Small-sized robot eyeball driving system

Abstract

The application relates to a small-sized robot eyeball driving system and relates to the technical field of a robot facial expression control system, which comprises two simulated eyeballs in a head shell, a head support is arranged in the head shell, and the two simulated eyeballs are rotationally connected to the front of the head support through eyeball rotating shafts; one of the simulated eyeballs is used as a driving eyeball, and the other is used as a driven eyeball; a jack is arranged on the outer side of the driving eyeball; a pull rod with a bend is further arranged, the pull rod bend is inserted into the jack from top to bottom, the pull rod extends rearward and is hung on a power swing arm, and the power swing arm is installed on a driving rotating shaft of a driving motor device; linkage swing arms are formed by extending the lower sides of the two simulated eyeballs rearward, and the two linkage swing arms are connected through a connecting rod. The application adopts a single set of driving motor device to drive the driving eyeball through the pull rod, then drives the driven eyeball to rotate synchronously through the linkage swing arms and the connecting rod, head space is saved, interference with the eyelid is avoided, and the effects of compact layout and synchronous movement of the two eyes are realized.

Description

Technical Field

[0001] This application relates to the technical field of robot facial expression control systems, and in particular to eye-driven systems. Background Technology

[0002] Small androids refer to miniaturized robots with relatively small overall dimensions. Their head height is typically 50-100 millimeters, and the internal space of the head is extremely limited. These robots are often used in demonstration or specific service scenarios, requiring their facial expressions to closely resemble humans to enhance the human-robot interaction. The eye-tracking system is a crucial component of a robot's facial expressions, and its design directly affects the anthropomorphic effect of the expressions on small androids.

[0003] In existing technologies, to achieve eye movement, two motors are typically installed inside the head shell of a small android to drive the left and right simulated eyeballs respectively. However, the dual-motor solution is not only costly and energy-intensive, but the two motors and their transmission mechanisms are also prone to interference within the limited space. Furthermore, in addition to the eyeball driving system, the head space also needs to integrate multiple expression driving systems such as eyelid driving system and mouth driving system. In such a confined space, layout interference between multiple driving systems is highly likely.

[0004] Therefore, optimizing the layout of the eye-driving system within the head space of a small android, and effectively avoiding positional conflicts with other driving systems, has become a pressing technical problem to be solved in the facial expression design of small androids. Utility Model Content

[0005] In view of the shortcomings of the existing technology, one of the purposes of this utility model is to provide a small body robot eyeball driving system.

[0006] The small-scale android eye-driving system provided in this application adopts the following technical solution:

[0007] A small android eye-driven system, comprising two simulated eyeballs mounted inside the head shell;

[0008] With the area between the two simulated eyeballs as the inner side, the left side of the left simulated eyeball and the right side of the right simulated eyeball are the outer sides;

[0009] The head shell is provided with a head support to support the internal components, and the two simulated eyeballs are rotatably connected to the front of the head support through two vertically set eyeball pivots.

[0010] The simulated eyeball has a forward-facing spherical shape;

[0011] One of the simulated eyeballs is used as the active eyeball, and the other simulated eyeball is used as the passive eyeball;

[0012] A vertical insertion hole is provided on the outer side of the spherical body of the active eyeball;

[0013] The head shell is also equipped with a pull rod with a bend, which is called a pull rod bend. The pull rod bend is inserted into the socket from top to bottom to form a rotatable connection.

[0014] The pull rod extends rearward and is hooked onto a power swing arm, which is mounted on the drive shaft of a drive motor device.

[0015] Both of the simulated eyeballs have a rearward-extending swing arm on their lower side, which is called a linkage swing arm;

[0016] The two linkage arms are connected by a connecting rod;

[0017] This results in a drive system in which the drive motor drives the power swing arm to swing, pulls the lever, drives the active eyeball to swing, and the active eyeball drives the driven eyeball to rotate synchronously through the linkage swing arm and connecting rod.

[0018] This application designates the left and right simulated eyeballs as the active and passive eyeballs, respectively. A vertical insertion hole is provided only on the outer side of the active eyeball, and a lever with a bent front end is inserted into this hole. A drive motor drives a power swing arm, which in turn drives the rear end of the lever, causing the lever to rotate the active eyeball. Simultaneously, a linkage swing arm extending rearward from the lower side of the two simulated eyeballs, along with a connecting rod, synchronously transmits the rotation of the active eyeball to the passive eyeball, thus forming a small-scale robotic eyeball drive system where a single drive motor drives the synchronous rotation of the two simulated eyeballs. This solution abandons the dual-motor drive for the two simulated eyeballs, using a single drive motor to drive both, thereby saving head space in the small robotic body. Furthermore, the lever connection point is located on the outer side of the simulated eyeball, and the linkage swing arm is positioned below the simulated eyeball, thus not affecting the frontal appearance of the simulated eyeball and avoiding interference with the eyelid drive in front of the eyeball. This optimizes the head space of the small robotic body, achieving a compact head space layout.

