CN209774705U

CN209774705U - Robot and mechanical eye thereof

Info

Publication number: CN209774705U
Application number: CN201920286307.0U
Authority: CN
Inventors: 宁明乐; 朱海飞; 邱榆; 许崇铭; 向彬彬
Original assignee: Guangdong University of Technology
Current assignee: Guangdong University of Technology
Priority date: 2019-03-06
Filing date: 2019-03-06
Publication date: 2019-12-13
Anticipated expiration: 2029-03-06

Abstract

the utility model discloses a mechanical eye, include: a base; an eyeball body; the eye socket mechanism is arranged on the base and used for mounting 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; a left and right driving part arranged on the base and used for driving the eyeball body to rotate along the left and right directions; two groups of transmission parts which are both in a rope belt shape; the first end of one group of transmission parts is used for being connected with the upper and lower driving parts, 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 and right driving parts, and the second end of the other group of transmission parts is used for being connected with the eyeball body, so that the eyeball body rotates. The transmission part of the mechanical eye is simple in structure, and can realize rotation of the eyeball body and maintenance work of maintenance personnel conveniently only by occupying a small moving space. Furthermore, the utility model also discloses a robot including above-mentioned mechanical eye.

Description

robot and mechanical eye thereof

Technical Field

The utility model relates to a bionic robot technical field especially relates to a mechanical eye. Furthermore, the utility model discloses still relate to a robot including above-mentioned mechanical eye.

background

With the continuous development of the bionic robot, the facial expression of the robot is more and more abundant, wherein how the mechanical eyes realize rotation is particularly important for expressing the facial expression of the robot.

At present, a mechanical eye takes a facial expression robot eye structure device with publication number CN20516694 as an example, and the device uses a steering engine to drive two sets of crank-link structures to respectively realize the rotation of eyeballs in four degrees of freedom, namely left and right, and up and down. However, in order to improve the rotation angle of the eyeball, the crank-link mechanism needs to occupy a large moving space, and the two crank-link structures are arranged tightly, so that the whole device is complex in structure and inconvenient for workers to overhaul the eye structure device.

SUMMERY OF THE UTILITY MODEL

the utility model aims at providing a mechanical eye, this mechanical eye's transmission portion simple structure only needs to occupy less activity space alright realize eyeball body's rotation, convenient to overhaul personnel's maintenance work. Another object of the present invention is to provide a robot including the above-mentioned mechanical eye.

In order to achieve the above object, the present invention provides a mechanical eye, including: a base; an eyeball body; the eye socket mechanism is arranged on the base and used for mounting 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; a left and right driving part arranged on the base and used for driving the eyeball body to rotate along the left and right directions; two groups of transmission parts which are both in a rope belt shape; the first end of one group of the transmission part is used for being connected with the upper and lower driving parts, the second end of the other group of the transmission part is used for being connected with the eyeball body, the first end of the other group of the transmission part is used for being connected with the left and right driving parts, and the second end of the other group of the transmission part is used for being connected with the eyeball body, so that the eyeball body rotates.

Preferably, the method further comprises the following steps: 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 body and the lower steering body are sequentially distributed from top to bottom and used for converting the extending direction of the group of transmission parts 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 into the left and 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 disposed on the anterior surface of the support.

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 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 shell is provided with a through hole, and the transmission part penetrates through the through hole to be 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 rotation of the housing; the shaft sleeve is arranged in the mounting hole of the support to realize that the housing is connected with the support.

Preferably, the up-down driving part includes: a vertical rotating plate which is arranged perpendicular to the left and right 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 and right driving part includes: a horizontal rotating plate which is horizontally arranged and is used for rotating and swinging with the left direction and the right direction as a balance position; and 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 both provided with a plurality of mounting holes which are 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 commentaries on classics board along left right direction with eyeball body crisscross setting, the base is equipped with and is used for changing the first lane change roller that transmission portion extending direction is fore-and-aft direction and is used for avoiding transmission portion with the frictional second lane change roller of second steering wheel.

