Bionic eye device

Abstract

The application relates to the field of robots and provides a bionic eye device. The bionic eye device comprises two bionic eyeball bodies; a first connecting rod, two ends of the first connecting rod being in transmission connection with the two bionic eyeball bodies through transmission assemblies respectively; a first driving element, the first driving element being hinged with the first connecting rod to drive the first connecting rod to rotate in a horizontal plane, the first connecting rod driving the two bionic eyeballs to rotate in the horizontal plane based on the action of the first driving element; and a second driving element, the second driving element being connected with the first driving element to drive the first driving element and the two bionic eyeballs to rotate in a vertical plane. The bionic eye device makes the movement of the bionic eyeballs closer to the physiological mechanism of real eyeballs, realizes accurate control of the movement of the bionic eyeballs, and has compact structure, high integration, and convenience in installation and maintenance.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of robots, and provides a bionic eye device. BACKGROUND

[0002] With the rapid development of technology and the improvement of robot technology, the development of bionic eyes has become a key technology for building real and highly interactive emotional expression robots. Humanoid robots play an increasingly important role in education, service, medical care and other fields, and good human-computer interaction experience is crucial. As a major means of non-verbal communication, eye contact is considered one of the most persuasive and persuasive communication methods.

[0003] In the prior art, a bionic facial organ mechanism usually involves two parts of eyeball movement and eyelid movement. Eyeball movement is usually achieved through the cooperation of multiple joints and mechanical design. Although this method can achieve relatively complex eyeball displacement, it requires more mechanical parts, increases the cost and limits the design flexibility, and has significant differences from the natural range and dynamic characteristics of human eyeball movement. Simplified eyelid movement design limits the richness of the robot's expressions, which affects the naturalness of the interaction and user satisfaction. SUMMARY

[0004] The embodiment of the present application provides a bionic eye device to solve the defect of complex structure of the bionic eye device in the related art, and realizes efficient, natural and humanized eyeball bionic action.

[0005] The embodiment of the present application provides a bionic eye device, comprising:

[0006] two bionic eyeball bodies;

[0007] a first connecting rod, two ends of the first connecting rod being respectively connected with the two bionic eyeball bodies through a transmission assembly;

[0008] a first driving member, the first driving member being hinged to the first connecting rod to drive the first connecting rod to rotate in a horizontal plane, the first connecting rod driving the two bionic eyeballs to rotate in the horizontal plane based on the action of the first driving member;

[0009] a second driving member, the second driving member being connected with the first driving member to drive the first driving member and the two bionic eyeballs to rotate in a vertical plane.

[0010] According to one embodiment of the present application, the output end of the first driving member is connected with a first crank, the first end of the first crank being connected to the output shaft of the first driving member, and the second end of the first crank being hinged to the first connecting rod.

[0011] According to one embodiment of the present application, the transmission assembly comprises:

[0012] A hinge shaft, the first end of which is rotatably connected to both ends of the first connecting rod;

[0013] The second link is ball-jointed in the mounting position, the first end of the second link is hinged to the second end of the hinge shaft, and the second end of the second link is rotatably connected to the two bionic eyeball bodies.

[0014] According to one embodiment of the present invention, at least three limiting posts are provided on the bionic eyeball body, and a limiting space is formed between at least four limiting posts, and the second end of the second connecting rod is inserted into the limiting space.

[0015] According to one embodiment of the present invention, the line connecting the hinge point of the first crank and the first connecting rod, the connection point of the first crank and the first drive member, the hinge point of the hinge shaft and the first connecting rod, and the ball joint point of the second connecting rod forms a parallelogram frame.

[0016] According to one embodiment of the present invention, it further includes:

[0017] The first support column is connected to the installation position;

[0018] eyelid;

[0019] An eyelid, hinged to the eyelid and forming an installation space for accommodating the bionic eyeball body, wherein at least one of the eyelid and the eyelid is hinged to the first support post;

[0020] The third driving component is hinged to the eyelid.

[0021] According to one embodiment of the present invention, the output end of the third drive member is connected to a second crank, and a third connecting rod is connected to the second crank, the third connecting rod being hinged to the eyelid.

[0022] According to one embodiment of the present invention, it further includes:

[0023] A base, wherein the mounting position is formed in the base;

[0024] A first support frame, wherein the first driving component is mounted on the first support frame;

[0025] The second support frame is mounted on the second drive unit, and the output end of the second drive unit is connected to the first support frame to drive the first support frame to rotate relative to the base in a vertical plane.

[0026] According to one embodiment of the present application, a second support column is further included, the second support column being connected to the base, and a spherical hinge structure being arranged on the second support column, the second connecting rod being hinged to the spherical hinge structure.

