Multi-degree-of-freedom human eye simulation device based on rope driving and control method thereof

Abstract

The invention discloses a multi-degree-of-freedom human eye simulation device based on rope driving and a control method thereof, the human eye simulation device comprises an eyeball and imaging module, the eyeball and imaging module is composed of an eyeball, a camera and a lens module, the eyeball is a hollow sphere, and the camera and lens module is installed in an internal cavity of the eyeball and synchronously moves along with the eyeball; the spherical pair supporting structure comprises a base, and the base is provided with a ball socket which is in spherical hinge fit with the outer spherical surface of the eyeball; a base threading hole is formed in the base, the motion control rope is fixed to the eyeball through the base threading hole, a weft guide groove and a warp guide groove are machined in the surface of the eyeball, and the motion control rope passes through the weft guide groove and the warp guide groove to be routed outwards; the driving supporting structure comprises a rope-controlled supporting frame connected with the base, a rope guide hole is formed in the rope-controlled supporting frame, and the motion control rope is connected with a winding wheel of the rope-controlled motor through the rope guide hole. The structure size and rotational inertia can be reduced, the dynamic response capability and the degree of freedom are improved, and control is accurate.

Description

Technical Field

[0001] This invention belongs to the field of bionic robot and machine vision technology, specifically relating to a rope-driven multi-degree-of-freedom human eye device and its control method. Background Technology

[0002] With the rapid development of bionic robotics and visual prosthetics, the bionic eye's mechanical structure, as a core component for robots to perceive their external environment, has attracted significant research attention. The human eye is characterized by its compact structure, flexible movement, and high dynamic response, enabling it to achieve three degrees of freedom: pitch, yaw, and rotation around the optical axis. Among these, the rotational movement of the eyeball around the optical axis (inward / outward rotation) is crucial for maintaining the stability of the visual horizon and controlling the vestibular-ocular reflex.

[0003] However, existing bionic eye mechanical structure designs generally suffer from the following technical bottlenecks: 1. Large structural volume and low integration: Existing bionic eye mechanical structures mostly adopt multi-axis universal joint structures or gear and rack transmission mechanisms. Although these rigid transmission structures are simple to control, they result in a large overall volume, making it difficult to fit into a standard-sized bionic eye socket.

[0004] 2. Large moment of inertia and poor dynamic response: Existing bionic eye mechanical structures typically mount the motor directly on the rotating shaft or embed it within the eyeball. This "built-in motor" approach not only makes heat dissipation difficult but also significantly increases the mass of the moving parts, making it impossible to achieve the same high-speed saccadic movements as the human eye.

[0005] 3. Lack of freedom: Most compact bionic eye mechanical structures can only achieve two degrees of freedom, pitch and yaw, and lack a third degree of freedom, rotation around the optical axis, so they cannot fully reproduce the movement function of the human eye. Summary of the Invention

[0006] The purpose of this invention is to address the problems in the prior art by providing a rope-driven multi-degree-of-freedom human-eye device and its control method, which reduces structural volume and rotational inertia, improves dynamic response capability and degrees of freedom, and provides precise control.

[0007] To achieve the above objectives, the present invention provides the following technical solution: In a first aspect, a rope-driven, multi-degree-of-freedom human-eye-like device is provided, comprising: The eyeball and imaging module consists of an eyeball and a camera and lens module. The eyeball is a hollow sphere, and the camera and lens module are installed in the internal cavity of the eyeball and move synchronously with the eyeball. The spherical support structure includes a base with a spherical socket that forms a spherical hinge with the outer spherical surface of the eyeball; the base has a base threading hole through which the motion control rope is fixed to the eyeball; the surface of the eyeball is machined with weft guide grooves and warp guide grooves, through which the motion control rope runs outward; The drive support structure includes a rope-controlled support frame connected to the base. The rope-controlled support frame has a rope guide hole, through which the motion control rope is connected to the winding wheel of the rope-controlled motor.

[0008] As a preferred embodiment, the eyeball adopts a split structure consisting of an anterior hemisphere and a posterior hemisphere connected together.

[0009] As a preferred embodiment, the camera and lens module includes a fixed-focus lens, a liquid zoom lens, and a camera body arranged sequentially along the optical axis, which are connected by threads; the camera and lens module is rigidly fixed in the internal cavity of the eyeball by a bracket and moves synchronously with the eyeball.

