CN214323357U - Bionic eyeball movement mechanism and robot - Google Patents
Bionic eyeball movement mechanism and robot Download PDFInfo
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- CN214323357U CN214323357U CN202022812959.9U CN202022812959U CN214323357U CN 214323357 U CN214323357 U CN 214323357U CN 202022812959 U CN202022812959 U CN 202022812959U CN 214323357 U CN214323357 U CN 214323357U
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Abstract
The utility model discloses a bionical eyeball motion and robot, wherein, a bionical eyeball motion, include: a first limit piece; the horizontal displacement device is arranged on the first limiting piece; the vertical displacement device is connected with the horizontal displacement device in a sliding manner; the second limiting piece is provided with a first joint bearing; the eyeball is connected with the vertical displacement device through the first joint bearing. Through setting up second locating part and joint bearing, will vertical displacement device, the horizontal displacement device effect about the motion convert into eyeball's spherical motion for the eyeball can be when the centre of sphere location through joint bearing carries out spherical motion, simple structure and reduce the cost, has guaranteed eyeball motion's flexibility simultaneously.
Description
Technical Field
The utility model relates to the technical field of robot, especially, relate to a bionical eyeball motion and robot.
Background
With the development of science and technology, the application of robots is gradually widespread, and the humanoid service robots can simulate human beings to complete a series of basic actions, even can reach very high precision, can replace labor force to perform some repetitive or simple service actions, and are hopeful in the aspect of replacing the continuously declining labor force population. The existing robot bionic eyeball movement mechanism has a complex structure and causes high processing cost.
Therefore, the prior art needs to be improved.
SUMMERY OF THE UTILITY MODEL
In order to solve the problem that the bionic eyeball movement mechanism structure of the robot is complicated among the prior art, the utility model provides a bionic eyeball movement mechanism and robot for bionic eyeball movement mechanism simple structure, the cost reduces.
The utility model discloses a following technical scheme realizes:
in one aspect, the utility model provides a bionical eyeball motion, include:
a first limit piece;
the horizontal displacement device is arranged on the first limiting piece;
the vertical displacement device is connected with the horizontal displacement device in a sliding manner;
the second limiting piece is provided with a first joint bearing;
the eyeball is connected with the vertical displacement device through the first joint bearing.
The horizontal displacement device, the vertical displacement device and the eyeballs are limited by arranging the first limiting part and the second limiting part, the simulated rotation of the eyeballs is ensured, a complete robot is formed by being installed with a mechanism outside the bionic eyeball motion mechanism, the horizontal displacement device and the vertical displacement device are arranged to realize the motion of the eyeballs in the vertical direction, the horizontal displacement device and the vertical displacement device slide horizontally relative to each other, the horizontal displacement device and the vertical displacement device can act simultaneously, the eyeballs can move in the directions of oblique upper, oblique lower and the like while moving in the vertical direction, the rotation of each direction of the eyeballs can be realized, the second limiting part and the joint bearing are arranged simultaneously, the vertical displacement device and the horizontal displacement device can convert the vertical, the horizontal and the vertical motions into the spherical motion of the eyeballs, the eyeball can move in a spherical shape through the joint bearing while the sphere center is positioned, the structure is simple, the cost is reduced, and meanwhile, the flexibility of eyeball movement is guaranteed.
In one embodiment of the present invention, the horizontal displacement device includes a horizontal sliding groove and a horizontal sliding block disposed on the horizontal sliding groove; the vertical displacement device comprises a vertical sliding groove and a vertical sliding block arranged on the vertical sliding groove, and the vertical sliding groove is connected with the horizontal sliding block.
The utility model discloses an in one of them embodiment, the eyeball includes eyeball body and driving lever, the one end of driving lever with this body coupling of eyeball, the other end of driving lever passes first joint bearing with the linkage is realized to vertical displacement device connection.
Through setting up the driving lever passes first joint bearing realizes eyeball body with vertical displacement device's linkage for the connection adjustment is more accurate, makes the installation technological requirement simpler and more convenient, makes mounting structure more reasonable simultaneously, makes the regulation of eyeball rotate more in a flexible way.
The utility model discloses an in one of them embodiment, vertical displacement device still includes the installed part, the second locating part is located the eyeball body and between the installed part, the interval is equipped with two first joint bearings side by side on the second locating part, the eyeball includes two, the driving lever of eyeball passes respectively first joint bearing with the installed part is connected and is realized the linkage.
