Eyebrow control structure for bionic robot

Abstract

The invention provides an eyebrow control structure used for a bionic robot, the eyebrow control structure comprises a head shell, a support assembly and an eye assembly, the support assembly and the eye assembly are respectively installed in the head shell, and the eye assembly is installed on the support assembly; the eye assembly comprises a pitching driving module, a horizontal driving module and an eyeball assembly; the horizontal driving module is mounted on the mounting seat, the output end of the pitching driving module is in transmission connection with the mounting seat, and the output end of the horizontal driving module is in transmission connection with the eyeball assembly; when the pitching driving module is driven, the mounting base is driven to rotate around a first axis, and then the horizontal driving module is driven to rotate around the first axis. When the horizontal driving module is driven, the eyeball assembly is driven to synchronously rotate around a second axis; wherein the first axis intersects with the second axis. The mounting seat and the horizontal driving module mounted on the mounting seat are driven by the pitching driving module, so that the two driving modules can be controlled respectively, independent and composite motion of two degrees of freedom is realized, and decoupling by a complex algorithm is not needed.

Description

Technical Field

[0001] This invention relates to the field of simulation robots, and more specifically to an eyebrow and eye control structure for a bionic robot. Background Technology

[0002] With the widespread application of robotics technology in services, entertainment, education, and other fields, people have placed higher demands on the human-like interactive experience of robots. Facial expressions, especially eye expressions, are the core of conveying emotions and achieving natural interaction. Therefore, the design of the eyebrow and eye mechanisms in the head of a humanoid robot has become a key technical aspect in improving its human-likeness.

[0003] Currently, common bionic eye-driving solutions typically use a single driving element in conjunction with a linkage mechanism, which can only control the eye to achieve a single degree of freedom of movement, such as only pitch or only horizontal rotation. This approach cannot achieve coordinated eye movement in three-dimensional space, resulting in stiff and limited expressiveness, and is difficult to meet complex interaction needs.

[0004] To achieve multi-degree-of-freedom motion, existing solutions also employ two independent drive motors that control eye pitch and horizontal movement respectively. Since the two degrees of freedom are mechanically completely independent, high-precision collaborative control algorithms are required for real-time calculation and compensation when realizing complex movements such as oblique gaze. This makes the system control complex and prone to cumulative errors. Summary of the Invention

[0005] In view of the aforementioned problems, this application is proposed to provide an eyebrow and eye control structure for a biomimetic robot that overcomes or at least partially solves the aforementioned problems, comprising: An eyebrow and eye control structure for a bionic robot includes a head shell and a support assembly and an eye assembly respectively installed inside the head shell, wherein the eye assembly is mounted on the support assembly; The eye assembly includes a pitch drive module, a horizontal drive module, and an eyeball assembly; the horizontal drive module is mounted on a mounting base, the output end of the pitch drive module is connected to the mounting base, and the output end of the horizontal drive module is connected to the eyeball assembly. When the pitch drive module is driven, it causes the mounting base to rotate around the first axis, which in turn causes the horizontal drive module to rotate around the first axis; when the horizontal drive module is driven, it causes the eyeball assembly to rotate synchronously around the second axis; wherein, the first axis and the second axis intersect.

[0006] Preferably, the pitch drive module drives the mounting base through a first transmission mechanism; The first transmission mechanism includes a first rocker arm and a first sliding arm that are hinged together in sequence. The first rocker arm is connected to the output end of the pitch drive module, and the first sliding arm is hinged to the mounting base.

[0007] Preferably, the eyeball assembly includes a simulated eyeball, and the horizontal drive module drives the simulated eyeball through a second transmission mechanism; The second transmission mechanism includes a second rocker arm, a second sliding arm, an upper eye rod, and a lower eye rod. One end of the second rocker arm is connected to the output end of the horizontal drive module, the other end of the second rocker arm is hinged to the second sliding arm, and the other end of the second sliding arm is hinged to the middle of the upper eye rod. The simulated eyeball is rotatably connected to the upper eye rod and the lower eye rod, respectively, and the lower eye rod is provided with a bearing that abuts against the upper eye rod; When the horizontal drive module is activated, the second rocker arm drives the upper eye rod, which in turn drives the simulated eyeball to rotate around the second axis.

