Bionic eye device

Abstract

The invention relates to the field of robots, and provides a bionic eye device. The bionic eye device comprises two bionic eyeball bodies; the two ends of the first connecting rod are in transmission connection with the two bionic eyeball bodies through transmission assemblies respectively; the first driving part is hinged to the first connecting rod so as to drive the first connecting rod to rotate in the horizontal plane, and the first connecting rod drives the two bionic eyeballs to rotate in the horizontal plane based on the action of the first driving part; the second driving part is connected with the first driving part so as to drive the first driving part and the two bionic eyeballs to rotate in a vertical plane. According to the bionic eye device, the movement of a bionic eyeball is closer to the physiological mechanism of a real eyeball; the precise control on the movement of the bionic eyeball is realized; the bionic eyeball device is compact in structure, high in integration level and convenient to install and maintain.

Description

Technical Field

[0001] The invention relates to the field of robots and provides a bionic eye device. Background Art

[0002] With the rapid development of science and technology and the improvement of robotics, the development of bionic human eyes has become a key technology for building realistic and highly interactive emotional expression robots. Humanoid robots play an increasingly important role in education, services, medical care and other fields. A good human-computer interaction experience is crucial. Eye contact, as the main form of non-verbal communication, is considered to be one of the most friendly and persuasive means of communication.

[0003] In the prior art, humanoid facial organ mechanisms usually involve two parts: eye movement and eyelid movement. Eye movement is usually achieved through multiple joints and mechanical design. Although this method can achieve more complex eye displacement, it requires more mechanical parts, increases costs and limits design flexibility, and is significantly different from the natural range and dynamic characteristics of human eye movement. The simplified eyelid movement design limits the richness of the robot's expressions, which will affect the naturalness of the interaction and user satisfaction. Summary of the invention

[0004] The embodiment of the present invention provides a bionic eye device, which is used to solve the defect of complex structure of bionic eye devices in related technologies and realize efficient, natural and humanized eyeball bionic movements.

[0005] An embodiment of the present invention provides a bionic eye device, comprising: Two bionic eye bodies; A first connecting rod, both ends of which are respectively connected to the two bionic eyeball bodies through a transmission assembly; a first driving member, the first driving member being hinged to the first connecting rod to drive the first connecting rod to rotate in a horizontal plane, and the first connecting rod drives the two bionic eyeballs to rotate in a horizontal plane based on the action of the first driving member; A second driving member, wherein the second driving member is connected to the first driving member to drive the first driving member and the two bionic eyeballs to rotate in a vertical plane.

[0006] According to one embodiment of the present invention, the output end of the first driving member is connected to a first crank, the first end of the first crank is connected to the output shaft of the first driving member, and the second end of the first crank is hinged to the first connecting rod.

[0007] According to one embodiment of the present invention, the transmission assembly comprises: An articulated shaft, a first end of which is rotatably connected to two ends of the first connecting rod; The second connecting rod is ball-hinged at the installation position, the first end of the second connecting rod is hinged to the second end of the hinge shaft, and the second end of the second connecting rod is rotatably connected to the two bionic eyeball bodies.

[0008] According to an embodiment of the present invention, at least three limiting posts are arranged on the bionic eyeball body, a limiting space is formed between at least four limiting posts, and the second end of the second connecting rod is inserted into the limiting space.

[0009] According to one embodiment of the present invention, the connecting lines of the hinge point of the first crank and the first connecting rod, the connection point of the first crank and the first driving member, the hinge point of the hinge shaft and the first connecting rod, and the ball joint point of the second connecting rod form a parallelogram frame.

[0010] According to one embodiment of the present invention, it also includes: A first support column connected to the mounting position; eyelid; An eyelid, hinged to the eyelid and arranged with the eyelid to form an installation space for accommodating a bionic eyeball body, wherein at least one of the eyelid and the eyelid is hinged to the first supporting column; The third driving member is hinged to the eyelid.

[0011] According to an embodiment of the present invention, the output end of the third driving member is connected to a second crank, the second crank is connected to a third connecting rod, and the third connecting rod is hinged to the eyelid.

[0012] According to one embodiment of the present invention, it also includes: A base, wherein the mounting position is formed on the base; a first supporting frame, wherein the first driving member is mounted on the first supporting frame; The second support frame, the second driving member is installed on the second support frame, and the output end of the second driving member is connected to the first support frame to drive the first support frame to rotate relative to the base in a vertical plane.

[0013] According to one embodiment of the present invention, it further includes a second support column, the second support column is connected to the base, a ball joint structure is provided on the second support column, and the second connecting rod is ball-jointed to the ball joint structure.

[0014] According to one embodiment of the present invention, a bearing seat is further included, and the first support frame is rotatably connected to the bearing seat.

