A bionic eye and a bionic robot

Abstract

This application provides a bionic eye and a bionic robot. The bionic eye includes a main body, a left eyeball, a right eyeball, a first connecting component, a second connecting component, a first driving component, and a second driving component. Both the first and second driving components are mounted on the main body. The first connecting component connects the first driving component and the left eyeball to drive the left eyeball to rotate vertically relative to the main body, and / or to drive the left eyeball to rotate horizontally relative to the main body. The second connecting component connects the second driving component and the right eyeball to drive the right eyeball to rotate vertically relative to the main body, and / or to drive the right eyeball to rotate horizontally relative to the main body. By using the first driving component and the first connecting component to drive the left eyeball to rotate, and by using the second driving component and the second connecting component to drive the right eyeball to rotate, this application enables the left and right eyeballs to move independently, thereby enriching the movement of the bionic eye.

Description

Technical Field

[0001] This application relates to the field of bionic robot technology, and more specifically, to a bionic eye and a bionic robot. Background Technology

[0002] Bionic robots are robots that mimic biological organisms and perform tasks based on their biological characteristics. With the development of technology, the application of bionic robots in industries, medicine, and other fields is gradually increasing.

[0003] Modern bionic robots have synchronized left and right eye movements, resulting in relatively simple actions.

[0004] Therefore, how to enrich the movements of bionic eyes is a technical problem that urgently needs to be solved. Utility Model Content

[0005] This application provides a bionic eye and a bionic robot, which can enrich the movement of the bionic eye.

[0006] This application is achieved through the following technical solution: In a first aspect, this application provides a bionic eye, comprising a main body, a left eyeball, a right eyeball, a first connecting component, a second connecting component, a first driving component, and a second driving component. Both the left and right eyeballs are rotatably mounted on the main body. Both the first and second driving components are mounted on the main body. The first connecting component connects the first driving component and the left eyeball to drive the left eyeball to rotate vertically relative to the main body, and / or to drive the left eyeball to rotate horizontally relative to the main body. The second connecting component connects the second driving component and the right eyeball to drive the right eyeball to rotate vertically relative to the main body, and / or to drive the right eyeball to rotate horizontally relative to the main body.

[0007] The technical solution of this application embodiment drives the left eyeball to rotate by setting a first driving component and a first connecting component, and drives the right eyeball to rotate by setting a second driving component and a second connecting component, thereby enabling the left and right eyeballs to move independently, thus enriching the movements of the bionic eye.

[0008] In some embodiments, the first driving component includes a first driving member, and the first connecting component includes a first connecting member connected to at least one side of the left eyeball in the vertical direction to drive the left eyeball to rotate vertically relative to the main body. The second driving component includes a second driving member, and the second connecting component includes a second connecting member connected to at least one side of the right eyeball in the vertical direction to drive the right eyeball to rotate vertically relative to the main body.

[0009] The technical solution of this application embodiment drives the left eyeball to rotate up and down by setting a first driving member and a first connecting member, and drives the right eyeball to rotate up and down by setting a second driving member and a second connecting member, thereby enabling the left and right eyeballs to move independently, thus enriching the movement of the bionic eye.

[0010] In some embodiments, there are two first connectors, which are respectively connected to the two sides of the left eyeball in the vertical direction, and the two first connectors are symmetrically arranged with respect to the central axis of the left eyeball. There are also two second connectors, which are respectively connected to the two sides of the right eyeball in the vertical direction, and the two second connectors are symmetrically arranged with respect to the central axis of the right eyeball.

[0011] The technical solution of this application embodiment, by symmetrically arranging two first connectors on both sides of the left eyeball in the vertical direction, makes the vertical rotation of the left eyeball more stable, thereby improving the reliability of the left eyeball rotation. Similarly, by symmetrically arranging two second connectors on both sides of the right eyeball in the vertical direction, the vertical rotation of the right eyeball is made more stable, thereby improving the reliability of the right eyeball rotation.

[0012] In some embodiments, the first driving assembly further includes a third driving member, and the first connecting assembly further includes a third connecting member connected to at least one side of the left eyeball in the left-right direction to drive the left eyeball to rotate left and right relative to the main body. The second driving assembly further includes a fourth driving member, and the second connecting assembly further includes a fourth connecting member connected to at least one side of the right eyeball in the left-right direction to drive the right eyeball to rotate left and right relative to the main body.

[0013] The technical solution of this application embodiment drives the left eyeball to rotate left and right by setting a third driving member and a third connecting member, and drives the right eyeball to rotate left and right by setting a fourth driving member and a fourth connecting member, thereby enabling the left and right eyeballs to move independently, thus enriching the actions of the bionic eye.

[0014] In some embodiments, there are two third connectors, which are respectively connected to the two sides of the left eyeball in the left-right direction, and the two third connectors are symmetrically arranged with respect to the central axis of the left eyeball. There are two fourth connectors, which are respectively connected to the two sides of the right eyeball in the left-right direction, and the two fourth connectors are symmetrically arranged with respect to the central axis of the right eyeball.

[0015] The technical solution of this application embodiment, by symmetrically arranging two third connectors on both sides of the left eyeball in the left-right direction, makes the left eyeball rotate more smoothly and improves the reliability of left eyeball rotation. Similarly, by symmetrically arranging two fourth connectors on both sides of the right eyeball in the left-right direction, the right eyeball rotates more smoothly and improves the reliability of right eyeball rotation.

[0016] In some embodiments, the bionic eye further includes a first ball-head pin and a second ball-head pin, and the main body has a first connecting end and a second connecting end. The left eyeball has a first connecting portion, the central axis of which coincides with the central axis of the left eyeball, and the first ball-head pin connects the first connecting end and the first connecting portion. The right eyeball has a second connecting portion, the central axis of which coincides with the central axis of the right eyeball, and the second ball-head pin connects the second connecting end and the second connecting portion.

[0017] The technical solution of this application embodiment connects the first connecting end and the first connecting part through a first ball-head pin, and the central axis of the first connecting part coincides with the central axis of the left eyeball, so that the left eyeball always rotates around its central axis, reducing the risk of the left eyeball shifting position during rotation. Similarly, the second connecting end and the second connecting part are connected through a second ball-head pin, and the central axis of the second connecting part coincides with the central axis of the right eyeball, so that the right eyeball always rotates around its central axis, reducing the risk of the right eyeball shifting position during rotation.

[0018] In some embodiments, the first ball head pin includes a first mounting portion and a first ball head, the first connecting portion has a first groove, the first ball head is disposed in the first groove, the first connecting end has a first mounting groove, and the first mounting portion is disposed in the first mounting groove. The second ball head pin includes a second mounting portion and a second ball head, the second connecting portion has a second groove, the second ball head is disposed in the second groove, the second connecting end has a second mounting groove, and the second mounting portion is disposed in the second groove.

[0019] The technical solution of this application embodiment, by setting the first ball head in the first groove and the first mounting part in the first mounting slot, enables the first ball head pin to connect the left eyeball and the main body, which improves the convenience of rotatably connecting the left eyeball to the main body. By setting the second ball head in the second groove and the second mounting part in the second mounting slot, enables the second ball head pin to connect the right eyeball and the main body, which improves the convenience of rotatably connecting the right eyeball to the main body.

[0020] In some embodiments, the first ball joint pin further includes a first limiting post, which protrudes from the outer peripheral surface of the first mounting portion. The first connecting end also has a first limiting groove, with the first limiting post slidingly engaging with the first limiting groove, thereby limiting the circumferential rotation of the first mounting portion. The second ball joint pin further includes a second limiting post, which protrudes from the outer peripheral surface of the second mounting portion. The second connecting end also has a second limiting groove, with the second limiting post slidingly engaging with the second limiting groove, thereby limiting the circumferential rotation of the second mounting portion.

[0021] The technical solution of this application embodiment restricts the rotation of the first mounting part relative to the first connecting end by cooperating with the first limiting post and the first limiting groove, which helps to improve the reliability of the left eyeball rotation. Similarly, the second limiting post and the second limiting groove restrict the rotation of the second mounting part relative to the second connecting end, which helps to improve the reliability of the right eyeball rotation.

[0022] In some embodiments, the first ball head pin further includes a third limiting post, which protrudes from the outer peripheral surface of the first ball head. The first connecting portion also has a third limiting groove, and the third limiting post slides into the third limiting groove, thereby limiting the front-back rotation of the first ball head. The second ball head pin further includes a fourth limiting post, which protrudes from the outer peripheral surface of the second ball head. The second connecting portion also has a fourth limiting groove, and the fourth limiting post slides into the fourth limiting groove, thereby limiting the front-back rotation of the second ball head.

