Eye device and bionic robot head

Abstract

The invention relates to the technical field of bionic robots, in particular to an eye device and a bionic robot head. The eye device is arranged on the head of the bionic robot and used for driving eye skin to move, and the eye device comprises an eyeball assembly, an eyeball yaw driving assembly, an eyeball pitching driving assembly, an upper eyelid driving assembly and an eye support. A pair of eyeball assemblies, a pair of eyeball yaw driving assemblies, a pair of eyeball pitching driving assemblies and a pair of upper eyelid driving assemblies are arranged on the eye bracket; the eyeball assembly is located on the front side of the eye support, and the eyeball yaw driving assembly and the eyeball pitching driving assembly are both located on the lower side of the eye support. The bionic robot head is compact in structure and high in space utilization rate, the whole bionic robot head can be smaller, the size of the bionic robot head is similar to that of a human head, the bionic robot head is more vivid, meanwhile, control over expressions is richer, some micro expressions can be achieved, and the bionic robot head is more humanoid.

Description

Technical Field

[0001] The invention relates to the technical field of bionic robots, in particular to an eye device and a bionic robot head. Background Art

[0002] Bionic robots are one of the most cutting-edge topics in the field of robotics research today. They integrate multiple disciplines such as mechanics, electronics, computers, materials, sensors, control technology, and artificial intelligence, and reflect the level of scientific and technological development of a country. Compared with other robots, humanoid robots with human head appearance have extremely strong human-computer interaction capabilities. These robots mainly interact with humans through facial expressions and language to think and realize. Research on humanoid robots can promote the development of future robots in the direction of humanization and emotionalization, and promote the harmonious and friendly coexistence of future robots and humans. It is also an important platform for the study of artificial intelligence.

[0003] At present, in order to make the facial expressions of bionic robots richer, it is necessary to install more driving devices in the head of the bionic robot to achieve more degrees of freedom control. The structural space requirements are large, and it is impossible to achieve more degrees of freedom in a space that is only the size of a human head. Summary of the invention

[0004] The purpose of the present invention is to provide an eye device and a bionic robot head to solve the current technical problem that more degrees of freedom cannot be designed in a space only the size of a human head.

[0005] In a first aspect, the present invention provides an eye device, which is arranged on the head of a bionic robot and is used to drive the movement of the eye skin, wherein the eye device comprises: an eyeball assembly, an eyeball yaw drive assembly, an eyeball pitch drive assembly, an upper eyelid drive assembly and an eye bracket;

[0006] The eyeball assembly, the eyeball yaw drive assembly, the eyeball pitch drive assembly and the upper eyelid drive assembly are each provided in pairs and are all provided on the eye bracket;

[0007] The eyeball assembly is located at the front side of the eye bracket, the eyeball yaw drive assembly and the eyeball pitch drive assembly are both located at the lower side of the eye bracket, and the upper eyelid drive assembly is both located at the upper side of the eye bracket;

[0008] The eyeball yaw drive assembly is used to drive the eyeball assembly to move left and right, the eyeball pitch drive assembly is used to drive the eyeball assembly to rotate forward and backward, and the upper eyelid drive assembly is used to drive the skin movement of the upper eyelid area.

[0009] In an optional embodiment, the eyeball assembly includes: an eyeball body, an eyeball bracket, an eyeball support, and a visual module;

[0010] The eyeball body is rotatably connected to the eyeball bracket, and the eyeball body can rotate left and right relative to the eyeball bracket;

[0011] The eyeball support is rotatably connected to the eyeball support, and the eyeball support can rotate forward and backward relative to the eyeball support;

[0012] The bionic robot head is provided with an eye bracket, and the eyeball support is used to be connected to the eye bracket;

[0013] The camera of the visual module is arranged at the pupil of the eyeball body.

[0014] In an optional embodiment, the eyeball assembly further comprises a pressing sheet;

[0015] The pressing plate is connected to the eyeball body and is located between the eyeball bracket and the camera of the visual module, and is used to fix the camera of the visual module at the pupil of the eyeball body.

[0016] In an optional embodiment, the eyeball yaw drive assembly includes: an eyeball yaw driver, a yaw V-shaped connecting rod and a yaw ball head pull rod;

[0017] The bionic robot head is provided with an eye support and an eyeball assembly, the eyeball assembly includes an eyeball body, an eyeball support and an eyeball seat, the eyeball body is rotatably connected to the eyeball support, and the eyeball body can rotate left and right relative to the eyeball support, the eyeball support is rotatably connected to the eyeball seat, and the eyeball support can rotate forward and backward relative to the eyeball seat, and the eyeball yaw driver is provided on the eye support;

[0018] The bending part of the yaw V-shaped connecting rod is rotatably connected to the eyeball support, the output end of the eyeball yaw driver is transmission-connected to the first end of the yaw V-shaped connecting rod, the ball head at one end of the yaw ball head pull rod is connected to the second end of the yaw V-shaped connecting rod, and the ball head at the other end of the yaw ball head pull rod is connected to the eyeball body, for driving the eyeball body to rotate left and right around the eyeball support.