[0019] Preferably, a notch is provided above the socket, and the bend of the pull rod elbow is located in the notch.

[0020] When only the socket is provided, the elbow of the lever protrudes from the surface of the simulated eyeball, easily scratching the eyelids covering it and even pushing them up, causing an abrupt bulge. By creating a notch above the socket on the outer side of the active eyeball, the bend of the lever is completely accommodated within this notch. This prevents the lever from protruding from the outer side of the spherical surface, instead allowing it to sink into the notch, thus maintaining the smooth and complete outer contour of the simulated eyeball. This completely spatially separates the lever from the eyelids, preventing motion interference. Furthermore, the absence of an abrupt bulge in the simulated eyeball's appearance facilitates a tighter fit of the eyelids, enhancing the anthropomorphic feel of the small, automaton-like robot.

[0021] Preferably, when the simulated eyeball is facing forward, the front and back positions of the insertion hole are flush with the rotation axis of the eyeball.

[0022] If the socket is too far forward or too far back, the elbow of the pull rod will be biased towards the front or back of the simulated eyeball, which may interfere with the expression driving mechanism at the front or back of the eyelid. When the simulated eyeball is looking straight ahead, the front and back positions of the socket are flush with the rotation axis of the simulated eyeball. This means that the elbow of the pull rod is constrained in the middle area of ​​the side of the simulated eyeball, neither protruding forward to interfere with the front edge of the eyelid nor backward to affect the expression driving mechanism at the back. This allows for a complete channel for the opening and closing movement of the eyelid, further optimizing the overall layout of the facial expression driving system.

[0023] Preferably, the length of the linkage swing arm in the front-to-back direction is 4~10mm;

[0024] The rear of the linkage arm is provided with a vertical hinge hole;

[0025] Both ends of the connecting rod have bends, which are called connecting rod bends;

[0026] The two connecting rod bends are respectively inserted into the hinge holes of the two linkage arms from bottom to top, forming a rotatable connection.

[0027] The length of the linkage arm in the forward and backward direction is limited to 4~10 mm, and a vertical hinge hole is set at the rear of the linkage arm. At the same time, the bent ends of the connecting rod are inserted into the hinge hole from bottom to top to form a rotating connection. This allows the linkage arm to provide sufficient torque transmission while avoiding other internal components inside the head shell of the small robot. Thus, while realizing the synchronous rotation of the two simulated eyeballs, the layout of the eyeball drive system is further optimized.

[0028] Preferably, the hinge hole is located behind the eyeball rotation axis, and the distance between the hinge hole and the eyeball rotation axis is greater than the rotation radius of the simulated eyeball rotating about the eyeball rotation axis.

[0029] By placing the hinge hole behind the axis of rotation of the simulated eyeball, and ensuring that the distance between the hinge hole and the axis of rotation is greater than the radius of rotation of the simulated eyeball around the axis, the lever structure centered on the axis of rotation is improved. From the lever structure perspective, the axis of rotation is the fulcrum, and the hinge hole of the connecting rod is the power point. The power point is located behind the fulcrum and is larger than the radius of the simulated eyeball, effectively lengthening the power arm. Under the same connecting rod thrust, the driven eyeball obtains a larger rotational torque. Therefore, the thrust required for the active eyeball to rotate the driven eyeball decreases, resulting in a more sensitive following response from the driven eyeball and more synchronized rotation of the two simulated eyeballs.

[0030] Preferably, the drive shaft of the drive motor device is vertically arranged, and the drive shaft of the drive motor device is coaxially connected with the shaft of the power swing arm;

[0031] The pivot of the power swing arm is located on the outer side, and the driven end of the power swing arm is located on the inner side;

[0032] The driven end of the power swing arm has a vertical through hole, and the inner diameter of the through hole is smaller than the diameter of the rotating shaft of the power swing arm.

[0033] The width of the power swing arm gradually decreases from one end of the rotating shaft of the automatic power swing arm to one end of the through hole of the power swing arm.

[0034] The rearward extension of the tie rod has an upward-bending bend, called the hook bend;

[0035] The hook-and-loop elbow is inserted into the through hole from bottom to top, forming a rotatable connection.

