Humanoid robot mechanical eye movement driving mechanism and expression control method

Abstract

The invention provides a humanoid robot mechanical eye movement driving mechanism and an expression control method, and belongs to the field of humanoid robotics.The humanoid robot mechanical eye movement driving mechanism is structurally composed of an eyeball assembly, a hollowed-out frame body, a double-shaking driving rod set, a hemispherical cavity middle connecting body, a space movement synchronous child-mother block and a three-dimensional control frame; through cooperative cooperation of the sliding block mechanism, the connecting rod and the spherical pair assembly, horizontal / vertical synchronous rotation of eyeballs and multi-dimensional movement such as eyelid opening and closing can be achieved, and compared with an electric control scheme, the multi-dimensional movement control device has the advantages of being simple, rapid in response, stable in control and the like.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of robot technology and application, in particular to a mechanical eye movement driving mechanism of humanoid robot and expression control method. BACKGROUND

[0002] With the coordinated evolution of artificial intelligence algorithm, high-precision driving technology and bionic control theory, humanoid robots have made major breakthroughs in core technical fields such as motion flexibility and environmental adaptability. At present, they have achieved application demonstration in many vertical fields such as industrial flexible manufacturing, precision medical assistance and intelligent home service, and have shown good commercialization potential. The motion execution system is the key core of the humanoid robot, which is responsible for converting the instructions generated by the control algorithm into actual actions, directly affecting the motion ability, environmental adaptability and interaction performance of the robot. At present, the motion execution system of the humanoid robot mainly adopts a motion driving system with control motors and servo systems as the core. In order to realize the motion functions of the robot, a large number of control motors and complex control systems are needed. On the one hand, a corresponding number of drivers, controllers and other hardware are needed, which increases the volume of the control box and the weight of the wiring, causing serious lightweight problems of the humanoid robot structure. On the other hand, in order to realize the precise control of multiple motion execution mechanisms, complex algorithms and software are needed, which also puts higher requirements on the processor performance, bringing problems such as efficiency, precision, stability and cost.

[0003] In order to solve the above-mentioned lightweight engineering problems of the humanoid robot motion driving system, for the implementation of part of the auxiliary motion functions of the robot, such as the eye movement function of the robot, a more simple, direct and stable driving scheme can be tried to replace the electric control scheme. SUMMARY

[0004] In view of the problems of large control box volume, heavy wiring and other structural lightweight problems when a large number of motion functions of the humanoid robot motion execution system are driven by control motors and servo systems, and the high requirements on processor performance when complex algorithms and software are used for control, which further brings problems such as efficiency, precision, stability and cost, for the implementation of part of the auxiliary motion functions of the robot, such as the eye movement function of the robot, the present application proposes a mechanical eye movement driving mechanism and expression control method. The structure is composed of six parts of eyeball assembly, hollow frame body, double-rotating driving rod group, hemispherical cavity middle connecting body, space motion synchronous primary and secondary blocks and three-dimensional operating frame. The pure mechanical transmission design can realize the horizontal / vertical synchronous rotation of the eyeball, eyelid opening and closing and other multidimensional motions through the cooperation of the slider mechanism, connecting rod and spherical pair assembly. Compared with the electric control scheme, it has the advantages of simplicity, rapid response and stable control.

[0005] In order to realize the above technical features, the purpose of the present application is realized as follows: A mechanical eye movement driving mechanism of a humanoid robot, comprising an eyeball assembly, a hollow frame body, a double-oscillation driving rod group, a hemispherical cavity intermediate connecting body, a space motion synchronous primary and secondary block and a three-dimensional operating frame; two pairs of double-oscillation driving rod groups are movably connected with the inside of the eyeball assembly through spherical pairs at one end of the hollow frame body and movably connected with the inside of the hemispherical cavity intermediate connecting body through spherical pairs at the other end, the outside of the hemispherical cavity intermediate connecting body is fixedly connected with the three-dimensional operating frame through threads, the three-dimensional operating frame is movably connected with the space motion synchronous primary and secondary block through a moving pair, and the space motion synchronous primary and secondary block is movably connected with the rear side of the hollow frame body through a moving pair.

