CN205166941U - Facial expression robot eye constructional device - Google Patents
Facial expression robot eye constructional device Download PDFInfo
- Publication number
- CN205166941U CN205166941U CN201520981053.6U CN201520981053U CN205166941U CN 205166941 U CN205166941 U CN 205166941U CN 201520981053 U CN201520981053 U CN 201520981053U CN 205166941 U CN205166941 U CN 205166941U
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- eyeball
- eyelid
- crank
- steering wheel
- fork
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Abstract
The utility model provides a facial expression robot eye constructional device, it includes bearing structure, eyeball structure and eyelid structure, and eyeball structure and eyelid structure set up on bearing structure, and the eyeball structure includes two eyeballs drive steering wheels, eyeball turn right or left crank, eyeball turn right or left rocker, four customized bolts, eyeball seat, eyeball, eyeball support, connecting rod, eyeball tilting rocker, eyeball tilting crank, the utility model discloses the degree of freedom that can realize is more, compact structure, and occupation space is few, is close with human eyeball, can realize the rotation of the left and right sides, four upper and lower degrees of freedom to about, the tilting noninterference, can the simultaneous movement in two directions, only need two drive steering wheels of control can, thereby make the eye movement of robot more personalize, to the utility model discloses an eyelid mechanism, simple structure is convenient for realize.
Description
Technical field
The utility model relates to a kind of robot eyes constructional device, is specially a kind of facial expression robot eyes constructional device, belongs to robotics.
Background technology
The research of facial expression robot starts from the sixties in last century, and at present, many scientific research institutions both domestic and external, colleges and universities all over there portion's expression robot are studied, and through their effort, anthropomorphic robot technology obtains significant progress.For the design of the eye structure of expression robot, it needs to consider the head form of people, and its size will be coordinated mutually with head part's size, also require simultaneously robot eyes structure to realize action similar to mankind's eye motion.The eye structure of current expression robot or complex structure, size is improper, or is exactly that number of degrees of freedom, is inadequate, freely cannot rotate as human eye.
For solving above technical problem, the utility model provides a kind of facial expression robot eyes constructional device, its free degree that can realize is more, and compact conformation, occupies little space, close with human eye, the rotation of left and right, upper and lower four frees degree can be realized, and left and right, rotate and do not interfere up and down, both direction can be moved simultaneously, only need control two and drive steering wheel, thus robot eye movement is more personalized.For eyelid mechanism of the present utility model, structure is simple, is convenient to realize.
Summary of the invention
For above-mentioned situation, for solving the defect of prior art, the object of the utility model just there is provided a kind of facial expression robot eyes constructional device, it comprises supporting construction, eyeball structure and eyelid structure, it is characterized in that, described eyeball structure and eyelid vibrational power flow are in described supporting construction, wherein, described eyeball structure comprises two eyeballs and drives steering wheel, eyeball left-right rotation crank, eyeball left-right rotation rocking bar, four customization bolts, eyeball seat, eyeball, eyeball bearing, connecting rod, the upper and lower rotating rocker of eyeball, the upper and lower rotating crank of eyeball, the hinged setting of typed ball bearing pair is adopted between described eyeball seat and eyeball, described eyeball seat is placed on two eyeball bearings be connected to each other, described eyeball bearing is arranged in described supporting construction by the described customization bolt support of the left and right sides, a boring is provided with after described eyeball seat, the described connecting rod be connected with described eyeball stretches out from described boring, between described eyeball left-right rotation crank and eyeball left-right rotation rocking bar, crank-rocker mechanism is between the upper and lower rotating crank of described eyeball and the upper and lower rotating rocker of eyeball, the arc guide rail of these two crank-rocker mechanisms all contacts with described connecting rod, eyeball left-right rotation crank and the upper and lower rotating crank of eyeball are all connected with a described eyeball driving steering wheel, when driving steering wheel to drive eyeball left-right rotation crank and the upper and lower rotating crank of eyeball to rotate respectively for two, sliding pin on crank can slide thus make fork be fixedly connected with spot wobble around it with eyeball bearing in the slideway of fork, then described connecting rod is driven to swing, wobble drive eyeball left and right in ball seat of described connecting rod, rotate up and down.