Preferably, the method further comprises the following steps: 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 eyelids so that the eyelids can blink.

Compared with the prior art, the utility model provides a mechanical eye stimulates eyeball body through two sets of drive division pulling eyeball bodies that are the rope belt form and rotates from top to bottom and control the rotation. Specifically, two ends of the group of transmission parts are respectively connected with the upper and lower driving parts and the eyeball body, and the upper and lower driving parts adjust the rotation angle of the eyeball body along the upper and lower directions by pulling the transmission parts; the two ends of the other group of transmission parts are respectively connected with the left and right driving parts and the eyeball body, and the left and right driving parts adjust the rotation angle of the eyeball body along the left and right directions by pulling the transmission parts. The rotation angle required by the eyeball body can be met without occupying large moving space in the process of pulling the rope-shaped transmission part.

The utility model also provides a robot, including at least one above any mechanical eye.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required 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 embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the provided drawings without creative efforts.

Fig. 1 is a schematic structural view of a mechanical eye provided by the present invention;

Fig. 2 is a schematic structural view of a steering portion provided in the present invention;

Fig. 3 is a top view of the eyeball body driven by the left and right driving parts 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 structural diagram of a mechanical pair of eyes of a robot according to the present invention.

Wherein,

01-base, 02-eyeball body, 021-connecting handle, 03-orbit mechanism, 04-up and down driving part, 041-vertical rotating plate, 042-first steering engine, 05-left and right driving part, 051-horizontal rotating plate, 052-second steering engine, 06-transmission part, 061-upper transmission sub-part, 062-lower transmission sub-part, 063-left transmission sub-part, 064-right transmission sub-part, 07-bracket, 071-supporting plate, 072-supporting rod, 08-steering component, 081-steering wheel, 082-cover shell, 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, eyelid, 13-transmission rod, 14-blink driving part, 141-third steering engine and 142-driving rotating plate.

Detailed Description

The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention.

In order to make the technical field of the present invention better understand, the present invention will be described in detail with reference to the accompanying drawings and the detailed description.

Referring to fig. 1 to 5, fig. 1 is a schematic structural view of a mechanical eye provided by the present invention; fig. 2 is a schematic structural view of a steering portion provided in the present invention; fig. 3 is a top view of the eyeball body driven by the left and right driving parts 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 structural diagram of a mechanical pair of eyes of a robot according to the present invention.

The utility model provides a mechanical eye, as shown in fig. 1 to fig. 3 and fig. 5, this mechanical eye 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 and right driving part 05 provided on the base 01 for driving the eyeball body 02 to rotate in the left and right directions; two groups of transmission parts 06 which are both in the shape of rope belts; the first end of one set of transmission part 06 is used to connect with the up-down driving part 04, the second end of one set of transmission part 06 is used to connect with the eyeball body 02, the first end of the other set of transmission part 06 is used to connect with the left-right driving part 05, and the second end of the other set of transmission part 06 is used to connect with the eyeball body 02, so as to realize the rotation of the eyeball body 02.

Specifically, the orbit mechanism 03 is provided with a through hole for installing the eyeball body 02 so as to support the eyeball body 02 to rotate in the through hole; the up-down driving part 04 and the left-right driving part 05 are preferably disposed at the rear of the eyeball body 02, a connecting handle 021 is disposed at the rear side of the eyeball body 02, and the second ends of the two sets of transmission parts 06 are fixed to the connecting handle 021. The one set of transmission parts 06 connected to the up-down driving part 04 has a down transmission sub-part 062 for driving the eyeball body 02 to rotate upward and an up transmission sub-part for driving the eyeball body 02 to rotate downward, and the one set 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 be rotated to the left, the right transmission sub-part 064 is pulled by the left and right driving part 05 and the left transmission sub-part 063 is released, 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 further rotates to the left; if the eyeball body 02 needs to be rotated upward, the lower transmission sub-part 062 is pulled by the up-and-down driving part 04 and the upper transmission sub-part 061 is released, so that the rear side of the eyeball body 02 is rotated toward the upper transmission sub-part 061, and the front side of the eyeball body 02 is further rotated upward, 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-part 061, the lower transmission sub-part 062, the left transmission sub-part 063 and the right transmission sub-part 064 in the process of driving the eyeball body 02 to rotate is small, and the swing angle is mainly moved along the extending direction of the swing angle, compared with a crank rocker mechanism in the prior art, the moving space occupied by the transmission part 06 is smaller, so that under the condition that the same space is occupied, the distribution of each part in the mechanical eye can be more dispersed, the mechanical eye is beneficial to the working personnel to independently overhaul each part, and the mechanical eye is not limited by blocking of other parts.