[0006] Preferably, the spherical pair connection is composed of a ball socket and a ball head, the ball socket is arranged in the eyeball assembly and the hemispherical cavity intermediate connecting body respectively, and the ball head is arranged at one end of the hollow frame body and the double-oscillation driving rod group respectively; the eyeball assembly is made by integral molding process, has an appearance and structure highly simulating a human eye, and is provided with three first ball sockets at the rear end; the first ball socket is matched with the ball head arranged on the hollow frame body and the double-oscillation driving rod group to realize the spherical pair connection between the eyeball assembly and the hollow frame body and the double-oscillation driving rod group.

[0007] Preferably, the double-oscillation driving rod group comprises four circular rods, both ends of the circular rod are ball head structures, the ball head structures are movably connected with the ball sockets on the eyeball assembly and the hemispherical cavity intermediate connecting body respectively to realize the spherical pair connection between the double-oscillation driving rod group and the eyeball assembly and the hemispherical cavity intermediate connecting body, and the four circular rods are grouped in pairs, and the two groups of rods are symmetrically distributed in space.

[0008] Preferably, the hemispherical cavity intermediate connecting body is provided with three second ball sockets at the front end, the second ball sockets are matched with the ball heads arranged on the hollow frame body and the double-oscillation driving rod group to realize the spherical pair connection between the hemispherical cavity intermediate connecting body and the hollow frame body and the double-oscillation driving rod group, and the rear end is fixedly connected with the three-dimensional operating frame through a threaded column.

[0009] Preferably, the hollow frame body is a frame structure with an inside hollow, the front end is provided with two first ball heads arranged in a symmetrical layout, the first ball heads form a spherical pair connection with the first ball sockets arranged on the eyeball assembly, the rear end is also provided with two second ball heads arranged in a symmetrical layout, the second ball heads are connected with the ball sockets on the hemispherical cavity intermediate connecting body through a ball hinge, and two vertical columns are symmetrically arranged on the rear side of the upper part of the hollow frame body and movably connected with the space motion synchronous primary and secondary block through a moving pair.

[0010] Preferably, the space synchronous movement sub-block is composed of a space synchronous movement sub-block mother block and a space synchronous movement sub-block sub-block, the space synchronous movement sub-block mother block is a block structure penetrating through the middle part, the upper end is provided with a limiting sliding groove, and the two ends are symmetrically provided with through holes, the through holes are movably connected with the vertical column on the hollow frame body through a movement pair, and linear movement of the hollow frame body relative to the space synchronous movement sub-block mother block along the vertical column can be realized, and the limiting sliding groove provides guidance and limiting constraint for movement of the space synchronous movement sub-block sub-block.

[0011] Preferably, the space synchronous movement sub-block sub-block is installed in the penetrating region of the middle part of the space synchronous movement sub-block mother block, the upper end is provided with a protruding structure, the protruding structure is movably connected with the limiting sliding groove at the upper end of the space synchronous movement sub-block mother block through a movement pair, so that the space synchronous movement sub-block sub-block can move linearly along the extension direction of the limiting sliding groove, the space synchronous movement sub-block sub-block adopts a structure design penetrating through the middle part, and the penetrating structure is movably connected with the three-dimensional operating frame through a movement pair, so as to realize relative linear movement between the space synchronous movement sub-block sub-block and the three-dimensional operating frame.

[0012] Preferably, the three-dimensional operating frame is provided with a protruding structure at the front end, the protruding structure is movably connected with the penetrating structure in the middle part of the space synchronous movement sub-block sub-block through a movement pair, so as to realize linear movement of the three-dimensional operating frame relative to the space synchronous movement sub-block sub-block, the protruding structure is provided with threaded holes at the two ends respectively, the threaded holes are fixedly connected with the threaded column on the intermediate connecting body in the hemispherical cavity through a threaded screwing mode, and the three-dimensional operating frame is provided with a handle at the rear end.

