CN207058582U - Robot eyes drive mechanism - Google Patents
Robot eyes drive mechanism Download PDFInfo
- Publication number
- CN207058582U CN207058582U CN201720777587.6U CN201720777587U CN207058582U CN 207058582 U CN207058582 U CN 207058582U CN 201720777587 U CN201720777587 U CN 201720777587U CN 207058582 U CN207058582 U CN 207058582U
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- bull stick
- drive
- servo
- controller
- drive mechanism
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Abstract
The utility model provides a kind of robot eyes drive mechanism, including the first drive component and the second drive component, first drive component includes the first Servo-controller and the first drive link group, second drive component includes the second Servo-controller and the second drive link group, and the first Servo-controller and the second Servo-controller time interval are set.During use, first drive link is mounted between eye socket and headroom, by the first Servo-controller in headroom, and the second drive link is mounted in the horizontal space near eye socket, and the second Servo-controller is located to the top of the second drive link group, the first Servo-controller and the second Servo-controller time interval are set.So, it can avoid being positioned over the first drive component and the second drive component in narrow and small eye socket space simultaneously, avoid the movement interference between the first drive component and the second drive component, the problem of it can avoid set location of the robot eyes drive mechanism in eye socket space from being limited, while avoid the inaesthetic problem of eye socket outward appearance.
Description
Technical field
The utility model belongs to the field of robot eyes drive technology, is to be related to a kind of robot eye more specifically
Portion's drive mechanism.
Background technology
At present, the drive mechanism on the head of intelligent robot typically uses servo driving, and this drive mechanism compares into
Ripe, its advantage is that transmission performance is stable, and interim card, its shortcoming are not that the set location of drive mechanism is easily defined for action, are set
Insufficient space.For example, the eye of intelligent robot has three freedoms of motion：Blink, eyeball left and right turn and eye above and below eyelid
Ball moves up and down.And in the so small space of eye socket, the steering wheel drive mechanism for realizing three freedoms of motion is put down simultaneously,
Its installation space deficiency.In order to solve the problems, such as installation space deficiency, the structure space of the eye socket of intelligent robot on the market
All it is bigger, it sacrifices the formalness of intelligent robot so that the eye profile of intelligent robot not enough emulates, also not
It is enough attractive in appearance.
Utility model content
The purpose of this utility model is to provide robot eyes drive mechanism, it is intended to solves the eye of existing intelligent robot
The inaesthetic problem of formalness of portion's drive mechanism installation space deficiency and eye socket.
To achieve the above object, the technical solution adopted in the utility model is：A kind of robot eyes drive mechanism is provided,
Including the first drive component and with spaced second drive component of first drive component, the first drive component bag
Include the first Servo-controller and be vertically arranged and driven by first Servo-controller so as to emulate the first drive link of eyelid movement
Group, second drive component include the second Servo-controller and are horizontally disposed with and are driven by second Servo-controller so as to emulate
Oculomotor second drive link group, first Servo-controller are set with the second Servo-controller time interval.
Further, the drive shaft of first Servo-controller is horizontally disposed with, and the first drive link group includes：
First bull stick, the driving axis connection with first Servo-controller；
Second bull stick, its upper end are connected and are vertically arranged with first bar rotation；
3rd bull stick, it is rotatablely connected with the lower end of second bull stick；And
Rotating shaft, by the 3rd bull stick drive with rotate upwardly and downwardly and both ends be used for the emulation eyelid is installed.
Further, second bull stick on vertical direction in being obliquely installed.
Further, the 3rd bull stick is connected to the center of the rotating shaft.
Further, angle is formed between first bull stick and second bull stick.
Further, the drive shaft of second Servo-controller is vertically arranged, and the second drive link group includes：
4th bull stick, the driving axis connection with second Servo-controller；
5th bull stick, it is connected with the 4th bar rotation；
First gangbar, it is connected with the 5th bar rotation；
Second gangbar, two being set to, two second gangbar are connected to the both ends of first gangbar,
The free end of each second gangbar is respectively connected with the simulated eyeballs.
