Rotatable binocular mechanical structure

Abstract

The application discloses a rotatable binocular mechanical structure, which comprises a bottom plate, a first upper base, a second upper base, a first eyeball, a second eyeball, a first power device, a second power device and a third power device, wherein the first upper base and the second upper base are arranged on the left and right sides of the upper portion of the bottom plate through connecting pieces; the first eyeball and the second eyeball are arranged between the bottom plate and the first upper base and the second upper base; the first power device and the second power device are arranged on the upper portions of the first upper base and the second upper base and are connected with the first eyeball and the second eyeball respectively, so as to realize the left and right rotation of the first eyeball and the second eyeball; and the third power device is arranged at the middle position of the upper portion of the bottom plate and is connected with the first eyeball and the second eyeball, so as to realize the up and down rotation of the first eyeball and the second eyeball.

Description

Technical Field

[0001] This application relates to the field of robotics, and in particular to a rotatable binocular mechanical structure. Background Technology

[0002] Cameras are important input devices for robots, used to capture images of the outside world, and are often used as the robot's eyes.

[0003] Currently, mainstream robot cameras include monocular cameras and fixed-baseline binocular cameras (the baseline refers to the center distance between the two eyes). Common binocular camera forms include... Figure 1 As shown, the entire binocular camera is a single unit, and the relative position between the two cameras is fixed, preventing them from rotating up, down, left, and right like human eyes. This results in lower anthropomorphism and flexibility. Utility Model Content

[0004] To address the technical problems existing in the prior art, this utility model provides a rotatable binocular mechanical structure.

[0005] According to one aspect of this application, a rotatable binocular mechanical structure is provided, comprising: a base plate, a first upper base, a second upper base, a first eyeball, a second eyeball, a first power unit, a second power unit, and a third power unit, wherein...

[0006] The first upper base and the second upper base are respectively set on the upper left and right sides of the base plate through connecting parts;

[0007] The first eyeball and the second eyeball are respectively located between the base plate and the first upper base, and between the base plate and the second upper base;

[0008] The first power device and the second power device are respectively disposed on the upper part of the first upper base and the second upper base, and are respectively connected to the first eyeball and the second eyeball, for realizing the left and right rotation of the first eyeball and the second eyeball;

[0009] The third power device is located at the upper middle position of the base plate and is connected to the first and second eyeballs to enable the first and second eyeballs to rotate up and down.

[0010] Optionally, a first protruding part and a second protruding part are respectively provided on both sides of the upper part of the base plate;

[0011] The first protruding part and the second protruding part are fixedly connected to the first upper base and the second upper base respectively by connectors.

[0012] Optionally, a first spherical recess and a second spherical recess are formed on the inner side between the first upper base and the first protrusion, and between the second upper base and the second protrusion;

[0013] The first eyeball and the second eyeball are respectively located in the first spherical depression and the second spherical depression.

[0014] Optionally, the first eyeball includes a first eyeball housing, a first camera device inside the first eyeball housing, and a first lever disposed at the tail of the first eyeball housing;

[0015] The second eyeball includes a second eyeball housing, a second camera device inside the second eyeball housing, and a second lever located at the tail of the second eyeball housing.

[0016] Optionally, the upper ends of the first upper base and the second upper base are connected to the first power device and the second power device respectively through the first fixed bracket and the second fixed bracket.

[0017] Optionally, the first power device includes a first left-right rotating motor, a first transmission gear connected to the first left-right rotating motor, and a first left-right rotating transmission rod connected to the first transmission gear. The first transmission gear includes a first main transmission gear and a first secondary transmission gear. The first main transmission gear is fixedly mounted on the output shaft of the first left-right rotating motor. The first main transmission gear drives the first secondary transmission gear to rotate in a meshing manner. The first secondary transmission gear drives the first left-right rotating transmission rod to move in a fixed manner. The straight line of the rotation axis of the first secondary transmission gear passes through the center of the first eyeball. The first left-right rotating transmission rod drives the first lever to move in a slotted manner.

[0018] The second power device includes a second left-right rotating motor, a second transmission gear connected to the second left-right rotating motor, and a second left-right rotating transmission rod connected to the second transmission gear. The second transmission gear includes a second transmission main gear and a second transmission secondary gear. The second transmission main gear is fixedly mounted on the output shaft of the second left-right rotating motor. The second transmission main gear drives the second transmission secondary gear to rotate in a meshing manner. The second transmission secondary gear drives the second left-right rotating transmission rod to move in a fixed manner. The straight line of the rotation axis of the second transmission secondary gear passes through the center of the second eyeball. The second left-right rotating transmission rod drives the second lever to move in a slotted manner.

