CN113478503A - Artificial eyelid driving device - Google Patents
Artificial eyelid driving device Download PDFInfo
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- CN113478503A CN113478503A CN202110879330.2A CN202110879330A CN113478503A CN 113478503 A CN113478503 A CN 113478503A CN 202110879330 A CN202110879330 A CN 202110879330A CN 113478503 A CN113478503 A CN 113478503A
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- eyelid
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- eyelid driving
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- 210000000744 eyelid Anatomy 0.000 title claims abstract description 115
- 230000007246 mechanism Effects 0.000 claims abstract description 33
- 230000000087 stabilizing effect Effects 0.000 claims description 17
- 210000005252 bulbus oculi Anatomy 0.000 claims description 16
- 230000005540 biological transmission Effects 0.000 claims description 4
- 239000000463 material Substances 0.000 claims description 4
- 230000003592 biomimetic effect Effects 0.000 claims 1
- 238000004088 simulation Methods 0.000 abstract description 24
- 210000001508 eye Anatomy 0.000 abstract description 6
- 230000000694 effects Effects 0.000 abstract description 3
- 238000010586 diagram Methods 0.000 description 12
- 239000000725 suspension Substances 0.000 description 10
- 239000011664 nicotinic acid Substances 0.000 description 7
- 238000000034 method Methods 0.000 description 6
- 230000009471 action Effects 0.000 description 4
- 230000008569 process Effects 0.000 description 3
- 230000008901 benefit Effects 0.000 description 2
- 238000009434 installation Methods 0.000 description 2
- 230000006978 adaptation Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 230000001815 facial effect Effects 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
- B25J19/04—Viewing devices
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H21/00—Gearings comprising primarily only links or levers, with or without slides
- F16H21/10—Gearings comprising primarily only links or levers, with or without slides all movement being in, or parallel to, a single plane
- F16H21/12—Gearings comprising primarily only links or levers, with or without slides all movement being in, or parallel to, a single plane for conveying rotary motion
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- General Engineering & Computer Science (AREA)
- Toys (AREA)
Abstract
The disclosed embodiment provides a simulated eyelid driving device, which comprises: the eyelid driving shell is covered outside the eyelet-shaped universal shaft sleeve and can rotate around the eyelet-shaped universal shaft sleeve, the skin of the upper eyelid can be stuck on the eyelid driving shell, the skin of the lower eyelid is directly stuck on the eye-wheel-shaped universal shaft sleeve, the power mechanism drives the driving arm to move, thereby further driving the linkage rod connected with the driving arm to move, finally driving the eyelid driving shell connected with the linkage rod to move, accurately controlling the rotation angle of the eyelid driving shell through the power mechanism, when the eyelid driving shell rotates up and down, the upper eyelid skin can be driven to open or close, which looks like the opening and closing of human eyes from the external effect, therefore, the simulation of the eyelid is realized, and the problem that a simulation eyelid driving device in the prior art is lacked is solved.
Description
Technical Field
The disclosure relates to the technical field of bionic robots, in particular to a simulation eyelid driving device.
Background
In the prior art, the bionic mechanism of the eyeball is various, but the bionic mechanism related to the eyelid is not found.
Disclosure of Invention
The embodiment of the disclosure aims to provide a simulated eyelid driving device to solve the technical problem of the deficiency of the simulated eyelid driving device in the prior art. In order to achieve the above purpose, the present disclosure provides the following technical solutions:
an embodiment of a first aspect of the present disclosure provides a simulated eyelid driving device, including: a mounting frame; a power mechanism; the registrate rotary mechanism, the registrate rotary mechanism includes: the eyelid driving shell is sleeved on the eyelet-shaped universal shaft sleeve, and the eyelid driving shell can rotate relative to the eyelet-shaped universal shaft sleeve; the power transmission mechanism comprises a driving arm and a linkage rod, the driving arm is connected with the power mechanism and is configured to drive the driving arm to move, one end of the linkage rod is rotatably connected with the driving arm, and the other end of the linkage rod is rotatably connected with the eyelid driving shell.