[0036] If the driven end of the power swing arm faces outward, it will extend outward, increasing the lateral width of the head shell. By placing the pivot of the power swing arm on the outside and the driven end facing inward, the overall width of the head is not increased while ensuring the swing arm's movement, and there is no interference with the inner wall of the head shell. Simultaneously, the width of the power swing arm gradually decreases from the pivot end to the through-hole end, further reducing the space occupied by the driven end. This reduces the space occupied by the eye-driven system, resulting in a more compact overall layout of the head space in the small android.

[0037] Preferably, the upper part of the hook elbow is inserted into the through hole from bottom to top and extends out of the through hole;

[0038] The portion of the hook-and-loop elbow extending out of the through hole has a pin hole, and a pin passes through the pin hole.

[0039] This application allows the upper part of the hook-up elbow to pass through the through hole and extend outwards. A pin hole is opened in the extended part and a pin is inserted, so that the hook-up elbow will not come out of the through hole. Even if the robot head shakes violently or flips, the hook-up elbow will not fall out of the through hole, which greatly improves the reliability of the system and the pin assembly cost is extremely low.

[0040] Preferably, the head support has a motor support mechanism and a power swing arm support mechanism, and the power swing arm support mechanism is located below the motor support mechanism;

[0041] The drive motor device is mounted above the motor support mechanism, and the drive shaft of the drive motor device is vertically downward.

[0042] The power swing arm support mechanism has a cylindrical, upward-pointing cylindrical protrusion that supports the power swing arm upwards.

[0043] A motor support mechanism and a power swing arm support mechanism located below the motor support mechanism are set on the head support. The drive motor device is mounted on the motor support mechanism with the drive shaft of the drive motor device pointing vertically downward. The cylindrical protrusion of the power swing arm support mechanism below supports the power swing arm upward, thus forming a layered support structure. This layered support structure allows the drive motor device and the power swing arm to be arranged in a vertical height, making full use of the space in the height direction of the head without adding extra space in the horizontal direction of the small robot, further compacting the layout of the head space.

[0044] Preferably, both simulated eyeballs are hollow hemispherical structures with a spherical surface at the front, and an opening leading to the interior of the hollow hemispherical structure is provided at the rear of the simulated eyeballs.

[0045] The head support is provided with two forward-facing left and right rotating shaft supports.

[0046] The front end of the left rotating shaft bracket extends into the left simulated eyeball from the opening behind the left simulated eyeball, and the front part of the left rotating shaft bracket is rotatably connected to the left simulated eyeball through the eyeball rotating shaft;

[0047] The left side wall of the left rotating shaft bracket is located within the left simulated eyeball's opening side wall and its left rotation trajectory.

[0048] The front end of the right rotating shaft bracket extends into the right simulated eyeball from the opening behind it, and the front part of the right rotating shaft bracket is rotatably connected to the right simulated eyeball via an eyeball rotating shaft.

[0049] The right side wall of the right-rotating shaft bracket is located within the right-side opening of the simulated eyeball in the trajectory of right-rotation.

[0050] This technical solution conceals the eyeball rotation axis and its support within the simulated eyeball, allowing the eyelids to cover the surface of the simulated eyeball without obstruction, resulting in a highly anthropomorphic appearance. Simultaneously, the interference between the support sidewall and the opening sidewall achieves physical limitation on the rotation of the simulated eyeball. Specifically, the left sidewall of the left rotation axis support restricts excessive leftward rotation of the left simulated eyeball, and the right sidewall of the right rotation axis support restricts excessive rightward rotation of the right simulated eyeball. Furthermore, since both simulated eyeballs rotate synchronously, if one simulated eyeball is restricted from excessive rotation, the other will also stop rotating, thus preventing excessive rotation of the simulated eyeball due to over-driving of the drive motor.

[0051] Preferably, the housing of the drive motor device is flat in the left-right direction.

[0052] The housing of the drive motor is flat in the left and right direction, so that the drive motor does not occupy too much space in the left and right direction. This prevents the head of the small robot from being widened by extra space, thus making more lateral space available for other drive system components and further compressing the head space of the small robot.

[0053] In summary, this application includes at least one of the following beneficial technical effects:

[0054] 1. In this application, the left and right simulated eyeballs are respectively set as the active eyeball and the driven eyeball. Only a vertical insertion hole is set on the outer side of the active eyeball, and a pull rod with a bent end is inserted into the insertion hole. The drive motor device drives the power swing arm, and the power swing arm drives the rear end of the pull rod, so that the pull rod drives the active eyeball to rotate. At the same time, the rotation of the active eyeball is synchronously transmitted to the driven eyeball by the linkage swing arm extending backward from the lower side of the two simulated eyeballs and the connecting rod connecting the two linkage swing arms. Thus, a small-scale embodied robot eyeball drive system is formed by a single drive motor device driving the synchronous rotation of the two simulated eyeballs.

