An eye structure and its robot

Abstract

This invention relates to the field of robotics, and more particularly to an eye structure and robot thereof, comprising: an eye support; a motion component including a fixed support and a linkage component, wherein the fixed support is fixedly connected to the eye support, and the linkage component is rotatably connected to the fixed support, with eyeball components mounted on opposite ends of the linkage component; and two sets of first drive mechanisms, arranged opposite to each other on both sides of the eye support, the two sets of first drive mechanisms being respectively driven and connected to the motion component. This invention uses the two sets of first drive mechanisms in conjunction with the motion component to drive the movement of two sets of eyeball components. The structure is compact and can achieve dual-degree-of-freedom eye movement with fewer drive units. In the first drive mode, the eyeballs synchronously pitch and rotate around a first axis; in the second drive mode, the eyeballs synchronously deflect horizontally around a second axis, simulating human eye tracking movements and improving the biomimetic effect of the robot's eye.

Description

Technical Field

[0001] This invention relates to the field of robotics, and more particularly to an eye structure and a robot thereof. Background Technology

[0002] The eye structure is an important component of humanoid robots. In current humanoid robots, the eyeballs in the eye structure are usually controlled by two links off-center from the center of the eyeball, enabling a single eyeball to rotate up, down, left, and right. The maximum angle that the eyeball can rotate is the angle when the edge of the eyeball comes into contact with the link, and it cannot continue to rotate due to interference. Furthermore, since a single eyeball uses two links, an eye module requires four links to control the eyeball, which is complex, costly, bulky, and occupies more head space in the humanoid robot, making it difficult to miniaturize and adapt to humanoid robots with smaller heads.

[0003] Secondly, in existing humanoid robot eye structures, the eyeballs are fixed to structural components of the eye structure. This results in a fixed distance between the two eyeballs, lacking adjustment capabilities. This makes it difficult to meet the requirements of different eye spacing when humanoid robots simulate different roles. Furthermore, existing eyeballs are mostly fixed to the transmission structure with bolts, which makes replacement inconvenient. When changing the pupil color or eyeball pattern according to the role being played, it is necessary to first remove the facial skin, remove the eyelid assembly, and then remove the eyeball for replacement, which is extremely difficult. Summary of the Invention

[0004] The purpose of this invention is to provide an eye structure and a robot thereof to solve the problems mentioned in the background art.

[0005] To achieve the above objectives, the present invention adopts the following technical solution:

[0006] An eye structure, comprising:

[0007] Eye support;

[0008] The motion component includes a fixed support and a linkage component. The fixed support is fixedly connected to the eye support, and the linkage component is rotatably connected to the fixed support. Eyeball components are respectively installed at opposite ends of the linkage component.

[0009] The first driving mechanism is provided in two sets and is arranged opposite to each other on both sides of the eye support. The two sets of the first driving mechanism are respectively driven to drive the linkage component to move, and drive the eyeball component to move through the linkage component.

[0010] In the first driving mode, the two sets of the first driving mechanism drive the eyeball assembly to rotate around the first axis, and in the second driving mode, drive the eyeball assembly to rotate around the second axis, wherein the first axis and the second axis are perpendicular to each other;

[0011] Eyelid support, fixedly connected to the fixed support;

[0012] The eyelid assembly is provided in two sets, which are rotatably connected to the eyelid support respectively. The eyelid assembly and the eyeball assembly are respectively arranged in a one-to-one correspondence, and the eyelid assembly at least partially covers the eyeball assembly.

[0013] The second drive mechanism is provided in two sets and is arranged opposite to each other on both sides of the eye support. The two sets of the second drive mechanism are respectively connected to the corresponding eyelid assembly to drive the eyelid assembly to move relative to the eyeball assembly.

[0014] Preferably, the motion component includes a fixed support and a linkage component, the linkage component including a vertical forward rocker arm, a linked rocker arm and a lateral connecting rod;

[0015] The fixed support is fixedly connected to the eye bracket;

[0016] The vertical forward rocker arm is hinged to the fixed support, and eyeball assemblies are fixedly connected to both ends of the vertical forward rocker arm along its length.

[0017] The linked rocker arm includes a first rod and a second rod that are perpendicular to each other. One end of the first rod is rotatably connected to the vertical forward rocker arm, and the other end is rotatably connected to a transverse connecting rod.

[0018] The two ends of the second rod along its length are respectively rotatably connected to the first driving mechanism on the corresponding side;

[0019] The two ends of the transverse connecting rod along its length are respectively rotatably connected to the corresponding side eyeball assembly.

[0020] Preferably, the eyeball assembly includes:

[0021] The eyeball, which has internal storage space;

[0022] A horizontal rocker arm is detachably connected to the eyeball and disposed in the receiving space of the eyeball; the horizontal rocker arm is rotatably connected to the horizontal connecting rod.

