Bionic mechanical eye

Abstract

The utility model discloses a kind of bionic mechanical eyes, including base plate, eyeball frame, eyeball body assembly and eyelid structure. Base plate is equipped with pupil crankshaft, power mechanism and three dynamic cams, and power mechanism drives three dynamic cams rotation through gear set. The top cam of three dynamic cams is driven eyeball shaft to realize the left and right rotation of eyeball body assembly by lever rocker arm and linkage sheet;Bottom outer cam is controlled eyelid opening and closing by first swing arm, and cooperate reset spring and second swing arm to realize closed reset. Eyeball body assembly includes control sliding sleeve driven by pupil crankshaft, and realizes pupil zooming by ciliary muscle control silk pulling annular array distribution simulation iris. The device integrates eyeball rotation, eyelid opening and closing and pupil zooming function, adopts flat compact design, and multiple mechanisms are driven by three dynamic cams to work cooperatively, with high simulation degree and small size advantage, suitable for small robot head space.

Description

Technical Field

[0001] This utility model relates to the field of robotics technology, specifically to a bionic mechanical eye. Background Technology

[0002] With the continuous development of technology, the demand for bionic robotic eyes is growing in the field of bionic robots. Traditional robotic eyes have certain limitations in terms of flexibility, simulation of human eye shape, and visual effects, making it difficult to meet the requirements of use in complex environments.

[0003] After searching, we found that CN205166941U discloses an eye structure device for a facial expression robot. Although the device can rotate the eyeballs left and right, it does not have the function of opening the eyelids, the visual effect is average, and the overall size of the device is too large, making it unsuitable for integration into a robot with a small head. Therefore, we proposed a bionic mechanical eye. Utility Model Content

[0004] The purpose of this invention is to provide a bionic mechanical eye to solve the problems mentioned in the background art.

[0005] To achieve the above objectives, this utility model provides the following technical solution: a bionic mechanical eye, comprising a base plate for fixing parts and an eyeball frame. The surface of the base plate is respectively provided with a pupil crankshaft, a power mechanism, and a three-moving cam. The three-moving cam is rotatably connected to the surface of the base plate, and the power mechanism and the three-moving cam are drive-connected. The eyeball frame is fixedly installed on the surface of the base plate. An eyeball assembly is rotatably connected within the eyeball frame via an eyeball shaft. A limiting groove is formed on the surface of the base plate, and a linkage plate is movably placed within the limiting groove. A lever rocker arm is also rotatably connected to the upper surface of the base plate, and the input end of the lever rocker arm is connected to the cam at the top of the three-moving cam. In conjunction with this, the output end of the lever rocker arm is rotatably connected to one end of the linkage plate, and the other end of the linkage plate is hinged to the end of the eyeball axis. A tension spring is also fixedly connected to the surface of the eyeball frame, and the end of the tension spring away from the eyeball frame is fixedly connected to the output end of the lever rocker arm. An eyelid is also movably connected to the outside of the eyeball assembly. A reset spring is fixedly installed on the surface of the base plate. A first swing arm and a second swing arm are fixedly connected to both sides of the eyelid. The first swing arm and the second swing arm are rotatably connected to the base grooves on both sides of the eyeball frame. The first swing arm cooperates with the cam on the outer side of the bottom of the three-movement cam, and the second swing arm cooperates with one end of the reset spring.

[0006] Preferably, the three-moving cam includes a bottom gear, a bottom inner cam, a bottom outer cam, and a top cam. The bottom inner cam is fixedly connected to the inner bottom of the bottom outer cam, the top cam is fixedly connected to the top of the bottom outer cam, and the bottom gear is fixedly connected to the bottom center of the bottom inner cam.

[0007] Preferably, the power mechanism includes a drive gear and a transition gear driven by a servo motor. Both the drive gear and the transition gear are rotatably connected to the surface of the base plate, and the drive gear and the transition gear mesh with each other, while the transition gear and the bottom gear mesh with each other.

