in realize that the housing is connected with the bracket.
Preferably, the portion of driving upside down includes: perpendicular to left and right directions setting, to be carried out with vertical for equilbrium position
The vertical rotating plate of rotary oscillation；Set on the pedestal, the first steering engine to drive the vertical rotating plate rotation；It drives the left and right
Dynamic portion includes: horizontal rotating plate horizontally disposed, to carry out rotary oscillation using left and right directions as equilbrium position；Set on the bottom
Seat, the second steering engine to drive the horizontal rotating plate rotation.
Preferably, the vertical rotating plate and the horizontal rotating plate are respectively provided with the elastic part to tense the driving section.
Preferably, the vertical rotating plate and the horizontal rotating plate are equipped with the peace of multiple central symmetry distributions that rotate to it
Fill hole, wherein level of stretch of the mounting hole to adjust the elastic part.
Preferably, the vertical rotating plate is staggered with the eyeball ontology in left-right direction, the pedestal be equipped with to
Change the driving section extending direction for the first lane change roller in the front-back direction and with to avoid the driving section and described second
Second lane change roller of steering engine friction.
Preferably, further includes: set on eye socket mechanism front surface, the eyelid to block the eyeball ontology；It is set to
Blink driving portion below the pedestal；Drive rod；Wherein, one end of the drive rod is connected with the blink driving portion, institute
The other end for stating drive rod is connected with the eyelid, so that the eyelid realizes blink movement.
Relative to above-mentioned background technique, ophthalmotrope provided by the invention pulls eye by two groups of driving sections in rope band shape
Ball ontology is rotated upwardly and downwardly and left-right rotation.Specifically, the both ends of one group of driving section are separately connected the portion of driving upside down and eye
Ball ontology drives upside down portion by pulling driving section to adjust the rotation angle along the vertical direction of eyeball ontology；Another group of biography
The both ends in dynamic portion are separately connected left and right driving portion and eyeball ontology, and left and right driving portion adjusts eyeball ontology by pulling driving section
Rotation angle in left-right direction.In the driving section of rope band shape without occupying biggish activity space i.e. during being pulled
Rotation angle needed for eyeball ontology can be met.
The present invention also provides a kind of robots, including at least one described in any item ophthalmotrope as above.
Detailed description of the invention
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technical description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this
The embodiment of invention for those of ordinary skill in the art without creative efforts, can also basis
The attached drawing of offer obtains other attached drawings.
Fig. 1 is a kind of structural schematic diagram of ophthalmotrope provided by the present invention；
Fig. 2 is the structural schematic diagram of steering portion provided by the present invention；
Fig. 3 is the top view that left and right driving portion provided by the present invention drives eyeball ontology；
Fig. 4 is the explosive view of steering assembly provided by the present invention；
Fig. 5 is a kind of structural schematic diagram of the mechanical eyes of robot provided by the present invention.
Wherein,
01- pedestal, 02- eyeball ontology, 021- connection handle, 03- eye socket mechanism, 04- drive upside down vertical turn of portion, 041-
Plate, the first steering engine of 042-, 05- or so driving portion, 051- horizontal rotating plate, the driving section 06-, are driven on 061- the second steering engine of 052-
Sub-portion, 062- underdrive sub-portion, 063- Left Drive sub-portion, the right transmission sub-portion of 064-, 07- bracket, 071- support plate, 072- support
Bar, 08- steering assembly, 081- deflecting roller, 082- housing, 0821- locating shaft, 0822- through-hole, 083- optical axis bolt, 084- axis
The fixed retaining ring of set, 085-, 09- elastic part, the first lane change of 10- roller, the second lane change of 11- roller, 12- eyelid, 13- drive rod,
14- blink driving portion, 141- third steering engine, 142- drive rotating plate.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall within the protection scope of the present invention.
In order to make those skilled in the art more fully understand the present invention program, with reference to the accompanying drawing and it is embodied
The present invention is described in further detail for mode.
