Eye structure of dual-motor driven robot

Abstract

The utility model relates to an eye structure of a dual-motor driving robot, which comprises a support, an upper eyelid eyeball, a lower eyelid eyeball and an eyelid driving mechanism, the upper eyelid eyeball and the lower eyelid eyeball are arranged on the support, the eyelid driving mechanism comprises a first motor, a first connecting rod, a second connecting rod, an upper driving rod and a lower driving rod, the other end of the first connecting rod is hinged to one end of the second connecting rod, the other end of the second connecting rod is hinged to the lower driving rod, one end of the lower driving rod and one end of the upper driving rod are both hinged to the guide shaft, a guide groove is formed in the support, and the guide shaft is arranged in the guide groove in a penetrating mode in the mode that the guide shaft can slide in the guide groove. The other end of the lower driving rod is hinged to the lower eyelid, the other end of the upper driving rod is hinged to the upper eyelid, and the eyeball is hinged to the support. According to the eye structure, eyelid and eyeball actions can be achieved, and functions are more diversified.

Description

Technical Field

[0001] The utility model relates to an eye structure of a robot driven by dual motors. Background Art

[0002] The eye structure of a robot generally includes an eyeball, an eyelid, and a corresponding driving structure. For example, in the Chinese utility model patent with the authorization announcement number CN212039003U and the name "A Bionic Bird Robot Head Device", a bionic robot is disclosed, which includes an eye movement mechanism, and the eye movement mechanism includes a left eye movement component and a right eye movement component. The left eye movement component and the right eye movement component have the same structure, and the right eye movement component includes: an upper eyelid pull rod, a lower eyelid pull rod, and an upper eyelid pull rod driving servo. , a lower eyelid pull rod drives a servo motor; one end of the upper eyelid pull rod is hinged to the upper eyelid arc surface, one end of the upper eyelid pull rod is hinged to the output shaft of the upper eyelid pull rod driving servo motor, one end of the lower eyelid pull rod is hinged to the lower eyelid arc surface, and one end of the lower eyelid pull rod is hinged to the output shaft of the lower eyelid pull rod driving servo motor, that is, the upper eyelid pull rod driving servo motor pulls the upper eyelid pull rod to drive the upper eyelid to rotate around the rotating axis; and the lower eyelid pull rod driving servo motor pulls the lower eyelid pull rod to drive the lower eyelid to rotate around the rotating axis.

[0003] Although the eye movement mechanism of the above patent can realize the movement of the eyelids, the upper eyelid and the lower eyelid are driven by a motor respectively, which occupies a relatively large space. In addition, the rotating shaft runs through the eyeball. If the eyeball needs to be rotated, it needs to design a complex structure.

[0004] Based on the above issues, the applicant conducted research on the above issues and resulted in this case. Utility Model Content

[0005] The utility model aims to provide an eye structure of a dual-motor driven robot with a simple and compact structure and more abundant functions.

[0006] In order to achieve the above purpose, the utility model adopts the following technical solutions:

[0007] The eye structure of a dual-motor driven robot comprises a bracket, an upper eyelid and a lower eyelid arranged on the bracket, an eyeball arranged on the bracket, and an eyelid driving mechanism for driving the upper eyelid and the lower eyelid to open and close, wherein the eyelid driving mechanism comprises a first motor, a first connecting rod, a second connecting rod, an upper driving rod, and a lower driving rod, wherein one end of the first connecting rod is mounted on the output shaft of the first motor, the other end of the first connecting rod is hinged to one end of the second connecting rod, the other end of the second connecting rod is hinged to the lower driving rod, one end of the lower driving rod and one end of the upper driving rod are both hinged to a guide shaft, a guide groove is provided on the bracket, the guide shaft is slidably inserted into the guide groove, the other end of the lower driving rod is hinged to the lower eyelid, the other end of the upper driving rod is hinged to the upper eyelid, the upper eyelid and the lower eyelid are both hinged to the bracket, the eyeball is hinged to the bracket, and further comprises a second motor for driving the eyeball to rotate.

[0008] As a preferred embodiment of the present invention, the second connecting rod is hinged at the middle part of the lower driving rod.

[0009] As a preferred embodiment of the present invention, the guide groove and the guide shaft are both arranged in a horizontal direction.

[0010] As a preferred embodiment of the utility model, a partition is provided on the bracket, the guide groove is arranged on the partition, and the upper driving rod and the lower driving rod are respectively arranged on both sides of the partition.

[0011] As a preferred embodiment of the present invention, the eyeball is rotatably mounted on the bracket via a support shaft, and the support shaft is arranged along a vertical direction.

