Eye structure of robot and robot

Abstract

The utility model discloses an eye structure of a robot and the robot, and relates to the technical field of robots, the eye structure of the robot and the robot comprise an eyeball, an upper eyelid located above the eyeball and a lower eyelid located below the eyeball, the upper eyelid and the lower eyelid are both of an arc-shaped spherical shell structure, the two ends of the upper eyelid and the two ends of the lower eyelid are provided with relative overlapping areas which serve as rotation axes of the upper eyelid and the lower eyelid. The eyelid driving assembly is used for driving the upper eyelid to be close to the lower eyelid or driving the lower eyelid to be close to the upper eyelid; and the transmission assembly is positioned on one side of one of the overlapped areas. The rotating speed of the upper eyelids is larger than that of the lower eyelids, and the rotating speed is characterized in that the opening and closing amplitude of the upper eyelids is larger than that of the lower eyelids, so that the eye structure of the robot better conforms to the blinking action of a human body.

Description

TECHNICAL FIELD

[0001] The utility model relates to robot technical field, concretely is a robot's eye structure and robot. BACKGROUND

[0002] In order to make bionic robot more realisticly simulate the characteristics of living beings, the eye structure of bionic robot is usually provided with blinking function, so the eye of the existing bionic robot has eyelid, and when the eyelid is blinking, generally two connecting rods are controlled by a rudder to push and pull the upper eyelid and the lower eyelid, so that the upper and lower eyelids move synchronously, and the opening and closing amplitudes of the upper and lower eyelids are equal, for example, the patent with publication number CN206296918U proposes a robot's eye structure and robot. However, in fact, when the human body blinks, the opening and closing amplitude of the upper eyelid is greater than that of the lower eyelid. In addition, two connecting rods occupy more space in the head of the robot. SUMMARY

[0003] The utility model provides a kind of robot's eye structure and robot, with the advantage that the opening and closing amplitude of lower eyelid is less than that of upper eyelid, and simulation performance is better, to solve the problem of poor simulation caused by the equal opening and closing amplitude of upper and lower eyelids in prior art.

[0004] To achieve the purpose that the opening and closing amplitude of lower eyelid is less than that of upper eyelid, the utility model provides the following technical scheme: a kind of robot's eye structure and robot, including eyeball, upper eyelid located above eyeball and lower eyelid located below eyeball, the upper eyelid and lower eyelid are both arc-shaped spherical shell structure, the two ends of upper eyelid and lower eyelid have relative coincidence area, and relative coincidence area is used as the rotation axis of upper eyelid and lower eyelid;Further comprising: eyelid driving assembly, the eyelid driving assembly is used to drive upper eyelid to be close to lower eyelid or drive lower eyelid to be close to upper eyelid;And transmission assembly, the transmission assembly is located at the side of the coincidence area of one of them, and transmission assembly is used to transmit the rotation force of upper eyelid and lower eyelid, and make lower eyelid relatively reverse rotation with upper eyelid at lower speed than upper eyelid.

[0005] As a preferred technical scheme of the utility model, one end of the upper eyelid is equipped with an upper assembling piece one, the lower eyelid is equipped with a lower assembling piece one near one end of the upper assembling piece one, the lower assembling piece one is L-shaped structure, so that the lower assembling piece one and the upper assembling piece one have coincident points in the direction of the rotation axis; the transmission assembly comprises: a follower shaft, one end of the follower shaft is fixed on the side of the upper assembling piece one far from the eyeball and is located on the rotation axis, a main follower bevel gear is fixed on the follower shaft; a reverse shaft, the reverse shaft is fixed on the side of the lower assembling piece one far from the eyeball and is located on the rotation axis, a reverse drive bevel gear is fixed on the reverse shaft; one side of the follower shaft is engaged with a first driven gear, the side of the first driven gear far from the main follower bevel gear is equipped with a straight gear coaxial with the first driven gear, one side of the reverse drive bevel gear is engaged with a transmission bevel gear, the transmission bevel gear is equipped with a speed reduction gear coaxial with the first driven gear, the speed reduction gear is engaged with the straight gear, so that the rotation speed of the speed reduction gear is reduced when the upper eyelid rotates along the rotation axis, the state that the rotation speed of the reverse drive bevel gear is lower than the rotation speed of the follower shaft is formed, and the rotation speed of the lower eyelid is lower than the rotation speed of the upper eyelid.

