Eyeball pitching driving assembly and bionic robot head

Abstract

The utility model relates to the technical field of bionic robots, in particular to an eyeball pitching driving assembly and a bionic robot head. The eyeball pitching driving assembly provided by the utility model comprises an eyeball pitching driver and a pitching bending connecting rod, the eyeball pitching driver is arranged on the eye bracket; the output end of the eyeball pitching driver is in transmission connection with one end of the pitching bending connecting rod, and the other end of the pitching bending connecting rod is connected to the eyeball support and used for driving the eyeball support to rotate forwards and backwards around the eyeball support. The eyeball pitching 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 pitching driving assemblies independently drive one eyeball body to move, more eye expressions can be achieved, and meanwhile the eyeball pitching driving assemblies are simple in structure and stable in driving.

Description

TECHNICAL FIELD

[0001] The utility model relates to bionic robot technical field especially is related to a eyeball pitching 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 of proportion.Therefore, in the research of humanoid robot, head movement and facial expression realization is the important foundation of personification, design a kind of can easily express humanoid expression action 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 occupying 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. CONTENT OF THE UTILITY MODEL

[0004] The utility model aims at providing a eyeball pitching drive subassembly and bionic robot head to solve the prior art one degree of freedom driving device is on a straight line, resulting in occupying 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 pitching drive subassembly, is arranged in bionic robot head, the eyeball pitching drive subassembly includes: eyeball pitching drive and pitching bending connecting 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 base, 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 base, and the eyeball support can rotate front and back relative to the eyeball support base, the eyeball pitching drive is arranged on the eye support;

[0007] The output end of the eyeball pitching drive is drivingly connected to one end of the pitching bending connecting rod, and the other end of the pitching bending connecting rod is connected to the eyeball support, for driving the eyeball support to rotate front and back around the eyeball support base.

[0008] In an optional embodiment, the pitch bending linkage comprises a first rod portion, a second rod portion and a converging portion;

[0009] One end of the first rod portion and one end of the second rod portion are connected to the converging portion, and the converging portion is in driving connection with an output end of the eyeball pitch driver;

[0010] The eyeball support has opposite and spaced left and right side plates, the other end of the first rod portion is connected to the left side plate, and the other end of the second rod portion is connected to the right side plate.

[0011] In an optional embodiment, the bending of the pitch bending linkage is located on the first rod portion and the second rod portion, and at corresponding positions of the first rod portion and the second rod portion.

[0012] In an optional embodiment, the bending angle of the pitch bending linkage is between 90° and 180°.

[0013] In an optional embodiment, a pitch rocker arm is further included;

[0014] The output end of the eyeball pitch driver is connected to the pitch rocker arm, and the pitch rocker arm is in driving connection with the pitch bending linkage.

[0015] In an optional embodiment, a pitch straight linkage is further included, and the pitch rocker arm is in driving connection with the pitch bending linkage through the pitch straight linkage.

[0016] In an optional embodiment, flange deep groove ball bearings and jam bolts are arranged at both ends of the pitch straight linkage, and the jam bolts are arranged in the flange deep groove ball bearings;

[0017] Both ends of the pitch straight linkage are connected to the pitch rocker arm and the pitch bending linkage through the jam bolts.

[0018] In an optional embodiment, the pitch bending linkage is divided into a first section and a second section through a bending, and the length of the first section is less than the length of the second section.

[0019] The first section is in driving connection with the output end of the eyeball pitch driver, and the second section is connected to the eyeball support.

[0020] In an optional embodiment, the eyeball pitch driver is an eyeball pitch servo.

[0021] In a second aspect, the utility model provides a kind of bionic robot head, comprising the eyeball pitch driving assembly of any one of the foregoing embodiments.

[0022] Compared with the prior art, the eye pitch driving assembly and the bionic robot head provided by the utility model have the technical advantages that

[0023] The eye pitch driving assembly provided by the utility model is arranged on the bionic robot head, and the eye pitch driving assembly comprises an eye pitch driver and a pitch bending connecting rod.

[0024] The eye pitch driving assembly is driven by the eye pitch driver to drive one end of the pitch bending connecting rod to move, so that the other end of the pitch bending connecting rod pushes and pulls the eye support, thereby driving the eye support to rotate around the eye support seat, the pitch bending connecting rod is arranged, so that the eye pitch driving assembly is not in a straight line, the space occupied in one direction is reduced, the space utilization is improved, and the eye pitch driving assembly drives one eye body to move, so that more eye expressions can be realized, and the eye pitch driving assembly has a simple structure and stable driving.

[0025] The bionic robot head comprises the above-mentioned eye pitch driving assembly, and the technical advantages and effects achieved by the bionic robot head are the same as those achieved by the above-mentioned eye pitch driving assembly, which will not be described in detail here.

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

[0027] In order to more clearly illustrate the specific embodiments of the utility model or the technical solutions in the prior art, the following will briefly introduce the drawings needed to be used in the specific embodiments or the prior art description, and obviously, the drawings in the following description are some embodiments of the utility model, and for those skilled in the art, other drawings can also be obtained without creative labor according to these drawings.

