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Spatial RSSR mechanism based biomimetic eye movement mechanism

A movement mechanism and eye movement technology, applied in the field of robotics, can solve the problems of increasing the structure volume, opening the eyeball, destroying the integrity of the eyeball, etc., to achieve the effect of ensuring integrity, light weight of the mechanism, and improving space utilization

Inactive Publication Date: 2015-04-29
SHANGHAI UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

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.

Method used

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  • Spatial RSSR mechanism based biomimetic eye movement mechanism
  • Spatial RSSR mechanism based biomimetic eye movement mechanism
  • Spatial RSSR mechanism based biomimetic eye movement mechanism

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Embodiment Construction

[0014] The present invention will be described in further detail below in conjunction with the accompanying drawings and preferred embodiments.

[0015] see Figure 1~Figure 5 , a humanoid eye movement mechanism based on a spatial RSSR mechanism, characterized in that: it includes a bottom plate 1, two left and right eye movement mechanisms 2 and two eyelid movement mechanisms 3; the eye movement mechanism 2 includes an upper steering gear 4, Lower steering gear 5, first connecting rod 6, second connecting rod 7, eyeball 8, ring 9, power transmission shaft 10, pin 11, bearing 12, support frame 13 and camera 14; Said upper steering gear 4, lower steering gear The machine 5 is fixed on the base plate 1 by a screw 21, one end of the first connecting rod 6 is connected with the lower steering gear 5 by a screw 21, and the other end is connected on the ring 9, and one end of the second connecting rod 7 is connected by a screw 21 is connected with the upper steering gear 4, the oth...

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Abstract

The invention discloses a spatial RSSR mechanism based biomimetic eye movement mechanism. The mechanism comprises a bottom plate, a left eyeball movement mechanism, a right eyeball movement mechanism and two eyelid movement mechanisms; each eyeball movement mechanism comprises a steering gear, a connecting rod, a bearing, a transmission shaft, a pin, a supporting frame, a circular ring, an eyeball and a camera; each eyelid movement mechanism comprises another steering gear, another connecting rod, an upper eyelid and a lower eyelid; the steering gears and the supporting frames are fixed on the bottom plate through screws; the connecting rods are respectively connected with the steering gears, the transmission shafts, the circular rings, the upper eyelids and the lower eyelids through the screws; the transmission shafts are connected with the supporting frames through pins and fixed on the circular rings through two bearings; the cameras are connected with the circular rings through the screws; the eyeballs sleeve the circular rings; the steering gears drive the connecting rods to enable the eyeballs to rotate up and down about the transmission shafts as well as rotating leftwards and rightwards about the pins, so as to open and close the upper and lower eyelids. The mechanism is compact in structure, small in space used, and flexible, accurate and reliable to move; the left and right eyeballs are independent from each other; the two eyeballs can move in the same direction or different directions.

Description

technical field [0001] The invention relates to a humanoid robot expression movement mechanism, in particular to a humanoid eye movement mechanism based on a space RSSR mechanism, belonging to the technical field of robots. Background technique [0002] At present, the 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 freedom of eyeball in the other direction. Spend. 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. Contents of the invention [0003] The purpose of the present invention is to overcome the problem that the existing robotic eye movement mechanism is large in size and ...

Claims

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Application Information

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IPC IPC(8): B25J11/00
Inventor 信继忠柯显信杨阳
Owner SHANGHAI UNIV
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