[0019] Optionally, the third power unit includes:

[0020] A vertical rotation power device is used to simultaneously control the synchronous vertical rotation of the first and second eyeballs; or

[0021] Two up-and-down rotation power devices are used to control the up-and-down rotation of the first and second eyeballs, respectively.

[0022] Optionally, the up-and-down rotation power device includes: an up-and-down rotation motor, a third transmission gear connected to the up-and-down rotation motor, and an up-and-down rotation transmission rod connected to the third transmission gear, wherein...

[0023] The up-and-down rotating motor is fixedly connected to the base plate via a third motor mounting bracket.

[0024] The third transmission gear is fixedly connected to the base plate via a gear bracket. The third transmission gear includes a third transmission main gear and a third transmission secondary gear. The third transmission main gear is fixedly mounted on the output shaft of the up-and-down rotating motor. The third transmission main gear drives the third transmission secondary gear to rotate in a meshing manner. The third transmission secondary gear drives the up-and-down rotating transmission rod to move in a fixed manner. The straight line containing the rotation axis of the third transmission secondary gear passes through the center of the first eyeball and the second eyeball.

[0025] The up-and-down rotating transmission rod drives the first and second levers to move in a grooved manner.

[0026] Optionally, the first camera device includes a first front hemisphere, a first rear hemisphere, a first camera circuit board, and a first lens, wherein...

[0027] The first lens is mounted on the first camera circuit board, and the first camera circuit board is mounted on the first front hemisphere or the first rear hemisphere;

[0028] The second camera device includes a second front hemisphere, a second rear hemisphere, a second camera circuit board, and a second lens, wherein...

[0029] The second lens is mounted on the second camera circuit board, which is mounted on the second front hemisphere or the second rear hemisphere.

[0030] Optionally, the first and second eyeballs can rotate independently to the left and right through the first and second power devices, and rotate synchronously up and down through the third power device.

[0031] Optionally, a first threading hole is also provided at the rear of the first eyeball shell;

[0032] A second threading hole is also provided at the rear of the second eyeball shell.

[0033] This invention proposes a rotatable binocular mechanical structure that can achieve human-like up-down and left-right rotation. Specifically, it can enable the two eyeballs to rotate independently to the left and right, or independently to the up and down, or independently to the left and right and simultaneously to the up and down, or simultaneously to the left and right and independently to the up and down, or simultaneously to the left and right and simultaneously to the up and down, thereby improving the anthropomorphism and flexibility of the binocular structure.

[0034] The above and other objects, advantages and features of this application will become more apparent to those skilled in the art from the following detailed description of specific embodiments of this application in conjunction with the accompanying drawings. Attached Figure Description

[0035] The following sections will describe some specific embodiments of this application in detail by way of example and not limitation, with reference to the accompanying drawings. The same reference numerals in the drawings denote the same or similar parts or components. Those skilled in the art should understand that these drawings are not necessarily drawn to scale. In the drawings:

[0036] Figure 1 This is a schematic diagram of a common binocular camera configuration according to an embodiment of this application;

[0037] Figure 2 This is a schematic diagram of a rotatable binocular mechanical structure according to an embodiment of this application;

[0038] Figure 3 This is a schematic diagram of the posterior structure of the eyeball according to an embodiment of this application;

[0039] Figure 4 This is a schematic diagram of the structure of an eyeball according to an embodiment of this application;

[0040] Figure 5 This is a rear view of a rotatable binocular mechanical structure according to an embodiment of this application. Detailed Implementation

[0041] It should be noted that, where there is no conflict, the embodiments and features in the embodiments of this utility model can be combined with each other. The present utility model will now be described in detail with reference to the accompanying drawings and embodiments.

[0042] To enable those skilled in the art to better understand the present invention, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort should fall within the protection scope of the present invention.

[0043] It should be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings of this utility model are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such terms can be used interchangeably where appropriate for the embodiments of the utility model described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0044] It should be noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the exemplary embodiments according to this application. As used herein, the singular form is intended to include the plural form as well, unless the context clearly indicates otherwise. Furthermore, it should be understood that when the terms "comprising" and / or "including" are used in this specification, they indicate the presence of features, steps, operations, devices, components, and / or combinations thereof.