Through with two eyeball erection joint simultaneously on the installed part, through installing the installed part on the vertical slider, realize vertical slider with the linkage of eyeball for two eyeballs can rotate simultaneously and adjust, need not set up duplicate adjustment mechanism and adjust, save the cost, adjust simultaneously and make the motion of eyeball is more emulation.
The utility model discloses an in one of them embodiment, correspond on the installed part first joint bearing's position is equipped with second joint bearing, the driving lever is worn to locate respectively in first joint bearing and the second joint bearing.
Through set up on the installed part and correspond first joint bearing second joint bearing further to the rotation of eyeball is adjusted accurately and is injectd, makes the rotation of eyeball more lively, avoids eyeball rotation too much more than the rigidity.
In one embodiment of the present invention, the horizontal displacement device further comprises a driving motor for driving the horizontal movement of the horizontal sliding block, and the vertical displacement device further comprises a driving motor for driving the second driving motor for vertical movement of the vertical sliding block.
The first driving motor and the second driving motor are arranged to provide driving force, so that adjustment is controllable and accurate.
In one embodiment of the present invention, the first locating part and the second locating part are respectively plate-shaped for being mounted and limited with an external structure.
By arranging the first limiting part and the second limiting part in a plate shape respectively, the installation limiting is realized, and meanwhile, the production cost is saved.
The utility model discloses an in one of them embodiment, eyeball body dorsad the one side of driving lever is the cambered surface, the edge of cambered surface is to being close to the direction narrowing formation constriction portion of driving lever, the driving lever with the end connection of constriction portion.
Make through setting up the cambered surface the rotation of eyeball body is more vivid, makes through setting up the constriction simultaneously the eyeball body can wholly inlay when the installation and locate the installing frame in, and the installation space that occupies is less and can guarantee the nimble rotation of eyeball.
In one embodiment of the present invention, the end of the narrowing portion is provided with a mounting groove, and the shift lever is mounted in the mounting groove.
The installation of the eyeball based on the shifting rod is limited by arranging the installation groove.
On the other hand, the utility model also provides a robot, including above-mentioned arbitrary bionical eyeball motion mechanism.
The beneficial effects of the utility model reside in that:
the utility model realizes the movement of the eyeballs in the up-down and left-right directions by arranging the horizontal displacement device and the vertical displacement device, meanwhile, the vertical displacement device and the horizontal displacement device slide horizontally relative to each other, so that the horizontal displacement device and the vertical displacement device can act simultaneously, so that the eyeball can move in the directions of oblique upper direction, oblique lower direction and the like while moving up, down, left and right, and the rotation of the eyeball in each direction can be realized, meanwhile, a second limiting piece and a joint bearing are arranged to convert the vertical movement, the horizontal movement and the vertical movement under the action of the vertical displacement device and the horizontal displacement device into the spherical movement of the eyeball, the eyeball can move in a spherical shape through the joint bearing while the sphere center is positioned, the structure is simple, the cost is reduced, and meanwhile, the flexibility of eyeball movement is guaranteed.
Drawings
FIG. 1 is a schematic structural view of an embodiment of the present invention;
fig. 2 is a schematic side view of the embodiment of the present invention.
In the figure:
1. the device comprises a first limiting part, a second limiting part, a horizontal displacement device, a first driving motor, a second driving motor, a first driving motor, a second limiting part, a third limiting part, a fourth limiting part, a fifth limiting part, a sixth limiting part, a fifth driving motor, a fifth limiting part, a sixth limiting part, a fifth limiting part, a sixth limiting part, a fifth driving motor, a fifth limiting part, a sixth limiting part, a fifth driving motor, a fifth driving part, a sixth driving motor, a fourth driving part, a fifth driving motor, a fourth driving part, a fifth driving part, a fourth driving part, a fifth driving.
Detailed Description
In order to make the objects, technical solutions and effects of the present invention clearer and clearer, the following description of the present invention will refer to the accompanying drawings and illustrate embodiments. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the invention.
It should be noted that, if directional indications (such as upper, lower, left, right, front and rear … …) are involved in the embodiment of the present invention, the directional indications are only used to explain the relative position relationship between the components, the motion situation, etc. in a specific posture (as shown in the drawings), and if the specific posture is changed, the directional indications are changed accordingly.
