Bionic eyeball rotation control mechanism

Abstract

A bionic eyeball rotation control mechanism comprises an installation support, at least one eyeball structure is installed on the installation support, the installation support is provided with a ball head installation rod, and the eyeball structure is rotatably installed on the ball head installation rod. A first ball head control rod and a second ball head control rod are further rotationally installed on the eyeball structure, the first ball head control rod is arranged above or below the ball head installation rod, and the second ball head control rod is arranged on the left side or the right side of the ball head installation rod. According to the utility model, the structure is simple, the control precision and the stability are higher, the rotating state of the eyeball can be completely restored, the degree of freedom of movement of the eyeball is high, and adaptive adjustment can be carried out in the assembling process.

Description

Technical Field

[0001] The utility model belongs to the technical field of bionic control, and in particular relates to a bionic eyeball rotation control mechanism. Background Art

[0002] In the current machine bionic design, having a pair of smart eyes can undoubtedly greatly improve the user experience of human-machine interaction, especially in the field of humanoid robots, robot dogs and other bionic machines. In a pair of smart eyes, the key to whether the eyeball or eyeball can be flexible and free is whether it is smart or not, and the control structure needs to occupy a small space to facilitate integration and installation into the limited space of the brain. In the prior art, a patent document with publication number CN 206883651 U discloses a robot and an eyeball rotation device thereof, wherein the eyeball rotation device comprises a servo steering gear, a longitudinal adjustment link, an oblique adjustment link, a transverse adjustment link, a left eyeball and a right eyeball; the transverse adjustment link is arranged transversely and horizontally, the left eyeball and the right eyeball are respectively hinged to the left end and the right end of the transverse adjustment link, the oblique adjustment link is arranged obliquely and horizontally and its outer end is hinged to the middle part of the transverse adjustment link, the longitudinal adjustment link is arranged longitudinally and horizontally and its inner end is hinged to the inner end of the oblique adjustment link, and the real axis steering wheel of the servo steering gear is hinged to the outer end of the longitudinal adjustment link.

[0003] Although the above scheme can freely control the rotation of the left eyeball and the right eyeball, and the structure occupies relatively little space, the control is achieved by coordinating the rotation angles of multiple connecting rods, which is easily interfered by other lines or stuck in the joints by accumulated dust, and the stability is not high. In addition, the position of the connecting rod joints for achieving control is fixed and cannot be adaptively adjusted during the assembly process. Secondly, this technical solution can only realize the rotation of the eyeball along the vertical axis, and the degree of freedom of movement is low, and it cannot restore the rotation state of the eyeball 100%. Summary of the invention

[0004] 1. Technical Problems Solved

[0005] In view of the deficiencies in the prior art, the utility model proposes a bionic eyeball rotation control mechanism which has a simple structure, higher control accuracy and stability, can completely restore the rotation state of the eyeball, has a high degree of freedom of eyeball movement, and can make adaptive adjustments during the assembly process.

[0006] 2. Specific technical solutions

[0007] A bionic eyeball rotation control mechanism comprises a mounting bracket, on which at least one eyeball structure is mounted, the mounting bracket is provided with a ball head mounting rod, the eyeball structure is rotatably mounted on the ball head mounting rod, a first ball head control rod and a second ball head control rod are also rotatably mounted on the eyeball structure, the first ball head control rod is arranged above or below the ball head mounting rod, and the second ball head control rod is arranged on the left side or right side of the ball head mounting rod.

[0008] Preferably, the first ball head control rod and the second ball head control rod are connected to a first push-pull driving device and a second push-pull driving device respectively.

[0009] Preferably, the first push-pull drive device includes a first balancing push plate, a first sliding rod structure and a first drive device, both ends of the first sliding rod structure are fixed on a mounting bracket, the first balancing push plate is slidably mounted on the first sliding rod structure, the first drive device is connected to the first balancing push plate, and the first ball head control rod is installed on the first balancing push plate by rotating the mounting screw structure.

[0010] Preferably, two eyeball structures are installed on the mounting bracket.