[0023] The technical solution of this application embodiment, through the cooperation of the third limiting post and the third limiting groove, restricts the front-to-back rotation of the first ball head relative to the first connecting part, which helps to improve the reliability of the left eyeball rotation. Through the cooperation of the fourth limiting post and the fourth limiting groove, the front-to-back rotation of the second ball head relative to the second connecting part is restricted, which helps to improve the reliability of the right eyeball rotation.

[0024] In some embodiments, the bionic eye further includes a left upper eyelid, a left lower eyelid, a right upper eyelid, a right lower eyelid, a fifth connector, a sixth connector, a seventh connector, an eighth connector, a fifth drive member, a sixth drive member, a seventh drive member, and an eighth drive member. The left upper eyelid and the left lower eyelid respectively cooperate with the left eyeball, and the right upper eyelid and the right lower eyelid respectively cooperate with the right eyeball. The left upper eyelid, the left lower eyelid, the right upper eyelid, and the right lower eyelid are all rotatably mounted on the main body. The fifth drive member, the sixth drive member, the seventh drive member, and the eighth drive member are all mounted on the main body. The fifth connector connects the fifth drive member and the left upper eyelid to drive the left upper eyelid to rotate vertically relative to the main body. The sixth connector connects the sixth drive member and the left lower eyelid to drive the left lower eyelid to rotate vertically relative to the main body. The seventh connector connects the seventh drive member and the right upper eyelid to drive the right upper eyelid to rotate vertically relative to the main body. The eighth connector connects the eighth drive member and the right lower eyelid to drive the right lower eyelid to rotate vertically relative to the main body.

[0025] The technical solution of this application embodiment drives the upper left eyelid to rotate up and down by setting a fifth driving member and a fifth connecting member, drives the lower left eyelid to rotate up and down by setting a sixth driving member and a sixth connecting member, drives the upper right eyelid to rotate up and down by setting a seventh driving member and a seventh connecting member, and drives the lower right eyelid to rotate up and down by setting an eighth driving member and an eighth connecting member, thereby enriching the movements of the bionic eye.

[0026] In a second aspect, this application provides a bionic robot, which includes a bionic eye as described in any of the first aspects.

[0027] The technical solution of this application embodiment sets a bionic eye on a bionic robot. By setting a first driving component and a first connecting component, the left eyeball is driven to rotate, and by setting a second driving component and a second connecting component, the right eyeball is driven to rotate, thereby enabling the left and right eyeballs to move independently, thus enriching the movement of the bionic eye of the bionic robot.

[0028] Additional aspects and advantages of this application will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of this application. Attached Figure Description

[0029] To more clearly illustrate the technical solutions of the embodiments of this application, 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 application and should not be regarded as a limitation of the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0030] Figure 1 Schematic diagrams of bionic eyes provided for some embodiments of this application; Figure 2 A schematic diagram of another perspective of the bionic eye provided in some embodiments of this application; Figure 3 This is a schematic diagram showing another perspective of the bionic eye provided in some embodiments of this application; Figure 4 A schematic diagram showing the connection between the first connecting end and the left eyeball provided in some embodiments of this application; Figure 5 for Figure 4 Enlarged view of point A in the middle; Figure 6 This is a schematic diagram showing the connection between the second connection end and the right eyeball provided in some embodiments of this application; Figure 7 for Figure 6 Enlarged view of point B in the middle.

[0031] Icons: 1-Bionic eye; 10-Main body; 11-First connecting end; 111-First mounting groove; 112-First limiting groove; 12-Second connecting end; 121-Second mounting groove; 122-Second limiting groove; 20-Left eyeball; 21-First connecting part; 211-First groove; 212-Third limiting groove; 30-Right eyeball; 31-Second connecting part; 311-Second groove; 312-Fourth limiting groove; 40-First connecting component; 41-First connector; 42-Third connector; 50-Second connecting component; 51-Second connector; 52-Fourth connector; 60-First driving component; 61-First driving component; 62-Third driving component; 70-Second driving component; 71-Second driving component; 72-Fourth driving component; 81-First ball head pin; 811-First mounting part; 8 12-First ball head; 813-First limiting post; 814-Third limiting post; 82-Second ball head pin; 821-Second mounting part; 822-Second ball head; 823-Second limiting post; 824-Fourth limiting post; 90-Left upper eyelid; 90a-First bracket; 90b-First body; 91-Left lower eyelid; 91a-Second bracket; 91b-Second body; 92-Right upper eyelid; 92a-Third bracket; 92b-Third body; 93-Right lower eyelid; 93a-Fourth bracket; 93b-Fourth body; 94-Fifth connector; 95-Sixth connector; 96-Seventh connector; 97-Eighth connector; 98-Fifth drive component; 99-Sixth drive component; 100-Seventh drive component; 101-Eighth drive component; X-Left-right direction; Y-Front-back direction; Z-Up-down direction. Detailed Implementation

[0032] 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 those skilled in the art without creative effort are within the scope of protection of this application.

[0033] Unless otherwise defined, all technical and scientific terms used in this application have the same meaning as commonly understood by one of ordinary skill in the art to which this application pertains; the terminology used in the description of this application is for the purpose of describing particular embodiments only and is not intended to limit the application; the terms "comprising" and "having," and any variations thereof, in the description, claims, and accompanying drawings of this application are intended to cover non-exclusive inclusion. The terms "first," "second," etc., in the description, claims, or accompanying drawings of this application are used to distinguish different objects, not to describe a specific order or hierarchy.

[0034] In this application, the reference to "embodiment" means that a specific feature, structure, or characteristic described in connection with an embodiment may be included in at least one embodiment of this application. The appearance of this phrase in various places throughout the specification does not necessarily refer to the same embodiment, nor is it a mutually exclusive, independent, or alternative embodiment. It will be explicitly and implicitly understood by those skilled in the art that the embodiments described in this application can be combined with other embodiments.

[0035] In the description of this application, it should be noted that, unless otherwise expressly specified and limited, the terms "installation," "connection," "linking," and "attachment" 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 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 according to the specific circumstances.

[0036] In this application, the term "and / or" is merely a description of the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A existing alone, A and B existing simultaneously, or B existing alone. Additionally, in this application, the character " / " generally indicates that the preceding and following related objects have an "or" relationship.

[0037] In this application, "multiple" refers to two or more (including two), similarly, "multiple sets" refers to two or more (including two sets), and "multiple pieces" refers to two or more (including two pieces).

[0038] Please refer to Figure 1 , Figure 1 This is a schematic diagram of a bionic eye provided in some embodiments of this application. Embodiments of this application provide a bionic eye 1, which includes a main body 10, a left eyeball 20, a right eyeball 30, a first connecting component 40, a second connecting component 50, a first driving component 60, and a second driving component 70. Both the left eyeball 20 and the right eyeball 30 are rotatably mounted on the main body 10. The first driving component 60 and the second driving component 70 are both mounted on the main body 10. The first connecting component 40 connects the first driving component 60 and the left eyeball 20 to drive the left eyeball 20 to rotate vertically relative to the main body 10, and / or to drive the left eyeball 20 to rotate horizontally relative to the main body 10. The second connecting component 50 connects the second driving component 70 and the right eyeball 30 to drive the right eyeball 30 to rotate vertically relative to the main body 10, and / or to drive the right eyeball 30 to rotate horizontally relative to the main body 10.

[0039] In some embodiments, the bionic eye 1 includes a main body 10, which can be part of the head on which the left eyeball 20 and the right eyeball 30 are mounted. Alternatively, the main body 10 can be mounted on the head to achieve the installation of the bionic eye 1 in the bionic robot. The connection between the main body 10 and the head can be integral molding, bolt connection, welding, etc.

[0040] In some embodiments, the left eyeball 20 is rotatably mounted on the main body 10. For example, the left eyeball 20 can rotate upward relative to the main body 10; or, the left eyeball 20 can rotate downward relative to the main body 10; or, the left eyeball 20 can rotate to the left relative to the main body 10. Alternatively, the left eyeball 20 can rotate in a combination of vertical (Z) and horizontal (X) directions relative to the main body 10. For example, the left eyeball 20 can rotate to the right relative to the main body 10; or, the left eyeball 20 can rotate to the upper left relative to the main body 10; or, the left eyeball 20 can rotate to the lower left relative to the main body 10; or, the left eyeball 20 can rotate to the upper right relative to the main body 10; or, the left eyeball 20 can rotate to the lower right relative to the main body 10.