Further, the second drive link group also includes the fix bar of the simulated eyeballs run through vertically, described solid
Fixed pole is connected with second gangbar.
Further, the 5th bull stick is connected to the center of first gangbar.
Further, angle is formed between the 5th bull stick and first gangbar.
Further, angle is formed between the 4th bull stick and the 5th bull stick.
The beneficial effect of robot eyes drive mechanism provided by the utility model is：Compared with prior art, it is above-mentioned
Robot eyes drive mechanism employs the first drive component and the second drive component, and the first drive component is used to drive artificial eye
Skin is blinked motion up and down, and the second drive component is for driving simulated eyeballs to move, specifically, because the first drive link group is set vertically
Put, and the second drive link group is horizontally disposed with, and so, the first drive link group in the vertical direction can be located at into eye socket and headroom
Between, by the first Servo-controller in headroom, and the second drive link is mounted in the horizontal space near eye socket, and
Second Servo-controller is located to the top of the second drive link group, meanwhile, the first Servo-controller and the second Servo-controller time interval
Set, so, can be achieved the first drive component and the second drive component being provided separately, can be effectively empty using the head of robot
Between and eye socket space, can avoid being positioned over the first drive component and the second drive component in narrow and small eye socket space simultaneously, can
The movement interference between the first drive component and the second drive component is avoided, it can avoid robot eyes drive mechanism in eye socket
The problem of set location in space is limited, while avoid the inaesthetic problem of eye socket outward appearance.
Brief description of the drawings
, below will be to embodiment or prior art in order to illustrate more clearly of the technical scheme in the embodiment of the utility model
The required accompanying drawing used is briefly described in description, it should be apparent that, drawings in the following description are only that this practicality is new
Some embodiments of type, for those of ordinary skill in the art, without having to pay creative labor, can be with
Other accompanying drawings are obtained according to these accompanying drawings.
Fig. 1 is the structural representation one for the robot eyes drive mechanism that the utility model embodiment provides；
Fig. 2 is the structural representation two for the robot eyes drive mechanism that the utility model embodiment provides；
Fig. 3 is the side view of the first drive component of the robot eyes drive mechanism that the utility model embodiment provides；
Fig. 4 is the side view for the robot eyes drive mechanism that the utility model embodiment provides；
Fig. 5 is the front view for the robot eyes drive mechanism that the utility model embodiment provides；
Fig. 6 is the top view for the robot eyes drive mechanism that the utility model embodiment provides.
Wherein, each reference in figure：
10- robot eyes drive mechanisms；The drive components of 11- first；The drive components of 12- second；The servorudders of 111- first
Machine；112- the first drive link groups；The Servo-controllers of 121- second；122- the second drive link groups；13- mounting brackets；First turn of 1121-
Bar；The bull sticks of 1122- second；The bull sticks of 1123- the 3rd；1124- rotating shafts；21- emulates eyelid；The bull sticks of 1221- the 4th；1222- the 5th
Bull stick；The gangbar of 1223- first；The gangbar of 1224- second；22- simulated eyeballs.
Embodiment
In order that technical problem to be solved in the utility model, technical scheme and beneficial effect are more clearly understood, with
Lower combination drawings and Examples, the utility model is further elaborated.It is it should be appreciated that described herein specific real
Example is applied only to explain the utility model, is not used to limit the utility model.
It should be noted that when element is referred to as " being fixed on " or " being arranged at " another element, it can be directly another
On one element or it is connected on another element.When an element is known as " being connected to " another element, it can
To be directly to another element or be indirectly connected on another element.
It is to be appreciated that term " length ", " width ", " on ", " under ", "front", "rear", "left", "right", " vertical ",
The orientation or position relationship of the instruction such as " level ", " top ", " bottom " " interior ", " outer " are to be closed based on orientation shown in the drawings or position
System, it is for only for ease of and describes the utility model and simplified description, rather than the device or element of instruction or hint meaning is necessary
With specific orientation, with specific azimuth configuration and operation, therefore it is not intended that to limitation of the present utility model.
