CN108237537B - Eye structure of robot and robot - Google Patents

Abstract

The invention provides an eye structure of a robot and the robot, wherein the eye structure comprises: a support frame assembly; the eyeball part is connected with the support frame assembly; an eyelid portion pivotally connected to the support frame assembly, the eyelid portion moving between a closed position covering the eye portion and an open position exposing the eye portion; and the eyelid driving device drives the eyelid to move between a closed position and an open position so as to realize blinking action of the eye structure. The invention solves the problems of complex structure, high failure rate of the eye structure of the robot and complex operation of the existing robot in the prior art.

Description

Eye structure of robot and robot

Technical Field

The invention relates to the technical field of robots, in particular to an eye structure of a robot and the robot.

Background

The bionic robot is a robot which can imitate biology and work with biological characteristics, for example, in western countries, mechanical pets are popular, the bionic sparrow robot can serve as an environment monitoring task, and for example, the bionic robot can provide a plurality of convenience services for human beings, so that the bionic robot is more and more valued by people, and has a good development prospect.

In order to enable the bionic robot to simulate the characteristics of living things more realistically, the bionic robot is generally provided with an eye structure with a blinking function, the existing bionic robot is very complex in eye structure, the complex eye structure is prone to faults, therefore, the running stability of the bionic robot is poor, and the existing bionic robot is generally required to rotate a handle by an operator to obtain power input, so that the existing bionic robot has the problem of complex operation.

Disclosure of Invention

The invention mainly aims to provide an eye structure of a robot and the robot, which are used for solving the problems of complex structure, high failure rate and complex operation of the existing robot of the eye structure of the robot in the prior art.

In order to achieve the above object, according to one aspect of the present invention, there is provided an eye structure of a robot, comprising: a support frame assembly; the eyeball part is connected with the support frame assembly; an eyelid portion pivotally connected to the support frame assembly, the eyelid portion moving between a closed position covering the eye portion and an open position exposing the eye portion; and the eyelid driving device drives the eyelid to move between a closed position and an open position so as to realize blinking action of the eye structure.

Further, the number of the eyeball parts and the eyelid parts is two, and the two eyeball parts and the two eyelid parts are arranged in one-to-one correspondence.

Further, the eyeball part has a transverse symmetry plane, and the eyelid part comprises an upper eyelid and a lower eyelid which are symmetrically arranged at two sides of the transverse symmetry plane.

Further, the eyelid driving device includes: the first steering engine; the first rocker arm is in driving connection with the first steering engine, the first rocker arm is arranged on the first steering engine in a swinging manner, and the movement plane of the first rocker arm is parallel to the longitudinal symmetry plane of the eyeball part;

The first ends of the two first connecting rods are hinged with one end, far away from the first steering engine, of the first rocker arm, and the second ends of the two first connecting rods are respectively hinged with the upper eyelid and the lower eyelid.

Further, the eye structure further comprises a base plate and a first supporting plate, the first steering engine is connected with the base plate through the first supporting plate, and the first steering engine is adjustably arranged on the first supporting plate in position.

Further, the ocular structure comprises a base plate, and the support frame assembly comprises: the second supporting plate is arranged on the substrate; the first end of the first supporting rod is connected with the second supporting plate, and the second end of the first supporting rod is connected with the eyelid portion.

Further, the support frame assembly further comprises two first support rods, the second end of each first support rod is provided with a rotating shaft structure, the axes of the two rotating shaft structures are arranged along a transverse diameter line of the eyeball part, and the two rotating shaft structures serve as pivot shafts of the eyelid part and the first support rods.

Further, the support frame assembly further comprises a second support rod and a universal joint structure, the first end of the second support rod is connected with the second support plate, and the second end of the second support rod is hinged with the eyeball part through the universal joint structure.

Further, the ocular structure further comprises a first ocular segment driving device comprising: the second steering engine; the second rocker arm is in driving connection with the second steering engine, can be arranged on the second steering engine in a swinging manner, and the movement plane of the second rocker arm is parallel to the transverse symmetry plane of the eyeball part; the first end of the second connecting rod is hinged with one end, far away from the second steering engine, of the second rocker arm, and the second end of the second connecting rod is hinged with the eyeball part.