[0041] In some embodiments, the right eyeball 30 is rotatably mounted on the main body 10. For example, the right eyeball 30 can rotate upward relative to the main body 10; or, the right eyeball 30 can rotate downward relative to the main body 10; or, the right eyeball 30 can rotate to the left relative to the main body 10. Alternatively, the right eyeball 30 can rotate in a combination of vertical (Z) and horizontal (X) directions relative to the main body 10. For example, the right eyeball 30 can rotate to the right relative to the main body 10; or, the right eyeball 30 can rotate to the upper left relative to the main body 10; or, the right eyeball 30 can rotate to the lower left relative to the main body 10; or, the right eyeball 30 can rotate to the upper right relative to the main body 10; or, the right eyeball 30 can rotate to the lower right relative to the main body 10.

[0042] In some embodiments, the left eyeball 20 and the right eyeball 30 may be spaced apart along the left-right direction X and located at the same level in the up-down direction Z.

[0043] Correspondingly, in some embodiments, the first driving component 60 and the second driving component 70 may be spaced apart along the left-right direction X and located at the same level in the up-down direction Z.

[0044] Similarly, in some embodiments, the first connecting component 40 and the second connecting component 50 may be spaced apart along the left-right direction X and located at the same level in the up-down direction Z.

[0045] In some embodiments, the structure of the left eyeball 20 and the right eyeball 30 may be the same.

[0046] In some embodiments, with the left-right direction X as the projection direction, the orthographic projection of the left eyeball 20 and the orthographic projection of the right eyeball 30 can overlap.

[0047] In some embodiments, the up-down direction can be represented by the direction indicated by the letter Z in the figure, the front-back direction can be represented by the direction indicated by the letter Y in the figure, and the left-right direction can be represented by the direction indicated by the letter X in the figure. Among them, the up-down direction Z can be parallel to the direction of gravity, the front-back direction Y is front-back based on a structure similar to the human body, and the left-right direction X is left-right based on a structure similar to the human body.

[0048] In some embodiments, the structure of the first driving component 60 and the structure of the second driving component 70 may be the same.

[0049] In some embodiments, with the left-right direction X as the projection direction, the orthographic projection of the first driving component 60 and the orthographic projection of the second driving component 70 can overlap.

[0050] In some embodiments, the structure of the first connecting component 40 and the structure of the second connecting component 50 may be the same.

[0051] In some embodiments, with the left-right direction X as the projection direction, the orthographic projection of the first connecting component 40 and the orthographic projection of the second connecting component 50 can overlap.

[0052] In some embodiments, the first driving component 60 drives the first connecting component 40, thereby driving the left eyeball 20 to rotate.

[0053] In some embodiments, the second driving component 70 drives the second connecting component 50, thereby driving the right eyeball 30 to rotate.

[0054] In some embodiments, the first driving component 60 can operate simultaneously with the second driving component 70. The direction in which the first driving component 60 drives the left eyeball 20 to rotate can be the same as the direction in which the second driving component 70 drives the right eyeball 30 to rotate, but the direction in which the first driving component 60 drives the left eyeball 20 to rotate can be different from the direction in which the second driving component 70 drives the right eyeball 30 to rotate. The speed at which the first driving component 60 drives the left eyeball 20 to rotate can be the same as the speed at which the second driving component 70 drives the right eyeball 30 to rotate, but the speed at which the first driving component 60 drives the left eyeball 20 to rotate can be different from the speed at which the second driving component 70 drives the right eyeball 30 to rotate. The angle at which the first driving component 60 drives the left eyeball 20 to rotate can be the same as the angle at which the second driving component 70 drives the right eyeball 30 to rotate, but the angle at which the first driving component 60 drives the left eyeball 20 to rotate can be different from the angle at which the second driving component 70 drives the right eyeball 30 to rotate.

[0055] In some embodiments, the first driving component 60 can operate independently of the second driving component 70. When the first driving component 60 drives the left eyeball 20 to rotate, the second driving component 70 may not operate. When the second driving component 70 drives the left eyeball 20 to rotate, the first driving component 60 may not operate.

[0056] The technical solution of this application embodiment drives the left eyeball 20 to rotate by setting a first driving component 60 and a first connecting component 40, and drives the right eyeball 30 to rotate by setting a second driving component 70 and a second connecting component 50, thereby enabling the left eyeball 20 and the right eyeball 30 to move independently, thus enriching the movements of the bionic eye 1.

[0057] Please refer to Figure 1 Please refer to Figure 2 and Figure 3 , Figure 2 This is a schematic diagram showing another perspective of the bionic eye provided in some embodiments of this application. Figure 3 This is a schematic diagram illustrating yet another perspective of the bionic eye provided in some embodiments of this application. Wherein, Figure 2 This refers to the perspective of looking from left to right in the left-right direction. Figure 3 This refers to a viewing angle from right to left in the left-right direction. In some embodiments, the first driving assembly 60 includes a first driving member 61, and the first connecting assembly 40 includes a first connecting member 41. The first connecting member 41 is connected to at least one side of the left eyeball 20 in the vertical direction Z to drive the left eyeball 20 to rotate vertically relative to the main body 10. The second driving assembly 70 includes a second driving member 71, and the second connecting assembly 50 includes a second connecting member 51. The second connecting member 51 is connected to at least one side of the right eyeball 30 in the vertical direction Z to drive the right eyeball 30 to rotate vertically relative to the main body 10.

[0058] In some embodiments, the first driving component 61 may be a cylinder, a motor, a servo motor, etc.

[0059] In some embodiments, the second drive unit 71 may be a cylinder, a motor, a servo motor, etc.

[0060] In some embodiments, the first connector 41 may be a link.

[0061] In some embodiments, the second connector 51 may be a link.

[0062] In some embodiments, the first connector 41 may be composed of multiple hinged links.

[0063] In some embodiments, the second connector 51 may be composed of a plurality of hinged links.

[0064] In some embodiments, one end of the first connector 41 is connected to the output end of the first drive unit 61, and the other end of the first connector 41 can be connected to one side of the left eyeball 20 in the vertical direction Z. For example, the other end of the first connector 41 can be connected to the upper side of the left eyeball 20 in the vertical direction Z, or the other end of the first connector 41 can be connected to the lower side of the left eyeball 20 in the vertical direction Z. Alternatively, the first connector 41 can extend in the front-rear direction Y, with the rear end of the first connector 41 connected to the output end of the first drive unit 61, the front end of the first connector 41 connected to the upper side of the left eyeball 20 in the vertical direction Z, and the other front end of the first connector 41 connected to the lower side of the left eyeball 20 in the vertical direction Z. Alternatively, there can be two first connectors 41: one first connector 41 has one end connected to the output end of the first drive unit 61 and the other end connected to the upper side of the left eyeball 20 in the vertical direction Z; the other first connector 41 has one end connected to the output end of the first drive unit 61 and the other end connected to the lower side of the left eyeball 20 in the vertical direction Z.

[0065] In some embodiments, one end of the second connector 51 is connected to the output end of the second drive 71, and the other end of the second connector 51 can be connected to one side of the right eyeball 30 in the vertical direction Z. For example, the other end of the second connector 51 can be connected to the upper side of the right eyeball 30 in the vertical direction Z, or the other end of the second connector 51 can be connected to the lower side of the right eyeball 30 in the vertical direction Z. Alternatively, the second connector 51 can extend in the front-rear direction Y, with one rear end of the second connector 51 connected to the output end of the second drive 71, one front end of the second connector 51 connected to the upper side of the right eyeball 30 in the vertical direction Z, and the other front end of the second connector 51 connected to the lower side of the right eyeball 30 in the vertical direction Z. Alternatively, there can be two second connectors 51: one second connector 51 has one end connected to the output end of the second drive 71 and the other end connected to the upper side of the right eyeball 30 in the vertical direction Z; the other second connector 51 has one end connected to the output end of the second drive 71 and the other end connected to the lower side of the right eyeball 30 in the vertical direction Z.

[0066] It should be noted that the portion above the midline of the left eyeball 20 is the upper side of the left eyeball 20, and the portion below the midline of the left eyeball 20 is the lower side of the left eyeball 20. Similarly, the portion above the midline of the right eyeball 30 is the upper side of the right eyeball 30, and the portion below the midline of the right eyeball 30 is the lower side of the right eyeball 30.

[0067] The technical solution of this application embodiment drives the left eyeball 20 to rotate up and down by setting a first driving member 61 and a first connecting member 41, and drives the right eyeball 30 to rotate up and down by setting a second driving member 71 and a second connecting member 51, thereby enabling the left eyeball 20 and the right eyeball 30 to move independently, thus enriching the movements of the bionic eye 1.

[0068] Please refer to Figures 1 to 3 In some embodiments, there are two first connectors 41, which are respectively connected to the two sides of the left eyeball 20 in the vertical direction Z, and are symmetrically arranged with respect to the central axis of the left eyeball 20. There are also two second connectors 51, which are respectively connected to the two sides of the right eyeball 30 in the vertical direction Z, and are symmetrically arranged with respect to the central axis of the right eyeball 30.

