CN103495987A - Bevel gear differential-motion human eye movement imitating mechanism - Google Patents
Bevel gear differential-motion human eye movement imitating mechanism Download PDFInfo
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- CN103495987A CN103495987A CN201310443350.0A CN201310443350A CN103495987A CN 103495987 A CN103495987 A CN 103495987A CN 201310443350 A CN201310443350 A CN 201310443350A CN 103495987 A CN103495987 A CN 103495987A
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Abstract
The invention discloses a bevel gear differential-motion human eye movement imitating mechanism. The bevel gear differential-motion human eye movement imitating mechanism comprises a left eyeball movement mechanism, a right eyeball movement mechanism and an eyelid movement mechanism. As for each eyeball movement mechanism, two central bevel gear, a bevel planet gear and a tie rod constitute a differential gear train, each bevel planet gear is in rigid connection with each eyeball, independent rotation of the two central bevel gears is achieved through motors, the independent rotation is combined into rotation of two degrees of freedom of the bevel planet gears, and therefore the eyeballs can rotate with the two degrees of freedom in the vertical direction and the horizontal direction. Two eyelids are in rigid connection with each other through a rotary shaft and a synchronous belt wheel, the other belt wheel is in rigid connection with one motor, the two belt wheels are in transmission with each other through a synchronous belt, and opening and closing of the eyelids can be achieved through rotation of the motors. The bevel gear differential-motion human eye movement imitating mechanism is compact in structure, small in occupied space, and flexible, accurate and reliable in movement, the left eyeball and the right eyeball are independent from each other, and the two eyeballs can move in the same direction and in the different directions.
Description
Technical field
The present invention relates to a kind of anthropomorphic robot expression motion, particularly a kind of apery eye part movement mechanism, belong to the Robotics field.
Background technology
Be mainly to adopt series connection to control to the research approach of humanoid robot eyes motion at present, with a motor, control the free degree that direction of eyeball is rotated, then drive the free degree of previous motor and another direction of eyeball with another motor simultaneously.Although this scheme clear in structure, be convenient to control, and also increased the volume of structure simultaneously, also or need to slot etc. and to go up largely the operation of destruction eyeball integrality eyeball.Based on above-mentioned shortcoming, a kind of bevel gear differential mechanism has been proposed, can realize that eyeball does the rotation than wide-angle along upper and lower, left and right directions.
Summary of the invention
The object of the invention is to overcome existing robot eyes motion volume large, take the problem in too much space, proposed a kind of bevel gear differential apery eye part movement mechanism.
Inspiration of the present invention comes from the automobile axle differential gear train, basic conception is: by two bevel pinions, drive respectively two center bevel gears, then these two center bevel gears simultaneously and bevel planet gear mesh, the motion of two frees degree of bevel planet gear has been synthesized in the self-movement of two center bevel gears, simultaneously because bevel planet gear and eyeball are rigidly connected, so also just realized the rotation on the eyeball both direction.
According to above-mentioned design, the present invention adopts following technical scheme:
A kind of bevel gear differential apery eye part movement mechanism, comprise two the eye movement mechanisms in left and right and an eyelid movement mechanism; Two of described eye movement mechanism left and right are consistent, there is no difference, respectively comprise that respectively two drive motors, two driving shafts, two drive bevel gear, two center bevel gears, bevel planet gear with axle head, one for the tie-rod that supports bevel planet gear, an eyeball, a center support and some screws; Described motor is fixed by screws on the mount holder end, center support is fixed by screws on base plate, two driving shafts are separately fixed on the output shaft of two motors, and two drive bevel gear to be separately fixed on two driving shafts, and with two center bevel gears, mesh respectively; Described two center bevel gears are separately fixed at the both sides of center support axle head, and can rotate around the center support axle head; Bevel planet gear meshes with two center bevel gears simultaneously, the axle head of bevel planet gear passes the centre bore of tie-rod and realizes being rigidly connected by interference fit with epibulbar hole, and tie-rod can rotate around the center support axle head, tie-rod plays the supporting bevel planet gear at this; Described eyelid movement mechanism comprises a drive motors, a motor rack, two synchronous pulleys, a Timing Belt, a turning cylinder, a turning cylinder support, two eyelids and some screws; Described drive motors is fixed by screws on motor rack, motor rack is fixed by screws on base plate, one synchronous belt wheel is fixed on motor output shaft, another synchronous pulley is fixed on turning cylinder, the turning cylinder support is fixed by screws on base plate, the turning cylinder moving axis support that can rotate rotates, and two eyelids are separately fixed at the two ends of turning cylinder.
Compared with prior art, the present invention has following remarkable advantage:
Compact conformation, take up room little, and mechanism's quality is light, well guaranteed the integrality of eyeball, and can achieve the rotation than wide-angle, and transmission is accurately reliable; Two eyeballs are independently controlled, the incorgruous motion such as can realize binocular integration or scatter.
The accompanying drawing explanation
Fig. 1 is the integrated machine composition.
Fig. 2 is the eye movement mechanism map.