[0008] Preferably, the simulated eyeball has an inner eye, which is rotatably connected to the upper eye rod and the lower eye rod via a fork arm, and the upper eye rod and the lower eye rod are connected to the fork arm via thrust bearings.

[0009] Preferably, the eye assembly further includes an upper eyelid assembly; The upper eyelid assembly is mounted on the support assembly. The upper eyelid assembly includes a simulated upper eyelid, a third transmission mechanism, and a third drive module. The simulated upper eyelid is rotatably connected to one end of the third transmission mechanism, and the other end of the third transmission mechanism is rotatably connected to the third drive module. When the third drive module is activated, the third transmission mechanism drives the simulated upper eyelid to move.

[0010] Preferably, the third transmission mechanism includes a third rocker arm and an upper eyelid connecting rod, one end of the third rocker arm being rotatably connected to the third drive module, and the other end being rotatably connected to the upper eyelid connecting rod.

[0011] Preferably, the eye assembly also includes a lower eyelid assembly; The lower eyelid assembly is mounted on the support assembly. The lower eyelid assembly includes a simulated lower eyelid and a fourth transmission mechanism. The simulated lower eyelid is rotatably connected to one end of the fourth transmission mechanism, and the other end of the fourth transmission mechanism is slidably connected to the support assembly. When the fourth transmission mechanism is slid, it drives the simulated lower eyelid to move.

[0012] Preferably, the fourth transmission mechanism includes a lower eyelid connecting rod and a manual connecting rod, one end of the lower eyelid connecting rod being connected to the two simulated lower eyelids, and the other end being rotatably connected to the manual connecting rod.

[0013] Preferably, the support assembly is provided with an adjusting eye plate, the adjusting eye plate is provided with a guide groove, and the lower eyelid connecting rod is slidably connected in the guide groove.

[0014] Preferably, the head shell is further provided with an eyebrow assembly, which is installed on the support assembly; The eyebrow component includes a fourth driving module and a fifth driving module; The fourth drive module is connected to one end of the fourth transmission rod via the fourth rocker arm, and the other end of the fourth transmission rod is hinged to one end of the eyebrow mounting beam. The fifth drive module is connected to one end of the fifth transmission rod via the fifth rocker arm, and the other end of the fifth transmission rod is hinged to the other end of the eyebrow mounting beam. The eyebrow mounting beam is driven to rotate by independently or collaboratively controlling the fourth and fifth drive modules.

[0015] This application has the following advantages: In the embodiments of this application, addressing the technical problems of existing technologies such as inability to coordinate multi-degree-of-freedom motion, slow response, and low control precision, this application provides a solution employing a pitch drive module and a horizontal drive module arranged in series. Specifically, it includes a head shell and a support assembly and an eye assembly respectively installed inside the head shell, with the eye assembly mounted on the support assembly. The eye assembly includes a pitch drive module, a horizontal drive module, and an eyeball assembly. The horizontal drive module is mounted on a mounting base, with its output end connected to the mounting base and its output end connected to the eyeball assembly. When the pitch drive module is driven, it causes the mounting base to rotate around a first axis, thereby causing the horizontal drive module to rotate around the first axis. When the horizontal drive module is driven, it causes the eyeball assembly to rotate synchronously around a second axis, wherein the first axis and the second axis intersect. By driving the mounting base and the horizontal drive module mounted thereon with the pitch drive module, the two drive modules can be controlled separately, achieving independent and compound motion of two degrees of freedom without the need for complex decoupling algorithms. Attached Figure Description

