Bionic eye movement robot and working method thereof

Abstract

The present application belongs to the technical field of bionic machinery, and particularly relates to a bionic eye movement robot and a working method thereof. The present application comprises a base, a first linkage assembly, two second linkage assemblies, a first limiting piece, and two eyeball assemblies provided with bionic eyes. The first linkage assembly is driven to change a first height of a first parallelogram structure on a horizontal plane, and / or the second linkage assembly is driven to change a second height of a second parallelogram structure on a vertical plane, so as to respectively drive the two bionic eyes to move along a set spherical surface. The two bionic eyes of the bionic eye movement robot of the present application realize horizontal plane movement, vertical plane movement, and rotating movement of the bionic eyes on the set spherical surface through the first parallelogram structure and the second parallelogram structure which are perpendicular to each other, and through the limiting piece, thereby conforming to the natural movement law of human eyes.

Description

Technical Field

[0001] This invention belongs to the field of biomimetic mechanical technology, specifically relating to a biomimetic eye-tracking robot and its working method. Background Technology

[0002] Bionic eye-tracking robots are used to mimic the blinking, horizontal movement, vertical movement, and rotation of human eyes. In practical applications, such as data detection of eye-tracking systems and preliminary experiments of eye-tracking systems, the overall function of bionic eye-tracking robots must be close to that of the human eye, and some performance must even surpass that of the human eye, in order to meet the actual application requirements.

[0003] We know that human eye movement relies on various extraocular muscles such as the lateral rectus, medial rectus, and inferior oblique muscles to move the eyeball. In existing technologies, bionic eye-tracking robots use different power sources to control different eyeball movements in order to mimic the movement of the extraocular muscles in the human eye. This results in different centers of eyeball rotation for each movement, making it difficult to match the actual movement trajectory of the human eye. Furthermore, when switching between different movements, the power source of the previous movement needs to be stopped to control the next movement. Each time a movement is switched, there is a certain pause, making the movement of the entire eye-tracking robot not smooth. This is the stiffness problem of bionic eye movements that we often see. This leads to inaccurate testing and experimental data and fails to meet the requirements of practical applications for bionic eye-tracking robots to have an overall function that is more in line with the natural laws of the human eye. Summary of the Invention

[0004] The purpose of this invention is to overcome the shortcomings of existing eye-tracking robots that are difficult to match the actual movement trajectory of the human eye, and to provide a bionic eye-tracking robot that closely matches the natural laws of the human eye.

[0005] The technical solution adopted by this invention to solve its technical problem is: a bionic eye-tracking robot, comprising:

[0006] Base;

[0007] The first linkage component is movably mounted on the base and forms a first parallelogram structure with missing sides on the horizontal plane;

[0008] Two second linkage components are located on opposite sides of the first parallelogram structure and form corresponding second parallelogram structures on the vertical plane;

[0009] The first limiting member is fixedly mounted on the base and is horizontally rotatably connected to opposite sides of the first parallelogram structure.

[0010] Two eyeball assemblies, each with a bionic eye, are vertically rotatably mounted on opposite sides of a first parallelogram structure; wherein...

[0011] The intersection of the first parallelogram structure, the second parallelogram structure, and the first limiting member forms the center of a predetermined sphere, and the distance from the bionic eye to the center of the sphere is the radius of the predetermined sphere.

[0012] The first linkage component is driven to change the first height of the first parallelogram structure on the horizontal plane, and / or the second linkage component is driven to change the second height of the second parallelogram structure on the vertical plane, so as to drive the two bionic eyes to move along the set spherical surface respectively.

[0013] Furthermore, the first limiting member includes:

[0014] U-shaped brackets are fixed to the base;

[0015] Two limiting shafts are respectively set at both ends of the U-shaped bracket; among them

[0016] The limiting shaft is horizontally rotatably connected to opposite sides of the first parallelogram structure.

[0017] Furthermore, the two ends of the U-shaped bracket are bent horizontally to form a mounting portion;

[0018] The two limiting shafts are respectively vertically installed on the mounting part.

[0019] Furthermore, the first linkage component includes:

[0020] Two rotating links are horizontally rotatably connected to corresponding limit shafts;

[0021] The base rod is horizontally rotatably connected between two rotating links; among which

[0022] The base rod and the two rotating connecting rods form the first parallelogram structure on the horizontal plane, i.e.

[0023] The opposite sides of the first parallelogram structure are two rotating links; the missing side of the first parallelogram structure is the span of both ends of the U-shaped bracket; and the first height is the vertical distance between the two rotating links on the horizontal plane.

[0024] The driving base rod causes the two rotating connecting rods to rotate synchronously around the limiting axis on the horizontal plane, thereby changing the first height and driving the two bionic eyes to move horizontally in the same direction.