[0008] Preferably, a limiting stop is fixedly connected to the surface of the eyelid, and a limiting groove that cooperates with the limiting stop is provided on the lower surface of the eyeball frame.

[0009] Preferably, the pupil crankshaft is rotatably connected to a groove on the surface of the base plate. The eyeball assembly includes an eyeball, a control sleeve, a pupil seat, a ciliary muscle control wire, a simulated iris, a transparent cornea, and a closed shaft of the sleeve. The eyeball and the pupil seat are both fixedly connected to the outer surface of the eyeball axis. The control sleeve is slidably connected between the eyeball and the pupil seat. The closed shaft of the sleeve is fixedly connected to the bottom of the control sleeve and cooperates with the pupil crankshaft. The transparent cornea is fixedly connected to the end of the eyeball. The simulated iris is suspended in the inner cavity of the pupil seat. One end of the ciliary muscle control wire is fixedly tied to the end of the control sleeve, and the other end of the ciliary muscle control wire passes through the pupil seat and is fixedly tied to the simulated iris.

[0010] Preferably, there are 12 binding connection points between the ciliary muscle control wire and the simulated iris, and the binding connection points are distributed in a ring array.

[0011] Beneficial effects

[0012] This invention provides a bionic mechanical eye, which has the following beneficial effects:

[0013] 1. This bionic mechanical eye, through a power mechanism, can drive a three-moving cam to rotate. The rotation of the three-moving cam, in conjunction with a tension spring, tightens a lever rocker arm, causing the lever rocker arm to rotate. The output end of the lever rocker arm then drives a linkage plate, which, in conjunction with a limiting groove, moves within the limiting groove. Finally, the linkage plate pulls the eyeball axis, causing the eyeball axis to rotate, thus achieving left and right rotation of the entire eyeball assembly. By setting up an eyeball frame, a first swing arm, a second swing arm, and a reset spring, the rotation of the three-moving cam pushes the first swing arm, causing it to rotate and the eyelid to rotate, thus achieving the eyelid opening action. The reset spring applies elastic force to the second swing arm, thus achieving the eyelid closing action. This bionic mechanical eye not only achieves left and right rotation of the eyeball but also realizes the opening and closing of the eyelids, improving the overall visual effect. Furthermore, its flat and compact structure effectively reduces the space occupied, making it suitable for robots with small heads.

[0014] 2. This bionic mechanical eye, by setting up an eyeball assembly and a pupil crankshaft, uses a three-movement cam to rotate, which drives the pupil crankshaft to rotate. Through the cooperation of the pupil crankshaft and the sliding sleeve closed shaft, the entire control sleeve can be moved away from the eyeball. By using the control sleeve to pull the ciliary muscle control wire, the movement of the simulated iris can be controlled. With the help of the reset spring, the pressure spring force applied to the pupil crankshaft can be used to reset the control sleeve, thereby realizing the reset of the simulated iris and realizing the pupil dilation and contraction action, further improving the visual effect. Attached Figure Description

[0015] Figure 1 This is a schematic diagram of the overall three-dimensional structure of the bionic mechanical eye proposed in this utility model.

[0016] Figure 2 This is a schematic diagram of the limiting groove and linkage plate structure of the bionic mechanical eye proposed in this utility model.

[0017] Figure 3 This is a three-dimensional structural diagram of the eyeball frame of the bionic mechanical eye proposed in this utility model, viewed from below.

[0018] Figure 4 This is a schematic diagram of the three-dimensional structure of the bionic mechanical eye proposed in this utility model;

[0019] Figure 5 This is a cross-sectional structural diagram of the eyeball assembly of the bionic mechanical eye proposed in this utility model.