[0027] According to one embodiment of the present application, a bearing seat is further included, and the first support frame is rotatably connected to the bearing seat.

[0028] The bionic eye device provided by the embodiment of the present application can simulate the natural movement of human eyeballs in the horizontal plane (left and right rotation) and the vertical plane (up and down rotation) through the cooperative work of the two bionic eyeball bodies, the first connecting rod, the first driving member and the second driving member. This design not only improves the degree of freedom of eyeball movement, but also makes the movement of the bionic eyeball closer to the physiological mechanism of the real eyeball, providing a more realistic visual interaction experience for the fields of robots, virtual reality devices, medical rehabilitation and the like. Through the independent first driving member and the second driving member, the movement in the horizontal plane and the vertical plane is respectively controlled, and precise control of the movement of the bionic eyeball is realized. This design is conducive to accurately capturing visual information in a complex environment and improving the overall performance and reaction speed of the system. The various components in the bionic eye device are combined together through a clever connection and transmission mode, forming a compact and high-integration-degree whole. This design not only reduces the overall volume and weight of the device, but also facilitates installation and maintenance, improving the portability and reliability of the equipment. Since the bionic eye device can simulate various movement modes of the real eyeball, it has a wide application prospect. It can be used for upgrading the visual system of a robot to improve the environmental perception and interaction ability of the robot; it can also be applied in virtual reality devices to provide users with a more immersive visual experience; in addition, in the field of medical rehabilitation, the device can also be used as an auxiliary training tool to help patients recover vision or improve eyeball movement function. The design of the bionic eye device has a certain modularity and expandability. In the future, with the continuous progress of technology and the continuous change of demand, more functional modules can be added or the performance of existing components can be improved on this basis to meet more complex and diversified application scenarios. BRIEF DESCRIPTION OF DRAWINGS

[0029] In order to more clearly illustrate the technical solutions in the present application or the prior art, the following will briefly introduce the drawings needed to be used in the embodiments or prior art description. Obviously, the drawings in the following description are some embodiments of the present application, and other drawings can also be obtained by those skilled in the art without any creative effort on the basis of these drawings.

[0030] Figure 1 is a schematic perspective view of an angle of the bionic eye device provided by the present application.

[0031] Figure 2is another perspective view of the bionic eye device provided by the present application.

[0032] Figure 3 is a schematic top view of the bionic eye device provided by the present application.

[0033] Figure 4 is a schematic front view of the bionic eye device provided by the present application.

[0034] Figure 5 is a schematic perspective view of the bionic eye device provided by the present application, with the base hidden.

[0035] Reference signs:

[0036] 100, bionic eyeball body; 102, first connecting rod; 104, first driving member; 106, second driving member; 108, first crank; 110, hinged shaft; 112, second connecting rod; 114, limiting column; 116, first supporting column; 118, eyelid; 120, eyelid; 122, third driving member; 124, second crank; 126, third connecting rod; 128, base; 130, first supporting frame; 132, second supporting frame; 134, second supporting column; 138, spherical hinge structure; 136, bearing seat. DETAILED DESCRIPTION

[0037] The embodiments of the present application will be further described in detail below with reference to the accompanying drawings and examples. The following examples are used to illustrate the present application, but cannot be used to limit the scope of the present application.

[0038] As shown in Figures 1 to 5 , the embodiment of the present application provides a bionic eye device, comprising:

[0039] two bionic eyeball bodies 100;

[0040] a first connecting rod 102, two ends of the first connecting rod 102 are respectively connected with the two bionic eyeball bodies 100 through a transmission assembly;

[0041] a first driving member 104, the first driving member 104 is hinged with the first connecting rod 102 to drive the first connecting rod 102 to rotate in a horizontal plane, and the first connecting rod 102 drives the two bionic eyeballs to rotate in the horizontal plane based on the action of the first driving member 104;

[0042] a second driving member 106, the second driving member 106 is connected with the first driving member 104 to drive the first driving member 104 and the two bionic eyeballs to rotate in a vertical plane.