[0019] In an optional embodiment, the length of the first end of the yaw V-shaped link is greater than the length of the second end.

[0020] In an optional embodiment, the eyeball pitch drive assembly includes: an eyeball pitch driver and a pitch bending link;

[0021] The bionic robot head is provided with an eye support and an eyeball assembly, the eyeball assembly includes an eyeball body, an eyeball support and an eyeball seat, the eyeball body is rotatably connected to the eyeball support, and the eyeball body can rotate left and right relative to the eyeball support, the eyeball support is rotatably connected to the eyeball seat, and the eyeball support can rotate forward and backward relative to the eyeball seat, and the eyeball pitch driver is provided on the eye support;

[0022] The output end of the eyeball pitch driver is transmission-connected to one end of the pitch bending connecting rod, and the other end of the pitch bending connecting rod is connected to the eyeball bracket, so as to drive the eyeball bracket to rotate forward and backward around the eyeball support.

[0023] In an optional embodiment, the pitch bending link includes a first rod portion, a second rod portion and a junction portion;

[0024] One end of the first rod portion and one end of the second rod portion are both connected to the junction, and the junction is in transmission connection with the output end of the eyeball pitch actuator;

[0025] The eyeball support comprises a left plate and a right plate which are opposite and spaced apart, the other end of the first rod portion is connected to the left plate, and the other end of the second rod portion is connected to the right plate.

[0026] In an optional embodiment, the pitch bending link is divided into a first section and a second section through a bending portion, and the length of the first section is smaller than the length of the second section;

[0027] The first section is connected to the output end of the eyeball pitch driver, and the second section is connected to the eyeball bracket.

[0028] In an optional embodiment, the upper eyelid driving assembly includes: an upper eyelid driver, an upper eyelid traction frame and an upper eyelid traction member;

[0029] The bionic robot head is provided with an eye support, and the upper eyelid driver is provided on the eye support and is transmission-connected with the upper eyelid traction frame;

[0030] The upper eyelid traction frame is in an arch shape and is used to be erected on the eyeball. Both ends of the upper eyelid traction frame are rotatably connected to the eye bracket so that the upper eyelid traction frame can rotate back and forth around the eyeball;

[0031] The upper eyelid traction member is connected to the upper eyelid traction frame and is used to be connected to the skin of the upper eyelid area.

[0032] In a second aspect, the present invention provides a bionic robot head, comprising an eye device as described in any one of the aforementioned embodiments.

[0033] Compared with the prior art, the eye device and bionic robot head provided by the present invention have the following technical advantages:

[0034] The eye device provided by the present invention is arranged on the head of a bionic robot and is used to drive the movement of the eye skin. The eye device comprises: an eyeball assembly, an eyeball yaw drive assembly, an eyeball pitch drive assembly, an upper eyelid drive assembly and an eye bracket; the eyeball assembly, the eyeball yaw drive assembly, the eyeball pitch drive assembly and the upper eyelid drive assembly are each provided in a pair and are all arranged on the eye bracket; the eyeball assembly is located on the front side of the eye bracket, the eyeball yaw drive assembly and the eyeball pitch drive assembly are both located on the lower side of the eye bracket, and the upper eyelid drive assembly is both located on the upper side of the eye bracket; the eyeball yaw drive assembly is used to drive the eyeball assembly to move left and right, the eyeball pitch drive assembly is used to drive the eyeball assembly to rotate back and forth, and the upper eyelid drive assembly is used to drive the skin movement of the upper eyelid area.

[0035] By spatially arranging the eyeball assembly, eyeball yaw drive assembly, eyeball pitch drive assembly and upper eyelid drive assembly on the eye bracket, the structure is made compact and the space utilization rate is high, so that the head of the bionic robot can be made smaller as a whole, approaching the size of a human head, making the bionic robot head more realistic, and at the same time having richer control over expressions, being able to realize some micro-expressions, making it more human-like.

[0036] The bionic robot head provided by the present invention includes the above-mentioned eye device, and thus the technical advantages and effects achieved by it include the technical advantages and effects achieved by the above-mentioned eye device, which will not be elaborated in detail here.