[0015] According to the bionic eye device provided by the embodiment of the present invention, the natural movement of human eyeballs in the horizontal plane (rotating left and right) and the vertical plane (rotating up and down) can be simulated through the coordinated work of two bionic eyeball bodies, the first connecting rod, the first driving member and the second driving member. This design not only improves the freedom of eyeball movement, but also makes the movement of the bionic eyeball closer to the physiological mechanism of the real eyeball, providing a more realistic visual interaction experience for the fields of robots, virtual reality equipment, medical rehabilitation, etc. The movement in the horizontal plane and the vertical plane is controlled by the independent first driving member and the second driving member, respectively, so as to achieve precise control of the movement of the bionic eyeball. This design is conducive to accurately capturing visual information in a complex environment and improving the overall performance and reaction speed of the system. The various components in the bionic eye device are combined together through clever connection and transmission methods to form a compact structure with high integration. This design not only reduces the overall volume and weight of the device, but also facilitates installation and maintenance, and improves the portability and reliability of the device. Since the bionic eye device can simulate multiple movement modes of a real eyeball, it has a wide range of application prospects. It can be used to upgrade the robot's visual system to improve the robot's environmental perception and interaction capabilities; it can also be used in virtual reality devices to provide users with a more immersive visual experience; in addition, in the field of medical rehabilitation, the device can also be used as an auxiliary training tool to help patients restore their vision or improve their eye movement function. The design of the bionic eye device has certain modularity and scalability. In the future, with the continuous advancement of technology and the continuous changes in demand, more functional modules can be added or the performance of existing components can be improved on this basis to meet more complex and diverse application scenarios. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] In order to more clearly illustrate the technical solutions in the present invention or the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0017] Figure 1 It is a schematic stereoscopic diagram of the bionic eye device provided by the present invention at one angle.

[0018] Figure 2 It is a schematic stereoscopic diagram of the bionic eye device provided by the present invention from another angle.

[0019] Figure 3 It is a schematic top view of the bionic eye device provided by the present invention.

[0020] Figure 4 It is a schematic front view of the bionic eye device provided by the present invention.

[0021] Figure 5 It is a schematic three-dimensional diagram of the bionic eye device provided by the present invention with the base hidden.

[0022] Reference numerals: 100. Bionic eyeball body; 102. First connecting rod; 104. First driving member; 106. Second driving member; 108. First crank; 110. Articulated shaft; 112. Second connecting rod; 114. Limiting column; 116. First supporting column; 118. Eyelid; 120. Eyelid; 122. Third driving member; 124. Second crank; 126. Third connecting rod; 128. Base; 130. First supporting frame; 132. Second supporting frame; 134. Second supporting column; 138. Ball joint structure; 136. Bearing seat. DETAILED DESCRIPTION

[0023] The following embodiments of the present invention are described in further detail in conjunction with the accompanying drawings and examples. The following examples are used to illustrate the present invention, but are not intended to limit the scope of the present invention.

[0024] like Figures 1 to 5 As shown, an embodiment of the present invention provides a bionic eye device, comprising: Two bionic eye bodies 100; A first connecting rod 102, both ends of which are respectively connected to the two bionic eyeball bodies 100 through transmission components; A first driving member 104, the first driving member 104 is hinged to the first connecting rod 102 to drive the first connecting rod 102 to rotate in a horizontal plane, and the first connecting rod 102 drives the two bionic eyeballs to rotate in a horizontal plane based on the movement of the first driving member 104; The second driving member 106 is connected to the first driving member 104 to drive the first driving member 104 and the two bionic eyeballs to rotate in a vertical plane.

[0025] According to the bionic eye device provided by the embodiment of the present invention, the natural movement of human eyeballs in the horizontal plane (rotating left and right) and the vertical plane (rotating up and down) can be simulated through the coordinated work of two bionic eyeball bodies 100, the first connecting rod 102, the first driving member 104 and the second driving member 106. This design not only improves the freedom of eyeball movement, but also makes the movement of the bionic eyeball closer to the physiological mechanism of the real eyeball, providing a more realistic visual interaction experience for the fields of robots, virtual reality equipment, medical rehabilitation, etc. The movement in the horizontal plane and the vertical plane is controlled by the independent first driving member 104 and the second driving member 106, respectively, so as to achieve precise control of the movement of the bionic eyeball. This design is conducive to accurately capturing visual information in a complex environment and improving the overall performance and reaction speed of the system. The various components in the bionic eye device are combined together through ingenious connection and transmission methods to form a compact structure with high integration. This design not only reduces the overall volume and weight of the device, but also facilitates installation and maintenance, and improves the portability and reliability of the device. Since the bionic eye device can simulate multiple movement modes of a real eyeball, it has a wide range of application prospects. It can be used to upgrade the robot's visual system to improve the robot's environmental perception and interaction capabilities; it can also be used in virtual reality devices to provide users with a more immersive visual experience; in addition, in the field of medical rehabilitation, the device can also be used as an auxiliary training tool to help patients restore their vision or improve their eye movement function. The design of the bionic eye device has certain modularity and scalability. In the future, with the continuous advancement of technology and the continuous changes in demand, more functional modules can be added or the performance of existing components can be improved on this basis to meet more complex and diverse application scenarios.