[0013] In another aspect, the application provides a control method for expression of a mechanical eye movement driving mechanism of a humanoid robot, and the control method comprises the following steps: The mechanical eye movement driving mechanism of the humanoid robot is installed in the eye area of the robot, the assembly positions of the components are adjusted, the connection relationship between the three-dimensional operating frame, the space synchronous movement sub-block, the hollow frame body, the double-oscillation driving rod group, the intermediate connecting body in the hemispherical cavity and the eyeball assembly meets the design requirements, and smooth movement of each movement pair is ensured without interference; Realize left and right synchronous rotation of the eyeball assembly in the horizontal direction: Step 1: the operator holds the handle part of the three-dimensional operating frame and pushes the three-dimensional operating frame to the left along the horizontal direction; Step 2: due to the limitation of the space synchronous movement sub-block mother block on the vertical direction freedom degree of the three-dimensional operating frame, the three-dimensional operating frame can only move to the left in the horizontal direction, and the movement is transmitted through the movement pair formed by the protruding structure at the front end of the three-dimensional operating frame and the penetrating structure in the middle part of the space synchronous movement sub-block sub-block; Step3: The horizontal leftward movement of the three-dimensional operating frame drives the hemispherical cavity intermediate connector to rotate leftward in the horizontal direction through the threaded connection of the two ends of the three-dimensional operating frame with the hemispherical cavity intermediate connector; Step4: The rotation of the hemispherical cavity intermediate connector transmits motion to the eyeball assembly through the spherical pair connection between the double-oscillation driving rod group, the hemispherical cavity intermediate connector and the eyeball assembly, realizing the synchronous rotation of the eyeball assembly leftward in the horizontal direction. Step5: When the eyeball assembly needs to rotate rightward, the operator pushes the three-dimensional operating frame rightward along the horizontal direction, and repeats the processes of Step2 to Step4, so as to realize the synchronous rotation of the eyeball assembly rightward in the horizontal direction.

[0014] Preferably, it also includes realizing the synchronous rotation of the eyeball assembly upward and downward in the vertical direction: Step1: The operator holds the handle part of the three-dimensional operating frame and pushes the three-dimensional operating frame upward along the vertical direction; Step2: Due to the limitation of the space synchronous motion master-slave block sub-block on the horizontal direction freedom of the three-dimensional operating frame, the three-dimensional operating frame can only move upward in the vertical direction, and the movement is transmitted through the movement pair formed by the three-dimensional operating frame front end protrusion and the middle through structure of the space synchronous motion master-slave block sub-block; Step3: The vertical upward movement of the three-dimensional operating frame drives the hemispherical cavity intermediate connector to rotate upward in the vertical direction through the threaded connection of the two ends of the three-dimensional operating frame with the hemispherical cavity intermediate connector; Step4: The rotation of the hemispherical cavity intermediate connector transmits motion to the eyeball assembly through the spherical pair connection between the double-oscillation driving rod group, the hemispherical cavity intermediate connector and the eyeball assembly, realizing the synchronous rotation of the eyeball assembly upward in the vertical direction. Step5: When the eyeball assembly needs to rotate downward, the operator pushes the three-dimensional operating frame downward along the vertical direction, and repeats the processes of Step2 to Step4, so as to realize the synchronous rotation of the eyeball assembly downward in the vertical direction.

[0015] The present application has the following beneficial effects: 1. The present application adopts a pure mechanical transmission design, which eliminates the motor, servo system and complex wiring in the traditional electric control scheme, effectively solves the structure lightweight problem of the oversized control box and the heavy wiring, and significantly optimizes the compactness and lightweight level of the robot face structure.

[0016] 2. The present application does not require complex control algorithms and software support, avoids the dependence on high-performance processors, solves the efficiency, precision, stability and cost problems caused by complex control, improves the motion control efficiency and precision, and reduces the system cost and stability risk caused by software failure.

[0017] 3. This invention achieves multi-dimensional movements such as synchronous horizontal / vertical rotation of the eyeball through the coordinated operation of the slider mechanism, connecting rod and spherical sub-component, solving the response delay problem in the implementation of auxiliary movement functions, and has the advantages of rapid response and stable control.