[0025] Furthermore, the length of the base rod is equal to the span of both ends of the U-shaped bracket.

[0026] Further, the second linkage component includes: a follower linkage, one end of which is vertically rotatably connected to the rotating linkage via a first auxiliary linkage, and the other end is vertically rotatably connected to the eyeball assembly; wherein

[0027] The first auxiliary link, the follower link, the eyeball assembly, and the rotating link form the second parallelogram structure in the vertical plane, i.e.

[0028] The second height is the vertical distance between the follower link and the rotating link in the vertical plane; and

[0029] Drive the follower link to move in the vertical plane to change the second height, thereby driving the bionic eye to move vertically.

[0030] Furthermore, the follower link is parallel to the rotating link.

[0031] Furthermore, the eyeball assembly includes:

[0032] The bionic eye;

[0033] The first rotating shaft has one end fixedly mounted on the bionic eye, and the other end is vertically rotatably connected to the follower connecting rod through the second auxiliary connecting rod;

[0034] The second rotating shaft has one end fixedly mounted on the bionic eye, and the other end vertically rotatably connected to the outside of the rotating link.

[0035] Furthermore, it also includes a first drive assembly for driving the base rod;

[0036] The first driving component includes:

[0037] At least one slide bar;

[0038] The slider is slidably connected to the slider rod and is movably connected to the base rod via a connector.

[0039] The first motor is fixedly mounted on the slider;

[0040] The first gear is coaxially mounted with the output end of the first motor.

[0041] A first rack is fixedly mounted on the base, parallel to the base rod, and meshes with the first gear; wherein...

[0042] The first motor drives the slider to move along the slide bar, thereby causing the base rod to move on the horizontal plane.

[0043] Furthermore, the connector includes:

[0044] A connecting elongated hole is provided on the slider and extends in a direction perpendicular to the base rod and close to the bionic eye;

[0045] A connecting shaft is inserted into the connecting elongated hole, with one end fixedly connected to the base rod and the other end provided with a stop to prevent the connecting shaft from detaching from the connecting elongated hole.

[0046] A ring sleeve is fitted over the outside of the connecting shaft; wherein,

[0047] The ring sleeve and the connecting shaft, as well as the connecting shaft and the wall of the connecting elongated hole, are all clearance fits.

[0048] Furthermore, it also includes a second drive assembly for driving the follower link;

[0049] The second driving component includes:

[0050] The second motor is fixedly mounted on the rotating connecting rod;

[0051] The second gear is coaxially arranged with the output shaft of the second motor;

[0052] The second rack is mounted on the follower connecting rod and meshes with the second gear; wherein

[0053] The second motor drives the second rack to move around the second gear, thereby driving the follower link to move in the vertical plane.

[0054] Furthermore, it also includes two eyelid opening and closing devices spaced apart on the base;

[0055] The eyelid opening and closing device includes:

[0056] The eyelid linkage mechanism rotatably connects the upper and lower eyelids respectively;

[0057] The distal eyelid driving device drives the upper and lower eyelids to open and close synchronously through the eyelid linkage mechanism.

[0058] Furthermore, the eyelid linkage mechanism includes a guide frame, a first link, a second link, and a T-shaped link that are rotatably connected end-to-end; wherein,

[0059] The first end of the first connecting rod is coaxially arranged with the output shaft of the distal eyelid driving device. The vertical end of the T-shaped connecting rod is rotatably connected to the second connecting rod. The two ends of the horizontal bar of the T-shaped connecting rod are respectively rotatably connected to the upper eyelid connecting rod and the lower eyelid connecting rod. The upper eyelid connecting rod is rotatably connected to the upper eyelid, and the lower eyelid connecting rod is rotatably connected to the lower eyelid.

[0060] The guide frame has a guide hole, and the T-shaped connecting rod is provided with a guide block that moves and cooperates with the guide hole. The extension line of the guide hole passes through the center of the set spherical surface.

[0061] Furthermore, a first space is formed on the horizontal plane between the two eyelid opening and closing devices to accommodate the first linkage component;

[0062] The upper eyelid link is in the form of The lower eyelid connecting rod is U-shaped, and a second space is formed between the two in a vertical plane to accommodate the second linkage component.

[0063] A method for operating a bionic eye-tracking robot includes:

[0064] Adjust the first height of the first parallelogram structure to drive the bionic eye (51) to make horizontal movements on the set spherical surface;

[0065] And / or adjust the second height of the second parallelogram structure to drive the corresponding bionic eye to make vertical movement on the set spherical surface;

[0066] And / or simultaneously adjust the first height and the second height to drive the corresponding bionic eye to rotate on the set spherical surface.