[0026] Please continue to see Figures 1 to 5 An embodiment of the present invention provides a bionic eye device, which is intended to simulate the natural movement pattern of the human eyeball to improve the visual interaction experience in the fields of robots, virtual reality equipment, medical rehabilitation, etc.

[0027] The bionic eye device comprises two bionic eyeball bodies 100, which, as the core parts of visual perception, have an appearance and internal structure close to that of a real eyeball so as to better simulate visual function.

[0028] The first connecting rod 102 is a key component connecting the two bionic eyeball bodies 100. The two ends of the first connecting rod 102 are respectively connected to the two bionic eyeball bodies 100 through transmission components. This connection method ensures that when the first connecting rod 102 moves, it can accurately and smoothly drive the two bionic eyeballs to move synchronously.

[0029] The first driving member 104 (such as a motor) is connected to the first connecting rod 102 in an articulated manner, and is used to provide a driving force in the horizontal plane for the first connecting rod 102. When the first driving member 104 is working, the first driving member 104 drives the first connecting rod 102 to rotate in the horizontal plane, and then drives the two bionic eyeballs to rotate left and right in the horizontal direction through the transmission assembly.

[0030] The second driving member 106 (such as a motor) is connected to the first driving member 104 to provide a driving force in the vertical plane. That is, when the second driving member 106 is working, the second driving member 106 will drive the entire first driving member 104 and the first connecting rod 102 connected thereto, and the two bionic eyeball bodies 100 to rotate in the vertical plane, thereby realizing the up and down rotation of the bionic eyeball.

[0031] The bionic eye device provided in the embodiment of the present invention achieves a high degree of bionics of eyeball movement through the above technical solution, and can simulate the left and right and up and down rotation of a real eyeball, making the visual interaction of robots, virtual reality equipment, etc. more natural and realistic, thereby improving the user experience.

[0032] According to one embodiment of the present invention, the output end of the first driving member 104 is connected to the first crank 108 , the first end of the first crank 108 is connected to the output shaft of the first driving member 104 , and the second end of the first crank 108 is hinged to the first connecting rod 102 .

[0033] like Figure 1 and Figure 5 As shown, in one embodiment of the present invention, in order to further optimize power transmission and movement control of the bionic eyeball, the output end of the first driving member 104 is improved.

[0034] Specifically, the output end of the first driving member 104 is connected to a first crank 108 , which plays an important role in converting the rotational motion into reciprocating rotation.

[0035] The first crank 108 has a fixed length and shape, and the first end of the first crank 108 is firmly connected to the output shaft of the first driving member 104 through a plum key, ensuring that power can be transmitted without loss.

[0036] The second end of the first crank 108 is connected to the first connecting rod 102 by an articulated manner. The articulated connection allows the first crank 108 to drive the first connecting rod 102 to rotate in a horizontal plane when rotating, while maintaining a certain degree of flexibility and freedom to adapt to different movement requirements.

[0037] When the first driving member 104 is working, the output shaft of the first driving member 104 drives the first crank 108 to rotate. As the first crank 108 rotates, its second end pushes or pulls the first connecting rod 102 through the hinge connection, so that the first connecting rod 102 reciprocates in the horizontal plane. This rotation is then transmitted to the bionic eyeball body 100 through the transmission assembly mentioned above, so that the bionic eyeball rotates left and right.

[0038] In an embodiment of the present invention, the rotational motion of the first driving member 104 is directly converted into the rotation of the first connecting rod 102 through the first crank 108, which reduces the friction and energy loss in the power transmission process and improves the overall transmission efficiency. By adjusting the length, shape and position of the hinge point of the first crank 108, the movement range and accuracy of the bionic eyeball can be accurately controlled to meet the needs of different application scenarios. The design of the first crank 108 makes the entire transmission system more compact, reduces the overall volume and weight of the device, and improves the portability and integration of the device. The design of the hinged connection allows the first connecting rod 102 to maintain a certain degree of freedom during the rotation process, reduces the stress and wear that may be caused by the rigid connection, and improves the reliability and service life of the device. The left and right rotation of the bionic eyeball in the horizontal plane is smoother and more natural, which enhances the realism and immersion of robots, virtual reality equipment, etc. in visual interaction and improves the user experience.