[0010] As a preferred embodiment, the base includes an upper base and a lower base, both of which have spherical surfaces machined on their inner sides, forming a spherical socket after being fastened together; the upper base and the lower base are connected by bolts evenly distributed around the circumference. The base through hole is a gap or opening reserved at the joint surface of the upper base and the lower base.

[0011] As a preferred embodiment, the rope-controlled support frame includes a first ring component and a second ring component arranged coaxially. The first ring component is fixedly connected to the lower base, and the diameter of the second ring component is smaller than that of the first ring component. The first ring component and the second ring component are connected by multiple evenly distributed rods. The rope guide hole is opened on the second ring component.

[0012] As a preferred embodiment, it also includes a motor support frame connected to the second ring component. The rope-controlled motor is provided with six rope-controlled motors, and the motor support frame is provided with six rope-controlled motor winding wheel connection positions. Among them, two rope-controlled motors are used to control the rolling movement of the eyeball, and the other four rope-controlled motors are used to control the pitch and yaw movements of the eyeball.

[0013] As a preferred embodiment, the latitude guide groove is located between the two farthest points on both sides of the eyeball equator. Two parallel grooves are machined on the outer wall of the lower base to serve as guide tracks for the motion control rope to travel outward. When the motion control rope fixed on the eyeball latitude guide groove travels outward, it passes through the two rope guide holes on the second ring component and then connects to the two rope control motors respectively through the connection positions of the two winding wheels on the motor support frame.

[0014] As a preferred embodiment, the meridian guide groove starts from four starting anchor points evenly distributed around the equator of the eyeball and extends and converges towards the bottom of the eyeball along the longitude direction; when the motion control rope fixed on the meridian guide groove of the eyeball runs outward, it passes through the bottom of the lower base, passes through the four rope guide holes on the second ring component, and then connects to the four rope control motors respectively through the four winding wheel connection positions on the motor support frame.

[0015] As a preferred embodiment, the motion control rope is made of polyethylene fiber material.

[0016] Secondly, a control method for the aforementioned cable-driven multi-degree-of-freedom human eye-like device is provided, including roll motion control, pitch motion control, and yaw motion control, as follows: The rolling motion control is achieved by using two rope-controlled motors to drive motion control ropes fixed on the eyeball weft guide groove. One rope-controlled motor is controlled to take in the line while the other rope-controlled motor releases the line, so that the motion control ropes generate tangential tension, driving the eyeball to rotate clockwise around the optical axis; conversely, it rotates counterclockwise around the optical axis. The pitch motion control is achieved by two rope-controlled motors driving a pair of motion control ropes fixed on the meridian guide groove of the eyeball. The pair of motion control ropes are 180° apart in the equatorial circumference. Controlling one rope-controlled motor to retract the rope and the other rope-controlled motor to release the rope causes the eyeball to tilt upward; conversely, tilting downward causes it to look downward. Yaw motion control is achieved by using two rope-controlled motors to drive another pair of motion control ropes fixed on the meridian guide groove of the eyeball. The equatorial circumferential spacing of the other pair of motion control ropes is 180°. Controlling one rope-controlled motor to retract the line and the other rope-controlled motor to release the line causes the eyeball to yaw to the left; conversely, it yaws to the right.

[0017] Compared with the prior art, the present invention has at least the following beneficial effects: This invention presents a cable-driven multi-DOF human-eye-like device with advantages of high integration and low inertia. Employing a rear-mounted motor design, heavy components such as the motor and gearbox are placed outside the eyeball, allowing only lightweight components like the camera and lens module to be integrated inside. This design significantly reduces the rotational inertia of the moving parts, enabling high-acceleration motion with less energy consumption during rapid saccades, significantly improving the device's speed and flexibility. It more closely mimics the rapid and flexible movement characteristics of the human eye, providing strong support for visual applications requiring fast response. Furthermore, this cable-driven multi-DOF human-eye-like device can fully mimic the three rotational degrees of freedom of the human eye, covering pitch, yaw, and roll (internal / external) motions around the optical axis. It can more comprehensively and accurately simulate various rotational movements of the human eye. This characteristic makes the device more widely applicable in fields such as visual research, human-computer interaction, and robot vision, providing a more realistic experimental platform for related research and contributing to a deeper understanding of the human eye's movement mechanisms and visual functions. Furthermore, this invention features weft and warp guide grooves machined on the surface of the eyeball. The motion control rope runs outward through these grooves, and, in conjunction with multi-stage guide holes on the base and rope control support frame, provides a precise and orderly path for the motion control rope. During multi-degree-of-freedom composite motion, this path design effectively avoids interference between ropes in different directions, significantly reducing friction and ensuring the smoothness and fluidity of eyeball movement. Simultaneously, the precise guide design also improves the control accuracy of eyeball movement, enabling the bionic eye mechanical structure to more accurately achieve the expected motion trajectory, thus providing a reliable guarantee for high-precision visual tasks. Finally, the overall structure of this invention adopts a nested design, with clear assembly logic, reducing assembly difficulty and improving assembly efficiency. This facilitates large-scale production and practical application, meeting the rapid deployment and usage needs of different users.