[0037] Other features and advantages of the present invention will be described in detail in the following detailed description. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] In order to more clearly illustrate the specific implementation methods of the present invention or the technical solutions in the prior art, the drawings required for use in the specific implementation methods or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some implementation methods of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0039] Figure 1 A schematic diagram of the upper structure of an eye support provided by an embodiment of the present invention;

[0040] Figure 2 A schematic diagram of the lower structure of an eye support provided by an embodiment of the present invention;

[0041] Figure 3 A schematic diagram of installing an eyeball assembly provided in an embodiment of the present invention;

[0042] Figure 4 An exploded diagram of an eyeball assembly provided by an embodiment of the present invention;

[0043] Figure 5 A schematic diagram of the structure of an eyeball yaw drive assembly provided in an embodiment of the present invention;

[0044] Figure 6 A schematic diagram of the installation of an eyeball yaw drive assembly provided in an embodiment of the present invention;

[0045] Figure 7 A schematic diagram of the structure of an eyeball pitch drive assembly provided in an embodiment of the present invention;

[0046] Figure 8 A schematic diagram of the installation of an eyeball pitch drive assembly provided in an embodiment of the present invention;

[0047] Fig. 9 A schematic diagram of the structure of an upper eyelid drive component provided in an embodiment of the present invention.

[0048] Icons: 1-eyeball assembly; 2-eyeball body; 3-eyeball bracket; 4-eyeball support; 5-visual module; 6-eye bracket; 7-pressing tablet; 8-eyeball shell; 9-seat; 10-eyeball bracket connecting rod; 11-eyeball yaw drive assembly; 12-eyeball yaw driver; 13-yaw V-type connecting rod; 14-yaw ball head pull rod; 15-yaw rocker arm; 16-yaw straight connecting rod; 17-eyeball pitch drive assembly; 18-eyeball pitch driver; 19-pitch bending connecting rod; 20-pitch rocker arm; 21-pitch straight connecting rod; 22-upper eyelid drive assembly; 23-upper eyelid driver; 24-upper eyelid traction frame; 25-upper eyelid traction member; 26-magnet mounting slot; 27-upper eyelid rocker arm; 28-upper eyelid connecting rod. DETAILED DESCRIPTION

[0049] The technical solution of the present invention will be clearly and completely described below in conjunction with the embodiments. Obviously, the described embodiments are part of the embodiments of the present invention, rather than all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0050] In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicating the orientation or positional relationship, are based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, the terms "first", "second", and "third" are used for descriptive purposes only, and cannot be understood as indicating or implying relative importance.

[0051] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0052] In addition, the technical solutions between the various embodiments can be combined with each other, but it must be based on the fact that ordinary technicians in the field can implement it. When the combination of technical solutions is contradictory or cannot be implemented, it should be deemed that such combination of technical solutions does not exist and is not within the scope of protection required by the present invention.

[0053] The present invention is further described in detail below through specific implementation examples in conjunction with the accompanying drawings.

[0054] Specific structure such as Figures 1 to 9 shown.

[0055] The present embodiment provides an eye device, which is arranged on the head of a bionic robot and is used to drive the movement of the eye skin. The eye device includes: an eyeball component 1, an eyeball yaw drive component 11, an eyeball pitch drive component 17, an upper eyelid drive component 22 and an eye bracket 6; the eyeball component 1, the eyeball yaw drive component 11, the eyeball pitch drive component 17 and the upper eyelid drive component 22 are each provided in a pair and are all arranged on the eye bracket 6; the eyeball component 1 is located on the front side of the eye bracket 6, the eyeball yaw drive component 11 and the eyeball pitch drive component 17 are both located on the lower side of the eye bracket 6, and the upper eyelid drive component 22 is both located on the upper side of the eye bracket 6; the eyeball yaw drive component 11 is used to drive the eyeball component 1 to move left and right, the eyeball pitch drive component 17 is used to drive the eyeball component 1 to rotate back and forth, and the upper eyelid drive component 22 is used to drive the skin movement of the upper eyelid area.

[0056] In this embodiment, by spatially arranging the eyeball assembly 1, the eyeball yaw drive assembly 11, the eyeball pitch drive assembly 17 and the upper eyelid drive assembly 22 on the eye bracket 6, the structure is made compact and the space utilization rate is high, so that the head of the bionic robot can be made smaller as a whole, approaching the size of a human head, making the bionic robot head more realistic, and at the same time, the control over facial expressions is richer, and some micro-expressions can be realized, making it more human-like.

[0057] It should be noted that the bionic robot head can be a human-like head or a head of other organisms with organ distribution similar to that of a human head.

[0058] In the optional technical solution of this embodiment, the eyeball assembly 1 includes: an eyeball body 2, an eyeball bracket 3, an eyeball support 4 and a visual module 5; the eyeball body 2 is rotatably connected to the eyeball bracket 3, and the eyeball body 2 can rotate left and right relative to the eyeball bracket 3; the eyeball bracket 3 is rotatably connected to the eyeball support 4, and the eyeball bracket 3 can rotate forward and backward relative to the eyeball support 4; the eyeball support 4 is used to be connected to the eye bracket 6; the camera of the visual module 5 is set at the pupil of the eyeball body 2.