[0069] In some embodiments, the number of first connectors 41 is two, and the two first connectors 41 can be arranged at a Z-interval along the vertical direction.

[0070] Correspondingly, there can be two first driving components 61, with one first driving component 61 connected to one first connecting component 41 and the other first driving component 61 connected to another first connecting component 41.

[0071] Alternatively, there can be only one first driving element 61. The first driving element 61 can have two output terminals, one of which is connected to a first connector 41, and the other output terminal is connected to another first connector 41. The two first connectors 41 can be spaced apart along the vertical direction Z.

[0072] In some embodiments, the first connector 41 may extend in the front-rear direction Y, with the front end of the first connector 41 connected to the left eyeball 20 and the rear end of the first connector 41 connected to the first drive member 61.

[0073] When the left eyeball 20 needs to rotate upward, the first connector 41 connected to the upper end of the left eyeball 20 moves backward, and the first connector 41 connected to the lower end of the left eyeball 20 moves forward, thereby realizing the upward rotation of the left eyeball 20.

[0074] When the left eyeball 20 needs to rotate downward, the first connector 41 connected to the upper end of the left eyeball 20 moves forward and the first connector 41 connected to the lower end of the left eyeball 20 moves backward, thereby realizing the downward rotation of the left eyeball 20.

[0075] In some embodiments, the two first connectors 41 are arranged symmetrically above and below the central axis of the left eyeball 20 so as to achieve force balance on the upper and lower sides of the left eyeball 20. For example, when the left eyeball 20 needs to rotate upward or downward, the output power of the two output ends of the first drive member 61 is the same, so that the rotation of the left eyeball 20 can be achieved.

[0076] In some embodiments, the two first connectors 41 may be arranged asymmetrically with respect to the central axis of the left eyeball 20. When the left eyeball 20 needs to rotate upward or downward, the output power at both ends of the first drive member 61 needs to be adjusted to achieve force balance, thereby enabling the smooth rotation of the left eyeball 20.

[0077] In some embodiments, the number of second connectors 51 is two, and the two second connectors 51 can be arranged at a Z-interval along the vertical direction.

[0078] Correspondingly, there can be two second drive components 71, with one second drive component 71 connected to one second connector 51 and the other second drive component 71 connected to another second connector 51.

[0079] Alternatively, there may be one second driving element 71, which may have two output terminals, one connected to a second connector 51 and the other connected to another second connector 51. The two second connectors 51 may be spaced apart along the vertical direction Z.

[0080] In some embodiments, the second connector 51 may extend in the front-rear direction Y, with the front end of the second connector 51 connected to the right eyeball 30 and the rear end of the second connector 51 connected to the second drive member 71.

[0081] When the right eyeball 30 needs to rotate upward, the second connector 51 connected to the upper end of the right eyeball 30 moves backward, and the second connector 51 connected to the lower end of the right eyeball 30 moves forward, thereby enabling the right eyeball 30 to rotate upward.

[0082] When the right eyeball 30 needs to rotate downward, the second connector 51 connected to the upper end of the right eyeball 30 moves forward, and the second connector 51 connected to the lower end of the right eyeball 30 moves backward, thereby realizing the downward rotation of the right eyeball 30.

[0083] In some embodiments, the two second connectors 51 are arranged symmetrically above and below the central axis of the right eyeball 30 so as to achieve force balance on the upper and lower sides of the right eyeball 30. For example, when the right eyeball 30 needs to rotate upward or downward, the output power of the two output ends of the second drive member 71 is the same, so that the rotation of the right eyeball 30 can be achieved.

[0084] In some embodiments, the two second connectors 51 may be arranged asymmetrically with respect to the central axis of the right eyeball 30. When the right eyeball 30 needs to rotate upward or downward, the output power at both ends of the second drive member 71 needs to be adjusted to achieve force balance, thereby enabling the right eyeball 30 to rotate smoothly.

[0085] The technical solution of this application embodiment, by symmetrically arranging two first connectors 41 on both sides of the left eyeball 20 in the vertical direction Z, makes the left eyeball 20 more stable when rotating up and down, which helps to improve the reliability of the rotation of the left eyeball 20. By symmetrically arranging two second connectors 51 on both sides of the right eyeball 30 in the vertical direction Z, the right eyeball 30 makes the right eyeball 30 more stable when rotating up and down, which helps to improve the reliability of the rotation of the right eyeball 30.

[0086] Please refer to Figures 1 to 3 In some embodiments, the first driving assembly 60 further includes a third driving member 62, and the first connecting assembly 40 further includes a third connecting member 42. The third connecting member 42 is connected to at least one side of the left eyeball 20 in the left-right direction X to drive the left eyeball 20 to rotate left and right relative to the main body 10. The second driving assembly 70 further includes a fourth driving member 72, and the second connecting assembly 50 further includes a fourth connecting member 52. The fourth connecting member 52 is connected to at least one side of the right eyeball 30 in the left-right direction X to drive the right eyeball 30 to rotate left and right relative to the main body 10.

[0087] In some embodiments, the third drive unit 62 may be a cylinder, a motor, a servo motor, etc.

[0088] In some embodiments, the fourth drive element 72 may be a cylinder, a motor, a servo motor, etc.

[0089] In some embodiments, the third connector 42 may be a link.

[0090] In some embodiments, the fourth connector 52 may be a link.

[0091] In some embodiments, the third connector 42 may be composed of multiple hinged links.

[0092] In some embodiments, the fourth connector 52 may be composed of multiple hinged links.

[0093] In some embodiments, one end of the third connector 42 is connected to the output end of the third drive unit 62, and the other end of the third connector 42 can be connected to one side of the left eyeball 20 in the left-right direction X. For example, the other end of the third connector 42 can be connected to the left side of the left eyeball 20 in the left-right direction X, or the other end of the third connector 42 can be connected to the right side of the left eyeball 20 in the left-right direction X. Alternatively, the third connector 42 can extend in the front-back direction Y, with one rear end of the third connector 42 connected to the output end of the third drive unit 62, one front end of the third connector 42 connected to the left side of the left eyeball 20 in the left-right direction X, and the other front end of the third connector 42 connected to the right side of the left eyeball 20 in the left-right direction X. Alternatively, there can be two third connectors 42: one third connector 42 has one end connected to the output end of the third drive unit 62 and the other end connected to the left side of the left eyeball 20 in the left-right direction X; the other third connector 42 has one end connected to the output end of the third drive unit 62 and the other end connected to the right side of the left eyeball 20 in the left-right direction X.

[0094] In some embodiments, one end of the fourth connector 52 is connected to the output end of the fourth drive 72, and the other end of the fourth connector 52 can be connected to one side of the right eyeball 30 in the left-right direction X. For example, the other end of the fourth connector 52 can be connected to the left side of the right eyeball 30 in the left-right direction X, or the other end of the fourth connector 52 can be connected to the right side of the right eyeball 30 in the left-right direction X. Alternatively, the fourth connector 52 can extend in the front-back direction Y, with one rear end of the fourth connector 52 connected to the output end of the fourth drive 72, one front end of the fourth connector 52 connected to the left side of the right eyeball 30 in the left direction, and the other front end of the fourth connector 52 connected to the right side of the right eyeball 30 in the left-right direction X. Alternatively, there can be two fourth connectors 52: one fourth connector 52 has one end connected to the output end of the fourth drive 72 and the other end connected to the left side of the right eyeball 30 in the left-right direction X; the other fourth connector 52 has one end connected to the output end of the fourth drive 72 and the other end connected to the left side of the right eyeball 30 in the left-right direction X.

[0095] It should be noted that the portion to the left of the midline of the left eyeball 20 is the left side of the left eyeball 20, and the portion to the right of the midline of the left eyeball 20 is the right side of the left eyeball 20. Similarly, the portion to the left of the midline of the right eyeball 30 is the left side of the right eyeball 30, and the portion to the right of the midline of the right eyeball 30 is the right side of the right eyeball 30.

[0096] The technical solution of this application embodiment drives the left eyeball 20 to rotate left and right by setting a third driving member 62 and a third connecting member 42, and drives the right eyeball 30 to rotate left and right by setting a fourth driving member 72 and a fourth connecting member 52, thereby enabling the left eyeball 20 and the right eyeball 30 to move independently, thus enriching the movements of the bionic eye 1.

[0097] Please refer to Figures 1 to 3 In some embodiments, there are two third connectors 42, which are respectively connected to both sides of the left eyeball 20 in the left-right direction X, and are symmetrically arranged with respect to the central axis of the left eyeball 20. There are also two fourth connectors 52, which are respectively connected to both sides of the right eyeball 30 in the left-right direction X, and are symmetrically arranged with respect to the central axis of the right eyeball 30.

