Eyeball driving structure for a bionic robot

Abstract

The utility model discloses a kind of eyeball driving structures for bionic robot, comprising: head front shell, rear brain shell, bionic face, eyeball driving unit, support assembly;Bionic face is fixedly arranged on the surface of head front shell, eyeball support is fixedly arranged in bionic face, support assembly is fixedly arranged in the internal space formed by head front shell and rear brain shell, support assembly includes head department tooth box fixing piece middle, head department tooth box fixing piece lower and head department tooth box auxiliary fixing piece;Eyeball assembly is fixedly arranged on head department tooth box auxiliary fixing piece, eyeball driving steering engine is fixedly arranged on head department tooth box fixing piece lower, the output end of eyeball driving steering engine is connected with driving connection component, the other end of driving connection component is connected with eyeball assembly, power is provided by eyeball driving steering engine to drive driving connection component to drive eyeball assembly.The utility model provides a kind of bionic robot with eyeball driving structure with compact structure, transmission stable, with automatic reset function.

Description

Technical Field

[0001] This utility model relates to the field of robotics technology, and more specifically to an eye-driven structure for a bionic robot. Background Technology

[0002] Currently, service robots, especially companion robots used for elderly care and childcare, are receiving increasing attention. Users not only require robots to perform various actions, but also hope that robots can have human expressions.

[0003] Robot facial expression structure refers to the collective term for the mechanical transmission system, drive unit, biomimetic materials, and control system integrated into the robot's head to simulate the facial expressions of living organisms (mainly humans). Its core objective is to overcome the rigidity of traditional robot faces and, through physical deformation and movement, endow robots with richer, more natural, and emotionally expressive facial expressions, thereby enhancing the intimacy and empathy of human-computer interaction.

[0004] In the field of bionic robotics, eye movement is crucial for conveying attention and emotions. Traditional robot eye designs often rely on multiple actuators to achieve flexible left and right rotation (salivation), resulting in bulky structures, complex control, and high costs. There is a lack of a simple, reliable eye-driving solution that enables natural rotation and automatic centering.

[0005] For example, utility model patent CN210836772U discloses a simulated human eye mechanism, which includes an eye movement mechanism. This mechanism comprises an up-and-down drive motor, a left-and-right drive motor, an up-and-down drive motor mounting plate, a first connecting rod, a first swing arm, and a second swing arm. The up-and-down drive motor is fixed to the mounting plate with screws. The first swing arm is connected to the motor shaft of the up-and-down drive motor. One end of the first swing arm is connected to the first connecting rod via a pin, and the other end is connected to the pupil drive motor mounting plate via a pin. The left-and-right drive motor shaft is connected to the second swing arm with screws. The second swing arm has a sliding groove, and the screws are located within the groove and fixed to the up-and-down drive motor mounting plate. This solution uses two motor drives and a linkage mechanism for eye movement control, resulting in a complex overall structure and significant assembly and adjustment difficulties. Multiple motors and linkages may lead to high power consumption and accumulated errors. Furthermore, it may lack an automatic reset mechanism, making its accuracy susceptible to impacts over long-term operation. Utility Model Content

[0006] The purpose of this invention is to overcome the shortcomings of the prior art and provide a compact, stable transmission structure with automatic reset function for the eyeball drive of a bionic robot.