[0018] 4. This invention adopts a symmetrical distribution of dual rocker actuators and a multi-kinematic joint collaborative design to ensure the coordination and synchronization of eyeball component movements, solve the problem of insufficient simulation and accuracy of eye movements, and improve the simulation effect and control precision of eye movements.

[0019] 5. This invention adopts a modular structure design and standardized connection method, which facilitates the assembly, debugging and maintenance of each component, solves the problem of high complexity in production and subsequent maintenance, and is conducive to large-scale application. Attached Figure Description

[0020] The present invention will be further described below with reference to the accompanying drawings and embodiments.

[0021] Figure 1 This is a schematic diagram of the overall structure of this structure.

[0022] Figure 2 This is a schematic diagram of the assembly structure of the eyeball assembly, the dual rocker drive rod assembly, the hollow frame, and the intermediate connector of the hemispherical cavity.

[0023] Figure 3 This is a schematic diagram of the assembly structure of the space motion synchronization mother and daughter blocks and the three-dimensional control frame. Detailed Implementation

[0024] The embodiments of the present invention will be further described below with reference to the accompanying drawings.

[0025] Example 1: like Figure 1 As shown, a mechanical eye movement drive mechanism for a humanoid robot mainly consists of six parts: an eyeball assembly 1, a hollow frame 2, a double-rocker drive rod assembly 3, a hemispherical cavity intermediate connector 4, a spatial motion synchronization block 5, and a three-dimensional control frame 6. The two pairs of double-rocker drive rod assemblies 3 extend spatially beyond the hollow frame 2. One end is movably connected to the inside of the eyeball assembly 1 via a spherical joint, and the other end is movably connected to the inside of the hemispherical cavity intermediate connector 4 via a spherical joint. The outside of the hemispherical cavity intermediate connector 4 is fixed to the three-dimensional control frame 6 by a threaded connection. The three-dimensional control frame 6 is movably engaged with the spatial motion synchronization block 5 via a sliding joint, and the spatial motion synchronization block 5 is movably connected to the rear of the hollow frame 2 via a sliding joint.

[0026] Furthermore, such as Figure 2As shown, the eyeball assembly 1 is made by integral molding process as the core component of the simulation human eye, and its shape and structure are highly simulated human eye. Three first ball sockets 1-1 are arranged at the rear end of the eyeball assembly 1, which are matched with the corresponding ball heads on the hollow frame body 2 and the double-oscillation driving rod group 3, so as to realize the spherical pair connection between the eyeball assembly 1 and the hollow frame body 2 and the double-oscillation driving rod group 3.

[0027] Further, the double-oscillation driving rod group 3 includes four circular rod bodies, each of which has a ball head structure at both ends, which are movably connected with the ball sockets on the eyeball assembly 1 and the hemispherical cavity intermediate connecting body 4, so as to realize the spherical pair connection between the double-oscillation driving rod group 3 and the eyeball assembly 1 and the hemispherical cavity intermediate connecting body 4, and the four circular rod bodies are grouped in pairs, and the two groups of rod bodies are symmetrically distributed in space, ensuring the stability and coordination of the movement.

[0028] Further, the hemispherical cavity intermediate connecting body 4 is provided with three second ball sockets 4-1 at the front end, which are matched with the ball heads on the hollow frame body 2 and the double-oscillation driving rod group 3, so as to realize the spherical pair connection with the hollow frame body 2 and the double-oscillation driving rod group 3, and the rear end is stably connected with the three-dimensional control frame 6 through the threaded column 4-2.

[0029] Further, the hollow frame body 2 is a frame structure with hollow inside, and two first ball heads 2-1 are symmetrically arranged at the front end, which form a spherical pair connection with the corresponding first ball sockets 1-1 on the eyeball assembly 1; two second ball heads 2-2 are also symmetrically arranged at the rear end, which are connected with the ball sockets on the hemispherical cavity intermediate connecting body 4 through the ball hinge. Two vertical columns 2-3 are symmetrically arranged on the upper part of the rear side of the hollow frame body 2, which are movably connected with the space motion synchronous master-slave block 5 through the moving pair, providing guidance and support for the movement of the whole mechanism.