Fig. 3 is eye movement mechanism Local map.
Fig. 4 is the assembling explosive view of bevel planet gear, tie-rod and eyeball in eyeball mechanism.
Fig. 5 is the eyelid movement mechanism map.
Fig. 6 is eyelid movement mechanism Local map.
The specific embodiment
Below in conjunction with accompanying drawing, a preferred embodiment of the present invention is elaborated.
Referring to Fig. 1 ~ Fig. 6, this bevel gear differential apery eye part movement mechanism, comprise two the eye movement mechanisms 1 in left and right and an eyelid movement mechanism 2; Two of described eye movement mechanism 1 left and right are consistent, there is no difference, respectively comprise that respectively two drive motors 3 and 4, two driving shafts 5 and 6, two drive bevel gear 7 and 8, two center bevel gears 9 and 10, bevel planet gears with axle head 11, one for the tie-rod 12 that supports bevel planet gear, eyeball 13, center support 14 and some screws 15; Described motor 3 and 4 is fixed on base plate 16 bracket end by screw 15, center support 14 is fixed on base plate 16 by screw 15, two driving shafts 5 and 6 are separately fixed on the output shaft of two motors 3 and 4, two drive bevel gear 7 and 8 to be separately fixed on two driving shafts 5 and 6, and with two center bevel gears 9 and 10, mesh respectively; Described two center bevel gears 9 and 10 are separately fixed at the both sides of center support 14 axle heads, and can rotate around center support 14 axle heads; Bevel planet gear 11 meshes with two center bevel gears 9 and 10 simultaneously, the axle head of bevel planet gear 11 passes the centre bore of tie-rod 12 and realizes being rigidly connected by interference fit with the hole on eyeball 13, and tie-rod 12 can rotate around center support 14 axle heads, and tie-rod 12 plays supporting bevel planet gear 11 at this; The amount of spin of two drive motors 3 and the different angular speed of 4 output, drive two turning cylinders 5 and 6, drive respectively two by two turning cylinders 5 and 6 again and drive bevel gear 7 and 8, by two, drive bevel gear 7 and 8 to mesh and drive its rotation respectively at center bevel gear 9 and 10 again, two center bevel gears 9 and 10 and bevel planet gear 11 and tie-rod 12 form differential gear trains, two center bevel gears 9 and 10 obtain independently motion, and export different rotating speeds, by the synthetic synthetic rotation that can obtain eyeball left and right directions and above-below direction of the motion of center bevel gear 9 and 10; Described eyelid movement mechanism 2 comprises a drive motors 17, motor rack 18, two synchronous pulleys 19 and 20, Timing Belts 21, turning cylinder 22, turning cylinder support 23, two eyelids 24 and 25 and some screws 15; Described drive motors 17 is fixed on motor rack 18 by screw 15, motor rack 18 is fixed on base plate 16 by screw 15, one synchronous belt wheel 19 is fixed on motor 17 output shafts, another synchronous pulley 20 is fixed on turning cylinder 22, turning cylinder support 23 is fixed on base plate 16 by screw 15, can rotate moving axis support 23 of turning cylinder 22 rotates, and two eyelids 24 and 25 are separately fixed at the two ends of turning cylinder 22; Two eyelids 24,25 and turning cylinder 22 and synchronous pulley 20 are realized being rigidly connected, and motor 17 is realized being rigidly connected with synchronous pulley 21, thus can pass through Timing Belt 21, with the rotation drive eyelid 24 of motor 17 and 25 rotation.
Claims (1)
1. a bevel gear differential apery eye part movement mechanism, comprise left and right two eye movement mechanisms (1) and an eyelid movement mechanism (2), it is characterized in that: two of described eye movement mechanism (1) left and right are consistent, there is no difference, comprise that respectively two drive motors (3,4), two driving shafts (5,6), two drive bevel gear (7,8), two center bevel gears (9,10), a bevel planet gear with axle head (11), tie-rod (12), an eyeball (13), a center support (14) and a some screw (15) for supporting bevel planet gear, described motor (3,4) is fixed on base plate (16) bracket end by screw (15), center support (14) is fixed on base plate (16) by screw (15), two driving shafts (5,6) are separately fixed on the output shaft of two motors (3,4), two drive bevel gear (7,8) to be separately fixed at two driving shafts (5,6) above, and mesh with two center bevel gears (9,10) respectively, described two center bevel gears (9,10) are separately fixed at the both sides of center support (14) axle head, and can rotate around center support (14) axle head, bevel planet gear (11) meshes with two center bevel gears (9,10) simultaneously, the axle head of bevel planet gear (11) passes the centre bore of tie-rod (12) and realizes being rigidly connected by interference fit with the hole on eyeball (13), and tie-rod (12) can rotate around center support (14) axle head, tie-rod (12) plays supporting bevel planet gear (11) at this, two drive motors (3, 4) export the amount of spin of different angular speed, drive two turning cylinders (5, 6), again by two turning cylinders (5, 6) drive respectively two and drive bevel gear (7, 8), drive bevel gear (7 by two again, 8) respectively at center bevel gear (9, 10) mesh and drive its rotation, two center bevel gears (9, 10) form differential gear train with bevel planet gear (11) and tie-rod (12), two center bevel gears (9, 10) obtain independently motion, and export different rotating speeds, by center bevel gear (9, 10) the synthetic synthetic rotation that can obtain eyeball left and right directions and above-below direction of motion, described eyelid movement mechanism (2), comprise a drive motors (17), a motor rack (18), two synchronous pulleys (19, 20), , a Timing Belt (21), a turning cylinder (22), a turning cylinder support (23), two eyelids (24, 25) and some screws (15), described drive motors (17) is fixed on motor rack (18) by screw (15), motor rack (18) is fixed on base plate (16) by screw (15), one synchronous belt wheel (19) is fixed on motor (17) output shaft, another synchronous pulley (20) is fixed on turning cylinder (22), turning cylinder support (23) is fixed on base plate (16) by screw (15), turning cylinder (22) the moving axis support (23) that can rotate rotates, two eyelids (24, 25) be separately fixed at the two ends of turning cylinder (22), two eyelids (24), (25) and turning cylinder (22) and synchronous pulley (20) are realized being rigidly connected, motor (17) is realized being rigidly connected with synchronous pulley (21), so can pass through Timing Belt (21), drive the rotation of eyelid (24,25) with the rotation of motor (17).