[0028] Figure 1 The eye pitch driving assembly structure schematic view provided by the utility model embodiment;

[0029] Figure 2 The eye pitch driving assembly installation schematic view provided by the utility model embodiment.

[0030] Icon: 1 - eye ball pitch drive assembly; 2 - eye ball pitch driver; 3 - pitch bend link; 4 - pitch rocker; 5 - pitch direct link; 6 - eye support; 7 - eye ball assembly; 8 - eye ball body; 9 - eye ball support; 10 - eye ball mount. DETAILED DESCRIPTION

[0031] The technical solutions of the present application will be described below in conjunction with the embodiments, obviously, the described embodiments are part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor belong to the scope of protection of the present application.

[0032] In the description of the present application, it should be pointed out that the orientation or position relationship indicated by the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer" and the like is based on the orientation or position relationship shown in the drawings, and is only for the convenience of describing the present application and simplifying the description, and does not indicate or imply that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, therefore it cannot be understood as a limitation on the present application. In addition, the terms "first", "second", "third" are only for the purpose of description, and cannot be understood as indicating or implying relative importance.

[0033] In the description of the present application, it should be pointed out that unless otherwise explicitly specified and limited, the terms "mounting", "connecting", "connecting" should be understood broadly, 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 inside two elements. For those skilled in the art, the specific meaning of the above terms in the present application 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 those skilled 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, nor is it within the scope of protection required by the present application.

[0035] The present application will be described in further detail below through specific embodiments and in conjunction with the drawings.

[0036] The specific structure is shown in Figure 1 and Figure 2 .

[0037] The embodiment provides an eyeball pitching driving assembly 1 arranged on a bionic robot head, the eyeball pitching driving assembly 1 comprising: an eyeball pitching driver 2 and a pitching bending connecting rod 3; the bionic robot head is provided with an eye support 6 and an eyeball assembly 7, the eyeball assembly 7 comprising an eyeball body 8, an eyeball support 9 and an eyeball support base 10, the eyeball body 8 is rotationally connected to the eyeball support 9, and the eyeball body 8 can rotate left and right relative to the eyeball support 9, the eyeball support 9 is rotationally connected to the eyeball support base 10, and the eyeball support 9 can rotate forward and backward relative to the eyeball support base 10, and the eyeball pitching driver 2 is arranged on the eye support 6; an output end of the eyeball pitching driver 2 is transmissionally connected to one end of the pitching bending connecting rod 3, and the other end of the pitching bending connecting rod 3 is connected to the eyeball support 9, and is used for driving the eyeball support 9 to rotate forward and backward around the eyeball support base 10.

[0038] In the embodiment, one end of the pitching bending connecting rod 3 is driven to move by the eyeball pitching driver 2, the other end of the pitching bending connecting rod 3 pushes and pulls the eyeball support 9, so that the eyeball support 9 rotates forward and backward around the eyeball support base 10, the eyeball pitching driving assembly 1 is not arranged on a straight line through the arrangement of the pitching bending connecting rod 3, the space occupied in one direction is reduced, the space utilization is improved, one eyeball body 8 is driven to move by the eyeball pitching driving assembly 1, more eye expressions can be realized, the eyeball pitching driving assembly 1 has a simple structure and stable driving.

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

[0040] In an optional technical solution of the embodiment, the pitching bending connecting rod 3 comprises a first rod part, a second rod part and a converging part, one end of the first rod part and one end of the second rod part are connected to the converging part, and the converging part is transmissionally connected to the output end of the eyeball pitching driver 2; the eyeball support 9 has opposite and spaced left and right side plates, the other end of the first rod part is connected to the left side plate, and the other end of the second rod part is connected to the right side plate. The pitching bending connecting rod 3 has a whole structure, is stable in structure, and has stable driving effect.

[0041] In an optional technical solution of the embodiment, the bending part of the pitching bending connecting rod 3 is located on the first rod part and the second rod part, and is located at corresponding positions of the first rod part and the second rod part.

[0042] In the embodiment, the pitching bending connecting rod 3 is bent on the first rod part and the second rod part, so that the overall strength of the pitching bending connecting rod 3 is ensured, and breakage is avoided.

[0043] In an optional technical solution of the embodiment, the bending angle of the pitch bending connecting rod 3 is between 90° and 180°. The bending angle can be 90°, 100° or 120°, but is not limited to this, and can be any angle between 90° and 180°, as long as the power transmission is not on a straight line.

[0044] In an optional technical solution of the embodiment, the pitch rocking arm 4 is further included; the output end of the eyeball pitch driver 2 is connected to the pitch rocking arm 4, and the pitch rocking arm 4 is drivingly connected to the pitch bending connecting rod 3. The structure is simple, and the transmission is stable.

[0045] In an optional technical solution of the embodiment, the pitch straight connecting rod 5 is further included, and the pitch rocking arm 4 is drivingly connected to the pitch bending connecting rod 3 through the pitch straight connecting rod 5. The structure is simple, and the transmission is stable.

