Robots and eye components therefor

Abstract

The application discloses a robot and an eye component thereof, and relates to the field of robots. The eye component of the robot comprises a support, an eyelid piece, an eyeball piece, a first connecting rod mechanism, a second connecting rod mechanism, a hinged piece and a driving mechanism. The support is provided with a first rod piece and a second rod piece which are rotatably arranged on the support; the eyelid piece defines a containing space, and at least part of the eyeball piece is located in the containing space. The first connecting rod mechanism and the second connecting rod mechanism are connected with the eyeball piece at one end and connected with the first rod piece and the second rod piece at the other end; the hinged piece is connected with the eyeball piece; and the driving mechanism is used for driving the first rod piece and the second rod piece to rotate. The eye component provided by the application can realize dynamic rotation of the eyeball piece, improve the realistic effect of simulating human beings or other animals, and increase the action expression of the eye component.

Description

Technical Field

[0001] This application relates to the field of robotics, and more particularly to a robot and its eye component. Background Technology

[0002] With the development of technology, bionic robots are being used more and more widely, bringing great convenience to people's lives and production.

[0003] Currently, research on bionic robots mainly focuses on behaviors such as robot perception, human-like hand movements, and human-like gait. There is relatively little research on the face and expressions of bionic robots. Many researchers use human-like blinking to achieve expressions, such as simply realizing the movement of the eyelids. However, the expressions achieved are often relatively simple and do not achieve the expected results. Summary of the Invention

[0004] In view of this, the purpose of this application is to overcome the shortcomings of the prior art and provide an eye component for a robot.

[0005] To achieve the above objectives, the technical solution adopted in this application is as follows:

[0006] In a first aspect, embodiments of this application provide an eye assembly for a robot, the eye assembly comprising:

[0007] A support frame, wherein a first rod and a second rod are spaced apart on the support frame, and both the first rod and the second rod are rotatably connected to the support frame;

[0008] The eyelid component is rotatably connected to the support and defines an accommodating space;

[0009] An eyeball component, at least a portion of which is located within the receiving space;

[0010] A first linkage mechanism and a second linkage mechanism, wherein one end of the first linkage mechanism is hinged to the eyeball component, and the other end of the first linkage mechanism is hinged to the first rod component; one end of the second linkage mechanism is hinged to the eyeball component, and the other end of the second linkage mechanism is hinged to the second rod component; and the hinge positions of the first linkage mechanism and the second linkage mechanism to the eyeball component are different.

[0011] A hinge, which is connected to the eyeball and fixedly connected to the bracket;

[0012] A driving mechanism is connected to the first rod and the second rod respectively, and is used to drive the first rod and the second rod to rotate.

[0013] The robot eye assembly provided in this application includes a support, an eyelid component, an eyeball component, a first linkage mechanism, a second linkage mechanism, a hinge, and a drive mechanism. The first linkage mechanism is hinged to both the first link and the eyeball component, and the second linkage mechanism is hinged to both the second link and the eyeball component. Under the action of the drive mechanism, the first and second links rotate, correspondingly driving the first and second linkage mechanisms to transmit power. Furthermore, the different hinge positions of the first and second linkage mechanisms with the eyeball component allow for dynamic rotation of the eyeball component. Additionally, the hinge restricts excessive rotation angle of the eyeball component, improving the realism of the eye assembly in mimicking humans or other animals and enhancing the expressive capabilities of the eye assembly.

[0014] In addition, the eye component of the robot according to this application may also have the following additional technical features:

[0015] In one embodiment of the first aspect, the drive mechanism includes:

[0016] A first driving member and a first transmission member, wherein one end of the first transmission member is connected to the output end of the first driving member, and the other end of the first transmission member is connected to the first rod member; and

[0017] The second driving member and the second transmission member have one end connected to the output end of the second driving member and the other end connected to the second rod member.

[0018] In one embodiment of the first aspect, the robot's eye assembly further includes:

[0019] The first connector has a first connecting hole, the first rod is fixedly inserted through the first connecting hole, and the first connector also has a first mounting position and a second mounting position. The first mounting position is connected to the first transmission member, and the second mounting position is connected to the first linkage mechanism.