[0023] A vertical rear rocker arm, one end of which is rotatably connected to the horizontal rocker arm seat, and the other end of which is fixedly connected to the vertical front rocker arm.

[0024] Preferably, the first driving mechanism includes:

[0025] A first drive motor is fixedly mounted on the eye support;

[0026] The first motor rocker arm is fixedly connected to the output end of the first drive motor.

[0027] The first link has one end rotatably connected to the first motor rocker arm and the other end rotatably connected to the corresponding second link.

[0028] Preferably, it also includes a camera assembly, the camera assembly comprising:

[0029] A control board, which is fixedly mounted on the eye support;

[0030] The camera is provided in two sets, which are respectively set in the receiving space of the eyeball and fixed between the eyeball and the horizontal rocker arm base;

[0031] A ribbon cable is electrically connected between the control board and the camera.

[0032] Preferably, the vertical forward rocker arm has a first adjustment groove at each end along its length, and the vertical rear rocker arm has a plurality of adjustment holes at equal intervals at the end away from the end connected to the horizontal rocker arm seat, and the plurality of adjustment holes are selectively connected to the first adjustment groove.

[0033] Preferably, a second adjustment groove is provided at each end of the transverse connecting rod along its length;

[0034] The horizontal rocker arm seat is connected to the second adjustment groove, and the connection position of the horizontal rocker arm seat relative to the length direction of the second adjustment groove is adjustable.

[0035] Preferably, the eyelid assembly includes:

[0036] Base;

[0037] The fifth connecting shaft is fixedly connected to the base and rotatably connected to the eyelid support;

[0038] The fourth connection end has one end fixedly connected to the base and the other end drivenly connected to the second drive mechanism;

[0039] An eyelid, wherein the eyelid is detachably connected to the base, and the eyelid at least partially covers the eyeball assembly;

[0040] A reset element is connected between the eyelid support and the base to give the eyelid a pre-tightening force that allows it to rotate toward the direction of covering the eyeball assembly.

[0041] Preferably, the second drive mechanism includes:

[0042] The second drive motor is fixedly connected to the eye support;

[0043] The second motor rocker arm is fixedly connected to the output end of the second drive motor.

[0044] The second connecting rod has one end rotatably connected to the rocker arm of the second motor, and the other end rotatably connected to the fourth connecting end of the corresponding base.

[0045] A robot comprising the eye structure described in any of the preceding claims.

[0046] Compared with the prior art, the present invention provides an eye structure and its robot, which has the following beneficial effects:

[0047] 1. This invention uses two sets of first drive mechanisms in conjunction with motion components to drive the movement of two sets of eyeball components. The structure is compact and can achieve dual-degree-of-freedom movement of the eyeball with fewer drive units. In the first drive mode, the eyeball is synchronously pitched and rotated around the first axis, and in the second drive mode, the eyeball is synchronously deflected around the second axis, simulating human eye tracking and improving the biomimetic effect of the robot's eye.

[0048] 2. The combined rocker arm, transverse connecting rod, transverse rocker arm seat and vertical rear rocker arm of the present invention form a parallelogram double crank transmission structure, which enables the two eyeballs to maintain synchronous and equal-angle deflection movements under the driving action, resulting in high consistency of eye movements.

[0049] 3. The eyeball and the horizontal rocker arm seat, as well as the eyelid and the base of the present invention, adopt a detachable connection structure and achieve quick connection through magnetic attraction, which facilitates quick disassembly and replacement of the eyeball and eyelid.

[0050] 4. The present invention provides a first adjustment groove in the vertical forward rocker arm and several adjustment holes in the vertical rear rocker arm, so that the vertical rear rocker arm can be connected to any adjustment hole of the first adjustment groove, thereby adjusting the installation distance between the two eyeball components; and provides a second adjustment groove at both ends of the horizontal connecting rod, so that the connection position between the horizontal rocker arm seat and the second adjustment groove is adjustable, thereby adjusting the interpupillary distance between the two eyeballs. Attached Figure Description

[0051] Figure 1 This is a schematic diagram of the isometric structure of the present invention;

[0052] Figure 2 This is an isometric schematic diagram of the connection structure between the motion component and the eyeball component of the present invention;

[0053] Figure 3 This is an isometric schematic diagram of the connection structure between the motion component and the vertical rear rocker arm of the present invention;

[0054] Figure 4 The top view of the parallelogram crank transmission structure formed by the combined rocker arm, lateral connecting rod, lateral rocker arm seat and vertical rear rocker arm of the present invention is shown.

