Bionic blink control execution structure

Abstract

A bionic blink control execution structure comprises a mounting support, at least one eyeball structure and an eyelid structure are mounted on the mounting support, the eyelid structure is attached to the surface of the eyeball structure, and the side portion of the eyelid structure is mounted on the mounting support through a rotating shaft structure. The eyelid structure is composed of an eyelid elastic framework and a self-lubricating tension film, the self-lubricating tension film is pasted on the inner side of the eyelid elastic framework, and the self-lubricating tension film is in sliding contact with the surface of the eyeball structure. The control precision is higher, one eye can be independently controlled to blink, the situation that strong electromagnetic control affects other parts to break down is avoided, the eyelid part and the eyeball can be tightly attached, and the eye part is more flexible.

Description

Technical Field

[0001] The utility model belongs to the technical field of bionic design, and particularly relates to a bionic blinking control execution structure. Background Art

[0002] In current machine bionic design, having a pair of vivid eyes can undoubtedly greatly improve the usage experience of human-machine interaction, especially in various bionic machine fields such as humanoid robots and robot dogs. In the prior art, the patent document with the publication number of CN107362544 A discloses a blinking device applicable to robots and a pet robot. The blinking device applicable to robots includes: a driving device mounting seat; eyelids, which include a left upper eyelid and a right upper eyelid, and both ends of the left upper eyelid and the right upper eyelid are rotatably mounted on the driving device mounting seat; a rotating shaft, which is arranged between the left upper eyelid and the right upper eyelid, and both ends of the rotating shaft are fixedly connected to the left upper eyelid and the right upper eyelid respectively; and a driving device, which is detachably magnetically connected to the rotating shaft to drive the rotating shaft to rotate.

[0003] Although the above solution can achieve the synchronous blinking function and has a certain degree of vividness, the two eyes achieve synchronous blinking through the interaction of an electromagnet and a reset spring. Not only is the control accuracy not high, it cannot separately control one of the eyes to perform a blinking action, nor can it control the amplitude of blinking. It can only simply open and close the upper eyelid part. Therefore, it cannot make the upper eyelid part cooperate to achieve certain expression actions. Moreover, in the control mechanism of the cooperation between the electromagnet and the reset spring, the electromagnet is prone to magnetize surrounding metal components or affect the transmission of control signals, affecting other control components to malfunction. And it is difficult to achieve a tight fit between the eyelid part and the eyeball. The gap formed by their separation causes a sense of separation of the organs, which is likely to make people feel frightened and result in an unsatisfactory human-machine interaction experience. Summary of the Utility Model

[0004] I. Technical Problems to be Solved

[0005] Aiming at the deficiencies of the prior art, the utility model provides a bionic blinking control execution structure with a simple structure, higher control accuracy, capable of separately controlling one of the eyes to perform a blinking action, avoiding the influence of strong electromagnetic control on other components to malfunction, and capable of achieving a tight fit between the eyelid part and the eyeball, making the eyes more vivid.

[0006] II. Specific Technical Solutions

[0007] A blink control execution structure for bionics, including a mounting bracket, on which at least one eyeball structure and an eyelid structure are mounted. The eyelid structure is attached to the surface of the eyeball structure. The side part of the eyelid structure is mounted on the mounting bracket through a rotating shaft structure. The eyelid structure is composed of an eyelid elastic skeleton and a self-lubricating tension film. The self-lubricating tension film is pasted on the inner side of the eyelid elastic skeleton, and the self-lubricating tension film is in sliding contact with the surface of the eyeball structure.

[0008] Preferably: Elastic gap openings are spaced apart at the front side part of the eyelid elastic skeleton, thus forming an elastic sheet structure arranged at intervals.

[0009] Preferably: A control rod mounting part is arranged at the rear side part of the eyelid elastic skeleton. An eyelid driving servo is mounted on the mounting bracket. A steering arm is mounted at the output end of the eyelid driving servo. The other end of the steering arm is connected with an eyelid push-pull connecting rod through a rotating mounting screw structure. The other end of the eyelid push-pull connecting rod is rotatably connected with the control rod mounting part.