[0020] The second connector has a second connecting hole, the second rod is fixedly inserted through the second connecting hole, and the second connector also has a third mounting position and a fourth mounting position. The third mounting position is connected to the second transmission member, and the fourth mounting position is connected to the second linkage mechanism.

[0021] In one embodiment of the first aspect, the first transmission member includes a first connecting portion and a second connecting portion, the first connecting portion being connected to the output end of the first driving member, and one end of the first connecting portion being connected to the second connecting portion, and the other end of the second connecting portion being connected to the first mounting position.

[0022] The second transmission component includes a third connecting portion and a fourth connecting portion. The third connecting portion is connected to the output end of the second driving component, and one end of the third connecting portion is connected to the fourth connecting portion. The other end of the fourth connecting portion is connected to the third mounting position.

[0023] In one embodiment of the first aspect, a universal ball joint structure is provided at the connection between the first linkage mechanism and the second mounting position; and / or a universal ball joint structure is provided at the connection between the second linkage mechanism and the fourth mounting position.

[0024] In one embodiment of the first aspect, the eyeball includes:

[0025] The support part has a ring structure, and a first lifting lug and a second lifting lug are provided at intervals along the circumference of the support part. The first lifting lug is connected to the first linkage mechanism, and the second lifting lug is connected to the second linkage mechanism.

[0026] The eyeball is fixed to the side of the support away from the first lug, and the eyeball is located on one side of the first linkage mechanism and connected to the hinge.

[0027] In one embodiment of the first aspect, the hinge includes a first bearing, a cross bearing, and a second bearing;

[0028] The first bearing is fixed to the bracket and has a first U-shaped opening, and the two opposite sidewalls of the first U-shaped opening are provided with first shaft holes;

[0029] The second bearing is connected to the eyeball and has a second U-shaped opening. The second U-shaped opening is opposite to the first U-shaped opening, and a second shaft hole is provided on both opposite sidewalls of the second U-shaped opening.

[0030] The cross shaft includes a first shaft and a second shaft arranged orthogonally, the first shaft passing through two first shaft holes, and the second shaft passing through two second shaft holes.

[0031] In one embodiment of the first aspect, the cross shaft has a through hole along a preset direction, which is perpendicular to the axial direction of the first rod.

[0032] In one embodiment of the first aspect, the eyelid component includes an upper eyelid portion, a lower eyelid portion, and a mounting portion, wherein the upper eyelid portion and the lower eyelid portion are rotatably connected to the mounting portion, and the mounting portion is fixedly connected to the bracket.

[0033] In one embodiment of the first aspect, the first linkage mechanism includes a first link, the second linkage mechanism includes a second link, and the included angle between the first link and the second link is α, satisfying the relationship: 30°≤α≤55°.

[0034] Secondly, this application also provides a robot including the eye assembly of the robot described in any of the above embodiments.

[0035] The robot provided in this application has an eye component as described in any of the above embodiments. The robot increases its biomimetic movements and improves its entertainment value and biomimetic effect through the movement of the eyeballs in the eye component. Attached Figure Description

[0036] To more clearly illustrate the technical solutions of the embodiments of this application, the accompanying drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of this application and should not be regarded as a limitation of the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0037] Figure 1 A three-dimensional structural schematic diagram of the eye component of a robot provided in some embodiments of this application is shown;

[0038] Figure 2 A schematic diagram of the eye component from one perspective is shown in some embodiments of this application;

[0039] Figure 3 This illustration shows another perspective structural diagram of the eye component in some embodiments of this application;

[0040] Figure 4 A three-dimensional structural diagram of an eye component without a support structure is shown in some embodiments of this application;

[0041] Figure 5 A partially exploded structural diagram of the eye component in some embodiments of this application is shown;

[0042] Figure 6 This paper shows an exploded structural diagram of the first rod and the first connector after assembly in some embodiments of this application;

[0043] Figure 7 The following are schematic diagrams illustrating the structure of the eyeball component in some embodiments of this application;

[0044] Figure 8 A schematic diagram of the assembly structure of the eyeball and the hinge in some embodiments of this application is shown;

[0045] Figure 9 It shows Figure 8 The diagram shows an exploded view of the eyeball and the hinge.