the power transmission part 06 is preferably a steel rope, but may be a belt-like member such as a steel belt; wherein, transmission part 06 can also select other materials, and steel only belongs to a preferred example of this scheme. Each group of transmission parts 06 specifically comprises two steel ropes, wherein one end of each steel rope is fixed on the fixing handle of the eyeball body 02, and the other end of each steel rope is fixed on the corresponding driving part; of course, each set of transmission part 06 may be a whole steel cable, wherein the middle of the steel cable is fixedly wound on the fixing handle of the eyeball body 02, and the two ends of the steel cable are connected to the corresponding driving parts.

the main extending direction of the upper transmitting sub-part 061, the lower transmitting sub-part 062, the left transmitting sub-part 063, and the right transmitting sub-part 064 is the front-back direction, if the transmitting sub-part is pulled directly, the maximum rotation angle of the eyeball body 02 is still small, and four connecting handles 021 are required to be disposed at the back side of the eyeball body 02, wherein the upper transmitting sub-part 061 should be connected to the connecting handle 021 located at the lower position, the lower transmitting sub-part 062 should be connected to the connecting handle 021 located at the upper position, the left transmitting sub-part 063 should be connected to the connecting handle 021 located at the right position, and the right transmitting sub-part 064 should be connected to the connecting handle 021 located at the left position. In order to further improve eyeball body 02 pivoted angular range to reduce the quantity of connecting handle 021, the utility model provides a mechanical eye still includes: a turning part arranged on the base 01 and used for changing the extending direction of the two groups of transmission parts 06; this steering part 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 the group of transmission parts 06 into the up-down direction; a left steering body and a right steering body which are distributed from left to right in sequence and used for converting the extending direction of the other group of transmission parts 06 into the left-right direction; a bracket 07 arranged on the base 01 for fixing the upper steering body, the lower steering body, the left steering body and the right steering body; wherein, the orbit mechanism 03 is arranged 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 supported by a support rod 072 therebetween, front and rear ends of the upper steering body, the lower steering body, the left steering body and the right steering body are respectively fixed to the two support plates 071, and the orbit mechanism 03 is fixed to a front surface of the support plate 071 positioned forward by the support rod 072. The eyeball body 02 is located on the midline of the connecting line of the upper steering body and the lower steering body, and also located on the midline of the connecting line of the left steering body and the right steering body. The upper turning body is used for changing the extending direction of the upper transmission sub-part 061 into a direction mainly extending downwards, so that the upper transmission sub-part 061 is fixed on the connecting handle 021 of the eyeball body 02 downwards; the lower steering body is used for changing the extending direction of the lower transmission sub-part 062 into a direction mainly extending upwards, so that the lower transmission sub-part 062 is upwards fixed on the connecting handle 021 of the eyeball body 02; the left turning body is used for changing the extending direction of the left transmission sub-part 063 to mainly extend to the right, so that the left transmission sub-part 063 is fixed to the connecting handle 021 of the eyeball body 02 facing to the right; the right turning body is used for changing the extending direction of the right transmission sub-part 064 to mainly extend leftwards, so that the right transmission sub-part 064 is fixed to the connecting handle 021 of the eyeball body 02 leftwards, and thus, the eyeball can be rotated only by arranging one connecting handle 021 at the rear side of the eyeball body 02; taking the left turning body as an example, when the eyeball body 02 needs to be rotated to the right, the left turning body increases the maximum displacement component of the left transmission sub-portion 063 in the left-right direction when being pulled, and the working principle of other turning bodies is the same, so that the maximum rotation angle of the eyeball body 02 can be increased.