According to the simulation eyelid driving device of the embodiment of the disclosure, an eyelid driving shell which is wrapped with the eye-shaped universal shaft sleeve and can rotate around the eye-shaped universal shaft sleeve is sleeved outside the eye-shaped universal shaft sleeve, the skin of the upper eyelid can be pasted on the eyelid driving shell, the skin of the lower eyelid is directly stuck on the eye-wheel-shaped universal shaft sleeve, the power mechanism drives the driving arm to move, thereby further driving the linkage rod connected with the driving arm to move, finally driving the eyelid driving shell connected with the linkage rod to move, accurately controlling the rotation angle of the eyelid driving shell through the power mechanism, when the eyelid driving shell rotates up and down, the upper eyelid skin can be driven to open or close, which looks like the opening and closing of human eyes from the external effect, therefore, the simulation of the eyelid is realized, and the problem that a simulation eyelid driving device in the prior art is lacked is solved.
In addition, according to one of the embodiments of the present disclosure, the following additional technical features may also be provided:
in some embodiments of the present disclosure, the eyelid driving case is provided with a rotation hole at each of the left and right ends thereof, and the rotation shaft is provided at each of the left and right ends thereof, the rotation shaft being matched with the rotation hole, the rotation shaft being disposed on the rotation hole, and the eyelid driving case being rotatable around the rotation shaft.
In some embodiments of the disclosure, the power mechanism includes a steering engine and a steering engine fixing frame, the steering engine is fixedly installed on the steering engine fixing frame, the steering engine fixing frame is fixedly installed on the mounting frame, the steering engine is provided with a steering engine shaft, a first screw hole is formed in the steering engine shaft, one end of the driving arm is provided with a third shaft hole, and a screw passes through the third shaft hole and is connected to the first screw hole.
In some embodiments of the disclosure, an extension arm is arranged on the eyelid driving shell, a first shaft hole is arranged at one end of the extension arm, which is far away from the eyelid driving shell, a second shaft hole matched with the first shaft hole is arranged at one end of the linkage rod, a screw passes through the first shaft hole and the second shaft hole to connect the extension arm and the linkage rod together, and the extension arm and the linkage rod after connection can rotate relatively.
In some embodiments of the present disclosure, a first insection is disposed on an outer side of the rudder machine shaft, a stepped hole is disposed at one end of the driving arm, and an axis of the stepped hole is the same as an axis of the third shaft hole, and a second insection adapted to the first insection is disposed on an inner side wall of the stepped hole to prevent the driving arm from slipping with the rudder machine shaft.
In some embodiments of the present disclosure, the steering engine further comprises a stabilizing plate, the stabilizing plate is fixedly connected to the mounting frame, and the middle position of the stabilizing plate is fixed to the steering engine fixing frame.
In some embodiments of the present disclosure, the eyelid drive casing is a malleable material.
In some embodiments of the present disclosure, the simulation eye-ball camera further includes an eye-wheel-shaped through hole formed in the middle of the eye-wheel-shaped universal sleeve, the simulation eye-ball camera is installed inside the eye-wheel-shaped universal sleeve, and the simulation eye-ball camera can perform shooting work through the eye-wheel-shaped through hole.
An embodiment of a second aspect of the present disclosure provides an eyeball bionic mechanism, which includes any one of the simulated eyelid driving devices provided by the above disclosed embodiments.
Embodiments of a third aspect of the present disclosure provide a simulation robot, including any one of the simulation eyelid driving devices set forth in the above-disclosed embodiments.
Drawings
Various other advantages and benefits will become apparent to those of ordinary skill in the art upon reading the following detailed description of the preferred embodiments. The drawings are only for purposes of illustrating the preferred embodiments and are not to be construed as limiting the disclosure. Like reference numerals refer to like parts throughout the drawings. In the drawings:
fig. 1 is a schematic structural diagram of a right front viewing angle of a simulated eyelid driving device according to an embodiment of the disclosure;
fig. 2 is a schematic structural diagram of a left rear viewing angle of a simulated eyelid driving device according to an embodiment of the disclosure;
FIG. 3 is an assembly diagram of a simulated eyelid driving device according to an embodiment of the disclosure;
FIG. 4 is a schematic structural diagram illustrating a left rear viewing angle of a mounting bracket of a simulated eyelid driving device according to an embodiment of the disclosure;
fig. 5 is a schematic structural diagram of a right front viewing angle of a mounting bracket of a simulated eyelid driving device according to an embodiment of the disclosure;
fig. 6 is a schematic structural diagram of an eyelid driving housing of a simulated eyelid driving device according to an embodiment of the disclosure;
FIG. 7 is a schematic structural diagram of an eye-wheel gimbal assembly of an artificial eyelid driving device according to an embodiment of the present disclosure;
FIG. 8 is a schematic structural diagram illustrating a driving arm of an artificial eyelid driving device according to an embodiment of the disclosure;
FIG. 9 is a schematic structural diagram of a linkage rod of the eyelid simulation driving device according to the embodiment of the disclosure;
FIG. 10 is a schematic structural diagram of a stabilizing plate of an artificial eyelid driving device according to an embodiment of the disclosure;
fig. 11 is a schematic structural diagram of a steering engine fixing frame of the simulated eyelid driving device according to the embodiment of the disclosure;
fig. 12 is a schematic structural diagram of a steering engine of the simulated eyelid driving device according to the embodiment of the disclosure;
figure 13 is a side view of an artificial eyelid driving device in accordance with an embodiment of the disclosure.
