Eyeball yaw driving assembly and bionic robot head

Abstract

The utility model relates to the technical field of bionic robots, in particular to an eyeball yaw driving assembly and a bionic robot head. The utility model provides an eyeball yaw driving assembly. The eyeball yaw driving assembly comprises an eyeball yaw driver, a yaw V-shaped connecting rod and a yaw ball head pull rod. The first end of the yaw V-shaped connecting rod is driven by the eyeball yaw driver to move, so that the yaw V-shaped connecting rod rotates, the second end of the yaw V-shaped connecting rod drives the yaw ball head pull rod to push and pull the eyeball body, then the eyeball body rotates leftwards and rightwards around the eyeball support, and due to the arrangement of the yaw V-shaped connecting rod, the eyeball yaw driving assemblies are not located on the same straight line; the space occupied in one direction is reduced, the space utilization rate is increased, the eyeball yaw driving assembly independently drives one eyeball body to move, more eye expressions can be achieved, meanwhile, the bulbs at the two ends of the yaw bulb pull rod can avoid interference on pitching movement of the eyeball bodies, and parallel connection of the freedom degrees of the eyeball bodies is achieved.

Description

TECHNICAL FIELD

[0001] The utility model relates to bionic robot technical field especially is related to a eyeball drift drive subassembly and bionic robot head. BACKGROUND

[0002] With the development of robot industry, service robot is also developing rapidly, humanoid robot as a kind of service robot, it has similar external characteristics with human, need to serve people, can realize some simple human basic action. Psychology research shows that human emotional expression and information exchange more than 60% is realized by non-language, such as expression, eye, head movement etc., among them, head movement and facial expression account for a large proportion. Therefore, in the bionic robot research, head movement and facial expression realization is the important foundation of personification, design a kind of can easily express bionic expression action's robot head has important significance.

[0003] At present, in the driving of bionic robot eye, generally one degree of freedom driving device is on a straight line, resulting in the occupation of head space is too large, affects the installation of other components, and one driving device drives two eyes synchronous movement, makes expression not enough rich. UTILITY MODEL CONTENT

[0004] The utility model aims at providing a eyeball drift drive subassembly and bionic robot head to solve the prior art one degree of freedom driving device is on a straight line, resulting in the occupation of head space is too large, affects the installation of other components, and one driving device drives two eyes synchronous movement, makes expression not enough rich technical problem.

[0005] Firstly, the utility model provides a eyeball drift drive subassembly, sets up in bionic robot head, the eyeball drift drive subassembly includes: eyeball drift drive, drift V type connecting rod and drift ball head pull rod;

[0006] The bionic robot head is provided with eye support and eyeball assembly, the eyeball assembly includes eyeball body, eyeball support and eyeball support seat, the eyeball body is rotatably connected to the eyeball support, and the eyeball body can rotate left and right relative to the eyeball support, the eyeball support is rotatably connected to the eyeball support seat, and the eyeball support can rotate front and back relative to the eyeball support seat, the eyeball drift drive is arranged on the eye support;

[0007] The bending part of the yaw V-shaped connecting rod is rotatably connected to the eyeball support, the output end of the eyeball yaw drive is drivingly connected to the first end of the yaw V-shaped connecting rod, the ball head at one end of the yaw ball head pull rod is connected to the second end of the yaw V-shaped connecting rod, and the ball head at the other end of the yaw ball head pull rod is connected to the eyeball body, so as to drive the eyeball body to rotate around the eyeball support.

[0008] In an optional embodiment, a yaw rocker arm is further included.

[0009] The output end of the eyeball yaw drive is connected to the yaw rocker arm, and the yaw rocker arm is drivingly connected to the first end of the yaw V-shaped connecting rod.

[0010] In an optional embodiment, a yaw straight connecting rod is further included, and the yaw rocker arm is drivingly connected to the first end of the yaw V-shaped connecting rod through the yaw straight connecting rod.

[0011] In an optional embodiment, flange deep groove ball bearings and plug bolts are arranged at both ends of the yaw straight connecting rod, and the plug bolts are arranged in the flange deep groove ball bearings.

[0012] The plug bolts are connected to the first end of the yaw V-shaped connecting rod and the yaw rocker arm through the plug bolts at both ends of the yaw straight connecting rod.

[0013] In an optional embodiment, the length of the first end of the yaw V-shaped connecting rod is greater than the length of the second end.

[0014] In an optional embodiment, the ball heads at both ends of the yaw ball head pull rod are located on the same side of the yaw ball head pull rod.

[0015] In an optional embodiment, flange deep groove ball bearings and plug bolts are arranged at the bending part of the yaw V-shaped connecting rod.

[0016] The plug bolts are arranged in the flange deep groove ball bearings and connected to the eyeball support.

