CN213731784U - Eye movement mechanical structure of machine dog - Google Patents
Eye movement mechanical structure of machine dog Download PDFInfo
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- CN213731784U CN213731784U CN202022795492.1U CN202022795492U CN213731784U CN 213731784 U CN213731784 U CN 213731784U CN 202022795492 U CN202022795492 U CN 202022795492U CN 213731784 U CN213731784 U CN 213731784U
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- rotating shaft
- eyes
- rotating
- gear
- connecting rod
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- 230000004424 eye movement Effects 0.000 title claims description 11
- 210000003128 head Anatomy 0.000 claims abstract description 26
- 210000004279 orbit Anatomy 0.000 claims abstract description 15
- 244000309464 bull Species 0.000 claims description 5
- 230000001174 ascending effect Effects 0.000 description 4
- 230000000694 effects Effects 0.000 description 3
- 210000005056 cell body Anatomy 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000001360 synchronised effect Effects 0.000 description 1
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Abstract
本实用新型属于机器狗零部件技术领域，尤其涉及一种机器狗的眼部活动机械结构，包括内部为空心结构的头部，位于头部的两眼眶和在眼眶内转动的眼睛，两所述眼睛远离眼眶的一端均设置有连接杆，两所述连接杆位于眼睛相对应球冠所在球的球心位置设置有与两连接杆连接的转轴，所述转轴中心位置设置有第一齿轮，所述头部内壁设置有第一支撑座，所述第一支撑座上设置有第一电机，所述第一电机输出轴上设置有与第一齿轮啮合的第二齿轮，两所述连接杆中间的位置设置有与转轴旋转连接的转杆，两所述连接杆远离眼睛的一端设置有用于连接杆转动的旋转机构，解决现有技术机器狗眼部活动方向单一的问题，本实用新型在机器狗加工厂家有良好的前景。
The utility model belongs to the technical field of robot dog parts and components, in particular to an eye movable mechanical structure of a robot dog, comprising a head with a hollow structure inside, two eye sockets located in the head, and eyes rotating in the eye sockets. One end of the eye away from the eye socket is provided with a connecting rod. The two connecting rods are located at the center of the ball where the eye corresponds to the spherical crown and are provided with a rotating shaft connected with the two connecting rods. The center position of the rotating shaft is provided with a first gear. The inner wall of the head is provided with a first support seat, the first support seat is provided with a first motor, the output shaft of the first motor is provided with a second gear that meshes with the first gear, and the middle of the two connecting rods There is a rotating rod rotatably connected with the rotating shaft at the position of the two connecting rods, and the ends of the two connecting rods away from the eyes are provided with a rotating mechanism for the rotation of the connecting rods, which solves the problem of the single moving direction of the eyes of the robot dog in the prior art. Dog processing manufacturers have good prospects.
Description
Technical Field
The utility model belongs to the technical field of machine dog spare part, especially, relate to a machine dog's eye activity mechanical structure.
Background
No matter which field the robot dog is used in, eyes are an indispensable part of the robot dog, and a pair of flexible eyes is necessary. However, in the prior art, the eyes of the robot dog are often fixed, or the eyes are ensured to have a moving space by means of loose eyesockets, and the robot dog is also lifeless. The eye movement needs to be all-around movement, including four directions of up, down, left and right, so as to ensure the flexible rotation of the eyes.
Disclosure of Invention
To the above-mentioned condition, for overcoming prior art's defect, the utility model provides a machine dog's eye activity mechanical structure solves the single problem of prior art machine dog eye activity direction.
The technical scheme is that the eye movement mechanical structure of the machine dog comprises a head part, two eye sockets and eyes, wherein the head part is of a hollow structure, the two eye sockets are positioned on the head part, the eyes rotate in the eye sockets, the eyes are of a spherical crown structure with the volume smaller than a hemisphere, connecting rods are arranged at one ends, far away from the eye sockets, of the two eyes, a rotating shaft connected with the two connecting rods is arranged at the spherical center position of a sphere where the spherical crown corresponding to the eyes is positioned, so that a structure that the two eyes rotate along the vertical direction is formed by rotating the rotating shaft, a first gear is arranged at the central position of the rotating shaft, a first supporting seat is arranged on the inner wall of the head part, a first motor is arranged on the first supporting seat, a second gear meshed with the first gear is arranged on an output shaft of the first motor, a rotating rod rotatably connected with the rotating shaft is arranged at the middle position of the two connecting rods, one end, far away from the eyes, of the two connecting rods is provided with a rotating mechanism for rotating the connecting rods, a structure that the rotating mechanism drives the two eyes to rotate along the horizontal direction is formed.