[0055] 2. This application abandons the dual-motor drive for rotating two simulated eyeballs and instead uses a single drive motor to drive the two simulated eyeballs, thereby saving head space in the small embodied robot. The linkage connection point is located on the outside of the simulated eyeballs, and the linkage arm is set below the simulated eyeballs, so as not to affect the front appearance of the simulated eyeballs and avoid interference with the eyelid drive in front of the eyeballs. This optimizes the head space of the small embodied robot and achieves a compact layout of the head space.

[0056] 3. This application creates a notch above the outer socket of the active eyeball, completely accommodating the bend of the lever head within this notch. This prevents the lever head from protruding from the outer side of the spherical body, instead embedding it within the notch, thus maintaining the smooth and complete outer contour of the simulated eyeball. This completely offsets the lever from the eyelid in space, avoiding motion interference. Simultaneously, the simulated eyeball's appearance lacks any abrupt protrusions, facilitating a tight fit of the eyelid and enhancing the anthropomorphic feel of the small, embodied robot. Attached Figure Description

[0057] Figure 1 This embodiment of the application is a structural schematic diagram of the eyeball driving system of a small android, illustrating the positional relationship of the simulated eyeball, left rotation axis bracket, right rotation axis bracket, head bracket, pull rod, connecting rod, and drive motor device.

[0058] Figure 2 This is a schematic diagram from another perspective of the embodiment of the present application, showing the positional relationship of the simulated eyeball, head support, pull rod, pull rod bend, drive motor device, and linkage swing arm.

[0059] Figure 3 This is a schematic diagram from another perspective of the embodiment of the present application, showing the positional relationship of the simulated eyeball, left rotation axis bracket, right rotation axis bracket, and head bracket.

[0060] Figure 4 This is a schematic diagram of a small android eye-driven system without its head support, used to illustrate the positional relationship between the simulated eyeballs, levers, lever bends, connecting rods, drive motor, and power swing arm.

[0061] Figure 5 This is a schematic diagram of the eye-driven system of a small android without its head support, showing the positional relationship of the simulated eyeball, pull rod, pull rod bend, hook bend, connecting rod, connecting rod bend, linkage arm, drive motor device, and power arm.

[0062] Reference numerals: 1. Simulated eyeball; 2. Head support; 3. Pull rod; 4. Pull rod bend; 5. Power swing arm; 6. Drive motor device; 7. Linkage swing arm; 8. Connecting rod; 9. Notch; 10. Connecting rod bend; 11. Hook bend; 12. Left pivot bracket; 13. Right pivot bracket. Detailed Implementation

[0063] The following is in conjunction with the appendix Figure 1 - Appendix Figure 5 This application will be described in further detail.

[0064] This application discloses an eye-driven system for a small android.

[0065] Reference Figure 1 , Figure 2 , Figure 3 , Figure 4 and Figure 5 A small embodied robot eye-actuating system includes two simulated eyeballs 1, one on the left and one on the right, housed within a head shell. The area between the two simulated eyeballs 1 is considered the inner side, while the left side of the left simulated eyeball and the right side of the right simulated eyeball are considered the outer sides. A head support 2, supporting internal components, is located within the head shell. The two simulated eyeballs 1 are rotatably connected to the front of the head support 2 via two vertically arranged eyeball pivots. Each simulated eyeball 1 has a forward-facing spherical surface, with one simulated eyeball 1 serving as the active eyeball and the other as the passive eyeball. A vertical insertion hole is located on the outer side of the spherical surface of the active eyeball. A bent pull rod 3, referred to as a pull rod bend 4, is also located within the head shell of the small embodied robot eye-actuating system. The bend of the pull rod 3 is inserted into the insertion hole from top to bottom, forming a rotatable connection. The pull rod 3 extends rearward and is hooked onto a power swing arm 5, which is mounted on the drive shaft of a drive motor device 6. The two simulated eyeballs 1 each have a rearward-extending swing arm on their lower side, called the linkage swing arm 7. The two linkage swing arms 7 are connected by a connecting rod 8, thus forming a drive system in which the drive motor device 6 drives the power swing arm 5 to swing, pulls the pull rod 3, drives the active eyeball to swing, and the active eyeball drives the driven eyeball to rotate synchronously through the linkage swing arm 7 and the connecting rod 8.