[0039] Of course, the rotation of the bionic eyeball can also be achieved directly through the first driving member 104 .

[0040] According to one embodiment of the present invention, the transmission assembly comprises: An articulated shaft 110, a first end of the articulated shaft 110 is rotatably connected to two ends of the first connecting rod 102; The second connecting rod 112 is spherically hinged at the installation position, the first end of the second connecting rod 112 is hinged to the second end of the hinge shaft 110 , and the second end of the second connecting rod 112 is rotatably connected to the two bionic eyeball bodies 100 .

[0041] like Figure 1 and Figure 5 As shown, in one embodiment of the present invention, the transmission assembly is designed as a complex and sophisticated mechanism, which aims to effectively transmit the rotational movement of the first connecting rod 102 to the bionic eyeball body 100 to achieve its left and right rotation function.

[0042] The transmission assembly mainly includes two key components, namely, the articulated shaft 110 and the second connecting rod 112 , which work together to ensure the smoothness and accuracy of power transmission.

[0043] The articulated shaft 110 is one of the core components of the transmission assembly. The first end of the articulated shaft 110 is fixed to the two ends of the first connecting rod 102 by means of a rotational connection. This design allows the articulated shaft 110 to rotate relative to the first connecting rod 102 when the first connecting rod 102 rotates, and ensures the fixed position of the axis, thereby maintaining synchronous movement with the first connecting rod 102. The second end of the articulated shaft 110 is used to be articulated with the second connecting rod 112 to further transmit power.

[0044] The second connecting rod 112 is a key component connecting the hinge shaft 110 and the bionic eyeball body 100. The second connecting rod 112 is installed on a fixed installation position by means of a ball joint. This design provides higher flexibility and freedom, so that the second connecting rod 112 can rotate or rotate in multiple directions. The first end of the second connecting rod 112 is connected to the second end of the hinge shaft 110 by means of a hinge, so as to receive power from the first connecting rod 102. The second end of the second connecting rod 112 is connected to the two bionic eyeball bodies 100 by means of a rotational connection, and finally transmits power to the bionic eyeball to realize its left and right rotation function.

[0045] Through the hinge shaft 110 and the second connecting rod 112, the transmission assembly can ensure the stability of power during transmission, reduce vibration and impact, and improve the stability and reliability of the rotation of the bionic eyeball. The installation method of the ball joint enables the second connecting rod 112 to rotate or rotate in multiple directions, thereby expanding the range of motion of the bionic eyeball and enabling it to simulate the movement of a real eyeball more flexibly. The design of the transmission assembly is compact and reasonable, reducing unnecessary components and space occupation, making the entire bionic eye device lighter and easier to integrate. By adjusting the connection method and position relationship between the hinge shaft 110, the second connecting rod 112 and the bionic eyeball body 100, it can be flexibly adapted to different application scenarios and needs, improving the versatility and adaptability of the device. The left and right rotation of the bionic eyeball is more natural and smooth, enhancing the sense of reality and immersion in visual interaction of robots, virtual reality equipment, etc., and providing users with a more comfortable and realistic experience.

[0046] According to an embodiment of the present invention, at least four limiting posts 114 are disposed on the bionic eyeball body 100 , and a limiting space is formed between the at least four limiting posts 114 , and the second end of the second connecting rod 112 is inserted into the limiting space.

[0047] like Figure 2 As shown, in one embodiment of the present invention, in order to further improve the stability and accuracy of the rotation of the bionic eyeball body 100 and ensure its safety during movement, at least four limiting posts 114 are cleverly designed on the bionic eyeball body 100.

[0048] These limiting columns 114 not only play a supporting and fixing role, but also together form a limiting space for limiting and guiding the movement trajectory of the second connecting rod 112 .

[0049] The limiting posts 114 are arranged at appropriate positions of the bionic eyeball body 100, and the number thereof is at least four, so as to ensure that a stable limiting space can be formed. The shape, size and position of the limiting posts 114 can be adjusted according to actual needs to adapt to different transmission component structures and motion requirements.

[0050] At least four limiting posts 114 are reasonably arranged and combined to form a semi-closed limiting space. The size, shape and position of the limiting space match the second end of the second connecting rod 112, ensuring that the second connecting rod 112 can be smoothly inserted and moved therein.

[0051] The second end of the second connecting rod 112 is designed to be a shape and size that matches the limiting space so that it can be accurately inserted into the limiting space. During the rotation of the bionic eyeball body 100, the second end of the second connecting rod 112 moves in the limiting space, and is restricted and guided by the limiting column 114 to maintain a stable motion trajectory.