[0016] To more clearly illustrate the technical solution of this application, the drawings used in the description of this application will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0017] Figure 1 This is a schematic diagram of a structure for eyebrow and eye control in a bionic robot according to an embodiment of this application; Figure 2 This is a schematic diagram of the eye component of an eyebrow and eye control structure for a bionic robot provided in one embodiment of this application; Figure 3 This is a schematic diagram of the pitch drive module and the horizontal drive module of the eyebrow and eye control structure for a bionic robot provided in one embodiment of this application; Figure 4 This is a schematic diagram of the eyeball assembly of an eyebrow and eye control structure for a bionic robot, provided in one embodiment of this application. Figure 5 This is a schematic diagram of the eyebrow component of an eyebrow and eye control structure for a bionic robot, provided in one embodiment of this application. The reference numerals in the accompanying drawings are as follows: 100. Pitch drive module; 110. First transmission mechanism; 111. First rocker arm; 112. First sliding arm; 200. Horizontal drive module; 210. Mounting bracket; 300. Eyeball assembly; 310. Second transmission mechanism; 311. Second rocker arm; 312. Second sliding arm; 313. Upper eye rod; 314. Lower eye rod; 3141. Bearing; 320. Simulated eyeball; 321. Inner eye; 330. Fork arm; 340. Thrust bearing; 400. Upper eyelid assembly; 410. Simulated upper eyelid; 420. Third transmission mechanism; 421. Third rocker arm; 422. Upper eyelid connecting rod; 430. Third drive module; 500. Lower eyelid assembly; 510. Simulated lower eyelid; 520. Fourth transmission mechanism; 521. Lower eyelid connecting rod; 522. Manual connecting rod; 600. Eyebrow assembly; 610. Fourth drive module; 611. Fourth rocker arm; 612. Fourth transmission rod; 620. Fifth drive module; 621. Fifth rocker arm; 622. Fifth transmission rod; 630. Eyebrow mounting beam; 700. Support components. Detailed Implementation

[0018] To make the objectives, features, and advantages of this application more apparent and understandable, the application will be further described in detail below with reference to the accompanying drawings and specific embodiments. Obviously, the described embodiments are only some, not all, of the embodiments of this application. All other embodiments obtained by those skilled in the art based on the embodiments of this application without inventive effort are within the scope of protection of this application.

[0019] The inventors, through analysis of existing technologies, discovered that current drive motors for controlling eye pitch and lateral movement are directly connected in parallel or stacked and fixed to the head frame. While this approach enables coordinated eye rotation, it leads to the following problems: First, the drive modules themselves are heavy and bulky, and being directly attached to the end effector significantly increases the rotational inertia of the eyeballs, resulting in slow response and increased energy consumption. Second, the parallel arrangement of multiple motors and transmission mechanisms occupies a large amount of head space, resulting in a bulky structure that is detrimental to the miniaturization and lightweight design of the robot head. Finally, the mechanical structure itself does not achieve effective decoupling of motion, making control complex.

[0020] Reference Figure 1 This illustration shows an eyebrow and eye control structure for a bionic robot according to an embodiment of the present application, including a head shell and a support assembly 700 and an eye assembly respectively installed inside the head shell, wherein the eye assembly is installed in the support assembly 700; The eye assembly includes a pitch drive module 100, a horizontal drive module 200, and an eyeball assembly 300; the horizontal drive module 200 is mounted on a mounting base 210, the output end of the pitch drive module 100 is connected to the mounting base 210, and the output end of the horizontal drive module 200 is connected to the eyeball assembly 300. When the pitch drive module 100 is driven, it drives the mounting base 210 to rotate around the first axis, which in turn drives the horizontal drive module 200 to rotate around the first axis; when the horizontal drive module 200 is driven, it drives the eyeball assembly 300 to rotate synchronously around the second axis; wherein the first axis and the second axis intersect.

[0021] In the embodiments of this application, addressing the technical problems of existing technologies such as inability to coordinate multi-degree-of-freedom motion, slow response, and low control accuracy, this application provides a solution using a pitch drive module 100 and a horizontal drive module 200 arranged in series. By having the pitch drive module 100 drive the mounting base 210 and the horizontal drive module 200 mounted thereon, the two drive modules can be controlled separately, achieving independent and composite motion of two degrees of freedom without the need for complex decoupling algorithms.

[0022] The following will further describe an eyebrow and eye control structure for a biomimetic robot in this exemplary embodiment.

[0023] The eyebrow and eye mechanism of the present invention includes an eye assembly and an eyebrow assembly 600. A support assembly 700 includes an eye support assembly 700 for supporting the eye assembly and an eyebrow support assembly 700 for supporting the eyebrow assembly 600. The eyebrow support assembly 700 is mounted on the eye support assembly 700, and both the eyebrow support assembly 700 and the eye support assembly 700 are connected to the head shell. The eye assembly includes an eyeball assembly 300, an upper eyelid assembly 400, and a lower eyelid assembly 500.

