Bionic eye device

Abstract

The bionic eye device comprises a base, a rotating seat, an eyeball, a first driving module and a second driving module, the rotating seat is rotationally connected to the base, the eyeball is hinged to the rotating seat, and the center of the eyeball coincides with the rotating center of the rotating seat, so that in the process that the rotating seat rotates around the rotating center, the eyeball can be driven to rotate around the center of the eyeball; the first driving module drives the rotating seat to rotate so as to drive the eyeballs to rotate in the left-right direction, the second driving module is connected with the eyeballs and can directly drive the eyeballs to rotate in the up-down direction, and eye bionics are achieved. Therefore, the first driving module and the second driving module can be more compact, the space occupancy rate of the first driving module and the second driving module is reduced, the size of the bionic eye device is reduced, and convenience is provided for installation of the bionic eye device on the head of the robot.

Description

Technical Field

[0001] The present invention relates to the technical field of robots, and particularly to a bionic eye device. Background Art

[0002] With the rapid development of robot technology, people's requirements for the functions of robots have been increasing again and again, and they are no longer satisfied with the traditional clumsy concept. For this reason, the bionic performance of robots has gradually become important to highly simulate the joint activities or expression movements of humans or animals. Among them, the bionic simulation of the eyes is one of the important research objects.

[0003] For example, the bionic eye disclosed in the document with the publication number CN107932527B includes an eye bracket, an eyeball movement unit, and an eyebrow movement unit. The eyeball movement unit includes an eyeball hinged to the eye bracket and a first link mechanism for driving the eyeball to rotate. The eyebrow movement unit includes an eyebrow hinged to the eye bracket and a second link mechanism for driving the eyebrow to rotate. The eyeball and the eyebrow have a synchronous pitching and rotating relationship; the components of the bionic eye have synchronous movement performance, and can realistically reproduce the eye expression movements of organisms with high coordination, and have outstanding bionic performance.

[0004] The movement of the eyeball part of the existing bionic eye structure is driven by a link, resulting in overly complex transmission components and low compactness. Furthermore, the volume of the bionic eye structure is relatively large, making it difficult to assemble in the narrow head space of the robot. Summary of the Invention

[0005] The purpose of the present invention is to overcome the above technical deficiencies, and propose a bionic eye device to solve the technical problems of low compactness, large volume, and inconvenience in assembling the bionic eye device in the prior art.

[0006] To achieve the above technical purpose, the present invention adopts the following technical solutions: The present invention provides a bionic eye device, including: A base; A rotating seat, rotatably connected to the base; An eyeball, hinged to the rotating seat, and the center of the ball of the eyeball coincides with the rotation center of the rotating seat; A first driving module, connected to the rotating seat, for driving the rotating seat to rotate, and A second driving module, connected to the eyeball, for driving the eyeball to rotate.

[0007] In some embodiments, the base has an arc-shaped chute, the center of the arc of the arc-shaped chute coincides with the center of the ball of the eyeball, and the rotating seat has a sliding protrusion, and the sliding protrusion is slidably connected to the arc-shaped chute.

[0008] In some embodiments, the first driving module includes a first rotary driving member and a driving arm. The first rotary driving member is fixed to the base, and the driving arm is connected to the first rotary driving member and the rotating seat, and is used to drive the sliding protrusion to slide along the arc-shaped chute through the first rotary driving member.

[0009] In some embodiments, the rotating seat is provided with a straight groove, the rotation center of the rotating seat is located in the extending direction of the straight groove, and the driving arm is slidably connected to the straight groove.

[0010] In some embodiments, the rotating seat further has an arc-shaped connecting member. The inner side of the arc-shaped connecting member forms a camera installation space. The eyeball is hinged to both sides of the arc-shaped connecting member, and the center of the eyeball is located in the camera installation space.

[0011] In some embodiments, the second driving module includes a second rotary driving member, a first swing arm and a first connecting rod. The second rotary driving member is fixed to the rotating seat, the first swing arm is connected to the second rotary driving member and can swing through the driving of the second rotary driving member, and both ends of the first connecting rod are respectively hinged to the first swing arm and the eyeball.