[0059] In this embodiment, the outside world can be perceived through the visual module 5. Since the eyeball body 2 can rotate forward and backward and left and right, and each eyeball can move independently, when the eyeball assembly 1 cooperates with the driving device, the eyeball body 2 can make corresponding movements according to different external conditions, making the expression richer and the simulation effect better. At the same time, the overall structure of the eyeball assembly 1 is simple.

[0060] In the optional technical solution of this embodiment, flange deep groove ball bearings and plug bolts are provided on the upper and lower sides of the eyeball body 2; the plug bolts are passed through the flange deep groove ball bearing and connected to the end of the eyeball bracket 3.

[0061] In this embodiment, flange deep groove ball bearings are pressed into the upper and lower sides of the eyeball body 2, and plug bolts pass through the flange deep groove ball bearings to connect with the upper and lower ends of the eyeball bracket 3 respectively. The structure is simple and the rotation is stable.

[0062] In the optional technical solution of this embodiment, the eyeball support 4 includes a seat body 9 and an eyeball support connecting rod 10 arranged on the seat body 9; the eyeball support connecting rod 10 is rotatably connected to the eyeball support 3, and the seat body 9 is used to be connected to the eye support 6. The structure is simple and easy to install.

[0063] In the optional technical solution of this embodiment, the eyeball bracket 3 has a left plate and a right plate that are relative and spaced apart, and flange deep groove ball bearings and plug bolts are provided on the left plate and the right plate; the eyeball support 4 is inserted between the left plate and the right plate, and the plug bolts are passed through the flange deep groove ball bearing and connected to the eyeball support 4.

[0064] In this embodiment, the upper end of the left plate is connected to the upper end of the right plate, the lower end of the left plate is connected to the lower end of the right plate, the middle part of the left plate and the middle part of the right plate are pressed into flange deep groove ball bearings, the end of the eyeball support connecting rod 10 is located between the left plate and the right plate, and the plug bolt passes through the flange deep groove ball bearing to connect with the eyeball support connecting rod 10. The overall structure is simple and the rotation is stable.

[0065] The optional technical solution of this embodiment further includes a pressing sheet 7; the pressing sheet 7 is connected to the eyeball body 2 and is located between the eyeball bracket 3 and the camera of the visual module 5, and is used to fix the camera of the visual module 5 at the pupil of the eyeball body 2. The camera of the visual module 5 is pressed at the pupil of the eyeball body 2 by the pressing sheet 7 to prevent the camera of the visual module 5 from shaking.

[0066] In an optional technical solution of this embodiment, a positioning groove is provided on the side of the eyeball body 2 facing the camera of the visual module 5; the camera of the visual module 5 is arranged in the positioning groove.

[0067] In this embodiment, a positioning groove is provided on the eyeball body 2 to facilitate the installation of the camera of the visual module 5 . At the same time, the positioning groove can better limit the camera of the visual module 5 to ensure the stability of the camera of the visual module 5 .

[0068] The optional technical solution of this embodiment further includes an eyeball shell 8; the eyeball shell 8 is disposed on the front side of the eyeball body 2 and is connected to the eyeball body 2; a shooting hole is provided on the eyeball shell 8, and the shooting hole corresponds to the pupil of the eyeball body 2. The eyeball shell 8 can effectively protect the eyeball body 2 and prevent the eyeball body 2 from being damaged.

[0069] The optional technical solution of this embodiment also includes a buckle structure disposed between the eyeball shell 8 and the eyeball body 2, and the eyeball shell 8 is connected to the eyeball body 2 through the buckle structure. The eyeball shell 8 and the eyeball body 2 are connected through the buckle structure, which has a simple structure and is easy to install and disassemble.

[0070] The optional technical solution of this embodiment also includes a positioning structure disposed between the eyeball shell 8 and the eyeball body 2, and the relative sliding between the eyeball shell 8 and the eyeball body 2 is limited by the positioning structure to ensure the stability of the position between the eyeball shell 8 and the eyeball body 2.

[0071] In this embodiment, the positioning structure can be a positioning rib. After the eyeball shell 8 is installed on the eyeball body 2, the positioning rib can limit the relative sliding between the two; the positioning structure can also be a positioning column and a positioning hole that cooperate with each other. The positioning column is inserted into the positioning hole, which can also prevent the relative sliding between the eyeball shell 8 and the eyeball body 2.

[0072] In the optional technical solution of this embodiment, the eyeball yaw drive assembly 11 includes: an eyeball yaw driver 12, a yaw V-shaped connecting rod 13 and a yaw ball head pull rod 14; the eyeball yaw driver 12 is arranged on the eye bracket 6; the bending part of the yaw V-shaped connecting rod 13 is rotatably connected to the eyeball support 4, the output end of the eyeball yaw driver 12 is transmission-connected to the first end of the yaw V-shaped connecting rod 13, the ball head at one end of the yaw ball head pull rod 14 is connected to the second end of the yaw V-shaped connecting rod 13, and the ball head at the other end of the yaw ball head pull rod 14 is connected to the eyeball body 2, which is used to drive the eyeball body 2 to rotate left and right around the eyeball bracket 3.