[0024] It should be noted that this invention employs dual drive modules to achieve eye rotation in both the pitch and horizontal directions, with the two rotation axes intersecting to ensure the biomimetic continuity of eye movement. The pitch drive module 100 drives in the direction of vertical eye rotation, while the horizontal drive module 200 drives in the direction of horizontal eye rotation. The actions of the two drive modules can be executed independently or in conjunction.

[0025] As an example, the head shell can be made of ABS, PC, lightweight alloy, carbon fiber composite material, or 3D printed resin. The pitch drive module 100 and the horizontal drive module 200 are servo motors. The first axis and the horizontal rotation second axis of the eyeball assembly 300 intersect at a point in three-dimensional space, which can simulate the natural rotation of a biological eyeball and avoid significant translation of the eyeball during rotation.

[0026] In one specific implementation, the head shell is made of ABS plastic through injection molding, with pre-reserved mounting slots for the support component 700 and movement space for the eye component. The support component 700 adopts an aluminum alloy frame structure and is fixed to the internal slots of the head shell by bolts. The support component 700 includes an inner skeleton and an eyebrow seat fixed on the inner skeleton. The inner skeleton has a mounting surface for mounting the eye component, and the eyebrow seat is used to mount the eyebrow component 600.

[0027] In one embodiment of the present invention, reference is made to... Figures 2-3 The specific features of the pitch drive module 100 can be further described in conjunction with the following description.

[0028] The pitch drive module 100 drives the mounting base 210 through the first transmission mechanism 110; The first transmission mechanism 110 includes a first rocker arm 111 and a first sliding arm 112 that are hinged together in sequence. The first rocker arm 111 is connected to the output end of the pitch drive module 100, and the first sliding arm 112 is hinged to the mounting base 210.

[0029] It should be noted that one end of the first rocker arm 111 is connected to the output end of the pitch drive module 100, and the other end is hinged to one end of the first sliding arm 112. The other end of the first sliding arm 112 is hinged to the mounting base 210. The rotational motion of the pitch drive module 100 is converted into the rotation of the mounting base 210 around the first axis, and the transmission ratio can be adjusted by adjusting the lengths of the first rocker arm 111 and the first sliding arm 112.

[0030] As an example, the pitch drive module 100 is a servo motor. The first rocker arm 111 is directly driven by the pitch drive module 100 to swing. The motion of the first rocker arm 111 is transmitted to the first sliding arm 112. The mounting base 210 is driven by the first sliding arm 112 and swings around the first axis within a certain angle, thereby driving the entire horizontal drive module 200 and the eyeball assembly 300 on it to perform pitch motion.

[0031] In one specific implementation, the first rocker arm 111 is provided with a plurality of first rocker arm 111 connecting holes, the first sliding arm 112 is provided with a first sliding groove and a first sliding arm 112 connecting hole connected to the first rocker arm 111 connecting holes, and the mounting base 210 is provided with a mounting base 210 connecting hole connected to the first sliding groove.

[0032] In one embodiment of the present invention, reference is made to... Figures 2-4 The specific features of the horizontal drive module 200 can be further described in conjunction with the following description.

[0033] The eyeball assembly 300 includes a simulated eyeball 320, and the horizontal drive module 200 drives the simulated eyeball 320 through the second transmission mechanism 310. The second transmission mechanism 310 includes a second rocker arm 311, a second sliding arm 312, an upper eye rod 313, and a lower eye rod 314. One end of the second rocker arm 311 is connected to the output end of the horizontal drive module 200, and the other end of the second rocker arm 311 is hinged to the second sliding arm 312. The other end of the second sliding arm 312 is hinged to the middle of the upper eye rod 313. The simulated eyeball 320 is rotatably connected to the upper eye rod 313 and the lower eye rod 314 respectively, and the lower eye rod 314 is provided with a bearing 3141 that abuts against the upper eye rod 313; When the horizontal drive module 200 is driven, the second rocker arm 311 drives the upper eye rod 313, which in turn drives the simulated eyeball 320 to rotate around the second axis.

