CN212794971U - Robot eye mechanism - Google Patents
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- CN212794971U CN212794971U CN202021092561.6U CN202021092561U CN212794971U CN 212794971 U CN212794971 U CN 212794971U CN 202021092561 U CN202021092561 U CN 202021092561U CN 212794971 U CN212794971 U CN 212794971U
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Abstract
The utility model provides a robot eye movement mechanism, which comprises an eyeball, an eyelid and a large bracket; the two eyeballs are respectively arranged on the large support in a bilateral symmetry manner; the two eyeballs can be synchronously and rotatably arranged on the large bracket; the rotating direction comprises up-down rotation and left-right rotation; the eyelid comprises an upper eyelid and a lower eyelid; the upper eyelid and the lower eyelid are respectively arranged on the large bracket in a vertically rotatable manner and are respectively positioned above and below the eyeball; the upper eyelid and the lower eyelid can synchronously rotate towards each other to realize eye closing or synchronously rotate back to realize eye opening. Two eyeballs are symmetrically arranged on two sides of the large support to realize up-down rotation and left-right rotation, so that the high-simulation human eye movement posture is simulated, and the observation visual angles in different directions are realized.
Description
Technical Field
The utility model relates to a robot manufacturing technical field especially relates to a robot eye mechanism.
Background
The facial expression of a human body mainly depends on eyes, eyebrows, a mouth and a lower jaw, and the research on the mechanism of the eyes is an important component of the expression reproduction and human-computer interaction of the humanoid robot. Eye simulation motion is always the popular research field of simulation robots, and how to better realize and highly simulate the eye motion form of a human simulator, so that the facial expression of the robot can well transmit information, and the eye simulation motion is a great problem to be solved by simulation robots.
SUMMERY OF THE UTILITY MODEL
The utility model discloses the technical problem that will solve is: the utility model relates to a robot eyes portion mechanism, the eye motion form of anthropomorphic dummy that can be better.
In order to solve the technical problem, the utility model discloses a technical scheme be:
a robot eye movement mechanism comprises eyeballs, eyelids and a large support;
the two eyeballs are respectively arranged on the large support in a bilateral symmetry manner;
the two eyeballs can be synchronously and rotatably arranged on the large bracket;
the rotating direction comprises up-down rotation and left-right rotation;
the eyelid comprises an upper eyelid and a lower eyelid;
the upper eyelid and the lower eyelid are respectively arranged on the large bracket in a vertically rotatable manner and are respectively positioned above and below the eyeball;
the upper eyelid and the lower eyelid can synchronously rotate towards each other to realize eye closing or synchronously rotate back to realize eye opening.
Furthermore, the device also comprises an eyeball support;
the eyeball support can be arranged on the large support in a vertically rotating manner;
the eyeball can be arranged on the eyeball support in a left-right rotating mode.
Further, the device also comprises a first steering engine, a first rocker arm and two first connecting rods;
the first steering engine is installed on the eyeball support;
the axis of the rotating shaft of the first steering engine is vertical to the horizontal plane and is positioned on the virtual symmetrical planes of the two eyeballs;
the middle part of the first rocker arm is fixedly connected with a rotating shaft of the first steering engine;
two ends of the first rocker arm are respectively hinged with one end of a first connecting rod;
two opposite side surfaces of the two eyeballs are respectively hinged with the other end of the first connecting rod;
the eyeball is driven by the first steering engine to rotate left and right.
Furthermore, the device also comprises two eyelid driving units;
the two eyelid driving units are arranged on the large support in a bilateral symmetry manner and respectively drive the eyelids on the two eyeballs to move correspondingly;
the eyelid driving unit comprises a second steering engine, a second rocker arm, a second swing arm, an upper eyelid connecting rod, a first lower eyelid connecting rod and a second lower eyelid connecting rod;
the second steering engine is arranged on the large bracket;
the axis of the rotating shaft of the second steering engine is parallel to the horizontal plane and is perpendicular to the virtual symmetrical planes of the two eyeballs;
the middle part of the second rocker arm is fixedly connected with a rotating shaft of the second steering engine;
one end of the upper eyelid connecting rod is hinged with one end of the second rocker arm;
the other end of the upper eyelid connecting rod is hinged with the top of the upper eyelid;
the second swing arm is rotatably arranged on the large support, and the rotating axis of the second swing arm is parallel to the axis of the rotating shaft of the second steering engine;
one end of the first lower eyelid connecting rod is hinged with the other end of the second rocker arm;
the other end of the first lower eyelid connecting rod is hinged with one end of the second swing arm;
one end of the second lower eyelid connecting rod is hinged with the other end of the second swing arm;
the other end of the second lower eyelid connecting rod is hinged with the bottom of the lower eyelid.