[0052] It should be noted that, since the second connecting rod 112 is connected to the mounting position by means of a ball joint, the motion trajectory of the second end of the second connecting rod 112 can form an arc surface; and when the bionic eyeball body 100 rotates, the bionic eyeball body 100 will rotate around its spherical center, so there will be a certain displacement difference between the second end of the second connecting rod 112 and the spherical center of the bionic eyeball body 100. If a ball joint is used between the bionic eyeball body 100 and the second connecting rod 112, all degrees of freedom of the bionic eyeball body 100 will be limited, resulting in the second connecting rod 112 being unable to drive the bionic eyeball body 100 to rotate. Therefore, in order to avoid the above situation, at least four limiting posts 114 are provided on the bionic eyeball body 100. In the embodiment of the present invention, there can be four limiting posts 114, and the four limiting posts 114 are arranged to form a certain limiting space. The second end of the second connecting rod 112 is directly inserted into the limiting space. When the second end of the second connecting rod 112 moves horizontally or vertically, or rotates in three-dimensional space, the bionic eyeball body 100 can be driven to move synchronously through the cooperation between the second end of the second connecting rod 112 and the limiting column 114.

[0053] In the embodiment of the present invention, the design of the limiting column 114 and the limiting space effectively limits the range and direction of motion of the second connecting rod 112, preventing it from deflecting or shaking during the motion, thereby enhancing the stability of the rotation of the bionic eyeball body 100. By accurately controlling the position of the limiting column 114 and the size and shape of the limiting space, the precise control of the motion trajectory of the second connecting rod 112 can be achieved, thereby improving the accuracy of the rotation of the bionic eyeball body 100. The design of the limiting column 114 and the limiting space also plays a role in safety protection. When the transmission component fails or is subjected to external impact, the limiting column 114 can prevent the second connecting rod 112 from deviating from its normal motion trajectory, avoiding damage or injury to the bionic eyeball body 100. The design of the limiting column 114 and the limiting space makes the structure of the transmission component more compact and reasonable, reduces unnecessary components and space occupation, and improves the integration and aesthetics of the entire bionic eye device. Since the stability and accuracy of the rotation of the bionic eye body 100 are significantly improved, users can obtain a more realistic, smooth and natural visual experience when using products equipped with the bionic eye device, such as robots and virtual reality equipment.

[0054] According to one embodiment of the present invention, the connecting lines of the hinge point of the first crank 108 and the first connecting rod 102, the connection point of the first crank 108 and the first driving member 104, the hinge point of the hinge shaft 110 and the first connecting rod 102, and the ball joint point of the second connecting rod 112 form a parallelogram frame.

[0055] like Figure 5 As shown, in one embodiment of the present invention, in order to further improve the stability and motion accuracy of the transmission system, a geometric relationship of a parallelogram frame is specially designed. The parallelogram frame is composed of four key points: the hinge point of the first crank 108 and the first connecting rod 102, the connection point of the first crank 108 and the first driving member 104, the hinge point of the hinge shaft 110 and the first connecting rod 102, and the ball joint point of the second connecting rod 112.

[0056] The above four key points occupy an important position in the transmission system, and the lines between them always maintain a parallelogram shape or a dynamically changing parallelogram relationship during the movement of the device. This design takes advantage of the geometric properties of the parallelogram, that is, its opposite sides are parallel and equal in length, making the movement of the transmission system more stable and controllable.

[0057] Due to the existence of the parallelogram frame, when the first driving member 104 drives the first crank 108 to rotate, the rotation of the first connecting rod 102 will be constrained by the parallelogram frame, thereby maintaining a stable motion trajectory. This design effectively reduces the friction and vibration caused by the relative movement between the components, and improves the stability of power transmission. The geometric relationship of the parallelogram frame ensures that the relative position and movement direction of the components in the transmission system are always consistent. This consistency enables the bionic eyeball body 100 to accurately move along a predetermined trajectory during the rotation process, thereby improving the motion accuracy and repeatability.

[0058] Due to the adoption of the above-mentioned parallelogram frame design, the transmission system is more stable during the movement, the influence of vibration and impact on the bionic eyeball body 100 is reduced, and the stability of the overall device is improved. By maintaining the consistency of the relative position and movement direction between the components in the transmission system, the design of the parallelogram frame significantly improves the movement accuracy and repeatability of the rotation of the bionic eyeball body 100. The design of the parallelogram frame makes the structure of the transmission system more compact and reasonable, reduces unnecessary components and space occupation, and improves the integration and aesthetics of the entire bionic eye device. The geometric relationship of the parallelogram frame can be adjusted and optimized according to actual needs to adapt to different application scenarios and transmission requirements, thereby improving the versatility and adaptability of the device. Due to the improvement of the stability of the rotation of the bionic eyeball body 100 and the improvement of the movement accuracy, users can obtain a more realistic, smooth and natural visual experience when using products equipped with the bionic eye device.