[0067] The beneficial effects of the bionic eye-tracking robot and its working method of the present invention are:

[0068] The bionic eye-tracking robot of the present invention has two bionic eyes formed by a first linkage component and a second linkage component, which are perpendicular to each other. At the same time, the bionic eyes can perform horizontal, vertical and rotational movements on a set spherical surface through limiting components. The two parallelogram structures share the same rotation center, ensuring that the rotation center of the bionic eyes' horizontal, vertical and rotational movements is at the same point, which is closer to the actual movement trajectory of the human eyeball and sclera along the spherical surface. The ingenious design of the two parallelogram structures and limiting components not only achieves the stability of the bionic eyes' movements, but also solves the problem of long pauses and switching between some movements. Attached Figure Description

[0069] The present invention will now be described in further detail with reference to the accompanying drawings and specific embodiments.

[0070] Figure 1 This is a first-view stereoscopic view of the bionic eye-tracking robot according to an embodiment of the present invention.

[0071] Figure 2 This is a second-view stereoscopic view of the bionic eye-tracking robot according to an embodiment of the present invention.

[0072] Figure 3 This is an overall structural diagram of the two parallelogram structures in an embodiment of the present invention.

[0073] Figure 4 This is a schematic diagram of the connection between two parallelogram structures according to an embodiment of the present invention.

[0074] Figure 5 This is a schematic diagram of the structure of the second parallelogram in an embodiment of the present invention.

[0075] Figure 6 This is a schematic diagram of the structure when the first height of an embodiment of the present invention is at its maximum.

[0076] Figure 7 This is a schematic diagram of the structure when the first height of an embodiment of the present invention is not at its maximum.

[0077] Figure 8 yes Figure 7 A schematic diagram of the structure from the top viewpoint.

[0078] Figure 9 This is a partial cross-sectional view of the moving shaft according to an embodiment of the present invention.

[0079] Figure 10 This is a schematic diagram of the eyelid opening and closing device according to an embodiment of the present invention.

[0080] Figure 11 yes Figure 10 Enlarged view of point A in the middle.

[0081] In the diagram: 1. Base; 2. First linkage assembly; 21. Rotating link; 22. Base rod; 3. Second linkage assembly; 31. Follower link; 32. First auxiliary link; 4. First limiting component; 41. U-shaped bracket; 42. Limiting shaft; 5. Eyeball assembly; 51. Bionic eye; 52. First rotating shaft; 53. Second rotating shaft; 54. Second auxiliary link; 6. First drive assembly; 61. First motor; 62. First rack; 63. First gear; 64. Slide rod; 65. Slider; 66. Connector. 661. Connecting elongated hole; 662. Connecting shaft; 663. Ring sleeve; 7. Second drive assembly; 71. Second motor; 72. Second gear; 73. Second rack; 8. Eyelid opening and closing device; 81. Upper eyelid; 82. Lower eyelid; 83. Distal eyelid drive device; 84. Eyelid linkage mechanism; 841. Guide frame; 842. First link; 843. Second link; 844. T-shaped link; 845. Upper eyelid link; 846. Lower eyelid link; 847. Guide elongated hole; 848. Guide block. Detailed Implementation

[0082] The present invention will now be described in further detail with reference to the accompanying drawings. These drawings are simplified schematic diagrams, illustrating only the basic structure of the invention, and therefore only show the components relevant to the invention.

[0083] like Figures 1-11The specific embodiment of the bionic eye-tracking robot of the present invention shown includes a base 1, two independent eyeball assemblies 5 equipped with bionic eyes 51 mounted on the base 1, a first linkage component 2, two second linkage components 3, and a first limiting member 4. The two eyeball assemblies 5 correspond to the left and right eyes of a human eye. The first linkage component 2 is movably mounted on the base 1 and forms a first parallelogram structure with missing sides on the horizontal plane. The two second linkage components 3 are respectively located on opposite sides of the first parallelogram structure and form a second parallelogram structure on the vertical plane. The first limiting member 4 is fixedly mounted on the base 1 and is horizontally rotatably connected to the opposite side of the first parallelogram structure. It should be further explained that the two eyeball assemblies 5 with bionic eyes 51 are respectively vertically rotatably mounted on opposite sides of the first parallelogram structure; wherein the intersection of the first parallelogram structure, the second parallelogram structure, and the first limiting member 4 forms the center of a set sphere. The distance from the bionic eye 51 to the center of the sphere is the radius of the set sphere. The first linkage component 2 is driven to change the first height of the first parallelogram structure on the horizontal plane, and / or the second linkage component 3 is driven to change the second height of the second parallelogram structure on the vertical plane, so as to drive the two bionic eyes 51 to move along the set sphere respectively.

