Robot eyeball module, eye device and robot

Abstract

The utility model relates to the technical field of robots, in particular to a robot eyeball module which comprises a mounting seat. An eyeball main body is arranged on one side of the mounting seat; a longitudinal driving part and a horizontal driving part are mounted on the mounting seat; the longitudinal driving part is in driving connection with a longitudinal driving rod assembly, and the longitudinal driving rod assembly is in ball joint with the eyeball body through a first ball head structure; the horizontal driving part is in driving connection with a horizontal driving rod assembly, the horizontal driving rod assembly comprises two horizontal driving connecting rods, and the two horizontal driving connecting rods are in ball joint with the eyeball body through a second ball head structure and a third ball head structure respectively; wherein a mounting through hole is formed in the center of the eyeball main body, the sensing interaction module is mounted in the mounting through hole to enable the robot to sense the outside, and the first ball head structure is located on one longitudinal side of the mounting through hole; the second ball head structure and the third ball head structure are located on the two horizontal sides of the mounting through hole correspondingly.

Description

Technical Field

[0001] This invention relates to the field of robotics, specifically to a robot eye module, an eye device, and a robot. Background Technology

[0002] Currently, in the design of bionic faces for robots, the eye mechanism often lacks modularity. For example, when different roles or appearances are required, the existing eye mechanism needs to be completely redesigned due to differences in eye spacing or shape requirements, which leads to a significant increase in cost and time. At the same time, the traditional facial skin is often fixed to the mechanical body with glue, which is not only troublesome to disassemble and assemble, but also causes irreversible damage to the structure.

[0003] In addition, existing upper and lower eyelid mechanisms often rely on simple linkages or overall closing mechanisms, which cannot independently and flexibly achieve more realistic bionic movements such as "opening and closing the eyes" or "blinking".

[0004] Based on the above problems, there is an urgent need to provide a new type of robot eye module. Utility Model Content

[0005] To address the issue of unrealistic blinking and other movements in current robots, this invention provides a robot eye module, an eye device, and a robot.

[0006] The technical solution of this novel invention is as follows:

[0007] On one hand, this utility model provides a robot eyeball module, characterized by: a mounting base; an eyeball body disposed on one side of the mounting base; a longitudinal drive component and a horizontal drive component, both mounted on the mounting base; a longitudinal drive rod assembly, driven and connected to the longitudinal drive component, and ball-connected to the eyeball body via a first ball-head structure; a horizontal drive rod assembly, driven and connected to the horizontal drive component, and including two horizontal drive connecting rods, which are ball-connected to the eyeball body via a second ball-head structure and a third ball-head structure, respectively; wherein, a mounting through hole is formed at the center of the eyeball body, and a perception and interaction module is installed in the mounting through hole, the first ball-head structure is located on the longitudinal side of the mounting through hole; the second ball-head structure and the third ball-head structure are located on the horizontal sides of the mounting through hole, respectively.

[0008] Furthermore, a support arm extends from the mounting base and is located on one side of the eyeball body; an upper eyelid connecting arm and a lower eyelid connecting arm are rotatably connected to the support arm; the upper eyelid connecting arm is connected to an upper eyelid assembly cocentric with the eyeball body; the lower eyelid connecting arm is connected to a lower eyelid assembly cocentric with the eyeball body; the mounting base is provided with a first rotation drive assembly and a second rotation drive assembly; the first rotation drive assembly drives and connects to the upper eyelid assembly; the second rotation drive assembly drives and connects to the lower eyelid assembly.

[0009] Furthermore, the upper eyelid assembly includes an upper eyelid shell fixing seat and an upper eyelid shell detachably connected to the upper eyelid shell fixing seat; the first rotation drive assembly is driven to connect the upper eyelid shell fixing seat; the upper eyelid shell fixing seat and the upper eyelid connecting arm are detachably connected; and / or the lower eyelid assembly includes a lower eyelid shell fixing seat and a lower eyelid shell detachably connected to the lower eyelid shell fixing seat; the second rotation drive assembly is driven to connect the lower eyelid shell; the lower eyelid shell fixing seat and the lower eyelid connecting arm are detachably connected.