[0018] Furthermore, the eyeball of this invention adopts a split-type structure design, which makes the installation and replacement of the internal imaging module extremely convenient. When it is necessary to upgrade the imaging equipment or perform maintenance, there is no need to disassemble the entire eyeball structure in a complicated manner; only the corresponding modules need to be operated, which greatly shortens the maintenance time and reduces maintenance costs. Attached Figure Description

[0019] To more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings used in the description of the embodiments will be briefly introduced below. Obviously, the following drawings are only some of the embodiments of the present invention. For those skilled in the art, other embodiments can be obtained based on these drawings without creative effort.

[0020] Figure 1Exploded view of the overall structure of the rope-driven multi-degree-of-freedom human eye-like device according to an embodiment of the present invention; Figure 2 Axonometric drawing of the overall assembly effect of the rope-driven multi-degree-of-freedom human eye-like device according to an embodiment of the present invention; Figure 3 A schematic diagram of the rope routing for controlling the inward and outward rotation of the eyeballs according to an embodiment of the present invention; Figure 4 A schematic diagram of the rope routing for controlling eyeball pitch and yaw movements in an embodiment of the present invention. Detailed Implementation

[0021] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, those skilled in the art can obtain other embodiments without creative effort.

[0022] In the design of bionic eye mechanical structures, the rope-driven schemes often employ rudimentary rope path planning, lacking precise guide groove designs for the eyeball's spherical surface. This leads to rope interference and increased friction in different directions during multi-degree-of-freedom compound movements, making precise control difficult. To address this, this invention proposes a rope-driven multi-degree-of-freedom bionic eye device that effectively reduces the mechanical structure volume and rotational inertia of the bionic eye, while improving degrees of freedom and control precision.

[0023] Please see Figure 1 and Figure 2 The present invention relates to a rope-driven multi-degree-of-freedom human-eye-like device, which mainly includes: The eyeball and imaging module consists of an eyeball 30 and a camera and lens module 20. The eyeball 30 is a hollow sphere, and the camera and lens module 20 is installed in the internal cavity of the eyeball 30 and moves synchronously with the eyeball. The spherical support structure includes a base with a spherical socket that forms a spherical hinge with the outer spherical surface of the eyeball 30. The base has a wire hole through which the motion control rope is fixed to the eyeball 30. The surface of the eyeball 30 is machined with weft guide grooves and warp guide grooves, through which the motion control rope runs outward. The drive support structure includes a rope-controlled support frame 50 connected to the base. The rope-controlled support frame 50 has a rope guide hole, and the motion control rope is connected to the winding wheel of the rope-controlled motor 70 through the rope guide hole.

[0024] In one possible implementation, in order to solve the problem that internal components cannot be installed in a closed sphere, the eyeball 30 of this embodiment adopts a front-to-back split structure composed of a front hemisphere and a rear hemisphere, which can be connected by threads or snaps.

[0025] In one possible implementation, the camera and lens module 20 of this embodiment includes a fixed-focus lens 21, a liquid zoom lens 22 and a camera body 23 arranged sequentially along the optical axis. The three are connected by a standard C-type thread. At the same time, the camera and lens module 20 is rigidly fixed in the internal cavity of the eyeball 30 by a bracket and moves synchronously with the eyeball.