Further, the hinge point of the second end of the second link and the eyeball part is located in the transverse symmetry plane of the eyeball part.

Further, the eye structure further comprises a base plate and a third supporting plate, the second steering engine is connected with the base plate through the third supporting plate, and the second steering engine is adjustably arranged on the third supporting plate in position.

Further, the eye structure further comprises a second eyeball part driving device and a transmission assembly, wherein the transmission assembly is hinged with the eyeball part, and the second eyeball part driving device is in driving connection with the transmission assembly so that the transmission assembly drives the eyeball part to rotate.

Further, the ocular structure further comprises a substrate, and the transmission assembly comprises: the two fourth support plates are oppositely arranged on the substrate; an optical axis rotatably disposed between the two fourth support plates; the first driving swing rod and the second driving swing rod are in pivot connection, one end, far away from the second driving swing rod, of the first driving swing rod is in driving connection with the second eyeball part driving device, and one end, far away from the first driving swing rod, of the second driving swing rod is sleeved on the optical axis; the first driven swing rod and the second driven swing rod are connected in a pivoting mode, one end, far away from the second driven swing rod, of the first driven swing rod is hinged to the eyeball part, and one end, far away from the first driven swing rod, of the second driven swing rod is connected with the optical axis.

Further, the second driving swing rod is connected with the midpoint of the optical axis; the first driven swing rods and the second driven swing rods are two, the two second driven swing rods are respectively connected to two ends of the optical axis in the axial direction, and the two first driven swing rods are respectively hinged to the two eyeball parts.

Further, the second eyeball part driving device includes: the third steering engine; the third rocker arm is in driving connection with the third steering engine, and the third rocker arm is arranged on the third steering engine in a swinging manner.

Further, the movement planes of the third rocker arm, the first driving rocker arm, the second driving rocker arm, the first driven rocker arm and the second driven rocker arm are parallel to the longitudinal symmetry plane of the eyeball part.

Further, the eye structure further comprises a fifth supporting plate, the third steering engine is arranged on the base plate through the fifth supporting plate, and the third steering engine is arranged on the fifth supporting plate in a position-adjustable mode.

According to an aspect of the present invention, there is provided a robot including: the robot body is provided with the eye structure.

By applying the technical scheme of the invention, the eye structure of the robot comprises a substrate, a support frame assembly, an eyeball part, an eyelid part and an eyelid part driving device; the support frame assembly is arranged on the base plate, the eyeball part is rotatably connected with the support frame assembly, the eyelid part is pivotally connected with the support frame assembly, the eyelid part is provided with a closing position for covering the eyeball part and an opening position for exposing the eyeball part, and the eyelid part driving device is hinged with the eyelid part to drive the eyelid part to move between the closing position and the opening position so as to realize blinking action of the eye structure. Therefore, the eyelid movement relative to the eyeball part can be automatically controlled through the eyelid driving device, and as the movement structural members of the eyelid structure are less, the reliability of eyelid movement is ensured, and the robot smoothly completes blinking actions, thereby improving the reality of the robot imitating living beings, and the robot avoids the movement of the manually operated eyelid structure, reduces the complexity of robot operation and further improves the automation degree of the robot.

Drawings

The accompanying drawings, which are included to provide a further understanding of the application and are incorporated in and constitute a part of this specification, illustrate embodiments of the application and together with the description serve to explain the application. In the drawings:

Fig. 1 shows a partial schematic view of an eye structure of a robot with eyelid driving means according to an alternative embodiment of the invention;

FIG. 2 shows a schematic view of a partial structure of an eye structure of the robot of FIG. 1 with a first eye ball drive;

fig. 3 shows a schematic view of a partial structure of an eye structure of the robot of fig. 1 with a second eye part drive.

