Upper eyelid transmission structure and bionic robot head

Abstract

The utility model relates to the technical field of bionic robots, in particular to an upper eyelid transmission structure and a bionic robot head. The upper eyelid transmission structure comprises an upper eyelid traction piece and an upper eyelid traction frame. The upper eyelid traction piece comprises a skin embedding part, a transition part and a traction frame connecting part, the transition part is located between the skin embedding part and the traction frame connecting part, the skin embedding part and the transition part jointly form a sheet-shaped structure, and the sheet-shaped structure is in a spherical surface shape; the skin embedding part is connected to the skin of the upper eyelid part, and the traction frame connecting part is detachably connected with the upper eyelid traction frame. The upper eyelid traction piece is connected to the skin of the upper eyelid part through the skin embedding part, the structure is stable, displacement is not prone to occurring, the upper eyelid traction piece extends through the transition part, mutual interference between the skin embedding part and the traction frame connecting part during connection is avoided, the upper eyelid traction piece is detachably connected with the upper eyelid traction frame through the traction frame connecting part, and mounting and dismounting are convenient.

Description

TECHNICAL FIELD

[0001] The utility model relates to bionic robot technical field especially is related to a upper eyelid transmission structure and bionic robot head. BACKGROUND

[0002] Robot technology develops rapidly along with the whole modern science and technology progress, and the ability of robot is stronger and stronger, and approaches human ability step by step. With the evolution of robot, the gap between it and human is smaller and smaller, therefore bionic robot becomes one of the newest research directions in current robot research field. It can realize good man-machine interaction, realize natural, harmonious, friendly communication between human and machine, reduce the emotional distance between human and robot, thereby satisfying the material life demand of human, and satisfying the spiritual and emotional needs of human.

[0003] At present, in the processing of the upper eyelid part of bionic robot, generally through the pull line to pull the upper eyelid movement, and the movement is unstable. CONTENT OF THE UTILITY MODEL

[0004] The utility model aims at providing a upper eyelid transmission structure and bionic robot head to solve the technical problem of the movement instability of the existing upper eyelid movement through the pull line.

[0005] Firstly, the utility model provides a upper eyelid transmission structure, sets up in bionic robot head, and is used for driving the skin movement of upper eyelid part, and the upper eyelid transmission structure includes: upper eyelid traction piece and upper eyelid traction frame;

[0006] The upper eyelid traction piece includes skin embedding part, transition part and traction frame connecting part, the transition part is located between the skin embedding part and the traction frame connecting part, and the skin embedding part and transition part form sheet structure together, and the sheet structure is spherical surface shape;

[0007] The skin embedding part is connected to the skin of upper eyelid part, the traction frame connecting part is detachably connected with the upper eyelid traction frame, and the upper eyelid traction frame is used to drive the movement of the upper eyelid traction piece.

[0008] In optional implementation, a plurality of adhesive connection holes are formed in the skin embedding part.

[0009] In optional implementation, the thickness of the skin embedding part is less than or equal to the thickness of the transition part.

[0010] In optional implementation, the upper eyelid traction frame includes frame body and traction piece connecting part, and the traction piece connecting part is located in the middle of the top of the frame body.

[0011] The traction frame connecting part is located in the middle of the transition part away from the skin embedding part.

[0012] In an optional embodiment, the first magnetic block and the second magnetic block are further included.

[0013] The traction frame connecting part is a first slot body, and the traction member connecting part is a second slot body.

[0014] The first magnetic block is arranged in the first slot body, the second magnetic block is arranged in the second slot body, and the first magnetic block and the second magnetic block are magnetically connected.

[0015] In an optional embodiment, a glue overflow hole is arranged in the bottom of the first slot body, and the first magnetic block is bonded to the first slot body by glue.

[0016] In an optional embodiment, a glue overflow groove is arranged in the bottom of the second slot body, and the second magnetic block is bonded to the second slot body by glue.

[0017] In an optional embodiment, a positioning hole is arranged in the bottom of the second slot body, and the glue overflow groove is arranged on the inner side wall of the positioning hole.

[0018] The second magnetic block is arranged in the positioning hole.

[0019] The first slot body is inserted into the second slot body.

[0020] In an optional embodiment, a positioning through slot is arranged on the frame body, and the transition part away from the skin embedding part is inserted into the positioning through slot.

[0021] In a second aspect, the utility model provides a kind of bionic robot head, including the upper eyelid transmission structure of any one of preceding embodiment.