[0059] According to one embodiment of the present invention, it also includes: A first support column 116 connected to the mounting position; Eyelids 118; The eyelid 120 is hinged to the eyelid 118 and is surrounded by the eyelid 118 to form an installation space for accommodating the bionic eyeball body 100. At least one of the eyelid 118 and the eyelid 120 is hinged to the first support column 116. The third driving member 122 is hinged to the eyelid 118 .

[0060] like Figure 1 and Figure 5 As shown, in one embodiment of the present invention, in order to more comprehensively simulate the physiological structure and movement characteristics of a real eyeball, the design of eyelids 118 and eyelids 120 is added, and a first support column 116 and a third drive member 122 are introduced to support and control their movement.

[0061] The first support column 116 serves as a support structure for the entire eyelid 118 and eyelid 120 system, and the first support column 116 is firmly connected to a mounting location (such as the head of a robot or the inside of a mask of a virtual reality device). The first support column 116 provides a stable support base to ensure that the eyelid 118 can open and close smoothly.

[0062] The eyelid 118 and the eyelid 120 are important components of the bionic eyeball system, and they are together formed to form an installation space for accommodating the bionic eyeball body 100. This space not only protects the bionic eyeball body 100 from external interference and damage, but also simulates the external structure of a real eyeball. At least one (or both) of the eyelid 118 and the eyelid 120 is hinged to the first support column 116 to achieve opening and closing movement.

[0063] In order to control the opening and closing movement of the eyelid 118, a third driving member 122 is introduced. The third driving member 122 (such as a motor) is hingedly connected to the eyelid 118, and the eyelid 118 is opened and closed by driving the third driving member 122 to rotate. The third driving member 122 can be a motor, a cylinder or other device capable of generating rotational power.

[0064] By adding the design of eyelids 118 and eyelids 120, the bionic eyeball system can simulate the appearance and movement of a real eyeball more realistically. The opening and closing movement of eyelids 118 not only enhances the visual sense of reality, but also enables the bionic eyeball system to be better integrated into various application scenarios. The installation space formed by the eyelids 118 and eyelids 120 provides good protection for the bionic eyeball body 100 to prevent it from being impacted and damaged by the outside world. This design improves the durability and reliability of the bionic eyeball system. The introduction of the third drive member 122 enables the opening and closing movement of eyelids 118 to be achieved by electronic control, thereby improving the flexibility and controllability of the system. Users can adjust the opening and closing angle and speed of eyelids 118 as needed to adapt to different visual expression requirements. Since the bionic eyeball system can simulate the appearance and movement of a real eyeball more realistically, users can get a more natural and comfortable experience when interacting with it. The improvement of this experience is of great significance to improving the market competitiveness of products such as robots and virtual reality equipment.

[0065] According to one embodiment of the present invention, the output end of the third driving member 122 is connected to the second crank 124 , the second crank 124 is connected to the third connecting rod 126 , and the third connecting rod 126 is hinged to the eyelid 118 .

[0066] like Figure 1 and Figure 5As shown, in one embodiment of the present invention, in order to more accurately control the opening and closing movement of the eyelid 118, the output end of the third driving member 122 is connected to the second crank 124, and the second crank 124 is connected to the third connecting rod 126. The third connecting rod 126 is connected to the eyelid 118 in a hinged manner, so as to transmit the power of the third driving member 122 to the eyelid 118 to realize their opening and closing movement.

[0067] The second crank 124 is an intermediate link of power transmission, and is fixed to the output end of the third driving member 122. When the third driving member 122 is working, it drives the second crank 124 to rotate. The length and shape of the second crank 124 can be adjusted according to actual needs to better adapt to the layout of the transmission system and the power transmission requirements.

[0068] The third connecting rod 126 is a key component connecting the second crank 124 and the eyelid 118. One end of the third connecting rod 126 is hingedly connected to the second crank 124, and the other end of the third connecting rod 126 is hingedly connected to the eyelid 118. Through this connection method, the third connecting rod 126 can convert the rotational motion of the second crank 124 into the opening and closing motion of the eyelid 118. The length and shape of the third connecting rod 126 can also be adjusted according to actual needs to ensure the stability and motion accuracy of the transmission system.