[0011] As a preference, the first ball head control rods on the two eyeball structures are respectively installed on both sides of the first balance push plate by rotating the installation screw structure.

[0012] Preferably: the first driving device includes a first eyeball-driven servo, a first servo arm and a first push-pull connecting rod, one end of the first servo arm is fixedly installed at the output end of the first eyeball-driven servo, the other end of the first servo arm is connected to one end of the first push-pull connecting rod by rotating the mounting screw structure, and the other end of the first push-pull connecting rod is installed on the first balancing push plate by rotating the mounting screw structure.

[0013] Preferably, the first sliding rod structure is two round rod structures, and the two round rod structures are symmetrically arranged on both sides of the first balancing push plate.

[0014] Preferably: the eyeball structure includes a hemispherical shell, an embedded partition and a mounting pressure plate, the embedded partition is installed on the opening side of the hemispherical shell, the mounting pressure plate is installed on the plane end of the opening side of the hemispherical shell through a screw structure, and the mounting pressure plate is arranged close to the embedded partition, and two opposite groups of semicircular spherical holes are arranged on the opposite sides of the embedded partition and the mounting pressure plate, the two groups of semicircular spherical holes constitute a ball head mounting hole group, and the ball head mounting rod, the first ball head control rod and the second ball head control rod are respectively installed in the ball head mounting hole group.

[0015] Preferably, the ball head mounting rod, the first ball head control rod and the second ball head control rod are all composed of a rod portion and a ball head portion connected, the ball head mounting hole group includes three ball head mounting holes, and the three ball head mounting holes are respectively located at the center, lower side and left side of the mounting pressure plate, and the ball heads of the ball head mounting rod, the first ball head control rod and the second ball head control rod are rotatably matched with the ball head mounting holes at the center, lower side and left side respectively.

[0016] Preferably: the rotating mounting screw structure includes a stud portion, a rotating rod portion and a screw hole portion, the stud portion and the screw hole portion are respectively arranged at both ends of the rotating rod portion, and the diameters of the stud portion, the rotating rod portion and the screw hole portion increase successively; a nut structure is installed on the stud portion, a headless screw structure is installed in the screw hole portion, and an adjustment mounting socket is opened in the side wall of the screw hole portion, and the adjustment mounting socket passes through the screw hole portion.

[0017] The beneficial effects of the utility model are as follows: the ball head mounting rod, the first ball head control rod and the second ball head control rod are respectively rotated on the eyeball structure to cooperate to realize multi-degree-of-freedom rotation of the eyeball and linked rotation in all directions, which basically restores the rotation state of the eyeball; and the eyeball structure is indirectly and stably pushed to rotate by the balancing push plate, which not only has higher control accuracy and stability, but also is conducive to the two eyeball structures being controlled by the same balancing push plate to realize synchronous rotation, and the synchronous rotation efficiency is higher, and the driving equipment is streamlined, reducing the space occupied by the equipment and the manufacturing cost; finally, a rotating mounting screw structure is adopted as the rotating mounting joint of each connecting rod, which can facilitate the adaptive adjustment of the fixed length of the control rod during the assembly process, thereby adjusting the initial position and extreme position of the movement of the control eyeball structure or the eyelid structure. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 It is a schematic structural diagram of the overall front side of the utility model.

[0019] Figure 2 It is a schematic structural diagram of the overall rear side of the utility model.

[0020] Figure 3 It is a schematic diagram of the installation structure of the eyeball structure, the first push-pull driving device and the second push-pull driving device in the utility model.

[0021] Figure 4 It is a structural schematic diagram of the eyelid structure in the utility model.

[0022] Figure 5 It is a structural schematic diagram of the rotating installation screw structure in the utility model.