[0010] Further, the first rotary drive assembly includes a first drive member and a second crank-connecting rod assembly drivenly connected to the first drive member; one end of the second crank-connecting rod assembly is connected to the output shaft of the first drive member; the other end of the second crank-connecting rod assembly is connected to the upper eyelid shell fixing seat; and / or the second rotary drive assembly includes a second drive member and a third crank-connecting rod assembly drivenly connected to the second drive member; one end of the third crank-connecting rod assembly is connected to the output shaft of the second drive member; the other end of the third crank-connecting rod assembly is connected to the lower eyelid shell fixing seat.

[0011] Furthermore, the horizontal drive rod assembly also includes a first crank-connecting rod pair, which is connected to the output shaft of the horizontal drive member, and the two ends of the first crank-connecting rod pair are respectively hinged to two horizontal drive connecting rods.

[0012] Furthermore, the main body of the eyeball includes a spherical shell and a mounting plate connected to the inner side of the spherical shell; the mounting through hole penetrates the mounting plate and the spherical shell; the first ball head structure, the second ball head structure and the third ball head structure are all ball-connected to the mounting plate and are located on the same circle.

[0013] Furthermore, a cavity is formed between the mounting plate and the spherical shell, communicating with the mounting through hole.

[0014] Furthermore, a through hole communicating with the mounting through hole is provided on the mounting plate.

[0015] Secondly, this application also provides an eye device, characterized in that it includes two robotic eyeball modules as described above and a pitch-adjustable connecting assembly that detachably connects the mounting bases in the two robotic eyeball modules.

[0016] According to a third aspect of the present invention, a robot is also provided, characterized in that it includes the eye device described above.

[0017] The beneficial effects achieved by this invention are as follows:

[0018] This novel robotic eye module is installed inside a robot via a mounting base. The mounting base houses a longitudinal drive component and a horizontal drive component. The longitudinal drive component is connected to a longitudinal drive rod assembly and ball-jointed to the eyeball body via a first ball joint structure. The horizontal drive component is connected to a horizontal drive rod assembly, which includes two horizontal drive links, each ball-jointed to the eyeball body via a second and a third ball joint structure, respectively. The longitudinal drive component drives the eyeball body to rotate longitudinally, and the horizontal drive component drives it to rotate laterally. The eyeball body... A mounting hole is made in the center of the robot to install the sensing and interaction module, enabling the robot to perceive and / or interact with the outside world. The first ball head structure is located on the longitudinal side of the mounting hole to drive the longitudinal rotation of the main body of the eyeball. The second and third ball head structures are located on the horizontal sides of the mounting hole to drive the horizontal rotation of the main body of the eyeball. At the same time, all three ball head structures are located on the periphery of the mounting hole to free up the central space for installing the sensing and interaction module. The freed-up central position of the main body of the eyeball allows the sensing and interaction module to have a better perception range, which is conducive to the robot's ability to better acquire external information and interact. Attached Figure Description

[0019] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with this application and, together with the description, serve to explain the principles of this application.

[0020] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, for those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0021] One or more embodiments are illustrated by way of example with reference numerals in the accompanying drawings. These illustrations do not constitute a limitation on the embodiments. Elements with the same reference numerals in the drawings are denoted as similar elements. Unless otherwise stated, the figures in the drawings are not to be limited by scale.

[0022] Figure 1 This is a first three-dimensional structural schematic diagram of Embodiment 1 of this application;

[0023] Figure 2 This is a second three-dimensional structural schematic diagram of Embodiment 1 of this application;

[0024] Figure 3 This is a first side view structural diagram of Embodiment 1 of this application;

[0025] Figure 4 This is a second side view of the structure of Embodiment 1 of this application;

[0026] Figure 5 This is a schematic diagram of the exploded structure of Embodiment 1 of this application;

[0027] Figure 6 This is a first three-dimensional structural schematic diagram of Embodiment 2 of this application;

[0028] Figure 7 This is a second three-dimensional structural schematic diagram of Embodiment 2 of this application.

