Bionic eyeball assembly and bionic robot

Abstract

The utility model relates to the technical field of robots, in particular to a bionic eyeball assembly and a bionic robot. A sensing module is installed in the center area of the bionic eye and used for obtaining information such as images. The driving device is used for providing power for movement of the bionic eyes; the driving device is connected with the bionic eye through a linkage mechanism, and the power input end of the linkage mechanism is connected with the driving end of the driving device; the power output end of the linkage mechanism is eccentrically connected with the bionic eye so as to drive the bionic eye to rotate on the horizontal plane and the vertical plane correspondingly. Meanwhile, the power output end of the linkage mechanism is eccentrically connected with the bionic eye, the area of the center of the bionic eye can be vacated to be used for installing the sensing module, and then wanted information is obtained through the sensing module.

Description

Technical Field

[0001] The utility model relates to the technical field of robots, in particular to a bionic eyeball assembly and a bionic robot. Background Art

[0002] The bionic humanoid robot eyeball has two degrees of freedom. At present, since the size of the robot eyeball needs to be approximately the same as that of a normal person, there is not enough space inside the robot eyeball to arrange a camera while ensuring two degrees of freedom.

[0003] Most of the existing bionic eyeball mechanical structures deploy a ball head structure in the exact middle to enable the eyeball to rotate on the ball head structure, but in this way, the deployment of the camera cannot be achieved; there is also a type that drives through gears deployed on both sides of the eyeball, but the gears in two directions have the following problems: First, the failure rate is high; second, the processing is difficult; third, the processing cost is high; fourth, whether the movement process is suitable needs to consider the gear position to prevent interference phenomena such as gear jamming. Summary of the Utility Model

[0004] To solve the problem that the current bionic eyeball structure design is relatively unreasonable, the utility model provides a bionic eyeball assembly and a bionic robot.

[0005] The technical solution of the utility model is as follows:

[0006] On the one hand, the utility model provides a bionic eyeball assembly, which is characterized in that it includes a bionic eye;

[0007] A sensing module installed in the central area of the bionic eye;

[0008] A driving device for providing power;

[0009] A linkage mechanism, the power input end of the linkage mechanism is connected to the driving end of the driving device; the power output end of the linkage mechanism is eccentrically connected to the bionic eye to be adapted to drive the bionic eye to rotate in the horizontal plane and the vertical plane respectively.

[0010] Further, the linkage mechanism includes a first parallelogram linkage mechanism and a second parallelogram linkage mechanism; the driving device drives the first parallelogram linkage mechanism to drive the bionic eye to rotate along a preset route in the horizontal plane; the driving device drives the second parallelogram linkage mechanism to drive the bionic eye to rotate along a preset route in the vertical plane.

[0011] Furthermore, the first parallelogram linkage mechanism includes two first connecting rods arranged opposite to each other and a first active rod connecting the two; the free ends of the two first connecting rods are respectively connected to the bionic eye with ball heads; the driving device is connected to the center of the first active rod to be suitable for driving the bionic eye to rotate along a preset route in a horizontal plane.

[0012] Furthermore, the second parallelogram linkage mechanism includes two second connecting rods arranged opposite to each other and a second active rod connecting the two; the free ends of the two second connecting rods are respectively connected to the bionic eye with ball heads; the driving device is connected to the center of the second active rod to be suitable for driving the bionic eye to rotate along a preset route in a vertical plane.

[0013] Further, the length of the second connecting rod is greater than the length of the first connecting rod or the length of the second connecting rod is less than the length of the first connecting rod.

[0014] Furthermore, a notch is provided on one of the first connecting rods to avoid the second parallelogram connecting rod mechanism.

[0015] Furthermore, a first plane formed by two of the first connecting rods is parallel to a horizontal plane and passes through the center of the bionic eye; and a second plane formed by two of the second connecting rods intersects with and is perpendicular to the first plane.

[0016] Furthermore, the power output end of the linkage mechanism is staggered with the sensor module.

[0017] Furthermore, the driving device includes a first driving mechanism and a second driving mechanism; the first driving mechanism is drivingly connected to the first parallelogram linkage mechanism; and the second driving mechanism is connected to the second parallelogram linkage mechanism.

[0018] According to another aspect of the utility model, a bionic robot is provided, which is characterized by comprising a bionic robot body and two groups of bionic eyeball assemblies as described above arranged side by side.