[0098] In some embodiments, the number of third connectors 42 is two, and the two third connectors 42 can be spaced apart in the left-right direction X.

[0099] Correspondingly, there can be two third drive components 62, with one third drive component 62 connected to one third connector 42 and the other third drive component 62 connected to another third connector 42.

[0100] Alternatively, there can be one third drive unit 62, which can have two output terminals, one connected to a third connector 42 and the other connected to another third connector 42. The two third connectors 42 can be spaced apart in the left-right X direction.

[0101] In some embodiments, the third connector 42 may extend in the front-rear direction Y, with the front end of the third connector 42 connected to the left eyeball 20 and the rear end of the third connector 42 connected to the third drive member 62.

[0102] When the left eyeball 20 needs to turn to the left, the third connector 42 connected to the left end of the left eyeball 20 moves backward and the third connector 42 connected to the right end of the left eyeball 20 moves forward, thereby realizing the left eyeball 20 turning to the left.

[0103] When the left eyeball 20 needs to turn to the right, the third connector 42 connected to the left end of the left eyeball 20 moves forward and the third connector 42 connected to the right end of the left eyeball 20 moves backward, thereby realizing the rightward rotation of the left eyeball 20.

[0104] In some embodiments, the two third connectors 42 are symmetrically arranged with respect to the central axis of the left eyeball 20 so as to achieve force balance on the left and right sides of the left eyeball 20. For example, when the left eyeball 20 needs to rotate to the left or to the right, the rotation of the left eyeball 20 can be achieved simply by making the output power of the two output ends of the third drive member 62 the same.

[0105] In some embodiments, the two third connectors 42 may be asymmetrically arranged relative to the central axis of the left eyeball 20. When the left eyeball 20 needs to rotate to the left or right, the output power at both ends of the third drive member 62 needs to be adjusted to achieve force balance, thereby enabling the smooth rotation of the left eyeball 20.

[0106] In some embodiments, the number of fourth connectors 52 is two, and the two fourth connectors 52 can be spaced apart in the left-right direction X.

[0107] Correspondingly, there can be two fourth drive components 72, with one fourth drive component 72 connected to one fourth connector 52 and the other fourth drive component 72 connected to another fourth connector 52.

[0108] Alternatively, there can be one fourth drive unit 72, which may have two output terminals, one connected to a fourth connector 52 and the other connected to another fourth connector 52. The two fourth connectors 52 may be spaced apart in the left-right direction X.

[0109] In some embodiments, the fourth connector 52 may extend in the front-rear direction Y, with the front end of the fourth connector 52 connected to the right eyeball 30 and the rear end of the fourth connector 52 connected to the fourth drive member 72.

[0110] When the right eyeball 30 needs to turn to the left, the fourth connector 52 connected to the left end of the right eyeball 30 moves backward and the fourth connector 52 connected to the right end of the right eyeball 30 moves forward, thereby realizing the leftward rotation of the right eyeball 30.

[0111] When the right eyeball 30 needs to turn to the right, the fourth connector 52 connected to the left end of the right eyeball 30 moves forward and the fourth connector 52 connected to the right end of the right eyeball 30 moves backward, thereby enabling the right eyeball 30 to turn to the right.

[0112] In some embodiments, the two fourth connectors 52 are symmetrically arranged with respect to the central axis of the right eyeball 30 so as to achieve force balance on the left and right sides of the right eyeball 30. For example, when the right eyeball 30 needs to rotate to the left or to the right, the output power of the two output ends of the fourth drive member 72 is the same, so that the rotation of the right eyeball 30 can be achieved.

[0113] In some embodiments, the two fourth connectors 52 may be asymmetrically arranged relative to the central axis of the right eyeball 30. When the right eyeball 30 needs to rotate to the left or right, the output power at both ends of the fourth drive member 72 needs to be adjusted to achieve force balance, thereby enabling the right eyeball 30 to rotate smoothly.

[0114] The technical solution of this application embodiment, by symmetrically arranging two third connectors 42 on both sides of the left eyeball 20 in the left-right direction X, makes the left eyeball 20 more stable when rotating left and right, which helps to improve the reliability of the left eyeball 20 rotation. By symmetrically arranging two fourth connectors 52 on both sides of the right eyeball 30 in the left-right direction X, the right eyeball 30 makes the right eyeball 30 more stable when rotating left and right, which helps to improve the reliability of the right eyeball 30 rotation.

[0115] Please refer to Figures 1 to 3 and refer to Figures 4 to 7 , Figure 4 This is a schematic diagram showing the connection between a first connecting end and the left eyeball, provided for some embodiments of this application. Figure 5 for Figure 4 Enlarged view of point A in the middle. Figure 6 This is a schematic diagram showing the connection between the second connection end and the right eyeball, provided in some embodiments of this application. Figure 7 for Figure 6 Enlarged view at point B. Specifically, to better illustrate the structure of the first connecting end and the first connecting part, Figure 4 and Figure 5 The structure of the bionic eye is partially hidden within. To facilitate the demonstration of the structure of the second connecting end and the second connecting part, Figure 6 and Figure 7 The bionic eye 1 conceals a portion of its structure. In some embodiments, the bionic eye 1 further includes a first ball-head pin 81 and a second ball-head pin 82, and the main body 10 has a first connecting end 11 and a second connecting end 12. The left eyeball 20 is provided with a first connecting portion 21, the central axis of which coincides with the central axis of the left eyeball 20, and the first ball-head pin 81 connects the first connecting end 11 and the first connecting portion 21. The right eyeball 30 is provided with a second connecting portion 31, the central axis of which coincides with the central axis of the right eyeball 30, and the second ball-head pin 82 connects the second connecting end 12 and the second connecting portion 31.

[0116] In some embodiments, the first connecting end 11 can be a hollow cylinder. The first connecting end 11 can be integrally formed with the main body 10, or the first connecting end 11 can be welded or bolted to the main body 10 after the main body 10 is formed.

[0117] In some embodiments, the second connecting end 12 can be a hollow cylinder. The second connecting end 12 can be integrally formed with the main body 10, or the second connecting end 12 can be welded or bolted to the main body 10 after the main body 10 is formed.

[0118] In some embodiments, the first connecting end 11 and the second connecting end 12 may be spaced apart in the left-right direction X.

[0119] In some embodiments, the first connecting part 21 may be integrally formed with the left eyeball 20, or the first connecting part 21 may be welded or bolted to the left eyeball 20 after the left eyeball 20 is formed.

[0120] In some embodiments, the second connecting part 31 may be integrally formed with the right eyeball 30, or the second connecting part 31 may be welded or bolted to the right eyeball 30 after the right eyeball 30 is formed.

[0121] In some embodiments, the first ball pin 81 connects the first connecting end 11 and the first connecting part 21, so that the first ball pin 81 is fixedly connected to the first connecting end 11. When the first driving component 60 drives the left eyeball 20 to rotate, the left eyeball 20 rotates relative to the first ball pin 81, thereby realizing the rotation of the left eyeball 20 relative to the main body part 10.

[0122] In some embodiments, the second ball pin 82 connects the second connecting end 12 and the second connecting part 31, so that the second ball pin 82 is fixedly connected to the second connecting end 12. When the second driving component 70 drives the right eyeball 30 to rotate, the right eyeball 30 rotates relative to the second ball pin 82, thereby realizing the rotation of the right eyeball 30 relative to the main body part 10.

[0123] In some embodiments, the central axis of the first connecting portion 21 coincides with the central axis of the left eyeball 20, that is, the first connecting portion 21 is located at the center of the left eyeball 20. A first ball-head pin 81 is connected to the first connecting portion 21, such that the first ball-head pin 81 is connected to the center of the left eyeball 20, and the central axis of the first ball-head pin 81 coincides with the central axis of the left eyeball 20. The left eyeball 20 rotates relative to the first ball-head pin 81, that is, the left eyeball 20 rotates around its central axis, so that its position does not shift when the left eyeball 20 rotates.

[0124] In some embodiments, the central axis of the second connecting portion 31 coincides with the central axis of the right eyeball 30, that is, the second connecting portion 31 is disposed at the center of the right eyeball 30. A second ball-head pin 82 is connected to the second connecting portion 31, such that the second ball-head pin 82 is connected to the center of the right eyeball 30, and the central axis of the second ball-head pin 82 coincides with the central axis of the right eyeball 30. The right eyeball 30 rotates relative to the second ball-head pin 82, that is, the right eyeball 30 rotates around its central axis, so that its position does not shift when the right eyeball 30 rotates.