[0006] As a preferred technical scheme of the utility model, the transmission assembly further comprises a seat frame, the seat frame is " mountain " structure, the follower shaft and the reverse shaft are assembled on the seat frame through bearings.

[0007] As a preferred technical scheme of the utility model, one end of the upper eyelid far from the upper assembling piece one is equipped with an upper assembling piece two, the side of the lower eyelid far from the lower assembling piece one is equipped with a lower assembling piece two, the lower assembling piece two is L-shaped structure, so that the upper assembling piece two and the lower assembling piece two have coincident points, the coincident points are located on the rotation axis, a pin shaft is arranged on the coincident points, and the upper assembling piece two and the lower assembling piece two are rotationally assembled on the pin shaft.

[0008] As a preferred technical scheme of the utility model, the eyelid driving assembly comprises: an eccentric wheel, the eccentric wheel is arranged behind the eyeball, and a connecting rod is hinged between the eccentric area of the eccentric wheel and the upper eyelid or the lower eyelid; a main shaft, the main shaft is fixed at the shaft center of the eccentric wheel; a first steering engine, the first steering engine is used for driving the main shaft to rotate.

[0009] As a preferred technical scheme of the utility model, the eyeball is a spherical shell structure with one side opening, an assembling seat is fixed in the eyeball, a PCB board is fixed on the side of the assembling seat far from the opening, and a camera is assembled on the PCB board.

[0010] As a preferred technical scheme of the utility model, further include: half ball gear, the half ball gear is concentric with eyeball, one side of half ball gear is equipped with integral connecting portion, the connecting portion is embedded or is connected with assembly seat on screw thread, ball gear drive assembly, ball gear drive assembly is located behind half ball gear, is used for driving half ball gear multi-angle rotation, to make eyeball can multi-angle rotation, limit frame, the eyeball is located in limit frame, limit frame is used for limiting the circle center position of eyeball, limit frame is fixed on the seat frame through the connecting frame.

[0011] As a preferred technical scheme of the utility model, the ball gear drive assembly includes: drive gear, the drive gear is engaged on half ball gear, second housing, both sides of drive gear are equipped with bearing seat, the bearing seat is fixed on the outer surface of second housing through bolt, the end close to drive gear of second housing rotatable installation has inner spiral tooth cylinder, the inner spiral tooth cylinder is engaged with pinion, the pinion is also engaged with inner spiral tooth cylinder, the second housing is equipped with the rotation rudder machine for driving the rotation of inner spiral tooth cylinder, first housing, the first housing is located at the end of second housing away from inner spiral tooth cylinder, the first housing is equipped with the turnover rudder machine for driving the rotation of second housing.

[0012] On the other hand, the utility model also proposes a kind of robot, including the eye structure of robot described.

[0013] Compared with prior art, the utility model provides a kind of robot's eye structure and robot, with following beneficial effects:

[0014] 1, the eye structure of robot and robot, the rotation speed of upper eyelid is greater than the rotation speed of lower eyelid, which is characterized as the opening and closing amplitude of upper eyelid is greater than the opening and closing amplitude of lower eyelid, so that the eye structure of robot in the utility model is more in line with the blinking action of human body.

[0015] 2, the eye structure of robot and robot, compared with the prior art using two connecting rods to control upper eyelid and lower eyelid, more saves the head space of robot.