[0029] In the picture,

[0030] 100. Mounting base; 200. Eyeball body; 300. Vertical drive component; 400. Horizontal drive component; 500. Vertical drive rod assembly; 600. Horizontal drive rod assembly; 700. Upper eyelid assembly; 800. Lower eyelid assembly; 900. Adjustable spacing connection assembly; 110. Support arm; 120. Upper eyelid connecting arm; 130. Lower eyelid connecting arm; 210. Mounting through hole; 211. Perception and interaction module; 220. Spherical shell; 230. Mounting plate; 231. Through hole; 510. First spherical head structure 610, Horizontal drive link; 620, Second ball joint structure; 630, Third ball joint structure; 640, First crank-connecting rod pair; 641, First rotary pair; 642, Second rotary pair; 710, First rotary drive assembly; 711, First drive member; 712, Second crank-connecting rod pair; 720, Upper eyelid shell fixing seat; 730, Upper eyelid shell; 810, Second rotary drive assembly; 811, Second drive member; 812, Third crank-connecting rod pair; 820, Lower eyelid shell fixing seat; 830, Lower eyelid shell. Detailed Implementation

[0031] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, not all embodiments. Based on the embodiments of this application, all other embodiments obtained by a person of ordinary skill in the art without creative effort are within the scope of protection of this application.

[0032] The following disclosure provides numerous different embodiments or examples for implementing various structures of this application. To simplify the disclosure, specific examples of components and arrangements are described below. These are merely examples and are not intended to limit the scope of this application. Furthermore, reference numerals and / or letters may be repeated in different examples. Such repetition is for simplification and clarity and does not in itself indicate a relationship between the various embodiments and / or arrangements discussed.

[0033] For ease of description, spatial relative terms may be used in this text to describe the relative position or movement of one element or feature relative to another element or feature, as shown in the figure. These relative terms include, for example, "inside," "outside," "middle," "outer," "below," "below," "above," "front," "back," etc. Such spatial relative terms are intended to include different orientations of the device in use or operation, other than those depicted in the figure. For example, if the device in the figure undergoes a positional flip, orientation change, or change of motion, these directional indications will change accordingly. For instance, an element described as "below other elements or features" or "below other elements or features" will subsequently be oriented "above other elements or features" or "above other elements or features." Therefore, the example term "below" can include both upper and lower orientations. The device may be otherwise oriented (rotated 90 degrees or in other directions), and the spatial relative descriptors used in this text will be interpreted accordingly.

[0034] Example 1

[0035] This application discloses a robotic eye module, including a mounting base 100; an eye body 200 is disposed on one side of the mounting base 100; and a longitudinal drive member 300 and a horizontal drive member 400 are mounted on the mounting base 100; the longitudinal drive member 300 is driven to connect a longitudinal drive rod assembly 500, and the longitudinal drive rod assembly 500 is ball-connected to the eye body 200 through a first ball joint structure 510; the horizontal drive member 400 is driven to connect a horizontal drive rod assembly 600, and the horizontal drive rod assembly 600 includes two... Two horizontal drive links 610 are respectively ball-connected to the eyeball body 200 via a second ball joint structure 620 and a third ball joint structure 630. The eyeball body 200 has a mounting through hole 210 at its center, and a sensing and interaction module 211 is installed in the mounting through hole 210 to enable the robot to perceive the outside world. The first ball joint structure 510 is located on one longitudinal side of the mounting through hole 210. The second ball joint structure 620 and the third ball joint structure 630 are located on the horizontal sides of the mounting through hole 210, respectively.