Further, the lifting device also comprises a third steering engine, a third rocker arm and a large lifting rod;
the third steering engine is arranged on the large bracket;
the axis of the rotating shaft of the third steering engine is parallel to the horizontal plane and is vertical to the virtual symmetrical planes of the two eyeballs;
one end of the third rocker arm is fixedly connected with a rotating shaft of the third steering engine;
one end of the large lifting rod is hinged with the other end of the third rocker arm;
the other end of the big lifting rod is hinged with the eyeball support.
Furthermore, the device also comprises a cover plate, a hinged arm, a hinged bracket and a rotating pin;
the articulated arm is arranged on the eyeball support and is positioned on a virtual symmetrical plane of the two eyeballs;
the hinged support is arranged on the large support and is positioned on the virtual symmetrical plane of the two eyeballs;
the hinge support is provided with an abdicating groove for the hinge arm to rotate;
the hinge support is provided with a mounting hole hinged with the rotating pin;
the articulated arm and the cover plate are respectively provided with an arc abdicating groove for the rotation of the rotating pin;
the cover plate is fixed on the hinged arm, and the arc-shaped abdicating groove on the hinged arm and the arc-shaped abdicating groove on the cover plate form a mounting hole for hinging the rotating pin;
the rotating pin sequentially penetrates through the hinged support and the hinged arm, so that the eyeball support can be rotatably connected to the large support.
Furthermore, the device also comprises two camera modules;
the two camera shooting assemblies are respectively and correspondingly arranged on the positions of the two eyeballs;
the lens of the camera shooting assembly is arranged inside the eyeball;
the body of the camera shooting assembly can be installed in the installation groove of the eyeball support in a left-right moving mode.
The beneficial effects of the utility model reside in that: the utility model provides a robot eye movement mechanism, which comprises an eyeball, an eyelid and a large bracket; the two eyeballs are symmetrically arranged on the two sides of the large support to realize up-down rotation and left-right rotation, so that the eye movement posture of a human body is simulated in a high-simulation mode, and the observation visual angles in different directions of up-down, left-right are realized; the upper eyelid and the lower eyelid which can rotate up and down are respectively arranged above and below each eyeball, so that an eyelid movement mechanism is formed, and the anthropomorphic movement of the upper eyelid and the lower eyelid, such as opening eyes, closing eyes or blinking and the like, is realized.
Drawings
Fig. 1 is a first structural diagram of a robot eye movement mechanism according to an embodiment of the present invention;
fig. 2 is a second structural view of a robot eye movement mechanism according to an embodiment of the present invention;
fig. 3 is a structural diagram of an eyelid driving unit of a robot eye movement mechanism according to an embodiment of the present invention;
fig. 4 is a first structural diagram of an eyeball rotation mechanism of the robot eye movement mechanism according to the embodiment of the invention;
fig. 5 is a second structural diagram of an eyeball rotation mechanism of the robot eye movement mechanism according to the embodiment of the invention;
fig. 6 is an exploded view of a cover plate component of a robotic eye movement mechanism according to an embodiment of the present invention;
fig. 7 is a front view of an eyeball rotation mechanism of the robot eye movement mechanism according to the embodiment of the present invention;
FIG. 8 is a sectional view taken along line A-A of FIG. 7;
FIG. 9 is a sectional view taken along line B-B of FIG. 7;
description of reference numerals:
1. an eyeball; 2. a large support; 3. upper eyelid; 4. lower eyelid; 5. an eyeball holder; 6. a first steering engine; 7. a first rocker arm; 8. a first link; 9. a second steering engine; 10. a second rocker arm; 11. a second swing arm; 12. an upper eyelid connection rod; 13. a first lower eyelid connection rod; 14. a second lower eyelid connection rod; 15. a third steering engine; 16. a third rocker arm; 17. lifting the rod greatly; 18. a cover plate; 19. an articulated arm; 20. a hinged bracket; 21. a rotation pin; 22. and a camera assembly.
