CN109822590B - Robot eye movement device and control method - Google Patents
Robot eye movement device and control method Download PDFInfo
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- CN109822590B CN109822590B CN201910206712.1A CN201910206712A CN109822590B CN 109822590 B CN109822590 B CN 109822590B CN 201910206712 A CN201910206712 A CN 201910206712A CN 109822590 B CN109822590 B CN 109822590B
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Abstract
The utility model provides a robot eye motion device, includes fixed frame, left and right slewing mechanism, upper and lower slewing mechanism, eyeball mechanism and 2 eyebrow units, eyeball mechanism installs in fixed frame, 2 eyebrow units are mirror image each other and install in robot face, every eyebrow unit's both ends are connected with 2 sets of eyebrow steering engine mechanisms respectively, and 2 sets of eyebrow steering engine mechanisms all install in fixed frame, the one end and the eyeball mechanism of control slewing mechanism are connected, the other end of control slewing mechanism is installed in fixed frame, the one end and the eyeball mechanism of control slewing mechanism are connected, the other end of upper and lower slewing mechanism is installed in fixed frame; the two ends of one eyebrow are respectively driven to act through the 2 eyebrow steering engines, so that the eyebrows can do more actions, and the eyebrow changes with rich human faces are simulated, so that the simulated human expression is vivid.
Description
Technical Field
The invention relates to the field of mechanical movement, in particular to a robot eye movement device and a control method.
Background
With the continuous development of intelligent science and automation science, intelligent humanoid robots are widely applied to life, so that in order to enable the humanoid robots to be more lifelike and better interact with a real person, a plurality of robot eye devices simulating human eye actions are developed, but the present robot eye movement performance is mainly based on the simulation of a display screen on expressions, and few robot eye devices capable of physically simulating human eye movements including eyebrow movements are available.
Disclosure of Invention
The invention aims to overcome the defects in the prior art and provides the robot eye movement device which is simple in structure and vivid in imitation;
the invention also provides a control method of the robot eye movement device.
The aim of the invention can be achieved by the following technical scheme:
the utility model provides a robot eye motion device, includes fixed frame, left and right slewing mechanism, upper and lower slewing mechanism, eyeball mechanism and 2 eyebrow units, eyeball mechanism installs in fixed frame, 2 eyebrow units are mirror image each other and install in robot face, every eyebrow unit's both ends are connected with 2 sets of eyebrow steering engine mechanisms respectively, and 2 sets of eyebrow steering engine mechanisms all install in fixed frame, the one end and the eyeball mechanism of control slewing mechanism are connected, the other end of control slewing mechanism is installed in fixed frame, the one end and the eyeball mechanism of control slewing mechanism are connected, the other end of upper and lower slewing mechanism is installed in fixed frame; the two ends of one eyebrow are respectively driven to act through the 2 eyebrow steering engines, so that the eyebrows can do more actions, and the eyebrow changes with rich human faces are simulated, so that the simulated human expression is vivid.
Preferably, the eyebrow steering engine mechanism comprises an eyebrow steering engine, an eyebrow steering engine arm and a connecting rod, wherein a power output shaft of the eyebrow steering engine is connected with one end of the eyebrow steering engine arm, the other end of the eyebrow steering engine arm is connected with one end of the connecting rod, and the other end of the connecting rod is connected with one end of the eyebrow unit; the eyebrow steering engine arms are respectively driven to swing through the 2 eyebrow steering engines, the eyebrow steering engine arms are driven to drive the connecting rods, and the ascending or descending of the two ends of the eyebrows is controlled, so that the control of the robot eyebrow unit is completed.
Preferably, the eyebrow unit comprises an eyebrow support and eyebrows, wherein the eyebrows are connected with the eyeball mechanism through the eyebrow support, and two ends of the eyebrows are respectively connected with 2 eyebrow steering mechanisms.
Preferably, the first sleeve and the second sleeve are fixed on the eyebrow support, the first connecting rod passes through the first sleeve and then is hinged with one end of the eyebrow, the second connecting rod passes through the second sleeve and then is hinged with the other end of the eyebrow, and the first connecting rod and the second connecting rod are supported and guided through the sleeves, so that the action of the eyebrow part of the robot is more natural.