Further, as preferably, described eyelid structure comprises eyelid and drives steering wheel, eyelid fork and eyelid crank, wherein, described eyelid crank and described eyelid drive steering wheel to be connected and drive, and described eyelid fork and eyelid crank form crank and rocker mechanism, described eyelid drives steering wheel to drive eyelid crank to rotate, sliding pin on eyelid crank slides in the slideway of eyelid fork, thus orders about eyelid fork and be fixedly connected with spot wobble around it with eyeball bearing, realizes action nictation.
Further, as preferably, described supporting construction comprises eye support member, eye pedestal, steering wheel gripper shoe and steering wheel support, wherein, described customization bolt is connected with eye support member, eye support member is arranged on eye pedestal, and eyeball drives steering wheel and eyelid to drive steering wheel to be all placed on described steering wheel support, and described steering wheel support is connected on eye pedestal by steering wheel gripper shoe.
Further, as preferably, the maximum angle of described eyeball left-right rotation is ± 35 °, and the maximum angle that described eyeball can rotate up and down is ± 45 °, and the pendulum angle of described eyelid fork is 80 °.
Further, as preferably, the diameter of described eyeball is 25mm.
The beneficial effects of the utility model:
A kind of facial expression robot eyes constructional device that the utility model provides, its free degree that can realize is more, compact conformation, occupy little space, close with human eye, the rotation of left and right, upper and lower four frees degree can be realized, and left and right, rotate and do not interfere up and down, both direction can be moved simultaneously, only need control two and drive steering wheel, thus robot eye movement is more personalized.For eyelid mechanism of the present utility model, structure is simple, is convenient to realize.
Accompanying drawing explanation
A kind of facial expression robot eyes constructional device structural representation that Fig. 1 provides for the utility model;
The structural representation of the eyelid mechanism of a kind of facial expression robot eyes constructional device that Fig. 2 provides for the utility model;
Wherein, 1, steering wheel is driven, 2, eyeball left-right rotation crank, 3, eyeball left-right rotation rocking bar, 4, customization bolt, 5, eyeball seat, 6, eyeball, 7, eyeball bearing, 8, connecting rod, 9, eye support member, 10, the upper and lower rotating rocker of eyeball, 11, the upper and lower rotating crank of eyeball, 12, eye pedestal, 13, steering wheel gripper shoe, 14, steering wheel support, 15, eyelid fork, 16, eyelid crank.
Detailed description of the invention
Below in conjunction with accompanying drawing, the utility model is described further.
As shown in Figure 1-2, the utility model provides a kind of facial expression robot eyes constructional device, it comprises supporting construction, eyeball structure and eyelid structure, described eyeball structure and eyelid vibrational power flow are in described supporting construction, wherein, described eyeball structure comprises two eyeballs and drives steering wheel 1, eyeball left-right rotation crank 2, eyeball left-right rotation rocking bar 3, four customization bolts 4, eyeball seat 5, eyeball 6, eyeball bearing 7, connecting rod 8, the upper and lower rotating rocker 10 of eyeball, the upper and lower rotating crank 11 of eyeball, the hinged setting of typed ball bearing pair is adopted between described eyeball seat 5 and eyeball 6, described eyeball seat 5 is placed on two eyeball bearings 7 be connected to each other, described eyeball bearing 7 is supported by the described customization bolt 4 of the left and right sides and is arranged in described supporting construction, a boring is provided with after described eyeball seat 5, the described connecting rod 8 be connected with described eyeball 6 stretches out from described boring, between described eyeball left-right rotation crank 2 and eyeball left-right rotation rocking bar 3, crank-rocker mechanism is between the upper and lower rotating crank of described eyeball 11 and the upper and lower rotating rocker 10 of eyeball, the arc guide rail of these two crank-rocker mechanisms all contacts with described connecting rod 8, eyeball left-right rotation crank 2 and the upper and lower rotating crank of eyeball 11 are all connected with a described eyeball driving steering wheel 1, when two eyeballs drive steering wheel to drive eyeball left-right rotation crank 2 and the upper and lower rotating crank 11 of eyeball to rotate respectively, sliding pin on crank can slide thus make fork be fixedly connected with spot wobble around it with eyeball bearing 7 in the slideway of fork, then described connecting rod 8 is driven to swing, wobble drive eyeball left and right in ball seat of described connecting rod, rotate up and down.