[0043] According to the embodiment of the present application, the bionic eye device can simulate the natural movement of human eyeballs in the horizontal plane (left and right rotation) and the vertical plane (up and down rotation) through the coordinated work of the two bionic eyeball bodies 100, the first connecting rod 102, the first driving member 104, and the second driving member 106. This design not only improves the degree of freedom of eyeball movement, but also makes the movement of the bionic eyeball closer to the physiological mechanism of the real eyeball, providing a more realistic visual interaction experience for robots, virtual reality devices, medical rehabilitation, and other fields. By controlling the movement in the horizontal plane and the vertical plane with independent first driving member 104 and second driving member 106 respectively, precise control of the bionic eyeball movement is achieved. This design is conducive to accurately capturing visual information in complex environments and improving the overall performance and reaction speed of the system. The various components in the bionic eye device are combined together through a clever connection and transmission method, forming a compact and highly integrated whole. This design not only reduces the overall size and weight of the device, but also facilitates installation and maintenance, improving the portability and reliability of the equipment. Since the bionic eye device can simulate various movement patterns of the real eyeball, it has a wide range of application prospects. It can be used to upgrade the robot vision system, improve the environmental perception and interaction ability of the robot; it can also be applied to virtual reality devices to provide users with a more immersive visual experience; in addition, in the field of medical rehabilitation, the device can also be used as an auxiliary training tool to help patients recover vision or improve eye movement function. The design of the bionic eye device has a certain degree of modularity and scalability. In the future, with the continuous progress of technology and the changing needs, more functional modules can be added or the performance of existing components can be improved to meet more complex and diverse application scenarios.

[0044] Please continue to see Figures 1 to 5 The embodiment of the present application provides a bionic eye device which aims to simulate the natural movement pattern of human eyeballs to improve the visual interaction experience in the fields of robots, virtual reality devices, medical rehabilitation, etc.

[0045] The bionic eye device comprises two bionic eyeball bodies 100, which are the core part of visual perception and have an appearance and internal structure close to the real eyeball to better simulate the visual function.

[0046] The first connecting rod 102 is a key component that connects the two bionic eyeball bodies 100, and the two ends of the first connecting rod 102 are respectively connected with the two bionic eyeball bodies 100 through transmission assemblies. This connection ensures that when the first connecting rod 102 moves, it can accurately and smoothly drive the two bionic eyeballs to move synchronously.

[0047] The first driving member 104 (such as a motor) is connected to the first connecting rod 102 in a hinged manner, for providing driving force in the horizontal plane. When the first driving member 104 works, the first driving member 104 drives the first connecting rod 102 to rotate in the horizontal plane, and further drives the two bionic eyeballs to rotate left and right in the horizontal direction through the transmission assembly.

[0048] The second driving member 106 (such as a motor) is connected to the first driving member 104, for providing driving force in the vertical plane. That is, when the second driving member 106 works, the second driving member 106 drives the entire first driving member 104, the first connecting rod 102 connected thereto, and the two bionic eyeball bodies 100 to rotate in the vertical plane, realizing the up and down rotation of the bionic eyeballs.

[0049] The bionic eye device provided by the embodiment of the application realizes high bionics of eyeball movement, can simulate the left and right and up and down rotation of real eyeballs, makes the robot, virtual reality equipment and the like more natural and realistic in visual interaction, and improves user experience.

[0050] According to one embodiment of the application, the output end of the first driving member 104 is connected with a first crank 108, the first end of the first crank 108 is connected to the output shaft of the first driving member 104, and the second end of the first crank 108 is hinged to the first connecting rod 102.

[0051] As shown in FIGS. Figure 1 and Figure 5 In one embodiment of the application, the output end of the first driving member 104 is improved in order to further optimize power transmission and movement control of the bionic eyeballs.

[0052] Specifically, the output end of the first driving member 104 is connected with a first crank 108, and the first crank 108 plays an important role in converting rotary motion into reciprocating rotation.

[0053] The first crank 108 has a fixed length and shape, the first end of the first crank 108 is firmly connected to the output shaft of the first driving member 104 through a spline, ensuring that power can be transmitted without loss.

[0054] The second end of the first crank 108 is connected to the first connecting rod 102 in a hinged manner, and the hinged connection allows the first crank 108 to drive the first connecting rod 102 to rotate in the horizontal plane when rotating, while maintaining a certain flexibility and degree of freedom to adapt to different movement requirements.

[0055] When the first driving member 104 is in operation, the output shaft of the first driving member 104 drives the first crank 108 to rotate. With the rotation of the first crank 108, its second end pushes or pulls the first connecting rod 102 through the hinged connection, causing the first connecting rod 102 to produce a reciprocating rotation in the horizontal plane. This rotation is then transmitted to the bionic eyeball body 100 through the transmission assembly mentioned above, achieving the left and right rotation of the bionic eyeball.

[0056] In the embodiment of the present application, the rotational motion of the first driving member 104 is directly converted into the rotation of the first connecting rod 102 through the first crank 108, reducing friction and energy loss in the power transmission process and improving overall transmission efficiency. By adjusting the length, shape of the first crank 108 and the position of the hinged point, the motion range and accuracy of the bionic eyeball can be precisely controlled to meet the needs of different application scenarios. The design of the first crank 108 makes the entire transmission system more compact, reducing the overall volume and weight of the device and improving the portability and integration of the equipment. The design of the hinged connection allows the first connecting rod 102 to maintain a certain degree of freedom during rotation, reducing stress and wear that may occur due to rigid connection and improving the reliability and service life of the device. The left and right rotation of the bionic eyeball in the horizontal plane is smoother and more natural, enhancing the realism and immersion of robots, virtual reality devices and other devices in visual interaction, and improving user experience.