Preferably, the eyeball mechanism comprises a first eyeball, a second eyeball and 2 eyeball frames, wherein 2 eyeball frames are fixed on the fixed frame, the first eyeball and the second eyeball are respectively arranged on the 2 eyeball frames, the rear end of the first eyeball is hinged with the fixed frame through a first universal hinge, the rear end of the second eyeball is hinged with the fixed frame through a second universal hinge, the freedom degree of the universal hinge is large, and the eyeball can be assisted to complete various actions.
Preferably, the left-right rotating mechanism comprises a first steering engine, a first steering engine arm, a transverse short connecting rod, a transverse long connecting rod, a first transverse connecting rod and a second transverse connecting rod, the first steering engine is mounted on a fixed frame, a power output shaft of the first steering engine is connected with one end of the first steering engine arm, the other end of the first steering engine arm is connected with one end of the transverse short connecting rod, the other end of the transverse short connecting rod is connected with one end of the first transverse connecting rod, the other end of the first transverse connecting rod is connected with a first eyeball, one end of the transverse long connecting rod is connected with the middle of the first transverse connecting rod, the other end of the transverse long connecting rod is connected with one end of the second transverse connecting rod, and the other end of the second transverse connecting rod is connected with a second eyeball. The first steering engine drives the first steering engine arm to swing left and right, the first steering engine arm drives the first transverse connecting rod to move left and right through the transverse short connecting rod, so that the first eyeball is driven to rotate left and right around the first universal hinge, the first transverse connecting rod drives the second transverse connecting rod to move left and right through the transverse long connecting rod, the second eyeball is driven to rotate left and right around the second universal hinge, and the control of the left and right rotation of the robot eye is completed.
Preferably, the vertical rotating mechanism comprises a second steering engine, a second steering engine arm, a vertical connecting rod, a transverse connecting rod, a first vertical connecting rod and a second vertical connecting rod, the second steering engine is mounted on a fixed frame, a power output shaft of the second steering engine is connected with one end of the second steering engine arm, the other end of the second steering engine arm is connected with one end of the vertical connecting rod, the other end of the vertical connecting rod is connected with one end of the second vertical connecting rod, the other end of the second vertical connecting rod is connected with a second eyeball, one end of the transverse connecting rod is connected with the middle of the second vertical connecting rod, the other end of the transverse connecting rod is connected with one end of the first vertical connecting rod, and the other end of the first vertical connecting rod is connected with the first eyeball. The second steering engine drives the second steering engine arm to swing up and down, the second steering engine arm drives the second vertical connecting rod to move up and down through the vertical connecting rod, so that the second eyeball is driven to rotate up and down around the second universal hinge, the second vertical connecting rod drives the first vertical connecting rod to move up and down through the transverse connecting rod, and accordingly the first eyeball is driven to rotate up and down around the first universal hinge, and the control of the up and down rotation of the robot eye is completed.
Preferably, each of the 2 eyeball frames is provided with an eyelid unit including an upper eyelid and a lower eyelid, and the upper eyelid is connected with the fixed frame through an eyelid driving mechanism. The upper eyelid is rotatable within the eyeball frame.
Preferably, the eyelid transmission mechanism comprises an eyelid steering engine, an eyelid transverse connecting rod, an eyelid vertical connecting rod and an eyelid rudder arm, wherein the eyelid steering engine is arranged on the fixed support, a power output shaft of the eyelid steering engine is connected with one end of the eyelid rudder arm, the other end of the eyelid rudder arm is connected with one end of the eyelid transverse connecting rod, the other end of the eyelid transverse connecting rod is connected with one end of the eyelid vertical connecting rod, and the other end of the eyelid vertical connecting rod is connected with the upper eyelid. The eyelid steering engine drives the eyelid steering engine arm to swing up and down, and the eyelid steering engine arm drives the lower end of the eyelid vertical connecting rod to rotate through the eyelid transverse connecting rod, so that the upper eyelid is driven to rotate in the eyeball frame to perform eye opening, eye closing and blinking actions, and control of the eyelid of the robot is completed.