[0016] 3, the eye structure of robot and robot, the action of eyeball is controlled by half ball gear, so that assembly is more space-saving. BRIEF DESCRIPTION OF DRAWINGS

[0017] Figure 1 It is the first view of the utility model;

[0018] Figure 2 It is the second view of the utility model;

[0019] Figure 3 It is the structure diagram of the utility model for assembling robot main body 1;

[0020] Figure 4 It is the rear view angle drawing of upper eyelid and lower eyelid of the utility model;

[0021] Figure 5 It is the front view angle drawing of upper eyelid and lower eyelid of the utility model;

[0022] Figure 6 It is the B area enlarged view of the utility model; Figure 5

[0023] Figure 7 It is the exploded view of the utility model; Figure 5

[0024] Figure 8 It is the C area enlarged view of the utility model; Figure 7

[0025] Figure 9 It is the A area enlarged view of the utility model; Figure 4

[0026] Figure 10 It is the rear view angle drawing of eyeball and eyelid cooperation of the utility model;

[0027] Figure 11 It is the exploded view of eyeball and half ball gear of the utility model;

[0028] Figure 12 It is the cooperation drawing of eyeball and limiting frame of the utility model;

[0029] Figure 13 It is the cooperation drawing of half ball gear and ball gear driving assembly of the utility model;

[0030] Figure 14 It is the exploded view of ball gear driving assembly and half ball gear of the utility model.

[0031] In the drawing: 1, robot main body; 2, eyeball; 3, upper eyelid; 31, upper assembly piece one; 32, upper assembly piece two; 4, lower eyelid; 41, lower assembly piece one; 42, lower assembly piece two; 5, eyelid driving assembly; 51, first steering machine; 52, eccentric wheel; 53, connecting rod; 54, main shaft; 6, transmission assembly; 61, seat frame; 62, main follow-up umbrella wheel; 63, first driven wheel; 64, straight gear; 65, speed reduction gear; 66, transmission umbrella wheel; 67, follow-up shaft; 68, reverse umbrella wheel; 69, reverse shaft; 7, limiting frame; 8, half ball gear; 81, connecting part; 9, ball gear driving assembly; 91, first housing; 92, second housing; 93, driving gear; 94, inner helical gear cylinder; 95, pinion; 96, bearing seat; 97, rotary steering machine; 98, overturning steering machine; 10, connecting frame; 11, pin shaft; 12, camera; 13, PCB board; 14, assembly seat.​​​​ DETAILED DESCRIPTION

[0032] The technical solutions in the embodiments of the utility model will be apparently and completely described in connection with the drawings in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, rather than all the embodiments. Based on the embodiments in the utility model, all the other embodiments obtained by those skilled in the art without creative labor fall within the protection scope of the utility model.

[0033] The technical solutions in the embodiments of the utility model will be apparently and completely described in connection with the drawings in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, rather than all the embodiments. Based on the embodiments in the utility model, all the other embodiments obtained by those skilled in the art without creative labor fall within the protection scope of the utility model. Figures 1-14 The eye structure of the robot and the robot are described.

[0034] In the first aspect, the utility model discloses the eye structure of robot.

[0035] Referring to Figures 1-4 The eye structure of the robot comprises eyeball 2, upper eyelid 3 located above eyeball 2 and lower eyelid 4 located below eyeball 2, and upper eyelid 3 and lower eyelid 4 can rotate relatively to realize the eye blinking action of the robot.

[0036] Preferably, upper eyelid 3 and lower eyelid 4 are both arc-shaped spherical shell structures, and the two ends of upper eyelid 3 and lower eyelid 4 have a relatively coincident area, and the relatively coincident area serves as the rotation axis of upper eyelid 3 and lower eyelid 4. Figure 4 The position of the virtual line is the position of the rotation axis, which is preferably located on the center line of the two eyeballs 2, so that upper eyelid 3 and lower eyelid 4 can open and close along the center of eyeball 2, and the eyeball 2 and the eyelid can have a better fit.

[0037] As Figure 2 And Figure 3 In order to realize the blinking action of upper eyelid 3 and lower eyelid 4, eyelid driving assembly 5 and transmission assembly 6 located on one side of the coincident area are also provided, eyelid driving assembly 5 is used to drive one of the eyelids to act (upper eyelid 3 rotates downward or lower eyelid 4 rotates upward), and transmission assembly 6 is used to transmit the rotating force of upper eyelid 3 and lower eyelid 4, and make lower eyelid 4 rotate reversely relative to upper eyelid 3 at a speed lower than that of upper eyelid 3.

