CN202607678U - Eyeball movement mechanism for bionic-robot - Google Patents

Eyeball movement mechanism for bionic-robot Download PDF

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Publication number
CN202607678U
CN202607678U CN 201220166296 CN201220166296U CN202607678U CN 202607678 U CN202607678 U CN 202607678U CN 201220166296 CN201220166296 CN 201220166296 CN 201220166296 U CN201220166296 U CN 201220166296U CN 202607678 U CN202607678 U CN 202607678U
Authority
CN
China
Prior art keywords
connecting rod
eyeball
eyeball connecting
eyeballs
robot
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Expired - Fee Related
Application number
CN 201220166296
Other languages
Chinese (zh)
Inventor
曹进涛
何斌
何小林
宋伟
王延刚
赵磊
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
University of Shanghai for Science and Technology
Original Assignee
University of Shanghai for Science and Technology
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by University of Shanghai for Science and Technology filed Critical University of Shanghai for Science and Technology
Priority to CN 201220166296 priority Critical patent/CN202607678U/en
Application granted granted Critical
Publication of CN202607678U publication Critical patent/CN202607678U/en
Anticipated expiration legal-status Critical
Expired - Fee Related legal-status Critical Current

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Abstract

The utility model relates to an eyeball movement mechanism for a bionic-robot, which comprises a frame, left and right eyeballs, an eyeball connecting frame, a screw lead sliding block, a support base, a motor and an electric push rod. The left and right eyeballs are fixed with the eyeball connecting frame, and are respectively connected with the frame through two Hooker hinges. The centers of the eyeballs are superposed with intersection points of two rotary axes of the Hooker hinges to realize up and down and left and right rotations of the eyeballs around the centers. One end of the electric push rod and the eyeball connecting frame are connected with the other end through a rotary pair and are fixed together with a sliding block, so that the two eyeballs can rotate up and down synchronously driven by the electric push rod. The sliding block is connected with a lead screw through a lead screw nut mechanism. The motor drives the lead screw to rotate so as to realize linear movement of the sliding block so as to further drive the two eyeballs to rotate synchronously left and right. The eye movement mechanism for the bionic-robot is simple in structure, low in cost, and convenient to control so as to realize abundant eye movement.

Description

A kind of bio-robot eye movement mechanism
Technical field
The utility model belongs to the motion in Robotics field, specifically a kind of bio-robot eye movement mechanism.
Background technology
When the people carried out affection exchange, content greatly was to accomplish by facial expression, and the facial expression implementation of bio-robot can adopt artificial-muscle to drive and produce facial expression, but this mode implements difficulty, cost is high; Can also adopt bionical eyeball, eyebrow to realize, because eyeball movable most important during the expression of facial expression can give expression to abundant content.
Eyeball mechanism requires coordination, lifelike image; Process is to the prior art literature search, and the Chinese patent publication number is CN2691802, and denomination of invention is: the robot that can play the piano; This robot can only realize that the left-right rotation of eyeball can not realize moving up and down of eyeball; Therefore anthropomorphic dummy's eye movement that can't image, the existing often complex structure of some bio-robot eyeballs that can meet the demands, cost is higher.Can not only realize coordination, it is flexible and simple in structure to move, and cheap eyeball mechanism still relatively lacks.
The utility model content
To the defective that prior art exists, the purpose of the utility model provides a kind of simple in structure, cheap bio-robot eye movement mechanism.
For achieving the above object, the technical scheme that the utility model adopts is:
A kind of bio-robot eye movement mechanism; Comprise frame, left eye ball, right eye ball, first Hooke hinge, second Hooke hinge, the first eyeball connecting rod, the second eyeball connecting rod, the 3rd eyeball connecting rod; First revolute pair, second revolute pair, the 3rd revolute pair, electric pushrod, motor, slide block, leading screw and supporting base; Said left eye ball is fixed on an end of the said first eyeball connecting rod, and said right eye ball is fixed on an end of said the 3rd eyeball connecting rod; The said first eyeball connecting rod is hinged said frame through said first Hooke, and said the 3rd eyeball connecting rod is hinged said frame through said second Hooke; The other end of the said first eyeball connecting rod connects an end of the said second eyeball connecting rod through said first revolute pair, and the other end of the said second eyeball connecting rod connects an end of said the 3rd eyeball connecting rod through said the 3rd revolute pair; One end of said electric pushrod is connected the middle part of the said second eyeball connecting rod through said second revolute pair, and the other end of said electric pushrod and said slide block are fixed together; Said slide block is connected with said leading screw through screw-nut body; Said motor is fixed on the said supporting base and with an end of said leading screw and is connected through shaft coupling; The other end of said leading screw is connected on the said supporting base through bearing, and said supporting base is fixed on the said frame.The centre of sphere of said left eye ball and right eye ball overlaps with the intersection point of said first Hooke hinge with two rotations of second Hooke hinge respectively, and the realization eyeball is about the centre of sphere and left-right rotation.
To prior art, the advantage of the utility model is: anthropomorphic dummy's eye movement that can image, realize flexibly two eyeballs about and rotate up and down, simple in structure, be convenient to processing and manufacturing, with low cost.
Description of drawings
Fig. 1 is a kind of bio-robot eye movement mechanism shaft mapping.
The specific embodiment
The preferred embodiment of the utility model combines detailed description of the drawings following:
As shown in Figure 1; A kind of bio-robot eye movement mechanism; Comprise frame 1, left eye ball 3, right eye ball 7, first Hooke hinge, 2, second Hooke hinge 8, the first eyeball connecting rod 4, the second eyeball connecting rod 6, the 3rd eyeball connecting rod 9; First revolute pair, 5, the second revolute pairs 10, the 3rd revolute pair 11, electric pushrod 12, motor 13, slide block 14, leading screw 15 and supporting base 16; Said left eye ball 3 is fixed on an end of the said first eyeball connecting rod 4, and said right eye ball 7 is fixed on an end of said the 3rd eyeball connecting rod 9; The said first eyeball connecting rod 4 connects said frame 1 through said first Hooke hinge 2, and said the 3rd eyeball connecting rod 9 connects said frame 1 through said second Hooke hinge 8; The other end of the said first eyeball connecting rod 4 is through an end of the said second eyeball connecting rod 6 of said first revolute pair, 5 connections, and the other end of the said second eyeball connecting rod 6 connects an end of said the 3rd eyeball connecting rod 9 through said the 3rd revolute pair 11; One end of said electric pushrod 12 is connected the middle part of the said second eyeball connecting rod 6 through said second revolute pair 10, and the other end of said electric pushrod 12 and said slide block 14 are fixed together; Said slide block 14 is connected with said leading screw 15 through screw-nut body; Said motor 13 is fixed on the said supporting base 16 and with an end of said leading screw 15 and is connected through shaft coupling; The other end of said leading screw 15 is connected on the said supporting base 16 through bearing, and said supporting base 16 is fixed on the said frame 1.The centre of sphere of said left eye ball 3 and right eye ball 7 overlaps with the intersection point of two rotations of said first Hooke hinge, 2 and second Hooke hinge 8 respectively, and the realization eyeball is about the centre of sphere and left-right rotation.