[0045] Figure 2 This is a schematic diagram of a rotatable binocular mechanical structure according to an embodiment of this application. (Reference) Figure 2 As shown, the rotatable binocular mechanical structure includes: a base plate 1, a first upper base 2, a second upper base 3, a first eyeball 5, a second eyeball 6, a first power unit 7, a second power unit 8, and a third power unit 9, wherein...

[0046] The first upper base 2 and the second upper base 3 are respectively set on the upper left and right sides of the base plate 1 through the connector 4;

[0047] The first eyeball 5 and the second eyeball 6 are respectively located between the base plate 1 and the first upper base 2 and between the base plate 1 and the second upper base 3;

[0048] The first power device 7 and the second power device 8 are respectively disposed on the upper part of the first upper base 2 and the second upper base 3, and are respectively connected to the first eyeball 5 and the second eyeball 6, for realizing the left and right rotation of the first eyeball 5 and the second eyeball 6;

[0049] The third power device 9 is located at the upper middle position of the base plate 1 and is connected to the first eyeball 5 and the second eyeball 6 to realize the up and down rotation of the first eyeball 5 and the second eyeball 6.

[0050] Specifically, such as Figure 1 As shown, the main components that provide fixation are the base plate 1, the first upper base 2, and the second upper base 3. The base plate 1 bears the weight of the entire structure. The first upper base 2 and the second upper base 3 are connected and fixed by the base plate-upper base connector 4.

[0051] Optionally, a first protruding part 101 and a second protruding part 102 are respectively provided on both sides of the upper part of the base plate 1;

[0052] The first protruding part 101 and the second protruding part 102 are fixedly connected to the first upper base 2 and the second upper base 3 respectively by the connector 4.

[0053] Optionally, a first spherical recess and a second spherical recess are formed on the inner side between the first upper base 2 and the first protrusion 101, the second upper base 3 and the second protrusion 102;

[0054] The first eyeball 5 and the second eyeball 6 are respectively located in the first spherical depression and the second spherical depression.

[0055] Specifically, the first and second spherical recesses conform to the shape of the eyeball, restricting eyeball displacement but not eyeball rotation. The first eyeball 5 and the second eyeball 6 are spherical in shape and can rotate freely within the spherical recess structure formed by the base plate and the upper base.

[0056] Optionally, such as Figure 3 and Figure 4 As shown, the first eyeball 5 includes a first eyeball housing 501, a first camera device 502 inside the first eyeball housing 501, and a first lever 503 disposed at the tail of the first eyeball housing 501;

[0057] The second eyeball 6 includes a second eyeball housing 601, a second camera device 602 inside the second eyeball housing 601, and a second lever 603 disposed at the tail of the second eyeball housing 601.

[0058] Optionally, the upper ends of the first upper base 2 and the second upper base 3 are respectively connected to the first power device 7 and the second power device 8 through the first fixed bracket 201 and the second fixed bracket 301.

[0059] Optionally, the first power device 7 includes a first left-right rotating motor 701, a first transmission gear 702 connected to the first left-right rotating motor 701, and a first left-right rotating transmission rod 703 connected to the first transmission gear 702. The first transmission gear 702 includes a first transmission main gear 7021 and a first transmission secondary gear 7022. The first transmission main gear 7021 is fixedly mounted on the output shaft of the first left-right rotating motor 701. The first transmission main gear 7021 drives the first transmission secondary gear 7022 to rotate in a meshing manner. The first transmission secondary gear 7022 drives the first left-right rotating transmission rod 703 to move in a fixed manner. The straight line of the rotation axis of the first transmission secondary gear 7022 passes through the center of the first eyeball 5. The first left-right rotating transmission rod 703 drives the first lever 503 to move in a slotted manner.

[0060] The second power device 8 includes a second left-right rotating motor 801, a second transmission gear 802 connected to the second left-right rotating motor 801, and a second left-right rotating transmission rod 803 connected to the second transmission gear 802. The second transmission gear 802 includes a second transmission main gear 8021 and a second transmission secondary gear 8022. The second transmission main gear 8021 is fixedly mounted on the output shaft of the second left-right rotating motor 801. The second transmission main gear 8021 drives the second transmission secondary gear 8022 to rotate in a meshing manner. The second transmission secondary gear 8022 drives the second left-right rotating transmission rod 803 to move in a fixed manner. The straight line of the rotation axis of the second transmission secondary gear 8022 passes through the center of the second eyeball 6. The second left-right rotating transmission rod 803 drives the second lever 603 to move in a slotted manner.