A control method for robot eye movement, comprising the steps of:
the eyebrow steering engine arms are respectively driven to swing through 2 eyebrow steering engines, and the eyebrow steering engine arms drive connecting rods to control the lifting or descending of the two ends of the eyebrows, so that the control of the robot eyebrow units is completed;
the first steering engine drives the first steering engine arm to swing left and right, so that the first steering engine arm drives the first transverse connecting rod to move left and right through the transverse short connecting rod, the first eyeball is driven to rotate left and right around the first universal hinge, and the first transverse connecting rod drives the second transverse connecting rod to move left and right through the transverse long connecting rod, so that the second eyeball is driven to rotate left and right around the second universal hinge, and the left and right rotation of the robot eye is controlled;
the second steering engine drives the second steering engine arm to swing up and down, the second steering engine arm drives the second vertical connecting rod to move up and down through the vertical connecting rod, so that the second eyeball is driven to rotate up and down around the second universal hinge, the second vertical connecting rod drives the first vertical connecting rod to move up and down through the transverse connecting rod, and the first eyeball is driven to rotate up and down around the first universal hinge, so that the control on the up and down rotation of the robot eye is completed;
the eyelid steering engine drives the eyelid steering engine arm to swing up and down, and the eyelid steering engine arm drives the lower end of the eyelid vertical connecting rod to rotate through the eyelid transverse connecting rod, so that the upper eyelid is driven to rotate in the eyeball frame to perform eye opening, eye closing and blinking actions, and control of the eyelid of the robot is completed.
Compared with the prior art, the invention has the following advantages and beneficial effects:
1. according to the invention, the two ends of one eyebrow are respectively driven to act through the 2 eyebrow steering engines, so that the eyebrows can make more actions, and the eyebrow changes with rich human faces are simulated, so that the simulated human expression is vivid.
2. According to the invention, the eyeballs are driven by the up-down rotating mechanism and the left-right rotating mechanism at the same time, so that the eyeballs imitating human beings rotate more vividly.
3. The invention simplifies the control program through steering engine driving, and the whole scheme is efficient and feasible.
Drawings
FIG. 1 is a schematic view of a robotic eye movement device of the present invention;
FIG. 2 is a schematic diagram of a left-right turning mechanism according to the present invention;
FIG. 3 is a schematic view of the structure of the up-down rotation mechanism of the present invention;
FIG. 4 is a schematic view showing the structure of the eyebrow support according to the present invention;
wherein 1 is an eyebrow unit, 2 is an eyebrow, 3 is a first eyebrow steering engine, 4 is a first connecting rod, 5 is a fixed frame, 6 is an eyelid steering engine, 7 is an eyelid transverse connecting rod, 8 is an eyelid vertical connecting rod, 9 is an upper eyelid, 10 is a second eyeball, 11 is a lower eyelid, 12 is a first eyeball, 13 is a first steering engine, 14 is a first rudder arm, 15 is a transverse short connecting rod, 16 is a first transverse connecting rod, 17 is a first universal hinge, 18 is a transverse long connecting rod, 19 is a second transverse connecting rod, 20 is a first vertical connecting rod, 21 is a transverse connecting rod, 22 is a second vertical connecting rod, 23 is a vertical connecting rod, 24 is a second rudder arm, 25 is a second steering engine, and 26 is a first sleeve. 27 is a second eyebrow steering engine, 28 is an eyebrow support, 29 is an eyeball frame, 30 is a first eyebrow steering engine arm, 31 is a second eyebrow steering engine arm, 32 is a second connecting rod, 33 is a second sleeve, and 34 is an eyelid steering engine arm.
Detailed Description
The present invention will be described in further detail with reference to examples and drawings, but embodiments of the present invention are not limited thereto.
As shown in fig. 1, 2 and 3, the eye movement device of the robot comprises a fixed frame 5, a left rotating mechanism, a right rotating mechanism, an up and down rotating mechanism, an eyeball mechanism and 2 eyebrow units 1, wherein the eyeball mechanism is arranged at the front end of the fixed frame 5, the 2 eyebrow units 1 are arranged above an eyeball frame 29 in a mirror image mode, two ends of each eyebrow unit 1 are respectively connected with 2 groups of eyebrow steering mechanisms, the 2 eyebrow steering mechanisms are all arranged at the upper end of the fixed frame 5, one end of the left rotating mechanism and one end of the right rotating mechanism are connected with the eyeball mechanism, the other end of the left rotating mechanism and the right rotating mechanism are arranged on the fixed frame 5, one end of the up and down rotating mechanism is connected with the eyeball mechanism, and the other end of the up and down rotating mechanism is arranged on the fixed frame 5; the two ends of one eyebrow 2 are respectively driven to act through the 2 eyebrow steering engines, so that the eyebrow 2 can make more actions, and the eyebrow change with rich human faces is simulated, so that the simulated human expression is vivid.