Preferably, the connecting rod is provided with a rectangular groove for the rotating shaft to pass through, the position of the rotating shaft in the rectangular groove is provided with a limiting block, the limiting blocks are arranged symmetrically about the central line of the rotating shaft, and a clamping groove matched with the limiting block is arranged in the rectangular groove to form a structure for driving the connecting rod to rotate synchronously when the rotating shaft rotates.
Preferably, the head inner wall is provided with a protrusion for supporting the rotation of the rotating shaft, the protrusion and the head inner wall are of an integral structure, the two protrusions are symmetrically arranged about the center line of the head, two ends of the rotating shaft are provided with bearings which are in interference fit with the rotating shaft, a groove for fixing the bearings is formed in the center of the protrusion, and the protrusion is provided with a through groove for the rotating shaft to pass through.
Preferably, a through hole for the rotating rod to pass through is formed in the rotating shaft, a sleeve is arranged in the through hole, and the rotating rod is connected with a positioning bolt in a threaded mode.
Preferably, rotary mechanism includes that the connecting rod keeps away from the second motor of eyes tip, second motor and connecting rod fixed connection, be provided with the third gear on the second motor output shaft, the one end that the connecting rod was kept away from to the bull stick is provided with the fourth gear with third gear engagement, forms the third gear and drives the fourth gear rotation, and the connecting rod drives eyes and revolves the pole according to the rotatory structure of settlement angle.
The utility model has the advantages that the connecting rod is arranged at the center of the face of the eye in the head, the rotating shaft is arranged at the spherical center of the spherical crown where the eye is positioned, the rotating shaft is ensured to rotate to realize the rotation of the eye in the vertical direction, and the connecting rod is hinged with the rotating shaft through the rotating rod to realize the rotation of the eye in the horizontal direction;
the position of the rotating shaft on the rectangular groove on the connecting rod is provided with a limiting block, so that the rotating shaft can synchronously rotate with the connecting rod and eyes when rotating, the arrangement of a positioning bolt on the rotating rod further limits the rotating stability of the rotating shaft and prevents the slipping phenomenon, and the arrangement of the first motor and the first gear is meshed with the second gear on the rotating shaft so as to ensure the rotating timeliness of the rotating shaft;
the setting of second motor and third gear on the connecting rod cooperates the fourth gear on the bull stick to the centre of sphere of perforated and eyes place ball of pivot top tube is the rotation center, realizes eyes horizontal direction's rotation, cooperates the ascending rotation of vertical side, realizes the rotation of the multi-angle of eyes.
Drawings
FIG. 1 is a front view of the mechanical structure of the dog for robot eyes;
FIG. 2 is an enlarged view of the mechanical structure of the dog for eyes in the front view A;
fig. 3 is a cross-sectional view of the mechanical rotating mechanism for eye movement of the robot dog of the present invention.
Wherein 1 head, 2 eyes, 3 connecting rods, 4 rotating shafts, 5 first gears, 6 first supporting seats, 7 first motors, 8 second gears, 9 rotating rods, 10 rectangular grooves, 11 limiting blocks, 12 clamping grooves, 13 protrusions, 14 bearings, 15 grooves, 16 through grooves, 17 through holes, 18 sleeves, 19 positioning bolts, 20 second motors, 21 third gears and 22 fourth gears.
Detailed Description
The technical solutions of the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings, and it is to be understood that the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative efforts belong to the protection scope of the present invention, and in the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer" and the like indicate the orientation or position relationship based on the orientation or position relationship shown in the drawings, and only for convenience of description of the present invention and simplifying the description, but not for indicating or implying that the indicated device or element must have a specific orientation, be constructed and operated in a specific orientation, and thus cannot be understood as limiting the present invention.
Furthermore, the terms "first" and "second" are used for descriptive purposes only and are not to be construed as indicating or implying any relative importance in the description of the present invention, it being noted that unless otherwise explicitly stated or limited, the terms "mounted," "connected," and "connected" are to be construed broadly and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present invention can be understood in specific cases to those skilled in the art.
The following detailed description of the embodiments of the present invention is made with reference to the accompanying drawings.