[0019] The beneficial effects achieved by the utility model are:

[0020] The bionic eyeball assembly of the present utility model includes a bionic eye; a sensing module is installed in the central area of the bionic eye for acquiring information such as images; it further includes a driving device for providing power for the movement of the bionic eye; the driving device is connected to the bionic eye through a linkage mechanism, and the power input end of the linkage mechanism is connected to the driving end of the driving device; the power output end of the linkage mechanism is eccentrically connected to the bionic eye to be adapted to drive the bionic eye to rotate in the horizontal plane and the vertical plane respectively; the power output end of the linkage mechanism is eccentrically connected to the bionic eye, so that the central area of the bionic eye can be vacated for installing the sensing module; the sensing module can be, for example, a camera or a video camera. When the camera or the video camera is installed in the central area of the bionic eye, it is convenient to control it to obtain a suitable field of view; when it is necessary to control the sensing module, that is, to control the turning of the bionic eye, the driving device is used to drive the linkage mechanism, and the power output end of the linkage mechanism drives the bionic eye to rotate in the horizontal plane and the vertical plane respectively according to the user's needs; or control the bionic eye to rotate along a preset route in the horizontal plane and the vertical plane at the same time, and then obtain the desired information through the sensing module. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] The accompanying drawings here are incorporated into the description and form a part of this description, showing embodiments consistent with the present application, and are used together with the description to explain the principles of the present application.

[0022] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the accompanying drawings required for the description of the embodiments or the prior art. Obviously, for those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0023] One or more embodiments are exemplarily illustrated by the pictures in the corresponding accompanying drawings. These exemplary illustrations do not limit the embodiments. Elements with the same reference numerals in the drawings are represented as similar elements, unless otherwise stated, the drawings in the drawings do not constitute a proportional limitation.

[0024] Figure 1 is the first three-dimensional structure schematic diagram of Embodiment 1 of the present application;

[0025] Figure 2 is the side view of Embodiment 1 of the present application;

[0026] Figure 3 is the second three-dimensional structure schematic diagram of Embodiment 1 of the present application;

[0027] Figure 4 is the mating structure schematic diagram of two sets of Embodiment 1 of the present application;

[0028] Figure 5 is the first three-dimensional structure schematic diagram of Embodiment 2 of the present application;

[0029] Figure 6 It is the second three-dimensional structure schematic diagram of the second embodiment of the present application.

[0030] In the figure,

[0031] 100, bionic eye; 200, sensing module; 300, driving device; 400, linkage mechanism; 500, bionic robot body; 110, eyeball platform; 120, eyeball housing; 310, first driving mechanism: 320, second driving mechanism; 410, first parallelogram link mechanism; 420, second parallelogram link mechanism; 411, first link; 4110, notch; 412, first driving rod; 421, second link; 422, second driving rod. Detailed implementation manners

[0032] To make the objectives, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are some but not all of the embodiments of the present application. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present application without creative efforts shall fall within the protection scope of the present application.

[0033] The following disclosure provides many different embodiments or examples for implementing different structures of the present application. To simplify the disclosure of the present application, components and settings of specific examples are described below. Of course, they are only examples and are not intended to limit the present application. In addition, the present application may repeat reference numerals and / or letters in different examples. This repetition is for the purpose of simplification and clarity and does not itself indicate the relationship between the various embodiments and / or settings discussed.

[0034] For ease of description, spatial relative relationship terms may be used in the text to describe the relative position relationship or movement of one element or feature shown in the figure with respect to another element or feature. These relative relationship terms are, for example, "inside", "outside", "inner side", "outer side", "below", "beneath", "above", "upper", "front", "rear", etc. Such spatial relative relationship terms are intended to include different orientations of the device during use or operation other than the orientations depicted in the figure. For example, if the device in the figure undergoes a position flip, attitude change, or motion state change, then these directional indications will change accordingly. For example, an element described as "below other elements or features" or "beneath other elements or features" will then be oriented as "above other elements or features" or "on top of other elements or features". Therefore, the exemplary term "below" can include both upper and lower orientations. The device may be oriented otherwise (rotated 90 degrees or in other directions) and the spatial relative relationship descriptors used in the text are interpreted accordingly.

[0035] Embodiment 1

[0036] An embodiment of the present application discloses a bionic eyeball assembly and a bionic robot, characterized by including a bionic eye 100; a sensing module 200 is installed in the central region of the bionic eye 100 for acquiring information such as images; a driving device 300 is further included, which is used to provide power for the movement of the bionic eye 100; the driving device 300 and the bionic eye 100 are connected by a linkage mechanism 400, and the power input end of the linkage mechanism 400 is connected to the driving end of the driving device 300; the power output end of the linkage mechanism 400 is eccentrically connected to the bionic eye 100, so as to be adapted to (the term "adapted to" can be understood as "can" and can be understood as in one of the use states) drive the bionic eye 100 to rotate in the horizontal plane and the vertical plane respectively.

