CN206355589U - A kind of bionic animal eyes drive mechanism - Google Patents
A kind of bionic animal eyes drive mechanism Download PDFInfo
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- CN206355589U CN206355589U CN201621351596.0U CN201621351596U CN206355589U CN 206355589 U CN206355589 U CN 206355589U CN 201621351596 U CN201621351596 U CN 201621351596U CN 206355589 U CN206355589 U CN 206355589U
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- eyelid
- drive mechanism
- eyeball
- stepper motor
- push rod
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- 239000011664 nicotinic acid Substances 0.000 title claims abstract description 21
- 210000001508 eye Anatomy 0.000 title claims abstract description 18
- 210000000744 eyelid Anatomy 0.000 claims abstract description 83
- 210000005252 bulbus oculi Anatomy 0.000 claims abstract description 52
- 238000001514 detection method Methods 0.000 claims description 8
- 230000005611 electricity Effects 0.000 claims 2
- 238000007689 inspection Methods 0.000 claims 1
- 239000007787 solid Substances 0.000 claims 1
- 230000000694 effects Effects 0.000 abstract description 7
- 230000005540 biological transmission Effects 0.000 description 5
- 238000010586 diagram Methods 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- 238000000926 separation method Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000008450 motivation Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 238000003466 welding Methods 0.000 description 1
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Abstract
The utility model discloses a kind of bionic animal eyes drive mechanism, including eyeball drive mechanism and eyelid drive mechanism, the eyeball drive mechanism and eyelid drive mechanism are stacked, the eyeball drive mechanism includes the first stepper motor, second stepper motor, total base, first crossed joint, second crossed joint, eyeball fixed seat and bionical eyeball, first stepper motor and the second stepper motor are arranged side by side, first stepper motor and the second stepper motor are connected with eyeball fixed seat respectively, total base is flexibly connected with eyeball fixed seat by the first crossed joint, second stepper motor is connected by the second crossed joint with eyeball fixed seat, first stepper motor is by the second crossed joint with being fixedly connected below the first crossed joint, the eyeball fixed seat is fixedly connected with bionical eyeball.Advantage of the present utility model：Eyeball drive mechanism and eyelid drive mechanism are stacked, space is saved, and flexibility is strong, and effect is true to nature.
Description
Technical field
The utility model is related to bionic animal, more particularly to a kind of bionic animal eyes drive mechanism.
Background technology
With the development of robot technology, the bio-imitability to robot requires also more and more higher.Especially bio-robot
Detail section, such as the eyes, chin and mouth of bionic animal pair, the eye activity action of bionic animal is stiff in the prior art
Firmly, fidelity is poor.Also there is the bionic animal eyes drive mechanism that degree true to nature is higher in the prior art, but its transmission mechanism
More complicated, manufacturing cost is high.
Utility model content
For the defect and deficiency of prior art, the purpose of this utility model be to provide a kind of manufacturing cost it is low, can
Strengthen the bionic animal eyes drive mechanism of bionic animal eyes degree true to nature.
To achieve the above object, the technical solution adopted in the utility model is：A kind of bionic animal eyes drive mechanism,
Including eyeball drive mechanism and eyelid drive mechanism, the eyeball drive mechanism and eyelid drive mechanism are stacked, the eye
Ball drive mechanism includes the first stepper motor, the second stepper motor, total base, the first crossed joint, the second crossed joint, eyeball and fixed
Seat and bionical eyeball, first stepper motor and the second stepper motor are arranged side by side, first stepper motor and second step
Stepper motor is connected with eyeball fixed seat respectively, and total base is flexibly connected with eyeball fixed seat by the first crossed joint, described
Second stepper motor is connected by the second crossed joint with eyeball fixed seat, and first stepper motor passes through the second crossed joint and
The lower section connection of one crossed joint, the eyeball fixed seat is fixedly connected with bionical eyeball.