Fig. 1 to Fig. 5 is please referred to, Fig. 1 is a kind of structural schematic diagram of ophthalmotrope provided by the present invention；Fig. 2 is the present invention
The structural schematic diagram of provided steering portion；Fig. 3 is the top view that left and right driving portion provided by the present invention drives eyeball ontology；
Fig. 4 is the explosive view of steering assembly provided by the present invention；Fig. 5 is a kind of mechanical eyes of robot provided by the present invention
Structural schematic diagram.
A kind of ophthalmotrope provided by the present invention, as shown in Fig. 1 to Fig. 3 and Fig. 5, which includes: pedestal 01；Eye
Ball ontology 02；Set on pedestal 01, the eye socket mechanism 03 to install eyeball ontology 02；Set on pedestal 01, to drive eyeball sheet
What body 02 rotated along the vertical direction drives upside down portion 04；Set on pedestal 01, to drive eyeball ontology 02 to rotate in left-right direction
Left and right driving portion 05；Two groups be in rope band shape driving section 06；Wherein, the first end of one group of driving section 06 with upper and lower to drive
Dynamic portion 04 is connected, and the second end of one group of driving section 06 to be connected with eyeball ontology 02, use by the first end of another group of driving section 06
To be connected with left and right driving portion 05, the second end of another group of driving section 06 with eyeball ontology 02 to be connected, to realize eyeball sheet
Body 02 rotates.
Specifically, eye socket mechanism 03 is equipped with the through-hole for installing eyeball ontology 02, supports eyeball ontology 02 to realize
It rotates in the through hole；It drives upside down portion 04 and left and right driving portion 05 is preferably disposed to the rear of eyeball ontology 02, eyeball ontology 02
Rear side be equipped with connection handle 021, the second end of two groups of driving sections 06 is both secured to connection handle 021.It is connected with the portion that drives upside down 04
One group of driving section 06 have to the underdrive sub-portion 062 that drives eyeball ontology 02 to rotate upwards and to drive eyeball ontology
The 02 upper driving sub-portion being rotated down, one group of driving section 06 being connected with left and right driving portion 05 have to drive eyeball ontology 02
The right transmission sub-portion 064 that rotates to the left and to drive the dextrorotary Left Drive sub-portion 063 of eyeball ontology 02.If desired make eye
Ball ontology 02 rotates to the left, then pulls right transmission sub-portion 064 by left and right driving portion 05 and unclamp Left Drive sub-portion 063, so that
The direction of the rear side of eyeball ontology 02 towards right transmission sub-portion 064 rotates, and then rotates to the left the front side of eyeball ontology 02；If
It needs to rotate eyeball ontology 02 upwards, then uploads mover portion by driving upside down the pulling underdrive sub-portion 062 of portion 04 and unclamping
061 so that eyeball ontology 02 rear side towards upload mover portion 061 direction rotate, and then make the front side of eyeball ontology 02 to
Upper rotation, wherein rotating upwardly and downwardly for eyeball ontology 02 can carry out simultaneously with the process of left-right rotation.Above-mentioned upload mover portion
061, underdrive sub-portion 062, Left Drive sub-portion 063 and it is right transmission sub-portion 064 drive eyeball ontology 02 rotate during
Swing angle very little, and mainly being moved along the extending direction of its own, compared with the prior art in crank and rocker mechanism, transmission
The occupied activity space in portion 06 is smaller, therefore, in the case where occupying same space, the distribution of all parts in this ophthalmotrope
It can more disperse, be conducive to staff and all parts are individually overhauled, without the blocking limit by other component
System.
It should be noted that above-mentioned driving section 06 is preferably steel cable, it is of course also possible to for ribbons such as steel bands；Wherein, it passes
Dynamic portion 06 can also select other materials, and steel only belong to a preference of this programme.Above-mentioned each group of driving section 06 is specific
Include two sections of steel cables, wherein the fixed handle of eyeball ontology 02 is fixed in one end of steel cable, and the other end is fixed on corresponding driving
Portion；Certainly, above-mentioned each group of driving section 06 can be one whole section of steel cable, wherein the intermediate fixation of steel cable is wound in eyeball ontology
On 02 fixed handle, the both ends of steel cable are then connected with corresponding driving portion.