[0012] As a preferred embodiment of the utility model, a third connecting rod is connected to the output shaft of the second motor, a fourth connecting rod is hinged to the other end of the third connecting rod, and the other end of the fourth connecting rod is hinged to the eyeball.

[0013] As a preferred embodiment of the present invention, the upper eyelid is mounted on the bracket via a first axis, and the lower eyelid is mounted on the bracket via a second axis. The first axis and the second axis are coaxially arranged and are both arranged in the horizontal direction.

[0014] As a preferred embodiment of the present invention, the upper eyelid and the lower eyelid are in the shape of a cover that fits with each other and has an arc surface.

[0015] As a preferred embodiment of the present invention, the eye is in the shape of a shell having at least a hemispherical surface.

[0016] As a preferred embodiment of the present invention, a circular ring is provided on the bracket, and the upper eyelid, the lower eyelid and the eyeball are all arranged in the circular ring.

[0017] By adopting the technical solution of the utility model, an upper driving rod and a lower driving rod are driven by one motor to realize the simultaneous opening and closing of the upper eyelid and the lower eyelid, so that the entire eye structure is more compact, and the eyeball is driven to rotate by the second motor, so that the eye structure of the present application can realize the eyelid and eyeball movements, and the functions are more diversified. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 It is a structural schematic diagram of the utility model.

[0019] Figure 2 It is a side view of the utility model.

[0020] Figure 3 It is a top view of the utility model.

[0021] Figure 4 for Figure 3 A partial cross-sectional view of .

[0022] In the figure:

[0023] The first motor 10 and the first connecting rod 11

[0024] Second connecting rod 12 Second shaft body 2

[0025] Upper eyelid 3 Lower eyelid 4

[0026] Lower drive rod 5 Upper drive rod 6

[0027] Guide shaft 7 Eyeball 8

[0028] Support shaft 81 Second motor 9

[0029] The third connecting rod 10 The fourth connecting rod 11

[0030] Bracket 100 Guide groove 101

[0031] Partition 102 Ring 103 DETAILED DESCRIPTION

[0032] In order to better understand the technical solution of the present utility model, it is described in more detail below in conjunction with embodiments.

[0033] Reference Figures 1 to 4, the eye structure of the dual-motor driven robot includes a bracket 100, an upper eyelid 3 and a lower eyelid 4 arranged on the bracket 100, an eyeball 8 arranged on the bracket 100, and an eyelid driving mechanism for driving the upper eyelid 3 and the lower eyelid 4 to open and close. The eyeball 8 and the eyelid mentioned in the utility model can be made of metal or plastic material. The eyelid driving mechanism of the utility model includes a first motor 10, a first connecting rod 11, a second connecting rod 12, an upper driving rod 6 and a lower driving rod 5. The output shaft of the first motor 10 is arranged in the horizontal direction, and one end of the first connecting rod 11 is installed on the output shaft of the first motor 10, specifically using a fixed connection, the other end of the first connecting rod 11 is hinged to one end of the second connecting rod 12, and the other end of the second connecting rod 12 is hinged to the lower driving rod 5. The first connecting rod 11, the second connecting rod 12, the upper driving rod 6 and the lower driving rod 5 of the utility model all swing in the vertical plane. One end of the lower driving rod 5 and one end of the upper driving rod 6 of the utility model are both hinged on the guide shaft 7, a guide groove 101 is provided on the bracket 100, the guide groove 101 extends in the horizontal direction, the guide shaft 7 is arranged in the horizontal direction, the guide shaft 7 is inserted in the guide groove 101 in a manner that it can slide in the guide groove 101, the other end of the lower driving rod 5 is hinged to the lower eyelid 4, the other end of the upper driving rod 6 is hinged to the upper eyelid 3, and the upper eyelid 3 and the lower eyelid 4 are both hinged on the bracket 100. The eyeball 8 is hinged on the bracket 100, and also includes a second motor 9 for driving the eyeball 8 to rotate, and the eyeball 8 is driven to rotate by the second motor 9.

[0034] As a preferred embodiment of the present invention, the second connecting rod 12 is hinged to the middle portion of the lower driving rod 5 .

[0035] As a preferred embodiment of the present invention, a partition 102 is disposed on the bracket 100 , the partition 102 is disposed in a vertical direction, the guide groove 101 is disposed on the partition 102 , and the upper driving rod 6 and the lower driving rod 5 are disposed on both sides of the partition 102 .

[0036] As a preferred embodiment of the present invention, the eyeball 8 is rotatably mounted on the bracket 100 via a support shaft 81 . The support shaft 81 is arranged along a vertical direction, and the eyeball 8 can rotate around the support shaft 81 .