[0046] Explanation of key component symbols:

[0047] 100 - Eye assembly; 110 - Bracket; 120 - First rod; 1201 - First rod segment; 1202 - Second rod segment; 1203 - Gap; 121 - First connector; 1211 - First connecting hole; 1212 - First mounting position; 1213 - Second mounting position; 122 - Bearing; 130 - Second rod; 131 - Second connector; 140 - Eyelid assembly; 1401 - Accommodation space; 141 - Upper eyelid; 142 - Lower eyelid; 143 - Mounting part; 150 - Eyeball assembly; 151 - Support part; 1511 - First lifting lug; 1512 - Second lifting lug; 152 - Eyeball; 160-First linkage mechanism; 161-Second linkage mechanism; 170-Hinge; 171-First bearing seat; 1711-First U-shaped opening; 1712-First shaft hole; 172-Cross shaft; 1721-First shaft body; 1722-Second shaft body; 1723-Through hole; 173-Second bearing seat; 1731-Second U-shaped opening; 1732-Second shaft hole; 180-Drive mechanism; 181-First driving component; 182-First transmission component; 1821-First connecting part; 1822-Second connecting part; 183-Second driving component; 184-Second transmission component; 190-Universal ball joint structure. Detailed Implementation

[0048] The embodiments of this application are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain this application, and should not be construed as limiting this application.

[0049] In the description of this application, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc., indicating the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this application.

[0050] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this application, "multiple" means two or more, unless otherwise explicitly specified.

[0051] In this application, unless otherwise expressly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this application according to the specific circumstances.

[0052] In this application, unless otherwise expressly specified and limited, "above" or "below" the second feature can mean that the first feature is in direct contact with the second feature, or that the first feature is in indirect contact with the second feature through an intermediate medium. Furthermore, "above," "on top of," and "over" the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply that the first feature is at a lower horizontal level than the second feature.

[0053] In related technologies, research on bionic robots mainly focuses on behaviors such as robot perception, human-like hand movements, and human-like gait. Research on the face and expressions of bionic robots is relatively limited. Many researchers have tried to achieve the expression of blinking by moving the eyelids through the eye structure. However, the eyeballs cannot coordinate their movements, resulting in expressions that are often limited and do not achieve the desired effect.

[0054] like Figures 1 to 3 As shown, in order to solve the above-mentioned technical problems, the embodiments of this application provide an eye component 100 for a robot. The eye component 100 is used on the robot to realize bionic facial expressions and movements, thereby increasing entertainment value and bionic effect.

[0055] The eye assembly 100 includes: a support 110, an eyelid component 140, an eyeball component 150, a first linkage mechanism 160, a second linkage mechanism 161, a hinge component 170, and a drive mechanism 180.

[0056] The bracket 110 is provided with a first rod 120 and a second rod 130 spaced apart, and both the first rod 120 and the second rod 130 are rotatably connected to the bracket 110. For example, the first rod 120 and the second rod 130 are arranged parallel to each other.

[0057] The eyelid component 140 is rotatably connected to the support 110, and the eyelid component 140 defines an accommodating space 1401, with at least a portion of the eyeball component 150 located within the accommodating space 1401.

[0058] One end of the first linkage mechanism 160 is hinged to the eyeball component 150, and the other end of the first linkage mechanism 160 is hinged to the first rod component 120. One end of the second linkage mechanism 161 is hinged to the eyeball component 150, and the other end of the second linkage mechanism 161 is hinged to the second rod component 130. The hinge positions of the first linkage mechanism 160 and the second linkage mechanism 161 to the eyeball component 150 are different. For example, the hinge position of the first linkage mechanism 160 to the eyeball component 150 can be set at the upper or lower end of the eyeball component 150, and the hinge position of the second linkage mechanism 161 to the eyeball component 150 can be set at the left or right end of the eyeball component 150. This facilitates the rotation of the eyeball component 150 in the up, down, left, and right directions.

[0059] See also Figure 4 As shown, the hinge 170 is connected to the eyeball 150, and the hinge 170 is fixedly connected to the bracket 110.

[0060] The driving mechanism 180 is connected to the first rod 120 and the second rod 130 respectively, and is used to drive the first rod 120 and the second rod 130 to rotate.