[0073] In this embodiment, the first end of the yaw V-shaped link 13 is driven to move by the eyeball yaw driver 12 to rotate the yaw V-shaped link 13, so that the second end of the yaw V-shaped link 13 drives the yaw ball head pull rod 14 to push and pull the eyeball body 2, thereby causing the eyeball body 2 to rotate left and right around the eyeball bracket 3. By setting the yaw V-shaped link 13, the eyeball yaw drive component 11 is not in a straight line, reducing the space occupied in one direction and improving space utilization. In addition, the eyeball yaw drive component 11 drives one eyeball body 2 to move alone, which can achieve more eye expressions. At the same time, the ball heads at both ends of the yaw ball head pull rod 14 can avoid interfering with the pitch movement of the eyeball body 2 itself, thereby achieving parallel connection of the degrees of freedom of the eyeball body 2.

[0074] The optional technical solution of this embodiment further includes a yaw rocker arm 15; the output end of the eyeball yaw driver 12 is connected to the yaw rocker arm 15, and the yaw rocker arm 15 is transmission-connected to the first end of the yaw V-shaped connecting rod 13. The structure is simple and the transmission is stable.

[0075] The optional technical solution of this embodiment further includes a yaw straight connecting rod 16, and the yaw rocker arm 15 is connected to the first end of the yaw V-shaped connecting rod 13 through the yaw straight connecting rod 16. The structure is simple and the transmission is stable.

[0076] In the optional technical solution of this embodiment, flange deep groove ball bearings and plug bolts are provided at both ends of the yaw straight link 16, and the plug bolts are passed through the flange deep groove ball bearings; the two ends of the yaw straight link 16 are respectively connected to the first end of the yaw V-shaped link 13 and the yaw rocker arm 15 through the plug bolts.

[0077] In this embodiment, both ends of the yaw straight link 16 are pressed into flange deep groove ball bearings, and the two ends of the yaw straight link 16 are respectively connected to the first end of the yaw V-type link 13 and the yaw rocker arm 15 by plugging bolts through the flange deep groove ball bearings. The structure is simple, the installation is convenient and the rotation effect is stable.

[0078] In an optional technical solution of this embodiment, the length of the first end of the yaw V-shaped connecting rod 13 is greater than the length of the second end.

[0079] In this embodiment, since the length of the first end of the yaw V-shaped link 13 is greater than the length of the second end, the yaw V-shaped link 13 has the function of shortening the stroke, which can improve the rotation accuracy of the eyeball body 2 and make the expression more delicate and accurate.

[0080] In an optional technical solution of this embodiment, the ball heads at both ends of the yaw ball head tie rod 14 are located on the same side of the yaw ball head tie rod 14 .

[0081] In this embodiment, the ball heads at both ends of the yaw ball head tie rod 14 are located at the upper side or the lower side, so as to avoid occupying too much space in the upper and lower directions and improve space utilization.

[0082] In the optional technical solution of this embodiment, a flange deep groove ball bearing and a plug bolt are provided at the bending part of the yaw V-type connecting rod 13; the plug bolt is passed through the flange deep groove ball bearing and connected to the eyeball support 4.

[0083] Specifically, a flange deep groove ball bearing is pressed into the bend of the yaw V-shaped connecting rod 13, and a bolt is inserted through the flange deep groove ball bearing to connect with the end of the eyeball support 4 away from the eyeball body 2. The structure is simple, and the various structures are compact to each other, reducing the occupied space.

[0084] In the optional technical solution of this embodiment, the ball heads at both ends of the yaw ball head tie rod 14 are connected with plug bolts, and are respectively connected to the second end of the yaw V-shaped connecting rod 13 and the eyeball body 2 through the plug bolts. The structure is simple, the connection is stable, and the rotation effect is stable.

[0085] In the optional technical solution of this embodiment, the eyeball yaw driver 12 is an eyeball yaw steering gear, which has high control accuracy, but is not limited to this. The eyeball yaw driver 12 can also be a servo motor, or other motors that meet the requirements.

[0086] In the optional technical solution of this embodiment, the eyeball pitch drive assembly 17 includes: an eyeball pitch driver 18 and a pitch bending link 19; the eyeball pitch driver 18 is arranged on the eye bracket 6; the output end of the eyeball pitch driver 18 is transmission-connected to one end of the pitch bending link 19, and the other end of the pitch bending link 19 is connected to the eyeball bracket 3, which is used to drive the eyeball bracket 3 to rotate back and forth around the eyeball support 4.