[0057] Of course, the rotation of the bionic eyeball can also be achieved directly through the first driving member 104.

[0058] According to an embodiment of the present application, the transmission assembly comprises:

[0059] The hinged shaft 110 has a first end rotatably connected to the two ends of the first connecting rod 102;

[0060] The second connecting rod 112 is hingedly connected to the mounting position, with a first end hingedly connected to the second end of the hinged shaft 110 and a second end rotatably connected to the two bionic eyeball bodies 100.

[0061] As shown in Figure 1 and Figure 5 In an embodiment of the present application, the transmission assembly is designed as a complex and delicate mechanism, aiming to effectively transmit the rotational motion of the first connecting rod 102 to the bionic eyeball body 100 to achieve its left and right rotation function.

[0062] The transmission assembly mainly includes two key components, the hinged shaft 110 and the second connecting rod 112, which work together to ensure the stability and accuracy of power transmission.

[0063] The hinged shaft 110 is one of the core components in the transmission assembly, and the first end of the hinged shaft 110 is fixed to the two ends of the first connecting rod 102 in a rotating connection manner. This design allows the first connecting rod 102 to rotate while the hinged shaft 110 can rotate relative to it, and ensures the fixed position of the axis, thereby maintaining synchronous movement with the first connecting rod 102. The second end of the hinged shaft 110 is used for hinged connection with the second connecting rod 112 to further transmit power.

[0064] The second connecting rod 112 is a key component connecting the hinged shaft 110 and the bionic eyeball body 100. The second connecting rod 112 is installed on a fixed mounting position in a spherical hinge manner, which provides higher flexibility and freedom, allowing the second connecting rod 112 to rotate or rotate in multiple directions. The first end of the second connecting rod 112 is connected to the second end of the hinged shaft 110 in a hinged manner, thereby receiving power from the first connecting rod 102. The second end of the second connecting rod 112 is connected to the two bionic eyeball bodies 100 in a rotating connection manner, finally transmitting power to the bionic eyeball to realize the function of left and right rotation.

[0065] Through the hinged shaft 110 and the second connecting rod 112, the transmission assembly can ensure the stability of power transmission and reduce vibration and impact, thereby improving the stability and reliability of the bionic eyeball rotation. The spherical hinge installation manner allows the second connecting rod 112 to rotate or rotate in multiple directions, thereby expanding the movement range of the bionic eyeball and making it more flexible to simulate the movement of the real eyeball. The compact and reasonable design of the transmission assembly reduces unnecessary components and space occupation, making the entire bionic eye device more portable and easy to integrate. By adjusting the connection manner and positional relationship between the hinged shaft 110, the second connecting rod 112 and the bionic eyeball body 100, different application scenarios and requirements can be flexibly adapted, improving the universality and adaptability of the device. The left and right rotation of the bionic eyeball is more natural and smooth, enhancing the realism and immersion of robots, virtual reality devices and other visual interactions, providing users with a more comfortable and realistic experience.

[0066] According to one embodiment of the present application, at least four limiting columns 114 are arranged on the bionic eyeball body 100, and the second end of the second connecting rod 112 is inserted into the limiting space formed between the at least four limiting columns 114.

[0067] As shown in the drawings, Figure 2 In one embodiment of the present application, at least four limiting columns 114 are designed on the bionic eyeball body 100 to further improve the stability and accuracy of the bionic eyeball body 100 rotation, while ensuring its safety during movement.

[0068] These limit posts 114 not only play a supporting and fixing role, but also jointly form a limiting space for limiting and guiding the movement trajectory of the second connecting rod 112.

[0069] The limit posts 114 are arranged at appropriate positions of the bionic eyeball body 100, and the number thereof is at least four to ensure that a stable limiting space can be formed. The shape, size and position of the limit posts 114 can be adjusted according to actual needs to adapt to different transmission assembly structures and movement requirements.

[0070] Through reasonable layout and combination among the at least four limit posts 114, a semi-closed limiting space is jointly formed. The size, shape and position of the limiting space match the second end of the second connecting rod 112, ensuring that the second connecting rod 112 can be smoothly inserted and moved therein.