[0017] In an optional embodiment, plug bolts are arranged at the ball heads at both ends of the yaw ball head pull rod, and the plug bolts are connected to the second end of the yaw V-shaped connecting rod and the eyeball body, respectively.

[0018] In an optional embodiment, the eyeball yaw drive is an eyeball yaw steering engine.

[0019] In a second aspect, the utility model provides a bionic robot head, which comprises the eyeball yaw drive assembly according to any one of the foregoing embodiments.

[0020] Compared with the prior art, the eye ball yaw driving assembly and the bionic robot head provided by the utility model have the technical advantages that

[0021] The eye ball yaw driving assembly provided by the utility model is arranged on the bionic robot head, and the eye ball yaw driving assembly comprises an eye ball yaw driver, a yaw V-shaped connecting rod and a yaw ball head pull rod. The bionic robot head is provided with an eye support and an eye ball assembly, the eye ball assembly comprises an eye ball body, an eye ball support and an eye ball support base, the eye ball body is rotationally connected to the eye ball support, the eye ball body can rotate left and right relative to the eye ball support, the eye ball support is rotationally connected to the eye ball support base, the eye ball support can rotate forward and backward relative to the eye ball support base, and the eye ball yaw driver is arranged on the eye support. The bending part of the yaw V-shaped connecting rod is rotationally connected to the eye ball support base, the output end of the eye ball yaw driver is in transmission connection with the first end of the yaw V-shaped connecting rod, the ball head at one end of the yaw ball head pull rod is connected to the second end of the yaw V-shaped connecting rod, and the ball head at the other end of the yaw ball head pull rod is connected to the eye ball body, so as to drive the eye ball body to rotate left and right around the eye ball support.

[0022] The first end of the yaw V-shaped connecting rod is driven by the eye ball yaw driver to move, so that the yaw V-shaped connecting rod rotates, the second end of the yaw V-shaped connecting rod drives the yaw ball head pull rod to push and pull the eye ball body, and the eye ball body rotates left and right around the eye ball support.

[0023] The bionic robot head provided by the utility model comprises the above-mentioned eye ball yaw driving assembly, and the technical advantages and effects achieved by the bionic robot head include the technical advantages and effects achieved by the above-mentioned eye ball yaw driving assembly, which will not be described in detail here.

[0024] Other features and advantages of the utility model will be described in detail in the following specific embodiment part. BRIEF DESCRIPTION OF DRAWINGS

[0025] In order to more clearly illustrate the specific embodiment of the utility model or the technical scheme in the prior art, the following will briefly introduce the drawings needed to be used in the specific embodiment or the prior art description.

[0026] Figure 1The eye ball deviation driving assembly structure schematic diagram provided by the utility model embodiment;

[0027] Figure 2 The eye ball deviation driving assembly installation schematic diagram provided by the utility model embodiment.

[0028] Icon: 1-eye ball deviation driving assembly;2-eye ball deviation driver;3-deviation V-shaped connecting rod;4-deviation ball head pull rod;5-deviation rocker arm;6-deviation straight connecting rod;7-eye support;8-eye ball assembly;9-eye ball body;10-eye ball support;11-eye ball support base. DETAILED DESCRIPTION

[0029] The technical solutions of the utility model will be described clearly and completely below in combination with embodiments. Obviously, the described embodiments are only part of the embodiments of the utility model, rather than all the embodiments. Based on the embodiments in the utility model, all other embodiments obtained by those skilled in the art without creative labor fall within the protection scope of the utility model.

[0030] In the description of the utility model, it needs to be explained that the orientation or position relation indicated by the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer" and the like is the orientation or position relation shown in the drawings, which is only for the convenience of describing the utility model and simplifying the description, and cannot be understood as a limitation on the utility model. In addition, the terms "first", "second", "third" are only for the purpose of description, and cannot be understood as indicating or implying relative importance.

[0031] In the description of the utility model, it needs to be explained that, unless otherwise explicitly specified and limited, the terms "mounting", "connecting", "connection" should be understood broadly, for example, it can be fixed connection, or detachable connection, or integrally connected;It can be mechanical connection, or electrical connection;It can be directly connected, or indirectly connected through an intermediate medium, or the communication inside two elements. For those skilled in the art, the specific meaning of the above terms in the utility model can be understood according to the specific circumstances.

[0032] In addition, the technical solutions of each embodiment can be combined with each other, but it must be based on that the combination of technical solutions can be realized by those skilled in the art, when the combination of technical solutions appears contradictory or unachievable, it should be considered that the combination of technical solutions does not exist, and is not within the protection scope required by the utility model.

[0033] The utility model will be described in further detail below through specific embodiment and in combination with the drawings.

[0034] The specific structure is shown as Figure 1 and Figure 2 .

