CN112847394A - Human eye and head movement simulating mechanism - Google Patents
Human eye and head movement simulating mechanism Download PDFInfo
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- CN112847394A CN112847394A CN202110002731.XA CN202110002731A CN112847394A CN 112847394 A CN112847394 A CN 112847394A CN 202110002731 A CN202110002731 A CN 202110002731A CN 112847394 A CN112847394 A CN 112847394A
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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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Abstract
The invention belongs to the field of medical equipment, and particularly relates to a human eye and head movement simulating mechanism. Including the eyelid opens and shuts subassembly, eyeball swing subassembly and mouth and opens and shut the subassembly, the eyelid opens and shuts the subassembly and includes: the eyelid opening and closing air cylinder, the first connecting piece, the first connecting rod, the eye frame and the eyelid supporting frame, wherein an upper eyelid is fixed in the eye frame, and a lower eyelid is arranged on the eyelid supporting frame; eyeball swing subassembly includes: the eyeball swing cylinder, the cylinder push-pull rod, the roller bearing, the first eyeball swing rod, the second eyeball swing rod and the semicircular eyeball; the mouth opens closes subassembly includes: mouth opening and closing cylinder, second connecting piece, upper jaw support and lower jaw support. The eyelid opening and closing assembly can simulate opening and closing movement of human eyelids, the eyeball swinging assembly can simulate synchronous left and right rotation of human eyeballs, the mouth opening and closing assembly can simulate opening and closing movement of human mouths, and the eyelid opening and closing assembly has the characteristic of high movement precision.
Description
Technical Field
The invention belongs to the technical field of medical equipment, and particularly relates to a human eye and head movement simulating mechanism.
Background
A humanoid robot refers to a robot designed and manufactured to imitate the shape and behavior of a human, and generally has limbs and a head of the human, respectively or simultaneously. The humanoid robot has human appearance, can adapt to human living and working environments, replaces human beings to finish various operations, can expand human abilities in many aspects, and is widely applied to multiple fields such as service, medical treatment, education, entertainment and the like. With the development of science and technology and the continuous innovation of technology, the humanoid robot is continuously improved, and the humanoid robot can become an optimal robot which is mutually influenced by people.
The head motions of the humanoid robot comprise a series of motions such as eyeball rotation, eye blinking, mouth opening and closing and the like, but the head mechanism of the conventional humanoid robot is complex in structure, poor in motion flexibility and low in motion precision, and particularly the dexterity of the eye motion of the humanoid robot is greatly different from that of a human. The bionic device designed by simulating the biological structure and the motion characteristic reasonably according to the bionics principle can reproduce the morphological characteristics and the motion mode of a human, and has good application prospect in the field of medical appliances. The invention provides a head movement mechanism of a humanoid robot, which can imitate the morphological characteristics and movement modes of a human, can smartly imitate the human expression movement characteristics of the human, such as eye rotation, eyelid opening and closing, mouth opening and closing and the like, can solve the problem of low flexibility of the head movement of the humanoid robot, and improves the movement freedom of the humanoid robot.
Disclosure of Invention
The invention aims to overcome the defects of complex structure, poor motion flexibility and low motion precision in the prior art, and provides a human eye and head movement simulating mechanism which can flexibly reproduce eye rotation, eyelid opening and closing, mouth opening and closing and high motion precision.
The technical scheme adopted by the invention for solving the technical problems is as follows:
a human eye movement simulating mechanism is characterized in that: comprises a head support frame, an eyelid opening and closing component and an eyeball swinging component; the eyelid opening and closing assembly comprises: the eyelid opening and closing device comprises an eyelid opening and closing cylinder and a first guide rail which are arranged on a head support frame, a first connecting piece which is fixedly connected with an output end of the eyelid opening and closing cylinder and is connected to the first guide rail in a sliding manner, a first connecting rod with one end rotatably connected with the first connecting piece, an eye frame with one end rotatably connected with the other end of the first connecting rod, and an eyelid support frame fixed on the head support frame, wherein the other end of the eye frame is rotatably connected with the eyelid support frame, an upper eyelid is fixed in the eye frame, and a lower eyelid corresponding to the upper eyelid is arranged on the eyelid support frame; the eye swing assembly comprises: the eyeball swing cylinder and the second guide rail are fixed on the head support frame, the cylinder push-pull rod is fixedly connected with the output end of the eyeball swing cylinder and slides along the second guide rail, the first eyeball swing rod is connected to the end part of the cylinder push-pull rod, the second eyeball swing rod is arranged in parallel with the first eyeball swing rod, and the second connecting rod is connected with the first eyeball swing rod and the second eyeball swing rod; one end of the first eyeball oscillating bar is fixedly provided with a rotating shaft, and the other end of the first eyeball oscillating bar is fixedly provided with a semicircular eyeball; the rotating shaft is provided with a roller bearing, the end part of the cylinder push-pull rod is provided with an oval characteristic hole, and the ball bearing is connected to the inner wall of the oval characteristic hole in a rolling manner; the end part of the second eyeball oscillating bar is also fixedly provided with a semicircular eyeball; the head support frame is further provided with a limiting groove, and the second connecting rod moves in the limiting groove.