[0022] Compared with prior art, the technical advantages of the upper eyelid transmission structure and the bionic robot head provided by the utility model are as follows:

[0023] The upper eyelid transmission structure provided by the utility model is arranged on the bionic robot head, and is used to drive the skin movement of the upper eyelid part. The upper eyelid transmission structure includes an upper eyelid traction member and an upper eyelid traction frame. The upper eyelid traction member includes a skin embedding part, a transition part and a traction frame connecting part. The transition part is located between the skin embedding part and the traction frame connecting part. The skin embedding part and the transition part form a sheet structure together, and the sheet structure is spherical. The skin embedding part is connected to the skin of the upper eyelid part. The traction frame connecting part is detachably connected to the upper eyelid traction frame. The upper eyelid traction frame is used to drive the movement of the upper eyelid traction member.

[0024] The upper eyelid traction member is connected to the skin of the upper eyelid part through the skin embedding part, and is stable in structure and not easy to be displaced, the upper eyelid traction member is extended through the transition part, the skin embedding part is prevented from interfering with the traction frame connecting part when being connected, and the upper eyelid traction member is detachably connected with the upper eyelid traction frame through the traction frame connecting part, so that the upper eyelid traction member is convenient to install and detach, and the skin of the upper eyelid part connected with the skin embedding part is moved together with the upper eyelid traction member, so that the movement is stable and reliable.

[0025] The bionic robot head provided by the utility model has the technical advantages and effects of the upper eyelid transmission structure, and the technical advantages and effects of the upper eyelid transmission structure are not described in detail here.

[0026] Other features and advantages of the utility model will be described in detail in the subsequent specific embodiment part. DRAWINGS

[0027] In order to more clearly illustrate the specific embodiment of the utility model or the technical scheme in the prior art, the drawings needed in the specific embodiment or the prior art description will be briefly introduced below, and obviously, the drawings in the following description are some embodiments of the utility model, and other drawings can be obtained by those skilled in the art without creative labor on the basis of the drawings.

[0028] Figure 1 The upper eyelid transmission structure provided by the utility model is provided with one side explosion view;

[0029] Figure 2 The upper eyelid transmission structure provided by the utility model is provided with one side explosion view;

[0030] Icon: 1-upper eyelid traction member; 2-upper eyelid traction frame; 3-skin embedding part; 4-transition part; 5-adhesive connecting hole; 6-frame body; 7-first magnetic block; 8-second magnetic block; 9-first groove; 10-second groove; 11-glue overflow hole; 12-glue overflow groove; 13-positioning hole; 14-positioning through groove. SPECIFIC EMBODIMENT

[0031] The technical scheme of the utility model will be described clearly and completely in combination with the embodiments, and obviously, the described embodiments are some 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 belong to the protection scope of the utility model.

[0032] In the description of the utility model, it is necessary to explain that, the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "internal", "external" and the like indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the utility model and simplifying the description, and therefore cannot be understood as limiting the utility model. In addition, the terms "first", "second" and "third" are only for the purpose of description, and cannot be understood as indicating or implying relative importance.

[0033] In the description of the utility model, it is necessary to explain that, unless otherwise specified and limited, the terms "mounting", "connection", "connection" should be broadly understood, for example, it can be fixedly connected, or it can be detachably connected, or integrally connected; it can be mechanically connected, or it can be electrically connected; it can be directly connected, or it can be indirectly connected through an intermediate medium; it can be the communication between two elements. For ordinary skilled persons in the art, the specific meaning of the above terms in the utility model can be understood according to the specific circumstances.

[0034] In addition, the technical solutions of each embodiment can be combined with each other, but it must be based on the fact that the ordinary skilled person in the art can realize it, 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.

[0035] The utility model will be described in further detail below through specific examples and in combination with the drawings.

[0036] The specific structure is shown as Figure 1 And Figure 2 .

[0037] The embodiment provides a upper eyelid transmission structure, set in the bionic robot head, be used for driving the skin movement of upper eyelid part, and the upper eyelid transmission structure includes: upper eyelid traction piece 1 and upper eyelid traction frame 2;Upper eyelid traction piece 1 includes skin embedding part 3, transition part 4 and traction frame connecting part, transition part 4 is located between skin embedding part 3 and traction frame connecting part, and skin embedding part 3 and transition part 4 form sheet structure together, and the sheet structure is spherical;Skin embedding part 3 is integrally formed with the skin of upper eyelid part, traction frame connecting part is detachably connected with upper eyelid traction frame 2, and upper eyelid traction frame 2 is used to drive the movement of upper eyelid traction piece 1.