[0007] The technical solution adopted by this utility model to solve its technical problem is: An eye-driven structure for a bionic robot includes: a front shell, a back shell, a bionic face, an eye-driven unit, and a support assembly; The front shell and the back shell are connected. The bionic face is fixedly disposed on the surface of the front shell. An eyeball support is fixedly disposed inside the bionic face. The support assembly is fixedly disposed in the internal space formed by the front shell and the back shell. The support assembly includes a middle head dental box fixation component, a lower head dental box fixation component, and an auxiliary head dental box fixation component. The middle head dental box fixation component, the lower head dental box fixation component, and the auxiliary head dental box fixation component are fixedly connected in sequence. The lower head dental box fixation component is fixedly connected to the front shell. The eyeball driving unit includes an eyeball driving servo, a drive connection assembly, and an eyeball assembly. The eyeball assembly is fixedly disposed between the head jaw box auxiliary fixing component and the head jaw box fixing component. The eyeball driving servo is fixedly disposed on the lower part of the head jaw box fixing component. The output end of the eyeball driving servo is connected to the drive connection assembly, and the other end of the drive connection assembly is connected to the eyeball assembly. The eyeball driving servo provides power to drive the drive connection assembly to drive the eyeball assembly. The eyeball assembly includes a right eyeball and a left eyeball. The eyeball driving servo drives the right eyeball and the left eyeball to rotate left and right through the drive connection assembly.

[0008] Furthermore, the eyeball support is provided with a right eye frame and a left eye frame, which are used to accommodate the right eyeball and the left eyeball, respectively; The eyeball support is fixedly installed inside the bionic face, and the right and left eye frames are aligned with the corresponding holes on the surface of the bionic face.

[0009] Furthermore, the eyeball assembly also includes a right eyeball bottom cover, a left eyeball bottom cover, a torsion spring, a bottom cover connector, and a support rod; the drive connection assembly includes a neck drive shaft and a drive connector. The right eyeball is connected to the bottom cover of the right eyeball to form a right eye assembly, and the left eyeball is connected to the bottom cover of the left eyeball to form a left eye assembly. The right eye assembly and the left eye assembly are respectively fixedly connected to the bottom cover connector. The central coil portion of the torsion spring is sleeved on the fixed shaft in the middle of the bottom cover connector. The bottom cover connector is fixed to the head dental box auxiliary fixing component by the support rod. The output end of the eyeball-driven servo motor meshes with the neck drive shaft, the other end of the neck drive shaft is connected to one end of the transmission connector, and the other end of the transmission connector is between the two torsion arms that are engaged with the torsion spring.

[0010] Furthermore, the support rod includes a vertical rod and a horizontal beam. Threaded holes are provided at both ends of the beam. The rod is inserted into the mounting groove in the middle of the bottom cover connector. After the screw passes through the threaded hole, it is tightened with the head gear box auxiliary fixing component, thereby fixing the bottom cover connector and the head gear box auxiliary fixing component.

[0011] Furthermore, the transmission connector includes a connecting rod, one end of which is provided with a sector tooth, and the other end of which is provided with a bushing. The sector tooth is used to mesh with the neck transmission shaft, and the bushing is engaged between the two torsion arms of the torsion spring.

[0012] Furthermore, the connecting rod, sector teeth, and bushing are integrally formed structures.

[0013] Furthermore, the bionic face is made of soft silicone, and the eyeball support is fixedly connected to the bionic face through an insert injection molding process.

[0014] Furthermore, the bionic face is glued to the surface of the front shell of the head.

[0015] Compared with the prior art, the beneficial effects of this application are: Compared to a solution that uses two servos to control each eye separately, this solution uses a single eye-driven servo and a matching drive connection assembly to synchronously drive both eyes to rotate simultaneously. This design is highly efficient and cost-effective. The mechanical linkage ensures that the movement angles and timing of the left and right eyes are completely consistent, completely avoiding the "eye asynchrony" problem caused by slight performance differences or signal asynchrony between two independent servos. This results in highly coordinated and realistic gaze movements. Furthermore, the single servo with linkage structure is more compact than the solution of installing two servos side-by-side, making it easier to place within the confined space of a robot's head.

[0016] Existing technologies typically require additional sensors and closed-loop control algorithms to center the eye, which not only increases cost but also introduces control latency and complexity. By using the preload of a torsion spring, the eye can automatically return to the center position without any driving force, simulating the natural state of the human eye and simplifying the control logic and the overall architecture of the eye-driving module.

[0017] Precise movement is achieved through gear meshing (neck drive shaft) and linkage transmission, resulting in accurate motion transmission, minimal backlash, and the ability to achieve precise small-angle rotation of the eyeball.