[0035] The embodiment provides an eyeball yaw driving assembly 1 arranged on a bionic robot head, the eyeball yaw driving assembly 1 comprising an eyeball yaw driver 2, a yaw V-shaped connecting rod 3 and a yaw ball head pull rod 4; the bionic robot head is provided with an eye support 7 and an eyeball assembly 8, the eyeball assembly 8 comprising an eyeball body 9, an eyeball support 10 and an eyeball support base 11, the eyeball body 9 is rotationally connected to the eyeball support 10, and the eyeball body 9 can rotate left and right relative to the eyeball support 10, the eyeball support 10 is rotationally connected to the eyeball support base 11, and the eyeball support 10 can rotate forward and backward relative to the eyeball support base 11, the eyeball yaw driver 2 is arranged on the eye support 7; the bending part of the yaw V-shaped connecting rod 3 is rotationally connected to the eyeball support base 11, the output end of the eyeball yaw driver 2 is transmissionally connected to the first end of the yaw V-shaped connecting rod 3, the ball head at one end of the yaw ball head pull rod 4 is connected to the second end of the yaw V-shaped connecting rod 3, and the ball head at the other end of the yaw ball head pull rod 4 is connected to the eyeball body 9, for driving the eyeball body 9 to rotate left and right around the eyeball support 10.

[0036] In the embodiment, the first end of the yaw V-shaped connecting rod 3 is driven to move by the eyeball yaw driver 2, so that the yaw V-shaped connecting rod 3 rotates, thereby the second end of the yaw V-shaped connecting rod 3 drives the eyeball body 9 to push and pull, and the eyeball body 9 rotates left and right around the eyeball support 10, through the arrangement of the yaw V-shaped connecting rod 3, the eyeball yaw driving assembly 1 is not in a straight line, the space occupied in one direction is reduced, the space utilization is improved, and the eyeball yaw driving assembly 1 drives one eyeball body 9 to move alone, more eye expressions can be realized, meanwhile, the ball heads at the two ends of the yaw ball head pull rod 4 can avoid interfering with the pitching movement of the eyeball body 9 itself, and the parallelism of the freedom degrees of the eyeball body 9 is realized.

[0037] It should be noted that the bionic robot head can be a human head, or a head of other organisms with similar human head organ distribution.

[0038] In the optional technical solution of the embodiment, the yaw rocker arm 5 is further included, the output end of the eyeball yaw driver 2 is connected to the yaw rocker arm 5, and the yaw rocker arm 5 is transmissionally connected to the first end of the yaw V-shaped connecting rod 3. The structure is simple, and the transmission is stable.

[0039] In the optional technical solution of the embodiment, the yaw straight connecting rod 6 is further included, and the yaw rocker arm 5 is transmissionally connected to the first end of the yaw V-shaped connecting rod 3 through the yaw straight connecting rod 6. The structure is simple, and the transmission is stable.

[0040] In the optional technical solution of the embodiment, the two ends of the yaw straight connecting rod 6 are provided with flange deep groove ball bearings and jamming bolts, and the jamming bolts are arranged in the flange deep groove ball bearings; the two ends of the yaw straight connecting rod 6 are connected with the first end of the yaw V-shaped connecting rod 3 and the yaw rocker arm 5 through the jamming bolts.

[0041] In the embodiment, the two ends of the yaw straight connecting rod 6 are pressed into the flange deep groove ball bearings, and the two ends of the yaw straight connecting rod 6 are connected with the first end of the yaw V-shaped connecting rod 3 and the yaw rocker arm 5 through the jamming bolts passing through the flange deep groove ball bearings, which is simple in structure, convenient to install and stable in rotation effect.

[0042] In the optional technical solution of the embodiment, the length of the first end of the yaw V-shaped connecting rod 3 is greater than the length of the second end.

[0043] In the embodiment, since the length of the first end of the yaw V-shaped connecting rod is greater than the length of the second end, the yaw V-shaped connecting rod 3 has the function of reducing the stroke, which can improve the rotation accuracy of the eyeball body 9 and make the expression more delicate and accurate.

[0044] In the optional technical solution of the embodiment, the ball heads at the two ends of the yaw ball head pull rod 4 are located on the same side of the yaw ball head pull rod 4.

[0045] In the embodiment, the ball heads at the two ends of the yaw ball head pull rod 4 are located on the upper side or the lower side, so as to avoid occupying too much space in the up-down direction and improve the space utilization.

[0046] In the optional technical solution of the embodiment, the bending part of the yaw V-shaped connecting rod 3 is provided with a flange deep groove ball bearing and a jamming bolt; the jamming bolt is arranged in the flange deep groove ball bearing and connected with the eyeball support 11.