[0055] Figure 5 This is an isometric schematic diagram of the combined rocker arm structure of the present invention;

[0056] Figure 6 This is an isometric schematic diagram of the vertical forward rocker arm structure of the present invention;

[0057] Figure 7 This is an isometric schematic diagram of the transverse linkage structure of the present invention;

[0058] Figure 8 This is a schematic diagram of the exploded structure of the eyeball assembly of the present invention;

[0059] Figure 9 This is a cross-sectional schematic diagram of the internal structure of the eyeball assembly of the present invention;

[0060] Figure 10 This is an isometric schematic diagram of the transverse rocker arm seat structure of the present invention;

[0061] Figure 11 This is an isometric schematic diagram of the vertical rear rocker arm structure of the present invention;

[0062] Figure 12 This is an exploded view of the connection structure between the eyelid support and the eyelid assembly of the present invention;

[0063] Figure 13 This is an exploded view of the eyelid and base connection structure of the present invention;

[0064] Figure 14 This is an isometric schematic diagram of the first connecting rod structure of the present invention;

[0065] Figure 15 This is an isometric structural diagram of the camera assembly of the present invention;

[0066] Figure 16 This is an isometric schematic diagram of the transmission connection structure between the first drive mechanism and the motion component of the present invention;

[0067] Figure 17 This is an isometric schematic diagram of the transmission connection structure between the second drive mechanism and the eyelid assembly of the present invention.

[0068] In the picture:

[0069] 100. Eye support; 110. First base plate; 120. Side plate;

[0070] 200. Motion component; 210. Fixed support; 211. First pivot seat; 220. Vertical forward rocker arm; 221. First hinge end; 222. First connecting shaft; 223. First adjustment groove; 230. Linked rocker arm; 231. First rod; 2311. First connecting hole; 2312. Second connecting hole; 232. Second rod; 2321. Second connecting shaft; 240. Lateral connecting rod; 241. Third connecting shaft; 242. Second adjustment groove;

[0071] 300. Eyeball assembly; 310. Eyeball; 311. Observation hole; 312. First magnet; 320. Horizontal rocker arm base; 321. Second base plate; 3211. Fourth connecting shaft; 3212. Third connecting hole; 3213. Second magnet; 322. Guide side plate; 330. Vertical rear rocker arm; 331. First connecting end; 332. U-shaped piece; 333. Second connecting end; 3331. Adjustment hole;

[0072] 400. Eyelid support; 410. Second pivot seat; 420. Third connecting end;

[0073] 500. Eyelid assembly; 510. Base; 511. Fourth connecting end; 512. Third magnet; 513. Guide hole; 514. Fifth connecting end; 520. Eyelid; 521. Guide post; 522. Fourth magnet; 530. Fifth connecting shaft; 540. Reset component;

[0074] 600, First drive mechanism; 610, First drive motor; 620, First motor rocker arm; 630, First connecting rod; 631, Sixth connecting shaft; 640, Adapter; 641, Third shaft seat; 642, Fourth shaft seat;

[0075] 700, Second drive mechanism; 710, Second drive motor; 720, Second motor rocker arm; 730, Second connecting rod;

[0076] 800. Camera assembly; 810. Control board; 820. Camera; 830. Ribbon cable; 840. Terminal block. Detailed Implementation

[0077] The technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments.

[0078] In the description of this invention, it should be understood that the terms "upper", "lower", "front", "rear", "left", "right", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.

[0079] like Figure 1 - Figure 17 As shown, an eye structure includes:

[0080] The eye support 100 includes a first base plate 110 and two side plates 120. The two side plates 120 are connected to the two opposite sides of the first base plate 110. The first base plate 110 and the two side plates 120 together form an installation area for fixing the motion component 200, the first drive mechanism 600, and the second drive mechanism 700. Each of the two side plates 120 is provided with mounting holes for fixing the first drive motor 610 and the second drive motor 710, respectively, so that the mounting positions of the first drive motor 610 and the second drive motor 710 respectively mounted on the two side plates 120 remain relatively consistent.

[0081] The motion component 200 includes a fixed support 210 and a linkage component. The fixed support 210 is fixedly connected to the eye support 100, and the linkage component is rotatably connected to the fixed support 210. Eyeball components 300 are respectively installed at opposite ends of the linkage component. The linkage component is used to drive the eyeball components 300 installed at both ends to move synchronously to simulate the tracking action of the human eye.

[0082] The first drive mechanism 600 is provided in two sets and is arranged opposite to each other on both sides of the eye support 100. The two sets of first drive mechanisms 600 are respectively connected to the linkage component to drive the linkage component to move, and drive the eyeball component 300 to move through the linkage component.

[0083] In the first driving mode, the two sets of first driving mechanisms 600 drive the eyeball assembly 300 to rotate around the first axis, and in the second driving mode, drive the eyeball assembly 300 to rotate around the second axis, with the first axis and the second axis being perpendicular to each other.

[0084] Eyelid support 400 is fixedly connected to fixed support 210;

[0085] The eyelid assembly 500 is provided in two sets, which are rotatably connected to the eyelid support 400 respectively. The eyelid assembly 500 and the eyeball assembly 300 are arranged one-to-one, and the eyelid assembly 500 at least partially covers the eyeball assembly 300. The eyelid support 400 is fixedly connected to the front end of the fixed support 210 by bolts, so that the eyelid assembly 500 can move synchronously with the linkage assembly, thereby maintaining the relative positional relationship between the eyelid assembly 500 and the eyeball assembly 300, avoiding the problem of misalignment between the eyelid 520 and the eyeball 310 during the movement of the eyeball 310, and improving the bionic effect.