Detailed Description
In order to explain the technical content, the objects and the effects of the present invention in detail, the following description is made with reference to the accompanying drawings in combination with the embodiments.
Referring to fig. 1 to 9, a robot eye movement mechanism includes an eyeball, an eyelid and a large support;
the two eyeballs are respectively arranged on the large support in a bilateral symmetry manner;
the two eyeballs can be synchronously and rotatably arranged on the large bracket;
the rotating direction comprises up-down rotation and left-right rotation;
the eyelid comprises an upper eyelid and a lower eyelid;
the upper eyelid and the lower eyelid are respectively arranged on the large bracket in a vertically rotatable manner and are respectively positioned above and below the eyeball;
the upper eyelid and the lower eyelid can synchronously rotate towards each other to realize eye closing or synchronously rotate back to realize eye opening.
From the above description, the beneficial effects of the present invention are: the utility model provides a robot eye movement mechanism, which comprises an eyeball, an eyelid and a large bracket; the two eyeballs are symmetrically arranged on the two sides of the large support to realize up-down rotation and left-right rotation, so that the eye movement posture of a human body is simulated in a high-simulation mode, and the observation visual angles in different directions of up-down, left-right are realized; the upper eyelid and the lower eyelid which can rotate up and down are respectively arranged above and below each eyeball, so that an eyelid movement mechanism is formed, and the anthropomorphic movement of the upper eyelid and the lower eyelid, such as opening eyes, closing eyes or blinking and the like, is realized.
Furthermore, the device also comprises an eyeball support;
the eyeball support can be arranged on the large support in a vertically rotating manner;
the eyeball can be arranged on the eyeball support in a left-right rotating mode.
As can be seen from the above description, the eyeball is arranged on the eyeball holder in a manner that the eyeball can rotate left and right, so that the eyeball can imitate the movement of observing the human eye left and right; the eyeball support can be arranged on the large support in a vertically rotating mode and simulates the upward and downward observation action of human eyes.
Further, the device also comprises a first steering engine, a first rocker arm and two first connecting rods;
the first steering engine is installed on the eyeball support;
the axis of the rotating shaft of the first steering engine is vertical to the horizontal plane and is positioned on the virtual symmetrical planes of the two eyeballs;
the middle part of the first rocker arm is fixedly connected with a rotating shaft of the first steering engine;
two ends of the first rocker arm are respectively hinged with one end of a first connecting rod;
two opposite side surfaces of the two eyeballs are respectively hinged with the other end of the first connecting rod;
the eyeball is driven by the first steering engine to rotate left and right.
From the above description, in the rotation process of the first rocker arm, the motion forms of the two free ends are just opposite, when one end of the rocker arm generates a pushing force effect on the eyeball, the other end of the rocker arm generates a pulling force effect on the other eyeball, so that the two eyeballs can rotate in the left and right directions synchronously and in the same direction. The motion mechanism group realizes that one power source controls two execution ends to synchronously move.
Furthermore, the device also comprises two eyelid driving units;
the two eyelid driving units are arranged on the large support in a bilateral symmetry manner and respectively drive the eyelids on the two eyeballs to move correspondingly;
the eyelid driving unit comprises a second steering engine, a second rocker arm, a second swing arm, an upper eyelid connecting rod, a first lower eyelid connecting rod and a second lower eyelid connecting rod;
the second steering engine is arranged on the large bracket;
the axis of the rotating shaft of the second steering engine is parallel to the horizontal plane and is perpendicular to the virtual symmetrical planes of the two eyeballs;
the middle part of the second rocker arm is fixedly connected with a rotating shaft of the second steering engine;
one end of the upper eyelid connecting rod is hinged with one end of the second rocker arm;
the other end of the upper eyelid connecting rod is hinged with the top of the upper eyelid;
the second swing arm is rotatably arranged on the large support, and the rotating axis of the second swing arm is parallel to the axis of the rotating shaft of the second steering engine;
one end of the first lower eyelid connecting rod is hinged with the other end of the second rocker arm;
the other end of the first lower eyelid connecting rod is hinged with one end of the second swing arm;
one end of the second lower eyelid connecting rod is hinged with the other end of the second swing arm;
the other end of the second lower eyelid connecting rod is hinged with the bottom of the lower eyelid.