[0069] By introducing the transmission mechanism of the second crank 124 and the third connecting rod 126, the power of the third driving member 122 can be more accurately transmitted to the eyelid 118, thereby achieving more precise opening and closing control. This precise control helps to improve the overall performance and user experience of the bionic eyeball system. The transmission mechanism of the second crank 124 and the third connecting rod 126 is reasonably designed, which can reduce friction and vibration during the transmission process, making the opening and closing movement of the eyelid 118 smoother and more stable. This stability helps to extend the service life of the bionic eyeball system and reduce maintenance costs. The length and shape of the second crank 124 and the third connecting rod 126 can be adjusted according to actual needs to adapt to different transmission system layouts and power transmission requirements. This flexibility enables the bionic eyeball system to better adapt to various application scenarios and user needs.

[0070] Enhanced user experience: Because the opening and closing movement of the eyelid 118 is more precise and smoother, the user can have a more natural and comfortable experience when interacting with the bionic eye system.

[0071] According to one embodiment of the present invention, it also includes: A base 128, a mounting position is formed on the base 128; A first support frame 130, the first driving member 104 is mounted on the first support frame 130; The second support frame 132 , the second driving member 106 is installed on the second support frame 132 , and the output end of the second driving member 106 is connected to the first support frame 130 to drive the first support frame 130 to rotate relative to the base 128 in a vertical plane.

[0072] like Figure 1 As shown, in one embodiment of the present invention, in order to further improve the flexibility and adaptability of the bionic eye system, a base 128, a first support frame 130 and a second support frame 132 are introduced. These components together form a stable and adjustable support structure, so that the bionic eye system can work normally in different environments and conditions.

[0073] The base 128 is the basic part of the entire bionic eye system. The base 128 provides a stable mounting platform. The mounting position is formed on the base 128. As mentioned above, the mounting position is used to install the second connecting rod 112.

[0074] The first support frame 130 is used to mount the first driving member 104, which is responsible for driving the bionic eyeball body 100 to rotate in the horizontal direction. By mounting the first driving member 104 on the first support frame 130, its position and angle can be easily adjusted to adapt to different transmission system layouts and power transmission requirements.

[0075] The second support frame 132 is used to mount the second driving member 106. The output end of the second driving member 106 is connected to the first support frame 130. By driving the first support frame 130 to rotate in a vertical plane relative to the base 128, the bionic eyeball system can be adjusted in the vertical direction. This design enables the bionic eyeball system to simulate the movement characteristics of a real eyeball when the head rotates, thereby improving the realism and interactivity of the system.

[0076] By introducing the design of the second support frame 132 and the second driving member 106, the bionic eyeball system can be rotated and adjusted in a vertical plane. This flexibility not only improves the adaptability and application range of the system, but also makes the bionic eyeball system closer to nature in simulating the real eyeball movement characteristics. The base 128, the first support frame 130 and the second support frame 132 together form a stable support structure, providing reliable support for the bionic eyeball system. This stability helps to reduce the vibration and shaking of the system during operation, and improves the overall performance and reliability of the system.

[0077] According to an embodiment of the present invention, the second support column 134 is further included. The second support column 134 is connected to the base 128 . A ball joint structure 138 is disposed on the second support column 134 . The second connecting rod 112 is ball-jointed to the ball joint structure 138 .

[0078] like Figure 1 and Figure 2 As shown, in one embodiment of the present invention, in order to further optimize the transmission structure of the bionic eyeball system and increase its flexibility, a second support column 134 and a ball joint structure 138 arranged thereon are introduced. This design enables the second connecting rod 112 to be connected to the transmission system in a more flexible and stable manner, thereby improving the overall performance of the bionic eyeball system.

[0079] The second support column 134 is an important component connecting the base 128 and the transmission system, and provides additional support and stability. The design of the second support column 134 can be adjusted according to actual needs to ensure that it can meet the layout and power transmission requirements of the transmission system.

[0080] The ball joint structure 138 provided on the second support column 134 is a key component for connecting the second connecting rod 112. The ball joint structure 138 has multiple degrees of freedom, which can allow the second connecting rod 112 to rotate and turn in multiple directions within a certain range. This design not only increases the movement flexibility of the second connecting rod 112, but also enables the transmission system to better adapt to different working conditions and changes.

[0081] By ball-jointing the second connecting rod 112 on the ball-joint structure 138, it is ensured that the second connecting rod 112 can maintain a stable connection during the transmission process and can move freely in multiple directions. This connection method not only improves the stability and reliability of the transmission system, but also enables the bionic eyeball system to more accurately simulate the complex movement characteristics of a real eyeball.

[0082] The design of the ball-joint structure 138 enables the second connecting rod 112 to move freely in multiple directions, thereby increasing the flexibility of the bionic eye system. This flexibility helps the system to more accurately simulate the complex movement trajectory and perspective changes of a real eye. The combined design of the second support column 134 and the ball-joint structure 138 provides additional support and stability, ensuring the smooth operation of the transmission system during operation. This stability helps to reduce vibration and shaking, and improve the overall performance and reliability of the system. Because the bionic eye system has higher flexibility and stability, it can adapt to more application scenarios and changing conditions. This will further promote the application and development of bionic eye technology in various fields.