[0012] In some embodiments, the bionic eye device further includes an upper eyelid, a lower eyelid, a third driving module and a fourth driving module. The upper eyelid and the lower eyelid are both hinged to the base and enclose to form an eye socket. The eyeball is located in the eye socket. The third driving module is fixed to the base and connected to the upper eyelid, and is used to drive the upper eyelid to rotate. The fourth driving module is fixed to the base and connected to the lower eyelid, and is used to drive the lower eyelid to rotate.

[0013] In some embodiments, the third driving module includes a third rotary driving member, a second swing arm and a second connecting rod. The third rotary driving member is fixed to the base, the second swing arm is connected to the third rotary driving member and can swing through the driving of the third rotary driving member, and both ends of the second connecting rod are respectively hinged to the second swing arm and the upper eyelid.

[0014] In some embodiments, the fourth driving module includes a fourth rotary driving member, a third swing arm and a third connecting rod. The fourth rotary driving member is fixed to the base, the third swing arm is connected to the fourth rotary driving member and can swing through the driving of the fourth rotary driving member, and both ends of the third connecting rod are respectively hinged to the third swing arm and the lower eyelid.

[0015] In some embodiments, the base has hinged arms arranged oppositely, and both sides of the upper eyelid and the lower eyelid are respectively hinged to the two hinged arms.

[0016] Compared with the prior art, the bionic eye device provided by the present invention is provided with a base, a rotating seat, an eyeball, a first driving module and a second driving module. The bionic eye can be fixed to the head of the robot through the base. The rotating seat is rotatably connected to the base. The eyeball is hinged to the rotating seat, and the center of the ball of the eyeball coincides with the rotation center of the rotating seat. When the rotating seat rotates around the rotation center, the eyeball can be driven to rotate around the center of the ball. The first driving module is connected to the rotating seat and drives the rotating seat to rotate, thereby driving the eyeball to rotate in the left and right directions. The second driving module is connected to the eyeball and can directly drive the eyeball to rotate in the up and down directions to achieve eye bionics. Since the left and right directions of the eyeball can be driven by the rotating seat, and the second driving module is installed on the base, the first driving module and the second driving module can be made more compact, reducing the space occupancy of the first driving module and the second driving module, thereby reducing the volume of the bionic eye device and facilitating the installation of the bionic eye device on the head of the robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 is a schematic structural diagram of the bionic eye device provided by the embodiment of the present invention; Figure 2 is a schematic structural diagram of the bionic eye device from another angle provided by the embodiment of the present invention; Figure 3 is a schematic structural diagram of the rotating seat part of the bionic eye device provided by the embodiment of the present invention.

[0018] Reference numerals in the drawings: 10 - base 11 - arc-shaped chute 12 - hinge arm 20 - rotating seat 21 - sliding protrusion 22 - arc-shaped connecting piece 23 - straight groove 24 - connecting piece 30 - eyeball 31 - camera 40 - first driving module 41 - first rotary driving member 42 - driving arm 50 - second driving module 51 - second rotary driving member 52 - first swing arm 53 - first connecting rod 60 - upper eyelid 70 - lower eyelid 80 - third driving module 81 - third rotary driving member 82 - second swing arm 83 - second connecting rod 90 - fourth driving module 91 - fourth rotary driving member 92 - third swing arm 93 - third connecting rod 221 - camera installation space. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0019] In order to make the objectives, technical solutions and advantages of the present invention more clearly understood, the present invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention.

[0020] In order to solve the technical problem in the prior art that the compactness of the bionic eye device is not high, the volume is large, and it is inconvenient to assemble the bionic eye device, the present invention provides a bionic eye device, which can make the structure of the bionic eye device more compact and reduce the volume and space occupancy rate of the bionic eye device.

[0021] The bionic eye device provided by the embodiment of the present invention, as Figures 1-3 shown, includes a base 10, a rotating seat 20, an eyeball 30, a first driving module 40 and a second driving module 50. The rotating seat 20 is rotatably connected to the base 10; the eyeball 30 is hinged to the rotating seat 20, and the center of the eyeball 30 coincides with the rotation center of the rotating seat 20; the first driving module 40 is connected to the rotating seat 20 and is used to drive the rotating seat 20 to rotate, and the second driving module 50 is connected to the eyeball 30 and is used to drive the eyeball 30 to rotate.