[0023] In the figure: mounting bracket 1; eyeball structure 2; eyelid structure 3; rotating mounting screw structure 4; first push-pull driving device 5; second push-pull driving device 6;

[0024] Ball head mounting rod 11; support frame 12;

[0025] A first ball head control rod 21; a second ball head control rod 22; a hemispherical shell 23; an embedded partition 24; and a mounting plate 25;

[0026] Eyelid elastic skeleton 31; self-lubricating tension membrane 32; elastic sheet structure 33; control rod mounting portion 34; eyelid driving steering gear 35; rudder arm 36; eyelid push-pull connecting rod 37;

[0027] Stud portion 41; rotating rod portion 42; screw hole portion 43; nut structure 44; headless screw structure 45; adjustment mounting socket 46;

[0028] A first balancing push plate 51; a first sliding rod structure 52; a first driving device 53;

[0029] First eyeball driving servo 531; first servo arm 532; first push-pull connecting rod 533;

[0030] A second balancing push plate 61; a second sliding rod structure 62; a second driving device 63;

[0031] The second eyeball drives the steering gear 631 ; the second steering gear arm 632 ; and the second push-pull connecting rod 633 . DETAILED DESCRIPTION

[0032] The preferred embodiments of the present invention are described in detail below in conjunction with the accompanying drawings so that the advantages and features of the present invention can be more easily understood by those skilled in the art, thereby making a clearer and more definite definition of the protection scope of the present invention.

[0033] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", etc., indicating the orientation or position relationship, are based on the orientation or position relationship shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention. In addition, the terms "first" and "second" are only used for descriptive purposes, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features.

[0034] In the description of the present invention, it is also necessary to explain that, unless otherwise clearly specified and limited, the terms "set", "install", and "connect" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection, it can be a direct connection, it can be connected through an intermediate medium, and it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances. Example

[0035] like Figure 1 , Figure 2 , Figure 3 , Figure 4 and Figure 5 As shown: a bionic eyeball rotation control mechanism includes a mounting bracket 1, on which two eyeball structures 2 and two eyelid structures 3 are mounted. Common bionic fields such as simulated humans and dogs all have two eyes, and other numbers of eyes can also be set, such as three eyes of simulated mythological characters or other animals. The eyelid structures 3 are respectively attached to the surface of the eyeball structure 2, wherein the eyelid structure 3 is generally an upper eyelid structure, on which the upper eyelid simulation tissue is bonded, so the eyelid structure 3 is respectively attached to the upper side of the eyeball structure 2 surface, and the eyelid structure 3 can also be a lower eyelid structure, on which the lower eyelid simulation tissue is bonded, but humans and most animals use the upper eyelid tissue to move to open, close and blink, so the lower eyelid structure is less used.

[0036] The two sides of the eyelid structure 3 are mounted on the mounting bracket 1 through a rotating shaft structure. The mounting bracket 1 is provided with a ball head mounting rod 11, and the eyeball structure 2 is rotatably mounted on the ball head mounting rod 11. A first ball head control rod 21 and a second ball head control rod 22 are also rotatably mounted on the eyeball structure 2. The first ball head control rod 21 is arranged above or below the ball head mounting rod 11, and the second ball head control rod 22 is arranged on the left side or right side of the ball head mounting rod 11; the best way is that the straight line direction between the first ball head control rod 21 and the ball head mounting rod 11 and the straight line direction between the second ball head control rod 22 and the ball head mounting rod 11 are perpendicular to each other, and are respectively the set Z-axis direction and the horizontal X-axis direction, so that the eyeball structure 2 can be guaranteed to have a large degree of freedom of movement as much as possible, and it is convenient to debug and adapt the control software. Of course, other deflected upper or lower sides and left or right sides can also be controlled, and the eyeball can also rotate around the middle ball head mounting rod 11 at various angles, and the degree of freedom of movement is also high, but the effect is poor and difficult to adapt.

[0037] The eyelid structure 3 is composed of an eyelid elastic skeleton 31 and a self-lubricating tension membrane 32. The self-lubricating tension membrane 32 is adhered to the inner side of the eyelid elastic skeleton 31. The self-lubricating tension membrane 32 is in sliding contact with the surface of the eyeball structure 2. The eyelid elastic skeleton 31 is made of polycarbonate plastic, nylon plastic, acetal resin, elastic iron sheet or memory metal; the self-lubricating tension membrane 32 is made of silk cotton, silk, biological leather products, spandex, nylon or their blended brushed elastic fabrics.