The reference symbols in the drawings denote the following: 010-a mounting frame; 011 a steering engine fixing frame; 012-a stabilizing plate; 013-outer hangers;
014 — first through hole; 015-inner suspension loop; 016 — second through hole; 017 — second screw holes;
018-third screw holes; 019-fourth screw hole; 021-eyelid driving shell;
022-eye-wheel type universal shaft sleeve; 023-eye-wheel shaped through holes; 024-an extension arm; 025-a rotation aperture; 026 — first axial hole; 027 — rotation axis; 028-inner ear plate;
029-lateral ear panel; 031-drive arm; 032 — gangbar; 033-stepped bore; 034-second shaft hole; 035-third axle hole; 036-fourth shaft hole; 037-fifth shaft hole;
041-steering engine; 042-rudder machine shaft; 043-first screw hole; 044-third via;
045 — fifth screw hole; 046-rectangular through hole; 047-fourth via;
050-simulation eyeball camera.
Detailed Description
In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present application, and it is also obvious for a person skilled in the art to obtain other embodiments according to the drawings.
For convenience of description, spatially relative terms, such as "inner", "outer", "lower", "below", "upper", "above", and the like, may be used herein to describe one element or feature's relationship to another element or feature as illustrated in the figures. Such spatially relative terms are intended to encompass different orientations of the device in use or operation in addition to the orientation depicted in the figures.
The technical solutions in the embodiments of the present disclosure will be clearly and completely described below with reference to the drawings in the embodiments of the present disclosure, and it is obvious that the described embodiments are only a part of the embodiments of the present disclosure, and not all of the embodiments. All other embodiments derived from the present application by a person of ordinary skill in the art based on the embodiments in the present disclosure are within the scope of protection of the present disclosure.
As shown in fig. 1 to 13, an embodiment of a first aspect of the present disclosure proposes an artificial eyelid driving device, including: a mounting bracket 010; a power mechanism; the registrate rotary mechanism, the registrate rotary mechanism includes: an eyelid driving case 021 and an eyelet-shaped universal shaft sleeve 022, wherein the eyelet-shaped universal shaft sleeve 022 is fixedly connected to the mounting frame 010, the eyelid driving case 021 is a local hollow ball type, the eyelid driving case 021 is sleeved on the eyelet-shaped universal shaft sleeve 022, and the eyelid driving case 021 can rotate relative to the eyelet-shaped universal shaft sleeve 022; the power transmission mechanism comprises a driving arm 031 and a linkage rod 032, the driving arm 031 is connected with a power mechanism, the power mechanism is configured to drive the driving arm 031 to move, one end of the linkage rod 032 is rotatably connected with the driving arm 031, and the other end of the linkage rod 032 is rotatably connected with an eyelid driving shell 021.
According to the simulated eyelid driving device of the embodiment of the disclosure, an eyelid driving case 021 which is wrapped with the eyelet-shaped universal shaft sleeve 022 and can rotate around the eyelet-shaped universal shaft sleeve 022 is sleeved outside the eyelet-shaped universal shaft sleeve 022, the skin of the upper eyelid can be stuck on the eyelid driving case 021, the skin of the lower eyelid is directly stuck on the eye wheel-shaped universal shaft sleeve 022, the power mechanism drives the driving arm 031 to move, thereby further driving the linkage rod 032 connected with the driving arm 031 to move, finally driving the eyelid driving shell 021 connected with the linkage rod 032 to move, accurately controlling the rotation angle of the eyelid driving shell 021 through the power mechanism, when the eyelid driving case 021 is rotated up and down, the upper eyelid skin can be driven to open or close, which looks like the opening and closing of human eyes from the external effect, therefore, the simulation of the eyelid is realized, and the problem that a simulation eyelid driving device in the prior art is lacked is solved.