[0022] Specifically, by providing the base 10, the rotating seat 20, the eyeball 30, the first driving module 40 and the second driving module 50, the bionic eye can be fixed to the robot head through the base 10. The rotating seat 20 is rotatably connected to the base 10, the eyeball 30 is hinged to the rotating seat 20, and the center of the eyeball 30 coincides with the rotation center of the rotating seat 20. During the rotation of the rotating seat 20 around the rotation center, the eyeball 30 can be driven to rotate around the center of the ball. The first driving module 40 is connected to the rotating seat 20, and by driving the rotating seat 20 to rotate, the eyeball 30 can be driven to rotate in the left and right directions. The second driving module 50 is connected to the eyeball 30 and can directly drive the eyeball 30 to rotate in the up and down directions to achieve bionics. Since the left and right directions of the eyeball 30 can be driven by setting on the rotating seat 20, and the second driving module 50 is installed on the base 10, the first driving module 40 and the second driving module 50 can be made more compact, reducing the space occupancy rate of the first driving module 40 and the second driving module 50, thereby reducing the volume of the bionic eye device and facilitating the installation of the bionic eye device on the robot head.

[0023] In this embodiment, the base 10 is a plate-like structure, and two hinged arms 12 are oppositely arranged at the end of the base 10. An eyeball installation space is formed between the two hinged arms 12, and the eyeball 30 is located in the eyeball installation space.

[0024] It can be understood that the rotating seat 20 can be rotatably connected to the base 10 through structures such as a rotating shaft provided on the base 10. At this time, the rotating shaft forms the rotation center of the rotating seat 20, and the center of the ball is located on this rotating shaft.

[0025] In one embodiment, to avoid the rotation center from obstructing the installation of the eyeball 30 and occupying the internal space of the eyeball 30, as Figures 1-3 shown, the base 10 has an arc-shaped sliding groove 11, the center of the arc of the arc-shaped sliding groove 11 coincides with the center of the sphere of the eyeball 30, the rotating seat 20 has a sliding protrusion 21, and the sliding protrusion 21 is slidably connected to the arc-shaped sliding groove 11. Specifically, by rotating along the arc-shaped sliding groove 11, the rotating seat 20 can rotate around the base 10, and since the center of the arc of the arc-shaped sliding groove 11 coincides with the center of the sphere of the eyeball 30, during the rotation of the rotating seat 20, the eyeball 30 will be driven to rotate around its center of the sphere, thus realizing the rotation of the eyeball 30 in the left and right directions. Through the above formation, a virtual rotation center can be formed for the rotating seat 20, and further, there is no need to provide a rotating shaft component for connecting the rotating seat 20 at the center of the eyeball 30. While facilitating the assembly of the eyeball 30, the space occupied inside the eyeball 30 is reduced, so that a camera component with a larger volume can be installed inside the eyeball 30, thereby improving the visual resolution of the bionic eye device.

[0026] In this embodiment, the eyeball 30 is a hemispherical structure with an opening on one side. The arc-shaped sliding groove 11 faces the eyeball 30, and its radian is the same as that of the eyeball 30.

[0027] In one embodiment, as Figures 1-3 shown, the rotating seat 20 also has an arc-shaped connecting member 2422. The inner side of the arc-shaped connecting member 2422 forms a camera installation space 221. The eyeball 30 is hinged to both sides of the arc-shaped connecting member 2422, and the center of the sphere of the eyeball 30 is located in the camera installation space 221. Specifically, the eyeball 30 can be hinged to the rotating seat 20 through the arc-shaped connecting member 2422, and the arc-shaped connecting member 2422 can bypass the center of the sphere of the eyeball 30. Therefore, while realizing the connection of the eyeball 30, a larger-volume camera installation space 221 can be formed by enclosing with the eyeball 30 to realize the installation of a large-volume camera 31, so as to improve the visual resolution of the bionic eye device as much as possible.