[0061] Thus, the first left-right rotation motor 701 and the second left-right rotation motor 801 are independent of each other, allowing the left and right eyeballs 5 and 6 to rotate independently horizontally.

[0062] Optionally, such as Figure 2 and Figure 5 As shown, the third power unit 9 includes:

[0063] A vertical rotation power device is used to simultaneously control the synchronous vertical rotation of the first eyeball 5 and the second eyeball 6; or

[0064] Two up-and-down rotation power devices are used to control the up-and-down rotation of the first eyeball 5 and the second eyeball 6, respectively.

[0065] Therefore, this invention can achieve synchronous or asynchronous rotation of the left and right eyeballs.

[0066] Optionally, the up-and-down rotation power device includes: an up-and-down rotation motor 901, a third transmission gear 903 connected to the up-and-down rotation motor 901, and an up-and-down rotation transmission rod 905 connected to the third transmission gear 903, wherein,

[0067] The up-and-down rotating motor 901 is fixedly connected to the base plate 10 via the third motor fixing bracket 902;

[0068] The third transmission gear 903 is fixedly connected to the base plate via the gear bracket 904. The third transmission gear 903 includes a third transmission main gear 9031 and a third transmission secondary gear 9032. The third transmission main gear 9031 is fixedly mounted on the output shaft of the up-and-down rotating motor 901. The third transmission main gear 9031 drives the third transmission secondary gear 9032 to rotate in a meshing manner. The third transmission secondary gear 9032 drives the up-and-down rotating transmission rod 905 to move in a fixed manner. The straight line of the rotation axis of the third transmission secondary gear 9032 passes through the center of the first eyeball 5 and the second eyeball 6.

[0069] The up-and-down rotating transmission rod 905 drives the first lever 503 and the second lever 603 to move in a slotted manner.

[0070] Optionally, such as Figure 3 and Figure 4 As shown, the first camera device 502 includes a first front dome 5021, a first rear dome 5022, a first camera circuit board 5023, and a first lens 5024, wherein...

[0071] The first lens 5024 is mounted on the first camera circuit board 5023, and the first camera circuit board 5023 is mounted on the first front hemisphere 5021 or the first rear hemisphere 5022.

[0072] The second camera device 602 includes a second front dome camera 6021, a second rear dome camera 6022, a second camera circuit board 6023, and a second lens 6024, wherein...

[0073] The second lens 6024 is mounted on the second camera circuit board 6023, which is mounted on the second front dome 6021 or the second rear dome 6022.

[0074] Optionally, the first eyeball 5 and the second eyeball 6 can rotate independently to the left and right through the first power device 7 and the second power device 8, and can rotate synchronously up and down through the third power device 9.

[0075] Optionally, a first threading hole 5011 is also provided at the rear of the first eyeball housing 501;

[0076] The rear part of the second eyeball housing 601 is also provided with a second threading hole 6011.

[0077] In summary, the innovation of this invention lies in:

[0078] 1. The eyeball is placed in a spherical groove, which cannot be moved but can rotate freely.

[0079] 2. A lever is installed behind the eyeball for motion control.

[0080] 3. For the left-right and up-down rotating transmission rods, the middle is hollowed out to accommodate the lever for the eyeball, so that the eyeball can follow the movement of the transmission rod in the degree of freedom constrained by the transmission rod, while allowing the eyeball to move freely in the degree of freedom not constrained by the transmission rod.

[0081] 4. The eye-moving lever passes through both the left-right rotation transmission rod (controlling left-right rotation) and the up-down rotation transmission rod (controlling up-down rotation). The lever itself only passes through the hollowed-out structure of these two transmission rods and is not fixed to them. Therefore, the movement of the two transmission rods can control the rotation of the eyeball in their respective directions without affecting each other.

[0082] 5. For degrees of freedom requiring synchronous rotation (vertical rotation in this invention), a common transmission rod is used for control. For degrees of freedom requiring independent rotation (left-right rotation in this invention), multiple independent transmission rods are used for control.

[0083] 6. When the eyes move horizontally, the axis of rotation passes through the center of the eyeball.

[0084] 7. When the eyeball moves up and down, the axis of rotation passes through the center of the eyeball.