[0034] It should be noted that the simulated eyeball 320 is supported by a double-rod structure consisting of an upper eye rod 313 and a lower eye rod 314, and the bearing 3141 on the lower eye rod 314 abuts against the upper eye rod 313 to ensure the stability and smoothness of horizontal rotation.

[0035] As an example, the simulated eyeball 320 can be made of transparent resin, glass, or silicone, and may contain an LED light source to simulate the light-emitting effect of an eyeball. The horizontal drive module 200 is a servo motor, and the second rocker arm 311 is directly driven by the horizontal drive module 200. The second sliding arm 312 transmits the movement of the second rocker arm 311 to the upper eye rod 313, which receives the drive from the second sliding arm 312 and rotates left and right around the second axis.

[0036] In one specific implementation, the second rocker arm 311 is provided with a plurality of second rocker arm 311 connecting holes, the second sliding arm 312 is provided with a second sliding groove and a second sliding arm 312 connecting hole connected to the second rocker arm 311 connecting holes, and the upper eye rod 313 is provided with an upper eye rod 313 connecting hole connected to the second sliding groove.

[0037] In one embodiment of the present invention, reference is made to... Figures 2-4 The specific features of the eyeball assembly 300 can be further described in conjunction with the following description.

[0038] The simulated eyeball 320 is provided with an inner eye 321. The inner eye 321 is rotatably connected to the upper eye rod 313 and the lower eye rod 314 respectively via a fork arm 330. The upper eye rod 313 and the lower eye rod 314 are respectively connected to the fork arm 330 via a thrust bearing 340.

[0039] It should be noted that the horizontal drive module 200 is fixedly connected to the eye support assembly 700, and the lower connecting rod is fixedly connected to the horizontal drive module 200. The simulation robot has two simulated eyeballs 320, which are connected together by the upper and lower connecting rods. The lower eye rod 314 is connected to the inner eye 321 of the simulated eyeball 320 through a first thrust bearing, which is then connected to the fork arm 330. The upper eye rod 313 is connected to the fork arm 330 through a second thrust bearing. The lower eye rod 314 has a mounting part, and a bearing 3141 is installed inside the mounting part. The bearing 3141 abuts against the upper eye rod 313.

[0040] As an example, the horizontal drive module 200 is a servo motor, which is rotatably connected to the second rocker arm 311. The other end of the second rocker arm 311 is connected to the middle of the upper connecting rod. The lower eye rod 314 is fixedly set. The output shaft of the horizontal drive module 200 rotates, driving the second rocker arm 311 to swing, which in turn causes the upper eye rod 313 to swing left and right under the sliding fit constraint of the bearing 3141. Finally, the simulated eyeball 320 is pushed or pulled left and right through the fork arm 330 / thrust bearing 340.

[0041] In one specific implementation, the lower eye rod 314 is rotatably connected at both ends to the inner eye 321 of the simulated eyeball 320. The lower eye rod 314 is also provided with two cylindrical mounting parts, and bearings 3141 are provided in the mounting parts. The horizontal drive module 200 is communicatively connected to the control unit to receive commands and control the movement of the eyeball assembly 300 to achieve the target facial expression.

[0042] In one embodiment of the present invention, reference is made to... Figure 2 The specific features of the upper eyelid assembly 400 can be further explained in conjunction with the following description.

[0043] The upper eyelid assembly 400 is mounted on the support assembly 700. The upper eyelid assembly 400 includes a simulated upper eyelid 410, a third transmission mechanism 420, and a third drive module 430. The simulated upper eyelid 410 is rotatably connected to one end of the third transmission mechanism 420, and the other end of the third transmission mechanism 420 is rotatably connected to the third drive module 430. When the third drive module 430 is driven, the second transmission mechanism 310 drives the simulated upper eyelid 410 to move.

[0044] The third transmission mechanism 420 includes a third rocker arm 421 and an upper eyelid connecting rod 422. One end of the third rocker arm 421 is rotatably connected to the third drive module 430, and the other end is rotatably connected to the upper eyelid connecting rod 422.