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 steering assemblies 08; the steering assembly 08 includes: a steering wheel 081 having a wheel groove for changing the extending direction of the transmission part 06 to the eyeball body 02; a housing 082 provided on the bracket 07 for supporting the steering wheel 081; 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 part 06 (i.e. the steel cable) is disposed in the groove of the steering wheel 081 and attached to the surface of the groove to prevent the transmission part 06 from being separated from the steering wheel 081 and to change the extending direction of the transmission part 06, the through hole 0822 of the housing 082 is aligned with the groove of the steering wheel 081 to prevent the transmission part 06 from being separated from the groove, and the through hole 0822 faces the connection handle 021 of the eyeball body 02, and the transmission part 06 is separated from the groove and passes through the through hole 0822 of the housing 082 to be connected with the connection 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 the axle bolt 083, and the steering wheel 081 is allowed to rotate around the axle bolt 083 in accordance with the movement of the transmission part 06, that is, the steering wheel 081 is rotated by the rolling friction force between the steering wheel 081 and the transmission part 06. It should be noted that, the optical axis bolt 083 is specifically a bolt having an optical axis, and the steering wheel 081 can rotate around the optical axis surface of the optical axis bolt 083, and is screwed into the screw rod of the optical axis bolt 083 through a nut to fix the steering wheel 081 to the housing 082.

When the eyeball body 02 rotates in the left-right direction for a certain angle, the extending direction of the upper transmission sub part 061 and the extending direction of the lower transmission sub part 062 both deviate in the left-right direction along with the rotation of the eyeball body 02, so that the through hole 0822 between the upper transmission sub part 061 and the lower transmission sub part 062 and the housing 082 can be contacted and generate a large acting force, if the eyeball body 02 is continuously rotated in the up-down direction, the upper transmission sub part 061 and the lower transmission sub part 062 can generate a large sliding friction force with the through hole 0822 on the housing 082, and the surface of the through hole 0822 and the transmission part 06 can be abraded to a large extent; if the eyeball rotates in the order of up-and-down rotation and then left-and-right rotation, the left and right transmission sub-portions 063, 064 will rub against the through hole 0822 of the housing 082, and cause serious wear.

As shown in fig. 4, in order to avoid the above-mentioned wear phenomenon, both front and rear ends of the housing 082 are provided with bushings 084 for rotation of the housing 082; the shaft sleeve 084 is installed in the mounting hole of the support 07 to connect the housing 082 with the support 07. Specifically, positioning shafts 0821 are arranged at the front end and the rear end of a housing 082, a mounting hole is formed in a support 07, the positioning shafts 0821 are sleeved with shaft sleeves 084, the shaft sleeves 084 are fixed in the mounting hole of the support 07 through fixing retaining rings 085, the shaft sleeves 084 are self-lubricating shaft sleeves, so that the housing 082 can rotate by taking the positioning shafts 0821 as a rotation center, when the eyeball body 02 rotates for a certain angle, the housing 082 deviates for a certain angle along with a transmission part 06 under the action force between the transmission part 06 and the wall of the through hole 0822 of the housing 082, the supporting action force of the transmission part 06 contacting with the through hole 0822 is further reduced, and the abrasion degree of the surfaces of the through hole 0822 and the transmission part 06 of the housing 082 is further reduced.

In order to further reduce the wear of the surface of the transmission part 06, the opening of the through hole 0822 is chamfered 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 also be provided with a protective layer, when the protective layer is worn out, only a new protective layer needs to be replaced without replacing the transmission part 06 with higher cost, and then the maintenance cost of the mechanical eye is reduced.

