Mechanical mechanism of a robotic eye

Abstract

The utility model discloses a kind of mechanical mechanisms of robot eye, it is related to robot technical field, including rack and deflection component, the bottom of the rack is clamped with support arm, and the quantity of support arm is set to four, and the two sides of rack are provided with upper blinking component, the deflection component is set in the middle of support arm.The mechanical mechanisms of robot eye are set through deflection component and up-down component, second steering wheel can be pushed rocker by second crank, make its left and right movement, and then push second connecting rod, make eyeball rotate under the limiting of eyelid, to change eyeball horizontal deflection angle, while third steering wheel can be driven third connecting rod by third crank, just can make support in the limiting of support arm rotate, make deflection component whole rotation, just can change the up-down angle of eyeball, so that eyeball can rotate in multiple axes left and right and up and down, more flexible, to simulate the microflicker of human eyeball, more real.

Description

Technical Field

[0001] This utility model relates to the field of robotics technology, specifically to a mechanical mechanism for a robot's eye. Background Technology

[0002] A robot is an intelligent machine that can work semi-autonomously or fully autonomously. Robots can perform tasks such as jobs or movement through programming and automatic control.

[0003] Currently, most robots have relatively simple eye structures and low flexibility, making it difficult for them to move their eyeballs around and tremble like humans, resulting in a generally mediocre simulation effect. Utility Model Content

[0004] The purpose of this invention is to provide a mechanical mechanism for a robot's 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 mechanical mechanism for a robot's eye, comprising a frame and a deflection assembly. The bottom of the frame is fitted with four support arms, and upper blinking assemblies are provided on both sides of the frame. The deflection assembly is located in the middle of the support arms and includes a support, a second servo motor, a second crank, a rocker arm, a second connecting rod, and an eyeball. The second servo motor is housed inside the support, and the support is rotatably connected to the support arms. A second crank is mounted at the output end of the second servo motor, and a rocker arm is rotatably connected to the end of the second crank. A second connecting rod is rotatably connected to both ends of the rocker arm, and an eyeball is engaged at one end of the second connecting rod.

[0006] Furthermore, the upper blinking assembly includes a first servo motor, a first crank, a first connecting rod, and an eyelid. The output end of the first servo motor is provided with a first crank, and one end of the first crank is rotatably connected to the first connecting rod, and one end of the first connecting rod is rotatably connected to the eyelid.

[0007] Furthermore, the eyelid is rotatably connected to the support arm, and the eyelid is slidably connected to the eyeball.

[0008] Furthermore, lower blinking assemblies are installed on both sides of the top of the frame, and the structure of the lower blinking assemblies is consistent with that of the upper blinking assemblies.

[0009] Furthermore, a pitch assembly is provided at the top center of the frame, and the pitch assembly includes a third servo, a third crank and a third connecting rod. The third servo is fitted into the top of the frame, and the output end of the third servo is connected to the third crank, and the end of the third crank is rotatably connected to the third connecting rod.

[0010] Furthermore, the third link is arched and is rotatably connected to the support.

[0011] Furthermore, the bottom of the first servo motor is fitted into the frame, and the top of the first servo motor is provided with a first retaining sleeve, which is engaged with the frame.

[0012] Furthermore, the top of the third servo motor is provided with a second retaining sleeve, which engages with the frame.

[0013] This utility model provides a mechanical mechanism for a robot's eye, which has the following beneficial effects:

[0014] 1. By setting up a deflection component and a pitch component, the second servo can push the rocker arm through the second crank to move it left and right, thereby pushing the second connecting rod to make the eyeball rotate under the limitation of the eyelid, thus changing the horizontal deflection angle of the eyeball. At the same time, the third servo can drive the third connecting rod through the third crank to make the support rotate under the limitation of the support arm, so that the entire deflection component can rotate up and down, thereby changing the pitch angle of the eyeball. This allows the eyeball to rotate in multiple axes left, right, up and down, making it more flexible and simulating the micro-tremors of the human eyeball more realistic.

[0015] 2. By setting up an upper blinking component and a lower blinking component, this utility model controls the first servo to drive the first crank to rotate, which in turn causes the first connecting rod to push and pull the eyelid, making it rotate around the upper end of the support arm as the axis. This allows control over the opening and closing angle of the upper eyelid. Similarly, the lower blinking component can be used to control the opening and closing of the lower eyelid, thereby simulating various modes of human blinking, squinting, and staring, enriching the robot's facial expressions. Attached Figure Description

[0016] Figure 1 This is a schematic diagram of the overall three-dimensional structure of the mechanical mechanism of a robot's eye according to the present invention;

[0017] Figure 2 This is a top view schematic diagram of the overall structure of the mechanical mechanism of a robot's eye according to the present invention;

[0018] Figure 3 This is a schematic diagram of the overall upward view of the mechanical mechanism of the robot's eye according to this utility model.