[0045] It should be noted that the simulated upper eyelid 410 is installed on the upper eyelid of the simulated eyeball 320. The upper eyelid assembly 400 has two sets, each corresponding to the upper eyelid of the two simulated eyeballs 320. The third drive module 430 is installed on the eye support assembly 700. One end of the upper eyelid connecting rod 422 is rotatably connected to the third rocker arm 421, and the other end is rotatably connected to the simulated upper eyelid 410.

[0046] As an example, the third drive module 430 is a servo motor, which is mounted on the eye support assembly 700. The upper eyelid assembly 400 also has an upper eyelid bracket, which is rotatably connected to the eye support assembly 700. A simulated upper eyelid 410 is set on the upper eyelid bracket. One end of the upper eyelid connecting rod 422 is rotatably connected to the upper eyelid bracket, and the other end is rotatably connected to the third rocker arm 421. The third rocker arm 421 is connected to the servo motor output shaft. When the servo motor receives a control signal and rotates, the third rocker arm 421 drives the upper eyelid connecting rod 422, which in turn drives the upper eyelid on the upper eyelid bracket to rotate, thereby achieving a human-like blinking action.

[0047] In one specific implementation, the third drive module 430 is communicatively connected to the control unit to receive instructions and control the movement of the upper eyelid assembly 400 to achieve the target facial expression.

[0048] In one embodiment of the present invention, reference is made to... Figure 2 The specific features of the lower eyelid assembly 500 can be further explained in conjunction with the following description.

[0049] The lower eyelid assembly 500 is mounted on the support assembly 700. The lower eyelid assembly 500 includes a simulated lower eyelid 510 and a fourth transmission mechanism 520. The simulated lower eyelid 510 is rotatably connected to one end of the fourth transmission mechanism 520, and the other end of the fourth transmission mechanism 520 is slidably connected to the support assembly 700. When the fourth transmission mechanism 520 is slid, the fourth transmission mechanism 520 drives the simulated lower eyelid 510 to move.

[0050] The fourth transmission mechanism 520 includes a lower eyelid connecting rod 521 and a manual connecting rod 522. One end of the lower eyelid connecting rod 521 is connected to the two simulated lower eyelids 510, and the other end is rotatably connected to the manual connecting rod 522.

[0051] The support assembly 700 is provided with an adjusting eye plate, the adjusting eye plate is provided with a guide groove, and the lower eyelid connecting rod 521 is slidably connected in the guide groove.

[0052] It should be noted that the simulated lower eyelid 510 is installed on the lower eyelid of the simulated eyeball 320, and the lower eyelid connecting rod 521 connects and fixes the two simulated lower eyelids 510 together. One end of the manual connecting rod 522 is connected to the lower eyelid connecting rod 521, and the other end is slidably connected to the eye support component 700.

[0053] As an example, the lower eyelid assembly 500 includes two simulated lower eyelids 510, one lower eyelid connecting rod 521, and one manual connecting rod 522. The two simulated lower eyelids 510 are respectively installed on the lower eyelids of the simulated eyeballs 320. The lower eyelid assembly 500 also includes a lower eyelid support, which is rotatably connected to the eye support assembly 700. The simulated lower eyelids 510 are mounted on the lower eyelid support, and the two lower eyelid supports are connected together by the lower eyelid connecting rod 521. The other end of the lower eyelid connecting rod 521 is connected to the adjustment plate of the eye support assembly 700, and the lower eyelid connecting rod 521 slides within the guide groove of the adjustment plate. When the lower eyelid connecting rod 521 is manually adjusted in the guide groove, the lower eyelid connecting rod 521 drives the lower eyelids on the lower eyelid support to rotate, thereby realizing the manual adjustment of the relative position between the lower eyelids and the eyeballs.

[0054] In one embodiment of the present invention, reference is made to... Figure 5 The specific features of the eyebrow component 600 can be further explained in conjunction with the following description.