[0036] In this embodiment, the robot eye module is installed inside the robot via a mounting base 100. A longitudinal drive component 300 and a horizontal drive component 400 are mounted on the mounting base 100. The longitudinal drive component 300 is driven by a longitudinal drive rod assembly 500, which is ball-connected to the eye body 200 via a first ball joint structure 510. The horizontal drive component 400 is driven by a horizontal drive rod assembly 600, which includes two horizontal drive links 610. The two horizontal drive links 610 are ball-connected to the eye body 200 via a second ball joint structure 620 and a third ball joint structure 630, respectively. The longitudinal drive component 300 drives the eye body to rotate longitudinally (i.e., up and down), and the horizontal drive component 400 drives the eye body to rotate horizontally (left and right). A mounting bracket is located at the center of the eye body 200. A through-hole 210 is installed to mount a sensing and interaction module 211, enabling the robot to perceive and / or interact with the outside world. The sensing and interaction module 211 includes, but is not limited to, cameras and sensors. A first ball head structure 510 is located on one longitudinal side of the mounting through-hole 210 (e.g., the upper side shown in the attached figure) to drive the eyeball body 200 to rotate longitudinally. A second ball head structure 620 and a third ball head structure 630 are located on the horizontal sides of the mounting through-hole 210 to drive the eyeball body 200 to rotate horizontally. At the same time, all three ball head structures are located on the periphery of the mounting through-hole 210 to free up central space for mounting the sensing and interaction module 211. The freed-up central position of the eyeball body 200 allows the sensing and interaction module 211 to have a better sensing range, which is beneficial for the robot to better acquire external information and interact.

[0037] In an optional or preferred embodiment, two support arms 110 extend from the mounting base 100 and are located on both sides of the eyeball body 200 respectively; each support arm 110 is rotatably connected to an upper eyelid connecting arm 120 and a lower eyelid connecting arm 130; an upper eyelid assembly 700 cocentric with the eyeball body 200 is connected between the two upper eyelid connecting arms 120; a lower eyelid assembly 800 cocentric with the eyeball body 200 is connected between the two lower eyelid connecting arms 130; a first rotation drive assembly 710 and a second rotation drive assembly 810 are provided on the mounting base 100; the first rotation drive assembly 710 drives and connects to the upper eyelid assembly 700; the second rotation drive assembly 810 drives and connects to the lower eyelid assembly 800.

[0038] In this embodiment, the support arm 110 is located on one side of the eyeball body 200 as a mounting support part, and an upper eyelid connecting arm 120 and a lower eyelid connecting arm 130 are rotatably connected to the support arm 110. The upper eyelid connecting arm 120 is connected to an upper eyelid assembly 700 that is cocentric with the eyeball body 200, so that the upper eyelid assembly 700 can cover the eyeball body 200 when rotating without causing rotational interference; the lower eyelid connecting arm 130 is connected to a lower eyelid assembly 800 that is cocentric with the eyeball body 200, so that... When the lower eyelid assembly 800 rotates, it can cover the main body of the eyeball 200 without causing rotational interference; the mounting base 100 is provided with a first rotation drive assembly 710 and a second rotation drive assembly 810; the first rotation drive assembly 710 drives and connects to the upper eyelid assembly 700; the second rotation drive assembly 810 drives and connects to the lower eyelid assembly 800; by setting the upper eyelid assembly 700 and the lower eyelid assembly 800 to be driven independently, the movement of the muscle groups around the eye can be more human-like, giving it greater flexibility.

[0039] In an optional or preferred embodiment, the upper eyelid assembly 700 includes an upper eyelid shell fixing seat 720 and an upper eyelid shell 730 detachably connected to the upper eyelid shell fixing seat 720; a first rotation drive assembly 710 is driven to connect to the upper eyelid shell fixing seat 720; the upper eyelid shell fixing seat 720 and the upper eyelid connecting arm 120 are detachably connected; and / or the lower eyelid assembly 800 includes a lower eyelid shell fixing seat 820 and a lower eyelid shell 830 detachably connected to the lower eyelid shell fixing seat 820; a second rotation drive assembly 810 is driven to connect to the lower eyelid shell fixing seat 820; the lower eyelid shell fixing seat 820 and the lower eyelid connecting arm 130 are detachably connected.

