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A Bevel Gear Differential Imitation Human Eye Movement Mechanism

A motion mechanism and bevel gear technology, applied in the field of robotics, can solve the problems of large volume, occupation, excessive space, etc., and achieve the effect of light mechanism, integrity, and compact structure.

Inactive Publication Date: 2015-10-07
SHANGHAI UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0003] The purpose of the present invention is to overcome the problem that the existing robot eye movement mechanism is bulky and takes up too much space, and proposes a bevel gear differential humanoid eye movement mechanism

Method used

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  • A Bevel Gear Differential Imitation Human Eye Movement Mechanism
  • A Bevel Gear Differential Imitation Human Eye Movement Mechanism
  • A Bevel Gear Differential Imitation Human Eye Movement Mechanism

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Embodiment Construction

[0015] A preferred embodiment of the present invention will be described in detail below in conjunction with the accompanying drawings.

[0016] see Figure 1~Figure 6 , the bevel gear differential humanoid eye movement mechanism includes two left and right eyeball movement mechanisms 1 and an eyelid movement mechanism 2; the left and right eyeball movement mechanisms 1 are consistent and have no difference, and each includes two drive motors 3 and 4, two driving shafts 5 and 6, two driving bevel gears 7 and 8, two central bevel gears 9 and 10, a planetary bevel gear 11 with shaft ends, a tie rod 12 for supporting the planetary bevel gears , an eyeball 13, a central support frame 14 and some screws 15; the motors 3 and 4 are fixed on the base plate 16 support ends by screws 15, and the central support frame 14 is fixed on the base plate 16 by screws 15, and two drive shafts 5 and 6 are respectively fixed on the output shafts of two motors 3 and 4, and two drive bevel gears 7 ...

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Abstract

The invention discloses a bevel gear differential-motion human eye movement imitating mechanism. The bevel gear differential-motion human eye movement imitating mechanism comprises a left eyeball movement mechanism, a right eyeball movement mechanism and an eyelid movement mechanism. As for each eyeball movement mechanism, two central bevel gear, a bevel planet gear and a tie rod constitute a differential gear train, each bevel planet gear is in rigid connection with each eyeball, independent rotation of the two central bevel gears is achieved through motors, the independent rotation is combined into rotation of two degrees of freedom of the bevel planet gears, and therefore the eyeballs can rotate with the two degrees of freedom in the vertical direction and the horizontal direction. Two eyelids are in rigid connection with each other through a rotary shaft and a synchronous belt wheel, the other belt wheel is in rigid connection with one motor, the two belt wheels are in transmission with each other through a synchronous belt, and opening and closing of the eyelids can be achieved through rotation of the motors. The bevel gear differential-motion human eye movement imitating mechanism is compact in structure, small in occupied space, and flexible, accurate and reliable in movement, the left eyeball and the right eyeball are independent from each other, and the two eyeballs can move in the same direction and in the different directions.

Description

technical field [0001] The invention relates to a humanoid robot expression movement mechanism, in particular to a humanoid eye movement mechanism, which belongs to the technical field of robots. Background technique [0002] The current research plan for the eye movement mechanism of humanoid robots mainly adopts series control, that is, one motor is used to control the degree of freedom of eyeball rotation in one direction, and another motor is used to simultaneously drive the previous motor and the degree of freedom of the eyeball in another direction. . Although this solution has a clear structure and is easy to control, it also increases the volume of the structure, or requires operations such as slotting the eyeball to a large extent that damage the integrity of the eyeball. Based on the above shortcomings, a bevel gear differential mechanism is proposed, which can realize the rotation of the eyeball at a large angle in the up, down, left and right directions. Conte...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B25J19/00
Inventor 柯显信卢孔笔尚宇峰
Owner SHANGHAI UNIV
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