Above-mentioned upload mover portion 061, underdrive sub-portion 062, Left Drive sub-portion 063 and it is right transmission sub-portion 064 it is main
Extending direction is front-rear direction, if the above-mentioned transmission sub-portion of direct pull, the maximum rotation angle of eyeball ontology 02 is still smaller, and
And need that four connection handles 021 are arranged in the rear side of eyeball ontology 02, wherein uploading mover portion 061 should be with the company of position on the lower
It connects handle 021 to be connected, the connection handle 021 that underdrive sub-portion 062 should be top with position is connected, and Left Drive sub-portion 063 should be leaned on position
Right connection handle 021 is connected, and the connection handle 021 that right transmission sub-portion 064 should keep left with position is connected.In order to further increase eyeball
The angular range that ontology 02 rotates, and the quantity of connection handle 021 is reduced, ophthalmotrope provided by the present invention further include: be set to bottom
The steering portion of seat 01, extending direction to change two groups of driving sections 06；The steering portion includes: from top to bottom to be sequentially distributed, use
So that the extending direction of one group of driving section 06 is changed into the upper steering body and lower steering body of up and down direction；Successively divide from left to right
Cloth, the left steering body and right turn body for being changed into left and right directions with the extending direction for another set driving section 06；The bottom of set on
Seat 01, to turn to body, the lower bracket 07 for turning to body, left steering body and right turn body in fixation；Wherein, eye socket mechanism 03 is set
In the front surface of bracket 07.
Specifically, as shown in Fig. 1 to Fig. 3 and Fig. 5, the tool of bracket 07 there are two support plate 071, two support plates 071 it
Between supported by support rod 072, it is upper turn to body, it is lower turn to body, left steering body and right turn body this rear and front end it is equal
Two support plates 071 are individually fixed in, and eye socket mechanism 03 is fixed on the forward support plate 071 in position by support rod 072
Front surface.Eyeball ontology 02 is located on upper steering body and the lower middle line for turning to body line, also is located at left steering body and right turn
On the middle line of body line.The upper body that turns to mainly is extended downwardly for the extending direction for uploading mover portion 061 to be changed into, and makes to upload
The connection handle 021 of eyeball ontology 02 is fixed in mover portion 061 facing downward；Lower steering body is used for the extension of underdrive sub-portion 062
Direction, which is changed into, mainly to be upwardly extended, and underdrive sub-portion 062 is made to be fixed on the connection handle 021 of eyeball ontology 02 upward；Turn left
Mainly extend to the right to body for the extending direction of Left Drive sub-portion 063 to be changed into, makes Left Drive sub-portion 063 towards rightly fixed
In the connection handle 021 of eyeball ontology 02；Right turn body is used to for the extending direction of right transmission sub-portion 064 being changed into mainly to be prolonged to the left
It stretches, makes right transmission sub-portion 064 towards the connection handle 021 for being fixed on eyeball ontology 02 leftly, it in this way can be after eyeball ontology 02
A connection handle 021, which is only arranged, in side can be realized the rotation of eyeball；By taking left steering body as an example, needing to make eyeball ontology 02 to the right
When rotation, left steering body improves Left Drive sub-portion 063 in maximum displacement component when pulled in left-right direction, other steerings
The working principle of body is also in this way, can be improved the maximum rotation angle of eyeball ontology 02 in turn.