[0038] ①When the eyelid driving assembly 5 drives the upper eyelid 3 to move, the transmission assembly 6 is used for transmitting the rotating force of the upper eyelid 3 to the lower eyelid 4 and reducing the rotating speed in the transmission process, so as to realize the speed reduction of the lower eyelid 4; ②When the eyelid driving assembly 5 drives the lower eyelid 4 to move, the transmission assembly 6 is used for transmitting the rotating force of the lower eyelid 4 to the upper eyelid 3 and accelerating the transmission speed in the transmission process. Therefore, the rotating speed of the upper eyelid 3 of the eye structure of the robot provided in the embodiment of the utility model is greater than the rotating speed of the lower eyelid 4, which is characterized by the opening and closing amplitudes of the upper eyelid 3 being greater than the opening and closing amplitudes of the lower eyelid 4, so that the eye structure of the robot in the utility model is more in line with the blinking action of the human body.

[0039] In combination Figures 4-8 As shown in the figure, in order to realize that the end portions of the upper eyelid 3 and the lower eyelid 4 can have the above-mentioned overlapping area, an upper assembly piece one 31 is arranged at one end of the upper eyelid 3, and a lower assembly piece one 41 is arranged at one end of the lower eyelid 4 close to the upper assembly piece one 31, the lower assembly piece one 41 is in L-shaped structure, so that the lower assembly piece one 41 and the upper assembly piece one 31 have an overlapping area, and the rotating axis is in the overlapping area, so that the lower assembly piece one 41 and the upper assembly piece one 31 have an overlapping point in the orthographic projection direction of the rotating axis.

[0040] And the transmission assembly 6 includes a follow-up shaft 67 and a reverse shaft 69; one end of the follow-up shaft 67 is fixedly arranged on the side of the upper assembly piece one 31 away from the eyeball 2 and is located on the rotating axis and the overlapping point, so that the upper eyelid 3 and the follow-up shaft 67 can rotate synchronously, and a main follow-up bevel gear 62 is fixedly arranged on the follow-up shaft 67, so that the main follow-up bevel gear 62 can rotate synchronously with the upper eyelid 3 and the follow-up shaft 67, and the reverse shaft 69 is fixedly arranged on the side of the lower assembly piece one 41 away from the eyeball 2 and is located on the rotating axis and the overlapping point, so that the reverse shaft 69 and the lower eyelid 4 can rotate synchronously, and a reverse driving bevel gear 68 is fixedly arranged on the reverse shaft 69, so that the reverse shaft 69 and the lower eyelid 4 can rotate synchronously with the reverse driving bevel gear 68.

[0041] When the main follow-up bevel gear 62 and the reverse driving bevel gear 68 rotate reversely and the rotating speed of the main follow-up bevel gear 62 is greater than the rotating speed of the reverse driving bevel gear 68, the rotating speed of the upper eyelid 3 can be greater than the rotating speed of the lower eyelid 4, so that the first driven gear 63 is engaged on the side of the follow-up shaft 67, a spur gear 64 coaxial with the first driven gear 63 is arranged on the side of the first driven gear 63 away from the main follow-up bevel gear 62, the transmission bevel gear 66 is engaged on the side of the reverse driving bevel gear 68, the speed reduction gear 65 coaxial with the first driven gear 63 is arranged on the side of the transmission bevel gear 66, the speed reduction gear 65 is engaged with the spur gear 64, so that the rotating speed of the speed reduction gear 65 is reduced when the upper eyelid 3 rotates along the rotating axis, and the state that the rotating speed of the reverse driving bevel gear 68 is lower than the rotating speed of the follow-up shaft 67 is formed, and the rotating speed of the reverse driving bevel gear 68 being lower than the rotating speed of the follow-up shaft 67 represents that the rotating speed of the lower eyelid 4 is lower than the rotating speed of the upper eyelid 3.

[0042] Preferably, the transmission assembly 6 further comprises a robot body 1, the robot body 1 is in a "mountain" structure, the follow-up shaft 67 and the reverse shaft 69 are assembled on the seat frame 61 through bearings, and the seat frame 61 should be fixed on the robot body 1.

