Upper eyelid driving assembly and bionic robot head

Abstract

The utility model relates to the technical field of bionic robots, in particular to an upper eyelid driving assembly and a bionic robot head. The upper eyelid driving assembly comprises an upper eyelid driver, an upper eyelid traction frame and an upper eyelid traction piece. The head of the bionic robot is provided with an eye support, and the upper eyelid driver is arranged on the eye support and is in transmission connection with the upper eyelid traction frame. The upper eyelid traction frame is in an arch shape, the upper eyelid traction frame is erected on the eyeball, so that the eyeball is located in the upper eyelid traction frame, and when the upper eyelid traction frame is driven by the upper eyelid driver to rotate on the eye support, the upper eyelid traction frame can rotate around the eyeball front and back, and mutual interference with the eyeball is avoided; meanwhile, the rotation of the upper eyelid traction frame can drive the upper eyelid traction piece connected with the skin of the upper eyelid part to move, so that the skin of the upper eyelid part moves together, the stability of the movement of the skin of the upper eyelid part is ensured, and the expression is more vivid.

Description

Technical Field

[0001] This utility model relates to the field of bionic robot technology, and in particular to an upper eyelid driving component and a bionic robot head. Background Technology

[0002] Robotics technology has developed rapidly alongside the advancement of modern science and technology, and robots are becoming increasingly capable, gradually approaching human capabilities. As robots evolve, the gap between them and humans will narrow, making biomimetic robots one of the latest research directions in the field of robotics. They can achieve effective human-machine interaction, enabling natural, harmonious, and friendly communication between humans and machines, reducing the emotional distance between them, and thus satisfying both human material needs and emotional needs.

[0003] Currently, the driving mechanism for the eyes of bionic robots is generally achieved by connecting the upper eyelid with a string. Pulling the string tightens it, causing the upper eyelid to move upward, while slackening it allows the upper eyelid to fall automatically. However, this driving method results in unstable upper eyelid movement, leading to unrealistic facial expressions. Utility Model Content

[0004] The purpose of this invention is to provide an upper eyelid driving component and a bionic robot head to solve the technical problem that the existing wire-driven driving method causes unstable upper eyelid movement, resulting in unrealistic facial expressions.

[0005] In a first aspect, this utility model provides an upper eyelid driving component, which is disposed on the head of a bionic robot and is used to drive the skin movement of the upper eyelid. The upper eyelid driving component includes: an upper eyelid actuator, an upper eyelid traction frame, and an upper eyelid traction member.

[0006] The bionic robot head is equipped with an eye support, and the upper eyelid actuator is mounted on the eye support and is connected to the upper eyelid traction frame.

[0007] The upper eyelid traction frame is bow-shaped and is used to be mounted on the eyeball. Both ends of the upper eyelid traction frame are rotatably connected to the eye support so that the upper eyelid traction frame can rotate back and forth around the eyeball.

[0008] The upper eyelid traction device is connected to the upper eyelid traction frame and is used to connect with the skin of the upper eyelid.

[0009] In an optional embodiment, the upper eyelid traction frame is provided with a magnet, and the upper eyelid frame is connected to the upper eyelid traction member through the magnet.

[0010] In an optional embodiment, the upper eyelid traction frame is provided with a magnet mounting groove, and the opening of the magnet mounting groove faces forward.

[0011] The magnet is disposed in the magnet mounting slot.

[0012] In an optional embodiment, the magnet mounting slot is located in the middle of the upper eyelid traction frame.

[0013] In an optional implementation, an upper eyelid rocker arm is also included;

[0014] The output end of the upper eyelid actuator is connected to the upper eyelid rocker arm, and the upper eyelid rocker arm is driven to be connected to the upper eyelid traction frame.

[0015] In an optional implementation, an upper eyelid link is also included;

[0016] The upper eyelid rocker arm is connected to the upper eyelid traction frame via the upper eyelid linkage.

[0017] In an optional embodiment, the upper eyelid connecting rod is provided with a perforated hole.

