A bionic mechanism that simulates eye movements

Abstract

This utility model discloses a bionic mechanism for simulating eye movement, comprising: a shell, a bionic eyeball, a bionic eyelid, an eyeball rotation component, and an eyelid movement component. The bionic eyelid includes a bionic upper eyelid and a bionic lower eyelid. The eyeball rotation component and the eyelid movement component are respectively mounted on the shell. The eyeball rotation component includes an eyeball power component and an eyeball drive component. The eyeball power component is connected to the shell. The eyeball drive component is connected to the eyeball power component and to the bionic eyeball. The eyelid movement component includes an eyelid power component and an eyelid drive component. The eyelid power component is connected to the shell. The eyelid drive component is connected to the eyelid power component, the bionic upper eyelid, and the bionic lower eyelid. By implementing the bionic mechanism of this utility model, a more compact structure, good protective measures, and the ability to simulate natural facial expressions can be achieved.

Description

Technical Field

[0001] This utility model relates to the field of bionic machine technology, and in particular to a bionic mechanism that simulates eye movements. Background Technology

[0002] Existing bionic robot eye mechanisms typically possess at least one degree of freedom, such as vertical or horizontal eye movement, circular eye movement, and eyelid opening and closing. However, most current solutions rely on linkage mechanisms to achieve these movements, simulating real eye actions through different combinations of degrees of freedom and complex motion strokes. This design approach results in a less compact overall structure, leading to a larger overall device size, making it difficult to meet the space requirements of bionic eyes in small to medium-sized animals. Furthermore, due to the lack of effective restraint mechanisms and protective shell designs, internal components are easily damaged by external impacts during actual use.

[0003] Furthermore, existing designs also have issues with the coordination between the eyelids and the outer skin, particularly during blinking, where the eyelids and the overall appearance lack coordination, failing to achieve a natural and smooth effect. This not only affects the visual performance of the bionic robot but also limits its practicality in a wider range of applications.

[0004] Therefore, it is necessary to design a new mechanism that is more compact, has good protective measures, and can simulate natural facial expressions. Utility Model Content

[0005] The purpose of this invention is to overcome the shortcomings of the prior art and provide a bionic mechanism that simulates eye movements.

[0006] To solve the above-mentioned technical problems, the purpose of this utility model is achieved through the following technical solution: A bionic mechanism simulating eye movement is provided, comprising: a shell, a bionic eyeball, a bionic eyelid, an eyeball rotation component, and an eyelid movement component. The bionic eyelid includes a bionic upper eyelid and a bionic lower eyelid. The eyeball rotation component and the eyelid movement component are respectively mounted on the shell. The eyeball rotation component includes an eyeball power component and an eyeball drive component. The eyeball power component is connected to the shell. The eyeball drive component is connected to the eyeball power component and to the bionic eyeball. The eyelid movement component includes an eyelid power component and an eyelid drive component. The eyelid power component is connected to the shell. The eyelid drive component is connected to the eyelid power component, the bionic upper eyelid, and the bionic lower eyelid.

[0007] The further technical solution is as follows: the eyeball power assembly includes a first power source; the eyeball drive assembly includes a connecting block, an eyeball drive connecting frame, an eyeball drive crank, an eyeball drive transmission rod, and an eyeball connecting rod; the output end of the first power source passes through the eyeball drive connecting frame and is connected to the connecting block; the eyeball drive connecting frame is provided with a guide groove; one end of the eyeball drive crank is connected to the connecting block; the other end of the eyeball drive crank passes through the guide groove and is provided with a sphere; the sphere is hinged to one end of the eyeball drive transmission rod; the eyeball drive transmission rod is connected to the eyeball connecting rod; and the eyeball connecting rod is connected to the bionic eyeball.

[0008] The further technical solution is as follows: the number of the eyeball drive crank, the eyeball drive transmission rod, and the eyeball connecting rod are two.

[0009] The further technical solution is as follows: the eyelid power assembly includes a second power source.

[0010] The further technical solution is as follows: the eyelid driving component includes an eyelid support, a first spring, a second spring, and an eyelid spring push rod. One end of the first spring is connected to the bionic eyelid; the other end of the first spring is connected to the eyelid spring push rod; the second spring is installed between the eyelid spring push rod and the eyelid support; the eyelid spring push rod is connected to the second power source.

[0011] The further technical solution is as follows: the number of the first spring and the second spring is at least one; and the number of the bionic eyelids is two, with each bionic eyelid being equipped with one eyelid spring push rod.

[0012] The further technical solution is as follows: the eyeball power assembly includes a third power source; the eyeball drive assembly includes a mounting frame, an eccentric wheel, a drive push rod assembly, a third spring, a transmission plate, and an eyeball transmission rod; the mounting frame is mounted on the outer shell; the eccentric wheel is located below the mounting frame, and the output end of the third power source passes through the mounting frame and is connected to the eccentric wheel; the drive push rod assembly includes a drive push plate and a drive push rod, and the drive push rod is located on one side of the drive push plate; a baffle is provided at the end of the mounting frame away from the eccentric wheel, and a first through hole is provided on the baffle for the drive push rod to pass through; the third spring is located on the outer periphery of the drive push rod; the upper end of the drive push plate is connected to the transmission plate, and arc grooves are provided on both sides of the transmission plate; a second sphere is provided at one end of the eyeball transmission rod, and the second sphere is placed in the arc groove.