Further, first stepper motor is approached including the first stator, the first push rod, first base and first and opened
Close, first stator and the first push rod are fixedly connected, first stator is located at the top of first base and the company of being secured to
Connect, first proximity switch is located at the end of first base and is secured to connection, and the first base passes through first rotating shaft
It is connected with total base, the front end of first push rod is fixedly connected with the second crossed joint.
Further, second stepper motor is approached including the second stator, the second push rod, second base and second and opened
Close, second stator and the second push rod are fixedly connected, second stator is located at the top of second base and the company of being secured to
Connect, second proximity switch is located at the end of second base and is secured to connection, and the second base passes through the second rotating shaft
It is connected with total base, the front end of second push rod is fixedly connected with the second crossed joint, second proximity switch drives with eyelid
Motivation structure is connected.
Further, the eyelid drive mechanism includes eyelid motor stator, eyelid driving push rod, detection quick closing valve
Seat, eyelid drive mechanism proximity switch, total mounting seat, kinematic link, upper eyelid, lower eyelid and eyelid rotating shaft, the eyelid drive
Dynamic push rod is fixedly connected with eyelid motor stator, the eyelid motor stator be located at the top of detection quick closing valve and with
It is fixedly connected, and the eyelid drive mechanism proximity switch is located at the end of eyelid driving push rod and is secured to connection, described
Total mounting seat is fixedly connected with eyelid motor stator, and the upper eyelid and lower eyelid are rotated with the front end of total mounting seat respectively
Connection, the front end of the eyelid driving push rod is connected with upper eyelid and lower eyelid respectively by kinematic link.
Further, the front end of the detection quick closing valve seat is fixedly connected with proximity switch sensing part.
Further, the kinematic link is constituted by being hinged quarter butt adjustable shelf and connection cross bar, described to be hinged quarter butt activity
Frame is located at the two ends of connection cross bar, and the centre position of the connection cross bar is fixedly connected with the front end of eyelid driving push rod, described
Quarter butt adjustable shelf is hinged for quadrangle form, it is described be hinged quarter butt adjustable shelf and be hinged by four quarter butts form.
After said structure, the utility model has the beneficial effect that：
(1) the utility model is by the way that eyelid drive mechanism and eyeball drive mechanism are stacked, and passes through proximity switch
Break-make is controlled, prevents it from being operated in the case of separation, has on the one hand saved drive mechanism space-consuming, on the other hand can be effective
Avoid separation luck make to equipment cause damage.
(2) the utility model is by the cooperation of the first crossed joint and the second crossed joint, and passes through the first stepper motor and
Two stepping motor controls eyeball laterally and vertical activity respectively, greatly strengthen the degree true to nature of bionic animal eyeball, and
It is laterally and vertical commonly through a transmission mechanism, it is cost-effective, economize on resources.
(3) the utility model coordinates driving bionic animal eyelid folding by stepper motor and kinematic link, and activity is convenient,
Effect is true to nature, and transmission mechanism is few, is provided with proximity switch, and fault rate is low.
Brief description of the drawings
Fig. 1 is integrated model schematic diagram of the present utility model；
Fig. 2 is the structural representation of the eyeball drive mechanism in the utility model；
Fig. 3 is the side view of the first stepper motor in the utility model；
Fig. 4 is the top view in the utility model；
Fig. 5 is the side schematic view of the eyelid drive mechanism in the utility model；
Fig. 6 is the dimensional structure diagram of the eyelid drive mechanism in the utility model.
Embodiment
In order that the purpose of this utility model, technical scheme and advantage are more clearly understood, below in conjunction with accompanying drawing and specifically
Embodiment, the utility model is further elaborated.It should be appreciated that embodiment described herein is only used
To explain the utility model, it is not used to limit the utility model.