In order to solve the problem of complex structure of the bionic eyeball movement mechanism of the robot in the prior art, the utility model provides a bionic eyeball movement mechanism and a robot, which realize the movement of the eyeball 5 in the up-down and left-right directions by arranging a horizontal displacement device and a vertical displacement device 3, and simultaneously, the vertical displacement device 3 and the horizontal displacement device slide horizontally relatively, so that the horizontal displacement device and the vertical displacement device 3 can act simultaneously, the eyeball 5 can move in the oblique upper direction, the oblique lower direction and the like while moving in the up-down and left-right directions, the rotation of the eyeball 5 in each direction can be realized, and a second limiting part 4 and a joint bearing are arranged simultaneously to convert the up-down and left-right movements acted by the vertical displacement device 3 and the horizontal displacement device 2 into the spherical movement of the eyeball 5, the eyeball 5 can move in a spherical shape through the joint bearing while the sphere center is positioned, the structure is simple, the cost is reduced, and meanwhile, the movement flexibility of the eyeball 5 is ensured. The bionic eyeball movement mechanism has simple structure and reduced cost.
The specific embodiment is as follows:
referring to fig. 1 and 2, the present embodiment provides a bionic eye movement mechanism including: a first limiting part 1, a horizontal displacement device 2, a vertical displacement device 3, a second limiting part 4 and an eyeball 5; the horizontal displacement device 2 is arranged on the limiting device; the vertical displacement device 3 is horizontally connected with the horizontal displacement device 2 in a sliding manner; a first joint bearing 40 is arranged on the second limiting part 4; the eyeball 5 is connected with the vertical displacement device 3 through the first joint bearing 40.
Specifically, see fig. 1, first locating part 1 can be spacing support, spacing base, limiting plate etc. mainly used installation horizontal displacement device 2 realizes the rigidity with the external component installation simultaneously, specifically the utility model discloses do not do the injecing, in this embodiment, first locating part 1 is the first locating part 1 of platelike of buckling between both ends, through setting up first locating part 1 is platelike, can realize the purpose of installation when realizing the rigidity, has alleviateed bionic eyeball motion mechanism's weight simultaneously greatly, has reduced the material waste.
Further, on the basis of the above embodiment, the horizontal displacement device 2 may be a horizontally arranged telescopic rod, a horizontally arranged chute, a horizontally arranged electric slide rail, or the like, and may be specifically arranged according to actual requirements. In order to ensure the controllability and accuracy of the horizontal displacement, in this embodiment, the horizontal displacement device 2 includes a horizontal sliding chute 20, a horizontal sliding block horizontally slidably disposed on the horizontal sliding chute 20, and a first driving motor 22 for driving the horizontal sliding block to horizontally move, and the first driving motor 22 drives the horizontal sliding block to horizontally slide in the horizontal sliding chute 20, specifically, the first driving motor 22 may be connected to a controller to implement transmission control of driving information.
Further, on the basis of the above embodiment, the vertical displacement device 3 can be a vertically arranged telescopic rod, a vertically arranged sliding chute, a vertically arranged electric sliding rail and the like, and can be specifically arranged according to actual requirements. In order to ensure the controllability and accuracy of the vertical displacement, the vertical displacement device 3 includes a vertical sliding groove 30 and a vertical sliding block 31 vertically slidably disposed on the vertical sliding groove 30, the vertical displacement device 3 further includes a second driving motor 32 for driving the vertical sliding block 31 to vertically move, and the vertical sliding groove 30 is connected with the horizontal sliding block. The second driving motor 32 drives the vertical sliding block 31 to vertically slide in the vertical sliding chute 30, and specifically, the second driving motor 32 can be connected with a controller to realize transmission control of driving information.
Specifically, the plate surface of the first locating part 1 is vertically arranged, the horizontal displacement device 2 is arranged on the plate surface of the first locating part 1, and the vertical motor is installed on the horizontal sliding block of the horizontal displacement device 2 to realize the position fixing with the first locating part 1.
Further, on the basis of the above-mentioned embodiment, referring to fig. 1, the second limiting member 4 may be a limiting bracket, a limiting base, a limiting plate, etc. and is mainly used for fixing the eyeball 5 and an external component, and decomposing the gravity of the vertical displacement device 3, but the present invention is not limited to this, in this embodiment, the second limiting member 4 is a square strip, the second limiting member 4 is disposed between the vertical displacement device 3 and the eyeball body 50, the two limiting plates are provided with the first joint bearing 40, the first joint bearing 40 can be installed in the installation groove or the installation through hole by disposing the installation groove or the installation through hole on the second limiting member 4, and the first joint bearing 40 is installed in the installation groove or the installation through hole in an installation or embedding manner, so as to realize installation, and can be specifically designed according to actual requirements, the utility model discloses do not do the restriction.
