CN109702769B - Robot and mechanical eye thereof - Google Patents
Robot and mechanical eye thereof Download PDFInfo
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- CN109702769B CN109702769B CN201910168507.0A CN201910168507A CN109702769B CN 109702769 B CN109702769 B CN 109702769B CN 201910168507 A CN201910168507 A CN 201910168507A CN 109702769 B CN109702769 B CN 109702769B
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- 230000005540 biological transmission Effects 0.000 claims abstract description 179
- 210000005252 bulbus oculi Anatomy 0.000 claims abstract description 100
- 210000001508 eye Anatomy 0.000 claims abstract description 38
- 210000004279 orbit Anatomy 0.000 claims abstract description 10
- 210000000744 eyelid Anatomy 0.000 claims description 14
- 230000000712 assembly Effects 0.000 claims 1
- 238000000429 assembly Methods 0.000 claims 1
- 238000012423 maintenance Methods 0.000 abstract description 3
- 229910000831 Steel Inorganic materials 0.000 description 10
- 239000010959 steel Substances 0.000 description 10
- 238000000034 method Methods 0.000 description 9
- 230000003287 optical effect Effects 0.000 description 7
- 238000005299 abrasion Methods 0.000 description 5
- 238000010586 diagram Methods 0.000 description 4
- 238000006073 displacement reaction Methods 0.000 description 3
- 230000008921 facial expression Effects 0.000 description 3
- 230000006978 adaptation Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 239000011664 nicotinic acid Substances 0.000 description 2
- 230000004397 blinking Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 238000005096 rolling process Methods 0.000 description 1
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Abstract
The invention discloses a mechanical eye, comprising: a base; an eyeball body; the eye socket mechanism is arranged on the base and used for installing the eyeball body; an up-down driving part arranged on the base and used for driving the eyeball body to rotate along the up-down direction; the left and right driving part is arranged on the base and used for driving the eyeball body to rotate along the left and right direction; two groups of transmission parts which are in rope belt shape; the first end of one group of transmission parts is used for being connected with the upper driving part and the lower driving part, the second end of one group of transmission parts is used for being connected with the eyeball body, the first end of the other group of transmission parts is used for being connected with the left driving part and the right driving part, and the second end of the other group of transmission parts is used for being connected with the eyeball body so as to realize the rotation of the eyeball body. The transmission part of the mechanical eye is simple in structure, and can rotate the eyeball body only by occupying a small movable space, so that maintenance work of an maintainer is facilitated. In addition, the invention also discloses a robot comprising the mechanical eye.
Description
Technical Field
The invention relates to the technical field of bionic robots, in particular to a mechanical eye. In addition, the invention also relates to a robot comprising the mechanical eye.
Background
With the continuous development of bionic robots, facial expressions of the robots are also becoming more and more abundant, wherein how the mechanical eyes realize rotation is particularly important for expressing the facial expressions of the robots.
At present, a mechanical eye takes a facial expression robot eye structure device with a publication number of CN20516694 as an example, and the device utilizes a steering engine to drive two groups of crank connecting rod structures to respectively realize the rotation of eyeballs in left and right degrees of freedom and up and down degrees of freedom. But in order to improve the rotation angle of eyeballs, the crank connecting rod mechanism needs to occupy a larger movable space, and the two groups of crank connecting rod structures are closely arranged, so that the whole device is complex in structure, and the eye structure device is inconvenient to overhaul by workers.
Disclosure of Invention
The invention aims to provide a mechanical eye, the transmission part of which has a simple structure, can realize the rotation of an eyeball body only by occupying a small movable space, and is convenient for maintenance work of overhaulers. Another object of the present invention is to provide a robot comprising the above-mentioned mechanical eye.
To achieve the above object, the present invention provides a mechanical eye comprising: a base; an eyeball body; the eye socket mechanism is arranged on the base and used for installing the eyeball body; the upper and lower driving part is arranged on the base and used for driving the eyeball body to rotate along the up and down direction; the left and right driving part is arranged on the base and used for driving the eyeball body to rotate along the left and right direction; two groups of transmission parts which are in rope belt shape; the first ends of one group of transmission parts are used for being connected with the upper driving part and the lower driving part, the second ends of one group of transmission parts are used for being connected with the eyeball body, the first ends of the other group of transmission parts are used for being connected with the left driving part and the right driving part, and the second ends of the other group of transmission parts are used for being connected with the eyeball body so as to realize rotation of the eyeball body.