[0020] In the diagram: 1. Base plate; 2. Eyeball frame; 3. Pupil crankshaft; 4. Power mechanism; 5. Three-movement cam; 6. Eyeball axis; 7. Eyeball assembly; 8. Limiting groove; 9. Linkage plate; 10. Lever rocker arm; 11. Tension spring; 12. Eyelid; 13. Reset spring; 14. First swing arm; 15. Second swing arm; 16. Bottom gear; 17. Bottom inner cam; 18. Bottom outer cam; 19. Top cam; 20. Drive gear; 21. Transition gear; 22. Limiting stop; 23. Limiting stop groove; 24. Eyeball; 25. Control sleeve; 26. Pupil seat; 27. Ciliary muscle control wire; 28. Simulated iris; 29. ​​Transparent cornea; 30. Sleeve closing shaft. Detailed Implementation

[0021] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0022] Example 1, please refer to Figure 1-4 This utility model provides a technical solution: a bionic mechanical eye, including a base plate 1 for fixing parts and an eyeball frame 2. A pupil crankshaft 3, a power mechanism 4, and a three-movement cam 5 are respectively provided on the surface of the base plate 1. The three-movement cam 5 is rotatably connected to the surface of the base plate 1, and the power mechanism 4 and the three-movement cam 5 are drive-connected. The eyeball frame 2 is fixedly installed on the surface of the base plate 1. An eyeball assembly 7 is rotatably connected inside the eyeball frame 2 via an eyeball shaft 6. A limiting groove 8 is formed on the surface of the base plate 1, and a linkage plate 9 is movably placed in the limiting groove 8. A lever rocker arm 10 is also rotatably connected to the upper surface of the base plate 1. The input end of the lever rocker arm 10 cooperates with the cam at the top of the three-movement cam 5, and the output end of the lever rocker arm 10 is rotatably connected to one end of the linkage plate 9. The eyeball frame 2 is hinged to the end of the eyeball axis 6 and a tension spring 11 is fixedly connected to the surface of the eyeball frame 2. By setting the tension spring 11, the input end of the lever rocker arm 10 can be pressed against the three-movement cam 5, thereby ensuring that the lever rocker arm 10 can work stably. The end of the tension spring 11 away from the eyeball frame 2 is fixedly connected to the output end of the lever rocker arm 10. The eyelid 12 is also movably connected to the outside of the eyeball assembly 7. A reset spring 13 is fixedly installed on the surface of the base plate 1. The first swing arm 14 and the second swing arm 15 are fixedly connected to the two sides of the eyelid 12 respectively. The first swing arm 14 and the second swing arm 15 are rotatably connected to the base grooves on both sides of the eyeball frame 2 respectively. The first swing arm 14 cooperates with the cam on the outer side of the bottom of the three-movement cam 5, and the second swing arm 15 cooperates with one end of the reset spring 13.

[0023] The power mechanism 4 drives the three-movement cam 5 to rotate. The rotation of the three-movement cam 5, in conjunction with the tension spring 11, tensions the lever rocker arm 10. Through the cooperation of the top cam 19 and the lever rocker arm 10, the lever rocker arm 10 rotates. The output end of the lever rocker arm 10 then drives the linkage plate 9, which, in conjunction with the limiting groove 8, limits the linkage plate 9, allowing it to move within the limiting groove 8. Finally, the linkage plate 9 pulls the eyeball axis 6, causing it to rotate, thus achieving the left and right rotation of the entire eyeball assembly 7. This is achieved by setting the eyeball frame 2, the first swing arm 14, the second swing arm 15, and the return spring. The first swing arm 14 is driven by the rotation of the three-moving cam 5 through the rotation of the three-moving cam 5. The bottom outer cam 18 cooperates with the first swing arm 14, which can drive the first swing arm 14 to rotate and the eyelid 12 to rotate, so as to realize the action of opening the eyelid 12. The second swing arm 15 is subjected to elastic force by the reset spring 13, so as to realize the action of resetting and closing the eyelid 12. This bionic mechanical eye can not only realize the left and right rotation of the eyeball, but also realize the action of opening and closing the eyelid. It not only improves the overall visual effect, but also has a flat and compact structure, which effectively reduces the space occupied and is suitable for the body of robots with small heads.