[0030] Further, as shown in FIG. 4, the eyeball assembly 1 is movably connected with the space motion synchronous master-slave block 5 through the moving pair, and the space motion synchronous master-slave block 5 is movably connected with the three-dimensional control frame 6 through the moving pair, so as to realize the spherical pair connection between the eyeball assembly 1 and the three-dimensional control frame 6. Figure 3As shown, the space motion synchronous sub-block 5 is composed of a space motion synchronous sub-block parent block 5-1 and a space motion synchronous sub-block child block 5-2. The space motion synchronous sub-block parent block 5-1 is a block structure with a through hole in the middle, and a limiting sliding groove 5-1-1 is arranged at the upper end. Symmetrical through holes 5-1-2 are arranged at both ends, and the through holes 5-1-2 are movably connected with the vertical column 2-3 on the hollow frame body 2 through a movable pair, so as to realize the linear movement of the hollow frame body 2 relative to the space motion synchronous sub-block parent block 5-1 along the vertical column 2-3. The limiting sliding groove 5-1-1 provides guidance and limiting constraint for the movement of the space motion synchronous sub-block child block 5-2. The space motion synchronous sub-block child block 5-2 is installed in the through hole of the space motion synchronous sub-block parent block 5-1, and a protruding structure is arranged at the upper end. The protruding structure is movably connected with the limiting sliding groove 5-1-1 at the upper end of the space motion synchronous sub-block parent block 5-1, so that the space motion synchronous sub-block child block 5-2 can move linearly along the extension direction of the limiting sliding groove 5-1-1. At the same time, the space motion synchronous sub-block child block 5-2 is designed as a structure with a through hole in the middle, and the through hole is movably connected with the three-dimensional operating frame 6 through a movable pair, so as to realize the relative linear motion between the two.

[0031] Further, a protruding structure is arranged at the front end of the three-dimensional operating frame 6, and the protruding structure is movably connected with the through hole structure in the middle of the space motion synchronous sub-block child block 5-2 through a movable pair, so as to realize the linear movement of the three-dimensional operating frame 6 relative to the space motion synchronous sub-block child block 5-2. Threaded holes 6-1 are arranged at both ends of the three-dimensional operating frame 6, and the threaded holes 6-1 are fixedly connected with the threaded column 4-2 on the intermediate connecting body 4 of the hemispherical cavity through screwing. An operating handle is arranged at the rear end of the three-dimensional operating frame 6, so as to facilitate the operation of the whole eye movement driving mechanism.

[0032] Embodiment 2: Taking the above-mentioned mechanical eye movement driving mechanism of a humanoid robot as an example, the control method comprises the following steps: The mechanical eye movement driving mechanism of the humanoid robot is installed in the eye area of the robot, and the assembly positions of various components are adjusted, so that the connection relationship between the three-dimensional operating frame 6, the space motion synchronous sub-block 5, the hollow frame body 2, the double-oscillation driving rod group 3, the intermediate connecting body 4 of the hemispherical cavity and the eyeball assembly 1 meets the design requirements, and the smooth movement of various pairs of motion is ensured without interference.