As shown in fig. 1, 3 and 5, the up-down driving unit 04 includes: a vertical rotating plate 041 arranged perpendicular to the left-right direction and configured to rotate and swing with 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 and right driving unit 05 includes: a horizontal rotation plate 051 which is horizontally arranged and is used for rotating and swinging with the left direction and the right direction as a balance position; and the second steering engine 052 is arranged on the base 01 and used for driving the horizontal rotating plate 051 to rotate. Specifically, an output shaft of the first steering engine 042 is arranged in the left-right direction and is connected with the center of the vertical rotating plate 041, an output shaft of the second steering engine 052 is arranged in 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-part 061, the lower end of the vertical rotating plate 041 is used for connecting the lower transmission sub-part 062, the left end of the horizontal rotating plate 051 is used for connecting the left transmission sub-part 063, and the right end of the horizontal rotating plate 051 is used for connecting the right transmission sub-part 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 to loosen the upper transmission sub part 061, correspondingly drives the lower end of the vertical rotating plate 041 to rotate backwards 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 direction opposite to the direction; similarly, when the eyeball body 02 needs to rotate to the left, the second steering engine 052 drives the left end of the horizontal rotating plate 051 to rotate and swing forwards through the output shaft to loosen the left transmission sub-part 063, correspondingly drives the right end of the horizontal rotating plate 051 to rotate and swing backwards to pull the right transmission sub-part 064, and if the eyeball body 02 needs to rotate to the right, the output shaft of the second steering engine 052 rotates in the direction opposite to the direction.

Preferably, the center of the vertical rotating plate 041 is as high as the center of the eyeball body 02, and the center of the horizontal rotating plate 051 is as high as 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 prevent one of the released transmission parts 06 from being disengaged from the wheel groove of the steering wheel 081, as shown in fig. 1, 3, and 5, the vertical rotation plate 041 and the horizontal rotation plate 051 are provided with an elastic part 09 for tensioning the transmission part 06. Specifically, four elastic portions 09 are provided, two sets of transmission portions 06 are respectively connected with the vertical rotating plate 041 and the horizontal rotating plate 051 through the elastic portions 09, that is, the upper transmission sub-portion 061 is connected with the upper end of the vertical rotating plate 041 through one elastic portion 09, the lower transmission sub-portion 062 is connected with the lower end of the vertical rotating plate 041 through one elastic portion 09, the left transmission sub-portion 063 is connected with the left end of the horizontal rotating plate 051 through one elastic portion 09, and the right transmission sub-portion 064 is connected with the right end of the horizontal rotating plate 051 through one elastic portion 09. The four elastic portions 09 are in a stretched state to provide pre-tightening force to 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, so that each transmission sub portion is always kept in a tensioned state to prevent any one of the four transmission sub portions from being disengaged from the 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 parts 09 should be kept in the stretched state to ensure that the four transmission sub-parts are always in the tensioned state.

as shown in fig. 1, 3 and 5, the vertical rotating plate 041 and the horizontal rotating plate 051 are respectively 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. 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 through the mounting holes for mounting the elastic part 09 at different positions, so that all the transmission parts 06 are always tensioned. The elastic portion 09 is preferably a spring, and the mounting position thereof is determined according to the actual conditions such as the length of the transmission portion 06 and the elastic coefficient of the spring.

In addition, when each set of transmission part 06 drives the eyeball body 02 to move, the displacement amounts of the two transmission sub-parts included therein are slightly different, and the elastic part 09 can compensate the displacement deviation to avoid the situation that one of the transmission sub-parts is loosened.

as shown in fig. 1 and 5, since the first steering gear 042 occupies a large space, it is preferable that the first steering gear 042 is disposed behind the second steering gear 052, and since the second steering gear 052 is connected to the base 01, the lower transmission sub-part 062 cannot be directly connected to the lower steering body through the second steering gear 052, and therefore, the vertical rotating plate 041 is disposed to be staggered with the eyeball body 02 in the left and right directions, and the upper transmission sub-part 061 and the lower transmission sub-part 062 are obliquely connected to the upper steering body and the lower steering body, but the upper transmission sub-part 062061 and the lower transmission sub-part 062 are easily separated from the wheel groove of the steering wheel 081.