Furthermore, a first sliding block is fixedly connected to the first connecting piece, and the first sliding block is connected with the first guide rail in a sliding manner.
Furthermore, a second sliding block is fixed on the cylinder push-pull rod and is in sliding connection with the second guide rail.
Furthermore, the end parts of the first eyeball swing rod and the second eyeball swing rod are respectively provided with an eyeball fixing part for fixing a semicircular eyeball, and the upper end and the lower end of the eyeball fixing part are both arc-shaped.
Furthermore, a gasket is arranged between the first eyeball swing rod and the eyelid support frame, and a gasket is also arranged between the second eyeball swing rod and the eyelid support frame.
A human head motion simulation mechanism is characterized in that: comprises a mouth opening and closing component and a human eye movement simulating mechanism; the mouth opening and closing assembly comprises: the mouth opening and closing air cylinder and the third guide rail are arranged on the head support frame, the second connecting piece is fixedly connected with the output end of the mouth opening and closing air cylinder and is connected to the third guide rail in a sliding mode, the lower jaw pull rod is connected with one end of the second connecting piece in a rotating mode, the lower jaw support is connected to the other end of the lower jaw pull rod in a rotating mode, the head support frame is provided with an upper jaw support corresponding to the lower jaw support, and dental beds are arranged on the upper jaw support and the lower jaw support.
Furthermore, an intermediate support frame is fixedly mounted below the head support frame, and the upper jaw support is fixedly mounted on the intermediate support frame.
Furthermore, the second connecting piece is fixedly connected to a third sliding block, and the third sliding block is connected with the third guide rail in a sliding manner.
Further, the upper jaw brace and the lower jaw brace are rotatably connected.
The human eye and head movement imitating mechanism has the beneficial effects that:
1. the eyelid opening and closing components can simulate the opening and closing motion of human eyelids, and the symmetrically arranged eyelid opening and closing components can realize the independent motion of the left eyelid and the right eyelid; synchronous left-right rotation of the simulated human eyeball can be realized through the eyeball swinging assembly; the mouth opening and closing assembly can simulate the opening and closing movement of human mouth and has the characteristic of high movement precision.
2. The eyelid opening and closing component, the eyeball swinging component and the mouth opening and closing component can move independently and can also move in a matching way, the facial movement characteristics of human can be simulated, and the movement flexibility is improved.
3. The invention limits the second connecting rod through the limiting groove arranged on the head support frame, can realize the optimal control of the swing motion stroke of the eyeball, has good simulation effect, simple and reasonable structure of the whole machine and realizes higher motion precision.
Drawings
The present invention will be described in further detail with reference to the accompanying drawings and specific embodiments.
FIG. 1 is an overall block diagram of an embodiment of the present invention;
FIG. 2 is another view of the overall structure of an embodiment of the present invention;
FIG. 3 is a block diagram of an eyelid opening and closing assembly in accordance with an embodiment of the present invention;
FIG. 4 is a schematic diagram of an eye swing assembly according to an embodiment of the present invention;
FIG. 5 is a partial block diagram of an eye-swinging assembly according to an embodiment of the present invention;
FIG. 6 is a schematic diagram of a push-pull rod of the cylinder according to the embodiment of the present invention;
fig. 7 is a structural view of a mouth opening and closing assembly according to an embodiment of the present invention.