Referring to Fig. 1-Fig. 6, a kind of bionic animal eyes drive mechanism, including eyeball drive mechanism 1 and eyelid driving machine
Structure 2, eyeball drive mechanism 1 and eyelid drive mechanism 2 are stacked.Wherein, eyelid drive mechanism 2 is located at eyeball drive mechanism 1
Upper end, feasible, the front end of the detection quick closing valve seat 23 in eyelid drive mechanism 2 is fixedly connected with proximity switch sensing part
231.Proximity switch sensing part 231 is engaged with the second proximity switch 125 in eyeball drive mechanism 1, when proximity switch sense
Answer the proximity switch 125 of part 231 and second at a distance from when, control module can be passed through and cut off eyeball drive mechanism
1 and the power supply of eyelid drive mechanism 2, so that it is guaranteed that eyeball drive mechanism 1 and eyelid drive mechanism 2 will not be transported in the case of disengaging
Make, be effectively prevented equipment and be damaged.
Eyeball drive mechanism 1 include the first stepper motor 11, the second stepper motor 12, total base 13, the first crossed joint 14,
Second crossed joint 15, eyeball fixed seat 16 and bionical eyeball 17.First stepper motor 11 and the second stepper motor 12 are arranged side by side.
First stepper motor 11 and the second stepper motor 12 are connected with eyeball fixed seat 16 respectively, feasible, and the second stepper motor 12 leads to
Cross the second crossed joint 15 to be connected with eyeball fixed seat 16, the first stepper motor 11 passes through the second crossed joint 15 and the first crossed joint 14
Lower section connection.Wherein, the first crossed joint 14 and the second crossed joint 15 be can laterally and vertical rotating similar to universal joint
Connection section.Second crossed joint 15 includes two, and two the second crossed joints 15 are connected by cross bar, and the cross bar and two second
Crossed joint 15 is rotatable.First push rod 113 of the front end of the first stepper motor 11 and the second push rod of the front end of the second stepper motor 12
123 are fixedly connected with the cross bar respectively., can be by the first stepper motor 11 and second by the second crossed joint 15 during use
The rotation for moving forward and backward the vertical direction for being converted to eyeball fixed seat 16 or the rotation of horizontal direction of stepper motor 12.
Total base 13 is rotated with eyeball fixed seat 16 by the first crossed joint 14 to be connected, eyeball fixed seat 16 and bionical eyeball
17 welding.Specifically mode, such as riveting can also be fixedly connected with other embodiments of the present utility model using other
Connect, mode connects for screw etc. is fixedly connected with mode.
First stepper motor 11 includes the first stator 112, the first push rod 113, the proximity switch of first base 114 and first
115, the first stator 112 is fixedly connected with the first push rod 113, and the first stator 112 is located at the top of first base 114 and logical with it
Cross screw to be fixedly connected, the first proximity switch 115 is located at the end of first base 114 and is fixedly connected by screw with it, the
One base 114 is connected by first rotating shaft 111 with total base 13, and first base 114 can be 111 turns around first rotating shaft
Dynamic, the front end of the first push rod 113 and the cross bar of the second crossed joint 15 are welded.
Second stepper motor 12 includes the second stator 122, the second push rod 123, the proximity switch of second base 124 and second
125, the second stator 122 is fixedly connected with the second push rod 123 by screw, and the second stator 122 is located at the top of second base 124
And be fixedly connected with it by screw, the second proximity switch 125 is located at the end of second base 124 and fixed with it by screw
Connection.Second base 124 is connected by the second rotating shaft 121 with total base 13, and second base 124 can be around the second rotating shaft 121
Rotate, the front end of the second push rod 123 and the cross bar of the second crossed joint 15 are welded.
Eyelid drive mechanism 2 includes eyelid motor stator 21, eyelid driving push rod 22, detection quick closing valve seat 23, eyelid
Drive mechanism proximity switch 24, total mounting seat 25, kinematic link 26, upper eyelid 27, lower eyelid 28 and eyelid rotating shaft 29.Eyelid drives
Dynamic push rod 22 is fixedly connected with eyelid motor stator 21 by screw, and eyelid motor stator 21 is located at detection quick closing valve seat
23 top is simultaneously fixedly connected with it by screw, and eyelid drive mechanism proximity switch 24 is located at the end of eyelid driving push rod 22
And be fixedly connected with it by screw.Total mounting seat 25 is fixedly connected with eyelid motor stator 21, upper eyelid 27 and lower eye
Skin 28 rotates with the front end of total mounting seat 25 be connected respectively, the front end of eyelid driving push rod 22 by kinematic link 26 respectively with it is upper
Eyelid 27 and lower eyelid 28 are connected.