[0013] The further technical solution is as follows: the eyeball driving assembly further includes a bracket and a linkage structure, the bracket being assembled on the outer shell; the eyeball transmission rod is provided with a second through hole, the second through hole being fixed on the bracket by a pin, and the other end of the eyeball transmission rod is provided with a third through hole; the linkage structure includes a first connecting rod and a second connecting rod, the first connecting rod being connected to the bracket; the second connecting rod being connected to the first connecting rod by a pin; the second connecting rod is provided with a cylinder, the cylinder being placed in the third through hole, and the bionic eyeball being connected to the second connecting rod.

[0014] The further technical solution is as follows: the eyelid power assembly includes a fourth power source; the eyelid drive assembly includes a first pin, an eyelid spring push rod, an eyelid connector, a steel wire, a power mounting frame, a second eccentric wheel, and a fourth spring; two first pins are fixed on the bracket, and the first pins pass through the eyelid spring push rod; the bionic eyelid is connected to the eyelid connector via pins; the power mounting frame is mounted on the outer shell, and the fourth power source passes through the power mounting frame and is connected to the second eccentric wheel; one end of the steel wire is fixed on the eyelid spring push rod, and the other end of the steel wire passes through the bracket and is fixed to the side of the bionic eyelid; the fourth spring is installed between the eyelid spring push rod and the bracket.

[0015] The further technical solution includes a protective cover, with the bionic eyeball and the bionic eyelid placed inside the protective cover.

[0016] The advantages of this invention compared to existing technologies are as follows: This invention achieves structural compactness by compactly assembling the eyeball rotation component and the eyelid movement component onto the outer shell. Specifically, the eyeball rotation component includes an eyeball power component directly connected to the outer shell and an eyeball drive component connected thereto. The latter is further connected to the bionic eyeball, ensuring that the eyeball can accurately simulate natural rotation. Similarly, the eyelid movement component consists of an eyelid power component and an eyelid drive component, which are respectively connected to the outer shell and the bionic upper and lower eyelids to achieve realistic eyelid opening and closing movements. The entire system, through a rational layout design, not only maximizes space utilization but also provides excellent protection for the internal mechanical structure. Furthermore, this design makes the coordination between various components more efficient, thereby more accurately simulating natural facial expressions of the human eye and enhancing the realism and subtlety of the bionic effect. The use of a protective cover further strengthens the protection of the bionic eyeball and eyelids, ensuring stable operation in various application scenarios. Overall, this integrated design ensures structural compactness while improving the system's reliability and performance.

[0017] The present invention will be further described below with reference to the accompanying drawings and specific embodiments. Attached Figure Description

[0018] To more clearly illustrate the technical solutions of the embodiments of this utility model, the drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0019] Figure 1 A three-dimensional structural schematic diagram of a bionic mechanism for simulating eye movement provided for an embodiment of this utility model;

[0020] Figure 2 A three-dimensional structural schematic diagram of a bionic mechanism for simulating eye movement provided in Embodiment 1 of this utility model;

[0021] Figure 3 A three-dimensional structural diagram of a bionic mechanism for simulating eye movement provided in Embodiment 1 of this utility model (without the outer shell and protective cover).

[0022] Figure 4 An exploded structural diagram of a bionic mechanism simulating eye movement provided in Embodiment 1 of this utility model;

[0023] Figure 5 A three-dimensional structural schematic diagram of a bionic mechanism for simulating eye movement is provided for embodiment two of this utility model;

[0024] Figure 6 A three-dimensional structural diagram of a bionic mechanism for simulating eye movement provided in Embodiment 2 of this utility model (without the outer shell and protective cover).

[0025] Figure 7 An exploded structural diagram of a bionic mechanism for simulating eye movement provided in Embodiment 2 of this utility model;

[0026] Explanation of the markings in the image:

[0027] 1. Outer shell; 2. Bionic eyeball; 3. Bionic upper eyelid; 4. Bionic lower eyelid; 5. First power source; 6. Connecting block; 7. Eyeball drive connecting frame; 71. Guide groove; 8. Eyeball drive crank; 81. Sphere; 9. Eyeball drive transmission rod; 10. Eyeball connecting rod; 11. Second power source; 12. Eyelid support; 13. First spring; 14. Second spring; 15. Eyelid spring push rod; 16. Third power source; 17. Mounting bracket; 171. Baffle; 18. Eccentric wheel; 19. Drive push rod assembly; 191. Drive push plate; 192. Drive push rod; 20. Third spring; 21. Transmission plate; 211. Arc groove; 22. Eyeball transmission rod; 221. Second sphere; 23. Bracket; 241. First connecting rod; 242. Second connecting rod; 25. Fourth power source; 26. First pin; 27. Eyelid connector; 28. Steel wire; 29. ​​Power mounting bracket; 30. Second eccentric wheel; 31. Protective cover. Detailed Implementation

[0028] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those skilled in the art without creative effort are within the protection scope of the present utility model.