[0086] The second drive mechanism 700 is provided in two sets and is arranged opposite to each other on both sides of the eye support 100. The two sets of second drive mechanisms 700 are respectively driven to drive the eyelid assembly 500 to move relative to the eyeball assembly 300. The side of the eyelid assembly 500 away from the eyeball assembly 300 is connected to the eyelid structure. The second drive mechanism 700 drives the eyelid assembly 500 to move relative to the eyeball assembly 300, thereby driving the eyelid structure to move to simulate the blinking action.

[0087] In an embodiment, such as Figure 2 , Figure 3 , Figure 4 , Figure 6 , Figure 7 As shown, the motion component 200 includes a fixed support 210 and a linkage component, which includes a vertical forward rocker arm 220, a linkage rocker arm 230, and a lateral connecting rod 240.

[0088] The fixed support 210 is fixedly installed on the front end of the first base plate 110 of the eye bracket 100 by bolts. The top surface of the fixed support 210 is provided with a first rotating shaft seat 211. The first rotating shaft seat 211 is located on the central axis of the length direction of the fixed support 210. The first axis is the central axis of the first rotating shaft seat 211.

[0089] The vertical forward rocker arm 220 has a first hinge end 221 and a first connecting shaft 222 on its central axis along its length. The vertical forward rocker arm 220 is hinged to the first rotating shaft seat 211 of the fixed support 210 through the first hinge end 221, so that the linkage component can rotate around the central axis of the first rotating shaft seat 211. The two ends of the vertical forward rocker arm 220 along its length are respectively fixedly connected to the second connecting end 333 of the vertical rear rocker arm 330 of the corresponding side eyeball assembly 300. The two side eyeball assemblies 300 can rotate synchronously around the central axis of the first rotating shaft seat 211 with the vertical forward rocker arm 220, so as to realize the linkage pitch movement of the two side eyeball assemblies 300.

[0090] like Figure 6As shown, the first hinge end 221 and the first connecting shaft 222 are stacked along the same axis, making the structure of the vertical forward rocker arm 220 more compact, which can reduce the additional torque generated during movement and improve the smoothness of transmission.

[0091] The linked rocker arm 230 includes a first rod 231 and a second rod 232 that are perpendicular to each other. One end of the first rod 231 is rotatably connected to the vertical rocker arm 220 in the length direction, and the other end is rotatably connected to the transverse connecting rod 240.

[0092] Specifically, the first rod 231 has a first connecting hole 2311 and a second connecting hole 2312 at both ends along its length. The first connecting hole 2311 is used to rotatably connect with the first connecting shaft 222 of the vertical rocker arm 220, so that the rocker arm 230 can rotate around the central axis of the first connecting shaft 222. The transverse connecting rod 240 has a third connecting shaft 241 on its central axis along its length, and the second connecting hole 2312 is used to rotatably connect with the third connecting shaft 241 of the transverse connecting rod 240.

[0093] The second rod 232 has a second connecting shaft 2321 at both ends along its length. The two sets of second connecting shafts 2321 are respectively connected to the corresponding first drive mechanism 600. When the two sets of first drive mechanisms 600 drive synchronously in the same direction, the two second connecting shafts 2321 generate a thrust or pull force in the same direction, thereby pushing or pulling the connecting rocker arm 230. The connecting rocker arm 230 drives the vertical forward rocker arm 220 and the eyeball assembly 300 connected to the vertical forward rocker arm 220 to rotate around the first rotating shaft seat 211, thereby driving the two eyeball assemblies 300 to perform pitch motion.

[0094] When the two sets of first drive mechanisms 600 are driven respectively, there is a torque difference between the two second connecting shafts 2321, which causes the linked rocker arm 230 to be deflected around the central axis of the first connecting shaft 222, causing the first rod 231 to deflect synchronously. The first rod 231 is rotatably connected to the third connecting shaft 241 of the transverse connecting rod 240 through the second connecting hole 2312, so that the transverse connecting rod 240 can be driven to swing by the linked rocker arm 230. Since the two ends of the transverse connecting rod 240 in the length direction are rotatably connected to the corresponding side eyeball assembly 300 respectively, the transverse connecting rod 240 can drive the two sets of eyeballs 310 to move synchronously when swinging, so that the two eyeballs 310 achieve synchronous deflection movement in the horizontal direction.

[0095] In an embodiment, such as Figure 8 , Figure 9 , Figure 10 , Figure 11 As shown, the eyeball assembly 300 includes:

[0096] The eyeball 310 has an internal accommodating space, and a first magnet 312 is embedded in the bottom wall of the accommodating space.

