Eye linkage device applied to mechanical bionic field

Abstract

The utility model relates to the technical field of large mechanical bionics in the art and travel industry, in particular to an eye linkage device applied to the field of mechanical bionics. Comprising a head skeleton, two eyeball structures are symmetrically arranged on one side of the head skeleton, the outer sides of the eyeball structures are sleeved with eyelid structures, eyelid adjusting mechanisms and eyeball adjusting mechanisms are arranged on the head skeleton, and the eyelid adjusting mechanisms are used for driving the two eyelid structures to turn over synchronously; the eyeball adjusting mechanism is used for driving the two eyeball structures to move synchronously, the eyelid adjusting mechanism comprises positioning frames symmetrically and fixedly connected to the outer wall of the head skeleton, and the two eyelid structures are rotationally connected with the side walls of the two positioning frames respectively. The two eyelids can be turned over synchronously through the eyelid adjusting mechanism to achieve opening and closing of the eyelids, the two eyeball structures can rotate in any direction synchronously and hover through the eyeball adjusting mechanism, the flexible effect is achieved through the bionic mechanical eye movement, and the interaction requirement is met.

Description

Technical Field

[0001] The utility model relates to the technical field of large-scale mechanical bionics in the cultural tourism industry, and specifically, to an eye linkage device applied in the field of mechanical bionics. Background Art

[0002] With the continuous development of bionic robots, various types of humanoid robots are gradually being used in the cultural and tourism industry. The corresponding research on the facial expressions of robots is becoming more and more important. Among them, the driving of the eye mechanical structure is an extremely important expression part of a robot's facial expression.

[0003] The conventional practice is that each eyeball has only one connecting rod or eccentric connecting rod, and the eyeball rotation is achieved by rotating the connecting rod. The presentation effect is somewhat dull and somewhat different from the real eyeball movement. In view of this, we propose an eye linkage device for application in the field of mechanical bionics. Utility Model Content

[0004] The purpose of the utility model is to provide an eye linkage device applied to the field of mechanical bionics to solve the problems raised in the above background technology.

[0005] To achieve the above-mentioned purpose, one of the purposes of the utility model is to provide an eye linkage device applied to the field of mechanical bionics, including a head skeleton, two eyeball structures are symmetrically arranged on one side of the head skeleton, an eyelid structure is arranged on the outside of the eyeball structure, an eyelid adjustment mechanism and an eyeball adjustment mechanism are arranged on the head skeleton, the eyelid adjustment mechanism is used to drive the two eyelid structures to flip synchronously, and the eyeball adjustment mechanism is used to drive the two eyeball structures to move synchronously.

[0006] As a further improvement of the present technical solution, the eyelid adjustment mechanism includes a positioning frame symmetrically fixedly connected to the outer wall of the head bone, the two eyelid structures are rotatably connected to the two side walls of the positioning frame respectively, and a third eyelid connecting rod is fixedly connected to one side of the rotating shaft of the two eyelid structures.

[0007] As a further improvement of the technical solution, an eyelid power motor is fixedly installed on the outer wall of the head skeleton, the eyelid power motor output shaft is fixedly connected to the first eyelid connecting rod, the side wall of the first eyelid connecting rod is provided with a movable groove, the outer wall of the third eyelid connecting rod is rotatably connected to the second eyelid connecting rod, a sliding rod is fixedly connected to one side of the second eyelid connecting rod near the lower end, and the sliding rod is slidably connected to the inner wall of the movable groove.

[0008] As a further improvement of the present technical solution, the eyeball adjustment mechanism includes three straight rod ball head bearings fixedly installed on one side of the eyeball structure, one side of the straight rod ball head bearing is fixedly connected with a positive and negative thread screw, the outer wall of the head bone is fixedly connected with an external frame, one of the positive and negative thread screws is threadedly connected to the side wall of the external frame, and one end of the other two positive and negative thread screws is fixedly connected with a curved rod ball head bearing, four tension springs are fixedly connected with a circular array on one side of the eyeball structure, and one end of the tension spring is fixedly connected to the external frame.

[0009] As a further improvement of the present technical solution, a second eyeball connecting rod is fixedly connected to one side of the bending rod ball head bearing, a third eyeball connecting rod is rotatably connected to the second eyeball connecting rod, the third eyeball connecting rod is rotatably connected to the inner wall of the head bone, two eyeball power motors are fixedly installed on the inner wall of the head bone, the output shaft of the eyeball power motor is fixedly connected to the first eyeball connecting rod, and one end of the two first eyeball connecting rods are rotatably connected to the two second eyeball connecting rods respectively.