Preferably, the method further comprises: the steering part is arranged on the base and used for changing the extending directions of the two groups of transmission parts; the steering section includes: the upper steering bodies and the lower steering bodies are sequentially distributed from top to bottom and used for converting the extending direction of one group of transmission parts into the upper and lower directions; the left steering bodies and the right steering bodies are sequentially distributed from left to right and used for converting the extending direction of the other group of transmission parts into the left-right direction; the bracket is arranged on the base and used for fixing the upper steering body, the lower steering body, the left steering body and the right steering body; wherein, the orbital mechanism is arranged on the front surface of the bracket.
Preferably, the upper steering body, the lower steering body, the left steering body and the right steering body are steering components; the steering assembly includes: the steering wheel is provided with a wheel groove and is used for changing the extending direction of the transmission part to the eyeball body; the housing is arranged on the bracket and used for supporting the steering wheel; the housing is provided with a through hole, and the transmission part penetrates through the through hole and is connected with the eyeball body.
Preferably, the front end and the rear end of the housing are respectively provided with a shaft sleeve for the housing to rotate; wherein, the axle sleeve is sleeved with the mounting hole of the bracket so as to realize that the housing is connected with the bracket.
Preferably, the up-down driving part includes: a vertical rotating plate which is arranged in the right-left direction and is used for rotating and swinging by taking the vertical direction as a balance position; the first steering engine is arranged on the base and used for driving the vertical rotating plate to rotate; the left-right driving section includes: a horizontal rotating plate horizontally arranged for rotating and swinging by taking the left and right directions as balance positions; the second steering engine is arranged on the base and used for driving the horizontal rotating plate to rotate.
Preferably, the vertical rotating plate and the horizontal rotating plate are both provided with elastic parts for tensioning the transmission part.
Preferably, the vertical rotating plate and the horizontal rotating plate are respectively provided with a plurality of mounting holes symmetrically distributed relative to the rotation center of the vertical rotating plate and the horizontal rotating plate, wherein the mounting holes are used for adjusting the stretching degree of the elastic part.
Preferably, the vertical rotating plate is staggered with the eyeball body along the left-right direction, and the base is provided with a first lane changing roller for changing the extending direction of the transmission part into the front-back direction and a second lane changing roller for avoiding friction between the transmission part and the second steering engine.
Preferably, the method further comprises: the eyelid is arranged on the front surface of the eye socket mechanism and used for shielding the eyeball body; a blink driving part arranged below the base; a transmission rod; one end of the transmission rod is connected with the blink driving part, and the other end of the transmission rod is connected with the eyelid so as to enable the eyelid to blink.
Compared with the background art, the mechanical eye provided by the invention pulls the eyeball body to rotate up and down and rotate left and right through the two groups of rope-shaped transmission parts. Specifically, two ends of a group of transmission parts are respectively connected with an upper driving part and a lower driving part and the eyeball body, and the upper driving part and the lower driving part adjust the rotation angle of the eyeball body along the up-down direction by pulling the transmission parts; the two ends of the other group of transmission parts are respectively connected with a left driving part and a right driving part and the eyeball body, and the left driving part and the right driving part adjust the rotation angle of the eyeball body along the left direction and the right direction by pulling the transmission parts. The rope-shaped transmission part can meet the rotation angle required by the eyeball body without occupying larger movable space in the process of being pulled.
The invention also provides a robot comprising at least one mechanical eye as described in any of the above.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings that are required to be used in the embodiments or the description of the prior art will be briefly described below, and it is obvious that the drawings in the following description are only embodiments of the present invention, and that other drawings can be obtained according to the provided drawings without inventive effort for a person skilled in the art.
FIG. 1 is a schematic diagram of a mechanical eye according to the present invention;
FIG. 2 is a schematic view of a steering unit according to the present invention;
Fig. 3 is a top view of the eyeball body driven by the left and right driving portions provided by the present invention;
FIG. 4 is an exploded view of the steering assembly provided by the present invention;
fig. 5 is a schematic diagram of a mechanical binocular structure of a robot according to the present invention.
Wherein,
01-Base, 02-eyeball body, 021-connection handle, 03-eye socket mechanism, 04-up-down driving part, 041-vertical rotating plate, 042-first steering engine, 05-left-right driving part, 051-horizontal rotating plate, 052-second steering engine, 06-driving part, 061-upper driving sub-part, 062-lower driving sub-part, 063-left driving sub-part, 064-right driving sub-part, 07-bracket, 071-supporting plate, 072-supporting rod, 08-steering assembly, 081-steering wheel, 082-housing, 0821-positioning shaft, 0822-through hole, 083-optical axis bolt, 084-shaft sleeve, 085-fixed retainer ring, 09-elastic part, 10-first lane changing roller, 11-second lane changing roller, 12-eyelid, 13-driving rod, 14-blink driving part, 141-third steering engine and 142-driving rotating plate.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
The present invention will be further described in detail below with reference to the drawings and detailed description for the purpose of enabling those skilled in the art to better understand the aspects of the present invention.