[0028] It can be understood that when the rotating seat 20 is rotatably connected to the base 10 through a rotating shaft, the first driving module 40 can be a driving component such as a motor connected to the rotating shaft and driving the rotating shaft to rotate; the rotating seat 20 can also be provided with a gear ring structure, and the first driving module 40 can also drive the rotating seat 20 to rotate by providing a gear structure meshing with the gear ring structure.

[0029] In one embodiment, as Figures 1-3As shown, the first driving module 40 includes a first rotary driving member 41 and a driving arm 42. The first rotary driving member 41 is fixed to the base 10, and the driving arm 42 is connected to the first rotary driving member 41 and the rotating seat 20, and is used to drive the sliding protrusion 21 to slide along the arc-shaped chute 11 through the first rotary driving member 41. Specifically, during the process of the first rotary driving member 41 driving the driving arm 42 to rotate, the driving arm 42 further drives the sliding protrusion 21 to slide along the arc-shaped chute 11, thereby realizing the rotation of the rotating seat 20 and realizing the driving of the eyeball 30 to rotate in the left and right directions.

[0030] In this embodiment, the first rotary driving member 41 is a servo motor.

[0031] It can be understood that the driving arm 42 can be two hinged connecting rods. By driving one of the connecting rods to rotate through the first rotary driving member 41, the rotating seat 20 can be driven to rotate through the other connecting rod.

[0032] In one embodiment, as Figures 2-3 shown, the rotating seat 20 is provided with a straight groove 23, and the rotation center of the rotating seat 20 is located in the extending direction of the straight groove 23, and the driving arm 42 is slidably connected to the straight groove 23. Specifically, during the process of the first driving member driving the driving arm 42 to rotate, the end of the driving arm 42 will be driven to slide along the straight groove 23, and at the same time, the rotating seat 20 will be driven, thereby realizing the rotation of the rotating seat 20.

[0033] In this embodiment, the rotating seat 20 is provided with a connecting member 24, the connecting member 24 is fixed to the end of the sliding protrusion 21, and the straight groove 23 is provided on the connecting member 24. Through this setting, the driving arm 42 can directly drive the sliding protrusion 21, and the first rotary driving member 41 will be formed on one side of the sliding protrusion's 21.

[0034] It can be understood that the interior of the eyeball 30 can be provided with a gear ring, and the second driving module 50 is provided with a gear meshing with the gear ring. By driving the gear to rotate, the rotation of the eyeball 30 can be realized.

[0035] In one embodiment, as Figures 1-3 shown, the second driving module 50 includes a second rotary driving member 51, a first swing arm 52 and a first connecting rod 53. The second rotary driving member 51 is fixed to the rotating seat 20, the first swing arm is connected to the second rotary driving member 51 and can swing through the driving of the second rotary driving member 51, and both ends of the first connecting rod 53 are hinged to the first swing arm 52 and the eyeball 30 respectively. Specifically, the second rotary driving member 51 drives the first swing arm 52 to swing, and then the first connecting rod 53 can be pulled to move. During the movement of the first connecting rod 53, the eyeball 30 is driven to rotate around the position hinged to the rotating seat 20, realizing the driving of the eyeball 30 to rotate in the up and down directions.

[0036] In this embodiment, the second rotation driving member 51 is a servo motor. The second rotation driving member 51 and the first rotation driving member 41 are respectively located on opposite sides of the base 10, so that the structure of the eyeball 30 driving member is more compact, effectively reducing the volume of the bionic eye device.

[0037] In one embodiment, to further improve the bionic effect, as Figures 1-2 shown, the bionic eye device further includes an upper eyelid 60, a lower eyelid 70, a third driving module 80 and a fourth driving module 90. The upper eyelid 60 and the lower eyelid 70 are both hinged to the base 10 and enclose to form an eye socket. The eyeball 30 is located in the eye socket. The third driving module 80 is fixed to the base 10 and connected to the upper eyelid 60 for driving the upper eyelid 60 to rotate. The fourth driving module 90 is fixed to the base 10 and connected to the lower eyelid 70 for driving the lower eyelid 70 to rotate. Specifically, the third driving module 80 and the fourth driving module 90 drive the upper eyelid 60 and the lower eyelid 70 to rotate, so as to simulate the blinking action and further improve the bionic effect.