[0066] Specifically, the head support 2 is housed inside the head shell. Rotating shaft supports for mounting eyeball rotating shafts are located on the left and right sides in front of the head support 2. Two simulated eyeballs 1 are mounted on the rotating shaft supports via eyeball rotating shafts, and the eyelids of the small android are located in front of the simulated eyeballs 1. In this embodiment, the simulated eyeball 1 on the left is the active eyeball, and the simulated eyeball 1 on the right is the passive eyeball. An insertion hole is provided on the outer side of the active eyeball, and the elbow 4 at the front end of the pull rod 3 is inserted into the insertion hole from top to bottom, moving within the insertion hole.

[0067] In this embodiment, the drive motor 6 is located behind the left simulated eyeball, and the power swing arm 5 is also located behind the left simulated eyeball. The rear end of the pull rod 3 is hooked onto the power swing arm 5. The drive motor 6 drives the power swing arm 5 to rotate, thereby causing the active eyeball to rotate. The lower sides of both simulated eyeballs 1 extend rearwards with strip-shaped protrusions as linkage swing arms 7. The rear ends of the linkage swing arms 7 are connected by a connecting rod 8, so that when the active eyeball rotates, the driven eyeball can rotate synchronously with the active eyeball.

[0068] This application abandons the dual-motor drive for rotating two simulated eyeballs and instead uses a single drive motor device 6 to drive two simulated eyeballs 1, thereby saving head space in the small embodied robot. Furthermore, the connection point of the lever 3 is located on the outside of the simulated eyeball 1, and the linkage arm 7 is set below the simulated eyeball 1, thus not affecting the front appearance of the simulated eyeball 1 and avoiding interference with the eyelid drive in front of the eyeballs. This optimizes the head space of the small embodied robot and achieves a compact layout of the head space.

[0069] A notch 9 is provided above the socket, and the bend of the pull rod elbow 4 is located in the notch 9.

[0070] Specifically, directly above the insertion hole on the outer side of the active eyeball, a portion of material is cut inward from the surface of the spherical body to form a notch 9. The depth of the notch 9 is greater than the bending radius of the pull rod elbow 4. The bend of the pull rod elbow 4 is accommodated in the notch 9, so that the highest point of the bend of the pull rod 3 does not exceed the outer contour of the spherical body.

[0071] When only the socket is provided, the elbow 4 of the pull rod protrudes from the spherical surface of the simulated eyeball 1, which can easily scratch the eyelid covering the simulated eyeball 1, or even push up the eyelid, causing an abrupt bulge. However, by creating a notch 9 above the socket on the outer side of the active eyeball, and completely accommodating the bend of the elbow 4 within this notch 9, the elbow 4 no longer protrudes from the outer side of the spherical surface but is instead recessed into the notch 9, thus maintaining the smooth and complete outer contour of the simulated eyeball 1. This completely separates the pull rod 3 from the eyelid in space and avoids motion interference. Simultaneously, the simulated eyeball 1 has no abrupt bulges, which facilitates a tight fit of the eyelid, thereby enhancing the anthropomorphic feel of the small, embodied robot.

[0072] When the simulated eyeball 1 is facing forward, the front-to-back position of the socket is flush with the eyeball's rotation axis. If the socket is too far forward or too far back, the lever elbow 4 will be biased towards the front or back of the simulated eyeball 1, which may interfere with the expression driving mechanism at the front or back of the eyelid. When the simulated eyeball 1 is facing forward, the front-to-back position of the socket is flush with the eyeball's rotation axis. This means that the lever elbow 4 is constrained in the middle area of ​​the side of the simulated eyeball 1, neither protruding forward to interfere with the front edge of the eyelid nor backward to affect the expression driving mechanism at the back. This provides a complete channel for the opening and closing movement of the eyelid and further optimizes the overall layout of the facial expression driving system.

[0073] The length of the linkage arm 7 in the front-to-back direction is 4~10mm. A vertical hinge hole is provided at the rear of the linkage arm 7. Both ends of the connecting rod 8 have bends, called connecting rod bends 10. The two connecting rod bends 10 of the connecting rod 8 are inserted into the hinge holes of the two linkage arms 7 from bottom to top, forming a rotatable connection.

[0074] The length of the linkage arm 7 in the front-to-back direction is limited to 4~10 mm, and a vertical hinge hole is provided at the rear of the linkage arm 7. At the same time, the bent ends of the connecting rod 8 are inserted into the hinge hole from bottom to top to form a rotating connection. This allows the linkage arm 7 to provide sufficient torque transmission while avoiding other internal components inside the head shell of the small robot. Thus, while realizing the synchronous rotation of the two simulated eyeballs 1, the layout of the eyeball drive system is further optimized.