[0010] Preferably: The rotating mounting screw structure includes a stud part, a rotating rod part and a screw hole part. The stud part and the screw hole part are respectively arranged at both ends of the rotating rod part, and the diameters of the stud part, the rotating rod part and the screw hole part increase in sequence. Both ends of the steering arm have mounting holes. The rotating rod part is rotatably matched with one of the mounting holes, and the other mounting hole is tightly clamped and matched with the output end of the eyelid driving servo;

[0011] A nut structure is mounted on the stud part, a headless screw structure is mounted in the screw hole part. An adjusting mounting jack is opened in the side wall of the screw hole part, and the adjusting mounting jack penetrates through the screw hole part. The eyelid push-pull connecting rod is matched with the adjusting mounting jack, and the headless screw structure presses against the eyelid push-pull connecting rod.

[0012] Preferably: The stud part, the rotating rod part and the screw hole part are integrally arranged.

[0013] Preferably: Two gasket structures are also sleeved on the rotating rod part, and the two gasket structures are respectively arranged closely against both side surfaces of the steering arm.

[0014] Preferably: The material of the eyelid elastic skeleton is polycarbonate plastic, nylon plastic, acetal resin, elastic iron sheet or shape memory metal.

[0015] Preferably: Rotating shafts are symmetrically arranged at both side parts of the eyelid elastic skeleton. Two parallel support frames are arranged at the front end of the mounting bracket. A rotating shaft hole is opened on the support frame, and the rotating shaft hole is rotatably matched with the rotating shaft.

[0016] Preferably: The material of the self-lubricating tension film is silk floss, silk, spandex, polyamide or biological leather products.

[0017] Preferably, two eyeball structures and two eyelid structures corresponding to the eyeball structures are installed on the mounting bracket, and two ball head mounting rods are arranged on the mounting bracket, and the eyeball structures are rotatably mounted on the ball head mounting rods.

[0018] The beneficial effects of the present utility model are as follows: The eyelid elastic skeleton tightly presses the self-lubricating tension film against the eyeball structure, avoiding the separation gap between the eyeball structure and the eyelid structure. When the eyelid structure performs actions such as opening eyes, closing eyes, and blinking, it still closely adheres to the eyeball structure at any time, making the eyes more vivid; each eyelid structure is controlled by a separate eyelid driving servo motor, not only with higher control precision, capable of performing actions such as squinting according to the rotation angle of the eyelid driving servo motor, and avoiding the influence of strong electromagnetic control on other components to cause failures, but also capable of separately controlling one eye to blink; finally, the rotationally mounted screw structure is used as the rotation mounting joint of each connecting rod, which is convenient for making adaptive adjustments to the fixed length of the control rod during the assembly process, thereby adjusting the initial position and limit position of the movement of the eyeball structure or the eyelid structure. Description of the Drawings

[0019] Figure 1 It is a schematic structural diagram of the whole front side of the present utility model.

[0020] Figure 2 It is a schematic structural diagram of the whole rear side of the present utility model.

[0021] Figure 3 It is a schematic installation structure diagram of the eyeball structure, the first push-pull driving device and the second push-pull driving device in the present utility model.

[0022] Figure 4 It is a schematic structural diagram of the eyelid structure in the present utility model.

[0023] Figure 5 It is a schematic structural diagram of the rotationally mounted screw structure in the present utility model.

[0024] In the figure: mounting bracket 1; eyeball structure 2; eyelid structure 3; rotationally mounted screw structure 4; first push-pull driving device 5; second push-pull driving device 6;

[0025] ball head mounting rod 11; support frame 12;

[0026] first ball head control rod 21; second ball head control rod 22; hemispherical shell 23; embedded partition 24; mounting pressing plate 25;

[0027] eyelid elastic skeleton 31; self-lubricating tension film 32; elastic sheet structure 33; control rod mounting part 34; eyelid driving servo motor 35; servo arm 36; eyelid push-pull connecting rod 37;

[0028] Stud portion 41; Rotating rod portion 42; Screw hole portion 43; Nut structure 44; Countersunk head screw structure 45; Adjusting mounting jack 46;

[0029] First balance push plate 51; First sliding rod structure 52; First driving device 53;

[0030] First eyeball driving servo 531; First servo arm 532; First push-pull connecting rod 533;

[0031] Second balance push plate 61; Second sliding rod structure 62; Second driving device 63;

[0032] Second eyeball driving servo 631; Second servo arm 632; Second push-pull connecting rod 633. Detailed implementation mode

[0033] The following will elaborate on the preferred embodiments of the present utility model in conjunction with the attached drawings, so that the advantages and features of the present utility model 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 utility model.