[0037] In this embodiment, the power output end of the linkage mechanism 400 is eccentrically connected to the bionic eye 100. Here, the eccentricity can be understood as being set deviating from the central region of the bionic eye 100. For specific reference, please refer to the appendix Figure 2-3; In this way, the area in the center of the bionic eye 100 can be freed up for installing the sensor module 200; the sensor module 200 can be, for example, a camera or a camera. When the camera or the camera is installed in the center area of the bionic eye 100, it is convenient to control it to obtain a suitable field of view; of course, in addition to the camera or the camera, the sensor module 200 can also include other sensors, such as infrared sensors, temperature sensors, thermal imaging sensors, etc. Different sensors can be arranged according to the required functions, and no limitation is made here; when it is necessary to control the steering of the sensor module 200, that is, the bionic eye 100, the linkage mechanism 400 is driven by the driving device 300, and the power output end of the linkage mechanism 400 drives the bionic eye 100 to rotate on the horizontal plane and the vertical plane respectively according to the user's needs; or the bionic eye 100 is controlled to rotate along a preset route on the horizontal plane and the vertical plane at the same time, and then the desired information is obtained through the sensor module 200. The desired information may include but is not limited to a specified visual area, temperature information, etc.

[0038] In an optional embodiment, the power output end of the linkage mechanism 400 is staggered with the sensor module 200 to ensure that the sensor module 200 has enough space for installation and does not interfere with the power output end of the linkage mechanism 400 and the sensor module 200.

[0039] In an optional embodiment, the linkage mechanism 400 includes a first parallelogram linkage mechanism 410 and a second parallelogram linkage mechanism 420; the driving device 300 drives the first parallelogram linkage mechanism 410 to drive the bionic eye 100 to rotate along a preset route on a horizontal plane; the driving device 300 drives the second parallelogram linkage mechanism 420 to drive the bionic eye 100 to rotate along a preset route on a vertical plane.

[0040] In this embodiment, the linkage mechanism 400 is configured to include a first parallelogram linkage mechanism 410 and a second parallelogram linkage mechanism 420, so as to respectively realize the purpose of rotating the bionic eye 100 along a preset route on the horizontal plane through the first parallelogram linkage mechanism 410, and the purpose of driving the bionic eye 100 to rotate along a preset route on the vertical plane through the second parallelogram linkage mechanism 420; so that the bionic eye 100 can rotate on the horizontal plane alone, can also rotate on the vertical plane, and can also make the rotation on the horizontal plane and the rotation on the vertical plane be carried out simultaneously; to achieve free movement in two degrees of freedom; and the parallelogram linkage mechanism is used to drive the bionic eye 100, so that the embodiment of the present application can also drive the bionic eye 100 to move freely in the directions of two degrees of freedom by connecting the non-central area of the bionic eye 100, and no gear transmission structure is used to ensure that the bionic eye 100 moves smoothly and reliably.

[0041] In an alternative embodiment, the driving device 300 includes a first driving mechanism 310 and a second driving mechanism 320; the first driving mechanism 310 is drivingly connected to a first parallelogram linkage 410; the second driving mechanism 320 is connected to a second parallelogram linkage 420.

[0042] In this embodiment, the first parallelogram linkage 410 and the second parallelogram linkage 420 are respectively driven by the first driving mechanism 310 and the second driving mechanism 320, making the movement process of the bionic eye 100 more reliable and stable; optionally, the first driving mechanism 310 and the second driving mechanism 320 include, but are not limited to, motors or motors.

[0043] In an alternative embodiment, the first parallelogram linkage 410 includes two first link rods 411 arranged oppositely and a first driving rod 412 connecting the two; the free ends of the two first link rods 411 are respectively connected to the bionic eye 100 by spherical joints; the driving device 300 is connected to the center of the first driving rod 412 to be adapted to drive the bionic eye 100 to rotate along a preset route in the horizontal plane.

[0044] In this embodiment, for the convenience of understanding and reading, the connection between each first link rod 411 and the bionic eye 100 is hereinafter referred to as the first bionic eye connection point; the connection line between the two first bionic eye connection points and the first driving rod 412 form one set of opposite sides of the first parallelogram linkage 410; the two first link rods 411 form the other set of opposite sides of the first parallelogram linkage 410; and since the first bionic eye connection points are all spherical joint connections, when the driving device 300 drives the first driving rod 412, it can drive the bionic eye 100 to rotate along a preset route in the horizontal plane.