As shown in Figures 1 to 5, above-mentioned upper steering body, lower steering body, left steering body, right turn body are steering assembly 08；
The steering assembly 08 includes: with race, the deflecting roller 081 to change 06 extending direction of driving section to eyeball ontology 02；If
In bracket 07, the housing 082 to support deflecting roller 081；Wherein, housing 082 is equipped with through-hole 0822, and driving section 06 passes through through-hole
0822 is connected with eyeball ontology 02.Specifically, driving section 06 (i.e. steel cable) is set in the race of deflecting roller 081 and fits in wheel
The surface of slot is detached from deflecting roller 081 to avoid driving section 06, and changes the extending direction of driving section 06, housing 082
On through-hole 0822 be aligned with the race of deflecting roller 081, be detached to avoid driving section 06 in race, and 0822 direction of through-hole
The connection handle 021 of eyeball ontology 02, driving section 06 leaves race and passes through the through-hole 0822 on housing 082, with realization and eyeball
The connection handle 021 of ontology 02 is connected.In order to avoid the surface of driving section 06 and race generate friction, deflecting roller 081 passes through optical axis
Bolt 083 is fixed on housing 082, and enable deflecting roller 081 with the movement of driving section 06 and around optical axis bolt 083 rotate,
That is, deflecting roller 081 realizes rotation by its force of rolling friction between driving section 06.It should be noted that above-mentioned optical axis spiral shell
Bolt 083 specifically refers to the bolt with optical axis, and deflecting roller 081 can be rotated around the optical axis surface of optical axis bolt 083, and pass through spiral shell
Deflecting roller 081 is fixed on housing 082 to realize by the screw rod that mother screws in optical axis bolt 083.
When eyeball ontology 02 turns an angle in left-right direction, the extending direction and underdrive in mover portion 061 are uploaded
The extending direction of sub-portion 062 can shift to left and right direction with the rotation of eyeball ontology 02, can make to upload mover in this way
Through-hole 0822 between portion 061 and underdrive sub-portion 062 and housing 082 contacts and generates biggish active force, if at this time will be after
It is continuous when rotating eyeball ontology 02 along the vertical direction, then upload mover portion 061 and underdrive sub-portion 062 can and housing 082
On through-hole 0822 generate biggish force of sliding friction, this will cause largely through-hole 0822 and 06 surface of driving section
Abrasion；If the rotation sequence of eyeball is first to rotate to rotate in left-right direction again along the vertical direction, Left Drive sub-portion 063 and right biography
Mover portion 064 also and can cause serious abrasion consequence with 0822 relative friction of through-hole on housing 082.
As shown in figure 4, the rear and front end of housing 082 is equipped with for cover in order to avoid the generation of above-mentioned wear phenomenon
The axle sleeve 084 that shell 082 rotates；Wherein, axle sleeve 084 is installed in the mounting hole of bracket 07 to realize that housing 082 is connected with bracket 07.
Specifically, the rear and front end of housing 082 is equipped with locating shaft 0821, and bracket 07 is equipped with mounting hole, and axle sleeve 084 is set with locating shaft
0821, and be fixed on axle sleeve 084 in the mounting hole of bracket 07 by fixed retaining ring 085, wherein axle sleeve 084 is self-lubricating axis
Set enables housing 082 to be rotated with locating shaft 0821 for center of rotation, when eyeball ontology 02 rotates by a certain angle,
Under active force between driving section 06 and 0822 hole wall of through-hole of housing 082, housing 082 will deviate certain angle with driving section 06
Degree, and then reduces the supporting force that driving section 06 is contacted with through-hole 0822, thereby reduce housing 082 through-hole 0822 and
The degree of wear on 06 surface of driving section.
In order to further decrease the degree of wear on 06 surface of driving section, rounded corner is arranged in the opening of above-mentioned through-hole 0822,
It is contacted to avoid the surface of driving section 06 with sharp surface.Certainly, protective layer can also be arranged in the surface of driving section 06, work as guarantor
Sheath is worn bad when, then only needs to change new protective layer without the higher driving section 06 of replacement cost, and then reduce the machine
The maintenance cost of tool eye.