The first embodiment is as follows: according to the attached drawings in the specification, the mechanical structure for the eye movement of the machine dog comprises a head 1 with a hollow structure inside, two eye sockets positioned on the head 1 and an eye 2 rotating in the eye sockets, wherein the eye 2 is larger than the eye sockets, so that blank areas are prevented from being generated during rotation. Eyes 2 are the spherical crown structure that the volume is less than the hemisphere, and the one end that eye 2 kept away from the eye socket all is provided with connecting rod 3, and connecting rod 3 and eyes 2 structure as an organic whole. The two connecting rods 3 are arranged at the sphere center position of the sphere where the spherical crown corresponding to the eyes 2 is arranged with a rotating shaft 4 connected with the two connecting rods 3, so as to form a structure that the two eyes 2 rotate along the vertical direction by rotating the rotating shaft 4. Be provided with the rectangular channel 10 that is used for pivot 4 to pass on the connecting rod 3, rectangular channel 10 is sunken to the inside cell body of connecting rod 3, and the degree of depth of rectangular channel 10 is less than the height of connecting rod 3 for placing of pivot 4. The inner wall of the head part 1 is provided with a bulge 13 for supporting the rotating shaft 4 to rotate, the bulge 13 is of a block-shaped structure, and the bulge 13 and the inner wall of the head part 1 are of an integral structure. The two protrusions 13 are symmetrically arranged about the center line of the head 1, bearings 14 which are in interference fit with the two ends of the rotating shaft 4 are arranged at the two ends of the rotating shaft 4, a groove 15 for fixing the bearings 14 is formed in the center of each protrusion 13, a through groove 16 for allowing the rotating shaft 4 to pass through is formed in one end, close to the rotating shaft 4, of each protrusion 13, and a cover for fixing the bearings 14 is arranged on each protrusion 13. The position of the rotating shaft 4 in the rectangular groove 10 is provided with a limiting block 11, a concave groove for fixing the limiting block 11 is formed in the rotating shaft 4, and the limiting block 11 is fixedly connected with the concave groove in a clamping mode. The stopper 11 has two and sets up about 4 central lines of pivot symmetry, is provided with the joint groove 12 that uses with stopper 11 cooperation in the rectangular channel 10, drives connecting rod 3 synchronous pivoted structure when forming pivot 4 and rotating. 4 central point of pivot puts the key connection and has first gear 5, and 1 inner wall of head is provided with first supporting seat 6, and 6 cross-sections of first supporting seat are "U" type structure, and first supporting seat 6 and head 1 structure as an organic whole, and bolt fastening has the motor mount pad in the first supporting seat 6, and the bolt fastening has first motor 7 on the motor mount pad, and first motor 7 output shaft key connection has the reduction gear, and the last key connection of reduction gear center pin has the second gear 8 with first gear 5 meshing. The position in the middle of two connecting rods 3 is provided with a rotating rod 9 which is rotationally connected with the rotating shaft 4, and one end of each connecting rod 3, which is far away from the eyes 2, is provided with a rotating mechanism which is used for rotating the connecting rods 3, so that a structure that the rotating mechanism drives the two eyes 2 to rotate along the horizontal direction is formed.
In one embodiment, as shown in the drawing, a through hole 17 for the rotating rod 9 to pass through is formed in the center of the portion of the rotating shaft 4 located in the rectangular groove 10, and a sleeve 18 is glued in the through hole 17 to reduce friction force when the rotating rod 9 rotates. The rotating rod 9 is connected with a positioning bolt 19 through threads, and the positioning bolt 19 is arranged close to the connecting rod 3 and has a gap with the connecting rod 3, so that the rotating shaft 4 is prevented from slipping when rotating.
In an embodiment, as shown in the accompanying drawings, the rotating mechanism includes a second motor 20 at an end of the connecting rod 3 away from the eye 2, a square groove recessed into the connecting rod 3 is formed at an end away from the eye 2, a motor mounting seat is fixed on a bolt in the square groove, and the second motor 20 is fixed with the motor mounting seat by a bolt. The output shaft of the second motor 20 is keyed with a third gear 21, and one end of the rotating rod 9, which is far away from the connecting rod 3, is keyed with a fourth gear 22 engaged with the third gear 21, so as to form a structure that the third gear 21 drives the fourth gear 22 to rotate, and the connecting rod 3 drives the eyes 2 to rotate around the rotating rod 9 according to a set angle.
The utility model discloses a set up the connecting rod in the centre of the face that eyes lie in the head, the connecting rod is located the centre of sphere position of eyes place spherical crown and is provided with the pivot, guarantees to rotate the pivot and realizes the ascending rotation of eyes vertical direction, and the connecting rod is articulated through bull stick and pivot, realizes the ascending rotation of eyes in the horizontal direction; the position of the rotating shaft on the rectangular groove on the connecting rod is provided with a limiting block, so that the rotating shaft can synchronously rotate with the connecting rod and eyes when rotating, the arrangement of a positioning bolt on the rotating rod further limits the rotating stability of the rotating shaft and prevents the slipping phenomenon, and the arrangement of the first motor and the first gear is meshed with the second gear on the rotating shaft so as to ensure the rotating timeliness of the rotating shaft; the setting of second motor and third gear on the connecting rod cooperates the fourth gear on the bull stick to the centre of sphere of perforated and eyes place ball of pivot top tube is the rotation center, realizes eyes horizontal direction's rotation, cooperates the ascending rotation of vertical side, realizes the rotation of the multi-angle of eyes.