[0010] As a further improvement of the technical solution, one of the straight rod ball head bearings is fixedly installed at the center of one side of the eyeball structure, and the other two straight rod ball head bearings are respectively arranged in the horizontal direction and the vertical direction of the straight rod ball head bearing.

[0011] As a further improvement of the technical solution, a universal connection between the positive and negative threaded screw and the eyeball structure is achieved through a straight rod ball head bearing, and a universal connection between the positive and negative threaded screw and the second eyeball connecting rod is achieved through a curved rod ball head bearing.

[0012] Compared with the prior art, the utility model has the following beneficial effects:

[0013] The eye linkage device applied in the field of mechanical bionics can make the two eyelids flip synchronously through the eyelid adjustment mechanism to realize eyelid opening and closing, and can make the two eyeball structures rotate and hover synchronously in any direction through the eyeball adjustment mechanism, so that the bionic mechanical eye movements produce a smart effect, infinitely close to reality, and meet the interactive needs. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1 It is a schematic diagram of the overall structure of the utility model;

[0015] Figure 2 It is a structural schematic diagram of the eyelid adjustment mechanism of the utility model;

[0016] Figure 3 It is a structural schematic diagram of the eyeball adjustment mechanism of the utility model;

[0017] Figure 4 It is a partial structural schematic diagram of the eyeball adjustment mechanism of the utility model.

[0018] The meaning of each number in the figure is:

[0019] 1. Head skeleton; 2. Eyeball structure; 3. Eyelid structure;

[0020] 4. Eyelid adjustment mechanism; 41. Eyelid power motor; 42. First eyelid connecting rod; 43. Second eyelid connecting rod; 44. Third eyelid connecting rod; 45. Positioning frame;

[0021] 5. Eyeball adjustment mechanism; 51. Eyeball power motor; 52. First eyeball connecting rod; 53. Second eyeball connecting rod; 54. Third eyeball connecting rod; 55. Curved rod ball head bearing; 56. Positive and negative thread screw; 57. Straight rod ball head bearing; 58. Tension spring; 59. External frame. DETAILED DESCRIPTION

[0022] The following will be combined with the drawings in the embodiments of the utility model to clearly and completely describe the technical solutions in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments in the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.

[0023] Example 1

[0024] See also Figure 1-Figure 4 As shown, the present embodiment provides an eye linkage device applied to the field of mechanical bionics, including a head skeleton 1, two eyeball structures 2 are symmetrically arranged on one side of the head skeleton 1, an eyelid structure 3 is sleeved on the outer side of the eyeball structure 2, an eyelid adjustment mechanism 4 and an eyeball adjustment mechanism 5 are arranged on the head skeleton 1, the eyelid adjustment mechanism 4 is used to drive the two eyelid structures 3 to flip synchronously, realize the opening and closing of the eyelids, and cooperate with the eyeball structure 2 to produce a smart effect, and the eyeball adjustment mechanism 5 is used to drive the two eyeball structures 2 to move synchronously, realize the up and down, left and right rotation of the eyeballs and hovering at any position of the entire spherical surface, thereby making the bionic mechanical eye movements infinitely close to reality and meeting the interactive needs.

[0025] In order to realize the synchronous flipping of the two eyelid structures 3 and the opening and closing of the eyelids, the structure of the eyelid adjustment mechanism 4 is refined as follows: the eyelid adjustment mechanism 4 includes a positioning frame 45 symmetrically fixedly connected to the outer wall of the head skeleton 1, the two eyelid structures 3 are rotatably connected to the side walls of the two positioning frames 45, one side of the rotating shaft of the two eyelid structures 3 is fixedly connected to the third eyelid connecting rod 44, the outer wall of the head skeleton 1 is fixedly installed with an eyelid power motor 41, the output shaft of the eyelid power motor 41 is fixedly connected to the first eyelid connecting rod 42, and the first eyelid connecting rod 42 A movable groove is opened on the side wall, and the outer wall of the third eyelid connecting rod 44 is rotatably connected to the second eyelid connecting rod 43, and a sliding rod is fixedly connected to a position near the lower end of one side of the second eyelid connecting rod 43, and the sliding rod is slidably connected to the inner wall of the movable groove. After the eyelid power motor 41 is started, its output shaft drives the first eyelid connecting rod 42 to rotate, and the sliding rod slides along the inner wall of the movable groove, so that the first eyelid connecting rod 42 drives the eyelid structure 3 to rotate through the second eyelid connecting rod 43 and the third eyelid connecting rod 44, driving the two eyelid structures 3 to flip synchronously, and cooperating with the eyeball structure 2 to produce a smart effect.