Wherein the above figures include the following reference numerals:

10. A substrate; 20. a support frame assembly; 21. a rotating shaft structure; 22. a second support plate; 23. a first support bar; 24. a second support bar; 25. a gimbal structure; 30. an eyeball part; 40. an eyelid portion; 41. upper eyelid; 42. lower eyelid; 50. an eyelid driving device; 51. the first steering engine; 52. a first rocker arm; 53. a first link; 60. a first support plate; 70. a first eye-ball driving device; 71. the second steering engine; 72. a second rocker arm; 73. a second link; 80. a third support plate; 90. a second eyeball part driving device; 91. the third steering engine; 92. a third rocker arm; 100. a transmission assembly; 101. a fourth support plate; 102. an optical axis; 103. the first driving swing rod; 104. the second driving swing rod; 105. the first driven swing rod; 106. the second driven swing rod; 110. and a fifth support plate.

Detailed Description

The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. The following description of at least one exemplary embodiment is merely exemplary in nature and is in no way intended to limit the invention, its application, or uses. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.

It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of exemplary embodiments according to the present application. As used herein, the singular is also intended to include the plural unless the context clearly indicates otherwise, and furthermore, it is to be understood that the terms "comprises" and/or "comprising" when used in this specification are taken to specify the presence of stated features, steps, operations, devices, components, and/or combinations thereof.

The relative arrangement of the components and steps, numerical expressions and numerical values set forth in these embodiments do not limit the scope of the present invention unless it is specifically stated otherwise. Meanwhile, it should be understood that the sizes of the respective parts shown in the drawings are not drawn in actual scale for convenience of description. Techniques, methods, and apparatus known to one of ordinary skill in the relevant art may not be discussed in detail, but should be considered part of the specification where appropriate. In all examples shown and discussed herein, any specific values should be construed as merely illustrative, and not a limitation. Thus, other examples of the exemplary embodiments may have different values. It should be noted that: like reference numerals and letters denote like items in the following figures, and thus once an item is defined in one figure, no further discussion thereof is necessary in subsequent figures.

In the description of the present invention, it should be understood that the azimuth or positional relationships indicated by the azimuth terms such as "front, rear, upper, lower, left, right", "lateral, vertical, horizontal", and "top, bottom", etc., are generally based on the azimuth or positional relationships shown in the drawings, merely to facilitate description of the present invention and simplify the description, and these azimuth terms do not indicate and imply that the apparatus or elements referred to must have a specific azimuth or be constructed and operated in a specific azimuth, and thus should not be construed as limiting the scope of protection of the present invention; the orientation word "inner and outer" refers to inner and outer relative to the contour of the respective component itself.

Spatially relative terms, such as "above … …," "above … …," "upper surface on … …," "above," and the like, may be used herein for ease of description to describe one device or feature's spatial location relative to another device or feature as illustrated in the figures. It will be understood that the spatially relative terms are intended to encompass different orientations in use or operation in addition to the orientation depicted in the figures. For example, if the device in the figures is turned over, elements described as "above" or "over" other devices or structures would then be oriented "below" or "beneath" the other devices or structures. Thus, the exemplary term "above … …" may include both orientations "above … …" and "below … …". The device may also be positioned in other different ways (rotated 90 degrees or at other orientations) and the spatially relative descriptors used herein interpreted accordingly.

In addition, the terms "first", "second", etc. are used to define the components, and are only for convenience of distinguishing the corresponding components, and the terms have no special meaning unless otherwise stated, and therefore should not be construed as limiting the scope of the present invention.

In order to solve the problems of complex structure, high failure rate and complex operation of the existing robot of the prior art, the invention provides an eye structure of a robot and the robot, wherein the robot comprises: body, facial structure and eye structure, facial structure sets up on the body, and the eye structure sets up on facial structure, and the eye structure is the following eye structure.