[0029] It should be understood that, when used in this specification and the appended claims, the terms "comprising" and "including" indicate the presence of the described features, integrals, steps, operations, elements and / or components, but do not exclude the presence or addition of one or more other features, integrals, steps, operations, elements, components and / or collections thereof.

[0030] It should also be understood that the terminology used in this specification is for the purpose of describing particular embodiments only and is not intended to limit the scope of the invention. As used in this specification and the appended claims, the singular forms “a,” “an,” and “the” are intended to include the plural forms unless the context clearly indicates otherwise.

[0031] It should also be further understood that the term "and / or" as used in this specification and the appended claims refers to any combination of one or more of the associated listed items and all possible combinations, and includes such combinations.

[0032] Current bionic robot eye mechanisms typically utilize linkages to achieve multi-directional eyeball rotation and eyelid opening and closing. However, this approach results in a bulky and non-compact structure, making it unsuitable for the bionic needs of small to medium-sized animals. Furthermore, the lack of effective restraint and protection designs makes components susceptible to damage from external impacts, and the poor coordination between the eyelids and overall appearance during blinking affects visual performance and the breadth of practical applications. Therefore, a novel design is needed that is more compact, incorporates robust protective measures, and can naturally and smoothly simulate eye movements.

[0033] Therefore, this utility model provides a bionic mechanism that simulates eye movements, achieving a more compact structure, good protection measures, and the ability to simulate natural facial expressions.

[0034] Specifically, in Embodiment 1, by integrating an eyeball drive assembly and an eyelid drive assembly, the first power source 5 drives the eyeball to rotate in multiple directions, and precise control is achieved through a connecting block 6, an eyeball drive connecting frame 7, an eyeball drive crank 8, a transmission rod, and a connecting rod. The unique feature of this design is the use of two eyeball drive assemblies to ensure the accuracy and stability of the movement, while a second power source 11 drives the eyelid movement. The combination of springs and push rods makes the opening and closing of the eyelids more natural and smooth. The entire structure is compact, reducing unnecessary space occupation, and the protective cover 31 provides additional protection, effectively preventing damage to the internal components from external impacts.

[0035] In the second embodiment, an eyeball drive system combining a third power source 16 and an eccentric wheel 18, along with an eyelid movement assembly driven by a fourth power source 25, is employed to achieve more complex simulated eye movements. Through the precise coordination of components such as the mounting bracket 17, the eccentric wheel 18, the drive push rod assembly 19, springs, and linkage structures, not only is smooth eyeball rotation achieved, but the natural coordination of eyelid opening and closing is also ensured. Furthermore, the clever arrangement of the steel wire 28, pins, and springs further optimizes the realism of the eyelid movements. The overall design emphasizes close cooperation between mechanical components, reducing the overall size of the device.

[0036] In addition, a protective cover 31 has been added to enhance durability, making it compact yet well protected, and able to naturally and smoothly simulate real eye expressions.

[0037] To better understand the above technical solutions, the following will provide a detailed explanation of the technical solutions in conjunction with the accompanying drawings and specific implementation methods.

[0038] Please see Figure 1A bionic mechanism simulating eye movement includes: a shell 1, a bionic eyeball 2, a bionic eyelid, an eyeball rotation component, and an eyelid movement component. The bionic eyelid includes a bionic upper eyelid 3 and a bionic lower eyelid 4. The eyeball rotation component and the eyelid movement component are respectively mounted on the shell 1. The eyeball rotation component includes an eyeball power component and an eyeball drive component. The eyeball power component is connected to the shell 1. The eyeball drive component is connected to the eyeball power component and to the bionic eyeball 2. The eyelid movement component includes an eyelid power component and an eyelid drive component. The eyelid power component is connected to the shell 1. The eyelid drive component is connected to the eyelid power component, the bionic upper eyelid 3, and the bionic lower eyelid 4, respectively.

[0039] In this embodiment, all these components are properly assembled inside the housing 1 to ensure that the overall structure is compact and fully functional.

[0040] The eyeball power assembly is connected to the housing 1 and is mainly responsible for providing the necessary driving force to the eyeball.

[0041] The eye-movement component converts power into the left-right movement of the eyeballs through a complex mechanical linkage mechanism. Specifically, the motor drives the eccentric wheel 18 to rotate, which in turn enables the eyeballs to move smoothly left and right through the action of springs and push rods, simulating the changes in the gaze of young animals.

[0042] The eyelid power assembly is also connected to the housing 1, providing the power source required for the opening and closing of the eyelids.

[0043] The eyelid driving component uses a motor combined with the elasticity of a spring and the traction of a steel wire 28 to allow the upper and lower eyelids to rotate freely around the same axis, thereby achieving natural blinking and the opening and closing of the eyes.