In order to enable the upper and lower transmitting sub-parts 061 and 062 to extend in only the front-rear direction to be coupled with the steering wheel 081, as shown in fig. 1 and 5, the base 01 is provided with a first lane-changing roller 10 to change the extending direction of the transmitting part 06 into the front-rear direction. Specifically, the upper driving sub part 061 and the lower driving sub part 062 pass through the first lane changing roller 10 such that the upper driving sub part 061 and the lower driving sub part 062 extend only in the front-rear direction away from the first lane changing roller 10, thereby preventing the upper driving sub part 061 and the lower driving sub part 062 from being separated from the grooves of the steering wheel 081 during the rotation of the eyeball body 02.

It should be noted that the first lane-changing roller 10 can rotate with the upper transmission sub part 061 and the lower transmission sub part 062 to reduce the wear of the surfaces of the upper transmission sub part 061 and the lower transmission sub part 062. Since the movement direction of the upper transmission sub-part 061 is opposite to the movement direction of the lower transmission sub-part 062 in the process of driving the eyeball body 02 to rotate in the up-and-down direction, the first lane changing roller 10 is divided into an upper part and a lower part, the upper part and the lower part are separated from each other and can rotate in opposite clockwise directions, and sliding friction between the surface of the first lane changing roller 10 and at least one of the upper transmission sub-part 061 and the lower transmission sub-part 062 is avoided.

As shown in fig. 1, 3 and 5, in order to prevent the lower driving sub-part 062 from contacting 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 preventing the driving part 06 from rubbing against the second steering engine 052 is further provided on the base 01. Specifically, the second lane-changing roller 11 is disposed on a side of the second steering engine 052 close to the vertical rotating plate 041 to prevent friction between the lower transmission sub-part 062 and the side of the second steering engine 052, and the second lane-changing roller 11 can rotate along with the movement of the lower transmission sub-part 062 to prevent sliding friction between the lower transmission sub-part 062 and the surface of the second lane-changing roller 11.

In order to avoid the slipping phenomenon between the two transmission subsections and the surfaces of the first lane-changing roller 10 and the second lane-changing roller 11, the surface of the first lane-changing roller 10 and the surface of the second lane-changing roller 11 are preferably knurled to increase the friction force between the surfaces of the two lane-changing rollers and the two power transmission subsections.

In order to improve the bionic reality effect, the mechanical eye further comprises: an eyelid 12 provided on the front surface of the orbit mechanism 03 to cover 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 is connected with the eyelid 12, so that the eyelid 12 can blink. Specifically, the rotating shaft of the eyelid 12 is provided in the orbital mechanism 03 in the left-right direction, and a rocker is fixedly connected to an end of the rotating shaft of the eyelid 12, so that the rotating shaft of the eyelid 12 and the rocker rotate coaxially. The blink driving unit 14 includes: the third steering engine 141 is arranged below the base 01, and the driving rotating plate 142 is connected with an 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 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 driven to rotate and swing through the third steering gear 141, and then the rocker is driven to rotate by taking the rotating shaft of the eyelid 12 as a rotating center through the transmission rod 13, so that the blinking action of the eyelid 12 is realized.

The utility model provides a robot, including at least one as above mechanical eye. Taking a humanoid robot as an example, as shown in fig. 5, the humanoid robot should have a pair of mechanical eyes, that is, two mechanical eyes arranged side by side left and right as described above, and preferably, output shafts of two first steering engines 042 of the mechanical eyes are both 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 mechanical eyes are arranged inwards, so that the transmission rod 13 can fully utilize the inner space of the nose bridge of the humanoid robot.