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| Application Number | Priority Date | Filing Date | Title |
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| CN201310443350.0A CN103495987B (en) | 2013-09-26 | 2013-09-26 | A kind of bevel gear differential apery eye part movement mechanism |
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| CN201310443350.0A CN103495987B (en) | 2013-09-26 | 2013-09-26 | A kind of bevel gear differential apery eye part movement mechanism |
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| CN103495987A true CN103495987A (en) | 2014-01-08 |
| CN103495987B CN103495987B (en) | 2015-10-07 |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104552306A (en) * | 2015-01-07 | 2015-04-29 | 上海大学 | Spatial RSSR mechanism based biomimetic eye movement mechanism |
| CN105291138A (en) * | 2015-11-26 | 2016-02-03 | 华南理工大学 | Visual feedback platform improving virtual reality immersion degree |
| CN106426295A (en) * | 2016-11-16 | 2017-02-22 | 北京因时机器人科技有限公司 | Mechanical bionic eye device |
| CN108237537A (en) * | 2016-12-23 | 2018-07-03 | 深圳光启合众科技有限公司 | The eye structure and robot of robot |
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| JP2005237522A (en) * | 2004-02-25 | 2005-09-08 | Nec Access Technica Ltd | Robot |
| KR100881841B1 (en) * | 2007-11-03 | 2009-02-03 | 이수종 | An eyeball apparatus for the face of a humanoid robot |
| TW200920462A (en) * | 2007-11-01 | 2009-05-16 | Ind Tech Res Inst | Mechanism for driving curved surfaces and puppet using the same |
| CN101745230A (en) * | 2008-12-02 | 2010-06-23 | 鸿富锦精密工业（深圳）有限公司 | Artificial eye |
| CN101780675A (en) * | 2010-03-19 | 2010-07-21 | 上海大学 | Double-faced robot head device |
| CN202822766U (en) * | 2012-07-30 | 2013-03-27 | 周志昌 | Motor-driven robot eyelids |
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2013
- 2013-09-26 CN CN201310443350.0A patent/CN103495987B/en not_active Expired - Fee Related
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
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| JP2005237522A (en) * | 2004-02-25 | 2005-09-08 | Nec Access Technica Ltd | Robot |
| TW200920462A (en) * | 2007-11-01 | 2009-05-16 | Ind Tech Res Inst | Mechanism for driving curved surfaces and puppet using the same |
| KR100881841B1 (en) * | 2007-11-03 | 2009-02-03 | 이수종 | An eyeball apparatus for the face of a humanoid robot |
| CN101745230A (en) * | 2008-12-02 | 2010-06-23 | 鸿富锦精密工业（深圳）有限公司 | Artificial eye |
| CN101780675A (en) * | 2010-03-19 | 2010-07-21 | 上海大学 | Double-faced robot head device |
| CN202822766U (en) * | 2012-07-30 | 2013-03-27 | 周志昌 | Motor-driven robot eyelids |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104552306A (en) * | 2015-01-07 | 2015-04-29 | 上海大学 | Spatial RSSR mechanism based biomimetic eye movement mechanism |
| CN105291138A (en) * | 2015-11-26 | 2016-02-03 | 华南理工大学 | Visual feedback platform improving virtual reality immersion degree |
| CN106426295A (en) * | 2016-11-16 | 2017-02-22 | 北京因时机器人科技有限公司 | Mechanical bionic eye device |
| CN108237537A (en) * | 2016-12-23 | 2018-07-03 | 深圳光启合众科技有限公司 | The eye structure and robot of robot |
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| CN103495987B (en) | 2015-10-07 |
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Granted publication date: 20151007 Termination date: 20180926 |