[0084] The two bionic eyes 51 of the bionic eye-tracking robot of the present invention are formed by the first linkage component 2 and the second linkage component 3, which are mutually perpendicular to each other. At the same time, combined with the first limiting component 4, the bionic eyes 51 can move left and right on the horizontal plane, move up and down on the vertical plane, and rotate on the set spherical surface. This conforms to the natural movement law of the human eye. Here, the natural movement law mainly involves the real movement trajectory of the human eye and the continuity of action switching in some scenarios to meet the requirements of the bionic eye-tracking robot in practical applications.

[0085] like Figure 4 and Figure 5 As shown, the first limiting member 4 includes a U-shaped bracket 41 fixed on the base 1 and two limiting shafts 42 respectively disposed at both ends of the U-shaped bracket 41. The two limiting shafts 42 are horizontally rotatably connected to opposite sides of the first parallelogram structure. In this embodiment, the two ends of the U-shaped bracket 41 are bent in the horizontal direction to form two mounting parts. The two limiting shafts 42 are vertically mounted on the two mounting parts respectively. The bionic eye 51 moves with the opposite sides of the first parallelogram structure to realize the rotation action of the bionic eye 51 along the spherical surface on the horizontal plane.

[0086] In this embodiment, the first linkage component 2 includes two rotating links 21 that are horizontally rotatably connected to corresponding limiting shafts 42, and a base rod 22 that is horizontally rotatably connected between the two rotating links 21. The base rod 22 and the two rotating links 21 form a first parallelogram structure on the horizontal plane. (See attached image for details.) Figure 3and Figure 4 In this embodiment, the opposite sides of the first parallelogram structure are two rotating links 21, and the missing side of the first parallelogram structure is the span of both ends of the U-shaped bracket 41. As one implementation, since both rotating links 21 are rotatably connected to the two ends of the base rod 22, the length of the base rod 22 is equal to the span of both ends of the U-shaped bracket 41. This invention does not make an absolute limitation on the length of the base rod 22 being equal to the span of both ends of the U-shaped bracket 41. When the installation positions of the two rotating links 21 and the base rod 22 are not at the two ends of the base rod 22, the distance between the two installation positions of the base rod 22 corresponding to the two rotating links 21 is equal to the span of both ends of the U-shaped bracket 41.

[0087] In this embodiment, the first height is the vertical distance between the two rotating links 21 on the horizontal plane. When the base rod 22 is moved by the first driving component 6, the two rotating links 21 rotate synchronously around the limiting shaft 42 on the horizontal plane to change the first height, thereby driving the two bionic eyes 51 to move horizontally in the same direction.

[0088] The first drive assembly 6 includes a first motor 61, a first gear 63 coaxially arranged with the output shaft of the first motor 61, a first rack 62 externally meshing with the first gear 63, at least one slide rod 64 parallel to the extension line of the first rack 62, and a slider 65 slidably arranged along the slide rod 64.

[0089] like Figures 6 to 8 As shown, the first drive assembly 6 specifically comprises a first rack 62 fixedly mounted on the base 1 and parallel to the base rod 22 via a support frame, and a first gear 63 coaxially mounted with the output end of the first motor 61 and externally meshing with the first rack 62. In this embodiment, two slide rods 64 are parallel to the first rack 62 and mounted on the support frame. The first motor 61 is fixedly mounted with a slider 65, following the slider 65 in linear motion on a horizontal plane. The slider 65 and slide rods 64 are slidably connected and connected to the base rod 22 via a connector 66.

[0090] The first drive component 6 converts the output of the first motor 61 in the X-axis direction into the output in the Y-axis direction. When the first motor 61 is started, the first parallelogram structure is always parallel to the horizontal plane of the mounting surface of the base 1. No matter where the first motor 61 drives the base rod 22, the first parallelogram structure can deform smoothly on the horizontal plane parallel to the mounting surface of the base 1. Thus, while realizing the movement of the bionic eye 51 on any horizontal plane, it ensures that the bionic eye 51 will not float vertically when moving on the horizontal plane. This effectively avoids the problem of small-distance up-and-down floating of the bionic eye 51 caused by defects in the existing structure or the mutual influence of multiple structures when the bionic eye 51 only rotates on the horizontal plane in the prior art. In other words, the bionic eye robot of the present invention has higher precision.

[0091] The connector 66 includes a connecting elongated hole 661, a connecting shaft 662, and a ring 663. Specifically, the connecting elongated hole 661 is provided on the slider 65 and extends in a direction perpendicular to the base rod 22 and close to the bionic eye 51. The connecting shaft 662 passes through the connecting elongated hole 661, and one end is fixedly connected to the base rod 22. The other end is provided with a stop to prevent the connecting shaft 662 from separating from the connecting elongated hole 661. In this embodiment, the stop and the connecting shaft 662 are integrated.