[0018] With a compact and stable structure, the eyeball assembly forms an integral module through the bottom cover connector and the support rod, and is installed on the head dental box auxiliary fixation component. At the same time, all moving parts are compactly integrated under the head dental box fixation component, rather than being scattered in different positions of the support assembly. This maximizes the saving of space in the Z-axis and X / Y-axis directions, which is conducive to arranging other drive units (such as lips and eyebrows) in the head shell within the limited head shell space. Attached Figure Description

[0019] To more clearly illustrate the technical solutions of the embodiments of this disclosure, the accompanying drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of this disclosure and should not be regarded as a limitation of the scope. For those skilled in the art, other related drawings can be obtained from these drawings without creative effort.

[0020] Figure 1 This is a three-dimensional structural diagram of the overall appearance of this utility model.

[0021] Figure 2 This is a side view of the overall appearance of this utility model.

[0022] Figure 3 This is a three-dimensional structural diagram of the bionic human face of this utility model.

[0023] Figure 4 This is one of the three-dimensional structural diagrams of the eyeball driving unit and support assembly of this utility model.

[0024] Figure 5 This is the second three-dimensional structural diagram of the eyeball driving unit and support assembly of this utility model.

[0025] Figure 6 This is a schematic diagram of the assembly of the eyeball driving unit and the support assembly of this utility model.

[0026] Figure 7 This is a schematic diagram of the structure of the strut of this utility model.

[0027] Figure 8 This is a schematic diagram of the transmission connection component of this utility model.

[0028] 200. Front shell of the head; 300. Back shell of the head; 310. Bionic face; 311. Eye support; 312. Right eye socket; 313. Left eye socket; 400. Eye drive unit; 410. Eye drive servo; 420. Drive connection assembly; 421. Neck drive shaft; 422. Transmission connector; 4221. Connecting rod; 4222. Sector tooth; 4223. Bushing; 430. Eye assembly; 431. Right eyeball; 432. Left eyeball; 433. Right eyeball bottom cover; 434. Left eyeball bottom cover; 435. Torsion spring; 436. Bottom cover connector; 437. Support rod; 4371. Rod part; 4372. Crossbeam; 4373. Threaded hole; 500. Bracket assembly; 510. Middle part of head gearbox fixing part; 520. Lower part of head gearbox fixing part; 530. Auxiliary fixing part of head gearbox. Detailed Implementation

[0029] 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 a part of the embodiments of this application, and not all of the embodiments. Based on the embodiments of this application, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of this application.

[0030] In the description of this application, it should be noted that, unless otherwise explicitly specified and limited, the terms "connected," "linked," and "set up" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal communication between two components. Those skilled in the art can understand the specific meaning of the above terms in this application based on the specific circumstances. The embodiments of this application will now be described based on its overall structure.

[0031] See Figures 1 to 5 An eye-driven structure for a bionic robot includes: a front shell 100, a back shell 200, a bionic face 300, an eye-driven unit 400, and a support assembly 500. The front shell 100 and the back shell 200 are connected. The bionic face 300 is fixedly disposed on the surface of the front shell 100. An eye support member 310 is fixedly disposed inside the bionic face 300. The support assembly 500 is fixedly disposed in the internal space formed by the front shell 100 and the back shell 200. The support assembly 500 includes a head jaw box fixing member 510, a lower head jaw box fixing member 520, and a head jaw box auxiliary fixing member 530. The head jaw box fixing member 510, the lower head jaw box fixing member 520, and the auxiliary head jaw box fixing member 530 are sequentially fixedly connected. The lower head jaw box fixing member 510 is fixedly connected to the front shell 100.

[0032] The front shell 100 and the back shell 200 are connected by screws or clips to form the main frame of the robot's head. The support assembly 500, as the core load-bearing structure, is fixed to the inside of the front shell 100 by screws. It includes the head gear box fixing component 510, the lower head gear box fixing component 520, and the head gear box auxiliary fixing component 530, which are sequentially fixed together by screws to form a stable multi-layer support frame.

