Eyeball structure of bionic robot and bionic robot

Abstract

According to the eyeball structure of the biomimetic robot and the biomimetic robot, in the eyeball structure of the biomimetic robot, the eyelids, the eyeballs and the driving motor are tightly arranged around the eyeball support, the overall structure is compact and simple, excessive space in the head of the robot is not occupied, and the safety of the robot is improved. The method is particularly suitable for the bionic robot corresponding to equal-proportion reduction of a human body model, production, assembly and after-sales maintenance are easy, and the overall cost is reduced. In addition, a rotating shaft of the eyelids is coaxial with an output shaft of the driving motor, lagging and noise generated during transmission of the transmission mechanism are reduced to the maximum extent, the transmission efficiency is improved, friction resistance is reduced, and the humanoid effect of the bionic robot is more natural and vivid.

Description

Technical Field

[0001] The present application relates to the technical field of bionic robots, and in particular to an eyeball structure of a bionic robot and a bionic robot. Background Art

[0002] A bionic robot, also known as a bionic human, is a robot designed to mimic human appearance and behavior, specifically one with a human-like physique. The bionic structure of a humanoid robot's eyes is generally designed as a rotatable eyeball structure, which can realize the functions of opening, closing, and blinking. A Chinese patent with authorization publication number CN218255167U discloses an internal control device for simulating the eyeball movements of a robot. The device uses a controller to precisely control the operation of the servo, and thus precisely control the swing amplitude of the rocker arm. It can precisely control the angle and speed of the opening and closing rotation of the simulated eyelid shell, and can more realistically simulate the fine control of blinking to match various emotions. In the above patent, the simulated eyelid shell is designed to be coaxial with the simulated eyeball, and the servo needs to control the simulated eyelid shell through the rocker arm. The structure is not compact enough and the entire device is too large. If it is applied to a bionic robot that is proportionally reduced to the corresponding human model, the overall size of the bionic robot's head must be increased, which will affect the aesthetics of the bionic robot. Utility Model Content

[0003] This application provides an eyeball structure of a bionic robot and a bionic robot. The specific technical solutions are as follows:

[0004] A bionic robot eyeball structure comprises an eyeball, an eyeball support, a drive motor, and an eyelid, wherein the eyeball is fixedly mounted on the eyeball assembly position of the eyeball support, the drive motor is fixedly mounted on the motor assembly position of the eyeball support, the eyelid is rotatably mounted on the eyeball support and covers the eyeball, the rotation axis of the eyelid is coaxial with the output shaft of the drive motor, and the eyelid rotates with the drive motor.

[0005] Furthermore, the eyelid includes a first assembly position and a second assembly position, the first assembly position is connected to the output shaft of the drive motor, and the second assembly position is installed on the eyelid assembly position of the eyeball bracket through a bearing.

[0006] Furthermore, the eyeball structure of the bionic robot includes an eyelid positioning seat, the eyelid positioning seat includes a spline structure and a motor output shaft assembly position, the spline structure is engaged with the groove structure on the first assembly position of the eyelid, and the motor output shaft assembly position is used to install the output shaft of the drive motor.

[0007] Furthermore, the eyeball structure of the bionic robot includes an eyelid limiter, which is connected to the eyelid positioning seat through a bearing, and then the eyelid limiter is fixedly assembled on the eyeball bracket, wherein the eyelid positioning seat includes a protruding structure that can be assembled with a bearing.

[0008] Furthermore, the inner ring of the bearing is fixedly assembled on the raised structure of the eyelid positioning seat, and the outer ring of the bearing is fixedly assembled on the eyelid limiter, so that the eyelid limiter is connected to the eyelid positioning seat through the bearing.

[0009] Furthermore, the eyeball includes a display screen, a transparent cover and an eyeball cover, wherein the display screen is fixedly mounted on the eyeball assembly position of the eyeball bracket, the transparent cover is arranged on the display screen, and the eyeball cover is fixedly mounted on the eyeball bracket and serves to limit and fix the display screen and the transparent cover.

[0010] Furthermore, when the eyeball cover is fixedly mounted on the eyeball bracket, the eyeball cover and the eyeball assembly position of the eyeball bracket form an accommodating cavity, and the display screen and the transparent cover are arranged in the accommodating cavity.