Referring to fig. 1 to 5, fig. 1 is a schematic structural diagram of a mechanical eye according to the present invention; FIG. 2 is a schematic view of a steering unit according to the present invention; fig. 3 is a top view of the eyeball body driven by the left and right driving portions provided by the present invention; FIG. 4 is an exploded view of the steering assembly provided by the present invention; fig. 5 is a schematic diagram of a mechanical binocular structure of a robot according to the present invention.
The present invention provides a mechanical eye, as shown in fig. 1 to 3 and 5, which includes: a base 01; an eyeball body 02; an orbit mechanism 03 provided on the base 01 for mounting the eyeball body 02; an up-down driving part 04 provided on the base 01 for driving the eyeball body 02 to rotate in the up-down direction; a left-right driving part 05 arranged on the base 01 and used for driving the eyeball body 02 to rotate along the left-right direction; two groups of transmission parts 06 which are both in rope belt shape; wherein, the first end of a group of transmission portions 06 is used for linking to each other with upper and lower drive portion 04, and the second end of a group of transmission portions 06 is used for linking to each other with eyeball body 02, and the first end of another group of transmission portions 06 is used for linking to each other with control drive portion 05, and the second end of another group of transmission portions 06 is used for linking to each other with eyeball body 02 to realize eyeball body 02 and rotate.
Specifically, the orbit mechanism 03 is provided with a through hole for mounting the eyeball body 02 so as to realize the rotation of the eyeball body 02 in the through hole; the up-down driving part 04 and the left-right driving part 05 are preferably arranged at the rear of the eyeball body 02, a connecting handle 021 is arranged at the rear side of the eyeball body 02, and the second ends of the two groups of transmission parts 06 are both fixed on the connecting handle 021. The group of transmission parts 06 connected to the up-down driving part 04 has a lower transmission sub-part 062 for driving the eyeball body 02 to rotate upward and an upper driving sub-part for driving the eyeball body 02 to rotate downward, and the group of transmission parts 06 connected to the left-right driving part 05 has a right transmission sub-part 064 for driving the eyeball body 02 to rotate leftward and a left transmission sub-part 063 for driving the eyeball body 02 to rotate rightward. If the eyeball body 02 needs to rotate leftwards, the right transmission sub-part 064 is pulled by the left-right driving part 05 and the left transmission sub-part 063 is loosened, so that the rear side of the eyeball body 02 rotates towards the direction of the right transmission sub-part 064, and the front side of the eyeball body 02 rotates leftwards; if the eyeball body 02 needs to rotate upwards, the lower transmission sub-part 062 is pulled by the upper and lower driving part 04 and the upper transmission sub-part 061 is loosened, so that the rear side of the eyeball body 02 rotates towards the direction of the upper transmission sub-part 061, and the front side of the eyeball body 02 further rotates upwards, wherein the processes of up-and-down rotation and left-and-right rotation of the eyeball body 02 can be performed simultaneously. The swing angle of the upper transmission sub-portion 061, the lower transmission sub-portion 062, the left transmission sub-portion 063 and the right transmission sub-portion 064 in the process of driving the eyeball body 02 to rotate is small, and the swing angle mainly moves along the extending direction of the swing sub-portion 064.
The transmission portion 06 is preferably a steel rope, but may be a belt such as a steel belt; other materials can be selected for the transmission part 06, and steel belongs to one preferable example of the scheme. Each group of transmission parts 06 specifically comprises two sections of steel ropes, wherein one end of each steel rope is fixed on a fixed handle of the eyeball body 02, and the other end of each steel rope is fixed on a corresponding driving part; of course, each of the above-mentioned groups of transmission parts 06 may be a whole section of steel rope, wherein the middle of the steel rope is fixedly wound on the fixed handle of the eyeball body 02, and two ends of the steel rope are connected with the corresponding driving parts.