As shown in fig. 1, the ocular structure of the robot includes a support frame assembly 20, an eyeball part 30, an eyelid part 40, and an eyelid part driving means 50; the eye portion 30 is rotatably connected to the support frame assembly 20, the eyelid portion 40 is pivotally connected to the support frame assembly 20, the eyelid portion 40 moves between a closed position covering the eye portion 30 and an open position exposing the eye portion 30, and the eyelid driving device 50 is hinged to the eyelid portion 40 to drive the movement of the eyelid portion 40 between the closed position and the open position to effect a blinking motion of the ocular structure. In this way, the eyelid portion driving device 50 can automatically control the movement of the eyelid portion 40 relative to the eyeball portion 30, and the eye portion structure of the invention has fewer moving structural members, thereby ensuring the reliability of the movement of the eyelid portion 40, enabling the robot to smoothly complete blinking actions, improving the reality of the robot imitating living beings, avoiding the movement of the manually operated eye portion structure, reducing the complexity of the robot operation and further improving the automation degree of the robot.

As shown in fig. 3, in order to more truly simulate a living eye, the eyeball part 30 and the eyelid part 40 are two, and the eyeball part 30 and the eyelid part 40 are arranged in one-to-one correspondence.

As shown in fig. 1 to 3, as well, in order to truly simulate the eye characteristics of various animals, the face structure of the robot is made more realistic, thereby improving the feeling of the use of the robot by people, the eyeball part 30 has a lateral symmetry plane, the eyelid part 40 includes an upper eyelid 41 and a lower eyelid 42, and the upper eyelid 41 and the lower eyelid 42 are symmetrically disposed at both sides of the lateral symmetry plane.

As shown in fig. 1, the eyelid driving device 50 includes a first steering engine 51, a first rocker arm 52, and two first links 53; the first rocker arm 52 is in driving connection with the first steering engine 51, the first rocker arm 52 is arranged on the first steering engine 51 in a swinging manner, the movement plane of the first rocker arm 52 is parallel to the longitudinal symmetry plane of the eyeball part 30, first ends of two first connecting rods 53 are hinged to one ends of the first rocker arm 52, which are far away from the first steering engine 51, and second ends of the two first connecting rods 53 are hinged to the upper eyelid 41 and the lower eyelid 42 respectively. Thus, the first steering engine 51 drives the first rocker arm 52 to swing, and the first rocker arm 52 drives the two first connecting rods 53 to move so as to pull the upper eyelid 41 and the lower eyelid 42 to switch between the closed position and the open position, so that the blinking action of the eyelid 40 is realized.

Since the movement plane of the first rocker arm 52 is parallel to the longitudinal symmetry plane of the eye portion 30, the stability of the movement of the first rocker arm 52 with the two first links 53 is ensured. Because the first ends of the two first connecting rods 53 are hinged with the end, far away from the first steering engine 51, of the first rocker arm 52, the second ends of the two first connecting rods 53 are respectively hinged with the upper eyelid 41 and the lower eyelid 42, so that on the premise of ensuring the connection stability of the first rocker arm 52, the first connecting rods 53 and the eyelid 40, the connection freedom degree among the first rocker arm 52, the first connecting rods 53 and the eyelid 40 is fully increased, the movement interference is avoided, and the smooth completion of the blinking action of the robot is ensured.

Alternatively, the rotation angle of the upper eyelid 41 is 0 degrees or more and 90 degrees or less during the movement of the upper eyelid 41 from the closed position to the open position.

Also optionally, the angle of rotation of the lower eyelid 42 is greater than or equal to 0 degrees and less than or equal to 90 degrees during movement of the lower eyelid 42 from the closed position to the open position.

Preferably, the rotation angle of the upper eyelid 41 from the closed position to the open position is 20 degrees and the rotation angle of the lower eyelid 42 from the closed position to the open position is 35 degrees.

Optionally, the rotational angular velocity of the upper eyelid 41 and/or the lower eyelid 42 is 30 degrees/sec or more.

As shown in fig. 1, to facilitate the pulling movement of the eyelid 40, optionally, the hinge point of the first link 53 with the upper eyelid 41 and the first link 53 with the lower eyelid 42 are located on one side of the longitudinal symmetry plane of the eye portion 30.

As shown in fig. 1, the eye structure further includes a base plate 10 and a first support plate 60, the first steering engine 51 is connected to the base plate 10 through the first support plate 60, and the first steering engine 51 is adjustably positioned on the first support plate 60. Like this, through adjusting the position of first steering wheel 51 on first backup pad 60, adjust the pin joint position of first connecting rod 53 and eyelid portion 40 simultaneously, not only can rationally overall arrangement to the output drive power of first steering wheel 51, but also can reduce the whole volume of eye structure, effectively utilize the space in the robot face structure to reach miniaturized design or modularized design to the robot.