[0011] Furthermore, the eyeball structure of the bionic robot includes an angle sensor, which is coaxially assembled on the output shaft of the drive motor and is arranged between the drive motor and the eyelid positioning seat.

[0012] Furthermore, the eyeball structure of the bionic robot includes a drive motor pressure plate, which is fixedly mounted on the eyeball bracket and serves to limit and fix the drive motor.

[0013] A bionic robot comprises an eyeball structure of the bionic robot. The eyeball structure of the bionic robot is detachably mounted in the head space of the bionic robot via a mounting structure on an eyeball bracket.

[0014] The eyeball structure of the bionic robot described in this application features an eyelid, eyeball, and drive motor tightly arranged around an eyeball support. This creates a compact and simple overall structure that does not occupy excessive space within the robot's head. This makes it particularly suitable for bionic robots scaled down to the same scale as a humanoid model. Furthermore, it facilitates production, assembly, and after-sales maintenance, reducing overall costs. Furthermore, the eyelid's rotating axis is coaxial with the drive motor's output shaft, minimizing transmission lag and noise, improving transmission efficiency, and reducing frictional resistance, resulting in a more natural and realistic anthropomorphic effect for the bionic robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1This is a schematic diagram of an exploded view of the eyeball structure of a bionic robot described in an embodiment of the present application.

[0016] Figure 2 This is a schematic cross-sectional view of the eyeball structure of a bionic robot according to an embodiment of the present application. DETAILED DESCRIPTION

[0017] The following will be combined with the accompanying drawings in the embodiments of the present application to describe the technical solutions in detail. It should be understood that the specific embodiments described below are only used to explain the present application and are not used to limit the present application.

[0018] In the following description, specific details are given to provide a thorough understanding of the embodiments. However, those skilled in the art will appreciate that the embodiments can be practiced without these specific details. For example, circuits may be shown in block diagrams so as not to obscure the embodiments with unnecessary detail. In other cases, well-known circuits, structures, and techniques may not be shown in detail so as not to obscure the embodiments.

[0019] Throughout this specification, reference to terms such as "one embodiment," "some embodiments," "examples," "specific examples," or "some examples" means that a specific feature, structure, material, or characteristic described in conjunction with that embodiment or example is included in at least one embodiment or example of the present application. In this specification, schematic representations of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

[0020] A bionic robot, also known as a bionic human, is a robot designed to mimic human appearance and behavior, specifically one with a human-like physique. The bionic structure of a humanoid robot's eyes is generally designed as a rotatable eyeball structure, which can realize the functions of opening, closing, and blinking. A Chinese patent with authorization publication number CN218255167U discloses an internal control device for simulating the eyeball movements of a robot. The device uses a controller to precisely control the operation of the servo, and thus precisely control the swing amplitude of the rocker arm. It can precisely control the angle and speed of the opening and closing rotation of the simulated eyelid shell, and can more realistically simulate the fine control of blinking to match various emotions. In the above patent, the simulated eyelid shell is designed to be coaxial with the simulated eyeball, and the servo needs to control the simulated eyelid shell through the rocker arm. The structure is not compact enough and the entire device is too large. If it is applied to a bionic robot that is proportionally reduced to the corresponding human model, the overall size of the bionic robot's head must be increased, which will affect the aesthetics of the bionic robot.

[0021] In order to solve the above technical problems, an embodiment of the present application provides an eyeball structure of a bionic robot, in which the eyelids, eyeball and drive motor are tightly arranged around the eyeball bracket. The overall structure is relatively compact and simple, and does not occupy too much space inside the robot's head. It is particularly suitable for bionic robots that are proportionally scaled down to the same size as a human body model. It is also easy to produce, assemble and maintain after sales, reducing overall costs.

[0022] like Figure 1 and Figure 2 As shown, the eyeball structure of the bionic robot includes an eyeball 10, an eyeball bracket 20, a drive motor 30 and an eyelid 40, wherein the eyeball 10 is fixedly mounted on the eyeball assembly position 21 of the eyeball bracket 20, the drive motor 30 is fixedly mounted on the motor assembly position 22 of the eyeball bracket 20, the eyelid 40 is rotatably mounted on the eyeball bracket 20 and covered on the eyeball 10, the rotation axis of the eyelid 40 is coaxial with the output shaft of the drive motor 30, and the eyelid 40 rotates with the drive motor 30.