The main extending directions of the upper transmission sub-portion 061, the lower transmission sub-portion 062, the left transmission sub-portion 063 and the right transmission sub-portion 064 are the front-back directions, if the transmission sub-portion is pulled directly, the maximum rotation angle of the eyeball body 02 is still smaller, and four connecting handles 021 need to be arranged at the rear side of the eyeball body 02, wherein the upper transmission sub-portion 061 should be connected with the connecting handle 021 at the lower position, the lower transmission sub-portion 062 should be connected with the connecting handle 021 at the upper position, the left transmission sub-portion 063 should be connected with the connecting handle 021 at the right position, and the right transmission sub-portion 064 should be connected with the connecting handle 021 at the left position. In order to further increase the rotation angle range of the eyeball body 02 and reduce the number of connecting handles 021, the mechanical eye provided by the invention further comprises: a steering part arranged on the base 01 and used for changing the extending direction of the two groups of transmission parts 06; the steering section includes: an upper steering body and a lower steering body which are distributed from top to bottom in sequence and used for converting the extending direction of a group of transmission parts 06 into the upper and lower directions; a left steering body and a right steering body which are distributed from left to right in turn and used for converting the extending direction of the other group of transmission parts 06 into a left-right direction; the bracket 07 is arranged on the base 01 and used for fixing the upper steering body, the lower steering body, the left steering body and the right steering body; the orbital mechanism 03 is provided on the front surface of the bracket 07.
Specifically, as shown in fig. 1 to 3 and 5, the bracket 07 has two support plates 071, between which the two support plates 071 are supported by a support rod 072, front and rear ends of the four of the upper steering body, the lower steering body, the left steering body, and the right steering body are fixed to the two support plates 071, respectively, and the orbit mechanism 03 is fixed to the front surface of the support plate 071 positioned forward by the support rod 072. The eyeball body 02 is positioned on the central line of the connecting line of the upper steering body and the lower steering body and is also positioned on the central line of the connecting line of the left steering body and the right steering body. The upper steering body is used for converting the extending direction of the upper transmission sub-portion 061 into a main downward extending direction, so that the upper transmission sub-portion 061 is downwards fixed on the connecting handle 021 of the eyeball body 02; the lower steering body is used for converting the extending direction of the lower transmission sub-part 062 into mainly upwards extending, so that the lower transmission sub-part 062 is upwards fixed on the connecting handle 021 of the eyeball body 02; the left steering body is used for converting the extending direction of the left transmission sub-part 063 into mainly extending rightward, so that the left transmission sub-part 063 is fixed on the connecting handle 021 of the eyeball body 02 to the right; the right steering body is used for converting the extending direction of the right transmission sub-part 064 into mainly extending leftwards, so that the right transmission sub-part 064 is fixed on the connecting handle 021 of the eyeball body 02 leftwards, and thus, the rotation of the eyeball can be realized by only arranging one connecting handle 021 on the rear side of the eyeball body 02; taking the left steering body as an example, when the eyeball body 02 needs to rotate rightwards, the left steering body improves the maximum displacement component of the left transmission sub-part 063 along the left-right direction when being pulled, and the working principle of other steering bodies is also the same, so that the maximum rotation angle of the eyeball body 02 can be further improved.
As shown in fig. 1 to 5, the upper steering body, the lower steering body, the left steering body, and the right steering body are all steering components 08; the steering assembly 08 includes: a steering wheel 081 having a wheel groove for changing the extending direction of the transmission portion 06 to the eyeball body 02; a housing 082 provided in the bracket 07 for supporting the steering wheel 081; wherein, the housing 082 is provided with a through hole 0822, and the transmission part 06 passes through the through hole 0822 and is connected with the eyeball body 02. Specifically, the transmission portion 06 (i.e. a steel rope) is disposed in the wheel groove of the steering wheel 081 and is attached to the surface of the wheel groove, so as to prevent the transmission portion 06 from separating from the steering wheel 081, and enable the extending direction of the transmission portion 06 to be changed, the through hole 0822 on the housing 082 is aligned with the wheel groove of the steering wheel 081, so as to prevent the transmission portion 06 from separating from the wheel groove, and the through hole 0822 faces the connecting handle 021 of the eyeball body 02, and the transmission portion 06 leaves the wheel groove and passes through the through hole 0822 on the housing 082, so as to be connected with the connecting handle 021 of the eyeball body 02. In order to avoid friction between the surface of the transmission part 06 and the wheel groove, the steering wheel 081 is fixed to the housing 082 by an optical axis bolt 083, and the steering wheel 081 can rotate around the optical axis bolt 083 along with the movement of the transmission part 06, namely, the steering wheel 081 rotates by rolling friction force between the steering wheel 081 and the transmission part 06. The optical axis bolt 083 specifically refers to a bolt having an optical axis, and the steering wheel 081 can be rotated around the optical axis surface of the optical axis bolt 083, and the steering wheel 081 is fixed to the housing 082 by screwing a nut into the screw of the optical axis bolt 083.