[0071] The second end of the second connecting rod 112 is designed to have a shape and size matching the limiting space, so as to be accurately inserted into the limiting space. During rotation of the bionic eyeball body 100, the second end of the second connecting rod 112 moves within the limiting space, thereby being limited and guided by the limit posts 114 to maintain a stable movement trajectory.

[0072] It should be noted that since the second connecting rod 112 is connected to the mounting position by a spherical hinge, the movement trajectory of the second end of the second connecting rod 112 can form an arc surface; and during rotation of the bionic eyeball body 100, the bionic eyeball body 100 rotates around its spherical center, thus causing a certain displacement difference between the second end of the second connecting rod 112 and the spherical center of the bionic eyeball body 100. If a spherical hinge is used between the bionic eyeball body 100 and the second connecting rod 112, the full degrees of freedom of the bionic eyeball body 100 will be limited, resulting in that the second connecting rod 112 cannot drive the bionic eyeball body 100 to rotate. Therefore, in order to avoid the above situation, at least four limit posts 114 are arranged on the bionic eyeball body 100, and in the embodiment of the application, the limit posts 114 can be four, which are arranged around to form a certain limiting space. The second end of the second connecting rod 112 is directly inserted into the limiting space, and when the second end of the second connecting rod 112 moves in a horizontal plane, a vertical plane or rotates in a three-dimensional space, the bionic eyeball body 100 can be driven to move synchronously through the matching of the second end of the second connecting rod 112 and the limit posts 114.

[0073] In the embodiment of the present application, the design of the limiting column 114 and the limiting space effectively limits the movement range and direction of the second connecting rod 112, preventing it from deviating or shaking during movement, thereby enhancing the stability of the rotation of the bionic eyeball body 100. By precisely controlling the position of the limiting column 114 and the size and shape of the limiting space, precise control of the movement trajectory of the second connecting rod 112 can be achieved, thereby improving the accuracy of the rotation of the bionic eyeball body 100. The design of the limiting column 114 and the limiting space also plays a role in safety protection. In the event of a failure of the transmission assembly or an external impact, the limiting column 114 can prevent the second connecting rod 112 from deviating from its normal movement trajectory, thereby avoiding damage or harm to the bionic eyeball body 100. The design of the limiting column 114 and the limiting space makes the structure of the transmission assembly more compact and reasonable, reducing unnecessary components and space occupation, and improving the integration and aesthetics of the entire bionic eye device. Due to the significant improvement in the stability and accuracy of the rotation of the bionic eyeball body 100, users can obtain a more realistic, smooth and natural visual experience when using products such as robots and virtual reality devices that are equipped with the bionic eye device.

[0074] According to an embodiment of the present application, the connecting line of the hinge point of the first crank 108 and the first connecting rod 102, the connecting point of the first crank 108 and the first driving member 104, the hinge point of the hinge shaft 110 and the first connecting rod 102, and the spherical hinge point of the second connecting rod 112 forms a parallelogram frame.

[0075] As shown in Figure 5 In an embodiment of the present application, in order to further improve the stability and movement accuracy of the transmission system, a parallelogram frame geometry is specially designed. This parallelogram frame is formed by connecting the four key points of the hinge point of the first crank 108 and the first connecting rod 102, the connecting point of the first crank 108 and the first driving member 104, the hinge point of the hinge shaft 110 and the first connecting rod 102, and the spherical hinge point of the second connecting rod 112.

[0076] The above four key points occupy an important position in the transmission system, and the connecting line between them always maintains a parallelogram shape or a dynamically changing parallelogram relationship during device movement. This design takes advantage of the geometric properties of a parallelogram, i.e., its opposite sides are parallel and equal in length, making the movement of the transmission system more stable and controllable.

[0077] Due to the presence of the parallelogram frame, when the first drive member 104 drives the first crank 108 to rotate, the rotation of the first connecting rod 102 is constrained by the parallelogram frame, thus maintaining a stable motion trajectory. This design effectively reduces friction and vibration caused by the relative motion between components, improving the stability of power transmission. The geometric relationship of the parallelogram frame ensures that the relative positions and directions of motion between the components in the transmission system remain consistent. This consistency allows the bionic eyeball body 100 to move precisely along a predetermined trajectory during rotation, improving motion accuracy and repeatability.

[0078] The parallelogram frame design enhances the stability of the transmission system during operation, reducing vibration and impact on the bionic eyeball 100 and improving overall device stability. By maintaining consistency in the relative positions and directions of motion among components in the transmission system, the parallelogram frame significantly improves the rotational accuracy and repeatability of the bionic eyeball 100. The parallelogram frame design also makes the transmission system more compact and efficient, reducing unnecessary components and space requirements, thus improving the integration and aesthetics of the entire bionic eye device. The geometric relationship of the parallelogram frame can be adjusted and optimized according to actual needs to adapt to different application scenarios and transmission requirements, enhancing the device's versatility and adaptability. Due to the improved stability and motion accuracy of the bionic eyeball 100, users will experience a more realistic, smooth, and natural visual experience when using products equipped with this bionic eye device.