[0083] According to one embodiment of the present invention, a bearing seat 136 is further included, and the first support frame 130 is rotatably connected to the bearing seat 136 .

[0084] like Figure 1 and Figure 3As shown, in one embodiment of the present invention, in order to further enhance the rotation flexibility and stability of the bionic eyeball system on the first support frame 130, the design of the bearing seat 136 is introduced. The bearing seat 136 serves as the support and rotation center of the first support frame 130, and the first support frame 130 is smoothly rotated through its special structure.

[0085] In this embodiment, the bearing seat 136 is used to support the first support frame 130 and allow it to rotate freely within a certain range. High-precision bearings are installed inside the bearing seat 136, which can reduce friction and wear during rotation and ensure the stability and durability of rotation.

[0086] By rotatably connecting the first support frame 130 to the bearing seat 136, the first support frame 130 can be freely rotated around a certain axis under the support of the bearing seat 136. This connection method not only improves the rotation flexibility of the first support frame 130, but also ensures the stability and accuracy of the rotation.

[0087] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A bionic eye device, characterized in that: include: Two bionic eye bodies (100); A first connecting rod (102), wherein two ends of the first connecting rod (102) are respectively connected to the two bionic eyeball bodies (100) through transmission components; a first driving member (104), the first driving member (104) being hingedly connected to the first connecting rod (102) to drive the first connecting rod (102) to rotate in a horizontal plane, and the first connecting rod (102) drives the two bionic eyeballs to rotate in the horizontal plane based on the movement of the first driving member (104); A second driving member (106), the second driving member (106) being connected to the first driving member (104) to drive the first driving member (104) and the two bionic eyeballs to rotate in a vertical plane.

2. The bionic eye device according to claim 1, characterized in that: The output end of the first driving member (104) is connected to a first crank (108), the first end of the first crank (108) is connected to the output shaft of the first driving member (104), and the second end of the first crank (108) is hinged to the first connecting rod (102).

3. The bionic eye device according to claim 2, characterized in that: The transmission assembly comprises: An articulated shaft (110), a first end of the articulated shaft (110) being rotatably connected to two ends of the first connecting rod (102); A second connecting rod (112), the second connecting rod (112) is spherically hinged at a mounting position, a first end of the second connecting rod (112) is hinged to a second end of the hinge shaft (110), and a second end of the second connecting rod (112) is rotatably connected to the two bionic eyeball bodies (100).

4. The bionic eye device according to claim 3, characterized in that: At least three limiting columns (114) are arranged on the bionic eyeball body (100), a limiting space is formed between the at least four limiting columns (114), and the second end of the second connecting rod (112) is inserted into the limiting space.

5. The bionic eye device according to claim 3, characterized in that: The connecting lines of the hinge point between the first crank (108) and the first connecting rod (102), the connection point between the first crank (108) and the first driving member (104), the hinge point between the hinge shaft (110) and the first connecting rod (102), and the ball joint point of the second connecting rod (112) form a parallelogram frame.

6. The bionic eye device according to any one of claims 3 to 5, characterized in that: Also includes: A first support column (116) connected to the installation position; Eyelids (118); an eyelid (120), hinged to the eyelid (118) and arranged together with the eyelid (118) to form an installation space for accommodating a bionic eyeball body (100), wherein at least one of the eyelid (118) and the eyelid (120) is hinged to the first support column (116); A third driving member (122) is hingedly connected to the eyelid (118).

7. The bionic eye device according to claim 6, characterized in that: The output end of the third driving member (122) is connected to a second crank (124), the second crank (124) is connected to a third connecting rod (126), and the third connecting rod (126) is hinged to the eyelid (118).

8. The bionic eye device according to any one of claims 3 to 5, characterized in that: Also includes: A base (128), wherein the mounting position is formed on the base (128); A first support frame (130), wherein the first driving member (104) is mounted on the first support frame (130); A second support frame (132), the second driving member (106) is installed on the second support frame (132), and the output end of the second driving member (106) is connected to the first support frame (130) to drive the first support frame (130) to rotate in a vertical plane relative to the base (128).

9. The bionic eye device according to claim 8, characterized in that: It also includes a second support column (134), the second support column (134) is connected to the base (128), a ball joint structure (138) is provided on the second support column (134), and the second connecting rod (112) is ball-jointed to the ball joint structure (138).

10. The bionic eye device according to claim 8, characterized in that: It also includes a bearing seat (136), and the first support frame (130) is rotatably connected to the bearing seat (136).

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