[0055] The head shell is also provided with an eyebrow component 600, which is installed on the support component 700; The eyebrow component 600 includes a fourth driving module 610 and a fifth driving module 620; The fourth drive module 610 is connected to one end of the fourth transmission rod 612 via the fourth rocker arm 611, and the other end of the fourth transmission rod 612 is hinged to one end of the eyebrow mounting beam 630. The fifth drive module 620 is connected to one end of the fifth transmission rod 622 via the fifth rocker arm 621, and the other end of the fifth transmission rod 622 is hinged to the other end of the eyebrow mounting beam 630. The eyebrow mounting beam 630 is driven to rotate by independently or collaboratively controlling the fourth drive module 610 and the fifth drive module 620.

[0056] It should be noted that the eyebrow component 600 and the eye component are executed independently. The robot's two eyebrows are each controlled by two drive modules to achieve eyebrow movements. The eyebrow component 600 is controlled by dual drive modules. Independent control of the drive modules can achieve unilateral postures such as raising or lowering the eyebrow on one side, while coordinated control can achieve bilateral linkage postures such as raising, lowering, and bending the eyebrow as a whole, thus realizing multi-posture biomimetic movement of the eyebrows.

[0057] As an example, the eyebrow support assembly 700 includes a fourth drive support plate and a fifth drive support plate. The fourth drive support plate is fixed to the eye support assembly 700 and is used to mount the fourth drive module 610. The fifth drive support plate is fixed to the fourth drive support plate and is used to mount the fifth drive module 620. The fourth drive module 610 drives the fourth transmission rod 612 to rotate, pulling one end of the eyebrow mounting beam 630 to lift or press down one side of the eyebrow. The fifth drive module 620 drives the fifth transmission rod 622 to rotate, pulling the other end of the eyebrow mounting beam 630 to lift or press down the other side of the eyebrow.

[0058] In one specific implementation, the fifth drive module 620 is positioned above the fourth drive module 610, and the length of the fifth transmission rod 622 is greater than the length of the fourth transmission rod 612. By controlling the rotation of the fourth drive module 610 independently, while the fifth drive module 620 remains locked, the fourth rocker arm 611 drives the fourth transmission rod 612 in a swinging motion, thereby lifting the left end of the eyebrow mounting beam 630 upwards while keeping the right end stationary, achieving a biomimetic posture where the left eyebrow is raised and the right eyebrow remains stationary. By controlling the fourth drive module 610 and the fifth drive module 620 to rotate in the same direction, the two rocker arms drive their corresponding transmission rods in a synchronous swinging motion, thereby lifting both ends of the eyebrow mounting beam 630 synchronously upwards, achieving a biomimetic posture where the entire eyebrow is raised. By controlling the two drive modules to rotate in opposite directions—the fourth drive module 610 rotating clockwise and the fifth drive module 620 rotating counterclockwise—a frowning biomimetic posture can be achieved.

[0059] In one embodiment of the present invention, a head device for a biomimetic robot is also provided, including the eyebrow and eye control structure for a biomimetic robot as described above.

[0060] Although preferred embodiments of the present application have been described, those skilled in the art, upon learning the basic inventive concept, can make other changes and modifications to these embodiments. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments as well as all changes and modifications falling within the scope of the embodiments of the present application.

[0061] Finally, it should be noted that in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or terminal device that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or terminal device. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or terminal device that includes said element.

[0062] The above provides a detailed description of the eyebrow and eye control structure for a bionic robot provided in this application. Specific examples have been used to illustrate the principles and implementation methods of this application. The description of the above embodiments is only for the purpose of helping to understand the method and core ideas of this application. At the same time, for those skilled in the art, there will be changes in the specific implementation methods and application scope based on the ideas of this application. Therefore, the content of this specification should not be construed as a limitation of this application.

Claims

1. A structure for eyebrow and eye control in a bionic robot, characterized in that, It includes a head shell and a support assembly and an eye assembly respectively installed inside the head shell, the eye assembly being mounted on the support assembly; The eye assembly includes a pitch drive module, a horizontal drive module, and an eyeball assembly; the horizontal drive module is mounted on a mounting base, the output end of the pitch drive module is connected to the mounting base, and the output end of the horizontal drive module is connected to the eyeball assembly. When the pitch drive module is driven, it causes the mounting base to rotate around the first axis, which in turn causes the horizontal drive module to rotate around the first axis; when the horizontal drive module is driven, it causes the eyeball assembly to rotate synchronously around the second axis; wherein, the first axis and the second axis intersect.