[0024] The three-movement cam 5 includes a bottom gear 16, a bottom inner cam 17, a bottom outer cam 18, and a top cam 19. The bottom inner cam 17 is fixedly connected to the inner bottom of the bottom outer cam 18, the top cam 19 is fixedly connected to the top of the bottom outer cam 18, and the bottom gear 16 is fixedly connected to the bottom center of the bottom inner cam 17.

[0025] The power mechanism 4 includes a drive gear 20 and a transition gear 21 driven by a servo motor. Both the drive gear 20 and the transition gear 21 are rotatably connected to the surface of the base plate 1. The drive gear 20 and the transition gear 21 mesh with each other, and the transition gear 21 meshes with the bottom gear 16. The drive gear 20 is rotated by the servo motor, which in turn drives the transition gear 21 to rotate. By utilizing the interaction between the transition gear 21 and the bottom gear 16, the rotation of the three-movement cam 5 can be achieved.

[0026] A limiting stop 22 is fixedly connected to the surface of the eyelid 12, and a limiting groove 23 that cooperates with the limiting stop 22 is provided on the lower surface of the eyeball frame 2. By setting the limiting stop 22 and the limiting groove 23, the eyelid 12 can be limited, thereby ensuring that the eyelid 12 can rotate within a specified angle.

[0027] Example 2, please refer to Figure 1-5 Including Embodiment 1, and based on Embodiment 1, this utility model provides a technical solution: the pupil crankshaft 3 is rotatably connected to a groove on the surface of the base plate 1; the eyeball assembly 7 includes an eyeball 24, a control sleeve 25, a pupil seat 26, a ciliary muscle control wire 27, a simulated iris 28, a transparent cornea 29, and a sleeve closing shaft 30; the eyeball 24 and the pupil seat 26 are both fixedly connected to the outer surface of the eyeball shaft 6; the control sleeve 25 is slidably connected between the eyeball 24 and the pupil seat 26; the sleeve closing shaft 30 is fixedly connected to the bottom of the control sleeve 25 and cooperates with the pupil crankshaft 3; the transparent cornea 29 is fixedly connected to the end of the eyeball 24; the simulated iris 28 is suspended in the inner cavity of the pupil seat 26; and one end of the ciliary muscle control wire 27 is fixedly bundled... The other end of the ciliary muscle control wire 27, which is attached to the end of the control sleeve 25, passes through the pupil seat 26 and is fixedly tied to the simulated iris 28. By setting the eyeball assembly 7 and the pupil crankshaft 3, the rotation of the three-movement cam 5, through the cooperation of the bottom inner cam 17 and the pupil crankshaft 3, can drive the pupil crankshaft 3 to rotate. Through the cooperation of the pupil crankshaft 3 and the sleeve closing shaft 30, the entire control sleeve 25 can move away from the eyeball 24. By using the control sleeve 25 to pull the ciliary muscle control wire 27, the movement of the simulated iris 28 can be controlled. With the help of the reset spring 13, the pupil crankshaft 3 is pressed and elastic, which can drive the control sleeve 25 to reset, thereby realizing the reset of the simulated iris 28, thus realizing the pupil dilation and contraction action, and further improving the visual effect.

[0028] The ciliary muscle control wire 27 and the simulated iris 28 are connected by 12 binding points, and the binding points are distributed in a ring array. This design allows the simulated iris 28 to be subjected to more uniform force.

[0029] The accompanying drawings of the embodiments disclosed in this utility model only involve the structures involved in the embodiments disclosed in this utility model. Other structures can refer to the general design. In the absence of conflict, the same embodiment and different embodiments of this utility model can be combined with each other.

[0030] Finally: The above description is only a preferred embodiment of the present utility model and is not intended to limit the present utility model. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present utility model should be included within the protection scope of the present utility model.