The power output shaft of the first eyebrow steering engine 3 is connected with one end of the first eyebrow steering engine arm 30, the other end of the first eyebrow steering engine arm 30 is connected with one end of the first connecting rod 4, the other end of the first connecting rod 4 is hinged with one end of the eyebrow 2 through a universal spherical hinge, the power output shaft of the second eyebrow steering engine 27 is connected with one end of the second eyebrow steering engine arm 31, the other end of the second connecting rod 32 is connected with one end of the second connecting rod 32, and the other end of the second connecting rod 32 is hinged with the other end of the eyebrow 2 through a universal spherical hinge. The first eyebrow steering engine 3 drives the first eyebrow steering engine arm 30 to swing, the first connecting rod 4 is driven by the first eyebrow steering engine arm 30 to control the rising or falling of one end of the eyebrow 2, the second eyebrow steering engine 27 drives the second eyebrow steering engine arm 31 to swing, the second connecting rod 32 is driven by the second eyebrow steering engine arm 31 to control the rising or falling of the other end of the eyebrow 2, and therefore the control of the robot eyebrow unit 1 is completed.
The second eyebrow steering engine 27 is arranged at the front end of the first eyebrow steering engine 3, and the first eyebrow steering engine arm 30 is longer than the second eyebrow steering engine arm 31, so that the first eyebrow steering engine 3 and the second eyebrow steering engine 27 are distributed front and back, space can be saved, and the product is more compact.
The eyebrow unit 1 comprises an eyebrow support 28 and an eyebrow 2, wherein the eyebrow 2 is connected with an eyeball frame 29 through the eyebrow support 28, and two ends of the eyebrow 2 are respectively connected with a first connecting rod 4 and a second connecting rod 32.
The utility model discloses a novel eyebrow steering device, including the eyebrow steering engine, 2 the eyebrow steering engine is first eyebrow steering engine 3 and second eyebrow steering engine 27 respectively, eyebrow link mechanism includes first eyebrow steering engine arm 30, first connecting rod 4, second eyebrow steering engine arm 31 and second connecting rod 32, the power output shaft of first eyebrow steering engine 3 is connected with the one end of first eyebrow steering engine arm 30, the other end of first eyebrow steering engine arm 30 is connected with the one end of first connecting rod 4, the other end of first connecting rod 4 is articulated with the one end of eyebrow 2 through universal spherical hinge, the power output shaft of second eyebrow steering engine 27 is connected with the one end of second eyebrow steering engine arm 31, the other end of second eyebrow steering engine arm 31 is connected with the one end of second connecting rod 32, the other end of second connecting rod 32 is articulated with the other end of eyebrow 2 through the universal spherical hinge. The first eyebrow steering engine 3 drives the first eyebrow steering engine arm 30 to swing, the first connecting rod 4 is driven by the first eyebrow steering engine arm 30 to control the rising or falling of one end of the eyebrow 2, the second eyebrow steering engine 27 drives the second eyebrow steering engine arm 31 to swing, the second connecting rod 32 is driven by the second eyebrow steering engine arm 31 to control the rising or falling of the other end of the eyebrow 2, and therefore the control of the robot eyebrow unit 1 is completed.
As shown in fig. 4, the first sleeve 26 and the second sleeve 33 are fixed on the eyebrow support 28, the first connecting rod 4 passes through the first sleeve 26 and is hinged to one end of the eyebrow 2, the second connecting rod 32 passes through the second sleeve 33 and is hinged to the other end of the eyebrow 2, and the first connecting rod 4 and the second connecting rod 32 are supported and guided by the sleeves, so that the movement of the eyebrow part of the robot is more natural.
The eyeball mechanism comprises a first eyeball 12, a second eyeball 10 and 2 eyeball frames 29,2, wherein the eyeball frames 29 are fixed at the front end of the fixed frame 5, the first eyeball 12 and the second eyeball 10 are respectively arranged in the 2 eyeball frames 29, the rear end of the first eyeball 12 is hinged with the fixed frame 5 through a first universal hinge 17, and the rear end of the second eyeball 12 is hinged with the fixed frame 5 through a second universal hinge. The universal hinge has large freedom degree and can assist the eyeball to complete various actions.