In some embodiments of the present disclosure, the rotating holes 025 are disposed at both left and right ends of the eyelid driving shell 021, and the rotating shafts 027 adapted to the rotating holes 025 are disposed at both left and right ends of the eyelet-shaped universal shaft sleeve 022, the rotating shafts 027 are sleeved on the rotating holes 025, the eyelid driving shell 021 can rotate around the rotating shafts 027, in this embodiment, the rotating holes 025 are disposed on the eyelid driving shell 021, the rotating shafts 027 are disposed on the eyelet-shaped universal shaft sleeve 022, and the eyelid driving shell 021 can rotate around the rotating shafts 027 after being sleeved on the eyelet-shaped universal shaft sleeve 022.
In some embodiments of the present disclosure, the power mechanism includes a steering engine 041 and a steering engine fixing frame 011, the steering engine 041 is fixedly installed on the steering engine fixing frame 011, the steering engine fixing frame 011 is fixedly installed on the mounting frame 010, the steering engine 041 is provided with a steering engine shaft 042, the steering engine shaft 042 is provided with a first screw hole 043, one end of the driving arm 031 is provided with a third shaft hole 035, a screw passes through the third shaft hole 035 to be connected to the first screw hole 043, as shown in fig. 2, 3, 11 and 12, in the embodiments of the present disclosure, the power mechanism is the steering engine 041, which is also called a micro steering engine, the steering engine 041 is fixedly installed on the steering engine fixing frame 011, the steering engine fixing frame 011 is fixedly installed on the mounting frame 010, the steering engine 041 is provided with a steering engine shaft 042, the steering engine shaft 042 is provided with a first screw hole 043, the screw passes through the third shaft hole 035 to be connected to the first screw hole 043 of the steering engine shaft 042, at this time, the rotation angle of the driving arm 031 can be controlled by the rotation angle of the steering engine shaft 042, and finally the rotation angle of eyelid driving case 021.
In some embodiments of the present disclosure, an extension arm 024 is disposed on the eyelid driving case 021, a first shaft hole 026 is disposed at an end of the extension arm 024 away from the eyelid driving case 021, a second shaft hole 034 adapted to the first shaft hole 026 is disposed at an end of the linkage rod 032, a screw passes through the first shaft hole 026 and the second shaft hole 034 to connect the extension arm 024 with the linkage rod 032, and the connected extension arm 024 and the linkage rod 032 can rotate relatively, for example, as shown in fig. 6 and 9, an extension arm 024 is disposed on the eyelid driving case 021, a first shaft hole 024 connected with the linkage rod 032 is disposed on the extension arm 024, a screw passes through the first shaft hole 026 on the extension arm 024 to connect the extension arm 024 with the linkage rod 032, and the connected extension arm 024 and the linkage rod 032 can rotate relatively, because the linkage rod 026 is not directly connected with the eyelid driving case 021, but is connected with the extension arm 024 on the eyelid driving case 021, and by designing the size of the extension arm 024, as shown in fig. 13, after the eyelid driving device is assembled, the extension arm 024 is parallel to the driving arm 031, and the rotating angle of the driving arm 031 is consistent with that of the extension arm 024, so that the rotating angle of the eyelid driving case 021 can be controlled more accurately.
In some embodiments of the present disclosure, one end of the driving arm 031 is provided with a fourth shaft hole 036, one end of the linkage rod 032 is provided with a fifth shaft hole 037, a screw passes through the fourth shaft hole 036 and the fifth shaft hole 037 to connect the driving arm 031 with the linkage rod 032, and the connected driving arm 031 and linkage rod 032 can rotate, in the embodiments of the present disclosure, the driving arm 031 and linkage rod 032 can be rotatably connected together by designing the fourth shaft hole 036 and the fifth shaft hole 037, the structural form is simple, the installation is convenient, and the structure of the power transmission mechanism is greatly simplified.