[0061] The robot eye assembly 100 provided in the embodiments of this application hinges a first linkage mechanism 160 to the first link 120 and the eyeball 150, and a second linkage mechanism 161 to the second link 130 and the eyeball 150, respectively. Under the action of the drive mechanism 180, the first link 120 and the second link 130 rotate, which correspondingly drives the first linkage mechanism 160 and the second linkage mechanism 161 to transmit power. At the same time, the dynamic rotation of the eyeball 150 is achieved by the different hinge positions of the first linkage mechanism 160 and the second linkage mechanism 161 with the eyeball 150. In addition, the limiting effect of the hinge member 170 prevents the eyeball 150 from rotating too much, thereby improving the realism of the eye assembly 100 in imitating humans or other animals and increasing the facial expressions of the eye assembly 100.

[0062] like Figure 2 and Figure 5As shown, in one embodiment of this application, the drive mechanism 180 includes: a first drive member 181, a first transmission member 182, a second drive member 183, and a second transmission member 184.

[0063] Specifically, one end of the first transmission member 182 is connected to the output end of the first drive member 181, and the other end of the first transmission member 182 is connected to the first rod member 120. The first drive member 181 drives the first transmission member 182 to rotate the first rod member 120, so that the first rod member 120 drives the first linkage mechanism 160 to rotate, so that the eyeball member 150 rotates under the action of the first linkage mechanism 160 and the hinge member 170.

[0064] One end of the second transmission member 184 is connected to the output end of the second drive member 183, and the other end of the second transmission member 184 is connected to the second rod member 130. The second drive member 183 drives the second transmission member 184 to rotate the second rod member 130, so that the second rod member 130 drives the second linkage mechanism 161 to rotate, so that the eyeball member 150 rotates under the action of the second linkage mechanism 161 and the hinge member 170.

[0065] It is understandable that the first driving component 181 and the second driving component 183 can be activated independently to ultimately achieve the rotation of the eyeball component 150. Of course, the first driving component 181 and the second driving component 183 can also be activated simultaneously, correspondingly driving the first linkage 120 and the second linkage 130 to rotate. Under the action of the first linkage mechanism 160 and the second linkage mechanism 161, they jointly drive the eyeball component 150 to rotate, realizing various actions of the eyeball component 150.

[0066] It should be noted that the first driving component 181 and the second driving component 183 can be drive motors. Of course, the first driving component 181 and the second driving component 183 can also be other power sources with driving functions.

[0067] like Figure 4 As shown, in one embodiment of this application, the robot's eye assembly 100 further includes a first connector 121 and a second connector 131.

[0068] See also Figure 6As shown, the first connector 121 has a first connecting hole 1211, and the first rod 120 is fixedly inserted through the first connecting hole 1211. Exemplarily, the first rod 120 includes a first rod segment 1201 and a second rod segment 1202, which are connected by a screw. A gap 1203 is formed after the first rod segment 1201 and the second rod segment 1202 are connected. At this time, the first connecting hole 1211 is located within the gap 1203. The edge of the first connecting hole 1211 of the first connector 121 abuts against the first rod segment 1201 and the second rod segment 1202, causing it to be pressed and fixed onto the first rod 120 by the first rod segment 1201 and the second rod segment 1202. This design structure of the first rod 120 facilitates assembly with the first connector 121.

[0069] In addition, the first connecting member 121 is also provided with a first mounting position 1212 and a second mounting position 1213. The first mounting position 1212 is connected to the first transmission member 182, and the second mounting position 1213 is connected to the first linkage mechanism 160. For example, both the first mounting position 1212 and the second mounting position 1213 are pin holes. The end of the first transmission member 182 away from the first driving member 181 is connected to the first connecting member 121 through the pin hole by a pin shaft. The end of the first linkage mechanism 160 away from the eyeball member 150 is connected to the first connecting member 121 through the pin hole by a pin shaft.

[0070] It should be noted that the structure of the second connecting member 131 is the same as that of the first connecting member 121. The second connecting member 131 has a second connecting hole, through which the second rod 130 is fixedly inserted. The second connecting member 131 also has a third mounting position and a fourth mounting position. The third mounting position is connected to the second transmission member 184, and the fourth mounting position is connected to the second linkage mechanism 161. Exemplarily, the third and fourth mounting positions are also pin holes.