[0079] According to one embodiment of the present invention, it further includes:

[0080] The first support column 116 is connected to the mounting position;

[0081] Eyelid 118;

[0082] The eyelid 120 is hinged to the eyelid 118 and surrounds the eyelid 118 to form an installation space for accommodating the bionic eyeball body 100. At least one of the eyelid 118 and the eyelid 120 is hinged to the first support column 116.

[0083] The third drive component 122 is hinged to the eyelid 118.

[0084] like Figure 1 and Figure 5 As shown, in one embodiment of the present invention, in order to more comprehensively simulate the physiological structure and movement characteristics of a real eyeball, the design of an eyelid 118 and an eyelid 120 is added, and a first support column 116 and a third drive member 122 are introduced to support and control their movement.

[0085] The first support column 116 is firmly connected to the mounting site (such as the head of a robot or the inside of a mask of a virtual reality device) as a support structure of the entire eyelid 118 and eyelid 120 system. The first support column 116 provides a stable support base to ensure that the eyelid 118 can smoothly open and close.

[0086] The eyelid 118 and the eyelid 120 are important components of the bionic eyeball system, and they jointly form a mounting space for accommodating the bionic eyeball body 100. This space not only protects the bionic eyeball body 100 from external interference and damage, but also simulates the external structure of a real eyeball. At least one (or both) of the eyelid 118 and the eyelid 120 is hinged to the first support column 116 to achieve opening and closing movement.

[0087] In order to control the opening and closing movement of the eyelid 118, a third driving member 122 is introduced. The third driving member 122 (such as a motor) is hingedly connected to the eyelid 118, and the opening and closing of the eyelid 118 is achieved by driving its rotation. The third driving member 122 can be a motor, a pneumatic cylinder or other devices that can generate rotary power.

[0088] By increasing the design of the eyelid 118 and the eyelid 120, the bionic eyeball system can more realistically simulate the appearance and movement of a real eyeball. The opening and closing movement of the eyelid 118 not only enhances the visual realism, but also enables the bionic eyeball system to better integrate into various application scenarios. The mounting space formed by the eyelid 118 and the eyelid 120 provides good protection for the bionic eyeball body 100, preventing it from being impacted and damaged by the outside world. This design improves the durability and reliability of the bionic eyeball system. The introduction of the third driving member 122 enables the opening and closing movement of the eyelid 118 to be achieved through electronic control, thereby improving the flexibility and controllability of the system. Users can adjust the opening and closing angle and speed of the eyelid 118 as needed to adapt to different visual expression needs. Since the bionic eyeball system can more realistically simulate the appearance and movement of a real eyeball, users can have a more natural and comfortable experience when interacting with it. This improvement in experience is of great significance to improving the market competitiveness of products such as robots, virtual reality devices, etc.

[0089] According to one embodiment of the present application, the output end of the third driving member 122 is connected with a second crank 124, the second crank 124 is connected with a third connecting rod 126, and the third connecting rod 126 is hinged to the eyelid 118.

[0090] As Figure 1 and Figure 5As shown, in one embodiment of the present application, in order to more accurately control the opening and closing movement of the eyelid 118, the output end of the third driving member 122 is connected with a second crank 124, and the third connecting rod 126 is connected to the second crank 124. The third connecting rod 126 is connected to the eyelid 118 in a hinged manner, so as to transmit the power of the third driving member 122 to the eyelid 118, and realize the opening and closing movement thereof.

[0091] The second crank 124 serves as an intermediate link for power transmission, and the second crank 124 is fixed on the output end of the third driving member 122. When the third driving member 122 works, it drives the second crank 124 to rotate. The length and shape of the second crank 124 can be adjusted according to actual needs, so as to better adapt to the layout of the transmission system and the power transmission requirements.

[0092] The third connecting rod 126 is a key component connecting the second crank 124 and the eyelid 118. One end of the third connecting rod 126 is hingedly connected to the second crank 124, and the other end of the third connecting rod 126 is hingedly connected to the eyelid 118. Through this connection mode, the third connecting rod 126 can convert the rotary motion of the second crank 124 into the opening and closing motion of the eyelid 118. The length and shape of the third connecting rod 126 can also be adjusted according to actual needs, so as to ensure the stability and motion accuracy of the transmission system.