[0019] In the diagram: 1. Frame; 2. Support arm; 3. Upper blink assembly; 301. First servo; 302. First crank; 303. First connecting rod; 304. Eyelid; 4. Lower blink assembly; 5. Deflection assembly; 501. Support; 502. Second servo; 503. Second crank; 504. Rocker arm; 505. Second connecting rod; 506. Eyeball; 6. Pitch assembly; 601. Third servo; 602. Third crank; 603. Third connecting rod; 7. First ferrule; 8. Second ferrule. Detailed Implementation

[0020] The embodiments of this utility model will be described in further detail below with reference to the accompanying drawings and examples. The following examples are for illustrative purposes only and should not be construed as limiting the scope of this utility model.

[0021] like Figure 1 and Figure 2 As shown, a mechanical mechanism for a robot's eye includes a frame 1 and a deflection assembly 5. Four support arms 2 are engaged at the bottom of the frame 1. Upper blinking assemblies 3 are located on both sides of the frame 1. The engagement connection between the support arms 2 and the frame 1 improves assembly convenience. The upper blinking assembly 3 includes a first servo motor 301, a first crank 302, a first connecting rod 303, and an eyelid 304. The output end of the first servo motor 301 is fitted with the first crank 302, and one end of the first crank 302 is rotatably connected to the first connecting rod 303. One end of the first connecting rod 303... The upper eyelid 304 is rotatably connected to the support arm 2 and slidably connected to the eyeball 506. The first servo motor 301 drives the first crank 302 to rotate, which causes the first connecting rod 303 to push and pull the eyelid 304, making it rotate around the upper end of the support arm 2 as the axis, thereby controlling the opening and closing angle of the upper eyelid 304. The lower blinking assembly 4 is installed on both sides of the top of the frame 1, and the structure of the lower blinking assembly 4 is the same as that of the upper blinking assembly 3. The lower blinking assembly 4 can control the opening and closing of the lower eyelid 304, thereby simulating various modes such as human blinking, squinting, and staring.

[0022] like Figure 2 and Figure 3As shown, the deflection assembly 5 is located in the middle of the support arm 2, and the deflection assembly 5 includes a support 501, a second servo motor 502, a second crank 503, a rocker arm 504, a second connecting rod 505, and an eyeball 506. The second servo motor 502 is housed inside the support 501, and the support 501 is rotatably connected to the support arm 2. The output end of the second servo motor 502 is equipped with the second crank 503, and the end of the second crank 503 is rotatably connected to the rocker arm 504. The two ends of the rocker arm 504 are rotatably connected to the second connecting rod 506. 05, and one end of the second connecting rod 505 is engaged with the eyeball 506. The second servo motor 502 can push the rocker arm 504 through the second crank 503 to move it left and right, thereby pushing the second connecting rod 505, so that the eyeball 506 rotates under the limitation of the eyelid 304, thereby changing the horizontal deflection angle of the eyeball 506. A pitch assembly 6 is provided at the center of the top of the frame 1, and the pitch assembly 6 includes a third servo motor 601, a third crank 602 and a third connecting rod 603. The top of the frame 1 is fitted with a third servo motor. The first servo motor 601 has a third crank 602 connected to its output end, and a third connecting rod 603 rotatably connected to the end of the third crank 602. The third connecting rod 603 is arched and rotatably connected to the support 501. The third servo motor 601 can drive the third connecting rod 603 through the third crank 602, which will cause the support 501 to rotate under the limit of the support arm 2, causing the deflection assembly 5 to rotate up and down as a whole, thus changing the pitch angle of the eyeball 506. The bottom of the first servo motor 301 is fitted into the frame 1, and the top of the first servo motor 301 is provided with a first retaining sleeve 7, which is engaged with the frame 1. The first servo motor 301 is fitted into the frame 1 through the protrusion at the bottom, which can initially limit its position. Then the first retaining sleeve 7 will limit the top of the first servo motor 301 for quick assembly and positioning. The top of the third servo motor 601 is provided with a second retaining sleeve 8, which is engaged with the frame 1. The second retaining sleeve 8 can limit the external position of the third servo motor 601, making assembly very convenient.