2. The eyebrow and eye control structure for a bionic robot according to claim 1, characterized in that, The pitch drive module drives the mounting base through the first transmission mechanism; The first transmission mechanism includes a first rocker arm and a first sliding arm that are hinged together in sequence. The first rocker arm is connected to the output end of the pitch drive module, and the first sliding arm is hinged to the mounting base.

3. The eyebrow and eye control structure for a bionic robot according to claim 1, characterized in that, The eyeball assembly includes a simulated eyeball, and the horizontal drive module drives the simulated eyeball through a second transmission mechanism. The second transmission mechanism includes a second rocker arm, a second sliding arm, an upper eye rod, and a lower eye rod. One end of the second rocker arm is connected to the output end of the horizontal drive module, the other end of the second rocker arm is hinged to the second sliding arm, and the other end of the second sliding arm is hinged to the middle of the upper eye rod. The simulated eyeball is rotatably connected to the upper eye rod and the lower eye rod, respectively, and the lower eye rod is provided with a bearing that abuts against the upper eye rod; When the horizontal drive module is activated, the second rocker arm drives the upper eye rod, which in turn drives the simulated eyeball to rotate around the second axis.

4. The eyebrow and eye control structure for a bionic robot according to claim 3, characterized in that, The simulated eyeball has an inner eye, which is rotatably connected to the upper eye rod and the lower eye rod via a fork arm. The upper eye rod and the lower eye rod are respectively connected to the fork arm via thrust bearings.

5. The eyebrow and eye control structure for a bionic robot according to claim 1, characterized in that, The eye assembly also includes an upper eyelid assembly; The upper eyelid assembly is mounted on the support assembly. The upper eyelid assembly includes a simulated upper eyelid, a third transmission mechanism, and a third drive module. The simulated upper eyelid is rotatably connected to one end of the third transmission mechanism, and the other end of the third transmission mechanism is rotatably connected to the third drive module. When the third drive module is activated, the third transmission mechanism drives the simulated upper eyelid to move.

6. The eyebrow and eye control structure for a bionic robot according to claim 5, characterized in that, The third transmission mechanism includes a third rocker arm and an upper eyelid connecting rod. One end of the third rocker arm is rotatably connected to the third drive module, and the other end is rotatably connected to the upper eyelid connecting rod.

7. The eyebrow and eye control structure for a bionic robot according to claim 1, characterized in that, The eye assembly also includes a lower eyelid assembly; The lower eyelid assembly is mounted on the support assembly. The lower eyelid assembly includes a simulated lower eyelid and a fourth transmission mechanism. The simulated lower eyelid is rotatably connected to one end of the fourth transmission mechanism, and the other end of the fourth transmission mechanism is slidably connected to the support assembly. When the fourth transmission mechanism is slid, it drives the simulated lower eyelid to move.

8. The eyebrow and eye control structure for a bionic robot according to claim 7, characterized in that, The fourth transmission mechanism includes a lower eyelid connecting rod and a manual connecting rod. One end of the lower eyelid connecting rod is connected to the two simulated lower eyelids, and the other end is rotatably connected to the manual connecting rod.

9. The eyebrow and eye control structure for a bionic robot according to claim 8, characterized in that, The support assembly is provided with an adjustable eye plate, the adjustable eye plate is provided with a guide groove, and the lower eyelid connecting rod is slidably connected in the guide groove.

10. The eyebrow and eye control structure for a bionic robot according to claim 1, characterized in that, The head shell also includes an eyebrow assembly, which is mounted on the support assembly. The eyebrow component includes a fourth driving module and a fifth driving module; The fourth drive module is connected to one end of the fourth transmission rod via the fourth rocker arm, and the other end of the fourth transmission rod is hinged to one end of the eyebrow mounting beam. The fifth drive module is connected to one end of the fifth transmission rod via the fifth rocker arm, and the other end of the fifth transmission rod is hinged to the other end of the eyebrow mounting beam. The eyebrow mounting beam is driven to rotate by independently or collaboratively controlling the fourth and fifth drive modules.

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