[0092] In this embodiment of the invention, the connecting elongated hole 661 is cleverly used to compensate for the displacement of the first parallelogram structure during the first height adjustment process, so as to realize the rotation angle of the bionic eye 51 along the set spherical surface on the horizontal plane. In this embodiment, the rotation angle of the bionic eye 51 on the horizontal plane is -60° to +60°. The rotation angle can be adjusted according to different groups such as children and adults, thereby increasing the applicability of the bionic eye-moving robot of the present invention.

[0093] In this invention, a ring sleeve 663 is fitted outside the connecting shaft 662. There is a clearance fit between the ring sleeve 663 and the connecting shaft 662, and between the connecting shaft 662 and the wall of the connecting elongated hole 661. When the first motor 61 drives the bionic eye 51 to rotate on the horizontal plane, the connecting shaft 662 and the wall of the connecting elongated hole 661 do not directly contact each other, effectively avoiding excessive friction between the connecting shaft 662 and the connecting elongated hole 661, ensuring the motion accuracy of the bionic eye 51. The clearance fit between the connecting shaft 662 and the ring sleeve 663, and between the ring sleeve 663 and the wall of the connecting elongated hole 661, reduces friction between them and ensures the service life of the entire structure.

[0094] like Figure 4 As shown, the second linkage component 3 includes a follower link 31, one end of which is vertically rotatably connected to the rotating link 21 via the first auxiliary link 32, and the other end of which is vertically rotatably connected to the eyeball assembly 5. It should be noted that the first auxiliary link 32, the follower link 31, the eyeball assembly 5, and the rotating link 21 form a second parallelogram structure in the vertical plane. The follower link 31 and the rotating link 21 are always kept parallel to each other, and the second height is the vertical distance between the follower link 31 and the rotating link 21 in the vertical plane.

[0095] When the second drive assembly 7 drives the follower link 31 to move, the follower link 31 moves in the vertical plane to change the second height, thereby driving the bionic eye 51 to move vertically. In this embodiment, the second drive assembly 7 for driving the follower link 31 includes a second motor 71 fixedly mounted on the rotating link 21, a second gear 72 coaxially arranged with the output shaft of the second motor 71, and a second rack 73 opened on the follower link 31 and externally meshing with the second gear 72. It should be further explained that when the second gear 72 drives the second rack 73 to move closer to or away from the bionic eye 51, the second rack 73 moves vertically along the teeth of the second gear 72 to compensate for the change in the second height.

[0096] During implementation, when the second motor 71 is started to rotate forward or reverse, the second motor 71 drives the second gear 72 to rotate, and the second gear 72 drives the second rack 73 to move along the X-axis. At the same time, the follower linkage 31 moves vertically along the teeth of the second gear 72. That is, by adjusting the second height, the follower linkage 31 pushes the bionic eye 51 to rotate vertically along the spherical surface. The combination of the first linkage component 2 and the second linkage component 3 can ensure the synchronicity of the left-right movement and rotation of the two bionic eyes 51 as much as possible.

[0097] The above-mentioned eye-tracking robot has at least three movement modes: horizontal movement, vertical movement, and rotational movement of the bionic eye. Specifically, adjusting the first height of the first parallelogram structure causes the bionic eye 51 to move horizontally on a set spherical surface, adjusting the second height of the second parallelogram structure causes the corresponding bionic eye 51 to move vertically on the set spherical surface, and simultaneously adjusting the first and second heights causes the corresponding bionic eye 51 to rotate on the set spherical surface.

[0098] That is, when the eye-tracking robot of the present invention rotates the bionic eye 51, it activates the first drive component 6 and simultaneously activates two second drive components 7. It is only necessary to ensure that the direction and speed of the second motor 71 in the second drive component 7 are the same to achieve synchronous rotation of the two bionic eyes 51. During this rotational movement, the operation is simple, the overall structure is easy to control, and it is convenient to judge the degree of synchronization and adjust the degree of synchronization.

[0099] When not in use, the slider 65 of the bionic eye-tracking robot of the present invention is located in the middle position of the slider 64. When the bionic eye 51 needs to rotate, the first drive component 6 and the second drive component 7 are activated simultaneously, that is, the first height of the first parallelogram structure and the second height of the second parallelogram structure are changed, so as to realize the rotation of the bionic eye 51 at any position on the set spherical surface. The movement of the bionic eye 51 can be regarded as taking the shortest straight line distance as the fastest path in the plane of the vertical projection Y-axis. The reflection on the eyeball assembly 5 is the point on the set spherical surface. The whole is centered on the center of the set spherical surface formed by the intersection of the first parallelogram structure, the second parallelogram structure and the first limiting member 4, which is closer to the movement of the human eye.