In addition, term " first ", " second " are only used for describing purpose, and it is not intended that instruction or hint relative importance
Or the implicit quantity for indicating indicated technical characteristic.Thus, define " first ", the feature of " second " can be expressed or
Implicitly include one or more this feature.In description of the present utility model, " multiple " are meant that two or two
More than, unless otherwise specifically defined.
Also referring to Fig. 1 and Fig. 2, now robot eyes drive mechanism 10 provided by the utility model is illustrated.
The robot eyes drive mechanism 10 includes the first drive component 11 and driven with the first drive component 11 spaced second
Component 12, the first drive component 11 include the first Servo-controller 111 and be vertically arranged and driven by the first Servo-controller 111 so that
Emulate the first drive link group 112 that eyelid 21 moves, the second drive component 12 include the second Servo-controller 121 and it is horizontally disposed and
Driven by the second Servo-controller 121 so that the second drive link group 122 that simulated eyeballs 22 move, the first Servo-controller 111 and
The time interval of two Servo-controller 121 is set.
Also referring to Fig. 1 and Fig. 2, above-mentioned robot eyes drive mechanism 10 employs the first drive component 11 and second
Drive component 12, the first drive component 11 are used to drive emulation eyelid to be blinked about 21 motion, and the second drive component 12 is for driving
Move simulated eyeballs 22, specifically, because the first drive link group 112 is vertically arranged, and the level of the second drive link group 122 is set
Put, so, the in the vertical direction of the first drive link group 112 can be located between eye socket and headroom, by the first Servo-controller
111 in the headroom, and by the second drive link group 122 in the horizontal space near eye socket, and by the second servorudder
Machine 121 is located at the top of the second drive link group 122, meanwhile, the first Servo-controller 111 and the time interval of the second Servo-controller 121
Set, so, can be achieved the first drive component 11 and the second drive component 12 being provided separately, can effectively utilize the head of robot
It portion space and eye socket space, can avoid that the first drive component 11 and the second drive component 12 are positioned over to narrow and small eye socket sky simultaneously
Between in, the movement interference between the first drive component 11 and the second drive component 12 can be avoided, it can avoid robot eyes from driving
The problem of set location of the motivation structure 10 in eye socket space is limited, while avoid the inaesthetic problem of eye socket outward appearance.
You need to add is that whole robot eyes drive mechanism 10 is fixed on robot head space by mounting bracket 13
In.
Also referring to Fig. 1 and Fig. 2, on the preferred embodiment of the first drive link group 112, the first Servo-controller 111
Drive shaft be horizontally disposed with, the first drive link group 112 includes：
First bull stick 1121, the driving axis connection with the first Servo-controller 111；
Second bull stick 1122, its upper end are rotatablely connected and are vertically arranged with the first bull stick 1121；
3rd bull stick 1123, it is rotatablely connected with the lower end of the second bull stick 1122；And
Rotating shaft 1124, driven by the 3rd bull stick 1123 to rotate upwardly and downwardly and both ends are used for installing simulation eyelid 21.
Also referring to Fig. 1 and Fig. 2, so, the power transfer path of the first drive component 11 is：First Servo-controller
111st, the power of the first bull stick 1121, the second bull stick 1122, the 3rd bull stick 1123 and rotating shaft 1124, i.e. the first Servo-controller 111,
Via the transmission of the first bull stick 1121, the second bull stick 1122 and the 3rd bull stick 1123, rotating shaft 1124 is finally driven to rotate upwardly and downwardly, this
Sample realizes that the emulation eyelid 21 for driving the both ends of rotating shaft 1124 does blink motion up and down.Specifically, the first Servo-controller 111 is in the crown
It is horizontally disposed with space, the first bull stick 1121, the second bull stick 1122, the 3rd bull stick 1123 are sequentially arranged at crown sky from top to bottom
Between between eye socket space, rotating shaft 1124 be located at eye socket space in, so, rationally utilize headroom and eye socket space so that
The setting of robot eyes drive mechanism 10 is not limited by space.