[0038] The elasticity of the eyelid elastic skeleton 31 is pressed tightly against the self-lubricating tension membrane 32, so that the self-lubricating tension membrane 32 is in close contact with the surface of the eyeball structure 2, and the self-lubricating tension membrane 32 has a certain lubricating effect, so that the eyelid structure 3 as a whole can slide unhindered on the surface of the eyeball structure 2, thereby realizing actions such as opening, closing and blinking the eyes.

[0039] A rotating shaft is symmetrically arranged on both sides of the eyelid elastic skeleton 31, and two parallel support frames 12 are arranged at the front end of the mounting bracket 1. A rotating shaft hole is opened on the support frame 12, and the rotating shaft hole cooperates with the rotating shaft for rotation; the mounting bracket 1 has multiple support frames, vertical frames or mounting platforms for installing different components, and even different support frames, vertical frames or mounting platforms can be separately arranged, and they all belong to the category of the mounting bracket 1 they refer to.

[0040] Elastic gap openings are evenly spaced apart on the front side of the eyelid elastic skeleton 31, thereby forming an elastic sheet structure 33 of uniform width and uniformly spaced arrangement. The elastic gap openings may also be unevenly spaced apart, so in this case the elastic sheet structure 33 is not uniformly width and uniformly spaced arrangement. It is also possible to set it as a single elastic sheet structure 33, but the effect is very poor. Alternatively, an elastic air cushion may be added between the eyelid elastic skeleton 31 and the self-lubricating tension membrane 32 to realize the elastic function, so that the self-lubricating tension membrane 32 is close to the surface of the eyeball structure 2. However, this method is unstable and easy to fall off.

[0041] A control rod mounting portion 34 is provided on the rear side of the eyelid elastic skeleton 31, and an eyelid driving servo 35 is installed on the mounting bracket 1. A rudder arm 36 is installed on the output end of the eyelid driving servo 35. The other end of the rudder arm 36 is connected to an eyelid push-pull connecting rod 37 by rotating the mounting screw structure 4. The other end of the eyelid push-pull connecting rod 37 is rotatably connected to the control rod mounting portion 34, so as to control the opening and closing degree of the eyelid structure 3. The end of the eyelid push-pull connecting rod 37 can be hung in the hole opened in the control rod mounting portion 34. Other rotating connection structures can also be used, but other installation operations are more complicated and the effects are the same.

[0042] The eyeball structure 2 includes a hemispherical shell 23, an embedded partition 24 and a mounting pressure plate 25. The embedded partition 24 is installed on the opening side of the hemispherical shell 23. The mounting pressure plate 25 is installed on the plane end of the opening side of the hemispherical shell 23 by a screw structure, and the mounting pressure plate 25 is arranged close to the embedded partition 24. The plane end of the opening side of the hemispherical shell 23 refers to the plane formed by the plane of the embedded partition 24 and the thickness of the shell surrounding. The mounting pressure plate 25 can be installed on these two planes by a screw structure, but if it is installed on the plane of the embedded partition 24, the embedded partition 24 needs to have a fixed structure fixed to the hemispherical shell 23, such as a threaded structure or a clamping structure. Two groups of semi-spherical holes are arranged on the opposite sides of the embedded partition 24 and the mounting pressure plate 25. The two groups of semi-spherical holes constitute a ball head mounting hole group. The ball head mounting rod 11, the first ball head control rod 21 and the second ball head control rod 22 are respectively installed in the ball head mounting hole group. The embedded partition 24 and the mounting pressure plate 25 are arranged to facilitate the installation of a camera and sensor equipment in the eyeball of the hemispherical shell 23, so as to further realize the bionic effect of the eyeball; secondly, due to the limitation of the existing equipment process, if the eyeball structure can be produced in an integrated manner and smoothly cooperate with the ball head control rod, and at the same time, a built-in camera and sensor equipment can be built in, the effect will be better, but it is difficult to achieve with current production technology.