[0023] As one embodiment, the eyelid 40 includes a first assembly position 41 and a second assembly position 42, the first assembly position 41 is connected to the output shaft of the drive motor 30, and the second assembly position 42 is installed on the eyelid assembly position 23 of the eyeball bracket 20 through a bearing (not shown in the figure).

[0024] As one embodiment, the eyeball structure of the bionic robot includes an eyelid positioning seat 50, and the eyelid positioning seat 50 includes a spline structure 51 and a motor output shaft assembly position 52. The spline structure 51 is engaged with the groove structure on the first assembly position 41 of the eyelid 40, and the motor output shaft assembly position 52 is used to install the output shaft of the drive motor 30.

[0025] In one embodiment, the eyeball structure of the bionic robot includes an eyelid stopper 60, which is connected to the eyelid positioning seat 50 via a bearing 61. The eyelid stopper 60 is then fixedly mounted on the eyeball support 20. The eyelid positioning seat 50 includes a raised structure 53 that can be assembled with a bearing. The inner ring of the bearing 61 is fixedly mounted on the raised structure 53 of the eyelid positioning seat 50, and the outer ring of the bearing 61 is fixedly mounted on the eyelid stopper 60, thereby connecting the eyelid stopper 60 to the eyelid positioning seat 50 via the bearing 61. The eyelid stopper 60 serves to secure the eyelid 40.

[0026] In one embodiment, the eyeball 10 includes a display screen 11, a transparent cover 12, and an eyeball cover 13, wherein the display screen 11 is fixedly mounted on the eyeball assembly position 21 of the eyeball support 20, the transparent cover 12 is placed on the display screen 11, and the eyeball cover 13 is fixedly mounted on the eyeball support 20 and serves to limit and fix the display screen 11 and the transparent cover 12. When the eyeball cover 13 is fixedly mounted on the eyeball support 20, the eyeball cover 13 and the eyeball assembly position of the eyeball support 20 form a receiving cavity, and the display screen 11 and the transparent cover 12 are disposed in the receiving cavity and fixedly connected to a limiting ring provided on the inner wall of the eyeball cover 13.

[0027] As one embodiment, the eyeball structure of the bionic robot includes an angle sensor 70 , which is coaxially mounted on the output shaft of the drive motor 30 and is disposed between the drive motor 30 and the eyelid positioning seat 50 .

[0028] As one embodiment, the eyeball structure of the bionic robot includes a drive motor pressure plate 31 , which is fixedly mounted on the eyeball bracket 20 and serves to limit and fix the drive motor 30 .

[0029] It should be noted that the eyelid 40 does not make any contact with the display screen 11, transparent cover 12, eyeball cover 13, or eyeball support 20 during rotation. When the output shaft of the drive motor 30 rotates, only the eyelid 40, the eyelid positioning seat 50, and the bearings at both ends rotate with the drive motor 30; the other structural components remain stationary. The rotation axis of the eyelid 40 is coaxial with the output shaft of the drive motor 30, minimizing transmission lag and noise, improving transmission efficiency, and reducing frictional resistance, resulting in a more natural and realistic anthropomorphic effect for the bionic robot.

[0030] An embodiment of the present application provides a bionic robot, comprising an eye structure. The eye structure is detachably mounted within the head space of the bionic robot via a mounting structure on an eye support. The bionic robot has an eye structure mounted on each of its left and right eyes, enabling the robot to express a variety of facial expressions through the display screen 11 and eyelids 40, thereby enhancing the robot's anthropomorphism.

[0031] Obviously, the above-mentioned embodiments are only some of the embodiments of the present application, rather than all of the embodiments, and the technical solutions between the various embodiments can be combined with each other. In addition, if the terms "center", "up", "down", "left", "right", "vertical", "horizontal", "inside", "outside" and the like appear in the embodiments, the orientation or position relationship indicated is based on the orientation or position relationship shown in the accompanying drawings, which is only for the convenience of describing the present application and simplifying the description, and does not indicate or imply that the device or element referred to must have a specific orientation or be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present application. If the terms "first", "second", "third" and the like appear in the embodiments, it is to facilitate the distinction between related features and cannot be understood as indicating or implying their relative importance, order or number of technical features.