[0037] As a preferred embodiment of the utility model, a third connecting rod 10 is connected to the output shaft of the second motor 9, the other end of the third connecting rod 10 is hinged to a fourth connecting rod 11, the other end of the fourth connecting rod 11 is hinged to the eyeball 8, and the third connecting rod 10 and the fourth connecting rod 11 are both arranged in the horizontal direction.

[0038] As a preferred embodiment of the present invention, the upper eyelid 3 is mounted on the bracket 100 via a first shaft, and the lower eyelid 4 is mounted on the bracket 100 via a second shaft 2. The first shaft and the second shaft 2 are coaxially arranged and are both arranged in the horizontal direction. In the present invention, the hinge point between the upper driving rod 6 and the upper eyelid 3 is located above the first shaft, and the hinge point between the lower driving rod 5 and the lower eyelid 4 is located below the second shaft 2.

[0039] As a preferred embodiment of the present invention, the upper eyelid 3 and the lower eyelid 4 are in a shell shape that cooperates with each other and has an arc surface, so as to realize the closing or opening of the upper eyelid 3 and the lower eyelid 4. As a preferred embodiment of the present invention, the eye is in a shell shape with at least a hemispherical surface (in the embodiment, about three-quarters of a sphere), and the end of the fourth connecting rod 11 is hinged inside the shell, and the eye is pushed to rotate around the support shaft 81 by the fourth connecting rod 11. As a preferred embodiment of the present invention, a circular ring 103 is provided on the bracket 100, and the axis of the circular ring 103 is arranged in the horizontal direction, and the upper eyelid 3, the lower eyelid 4 and the eyeball 8 are all arranged in the circular ring 103.

[0040] The protection scope of the present utility model is not limited to this embodiment, and any person making similar changes thereto shall be deemed to be within the protection scope of the present utility model.

Claims

1. The eye structure of a dual-motor driven robot comprises a bracket, an upper eyelid and a lower eyelid arranged on the bracket, an eyeball arranged on the bracket, and an eyelid driving mechanism for driving the upper eyelid and the lower eyelid to open and close, characterized in that: The eyelid driving mechanism includes a first motor, a first connecting rod, a second connecting rod, an upper driving rod and a lower driving rod, one end of the first connecting rod is installed on the output shaft of the first motor, the other end of the first connecting rod is hinged to one end of the second connecting rod, the other end of the second connecting rod is hinged to the lower driving rod, one end of the lower driving rod and one end of the upper driving rod are both hinged to the guide shaft, a guide groove is provided on the bracket, the guide shaft is slidably inserted in the guide groove, the other end of the lower driving rod is hinged to the lower eyelid, the other end of the upper driving rod is hinged to the upper eyelid, the upper eyelid and the lower eyelid are both hinged to the bracket, the eyeball is hinged to the bracket, and also includes a second motor for driving the eyeball to rotate.

2. The eye structure of the dual-motor driven robot as claimed in claim 1, characterized in that: The second connecting rod is hinged at the middle portion of the lower driving rod.

3. The eye structure of the dual-motor driven robot as claimed in claim 2, characterized in that: The guide groove and the guide shaft are both arranged in a horizontal direction.

4. The eye structure of the dual-motor driven robot as claimed in claim 3, characterized in that: The bracket is provided with a partition plate, the guide groove is arranged on the partition plate, and the upper driving rod and the lower driving rod are respectively arranged on both sides of the partition plate.

5. The eye structure of the dual-motor driven robot as claimed in claim 4, characterized in that: The eyeball is rotatably mounted on the bracket via a support shaft, and the support shaft is arranged along a vertical direction.

6. The eye structure of the dual-motor driven robot as claimed in claim 5, characterized in that: A third connecting rod is connected to the output shaft of the second motor, a fourth connecting rod is hinged to the other end of the third connecting rod, and the other end of the fourth connecting rod is hinged to the eyeball.

7. The eye structure of the dual-motor driven robot as claimed in claim 6, characterized in that: The upper eyelid is mounted on the bracket via a first shaft, and the lower eyelid is mounted on the bracket via a second shaft. The first shaft and the second shaft are coaxially arranged and are both arranged in a horizontal direction.

8. The eye structure of the dual-motor driven robot as claimed in claim 7, characterized in that: The upper eyelid and the lower eyelid are in a shell shape that fits with each other and has a curved surface.

9. The eye structure of the dual-motor driven robot as claimed in claim 8, characterized in that: The eye is in the shape of a shell having at least a hemispherical surface.

10. The eye structure of the dual-motor driven robot as claimed in claim 9, characterized in that: The bracket is provided with a circular ring, and the upper eyelid, the lower eyelid and the eyeball are all arranged in the circular ring.

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