[0043] In combination with Figure 4 and Figure 9 , in order to improve the rotation stability of the upper eyelid 3 and the lower eyelid 4, it is necessary to assemble the end of the upper eyelid 3 and the lower eyelid 4 away from the transmission assembly 6, so that the upper assembly piece two 32 is arranged at the end of the upper assembly piece one 31, the lower assembly piece two 42 is arranged at the side of the lower assembly piece one 41, the lower assembly piece two 42 is in an L-shaped structure, so that the upper assembly piece two 32 and the lower assembly piece two 42 have a coincidence point, the coincidence point is located on the rotation axis, and the pin shaft 11 is arranged on the coincidence point, and the upper assembly piece two 32 and the lower assembly piece two 42 are rotationally assembled on the pin shaft 11, and preferably the pin shaft 11 is assembled on the robot body 1.

[0044] In combination with Figure 2 and Figure 3 As shown in the above-mentioned eyelid driving assembly 5, the eccentric wheel 52 is arranged in the direction of the rear of the eyeball 2 (here, the rear is defined by the front and back of the robot body), the eccentric area of the eccentric wheel 52 is hingedly connected with the connecting rod 53 between the upper eyelid 3 or the lower eyelid 4, the main shaft 54 is fixed at the shaft center of the eccentric wheel 52, and the first steering wheel 51 is used for driving the rotation of the main shaft 54, when the first steering wheel 51 works, the rotation of the eccentric wheel 52 can be realized, and when the eccentric wheel 52 rotates, the purpose of pushing or pulling the upper eyelid 3 or the lower eyelid 4 by the connecting rod 53 can be realized, in the embodiment, the connecting rod 53 is connected with the upper eyelid 3, and the first steering wheel 51 is arranged between the two eccentric wheels 52, and is preferably a double-shaft motor, and the two shafts are respectively used for driving the main shaft 54 on the two eccentric wheels 52. Figure 3 .

[0045] It should be noted that when there are two eyeballs 2, there are two eyelids, and two eccentric wheels 52 are required, the first steering wheel 51 is located between the two eccentric wheels 52, and is preferably a double-shaft motor, and the two shafts are respectively used for driving the main shaft 54 on the two eccentric wheels 52.

[0046] In addition, compared with the prior art in which two connecting rods are used to control the upper eyelid 3 and the lower eyelid 4, the single connecting rod 53 is more space-saving for the head of the robot.

[0047] As Figure 10 and Figure 11As shown, in order to facilitate the acquisition of image information by the eyeball 2, the eyeball 2 is a spherical shell structure with an opening on one side, and the camera 12 is integrated into the eyeball 2. Specifically, an assembly base 14 is fixed inside the eyeball 2, and a PCB board 13 is fixed on the side of the assembly base 14 away from the opening, and the camera 12 is mounted on the PCB board 13.

[0048] Combination Figure 12 and Figure 13 As shown, in order to achieve multi-angle rotation of the eyeball 2, a hemispherical gear 8, a ball gear drive assembly 9 for driving the hemispherical gear 8 to rotate at multiple angles, and a limiting frame 7 for limiting the center position of the eyeball 2 are also provided.

[0049] The hemispherical gear 8 is concentric with the eyeball 2. One side of the hemispherical gear 8 is provided with an integral connecting part 81. The connecting part 81 is fitted or threaded onto the assembly base 14. The ball gear drive assembly 9 is located behind the hemispherical gear 8. The eyeball 2 is located inside the limiting frame 7 and is concentric with the limiting frame 7. The limiting frame 7 is fixed to the base frame 61 by the connecting bracket 10.

[0050] like Figure 14 As shown, the ball gear drive assembly 9 includes a drive gear 93, which meshes with the hemispherical gear 8. When the drive gear 93 rotates along its own axis, it can drive the hemispherical gear 8 to rotate along the meridian direction. When the drive gear 94 rotates along its own radial direction, it can drive the hemispherical gear 8 to rotate along the parallel direction (the parallel direction refers to the direction of tooth rotation of the hemispherical gear 8, while the meridian direction is the direction perpendicular to the parallel direction), thereby realizing the multi-directional rotation of the hemispherical gear 8, and thus realizing the multi-directional rotation of the eyeball 2.