According to the description, the synchronous movement of the upper eyelid and the lower eyelid is realized by using the eyelid driving unit so as to simulate the eyelid postures of human eyes; the eyelids on the two eyeballs are respectively completed by one eyelid driving unit, so that the movement of the eyelids on different eyeballs is not interfered with each other, more eye actions can be performed, and the purpose of transmitting various expression information is achieved.
Further, the lifting device also comprises a third steering engine, a third rocker arm and a large lifting rod;
the third steering engine is arranged on the large bracket;
the axis of the rotating shaft of the third steering engine is parallel to the horizontal plane and is vertical to the virtual symmetrical planes of the two eyeballs;
one end of the third rocker arm is fixedly connected with a rotating shaft of the third steering engine;
one end of the large lifting rod is hinged with the other end of the third rocker arm;
the other end of the big lifting rod is hinged with the eyeball support.
From the above description, the four-bar linkage mechanism formed by the third steering engine, the third rocker arm and the large lifting rod realizes the up-and-down swing of the large support to simulate the up-and-down rotation of the eyeball.
Furthermore, the device also comprises a cover plate, a hinged arm, a hinged bracket and a rotating pin;
the articulated arm is arranged on the eyeball support and is positioned on a virtual symmetrical plane of the two eyeballs;
the hinged support is arranged on the large support and is positioned on the virtual symmetrical plane of the two eyeballs;
the hinge support is provided with an abdicating groove for the hinge arm to rotate;
the hinge support is provided with a mounting hole hinged with the rotating pin;
the articulated arm and the cover plate are respectively provided with an arc abdicating groove for the rotation of the rotating pin;
the cover plate is fixed on the hinged arm, and the arc-shaped abdicating groove on the hinged arm and the arc-shaped abdicating groove on the cover plate form a mounting hole for hinging the rotating pin;
the rotating pin sequentially penetrates through the hinged support and the hinged arm, so that the eyeball support can be rotatably connected to the large support.
As can be seen from the above description, the cover plate is provided to improve the convenience of assembly, so that the eyeball holder can be easily assembled on the large holder; and the arrangement of the cover plate is also beneficial to disassembly and replacement after the rotating pin is worn.
Furthermore, the device also comprises two camera modules;
the two camera shooting assemblies are respectively and correspondingly arranged on the positions of the two eyeballs;
the lens of the camera shooting assembly is arranged inside the eyeball;
the body of the camera shooting assembly can be installed in the installation groove of the eyeball support in a left-right moving mode.
As can be seen from the above description, the camera module is configured to implement a human eye image transmission function, and record what is observed.
Referring to fig. 1 to 9, a first embodiment of the present invention is: a robot eye movement mechanism comprises eyeballs 1, eyelids and a large support 2; wherein, the eyeball 1 comprises two eyeballs which are respectively arranged on the large bracket 2 in bilateral symmetry and can synchronously rotate; the rotating direction comprises up-down rotation and left-right rotation; the eyelids include an upper eyelid 3 and a lower eyelid 4; the upper eyelid 3 and the lower eyelid 4 are respectively arranged on the large bracket 2 in a way of rotating up and down and are respectively positioned above and below the eyeball 1; the upper eyelid 3 and the lower eyelid 4 may be rotated synchronously toward each other to achieve eye closure or rotated synchronously away from each other to achieve eye opening.
Referring to fig. 4, 5 and 7, in particular, the present invention further includes an eyeball holder 5; the eyeball support 5 can be arranged on the large support 2 in a vertical rotating way; the eyeball 1 can rotate left and right and is arranged on the eyeball support 5. The device also comprises a first steering engine 6, a first rocker arm 7 and two first connecting rods 8; the first steering engine 6 is arranged on the eyeball support 5; the axis of the rotating shaft of the first steering engine 6 is vertical to the horizontal plane and is positioned on the virtual symmetrical plane of the two eyeballs 1; the middle part of the first rocker arm 7 is fixedly connected with a rotating shaft of the first steering engine 6; two ends of the first rocker arm 7 are respectively hinged with one end of a first connecting rod 8; two opposite side surfaces of the two eyeballs 1 are respectively hinged with the other end of the first connecting rod 8; the eyeball 1 rotates left and right through the driving of the first steering engine 6. Specifically, the hinged part is hinged and fixed by adopting a shaft sleeve to match with a pin, or hinged and fixed by adopting a flange bearing to match with the pin; the specific implementation of the hinge is well known in the art and will not be described in any greater detail herein. Wherein, the fixed connection of first rocking arm 7 and first steering wheel 6 chooses the key-type connection for use to realize circumferential positioning, utilizes the fixed axial positioning that realizes of spiro union of nut.