As shown in Fig. 1, Fig. 3 and Fig. 5, the above-mentioned portion 04 that drives upside down includes: perpendicular to left and right directions setting, to vertical
The vertical rotating plate 041 of rotary oscillation is carried out for equilbrium position；Set on pedestal 01, to drive that vertical rotating plate 041 rotates first
Steering engine 042；Left and right driving portion 05 includes: level horizontally disposed, to carry out rotary oscillation using left and right directions as equilbrium position
Rotating plate 051；Set on pedestal 01, the second steering engine 052 to drive horizontal rotating plate 051 to rotate.Specifically, the first steering engine 042
Output shaft be arranged in left-right direction and connect with the center of vertical rotating plate 041, the output shaft of the second steering engine 052 is vertically arranged
And connect with the center of horizontal rotating plate 051, the upper end of vertical rotating plate 041 uploads mover portion 061, vertical rotating plate 041 for connecting
Lower end for connecting underdrive sub-portion 062, the left end of horizontal rotating plate 051 is for connecting Left Drive sub-portion 063, horizontal rotating plate
051 right end is for connecting right transmission sub-portion 064.When eyeball ontology 02 needs to be rotated up, then the first steering engine 042 passes through defeated
Shaft drives the upper end of vertical rotating plate 041, and rotary oscillation to unclamp uploads mover portion 061 forward, correspondingly makes vertical rotating plate 041
Lower end back rotation swing to pull underdrive sub-portion 062, if eyeball ontology 02 needs rotate down if make the first steering engine 042
Output shaft rotated by direction contrary to the above；Similarly, when eyeball ontology 02 needs to turn left, then the second steering engine 052
Driving the left end of horizontal rotating plate 051 by output shaft, rotary oscillation correspondingly makes horizontal turn to unclamp Left Drive sub-portion 063 forward
The right end back rotation of plate 051 is swung to pull right transmission sub-portion 064, makes the second rudder if the needs of eyeball ontology 02 turn right
The output shaft of machine 052 is rotated by direction contrary to the above.
Preferably, the center of vertical rotating plate 041 and the center of eyeball ontology 02 are contour, the center of horizontal rotating plate 051 with
The center of eyeball ontology 02 is contour；Second steering engine 052 is set to vertical set on the front of the first steering engine 042 namely horizontal rotating plate 051
The front of rotating plate 041.
In order to avoid a transmission sub-portion in the driving section 06 that is released is detached from the race of deflecting roller 081, as Fig. 1,
Shown in Fig. 3 and Fig. 5, vertical rotating plate 041 and horizontal rotating plate 051 are respectively provided with the elastic part 09 to tense driving section 06.It is specific next
Say, elastic part 09 be arranged four, two groups of driving sections 06 by elastic part 09 respectively with vertical rotating plate 041 and horizontal rotating plate 051
Connection, namely upload mover portion 061 and be connected by an elastic part 09 with the upper end of vertical rotating plate 041, underdrive sub-portion 062 passes through
One elastic part 09 is connected with the lower end of vertical rotating plate 041, and Left Drive sub-portion 063 passes through an elastic part 09 and horizontal rotating plate 051
Left end is connected, and right transmission sub-portion 064 is connected by an elastic part 09 with the right end of horizontal rotating plate 051.This four elastic parts 09 are equal
In tensional state, be driven upwards sub-portion 061, underdrive sub-portion 062, Left Drive sub-portion 063 and right transmission sub-portion 064 provide it is pre-
Clamp force makes each transmission sub-portion remain the state of tensioning, to avoid any one disengaging in aforementioned four transmission sub-portion
In the race of deflecting roller 081.
It should be noted that in vertical rotating plate 041 and 051 rotary oscillation of horizontal rotating plate to limiting condition, four elastic force
Portion 09 should keep the state stretched all to guarantee that aforementioned four transmission sub-portion is in the state of tensioning always.