[0071] Specifically, the first driving member 181 drives the first transmission member 182 to rotate, which in turn drives the first rod 120 and the first linkage mechanism 160 to rotate via the first connecting member 121. Similarly, the second driving member 183 drives the second transmission member 184 to rotate, which in turn drives the second rod 130 and the second linkage mechanism 161 to rotate via the second connecting member 131, ultimately realizing the rotation of the eyeball 150.

[0072] like Figure 4As shown, in the embodiments of the first transmission member 182 and the second transmission member 184 described above, the first transmission member 182 further includes a first connecting portion 1821 and a second connecting portion 1822. The first connecting portion 1821 is connected to the output end of the first driving member 181. For example, if the first connecting portion 1821 is a wheel-shaped structure, a portion extending along the edge of the wheel-shaped structure is connected to one end of the second connecting portion 1822, and the other end of the second connecting portion 1822 is connected to the first mounting position 1212. In this embodiment, the second connecting portion 1822 can be a long, thin plate-like structure to reduce its own space occupation. Of course, in other embodiments, the first connecting portion 1821 and the second connecting portion 1822 can also be other shapes.

[0073] It should be noted that the structure of the second transmission member 184 is the same as that of the first transmission member 182. The second transmission member 184 includes a third connecting portion and a fourth connecting portion. The third connecting portion is connected to the output end of the second drive member 183, and one end of the third connecting portion is connected to the fourth connecting portion. The other end of the fourth connecting portion is connected to the third mounting position. The structure of the third connecting portion is the same as that of the first connecting portion 1821, and the structure of the fourth connecting portion is the same as that of the second connecting portion 1822. For illustrative purposes, two drive members and two transmission members are provided here; that is, one drive member is connected to a rod member via a transmission member, and the other drive member is connected to another rod member via another transmission member. This allows the two linkage mechanisms to be driven to achieve different orientations of the eyeball member 150.

[0074] like Figure 2 As shown, a universal ball joint structure 190 is further provided at the connection between the first linkage mechanism 160 and the second mounting position 1213. The universal ball joint structure 190 enables multi-angle rotational connection between the first linkage mechanism 160 and the first connecting member 121. It is understood that a universal ball joint structure 190 is also provided at the connection between the first linkage mechanism 160 and the eyeball member 150 to achieve more precise rotational movements.

[0075] It is understandable that a universal ball joint structure 190 may also be provided at the connection between the second linkage mechanism 161 and the fourth mounting position. Simultaneously, a universal ball joint structure 190 is also provided at the connection position between the second linkage mechanism 161 and the eyeball component 150.

[0076] like Figure 5 and Figure 7 As shown, in one embodiment of this application, the eyeball component 150 includes a support portion 151 and an eyeball portion 152.

[0077] Specifically, the support portion 151 has a ring-shaped structure, and a first lifting lug 1511 and a second lifting lug 1512 are provided at intervals along the circumference of the support portion 151. For example, the first lifting lug 1511 is located at the upper end of the support portion 151, and the second lifting lug 1512 is located at the left end of the support portion 151. The first lifting lug 1511 is connected to the first linkage mechanism 160. Optionally, the first lifting lug 1511 and the first linkage mechanism 160 are connected by a pin, and the second lifting lug 1512 and the second linkage mechanism 161 are also connected by a pin. Exemplarily, the support portion 151 has a circular ring-shaped structure.

[0078] See also Figure 8 As shown, the eyeball portion 152 is fixed to the support portion 151 on the side away from the first lug 1511, and the eyeball portion 152 is located on one side of the first linkage mechanism 160 and connected to the hinge member 170. Specifically, the middle position of the eyeball portion 152 is connected to the hinge member 170 to prevent the eyeball portion 152 from rotating only in the vertical plane when the first linkage structure and the second linkage mechanism 161 drive it to rotate. Through the hinge restriction effect of the hinge member 170, the eyeball portion 152 can rotate simultaneously in the horizontal and vertical planes, improving the realistic effect of the eyeball portion 152 imitating the rotation of humans or other animals.

[0079] like Figure 8 and Figure 9 As shown, in one embodiment of this application, the hinge 170 includes a first bearing 171, a cross shaft 172, and a second bearing 173; the cross shaft 172 includes a first shaft body 1721 and a second shaft body 1722 arranged orthogonally, the first shaft body 1721 and the second shaft body 1722 are perpendicularly connected, the first shaft body 1721 and the second shaft body 1722 can be integrally formed, or they can be detachably connected and fixed.

