CN209256996U - A kind of bio-robot eye driving mechanism - Google Patents
A kind of bio-robot eye driving mechanism Download PDFInfo
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- CN209256996U CN209256996U CN201821165652.0U CN201821165652U CN209256996U CN 209256996 U CN209256996 U CN 209256996U CN 201821165652 U CN201821165652 U CN 201821165652U CN 209256996 U CN209256996 U CN 209256996U
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- eyeball
- connecting rod
- bracket
- eyelid
- driving mechanism
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Abstract
A kind of bio-robot eye driving mechanism, affiliated eye driving mechanism include upper eyelid, lower eyelid, eyeball, spring, ball stand, pressing plate, eyeball connecting rod, left and right bracket, upper and lower bracket, steering engine and gear.The eyeball is fixed in the ball-and-socket face of ball stand by rotatable upper eyelid and lower eyelid, and realization rotates up and down；The outer ring of the spring is fixed on eyeball connecting rod, and inner ring entangles the rocker face of eyeball, and eyeball connecting rod can be enable to drive eyeball when moving up and down while rotating in the same direction；The shaft of the upper eyelid is pressed in the cylindrical surface of ball stand by lower eyelid, and upper eyelid can be made to rotate on the central axis of eyeball.There is straight-tooth above the eyeball connecting rod, moving left and right for eyeball connecting rod is realized by steering engine gear drive fixed on the bracket of left and right.There is straight-tooth above the left and right bracket, moving up and down for left and right bracket is realized by steering engine gear drive fixed on upper and lower bracket, and then realize moving up and down for eyeball connecting rod.
Description
Technical field
The invention belongs to Intelligent bionic machinery people's technical field, in particular to a kind of bio-robot eye transmission mechanism.
Background technique
One of the important organ that eyes are the mankind and external environment interacts, human perception external environment have 90% with
Upper information is obtained by eyes.Eye rotation is indispensable important feature in robot motion expression.Currently, intelligence
The eye expression mechanism of robot otherwise be mechanism complexity, components are numerous, and size is improper；It is exactly number of degrees of freedom,
Not enough, no image of Buddha human eye rotates freely like that；It is exactly that cannot be acted not true to nature enough around its center rotating.
Summary of the invention
The purpose of the present invention is to provide robot eyes driving mechanisms, it is intended to solve the eye knot of prior art robot
The problem of structure is complicated, is unable to flexible rotating.
To achieve the goals above, The technical solution adopted by the invention is as follows:
A kind of bio-robot eye driving mechanism is provided, affiliated eye driving mechanism includes upper eyelid, lower eyelid, eye
Ball, spring, ball stand, pressing plate, eyeball connecting rod, left and right bracket, upper and lower bracket, steering engine and gear.
Specifically, the eyeball is fixed in the ball-and-socket face of ball stand by rotatable upper eyelid and lower eyelid, is realized
It rotates up and down.
Specifically, the outer ring of the spring is fixed on eyeball connecting rod, and inner ring entangles the rocker face of eyeball.It can make eyeball
Connecting rod can drive eyeball when moving up and down while rotate in the same direction.
Specifically, the shaft of the upper eyelid is pressed in the cylindrical surface of ball stand by lower eyelid, upper eyelid can be made in eye
It is rotated on the central axis of ball.
Specifically, there is straight-tooth above the eyeball connecting rod, realized by steering engine gear drive fixed on the bracket of left and right
Eyeball connecting rod moves left and right.
Specifically, there is straight-tooth above the left and right bracket, realized by steering engine gear drive fixed on upper and lower bracket
Left and right bracket moves up and down, and then realizes moving up and down for eyeball connecting rod.
The beneficial effects of the present invention are: realize that two eyeballs rotate up and down in the same direction simultaneously by eyeball connecting rod,
Upper eyelid center of rotation is on center of rotation.Structure is compact, acts true to nature.
Detailed description of the invention
Fig. 1 is the main body schematic diagram of the present embodiment.
Fig. 2 is the perspective view of the explosion of the present embodiment.
Fig. 3 is the schematic diagram of the present embodiment ball portions.
Fig. 4 is the perspective view of the explosion of the present embodiment ball portions.
Fig. 5 is the ball stand schematic diagram of the present embodiment.
Specific embodiment
In order to which technical problem to be solved in the utility model, technical solution and beneficial effect is more clearly understood, with
Lower combination accompanying drawings and embodiments, are further elaborated.It should be appreciated that specific embodiment described herein is only used to
It explains the utility model, is not used to limit the utility model.
It should be noted that it can be directly another when element is referred to as " being fixed on " or " being set to " another element
On one element or indirectly on another element.When element is referred to as " being connected to " another element, it be can be directly
It is connected to another element or is indirectly connected on another element.
It is to be appreciated that term " length ", " width ", "upper", "lower", "front", "rear", "left", "right", "vertical",
The orientation or positional relationship of the instructions such as "horizontal", "top", "bottom", "inner", "outside" is that orientation based on the figure or position are closed
System is merely for convenience of description the utility model or simplifies description, rather than the device or element of indication or suggestion meaning are necessary
It constructs or operates with specific orientation, with specific orientation, therefore should not be understood as limiting the present invention.