[0018] In an optional embodiment, the upper eyelid link is connected to the wall of the magnet mounting slot.

[0019] In an optional embodiment, both ends of the upper eyelid connecting rod are provided with plug bolts;

[0020] The two ends of the upper eyelid connecting rod are respectively connected to the upper eyelid rocker arm and the upper eyelid traction frame via the plug bolts.

[0021] Secondly, this utility model provides a bionic robot head, including the upper eyelid driving component described in any of the foregoing embodiments.

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

[0023] The upper eyelid driving assembly provided by this utility model is disposed on the head of a bionic robot and is used to drive the movement of the skin in the upper eyelid area. The upper eyelid driving assembly includes: an upper eyelid driver, an upper eyelid traction frame, and an upper eyelid traction component. The bionic robot head is provided with an eye support, the upper eyelid driver is disposed on the eye support and is connected to the upper eyelid traction frame for transmission. The upper eyelid traction frame is bow-shaped and is used to be mounted on the eyeball. Both ends of the upper eyelid traction frame are rotatably connected to the eye support so that the upper eyelid traction frame can rotate back and forth around the eyeball. The upper eyelid traction component is connected to the upper eyelid traction frame and is used to connect with the skin in the upper eyelid area.

[0024] Because the upper eyelid traction frame is arched and placed on the eyeball, with the eyeball located inside the frame, when the upper eyelid traction frame is rotated on the eye support by the upper eyelid actuator, it can rotate back and forth around the eyeball, avoiding interference with the eyeball. At the same time, the rotation of the upper eyelid traction frame can drive the upper eyelid traction component connected to the skin of the upper eyelid to move, so that the skin of the upper eyelid moves together, ensuring the stability of the skin movement of the upper eyelid, thus making the expression more realistic.

[0025] The bionic robot head provided by this utility model includes the above-mentioned upper eyelid driving component. Therefore, the technical advantages and effects achieved by it include the technical advantages and effects achieved by the above-mentioned upper eyelid driving component, which will not be described in detail here.

[0026] Other features and advantages of this invention will be described in detail in the following detailed description section. Attached Figure Description

[0027] To more clearly illustrate the specific embodiments of this utility model or the technical solutions in the prior art, the drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this utility model. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0028] Figure 1 A schematic diagram of the upper eyelid driving component provided in an embodiment of this utility model.

[0029] Icons: 1-Upper eyelid drive assembly; 2-Upper eyelid driver; 3-Upper eyelid traction frame; 4-Upper eyelid traction component; 5-Magnet mounting slot; 6-Upper eyelid rocker arm; 7-Upper eyelid connecting rod; 8-Eye support. Detailed Implementation

[0030] The technical solution of this utility model will be clearly and completely described below with reference to the embodiments. Obviously, the described embodiments are only some embodiments of this utility model, not all embodiments. Based on the embodiments of this utility model, all other embodiments obtained by those skilled in the art without creative effort are within the protection scope of this utility model.

[0031] In the description of this utility model, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicating the orientation or positional relationship, are based on the orientation or positional relationship shown in the accompanying drawings and are only for the convenience of describing this utility model and simplifying the description, and do 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 should not be construed as a limitation of this utility model. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0032] In the description of this utility model, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "joining" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this utility model based on the specific circumstances.

[0033] Furthermore, the technical solutions of the various embodiments can be combined with each other, but this must be based on the ability of those skilled in the art to implement them. When the combination of technical solutions is contradictory or cannot be implemented, it should be considered that such combination of technical solutions does not exist and is not within the scope of protection claimed by this utility model.

[0034] The present invention will be further described in detail below through specific embodiments and in conjunction with the accompanying drawings.

[0035] The specific structure is as follows: Figure 1 As shown.