[0044] In addition, the aforementioned bionic mechanism for simulating eye movement also includes a protective cover 31, with the bionic eyeball 2 and bionic eyelid placed inside the protective cover 31.

[0045] To increase the product's durability and prevent damage to the internal structure from external contact, a transparent protective cover 31 has been specially incorporated into the design. This protective cover 31 not only completely covers the eyelids and eyeball mechanism, but also allows the user to clearly observe the internal operation, while effectively isolating the internal delicate structure from direct external contact.

[0046] This design is ideal for simulating the eye expressions of young animals such as three-month-old red pandas, and is suitable for eye expression mechanisms in robots such as pet cats, dogs, guinea pigs, and piglets, as well as any other application scenarios that require dynamic changes in eye movements. Furthermore, due to its unique design concept and ingenious mechanical structure, it can also be extended to other scenarios requiring back-and-forth swinging motion, such as in mechanical devices like rocker arms.

[0047] In conclusion, this bionic mechanism that simulates eye movements not only achieves the independent functions of the eyeball and eyelid, but also performs excellently in terms of space utilization efficiency and protective measures, making it an ideal choice for simulating the eye expressions of young animals.

[0048] In Example 1, please refer to Figures 2 to 4 The aforementioned eyeball power assembly includes a first power source 5, and the eyeball drive assembly includes a connecting block 6, an eyeball drive connecting frame 7, an eyeball drive crank 8, an eyeball drive transmission rod 9, and an eyeball connecting rod 10. The output end of the first power source 5 passes through the eyeball drive connecting frame 7 and is connected to the connecting block 6. The eyeball drive connecting frame 7 is provided with a guide groove 71, and one end of the eyeball drive crank 8 is connected to the connecting block 6. The other end of the eyeball drive crank 8 passes through the guide groove 71 and is provided with a ball 81. The ball 81 is hinged to one end of the eyeball drive transmission rod 9. The eyeball drive transmission rod 9 is connected to the eyeball connecting rod 10. The eyeball connecting rod 10 is connected to the bionic eyeball 2.

[0049] In Example 1, please refer to Figures 2 to 4 The number of eyeball drive crank 8, eyeball drive transmission rod 9, and eyeball connecting rod 10 mentioned above are two each. The number of eyeball drive connecting brackets 7 is one. Of course, in other embodiments, the number of eyeball drive connecting brackets 7 can also be other quantities.

[0050] In Example 1, please refer to Figures 2 to 4 The aforementioned eyelid power assembly includes a second power source 11.

[0051] In this embodiment, the primary driving force for eyeball rotation, the first power source 5, is typically an electric motor or other type of drive device. It provides the necessary mechanical energy to the entire eyeball drive system directly or indirectly through its output.

[0052] The connecting block 6 is a key connecting component used to connect the output end of the first power source 5 to subsequent components (such as the eyeball drive connector 7).

[0053] The eyeball drive connector 7 has a guide groove 71 inside, allowing the eyeball drive crank 8 to move freely within it. This connector not only provides structural support but also ensures the stability of the entire system.

[0054] One end of the eyeball-driven crank 8 is connected to the connecting block 6, and the other end passes through the guide groove 71 and is equipped with a ball 81. This allows it to effectively convert linear motion into rotational motion.

[0055] One end of the eyeball drive transmission rod 9 is hinged to the ball 81 on the eyeball drive crank 8, and the other end is connected to the eyeball connecting rod 10, which is responsible for transmitting power from the crank.

[0056] The eyeball connecting rod 10 is finally connected to the bionic eyeball 2, and the eyeball swings left and right through the above series of linkage mechanisms.

[0057] It is worth noting that in this embodiment, there are two eyeball drive connectors 7, two eyeball drive cranks 8, two eyeball drive transmission rods 9, and two eyeball connecting rods 10, to ensure that the eyes can move synchronously and in a coordinated manner.

[0058] In Example 1, please refer to Figures 2 to 4 The aforementioned eyelid driving assembly includes an eyelid support 12, a first spring 13, a second spring 14, and an eyelid spring push rod 15. One end of the first spring 13 is connected to the bionic eyelid; the other end of the first spring 13 is connected to the eyelid spring push rod 15; the second spring 14 is installed between the eyelid spring push rod 15 and the eyelid support 12; and the eyelid spring push rod 15 is connected to the second power source 11.

[0059] In Example 1, please refer to Figures 2 to 4 The number of the first spring 13 and the second spring 14 mentioned above is at least one; the number of the bionic eyelids is two, and each bionic eyelid is equipped with two eyelid spring push rods 15, that is, each bionic eyelid requires one eyelid spring push rod 15, and one eyelid spring push rod 15 acts together on the same side of the bionic upper eyelid and bionic lower eyelid.

[0060] In another embodiment, the eyelid spring push rods 15 (that is, a total of 2 eyelid spring push rods 15) paired with the two bionic eyelids can be connected by a connecting plate, which can ensure that the bionic eyelids on both sides can open and close simultaneously and synchronously, increasing the naturalness and coordination.