[0040] refer to Figure 2 , Figure 3 In the actual assembly of the robot, both the upper eyelid shell 730 and the lower eyelid shell 830 need to be glued to the silicone skin. Therefore, neither can be disassembled, as disassembly would damage the silicone skin. Thus, the upper eyelid shell fixing seat 720 and the lower eyelid shell fixing seat 820 are configured such that the upper eyelid shell fixing seat 720 is driven to connect with the first rotary drive assembly 710, and the lower eyelid shell fixing seat 820 is driven to connect with the second rotary drive assembly 810. This also ensures that the upper eyelid shell fixing seat 720 is connected to the upper eyelid connecting arm 1. The connections between the lower eyelid shell fixing base 820 and the lower eyelid connecting arm 130 are detachable, allowing the robot eye module to be disassembled as a whole, except for the eyelid shell, facilitating module production, assembly, and replacement. Furthermore, the connections between the upper eyelid shell fixing base 720 and the upper eyelid shell 730, and between the upper eyelid shell fixing base 720 and the upper eyelid connecting arm 120, are bolted. The upper eyelid shell 730 can be disassembled by tightening and loosening the bolts. The same applies to the lower eyelid assembly 800, which will not be described in detail here.

[0041] In an optional or preferred embodiment, the first rotary drive assembly 710 includes a first drive member 711 and a second crank-connecting rod assembly 712 drivenly connected to the first drive member 711; one end of the second crank-connecting rod assembly 712 is connected to the output shaft of the first drive member 711; the second end of the second crank-connecting rod assembly 712 is connected to the upper eyelid shell fixing seat 720; and / or the second rotary drive assembly 810 includes a second drive member 811 and a third crank-connecting rod assembly 812 drivenly connected to the second drive member 811; one end of the third crank-connecting rod assembly 812 is connected to the output shaft of the second drive member 811; the second end of the third crank-connecting rod assembly 812 is connected to the lower eyelid shell fixing seat 820.

[0042] refer to Figure 2 , Figure 3 In this embodiment, the first driving member 711 is driven to connect to the upper eyelid shell fixing seat 720 via the second crank-connecting rod pair 712, so as to drive the upper eyelid shell fixing seat 720 and the upper eyelid shell 730 to rotate, thereby covering or releasing the eyeball body 200; the second driving member 811 is driven to connect to the lower eyelid shell fixing seat 820 via the third crank-connecting rod pair 812, so as to drive the lower eyelid shell fixing seat 720 to rotate, thereby cooperating with the upper eyelid shell 730 to cover or release the eyeball body 200; the second crank-connecting rod pair 712 and the third crank-connecting rod pair 812 are combined transmission structures including cranks and / or connecting rods. The specific crank-connecting rod connection relationship is conventional technology and can be referred to the accompanying drawings, so it will not be described in detail.

[0043] In an optional or preferred embodiment, the horizontal drive rod assembly 600 further includes a first crank-connecting rod pair 640, which is connected to the output shaft of the horizontal drive member 400, and two horizontal drive connecting rods 610 are respectively hinged to both ends of the first crank-connecting rod pair 640.

[0044] Please refer to the attached document. Figure 5 The horizontal drive component 400 can drive two horizontal drive connecting rods 610 to move back and forth reciprocally via the first crank-connecting rod pair 640, thereby causing the eyeball body 200 to rotate horizontally; the first crank-connecting rod pair 640 is a combined transmission structure including a crank and / or connecting rods; for example, Figure 5As shown, the first crank-connecting rod assembly 640 includes a first rotary joint 641 and a second rotary joint 642. The output shaft of the horizontal drive member 400 drives and connects to the first rotary joint 641. The two ends of the first rotary joint 641 are respectively hinged to two horizontal drive connecting rods 610. The second rotary joint 642 is arranged side by side with the first rotary joint 641. Specifically, the second rotary joint 642 is located in the extension direction of the horizontal drive connecting rod 610 and is spaced apart from it. The second rotary joint 642 is rotatably connected to the mounting base 100 through a rotating shaft, and the two ends of the second rotary joint 642 are also respectively hinged to two horizontal drive connecting rods 610.

[0045] In an optional or preferred embodiment, the eyeball body 200 includes a spherical shell 220 and a mounting plate 230 connected to the inner side of the spherical shell 220; a mounting through hole 210 penetrates the mounting plate 230 and the spherical shell 220; a first ball head structure 510, a second ball head structure 620 and a third ball head structure 630 are all ball-connected to the mounting plate 230 and are located on the same circle.