[0026] C-mount threads are a commonly used standardized mechanical interface thread in industrial imaging. C-mount threads use a 1-inch diameter (25.4 mm outer diameter) 32-tooth thread structure, with a thread density of 32 threads per inch (32UN), conforming to the ANSI B1.1 standard to ensure the universality of lens and camera interfaces. The back focus of the C-mount thread interface is 17.5 mm, which is the axial distance from the interface flange plane to the camera's imaging target surface. This parameter is the core difference between C-mount and CS-mount (12.5 mm back focus), directly affecting lens and camera compatibility. C-mount threads achieve stable coupling of imaging equipment through standardized thread fit dimensions, and its 17.5 mm back focus provides flexible space for optical system design while ensuring image quality and mechanical reliability.

[0027] In one possible implementation, the base of this embodiment includes an upper base 10 and a lower base 40, which are connected by bolts through three circumferentially evenly distributed connecting holes; the inner sides of both the upper base 10 and the lower base 40 are machined with smooth spherical surfaces, forming a ball-and-socket joint after fastening. Furthermore, in this embodiment, the wiring hole is a pre-reserved gap or opening at the mating surface of the upper base 10 and the lower base 40.

[0028] In one possible implementation, the rope-controlled support frame 50 of this embodiment includes a first ring component and a second ring component arranged coaxially. The first ring component is fixedly connected to the bottom surface of the lower base 40 by screws. The diameter of the second ring component is smaller than that of the first ring component. The first ring component and the second ring component are connected by a plurality of evenly distributed rods.

[0029] Furthermore, in this embodiment, the rope guide hole is formed on the second ring component.

[0030] In one possible implementation, the rope-driven multi-degree-of-freedom humanoid eye device of this embodiment further includes a motor support frame 60 connected to the second ring component, serving as the base of the entire drive unit. This embodiment has six rope-controlled motors 70, with six winding wheel connection positions for the rope-controlled motors 70 distributed on the motor support frame 60. Two rope-controlled motors 70 are used to control the rolling motion of the eyeball 30, and the other four rope-controlled motors 70 are used to control the pitch and yaw motion of the eyeball 30.

[0031] In one possible implementation, the weft guide groove of this embodiment is located between the two farthest endpoints of the equator position of the eyeball 30. Two parallel grooves are machined on the outer wall of the lower base 40 as guide tracks for the motion control rope to run outward. When the motion control rope fixed on the weft guide groove of the eyeball 30 runs outward, it passes through the two rope guide holes on the second ring component and then connects to the two rope control motors 70 respectively through the connection positions of the two winding wheels on the motor support frame 60.

[0032] In one possible implementation, the warp guide groove of this embodiment starts from four starting anchor points evenly distributed around the equator of the eyeball 30 and extends and converges towards the bottom of the eyeball 30 along the longitude direction; when the motion control rope fixed on the warp guide groove of the eyeball 30 runs outward, it passes through the bottom of the lower base 40, passes through the four rope guide holes on the second ring component, and then connects to the four rope control motors 70 respectively through the four winding wheel connection positions on the motor support frame 60.

[0033] In one possible implementation, the motion control ropes in this embodiment are made of high-strength polyethylene fiber material. The six motion control ropes are divided into two groups. The high-strength polyethylene fiber ropes have the characteristics of high strength and low elongation, which can accurately transmit the driving force of the rope control motor 70. This ensures that the motion commands of the eyeball 30 are accurately executed during the three rotational degrees of freedom movements such as pitch, yaw, and roll (internal / external rotation) around the optical axis. This effectively avoids motion errors caused by the elastic deformation of the ropes, greatly improves the accuracy and response speed of motion control, and provides a reliable guarantee for high-precision vision tasks.

[0034] Please see Figure 3 and Figure 4 Another embodiment of the present invention also proposes a control method for the aforementioned rope-driven multi-degree-of-freedom human eye-like device, including roll motion control, pitch motion control, and yaw motion control, as follows: The rolling motion control is achieved by using two rope-controlled motors 70 to drive the motion control ropes fixed on the weft guide grooves of the eyeball 30. One rope-controlled motor 70 is controlled to take in the line and the other rope-controlled motor 70 is controlled to release the line, so that the motion control ropes generate tangential tension and drive the eyeball 30 to rotate clockwise around the optical axis; otherwise, it will rotate counterclockwise around the optical axis. The pitch motion control is achieved by two rope-controlled motors 70 driving a pair of motion control ropes fixed on the meridian guide groove of the eyeball 30. The pair of motion control ropes are 180° apart in the equatorial circumference. Controlling one rope-controlled motor 70 to retract the rope and the other rope-controlled motor 70 to release the rope causes the eyeball 30 to tilt upward; conversely, tilting downward causes it to look downward. Yaw motion control is achieved by two rope-controlled motors 70 driving another pair of motion control ropes fixed on the meridian guide groove of the eyeball 30. The equatorial circumferential spacing of the other pair of motion control ropes is 180°. Controlling one rope-controlled motor 70 to retract the line and the other rope-controlled motor 70 to release the line causes the eyeball 30 to yaw to the left; conversely, it yaws to the right.