[0087] In this embodiment, the eyeball pitch driver 18 drives one end of the pitch bending link 19 to move, so that the other end of the pitch bending link 19 pushes and pulls the eyeball bracket 3, thereby causing the eyeball bracket 3 to rotate back and forth around the eyeball support 4. Through the setting of the pitch bending link 19, the eyeball pitch drive component 17 is not in a straight line, reducing the space occupied in one direction and improving space utilization. In addition, the eyeball pitch drive component 17 drives an eyeball body 2 to move alone, which can achieve more eye expressions. At the same time, the eyeball pitch drive component 17 has a simple structure and stable driving.

[0088] In the optional technical solution of this embodiment, the pitch bending link 19 includes a first rod portion, a second rod portion and a junction portion; one end of the first rod portion and one end of the second rod portion are both connected to the junction portion, and the junction portion is transmission-connected to the output end of the eyeball pitch driver 18; the eyeball bracket 3 has a left plate and a right plate that are opposite and spaced apart, the other end of the first rod portion is connected to the left plate, and the other end of the second rod portion is connected to the right plate. The pitch bending link 19 is an integral structure, the structure is stable, and the driving effect is stable.

[0089] In an optional technical solution of this embodiment, the bending part of the pitch bending link 19 is located on the first rod portion and the second rod portion, and is located at a position corresponding to the first rod portion and the second rod portion.

[0090] In this embodiment, the pitch bending link 19 is bent on the first rod portion and the second rod portion, thereby ensuring the overall strength of the pitch bending link 19 and avoiding breakage.

[0091] In the optional technical solution of this embodiment, the bending angle of the pitch bending link 19 is between 90° and 180°. The bending angle can be 90°, 100° or 120°, but is not limited thereto, and can be any angle between 90° and 180°, as long as the power transmission is not in a straight line.

[0092] The optional technical solution of this embodiment further includes a pitch rocker arm 20; the output end of the eyeball pitch driver 18 is connected to the pitch rocker arm 20, and the pitch rocker arm 20 is transmission-connected to the pitch bending connecting rod 19. The structure is simple and the transmission is stable.

[0093] The optional technical solution of this embodiment further includes a pitch straight link 21, and the pitch rocker arm 20 is connected to the pitch bending link 19 through the pitch straight link 21. The structure is simple and the transmission is stable.

[0094] In the optional technical solution of this embodiment, flange deep groove ball bearings and plug bolts are provided at both ends of the pitch straight link 21, and the plug bolts are passed through the flange deep groove ball bearings; the two ends of the pitch straight link 21 are respectively connected to the pitch rocker arm 20 and the pitch bending link 19 through the plug bolts.

[0095] In this embodiment, both ends of the pitch straight link 21 are pressed into flange deep groove ball bearings, and the two ends of the pitch straight link 21 are respectively connected to the pitch rocker arm 20 and the pitch bending link 19 by plugging bolts through the flange deep groove ball bearings. The structure is simple, the installation is convenient, and the rotation effect is stable.

[0096] In the optional technical solution of this embodiment, the pitch bending link 19 is divided into a first section and a second section through the bending part, and the length of the first section is smaller than the length of the second section; the first section is transmission connected to the output end of the eyeball pitch driver 18, and the second section is connected to the eyeball bracket 3.

[0097] In this embodiment, since the length of the first section of the pitch bending link 19 is smaller than the length of the second section, the pitch bending link 19 has the function of amplifying the stroke, so that the pitch rocker arm 20 and the pitch straight link 21 do not require more travel space, thereby making the overall space occupied by the eyeball pitch drive assembly 17 smaller.

[0098] In the optional technical solution of this embodiment, the eyeball pitch driver 18 is an eyeball pitch servo. The control accuracy is high, but it is not limited to this. The eyeball pitch driver 18 can also be a servo motor, or other motors that meet the requirements.

[0099] In the optional technical solution of this embodiment, the upper eyelid drive assembly 22 includes: an upper eyelid driver 23, an upper eyelid traction frame 24 and an upper eyelid traction piece 25; the upper eyelid driver 23 is arranged on the eye bracket 6 and is transmission-connected to the upper eyelid traction frame 24; the upper eyelid traction frame 24 is bow-shaped and is used to be erected on the eyeball, and both ends of the upper eyelid traction frame 24 are rotatably connected to the eye bracket 6 so that the upper eyelid traction frame 24 can rotate back and forth around the eyeball; the upper eyelid traction piece 25 is connected to the upper eyelid traction frame 24 and is used to be connected to the skin of the upper eyelid area.

[0100] In the present embodiment, since the upper eyelid traction frame 24 is in an arch shape and is mounted on the eyeball, so that the eyeball is located in the upper eyelid traction frame 24, when the upper eyelid traction frame 24 is driven by the upper eyelid driver 23 to rotate on the eye bracket 6, the upper eyelid traction frame 24 can rotate back and forth around the eyeball to avoid mutual interference with the eyeball. At the same time, the rotation of the upper eyelid traction frame 24 can drive the upper eyelid traction member 25 connected to the skin of the upper eyelid area to move, so that the skin of the upper eyelid area moves together, thereby ensuring the stability of the skin movement of the upper eyelid area, thereby making the expression more realistic.