[0046] In an optional technical solution of the embodiment, flange deep groove ball bearings and jam bolts are arranged at both ends of the pitch straight connecting rod 5, and the jam bolts are arranged in the flange deep groove ball bearings; both ends of the pitch straight connecting rod 5 are connected to the pitch rocking arm 4 and the pitch bending connecting rod 3 through the jam bolts.

[0047] In the embodiment, both ends of the pitch straight connecting rod 5 are pressed into the flange deep groove ball bearings, and both ends of the pitch straight connecting rod 5 are connected to the pitch rocking arm 4 and the pitch bending connecting rod 3 through the jam bolts arranged in the flange deep groove ball bearings. The structure is simple, the installation is convenient, and the rotation effect is stable.

[0048] In an optional technical solution of the embodiment, the pitch bending connecting rod 3 is divided into a first section and a second section through a bending part, and the length of the first section is less than the length of the second section; the first section is drivingly connected to the output end of the eyeball pitch driver 2, and the second section is connected to the eyeball support 9.

[0049] In the embodiment, the length of the first section of the pitch bending connecting rod 3 is less than the length of the second section, so that the pitch bending connecting rod 3 has the function of amplifying the stroke, the pitch rocking arm 4 and the pitch straight connecting rod 5 do not need more stroke space, and the eyeball pitch driving assembly 1 as a whole occupies less space.

[0050] In an optional technical solution of the embodiment, the eyeball pitch driver 2 is an eyeball pitch servo. The control precision is high, but is not limited to this, and the eyeball pitch driver 2 can also be a servo motor or other motors that meet the requirements.

[0051] The bionic robot head provided in the embodiment includes the above-mentioned eyeball pitch driving assembly 1, so that the technical advantages and effects achieved by the bionic robot head include the technical advantages and effects achieved by the above-mentioned eyeball pitch driving assembly 1, which will not be described here.

[0052] Finally, it should be noted that: the above embodiments are used to illustrate the technical solutions of the present application, but not limited to 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 drive assembly for a bionic robot head, comprising: The eye ball pitch driving assembly (1) comprises an eye ball pitch driver (2) and a pitch bending connecting rod (3). The bionic robot head is provided with an eye support (6) and an eye ball assembly (7), the eye ball assembly (7) comprises an eye ball body (8), an eye ball support (9) and an eye ball support base (10), the eye ball body (8) is rotationally connected to the eye ball support (9), and the eye ball body (8) can rotate left and right relative to the eye ball support (9), the eye ball support (9) is rotationally connected to the eye ball support base (10), and the eye ball support (9) can rotate forward and backward relative to the eye ball support base (10), and the eye ball pitch driver (2) is arranged on the eye support (6). An output end of the eye ball pitch driver (2) is transmissionally connected to one end of the pitch bending connecting rod (3), the other end of the pitch bending connecting rod (3) is connected to the eye ball support (9), and the eye ball support (9) is driven to rotate forward and backward around the eye ball support base (10).

2. The eye up / down drive assembly of claim 1 wherein, The pitch bending connecting rod (3) comprises a first rod part, a second rod part and a converging part. One end of the first rod part and one end of the second rod part are both connected to the converging part, and the converging part is transmissionally connected to the output end of the eye ball pitch driver (2). The eye ball support (9) has opposite and spaced left and right side plates, the other end of the first rod part is connected to the left side plate, and the other end of the second rod part is connected to the right side plate.

3. The eye up / down drive assembly of claim 2, wherein, The bending part of the pitch bending connecting rod (3) is located on the first rod part and the second rod part, and at corresponding positions of the first rod part and the second rod part.

4. The eye elevation drive assembly of claim 1, wherein, The bending angle of the pitch bending connecting rod (3) is between 90° and 180°.

5. The eye elevation drive assembly of claim 1, wherein, The pitch bending connecting rod (3) further comprises a pitch rocker arm (4). The output end of the eye ball pitch driver (2) is connected to the pitch rocker arm (4), and the pitch rocker arm (4) is transmissionally connected to the pitch bending connecting rod (3).

6. The eye up / down drive assembly of claim 5, wherein, The pitch bending connecting rod (3) further comprises a pitch straight connecting rod (5), and the pitch rocker arm (4) is transmissionally connected to the pitch bending connecting rod (3) through the pitch straight connecting rod (5).

7. The eye up / down drive assembly of claim 6, wherein, Both ends of the pitch straight connecting rod (5) 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 pitch straight connecting rod (5) are connected to the pitch rocker arm (4) and the pitch bending connecting rod (3) through the plug bolts.

8. The globe tilt drive assembly of any of claims 1-7, wherein, The pitch bending connecting rod (3) is divided into a first section and a second section through a bending part, and the length of the first section is less than the length of the second section. The first section is transmissionally connected to the output end of the eye ball pitch driver (2), and the second section is connected to the eye ball support (9).

9. The globe tilt drive assembly of any of claims 1-7, wherein, The eye ball pitch driver (2) is an eye ball pitch rudder.

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

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