[0061] In this embodiment, the second power source 11 is similar to the first power source 5. It is the main driving force source for the eyelid opening and closing action, and may also be a motor or other type of driving device.

[0062] The eyelid support 12 is fixed to the shell, supporting the basic architecture of the entire eyelid movement system.

[0063] Each eyelid is equipped with a first spring 13, which is connected to the bionic upper eyelid 3 and the bionic lower eyelid 4 respectively. Their function is to assist the natural closing process of the eyelids through elastic force when the eyelids are closed.

[0064] The second spring 14 is installed between the eyelid spring push rod 15 and the eyelid support 12, providing additional support to help maintain the stability of the eyelid in different positions.

[0065] Each eyelid is equipped with an eyelid spring push rod 15, which is directly connected to the second power source 11. These push rods are responsible for converting the linear motion of the second power source 11 into the opening and closing motion of the eyelid.

[0066] In summary, this design achieves the left-right swaying of the bionic eyeball 2 and the up-and-down opening and closing of the bionic eyelids through a precise mechanical linkage mechanism. Furthermore, the use of an even number of eyeball and eyelid drive components ensures the synchronicity and coordination of the eye movements. In addition, the clever use of springs and other components enhances the realism of the movements and improves the system's reliability and durability. This design is ideal for simulating the eye expressions of young animals, and has broad application prospects, particularly in the field of pet robots.

[0067] In this embodiment, the movement process of the bionic eyeball 2 is as follows:

[0068] The first power source 5 is activated, and its output end begins to rotate. The output end of the first power source 5 passes through the eyeball drive connecting frame 7 and is connected to the connecting block 6, driving the connecting block 6 to rotate or move linearly. One end of the eyeball drive crank 8 is connected to the connecting block 6, and under the drive of the connecting block 6, the crank moves around the inside of the guide groove 71. Due to the presence of the guide groove 71, the crank can move precisely along a specific path, ensuring the accuracy and stability of the action. The other end of the eyeball drive crank 8 is provided with a ball 81, and is hinged to one end of the eyeball drive transmission rod 9 through this ball 81. As the crank moves, the transmission rod moves and rotates accordingly, converting the linear motion of the crank into the rotational motion of the eyeball connecting rod 10. The eyeball connecting rod 10 is directly connected to the bionic eyeball 2. When the eyeball drive transmission rod 9 pushes the eyeball connecting rod 10, the bionic eyeball 2 rotates.

[0069] For the opening and closing process of the bionic eyelids: the second power source 11 (also a motor or other drive device) is activated, providing the driving force required for the eyelids to open and close. The output end of the second power source 11 is directly connected to the eyelid spring push rod 15, driving the eyelid spring push rod 15 to move forward or backward. Each bionic eyelid is equipped with a first spring 13, one end of which is connected to the bionic eyelid, and the other end is connected to the eyelid spring push rod 15. When the eyelid spring push rod 15 moves, it compresses or releases the first spring 13, thereby achieving the closing or opening of the eyelids; the second spring 14 is installed between the eyelid spring push rod 15 and the eyelid support 12, providing additional support force to help maintain the stability of the eyelids in different positions, while reducing the pressure on the second power source 11.

[0070] In summary, this bionic eye movement mechanism, through its cleverly designed eyeball and eyelid drive components, achieves realistic left-right eye movement and up-down eyelid opening and closing. These components work together to ensure not only the accuracy, stability, and naturalness of the movements, but also to improve the system's reliability and durability, making it ideal for applications requiring the simulation of realistic eye expressions, such as pet robots.

[0071] In Example 2, please refer to Figures 5 to 7 The aforementioned eyeball power assembly includes a third power source 16; the eyeball drive assembly includes a mounting bracket 17, an eccentric wheel 18, a drive push rod assembly 19, a third spring 20, a transmission plate 21, and an eyeball transmission rod 22; the mounting bracket 17 is mounted on the housing 1; the eccentric wheel 18 is located below the mounting bracket 17, and the output end of the third power source 16 passes through the mounting bracket 17 and is connected to the eccentric wheel 18; the drive push rod assembly 19 includes a drive push plate 191 and a drive push rod 192, driving... The push rod 192 is located on one side of the drive push plate 191; the end of the mounting bracket 17 away from the eccentric wheel 18 is provided with a baffle 171, and the baffle 171 is provided with a first through hole for the drive push rod 192 to pass through; the third spring 20 is located on the outer periphery of the drive push rod 192; the upper end of the drive push plate 191 is connected to the transmission plate 21, and the two sides of the transmission plate 21 are provided with arc grooves 211; one end of the eyeball transmission rod 22 is provided with a second ball 221, and the second ball 221 is placed in the arc groove 211.