Specifically, in this embodiment, the second limiting member 4 is provided with a mounting through hole, the first joint bearing 40 is embedded in the mounting through hole, and the first joint bearing 40 includes an inner ring having an outer spherical surface and an outer ring having an inner spherical surface. The first spherical plain bearing 40 can perform a tilting motion (i.e., a centering motion) within a certain angle range because the sliding surface is spherical, and can still normally operate when the supporting shaft and the shaft housing hole have a large eccentricity. The linear movements of the horizontal displacement means 2 as well as the vertical displacement means 3 can be converted into a spherical rotation by means of said first spherical joint bearing 40.
Specifically, on the basis of the above embodiment, referring to fig. 1 and fig. 2, the eyeball 5 includes an eyeball body 50 and a shift lever 51, one end of the shift lever 51 is connected to the eyeball body 50, and the other end of the shift lever 51 passes through the first joint bearing 40 and is connected to the vertical displacement device 3 for linkage. The driving lever 51 penetrates through the first joint bearing 40 to realize linkage of the eyeball body 50 and the vertical displacement device 3, so that connection adjustment is more accurate, the installation process requirement is simpler and more convenient, the installation structure is more reasonable, and one end of the driving lever 51 is connected with the eyeball body 50, so that adjustment and rotation of the eyeball body 50 are more flexible.
Specifically, in this embodiment, referring to fig. 2, a surface of the eyeball body 50 facing away from the shift lever 51 is an arc surface 500 (a surface leaking into the orbit of the robot), an edge of the arc surface 500 narrows in a direction close to the shift lever 51 to form a narrowed portion 501, and the shift lever 51 is fixedly connected to an end of the narrowed portion 501. Make through setting up cambered surface 500 eyeball body 50's rotation is more vivid, makes through setting up constriction part 501 simultaneously eyeball body 50 can wholly be inlayed in the installing frame when the installation, and the installation area that just occupies is less and can guarantee to rotate for eyeball body 50's angular adjustment is more nimble.
Specifically, the end of the narrowing portion 501 is provided with a mounting groove, and the shift lever 51 is mounted in the mounting groove. The eyeball body 50 is limited by the shift lever 51 by providing a mounting groove, and in other embodiments of the present invention, the eyeball may also be hinged with the mounting groove, and the present invention is not particularly limited.
Further, on the basis of the above embodiment, referring to fig. 1, the vertical displacement device 3 further includes a mounting part 33, the second limiting part 4 is disposed between the eyeball body 50 and the mounting part 33, two first joint bearings 40 are disposed on the second limiting part 4 side by side at intervals, and the eyeball 5 includes two first joint bearings 40 and is connected with the mounting part 33 through the first joint bearings 40 to realize linkage. Through with two eyeball 5 erection joint simultaneously on the installed part 33, through installing installed part 33 on the vertical slider 31, realize vertical slider 31 with eyeball 5's linkage for two eyeball 5 can rotate simultaneously and adjust, need not set up duplicate adjustment mechanism and adjust, save the cost, adjust simultaneously and make eyeball body 5's motion is more emulation.
Specifically, the mounting member 33 may be a mounting plate, a mounting block, a mounting bar, or the like, and in this embodiment, the mounting member 33 is a mounting plate, and the mounting plate is connected to the vertical slider 31 to provide a larger mounting position for the installation of the eyeball 5.
Further, in this embodiment, the eyeball 5 includes two, two first joint bearings 40 arranged side by side are arranged on the second limiting plate corresponding to the eyeball 5 at intervals, and the shift lever 51 is connected with the mounting part 33 through the first bearings respectively.
Furthermore, a second joint bearing 330 is disposed on the mounting member 33 at a position corresponding to the first joint bearing 40, and the shift lever 51 is respectively inserted into the first joint bearing 40 and the second joint bearing 330. Through set up on the installed part 33 correspond first joint bearing 40 second joint bearing 330, further to the rotation of eyeball body 50 carries out accurate regulation and limits for the rotation of eyeball body 50 is adjusted more accurately, reduces the amplitude of rotation and the speed of eyeball body 50, makes the rotation of eyeball body 50 more lively, avoids eyeball body 50 to rotate too much more than hard.