[0097] The horizontal rocker arm base 320 is detachably magnetically connected to the eyeball 310 and is disposed in the receiving space of the eyeball 310. The horizontal rocker arm base 320 is rotatably connected to the horizontal connecting rod 240.

[0098] The transverse rocker arm base 320 has a U-shaped structure, including a second base plate 321 and two guide side plates 322 connected to opposite sides of the second base plate 321. The guide side plates 322 are perpendicular to the second base plate 321. The transverse rocker arm base 320 is provided with a fourth connecting shaft 3211 and a third connecting hole 3212. The second axis is the central axis of the fourth connecting shaft 3211. The fourth connecting shaft 3211 is located at the center of the top surface of the second base plate 321 and is perpendicular to the top surface of the second base plate 321. The third connecting hole 3212 is located on the side of the second base plate 321 away from the accommodating space. The third connecting hole 3212 is used to rotate with the transverse connecting rod 240. Thus, under the pushing action of the transverse connecting rod 240, the transverse rocker arm base 320 drives the eyeball 310 to rotate relative to the vertical rear rocker arm 330 around the central axis of the fourth connecting shaft 3211, thereby realizing the horizontal deflection action of the eyeball 310.

[0099] like Figure 4 As shown, the center distance between the first connecting hole 2311 and the second connecting hole 2312 is equal to the center distance between the fourth connecting shaft 3211 and the third connecting hole 3212. This makes the linked rocker arm 230, the transverse connecting rod 240, the transverse rocker arm seat 320 and the vertical rear rocker arm 330 together form a parallelogram double crank transmission structure. When the linked rocker arm 230 drives the transverse connecting rod 240 to swing, the two transverse rocker arm seats 320 can maintain a synchronous and consistent rotation angle, thereby driving the two eyeballs 310 to deflect synchronously, improving the consistency of eye movement, avoiding movement errors of the two eyeballs 310, and thus improving the bionic effect.

[0100] In an embodiment, such as Figure 9 As shown, a second magnet 3213 is embedded in the bottom surface of the second base plate 321. The opposite end faces of the first magnet 312 and the second magnet 3213 are opposite poles. When the eyeball 310 is installed, as the eyeball 310 is pushed toward the horizontal rocker arm seat 320, after the first magnet 312 moves to a position coaxial with the second magnet 3213, the first magnet 312 and the second magnet 3213 are connected by magnetic attraction, so that the eyeball 310 is assembled with the horizontal rocker arm seat 320. The magnetic connection structure facilitates the quick assembly and disassembly of the eyeball 310.

[0101] The vertical rear rocker arm 330 has one end rotatably connected to the horizontal rocker arm seat 320 and the other end fixedly connected to the vertical front rocker arm 220. One end of the vertical rear rocker arm 330 is provided with a first connecting end 331 and is rotatably connected to the fourth connecting shaft 3211 of the horizontal rocker arm seat 320 through the first connecting end 331.

[0102] Specifically, the first connecting end 331 is a bushing with the same inner diameter as the outer diameter of the fourth connecting shaft 3211, so that the first connecting end 331 can be fitted onto the outside of the fourth connecting shaft 3211 and thus rotatably connected to the fourth connecting shaft 3211. The fourth connecting shaft 3211 is provided with a threaded hole along its axial direction. When the first connecting end 331 and the fourth connecting shaft 3211 are connected to each other, a bolt is used to connect to the fourth connecting shaft 3211. The outer diameter of the nut part of the bolt at least partially abuts against the top surface of the first connecting end 331, thereby preventing the first connecting end 331 from coming out of the fourth connecting shaft 3211.

[0103] The vertical rear rocker arm 330 is provided with a second connecting end 333 at the other end away from the first connecting end 331. The second connecting end 333 is used to be fixedly connected to the vertical front rocker arm 220, so that under the drive of the motion component 200, the eyeball component 300 rotates around the central axis of the first rotating shaft seat 211 to realize the pitch angle movement of the human eye.

[0104] A U-shaped component 332 is connected between the first connecting end 331 and the second connecting end 333. The opening of the U-shaped component 332 faces the eyeball 310, so as to make way when the eyeball 310 deflects around the central axis of the fourth connecting shaft 3211, thereby avoiding interference between the eyeball 310 and the vertical rear rocker arm 330, which would limit the deflection angle of the eyeball 310.

[0105] In an embodiment, such as Figure 1 , Figure 16 As shown, the first drive mechanism 600 includes:

[0106] The first drive motor 610 is fixedly installed on the side plate 120 of the eye bracket 100, and the first drive motor 610 is a servo motor.

[0107] The first motor rocker arm 620 is fixedly connected to the output end of the first drive motor 610 by bolts. The first motor rocker arm 620 extends outward along its radial direction and has a protruding end for rotatably connecting with the first connecting rod 630.