[0026] In order to realize the up and down, left and right rotation of the two eyeball structures 2 and hovering at any position of the entire spherical surface, the structure of the eyeball adjustment mechanism 5 is refined as follows: the eyeball adjustment mechanism 5 includes three straight rod ball head bearings 57 fixedly installed on one side of the eyeball structure 2, one side of the straight rod ball head bearing 57 is fixedly connected with a positive and negative thread screw 56, the outer wall of the head skeleton 1 is fixedly connected with an external frame 59, one of the positive and negative thread screws 56 is threadedly connected to the side wall of the external frame 59, and one end of the other two positive and negative thread screws 56 is fixedly connected with a bent rod ball head bearing 55, the eyeball structure 2 is fixed to the head skeleton 1 by the positive and negative thread screws 56 and the straight rod ball head bearings 57, so as to realize the universal movement of the eyeball structure 2, four tension springs 58 are fixedly connected in a circular array on one side of the eyeball structure 2, one end of the tension spring 58 is fixedly connected to the external frame 59, the four tension springs 58 flexibly fix the eyeball structure 2, and the uniqueness of the origin of the eyeball structure 2 is realized by pulling of the four tension springs 58, so as to avoid disorderly rotation of the eyeball structure 2.

[0027] A second eyeball connecting rod 53 is fixedly connected to one side of the curved rod ball head bearing 55, and a third eyeball connecting rod 54 is rotatably connected to the second eyeball connecting rod 53. The third eyeball connecting rod 54 is rotatably connected to the inner wall of the head skeleton 1. Two eyeball power motors 51 are fixedly installed on the inner wall of the head skeleton 1. The output shaft of the eyeball power motor 51 is fixedly connected to the first eyeball connecting rod 52. One end of the two first eyeball connecting rods 52 are rotatably connected to the two second eyeball connecting rods 53 respectively. The universal connection between the positive and negative thread screw 56 and the second eyeball connecting rod 53 is realized through the curved rod ball head bearing 55. After the eyeball power motor 51 is started, its output shaft drives the first eyeball connecting rod 52 to rotate, and the first eyeball connecting rod 52 drives the second eyeball connecting rod 53 to move along a fixed path under the guidance of the third eyeball connecting rod 54. The second eyeball connecting rod 53 transmits the rotational power to the curved rod ball head bearing 55, and the curved rod ball head bearing 55 drives the positive and negative thread screw 56 to move linearly.

[0028] One of the straight rod ball head bearings 57 is fixedly installed at the center of one side of the eyeball structure 2, and the other two straight rod ball head bearings 57 are respectively arranged in the horizontal direction and the vertical direction of the straight rod ball head bearing 57. The central positioning point, horizontal positioning point and vertical positioning point of the straight rod ball head bearing 57 on the eyeball structure 2 realize the universal connection between the positive and negative thread screw 56 and the eyeball structure 2. One of the eyeball power motors 51 controls the movement of the two straight rod ball head bearings 57 located at the horizontal positioning point, and the other eyeball power motor 51 controls the movement of the two straight rod ball head bearings 57 located at the vertical positioning point. Based on the tension spring 58 is stably positioned. When the positive and negative threaded screw 56 and the straight rod ball bearing 57 located at the horizontal positioning point move away from the head skeleton 1, the two eyeball structures 2 rotate synchronously to the left, and vice versa. When the positive and negative threaded screw 56 and the straight rod ball bearing 57 located at the vertical positioning point move away from the head skeleton 1, the two eyeball structures 2 rotate synchronously downward, and vice versa. Similarly, when the output shafts of the two eyeball power motors 51 rotate at different angles, making the strokes of the straight rod ball bearings 57 located at the horizontal positioning point and the vertical positioning point different, the eyeball structure 2 can rotate to any direction.

[0029] In summary, the working principle of this scheme is as follows: when the eyelids need to be opened and closed, the eyelid power motor 41 is started, and its output shaft drives the first eyelid connecting rod 42 to rotate, and the sliding rod slides along the inner wall of the movable groove, so that the first eyelid connecting rod 42 drives the eyelid structure 3 to rotate through the second eyelid connecting rod 43 and the third eyelid connecting rod 44, and drives the two eyelid structures 3 to flip synchronously, and cooperate with the eyeball structure 2 to produce a smart effect. When the direction of the eyeball's vision needs to be adjusted, the eyeball power motor 51 located above is started, so that the positive and negative threaded screws 56 and the straight rod ball head bearing 57 located at the horizontal positioning point move away from each other. The head skeleton 1 moves in the same direction, and the two eyeball structures 2 rotate synchronously to the left, and vice versa to the right. The eyeball power motor 51 located below is started to make the positive and negative threaded screws 56 and the straight rod ball head bearing 57 located at the vertical positioning point move away from the head skeleton 1, and the two eyeball structures 2 rotate downward synchronously, and vice versa. When the rotation angles of the output shafts of the two eyeball power motors 51 are different, making the strokes of the straight rod ball head bearings 57 located at the horizontal positioning point and the vertical positioning point different, the eyeball structure 2 can be rotated to any direction to achieve arbitrary adjustment of the visual direction of the eyeball.