The present embodiment provides a bionic eyeball movement mechanism, which realizes the limit of a horizontal displacement device 2, a vertical displacement device 3 and an eyeball 5 by arranging a first limit part 1 and a second limit part 4, and simultaneously ensures the simulated rotation of an eyeball body 50, so as to realize the complete robot formed by the installation of the mechanism outside the bionic eyeball movement mechanism, and arranges the horizontal displacement device and the vertical displacement device 3 to realize the movement of the eyeball body 50 in the up-down and left-right directions, and simultaneously, the vertical displacement device 3 and the horizontal displacement device slide horizontally relatively, so that the horizontal displacement device and the vertical displacement device 3 can act simultaneously, so that the eyeball body 50 can realize the movement in the directions of oblique upper and lower directions while moving in the up-down and left-right directions, and the rotation of the eyeball body 50 in each direction can be realized, set up second locating part 4 and joint bearing simultaneously, will vertical displacement device 3, the horizontal displacement device 2 the action about from top to bottom motion transform into eyeball body 50's spherical motion for eyeball body 50 can be when the centre of sphere location through joint bearing carries out spherical motion, and simple structure and reduce the cost have guaranteed the flexibility of eyeball body 50 motion simultaneously.
On the other hand, bionical eyeball motion based on any preceding embodiment, the utility model discloses still provide a robot, including the robot, the robot includes the head, the head is equipped with the installation cavity that is used for installing above-mentioned bionical eyeball motion, bionical eyeball motion passes through first locating part 1 and second locating part 4 is located in the installation cavity, the robot head still corresponds eyeball body 50 is equipped with leaks the eye socket, the cambered surface 500 correspondence of eyeball body 50 is located in the eye socket.
It is to be understood that the invention is not limited to the above-described embodiments, and that modifications and variations may be made by those skilled in the art in light of the above teachings, and all such modifications and variations are intended to be included within the scope of the invention as defined in the appended claims.
Claims (10)
1. A bionic eye movement mechanism, comprising:
a first limit piece;
the horizontal displacement device is arranged on the first limiting piece;
the vertical displacement device is connected with the horizontal displacement device in a sliding manner;
the second limiting piece is provided with a first joint bearing;
the eyeball is connected with the vertical displacement device through the first joint bearing.
2. The bionic eye movement mechanism according to claim 1, wherein the horizontal displacement device comprises a horizontal sliding groove and a horizontal sliding block arranged on the horizontal sliding groove; the vertical displacement device comprises a vertical sliding groove and a vertical sliding block arranged on the vertical sliding groove, and the vertical sliding groove is connected with the horizontal sliding block.
3. The bionic eyeball motion mechanism according to claim 1 or 2, wherein the eyeball comprises an eyeball body and a deflector rod, one end of the deflector rod is connected with the eyeball body, and the other end of the deflector rod passes through the first joint bearing and is connected with the vertical displacement device to realize linkage.
4. The bionic eye movement mechanism according to claim 3, wherein the vertical displacement device further comprises a mounting member, the second limiting member is disposed between the eyeball body and the mounting member, two first joint bearings are disposed on the second limiting member side by side at intervals, the eyeball comprises two, and the driving levers of the eyeball respectively pass through the first joint bearings to be connected with the mounting member for linkage.
5. The bionic eye movement mechanism according to claim 4, wherein a second joint bearing is arranged on the mounting part corresponding to the first joint bearing, and the deflector rod is respectively arranged in the first joint bearing and the second joint bearing in a penetrating manner.
6. The bionic eye movement mechanism according to claim 2, wherein the horizontal displacement device further comprises a first driving motor for driving the horizontal slider to move horizontally, and the vertical displacement device further comprises a second driving motor for driving the vertical slider to move vertically.
7. The bionic eye movement mechanism according to claim 1, wherein the first limiting member and the second limiting member are respectively plate-shaped.
8. The bionic eye movement mechanism according to claim 3, wherein a face of the eyeball body, which faces away from the shift lever, is an arc face, an edge of the arc face narrows in a direction close to the shift lever to form a narrowed portion, and the shift lever is connected with an end of the narrowed portion.
9. The bionic eye movement mechanism according to claim 8, wherein the end of the narrowing part is provided with a mounting groove, and the shift lever is mounted in the mounting groove.
10. A robot comprising the biomimetic eye movement mechanism according to any one of claims 1-9.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202022812959.9U CN214323357U (en) | 2020-11-27 | 2020-11-27 | Bionic eyeball movement mechanism and robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202022812959.9U CN214323357U (en) | 2020-11-27 | 2020-11-27 | Bionic eyeball movement mechanism and robot |
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| Publication Number | Publication Date |
|---|---|
| CN214323357U true CN214323357U (en) | 2021-10-01 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202022812959.9U Active CN214323357U (en) | 2020-11-27 | 2020-11-27 | Bionic eyeball movement mechanism and robot |
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| Country | Link |
|---|---|
| CN (1) | CN214323357U (en) |
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- 2020-11-27 CN CN202022812959.9U patent/CN214323357U/en active Active
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