[0080] The first bearing seat 171 is fixed to the bracket 110. The end of the first bearing seat 171 away from the eyeball 152 can be connected to the bracket 110 by bolts or welding. The end of the first bearing seat 171 away from the bracket 110 has a first U-shaped opening 1711. The two opposite sidewalls of the first U-shaped opening 1711 are provided with first shaft holes 1712. The first shaft body 1721 passes through the two first shaft holes 1712.

[0081] The second bearing 173 is connected to the eyeball portion 152. The second bearing 173 can be integrally formed with the eyeball portion 152, or it can be fixed by welding or screwing. The second bearing 173 has a second U-shaped opening 1731, which is opposite to the first U-shaped opening 1711. The two opposite sidewalls of the second U-shaped opening 1731 are provided with second shaft holes 1732, and the second shaft body 1722 passes through the two second shaft holes 1732.

[0082] In this embodiment, the hinge 170 is configured to rotate up, down, left, and right.

[0083] It should be noted that the eyeball portion 152 is hemispherical, and the direction of the eyeball portion 152 toward the first bearing 171 is a hollow structure.

[0084] like Figure 9 As shown, in the embodiment of the cross shaft 172 described above in this application, the cross shaft 172 has a through hole 1723 along a preset direction, which is perpendicular to the axial direction of the first rod 120. The through hole 1723 facilitates the assembly of the camera when it is installed in the eyeball part 152, thus making the structure of the eyeball part 150 more compact and reducing the space occupied.

[0085] In any of the above embodiments of this application, the eyelid component 140 includes an upper eyelid portion 141, a lower eyelid portion 142, and a mounting portion 143. The upper eyelid portion 141 and the lower eyelid portion 142 are rotatably connected to the mounting portion 143, and the mounting portion 143 is fixedly connected to the bracket 110. The upper eyelid portion 141 and the lower eyelid portion 142 can be driven to close or open by a power source to achieve the action of blinking.

[0086] like Figure 2 As shown, in one embodiment of this application, the first linkage mechanism 160 includes a first link, one end of which is connected to a first connector 121, and the other end of which is connected to a first lug 1511. The second linkage mechanism 161 includes a second link, one end of which is connected to a second connector 131, and the other end of which is connected to a second lug 1512. The included angle between the first link and the second link is α, satisfying the relationship: 30°≤α≤55°. Exemplarily, in this embodiment, the included angle α between the first link and the second link is 45°. It is understood that in other embodiments, the included angle α between the first link and the second link can also be 30°, 32°, 33°, 40°, 42°, 47°, 50°, 51°, 52°, or 55°. By limiting the included angle α, the rotation of the eyeball 152 is made more similar to the eye movements of humans or other animals, improving the biomimetic effect.

[0087] like Figure 6 As shown, in any of the above embodiments, a bearing 122 is further provided at the rotatable connection between the first rod 120 and the bracket 110, thereby making its rotation smoother. It is understood that a bearing 122 may also be provided at the rotatable connection between the second rod 130 and the bracket 110.

[0088] Embodiments of this application also provide a robot that includes the eye assembly 100 of the robot described in any of the above embodiments. Therefore, this robot possesses any of the beneficial effects of the aforementioned eye assembly 100, which will not be elaborated upon here.

[0089] The robot provided in the embodiments of this application has an eye component 100 as described in any of the above embodiments. The robot increases its biomimetic movements and improves its entertainment value and biomimetic effect through the movement of the eyeballs 150 of the eye component 100.

[0090] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., refer to specific features, structures, materials, or characteristics described in connection with that embodiment or example, which are included in at least one embodiment or example of this application. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0091] Although embodiments of this application have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting this application. Those skilled in the art can make changes, modifications, substitutions and variations to the above embodiments within the scope of this application.