[0100] It should be emphasized here that when the bionic eye 51 needs to change its movement, the bionic eye-tracking robot of the present invention can control the first driving component 6 and the second driving component 7 according to the specific situation. The specific situation includes at least the following situations:

[0101] (1) When the movement on the horizontal plane is converted into a rotation movement, and the specified position to be rotated is in the same direction as the driving direction of the first driving component 6, it is not necessary to stop the first driving component 6. It is only necessary to start the second driving component 7 to adjust the first height and the second height to reach the specified position to be rotated of the bionic eye 51. There is no action conversion time.

[0102] (2) When the movement on the vertical plane is converted into a rotation movement, and the specified position to be rotated is in the same direction as the driving direction of the second driving component 7, it is not necessary to stop the second driving component 7. It is only necessary to start the first driving component 6 to adjust the first height and the second height to reach the specified position to be rotated of the bionic eye 51. There is no action conversion time.

[0103] (3) When the movement on the horizontal plane or the movement on the vertical plane is converted into the rotation of the bionic eye 51, the required action conversion can be achieved without stopping the already started first drive component 6 or second drive component 7 when the rotation is not specified.

[0104] The eye-tracking robot of this invention has no action transition time in many situations when performing action transitions, which greatly improves the smoothness of the bionic eye 51's movements and takes a big step towards making the bionic eye 51 more in line with the natural laws of the human eye.

[0105] The eye-tracking device of the present invention also includes two sets of eyelid opening and closing mechanisms 8 for realizing the blinking function, as detailed in the following figures. Figure 10 and Figure 11This embodiment takes the eyelid opening and closing device 8 of the left eye as an example. The eyelid opening and closing device 8 includes an upper eyelid 81, a lower eyelid 82, and a distal eyelid driving device 83 for driving the upper eyelid 81 and lower eyelid 82 to perform opening and closing actions. It also includes an eyelid linkage mechanism 84, which is disposed between the upper eyelid 81, lower eyelid 82 and the distal eyelid driving device 83, and is used to transmit the power transmitted by the distal eyelid driving device 83 to drive the upper eyelid 81 and lower eyelid 82 to perform synchronous opening and closing actions. The upper eyelid 81 and lower eyelid 82 are mounted on the base 1 by an eyelid support frame. The eyelid support frame is fixedly mounted on the base 1, and the upper eyelid 81 and lower eyelid 82 are rotatably mounted on the eyelid support frame.

[0106] The distal eyelid driving device 83 includes a second support frame, mounted on the base 1 and located at the rear end of the eyelid support frame. Here, the position of base 1 corresponding to the negative X-axis direction is considered the front end of base 1, and the position corresponding to the positive X-axis direction is considered the rear end of base 1. Specifically, a third motor is mounted on the second support frame in the positive X-axis direction away from the eyelid support frame on base 1. The output shaft of the third motor is on the same plane as the rotation axes of the upper eyelid 81 and lower eyelid 82, ensuring the complete closure of the upper and lower eyelids 81 and 82. The eyelid opening and closing devices 8 of the two bionic eyes 51 place the power source driving the opening and closing of the upper and lower eyelids 82 on the base 1 away from the eyelid support frame, using an eyelid linkage mechanism 84 for transmission. This leaves space for the first and second parallelogram structures, making the entire eye-tracking robot structure more compact and meeting the requirement of minimal space occupation in practical applications.

[0107] The eyelid linkage mechanism 84 includes a guide frame 841, which is fixedly installed on the base 1 between the distal eyelid driving device 83 and the eyelid support frame; a first link 842, a second link 843, and a T-shaped link 844 are rotatably connected end to end; the first end of the first link 842 is coaxially arranged with the output shaft of the distal eyelid driving device 83, the end of the vertical rod of the T-shaped link 844 is rotatably connected to the second link 843, and the two ends of the horizontal rod of the T-shaped link 844 are respectively rotatably connected to the upper eyelid link 845 and the lower eyelid link 846; the upper eyelid link 845 is rotatably connected to the upper eyelid 81, and the lower eyelid link 846 is rotatably connected to the lower eyelid 82. In this embodiment, both the upper eyelid connecting rod 845 and the lower eyelid connecting rod 846 are C-shaped. The upper eyelid connecting rod 845 and the lower eyelid connecting rod 846 are arranged to form a clearance cavity for accommodating the eyeball assembly 5. Of course, the shape of the upper eyelid connecting rod 845 and the lower eyelid connecting rod 846 in this invention can be set to other shapes according to actual needs, and no absolute limitation is made here.