[0093] By introducing the transmission mechanism of the second crank 124 and the third connecting rod 126, the power of the third driving member 122 can be more accurately transmitted to the eyelid 118, so as to realize more accurate opening and closing control. This accurate control helps to improve the overall performance of the bionic eyeball system and the user experience. The transmission mechanism of the second crank 124 and the third connecting rod 126 is designed reasonably, which can reduce friction and vibration in the transmission process, so that the opening and closing movement of the eyelid 118 is more stable and stable. This stability helps to prolong the service life of the bionic eyeball system and reduce maintenance cost. The length and shape of the second crank 124 and the third connecting rod 126 can be adjusted according to actual needs, so as to adapt to different transmission system layout and power transmission requirements. This flexibility makes the bionic eyeball system better adapt to various application scenarios and user needs.

[0094] Enhanced user experience: due to the more accurate and stable opening and closing movement of the eyelid 118, the user can obtain a more natural and comfortable experience when interacting with the bionic eyeball system.

[0095] According to one embodiment of the present application, further comprising:

[0096] The base 128 is provided with a mounting position;

[0097] The first support frame 130 is provided with the first driving member 104.

[0098] The second support frame 132 is provided with the second driving member 106, and the output end of the second driving member 106 is connected to the first support frame 130 to drive the first support frame 130 to rotate relative to the base 128 in the vertical plane.

[0099] As shown in the drawings, in one embodiment of the present application, in order to further improve the flexibility and adaptability of the bionic eyeball system, the base 128, the first support frame 130 and the second support frame 132 are introduced. These components together constitute a stable and adjustable support structure, so that the bionic eyeball system can work normally under different environments and conditions. Figure 1 The base 128 is the basic part of the entire bionic eyeball system, and the base 128 provides a stable mounting platform. As mentioned earlier, the mounting position is formed on the base 128, which is used to mount the second connecting rod 112.

[0100] The first support frame 130 is used to mount the first driving member 104, and the first driving member 104 is responsible for driving the bionic eyeball body 100 to rotate in the horizontal direction. By mounting the first driving member 104 on the first support frame 130, its position and angle can be easily adjusted to adapt to different transmission system layouts and power transmission requirements.

[0101] The second support frame 132 is used to mount the second driving member 106, and the output end of the second driving member 106 is connected to the first support frame 130. By driving the first support frame 130 to rotate relative to the base 128 in the vertical plane, the adjustment of the bionic eyeball system in the vertical direction is realized. This design makes the bionic eyeball system able to simulate the motion characteristics of the real eyeball when the head rotates, improving the realism and interactivity of the system.

[0102] By introducing the design of the second support frame 132 and the second driving member 106, the bionic eyeball system can rotate and adjust in the vertical plane. This flexibility not only improves the adaptability and application range of the system, but also makes the bionic eyeball system more natural in simulating the motion characteristics of the real eyeball. The base 128, the first support frame 130 and the second support frame 132 together constitute a stable support structure, which provides reliable support for the bionic eyeball system. This stability helps to reduce the vibration and shaking of the system during operation, improving the overall performance and reliability of the system.

[0103] According to one embodiment of the present application, the second support column 134 is connected to the base 128, and the spherical hinge structure 138 is arranged on the second support column 134, and the second connecting rod 112 is hinged to the spherical hinge structure 138.

[0104] According to one embodiment of the present application, the second support column 134 is connected to the base 128, and the spherical hinge structure 138 is arranged on the second support column 134, and the second connecting rod 112 is hinged to the spherical hinge structure 138.

[0105] As Figure 1 and Figure 2 shown, in one embodiment of the present application, in order to further optimize the transmission structure of the bionic eyeball system and increase its flexibility, a second support column 134 and a spherical hinge structure 138 provided thereon are introduced. This design enables the second connecting rod 112 to be connected to the transmission system in a more flexible and stable manner, thereby improving the overall performance of the bionic eyeball system.

[0106] The second support column 134 is an important component connecting the base 128 and the transmission system, and provides additional support and stability. The design of the second support column 134 can be adjusted according to actual needs to ensure that it can meet the layout and power transmission requirements of the transmission system.

[0107] The spherical hinge structure 138 provided on the second support column 134 is a key component connecting the second connecting rod 112. The spherical hinge structure 138 has multiple degrees of freedom, allowing the second connecting rod 112 to rotate and turn in multiple directions within a certain range. This design not only increases the movement flexibility of the second connecting rod 112, but also enables the transmission system to better adapt to different working conditions and changes.

[0108] By balling the second connecting rod 112 on the spherical hinge structure 138, it can be ensured that the second connecting rod 112 can maintain stable connection during transmission and can move freely in multiple directions. This connection method not only improves the stability and reliability of the transmission system, but also enables the bionic eyeball system to more accurately simulate the complex motion characteristics of the real eyeball.