In the figure, 1, a head support frame, 2, an eyelid opening and closing component, 20, an eyelid opening and closing cylinder, 21, a first guide rail, 22, an upper eyelid, 23, a lower eyelid, 24, a first connecting piece, 25, a first connecting rod, 26, a first slide block, 27, an eye frame, 3, an eyeball swinging component, 30, an eyeball swinging cylinder, 31, a second guide rail, 32, a cylinder push-pull rod, 33, an oval characteristic hole, 34, a roller bearing, 35, a rotating shaft, 36, a first eyeball swinging rod, 37, a second connecting rod, 38, a second eyeball swinging rod, 39, a limiting groove, 310, a semicircular eyeball, 311, a second slide block, 312, an eyeball fixing part, 313, a gasket, 4, a mouth opening and closing component, 40, a mouth opening and closing cylinder, 41, a third guide rail, 42, a mandible support, 43, a maxilla support, 44, a dental bed, 45, a second connecting piece, 46, a pull rod, 47, a third slide block, 5, an eyelid support frame, 6. a middle supporting frame.
Detailed Description
The present invention will now be described in further detail with reference to the accompanying drawings. These drawings are simplified schematic views illustrating only the basic structure of the present invention in a schematic manner, and thus show only the constitution related to the present invention.
It is to be understood that in the description of the present invention, the terms "front", "rear", "left", "right", "upper", "lower", etc., indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience in describing the present invention and simplifying the description, but do not indicate or imply that the device or element referred to must have a specific orientation, be constructed in a specific orientation, and be operated, and thus, should not be construed as limiting the present invention. The terms "first," "second," "third," and the like are used merely to simplify the description of words for distinguishing between similar elements and are not to be construed as specifying a sequential relationship between particular orders.
The specific embodiment of the human head movement simulation mechanism shown in fig. 1-7 of the present invention comprises a head support frame 1, a mouth opening and closing component 4 mounted on the head support frame 1, two eyelid opening and closing components 2 symmetrically arranged at two sides of the mouth opening and closing component 6, and an eyeball swinging component 3 arranged below the head support frame 1.
Referring to fig. 1-5, the humanoid eye movement mechanism comprises: an eyelid opening and closing component 2 and an eyeball swinging component 3. Referring to fig. 2 and 3, the eyelid closing and opening assembly 2 includes: the eyelid that sets up on head support frame 1 opens and closes cylinder 20 and first guide rail 21, open and close cylinder 20 output end fixed connection and sliding connection first connecting piece 24 on first guide rail 21 with the eyelid, one end and first connecting piece 24 rotate the first connecting rod 25 of being connected, the eye frame 27 that one end and the other end of first connecting rod 25 rotate the connection and fix eyelid support frame 5 on head support frame 1, the other end and the eyelid support frame 5 of eye frame 27 rotate and are connected, be fixed with upper eyelid 22 in the eye frame 27, be provided with the lower eyelid 23 that corresponds with upper eyelid 22 on eyelid support frame 5. The first connecting member 24 is fixedly connected with a first sliding block 26, and the first sliding block 26 is slidably connected with the first guide rail 21. The eyelid opening and closing component 2 can simulate the eyelid of a human to open and close. Specifically, the eyelid opening and closing cylinder 20 pushes the first connecting member 24 to move back and forth, so as to drive the first connecting rod 25 to rotate, further drive the U-shaped eye frame 27 to rotate, and enable the upper eyelid 22 to swing up and down, so as to separate from and approach the lower eyelid 23, thereby simulating the eyelid opening and closing action of human eyes.
Referring to fig. 4 to 6, the eye swing assembly 3 includes: the eyeball swinging cylinder 30 and the second guide rail 31 are fixed on the head support frame 1, the cylinder push-pull rod 32 is fixedly connected with the output end of the eyeball swinging cylinder 30 and slides along the second guide rail 31, the first eyeball swinging rod 36 is connected with the end part of the cylinder push-pull rod 32, the second eyeball swinging rod 38 is arranged in parallel with the first eyeball swinging rod 36, and the second connecting rod 37 is connected with the first eyeball swinging rod 36 and the second eyeball swinging rod 38; one end of the first eyeball swinging rod 36 is fixedly provided with the rotating shaft 35, and the other end is fixedly provided with the semicircular eyeball 310; a roller bearing 34 is arranged on the rotating shaft 35, an oval characteristic hole 33 is formed in the end of the cylinder push-pull rod 32, and the roller bearing 34 is connected to the inner wall of the oval characteristic hole 33 in a rolling mode; the end of the second eyeball swinging rod 38 is also fixedly provided with a semicircular eyeball 310; the head support frame 1 is further provided with a limiting groove 39, and the second connecting rod 37 moves in the limiting groove 39. In this embodiment, the second sliding block 311 is fixed on the cylinder push-pull rod 32, and the second sliding block 311 is slidably connected with the second guide rail 31.