[0034] In the description of the present utility model, it should be understood that the orientation or positional relationships indicated by the terms "center", "longitudinal", "transverse", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", etc. are based on the orientation or positional relationships shown in the drawings, and are only for the convenience of describing the present utility model 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 should not be construed as a limitation to the present utility model. 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 specifying the quantity of the indicated technical features.

[0035] In the description of the present utility model, it should also be noted that unless otherwise clearly specified and limited, the terms "set", "installed", "connected" 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 or a connection through an intermediate medium, and it can be the communication inside two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present utility model can be understood according to specific circumstances.

[0036] Embodiment:

[0037] Such as Figure 1 、 Figure 2 、 Figure 3 、 Figure 4 and Figure 5As shown: A blink control execution structure for bionics, including a mounting bracket 1, on which two eyeball structures 2 and two eyelid structures 3 are mounted. In common bionic fields such as simulating humans and dogs, there are two eyes, and other numbers of eyes can also be set, such as the three eyes of mythological theme figures or other animals. The eyelid structures 3 are respectively attached to the surfaces of the eyeball structures 2. Generally, the eyelid structure 3 is the upper eyelid structure, and the upper eyelid simulation tissue is bonded to it. Therefore, the eyelid structures 3 are respectively attached to the upper sides of the surfaces of the eyeball structures 2. The eyelid structure 3 can also be the lower eyelid structure, and the lower eyelid simulation tissue is bonded to it. However, in humans and most animals, the upper eyelid tissue moves to achieve opening, closing, and blinking, so the lower eyelid structure is used less.

[0038] Both side parts 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 or right side of the ball head mounting rod 11. The best way is that the linear direction between the first ball head control rod 21 and the ball head mounting rod 11 is perpendicular to the linear direction between the second ball head control rod 22 and the ball head mounting rod 11, and they are respectively the set Z-axis direction and the horizontal X-axis direction. In this way, it can be ensured as much as possible that the eyeball structure 2 has a large degree of freedom of movement, and it is convenient for debugging and adapting to the control software. Of course, other upper or lower sides and left or right sides with deflection can also achieve control, and the eyeball can also rotate at various angles around the ball head mounting rod 11 in the middle, and the degree of freedom of movement is also high, but the effect is poor and it is difficult to adapt.

[0039] 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 pasted on the inner side of the eyelid elastic skeleton 31, and the self-lubricating tension membrane 32 is in sliding contact with the surface of the eyeball structure 2. The material of the eyelid elastic skeleton 31 is polycarbonate plastic, nylon plastic, acetal resin, elastic iron sheet or memory metal; the material of the self-lubricating tension membrane 32 is silk floss, silk, biological leather products, spandex, nylon or their blended and sanded elastic fabrics.

[0040] Through the elastic pressing of the eyelid elastic skeleton 31 on the self-lubricating tension membrane 32, 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 whole eyelid structure 3 can fit the surface of the eyeball structure 2 and slide without hindrance, thus realizing actions such as opening, closing, and blinking.

[0041] Rotating shafts are symmetrically arranged on both side parts of the elastic eyelid frame 31. Two parallel support frames 12 are arranged at the front end of the mounting bracket 1. A rotating shaft hole is formed in the support frame 12, and the rotating shaft hole is in rotational cooperation with the rotating shaft. The mounting bracket 1 has a plurality of support frames, upright frames or mounting platforms for mounting different components. Even different support frames, upright frames or mounting platforms can be separately arranged, and generally they all fall within the scope of the mounting bracket 1 they refer to.

[0042] Elastic gap openings are evenly spaced on the front side part of the elastic eyelid frame 31, so as to form an elastic sheet structure 33 with a consistent width and evenly spaced arrangement. It is also possible to arrange the elastic gap openings unevenly spaced. Therefore, at this time, the elastic sheet structure 33 is not arranged with a consistent width and evenly spaced. It is also possible to set it as a single elastic sheet structure 33, but the effect is very poor. Or an elastic air cushion can be added to achieve an elastic function between the elastic eyelid frame 31 and the self-lubricating tension film 32, and the self-lubricating tension film 32 can be made to closely adhere to the surface of the eyeball structure 2. However, this method is not stable and is easy to fall off.