[0038] In one embodiment, as Figures 1-2 shown, both sides of the upper eyelid 60 and the lower eyelid 70 are respectively hinged to two hinge arms 12. Specifically, the upper eyelid 60 and the lower eyelid 70 are simultaneously hinged at the same position, which can reduce the assembly difficulty of the upper eyelid 60 and the lower eyelid 70, make the structure of the eyeball 30 part more compact, and reduce the volume of the bionic eye device.

[0039] It can be understood that a gear ring can be arranged inside the upper eyelid 60 and the lower eyelid 70, and the third driving module 80 and the fourth driving module 90 are provided with gears meshing with the gear ring. By driving the gears to rotate, the rotation of the upper eyelid 60 and the lower eyelid 70 can be realized.

[0040] In one embodiment, as Figures 1-2 shown, the third driving module 80 includes a third rotation driving member 81, a second swing arm 82 and a second connecting rod 83. The third rotation driving member 81 is fixed to the base 10. The second swing arm 82 is connected to the third rotation driving member 81 and can swing under the drive of the third rotation driving member 81. Both ends of the second connecting rod 83 are respectively hinged to the second swing arm 82 and the upper eyelid 60. Specifically, the third rotation driving member 81 drives the second swing arm 82 to rotate, which can drive the second connecting rod 83 to move, and the second connecting rod 83 drives the upper eyelid 60 to rotate through the movement, realizing the blinking action of the upper eyelid 60.

[0041] In one embodiment, as Figures 1-3As shown in the figure, the fourth driving module 90 includes a fourth rotation driving member 91, a third swing arm 92, and a third connecting rod 93. The fourth rotation driving member 91 is fixed to the base 10. The third swing arm 92 is connected to the fourth rotation driving member 91 and can swing driven by the fourth rotation driving member 91. Both ends of the third connecting rod 93 are hinged to the third swing arm 92 and the lower eyelid 70 respectively. Specifically, the fourth rotation driving member 91 drives the third swing arm 92 to rotate, which can drive the third connecting rod 93 to move. The third connecting rod 93 drives the lower eyelid 70 to rotate through movement, realizing the blinking action of the lower eyelid 70.

[0042] In this embodiment, both the third rotation driving member 81 and the fourth rotation driving member 91 are servos, and are respectively arranged on both sides of the base 10, so that the structure of the bionic eye device is more compact and the volume is smaller.

[0043] In this embodiment, hinge parts such as between the second swing arm 82 and the second connecting rod 83, between the second connecting rod 83 and the upper eyelid 60, between the third swing arm 92 and the third connecting rod 93, and between the third connecting rod 93 and the lower eyelid 70 are connected by pin shafts. The pin shaft includes a large-diameter section near the head and a small-diameter section away from the head. The small-diameter section is provided with a threaded structure, which can realize the fixation of the pin shaft with components such as the second swing arm 82, the upper eyelid 60, the third swing arm 92, and the lower eyelid 70, and realizes radial limit through the shoulder of the large-diameter section. The large-diameter section can be sleeved with components such as the second connecting rod 83 and the third connecting rod 93. Through the above setting of the pin shaft, while providing axial limit for components such as the second connecting rod 83 and the third connecting rod 93, it can prevent the second connecting rod 83 and the third connecting rod 93 from being too tight.

[0044] For a better understanding of the present invention, the following is combined with Figures 1 to 3 The technical solution of the present invention will be described in detail: In the embodiment of the present invention, by setting the eyeball 30, the first driving module 40, the second driving module 50, the upper eyelid 60, the lower eyelid 70, the third driving module 80, and the fourth driving module 90, when performing bionic simulation of the eye, the first rotation driving member 41 of the first driving module 40 drives the driving arm 42 to rotate, and the driving arm 42 further drives the sliding protrusion 21 to slide along the arc-shaped chute 11, thereby realizing the rotation of the rotating seat 20 and realizing the driving of the eyeball 30 to rotate in the left and right directions. The second rotation driving member 51 of the second driving module 50 can pull the first connecting rod 53 to move by driving the first swing arm 52 to swing. During the movement of the first connecting rod 53, it drives the eyeball 30 to rotate around the position hinged to the rotating seat 20, realizing the driving of the eyeball 30 to rotate in the up and down directions. The third driving module 80 and the fourth driving module 90 respectively drive the second connecting rod 83 and the third connecting rod 93 to move through the third rotation driving member 81 and the fourth rotation driving member 91, thereby realizing the blinking actions of the upper eyelid 60 and the lower eyelid 70, and finally realizing the bionic simulation of the human eye.