When the eyeball body 02 rotates by a certain angle along the left-right direction, the extending direction of the upper transmission sub-portion 061 and the extending direction of the lower transmission sub-portion 062 both deviate towards the left-right direction along with the rotation of the eyeball body 02, so that the through holes 0822 between the upper transmission sub-portion 061 and the lower transmission sub-portion 062 and the housing 082 are contacted and generate a larger acting force, and if the eyeball body 02 is to be continuously rotated along the up-down direction at this time, the upper transmission sub-portion 061 and the lower transmission sub-portion 062 generate a larger sliding friction force with the through holes 0822 on the housing 082, which causes larger abrasion to the surfaces of the through holes 0822 and the transmission portion 06; if the rotation sequence of the eyeball is that the eyeball rotates along the up-down direction and then rotates along the left-right direction, the left transmission sub-portion 063 and the right transmission sub-portion 064 will also rub against the through hole 0822 on the housing 082, and serious abrasion results are caused.
As shown in fig. 4, in order to avoid the abrasion phenomenon, the front and rear ends of the housing 082 are provided with shaft sleeves 084 for the housing 082 to rotate; the shaft sleeve 084 is installed in the mounting hole of the bracket 07 to connect the housing 082 with the bracket 07. Specifically, positioning shafts 0821 are arranged at the front end and the rear end of the housing 082, mounting holes are formed in the support 07, the shaft sleeve 084 is sleeved with the positioning shafts 0821, and the shaft sleeve 084 is fixed in the mounting holes of the support 07 through a fixed retainer 085, wherein the shaft sleeve 084 is a self-lubricating shaft sleeve, so that the housing 082 can rotate by taking the positioning shafts 0821 as rotation centers, when the eyeball body 02 rotates for a certain angle, the housing 082 is offset for a certain angle along with the transmission part 06 under the acting force between the transmission part 06 and the wall of a through hole 0822 of the housing 082, so that the supporting acting force of the transmission part 06 in contact with the through hole 0822 is reduced, and the abrasion degree of the through hole 0822 of the housing 082 and the surface of the transmission part 06 is reduced.
In order to further reduce the abrasion degree of the surface of the transmission part 06, the opening of the through hole 0822 is provided with a round chamfer to avoid the contact between the surface of the transmission part 06 and the sharp surface. Of course, the surface of the transmission part 06 can be provided with a protection layer, when the protection layer is damaged by grinding, only a new protection layer is needed to be replaced without replacing the transmission part 06 with higher cost, and the maintenance cost of the mechanical eye is further reduced.
As shown in fig. 1, 3 and 5, the up-down driving unit 04 includes: a vertical rotating plate 041 arranged vertically to the left-right direction and used for rotating and swinging by taking the vertical direction as a balance position; the first steering engine 042 is arranged on the base 01 and used for driving the vertical rotating plate 041 to rotate; the left-right driving unit 05 includes: a horizontal rotating plate 051 which is horizontally arranged and is used for rotating and swinging by taking the left and right directions as balance positions; the second steering engine 052 is arranged on the base 01 and used for driving the horizontal rotating plate 051 to rotate. Specifically, the output shaft of the first steering engine 042 is arranged along the left-right direction and is connected with the center of the vertical rotating plate 041, the output shaft of the second steering engine 052 is arranged along the vertical direction and is connected with the center of the horizontal rotating plate 051, the upper end of the vertical rotating plate 041 is used for connecting the upper transmission sub-portion 061, the lower end of the vertical rotating plate 041 is used for connecting the lower transmission sub-portion 062, the left end of the horizontal rotating plate 051 is used for connecting the left transmission sub-portion 063, and the right end of the horizontal rotating plate 051 is used for connecting the right transmission sub-portion 064. When the eyeball body 02 needs to rotate upwards, the first steering engine 042 drives the upper end of the vertical rotating plate 041 to rotate forwards through the output shaft so as to loosen the upper transmission sub-part 061, and correspondingly, the lower end of the vertical rotating plate 041 rotates backwards so as to pull the lower transmission sub-part 062, and if the eyeball body 02 needs to rotate downwards, the output shaft of the first steering engine 042 rotates in the opposite direction; similarly, when the eyeball body 02 needs to rotate leftwards, the second steering engine 052 drives the left end of the horizontal rotating plate 051 to rotate forwards through the output shaft so as to loosen the left transmission sub-portion 063, correspondingly, the right end of the horizontal rotating plate 051 rotates backwards so as to pull the right transmission sub-portion 064, and if the eyeball body 02 needs to rotate rightwards, the output shaft of the second steering engine 052 rotates in the opposite direction.
Preferably, the center of the vertical rotating plate 041 is equal to the center of the eyeball body 02, and the center of the horizontal rotating plate 051 is equal to the center of the eyeball body 02; the second steering engine 052 is arranged in front of the first steering engine 042, namely, the horizontal rotating plate 051 is arranged in front of the vertical rotating plate 041.