[0075] The hinge hole is located behind the eyeball rotation axis, and the distance between the hinge hole and the eyeball rotation axis is greater than the rotation radius of the simulated eyeball 1 rotating around the eyeball rotation axis. By placing the hinge hole behind the eyeball rotation axis and ensuring the distance between the hinge hole and the eyeball rotation axis is greater than the rotation radius of the simulated eyeball 1 rotating around the eyeball rotation axis, the lever structure with the eyeball rotation axis as the rotation center is improved. From the lever structure perspective, the eyeball rotation axis is the fulcrum, and the hinge hole of the connecting rod 8 is the power point. The power point is located behind the fulcrum and is larger than the radius of the simulated eyeball 1, which is equivalent to lengthening the power arm. Under the same thrust of the connecting rod 8, the driven eyeball obtains a larger rotational torque. Therefore, the thrust required for the active eyeball to drive the driven eyeball to rotate decreases accordingly, making the following response of the driven eyeball more sensitive and resulting in more synchronized rotation of the two simulated eyeballs 1.

[0076] The drive shaft of the drive motor device 6 is vertically arranged and coaxially connected to the shaft of the power swing arm 5. The shaft of the power swing arm 5 is located on the outer side, and the driven end of the power swing arm 5 is located on the inner side. The driven end of the power swing arm 5 has a vertical through hole, and the inner diameter of the through hole is smaller than the diameter of the shaft of the power swing arm 5. The width of the power swing arm 5 gradually decreases from one end of the shaft of the power swing arm 5 to one end of the through hole. The rearward extension of the pull rod 3 has an upwardly bent elbow, called the hook elbow 11, which is inserted into the through hole from bottom to top to form a rotatable connection.

[0077] The drive motor 6 and the power swing arm 5 are mounted on the head support 2, located behind the left simulated eyeball. The drive motor 6 and the power swing arm 5 are arranged vertically, with the drive shaft of the drive motor 6 coaxially connected downwards to the shaft of the power swing arm 5. The shaft of the power swing arm 5 is located on the outside of the head support 2, specifically near the left side wall of the head shell. The driven end of the power swing arm 5, i.e., the part with the through hole, is located on the inside. The rear end of the pull rod 3 is vertically bent upwards to form a hook-up elbow 11, which is inserted into the through hole of the driven end of the power swing arm 5 from below.

[0078] If the driven end of the power swing arm 5 faces outward, it will extend outward, increasing the lateral width of the head shell. However, by placing the pivot of the power swing arm 5 on the outside and the driven end facing inward, the overall width of the head is not increased while ensuring the swing of the power swing arm 5, and there is no interference with the inner wall of the head shell. Simultaneously, the width of the power swing arm 5 gradually decreases from one end of the pivot to one end of the through hole, further reducing the space occupied by the driven end of the power swing arm 5. This reduces the space occupied by the eye-driven system, making the overall head space layout of the small android more compact.

[0079] The upper part of the hook-up elbow 11 is inserted into the through hole from bottom to top and extends out of the through hole. A pin hole is provided on the part of the hook-up elbow 11 extending out of the through hole, and a pin is inserted into the pin hole. This application allows the upper part of the hook-up elbow 11 to pass through the through hole and extend outwards, with a pin hole and pin inserted in the extended part, ensuring that the hook-up elbow 11 will not fall out of the through hole even if the robot head shakes or flips violently. This greatly improves the reliability of the system, and the pin assembly cost is extremely low.

[0080] The head support 2 has a motor support mechanism and a power swing arm support mechanism, with the power swing arm support mechanism located below the motor support mechanism. The drive motor device 6 is mounted above the motor support mechanism, and its drive shaft points vertically downwards. The power swing arm support mechanism has a cylindrical, upward-pointing protrusion that supports the power swing arm 5. Furthermore, the bottom of the power swing arm 5 is a smooth plane, and the bottom of the power swing arm 5 abuts against the top of the power swing arm support mechanism, thereby allowing the power swing arm support mechanism to support the power swing arm 5 upwards.

[0081] A motor support mechanism and a power swing arm support mechanism located below the motor support mechanism are set on the head support 2. The drive motor device 6 is mounted on the motor support mechanism, and the drive shaft of the drive motor device 6 is vertically downward. The cylindrical protrusion of the power swing arm support mechanism below supports the power swing arm 5 upward, thus forming a layered support structure. This layered support structure allows the drive motor device 6 and the power swing arm 5 to be arranged in a vertical height, making full use of the space in the height direction of the head without adding extra space in the horizontal direction of the small robot, and further compacting the layout of the head space.