[0108] The first connecting rod 630 has one end rotatably connected to the first motor rocker arm 620. The first drive motor 610 is connected to the second connecting shaft 2321 via the first motor rocker arm 620 and the first connecting rod 630. Specifically, the output end of the first drive motor 610 is drivenly connected to the first motor rocker arm 620. The first connecting rod 630 and the protruding end of the first motor rocker arm 620 are connected by a radial joint bearing. The other end of the first connecting rod 630 is provided with a sixth connecting shaft 631. The sixth connecting shaft 631 is rotatably connected to a converter 640 and is rotatably connected to the second connecting shaft 2321 of the second rod 232 of the connecting rocker arm 230 via the converter 640.

[0109] like Figure 14 As shown, the adapter 640 includes an integrally formed third pivot seat 641 and a fourth pivot seat 642, and the third pivot seat 641 and the fourth pivot seat 642 are arranged perpendicular to each other. The third pivot seat 641 is rotatably connected to the sixth connecting shaft 631, and the fourth pivot seat 642 is rotatably connected to the second connecting shaft 2321.

[0110] Bearings are provided between the third rotating shaft seat 641 and the sixth connecting shaft 631, and between the fourth rotating shaft seat 642 and the second connecting shaft 2321.

[0111] In the first drive mode, the two sets of first drive motors 610 rotate synchronously and in the same angular direction.

[0112] In the second drive mode, the two sets of first drive motors 610 rotate to generate an angle difference, which causes a torque difference to be generated at both ends of the linked rocker arm 230.

[0113] In an embodiment, such as Figure 15 As shown, it also includes a camera assembly 800, which includes:

[0114] Control board 810, which is fixedly mounted on eyeglass bracket 100;

[0115] Two sets of cameras 820 are respectively set in the receiving space of the eyeball 310 and fixed between the eyeball 310 and the horizontal rocker arm 320. The front end of the eyeball 310 has an observation hole 311, which is connected to the receiving space. The lens end of the camera 820 is set facing the observation hole 311 of the eyeball 310. The rear end of the camera 820 and the control board 810 are both welded with terminal blocks 840.

[0116] The ribbon cable 830 is electrically connected between the control board 810 and the camera 820. The top ends of the two opposing guide side plates 322 of the horizontal rocker arm 320 are not connected to each other, thus forming a clearance groove, allowing the ribbon cable 830 to pass through. Both ends of the ribbon cable 830 are soldered with connection terminals for plugging into the terminal block 840. When the eyeball 310 is disassembled, the ribbon cable 830 is disconnected, so that the camera 820 and the eyeball 310 can be disassembled together, which is convenient for overall replacement. It can be adapted to different specifications of camera 820, reducing the difficulty of assembly and adjustment.

[0117] In an embodiment, such as Figure 6 , Figure 8 , Figure 11 As shown, the vertical forward rocker arm 220 has first adjustment slots 223 at both ends along its length. The vertical rear rocker arm 330 has several adjustment holes 3331 at equal intervals on the end away from the horizontal rocker arm seat 320. These adjustment holes 3331 selectively connect to the first adjustment slots 223. Specifically, after the bolt passes through the first adjustment slots 223, it can selectively connect to different adjustment holes 3331 to change the installation position of the two vertical rear rocker arms 330 relative to the vertical forward rocker arm 220, thereby adjusting the distance between the two eyeball assemblies 300 to adapt to the eye distance requirements of different head sizes or different bionic characters.

[0118] In an embodiment, such as Figure 7 , Figure 8 , Figure 10 As shown, the transverse connecting rod 240 has a second adjustment groove 242 at both ends along its length. Specifically, the third connecting hole 3212 of the transverse rocker arm seat 320 is connected to the second adjustment groove 242 by bolts, and the connection position of the third connecting hole 3212 relative to the second adjustment groove 242 along its length is adjustable, thereby changing the included angle between the transverse rocker arm seat 320 and the transverse connecting rod 240. After the connection position of the transverse rocker arm seat 320 and the transverse connecting rod 240 changes, the initial installation angle between the transverse rocker arm seat 320 and the transverse connecting rod 240 changes, thereby changing the center distance between the observation hole 311 of the eyeball 310, i.e., adjusting the interpupillary distance.

[0119] In an embodiment, such as Figure 12 , Figure 13 As shown, the eyelid assembly 500 includes a base 510, a fifth connecting shaft 530, a fourth connecting end 511, an eyelid 520, and a reset member 540. The base 510 is an arc-shaped structure and is disposed above the top of the corresponding eyeball 310. The outline of the arc-shaped structure is adapted to the curvature of the outer surface of the eyeball 310, so that the base 510 can be arranged along the area above the eyeball 310 without interfering with the eyeball 310.