[0036] This embodiment provides an upper eyelid driving assembly 1, which is disposed on the head of a bionic robot and is used to drive the movement of the skin in the upper eyelid area. The upper eyelid driving assembly 1 includes: an upper eyelid actuator 2, an upper eyelid traction frame 3, and an upper eyelid traction component 4. The bionic robot head is provided with an eye support 8, the upper eyelid actuator 2 is disposed on the eye support 8 and is connected to the upper eyelid traction frame 3 in a transmission connection. The upper eyelid traction frame 3 is arc-shaped and is used to be mounted on the eyeball. Both ends of the upper eyelid traction frame 3 are rotatably connected to the eye support 8 so that the upper eyelid traction frame 3 can rotate back and forth around the eyeball. The upper eyelid traction component 4 is connected to the upper eyelid traction frame 3 and is used to connect with the skin in the upper eyelid area.

[0037] In this embodiment, since the upper eyelid traction frame 3 is bow-shaped and is mounted on the eyeball, the eyeball is located inside the upper eyelid traction frame 3. When the upper eyelid traction frame 3 is driven to rotate on the eye support 8 by the upper eyelid actuator 2, the upper eyelid traction frame 3 can rotate back and forth around the eyeball, avoiding interference with the eyeball. At the same time, the rotation of the upper eyelid traction frame 3 can drive the upper eyelid traction member 4 connected to the skin of the upper eyelid to move, so that the skin of the upper eyelid moves together, ensuring the stability of the skin movement of the upper eyelid, thereby making the expression more realistic.

[0038] It should be noted that the head of a bionic robot can be modeled after a human head, or it can be modeled after the head of other organisms that have similar organ distribution to humans.

[0039] In the optional technical solution of this embodiment, a magnet is provided on the upper eyelid traction frame 3, and the upper eyelid frame is connected to the upper eyelid traction component 4 through the magnet.

[0040] In this embodiment, the upper eyelid traction frame 3 and the upper eyelid traction component 4 are magnetically connected, making the connection stable and convenient.

[0041] It should be noted that the upper eyelid traction device 4 is designed to match the skin of the upper eyelid through contouring.

[0042] In the optional technical solution of this embodiment, the upper eyelid traction frame 3 is provided with a magnet mounting groove 5, and the groove opening of the magnet mounting groove 5 faces the front; the magnet is disposed in the magnet mounting groove 5.

[0043] Furthermore, the upper eyelid traction frame 3 is provided with a slot, and the opening of the slot faces forward. A magnet mounting slot is provided at the bottom of the slot. The upper eyelid traction component 4 has a locking part that is locked in the slot, and a magnetic component that cooperates with the magnet is provided on the locking part. This ensures the stability of the connection between the upper eyelid traction frame 3 and the upper eyelid traction component 4.

[0044] In this embodiment, the magnet is installed in the magnet mounting groove 5 to ensure the stability of the magnet. At the same time, the opening of the magnet mounting groove 5 faces forward to facilitate the connection between the magnet and the upper eyelid traction component 4.

[0045] In the optional technical solution of this embodiment, the magnet mounting groove 5 is located in the middle of the upper eyelid traction frame 3. This ensures that the magnet is positioned in the middle of the upper eyelid traction frame 3 and the upper eyelid traction member 4, making the movement of the upper eyelid traction frame 3 and the upper eyelid traction member 4 more stable.

[0046] In the optional technical solution of this embodiment, an upper eyelid rocker arm 6 is also included; the output end of the upper eyelid driver 2 is connected to the upper eyelid rocker arm 6, and the upper eyelid rocker arm 6 is drivenly connected to the upper eyelid traction frame 3. The structure is simple and the transmission is stable.

[0047] In the optional technical solution of this embodiment, an upper eyelid connecting rod 7 is also included; the upper eyelid rocker arm 6 is connected to the upper eyelid traction frame 3 via the upper eyelid connecting rod 7. The structure is simple and the transmission is stable.

[0048] In the optional technical solution of this embodiment, the upper eyelid connecting rod 7 is provided with a hollow hole.

[0049] In this embodiment, by providing a perforated hole on the upper eyelid connecting rod 7, the weight of the upper eyelid connecting rod 7 is reduced, while ensuring the transmission effect. One or more perforated holes can be provided, as long as the requirements are met.