[0085] 8. This utility model uses the example of two eyeballs rotating independently to the left and right, and rotating synchronously up and down. However, the scope of protection is not limited to this. Any device that uses a similar mechanical structure to achieve independent left and right rotation, independent up and down rotation, or independent left and right rotation and synchronous up and down rotation, or synchronous left and right rotation and independent up and down rotation, or synchronous left and right rotation and synchronous up and down rotation, is within the scope of protection of this patent.

[0086] Unless otherwise specifically stated, the relative arrangement, numerical expressions, and values ​​of the components and steps described in these embodiments do not limit the scope of this invention. It should also be understood that, for ease of description, the dimensions of the various parts shown in the drawings are not drawn to actual scale. Techniques, methods, and devices known to those skilled in the art may not be discussed in detail, but where appropriate, such techniques, methods, and devices should be considered part of the specification. In all examples shown and discussed herein, any specific values ​​should be interpreted as merely exemplary and not as limitations. Therefore, other examples of exemplary embodiments may have different values. It should be noted that similar reference numerals and letters in the following drawings denote similar items; therefore, once an item is defined in one drawing, it need not be further discussed in subsequent drawings.

[0087] For ease of description, spatial relative terms such as "above," "on top of," "on the upper surface of," "above," etc., are used herein to describe the spatial positional relationship of a device or feature as shown in the figures to other devices or features. It should be understood that spatial relative terms are intended to encompass different orientations in use or operation beyond the orientation of the device as described in the figures. For example, if the device in the figures were inverted, a device described as "above" or "on top of" other devices or structures would subsequently be positioned as "below" or "under" other devices or structures. Thus, the exemplary term "above" can include both "above" and "below." The device may also be positioned in other different ways (rotated 90 degrees or in other orientations), and the spatial relative descriptions used herein will be interpreted accordingly.

[0088] In the description of this utility model, it should be understood that the directional terms such as "front, back, up, down, left, right", "horizontal, vertical, horizontal" and "top, bottom" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this utility model and simplifying the description. Unless otherwise stated, these directional terms do not indicate or imply that the device or element referred to must have a specific orientation or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation on the scope of protection of this utility model. The directional terms "inner" and "outer" refer to the inner and outer contours of each component itself.

[0089] The above description is merely a preferred embodiment of this application, but the scope of protection of this application is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the technical scope disclosed in this application should be included within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

Claims

1. A rotatable binocular mechanical structure, characterized in that, include: The system comprises a base plate (1), a first upper base (2), a second upper base (3), a first eyeball (5), a second eyeball (6), a first power unit (7), a second power unit (8), and a third power unit (9), wherein... The first upper base (2) and the second upper base (3) are respectively disposed on the upper left and right sides of the base plate (1) via connectors (4); The first eyeball (5) and the second eyeball (6) are respectively disposed between the base plate (1), the first upper base (2) and the base plate (1), and the second upper base (3); The first power device (7) and the second power device (8) are respectively disposed on the upper part of the first upper base (2) and the second upper base (3), and are respectively connected to the first eyeball (5) and the second eyeball (6) to realize the left and right rotation of the first eyeball (5) and the second eyeball (6); The third power device (9) is located at the upper middle position of the base plate (1) and is connected to the first eyeball (5) and the second eyeball (6) to realize the up and down rotation of the first eyeball (5) and the second eyeball (6).

2. The rotatable binocular mechanical structure according to claim 1, wherein, The base plate (1) has a first protruding part (101) and a second protruding part (102) respectively on both sides of the upper part. The first protruding part (101) and the second protruding part (102) are fixedly connected to the first upper base (2) and the second upper base (3) respectively through the connector (4).

3. The rotatable binocular mechanical structure according to claim 2, wherein, A first spherical recess and a second spherical recess are formed on the inner side between the first upper base (2) and the first protrusion (101), and between the second upper base (3) and the second protrusion (102); The first eyeball (5) and the second eyeball (6) are respectively disposed in the first spherical depression and the second spherical depression.

4. The rotatable binocular mechanical structure according to claim 1, characterized in that, The first eyeball (5) includes a first eyeball housing (501), a first camera device (502) inside the first eyeball housing (501), and a first lever (503) disposed at the tail of the first eyeball housing (501). The second eyeball (6) includes a second eyeball housing (601), a second camera device (602) inside the second eyeball housing (601), and a second lever (603) disposed at the tail of the second eyeball housing (601).

5. The rotatable binocular mechanical structure according to claim 1, characterized in that, The upper ends of the first upper base (2) and the second upper base (3) are connected to the first power device (7) and the second power device (8) respectively through the first fixed bracket (201) and the second fixed bracket (301).