[0072] In Example 2, please refer to Figures 5 to 7 The aforementioned eyeball driving assembly also includes a bracket 23 and a linkage structure. The bracket 23 is mounted on the outer shell 1. The eyeball transmission rod 22 is provided with a second through hole. Specifically, the eyeball transmission rod 22 is provided with a second through hole in the middle, and the second through hole is fixed to the bracket 23 by a pin. The other end of the eyeball transmission rod 22 is provided with a third through hole. The linkage structure includes a first connecting rod 241 and a second connecting rod 242. The first connecting rod 241 is connected to the bracket 23. The second connecting rod 242 is connected to the first connecting rod 241 by a pin. The second connecting rod 242 is provided with a cylinder, which is placed in the third through hole. The bionic eyeball 2 is connected to the second connecting rod 242.

[0073] Specifically, the lower end of the first connecting rod 241 is connected to the bracket 23 by a pin; the upper end of the second connecting rod 242 is connected to the first connecting rod 241 by a pin; and the third through hole is located at the end of the eyeball transmission rod 22 away from the ball 81.

[0074] In this embodiment, the third power source 16 provides the driving force required for the eyeballs to move from side to side. This is typically an electric motor.

[0075] Mounting bracket 17 is fixed to housing 1 to support the entire eyeball power assembly.

[0076] The eccentric wheel 18 is located below the mounting bracket 17 and is connected to the output end of the third power source 16. When the power source is started, the eccentric wheel 18 begins to rotate.

[0077] The drive push rod assembly 19 includes a drive push plate 191 and a drive push rod 192. The drive push rod 192 is located on one side of the drive push plate 191. When the eccentric wheel 18 rotates, the rotational motion is converted into linear motion through the drive push plate 191.

[0078] The third spring 20 is located on the outer periphery of the drive push rod 192, providing the necessary preload to ensure smooth operation.

[0079] The transmission plate 21 is connected to the upper end of the drive push plate 191, and has arc grooves 211 on both sides to realize the multi-directional movement of the eyeball transmission rod 22.

[0080] One end of the eyeball transmission rod 22 is provided with a ball 81, which is placed in the arc groove 211 of the transmission plate 21, so that the eyeball transmission rod 22 can move in multiple directions along the arc groove 211. The other end is provided with a third through hole, which is connected to the linkage structure through the cylinder on the second connecting rod 242.

[0081] The bracket 23 is mounted on the outer shell 1 and is used to support the eyeball transmission rod 22.

[0082] The linkage structure includes a first connecting rod 241 and a second connecting rod 242. The first connecting rod 241 is connected to the bracket 23; the second connecting rod 242 is connected to the first connecting rod 241 by a pin, and the second connecting rod 242 is provided with a cylinder, which is placed in the third through hole of the eyeball transmission rod 22.

[0083] When the third power source 16 is started, the eccentric wheel 18 drives the drive push rod assembly 19 to perform linear reciprocating motion. Through the cooperation of the transmission plate 21 and the eyeball transmission rod 22, the bionic eyeball 2 can swing left and right.

[0084] Specifically, the movement of the eyeball mainly relies on the cooperation between components such as the power source, eccentric wheel 18, drive push rod assembly 19, transmission plate 21, and eyeball transmission rod 22. The following is a detailed description of the movement process:

[0085] When the third power source 16 is started, it drives the eccentric wheel 18 to start rotating.

[0086] Due to the design of the eccentric wheel 18, its rotation causes the connected drive push rod assembly 19 to reciprocate linearly in one direction. During this process, the third spring 20 provides the necessary preload to the drive push rod 192, ensuring smooth and accurate operation.

[0087] The movement of the drive push rod assembly 19 is transmitted to the eyeball drive rod 22 via the transmission plate 21. The arc grooves 211 on both sides of the transmission plate 21 are designed to allow the eyeball drive rod 22 to move freely within a certain range, thereby adapting to the eyeball movement requirements at different angles.

[0088] One end of the eyeball transmission rod 22 is provided with a second sphere 221, which is placed in the arc groove 211 of the transmission plate 21. As the transmission plate 21 moves, the eyeball transmission rod 22 can slide in multiple directions along the arc groove 211, and finally convert this sliding into the rotation of the eyeball (bionic eyeball 2).

[0089] The entire eye movement process is based on a mechanical linkage design. Through the coordination of a series of precise parts, a natural and smooth eye movement effect is achieved, simulating the movement of a real animal's eye.

[0090] In Example 2, please refer to Figures 5 to 7 The aforementioned eyelid power assembly includes a fourth power source 25; the eyelid drive assembly includes a first pin 26, an eyelid spring push rod 15, an eyelid connector 27, a steel wire 28, a power mounting bracket 29, a second eccentric wheel 30, and a fourth spring. Two first pins 26 are fixed on the bracket 23, and the first pins 26 pass through the eyelid spring push rod 15; the bionic eyelid is connected to the eyelid connector 27 via the pins; the power mounting bracket 29 is mounted on the outer shell 1, and the fourth power source 25 passes through the power mounting bracket 29 and is connected to the second eccentric wheel 30; one end of the steel wire 28 is fixed to the eyelid spring push rod 15, and the other end of the steel wire 28 passes through the bracket 23 and is fixed to the side of the bionic eyelid; the fourth spring is installed between the eyelid spring push rod 15 and the bracket 23.