As shown in fig. 1, the eye structure includes a base plate 10, the support frame assembly 20 includes a second support plate 22 and a first support rod 23, the second support plate 22 is disposed on the base plate 10, a first end of the first support rod 23 is connected with the second support plate 22, and a second end of the first support rod 23 is connected with the eyelid portion 40. In this way, the stability of the connection between the eyelid portion 40 and the support frame assembly 20 is effectively ensured, allowing reliable movement of the eyelid portion 40.

As shown in fig. 1, the support frame assembly 20 further includes two shaft structures 21, two first support rods 23 are provided at the second end of each first support rod 23, one shaft structure 21 is provided at the second end of each first support rod 23, axes of the two shaft structures 21 are disposed along a transverse diameter of the eyeball part 30, and the two shaft structures 21 serve as pivot shafts of the eyelid part 40 and the first support rod 23. Thus, both the upper eyelid 41 and the lower eyelid 42 are pivotally connected to the two shaft structures 21, improving the rotational stability of the upper eyelid 41 and the lower eyelid 42.

As shown in fig. 2, in order to stably connect the eyeball part 30 with the support frame assembly 20 while ensuring a high degree of rotational freedom of the eyeball part 30 so as to actually simulate the eyeball characteristics of a living being, the support frame assembly 20 further includes a second support rod 24 and a universal joint structure 25, a first end of the second support rod 24 is connected to the second support plate 22, and a second end of the second support rod 24 is hinged to the eyeball part 30 through the universal joint structure 25.

As shown in fig. 2, the eye structure further includes a first eye portion driving device 70, where the first eye portion driving device 70 includes a second steering engine 71, a second rocker arm 72 and a second connecting rod 73, the second rocker arm 72 is in driving connection with the second steering engine 71, the second rocker arm 72 is swingably disposed on the second steering engine 71, a movement plane of the second rocker arm 72 is parallel to a lateral symmetry plane of the eye portion 30, a first end of the second connecting rod 73 is hinged to an end of the second rocker arm 72 away from the second steering engine 71, and a second end of the second connecting rod 73 is hinged to the eye portion 30. Thus, the second steering engine 71 drives the second rocker arm 72 to swing, and the second rocker arm 72 drives the second connecting rod 73 to move so as to pull the eyeball part 30 to rotate.

Since the movement plane of the second rocker arm 72 is parallel to the lateral symmetry plane of the eye portion 30, the stability of the rotation of the eye portion 30 by the second rocker arm 72 is ensured. Since the first end of the second link 73 is hinged to the end of the second rocker arm 72 remote from the second steering engine 71, the second end of the second link 73 is hinged to the eye portion 30. In this way, the degree of freedom of connection between the second rocker arm 72, the second link 73 and the eye portion 30 is sufficiently increased, and movement interference is avoided, while ensuring the connection stability of the second rocker arm 72, the second link 73 and the eye portion 30.

Optionally, the hinge point between the second end of the second link 73 and the eyeball part 30 is located in the transverse symmetry plane of the eyeball part 30, so that the second rocker 72 can be ensured to drive the second link 73 to move so as to pull the eyeball part 30 to rotate around the rotating shaft in the vertical direction, so that the eyeball part 30 can rotate left and right in the horizontal plane, and the eyeball rotation action of the robot is realized.

Optionally, the second link 73 drives the eyeball part 30 to rotate clockwise by an angle of 0 degrees or more and 30 degrees or less about a rotation axis in the vertical direction from the center position of the line of sight of the eyeball part 30.

Also alternatively, the second link 73 drives the eyeball part 30 to rotate counterclockwise by an angle of 0 degrees or more and 30 degrees or less about the rotation axis in the vertical direction from the line-of-sight center position of the eyeball part 30.