In some embodiments of the present disclosure, a first insection (not shown in the figure) is disposed on an outer side of the rudder machine shaft 042, one end of the driving arm 031 is provided with a step hole 033, the step hole 033 is identical to an axis of the third shaft hole 035, a second insection (not shown in the figure) adapted to the first insection is disposed on an inner side wall of the step hole 033 to prevent slipping between the driving arm 031 and the rudder machine shaft 042, the first insection is disposed on an outer side of the rudder machine shaft 042, and a second insection adapted to the first insection is disposed on one end of the driving arm 031, so that slipping between the driving arm 031 and the rudder machine shaft 042 can be prevented after the driving arm 031 is connected to the rudder machine.
In some embodiments of the present disclosure, the simulation eyelid driving device further includes a stabilizing plate 012, the stabilizing plate 012 is fixedly connected to the mounting frame 010, and the middle position of the stabilizing plate 012 is fixed to the steering engine fixing frame 011, in some embodiments of the present disclosure, two sides of the stabilizing plate 012 are respectively fixed to the mounting frame 010, and the middle position of the stabilizing plate 012 is fixed to the steering engine fixing frame 011, when the simulation eyelid driving device operates, the amplitude of vibration of the steering engine 041 during operation can be greatly reduced, so that the whole simulation eyelid driving device is more stable.
In some embodiments of the present disclosure, an inner suspension loop 015 and an outer suspension loop 013 are disposed on the mounting frame 010, a first through hole 014 is disposed on the inner suspension loop 015 and the outer suspension loop 013, a fourth screw hole 019 is disposed on each of the inner suspension loop 028 and the outer suspension loop 029, the inner suspension loop 028 and the outer suspension loop 013 are matched with each other, the screw passes through the first through hole 014 and is connected to the fourth screw hole 019, and the inner suspension loop 022 is fixed on the mounting frame 010.
In some embodiments of the present disclosure, the left and right sides of the stabilizing plate 012 are provided with second screw holes 017, the mounting frame 010 is provided with second through holes 016, and the screws pass through the second through holes 016 to be connected to the second screw holes 017, so as to fix the stabilizing plate 012 on the mounting frame 010. The intermediate position of stabilizing plate 012 is provided with third screw hole 018, be provided with the third through hole 044 with third screw hole 018 looks adaptation on the steering wheel mount 011, the screw passes third through hole 044 and connects on third screw hole 018, be in the same place stabilizing plate 012 and steering wheel mount 011 fixed connection, all be provided with the rectangle through hole 046 that can let steering wheel 041 pass through on the left and right sides of steering wheel mount 011, all be provided with fifth screw hole 045 in the upper and lower both sides of these two rectangle through holes 046, be provided with fourth through hole 047 on steering wheel 041, the screw passes fourth through hole 047 and connects in fifth screw hole 045, fix steering wheel 041 on steering wheel mount 011.
In some embodiments of the present disclosure, the eyelid driving case 021 is made of a flexible material, and the eyelid driving case 021 can be more easily sleeved on the eyelet-shaped universal shaft sleeve 022 by setting the eyelid driving case 021 to be made of the flexible material.
In some embodiments of the present disclosure, the artificial eyelid driving device further includes an artificial eyeball camera 050, an eye wheel-shaped through hole 023 is disposed at a middle position of the eye-wheel-shaped universal sleeve 022, the artificial eyeball camera 050 is mounted inside the eye-wheel-shaped universal sleeve 022, and the artificial eyeball camera 050 can shoot through the eye wheel-shaped through hole 023.
The embodiment of the second aspect of the present disclosure provides an eyeball bionic mechanism, which includes any one of the simulated eyelid driving devices provided in the above disclosed embodiments, and any one of the simulated eyelid driving devices in the embodiments of the present disclosure has a relatively independent assembly structure design, and can be used as an independent module of the eyeball bionic mechanism for optional installation, which also means that the simulated eyelid driving device in any one of the above embodiments of the present disclosure can be installed in any eyeball bionic mechanism.
An embodiment of the third aspect of the present disclosure provides a simulation robot, including any one of the simulation eyelid driving devices proposed in the above-mentioned disclosed embodiments, and any one of the simulation eyelid driving devices proposed in the above-mentioned disclosed embodiments may be used to drive an upper eyelid skin of the simulation robot, so that an action of an eyelid may be simulated more realistically, and meanwhile, a facial action of a human face is matched to reflect an expression change of the human, which also means that the simulation eyelid driving device in any one of the above-mentioned embodiments of the present disclosure may be applied to the simulation robot.
It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.
All the embodiments of the present disclosure are described in a related manner, and the same and similar parts among the embodiments may be referred to each other, and each embodiment focuses on the differences from the other embodiments.