[0032] In addition, in the description of this application, unless otherwise specified or limited, the terms "mounted," "connected," and "connected" should be understood in a broad sense. For example, they can refer to fixed connections, detachable connections, or integral connections; mechanical connections or electrical connections; direct connections or indirect connections through an intermediate medium; and internal connections between two components. Those skilled in the art will understand the specific meanings of the above terms in this application based on the specific circumstances.

[0033] Although the embodiments of the present application have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions, and variations may be made to these embodiments without departing from the principles and spirit of the present application, and the scope of the present application is defined by the appended claims and their equivalents. The above description is only the preferred embodiment of the present application and is not intended to limit the present application. For those skilled in the art, various changes and variations may be made to the present application. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present application shall be included in the scope of protection of the present application.

Claims

1. A bionic robot eyeball structure, characterized in that: The eyeball structure of the bionic robot includes an eyeball, an eyeball support, a driving motor and an eyelid, wherein: The eyeball is fixedly mounted on the eyeball assembly position of the eyeball bracket, and the drive motor is fixedly mounted on the motor assembly position of the eyeball bracket. The eyelid is rotatably mounted on the eyeball support and covers the eyeball. The rotation axis of the eyelid is coaxial with the output axis of the drive motor, and the eyelid rotates with the drive motor.

2. The eyeball structure of a bionic robot according to claim 1, characterized in that: The eyelid includes a first assembly position and a second assembly position, the first assembly position is connected to the output shaft of the drive motor, and the second assembly position is installed on the eyelid assembly position of the eyeball bracket through a bearing.

3. The eyeball structure of a bionic robot according to claim 2, characterized in that: The eyeball structure of the bionic robot includes an eyelid positioning seat, which includes a spline structure and a motor output shaft assembly position. The spline structure is engaged with the groove structure on the first assembly position of the eyelid, and the motor output shaft assembly position is used to install the output shaft of the drive motor.

4. The eyeball structure of a bionic robot according to claim 3, characterized in that: The eyeball structure of the bionic robot includes an eyelid limiter, which is connected to the eyelid positioning seat through a bearing, and then the eyelid limiter is fixedly assembled on the eyeball bracket, wherein the eyelid positioning seat includes a protruding structure that can be assembled with a bearing.

5. The eyeball structure of a bionic robot according to claim 4, characterized in that: The inner ring of the bearing is fixedly assembled on the raised structure of the eyelid positioning seat, and the outer ring of the bearing is fixedly assembled on the eyelid limiting member, so that the eyelid limiting member is connected to the eyelid positioning seat through the bearing.

6. The eyeball structure of a bionic robot according to claim 1, characterized in that: The eyeball includes a display screen, a transparent cover and an eyeball cover, wherein the display screen is fixedly mounted on the eyeball assembly position of the eyeball bracket, the transparent cover is arranged on the display screen, and the eyeball cover is fixedly mounted on the eyeball bracket and serves to limit and fix the display screen and the transparent cover.

7. The eyeball structure of a bionic robot according to claim 6, characterized in that: When the eyeball cover is fixedly mounted on the eyeball bracket, the eyeball cover and the eyeball assembly position of the eyeball bracket form an accommodating cavity, and the display screen and the transparent cover are arranged in the accommodating cavity.

8. The eyeball structure of a bionic robot according to claim 3, characterized in that: The eyeball structure of the bionic robot includes an angle sensor, which is coaxially assembled on the output shaft of the drive motor and is arranged between the drive motor and the eyelid positioning seat.

9. The eyeball structure of a bionic robot according to claim 1, characterized in that: The eyeball structure of the bionic robot includes a driving motor pressure plate, which is fixedly mounted on the eyeball bracket and serves to limit and fix the driving motor.

10. A bionic robot, characterized in that: The bionic robot comprises the eyeball structure of the bionic robot according to any one of claims 1 to 9, and the eyeball structure of the bionic robot is detachably mounted in the head space of the bionic robot via the mounting structure on the eyeball bracket.

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