[0033] The eyeball drive unit 400 includes an eyeball drive servo motor 410, a drive connection assembly 420, and an eyeball assembly 430. The eyeball assembly 430 is fixedly disposed between the head gear box auxiliary fixing member 530 and the head gear box fixing member 520. The eyeball drive servo motor 410 is fixedly disposed on the lower 520 of the head gear box fixing member. The output end of the eyeball drive servo motor 410 is connected to the drive connection assembly 420, and the other end of the drive connection assembly 420 is connected to the eyeball assembly 430. The eyeball drive servo motor 410 provides power to drive the drive connection assembly 420 to drive the eyeball assembly 430. The eyeball assembly 430 includes a right eyeball 431 and a left eyeball 432. The eyeball drive servo motor 410 drives the right eyeball 431 and the left eyeball 432 to rotate left and right through the drive connection assembly 420.

[0034] The eyeball assembly 430 forms an integral module and is mounted on the head jaw box auxiliary fixation component 530. At the same time, all moving parts are compactly integrated on the lower part of the head jaw box fixation component 520, instead of being scattered and installed in different positions of the support assembly. This maximizes the saving of space in the Z-axis and X / Y-axis directions, and facilitates the arrangement of other drive units (such as lips and eyebrows) within the limited head shell space.

[0035] In this embodiment, both left and right eyeballs can be synchronously driven to rotate simultaneously using a single eyeball-driven servo motor 410 and a matching drive connection assembly 420. This structure is highly efficient and low-cost. The mechanical linkage ensures that the movement angles and timing of the left and right eyeballs are completely consistent, completely avoiding the "eye-eye asynchrony" problem caused by slight differences in the performance or signal asynchrony between the two independent servos, resulting in highly coordinated and realistic gaze movements. Furthermore, the single servo motor plus linkage structure is more compact than the scheme of installing two servos side-by-side, making it easier to arrange within the confined space of the robot's head.

[0036] like Figure 3 As shown, the eyeball support 310 is provided with a right eye frame 311 and a left eye frame 312, which are used to accommodate the right eyeball 431 and the left eyeball 432, respectively. The eyeball support 310 is fixedly installed inside the bionic face 300, and the right eye frame 311 and the left eye frame 312 are aligned with the corresponding holes on the surface of the bionic face 300.

[0037] like Figures 4 to 6As shown, the specific structure of the eyeball driving unit is as follows. In this embodiment, the eyeball assembly 430 also includes a right eyeball bottom cover 433, a left eyeball bottom cover 434, a torsion spring 435, a bottom cover connector 436, and a support rod 437; the drive connection assembly 420 includes a neck drive shaft 421 and a drive connector 422.

[0038] The right eyeball 431 is connected to the right eyeball bottom cover 433 to form the right eye assembly, and the left eyeball 432 is connected to the left eyeball bottom cover 434 to form the left eye assembly. The right eye assembly and the left eye assembly are fixedly connected to the bottom cover connector 436 respectively. The central coil part of the torsion spring 435 is sleeved on the fixed shaft in the middle of the bottom cover connector 436. The bottom cover connector 436 is fixed to the head gear box auxiliary fixing part 530 by the support rod 437.

[0039] The output end of the eyeball-driven servo motor 410 is engaged with the neck drive shaft 421. The other end of the neck drive shaft 421 is connected to one end of the transmission connector 422. The other end of the transmission connector 422 is between the two torsion arms that are engaged with the torsion spring 435.

[0040] like Figure 6 The diagram shows the assembly of the eye-driving unit 400 on the support assembly 500. The arrows in the diagram indicate the assembly direction. After the components in box A are assembled, they are installed on the head dental box auxiliary fixation component 530. After the components in box B are assembled, they are installed on the lower part of the head dental box fixation component 520.