By the cooperation of the first crossed joint and the second crossed joint, and pass through the first stepper motor 11 and the second stepper motor 12
The horizontal and vertical activity of control eyeball 17 respectively, greatly strengthen the degree true to nature of bionic animal eyeball, and laterally and perpendicular
It is cost-effective to commonly through a transmission mechanism, economize on resources.
Feasible, kinematic link 26 is constituted by being hinged quarter butt adjustable shelf 261 and connection cross bar 262, is hinged quarter butt adjustable shelf
261 are located at the two ends of connection cross bar 262, and the centre position of connection cross bar 262 is fixedly connected with the front end of eyelid driving push rod 22,
Quarter butt adjustable shelf 261 is hinged for quadrangle form, quarter butt adjustable shelf 261 is hinged and is hinged by four quarter butts and form.Driven by eyelid
The dynamic driving eyelid of motor stator 21 driving push rod 22 drives connection cross bar 262, is stretched so as to drive and be hinged quarter butt adjustable shelf 261.
Driving is hinged upper quarter butt and lower eyelid 28 of the quarter butt adjustable shelf 261 close to two quarter butts of upper eyelid 27 and one end of lower eyelid 28
By stud connection, underlying quarter butt and upper eyelid 27 are by stud connection, so as to be hinged the flexible of quarter butt adjustable shelf 261
The folding of upper eyelid 27 and lower eyelid 28 can be converted into, transmission mechanism is few, it is not easy to produce failure.
It is described above, only to illustrate the technical solution of the utility model and unrestricted, those of ordinary skill in the art couple
Other modifications or equivalent substitution that the technical solution of the utility model is made, without departing from technical solutions of the utility model
Spirit and scope, all should cover among right of the present utility model.
Claims (6)
1. a kind of bionic animal eyes drive mechanism, it is characterised in that：Including eyeball drive mechanism (1) and eyelid drive mechanism
(2), the eyeball drive mechanism (1) and eyelid drive mechanism (2) are stacked, and the eyeball drive mechanism (1) includes first
Stepper motor (11), the second stepper motor (12), total base (13), the first crossed joint (14), the second crossed joint (15), eyeball are solid
Reservation (16) and bionical eyeball (17), first stepper motor (11) and the second stepper motor (12) are arranged side by side, and described
One stepper motor (11) and the second stepper motor (12) are connected with eyeball fixed seat (16) respectively, total base (13) and eyeball
Fixed seat (16) by the first crossed joint (14) be flexibly connected, second stepper motor (12) by the second crossed joint (15) with
Eyeball fixed seat (16) is connected, and first stepper motor (11) passes through under the second crossed joint (15) and the first crossed joint (14)
Side's connection, the eyeball fixed seat (16) is fixedly connected with bionical eyeball (17).
2. a kind of bionic animal eyes drive mechanism according to claim 1, it is characterised in that：The first stepping electricity
Machine (11) includes the first stator (112), the first push rod (113), first base (114) and the first proximity switch (115), described the
One stator (112) is fixedly connected with the first push rod (113), and first stator (112) is located at the top of first base (114) simultaneously
Connection is secured to, first proximity switch (115) is located at the end of first base (114) and is secured to connection, described
First base (114) is connected by first rotating shaft (111) with total base (13), the front end and second of first push rod (113)
Crossed joint (15) is fixedly connected.