[0101] In an optional technical solution of the present embodiment, a magnet is provided on the upper eyelid traction frame 24, and the upper eyelid frame is connected to the upper eyelid traction member 25 via the magnet.

[0102] In this embodiment, the upper eyelid traction frame 24 is magnetically connected to the upper eyelid traction member 25, and the connection is stable and convenient.

[0103] It should be noted that the upper eyelid traction piece 25 is designed to be contoured so that the upper eyelid traction piece 25 matches the skin of the upper eyelid area.

[0104] In an optional technical solution of the present embodiment, a magnet mounting groove 26 is provided on the upper eyelid traction frame 24 , and the notch of the magnet mounting groove 26 faces the front side; the magnet is provided in the magnet mounting groove 26 .

[0105] In this embodiment, the magnet is installed in the magnet installation groove 26 to ensure the stability of the magnet. At the same time, the notch of the magnet installation groove 26 faces the front side to facilitate the connection between the magnet and the upper eyelid traction member 25.

[0106] In the optional technical solution of this embodiment, the magnet mounting groove 26 is arranged in the middle of the upper eyelid traction frame 24. The magnet is ensured to be in the middle of the upper eyelid traction frame 24 and the upper eyelid traction member 25, so that the upper eyelid traction frame 24 drives the upper eyelid traction member 25 to move more stably.

[0107] The optional technical solution of this embodiment further includes an upper eyelid rocker arm 27; the output end of the upper eyelid driver 23 is connected to the upper eyelid rocker arm 27, and the upper eyelid rocker arm 27 is transmission-connected to the upper eyelid traction frame 24. The structure is simple and the transmission is stable.

[0108] The optional technical solution of this embodiment further includes an upper eyelid connecting rod 28; the upper eyelid rocker arm 27 is connected to the upper eyelid traction frame 24 through the upper eyelid connecting rod 28. The structure is simple and the transmission is stable.

[0109] In an optional technical solution of this embodiment, a hollow hole is provided on the upper eyelid connecting rod 28.

[0110] In this embodiment, a hollow hole is provided on the upper eyelid connecting rod 28 to reduce the weight of the upper eyelid connecting rod 28 and ensure the transmission effect. Among them, one or more hollow holes can be provided, as long as the requirements are met.

[0111] In an optional technical solution of this embodiment, the upper eyelid connecting rod 28 is connected to the groove wall of the magnet mounting groove 26.

[0112] Specifically, the upper eyelid connecting rod 28 is connected to the left groove wall or the right groove wall of the magnet mounting groove 26, so that the structure is more compact and the space utilization is improved.

[0113] In the optional technical solution of this embodiment, both ends of the upper eyelid connecting rod 28 are provided with plug bolts; the two ends of the upper eyelid connecting rod 28 are respectively connected to the upper eyelid rocker arm 27 and the upper eyelid traction frame 24 through the plug bolts.

[0114] In this embodiment, the two ends of the upper eyelid connecting rod 28 are respectively connected to the upper eyelid rocker arm 27 and the upper eyelid traction frame 24 through plug bolts, which has a simple structure, is easy to install and has a stable rotation effect.

[0115] The present embodiment provides a bionic robot head, comprising the above-mentioned eye device. Therefore, the technical advantages and effects achieved by the bionic robot head include the technical advantages and effects achieved by the above-mentioned eye device, which will not be repeated here.

[0116] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or replace some or all of the technical features therein with equivalents. However, these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. An eye device, arranged on the head of a bionic robot, for driving the movement of the eye skin, characterized in that: The eye device comprises: an eyeball assembly (1), an eyeball yaw drive assembly (11), an eyeball pitch drive assembly (17), an upper eyelid drive assembly (22) and an eye support (6); The eyeball assembly (1), the eyeball yaw drive assembly (11), the eyeball pitch drive assembly (17) and the upper eyelid drive assembly (22) are each provided in pairs and are all provided on the eye support (6); The eyeball assembly (1) is located on the front side of the eye bracket (6), the eyeball yaw drive assembly (11) and the eyeball pitch drive assembly (17) are both located on the lower side of the eye bracket (6), and the upper eyelid drive assembly (22) is both located on the upper side of the eye bracket (6); The eyeball yaw drive assembly (11) is used to drive the eyeball assembly (1) to move left and right, the eyeball pitch drive assembly (17) is used to drive the eyeball assembly (1) to rotate forward and backward, and the upper eyelid drive assembly (22) is used to drive the skin of the upper eyelid to move.