The left-right rotating mechanism comprises a first steering engine 13, a first steering engine arm 14, a transverse short connecting rod 15, a transverse long connecting rod 18, a first transverse connecting rod 16 and a second transverse connecting rod 19, wherein the first steering engine 13 is arranged on a fixed frame 5, a power output shaft of the first steering engine 13 is connected with one end of the first steering engine arm 14, the other end of the first steering engine arm 14 is connected with one end of the transverse short connecting rod 15, the other end of the transverse short connecting rod 15 is connected with one end of the first transverse connecting rod 16, the other end of the first transverse connecting rod 16 is connected with a first eyeball 12, one end of the transverse long connecting rod 18 is connected with the middle part of the first transverse connecting rod 16, the other end of the transverse long connecting rod 18 is connected with one end of the second transverse connecting rod 19, and the other end of the second transverse connecting rod 19 is connected with a second eyeball 10. The first steering engine 13 drives the first steering engine arm 14 to swing left and right, the first steering engine arm 14 drives the first transverse connecting rod 16 to move left and right through the transverse short connecting rod 15, so that the first eyeball 12 is driven to rotate left and right around the first universal hinge 17, the first transverse connecting rod 16 drives the second transverse connecting rod 19 to move left and right through the transverse long connecting rod 18, so that the second eyeball 10 is driven to rotate left and right around the second universal hinge, and the left and right rotation control of the eyes of the robot is completed.
The vertical rotating mechanism comprises a second steering engine 25, a second steering engine arm 24, a vertical connecting rod 23, a transverse connecting rod 21, a first vertical connecting rod 20 and a second vertical connecting rod 22, wherein the second steering engine 25 is arranged on a fixed frame 5, a power output shaft of the second steering engine 25 is connected with one end of the second steering engine arm 24, the other end of the second steering engine arm 24 is connected with one end of the vertical connecting rod 23, the other end of the vertical connecting rod 23 is connected with one end of the second vertical connecting rod 22, the other end of the second vertical connecting rod 22 is connected with a second eyeball 10, one end of the transverse connecting rod 21 is connected with the middle of the second vertical connecting rod 22, the other end of the transverse connecting rod 21 is connected with one end of the first vertical connecting rod 20, and the other end of the first vertical connecting rod 20 is connected with the first eyeball 12. The second steering engine 25 drives the second steering engine arm 24 to swing up and down, the second steering engine arm 24 drives the second vertical connecting rod 22 to move up and down through the vertical connecting rod 23, so that the second eyeball 10 is driven to rotate up and down around the second universal hinge, the second vertical connecting rod 22 drives the first vertical connecting rod 20 to move up and down through the transverse connecting rod 21, so that the first eyeball 12 is driven to rotate up and down around the first universal hinge 17, and the control on the up and down rotation of the robot eye is completed.
Each of the 2 eyeball frames is provided with an eyelid unit comprising an upper eyelid 9 and a lower eyelid 11, and the upper eyelid 9 is connected with the fixed frame 5 through an eyelid driving mechanism. The upper eyelid 9 is rotatable within the eyeball frame 29.
The eyelid transmission mechanism comprises an eyelid steering engine 6, an eyelid transverse connecting rod 7, an eyelid vertical connecting rod 8 and an eyelid rudder arm 34, wherein the eyelid steering engine 6 is arranged on a fixed support 5, a power output shaft of the eyelid steering engine 6 is connected with one end of the eyelid rudder arm 34, the other end of the eyelid rudder arm 34 is connected with one end of the eyelid transverse connecting rod 7, the other end of the eyelid transverse connecting rod 7 is connected with one end of the eyelid vertical connecting rod 8, and the other end of the eyelid vertical connecting rod 8 is connected with an upper eyelid 9. The eyelid steering engine 6 drives the eyelid steering arm 34 to swing up and down, the eyelid steering arm 34 drives the lower end of the eyelid vertical connecting rod 8 to rotate through the eyelid transverse connecting rod 7, so that the upper eyelid 9 is driven to rotate in the eyeball frame 29 to perform the actions of opening, closing and blinking, and the control of the eyelid of the robot is completed.