[0033] The first case is to realize the left and right synchronous rotation of the eyeball assembly 1 in the horizontal direction: Step 1: The operator holds the handle part of the three-dimensional operating frame 6 and pushes the three-dimensional operating frame 6 to the left along the horizontal direction; Step2: Due to the restriction of the space synchronous motion sub-block 5-2 on the horizontal direction freedom of the three-dimensional manipulator 6, the three-dimensional manipulator 6 can only move upward in the vertical direction, and the movement is transmitted through the movement pair connection formed by the protrusion at the front end of the three-dimensional manipulator 6 and the through structure in the middle of the space synchronous motion sub-block 5-2; Step3: The upward movement of the three-dimensional manipulator 6 in the vertical direction drives the hemispherical cavity intermediate connecting body 4 to rotate leftward in the horizontal direction through the threaded connection of the two ends of the three-dimensional manipulator 6 and the hemispherical cavity intermediate connecting body 4; Step4: The rotation of the hemispherical cavity intermediate connecting body 4 transmits the movement to the eyeball assembly 1 through the spherical pair connection between the double-oscillation driving rod group 3, the hemispherical cavity intermediate connecting body 4 and the eyeball assembly 1, and realizes the leftward synchronous rotation of the eyeball assembly 1 in the horizontal direction; Step5: When the eyeball assembly 1 needs to rotate rightward, the operator pushes the three-dimensional manipulator 6 rightward in the horizontal direction, and repeats the above Step2 to Step4 process, so as to realize the rightward synchronous rotation of the eyeball assembly 1 in the horizontal direction.

[0034] Embodiment 3: The second case is to realize the upward and downward synchronous rotation of the eyeball assembly 1 in the vertical direction: Step1: The operator holds the handle part of the three-dimensional manipulator 6 and pushes the three-dimensional manipulator 6 upward in the vertical direction; Step2: Due to the restriction of the space synchronous motion sub-block 5-2 on the horizontal direction freedom of the three-dimensional manipulator 6, the three-dimensional manipulator 6 can only move upward in the vertical direction, and the movement is transmitted through the movement pair connection formed by the protrusion at the front end of the three-dimensional manipulator 6 and the through structure in the middle of the space synchronous motion sub-block 5-2; Step3: The upward movement of the three-dimensional manipulator 6 in the vertical direction drives the hemispherical cavity intermediate connecting body 4 to rotate leftward in the horizontal direction through the threaded connection of the two ends of the three-dimensional manipulator 6 and the hemispherical cavity intermediate connecting body 4; Step4: The rotation of the hemispherical cavity intermediate connecting body 4 transmits the movement to the eyeball assembly 1 through the spherical pair connection between the double-oscillation driving rod group 3, the hemispherical cavity intermediate connecting body 4 and the eyeball assembly 1, and realizes the leftward synchronous rotation of the eyeball assembly 1 in the horizontal direction; Step5: When the eyeball assembly 1 needs to rotate rightward, the operator pushes the three-dimensional manipulator 6 rightward in the horizontal direction, and repeats the above Step2 to Step4 process, so as to realize the rightward synchronous rotation of the eyeball assembly 1 in the horizontal direction.

Claims

1. A mechanical eye movement drive mechanism for a humanoid robot, characterized in that, It includes an eyeball assembly (1), a hollow frame (2), a double rocker drive rod assembly (3), a hemispherical cavity intermediate connector (4), a spatial motion synchronization mother-daughter block (5), and a three-dimensional control frame (6); the two pairs of double rocker drive rod assemblies (3) extend across the hollow frame (2) and are movably connected to the inner side of the eyeball assembly (1) through a spherical joint, and the other end is movably connected to the inner side of the hemispherical cavity intermediate connector (4) through a spherical joint. The outer side of the hemispherical cavity intermediate connector (4) is fixed to the three-dimensional control frame (6) through a threaded connection. The three-dimensional control frame (6) is movably connected to the spatial motion synchronization mother-daughter block (5) through a sliding joint. The spatial motion synchronization mother-daughter block (5) is movably connected to the rear side of the hollow frame (2) through a sliding joint.

2. The mechanical eye movement drive mechanism for a humanoid robot according to claim 1, characterized in that: The spherical joint connection consists of a socket and a head. The sockets are respectively located in the eyeball assembly (1) and the intermediate connecting body (4) of the hemispherical cavity. The heads are respectively located at one end of the hollow frame (2) and the double rocker drive rod group (3). The eyeball assembly (1) is made by an integral molding process. Its shape and structure are highly simulated to the human eye. Three first sockets (1-1) are provided at the rear end. The first sockets (1-1) cooperate with the corresponding heads on the hollow frame (2) and the double rocker drive rod group (3) to realize the spherical joint connection between the eyeball assembly (1), the hollow frame (2) and the double rocker drive rod group (3).