As shown in Fig. 1, Fig. 3 and Fig. 5, above-mentioned vertical rotating plate 041 and horizontal rotating plate 051 are equipped in multiple rotate to it
The symmetrical mounting hole of the heart, wherein level of stretch of the mounting hole to adjust elastic part 09.Elastic part 09 passes through mounting hole reality
Now with the connection of vertical rotating plate 041 and horizontal rotating plate 051, by the way that elastic part 09 to be installed on to the mounting hole of different location to adjust
The length that elastic part 09 is stretched, to guarantee that whole driving sections 06 are tensioned always.It should be noted that above-mentioned elastic part 09 is excellent
It is selected as spring, installation site should be depending on the actual conditions such as the length of driving section 06 and the coefficient of elasticity of spring.
In addition, each group of driving section 06 drive eyeball ontology 02 move when, it includes two transmission sub-portion displacement
Amount can be slightly different, and above-mentioned elastic part 09 can compensate above-mentioned offset deviation, to avoid one of transmission sub-portion
There is a situation where relaxations.
As shown in Figure 1 and Figure 5, since the occupied space of the first steering engine 042 is larger, it is advantageous to set the first steering engine 042
In the rear of the second steering engine 052, and since the second steering engine 052 is connected with pedestal 01, so that underdrive sub-portion 062 can not pass through
Second steering engine 052 is directly connected with lower steering body, and therefore, vertical rotating plate 041 is staggered with eyeball ontology 02 in left-right direction,
So that upload mover portion 061 and underdrive sub-portion 062 are obliquely connected with upper steering body and lower steering body, but such one
It is easily detached to upload mover portion 061 and underdrive sub-portion 062 in the race of deflecting roller 081.
Only extend along the longitudinal direction and the company of deflecting roller 081 to enable to upload mover portion 061 and underdrive sub-portion 062
It connects, as shown in Figure 1 and Figure 5, pedestal 01 is equipped with to change 06 extending direction of driving section as the first lane change roller in the front-back direction
10.Specifically, uploading mover portion 061 and underdrive sub-portion 062 makes to upload mover portion 061 under by the first lane change roller 10
Transmission sub-portion 062 is left the part of the first lane change roller 10 and is only extended along the longitudinal direction, avoid upload mover portion 061 and under pass
The case where mover portion 062 is detached from during driving eyeball ontology 02 to rotate in 081 race of deflecting roller.
It should be noted that above-mentioned first lane change roller 10 can be with the fortune for uploading mover portion 061 and underdrive sub-portion 062
It moves and rotates with it, to reduce the abrasion for uploading mover portion 061 and 062 surface of underdrive sub-portion.Due in driving eyeball ontology
During 02 rotates along the vertical direction, the direction of motion phase of the direction of motion and underdrive sub-portion 062 in mover portion 061 is uploaded
Instead, the first lane change roller 10 is divide into upper part and lower part, this two parts relative separation can be rotated with opposite hour hands, into
And it avoids the surface of the first lane change roller 10 and uploads to generate between at least one of mover portion 061 and underdrive sub-portion 062
Sliding friction.
As shown in Fig. 1, Fig. 3 and Fig. 5, in order to avoid underdrive sub-portion 062 is extending to the first lane change from vertical rotating plate 041
The case where contacting in the part of roller 10 with the side of the second steering engine 052, is additionally provided with to avoid transmission on pedestal 01
The second lane change roller 11 in portion 06 and the friction of the second steering engine 052.Specifically, the second lane change roller 11 is set to the second steering engine 052
Close to the side of vertical rotating plate 041, rub to avoid underdrive sub-portion 062 and the side of the second steering engine 052, the second lane change
Roller 11 can be rotated with the movement of underdrive sub-portion 062, to avoid the table of underdrive sub-portion 062 and the second lane change roller 11
Face generates sliding friction.
In order to avoid the surface of above-mentioned two transmission sub-portion and the first lane change roller 10 and the second lane change roller 11 is beaten
Sliding phenomenon, preferably, the surface of above-mentioned first lane change roller 10 and the surface of the second lane change roller 11 carry out at annular knurl
Reason, to increase the frictional force between the surface of above-mentioned two lane change roller and above-mentioned two biography function sub-portion.