In addition, term " first ", " second " are used for descriptive purposes only and cannot be understood as indicating or suggesting relative importance
Or implicitly indicate the quantity of indicated technical characteristic.Therefore, define " first ", the feature of " second " can be expressed or
It impliedly include one or more this feature.In the description of the present invention, the meaning of " plurality " is two or two with
On, unless in addition there is clearly specific restriction.
Referring to Fig.1, Fig. 2, a kind of bio-robot eye driving mechanism include: lower eyelid 1, upper eyelid 2, gear A 3, rudder
Machine A 4, left and right two eyeballs 5, ball stand 6, pressing plate 7, eyeball connecting rod 8, two springs 9, gear B 10, left and right bracket 11, gear C
12, steering engine B 13, steering engine C 14, upper and lower bracket 15.Two eyeballs 5 of left and right are put in the ball-and-socket face 601 of ball stand 6, and upper eyelid 2 covers
Firmly eyeball 5, and be fixed in the cylindrical surface 602 of ball stand by lower eyelid 1, the axle center on this cylindrical surface is on the centre of sphere in ball-and-socket face.
It can be rotated up and down in the spherical surface that eyeball 5 is just wrapped up in this way.Steering engine A 4 is fixed on ball stand 6, and gear A 3 is fixed
In on the axis of steering engine A 4, such steering engine A 4 can drive eyelid to rotate upwardly and downwardly.
Referring to Fig. 3, Fig. 4, the outer ring of spring 9 is fixed on eyeball connecting rod 8, and inner ring entangles the rocker face 501 of eyeball 5.Quilt
Briquetting 7 is pressed in the sliding slot face 1102 of left and right bracket 11, drives gear B 10 to rotate by steering engine B 13, and gear B 10 and eye
Straight-sided flank 801 on ball link 8 engages, so that it may drive moving left and right for eyeball connecting rod 8, and then drive two eyeballs 5 simultaneously towards same
One direction left-right rotation.
Referring to Fig.1, Fig. 2, Fig. 3, Fig. 4, Fig. 5, left and right bracket 11, gear B 10, steering engine B 13, eyeball connecting rod 8, spring 9,
The assembly that pressing plate 7 forms is fixed among ball stand 6 and upper and lower bracket 15, and passes through the sliding slot face of upper and lower bracket 15
1501, the sliding slot face 701 of briquetting 7 and the guide pass 603 of ball stand 6, which contact with each other, may be implemented assembly and slides up and down.Steering engine C
14 are fixed on upper and lower bracket 15, and driving gear C 12 rotates, and by engaging the straight-sided flank 1101 of left and right bracket 11, and then drive
Assembly moves up and down.By the relationship of spring 9, realize that two eyeballs 5 rotate upwardly and downwardly in the same direction simultaneously.
The above is only the preferred embodiments of the present utility model only, is not intended to limit the utility model, any to be familiar with sheet
Those skilled in the art within the technical scope of the present disclosure, institute according to the technical scheme of the invention and its inventive conception
Any modifications, equivalent replacements, and improvements etc. of work, should be included within the scope of protection of this utility model.
Claims (3)
1. a kind of bio-robot eye driving mechanism, affiliated eye driving mechanism includes upper eyelid, lower eyelid, eyeball, bullet
Spring, ball stand, pressing plate, eyeball connecting rod, left and right bracket, upper and lower bracket, steering engine and gear, it is characterised in that:
The eyeball is fixed in the ball-and-socket face of ball stand by rotatable upper eyelid and lower eyelid, and realization rotates up and down；
The outer ring of the spring is fixed on eyeball connecting rod, and inner ring entangles the rocker face of eyeball, can make eyeball connecting rod up and down
It can drive eyeball when mobile while rotate in the same direction；
The shaft of the upper eyelid is pressed in the cylindrical surface of ball stand by lower eyelid, can make upper eyelid on the central axis of eyeball
Rotation.
2. bio-robot eye driving mechanism as described in claim 1, it is characterised in that: have above the eyeball connecting rod straight
Tooth realizes moving left and right for eyeball connecting rod by steering engine gear drive fixed on the bracket of left and right.
3. bio-robot eye driving mechanism as described in claim 1, it is characterised in that: have above the left and right bracket straight
Tooth realizes moving up and down for left and right bracket by steering engine gear drive fixed on upper and lower bracket, and then realizes eyeball connecting rod
It moves up and down.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821165652.0U CN209256996U (en) | 2018-07-23 | 2018-07-23 | A kind of bio-robot eye driving mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821165652.0U CN209256996U (en) | 2018-07-23 | 2018-07-23 | A kind of bio-robot eye driving mechanism |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN209256996U true CN209256996U (en) | 2019-08-16 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201821165652.0U Active CN209256996U (en) | 2018-07-23 | 2018-07-23 | A kind of bio-robot eye driving mechanism |
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| CN (1) | CN209256996U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113547526A (en) * | 2020-04-23 | 2021-10-26 | 深圳市网睿科技有限公司 | Head of robot simulating human |
-
2018
- 2018-07-23 CN CN201821165652.0U patent/CN209256996U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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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