In the present embodiment, eyelid mechanism needs action nictation realizing similar people, same employing crank-rocker mechanism, as shown in Figure 2, described eyelid structure comprises eyelid and drives steering wheel 1, eyelid fork 15 and eyelid crank 16, wherein, described eyelid crank 16 and described eyelid drive steering wheel 1 to be connected and drive, described eyelid fork 15 and eyelid crank 16 form crank and rocker mechanism, described eyelid drives steering wheel to drive eyelid crank to rotate, sliding pin on eyelid crank 16 slides in the slideway of eyelid fork, thus order about eyelid fork and be fixedly connected with spot wobble around it with eyeball bearing, realize action nictation.Described supporting construction comprises eye support member 9, eye pedestal 12, steering wheel gripper shoe 13 and steering wheel support 14, wherein, described customization bolt 4 is connected with eye support member 9, eye support member 9 is arranged on eye pedestal 12, eyeball drives steering wheel 1 and eyelid to drive steering wheel 1 to be all placed on described steering wheel support 14, and described steering wheel support 14 is connected on eye pedestal by steering wheel gripper shoe 13.
In addition, by the simulation analysis to eyeball structure, the maximum angle of described eyeball left-right rotation is ± 35 °, and the maximum angle that described eyeball can rotate up and down is ± 45 °, and the pendulum angle of described eyelid fork is 80 °.In order to close with human eye, the diameter of described eyeball is 25mm.
The free degree that the utility model can realize is more, compact conformation, occupy little space, close with human eye, the rotation of left and right, upper and lower four frees degree can be realized, and left and right, rotate and do not interfere up and down, both direction can be moved simultaneously, only need control two and drive steering wheel, thus robot eye movement is more personalized.For eyelid mechanism of the present utility model, structure is simple, is convenient to realize.
Above embodiment is only for illustration of the utility model; and be not limitation of the utility model; the those of ordinary skill of relevant technical field; when not departing from spirit and scope of the present utility model; can also make a variety of changes and modification; therefore all equivalent technical schemes also belong to category of the present invention, and scope of patent protection of the present utility model should be defined by the claims.
Claims (5)
1. a facial expression robot eyes constructional device, it comprises supporting construction, eyeball structure and eyelid structure, it is characterized in that, described eyeball structure and eyelid vibrational power flow are in described supporting construction, wherein, described eyeball structure comprises two eyeballs and drives steering wheel, eyeball left-right rotation crank, eyeball left-right rotation rocking bar, four customization bolts, eyeball seat, eyeball, eyeball bearing, connecting rod, the upper and lower rotating rocker of eyeball, the upper and lower rotating crank of eyeball, the hinged setting of typed ball bearing pair is adopted between described eyeball seat and eyeball, described eyeball seat is placed on two eyeball bearings be connected to each other, described eyeball bearing is arranged in described supporting construction by the described customization bolt support of the left and right sides, a boring is provided with after described eyeball seat, the described connecting rod be connected with described eyeball stretches out from described boring, between described eyeball left-right rotation crank and eyeball left-right rotation rocking bar, crank-rocker mechanism is between the upper and lower rotating crank of described eyeball and the upper and lower rotating rocker of eyeball, the arc guide rail of these two crank-rocker mechanisms all contacts with described connecting rod, eyeball left-right rotation crank and the upper and lower rotating crank of eyeball are all connected with a described eyeball driving steering wheel, when two eyeballs drive steering wheel to drive eyeball left-right rotation crank and the upper and lower rotating crank of eyeball to rotate respectively, sliding pin on eyeball left-right rotation crank and the upper and lower rotating crank of eyeball can slide in the slideway of fork, thus make fork be fixedly connected with spot wobble around it with eyeball bearing, then described connecting rod is driven to swing, wobble drive eyeball left and right in ball seat of described connecting rod, rotate up and down.
2. a kind of facial expression robot eyes constructional device according to claim 1, it is characterized in that, described eyelid structure comprises eyelid and drives steering wheel, eyelid fork and eyelid crank, wherein, described eyelid crank and described eyelid drive steering wheel to be connected and drive, described eyelid fork and eyelid crank form crank and rocker mechanism, described eyelid drives steering wheel to drive eyelid crank to rotate, sliding pin on eyelid crank slides in the slideway of eyelid fork, thus order about eyelid fork and be fixedly connected with spot wobble around it with eyeball bearing, realize action nictation.