You need to add is that the length of the first bull stick 1121 and the second bull stick 1122 is all variable, the first bull stick 1121
Longer with the arm of force of the second bull stick 1122, the torque that the first Servo-controller 111 can be output is bigger, the first bull stick 1121 and second
The arm of force of bull stick 1122 is shorter, the torque that the first Servo-controller 111 can be output with regard to smaller, so can free output torque,
It just can freely control the speed and frequency of the blink motion of the emulation eyelid 21 of intelligent robot.And the chi of the 3rd bull stick 1123
Modest ability degree cannot change substantially, because the 3rd bull stick 1123 has certain load effect, if changing size, can cause to pass
The load of dynamic component is less able, wear intensity aggravation.Certainly, when the output torque of the first Servo-controller 111 is less than normal, artificial eye
The blink action of skin 21 is not need how much torque, and now, the load coefficient of the 3rd bull stick 1123 is very small, can seldom be made
Into the abrasion between part.When the first 111 output torque of Servo-controller, the drive shaft of the first Servo-controller 111 drives first
Bull stick 1121, the first bull stick 1121 are laterally moved, and then drive the second bull stick 1122 to carry out vertical oblique movement, finally,
Drive the 3rd bull stick 1123 to carry out upper and lower lever motion along its center by the second bull stick 1122, and drive emulation eyelid 21 to enter
Row is blinked up and down, completes blink freedom of motion.
Also referring to Fig. 1 and Fig. 2, ground is refined, in order to better profit from the space between headroom and eye socket space,
Second bull stick 1122 on vertical direction in being obliquely installed.
Two emulation eyelids 21 are located at the both ends of rotating shaft 1124, its Central Symmetry on rotating shaft 1124, and due to symmetrical
Reasonable utilization space is easy in the setting of structure, and therefore, the 3rd bull stick 1123 is connected to the center of rotating shaft 1124.
Equally, in order to better profit from the space between headroom and eye socket space, the first bull stick 1121 and second turn
Angle is formed between bar 1122.
Also referring to Fig. 1 and Fig. 2, on the preferred embodiment of the second drive link group 122, the second Servo-controller 121
Drive shaft be vertically arranged, the second drive link group 122 includes：
4th bull stick 1221, the driving axis connection with the second Servo-controller 121；
5th bull stick 1222, it is rotatablely connected with the 4th bull stick 1221；
First gangbar 1223, is rotatablely connected with the 5th bull stick 1222；
Second gangbar 1224, two are set to, two the second gangbar 1224 are connected to the first gangbar 1223
Both ends, the free end of every one second gangbar 1224 are respectively connected with simulated eyeballs 22.
Also referring to Fig. 1 and Fig. 2, so, the power transfer path of the second drive component 12 is：Second Servo-controller
121st, the 4th bull stick 1221, the 5th bull stick 1222, the first gangbar 1223 and the second gangbar 1224, i.e. the second Servo-controller
121 power, via the transmission of the 4th bull stick 1221, the 5th bull stick 1222 and the first gangbar 1223, finally drive second
The left-right rotation of lever 1224, it is achieved in that and drives the left-right rotation of simulated eyeballs 22.Specifically, the second Servo-controller 121 is vertical
The upside of the second drive link group 122, the 4th bull stick 1221, the 5th bull stick 1222, the first gangbar 1223 and the are located on direction
Two gangbar 1224 are sequentially located in eye socket space in the horizontal direction, so, rationally utilize eye socket space so that robot eye
The setting of portion's drive mechanism 10 is not limited by space.
Also referring to Fig. 1 and Fig. 2, in order that obtaining the second gangbar 1224 preferably drives eye movement, the second transmission
Bar group 122 also includes the fix bar 1225 of the simulated eyeballs 22 run through vertically, and fix bar 1225 is connected with the second gangbar 1224.
Because the second gangbar 1224 and simulated eyeballs 22 are on the centrally disposed of the first gangbar 1223, therefore, it is
Make it that the rotational motion of the simulated eyeballs 22 at both ends is consistent, the 5th bull stick 1222 is connected to the center of the first gangbar 1223.
In order to better profit from eye socket space, angle is formed between the 5th bull stick 1222 and the first gangbar 1223.