[0045] The specific embodiments of the present invention described above do not constitute a limitation on the protection scope of the present invention. Any other corresponding changes and deformations made according to the technical concept of the present invention shall be included in the protection scope of the claims of the present invention.

Claims

1. A bionic eye device, characterized in that, Comprising: A base; A rotating seat rotatably connected to the base; An eyeball hinged to the rotating seat, with the center of the eyeball coinciding with the rotation center of the rotating seat; A first driving module connected to the rotating seat for driving the rotation of the rotating seat, and A second driving module connected to the eyeball for driving the rotation of the eyeball.

2. The bionic eye device according to claim 1, wherein The base has an arc-shaped chute, the center of the arc of the arc-shaped chute coincides with the center of the eyeball, the rotating seat has a sliding protrusion, and the sliding protrusion is slidably connected to the arc-shaped chute.

3. The bionic eye device according to claim 2, wherein, The first driving module includes a first rotary driving member and a driving arm. The first rotary driving member is fixed to the base, and the driving arm is connected to the first rotary driving member and the rotating seat, and is used to drive the sliding protrusion to slide along the arc-shaped chute through the driving of the first rotary driving member.

4. The bionic eye device according to claim 3, characterized in that, The rotating seat is provided with a straight groove, the rotation center of the rotating seat is located in the extending direction of the straight groove, and the driving arm is slidably connected to the straight groove.

5. The bionic eye device according to any one of claims 1-4, characterized in that, The rotating seat further has an arc-shaped connecting member. The inner side of the arc-shaped connecting member forms a camera installation space. The eyeball is hinged to both sides of the arc-shaped connecting member, and the center of the eyeball is located in the camera installation space.

6. The bionic eye device according to any one of claims 1-4, characterized in that The second driving module includes a second rotary driving member, a first swing arm, and a first connecting rod. The second rotary driving member is fixed to the rotating seat, the first swing arm is connected to the second rotary driving member and can swing through the driving of the second rotary driving member, and both ends of the first connecting rod are respectively hinged to the first swing arm and the eyeball.

7. The bionic eye device according to any one of claims 1-4, characterized in that, The bionic eye device further includes an upper eyelid, a lower eyelid, a third driving module, and a fourth driving module. The upper eyelid and the lower eyelid are both hinged to the base and enclose to form an eye socket. The eyeball is located in the eye socket. The third driving module is fixed to the base and connected to the upper eyelid for driving the rotation of the upper eyelid, and the fourth driving module is fixed to the base and connected to the lower eyelid for driving the rotation of the lower eyelid.

8. The bionic eye device according to claim 7, wherein, The third driving module includes a third rotary driving member, a second swing arm, and a second connecting rod. The third rotary driving member is fixed to the base, the second swing arm is connected to the third rotary driving member and can swing through the driving of the third rotary driving member, and both ends of the second connecting rod are respectively hinged to the second swing arm and the upper eyelid.

9. The bionic eye device according to claim 7, characterized in that, characterized in that, The fourth driving module includes a fourth rotary driving member, a third swing arm, and a third connecting rod. The fourth rotary driving member is fixed to the base, the third swing arm is connected to the fourth rotary driving member and can swing through the driving of the fourth rotary driving member, and both ends of the third connecting rod are respectively hinged to the third swing arm and the lower eyelid.

10. The bionic eye device according to claim 7, characterized in that, The base has hinged arms arranged oppositely, and both sides of the upper eyelid and the lower eyelid are respectively hinged to the two hinged arms.

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