[0043] The ball head mounting rod 11, the first ball head control rod 21 and the second ball head control rod 22 are all composed of a rod portion and a ball head portion connected. The ball head mounting hole group includes three ball head mounting holes, and the three ball head mounting holes are respectively located at the center, lower side and left side of the mounting pressure plate 25. The ball heads of the ball head mounting rod 11, the first ball head control rod 21 and the second ball head control rod 22 are respectively rotatably matched with the ball head mounting holes at the center, lower side and left side.

[0044] The first ball head control rod 21 and the second ball head control rod 22 are respectively connected to the first push-pull drive device 5 and the second push-pull drive device 6. The first push-pull drive device 5 and the second push-pull drive device 6 can be directly set as an electric push rod rotatably installed on the mounting bracket 1, but the electric push rod is long, occupies a large space, and is easily interfered by other components when rotating, resulting in poor user experience, and it is impossible for one electric push rod to control multiple eyeball structures.

[0045] The first push-pull drive device 5 includes a first balancing push plate 51, a first sliding rod structure 52 and a first driving device 53. Both ends of the first sliding rod structure 52 are fixedly arranged on the mounting bracket 1. The first balancing push plate 51 is slidably mounted on the first sliding rod structure 52. The first driving device 53 is connected to the first balancing push plate 51, and the first ball head control rod 21 is installed on the first balancing push plate 51 by rotating the mounting screw structure 4.

[0046] The first driving device 53 includes a first eyeball-driven servo 531, a first servo arm 532 and a first push-pull connecting rod 533. One end of the first servo arm 532 is fixedly installed at the output end of the first eyeball-driven servo 531, and the other end of the first servo arm 532 is connected to one end of the first push-pull connecting rod 533 by rotating the mounting screw structure 4. The other end of the first push-pull connecting rod 533 is installed on the first balancing push plate 51 by rotating the mounting screw structure 4.

[0047] The first ball head control rods 21 on the two eyeball structures 2 are respectively installed on the two sides of the first balance push plate 51 by rotating the mounting screw structure 4. The first sliding rod structure 52 is two round rod structures, and the two round rod structures are symmetrically arranged on the two sides of the first balance push plate 51. This method is often suitable for the first ball head control rods 21 of the two eyeball structures 2 to be installed on the same first balance push plate 51, so that the space is larger; the first sliding rod structure 52 is often used as a square rod to control a single eyeball structure 2; if the installation space is not considered, more rods can be set, as long as the first balance push plate 51 can be stably maintained to move in a straight line along the direction of the sliding rod. The sliding rod can also be replaced with a linear sliding track, but the track movement is easy to derail and unstable, so it is not adopted.

[0048] Similarly, the second push-pull drive device 6 includes a second balancing push plate 61, a second sliding rod structure 62 and a second drive device 63. The two ends of the second sliding rod structure 62 are fixedly arranged on the mounting bracket 1. The second balancing push plate 61 is slidably mounted on the second sliding rod structure 62. The second drive device 63 is connected to the second balancing push plate 61, and the second ball head control rod 22 is installed on the second balancing push plate 61 by rotating the mounting screw structure 4.

[0049] The second driving device 63 includes a second eyeball driving servo 631, a second servo arm 632 and a second push-pull connecting rod 633. One end of the second servo arm 632 is fixedly mounted at the output end of the second eyeball driving servo 631. The other end of the second servo arm 632 is connected to one end of the second push-pull connecting rod 633 by rotating the mounting screw structure 4. The other end of the second push-pull connecting rod 633 is mounted on the second balancing push plate 61 by rotating the mounting screw structure 4. Similarly, the first driving device 53 and the second driving device 63 can be directly configured as an electric push rod mounted on the mounting bracket 1. Although one electric push rod can control multiple eyeball structures at this time, the overall space occupied is larger and more easily interfered by other components.