In order to improve bionical vivid effect, this ophthalmotrope further include: set on 03 front surface of eye socket mechanism, to block eyeball
The eyelid 12 of ontology 02；Blink driving portion 14 set on 01 lower section of pedestal；Drive rod 13；Wherein, one end of drive rod 13 with blink
Eye driving portion 14 is connected, and the other end is connected with eyelid 12, so that eyelid 12 realizes blink movement.Specifically, turn of eyelid 12
Axis is set to eye socket mechanism 03 in left-right direction, and the end of 12 shaft of eyelid is fixedly connected with a rocking bar, makes the shaft of eyelid 12 and shake
Bar coaxial rotating.Blink driving portion 14 include: set on the lower section of pedestal 01 third steering engine 141 and with 141 output shaft of third steering engine
Connected driving rotating plate 142, wherein the output shaft of third steering engine 141 is preferably arranged in left-right direction, drives the shape of rotating plate 142
Shape structure is referred to above-mentioned vertical rotating plate 041 and horizontal rotating plate 042；One end of drive rod 13 is connected with driving rotating plate 142,
The other end of drive rod 13 is connected with rocking bar, makes to drive 142 rotary oscillation of rotating plate by third steering engine 141, and then pass through transmission
Bar 13 drives rocking bar to rotate by center of rotation of the shaft of eyelid 12, to realize the blink movement of eyelid 12.
A kind of robot provided by the present invention, including at least one ophthalmotrope as described above.It is with anthropomorphic robot
Example, sets side by side as shown in figure 5, the anthropomorphic robot should have the mechanical eyes being made of a pair of of ophthalmotrope namely two or so
It sets, ophthalmotrope as described above, preferably, the output shaft of two the first steering engines 042 of the machinery eyes is arranged outwardly, with
Directly the first steering engine 042 and vertical rotating plate 041 are overhauled convenient for staff；Two third steering engines of the machinery eyes
141 output shaft is arranged inwardly, so that drive rod 13 makes full use of the inner space of the anthropomorphic robot bridge of the nose.
It should be noted that the setting of the number of ophthalmotrope should be adjusted according to the object type of imitation；Robot
Other parts are referred to the prior art, not reinflated herein.
It should also be noted that, in the present specification, such as first and second etc relational terms are used merely to one
A entity is distinguished with other several entities, and without necessarily requiring or implying between these entities, there are any this reality
Relationship or sequence.
Robot provided by the present invention and its ophthalmotrope are described in detail above.It is used herein specifically a
Principle and implementation of the present invention are described for example, and it is of the invention that the above embodiments are only used to help understand
Method and its core concept.It should be pointed out that for those skilled in the art, not departing from the principle of the invention
Under the premise of, it can be with several improvements and modifications are made to the present invention, these improvement and modification also fall into the claims in the present invention
Protection scope in.
Claims (10)
1. a kind of ophthalmotrope characterized by comprising
Pedestal (01)；
Eyeball ontology (02)；
Set on the pedestal (01), the eye socket mechanism (03) to install the eyeball ontology (02)；
Set on the pedestal (01), to drive what the eyeball ontology (02) rotated along the vertical direction to drive upside down portion (04)；
Set on the pedestal (01), the left and right driving portion (05) to drive the eyeball ontology (02) to rotate in left-right direction；
Two groups be in rope band shape driving section (06)；Wherein, the first end of driving section described in one group (06) to it is described up and down
Driving portion (04) is connected, and the second end of driving section described in one group (06) with the eyeball ontology (02) to be connected, another group of institute
The first end of driving section (06) is stated to be connected with the left and right driving portion (05), the second end of driving section described in another group (06)
To be connected with the eyeball ontology (02), to realize eyeball ontology (02) rotation.