Equally, in order to better profit from eye socket space, angle is formed between the 4th bull stick 1221 and the 5th bull stick 1222.
Preferred embodiment of the present utility model is these are only, it is all in this practicality not to limit the utility model
All any modification, equivalent and improvement made within new spirit and principle etc., should be included in guarantor of the present utility model
Within the scope of shield.
Claims (10)
1. robot eyes drive mechanism, it is characterised in that：Including the first drive component and with the first drive component interval
The second drive component set, first drive component include the first Servo-controller and are vertically arranged and by first servo
Servo driving is so that the first drive link group of emulation eyelid movement, second drive component include the second Servo-controller and level
Set and by second Servo-controller drive so that simulated eyeballs motion the second drive link group, first Servo-controller with
The second Servo-controller time interval is set.
2. robot eyes drive mechanism as claimed in claim 1, it is characterised in that：The drive shaft of first Servo-controller
Horizontally disposed, the first drive link group includes：
First bull stick, the driving axis connection with first Servo-controller；
Second bull stick, its upper end are connected and are vertically arranged with first bar rotation；
3rd bull stick, it is rotatablely connected with the lower end of second bull stick；And
Rotating shaft, by the 3rd bull stick drive with rotate upwardly and downwardly and both ends be used for the emulation eyelid is installed.
3. robot eyes drive mechanism as claimed in claim 2, it is characterised in that：Second bull stick is on vertical direction
It is obliquely installed.
4. robot eyes drive mechanism as claimed in claim 2, it is characterised in that：3rd bull stick is connected to described turn
The center of axle.
5. robot eyes drive mechanism as claimed in claim 2, it is characterised in that：First bull stick with described second turn
Angle is formed between bar.
6. the robot eyes drive mechanism as described in any one of Claims 1 to 5, it is characterised in that：Second servorudder
The drive shaft of machine is vertically arranged, and the second drive link group includes：
4th bull stick, the driving axis connection with second Servo-controller；
5th bull stick, it is connected with the 4th bar rotation；
First gangbar, it is connected with the 5th bar rotation；
Second gangbar, two are set to, two second gangbar are connected to the both ends of first gangbar, each
The free end of second gangbar is respectively connected with the simulated eyeballs.
7. robot eyes drive mechanism as claimed in claim 6, it is characterised in that：The second drive link group also includes perpendicular
The fix bar of the simulated eyeballs directly run through, the fix bar are connected with second gangbar.
8. robot eyes drive mechanism as claimed in claim 6, it is characterised in that：5th bull stick is connected to described
The center of one gangbar.
9. robot eyes drive mechanism as claimed in claim 6, it is characterised in that：5th bull stick and described first
Angle is formed between lever.
10. robot eyes drive mechanism as claimed in claim 6, it is characterised in that：4th bull stick and the described 5th
Angle is formed between bull stick.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720777587.6U CN207058582U (en) | 2017-06-29 | 2017-06-29 | Robot eyes drive mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720777587.6U CN207058582U (en) | 2017-06-29 | 2017-06-29 | Robot eyes drive mechanism |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207058582U true CN207058582U (en) | 2018-03-02 |
Family
ID=61507757
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201720777587.6U Expired - Fee Related CN207058582U (en) | 2017-06-29 | 2017-06-29 | Robot eyes drive mechanism |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN207058582U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108858249A (en) * | 2018-08-24 | 2018-11-23 | 深圳市网睿科技有限公司 | A kind of bio-robot eye driving mechanism |
| CN113547526A (en) * | 2020-04-23 | 2021-10-26 | 深圳市网睿科技有限公司 | Head of robot simulating human |
-
2017
- 2017-06-29 CN CN201720777587.6U patent/CN207058582U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108858249A (en) * | 2018-08-24 | 2018-11-23 | 深圳市网睿科技有限公司 | A kind of bio-robot eye driving mechanism |
| CN113547526A (en) * | 2020-04-23 | 2021-10-26 | 深圳市网睿科技有限公司 | Head of robot simulating human |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| 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: 20180302 Termination date: 20190629 |