Claims

1. An eye assembly of a robot, characterized in that, The utility model relates to a kind of artificial eye, including: Support, first rod and second rod are arranged at intervals on the support, and the first rod and the second rod are rotatably connected with the support; Eyelid, which is rotatably connected with the support, defines a containing space; Eyeball, at least part of the eyeball is located in the containing space; First connecting rod mechanism and second connecting rod mechanism, one end of the first connecting rod mechanism is hingedly connected with the eyeball, the other end of the first connecting rod mechanism is hingedly connected with the first rod, one end of the second connecting rod mechanism is hingedly connected with the eyeball, the other end of the second connecting rod mechanism is hingedly connected with the second rod, and the first connecting rod mechanism and the second connecting rod mechanism are hingedly connected with the eyeball at different positions;The first connecting rod includes a first connecting rod, the second connecting rod includes a second connecting rod, the included angle between the first connecting rod and the second connecting rod is α, and the relationship is satisfied: 30°≤α≤55°; Hinge, which is connected with the eyeball, and the hinge is fixedly connected with the support; Driving mechanism, which is connected with the first rod and the second rod respectively, for driving the first rod and the second rod to rotate; The eyeball includes a support portion and an eyeball portion, the support portion has a ring structure, a first lug and a second lug are arranged at intervals along the circumference of the support portion, the first lug is connected with the first connecting rod mechanism, the second lug is connected with the second connecting rod mechanism, the eyeball portion is fixed to the side of the support portion away from the first lug, and the eyeball portion is connected with the hinge on one side of the first connecting rod mechanism.

2. The robotic eye assembly of claim 1, wherein, The driving mechanism includes: First driving member and first transmission member, one end of the first transmission member is connected with the output end of the first driving member, the other end of the first transmission member is connected with the first rod;And Second driving member and second transmission member, one end of the second transmission member is connected with the output end of the second driving member, the other end of the second transmission member is connected with the second rod.

3. The eye assembly of claim 2, wherein, Further including: First connecting member, the first connecting member is provided with a first connecting hole, the first rod is fixedly arranged in the first connecting hole, and the first connecting member is further provided with a first mounting position and a second mounting position, the first mounting position is connected with the first transmission member, and the second mounting position is connected with the first connecting rod mechanism; Second connecting member, the second connecting member is provided with a second connecting hole, the second rod is fixedly arranged in the second connecting hole, and the second connecting member is further provided with a third mounting position and a fourth mounting position, the third mounting position is connected with the second transmission member, and the fourth mounting position is connected with the second connecting rod mechanism.

4. The robotic eye assembly of claim 3, wherein, The first transmission member includes a first connecting portion and a second connecting portion, the first connecting portion is connected with the output end of the first driving member, and the first connecting portion is connected with one end of the second connecting portion, the other end of the second connecting portion is connected with the first mounting position. The second transmission member comprises a third connecting part and a fourth connecting part, the third connecting part is connected with the output end of the second driving member, and one end of the third connecting part is connected with the fourth connecting part, and the other end of the fourth connecting part is connected with the third mounting position.

5. The robotic eye assembly of claim 3, wherein, A universal ball head structure is arranged at the connection between the first connecting rod mechanism and the second mounting position; and / or a universal ball head structure is arranged at the connection between the second connecting rod mechanism and the fourth mounting position.

6. The robotic eye assembly of claim 1, wherein, The hinged member comprises a first shaft seat, a cross shaft and a second shaft seat; The first shaft seat is fixed on the support and has a first U-shaped opening, and first shaft holes are arranged in the two opposite side walls of the first U-shaped opening; The second shaft seat is connected with the eyeball part and has a second U-shaped opening, the second U-shaped opening is arranged opposite to the first U-shaped opening, and second shaft holes are arranged in the two opposite side walls of the second U-shaped opening; The cross shaft comprises a first shaft body and a second shaft body arranged orthogonally, the first shaft body is arranged through the two first shaft holes, and the second shaft body is arranged through the two second shaft holes.

7. The eye assembly of claim 6, wherein, The cross shaft is provided with a through hole in a preset direction, and the preset direction is perpendicular to the axis direction of the first rod member.

8. The robotic eye assembly of any one of claims 1-5, wherein the eye assembly is configured to be mounted to a robotic head assembly. The eyelid member comprises an upper eyelid part, a lower eyelid part and a mounting part, the upper eyelid part and the lower eyelid part are respectively rotationally connected with the mounting part, and the mounting part is fixedly connected with the support. ​ 9. A robot, characterized in that An eye component of a robot as claimed in any one of claims 1 to 8.

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