2. The eye device according to claim 1, characterized in that: The eyeball assembly (1) comprises: an eyeball body (2), an eyeball bracket (3), an eyeball support (4) and a visual module (5); The eyeball body (2) is rotatably connected to the eyeball bracket (3), and the eyeball body (2) can rotate left and right relative to the eyeball bracket (3); The eyeball support (3) is rotatably connected to the eyeball support seat (4), and the eyeball support (3) can rotate forward and backward relative to the eyeball support seat (4); The bionic robot head is provided with an eye support (6), and the eyeball support (4) is used to be connected to the eye support (6); The camera of the visual module (5) is arranged at the pupil of the eyeball body (2).

3. The eye device according to claim 2, characterized in that: The eyeball assembly (1) further comprises a pressing sheet (7); The pressing plate (7) is connected to the eyeball body (2) and is located between the eyeball support (3) and the camera of the visual module (5), and is used to fix the camera of the visual module (5) at the pupil of the eyeball body (2).

4. The ocular device according to claim 1, wherein: The eyeball yaw drive assembly (11) comprises: an eyeball yaw driver (12), a yaw V-shaped connecting rod (13) and a yaw ball head pull rod (14); The bionic robot head is provided with an eye support (6) and an eyeball assembly (1), wherein the eyeball assembly (1) comprises an eyeball body (2), an eyeball support (3) and an eyeball seat (4), wherein the eyeball body (2) is rotatably connected to the eyeball support (3), and the eyeball body (2) can rotate left and right relative to the eyeball support (3), the eyeball support (3) is rotatably connected to the eyeball seat (4), and the eyeball support (3) can rotate forward and backward relative to the eyeball seat (4), and the eyeball yaw driver (12) is provided on the eye support (6); The bending part of the yaw V-shaped connecting rod (13) is rotatably connected to the eyeball support (4), the output end of the eyeball yaw driver (12) is transmission-connected to the first end of the yaw V-shaped connecting rod (13), the ball head at one end of the yaw ball head pull rod (14) is connected to the second end of the yaw V-shaped connecting rod (13), and the ball head at the other end of the yaw ball head pull rod (14) is connected to the eyeball body (2), so as to drive the eyeball body (2) to rotate left and right around the eyeball support (3).

5. The ocular device according to claim 4, wherein: The length of the first end of the yaw V-shaped connecting rod (13) is greater than the length of the second end.

6. The ocular device according to claim 1, wherein: The eyeball pitch drive assembly (17) comprises: an eyeball pitch drive (18) and a pitch bending connecting rod (19); The bionic robot head is provided with an eye support (6) and an eyeball assembly (1), wherein the eyeball assembly (1) comprises an eyeball body (2), an eyeball support (3) and an eyeball seat (4), wherein the eyeball body (2) is rotatably connected to the eyeball support (3), and the eyeball body (2) can rotate left and right relative to the eyeball support (3), the eyeball support (3) is rotatably connected to the eyeball seat (4), and the eyeball support (3) can rotate forward and backward relative to the eyeball seat (4), and the eyeball pitch driver (18) is provided on the eye support (6); The output end of the eyeball pitch driver (18) is transmission-connected to one end of the pitch bending connecting rod (19), and the other end of the pitch bending connecting rod (19) is connected to the eyeball bracket (3) for driving the eyeball bracket (3) to rotate forward and backward around the eyeball support (4).

7. The ocular device according to claim 6, wherein: The pitch bending connecting rod (19) comprises a first rod portion, a second rod portion and a junction portion; One end of the first rod portion and one end of the second rod portion are both connected to the junction, and the junction is in transmission connection with the output end of the eyeball pitch driver (18); The eyeball support (3) comprises a left side plate and a right side plate which are opposite and spaced apart, the other end of the first rod portion is connected to the left side plate, and the other end of the second rod portion is connected to the right side plate.

8. The ocular device according to claim 6, wherein: The pitch bending link (19) is divided into a first section and a second section at a bending portion, and the length of the first section is smaller than the length of the second section; The first section is transmission-connected to the output end of the eyeball pitch driver (18), and the second section is connected to the eyeball support (3).

9. The ocular device according to claim 1, wherein: The upper eyelid driving assembly (22) comprises: an upper eyelid driver (23), an upper eyelid traction frame (24) and an upper eyelid traction member (25); The bionic robot head is provided with an eye support (6), and the upper eyelid driver (23) is provided on the eye support (6) and is transmission-connected to the upper eyelid traction frame (24); The upper eyelid traction frame (24) is in an arcuate shape and is used to be mounted on the eyeball. Both ends of the upper eyelid traction frame (24) are rotatably connected to the eye support (6) so that the upper eyelid traction frame (24) can rotate back and forth around the eyeball. The upper eyelid traction member (25) is connected to the upper eyelid traction frame (24) and is used to connect to the skin of the upper eyelid area.

10. A bionic robot head, characterized in that: An ocular device comprising any one of claims 1-9.

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