In order to avoid that one of the released transmission parts 06 is disengaged from the wheel groove of the steering wheel 081, as shown in fig. 1,3 and 5, both the vertical turning plate 041 and the horizontal turning plate 051 are provided with elastic parts 09 for tightening the transmission parts 06. Specifically, four elastic parts 09 are provided, two groups of transmission parts 06 are respectively connected with the vertical rotating plate 041 and the horizontal rotating plate 051 through the elastic parts 09, namely, the upper transmission sub-part 061 is connected with the upper end of the vertical rotating plate 041 through an elastic part 09, the lower transmission sub-part 062 is connected with the lower end of the vertical rotating plate 041 through an elastic part 09, the left transmission sub-part 063 is connected with the left end of the horizontal rotating plate 051 through an elastic part 09, and the right transmission sub-part 064 is connected with the right end of the horizontal rotating plate 051 through an elastic part 09. The four elastic parts 09 are in a stretching state so as to provide pretightening force for the upper transmission sub-part 061, the lower transmission sub-part 062, the left transmission sub-part 063 and the right transmission sub-part 064, so that each transmission sub-part is always kept in a tensioning state, and any one of the four transmission sub-parts is prevented from being separated from a wheel groove of the steering wheel 081.
It should be noted that, when the vertical rotating plate 041 and the horizontal rotating plate 051 rotate and swing to the limit state, all the four elastic portions 09 should be kept in a stretched state to ensure that the four transmission sub-portions are always in a tensioned state.
As shown in fig. 1, 3 and 5, the vertical rotating plate 041 and the horizontal rotating plate 051 are provided with a plurality of mounting holes symmetrically distributed relative to the rotation center thereof, wherein the mounting holes are used for adjusting the stretching degree of the elastic portion 09. The elastic part 09 is connected with the vertical rotating plate 041 and the horizontal rotating plate 051 through the mounting holes, and the stretched length of the elastic part 09 is adjusted by mounting the elastic part 09 in the mounting holes at different positions, so that all the transmission parts 06 are always tensioned. The elastic portion 09 is preferably a spring, and its mounting position is determined according to the length of the transmission portion 06 and the spring modulus of the spring.
In addition, when each group of transmission parts 06 drives the eyeball body 02 to move, the displacement amounts of the two transmission sub-parts included in the transmission parts are slightly different, and the elastic part 09 can compensate the displacement deviation so as to avoid the condition that one transmission sub-part is loosened.
As shown in fig. 1 and 5, since the first steering engine 042 occupies a relatively large space, it is preferable to provide the first steering engine 042 at the rear of the second steering engine 052, and since the second steering engine 052 is connected to the base 01, the lower transmission sub-portion 062 cannot directly connect with the lower steering body through the second steering engine 052, and therefore, the vertical rotating plate 041 is staggered with the eyeball body 02 in the left-right direction, and further, the upper transmission sub-portion 061 and the lower transmission sub-portion 062 are connected with the upper steering body and the lower steering body in an inclined manner, but thus the upper transmission sub-portion 061 and the lower transmission sub-portion 062 are easily separated from the wheel groove of the steering wheel 081.
In order to allow the upper and lower transmission sub-sections 061 and 062 to extend only in the front-rear direction and be connected to the steering wheel 081, as shown in fig. 1 and 5, the base 01 is provided with a first lane changing roller 10 for changing the extending direction of the transmission section 06 to the front-rear direction. Specifically, the upper transmission sub-portion 061 and the lower transmission sub-portion 062 extend only in the front-rear direction through the first lane-changing roller 10 such that the portions of the upper transmission sub-portion 061 and the lower transmission sub-portion 062 that leave the first lane-changing roller 10 are prevented from being separated from the wheel groove of the steering wheel 081 during the process of driving the eyeball body 02 to rotate.
It should be noted that, the first lane-changing roller 10 described above can rotate with the upper transmission sub-section 061 and the lower transmission sub-section 062 along with the movement thereof to reduce the wear of the surfaces of the upper transmission sub-section 061 and the lower transmission sub-section 062. Since the movement direction of the upper transmission sub-portion 061 is opposite to the movement direction of the lower transmission sub-portion 062 in the process of driving the eyeball body 02 to rotate in the up-down direction, the first lane-changing roller 10 is divided into an upper portion and a lower portion, which are relatively separated and can rotate in opposite directions, so that sliding friction is prevented from being generated between the surface of the first lane-changing roller 10 and at least one of the upper transmission sub-portion 061 and the lower transmission sub-portion 062.