[0043] A control rod mounting part 34 is arranged on the rear side part of the elastic eyelid frame 31. An eyelid driving servo 35 is mounted on the mounting bracket 1. A servo arm 36 is mounted at the output end of the eyelid driving servo 35. The other end of the servo arm 36 is connected to an eyelid push-pull link 37 through a rotating mounting screw structure 4. The other end of the eyelid push-pull link 37 is rotatably connected to the control rod mounting part 34, so as to control the opening and closing degree of the eyelid structure 3. The end of the eyelid push-pull link 37 can be hung in the hole formed in the control rod mounting part 34. Other rotating connection structures can also be used, but other installation operations are more complicated and the effects are the same.

[0044] 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.

[0045] 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.

[0046] 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.

[0047] 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.

[0048] The first driving device 53 includes a first eyeball driving servo 531, a first servo arm 532, and a first push-pull link 533. One end of the first servo arm 532 is fixedly installed at the output end of the first eyeball driving servo 631. The other end of the first servo arm 532 is connected to one end of the first push-pull link 533 through a rotating mounting screw structure 4. The other end of the first push-pull link 533 is installed on the first balance push plate 51 through the rotating mounting screw structure 4.

[0049] The first ball head control rods 21 on the two eyeball structures 2 are respectively installed on both sides of the first balance push plate 51 through the rotating mounting screw structure 4. The first sliding rod structure 52 is composed of two round rod structures, and the two round rod structures are symmetrically arranged on both sides of the first balance push plate 51 respectively. This method is usually applicable to the installation of the first ball head control rods 21 of the two eyeball structures 2 on the same first balance push plate 51, so that the space is larger. When controlling a single eyeball structure 2, the first sliding rod structure 52 is usually a square rod. 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 linearly only along the direction of the sliding rod. The sliding rod can also be replaced with a linear sliding track, but the track movement is prone to derailment and instability, so it is not adopted.

[0050] Similarly, the second push-pull driving device 6 includes a second balance push plate 61, a second sliding rod structure 62, and a second driving device 63. Both ends of the second sliding rod structure 62 are fixedly arranged on the mounting bracket 1. The second balance push plate 61 is slidably sleeved on the second sliding rod structure 62. The second driving device 63 is connected to the second balance push plate 61, and the second ball head control rod 22 is installed on the second balance push plate 61 through the rotating mounting screw structure 4.

[0051] The second driving device 63 includes a second eyeball driving servo 631, a second servo arm 632, and a second push-pull link 633. One end of the second servo arm 632 is fixedly installed 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 link 633 through a rotating mounting screw structure 4. The other end of the second push-pull link 633 is installed on the second balance push plate 61 through the rotating mounting screw structure 4. Similarly, the first driving device 53 and the second driving device 63 can be directly set as electric push rods and installed on the mounting bracket 1. Although at this time, one electric push rod can control multiple eyeball structures, the overall occupied space is larger and it is more easily interfered by other components.

[0052] The second ball head control rods 22 on the two eyeball structures 2 are respectively installed on both sides of the same second balance push plate 61 through the rotating mounting screw structures 4, or the second ball head control rods 22 on the two eyeball structures 2 can also be respectively installed on two different second balance push plates 61. That is, two driving devices are respectively used to drive the left-right rotation of the two eyeball structures 2. This is convenient for imitating special facial expressions such as cross-eyed of the user, but the application range is relatively narrow. Similarly, the first ball head control rods 21 on the two eyeball structures 2 can also be respectively rotatably installed on the same or different first balance push plates 51. However, it is more difficult for the two eyeball structures 2 to move upward and downward respectively under the control of different first balance push plates 51, and the application range is even narrower. Therefore, generally, the two eyeball structures 2 rotate synchronously. That is, one balance push plate controls the synchronous up-and-down rotation of the eyeballs, and the other balance push plate controls the synchronous left-right rotation. Of course, the up-and-down rotation and left-right rotation of the eyeballs can be synchronously compounded, that is, to achieve movements such as obliquely upward or obliquely downward. Its degrees of freedom of movement basically cover and restore various rotation states of the biological eyeballs.

[0053] The second sliding rod structure 62 is composed of two round rod structures, and the two round rod structures are symmetrically arranged on both sides of the second balance push plate 61 respectively. Similarly, the second sliding rod structure 62 can also be a square rod or a larger number of rods.

[0054] 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 increase in sequence and are integrally arranged. That is, the stud portion 41, the rotating rod portion 42 and the screw hole portion 43 are three stepped rod-shaped structures with diameters increasing in sequence.

[0055] Both ends of the rudder arm 36, the first servo arm 532 and the second servo arm 632 have mounting holes. The rotating rod portion 42 is rotatably matched with one of the mounting holes, and the other mounting hole is tightly 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 balance push plate, the rotating rod portion 42 is rotatably matched with the mounting hole opened on the balance push plate.