3. The mechanical eye movement drive mechanism for a humanoid robot according to claim 2, characterized in that: The dual rocker drive rod assembly (3) includes four circular rods, both ends of which are ball-head structures. The ball-head structures are movably connected to the eyeball assembly (1) and the hemispherical cavity intermediate connector (4) to realize the spherical pair connection between the dual rocker drive rod assembly (3) and the eyeball assembly (1) and the hemispherical cavity intermediate connector (4). The four circular rods are grouped in pairs, and the two groups of rods are symmetrically distributed in space.

4. The mechanical eye movement drive mechanism for a humanoid robot according to claim 2, characterized in that: The front end of the hemispherical cavity intermediate connector (4) is provided with three second ball sockets (4-1). The ball sockets (4-1) cooperate with the ball heads provided on the hollow frame (2) and the double rocker drive rod group (3) to realize the spherical pair connection between the hemispherical cavity intermediate connector (4), the hollow frame (2) and the double rocker drive rod group (3). The rear end is fixedly connected to the three-dimensional control frame (6) by setting a threaded column (4-2).

5. The mechanical eye movement drive mechanism for a humanoid robot according to claim 2, characterized in that: The hollow frame (2) is a frame structure with hollowed-out inner side. Two first ball heads (2-1) are symmetrically arranged at the front end. The first ball head (2-1) and the corresponding first ball socket (1-1) on the eyeball assembly (1) form a spherical joint connection. Two second ball heads (2-2) are also symmetrically arranged at the rear end. The second ball head (2-2) and the ball socket on the middle connecting body (4) of the hemispherical cavity are connected by a ball joint. Two columns (2-3) are symmetrically arranged on the upper rear side of the hollow frame (2). The columns (2-3) are movably connected to the spatial motion synchronization mother and daughter block (5) through a sliding joint.

6. The mechanical eye movement drive mechanism for a humanoid robot according to claim 2, characterized in that: The spatial synchronous motion mother-daughter block (5) is composed of a spatial synchronous motion mother-daughter block (5-1) and a spatial synchronous motion mother-daughter block (5-2). The spatial synchronous motion mother-daughter block (5-1) is a block structure with a through-hole in the middle. A limiting groove (5-1-1) is provided at the upper end, and through holes (5-1-2) are symmetrically distributed at both ends. The through holes (5-1-2) are movably connected to the column (2-3) on the hollow frame (2) through a sliding pair, which can realize the linear movement of the hollow frame (2) relative to the spatial synchronous motion mother-daughter block (5-1) along the axis of the column (2-3). The limiting groove (5-1-1) provides guidance and limiting constraint for the movement of the spatial synchronous motion mother-daughter block (5-2).

7. The mechanical eye movement drive mechanism for a humanoid robot according to claim 2, characterized in that: The spatial synchronous motion sub-block (5-2) is installed in the through area in the middle of the spatial synchronous motion sub-block (5-1). The upper end is provided with a protruding structure. The protruding structure is connected to the limiting slide groove (5-1-1) at the upper end of the spatial synchronous motion sub-block (5-1) through a sliding pair, so that the spatial synchronous motion sub-block (5-2) can move linearly along the extension direction of the limiting slide groove (5-1-1). The spatial synchronous motion sub-block (5-2) adopts a structure design with the middle part through the front and back. The through structure is connected to the three-dimensional control frame (6) through a sliding pair to realize the relative linear motion between the spatial synchronous motion sub-block (5-2) and the three-dimensional control frame (6).

8. The mechanical eye movement drive mechanism for a humanoid robot according to claim 2, characterized in that: The front end of the three-dimensional control frame (6) is provided with a protruding structure. The protruding structure is connected to the middle through structure of the spatial synchronous motion mother-daughter block (5-2) through a sliding pair, which can realize the linear movement of the three-dimensional control frame (6) relative to the spatial synchronous motion mother-daughter block (5-2). The two ends of the protruding structure are respectively provided with threaded holes (6-1). The threaded holes (6-1) are fixed to the threaded post (4-2) on the intermediate connecting body (4) of the hemispherical cavity by thread engagement. The rear end of the three-dimensional control frame (6) is provided with an operating handle.