The specific working process of the eyeball swinging assembly is as follows: the eyeball swinging cylinder 30 stretches and retracts to drive the cylinder push-pull rod 32 to slide on the second guide rail 31, and the roller bearing 34 is pushed to roll along the inner wall of the oval characteristic hole 33, so that the semicircular eyeball 310 arranged at the tail end of the first eyeball swinging rod 36 can swing; because the second eyeball swinging rod 38 and the first eyeball swinging rod 36 are arranged in parallel, the cylinder push-pull rod 32, the first eyeball swinging rod 36, the second connecting rod 37 and the second eyeball swinging rod 38 form a four-bar mechanism, and under the guiding action of the limiting groove 39 on the second connecting rod 37, the motion form of the second eyeball swinging rod 38 is the same as that of the first eyeball swinging rod 36, so that the synchronous left-right rotation of the simulated real eyeball can be realized. The implementation mode can realize the optimal control of the swing motion stroke of the eyeball, improve the simulation effect, has simple and reasonable structure of the whole machine and improves the motion precision.
Referring to fig. 5, in order to fix the semicircular eyeball, eyeball fixing portions 312 are respectively disposed at the end portions of the first eyeball swinging rod 36 and the second eyeball swinging rod 38, and both upper and lower ends of the eyeball fixing portions 312 are respectively configured to be arc-shaped. A washer 313 is arranged between the first eyeball swinging rod 36 and the eyelid support frame 5, and a washer 313 is also arranged between the second eyeball swinging rod 38 and the eyelid support frame 5, so that the first eyeball swinging rod 36 and the second eyeball swinging rod 38 can swing better.
With reference to fig. 1 and 7, the mouth opening and closing assembly 4 comprises: the mouth opening and closing air cylinder 40 and the third guide rail 41 which are arranged on the head support frame 1, the second connecting piece 45 which is fixedly connected with the output end of the mouth opening and closing air cylinder 40 and is connected with the third guide rail in a sliding way, the lower jaw pull rod 46 with one end rotatably connected with the second connecting piece 45 and the lower jaw support 42 rotatably connected with the other end of the lower jaw pull rod 46, the upper jaw support 43 corresponding to the lower jaw support 42 is arranged on the head support frame 1, and the upper jaw support 43 and the lower jaw support 42 are both provided with gums 44. The second connecting member 45 is fixedly connected to the third slider 47, and the third slider 47 is slidably connected to the third guide rail 41. The head support frame 1 is fixedly provided with a middle support frame 6, the upper jaw support 43 is fixedly arranged on the middle support frame 6, and the upper jaw support 43 and the lower jaw support 42 are rotatably connected.
The third slider 47, the second connecting piece 45, the mandible pull rod 46 and the mandible support 42 form a connecting rod mechanism of a crank slider, the third slider 47 and the second connecting piece 45 are driven to slide up and down along the third guide rail 41 through the stretching of the mouth opening and closing cylinder 40, so that the mandible pull rod 46 moves up and down, the mandible support 42 rotates around the mandible pull rod 46, and the opening and closing movement of a simulated human mouth can be realized.
The eyelid opening and closing cylinder 20, the eyeball swinging cylinder 30 and the mouth opening and closing cylinder 40 are all fixedly connected with the head support frame 1 through cylinder supports.
It should be understood that the above-described specific embodiments are merely illustrative of the present invention and are not intended to limit the present invention. Obvious variations or modifications which are within the spirit of the invention are possible within the scope of the invention.