[0030] The above shows and describes the basic principle, main features and advantages of the utility model. Those skilled in the art should understand that the utility model is not limited by the above embodiments. The above embodiments and descriptions are only preferred examples of the utility model and are not used to limit the utility model. Without departing from the spirit and scope of the utility model, the utility model may have various changes and improvements, which fall within the scope of the utility model to be protected. The scope of protection of the utility model is defined by the attached claims and their equivalents.

Claims

1. An eye linkage device used in the field of mechanical bionics, comprising a head skeleton (1), characterized in that: Two eyeball structures (2) are symmetrically arranged on one side of the head skeleton (1), an eyelid structure (3) is sleeved on the outer side of the eyeball structure (2), and an eyelid adjustment mechanism (4) and an eyeball adjustment mechanism (5) are arranged on the head skeleton (1), the eyelid adjustment mechanism (4) is used to drive the two eyelid structures (3) to flip synchronously, and the eyeball adjustment mechanism (5) is used to drive the two eyeball structures (2) to move synchronously.

2. The eye linkage device applied to the field of mechanical bionics according to claim 1, characterized in that: The eyelid adjustment mechanism (4) comprises a positioning frame (45) symmetrically fixedly connected to the outer wall of the head skeleton (1); the two eyelid structures (3) are rotatably connected to the side walls of the two positioning frames (45) respectively; and a third eyelid connecting rod (44) is fixedly connected to one side of the rotation axis of the two eyelid structures (3).

3. The eye linkage device applied to the field of mechanical bionics according to claim 2, characterized in that: An eyelid power motor (41) is fixedly mounted on the outer wall of the head skeleton (1); an output shaft of the eyelid power motor (41) is fixedly connected to a first eyelid connecting rod (42); a movable groove is provided on the side wall of the first eyelid connecting rod (42); an outer wall of the third eyelid connecting rod (44) is rotatably connected to a second eyelid connecting rod (43); a sliding rod is fixedly connected to a position near the lower end of one side of the second eyelid connecting rod (43); and the sliding rod is slidably connected to the inner wall of the movable groove.

4. The eye linkage device applied to the field of mechanical bionics according to claim 1, characterized in that: The eyeball adjustment mechanism (5) comprises three straight rod ball head bearings (57) fixedly mounted on one side of the eyeball structure (2), one side of the straight rod ball head bearing (57) is fixedly connected to a positive and negative thread screw (56), the outer wall of the head skeleton (1) is fixedly connected to an external frame (59), one of the positive and negative thread screws (56) is threadedly connected to the side wall of the external frame (59), and one end of the other two positive and negative thread screws (56) is fixedly connected to a curved rod ball head bearing (55), and one side of the eyeball structure (2) is fixedly connected to four tension springs (58) in an annular array, and one end of the tension spring (58) is fixedly connected to the external frame (59).

5. The eye linkage device applied to the field of mechanical bionics according to claim 4, characterized in that: A second eyeball connecting rod (53) is fixedly connected to one side of the curved rod ball head bearing (55); a third eyeball connecting rod (54) is rotatably connected to the second eyeball connecting rod (53); the third eyeball connecting rod (54) is rotatably connected to the inner wall of the head skeleton (1); two eyeball power motors (51) are fixedly installed on the inner wall of the head skeleton (1); an output shaft of the eyeball power motor (51) is fixedly connected to a first eyeball connecting rod (52); one end of the two first eyeball connecting rods (52) are rotatably connected to the two second eyeball connecting rods (53) respectively.

6. The eye linkage device applied to the field of mechanical bionics according to claim 4, characterized in that: One of the straight rod ball head bearings (57) is fixedly mounted at the center of one side of the eyeball structure (2), and the other two straight rod ball head bearings (57) are respectively arranged in the horizontal direction and the vertical direction of the straight rod ball head bearing (57).

7. The eye linkage device applied to the field of mechanical bionics according to claim 5, characterized in that: The straight rod ball bearing (57) realizes the universal connection between the positive and negative threaded screw (56) and the eyeball structure (2), and the curved rod ball bearing (55) realizes the universal connection between the positive and negative threaded screw (56) and the second eyeball connecting rod (53).

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