[0038] In the embodiment, the upper eyelid traction member 1 is connected to the skin at the upper eyelid part through the skin embedding part 3, and is stable in structure and not prone to ectopia. The upper eyelid traction member 1 is extended through the transition part 4 to avoid interference between the skin embedding part 3 and the traction frame connecting part when being connected. The upper eyelid traction member 1 is detachably connected to the upper eyelid traction frame 2 through the traction frame connecting part, and is convenient to install and detach. The upper eyelid traction member 1 is moved by the upper eyelid traction frame 2, so as to move the skin at the upper eyelid part connected to the skin embedding part 3, and the movement is stable and reliable.

[0039] It should be noted that the head of the bionic robot can be a human-like head, or a head of another organism having a similar organ distribution to a human head.

[0040] In an optional technical solution of the embodiment, a plurality of adhesive connecting holes 5 are formed in the skin embedding part 3.

[0041] In the embodiment, the skin at the upper eyelid part is provided with an embedding groove, and the skin embedding part 3 is inserted into the embedding groove and adhered by a colloid. When adhered, the colloid can enter the adhesive connecting holes 5, so that the skin embedding part 3 can be stably connected to the skin at the upper eyelid part as a whole after connection.

[0042] In the embodiment, the upper eyelid traction member 1 is made of plastic, and has low cost and light weight.

[0043] In an optional technical solution of the embodiment, the thickness of the skin embedding part 3 is less than or equal to the thickness of the transition part 4.

[0044] In the embodiment, when the thickness of the skin embedding part 3 is less than the thickness of the transition part 4, the surface of the skin at the upper eyelid part can be flush with the surface of the transition part 4 after the skin embedding part 3 is connected to the skin at the upper eyelid part, and the structure is good in integrity and beautiful in appearance. Alternatively, the thickness of the skin embedding part 3 can be equal to the thickness of the transition part 4, and the skin embedding part 3 is easy to manufacture.

[0045] In an optional technical solution of the embodiment, the upper eyelid traction frame 2 includes a frame body 6 and a traction member connecting part, and the traction member connecting part is located at the middle of the top of the frame body 6. The traction frame connecting part is located at the middle of the end of the transition part 4 away from the skin embedding part 3.

[0046] In the embodiment, the frame body 6 is assumed to be on the eyeball, and both ends are rotatably connected to the eye support in the head of the bionic robot, so that the frame body 6 can rotate around the eyeball. The traction member connecting part is located at the middle of the top of the frame body 6, and the traction frame connecting part is located at the middle of the end of the transition part 4 away from the skin embedding part 3. After the traction member connecting part is connected to the traction frame connecting part, the force is transmitted in the middle, and the force is stable and balanced, thereby ensuring the stability of the transmission.

[0047] In the optional technical solution of the embodiment, the traction frame connecting part and the traction piece connecting part can be a buckle structure matched with each other, which is simple in structure and convenient to connect and disassemble.

[0048] In the optional technical solution of the embodiment, the first magnetic block 7 and the second magnetic block 8 are further included; the traction frame connecting part is a first slot body 9, and the traction piece connecting part is a second slot body 10; the first magnetic block 7 is arranged in the first slot body 9, and the second magnetic block 8 is arranged in the second slot body 10, and the first magnetic block 7 is magnetically connected with the second magnetic block 8.

[0049] In the embodiment, the first magnetic block 7 is fixed in the first slot body 9, and the second magnetic block 8 is fixed in the second slot body 10, and the slot opening of the first slot body 9 corresponds to the slot opening of the second slot body 10, and the detachable connection of the traction frame connecting part and the traction piece connecting part is realized through the magnetic connection of the first magnetic block 7 and the second magnetic block 8, which is simple in structure, stable in connection and convenient to disassemble.

[0050] In the optional technical solution of the embodiment, the slot bottom of the first slot body 9 is provided with a glue overflow hole 11, and the first magnetic block 7 is adhered to the first slot body 9 through glue.

[0051] In the embodiment, the first magnetic block 7 is adhered to the slot bottom of the first slot body 9 through glue, and in order to ensure that the first magnetic block 7 can be as close as possible to the slot bottom of the first slot body 9, the slot bottom of the first slot body 9 is provided with a glue overflow hole 11, and when the first magnetic block 7 is adhered to the slot bottom of the first slot body 9 after the glue is applied, the excess glue will be discharged through the glue overflow hole 11.

[0052] In the optional technical solution of the embodiment, the slot bottom of the second slot body 10 is provided with a glue overflow groove 12, and the second magnetic block 8 is adhered to the second slot body 10 through glue. It is ensured that the second magnetic block 8 can be as close as possible to the second slot body 10.