As shown in fig. 1,3 and 5, in order to avoid the situation that the lower transmission sub-part 062 comes into contact with the side surface of the second steering engine 052 in the part extending from the vertical rotating plate 041 to the first lane changing roller 10, a second lane changing roller 11 for avoiding friction between the transmission part 06 and the second steering engine 052 is further provided on the base 01. Specifically, the second lane-changing roller 11 is disposed on a side surface of the second steering engine 052, which is close to the vertical rotating plate 041, so as to avoid friction between the lower transmission sub-portion 062 and a side surface of the second steering engine 052, and the second lane-changing roller 11 can rotate along with the movement of the lower transmission sub-portion 062, so as to avoid sliding friction between the lower transmission sub-portion 062 and a surface of the second lane-changing roller 11.
In order to avoid the phenomenon that the two transmission sub-portions slip with the surfaces of the first lane-changing roller 10 and the second lane-changing roller 11, it is preferable that the surfaces of the first lane-changing roller 10 and the surfaces of the second lane-changing roller 11 are subjected to a knurling process to increase friction between the surfaces of the two lane-changing rollers and the two power transmission sub-portions.
In order to improve the vivid effect of bionical, this mechanical eye still includes: an eyelid 12 provided on the front surface of the orbit mechanism 03 for shielding the eyeball body 02; a blink driving section 14 provided below the base 01; a transmission rod 13; one end of the transmission rod 13 is connected with the blink driving part 14, and the other end is connected with the eyelid 12 to enable the eyelid 12 to blink. Specifically, the rotation shaft of the eyelid 12 is disposed in the orbital mechanism 03 along the left-right direction, and the end of the rotation shaft of the eyelid 12 is fixedly connected with a rocker, so that the rotation shaft of the eyelid 12 and the rocker rotate coaxially. The blink driving section 14 includes: the third steering engine 141 arranged below the base 01 and the driving rotating plate 142 connected with the output shaft of the third steering engine 141, wherein the output shaft of the third steering engine 141 is preferably arranged along the left-right direction, and the shape and the structure of the driving rotating plate 142 can refer to the vertical rotating plate 041 and the horizontal rotating plate 042; one end of the transmission rod 13 is connected with the driving rotating plate 142, the other end of the transmission rod 13 is connected with the rocker, the driving rotating plate 142 is enabled to rotate and swing through the third steering engine 141, and then the rocker is driven by the transmission rod 13 to rotate by taking the rotating shaft of the eyelid 12 as a rotation center, so that the blinking action of the eyelid 12 is realized.
The robot provided by the invention comprises at least one mechanical eye. Taking the humanoid robot as an example, as shown in fig. 5, the humanoid robot should be provided with two mechanical eyes composed of a pair of mechanical eyes, namely two mechanical eyes arranged side by side, as described above, preferably, the output shafts of two first steering engines 042 of the mechanical eyes are all arranged outwards, so that a worker can directly overhaul the first steering engines 042 and the vertical rotating plate 041; the output shafts of the two third steering engines 141 of the two eyes of the machine are all arranged inwards so that the transmission rod 13 fully utilizes the inner space of the nose bridge of the humanoid robot.
It should be noted that, the number of the mechanical eyes should be adjusted according to the imitated object type; other parts of the robot may be referred to the prior art and are not developed herein.
It should also be noted that in this specification relational terms such as first and second are used solely to distinguish one entity from another entity without necessarily requiring or implying any actual such relationship or order between such entities.
The robot and the mechanical eye thereof provided by the invention are described in detail above. The principles and embodiments of the present invention have been described herein with reference to specific examples, the description of which is intended only to facilitate an understanding of the method of the present invention and its core ideas. It should be noted that it will be apparent to those skilled in the art that various modifications and adaptations of the invention can be made without departing from the principles of the invention and these modifications and adaptations are intended to be within the scope of the invention as defined in the following claims.
Claims (9)
1. A mechanical eye, comprising:
a base (01);
An eyeball body (02);
an orbit mechanism (03) arranged on the base (01) and used for installing the eyeball body (02);
An up-down driving part (04) arranged on the base (01) and used for driving the eyeball body (02) to rotate along the up-down direction;
A left-right driving part (05) arranged on the base (01) and used for driving the eyeball body (02) to rotate along the left-right direction;
Two groups of transmission parts (06) which are both in rope belt shape; the first ends of one group of transmission parts (06) are used for being connected with the upper and lower driving parts (04), the second ends of one group of transmission parts (06) are used for being connected with the eyeball body (02), the first ends of the other group of transmission parts (06) are used for being connected with the left and right driving parts (05), and the second ends of the other group of transmission parts (06) are used for being connected with the eyeball body (02) so as to realize rotation of the eyeball body (02);
a connecting handle (021) is arranged at the rear side of the eyeball body (02), and the second ends of the two groups of transmission parts (06) are both fixed on the connecting handle (021);
The up-down driving unit (04) includes:
A vertical rotating plate (041) which is arranged vertically to the left-right direction and is used for rotating and swinging by taking the vertical direction as a balance position;
The first steering engine (042) is arranged on the base (01) and used for driving the vertical rotating plate (041) to rotate;
the left-right driving unit (05) includes:
a horizontal rotating plate (051) which is horizontally arranged and is used for rotating and swinging by taking the left and right directions as balance positions;
The second steering engine (052) is arranged on the base (01) and used for driving the horizontal rotating plate (051) to rotate.