Claims

1. A bionic mechanical eye, comprising a base plate (1) for fixing parts and an eyeball frame (2), characterized in that: The base plate (1) is provided with a pupil crankshaft (3), a power mechanism (4) and a three-movement cam (5) respectively. The three-movement cam (5) is rotatably connected to the surface of the base plate (1), and the power mechanism (4) and the three-movement cam (5) are connected by transmission. The eyeball frame (2) is fixedly installed on the surface of the base plate (1). The eyeball assembly (7) is rotatably connected to the eyeball frame (2) through the eyeball shaft (6). The surface of the base plate (1) is provided with a limiting groove (8), and a linkage plate (9) is movably placed in the limiting groove (8). The upper surface of the base plate (1) is also rotatably connected with a lever rocker arm (10), and the input end of the lever rocker arm (10) cooperates with the cam at the top of the three-movement cam (5). The output end of the lever rocker arm (10) is rotatably connected to one end of the linkage plate (9). The other end of the linkage plate (9) is hinged to the end of the eyeball axis (6). A tension spring (11) is also fixedly connected to the surface of the eyeball frame (2). The end of the tension spring (11) away from the eyeball frame (2) is fixedly connected to the output end of the lever rocker arm (10). An eyelid (12) is also movably connected to the outside of the eyeball assembly (7). A reset spring (13) is fixedly installed on the surface of the base plate (1). A first swing arm (14) and a second swing arm (15) are fixedly connected to the two sides of the eyelid respectively. The first swing arm (14) and the second swing arm (15) are rotatably connected to the base grooves on both sides of the eyeball frame (2). The first swing arm (14) cooperates with the cam on the outside of the bottom of the three-movement cam (5), and the second swing arm (15) cooperates with one end of the reset spring (13).

2. The bionic mechanical eye according to claim 1, characterized in that: The three-moving cam (5) includes a bottom gear (16), a bottom inner cam (17), a bottom outer cam (18), and a top cam (19). The bottom inner cam (17) is fixedly connected to the inner bottom of the bottom outer cam (18), the top cam (19) is fixedly connected to the top of the bottom outer cam (18), and the bottom gear (16) is fixedly connected to the bottom center of the bottom inner cam (17).

3. The bionic mechanical eye according to claim 2, characterized in that: The power mechanism (4) includes a drive gear (20) and a transition gear (21) driven by a servo motor. Both the drive gear (20) and the transition gear (21) are rotatably connected to the surface of the base plate (1), and the drive gear (20) and the transition gear (21) mesh with each other, and the transition gear (21) and the bottom gear (16) mesh with each other.

4. The bionic mechanical eye according to claim 1, characterized in that: The surface of the eyelid (12) is fixedly connected to a limit stop (22), and the lower surface of the eyeball frame (2) is provided with a limit stop groove (23) that cooperates with the limit stop (22).

5. The bionic mechanical eye according to claim 1, characterized in that: The pupil crankshaft (3) is rotatably connected to a groove on the surface of the base plate (1). The eyeball assembly (7) includes an eyeball (24), a control sleeve (25), a pupil seat (26), a ciliary muscle control wire (27), a simulated iris (28), a transparent cornea (29), and a sleeve closing shaft (30). The eyeball (24) and the pupil seat (26) are both fixedly connected to the outer surface of the eyeball shaft (6). The control sleeve (25) is slidably connected to the eyeball (24) and the pupil seat (26). Between 26), the sliding closed shaft (30) is fixedly connected to the bottom of the control sliding sleeve (25) and cooperates with the pupil crankshaft (3). The transparent cornea (29) is fixedly connected to the end of the eyeball (24). The simulated iris (28) is suspended in the inner cavity of the pupil seat (26). One end of the ciliary muscle control wire (27) is fixedly tied to the end of the control sliding sleeve (25), and the other end of the ciliary muscle control wire (27) passes through the pupil seat (26) and is fixedly tied to the simulated iris (28).

6. The bionic mechanical eye according to claim 5, characterized in that: The ciliary muscle control wire (27) and the simulated iris (28) have 12 binding connection points, and the binding connection points are distributed in a ring array.

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