[0109] The design of the spherical hinge structure 138 enables the second connecting rod 112 to move freely in multiple directions, thereby increasing the flexibility of the bionic eyeball system. This flexibility helps the system more accurately simulate the complex motion trajectory and angle of view change of the real eyeball. The combined design of the second support column 134 and the spherical hinge structure 138 provides additional support and stability, ensuring smooth operation of the transmission system during work. This stability helps to reduce vibration and shaking, improving the overall performance and reliability of the system. Due to the higher flexibility and stability of the bionic eyeball system, it can adapt to more application scenarios and changing conditions. This will further promote the application and development of bionic eyeball technology in various fields.

[0110] According to one embodiment of the present application, a bearing seat 136 is further included, and the first support frame 130 is rotatably connected to the bearing seat 136.

[0111] As Figure 1 and Figure 3As shown, in one embodiment of the present application, in order to further enhance the rotation flexibility and stability of the bionic eyeball system on the first support frame 130, the design of the bearing seat 136 is introduced. The bearing seat 136 serves as the support and rotation center of the first support frame 130, and through its special structure, it realizes the smooth rotation of the first support frame 130.

[0112] In this embodiment, the bearing seat 136 is used to support the first support frame 130 and allow it to rotate freely within a certain range. The bearing seat 136 is internally equipped with high-precision bearings that can reduce friction and wear during rotation, ensuring the stability and durability of the rotation.

[0113] By rotatably connecting the first support frame 130 with the bearing seat 136, the first support frame 130 can be freely rotated around an axis under the support of the bearing seat 136. This connection method not only improves the rotation flexibility of the first support frame 130, but also ensures the stability and accuracy of the rotation.

[0114] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present application, and are not limited thereto; although the present application has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that they can still modify the technical solutions recorded in the foregoing embodiments, or make equivalent replacements for some technical features; and these modifications or replacements do not cause the essence of the corresponding technical solution to deviate from the spirit and scope of the technical solutions of the embodiments of the present application.

Claims

1. A bionic eye device, characterized in that, include: Two bionic eyeballs; The first link, with its two ends respectively connected to the two bionic eyeball bodies via a transmission assembly; A first driving member is hinged to the first connecting rod to drive the first connecting rod to rotate in the horizontal plane. The first connecting rod drives the two bionic eyeballs to rotate in the horizontal plane based on the action of the first driving member. The second driving component is connected to the first driving component to drive the first driving component and the two bionic eyeballs to rotate in a vertical plane. The output end of the first drive unit is connected to a first crank, the first end of the first crank is connected to the output shaft of the first drive unit, and the second end of the first crank is hinged to the first connecting rod; the transmission assembly includes a hinge shaft and a second connecting rod, the first end of the hinge shaft is rotatably connected to both ends of the first connecting rod; the second connecting rod is ball-jointed in the mounting position, the first end of the second connecting rod is hinged to the second end of the hinge shaft, and the second end of the second connecting rod is rotatably connected to the two bionic eyeball bodies.

2. The bionic eye device according to claim 1, characterized in that, The bionic eyeball body is provided with at least three limiting posts, and a limiting space is formed between at least four limiting posts. The second end of the second connecting rod is inserted into the limiting space.

3. The bionic eye device according to claim 1, characterized in that, The lines connecting the hinge point of the first crank and the first connecting rod, the connection point of the first crank and the first drive member, the hinge point of the hinge shaft and the first connecting rod, and the ball joint point of the second connecting rod form a parallelogram frame.

4. The bionic eye device according to any one of claims 1 to 3, characterized in that, Also includes: The first support column is connected to the installation position; eyelid; An eyelid, hinged to the eyelid and forming an installation space for accommodating the bionic eyeball body, wherein at least one of the eyelid and the eyelid is hinged to the first support post; The third driving component is hinged to the eyelid.

5. The bionic eye device according to claim 4, characterized in that, The output end of the third drive unit is connected to a second crank, and a third connecting rod is connected to the second crank. The third connecting rod is hinged to the eyelid.

6. The bionic eye device according to any one of claims 1 to 3, characterized in that, Also includes: A base, wherein the mounting position is formed in the base; A first support frame, wherein the first driving component is mounted on the first support frame; The second support frame is mounted on the second drive unit, and the output end of the second drive unit is connected to the first support frame to drive the first support frame to rotate relative to the base in a vertical plane.

7. The bionic eye device according to claim 6, characterized in that, It also includes a second support column, which is connected to the base. The second support column is provided with a ball joint structure, and the second connecting rod is ball jointed to the ball joint structure.

8. The bionic eye device according to claim 6, characterized in that, It also includes a bearing housing, to which the first support frame is rotatably connected.

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