Preferably, the rotation angle of the second link 73 driving the eyeball part 30 to rotate clockwise around the rotation axis of the vertical direction from the line of sight center position of the eyeball part 30 is 20 degrees, and the rotation angle of the second link 73 driving the eyeball part 30 to rotate counterclockwise around the rotation axis of the vertical direction from the line of sight center position of the eyeball part 30 is 20 degrees.

Alternatively, the rotational angular velocity of the eyeball part 30 is 30 degrees/sec or more.

As shown in fig. 2, the eye structure further includes a base plate 10 and a third support plate 80, the second steering engine 71 is connected to the base plate 10 through the third support plate 80, and the second steering engine 71 is adjustably disposed at a position on the third support plate 80. In this way, by adjusting the position of the second steering engine 71 on the third support plate 80 and adjusting the position of the hinge point between the second connecting rod 73 and the eyeball part 30, the output driving force of the second steering engine 71 can be reasonably distributed, the whole volume of the eye structure can be reduced, and the space in the face structure of the robot can be effectively utilized, so that the miniaturized design or the modularized design of the robot can be achieved.

As shown in fig. 3, the eye structure further includes a second eye portion driving device 90 and a transmission assembly 100, wherein the transmission assembly 100 is hinged with the eye portion 30, and the second eye portion driving device 90 is in driving connection with the transmission assembly 100 so that the transmission assembly 100 drives the eye portion 30 to rotate. Thus, the second eye portion driving device 90 drives the transmission assembly 100 to move, and the transmission assembly 100 drives the eye portion 30 to smoothly rotate around the horizontal axis in the vertical plane.

As shown in fig. 3, the eye structure further includes a base plate 10, the transmission assembly 100 includes two fourth support plates 101, an optical axis 102, a first driving swing link 103 and a second driving swing link 104 which are pivotally connected, and a first driven swing link 105 and a second driven swing link 106 which are pivotally connected, the two fourth support plates 101 are oppositely disposed on the base plate 10, the optical axis 102 is rotatably disposed between the two fourth support plates 101, one end of the first driving swing link 103, which is far away from the second driving swing link 104, is in driving connection with the second eye part driving device 90, one end of the second driving swing link 104, which is far away from the first driving swing link 103, is hinged with the eye part 30, one end of the second driven swing link 106, which is far away from the first driven swing link 105, is connected with the optical axis 102.

In the embodiment of the present invention, as shown in fig. 3, in order to achieve synchronous rotation of the two eyeball parts 30, the second driving swing link 104 is connected with the midpoint of the optical axis 102; the first driven swing rod 105 and the second driven swing rod 106 are two, the two second driven swing rods 106 are respectively connected to two ends of the optical axis 102 in the axial direction, and the two first driven swing rods 105 are respectively hinged to the two eyeball parts 30.

As shown in fig. 3, the second eye portion driving device 90 includes a third steering engine 91 and a third rocker arm 92, the third rocker arm 92 is in driving connection with the third steering engine 91, and the third rocker arm 92 is swingably provided on the third steering engine 91. In this way, the third steering engine 91 is smoothly realized to drive the third rocker 92 to swing, thereby realizing the reciprocating rotation of the eyeball part 30.

Optionally, the first driven swing rod 105 drives the eyeball part 30 to rotate clockwise around the rotation axis in the horizontal direction from the center position of the line of sight of the eyeball part 30 by an angle of rotation of 0 degrees or more and 30 degrees or less.

Also optionally, the first driven swing link 105 drives the eyeball part 30 to rotate counterclockwise around the rotation axis in the horizontal direction from the center position of the line of sight of the eyeball part 30 by an angle of 0 degrees or more and 30 degrees or less.

Preferably, the rotation angle of the first driven swing link 105 driving the eyeball part 30 to rotate clockwise around the rotation axis in the horizontal direction from the center position of the line of sight of the eyeball part 30 is 20 degrees, and the rotation angle of the first driven swing link 105 driving the eyeball part 30 to rotate counterclockwise around the rotation axis in the horizontal direction from the center position of the line of sight of the eyeball part 30 is 20 degrees.

Alternatively, the rotational angular velocity of the eyeball part 30 is 30 degrees/sec or more.