[0047] Specifically, the bending part of the yaw V-shaped connecting rod 3 is pressed into the flange deep groove ball bearing, and the jamming bolt is connected with the end of the eyeball support 11 away from the eyeball body 9 by passing through the flange deep groove ball bearing, which is simple in structure, compact in structure and reduces the occupied space.

[0048] In the optional technical solution of the embodiment, the ball heads at the two ends of the yaw ball head pull rod 4 are connected with jamming bolts, and connected with the second end of the yaw V-shaped connecting rod 3 and the eyeball body 9 through the jamming bolts. The structure is simple, the connection is stable, and the rotation effect is stable.

[0049] In the optional technical solution of the embodiment, the eyeball yaw driver 2 is an eyeball yaw servo. The control accuracy is high, but it is not limited to this, and the eyeball yaw driver 2 can also be a servo motor or other motors that meet the requirements.

[0050] The bionic robot head provided by the embodiment comprises the eyeball yaw driving assembly 1, and therefore, the bionic robot head has the technical advantages and effects of the eyeball yaw driving assembly 1, which will not be repeated here.

[0051] Finally, it should be noted that: the above embodiments are only used to illustrate the technical solutions of the present application, but not to limit them; although the present application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that: it can still modify the technical solutions recorded in the foregoing embodiments, or make equivalent replacement for part or all of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the scope of the technical solutions of the embodiments of the present application.

Claims

1. A saccadic eye drive assembly configured to be disposed in a biomimetic robot head, the saccadic eye drive assembly comprising: The eye ball yaw driving assembly (1) comprises an eye ball yaw driver (2), a yaw V-shaped connecting rod (3) and a yaw ball head pull rod (4). The bionic robot head is provided with an eye support (7) and an eye ball assembly (8), the eye ball assembly (8) comprises an eye ball body (9), an eye ball support (10) and an eye ball support base (11), the eye ball body (9) is rotationally connected to the eye ball support (10), and the eye ball body (9) can rotate left and right relative to the eye ball support (10), the eye ball support (10) is rotationally connected to the eye ball support base (11), and the eye ball support (10) can rotate forward and backward relative to the eye ball support base (11), and the eye ball yaw driver (2) is arranged on the eye support (7). The bending part of the yaw V-shaped connecting rod (3) is rotationally connected to the eye ball support base (11), the output end of the eye ball yaw driver (2) is transmissionally connected to the first end of the yaw V-shaped connecting rod (3), the ball head of one end of the yaw ball head pull rod (4) is connected to the second end of the yaw V-shaped connecting rod (3), and the ball head of the other end of the yaw ball head pull rod (4) is connected to the eye ball body (9), so as to drive the eye ball body (9) to rotate left and right around the eye ball support (10).

2. The eye-globe yaw drive assembly of claim 1, wherein, Further comprising a yaw rocker arm (5). The output end of the eye ball yaw driver (2) is connected to the yaw rocker arm (5), and the yaw rocker arm (5) is transmissionally connected to the first end of the yaw V-shaped connecting rod (3).

3. The ophthalmic yaw drive assembly of claim 2, wherein, Further comprising a yaw straight connecting rod (6), and the yaw rocker arm (5) is transmissionally connected to the first end of the yaw V-shaped connecting rod (3) through the yaw straight connecting rod (6).

4. The ophthalmic yaw drive assembly of claim 3, wherein, Both ends of the yaw straight connecting rod (6) are provided with flange deep groove ball bearings and plug bolts, and the plug bolts are arranged in the flange deep groove ball bearings. The two ends of the yaw straight connecting rod (6) are connected to the first end of the yaw V-shaped connecting rod (3) and the yaw rocker arm (5) through the plug bolts.

5. The eye-gaze drive assembly according to any one of claims 1-4, wherein The length of the first end of the yaw V-shaped connecting rod (3) is greater than the length of the second end.

6. The eye-globe yaw drive assembly of any of claims 1-4, wherein, The ball heads at the two ends of the yaw ball head pull rod (4) are located on the same side of the yaw ball head pull rod (4).

7. The eye-gaze drive assembly according to any one of claims 1-4, wherein The bending part of the yaw V-shaped connecting rod (3) is provided with a flange deep groove ball bearing and a plug bolt. The plug bolt is arranged in the flange deep groove ball bearing and connected to the eye ball support base (11).

8. The eye-gaze drive assembly of any one of claims 1-4, wherein, The ball heads at the two ends of the yaw ball head pull rod (4) are connected with plug bolts, and the two ends are connected to the second end of the yaw V-shaped connecting rod (3) and the eye ball body (9) through the plug bolts.

9. The eye-gaze drive assembly according to any one of claims 1-4, wherein, The eye ball yaw driver (2) is an eye ball yaw steering engine.

10. A biomimetic robotic head, characterized by The eye ball yaw driving assembly (1) of any one of claims 1-9.

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