[0120] The eyelid support 400 is connected to the fixed support 210 by bolts, and the eyelid support 400 is provided with a second rotating shaft seat 410. The fifth connecting shaft 530 is fixedly connected to the base 510. The base 510 is rotatably connected to the second rotating shaft seat 410 through the fifth connecting shaft 530. A bearing is provided between the fifth connecting shaft 530 and the second rotating shaft seat 410 to reduce the frictional resistance when the fifth connecting shaft 530 rotates relative to the second rotating shaft seat 410 and improve the smoothness of rotation.

[0121] The fourth connecting end 511 is fixedly connected to the base 510 at one end and driven by the second driving mechanism 700 at the other end. Under the driving action of the second driving mechanism 700, the base 510 rotates relative to the eyelid support 400 around the center line of the second rotating shaft seat 410.

[0122] The eyelid 520 is detachably connected to the base 510, and the eyelid 520 at least partially covers the eyeball assembly 300. The side of the eyelid 520 facing the eyeball 310 is adapted to the outer arc surface of the eyeball 310, so that it can better fit the surface of the eyeball 310 when rotating with the base 510, thereby improving the bionic and anthropomorphic effect.

[0123] The reset component 540 is connected between the eyelid support 400 and the base 510. The reset component 540 is a torsion spring, which is sleeved on the fifth connecting shaft 530. The eyelid support 400 is provided with a third connecting end 420, and the base 510 is provided with a fifth connecting end 514. Specifically, the third connecting end 420 and the fifth connecting end 514 are both slots, which are used to fix the torsion spring to both ends of the torsion spring respectively, so that the eyelid 520 has a pre-tightening force to rotate in the direction of covering the eyeball assembly 300.

[0124] Specifically, such as Figure 13 As shown, a number of third magnets 512 are equidistantly embedded on one side of the base 510 opposite to the eyelid 520, and a number of guide holes 513 are also provided. The guide holes 513 and the third magnets 512 are arranged alternately along the extension direction of the base 510. On one side of the eyelid 520 opposite to the base 510, there are fourth magnets 522 corresponding to the third magnets 512 and guide posts 521 corresponding to the guide holes 513. The opposite sides of the third magnets 512 and the fourth magnets 522 attract each other. The guide posts 521 and the guide holes 513 are inserted and matched to achieve installation and positioning. The third magnets 512 and the fourth magnets 522 are connected by magnetic attraction to achieve quick assembly and disassembly. This ensures the reliability of the connection and facilitates the replacement of eyelids 520 of different sizes or shapes to meet different appearance requirements.

[0125] In an embodiment, such as Figure 1 , Figure 17As shown, the second drive mechanism 700 includes a second drive motor 710, a second motor rocker arm 720, and a second connecting rod 730. The second drive motor 710 is connected to the fourth connecting end 511 of the base 510 through the second motor rocker arm 720 and the second connecting rod 730.

[0126] The second drive motor 710 is fixedly connected to the eye bracket 100. The second drive motor 710 is also a servo motor. The second motor rocker arm 720 is fixedly connected to the output end of the second drive motor 710 by bolts. The second motor rocker arm 720 has a protruding end along its radial direction for connecting with the second connecting rod 730. Both ends of the second connecting rod 730 are provided with radial joint bearings. One end is rotatably connected to the protruding end of the second motor rocker arm 720 through the radial joint bearing, and the other end is rotatably connected to the fourth connecting end 511 of the corresponding base 510 through the radial joint bearing.

[0127] When the second drive motor 710 drives the second motor rocker arm 720 to swing, the second connecting rod 730 drives the base 510 to rotate around the central axis of the second rotating shaft seat 410 through the fourth connecting end 511, thereby driving the eyelid 520 to swing away from the eyeball 310 and realize the eye-opening action.

[0128] When the second drive mechanism 700 removes the driving force, the torsion spring releases the preload, driving the base 510 to rotate in the opposite direction, causing the eyelid 520 to cover the eyeball 310 again, thus achieving the action of closing the eyes.

[0129] A robot includes the eye structure in any of the above embodiments. In the head structure of the above-described eye structure robot, the eye structure is compact, occupies less space in the robot's head structure, and has better anthropomorphic eye movement performance. It can flexibly adjust the distance between the eyes and the pupils, and supports quick replacement of the eyeballs 310 and the eyelids 520 to adapt to different application scenarios.

[0130] The above description is only a preferred embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any equivalent substitutions or modifications made by those skilled in the art within the scope of the technology disclosed in the present invention, based on the technical solution and inventive concept of the present invention, should be covered within the scope of protection of the present invention.