[0050] The second ball head control rods 22 on the two eyeball structures 2 are respectively installed on the two sides of the same second balance push plate 61 by rotating the installation screw structure 4. The second ball head control rods 22 on the two eyeball structures 2 are respectively installed on or on two different second balance push plates 61 by rotating the installation screw structure 4, that is, two driving devices are provided to respectively drive the left and right rotation of the two eyeball structures 2, so that it is convenient to imitate the user's special facial expressions such as cross-eyed, and the application scope is relatively narrow; similarly, the first ball head control rods 21 on the two eyeball structures 2 can also be rotatably installed on the same or different first balance push plates 51, but it is more difficult for the two eyeball structures 2 to move upward and downward respectively under the push control of different first balance push plates 51, and the application scope is narrower; therefore, under normal circumstances, the two eyeball structures 2 rotate synchronously, that is, one balance push plate controls the synchronous up and down rotation of the eyeball, and the other balance push plate controls the left and right rotation synchronously. Of course, the up and down rotation of the eyeball and the left and right rotation can be synchronously combined, that is, to achieve oblique upward or oblique downward movements, and its movement freedom basically covers and restores various rotation states of the biological eyeball.

[0051] The second sliding rod structure 62 is two round rod structures, which are symmetrically arranged on both sides of the second balancing push plate 61. Similarly, the second sliding rod structure 62 can also be a square rod or more rods.

[0052] The rotating mounting screw structure 4 includes a stud portion 41, a rotating rod portion 42 and a screw hole portion 43. The stud portion 41 and the screw hole portion 43 are respectively arranged at both ends of the rotating rod portion 42, and the diameters of the stud portion 41, the rotating rod portion 42 and the screw hole portion 43 are successively increased and integrated, that is, the stud portion 41, the rotating rod portion 42 and the screw hole portion 43 are three stepped rods with successively increased diameters;

[0053] The rudder arm 36, the first servo arm 532 and the second servo arm 632 have mounting holes at both ends, the rotating rod portion 42 is rotatably matched with one of the mounting holes, and the other mounting hole is clamped and matched with the output end of the eyelid driving servo 35, the first eyeball driving servo 531 or the second eyeball driving servo 631, that is, the mounting hole and the output end of the eyelid driving servo 35, the first eyeball driving servo 531 or the second eyeball driving servo 631 are provided with mutually matching gear teeth or bayonet structures to limit the relative rotation of the two; when the rotating mounting screw structure 4 is installed on the balancing push plate, the rotating rod portion 42 is rotatably matched with the mounting hole opened on the balancing push plate.

[0054] A nut structure 44 is installed on the stud portion 41, and a headless screw structure 45 is installed in the screw hole portion 43, which occupies a small space. An adjustment mounting socket 46 is opened in the side wall of the screw hole portion 43, and the adjustment mounting socket 46 passes through the screw hole portion 43. The adjustment mounting socket 46 cooperates with the eyelid push-pull connecting rod 37, the first ball head control rod 21, the second ball head control rod 22, the first push-pull connecting rod 533 or the second push-pull connecting rod 633, and the headless screw structure 45 presses the eyelid push-pull connecting rod 37, the first ball head control rod 21, the second ball head control rod 22, the first push-pull connecting rod 533 or the second push-pull connecting rod 633, so that it is more convenient to adaptively adjust the fixed length of the control rod during the assembly process, thereby adjusting the initial position and the extreme position of the movement of the eyeball structure 2 or the eyelid structure 3.

[0055] Although the embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and the scope of the present invention shall be defined by the appended claims.

Claims

1. A bionic eyeball rotation control mechanism, characterized in that: The invention comprises a mounting bracket (1), on which at least one eyeball structure (2) is mounted, the mounting bracket (1) is provided with a ball head mounting rod (11), the eyeball structure (2) is rotatably mounted on the ball head mounting rod (11), and a first ball head control rod (21) and a second ball head control rod (22) are also rotatably mounted on the eyeball structure (2), the first ball head control rod (21) being arranged above or below the ball head mounting rod (11), and the second ball head control rod (22) being arranged on the left side or the right side of the ball head mounting rod (11).