[0041] The assembly method for the eyeball assembly within frame A is as follows: The right eyeball 431 is connected to the right eyeball base cover 433 to form the right eyeball assembly, and the left eyeball 432 is connected to the left eyeball base cover 434 to form the left eyeball assembly. Then, the left and right eyeball assemblies are respectively installed onto the base cover connector 436. The central coil portion of the torsion spring 435 is sleeved onto the protruding fixing shaft in the middle of the base cover connector 436. Finally, the support rod 437 is connected to the middle of the base cover connector 436, and then the support rod 437 is fixedly connected to the dental box auxiliary fixing component 530, thereby firmly pressing the entire eyeball assembly 430 onto the support frame.

[0042] The neck drive shaft 421 within box B is inserted into the drive connector 422 and mounted on the lower part 520 of the head gearbox fixing component. The head gearbox auxiliary fixing component 530 is mounted on the lower part 520 of the head gearbox fixing component and is fixed with screws. The head gearbox fixing component 510 is also mounted on the lower part 520 of the head gearbox fixing component and is fixed with screws.

[0043] The eye-driven servo motor 410, as the core driving component, provides power and transmits it to the transmission connector 422 via the neck drive shaft 421. The other end of the transmission connector 422 is between two torsion arms that engage with the torsion spring 435. The central coil portion of the torsion spring 435 is sleeved on the fixed shaft of the bottom cover connector 436. When the eye-driven servo motor 410 is working, it drives the neck drive shaft 421 to rotate, causing the transmission connector 422 to swing. During the swinging process of the transmission connector 422, it pushes the torsion arms of the torsion spring 435, causing the torsion spring 435 to undergo elastic torsion. The torsional force of the torsion spring 435 acts on the bottom cover connector 436 where its fixed shaft is located, thereby ultimately driving the left and right eye assemblies fixed to the bottom cover connector 436 to achieve synchronous and natural left and right rotation. When the servo motor stops driving or returns to center, the elastic potential energy stored in the torsion spring 435 is released, generating a reverse torque, driving the eye assembly 430 to accurately return to the initial center position, achieving automatic reset.

[0044] In this embodiment, the torsion spring 435 is pre-installed in the middle of the bottom cover connector 436. The torsion spring 435 provides an automatic eyeball reset function, which ensures that the robot's eyes will not be skewed when it is in standby or without instructions, and always maintains a natural and focused gaze, which greatly enhances its anthropomorphism and friendliness.

[0045] To secure the eyeball assembly, this embodiment uses a strut 437 for fixation, such as... Figure 7 As shown, the strut 437 includes a vertical rod 4371 and a horizontal beam 4372. The two ends of the beam 4372 are provided with threaded holes 4373. The fastener is a screw. The rod 4371 is inserted into the mounting groove in the middle of the bottom cover connector 436. After the screw passes through the threaded hole 4373, it is tightened with the head gear box auxiliary fixing part 530, thereby fixing the bottom cover connector 436 and the head gear box auxiliary fixing part 530.

[0046] The rod 4371 is inserted into the mounting groove in the middle of the bottom cover connector 436, and the screw holes at both ends of the support rod 437 crossbeam 4372 are aligned with the corresponding holes on the head gear box auxiliary fixing part 530. The screws are tightened to firmly press the entire eyeball assembly 430 onto the bracket.

[0047] The eyeball assembly 430 forms an integral module through the bottom cover connector 436 and the unique T-shaped support rod 437 structure, and is firmly installed on the bracket by pre-tightening screws, which is vibration resistant, loosening resistant and ensures long-term operational stability.

[0048] The transmission connector 422 is used to transmit power. In this embodiment, the structure of the transmission connector 422 is as follows: Figure 8As shown, the transmission connector 422 includes a connecting rod 4221. One end of the connecting rod 4221 is provided with a sector tooth 4222, and the other end of the connecting rod 4221 is provided with a bushing 4223. The sector tooth 4222 is used to mesh with the neck transmission shaft 421, and the bushing 4223 is engaged between the two torsion arms of the torsion spring 435.