[0108] Reference Figure 11The guide frame 841 has a guide elongated hole 847, and the T-shaped connecting rod 844 is provided with a guide block 848 that cooperates with the guide elongated hole 847. The extension line of the guide elongated hole 847 passes through the center of the set spherical surface, that is, the center of the moving spherical surface of the bionic eye 51. The extension line of the guide elongated hole 847 passing through the center of the bionic eye 51 further ensures the complete closure of the upper eyelid 81 and the lower eyelid 82. The eyelid opening and closing device 8 of the present invention uses the same power source to realize the synchronous opening and closing action of the upper and lower eyelids through the eyelid connecting rod assembly, avoiding the problem of different speeds and different angles caused by different power sources driving the upper and lower eyelids in the prior art.

[0109] A first space is formed on the horizontal plane between the two eyelid opening and closing devices 8 to accommodate the first linkage component 2; the upper eyelid connecting rod 845 is in the position of The lower eyelid connecting rod 846 is U-shaped, and a second space is formed between the two in the vertical plane to accommodate the second linkage component 3. Both the second linkage component 3 and the first linkage component 2 drive the movement of the bionic eye 51. At least one of the second linkage component 3 and the first linkage component 2 needs to be connected to the bionic eye 51. The setting of the first space and the second space effectively solves the problem of mutual interference between multiple components. The power source of the eyelid opening and closing device 8 is set at the rear end of the base 1 away from the eyelid. The eyelid is driven through the eyelid connecting rod mechanism 84, which does not hinder the installation of other components of the bionic eye-tracking robot and ensures the compact structure of the entire eye-tracking robot.

[0110] It should be understood that the specific embodiments described above are for illustrative purposes only and are not intended to limit the scope of the invention. Obvious variations or modifications derived from the spirit of the invention are still within the protection scope of the invention.

Claims

1. A bionic eye-tracking robot, characterized in that, include: Base (1); The first linkage component (2) is movably installed on the base (1) and forms a first parallelogram structure with missing sides on the horizontal plane; Two second linkage components (3) are located on opposite sides of the first parallelogram structure and form corresponding second parallelogram structures on the vertical plane; The first limiting member (4) is fixedly installed on the base (1) and is horizontally rotatably connected to the opposite sides of the first parallelogram structure; Two eyeball assemblies (5) with bionic eyes (51) are vertically rotatably mounted on opposite sides of the first parallelogram structure; wherein The first linkage component (2) includes: two rotating links (21), which are horizontally rotatably connected to the corresponding limiting shafts (42); a base rod (22), which is horizontally rotatably connected between the two rotating links (21); the base rod (22) and the two rotating links (21) form the first parallelogram structure on the horizontal plane; the second linkage component (3) includes: a follower link (31), one end of which is vertically rotatably connected to the rotating link (21) through the first auxiliary link (32), and the other end is vertically rotatably connected to the eyeball assembly (5); the first auxiliary link (32), the follower link (31), the eyeball assembly (5), and the rotating link (21) form the second parallelogram structure on the vertical plane; The intersection of the first parallelogram structure, the second parallelogram structure, and the first limiting member (4) forms the center of the set sphere, and the distance from the bionic eye (51) to the center of the sphere is the radius of the set sphere. Drive the first linkage component (2) to change the first height of the first parallelogram structure on the horizontal plane, and / or drive the second linkage component (3) to change the second height of the second parallelogram structure on the vertical plane, so as to drive the two bionic eyes (51) to move along the set spherical surface respectively.

2. The bionic eye-tracking robot according to claim 1, characterized in that, The first limiting member (4) includes: U-shaped bracket (41) is fixed on base (1); Two limiting shafts (42) are respectively set at both ends of the U-shaped bracket (41); among which The limiting shaft (42) is horizontally rotatably connected to the opposite sides of the first parallelogram structure.

3. The bionic eye-tracking robot according to claim 2, characterized in that, The two ends of the U-shaped bracket (41) are bent horizontally to form the mounting part; The two limiting shafts (42) are respectively vertically installed on the mounting part.

4. The bionic eye-tracking robot according to claim 2, characterized in that, The opposite sides of the first parallelogram structure are two rotating links (21), the missing side of the first parallelogram structure is the span of both ends of the U-shaped bracket (41), and the first height is the vertical distance between the two rotating links (21) on the horizontal plane; and Drive the base rod (22) to make the two rotating connecting rods (21) rotate synchronously around the limiting shaft (42) on the horizontal plane, so as to change the first height, thereby driving the two bionic eyes (51) to move horizontally in the same direction.

5. The bionic eye-tracking robot according to claim 4, characterized in that, The length of the base rod (22) is equal to the span of both ends of the U-shaped bracket (41).

6. The bionic eye-tracking robot according to claim 4, characterized in that, The second height is the vertical distance between the follower link (31) and the rotating link (21) in the vertical plane; and Drive the follower link (31) to move in the vertical plane to change the second height, thereby driving the bionic eye (51) to move vertically.