A control method for robot eye movement, comprising the steps of:
the first eyebrow steering engine 3 drives the first eyebrow steering engine arm 30 to swing, then drives the first connecting rod 4 through the first eyebrow steering engine arm 30 to control the rising or falling of one end of the eyebrow 2, then drives the second eyebrow steering engine arm 31 to swing through the second eyebrow steering engine 27, and then drives the second connecting rod 32 through the second eyebrow steering engine arm 31 to control the rising or falling of the other end of the eyebrow 2, so that the control of the robot eyebrow unit 1 is completed;
the first steering engine 13 drives the first steering engine arm 14 to swing left and right, the first steering engine arm 14 drives the first transverse connecting rod 16 to move left and right through the transverse short connecting rod 15, so that the first eyeball 12 is driven to rotate left and right around the first universal hinge 17, the first transverse connecting rod 16 drives the second transverse connecting rod 19 to move left and right through the transverse long connecting rod 18, so that the second eyeball 10 is driven to rotate left and right around the second universal hinge, and the left and right rotation of the eyes of the robot is controlled;
the second steering engine 25 drives the second steering engine arm 24 to swing up and down, the second steering engine arm 24 drives the second vertical connecting rod 22 to move up and down through the vertical connecting rod 23, so that the second eyeball 10 is driven to rotate up and down around the second universal hinge, the second vertical connecting rod 22 drives the first vertical connecting rod 20 to move up and down through the transverse connecting rod 21, so that the first eyeball 12 is driven to rotate up and down around the first universal hinge 17, and the control on the up and down rotation of the robot eye is completed;
the eyelid steering engine 6 drives the eyelid steering arm 34 to swing up and down, the eyelid steering arm 34 drives the lower end of the eyelid vertical connecting rod 8 to rotate through the eyelid transverse connecting rod 7, so that the upper eyelid 9 is driven to rotate in the eyeball frame 29 to perform the actions of opening, closing and blinking, and the control of the eyelid of the robot is completed.
The above embodiments are preferred examples of the present invention, and the present invention is not limited thereto, and any other modifications or equivalent substitutions made without departing from the technical aspects of the present invention are included in the scope of the present invention.
Claims (7)
1. The robot eye movement device is characterized by comprising a fixed frame, a left rotating mechanism, a right rotating mechanism, an up-and-down rotating mechanism, an eyeball mechanism and 2 eyebrow units, wherein the eyeball mechanism is arranged on the fixed frame, the 2 eyebrow units are arranged on the face of a robot in a mirror image mode, two ends of each eyebrow unit are respectively connected with 2 groups of eyebrow steering mechanisms, each group of eyebrow steering mechanisms is arranged on the fixed frame, one end of the left rotating mechanism and one end of the right rotating mechanism are connected with the eyeball mechanism, the other end of the left rotating mechanism and the right rotating mechanism are arranged on the fixed frame, one end of the up-and-down rotating mechanism is connected with the eyeball mechanism, and the other end of the up-and-down rotating mechanism is arranged on the fixed frame;
the power output shaft of the eyebrow steering engine is connected with one end of the eyebrow steering engine arm, the other end of the eyebrow steering engine arm is connected with one end of the connecting rod, and the other end of the connecting rod is connected with one end of the eyebrow unit;
the eyebrow unit comprises an eyebrow support and an eyebrow, the eyebrow is connected with the eyeball mechanism through the eyebrow support, and two ends of the eyebrow are respectively connected with 2 eyebrow steering engine mechanisms;
the eyebrow support is fixedly provided with 2 sleeves, and the 2 eyebrow steering engine mechanisms respectively penetrate through the 2 sleeves and then are connected with two ends of the eyebrow.
2. The robotic eye movement device of claim 1, wherein the eye mechanism comprises a first eye, a second eye and 2 eye frames, wherein 2 eye frames are fixed to the fixed frame, wherein the first eye and the second eye are respectively mounted to the 2 eye frames, wherein the first eye rear end is hinged to the fixed frame by a first universal hinge, and wherein the second eye rear end is hinged to the fixed frame by a second universal hinge.
3. The robot eye movement device according to claim 2, wherein the left and right rotating mechanism comprises a first steering engine, a first steering arm, a transverse short connecting rod, a transverse long connecting rod, a first transverse connecting rod and a second transverse connecting rod, the first steering engine is mounted on the fixed frame, a power output shaft of the first steering engine is connected with one end of the first steering arm, the other end of the first steering arm is connected with one end of the transverse short connecting rod, the other end of the transverse short connecting rod is connected with one end of the first transverse connecting rod, the other end of the first transverse connecting rod is connected with a first eyeball, one end of the transverse long connecting rod is connected with the middle of the first transverse connecting rod, the other end of the transverse long connecting rod is connected with one end of the second transverse connecting rod, and the other end of the second transverse connecting rod is connected with the second eyeball.