[0091] In this embodiment, a fourth power source 25 provides the driving force required for the eyelids to open and close. This is typically a motor.

[0092] The power mounting bracket 29 is mounted on the housing 1 to support the eyelid power assembly.

[0093] The output end of the fourth power source 25 passes through the power mounting bracket 29 and is connected to the second eccentric wheel 30. When the power source is started, the second eccentric wheel 30 begins to rotate.

[0094] Two first pins 26 are fixed to the bracket 23. The first pins 26 pass through the eyelid spring push rod 15, allowing them to slide along the pin axis.

[0095] The bionic eyelid is connected to the eyelid connector 27 by a pin, ensuring that the eyelid can rotate freely.

[0096] One end of the steel wire 28 is fixed to the eyelid spring push rod 15, and the other end passes through the bracket 23 and is fixed to the side of the bionic eyelid. When the eyelid spring push rod 15 moves in a linear reciprocating motion due to the action of the second eccentric wheel 30, the eyelid is pulled up and down by the steel wire 28.

[0097] The fourth spring is installed between the eyelid spring push rod 15 and the bracket 23, providing additional support to help maintain the stability of the eyelid in different positions, while reducing the pressure on the fourth power source 25.

[0098] When the fourth power source 25 is activated, the second eccentric wheel 30, through the linkage of the eyelid spring push rod 15 and the steel wire 28, enables the bionic eyelid to open and close, simulating the blinking and eye opening and closing movements.

[0099] Specifically, the movement of the eyelid is mainly accomplished through the interaction between components such as the fourth power source 25, the second eccentric wheel 30, the eyelid spring push rod 15, the steel wire 28, and the eyelid connector 27. The specific steps are as follows:

[0100] After the fourth power source 25 is started, it directly drives the second eccentric wheel 30 to rotate.

[0101] The rotation of the second eccentric wheel 30 causes the eyelid spring push rod 15 connected to it to perform a linear reciprocating motion. During this process, the fourth spring provides additional support force to help maintain the stability of the eyelid in different positions and reduce the pressure on the fourth power source 25.

[0102] The linear motion of the eyelid spring push rod 15 indirectly acts on the bionic eyelid through the steel wire 28. One end of the steel wire 28 is fixed to the eyelid spring push rod, and the other end passes through the bracket 23 and is fixed to the side of the bionic eyelid. As the eyelid spring push rod 15 moves back and forth, the steel wire 28 pulls the eyelid, causing it to open and close vertically.

[0103] Through the above mechanism, when the eyelid spring push rod 15 moves forward or backward, it corresponds to the closing and opening of the eyelid, respectively. This achieves the natural opening and closing of the eyelid, mimicking blinking and the opening and closing of the eye.

[0104] In summary, eye movement relies on mechanical linkage driven by eccentric wheel 18 to achieve left-right swaying; while eyelid movement is achieved through the cooperation of eyelid spring push rod 15 driven by eccentric wheel 18 and steel wire 28 to achieve up-down opening and closing. These two mechanisms work together to realistically simulate changes in the eye expressions of young animals, including left-right eye movement and eyelid opening and closing.

[0105] The entire system is compactly designed to simulate the eye space size of young or small animals. A transparent protective cover 31 covers the entire mechanism, protecting the internal mechanical components from external interference and damage.

[0106] Through the aforementioned complex mechanical linkage design, it is possible to simulate the eye expression changes of real young animals such as a three-month-old red panda, including the left and right movement of the eyeballs and the up and down opening and closing of the eyelids.

[0107] This design not only achieves realistic eye movements, but also takes into account stability and durability in practical applications, making it ideal for applications requiring high levels of simulation.

[0108] In Embodiment 1 and Embodiment 2, the two ends of the bionic eyelid are connected to the eyelid support 12 or support 23 by means of eyelid connector 27 and pins.

[0109] The aforementioned bionic mechanism simulating eye movement achieves structural compactness by compactly assembling an eyeball rotation component and an eyelid movement component onto a housing 1. Specifically, the eyeball rotation component includes an eyeball power component directly connected to the housing 1 and an eyeball drive component connected thereto, the latter further connected to the bionic eyeball 2, ensuring accurate simulation of natural eyeball rotation. Similarly, the eyelid movement component consists of an eyelid power component and an eyelid drive component, which are respectively connected to the housing 1 and the bionic upper and lower eyelids to achieve realistic eyelid opening and closing movements. The entire system, through a rational layout design, not only maximizes space utilization but also provides excellent protection for the internal mechanical structure. Furthermore, this design makes the coordination between components more efficient, thereby more accurately simulating natural facial expressions in the human eye and enhancing the realism and subtlety of the bionic effect. The use of a protective cover 31 further strengthens the protection of the bionic eyeball 2 and eyelids, ensuring stable operation in various application scenarios. Overall, this integrated design ensures structural compactness while improving the system's reliability and performance.

[0110] The above description is merely a specific embodiment of this utility model, but the protection scope of this utility model is not limited thereto. Any person skilled in the art can easily conceive of various equivalent modifications or substitutions within the technical scope disclosed in this utility model, and these modifications or substitutions should all be covered within the protection scope of this utility model. Therefore, the protection scope of this utility model should be determined by the scope of the claims.