Referring to fig. 3, specifically, the apparatus further includes two eyelid driving units; the two eyelid driving units are arranged on the large bracket 2 in a bilateral symmetry manner and respectively drive the eyelids on the two eyeballs 1 to move correspondingly; the eyelid driving unit comprises a second steering engine 9, a second rocker arm 10, a second swing arm 11, an upper eyelid connecting rod 12, a first lower eyelid connecting rod 13 and a second lower eyelid connecting rod 14; the second steering engine 9 is arranged on the large bracket 2; specifically, the axis of the rotating shaft of the second steering engine 9 is parallel to the horizontal plane and perpendicular to the virtual symmetry plane of the two eyeballs 1; the middle part of the second rocker arm 10 is fixedly connected with a rotating shaft of a second steering engine 9; wherein, one end of the upper eyelid connecting rod 12 is hinged with one end of the second rocker arm 10; the other end of the upper eyelid connecting rod 12 is hinged with the top of the upper eyelid 3; the second swing arm 11 is rotatably arranged on the large support 2, and the rotating axis of the second swing arm 11 is parallel to the axis of the rotating shaft of the second steering engine 9; one end of the first lower eyelid connecting rod 13 is hinged with the other end of the second rocker arm 10; the other end of the first lower eyelid connecting rod 13 is hinged with one end of the second swing arm 11; one end of the second lower eyelid connecting rod 14 is hinged with the other end of the second swing arm 11; the other end of the second lower eyelid connecting rod 14 is hinged with the bottom of the lower eyelid 4. Specifically, the hinged part is hinged and fixed by adopting a shaft sleeve to match with a pin, or hinged and fixed by adopting a flange bearing to match with the pin; the specific implementation of the hinge is well known in the art and will not be described in any greater detail herein. Wherein, the fixed connection of second rocking arm 10 and second steering wheel 9 chooses the key-type connection for use to realize circumferential positioning, utilizes the fixed axial positioning that realizes of spiro union of nut. A plurality of hinge holes are formed in the second swing arm 10 to adjust the moving postures of the upper eyelid link 12 and the first lower eyelid link 13.
Referring to fig. 1, 2, 4, 5 and 6, in particular, the steering engine further includes a third steering engine 15, a third rocker arm 16 and a large lifting rod 17; wherein, the third steering engine 15 is arranged on the large bracket 2; the axis of the rotating shaft of the third steering engine 15 is parallel to the horizontal plane and is perpendicular to the virtual symmetrical planes of the two eyeballs 1; one end of a third rocker arm 16 is fixedly connected with a rotating shaft of a third steering engine 15; one end of the big lifting rod 17 is hinged with the other end of the third rocker arm 16; the other end of the big lifting rod 17 is hinged with the eyeball support 5. Wherein, the device also comprises a cover plate 18, a hinge arm 19, a hinge bracket 20 and a rotating pin 21; the articulated arm 19 is arranged on the eyeball support 5 and is positioned on a virtual symmetrical plane of the two eyeballs 1; the hinged support 20 is arranged on the large support 2 and is positioned on the virtual symmetrical plane of the two eyeballs 1; the hinge bracket 20 is provided with an abdicating groove for the hinge arm 19 to rotate; the hinge bracket 20 is provided with a mounting hole hinged with the rotating pin 21; the hinged arm 19 and the cover plate 18 are respectively provided with an arc-shaped abdicating groove for the rotation of the rotating pin 21; the cover plate 18 is fixed on the hinge arm 19, and the arc-shaped abdicating groove on the hinge arm 19 and the arc-shaped abdicating groove on the cover plate 18 form a mounting hole for the rotation of the rotating pin 21; specifically, the rotation pin 21 passes through the hinge bracket 20 and the hinge arm 19 in turn, so that the eyeball bracket 5 can be rotatably connected to the large bracket 2. Specifically, the hinged or rotary connection position is hinged and fixed by adopting a shaft sleeve and a pin in a matching way, or hinged and fixed by adopting a flange bearing and a pin in a matching way; the specific implementation of the hinge is well known in the art and will not be described in any greater detail herein. Wherein, the fixed connection of third rocking arm 16 and third steering wheel 15 chooses the key-type connection for use to realize circumferential positioning, utilizes the spiro union of nut fixed to realize axial positioning. Wherein the cover plate 18 is fixed by screws. A plurality of hinge holes are formed in the third rocker arm 16 to adjust the movement posture of the large lifting rod 17.