3. a kind of facial expression robot eyes constructional device according to claim 2, it is characterized in that, described supporting construction comprises eye support member, eye pedestal, steering wheel gripper shoe and steering wheel support, wherein, described customization bolt is connected with eye support member, eye support member is arranged on eye pedestal, and eyeball drives steering wheel and eyelid to drive steering wheel to be all placed on described steering wheel support, and described steering wheel support is connected on eye pedestal by steering wheel gripper shoe.
4. a kind of facial expression robot eyes constructional device according to claim 3, it is characterized in that, the maximum angle of described eyeball left-right rotation is ± 35 °, and the maximum angle that described eyeball can rotate up and down is ± 45 °, and the pendulum angle of described eyelid fork is 80 °.
5. a kind of facial expression robot eyes constructional device according to claim 1-4 any one, is characterized in that, the diameter of described eyeball is 25mm.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520981053.6U CN205166941U (en) | 2015-12-02 | 2015-12-02 | Facial expression robot eye constructional device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520981053.6U CN205166941U (en) | 2015-12-02 | 2015-12-02 | Facial expression robot eye constructional device |
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| Publication Number | Publication Date |
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| CN205166941U true CN205166941U (en) | 2016-04-20 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201520981053.6U Expired - Fee Related CN205166941U (en) | 2015-12-02 | 2015-12-02 | Facial expression robot eye constructional device |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106903702A (en) * | 2017-04-27 | 2017-06-30 | 深圳中智科创机器人有限公司 | A kind of Prosthetic Hand telecontrol equipment |
| CN108039105A (en) * | 2018-01-20 | 2018-05-15 | 田宗佳 | A kind of robot eyeball blinked |
| CN108527389A (en) * | 2018-04-20 | 2018-09-14 | 重庆门罗机器人科技有限公司 | Multi-function mutual mobile robot |
| CN108714903A (en) * | 2018-06-28 | 2018-10-30 | 香港中文大学（深圳） | A kind of eyes simulation mechanism and the expression robot using the eyes simulation mechanism |
| CN109202915A (en) * | 2017-06-30 | 2019-01-15 | 深圳光启合众科技有限公司 | The head construction and bio-robot of bio-robot |
| CN109702769A (en) * | 2019-03-06 | 2019-05-03 | 广东工业大学 | A kind of robot and its ophthalmotrope |
| CN111272024A (en) * | 2020-01-20 | 2020-06-12 | 湖北三江航天红峰控制有限公司 | Harmonic drive crank rocker arm rotation type steering engine |
-
2015
- 2015-12-02 CN CN201520981053.6U patent/CN205166941U/en not_active Expired - Fee Related
Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106903702A (en) * | 2017-04-27 | 2017-06-30 | 深圳中智科创机器人有限公司 | A kind of Prosthetic Hand telecontrol equipment |
| CN109202915A (en) * | 2017-06-30 | 2019-01-15 | 深圳光启合众科技有限公司 | The head construction and bio-robot of bio-robot |
| 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 |
| CN108527389A (en) * | 2018-04-20 | 2018-09-14 | 重庆门罗机器人科技有限公司 | Multi-function mutual mobile robot |
| CN108527389B (en) * | 2018-04-20 | 2020-07-03 | 重庆门罗机器人科技有限公司 | Multifunctional interactive robot |
| CN108714903A (en) * | 2018-06-28 | 2018-10-30 | 香港中文大学（深圳） | A kind of eyes simulation mechanism and the expression robot using the eyes simulation mechanism |
| CN109702769A (en) * | 2019-03-06 | 2019-05-03 | 广东工业大学 | A kind of robot and its ophthalmotrope |
| CN109702769B (en) * | 2019-03-06 | 2024-04-19 | 广东工业大学 | Robot and mechanical eye thereof |
| CN111272024A (en) * | 2020-01-20 | 2020-06-12 | 湖北三江航天红峰控制有限公司 | Harmonic drive crank rocker arm rotation type steering engine |
| CN111272024B (en) * | 2020-01-20 | 2022-06-07 | 湖北三江航天红峰控制有限公司 | Harmonic drive crank rocker arm rotary steering engine |
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Legal Events
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| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| DD01 | Delivery of document by public notice |
Addressee: Wang Xin Document name: Notification to Pay the Fees |
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| DD01 | Delivery of document by public notice | ||
| DD01 | Delivery of document by public notice |
Addressee: Wang Xin Document name: Notification of Termination of Patent Right |
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| DD01 | Delivery of document by public notice | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20160420 Termination date: 20161202 |
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| CF01 | Termination of patent right due to non-payment of annual fee |