[0049] To prevent the bushing 4223 between the two torsion arms of the torsion spring 435 from displacing and falling off during operation, a groove can be made on the bushing 4223, and the two torsion arms of the torsion spring 435 can be engaged in the groove. Alternatively, a boss can be designed at the end of the bushing 4223, with the boss located at the end that contacts the two torsion arms of the torsion spring 435 to prevent the bushing 4223 from slipping off.

[0050] In this embodiment, the combination of gear meshing and linkage transmission results in small transmission backlash. Combined with the automatic reset function provided by the torsion spring, the eyeball can rotate precisely and automatically return to center, simulating the natural expression of the human eye.

[0051] The meshing clearance (backlash) between the sector tooth 4222 and the neck drive shaft 421 is crucial to the accuracy of eyeball rotation. If manufactured separately and then reassembled, it is difficult to ensure that the tooth profile of the sector tooth and the axis of the bushing 4223 are in the perfect theoretical design position. Even a slight misalignment can lead to uneven transmission, abnormal noise, or increased backlash. Therefore, in this embodiment, the connecting rod 4221, sector tooth 4222, and bushing 4223 are integrally formed. The integrally formed structure avoids the weak points that may be generated when connecting parts by screws, press fitting, welding, etc.

[0052] The materials used to manufacture simulated human faces are diverse. Depending on the application scenario, budget, and required level of realism, ABS, PC engineering plastics, resin, TPE / TPU (thermoplastic elastomer / polyurethane elastomer), silicone rubber, etc. can be used. In order to improve the realism of facial expressions, in this embodiment, the bionic face 300 is made of soft silicone, and the eyeball support 310 is fixedly connected to the bionic face 300 through an insert injection molding process.

[0053] In this embodiment, the insert injection molding process involves pre-placing the part (referred to as an "insert" or "workpiece to be inserted") that needs to be fixedly connected to the bionic face 300 into the mold. In this embodiment, the insert is an eyeball support 310. Then, silicone is injected to cover or bond the insert together. The soft silicone bionic face 300 and the internal support are firmly bonded together through the insert injection molding process, ensuring efficient power transmission and enabling the expression of delicate and vivid eye expressions.

[0054] In order to achieve a fixed connection between the bionic face 300 and the front shell 100, in this embodiment, the bionic face 300 is glued to the surface of the front shell 100.

[0055] Working principle: The control system drives the eyeball drive servo motor 410 to rotate, which in turn drives the neck transmission shaft 421 to rotate, thereby driving the transmission connector 422 meshing with it to swing. The swing of the transmission connector 422 actuates the torsion arm of the torsion spring 435 through its bushing 4223, thereby overcoming the torque of the torsion spring and driving the entire eyeball assembly 430 (including the right eyeball 431 and the left eyeball 432) to rotate to the left or right. When the servo motor stops driving or returns to center, the elastic potential energy stored in the torsion spring 435 is released, generating a reverse torque, driving the eyeball assembly 430 to accurately return to the initial center position, achieving automatic reset.

[0056] It will be apparent to those skilled in the art that this invention is not limited to the details of the exemplary embodiments described above, and that it can be implemented in other specific forms without departing from the spirit or essential characteristics of this invention. Therefore, the embodiments should be considered illustrative and non-limiting in all respects, and the scope of this invention is defined by the appended claims rather than the foregoing description. Thus, it is intended that all variations falling within the meaning and scope of equivalents of the claims be included within this invention. No reference numerals in the claims should be construed as limiting the scope of the claims.