[0125] The technical solution of this application embodiment connects the first connecting end 11 and the first connecting part 21 through a first ball-head pin 81, and the central axis of the first connecting part 21 coincides with the central axis of the left eyeball 20, so that the left eyeball 20 always rotates around its central axis, reducing the risk of the left eyeball 20 shifting its position during rotation. Similarly, the second connecting end 12 and the second connecting part 31 are connected through a second ball-head pin 82, and the central axis of the second connecting part 31 coincides with the central axis of the right eyeball 30, so that the right eyeball 30 always rotates around its central axis, reducing the risk of the right eyeball 30 shifting its position during rotation.

[0126] Please refer to Figures 4 to 7 In some embodiments, the first ball head pin 81 includes a first mounting portion 811 and a first ball head 812. The first connecting portion 21 is provided with a first groove 211, and the first ball head 812 is disposed in the first groove 211. The first connecting end 11 is provided with a first mounting groove 111, and the first mounting portion 811 is disposed in the first mounting groove 111. The second ball head pin 82 includes a second mounting portion 821 and a second ball head 822. The second connecting portion 31 is provided with a second groove 311, and the second ball head 822 is disposed in the second groove 311. The second connecting end 12 is provided with a second mounting groove 121, and the second mounting portion 821 is disposed in the second groove 311.

[0127] In some embodiments, the first groove 211 may be integrally formed with the first connecting portion 21, or the first groove 211 may be formed by machining after the first connecting portion 21 is formed.

[0128] In some embodiments, the first groove 211 may be spherical, and the size of the first groove 211 matches the size of the first ball head 812, such that after the first ball head 812 is accommodated in the first groove 211, the opening of the first groove 211 can prevent the first ball head 812 from leaving the first groove 211, and the first ball head 812 can rotate relative to the first groove 211.

[0129] In some embodiments, when the first ball head 812 is disposed in the first groove 211, the first driving component 60 drives the left eyeball 20 to rotate, that is, the first groove 211 rotates relative to the first ball head 812, thereby realizing the rotation of the left eyeball 20 relative to the main body 10.

[0130] In some embodiments, the first mounting groove 111 may be integrally formed with the first connecting end 11, or the first mounting groove 111 may be formed by machining after the first connecting end 11 is formed.

[0131] In some embodiments, the first mounting groove 111 can extend in the front-rear direction Y, the first mounting part 811 can extend in the front-rear direction Y, and the outer diameter of the first mounting part 811 matches the inner diameter of the first groove 211, so that the first mounting part 811 can be disposed in the first mounting groove 111, and the mounting method can be interference fit, bolt connection, etc.

[0132] In some embodiments, the second groove 311 may be integrally formed with the second connecting portion 31, or the second groove 311 may be formed by machining after the second connecting portion 31 is formed.

[0133] In some embodiments, the second groove 311 may be spherical, and the size of the second groove 311 matches the size of the second ball head 822, such that after the second ball head 822 is accommodated in the second groove 311, the opening of the second groove 311 can prevent the second ball head 822 from dislodging from the second groove 311, and the second ball head 822 can rotate relative to the second groove 311.

[0134] In some embodiments, when the second ball head 822 is disposed in the second groove 311, the second driving component 70 drives the right eyeball 30 to rotate, that is, the second groove 311 rotates relative to the second ball head 822, thereby realizing the rotation of the right eyeball 30 relative to the main body 10.

[0135] In some embodiments, the second mounting groove 121 may be integrally formed with the second connecting end 12, or the second mounting groove 121 may be formed by machining after the second connecting end 12 is formed.

[0136] In some embodiments, the second mounting groove 121 may extend in the front-rear direction Y, the second mounting part 821 may extend in the front-rear direction Y, and the outer diameter of the second mounting part 821 matches the inner diameter of the second groove 311, so that the second mounting part 821 can be disposed in the second mounting groove 121, and the mounting method may be interference fit, bolt connection, etc.

[0137] The technical solution of this application embodiment, by setting the first ball head 812 in the first groove 211 and the first mounting part 811 in the first mounting slot 111, enables the first ball head pin 81 to connect the left eyeball 20 and the main body 10, which improves the convenience of rotatably connecting the left eyeball 20 to the main body 10. By setting the second ball head 822 in the second groove 311 and the second mounting part 821 in the second mounting slot 121, enables the second ball head pin 82 to connect the right eyeball 30 and the main body 10, which improves the convenience of rotatably connecting the right eyeball 30 to the main body 10.

[0138] Please refer to Figures 4 to 7In some embodiments, the first ball joint pin 81 further includes a first limiting post 813, which protrudes from the outer peripheral surface of the first mounting portion 811. The first connecting end 11 is also provided with a first limiting groove 112, and the first limiting post 813 slides in engagement with the first limiting groove 112, thereby restricting the circumferential rotation of the first mounting portion 811. The second ball joint pin 82 further includes a second limiting post 823, which protrudes from the outer peripheral surface of the second mounting portion 821. The second connecting end 12 is also provided with a second limiting groove 122, and the second limiting post 823 slides in engagement with the second limiting groove 122, thereby restricting the circumferential rotation of the second mounting portion 821.

[0139] In some embodiments, the first limiting post 813 may be integrally formed with the first mounting part 811, or the first mounting part 811 may be connected to the first limiting post 813 by welding or bolting after the first mounting part 811 is formed.

[0140] In some embodiments, the first limiting post 813 may extend in the left-right direction X, and the first limiting post 813 may be disposed on one side of the first mounting portion 811 in the left-right direction X. Alternatively, there may be two first limiting posts 813, with the two first limiting posts 813 respectively disposed on both sides of the first mounting portion 811 in the left-right direction X.

[0141] In some embodiments, the number of first limiting grooves 112 may be equal to the number of first limiting posts 813.

[0142] In some embodiments, the first limiting groove 112 may be integrally formed with the first connecting end 11, or the first limiting groove 112 may be formed by machining after the first connecting end 11 is formed.

[0143] In some embodiments, the first limiting groove 112 may be disposed on at least one side of the first connecting end 11 in the left-right direction X.

[0144] In some embodiments, the first limiting groove 112 may communicate with the first mounting groove 111. A first mounting portion 811 is disposed in the first limiting groove 112, and a first limiting post 813 extends out of the first mounting groove 111 from the first limiting groove 112. The two groove walls of the first limiting groove 112 in the vertical direction Z abut against the outer surface of the first limiting post 813 in the vertical direction Z, or there is a small gap between the two groove walls of the first limiting groove 112 in the vertical direction Z and the outer surface of the first limiting post 813 in the vertical direction Z, so that the first mounting portion 811 can be disposed in the first mounting groove 111.

[0145] When the left eyeball 20 rotates, the first limiting post 813 restricts the rotation of the first mounting part 811, thereby restricting the rotation of the first ball head 812, so that the left eyeball 20 rotates relative to the first ball head 812, reducing the rotation of the first ball head pin 81 relative to the first connecting end 11, and affecting the rotation of the left eyeball 20 relative to the main body part 10.

[0146] In some embodiments, the second limiting post 823 may be integrally formed with the second mounting part 821, or the second mounting part 821 may be connected to the second limiting post 823 by welding or bolting after the second mounting part 821 is formed.

[0147] In some embodiments, the second limiting post 823 may extend in the left-right direction X, and the second limiting post 823 may be disposed on one side of the second mounting portion 821 in the left-right direction X. Alternatively, there may be two second limiting posts 823, with the two second limiting posts 823 respectively disposed on both sides of the second mounting portion 821 in the left-right direction X.

[0148] In some embodiments, the number of second limiting grooves 122 may be equal to the number of second limiting posts 823.

[0149] In some embodiments, the second limiting groove 122 may be integrally formed with the second connecting end 12, or the second limiting groove 122 may be formed by machining after the second connecting end 12 is formed.

[0150] In some embodiments, the second limiting groove 122 may be disposed on at least one side of the second connecting end 12 in the left-right direction X.

[0151] In some embodiments, the second limiting groove 122 may communicate with the second mounting groove 121. A second mounting portion 821 is disposed in the second limiting groove 122, and a second limiting post 823 extends out of the second mounting groove 121 from the second limiting groove 122. The two groove walls of the second limiting groove 122 in the vertical direction Z abut against the outer surface of the second limiting post 823 in the vertical direction Z, or there is a small gap between the two groove walls of the second limiting groove 122 in the vertical direction Z and the outer surface of the second limiting post 823 in the vertical direction Z, so that the second mounting portion 821 can be disposed in the first mounting groove 111.