[0050] In the optional technical solution of this embodiment, the upper eyelid connecting rod 7 is connected to the groove wall of the magnet mounting groove 5.

[0051] Specifically, the upper eyelid connecting rod 7 is connected to the left or right side of the magnet mounting slot 5, making the structure more compact and improving space utilization.

[0052] In the optional technical solution of this embodiment, both ends of the upper eyelid connecting rod 7 are provided with plug bolts; both ends of the upper eyelid connecting rod 7 are respectively connected to the upper eyelid rocker arm 6 and the upper eyelid traction frame 3 through plug bolts.

[0053] In this embodiment, the two ends of the upper eyelid connecting rod 7 are connected to the upper eyelid rocker arm 6 and the upper eyelid traction frame 3 respectively by plug bolts. The structure is simple, easy to install and the rotation effect is stable.

[0054] This embodiment provides a bionic robot head, including the aforementioned upper eyelid driving component 1. Therefore, the technical advantages and effects achieved by this bionic robot head include the technical advantages and effects achieved by the aforementioned upper eyelid driving component 1, which will not be repeated here.

[0055] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this utility model, and are not intended to limit it. Although the utility model has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features therein. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of this utility model.

Claims

1. An upper eyelid driving assembly, disposed in a bionic robot head, for driving skin movement of an upper eyelid part, characterized in that, The upper eyelid driving assembly (1) comprises an upper eyelid driver (2), an upper eyelid traction frame (3) and an upper eyelid traction piece (4). The bionic robot head is provided with an eye support (8), and the upper eyelid driver (2) is arranged on the eye support (8) and in transmission connection with the upper eyelid traction frame (3). The upper eyelid traction frame (3) is in an arc shape and is used for being arranged on an eyeball, and both ends of the upper eyelid traction frame (3) are in rotation connection with the eye support (8), so that the upper eyelid traction frame (3) can rotate forward and backward around the eyeball. The upper eyelid traction piece (4) is connected with the upper eyelid traction frame (3) and is used for being connected with the skin of the upper eyelid part.

2. The upper eyelid drive assembly of claim 1, wherein, The upper eyelid traction frame (3) is provided with a magnet, and the upper eyelid frame is connected with the upper eyelid traction piece (4) through the magnet.

3. The upper eyelid drive assembly of claim 2, wherein, The upper eyelid traction frame (3) is provided with a magnet mounting groove (5), and a groove opening of the magnet mounting groove (5) faces a front side. The magnet is arranged in the magnet mounting groove (5).

4. The upper eyelid drive assembly of claim 3, wherein, The magnet mounting groove (5) is arranged in a middle part of the upper eyelid traction frame (3).

5. The upper eyelid drive assembly of claim 3, wherein, Further comprising an upper eyelid rocker arm (6). An output end of the upper eyelid driver (2) is connected with the upper eyelid rocker arm (6), and the upper eyelid rocker arm (6) is in transmission connection with the upper eyelid traction frame (3).

6. The upper eyelid drive assembly of claim 5, wherein, Further comprising an upper eyelid connecting rod (7). The upper eyelid rocker arm (6) is in transmission connection with the upper eyelid traction frame (3) through the upper eyelid connecting rod (7).

7. The upper eyelid drive assembly of claim 6, wherein, The upper eyelid connecting rod (7) is provided with a hollow hole.

8. The upper eyelid drive assembly of claim 6, wherein, The upper eyelid connecting rod (7) is connected with a groove wall of the magnet mounting groove (5).

9. The upper eyelid drive assembly of claim 6, wherein, Both ends of the upper eyelid connecting rod (7) are provided with plug bolts. Both ends of the upper eyelid connecting rod (7) are connected with the upper eyelid rocker arm (6) and the upper eyelid traction frame (3) through the plug bolts respectively.

10. A biomimetic robotic head, characterized by The upper eyelid driving assembly (1) is used for driving the upper eyelid part of the bionic robot head.

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