[0056] 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 installation jack 46 is provided in the side wall of the screw hole portion 43. The adjustment installation jack 46 penetrates through the screw hole portion 43. The adjustment installation jack 46 is matched with the eyelid push-pull link 37, the first ball head control rod 21, the second ball head control rod 22, the first push-pull link 533 or the second push-pull link 633. And the headless screw structure 45 presses against the eyelid push-pull link 37, the first ball head control rod 21, the second ball head control rod 22, the first push-pull link 533 or the second push-pull link 633, so as to more conveniently adjust the fixed length of the control rod during the assembly process, thereby adjusting the initial position and the limit position of the movement of the eyeball structure 2 or the eyelid structure 3.

[0057] Although the embodiments of the present invention have been shown and described, those of ordinary skill in the art can understand that various changes, modifications, substitutions and variations can be made to these embodiments without departing from the principle and spirit of the present invention. The scope of the present invention is defined by the appended claims.

Claims

1. A bionic blink control execution structure, characterized in that: The invention comprises a mounting bracket (1), on which at least one eyeball structure (2) and an eyelid structure (3) are mounted, the eyelid structure (3) being fitted on the surface of the eyeball structure (2), the side of the eyelid structure (3) being mounted on the mounting bracket (1) via a rotating shaft structure, the eyelid structure (3) being composed of an eyelid elastic skeleton (31) and a self-lubricating tension membrane (32), the self-lubricating tension membrane (32) being adhered to the inner side of the eyelid elastic skeleton (31), and the self-lubricating tension membrane (32) being in sliding contact with the surface of the eyeball structure (2).

2. The bionic blink control execution structure according to claim 1, characterized in that: The front side of the eyelid elastic skeleton (31) is provided with elastic gap openings at intervals, thereby forming an elastic sheet structure (33) arranged at intervals.

3. The bionic blink control execution structure according to claim 1 or 2, characterized in that: A control rod mounting portion (34) is provided on the rear side of the eyelid elastic frame (31), an eyelid driving servo (35) is mounted on the mounting bracket (1), a rudder arm (36) is mounted 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 a mounting screw structure (4), and the other end of the eyelid push-pull connecting rod (37) is rotatably connected to the control rod mounting portion (34).

4. The bionic blink control execution structure according to claim 3, 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), wherein 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, and the two ends of the rudder arm (36) are provided with mounting holes, the rotating rod portion (42) is rotationally matched with one of the mounting holes, and the other mounting hole is clamped and matched with the output end of the eyelid driving steering gear (35); A nut structure (44) is installed on the stud portion (41), a headless screw structure (45) is installed in the screw hole portion (43), an adjustment installation socket (46) is opened in the side wall of the screw hole portion (43), the adjustment installation socket (46) passes through the screw hole portion (43), the eyelid push-pull connecting rod (37) cooperates with the adjustment installation socket (46), and the headless screw structure (45) presses against the eyelid push-pull connecting rod (37).

5. The bionic blink control execution structure according to claim 4, characterized in that: The stud portion (41), the rotating rod portion (42) and the screw hole portion (43) are integrally arranged.

6. The bionic blink control execution structure according to claim 4, characterized in that: Two gasket structures are also sleeved on the rotating rod portion (42), and the two gasket structures are respectively arranged close to the two side surfaces of the rudder arm (36).

7. The bionic blink control execution structure according to any one of claims 1, 2, 4, 5 or 6, characterized in that: The eyelid elastic frame (31) is made of polycarbonate plastic, nylon plastic, acetal resin, elastic iron sheet or memory metal.

8. The bionic blink control execution structure according to claim 7, characterized in that: Rotating shafts are 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). Rotating shaft holes are opened on the support frames (12), and the rotating shaft holes are rotatably matched with the rotating shafts.

9. The bionic blink control execution structure according to any one of claims 1, 2, 4, 5, 6 or 8, characterized in that: The self-lubricating tension membrane (32) is made of silk floss, silk, spandex, nylon or biological leather products.

10. The bionic blink control execution structure according to claim 9, characterized in that: Two eyeball structures (2) and two eyelid structures (3) connected to the eyeball structures (2) are mounted on the mounting bracket (1), and two ball head mounting rods (11) are provided on the mounting bracket (1), and the eyeball structures (2) are rotatably mounted on the ball head mounting rods (11).

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