2. The bionic eyeball rotation control mechanism according to claim 1, characterized in that: The first ball head control rod (21) and the second ball head control rod (22) are respectively connected to a first push-pull driving device (5) and a second push-pull driving device (6).

3. The bionic eyeball rotation control mechanism according to claim 2, characterized in that: The first push-pull drive device (5) comprises a first balancing push plate (51), a first sliding rod structure (52) and a first drive device (53); both ends of the first sliding rod structure (52) are fixedly arranged on the mounting bracket (1); the first balancing push plate (51) is slidably mounted on the first sliding rod structure (52); the first drive device (53) is connected to the first balancing push plate (51); and the first ball head control rod (21) is mounted on the first balancing push plate (51) by rotating the mounting screw structure (4).

4. The bionic eyeball rotation control mechanism according to claim 3, characterized in that: Two eyeball structures (2) are mounted on the mounting bracket (1).

5. The bionic eyeball rotation control mechanism according to claim 4, characterized in that: The first ball head control rods (21) on the two eyeball structures (2) are respectively mounted on two sides of the first balancing push plate (51) by rotating the mounting screw structures (4).

6. The bionic eyeball rotation control mechanism according to any one of claims 3 to 5, characterized in that: The first driving device (53) comprises a first eyeball-driven servo (531), a first servo arm (532) and a first push-pull connecting rod (533); one end of the first servo arm (532) is fixedly mounted on the output end of the first eyeball-driven servo (531); the other end of the first servo arm (532) is connected to one end of the first push-pull connecting rod (533) by rotating the mounting screw structure (4); and the other end of the first push-pull connecting rod (533) is mounted on the first balancing push plate (51) by rotating the mounting screw structure (4).

7. The bionic eyeball rotation control mechanism according to claim 6, characterized in that: The first sliding rod structure (52) is two round rod structures, and the two round rod structures are symmetrically arranged on both sides of the first balancing push plate (51).

8. The bionic eyeball rotation control mechanism according to any one of claims 1 to 5 or 7, characterized in that: The eyeball structure (2) comprises a hemispherical shell (23), an embedded partition (24) and a mounting plate (25), wherein the embedded partition (24) is mounted on the opening side of the hemispherical shell (23), the mounting plate (25) is mounted on the plane end of the opening side of the hemispherical shell (23) by means of a screw structure, and the mounting plate (25) is arranged close to the embedded partition (24), and two groups of opposite semicircular spherical holes are arranged on the side opposite to the embedded partition (24) and the mounting plate (25), the two groups of semicircular spherical holes forming a ball head mounting hole group, and the ball head mounting rod (11), the first ball head control rod (21) and the second ball head control rod (22) are respectively mounted in the ball head mounting hole group.

9. The bionic eyeball rotation control mechanism according to claim 8, characterized in that: The ball head mounting rod (11), the first ball head control rod (21) and the second ball head control rod (22) are all composed of a rod portion connected to a ball head portion, the ball head mounting hole group comprises three ball head mounting holes, the three ball head mounting holes are respectively located at the center, the lower side and the left side of the mounting pressure plate (25), and the ball heads of the ball head mounting rod (11), the first ball head control rod (21) and the second ball head control rod (22) are respectively rotatably matched with the ball head mounting holes at the center, the lower side and the left side.

10. The bionic eyeball rotation control mechanism according to any one of claims 3 to 5 or 7, characterized in that: The rotating mounting screw structure (4) comprises a stud portion (41), a rotating rod portion (42) and a screw hole portion (43); the stud portion (41) and the screw hole portion (43) are respectively arranged at two ends of the rotating rod portion (42), and the diameters of the stud portion (41), the rotating rod portion (42) and the screw hole portion (43) increase in sequence; a nut structure (44) is installed on the stud portion (41), a headless screw structure (45) is installed in the screw hole portion (43), and an adjustment mounting socket (46) is opened in the side wall of the screw hole portion (43), and the adjustment mounting socket (46) passes through the screw hole portion (43).

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