3. a kind of bionic animal eyes drive mechanism according to claim 1, it is characterised in that：The second stepping electricity
Machine (12) includes the second stator (122), the second push rod (123), second base (124) and the second proximity switch (125), described the
Two stators (122) are fixedly connected with the second push rod (123), and second stator (122) is located at the top of second base (124) simultaneously
Connection is secured to, second proximity switch (125) is located at the end of second base (124) and is secured to connection, described
Second base (124) is connected by the second rotating shaft (121) with total base (13), the front end and second of second push rod (123)
Crossed joint (15) is fixedly connected, and second proximity switch (125) is connected with eyelid drive mechanism (2).
4. a kind of bionic animal eyes drive mechanism according to claim 1, it is characterised in that：The eyelid driving machine
Structure (2) includes eyelid motor stator (21), eyelid driving push rod (22), detection quick closing valve seat (23), eyelid drive mechanism and connect
Nearly switch (24), total mounting seat (25), kinematic link (26), upper eyelid (27), lower eyelid (28) and eyelid rotating shaft (29), it is described
Eyelid driving push rod (22) is fixedly connected with eyelid motor stator (21), and the eyelid motor stator (21) is located at inspection
Survey the top of quick closing valve seat (23) and be secured to connection, the eyelid drive mechanism proximity switch (24) is located at eyelid driving push rod
(22) end is simultaneously secured to connection, and total mounting seat (25) is fixedly connected with eyelid motor stator (21), described
Upper eyelid (27) and lower eyelid (28) rotate with the front end of total mounting seat (25) be connected respectively, the eyelid driving push rod (22)
Front end is connected with upper eyelid (27) and lower eyelid (28) respectively by kinematic link (26).
5. a kind of bionic animal eyes drive mechanism according to claim 4, it is characterised in that：The detection quick closing valve seat
(23) front end is fixedly connected with proximity switch sensing part (231).
6. a kind of bionic animal eyes drive mechanism according to claim 4, it is characterised in that：The kinematic link
(26) constituted by being hinged quarter butt adjustable shelf (261) and connection cross bar (262), the quarter butt adjustable shelf (261) that is hinged is located at connection
The two ends of cross bar (262), the centre position of the connection cross bar (262) is fixedly connected with the front end of eyelid driving push rod (22),
The quarter butt adjustable shelf (261) that is hinged for quadrangle form, it is described be hinged quarter butt adjustable shelf (261) be hinged by four quarter butts and
Into.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621351596.0U CN206355589U (en) | 2016-12-10 | 2016-12-10 | A kind of bionic animal eyes drive mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621351596.0U CN206355589U (en) | 2016-12-10 | 2016-12-10 | A kind of bionic animal eyes drive mechanism |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206355589U true CN206355589U (en) | 2017-07-28 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201621351596.0U Expired - Fee Related CN206355589U (en) | 2016-12-10 | 2016-12-10 | A kind of bionic animal eyes drive mechanism |
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| CN (1) | CN206355589U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108032327A (en) * | 2018-01-20 | 2018-05-15 | 田宗佳 | A kind of robot eye ball machine structure |
| CN109760109A (en) * | 2018-11-30 | 2019-05-17 | 沈阳工业大学 | A kind of voice coil motor formula robot eyeball |
-
2016
- 2016-12-10 CN CN201621351596.0U patent/CN206355589U/en not_active Expired - Fee Related
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108032327A (en) * | 2018-01-20 | 2018-05-15 | 田宗佳 | A kind of robot eye ball machine structure |
| CN108032327B (en) * | 2018-01-20 | 2020-04-10 | 郑丛 | Robot eyeball mechanism |
| CN109760109A (en) * | 2018-11-30 | 2019-05-17 | 沈阳工业大学 | A kind of voice coil motor formula robot eyeball |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20200521 Address after: 226000 International Trade Center, Chongchuan District, Nantong City, Jiangsu Province 2109 Patentee after: Yuan Liping Address before: 226000 Jiangsu city of Nantong province Tongzhou District five town center Thean Hou Temple Village Road No. 88 (Nantong golden Machinery Engineering Co. Ltd. in) Patentee before: Yuan Zhenghua |
|
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20170728 |