[0035] In one possible implementation, for the roll motion (i.e., internal / external rotation) control of the multi-degree-of-freedom human eye-like device, two ropes are configured, and the routing path of the motion control ropes is designed as follows: Starting point: The motion control rope is knotted or threaded through a hole and fixed to the farthest points on either side of the equator (similar to the longest latitude line on Earth) of the eyeball 30. Eyeball segment: The motion control rope is embedded in the "latitude guide groove" on the surface of the eyeball and extends horizontally backward. Base segment: The motion control rope passes through the threading hole formed by the upper base 10 and lower base 40, and then runs downward along the parallel groove on the outer wall of the lower base 40. Rope-controlled support frame segment: The motion control rope passes sequentially through the large threading hole and the inward-facing small guide hole on the rope-controlled support frame 50. The hole design here causes the direction of force on the rope to deflect, thereby effectively generating a rotational torque around the optical axis. End point: Connected to the reels of the corresponding two rope-controlled motors 70.

[0036] In one possible implementation, for the pitch and yaw control of the multi-degree-of-freedom human eye-like device, four ropes are configured and distributed in a "cross" shape on the lower half of the eyeball. The routing path of the motion control ropes is designed as follows: Starting point: One end of each of the four motion control ropes is fixed to one of four evenly distributed starting anchor points around the equator of the eyeball 30. Eyeball segment: The motion control ropes are embedded in the "meridian guide grooves" on the surface of the eyeball, extending and converging towards the posterior pole (bottom) of the eyeball along the longitude direction. Lower base segment: The motion control ropes pass directly through the circular opening at the bottom of the lower base 40. Rope control support frame segment: The four motion control ropes pass through four evenly distributed vertical threading holes on the rope control support frame 50. End point: Passing through the center hole or bypass hole of the motor support frame 60, they connect to the reels of the remaining four rope control motors 70.

[0037] The prototype made based on this embodiment has an eyeball diameter of 30mm (close to the size of a human eye).

[0038] Range of motion: Tests have shown that this embodiment, based on a rope-driven multi-degree-of-freedom human eye device, achieves large-angle pitch, large-angle yaw, and small-angle roll motions, meeting the requirements of current bionic vision tasks.

[0039] Motion speed: Since the moving part only contains a lightweight eyeball, the moment of inertia is extremely low. Under the same motor power, the angular acceleration is significantly higher than that of the traditional gear transmission structure.

[0040] Reliability: The multi-stage guide design of "groove + hole" effectively prevents the rope from de-grooving and tangling during high-frequency reciprocating motion, thus improving the mechanical life of the system.

[0041] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and not to limit it. Although the present invention has been described in detail with reference to the above embodiments, those skilled in the art should understand that modifications or equivalent substitutions can still be made to the specific implementation of the present invention. Any modifications or equivalent substitutions that do not depart from the spirit and scope of the present invention should be covered within the scope of protection of the claims of the present invention.

Claims

1. A rope-driven, multi-degree-of-freedom human-eye-like device, characterized in that, include: The eyeball and imaging module consists of an eyeball (30) and a camera and lens module (20). The eyeball (30) is a hollow sphere, and the camera and lens module (20) is installed in the internal cavity of the eyeball (30) and moves synchronously with the eyeball. The spherical support structure includes a base with a spherical socket that forms a spherical hinge with the outer spherical surface of the eyeball (30). The base has a base threading hole, through which the motion control rope is fixed to the eyeball (30). The surface of the eyeball (30) is machined with a weft guide groove and a warp guide groove, through which the motion control rope runs outward. The drive support structure includes a rope control support frame (50) connected to the base. The rope control support frame (50) has a rope guide hole, and the motion control rope is connected to the winding wheel of the rope control motor (70) through the rope guide hole.

2. The cable-driven multi-degree-of-freedom human-eye-like device according to claim 1, characterized in that: The eyeball (30) adopts a split structure consisting of an anterior hemisphere and a posterior hemisphere.