[0046] In this embodiment, the eyeball body 200 includes a spherical shell 220 and a mounting plate 230 connected to the inner side of the spherical shell 220. The mounting through hole 210 penetrates the mounting plate 230 and the spherical shell 220, so that the sensing interaction module 211 can accurately collect and sense external information. The mounting plate 230 serves as a carrier for connecting the first ball head structure 510, the second ball head structure 620, and the third ball head structure 630, which facilitates production and assembly. It also ensures that the first ball head structure 510, the second ball head structure 620, and the third ball head structure 630 are located on the same circle, which facilitates precise control when the eyeball body 200 is driven to rotate.

[0047] In an optional or preferred embodiment, a cavity is formed between the mounting plate 230 and the spherical shell 220, which communicates with the mounting through hole 210. The cavity can accommodate the sensing interaction module 211 well and can be adapted to a larger volume of the sensing interaction module 211, reducing the volume requirements of the sensing interaction module 211 and enabling the sensing interaction module 211 to have richer functions.

[0048] In an optional or preferred embodiment, the mounting plate 230 has a through hole 231 communicating with the mounting through hole 210; since the outer end of the sensing interaction module 211 near the eyeball body 200 has a larger volume, for example, it contains a camera or sensor, while the outer end of the sensing interaction module 211 away from the eyeball body 200 usually has a smaller volume (e.g., Figure 5 For example, circuit connection wires, connecting rods, etc., as shown in the figure, a through hole 231 communicating with the mounting through hole 210 is opened on the mounting plate 320 so that the sensing interaction module 211 can be smoothly placed into the mounting through hole 210.

[0049] Example 2

[0050] The eye device includes two robotic eyeball modules as described above and an adjustable-pitch connection component 900 detachably connected to the mounting base 100 in the two robotic eyeball modules. The adjustable-pitch connection component 900 allows for adjustment of the distance between the two robotic eyeball modules to meet different robotic eye distance requirements. Furthermore, the modular design of the robotic eyeball modules facilitates convenient installation and replacement. Optionally, the support arms 110 on the two robotic eyeball modules are arranged adjacent to each other to achieve a compact structural design. Since the eye device includes the aforementioned robotic eyeball modules, it encompasses all the embodiments and corresponding beneficial effects of the robotic eyeball modules.

[0051] Example 3

[0052] The robot includes the eye device as described above. Since the robot includes the eye device and the robot eyeball module, it includes all the embodiments and corresponding beneficial effects of the robot eyeball module.

[0053] It should be understood that the terminology used herein is for the purpose of describing particular exemplary embodiments only and is not intended to be limiting. Unless the context clearly indicates otherwise, the singular forms “a,” “an,” and “described” as used herein may also mean including the plural forms. The terms “comprising,” “including,” “containing,” and “having” are inclusive and therefore indicate the presence of the stated features, steps, operations, elements, and / or components, but do not exclude the presence or addition of one or more other features, steps, operations, elements, components, and / or combinations thereof. The method steps, processes, and operations described herein are not construed as requiring them to be performed in a particular order described or illustrated unless the order of performance is explicitly indicated. It should also be understood that additional or alternative steps may be used.

[0054] Although terms such as first, second, third, etc., may be used in this document to describe multiple elements, components, regions, layers, and / or segments, these elements, components, regions, layers, and / or segments should not be limited by these terms. These terms may be used only to distinguish one element, component, region, layer, or segment from another. Unless the context clearly indicates otherwise, terms such as "first," "second," and other numerical terms used herein do not imply order or sequence. Therefore, the first element, component, region, layer, or segment discussed below may be referred to as the second element, component, region, layer, or segment without departing from the teachings of the exemplary embodiments.

[0055] The above description is merely a specific embodiment of this application, enabling those skilled in the art to understand or implement this application. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of this application. Therefore, this application is not to be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features claimed herein.