[0045] In an alternative embodiment, the second parallelogram linkage 420 includes two second link rods 421 arranged oppositely and a second driving rod 422 connecting the two; the free ends of the two second link rods 421 are respectively connected to the bionic eye 100 by spherical joints; the driving device 300 is connected to the center of the second driving rod 422 to be adapted to drive the bionic eye 100 to rotate along a preset route in the vertical plane.

[0046] In this embodiment, for the convenience of understanding and reading, the connection between each second link rod 421 and the bionic eye 100 is hereinafter referred to as the second bionic eye connection point; the connection line between the two second bionic eye connection points and the second driving rod 422 form one set of opposite sides of the second parallelogram linkage 420; the two second link rods 421 form the other set of opposite sides of the second parallelogram linkage 420; and since the second bionic eye connection points are all spherical joint connections, when the driving device 300 drives the second driving rod 422, it can drive the bionic eye 100 to rotate along a preset route in the vertical plane.

[0047] In an alternative embodiment, the ball joint connection may include a male ball head and a female ball head. The ball joint rotational connection is achieved through the cooperation of the male and female ball heads, making the rotation process of the bionic eye 100 smoother and more reliable.

[0048] In an alternative embodiment, the length of the second link 421 is greater than the length of the first link 411 or the length of the second link 421 is less than the length of the first link 411.

[0049] In this embodiment, making the lengths of the first link 411 and the second link 421 different facilitates the staggered arrangement between the two.

[0050] In an alternative embodiment, a notch 4110 is provided on one of the first links 411 to avoid the second parallelogram link mechanism 420.

[0051] In this embodiment, a notch 4110 (as shown in Figure 3 ) is provided on at least one of the first links 411, which can facilitate the normal arrangement of the second parallelogram link mechanism 420 and avoid interference between the second parallelogram link mechanism 420 and the first link 411. Specifically, the driving shaft of the driving device 300 passes through the notch 4110, avoiding interference between the driving shaft of the driving device 300 or the second driving rod 422 connected to the driving shaft and the first link 411. It can be understood that a notch can also be provided on the second link 421 to avoid the first parallelogram link mechanism 410. The specific structural design is similar to the first method described above and will not be elaborated here.

[0052] In an alternative embodiment, the first plane formed between the two first links 411 is parallel to the horizontal plane and passes through the center of the bionic eye 100; the second plane formed between the two second links 421 intersects and is perpendicular to the first plane.

[0053] In this embodiment, the first plane formed between the two first links 411 is parallel to the horizontal plane and passes through the center of the bionic eye 100, and at the same time, the second plane formed between the two second links 421 intersects and is perpendicular to the first plane; as shown in Figure 2-4As shown in the figure, the positions of the first bionic eye connection points (the connection between each first link 411 and the bionic eye 100 is called the first bionic eye connection point) and the second bionic eye connection points (the connection between each second link 421 and the bionic eye 100 is called the second bionic eye connection point) are defined. For ease of understanding, the following description is made: the four bionic eye connection points are respectively located at the four endpoints of a "plus" sign (it should be understood that if the bionic eye 100 is not a regular spherical surface, there is no actual intersection point for this "plus" sign); among them, two first bionic eye connection points are arranged opposite to each other, and two second bionic eye connection points are arranged opposite to each other; thus, the driving device 300 drives the first parallelogram link mechanism 410 to move to drive the bionic eye 100 to rotate along a preset route in the horizontal plane; the driving device 300 drives the second parallelogram link mechanism 420 to drive the bionic eye 100 to rotate along a preset route in the vertical plane.

[0054] In an alternative embodiment, the bionic eye 100 includes an eyeball platform 110 and an eyeball housing 120 covering the outside of the eyeball platform 110; the sensing module 200 is installed in the central area of the eyeball platform 110.

[0055] Embodiment 2

[0056] A bionic robot, characterized in that it includes a bionic robot main body 500 and two sets of bionic eyeball assemblies arranged side by side; the two sets of bionic eyeball assemblies are respectively installed at the orbital positions of the robot main body 500; as Figure 5 、 6 shown, in the two sets of bionic eyeball assemblies arranged side by side, the arrangement order from left to right or from right to left is bionic eye - two sets of driving devices - bionic eye; through this structural design method, the purpose of minimizing the occupied space and making the structure most compact during installation can be achieved. It should be understood that Embodiment 2 of the present application includes bionic eyeball assemblies, so it should naturally include all its implementation manners and beneficial effects, which will not be elaborated here.