[0152] When the right eyeball 30 rotates, the second limiting post 823 restricts the rotation of the second mounting part 821, thereby restricting the rotation of the second ball head 822, so that the right eyeball 30 rotates relative to the second ball head 822, reducing the rotation of the second ball head pin 82 relative to the second connecting end 12, and affecting the rotation of the right eyeball 30 relative to the main body part 10.

[0153] The technical solution of this application embodiment, through the cooperation of the first limiting post 813 and the first limiting groove 112, restricts the rotation of the first mounting part 811 relative to the first connecting end 11, which helps to improve the reliability of the rotation of the left eyeball 20. Through the cooperation of the second limiting post 823 and the second limiting groove 122, the rotation of the second mounting part 821 relative to the second connecting end 12 is restricted, which helps to improve the reliability of the rotation of the right eyeball 30.

[0154] Please refer to Figures 4 to 7 In some embodiments, the first ball head pin 81 further includes a third limiting post 814, which protrudes from the outer peripheral surface of the first ball head 812. The first connecting portion 21 also includes a third limiting groove 212, with the third limiting post 814 slidingly engaging with the third limiting groove 212, thereby restricting the first ball head 812 from rotating back and forth. The second ball head pin 82 further includes a fourth limiting post 824, which protrudes from the outer peripheral surface of the second ball head 822. The second connecting portion 31 also includes a fourth limiting groove 312, with the fourth limiting post 824 slidingly engaging with the fourth limiting groove 312, thereby restricting the second ball head 822 from rotating back and forth.

[0155] In some embodiments, the third limiting post 814 may be integrally formed with the first ball head 812, or the first ball head 812 may be connected to the third limiting post 814 by welding or bolting after the first ball head 812 has been formed.

[0156] In some embodiments, the third limiting post 814 may extend in the left-right direction X, and the third limiting post 814 may be disposed on one side of the first ball head 812 in the left-right direction X. Alternatively, there may be two third limiting posts 814, with the two third limiting posts 814 respectively disposed on both sides of the first ball head 812 in the left-right direction X.

[0157] In some embodiments, the number of third limiting grooves 212 may be equal to the number of third limiting posts 814.

[0158] In some embodiments, the third limiting groove 212 may be integrally formed with the first connecting part 21, or the third limiting groove 212 may be formed by machining after the first connecting part 21 is formed.

[0159] In some embodiments, the third limiting groove 212 may be disposed on at least one side of the first connecting portion 21 in the left-right direction X.

[0160] In some embodiments, the third limiting groove 212 may communicate with the first groove 211. The first ball head 812 is disposed in the first groove 211, and the third limiting post 814 extends out of the first groove 211 through the third limiting groove 212. The two groove walls of the third limiting groove 212 in the vertical direction Z abut against the outer surface of the third limiting post 814 in the vertical direction Z, or there is a small gap between the two groove walls of the third limiting groove 212 in the vertical direction Z and the outer surface of the third limiting post 814 in the vertical direction Z, so that the first ball head 812 can be disposed in the first groove 211.

[0161] When the left eyeball 20 tends to rotate back and forth, the third limiting post 814 restricts the first connecting part 21 from rotating back and forth relative to the first ball head 812, thereby restricting the left eyeball 20 from rotating back and forth and reducing the risk of affecting the left eyeball 20's vertical and horizontal rotation relative to the main body 10.

[0162] In some embodiments, the fourth limiting post 824 may be integrally formed with the second ball head 822, or the second ball head 822 may be connected to the fourth limiting post 824 by welding or bolting after the second ball head 822 has been formed.

[0163] In some embodiments, the fourth limiting post 824 may extend in the left-right direction X, and the fourth limiting post 824 may be disposed on one side of the second ball head 822 in the left-right direction X. Alternatively, there may be two fourth limiting posts 824, with the two fourth limiting posts 824 respectively disposed on both sides of the second ball head 822 in the left-right direction X.

[0164] In some embodiments, the number of fourth limiting grooves 312 may be equal to the number of fourth limiting posts 824.

[0165] In some embodiments, the fourth limiting groove 312 may be integrally formed with the second connecting part 31, or the fourth limiting groove 312 may be formed by machining after the second connecting part 31 is formed.

[0166] In some embodiments, the fourth limiting groove 312 may be disposed on at least one side of the second connecting portion 31 in the left-right direction X.

[0167] In some embodiments, the fourth limiting groove 312 may communicate with the second groove 311. The second ball head 822 is disposed in the second groove 311, and the fourth limiting post 824 extends out of the second groove 311 through the fourth limiting groove 312. The two groove walls of the fourth limiting groove 312 in the vertical direction Z abut against the outer surface of the fourth limiting post 824 in the vertical direction Z, or there is a small gap between the two groove walls of the fourth limiting groove 312 in the vertical direction Z and the outer surface of the fourth limiting post 824 in the vertical direction Z, so that the second ball head 822 can be disposed in the second groove 311.

[0168] When the right eyeball 30 tends to rotate back and forth, the fourth limiting post 824 restricts the second connecting part 31 from rotating back and forth relative to the second ball head 822, thereby restricting the right eyeball 30 from rotating back and forth and reducing the risk of affecting the right eyeball 30's vertical and horizontal rotation relative to the main body 10.

[0169] The technical solution of this application embodiment, through the cooperation of the third limiting post 814 and the third limiting groove 212, restricts the front-back rotation of the first ball head 812 relative to the first connecting part 21, which helps to improve the reliability of the rotation of the left eyeball 20. Through the cooperation of the fourth limiting post 824 and the fourth limiting groove 312, the front-back rotation of the second ball head 822 relative to the second connecting part 31 is restricted, which helps to improve the reliability of the rotation of the right eyeball 30.

[0170] Please refer to Figures 1 to 3 In some embodiments, the bionic eye 1 further includes a left upper eyelid 90, a left lower eyelid 91, a right upper eyelid 92, a right lower eyelid 93, a fifth connector 94, a sixth connector 95, a seventh connector 96, an eighth connector 97, a fifth drive member 98, a sixth drive member 99, a seventh drive member 100, and an eighth drive member 101. The left upper eyelid 90 and left lower eyelid 91 respectively cooperate with the left eyeball 20, and the right upper eyelid 92 and right lower eyelid 93 respectively cooperate with the right eyeball 30. The left upper eyelid 90, left lower eyelid 91, right upper eyelid 92, and right lower eyelid 93 are all rotatably mounted on the main body 10. The fifth drive member 98, sixth drive member 99, seventh drive member 100, and eighth drive member 101 are all mounted on the main body 10. The fifth connector 94 connects the fifth drive member 98 and the left upper eyelid 90 to drive the left upper eyelid 90 to rotate vertically relative to the main body 10. The sixth connector 95 connects the sixth drive member 99 and the lower left eyelid 91 to drive the lower left eyelid 91 to rotate vertically relative to the main body 10. The seventh connector 96 connects the seventh drive member 100 and the upper right eyelid 92 to drive the upper right eyelid 92 to rotate vertically relative to the main body 10. The eighth connector 97 connects the eighth drive member 101 and the lower right eyelid 93 to drive the lower right eyelid 93 to rotate vertically relative to the main body 10.

[0171] In some embodiments, the upper left eyelid 90 and the lower left eyelid 91 are respectively provided corresponding to the upper and lower parts of the left eyeball 20.

[0172] In some embodiments, the upper left eyelid 90 may include an arc-shaped first support 90a and a first body 90b connected to the first support 90a. The lower left eyelid 91 may include an arc-shaped second support 91a and a second body 91b connected to the second support 91a. The left side of the first support 90a is connected to the left side of the second support 91a, and the right side of the second support 91a is connected to the right side of the second support 91a.

[0173] The fifth drive unit 98 can be connected to the first bracket 90a via the fifth connector 94, and the sixth drive unit 99 can be connected to the second bracket 91a via the sixth connector 95.

[0174] When the fifth drive member 98 drives the upper left eyelid 90 to rotate upward via the fifth connector 94, the first body 90b rotates upward, exposing the upper part of the left eyeball 20. When the fifth drive member 98 drives the upper left eyelid 90 to rotate downward via the fifth connector 94, the first body 90b rotates downward, obscuring the upper part of the left eyeball 20.

[0175] When the sixth drive member 99 drives the lower left eyelid 91 to rotate upward via the sixth connector 95, the second body 91b rotates upward, causing the lower part of the left eyeball 20 to be obscured by the second body 91b. When the sixth drive member 99 drives the lower left eyelid 91 to rotate downward via the sixth connector 95, the second body 91b rotates downward, causing the lower part of the left eyeball 20 to be exposed.

[0176] In some embodiments, the upper right eyelid 92 and the lower right eyelid 93 are respectively provided corresponding to the upper and lower parts of the right eyeball 30.