Claims

1. A biomimetic mechanism to simulate eye movement, characterized in that, include: The device comprises a shell, a bionic eyeball, a bionic eyelid, an eyeball rotation component, and an eyelid movement component. The bionic eyelid includes a bionic upper eyelid and a bionic lower eyelid. The eyeball rotation component and the eyelid movement component are respectively mounted on the shell. The eyeball rotation component includes an eyeball power component and an eyeball drive component. The eyeball power component is connected to the shell. The eyeball drive component is connected to the eyeball power component and to the bionic eyeball. The eyelid movement component includes an eyelid power component and an eyelid drive component. The eyelid power component is connected to the shell. The eyelid drive component is connected to the eyelid power component, the bionic upper eyelid, and the bionic lower eyelid.

2. The bionic mechanism for simulating eye movement according to claim 1, characterized in that, The eyeball power assembly includes a first power source, and the eyeball drive assembly includes a connecting block, an eyeball drive connecting frame, an eyeball drive crank, an eyeball drive transmission rod, and an eyeball connecting rod. The output end of the first power source passes through the eyeball drive connecting frame and is connected to the connecting block. The eyeball drive connecting frame has a guide groove, and one end of the eyeball drive crank is connected to the connecting block. The other end of the eyeball drive crank passes through the guide groove and has a sphere. The sphere is hinged to one end of the eyeball drive transmission rod. The eyeball drive transmission rod is connected to the eyeball connecting rod. The eyeball connecting rod is connected to the bionic eyeball.

3. The bionic mechanism for simulating eye movement according to claim 2, characterized in that, The number of eyeball drive cranks, eyeball drive transmission rods, and eyeball connecting rods are two each.

4. The bionic mechanism for simulating eye movement according to claim 3, characterized in that, The eyelid power assembly includes a second power source.

5. A bionic mechanism for simulating eye movement according to claim 4, characterized in that, The eyelid driving assembly includes an eyelid support, a first spring, a second spring, and an eyelid spring push rod. One end of the first spring is connected to the bionic eyelid; the other end of the first spring is connected to the eyelid spring push rod; the second spring is installed between the eyelid spring push rod and the eyelid support; and the eyelid spring push rod is connected to the second power source.

6. A bionic mechanism for simulating eye movement according to claim 5, characterized in that, The number of the first spring and the second spring is at least one; and the number of the bionic eyelids is two, with each bionic eyelid being equipped with one eyelid spring push rod.

7. A bionic mechanism for simulating eye movement according to claim 1, characterized in that, The eyeball power assembly includes a third power source; the eyeball drive assembly includes a mounting frame, an eccentric wheel, a drive push rod assembly, a third spring, a transmission plate, and an eyeball drive rod; the mounting frame is mounted on the housing; the eccentric wheel is located below the mounting frame, and the output end of the third power source passes through the mounting frame and is connected to the eccentric wheel; the drive push rod assembly includes a drive push plate and a drive push rod, and the drive push rod is located on one side of the drive push plate; a baffle is provided at the end of the mounting frame away from the eccentric wheel, and the baffle has a first through hole for the drive push rod to pass through; the third spring is located on the outer periphery of the drive push rod; the upper end of the drive push plate is connected to the transmission plate, and the two sides of the transmission plate have arc grooves; one end of the eyeball drive rod has a second sphere, and the second sphere is placed in the arc groove.

8. A bionic mechanism for simulating eye movement according to claim 7, characterized in that, The eyeball driving assembly further includes a bracket and a linkage structure. The bracket is assembled on the outer shell. The eyeball transmission rod has a second through hole, which is fixed to the bracket by a pin. The other end of the eyeball transmission rod has a third through hole. The linkage structure includes a first connecting rod and a second connecting rod. The first connecting rod is connected to the bracket. The second connecting rod is connected to the first connecting rod by a pin. The second connecting rod has a cylinder, which is placed in the third through hole. The bionic eyeball is connected to the second connecting rod.

9. A bionic mechanism for simulating eye movement according to claim 8, characterized in that, The eyelid power assembly includes a fourth power source; the eyelid drive assembly includes a first pin, an eyelid spring push rod, an eyelid connector, a steel wire, a power mounting bracket, a second eccentric wheel, and a fourth spring. Two first pins are fixed to the bracket, and the first pins pass through the eyelid spring push rod. The bionic eyelid is connected to the eyelid connector via pins. The power mounting bracket is mounted on the outer shell, and the fourth power source passes through the power mounting bracket and is connected to the second eccentric wheel. One end of the steel wire is fixed to the eyelid spring push rod, and the other end of the steel wire passes through the bracket and is fixed to the side of the bionic eyelid. The fourth spring is installed between the eyelid spring push rod and the bracket.

10. A bionic mechanism for simulating eye movement according to claim 1, characterized in that, It also includes a protective cover, within which the bionic eyeball and the bionic eyelid are placed.

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