It should be noted that the number of the mechanical eyes is set according to the type of the object to be imitated; other parts of the robot can be referred to the prior art and are not expanded herein.

It is further noted that, in the present specification, relational terms such as first and second, and the like 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 utility model are introduced in detail above. The principles and embodiments of the present invention have been explained herein using specific examples, and the above descriptions of the embodiments are only used to help understand the method and its core ideas of the present invention. It should be noted that, for those skilled in the art, without departing from the principle of the present invention, the present invention can be further modified and modified, and such modifications and modifications also fall within the protection scope of the appended claims.

Claims

1. a mechanical eye, comprising:

A base (01);

An eyeball body (02);

The eye socket mechanism (03) is arranged on the base (01) and used for mounting the eyeball body (02);

An up-down driving part (04) which is arranged on the base (01) and is used for driving the eyeball body (02) to rotate along the up-down direction;

a left and right driving part (05) arranged on the base (01) and used for driving the eyeball body (02) to rotate along the left and right directions;

Two groups of transmission parts (06) both in a rope belt shape; wherein, a set of the first end of transmission portion (06) be used with upper and lower drive portion (04) link to each other, a set of the second end of transmission portion (06) be used with eyeball body (02) link to each other, another set the first end of transmission portion (06) be used with control drive portion (05) link to each other, another set the second end of transmission portion (06) be used with eyeball body (02) link to each other, in order to realize eyeball body (02) rotates.

2. The mechanical eye of claim 1, further comprising: the steering part is arranged on the base (01) and used for changing the extending direction of the two groups of transmission parts (06); the steering section includes:

the upper steering body and the lower steering body are distributed from top to bottom in sequence and used for converting the extending direction of the 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 and right direction;

A bracket (07) 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 orbital mechanism (03) is arranged on the front surface of the bracket (07).

3. the mechanical eye according to claim 2, wherein said upper steering body, said lower steering body, said left steering body and said right steering body are each a steering assembly (08); the steering assembly (08) comprises:

A steering wheel (081) with a wheel groove for changing the extending direction of the transmission part (06) to the eyeball body (02);

a housing (082) provided to the support (07) for supporting the steerable wheel (081);

the shell (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. The mechanical eye according to claim 3, wherein the housing (082) is provided with bushings (084) at the front and rear ends for rotation of the housing (082); the shaft sleeve (084) is arranged in a mounting hole of the bracket (07) to connect the cover shell (082) with the bracket (07).

5. The mechanical eye according to any one of claims 1 to 4,

The vertical driving unit (04) includes:

A vertical rotating plate (041) which is arranged perpendicular to the left and right direction and is used for rotating and swinging with 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 and right driving unit (05) includes:

A horizontal rotating plate (051) which is horizontally arranged and is used for rotating and swinging with the left direction and the right direction as a balance position;

And the second steering engine (052) is arranged on the base (01) and is used for driving the horizontal rotating plate (051) to rotate.

6. the mechanical eye according to claim 5, characterised in that the vertical rotating plate (041) and the horizontal rotating plate (051) are provided with elastic portions (09) to tension the transmission portion (06).

7. the mechanical eye according to claim 6, wherein 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 part (09).

8. the mechanical eye as claimed in claim 7, wherein the vertical rotating plate (041) is arranged in a left-right direction and staggered with the eyeball body (02), and the base (01) is provided with a first lane changing roller (10) for changing the extending direction of the transmission part (06) to a front-back direction and a second lane changing roller (11) for avoiding the friction between the transmission part (06) and the second steering engine (052).

9. The mechanical eye of claim 8, further comprising:

an eyelid (12) arranged on the front surface of the eye socket mechanism (03) and used 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 that the eyelid (12) can blink.

10. a robot, characterized in that it comprises at least one mechanical eye according to any one of claims 1 to 9.