Optionally, the movement planes of the third rocker 92, the first driving rocker 103, the second driving rocker 104, the first driven rocker 105 and the second driven rocker 106 are parallel to the longitudinal symmetry plane of the eye portion 30. In this way, it is ensured that the second eye portion driving device 90 and the transmission assembly 100 can drive the eye portion 30 to rotate in a vertical plane around the horizontal axis, that is, the up-and-down rotation of the eye portion 30 of the robot is achieved.

As shown in fig. 3, the eye structure further includes a fifth support plate 110, the third steering engine 91 is disposed on the base plate 10 through the fifth support plate 110, and the third steering engine 91 is adjustably disposed in position on the fifth support plate 110. Like this, through adjusting the position of third steering wheel 91 on fifth backup pad 110, adjust the pin joint position of first driven pendulum rod 105 and eyeball portion 30 simultaneously, not only can rationally overall arrangement to the output drive power of third steering wheel 91, but also can reduce the whole volume of eye structure, effectively utilize the space in the robot face structure to reach miniaturized design or modularized design to the robot.

It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of exemplary embodiments according to the present application. As used herein, the singular is also intended to include the plural unless the context clearly indicates otherwise, and furthermore, it is to be understood that the terms "comprises" and/or "comprising" when used in this specification are taken to specify the presence of stated features, steps, operations, devices, components, and/or combinations thereof.

It should be noted that the terms "first," "second," and the like in the description and the claims of the present application and the above figures are used for distinguishing between similar objects and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used may be interchanged where appropriate such that embodiments of the application described herein may be implemented in sequences other than those illustrated or otherwise described herein.

The above description is only of the preferred embodiments of the present invention and is not intended to limit the present invention, but various modifications and variations can be made to the present invention by those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims (12)

1. An eye structure of a robot, comprising:

A support frame assembly (20);

an eye portion (30), the eye portion (30) being connected to the support frame assembly (20);

An eyelid portion (40), the eyelid portion (40) being pivotally connected to the support frame assembly (20), the eyelid portion (40) being movable between a closed position covering the eye portion (30) and an open position exposing the eye portion (30);

An eyelid driving device (50), the eyelid driving device (50) driving the eyelid (40) between the closed position and the open position to effect a blinking motion of the ocular structure;

The second eyeball part driving device (90), the second eyeball part driving device (90) comprises a third steering gear (91) and a third rocker arm (92), the third rocker arm (92) is in driving connection with the third steering gear (91), and the third rocker arm (92) is arranged on the third steering gear (91) in a swinging way;

The transmission assembly (100), the transmission assembly (100) is hinged with the eyeball part (30), the second eyeball part driving device (90) is in driving connection with the transmission assembly (100), the transmission assembly (100) comprises a first driven swing rod (105) and a second driven swing rod (106) which are in pivot connection, one end, far away from the second driven swing rod (106), of the first driven swing rod (105) is hinged with the eyeball part (30), and the movement planes of the third swing arm (92), the first driven swing rod (105) and the second driven swing rod (106) are parallel to the longitudinal symmetry plane of the eyeball part (30);

The eyeball part (30) and the eyelid part (40) are two, the eyeball part (30) and the eyelid part (40) are arranged in a one-to-one correspondence manner, the second eyeball part driving device (90) is in driving connection with the transmission assembly (100) so that the transmission assembly (100) drives the eyeball part (30) to rotate, the eye structure further comprises a substrate (10), and the transmission assembly (100) comprises:

The four support plates (101), the number of the four support plates (101) is two, and the two four support plates (101) are oppositely arranged on the substrate (10);

An optical axis (102), said optical axis (102) being rotatably arranged between two of said fourth support plates (101);

The first initiative pendulum rod (103) and second initiative pendulum rod (104) of pivot connection, keep away from of first initiative pendulum rod (103) the one end of second initiative pendulum rod (104) with second eyeball portion drive arrangement (90) drive connection, the one end suit that keeps away from of second initiative pendulum rod (104) is in on optical axis (102), the one end that keeps away from of second driven pendulum rod (106) first driven pendulum rod (105) with optical axis (102) are connected, second initiative pendulum rod (104) with the midpoint of optical axis (102) is connected, first driven pendulum rod (105) with second driven pendulum rod (106) are two, two second driven pendulum rod (106) are connected respectively the axial both ends of optical axis (102), and two first driven pendulum rod (105) are articulated with two eyeball portion (30), third rocking arm (92), first initiative pendulum rod (103), second driven pendulum rod (105) first driven pendulum rod (106) and second driven pendulum rod (106) are parallel to the longitudinal plane of motion of pendulum rod (30).