Claims

1. An eye structure, characterized in that, include: Eye support (100); The motion component (200) includes a fixed support (210) and a linkage component. The fixed support (210) is fixedly connected to the eye support (100), and the linkage component is rotatably connected to the fixed support (210). Eyeball components (300) are respectively installed at opposite ends of the linkage component. The first drive mechanism (600) is provided in two sets and is arranged opposite to each other on both sides of the eye support (100). The two sets of the first drive mechanism (600) are respectively connected to the linkage component to drive the linkage component to move, and drive the eyeball component (300) to move through the linkage component. In the first driving mechanism (600), the two sets of first driving mechanisms drive the eyeball assembly (300) to rotate around the first axis in the first driving mode and drive the eyeball assembly (300) to rotate around the second axis in the second driving mode, wherein the first axis and the second axis are perpendicular to each other; An eyelid support (400) is fixedly connected to the fixed support (210); The eyelid assembly (500) is provided in two sets, which are rotatably connected to the eyelid support (400) respectively. The eyelid assembly (500) and the eyeball assembly (300) are arranged in a one-to-one correspondence, and the eyelid assembly (500) at least partially covers the eyeball assembly (300). The second drive mechanism (700) is provided in two sets and is disposed opposite to each other on both sides of the eye support (100). The two sets of the second drive mechanism (700) are respectively driven connected to the corresponding eyelid assembly (500) to drive the eyelid assembly (500) to move relative to the eyeball assembly (300).

2. The eye structure according to claim 1, characterized in that, The motion component (200) includes a fixed support (210) and a linkage component, which includes a vertical forward rocker arm (220), a linkage rocker arm (230), and a lateral link (240). The fixed support (210) is fixedly connected to the eye support (100); The vertical forward rocker arm (220) is hinged to the fixed support (210), and eyeball assemblies (300) are fixedly connected to both ends of the vertical forward rocker arm (220) in the length direction. The linked rocker arm (230) includes a first rod (231) and a second rod (232) that are perpendicular to each other. One end of the first rod (231) is rotatably connected to the vertical forward rocker arm (220) in the length direction, and the other end is rotatably connected to a transverse connecting rod (240). The two ends of the second rod (232) along its length are respectively rotatably connected to the first drive mechanism (600) on the corresponding side; The two ends of the transverse connecting rod (240) along its length are respectively rotatably connected to the corresponding side eyeball assembly (300).

3. The eye structure according to claim 2, characterized in that, The eye assembly (300) includes: The eyeball (310) has an internal accommodating space; A horizontal rocker arm (320) is detachably connected to the eyeball (310) and disposed in the receiving space of the eyeball (320). The horizontal rocker arm (320) is rotatably connected to the horizontal connecting rod (240). A vertical rear rocker arm (330) is provided, with one end of which is rotatably connected to the horizontal rocker arm seat (320) and the other end of which is fixedly connected to the vertical front rocker arm (220).

4. The eye structure according to claim 3, characterized in that, The first drive mechanism (600) includes: The first drive motor (610) is fixedly mounted on the eye support (100); The first motor rocker arm (620) is fixedly connected to the output end of the first drive motor (610); The first link (630) has one end rotatably connected to the first motor rocker arm (620) and the other end rotatably connected to the corresponding second link (232).

5. The eye structure according to claim 3, characterized in that, It also includes a camera assembly (800), which includes: A control board (810) is fixedly mounted on the eye support (100); The camera (820) is provided in two sets, which are respectively set in the receiving space of the eyeball (310) and fixed between the eyeball (310) and the horizontal rocker arm (320); A ribbon cable (830) is electrically connected between the control board (810) and the camera (820).

6. The eye structure according to claim 3, characterized in that, The vertical forward rocker arm (220) has a first adjustment groove (223) at both ends along its length. The vertical rear rocker arm (330) has a plurality of adjustment holes (3331) at equal intervals on the end away from the horizontal rocker arm seat (320). The plurality of adjustment holes (3331) are selectively connected to the first adjustment groove (223).

7. The eye structure according to claim 3, characterized in that, The transverse connecting rod (240) is provided with a second adjustment groove (242) at both ends in the length direction; The horizontal rocker arm seat (320) is connected to the second adjustment groove (242), and the connection position of the horizontal rocker arm seat (320) relative to the second adjustment groove (242) in the length direction is adjustable.

8. The eye structure according to claim 1, characterized in that, The eyelid assembly (500) includes: Base (510); The fifth connecting shaft (530) is fixedly connected to the base (510) and rotatably connected to the eyelid support (400); The fourth connection end (511) is fixedly connected at one end to the base (510) and driven to the second drive mechanism (700) at the other end. An eyelid (520) is detachably connected to the base (510) and the eyelid (520) at least partially covers the eyeball assembly (300). A reset member (540) is connected between the eyelid support (400) and the base (510) to give the eyelid (520) a pre-tightening force that rotates toward covering the eyeball assembly (300).

9. The eye structure according to claim 8, characterized in that, The second drive mechanism (700) includes: The second drive motor (710) is fixedly connected to the eye support (100); The second motor rocker arm (720) is fixedly connected to the output end of the second drive motor (710); The second link (730) has one end rotatably connected to the second motor rocker arm (720) and the other end rotatably connected to the fourth connection end (511) of the corresponding base (510).

10. A robot, characterized in that, The robot includes the eye structure as described in any one of claims 1-9.

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