4. The robot eye movement device according to claim 3, wherein the up-down rotation mechanism comprises a second steering engine, a second steering engine arm, a vertical connecting rod, a transverse connecting rod, a first vertical connecting rod and a second vertical connecting rod, the second steering engine is mounted on the fixed frame, a power output shaft of the second steering engine is connected with one end of the second steering engine arm, the other end of the second steering engine arm is connected with one end of the vertical connecting rod, the other end of the vertical connecting rod is connected with one end of the second vertical connecting rod, the other end of the second vertical connecting rod is connected with a second eyeball, one end of the transverse connecting rod is connected with the middle of the second vertical connecting rod, the other end of the transverse connecting rod is connected with one end of the first vertical connecting rod, and the other end of the first vertical connecting rod is connected with the first eyeball.
5. The robotic eye movement device of claim 4, wherein 2 of the eye frames are each fitted with an eyelid unit comprising an upper eyelid and a lower eyelid, the upper eyelid being connected to the stationary frame by an eyelid transmission.
6. The device according to claim 5, wherein the eyelid transmission mechanism comprises an eyelid steering engine, an eyelid transverse link, an eyelid vertical link and an eyelid rudder arm, the eyelid steering engine is mounted on the fixed support, a power output shaft of the eyelid steering engine is connected to one end of the eyelid rudder arm, the other end of the eyelid rudder arm is connected to one end of the eyelid transverse link, the other end of the eyelid transverse link is connected to one end of the eyelid vertical link, and the other end of the eyelid vertical link is connected to the upper eyelid.
7. A control method of a robotic eye movement device according to claim 6, comprising the steps of:
the eyebrow steering engine arms are respectively driven to swing through the eyebrow steering engines, and the eyebrow steering engine arms drive the connecting rods to control the lifting or descending of the two ends of the eyebrows, so that the control of the robot eyebrow units is completed;
the first steering engine drives the first steering engine arm to swing left and right, so that the first steering engine arm drives the first transverse connecting rod to move left and right through the transverse short connecting rod, the first eyeball is driven to rotate left and right around the first universal hinge, and the first transverse connecting rod drives the second transverse connecting rod to move left and right through the transverse long connecting rod, so that the second eyeball is driven to rotate left and right around the second universal hinge, and the left and right rotation of the robot eye is controlled;
the second steering engine drives the second steering engine arm to swing up and down, the second steering engine arm drives the second vertical connecting rod to move up and down through the vertical connecting rod, so that the second eyeball is driven to rotate up and down around the second universal hinge, the second vertical connecting rod drives the first vertical connecting rod to move up and down through the transverse connecting rod, and the first eyeball is driven to rotate up and down around the first universal hinge, so that the control on the up and down rotation of the robot eye is completed;
the eyelid steering engine drives the eyelid steering engine arm to swing up and down, and the eyelid steering engine arm drives the lower end of the eyelid vertical connecting rod to rotate through the eyelid transverse connecting rod, so that the upper eyelid is driven to rotate in the eyeball frame to perform eye opening, eye closing and blinking actions, and control of the eyelid of the robot is completed.
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| CN111421558B (en) * | 2020-03-19 | 2021-10-08 | 浙江工业大学 | Robot with anthropomorphic expression based on electroactive polymer driver |
| CN111531553B (en) * | 2020-04-01 | 2021-12-28 | 哈尔滨工业大学 | Humanoid robot head based on connecting rod smooth expression control mechanism |
| CN111513907A (en) * | 2020-04-30 | 2020-08-11 | 李卿 | Automatic splint for orthopedics department |
| CN112171683B (en) * | 2020-09-03 | 2021-08-24 | 广东工业大学 | Bionic eye eyebrow device for bionic robot |
| CN112265007B (en) * | 2020-10-27 | 2022-12-27 | 广东富利盛仿生机器人股份有限公司 | Head of robot with human-face-expression imitation |
| CN112936245B (en) * | 2021-02-05 | 2023-07-18 | 华南理工大学 | Head and eye gaze control device and method of humanoid robot |
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