[0023] In summary, the mechanical mechanism of the robot's eyes, when in use, firstly... Figure 1 , Figure 2 and Figure 3The structure shown in the diagram, during assembly, improves ease of assembly due to the snap-fit ​​connection between the support arm 2 and the frame 1. Multiple connecting rods are connected via slotted connecting posts, requiring only a pressing motion to complete the rotational connection. Furthermore, the first servo motor 301 and the third servo motor 601 engage with the frame 1 via protrusions at their bottoms, providing initial positioning. The first retaining sleeve 7 and the second retaining sleeve 8, after engaging with the frame 1, provide top positioning for the first servo motor 301 and the third servo motor 601, enabling rapid assembly and positioning, thus reducing the cost of assembling the mechanical mechanism. During use, controlling the first servo motor 301 to rotate the first crank 302 causes the first connecting rod 303 to push and pull the eyelid 304, enabling it to... The upper end of the support arm 2 rotates around a central axis, thereby controlling the opening and closing angle of the upper eyelid 304. Similarly, in conjunction with the lower blinking assembly 4, the opening and closing of the lower eyelid 304 can be controlled. Then, the second servo motor 502 can push the rocker arm 504 through the second crank 503 to move it left and right, thereby pushing the second connecting rod 505, causing the eyeball 506 to rotate under the limit of the eyelid 304, thus changing the horizontal deflection angle of the eyeball 506. Finally, the third servo motor 601 can drive the third connecting rod 603 through the third crank 602, which can make the support 501 rotate under the limit of the support arm 2, causing the deflection assembly 5 to rotate up and down as a whole, thus changing the pitch angle of the eyeball 506, allowing the eyeball 506 to rotate in multiple axes left, right, up and down, making it more flexible.

[0024] The embodiments of this utility model are given for illustrative and descriptive purposes only, and are not intended to be exhaustive or to limit the utility model to the forms disclosed. Many modifications and variations will be apparent to those skilled in the art. The embodiments were chosen and described in order to better illustrate the principles and practical applications of this utility model, and to enable those skilled in the art to understand this utility model and design various embodiments with various modifications suitable for a particular purpose.

Claims

1. A mechanical mechanism for a robot's eye, comprising a frame (1) and a deflection assembly (5), characterized in that, The bottom of the frame (1) is fitted with a support arm (2), and there are four support arms (2). The frame (1) is provided with upper blinking components (3) on both sides. The deflection component (5) is located in the middle of the support arm (2). The deflection component (5) includes a support (501), a second servo (502), a second crank (503), a rocker arm (504), a second connecting rod (505), and an eyeball (506). The second servo (502) is installed inside the support (501), and the support (501) is rotatably connected to the support arm (2). The output end of the second servo (502) is provided with a second crank (503), and the end of the second crank (503) is rotatably connected to a rocker arm (504). The two ends of the rocker arm (504) are rotatably connected to a second connecting rod (505), and one end of the second connecting rod (505) is fitted with an eyeball (506).

2. The mechanical mechanism for a robot's eye according to claim 1, characterized in that, The upper blinking assembly (3) includes a first servo motor (301), a first crank (302), a first connecting rod (303), and an eyelid (304). The output end of the first servo motor (301) is provided with the first crank (302), and one end of the first crank (302) is rotatably connected to the first connecting rod (303), and one end of the first connecting rod (303) is rotatably connected to the eyelid (304).

3. The mechanical mechanism for a robot's eye according to claim 2, characterized in that, The eyelid (304) is rotatably connected to the support arm (2), and the eyelid (304) is slidably connected to the eyeball (506).

4. The mechanical mechanism for a robot's eye according to claim 2, characterized in that, The frame (1) has a lower blinking assembly (4) on both sides of the top, and the structure of the lower blinking assembly (4) is the same as that of the upper blinking assembly (3).

5. The mechanical mechanism for a robot's eye according to claim 1, characterized in that, A pitch assembly (6) is provided at the top center of the frame (1), and the pitch assembly (6) includes a third servo (601), a third crank (602) and a third connecting rod (603). The third servo (601) is fitted into the top of the frame (1), and the output end of the third servo (601) is connected to the third crank (602), and the end of the third crank (602) is rotatably connected to the third connecting rod (603).

6. The mechanical mechanism for a robot's eye according to claim 5, characterized in that, The third link (603) is arched and is rotatably connected to the support (501).

7. The mechanical mechanism for a robot's eye according to claim 2, characterized in that, The bottom of the first servo motor (301) is fitted with the frame (1), and the top of the first servo motor (301) is provided with a first retaining sleeve (7), which is engaged with the frame (1).

8. The mechanical mechanism for a robot's eye according to claim 5, characterized in that, The top of the third servo motor (601) is provided with a second retaining sleeve (8), and the second retaining sleeve (8) is engaged with the frame (1).

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