[0177] In some embodiments, the upper right eyelid 92 may include an arc-shaped third support 92a and a third body 92b connected to the third support 92a. The lower right eyelid 93 may include an arc-shaped fourth support 93a and a fourth body 93b connected to the fourth support 93a. The left side of the third support 92a is connected to the left side of the fourth support 93a, and the right side of the third support 92a is connected to the right side of the fourth support 93a.

[0178] The seventh drive unit 100 can be connected to the third bracket 92a via the seventh connector 96, and the eighth drive unit 101 can be connected to the fourth bracket 93a via the eighth connector 97.

[0179] When the seventh drive member 100 drives the upper right eyelid 92 to rotate upward via the seventh connector 96, the third body 92b rotates upward, exposing the upper part of the right eyeball 30. When the seventh drive member 100 drives the upper right eyelid 92 to rotate downward via the seventh connector 96, the third body 92b rotates downward, obscuring the upper part of the right eyeball 30.

[0180] When the eighth drive member 101 drives the lower right eyelid 93 to rotate upward via the eighth connector 97, the fourth body 93b rotates upward, causing the lower part of the right eyeball 30 to be obscured by the fourth body 93b. When the eighth drive member 101 drives the lower right eyelid 93 to rotate downward via the eighth connector 97, the fourth body 93b rotates downward, causing the lower part of the right eyeball 30 to be exposed.

[0181] The technical solution of this application embodiment drives the left upper eyelid 90 to rotate up and down by setting the fifth driving member 98 and the fifth connecting member 94, drives the left lower eyelid 91 to rotate up and down by setting the sixth driving member 99 and the sixth connecting member 95, drives the right upper eyelid 92 to rotate up and down by setting the seventh driving member 100 and the seventh connecting member 96, and drives the right lower eyelid 93 to rotate up and down by setting the eighth driving member 101 and the eighth connecting member 97, thereby enriching the movements of the bionic eye 1.

[0182] Please refer to Figure 1 This application provides a bionic robot, which includes a bionic eye 1 as described in any of the above embodiments.

[0183] The technical solution of this application embodiment sets the bionic eye 1 on the bionic robot. The left eyeball 20 is driven to rotate by setting the first driving component 60 and the first connecting component 40, and the right eyeball 30 is driven to rotate by setting the second driving component 70 and the second connecting component 50, so that the left eyeball 20 and the right eyeball 30 can move independently, thereby enriching the movement of the bionic eye 1 of the bionic robot.

[0184] Although this application has been described with reference to preferred embodiments, various modifications can be made thereto and components can be replaced with equivalents without departing from the scope of this application. In particular, the technical features mentioned in the various embodiments can be combined in any manner, provided there is no structural conflict. This application is not limited to the specific embodiments disclosed herein, but includes all technical solutions falling within the scope of the claims.

Claims

1. A bionic eye, characterized in that, The bionic eye includes a main body, a left eyeball, a right eyeball, a first connecting component, a second connecting component, a first driving component, and a second driving component; Both the left and right eyeballs are rotatably mounted on the main body. Both the first drive component and the second drive component are mounted on the main body. The first connecting component connects the first driving component and the left eyeball to drive the left eyeball to rotate up and down relative to the main body, and / or to drive the left eyeball to rotate left and right relative to the main body; The second connecting component connects the second driving component and the right eyeball to drive the right eyeball to rotate up and down relative to the main body, and / or to drive the right eyeball to rotate left and right relative to the main body.

2. The bionic eye according to claim 1, characterized in that, The first driving component includes a first driving member, and the first connecting component includes a first connecting member. The first connecting member is connected to at least one side of the left eyeball in the vertical direction to drive the left eyeball to rotate vertically relative to the main body. The second driving component includes a second driving member, and the second connecting component includes a second connecting member. The second connecting member is connected to at least one side of the right eyeball in the vertical direction to drive the right eyeball to rotate vertically relative to the main body.

3. The bionic eye according to claim 2, characterized in that, The number of the first connectors is two, and the two first connectors are respectively connected to the two sides of the left eyeball in the vertical direction, and the two first connectors are symmetrically arranged with respect to the central axis of the left eyeball; The number of the second connectors is two, and the two second connectors are respectively connected to the two sides of the right eyeball in the vertical direction, and the two second connectors are symmetrically arranged with respect to the central axis of the right eyeball.

4. The bionic eye according to any one of claims 1-3, characterized in that, The first driving component further includes a third driving member, and the first connecting component further includes a third connecting member, the third connecting member being connected to at least one side of the left eyeball in the left-right direction to drive the left eyeball to rotate left and right relative to the main body. The second driving component further includes a fourth driving member, and the second connecting component further includes a fourth connecting member, which is connected to at least one side of the right eyeball in the left-right direction to drive the right eyeball to rotate left and right relative to the main body.

5. The bionic eye according to claim 4, characterized in that, The number of the third connectors is two, and the two third connectors are respectively connected to the two sides of the left eyeball in the left-right direction, and the two third connectors are symmetrically arranged with respect to the central axis of the left eyeball; The number of fourth connectors is two, and the two fourth connectors are respectively connected to the two sides of the right eyeball in the left-right direction, and the two fourth connectors are symmetrically arranged with respect to the central axis of the right eyeball.

6. The bionic eye according to claim 1, characterized in that, The bionic eye also includes a first ball pin and a second ball pin, and the main body has a first connecting end and a second connecting end; The left eyeball is provided with a first connecting part, the central axis of the first connecting part coincides with the central axis of the left eyeball, and the first ball-head pin connects the first connecting end and the first connecting part; The right eyeball is provided with a second connecting part, the central axis of the second connecting part coincides with the central axis of the right eyeball, and the second ball head pin connects the second connecting end and the second connecting part.

7. The bionic eye according to claim 6, characterized in that, The first ball head pin includes a first mounting part and a first ball head. The first connecting part is provided with a first groove, the first ball head is disposed in the first groove, the first connecting end is provided with a first mounting groove, and the first mounting part is disposed in the first mounting groove. The second ball head pin includes a second mounting part and a second ball head. The second connecting part is provided with a second groove, the second ball head is disposed in the second groove, the second connecting end is provided with a second mounting groove, and the second mounting part is disposed in the second groove.

8. The bionic eye according to claim 7, characterized in that, The first ball head pin also includes a first limiting post, which protrudes from the outer peripheral surface of the first mounting portion; The first connecting end is also provided with a first limiting groove, and the first limiting post slides in conjunction with the first limiting groove, and the first limiting post restricts the circumferential rotation of the first mounting part; The second ball head pin also includes a second limiting post, which protrudes from the outer peripheral surface of the second mounting part; The second connecting end is also provided with a second limiting groove, and the second limiting post slides in conjunction with the second limiting groove, thereby limiting the circumferential rotation of the second mounting part.

9. The bionic eye according to any one of claims 7-8, characterized in that, The first ball head pin also includes a third limiting post, which protrudes from the outer peripheral surface of the first ball head; The first connecting part is also provided with a third limiting groove, and the third limiting post is slidably engaged with the third limiting groove, and the third limiting post restricts the first ball head from rotating back and forth; The second ball head pin also includes a fourth limiting post, which protrudes from the outer peripheral surface of the second ball head; The second connecting part is also provided with a fourth limiting groove, and the fourth limiting post slides in conjunction with the fourth limiting groove, and the fourth limiting post restricts the second ball head from rotating back and forth.

10. The bionic eye according to claim 1, characterized in that, The bionic eye also includes a left upper eyelid, a left lower eyelid, a right upper eyelid, a right lower eyelid, a fifth connector, a sixth connector, a seventh connector, an eighth connector, a fifth drive component, a sixth drive component, a seventh drive component, and an eighth drive component; The upper left eyelid and the lower left eyelid are respectively matched with the left eyeball, and the upper right eyelid and the lower right eyelid are respectively matched with the right eyeball. The upper left eyelid, the lower left eyelid, the upper right eyelid, and the lower right eyelid are all rotatably mounted on the main body. The fifth driving member, the sixth driving member, the seventh driving member, and the eighth driving member are all mounted on the main body. The fifth connector connects the fifth drive member and the upper left eyelid to drive the upper left eyelid to rotate up and down relative to the main body. The sixth connector connects the sixth drive member and the lower left eyelid to drive the lower left eyelid to rotate up and down relative to the main body. The seventh connector connects the seventh drive member and the upper right eyelid to drive the upper right eyelid to rotate up and down relative to the main body. The eighth connector connects the eighth drive member and the lower right eyelid to drive the lower right eyelid to rotate up and down relative to the main body.

11. A biomimetic robot, characterized in that, Including the bionic eye as described in any one of claims 1-10.

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