2. The mechanical eye of claim 1, further comprising: the steering part is arranged on the base (01) and used for changing the extending directions of the two groups of transmission parts (06); the steering section includes:
An upper steering body and a lower steering body which are distributed from top to bottom in sequence and used for converting the extending direction of a group of transmission parts (06) into the up-down direction;
The left steering body and the right steering body are sequentially distributed from left to right and used for converting the extending direction of the other group of transmission parts (06) into the left-right direction;
the bracket (07) is arranged on the base (01) and used for fixing the upper steering body, the lower steering body, the left steering body and the right steering body; wherein, the eye socket mechanism (03) is arranged on the front surface of the bracket (07).
3. The mechanical eye according to claim 2, characterized in that the upper steering body, the lower steering body, the left steering body and the right steering body are steering assemblies (08); the steering assembly (08) comprises:
a steering wheel (081) having a wheel groove for changing the extending direction of the transmission portion (06) to the eyeball body (02);
A housing (082) provided on the bracket (07) and supporting the steering wheel (081);
wherein the housing (082) is provided with a through hole (0822), and the transmission part (06) passes through the through hole (0822) and is connected with the eyeball body (02).
4. A machine eye according to claim 3, characterized in that the front and rear ends of the housing (082) are provided with bushings (084) for rotation of the housing (082); wherein the shaft sleeve (084) is arranged in a mounting hole of the bracket (07) so as to realize connection of the housing (082) and the bracket (07).
5. The mechanical eye according to any of claims 1 to 4, characterized in that the vertical swivel plate (041) and the horizontal swivel plate (051) are each provided with a spring (09) for tensioning the transmission (06).
6. The mechanical eye according to claim 5, characterized in that the vertical swivel plate (041) and the horizontal swivel plate (051) are each provided with a plurality of mounting holes symmetrically distributed with respect to the rotation center thereof, wherein the mounting holes are used for adjusting the stretching degree of the elastic portion (09).
7. The mechanical eye according to claim 6, wherein the vertical rotating plate (041) is staggered with the eyeball body (02) along the left-right direction, and the base (01) is provided with a first lane changing roller (10) for changing the extending direction of the transmission part (06) into the front-back direction and a second lane changing roller (11) for avoiding friction between the transmission part (06) and the second steering engine (052).
8. The mechanical eye of claim 7, further comprising:
an eyelid (12) provided on the front surface of the orbit mechanism (03) for shielding the eyeball body (02);
a blink driving part (14) arranged below the base (01);
a transmission rod (13); one end of the transmission rod (13) is connected with the blink driving part (14), and the other end of the transmission rod (13) is connected with the eyelid (12) so as to enable the eyelid (12) to realize blink motion.
9. A robot comprising at least one mechanical eye according to any one of claims 1 to 8.
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| CN201910168507.0A CN109702769B (en) | 2019-03-06 | 2019-03-06 | Robot and mechanical eye thereof |
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| CN109702769B true CN109702769B (en) | 2024-04-19 |
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| CN111421558B (en) * | 2020-03-19 | 2021-10-08 | 浙江工业大学 | Robot with anthropomorphic expression based on electroactive polymer driver |
| CN112171683B (en) * | 2020-09-03 | 2021-08-24 | 广东工业大学 | Bionic eye eyebrow device for bionic robot |
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| CN101745230A (en) * | 2008-12-02 | 2010-06-23 | 鸿富锦精密工业（深圳）有限公司 | Artificial eye |
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| CN205166941U (en) * | 2015-12-02 | 2016-04-20 | 王鑫 | Facial expression robot eye constructional device |
| CN207578389U (en) * | 2017-10-30 | 2018-07-06 | 昆明理工大学 | A kind of robot of variable facial expressions |
| CN208005689U (en) * | 2018-03-07 | 2018-10-26 | 哈尔滨理工大学 | A kind of robot eye part device for community medical service center hospital guide |
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