2. ophthalmotrope according to claim 1, which is characterized in that further include: it is set to the pedestal (01), to change two
The steering portion of the extending direction of the group driving section (06)；The steering portion includes:
It is from top to bottom sequentially distributed, is changed into the upper steering of up and down direction with the extending direction for driving section (06) described in one group
Body and lower steering body；
It is sequentially distributed from left to right, is changed into the left side of left and right directions with the extending direction for driving section described in another set (06)
Turn to body and right turn body；
Set on the pedestal (01), to the fixation upper steering body, the lower steering body, the left steering body and the right side
Turn to the bracket (07) of body；Wherein, the eye socket mechanism (03) is set to the front surface of the bracket (07).
3. ophthalmotrope according to claim 2, which is characterized in that the upper steering body, the lower steering body, the left-hand rotation
It is steering assembly (08) to body and the right turn body；The steering assembly (08) includes:
With race, the deflecting roller (081) to change the driving section (06) extending direction to the eyeball ontology (02)；
Set on the bracket (07), the housing (082) to support the deflecting roller (081)；
Wherein, the housing (082) is equipped with through-hole (0822), and the driving section (06) passes through the through-hole (0822) and the eye
Ball ontology (02) is connected.
4. ophthalmotrope according to claim 3, which is characterized in that the rear and front end of the housing (082) be equipped with to
For the axle sleeve (084) of the housing (082) rotation；Wherein, the axle sleeve (084) be installed in the mounting hole of the bracket (07) with
Realize that the housing (082) is connected with the bracket (07).
5. ophthalmotrope according to any one of claims 1 to 4, which is characterized in that
The portion (04) that drives upside down includes:
Perpendicular to left and right directions setting, to the vertical vertical rotating plate (041) for carrying out rotary oscillation for equilbrium position；
Set on the pedestal (01), the first steering engine (042) to drive vertical rotating plate (041) rotation；
The left and right driving portion (05) includes:
Horizontal rotating plate (051) horizontally disposed, to carry out rotary oscillation using left and right directions as equilbrium position；
Set on the pedestal (01), the second steering engine (052) to drive horizontal rotating plate (051) rotation.
6. ophthalmotrope according to claim 5, which is characterized in that the vertical rotating plate (041) and the horizontal rotating plate
(051) it is respectively provided with the elastic part (09) to tense the driving section (06).
7. ophthalmotrope according to claim 6, which is characterized in that the vertical rotating plate (041) and the horizontal rotating plate
(051) it is equipped with the mounting hole of multiple central symmetry distributions that rotate to it, wherein the mounting hole is to adjust the elastic force
The level of stretch in portion (09).
8. ophthalmotrope according to claim 7, which is characterized in that the vertical rotating plate (041) in left-right direction with it is described
Eyeball ontology (02) is staggered, and it is front-rear direction that the pedestal (01), which is equipped with to change the driving section (06) extending direction,
The first lane change roller (10) and with to avoid the driving section (06) and second steering engine (052) friction the second lane change roller
Sub (11).
9. ophthalmotrope according to claim 8, which is characterized in that further include:
Set on eye socket mechanism (03) front surface, the eyelid (12) to block the eyeball ontology (02)；
Blink driving portion (14) below the pedestal (01)；
Drive rod (13)；Wherein, one end of the drive rod (13) is connected with the blink driving portion (14), the drive rod
(13) the other end is connected with the eyelid (12), so that the eyelid (12) realize blink movement.
10. a kind of robot, which is characterized in that including at least one ophthalmotrope as described in any one of claim 1 to 9.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910168507.0A CN109702769B (en) | 2019-03-06 | Robot and mechanical eye thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910168507.0A CN109702769B (en) | 2019-03-06 | Robot and mechanical eye thereof |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109702769A true CN109702769A (en) | 2019-05-03 |
| CN109702769B CN109702769B (en) | 2024-04-19 |
Family
ID=
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| CN111421558A (en) * | 2020-03-19 | 2020-07-17 | 浙江工业大学 | Robot with anthropomorphic expression based on electroactive polymer driver |
| CN112171683A (en) * | 2020-09-03 | 2021-01-05 | 广东工业大学 | Bionic eye eyebrow device for bionic robot |
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