Claims

1. An eye-actuating structure for a biomimetic robot, characterized in that, include: Front head shell (100), back head shell (200), bionic face (300), eyeball driving unit (400), support assembly (500); The front shell (100) and the back shell (200) are connected. The bionic face (300) is fixedly disposed on the surface of the front shell (100). An eyeball support (310) is fixedly disposed inside the bionic face (300). The support assembly (500) is fixedly disposed in the internal space formed by the front shell (100) and the back shell (200). The support assembly (500) includes a head dental box fixing part (510), a head dental box fixing part (520), and a head dental box auxiliary fixing part (530). The head dental box fixing part (510), the head dental box fixing part (520), and the head dental box auxiliary fixing part (530) are fixedly connected in sequence. The head dental box fixing part (520) is fixedly connected to the front shell (100). The eye-drive unit (400) includes an eye-drive servo motor (410), a drive connection assembly (420), and an eye assembly (430). The eye assembly (430) is fixedly mounted on the head gear box auxiliary fixing member (530). The eye-drive servo motor (410) is fixedly mounted between the lower part (520) of the head gear box fixing member and the middle part (510) of the head gear box fixing member. The output end of the eye-drive servo motor (410) is connected to the drive connection assembly (420). Then, the other end of the drive connection component (420) is connected to the eyeball assembly (430). The eyeball drive servo (410) provides power to drive the drive connection component (420) to drive the eyeball assembly (430). The eyeball assembly (430) includes a right eyeball (431) and a left eyeball (432). The eyeball drive servo (410) drives the right eyeball (431) and the left eyeball (432) to rotate left and right through the drive connection component (420).

2. The eye-actuating structure for a bionic robot according to claim 1, characterized in that, The eyeball support (310) is provided with a right eye frame (311) and a left eye frame (312), which are used to accommodate the right eyeball (431) and the left eyeball (432), respectively. The eye support (310) is fixedly disposed inside the bionic face (300), and the right eye frame (311) and left eye frame (312) are aligned with the corresponding holes on the surface of the bionic face (300).

3. The eye-driven structure for a bionic robot according to claim 2, characterized in that, The eyeball assembly (430) also includes a right eyeball bottom cover (433), a left eyeball bottom cover (434), a torsion spring (435), a bottom cover connector (436), and a support rod (437); the drive connection assembly (420) includes a neck drive shaft (421) and a drive connector (422). The right eyeball (431) and the right eyeball bottom cover (433) are connected to form a right eye assembly, and the left eyeball (432) and the left eyeball bottom cover (434) are connected to form a left eye assembly. The right eye assembly and the left eye assembly are fixedly connected to the bottom cover connector (436) respectively. The central coil part of the torsion spring (435) is sleeved on the fixed shaft in the middle of the bottom cover connector (436). The bottom cover connector (436) is fixed to the head dental box auxiliary fixing part (530) by the support rod (437). The output end of the eyeball drive servo (410) engages with the neck drive shaft (421), the other end of the neck drive shaft (421) is connected to one end of the transmission connector (422), and the other end of the transmission connector (422) is between the two torsion arms that are engaged with the torsion spring (435).

4. The eye-driving structure for a bionic robot according to claim 3, characterized in that, The support rod (437) includes a vertical rod (4371) and a horizontal beam (4372). The two ends of the beam (4372) are provided with threaded holes (4373). The rod (4371) is inserted into the mounting groove in the middle of the bottom cover connector (436). After the screw passes through the threaded hole (4373), it is tightened with the head gear box auxiliary fixing part (530), thereby fixing the bottom cover connector (436) and the head gear box auxiliary fixing part (530).

5. The eye-driving structure for a bionic robot according to claim 3, characterized in that, The transmission connector (422) includes a connecting rod (4221), one end of which is provided with a sector tooth (4222), and the other end of which is provided with a bushing (4223). The sector tooth is used to mesh with the neck transmission shaft (421), and the bushing is engaged between the two torsion arms of the torsion spring (435).

6. The eye-driving structure for a bionic robot according to claim 5, characterized in that, The connecting rod (4221), the fan-shaped tooth (4222), and the bushing (4223) are integrally formed.

7. The eye-actuating structure for a bionic robot according to claim 1, characterized in that, The bionic face (300) is made of soft silicone, and the eyeball support (310) is fixedly connected to the bionic face (300) through an insert injection molding process.

8. The eye-driven structure for a bionic robot according to claim 1, characterized in that, The bionic face (300) is glued to the surface of the front shell (100).

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