6. The rotatable binocular mechanical structure according to claim 4, wherein, The first power device (7) includes a first left-right rotating motor (701), a first transmission gear (702) connected to the first left-right rotating motor (701), and a first left-right rotating transmission rod (703) connected to the first transmission gear (702). The first transmission gear (702) includes a first transmission main gear (7021) and a first transmission secondary gear (7022). The first transmission main gear (7021) is fixedly mounted on the output shaft of the first left-right rotating motor (701). The first transmission main gear (7021) drives the first transmission secondary gear (7022) to rotate in a meshing manner. The first transmission secondary gear (7022) drives the first left-right rotating transmission rod (703) to move in a fixed manner. The straight line of the rotation axis of the first transmission secondary gear (7022) passes through the center of the first eyeball (5). The first left-right rotating transmission rod (703) drives the first lever (503) to move in a slotted manner. The second power device (8) includes a second left-right rotating motor (801), a second transmission gear (802) connected to the second left-right rotating motor (801), and a second left-right rotating transmission rod (803) connected to the second transmission gear (802). The second transmission gear (802) includes a second transmission main gear (8021) and a second transmission secondary gear (8022). The second transmission main gear (8021) is fixedly mounted on the output shaft of the second left-right rotating motor (801). The second transmission main gear (8021) drives the second transmission secondary gear (8022) to rotate in a meshing manner. The second transmission secondary gear (8022) drives the second left-right rotating transmission rod (803) to move in a fixed manner. The straight line of the rotation axis of the second transmission secondary gear (8022) passes through the center of the second eyeball (6). The second left-right rotating transmission rod (803) drives the second lever (603) to move in a slotted manner.

7. The rotatable binocular mechanical structure according to claim 4, characterized in that, The third power unit (9) includes: A vertical rotation power device is used to simultaneously control the synchronous vertical rotation of the first eyeball (5) and the second eyeball (6); or Two up-and-down rotation power devices are used to control the up-and-down rotation of the first eyeball (5) and the second eyeball (6), respectively.

8. The rotatable binocular mechanical structure according to claim 7, characterized in that, The up-and-down rotation power device includes: an up-and-down rotation motor (901), a third transmission gear (903) connected to the up-and-down rotation motor (901), and an up-and-down rotation transmission rod (905) connected to the third transmission gear (903), wherein, The up-and-down rotating motor (901) is fixedly connected to the base plate (1) through the third motor fixing bracket (902); The third transmission gear (903) is fixedly connected to the base plate via a gear bracket (904). The third transmission gear (903) includes a third transmission main gear (9031) and a third transmission secondary gear (9032). The third transmission main gear (9031) is fixedly mounted on the output shaft of the up-and-down rotating motor (901). The third transmission main gear (9031) drives the third transmission secondary gear (9032) to rotate in a meshing manner. The third transmission secondary gear (9032) drives the up-and-down rotating transmission rod (905) to move in a fixed manner. The straight line of the rotation axis of the third transmission secondary gear (9032) passes through the center of the first eyeball (5) and the second eyeball (6). The up-and-down rotating transmission rod (905) drives the first lever (503) and the second lever (603) to move in a slotted manner.

9. The rotatable binocular mechanical structure according to claim 4, characterized in that, The first camera device (502) includes a first front dome (5021), a first rear dome (5022), a first camera circuit board (5023), and a first lens (5024), wherein The first lens (5024) is mounted on the first camera circuit board (5023), and the first camera circuit board (5023) is mounted on the first front hemisphere (5021) or the first rear hemisphere (5022). The second camera device (602) includes a second front dome (6021), a second rear dome (6022), a second camera circuit board (6023), and a second lens (6024), wherein The second lens (6024) is mounted on the second camera circuit board (6023), and the second camera circuit board (6023) is mounted on the second front hemisphere (6021) or the second rear hemisphere (6022).

10. The rotatable binocular mechanical structure according to claim 9, characterized in that, The first eyeball (5) and the second eyeball (6) can rotate independently to the left and right through the first power device (7) and the second power device (8), and can rotate synchronously up and down through the third power device (9).

11. The rotatable binocular mechanical structure according to claim 4, characterized in that, The rear part of the first eyeball shell (501) is also provided with a first thread hole (5011). The rear part of the second eyeball shell (601) is also provided with a second thread hole (6011).

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