Claims (9)
1. A human eye movement simulating mechanism is characterized in that: comprises a head support frame (1), an eyelid opening and closing component (2) and an eyeball swinging component (3); the eyelid opening and closing assembly (2) comprises: an eyelid opening and closing cylinder (20) and a first guide rail (21) which are arranged on the head support frame (1), a first connecting piece (24) which is fixedly connected with the output end of the eyelid opening and closing cylinder (20) and is connected to the first guide rail (21) in a sliding manner, a first connecting rod (25) of which one end is rotatably connected with the first connecting piece (24), an eye frame (27) of which one end is rotatably connected with the other end of the first connecting rod (25), and an eyelid support frame (5) which is fixed on the head support frame (1), wherein the other end of the eye frame (27) is rotatably connected with the eyelid support frame (5), an upper eyelid (22) is fixed in the eye frame (27), and a lower eyelid (23) corresponding to the upper eyelid (22) is arranged on the eyelid support frame (5); the eye swing assembly (3) comprises: an eyeball swing cylinder (30) and a second guide rail (31) which are fixed on the head support frame (1), a cylinder push-pull rod (32) which is fixedly connected with the output end of the eyeball swing cylinder (30) and slides along the second guide rail (31), a first eyeball swing rod (36) which is connected with the end part of the cylinder push-pull rod (32), a second eyeball swing rod (38) which is arranged in parallel with the first eyeball swing rod (36), and a second connecting rod (37) which is connected with the first eyeball swing rod (36) and the second eyeball swing rod (38); one end of the first eyeball swinging rod (36) is fixedly provided with a rotating shaft (35), and the other end of the first eyeball swinging rod is fixedly provided with a semicircular eyeball (310); a roller bearing (34) is mounted on the rotating shaft (35), an oval characteristic hole (33) is formed in the end portion of the cylinder push-pull rod (32), and the roller bearing (34) is connected to the inner wall of the oval characteristic hole (33) in a rolling mode; a semicircular eyeball (310) is also fixedly arranged at the end part of the second eyeball swinging rod (38); the head support frame (1) is further provided with a limiting groove (39), and the second connecting rod (37) moves in the limiting groove (39).
2. A human eye movement simulation mechanism as in claim 1 wherein: the first connecting piece (24) is fixedly connected with a first sliding block (26), and the first sliding block (26) is connected with the first guide rail (21) in a sliding mode.
3. A human eye movement simulation mechanism as in claim 1 wherein: and a second sliding block (311) is fixed on the cylinder push-pull rod (32), and the second sliding block (311) is in sliding connection with the second guide rail (31).
4. A human eye movement simulation mechanism as in claim 1 wherein: the end parts of the first eyeball swing rod (36) and the second eyeball swing rod (38) are respectively provided with an eyeball fixing part (312) for fixing a semicircular eyeball (310), and the upper end and the lower end of the eyeball fixing part (312) are both arc-shaped.
5. A human eye movement simulation mechanism as in claim 1 wherein: a gasket (313) is arranged between the first eyeball swing rod (36) and the eyelid support frame (5), and a gasket (313) is also arranged between the second eyeball swing rod (38) and the eyelid support frame (5).
6. A human head motion simulation mechanism is characterized in that: comprises a mouth opening and closing component (4) and a human eye movement simulating mechanism; the mouth opening and closing assembly (4) comprises: the mouth opening and closing air cylinder (40) and the third guide rail (41) are arranged on the head support frame (1), the second connecting piece (45) is fixedly connected with the output end of the mouth opening and closing air cylinder (40) and is connected to the third guide rail (41) in a sliding mode, the lower jaw pull rod (46) with one end rotatably connected with the second connecting piece (45) and the lower jaw support (42) rotatably connected to the other end of the lower jaw pull rod (46), the head support frame (1) is provided with an upper jaw support (43) corresponding to the lower jaw support (42), and dental beds (44) are arranged on the upper jaw support (43) and the lower jaw support (42).
7. A human head simulator as in claim 6, wherein: the head support frame (1) is fixedly provided with a middle support frame (6) at the lower part, and the upper jaw support (43) is fixedly arranged on the middle support frame (6).
8. A human head simulator as in claim 6, wherein: the second connecting piece (45) is fixedly connected to a third sliding block (47), and the third sliding block (47) is connected with the third guide rail (41) in a sliding mode.
9. A human head simulator as in claim 6, wherein: the upper jaw bracket (43) and the lower jaw bracket (42) are rotationally connected.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN202110002731.XA CN112847394A (en) | 2021-01-04 | 2021-01-04 | Human eye and head movement simulating mechanism |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202110002731.XA CN112847394A (en) | 2021-01-04 | 2021-01-04 | Human eye and head movement simulating mechanism |
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| CN112847394A true CN112847394A (en) | 2021-05-28 |
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| CN202110002731.XA Pending CN112847394A (en) | 2021-01-04 | 2021-01-04 | Human eye and head movement simulating mechanism |
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Cited By (2)
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| CN115890704A (en) * | 2022-12-08 | 2023-04-04 | 上海清芸机器人有限公司 | Mouth opening and closing structure of simulation robot |
| CN117124343A (en) * | 2023-09-25 | 2023-11-28 | 深圳无芯科技有限公司 | Head and neck structure of bionic robot and bionic robot |
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