Referring to fig. 5, 7, 8 and 9, in particular, the image capturing device further includes two image capturing assemblies 22; the two camera assemblies 22 are respectively and correspondingly arranged on the positions of the two eyeballs 1; the lens of the camera assembly 22 is mounted inside the eyeball 1; the body of the camera component 22 can be installed in the installation groove of the eyeball support 5 in a left-right moving way.
In summary, the utility model provides a robot eye movement mechanism, which comprises an eyeball, an eyelid and a large bracket; the two eyeballs are symmetrically arranged on the two sides of the large support to realize up-down rotation and left-right rotation, so that the eye movement posture of a human body is simulated in a high-simulation mode, and the observation visual angles in different directions of up-down, left-right are realized; the upper eyelid and the lower eyelid which can rotate up and down are respectively arranged above and below each eyeball, so that an eyelid movement mechanism is formed, and the anthropomorphic movement of the upper eyelid and the lower eyelid, such as opening eyes, closing eyes or blinking and the like, is realized. Specifically, the left and right rotation of the eyeballs adopts the first rocker arm to act in cooperation with the first connecting rod, the motion forms of two free ends of the first rocker arm are just opposite in the rotation process, when one end of the rocker arm generates a pushing force effect on the eyeballs, the other end of the rocker arm generates a pulling force effect on the other eyeballs, and the two eyeballs can synchronously rotate in the left and right directions in the same direction; the motion mechanism group realizes that one power source controls two execution ends to synchronously move. Secondly, synchronous movement of upper and lower eyelids is realized by using an eyelid driving unit so as to simulate the eyelid postures of human eyes; and the eyelids on the two eyeballs are respectively completed by one eyelid driving unit, so that the movement of the eyelids on different eyeballs is not interfered with each other, more eye actions can be performed, and the purpose of transmitting various expression information is achieved. Wherein, big support and eyeball support realize rotating the connection through apron cooperation rolling pin, and the setting of apron can improve the convenient degree of assembly, is favorable to dismantling the change after the rolling pin wearing and tearing.
The above mentioned is only the embodiment of the present invention, and not the limitation of the patent scope of the present invention, all the equivalent transformations made by the contents of the specification and the drawings, or the direct or indirect application in the related technical field, are included in the patent protection scope of the present invention.
Claims (7)
1. A robot eye movement mechanism is characterized by comprising eyeballs, eyelids and a large support;
the two eyeballs are respectively arranged on the large support in a bilateral symmetry manner;
the two eyeballs can be synchronously and rotatably arranged on the large bracket;
the rotating direction comprises up-down rotation and left-right rotation;
the eyelid comprises an upper eyelid and a lower eyelid;
the upper eyelid and the lower eyelid are respectively arranged on the large bracket in a vertically rotatable manner and are respectively positioned above and below the eyeball;
the upper eyelid and the lower eyelid can synchronously rotate towards each other to realize eye closing or synchronously rotate back to realize eye opening.
2. The robotic eye movement mechanism of claim 1, further comprising an eye support;
the eyeball support can be arranged on the large support in a vertically rotating manner;
the eyeball can be arranged on the eyeball support in a left-right rotating mode.