Claims (2)

1. bio-robot eye movement mechanism; It is characterized in that; Comprise frame (1), left eye ball (3), right eye ball (7), first Hooke hinge (2), second Hooke hinge (8), the first eyeball connecting rod (4), the second eyeball connecting rod (6), the 3rd eyeball connecting rod (9); First revolute pair (5), second revolute pair (10), the 3rd revolute pair (11), electric pushrod (12), motor (13), slide block (14), leading screw (15) and supporting base (16); Said left eye ball (3) is fixed on an end of the said first eyeball connecting rod (4), and said right eye ball (7) is fixed on an end of said the 3rd eyeball connecting rod (9); The said first eyeball connecting rod (4) cuts with scissors (2) through said first Hooke and connects said frame (1), and said the 3rd eyeball connecting rod (9) cuts with scissors (8) through said second Hooke and connects said frame (1); The other end of the said first eyeball connecting rod (4) is through an end of the said second eyeball connecting rod (6) of said first revolute pair (5) connection, and the other end of the said second eyeball connecting rod (6) connects an end of said the 3rd eyeball connecting rod (9) through said the 3rd revolute pair (11); One end of said electric pushrod (12) is connected the middle part of the said second eyeball connecting rod (6) through said second revolute pair (10), and the other end of said electric pushrod (12) and said slide block (14) are fixed together; Said slide block (14) is connected with said leading screw (15) through screw-nut body; Said motor (13) is fixed on said supporting base (16) and upward and with an end of said leading screw (15) is connected through shaft coupling; The other end of said leading screw (15) is connected on the said supporting base (16) through bearing, and said supporting base (16) is fixed on the said frame (1).
2. according to the described a kind of bio-robot eye movement of right 1 mechanism; It is characterized in that; The centre of sphere of said left eye ball (3) and right eye ball (7) overlaps with the intersection point of said first Hooke hinge (2) with two rotations of second Hooke hinge (8) respectively, and the realization eyeball is about the centre of sphere and left-right rotation.
CN 201220166296 2012-04-19 2012-04-19 Eyeball movement mechanism for bionic-robot Expired - Fee Related CN202607678U (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN 201220166296 CN202607678U (en) 2012-04-19 2012-04-19 Eyeball movement mechanism for bionic-robot

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN 201220166296 CN202607678U (en) 2012-04-19 2012-04-19 Eyeball movement mechanism for bionic-robot

Publications (1)

Publication Number Publication Date
CN202607678U true CN202607678U (en) 2012-12-19

Family

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Family Applications (1)

Application Number Title Priority Date Filing Date
CN 201220166296 Expired - Fee Related CN202607678U (en) 2012-04-19 2012-04-19 Eyeball movement mechanism for bionic-robot

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CN (1) CN202607678U (en)

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN105251211A (en) * 2015-11-26 2016-01-20 邹钰 Rag baby with rotatable eyeballs
CN106042005A (en) * 2016-06-01 2016-10-26 山东科技大学 Bionic eye positioning tracking system and working method thereof
CN108039105A (en) * 2018-01-20 2018-05-15 田宗佳 A kind of robot eyeball blinked
CN113432843A (en) * 2021-08-27 2021-09-24 江西佳铭特实业有限公司 Automobile vehicle-mounted lamp detection device and vehicle-mounted lamp illumination detection method thereof

Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN105251211A (en) * 2015-11-26 2016-01-20 邹钰 Rag baby with rotatable eyeballs
CN106042005A (en) * 2016-06-01 2016-10-26 山东科技大学 Bionic eye positioning tracking system and working method thereof
CN108039105A (en) * 2018-01-20 2018-05-15 田宗佳 A kind of robot eyeball blinked
CN108039105B (en) * 2018-01-20 2020-05-15 郑丛 Robot eyeball that can blink
CN113432843A (en) * 2021-08-27 2021-09-24 江西佳铭特实业有限公司 Automobile vehicle-mounted lamp detection device and vehicle-mounted lamp illumination detection method thereof

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C14 Grant of patent or utility model
GR01 Patent grant
C17 Cessation of patent right
CF01 Termination of patent right due to non-payment of annual fee

Granted publication date: 20121219

Termination date: 20130419