The present invention has been described in detail with reference to the specific embodiments and examples, but these should not be construed as limitations of the present invention. Numerous variations and modifications can be made by those skilled in the art without departing from the principles of the invention, which should also be considered as within the scope of the invention.
Claims (5)
1. The eye movement mechanical structure of the machine dog comprises a head (1) with a hollow structure inside, two eye sockets positioned on the head (1) and eyes (2) rotating in the eye sockets, and is characterized in that the eyes (2) are spherical crown structures with the volume smaller than a hemisphere, two ends, far away from the eye sockets, of the eyes (2) are provided with connecting rods (3), two connecting rods (3) are positioned at the sphere center positions of spheres corresponding to the sphere crowns of the eyes (2) and are provided with rotating shafts (4) connected with the two connecting rods (3), a structure capable of rotating the two eyes (2) of the rotating shaft (4) along the vertical direction is formed, the center position of the rotating shaft (4) is provided with a first gear (5), the inner wall of the head (1) is provided with a first supporting seat (6), the first supporting seat (6) is provided with a first motor (7), an output shaft of the first motor (7) is provided with a second gear (8) meshed with the first gear (5), two the position in the middle of connecting rod (3) is provided with bull stick (9) with pivot (4) swivelling joint, two the one end that eyes (2) were kept away from in connecting rod (3) is provided with and is used for connecting rod (3) pivoted rotary mechanism, forms rotary mechanism and drives two eyes (2) along horizontal direction pivoted structure.
2. The mechanical structure for the eye movement of a machine dog according to claim 1, wherein the connecting rod (3) is provided with a rectangular groove (10) for the rotating shaft (4) to pass through, the rotating shaft (4) is provided with a limiting block (11) at the position of the rectangular groove (10), the limiting blocks (11) are arranged symmetrically about the central line of the rotating shaft (4), and a clamping groove (12) matched with the limiting block (11) is arranged in the rectangular groove (10) to form a structure for driving the connecting rod (3) to rotate synchronously when the rotating shaft (4) rotates.
3. The mechanical structure for the eye movement of a machine dog according to claim 1, wherein the inner wall of the head (1) is provided with two protrusions (13) for supporting the rotating shaft (4) to rotate, the protrusions (13) and the inner wall of the head (1) are of an integral structure, the protrusions (13) are symmetrically arranged about the center line of the head (1), two ends of the rotating shaft (4) are provided with bearings (14) which are in interference fit with the rotating shaft, the center of the protrusions (13) is provided with grooves (15) for fixing the bearings (14), and the protrusions (13) are provided with through grooves (16) for the rotating shaft (4) to pass through.
4. The mechanical structure for the eye movement of a machine dog according to claim 1, wherein a through hole (17) for a rotating rod (9) to pass through is formed in the rotating shaft (4), a sleeve (18) is arranged in the through hole (17), and a positioning bolt (19) is connected to the rotating rod (9) in a threaded manner.
5. The mechanical structure for the eye movement of a machine dog according to claim 1, wherein the rotating mechanism comprises a second motor (20) which is arranged at one end of the connecting rod (3) far away from the eyes (2), the second motor (20) is fixedly connected with the connecting rod (3), a third gear (21) is arranged on an output shaft of the second motor (20), a fourth gear (22) meshed with the third gear (21) is arranged at one end of the rotating rod (9) far away from the connecting rod (3), so that the third gear (21) drives the fourth gear (22) to rotate, and the connecting rod (3) drives the eyes (2) to rotate around the rotating rod (9) according to a set angle.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202022795492.1U CN213731784U (en) | 2020-11-27 | 2020-11-27 | Eye movement mechanical structure of machine dog |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202022795492.1U CN213731784U (en) | 2020-11-27 | 2020-11-27 | Eye movement mechanical structure of machine dog |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN213731784U true CN213731784U (en) | 2021-07-20 |
Family
ID=76830880
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202022795492.1U Expired - Fee Related CN213731784U (en) | 2020-11-27 | 2020-11-27 | Eye movement mechanical structure of machine dog |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN213731784U (en) |
-
2020
- 2020-11-27 CN CN202022795492.1U patent/CN213731784U/en not_active Expired - Fee Related
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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 |
Granted publication date: 20210720 |
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| CF01 | Termination of patent right due to non-payment of annual fee |