Claims

1. A robotic eyeball module, characterized by: Comprising a mounting base (100); an eyeball body (200) disposed on one side of the mounting base (100); a longitudinal driving member (300) and a horizontal driving member (400), both of which are mounted on the mounting base (100); a longitudinal driving rod assembly (500) drivingly connected to the longitudinal driving member (300) and ball-jointed to the eyeball body (200) through a first ball head structure (510); a horizontal driving rod assembly (600) drivingly connected to the horizontal driving member (400) and comprising two horizontal driving connecting rods (610) ball-jointed to the eyeball body (200) through a second ball head structure (620) and a third ball head structure (630) respectively; wherein a mounting through hole (210) is formed in the center of the eyeball body (200), a perception interaction module (211) is mounted in the mounting through hole (210), and the first ball head structure (510) is located on the longitudinal side of the mounting through hole (210); the second ball head structure (620) and the third ball head structure (630) are respectively located on the horizontal two sides of the mounting through hole (210).

2. The robotic ocular module of claim 1, wherein: A support arm (110) extends from the mounting base (100) and is located on one side of the eyeball body (200); the support arm (110) is rotationally connected with an upper eyelid connecting arm (120) and a lower eyelid connecting arm (130); the upper eyelid connecting arm (120) is connected with an upper eyelid assembly (700) having a common ball center with the eyeball body (200); the lower eyelid connecting arm (130) is connected with a lower eyelid assembly (800) having a common ball center with the eyeball body (200); the mounting base (100) is provided with a first rotary driving assembly (710) and a second rotary driving assembly (810); the first rotary driving assembly (710) is drivingly connected with the upper eyelid assembly (700); the second rotary driving assembly (810) is drivingly connected with the lower eyelid assembly (800).

3. The robotic ocular module of claim 2, wherein: The upper eyelid assembly (700) comprises an upper eyelid shell fixing seat (720) and an upper eyelid shell (730) detachably connected to the upper eyelid shell fixing seat (720); the first rotary driving assembly (710) is drivingly connected with the upper eyelid shell fixing seat (720); the upper eyelid shell fixing seat (720) and the upper eyelid connecting arm (120) are detachably connected; and / or the lower eyelid assembly (800) comprises a lower eyelid shell fixing seat (820) and a lower eyelid shell (830) detachably connected to the lower eyelid shell fixing seat (820); the second rotary driving assembly (810) is drivingly connected with the lower eyelid shell (830); the lower eyelid shell fixing seat (820) and the lower eyelid connecting arm (130) are detachably connected.

4. The robotic ocular module of claim 3, wherein: The first rotary drive assembly (710) comprises a first drive member (711) and a second crank linkage pair (712) drivingly connected with the first drive member (711); one end of the second crank linkage pair (712) is connected with an output shaft of the first drive member (711); the other end of the second crank linkage pair (712) is connected with the upper eyelid shell fixing seat (720); And / or the second rotary drive assembly (810) comprises a second drive member (811) and a third crank linkage pair (812) drivingly connected with the second drive member (811); one end of the third crank linkage pair (812) is connected with an output shaft of the second drive member (811); the other end of the third crank linkage pair (812) is connected with the lower eyelid shell fixing seat (820).

5. The robotic ocular module of claim 1, wherein: The horizontal drive rod assembly (600) further comprises a first crank linkage pair (640) connected with an output shaft of the horizontal drive member (400), two ends of the first crank linkage pair (640) are respectively hingedly connected with two horizontal drive links (610).

6. The robotic ocular module of claim 1, wherein: The eyeball body (200) comprises a spherical shell (220) and a mounting plate (230) connected to an inner side of the spherical shell (220); the mounting through hole (210) penetrates through the mounting plate (230) and the spherical shell (220); the first ball head structure (510), the second ball head structure (620) and the third ball head structure (630) are all ball-jointed to the mounting plate (230) and are located on the same circle.

7. The robotic eyeball module of claim 6, wherein: A cavity communicating with the mounting through hole (210) is formed between the mounting plate (230) and the spherical shell (220).

8. The robotic eyeball module of claim 7, wherein: A through hole (231) communicating with the mounting through hole (210) is formed on the mounting plate (230).

9. An ocular device characterized by: The robot eyeball module comprises two robot eyeball modules as claimed in any one of claims 1-8, and a spacing-adjustable connecting assembly (900) detachably connecting the mounting seats (100) of the two robot eyeball modules.

10. A robot, characterised in that The eye device comprises the eye device as claimed in claim 9. The eye device comprises the eye device as claimed in claim 9.

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