[0051] Specifically, in order to enable the drive gear 93 to rotate radially and axially, a rotary servo 97 and a tilting servo 98 are provided, and a second housing 92 for accommodating the rotary servo 97 and a first housing 91 for accommodating the tilting servo 98 are provided.

[0052] The specific installation method is as follows: both sides of the drive gear 93 are provided with bearing seats 96, and the bearing seats 96 are fixed to the outer surface of the second housing 92 by bolts. An inner helical gear cylinder 94 is rotatably installed at the end of the second housing 92 near the drive gear 93. A pinion 95 is meshed inside the inner helical gear cylinder 94, and the pinion 95 also meshes with the inner helical gear cylinder 94. The second housing 92 is provided with a first housing 91 located at the end of the second housing 92 away from the inner helical gear cylinder 94. The first housing 91 is provided with a tilting servo 98 for driving the rotation of the second housing 92.

[0053] In the embodiment, when the driving gear 93 needs to rotate axially, the inner spiral gear cylinder 94 is rotated by rotating the rudder 97, and the pinion 95 is rotated when the inner spiral gear cylinder 94 rotates, and then the driving gear 93 is rotated by the pinion 95; when the driving gear 93 needs to rotate radially, the second shell 92 is rotated by turning the rudder 98, and the rotation of the driving gear 93 is realized by rotating the bearing seat 96.

[0054] Preferably, the middle shaft of the inner spiral gear cylinder 93 is also provided with an axle seat at both ends, and the axle seat is fixed on the bearing seat 96.

[0055] On the other hand, the utility model embodiment further provides a robot, including the eye structure of the robot.

[0056] It should be noted that in this paper, such as the term "including", "including" or any other variant is intended to cover non-exclusive inclusion, so that the process, method, article or equipment including a series of elements not only includes those elements, but also includes other elements not explicitly listed, or also includes the elements inherent in such process, method, article or equipment. Without more limitations, the element defined by the statement "including a" does not exclude the existence of other identical elements in the process, method, article or equipment including the element.

[0057] Although the embodiments of the utility model have been shown and described, it can be understood by those skilled in the art that various changes, modifications, replacements and variations can be made to these embodiments without departing from the principles and spirits of the utility model, and the scope of the utility model is defined by the appended claims and their equivalents.

Claims

1. An eye structure of a robot, comprising an eyeball (2), an upper eyelid (3) located above the eyeball (2), and a lower eyelid (4) located below the eyeball (2), characterized in that, The upper eyelid (3) and the lower eyelid (4) are both arc-shaped spherical shell structures, and the two ends of the upper eyelid (3) and the lower eyelid (4) have opposite overlapping areas, which serve as the rotation axes of the upper eyelid (3) and the lower eyelid (4); Further comprising: An eyelid driving assembly (5) for driving the upper eyelid (3) to move close to the lower eyelid (4) or driving the lower eyelid (4) to move close to the upper eyelid (3); and A transmission assembly (6) located on one side of the overlapping area, which is used to transmit the rotating force of the upper eyelid (3) and the lower eyelid (4) and make the lower eyelid (4) rotate in the opposite direction of the upper eyelid (3) at a speed lower than that of the upper eyelid (3).

2. The eye structure of the robot according to claim 1, characterized by: One end of the upper eyelid (3) is provided with an upper assembly piece I (31), and one end of the lower eyelid (4) close to the upper assembly piece I (31) is provided with a lower assembly piece I (41), which is an L-shaped structure, so that the lower assembly piece I (41) and the upper assembly piece I (31) have an overlapping point in the direction of the rotation axis. The transmission assembly (6) comprises: A follow-up shaft (67) fixedly arranged at one end of the upper assembly piece I (31) away from the eyeball (2) and located on the rotation axis, and a main follow-up bevel gear (62) fixedly arranged on the follow-up shaft (67); A reverse rotation shaft (69) fixedly arranged at one end of the lower assembly piece I (41) away from the eyeball (2) and located on the rotation axis, and a reverse drive bevel gear (68) fixedly arranged on the reverse rotation shaft (69); One side of the follow-up shaft (67) is engaged with a first driven gear (63), and the side of the first driven gear (63) away from the main follow-up bevel gear (62) is provided with a straight gear (64) coaxial with the first driven gear (63), one side of the reverse drive bevel gear (68) is engaged with a transmission bevel gear (66), and the transmission bevel gear (66) is provided with a speed reduction gear (65) coaxial with the first driven gear (63) on one side, and the speed reduction gear (65) is engaged with the straight gear (64), so that the rotation speed of the speed reduction gear (65) is reduced when the upper eyelid (3) rotates along the rotation axis, forming a state that the rotation speed of the reverse drive bevel gear (68) is lower than that of the follow-up shaft (67), and the rotation speed of the reverse drive bevel gear (68) being lower than that of the follow-up shaft (67) indicates that the rotation speed of the lower eyelid (4) is lower than that of the upper eyelid (3).