7. The bionic eye-tracking robot according to claim 6, characterized in that, The follower link (31) is parallel to the rotating link (21).

8. The bionic eye-tracking robot according to claim 6, characterized in that, The eyeball assembly (5) includes: The bionic eye (51); The first rotating shaft (52) has one end fixedly mounted on the bionic eye (51), and the other end is vertically rotatably connected to the follower connecting rod (31) through the second auxiliary connecting rod (54); The second rotating shaft (53) has one end fixedly mounted on the bionic eye (51) and the other end vertically rotatably connected to the outside of the rotating link (21).

9. The bionic eye-tracking robot according to claim 4, characterized in that, It also includes a first drive assembly (6) for driving the base rod (22); The first driving component (6) includes: At least one slide bar (64); The slider (65) is slidably connected to the slider (64) and movably connected to the base rod (22) through the connector (66); The first motor (61) is fixedly mounted on the slider (65); The first gear (63) is coaxially arranged with the output end of the first motor (61). The first rack (62) is fixedly mounted on the base (1) and parallel to the base rod (22), and meshes with the first gear (63); wherein, The first motor (61) drives the slider (65) to move along the slide bar (64), thereby driving the base rod (22) to move on the horizontal plane.

10. The bionic eye-tracking robot according to claim 9, characterized in that, The connector (66) includes: A connecting elongated hole (661) is provided on the slider (65) and extends in a direction perpendicular to the base rod (22) and close to the bionic eye (51); The connecting shaft (662) is inserted into the connecting elongated hole (661), and one end is fixedly connected to the base rod (22), while the other end is provided with a stop to prevent the connecting shaft (662) from separating from the connecting elongated hole (661). A ring sleeve (663) is fitted over the outside of the connecting shaft (662); wherein, The ring sleeve (663) and the connecting shaft (662) are both clearance-fitted, as are the connecting shaft (662) and the wall of the connecting elongated hole (661).

11. The bionic eye-tracking robot according to claim 6, characterized in that, It also includes a second drive assembly (7) for driving the follower link (31); The second driving component (7) includes: The second motor (71) is fixedly mounted on the rotating connecting rod (21); The second gear (72) is coaxially arranged with the output shaft of the second motor (71); The second rack (73) is mounted on the follower connecting rod (31) and meshes with the second gear (72); wherein The second motor (71) drives the second rack (73) to move around the second gear (72) so as to drive the follower link (31) to move in the vertical plane.

12. The bionic eye-tracking robot according to claim 1, characterized in that: It also includes two eyelid opening and closing devices (8) spaced apart on the base; The eyelid opening and closing device (8) includes: The eyelid linkage mechanism (84) is rotatably connected to the upper eyelid (81) and the lower eyelid (82). The distal eyelid driving device (83) drives the upper eyelid (81) and lower eyelid (82) to open and close synchronously through the eyelid linkage mechanism (84).

13. The bionic eye-tracking robot according to claim 12, characterized in that: The eyelid linkage mechanism (84) includes a guide frame (841), a first link (842), a second link (843), and a T-shaped link (844) that are rotatably connected end to end; wherein, The first end of the first connecting rod (842) is coaxially arranged with the output shaft of the distal eyelid driving device (83). The vertical end of the T-shaped connecting rod (844) is rotatably connected to the second connecting rod (843). The two ends of the horizontal bar of the T-shaped connecting rod (844) are respectively rotatably connected to the upper eyelid connecting rod (845) and the lower eyelid connecting rod (846). The upper eyelid connecting rod (845) is rotatably connected to the upper eyelid (81), and the lower eyelid connecting rod (846) is rotatably connected to the lower eyelid (82). The guide frame (841) has a guide hole (847), and the T-shaped connecting rod (844) is provided with a guide block (848) that moves and cooperates with the guide hole (847). The extension line of the guide hole (847) passes through the center of the set sphere.

14. The bionic eye-tracking robot according to claim 13, characterized in that: A first space is formed on the horizontal plane between the two eyelid opening and closing devices (8) to accommodate the first linkage component (2); The upper eyelid link (845) is in the form of The lower eyelid connecting rod (846) is U-shaped, and a second space is formed between the two in the vertical plane to accommodate the second linkage component (3).

15. A method for operating a bionic eye-tracking robot according to any one of claims 1-14, characterized in that, include: Adjust the first height of the first parallelogram structure to drive the bionic eye (51) to make horizontal movements on the set spherical surface; And / or adjust the second height of the second parallelogram structure to drive the corresponding bionic eye (51) to make vertical movements on the set spherical surface; And / or simultaneously adjust the first height and the second height to drive the corresponding bionic eye (51) to rotate on the set spherical surface.

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