3. The cable-driven multi-degree-of-freedom human-eye-like device according to claim 1, characterized in that: The camera and lens module (20) includes a fixed-focus lens (21), a liquid zoom lens (22) and a camera body (23) arranged sequentially along the optical axis, which are connected by threads; the camera and lens module (20) is rigidly fixed in the internal cavity of the eyeball (30) by a bracket and moves synchronously with the eyeball.

4. The cable-driven multi-degree-of-freedom human-eye-like device according to claim 1, characterized in that: The base includes an upper base (10) and a lower base (40). The inner sides of the upper base (10) and the lower base (40) are both machined with spherical surfaces, which form a spherical socket after being fastened together. The upper base (10) and the lower base (40) are connected by bolts that are evenly distributed around the circumference. The base through hole is a gap or opening reserved at the joint surface of the upper base (10) and the lower base (40).

5. The cable-driven multi-degree-of-freedom human-eye-like device according to claim 4, characterized in that: The rope-controlled support frame (50) includes a first ring component and a second ring component arranged coaxially. The first ring component is fixedly connected to the lower base (40). The diameter of the second ring component is smaller than that of the first ring component. The first ring component and the second ring component are connected by multiple rods that are evenly distributed. The rope guide hole is opened on the second ring component.

6. The cable-driven multi-degree-of-freedom human-eye-like device according to claim 5, characterized in that: It also includes a motor support frame (60) connected to the second ring component. There are six rope-controlled motors (70). The motor support frame (60) has six rope-controlled motor (70) winding wheel connection positions distributed on it. Two rope-controlled motors (70) are used to control the rolling movement of the eyeball (30), and the other four rope-controlled motors (70) are used to control the pitch and yaw movement of the eyeball (30).

7. The cable-driven multi-degree-of-freedom human-eye-like device according to claim 6, characterized in that: The latitude guide groove is located between the two farthest points on both sides of the equator of the eyeball (30). Two parallel grooves are machined on the outer wall of the lower base (40) as guide tracks for the motion control rope to run outward. When the motion control rope fixed on the latitude guide groove of the eyeball (30) runs outward, it passes through the two rope guide holes on the second ring component and then connects to the two rope control motors (70) through the connection positions of the two winding wheels on the motor support frame (60).

8. The cable-driven multi-degree-of-freedom human-eye-like device according to claim 6, characterized in that: The meridian guide groove starts from four starting anchor points evenly distributed around the equator of the eyeball (30) and extends and converges towards the bottom of the eyeball (30) along the longitude direction; when the motion control rope fixed on the meridian guide groove of the eyeball (30) runs outward, it passes through the bottom of the lower base (40), passes through the four rope guide holes on the second ring component, and then connects to the four rope control motors (70) respectively through the four winding wheel connection positions on the motor support frame (60).

9. The cable-driven multi-degree-of-freedom human-eye-like device according to claim 1, characterized in that: The motion control rope is made of polyethylene fiber material.

10. A control method for a cable-driven multi-degree-of-freedom human eye-like device as described in any one of claims 1 to 9, characterized in that, This includes roll motion control, pitch motion control, and yaw motion control, as follows: The rolling motion control is achieved by driving the motion control rope fixed on the weft guide groove of the eyeball (30) through two rope control motors (70). One rope control motor (70) is controlled to take in the line and the other rope control motor (70) is controlled to release the line, so that the motion control rope generates tangential tension and drives the eyeball (30) to rotate clockwise around the optical axis; otherwise, it rotates counterclockwise around the optical axis. Pitch motion control is achieved by two rope-controlled motors (70) driving a pair of motion control ropes fixed on the meridian guide groove of the eyeball (30). The equatorial circumferential interval of the pair of motion control ropes is 180°. Controlling one rope-controlled motor (70) to retract the line and the other rope-controlled motor (70) to release the line causes the eyeball (30) to tilt upward; conversely, tilting downward causes it to look downward. Yaw motion control is achieved by driving another pair of motion control ropes fixed on the meridian guide groove of the eyeball (30) by two rope control motors (70). The equatorial circumferential interval of the other pair of motion control ropes is 180°. One rope control motor (70) is controlled to take in the line and the other rope control motor (70) to release the line, so that the eyeball (30) yaws to the left; otherwise, it yaws to the right.

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