3. The robot eye movement mechanism of claim 2, further comprising a first steering engine, a first rocker arm and two first connecting rods;
the first steering engine is installed on the eyeball support;
the axis of the rotating shaft of the first steering engine is vertical to the horizontal plane and is positioned on the virtual symmetrical planes of the two eyeballs;
the middle part of the first rocker arm is fixedly connected with a rotating shaft of the first steering engine;
two ends of the first rocker arm are respectively hinged with one end of a first connecting rod;
two opposite side surfaces of the two eyeballs are respectively hinged with the other end of the first connecting rod;
the eyeball is driven by the first steering engine to rotate left and right.
4. The robotic eye movement mechanism of claim 1, further comprising two eyelid drive assemblies;
the two eyelid driving units are arranged on the large support in a bilateral symmetry manner and respectively drive the eyelids on the two eyeballs to move correspondingly;
the eyelid driving unit comprises a second steering engine, a second rocker arm, a second swing arm, an upper eyelid connecting rod, a first lower eyelid connecting rod and a second lower eyelid connecting rod;
the second steering engine is arranged on the large bracket;
the axis of the rotating shaft of the second steering engine is parallel to the horizontal plane and is perpendicular to the virtual symmetrical planes of the two eyeballs;
the middle part of the second rocker arm is fixedly connected with a rotating shaft of the second steering engine;
one end of the upper eyelid connecting rod is hinged with one end of the second rocker arm;
the other end of the upper eyelid connecting rod is hinged with the top of the upper eyelid;
the second swing arm is rotatably arranged on the large support, and the rotating axis of the second swing arm is parallel to the axis of the rotating shaft of the second steering engine;
one end of the first lower eyelid connecting rod is hinged with the other end of the second rocker arm;
the other end of the first lower eyelid connecting rod is hinged with one end of the second swing arm;
one end of the second lower eyelid connecting rod is hinged with the other end of the second swing arm;
the other end of the second lower eyelid connecting rod is hinged with the bottom of the lower eyelid.
5. The robot eye movement mechanism of claim 2, further comprising a third steering engine, a third rocker arm and a big lifting rod;
the third steering engine is arranged on the large bracket;
the axis of the rotating shaft of the third steering engine is parallel to the horizontal plane and is vertical to the virtual symmetrical planes of the two eyeballs;
one end of the third rocker arm is fixedly connected with a rotating shaft of the third steering engine;
one end of the large lifting rod is hinged with the other end of the third rocker arm;
the other end of the big lifting rod is hinged with the eyeball support.
6. The robot eye movement mechanism of claim 2, further comprising a cover plate, an articulated arm, an articulated bracket and a rotation pin;
the articulated arm is arranged on the eyeball support and is positioned on a virtual symmetrical plane of the two eyeballs;
the hinged support is arranged on the large support and is positioned on the virtual symmetrical plane of the two eyeballs;
the hinge support is provided with an abdicating groove for the hinge arm to rotate;
the hinge support is provided with a mounting hole hinged with the rotating pin;
the articulated arm and the cover plate are respectively provided with an arc abdicating groove for the rotation of the rotating pin;
the cover plate is fixed on the hinged arm, and the arc-shaped abdicating groove on the hinged arm and the arc-shaped abdicating groove on the cover plate form a mounting hole for the rotation of the rotating pin;
the rotating pin sequentially penetrates through the hinged support and the hinged arm, so that the eyeball support can be rotatably connected to the large support.
7. The robot eye movement mechanism of claim 2, further comprising two camera assemblies;
the two camera shooting assemblies are respectively and correspondingly arranged on the positions of the two eyeballs;
the lens of the camera shooting assembly is arranged inside the eyeball;
the body of the camera shooting assembly can be installed in the installation groove of the eyeball support in a left-right moving mode.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202021092561.6U CN212794971U (en) | 2020-06-12 | 2020-06-12 | Robot eye mechanism |
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| CN202021092561.6U CN212794971U (en) | 2020-06-12 | 2020-06-12 | Robot eye mechanism |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117124343A (en) * | 2023-09-25 | 2023-11-28 | 深圳无芯科技有限公司 | Head and neck structure of bionic robot and bionic robot |
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2020
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117124343A (en) * | 2023-09-25 | 2023-11-28 | 深圳无芯科技有限公司 | Head and neck structure of bionic robot and bionic robot |
| CN117124343B (en) * | 2023-09-25 | 2024-02-23 | 深圳无芯科技有限公司 | Head and neck structure of bionic robot and bionic robot |
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