9. A method for facial expression control using a mechanical eye movement drive mechanism for a humanoid robot as described in any one of claims 1-8, characterized in that, The control method includes the following steps: Install the humanoid robot mechanical eye movement drive mechanism onto the robot's eye area, adjust the assembly position of each component, and ensure that the connection relationship between the three-dimensional control frame (6), the spatial motion synchronization mother and daughter block (5), the hollow frame (2), the double rocker drive rod group (3), the hemispherical cavity intermediate connector (4), and the eyeball assembly (1) meets the design requirements, so as to ensure that the movement of each motion pair is smooth and without interference. To achieve synchronous left and right rotation of the eyeball assembly (1) in the horizontal direction: Step 1: The operator holds the handle of the three-dimensional control frame (6) and pushes the three-dimensional control frame (6) to the left in the horizontal direction. Step 2: Due to the restriction of the vertical degree of freedom of the three-dimensional manipulator (6) by the parent block (5-1) of the spatial synchronous motion parent-child block, the three-dimensional manipulator (6) can only move to the left in the horizontal direction. This movement is transmitted through the connection between the front protrusion of the three-dimensional manipulator (6) and the through structure in the middle of the parent block (5-2) of the spatial synchronous motion parent-child block. Step 3: The three-dimensional control frame (6) moves horizontally to the left through the threaded connection between its two ends and the intermediate connecting body (4) of the hemispherical cavity, causing the intermediate connecting body (4) of the hemispherical cavity to rotate to the left in the horizontal direction; Step 4: The rotation of the hemispherical cavity intermediate connector (4) is transmitted to the eyeball assembly (1) through the spherical pair connection between the double rocker drive rod group (3) and the hemispherical cavity intermediate connector (4) and the eyeball assembly (1), so as to realize the synchronous leftward rotation of the eyeball assembly (1) in the horizontal direction. Step 5: When the eyeball assembly (1) needs to rotate to the right, the operator pushes the three-dimensional control frame (6) to the right in the horizontal direction and repeats the process from Step 2 to Step 4 above to achieve synchronous rotation of the eyeball assembly (1) to the right in the horizontal direction.

10. A method for controlling facial expressions using a mechanical eye movement drive mechanism for a humanoid robot according to claim 9, characterized in that, It also includes enabling the eyeball assembly (1) to rotate synchronously up and down in the vertical direction: Step 1: The operator holds the handle of the three-dimensional control frame (6) and pushes the three-dimensional control frame (6) upward in the vertical direction. Step 2: Due to the restriction of the horizontal degree of freedom of the three-dimensional manipulator (6) by the spatial synchronous motion sub-block (5-2), the three-dimensional manipulator (6) can only move upward in the vertical direction. This movement is transmitted through the connection between the front end protrusion of the three-dimensional manipulator (6) and the through structure in the middle of the spatial synchronous motion sub-block (5-2). Step 3: The vertical upward movement of the three-dimensional control frame (6) is achieved through the threaded connection between its two ends and the intermediate connecting body (4) of the hemispherical cavity, which drives the intermediate connecting body (4) of the hemispherical cavity to rotate upward in the vertical direction. Step 4: The rotation of the hemispherical cavity intermediate connector (4) is transmitted to the eyeball assembly (1) through the spherical pair connection between the double rocker drive rod group (3) and the hemispherical cavity intermediate connector (4) and the eyeball assembly (1), so as to realize the upward synchronous rotation of the eyeball assembly (1) in the vertical direction. Step 5: When the eyeball assembly (1) needs to rotate downward, the operator pushes the three-dimensional control frame (6) downward in the vertical direction and repeats the process from Step 2 to Step 4 above to achieve synchronous downward rotation of the eyeball assembly (1) in the vertical direction.

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