The above description is only for the preferred embodiment of the present disclosure, and is not intended to limit the scope of the present disclosure. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present disclosure are included in the scope of protection of the present disclosure.
Claims (10)
1. An artificial eyelid driving device, comprising:
a mounting frame;
a power mechanism;
a nesting rotation mechanism comprising: the eyelid driving shell is sleeved on the eyelet-shaped universal shaft sleeve, and the eyelid driving shell can rotate relative to the eyelet-shaped universal shaft sleeve;
the power transmission mechanism comprises a driving arm and a linkage rod, the driving arm is connected with the power mechanism and is configured to drive the driving arm to move, one end of the linkage rod is rotatably connected with the driving arm, and the other end of the linkage rod is rotatably connected with the eyelid driving shell.
2. The artificial eyelid driving device according to claim 1, wherein the eyelid driving shell has a rotation hole at each of the left and right ends, and the eye-shaped universal sleeve has a rotation shaft at each of the left and right ends, the rotation shaft being matched with the rotation hole, the rotation sleeve being disposed on the rotation hole, the eyelid driving shell being rotatable around the rotation shaft.
3. The artificial eyelid driving device according to claim 1, wherein the power mechanism comprises a steering engine and a steering engine fixing frame, the steering engine is fixedly installed on the steering engine fixing frame, the steering engine fixing frame is fixedly installed on the mounting frame, the steering engine is provided with a steering engine shaft, a first screw hole is formed in the steering engine shaft, a third shaft hole is formed in one end of the driving arm, and a screw penetrates through the third shaft hole and is connected to the first screw hole.
4. The artificial eyelid driving device according to claim 1, wherein an extension arm is disposed on the eyelid driving case, a first shaft hole is disposed at an end of the extension arm away from the eyelid driving case, a second shaft hole matched with the first shaft hole is disposed at an end of the linkage rod, a screw passes through the first shaft hole and the second shaft hole to connect the extension arm and the linkage rod together, and the extension arm and the linkage rod after connection can rotate relatively.
5. The artificial eyelid driving device according to claim 3, wherein the rudder machine shaft is provided at an outer side thereof with first insections, the driving arm is provided at one end thereof with a stepped hole having the same axis as the third shaft hole, and inner sidewalls of the stepped hole are provided with second insections adapted to the first insections to prevent slippage between the driving arm and the rudder machine shaft.
6. The artificial eyelid driving device according to claim 3, further comprising a stabilizing plate, wherein the stabilizing plate is fixedly connected to the mounting frame, and the middle position of the stabilizing plate is fixed to the steering engine fixing frame.
7. The artificial eyelid driving device of claim 1, wherein the eyelid driving shell is a malleable material.
8. The artificial eyelid driving device according to claim 1, further comprising an artificial eyeball camera, wherein an eye-wheel-shaped through hole is formed in the middle of the eye-wheel-shaped universal sleeve, the artificial eyeball camera is installed inside the eye-wheel-shaped universal sleeve, and the artificial eyeball camera can shoot through the eye-wheel-shaped through hole.
9. An eye-ball biomimetic mechanism comprising the artificial eyelid driving device according to any one of claims 1 to 8.
10. A simulated robot comprising the simulated eyelid driving device according to any one of claims 1 to 8.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202110879330.2A CN113478503A (en) | 2021-08-02 | 2021-08-02 | Artificial eyelid driving device |
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| CN202110879330.2A CN113478503A (en) | 2021-08-02 | 2021-08-02 | Artificial eyelid driving device |
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| CN107053210A (en) * | 2017-06-06 | 2017-08-18 | 江苏金刚文化科技集团股份有限公司 | A kind of robot head device and robot |
| CN206780421U (en) * | 2017-06-06 | 2017-12-22 | 江苏金刚文化科技集团股份有限公司 | A kind of robot eyelid component and robot |
| CN207564488U (en) * | 2017-12-12 | 2018-07-03 | 深圳光启合众科技有限公司 | The head construction of robot and with its robot |
| CN213562612U (en) * | 2020-10-28 | 2021-06-29 | 阿米乐园智能科技(北京)有限公司 | Bionic eye structure of intelligent machine |
| CN215433706U (en) * | 2021-08-02 | 2022-01-07 | 北京蓝色星河软件技术发展有限公司 | Simulated eyelid driving device, eyeball bionic mechanism and simulated robot |
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