[0057] It should be understood that the terms used in the text are only for the purpose of describing specific example embodiments and are not intended to be limiting. Unless the context clearly indicates otherwise, the singular forms "a", "an", and "the" as used in the text may also represent the plural form. The terms "include", "comprise", "contain", and "have" are inclusive and thus indicate the presence of the stated features, steps, operations, elements, and / or components, but do not exclude the presence or addition of one or more other features, steps, operations, elements, components, and / or their combinations. The method steps, processes, and operations described in the text are not to be construed as necessarily requiring them to be performed in the specific order described or illustrated, unless the execution order is clearly indicated. It should also be understood that additional or alternative steps may be used.

[0058] Although terms such as first, second, third, etc. may be used herein to describe multiple elements, components, regions, layers, and / or sections, these elements, components, regions, layers, and / or sections should not be limited by these terms. These terms may be used only to distinguish one element, component, region, layer, or section from another region, layer, or section. Unless the context clearly indicates otherwise, terms such as "first", "second", and other numerical terms do not imply an order or sequence when used in this document. Therefore, the first element, component, region, layer, or section discussed below may be referred to as the second element, component, region, layer, or section without departing from the teachings of the exemplary embodiments.

[0059] The above are only specific embodiments of the present application, enabling those skilled in the art to understand or implement the present application. Various modifications to these embodiments will be obvious to those skilled in the art, and the general principles defined herein can be implemented in other embodiments without departing from the spirit or scope of the present application. Therefore, the present application will not be limited to the embodiments shown herein, but rather will conform to the widest scope consistent with the principles and novel features claimed herein.

Claims

1. Bionic eyeball assembly, characterized in that: include A bionic eye (100), the bionic eye (100) comprising an eyeball platform (110) and an eyeball housing (120) arranged outside the eyeball platform (110); A sensor module (200) installed in the central area of the eyeball platform (110); A driving device (300) for providing power; A linkage mechanism (400), wherein a power input end of the linkage mechanism (400) is connected to a driving end of the driving device (300); and a power output end of the linkage mechanism (400) is eccentrically connected to the bionic eye (100) so as to be suitable for driving the bionic eye (100) to rotate on a horizontal plane and a vertical plane respectively.

2. The bionic eyeball assembly according to claim 1, wherein: The linkage mechanism (400) comprises a first parallelogram linkage mechanism (410) and a second parallelogram linkage mechanism (420); the driving device (300) drives the first parallelogram linkage mechanism (410) to drive the bionic eye (100) to rotate along a preset route on a horizontal plane; and the driving device (300) drives the second parallelogram linkage mechanism (420) to drive the bionic eye (100) to rotate along a preset route on a vertical plane.

3. The bionic eyeball assembly according to claim 2, wherein: The first parallelogram linkage mechanism (410) comprises two first connecting rods (411) arranged opposite to each other and a first active rod (412) connecting the two first connecting rods; the free ends of the two first connecting rods (411) are respectively connected to the bionic eye (100) with ball heads; and the driving device (300) is connected to the center of the first active rod (412) so as to be suitable for driving the bionic eye (100) to rotate along a preset route in a horizontal plane.

4. The bionic eyeball assembly according to claim 3, characterized in that: The second parallelogram linkage mechanism (420) comprises two second connecting rods (421) arranged opposite to each other and a second active rod (422) connecting the two second connecting rods; the free ends of the two second connecting rods (421) are respectively connected to the bionic eye (100) with ball heads; the driving device (300) is connected to the center of the second active rod (422) so as to be suitable for driving the bionic eye (100) to rotate along a preset route in a vertical plane.

5. The bionic eyeball assembly according to claim 4, wherein: The length of the second connecting rod (421) is greater than the length of the first connecting rod (411) or the length of the second connecting rod (421) is less than the length of the first connecting rod (411).

6. The bionic eyeball assembly according to claim 4, characterized in that: One of the first connecting rods (411) is provided with a notch (4110) to avoid the second parallelogram connecting rod mechanism (420).

7. The bionic eyeball assembly according to any one of claims 4-6, characterized in that: A first plane formed between the two first connecting rods (411) is parallel to a horizontal plane and passes through the center of the bionic eye (100); and a second plane formed between the two second connecting rods (421) intersects with and is perpendicular to the first plane.

8. The bionic eyeball assembly according to claim 1, characterized in that: The power output end of the linkage mechanism (400) and the sensor module (200) are arranged in a staggered manner.

9. The bionic eyeball assembly according to any one of claims 2-6, characterized in that: The driving device (300) includes a first driving mechanism (310) and a second driving mechanism (320); the first driving mechanism (310) is drivingly connected to the first parallelogram linkage mechanism (410); the second driving mechanism (320) is connected to the second parallelogram linkage mechanism (420).

10. Bionic robot, characterized in that, It includes a bionic robot body (500) and two sets of bionic eyeball assemblies arranged side by side as described in any one of claims 1-9.

Images