2. The ocular structure according to claim 1, characterized in that the eye portion (30) has a lateral symmetry plane, the eyelid portion (40) comprising an upper eyelid (41) and a lower eyelid (42), the upper eyelid (41) and the lower eyelid (42) being symmetrically arranged on both sides of the lateral symmetry plane.

3. The ocular structure of claim 2, characterized in that the eyelid driving means (50) comprise:

A first steering engine (51);

The first rocker arm (52) is in driving connection with the first steering engine (51), the first rocker arm (52) is arranged on the first steering engine (51) in a swinging manner, and the movement plane of the first rocker arm (52) is parallel to the longitudinal symmetry plane of the eyeball part (30);

the first ends of the two first connecting rods (53) are hinged to one end, far away from the first steering engine (51), of the first rocker arm (52), and the second ends of the two first connecting rods (53) are hinged to the upper eyelid (41) and the lower eyelid (42) respectively.

4. The ocular structure according to claim 3, characterized in that it further comprises a first support plate (60), the first steering engine (51) being connected to the base plate (10) by means of the first support plate (60), and the first steering engine (51) being arranged positionally adjustable on the first support plate (60).

5. The ocular structure of claim 1, characterized in that the support frame assembly (20) comprises:

a second support plate (22), the second support plate (22) being disposed on the substrate (10);

the first support rod (23), the first end of first support rod (23) with second backup pad (22) are connected, the second end of first support rod (23) with eyelid portion (40) are connected.

6. The eye structure according to claim 5, wherein the support frame assembly (20) further comprises two rotating shaft structures (21), one rotating shaft structure (21) is disposed at a second end of each first support rod (23), axes of the two rotating shaft structures (21) are disposed along a transverse diameter line of the eyeball part (30), and the two rotating shaft structures (21) serve as pivot shafts of the eyelid part (40) and the first support rod (23).

7. The ocular structure of claim 5, characterized in that the support frame assembly (20) further comprises a second support rod (24) and a gimbal structure (25), a first end of the second support rod (24) being connected to the second support plate (22), a second end of the second support rod (24) being hinged to the ocular segment (30) by means of the gimbal structure (25).

8. The ocular structure of claim 1, characterized in that it further comprises a first ocular segment driving device (70), the first ocular segment driving device (70) comprising:

A second steering engine (71);

The second rocker arm (72) is in driving connection with the second steering engine (71), the second rocker arm (72) is arranged on the second steering engine (71) in a swinging manner, and the movement plane of the second rocker arm (72) is parallel to the transverse symmetry plane of the eyeball part (30);

The first end of the second connecting rod (73) is hinged with one end, far away from the second steering engine (71), of the second rocker arm (72), and the second end of the second connecting rod (73) is hinged with the eyeball part (30).

9. The ocular structure according to claim 8, characterized in that the hinge point of the second end of the second link (73) with the ocular segment (30) lies in a transverse plane of symmetry of the ocular segment (30).

10. The ocular structure according to claim 8, characterized in that it further comprises a third support plate (80), the second steering engine (71) being connected to the base plate (10) via the third support plate (80), and the second steering engine (71) being arranged adjustably in position on the third support plate (80).

11. The ocular structure according to claim 1, characterized in that it further comprises a fifth support plate (110), the third steering engine (91) being arranged on the base plate (10) by means of the fifth support plate (110), and the third steering engine (91) being arranged positionally adjustable on the fifth support plate (110).

12. A robot, comprising: a robot body on which the ocular structure as claimed in any one of claims 1 to 11 is provided.