[0053] In the optional technical solution of the embodiment, the slot bottom of the second slot body 10 is provided with a positioning hole 13, the glue overflow groove 12 is arranged on the inner side wall of the positioning hole 13, the second magnetic block 8 is arranged in the positioning hole 13, and the first slot body 9 is inserted into the second slot body 10.

[0054] In the embodiment, the first slot body 9 is inserted into the second slot body 10 to generate a positioning effect, so as to fix the position between the upper eyelid traction piece 1 and the upper eyelid traction frame 2 and avoid relative sliding, and meanwhile, the first magnetic block 7 and the second magnetic block 8 are magnetically connected to avoid the upper eyelid traction piece 1 and the upper eyelid traction frame 2 from moving away from each other, so that the overall structure is simple and the connection is stable.

[0055] In the optional technical solution of the embodiment, the frame body 6 is provided with a positioning through slot 14, and the transition part 4 is inserted into the positioning through slot 14 away from the skin embedding part 3.

[0056] In the embodiment, when the first slot body 9 is inserted into the second slot body 10, the transition part 4 far from the skin embedding part 3 is also inserted into the positioning through slot 14, further ensuring the stability of the connection between the upper eyelid traction member 1 and the upper eyelid traction frame 2, and the positioning through slot 14 also has a mounting guide function, facilitating the assembly between the upper eyelid traction member 1 and the upper eyelid traction frame 2.

[0057] The bionic robot head provided by the embodiment comprises the upper eyelid transmission structure, and therefore the technical advantages and effects achieved by the bionic robot head include the technical advantages and effects achieved by the upper eyelid transmission structure, which will not be described herein again.

[0058] 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. An upper eyelid transmission structure provided in a bionic robot head for driving skin movement of an upper eyelid part, characterized in that, The upper eyelid transmission structure comprises an upper eyelid traction member (1) and an upper eyelid traction frame (2). The upper eyelid traction member (1) comprises a skin embedding part (3), a transition part (4) and a traction frame connecting part, the transition part (4) is located between the skin embedding part (3) and the traction frame connecting part, and the skin embedding part (3) and the transition part (4) together form a sheet structure, which is spherical. The skin embedding part (3) is connected to the skin of the upper eyelid part, the traction frame connecting part is detachably connected with the upper eyelid traction frame (2), and the upper eyelid traction frame (2) is used to drive the upper eyelid traction member (1) to move.

2. The upper eyelid transmission structure according to claim 1, characterized in that A plurality of adhesive connection holes (5) are formed on the skin embedding part (3).

3. The upper eyelid transmission structure according to claim 1, characterized in that, The thickness of the skin embedding part (3) is less than or equal to the thickness of the transition part (4).

4. The upper eyelid transmission structure according to any one of claims 1 to 3, characterized in that The upper eyelid traction frame (2) comprises a frame body (6) and a traction member connecting part, and the traction member connecting part is located in the middle of the top of the frame body (6). The traction frame connecting part is located in the middle of the end of the transition part (4) away from the skin embedding part (3).

5. The upper eyelid transmission structure according to claim 4, characterized in that It also comprises a first magnetic block (7) and a second magnetic block (8). The traction frame connecting part is a first groove body (9), and the traction member connecting part is a second groove body (10). The first magnetic block (7) is arranged in the first groove body (9), the second magnetic block (8) is arranged in the second groove body (10), and the first magnetic block (7) and the second magnetic block (8) are magnetically connected.

6. The upper eyelid transmission structure according to claim 5, characterized in that The groove bottom of the first groove body (9) is provided with a glue overflow hole (11), and the first magnetic block (7) is adhered to the first groove body (9) by glue.

7. The upper eyelid transmission structure according to claim 5, characterized in that The groove bottom of the second groove body (10) is provided with a glue overflow groove (12), and the second magnetic block (8) is adhered to the second groove body (10) by glue.

8. The upper eyelid transmission structure according to claim 7, characterized in that The groove bottom of the second groove body (10) is provided with a positioning hole (13), and the glue overflow groove (12) is arranged on the inner side wall of the positioning hole (13). The second magnetic block (8) is arranged in the positioning hole (13). The first groove body (9) is inserted into the second groove body (10).

9. The upper eyelid transmission structure according to claim 8, characterized in that The frame body (6) is provided with a positioning through groove (14), and the end of the transition part (4) away from the skin embedding part (3) is inserted into the positioning through groove (14).

10. A biomimetic robotic head, characterized by The upper eyelid transmission structure comprises the upper eyelid transmission structure according to any one of claims 1-9.

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