[0082] Both simulated eyeballs 1 are hollow hemispherical structures with a spherical surface at the front, and an opening at the rear of each simulated eyeball 1 leads to the interior of the hollow hemispherical structure. Two forward-facing pivot supports 12 and 13 are located at the front of the head support 2. The front end of the left pivot support 12 extends into the left simulated eyeball through the opening at the rear, and the front part of the left pivot support 12 is rotatably connected to the left simulated eyeball via an eyeball pivot. The left side wall of the left pivot support 12 is located within the leftward rotation trajectory of the opening side wall of the left simulated eyeball. The front end of the right pivot support 13 extends into the right simulated eyeball through the opening at the rear, and the front part of the right pivot support 13 is rotatably connected to the right simulated eyeball via an eyeball pivot. The right side wall of the right pivot support 13 is located within the rightward rotation trajectory of the opening side wall of the right simulated eyeball.

[0083] Specifically, each simulated eyeball 1 has a complete hemispherical surface at the front and an open hollow structure at the back, thus forming a hollow hemispherical structure. There are two pivot supports at the front of the head support 2, serving as the left pivot support 12 and the right pivot support 13 respectively. The left pivot support 12 extends into the cavity of the simulated eyeball 1 from the opening at the rear of the left simulated eyeball and is rotatably connected to the left simulated eyeball via an eyeball pivot. Similarly, the right simulated eyeball has its right pivot support 13 extending into the cavity of the simulated eyeball 1 from the opening at the rear of the right simulated eyeball and rotatably connected to the right simulated eyeball via an eyeball pivot.

[0084] Meanwhile, the left side wall of the left rotation axis bracket 12 is located within the left rotation trajectory of the opening side wall of the left simulated eyeball. This means that as the left simulated eyeball rotates to the left, the opening side wall of the posterior opening of the left simulated eyeball gradually approaches the left side wall of the left rotation axis bracket 12. When the left simulated eyeball rotates to its limit angle, the opening side wall of the left simulated eyeball just contacts the left side wall of the left rotation axis bracket 12, preventing the left simulated eyeball from continuing to rotate to the left. Similarly, the right side wall of the right rotation axis bracket 13 restricts the excessive right rotation of the right simulated eyeball.

[0085] This technical solution conceals the eyeball rotation axis and the rotation axis support inside the simulated eyeball 1, allowing the eyelids to cover the surface of the simulated eyeball 1 without obstruction, resulting in a highly anthropomorphic appearance. Simultaneously, the interference between the support sidewall and the opening sidewall achieves physical limitation on the rotation of the simulated eyeball 1. Specifically, the left sidewall of the left rotation axis support 12 restricts the left simulated eyeball 1 from excessively rotating to the left, and the right sidewall of the right rotation axis support 13 restricts the right simulated eyeball 1 from excessively rotating to the right. Furthermore, since the two simulated eyeballs 1 rotate synchronously, when one simulated eyeball 1 is restricted from excessive rotation, the other simulated eyeball 1 will also stop rotating, thus preventing the drive motor device 6 from over-driving and causing the simulated eyeball 1 to over-rotate.

[0086] The housing of the drive motor unit 6 is flat in the left-right direction. The drive motor unit 6 does not occupy too much space in the left-right direction, so that the head of the small robot does not have to be widened, thus making more lateral space available for other drive system components and further compacting the head space of the small robot.

[0087] The above are all preferred embodiments of this application, and are not intended to limit the scope of protection of this application. Therefore, all equivalent changes made in accordance with the structure, shape and principle of this application should be covered within the scope of protection of this application.

Claims

1. A small android eye-driven system, comprising two simulated eyeballs (1) mounted inside a head shell, characterized in that, With the area between the two simulated eyeballs (1) as the inner side, the left side of the left simulated eyeball and the right side of the right simulated eyeball are the outer side; The head shell is provided with a head support (2) to support the internal components, and the two simulated eyeballs (1) are rotatably connected to the front of the head support (2) through two vertically arranged eyeball pivots; The simulated eyeball (1) has a spherical body facing forward; One of the simulated eyeballs (1) is used as the active eyeball, and the other simulated eyeball (1) is used as the passive eyeball; A vertical insertion hole is provided on the outer side of the spherical body of the active eyeball; The head shell is also provided with a pull rod (3) with a bend. The bend of the pull rod (3) is called the pull rod bend (4). The pull rod bend (4) is inserted into the socket from top to bottom to form a rotatable connection. The pull rod (3) extends rearward and is hooked onto a power swing arm (5), which is mounted on the drive shaft of a drive motor device (6); Both of the spherical bodies of the two simulated eyeballs (1) are provided with a rearward-extending swing arm on the lower side, which is called the linkage swing arm (7); The two linked swing arms (7) are connected by a connecting rod (8); This results in a drive system in which the drive motor device (6) drives the power swing arm (5) to swing, pulls the lever (3), drives the active eyeball to swing, and the active eyeball drives the driven eyeball to rotate synchronously through the linkage swing arm (7) and the connecting rod (8).