3. The eye structure of the robot according to claim 2, characterized by: The transmission assembly (6) further comprises a seat frame (61) in the shape of a "mountain", and the follow-up shaft (67) and the reverse rotation shaft (69) are assembled on the seat frame (61) through bearings.

4. The eye structure of the robot according to claim 3, characterized by: One end of the upper eyelid (3) away from the upper assembly piece I (31) is provided with an upper assembly piece II (32), and one end of the lower eyelid (4) away from the lower assembly piece I (41) is provided with a lower assembly piece II (42), which is an L-shaped structure, so that the upper assembly piece II (32) and the lower assembly piece II (42) have an overlapping point, and the overlapping point is located on the rotation axis and is provided with a pin shaft (11), and the upper assembly piece II (32) and the lower assembly piece II (42) are both rotationally assembled on the pin shaft (11).

5. The eye structure of the robot according to claim 4, characterized by: The eyelid driving assembly (5) comprises: an eccentric wheel (52) arranged behind the eyeball (2), a connecting rod (53) being hinged between the eccentric area of the eccentric wheel (52) and the upper eyelid (3) or the lower eyelid (4); a main shaft (54) fixed to the shaft center of the eccentric wheel (52); a first steering engine (51) for driving the main shaft (54) to rotate.

6. The ocular structure of the robot according to any one of claims 3-5, characterized in that: The eyeball (2) is a one-side opening spherical shell structure, and an assembling seat (14) is fixedly arranged in the eyeball (2), a PCB board (13) is fixedly arranged on the side away from the opening of the assembling seat (14), and a camera (12) is assembled on the PCB board (13).

7. The eye structure of the robot according to claim 6, wherein Further comprising: a hemispherical gear (8) concentric with the eyeball (2), one side of the hemispherical gear (8) being provided with an integral connecting part (81) which is embedded or threadedly connected on the assembling seat (14); a spherical gear driving assembly (9) located behind the hemispherical gear (8) and used for driving the hemispherical gear (8) to rotate at multiple angles so that the eyeball (2) can rotate at multiple angles; a limiting frame (7) in which the eyeball (2) is located, the limiting frame (7) being used for limiting the center position of the eyeball (2) and being fixed on a seat frame (61) through a connecting frame (10).

8. The eye structure of the robot according to claim 7, characterized by, The spherical gear driving assembly (9) comprises: a driving gear (93) engaged with the hemispherical gear (8); a second housing (92), both sides of the driving gear (93) being provided with bearing seats (96) which are fixed on the outer surface of the second housing (92) through bolts, one end of the second housing (92) close to the driving gear (93) being rotatably provided with an inner spiral gear cylinder (94), the inner spiral gear cylinder (94) being engaged with a pinion (95), the pinion (95) also being engaged with the inner spiral gear cylinder (94), the second housing (92) being provided with a rotating steering engine (97) arranged therein and used for driving the inner spiral gear cylinder (94) to rotate; a first housing (91) located at the end of the second housing (92) away from the inner spiral gear cylinder (94), the first housing (91) being provided with a turnover steering engine (98) arranged therein and used for driving the second housing (92) to rotate.

9. A robot, characterized in that An eye structure of the robot according to any one of claims 1-8. An eye structure of the robot according to any one of claims 1-8.

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