2. The small-scale body-worn robot eye-actuating system according to claim 1, characterized in that, A notch (9) is provided above the socket, and the bend of the pull rod elbow (4) is located in the notch (9).

3. The small body robot eye-actuating system according to claim 1, characterized in that, When the simulated eyeball (1) is facing forward, the front and back positions of the jack are flush with the rotation axis of the eyeball.

4. The small body robot eye-actuating system according to claim 1, characterized in that, The length of the linkage swing arm (7) in the front-to-back direction is 4~10mm; The rear part of the linkage arm (7) is provided with a vertical hinge hole; Both ends of the connecting rod (8) have bends, which are called connecting rod bends (10); The two connecting rod elbows (10) of the connecting rod (8) are respectively inserted into the hinge holes of the two linkage arms (7) from bottom to top, forming a rotatable connection.

5. The small body robot eye-actuating system according to claim 4, characterized in that, The hinge hole is located behind the eyeball rotation axis, and the distance between the hinge hole and the eyeball rotation axis is greater than the rotation radius of the simulated eyeball (1) rotating about the eyeball rotation axis.

6. The small body robot eye-actuating system according to claim 1, characterized in that, The drive shaft of the drive motor device (6) is vertically arranged, and the drive shaft of the drive motor device (6) is coaxially connected with the shaft of the power swing arm (5). The pivot of the power swing arm (5) is located on the outside, and the driven end of the power swing arm (5) is located on the inside. The driven end of the power swing arm (5) is provided with a vertical through hole, and the inner diameter of the through hole is smaller than the diameter of the rotating shaft of the power swing arm (5). The width of the power swing arm (5) gradually decreases from one end of the rotating shaft of the power swing arm (5) to one end of the through hole of the power swing arm (5); The rearward extension of the pull rod (3) has an upward-bending bend, called the hook bend (11); The hook-up elbow (11) is inserted into the through hole from bottom to top to form a rotatable connection.

7. The small body robot eye-actuating system according to claim 6, characterized in that, The upper part of the hook elbow (11) is inserted into the through hole from bottom to top and extends out of the through hole; The portion of the hook-up elbow (11) extending out of the through hole has a pin hole, and a pin passes through the pin hole.

8. The small body robot eye-actuating system according to claim 1, characterized in that, The head support (2) has a motor support mechanism and a power swing arm support mechanism, and the power swing arm support mechanism is located below the motor support mechanism; The drive motor device (6) is mounted on the motor support mechanism, and the drive shaft of the drive motor device (6) is vertically downward. The power swing arm support mechanism has a cylindrical, upwardly raised cylindrical protrusion that supports the power swing arm (5).

9. The small body robot eye-actuating system according to claim 1, characterized in that, Both simulated eyeballs (1) are hollow hemispherical structures with a spherical surface in front, and an opening leading to the interior of the hollow hemispherical structure is provided at the rear of the simulated eyeballs (1). The head support (2) is provided with two forward-facing left rotating shaft supports (12) and right rotating shaft supports (13) in front of it; The front end of the left rotating shaft bracket (12) extends into the left simulated eyeball from the opening behind the left simulated eyeball (1), and the front part of the left rotating shaft bracket (12) is rotatably connected to the left simulated eyeball (1) through the eyeball rotating shaft; The left side wall of the left rotating shaft bracket (12) is located within the left simulated eyeball's opening side wall in the left rotation trajectory; The front end of the right rotating shaft bracket (13) extends into the right simulated eyeball (1) from the opening behind it, and the front part of the right rotating shaft bracket (13) is rotatably connected to the right simulated eyeball (1) through the eyeball rotating shaft; The right side wall of the right rotating shaft bracket (13) is located within the right rotation trajectory of the opening side wall of the right simulated eyeball.

10. The small body robot eye-actuating system according to claim 1, characterized in that, The housing of the drive motor device (6) is flat in the left-right direction.

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