CN108656151A - The eye structure of robot, the head construction of robot and robot - Google Patents

Abstract

The present invention provides a kind of eye structure of robot, the head constructions and robot of robot, wherein the eye structure of robot includes：Support portion；Eyeball portion, eyeball portion are connect with support portion；Eyelid portion, eyelid portion are pivotably connected with support portion；Drive component, drive component includes cam drive mechanism, cam drive mechanism is drivingly connected with eyelid portion, and there is cam drive mechanism extended position and retracted position, cam drive mechanism are moved back and forth between extended position and retracted position to drive eyelid portion to do blink action.The present invention solves the problems, such as that the complicated of the eye structure of robot in the prior art, work failure rate are high and existing robot manipulation is complicated.

Description

Robot eye structure, robot head structure and robot

technical field

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

Background technique

Bionic robots are robots that can imitate living things and work with biological characteristics. For example, in western countries, mechanical pets are very popular, and bionic sparrow robots can be used for environmental monitoring tasks. For example, humanoid robots can provide many convenient services for humans, so , bionic robots are getting more and more attention and have a good development prospect.

In order to make the bionic robot simulate the characteristics of living beings more realistically, the bionic robot is usually provided with an eye structure with blinking function. The eye structure of the existing bionic robot is very complicated, and the complex eye structure is easy to break down, resulting in The running stability of the bionic robot is poor, and the eye structure of the existing bionic robot usually requires the operator to turn the handle to obtain power input, so the existing bionic robot has the problem of complicated operation.

Contents of the invention

The main purpose of the present invention is to provide an eye structure of a robot, a head structure of a robot and a robot, so as to solve the complex structure of the eye structure of the robot in the prior art, the high failure rate of work and the complicated operation of existing robots The problem.

In order to achieve the above object, according to one aspect of the present invention, a robot eye structure is provided, including: a support part; an eyeball part, the eyeball part is connected to the support part; an eyelid part, and the eyelid part is pivotally connected to the support part ; The driving assembly, the driving assembly includes a cam driving mechanism, the cam driving mechanism is drivingly connected with the eyelids, the cam driving mechanism has an extended position and a retracted position, and the cam driving mechanism reciprocates between the extended position and the retracted position to drive the eyelids. blink action.

Further, the driving assembly also includes a connecting part drivingly connected with the cam driving mechanism, the eyelid part includes an upper eyelid and a lower eyelid, and the connecting part includes two connecting rods, and the two connecting rods are respectively hinged to the upper eyelid and the lower eyelid.

Further, the cam driving mechanism includes: a slider, which is slidably arranged on the support part; a cam, which is pivotally connected to the support part and abuts against the cam, and the ends of the two connecting rods away from the eyeball The part is hinged with the slide block; the elastic return part is connected with the slide block.

Further, the cam driving mechanism further includes a slide bar, the slide bar is arranged on the support part, and the slide block is slidably arranged on the slide bar.

Further, the cam driving mechanism further includes a supporting bearing, which is sleeved on the sliding rod, and the sliding block is connected with the sliding rod through the supporting bearing.

Further, there are two eyeball parts and two eyelid parts, and the two eyeball parts and the two eyelid parts are arranged in one-to-one correspondence, there are two connecting parts, and there are two sliders, wherein the first ends of the two connecting parts are respectively It is connected with the two eyelid parts, the second ends of the two connecting parts are connected with the two sliders, and the two sliders are respectively located on both sides of the cam, and the two ends of the elastic reset part are respectively connected with the two sliders.

Further, the two ends of the cam abut against the two sliders respectively, and the distances between the two abutting points and the center of the cam are equal.

Further, the driving assembly further includes a driving motor, which is arranged on the supporting part and is drivingly connected with the cam.

Further, the eye structure also includes two mounts, the two mounts are detachably connected to the support part and protrude toward the first side of the support part, the slide bar is arranged between the two mounts, and the drive motor is located on The second side of the support part is connected to the support part through two mounting seats; or, or the eye structure further includes two mounting seats, and the two mounting seats are fixedly arranged on the support part and protrude toward the first side of the support part It is provided that the slide bar is arranged between the two installation seats, and the driving motor is located on the second side of the support part and is connected with the support part through the two installation seats.

Further, there are two sliding rods, and the two sliding rods are arranged at intervals, and the two ends of the slider are respectively slidably sleeved on the two sliding rods; there are two elastic reset parts, and the two elastic reset parts are respectively set at both ends of the slider.

According to another aspect of the present invention, a head structure of a robot is provided, including a face shell and an eye structure, wherein the face shell has an installation space, the eye structure is arranged in the installation space, and the eye structure is the above-mentioned eye structure. department structure.

Further, the head structure also includes a mouth structure, the face shell is provided with a first avoidance hole and a second avoidance hole, the mouth structure protrudes from the first avoidance hole to a direction away from the installation space, and the eye structure The eyeball and eyelid are located at the second avoidance hole.

Further, the eyelid portion is pivotally disposed between the support portion of the eye structure and the face shell.

Further, a plurality of weight-reducing holes are opened on the face shell.

According to another aspect of the present invention, a robot is provided, including the above-mentioned head structure.

Applying the technical solution of the present invention, since the eye structure of the robot includes a support part, an eyeball part, an eyelid part and a drive assembly, the eyeball part is connected to the support part, the eyelid part is pivotally connected to the support part, and the eyelid part is covering the eyeball part. It moves between the closed position and the open position where the eyeball is exposed. The driving assembly includes a cam driving mechanism and a connecting part. The cam driving mechanism is connected with the eyelid through the connecting part. The cam driving mechanism has an extended position and a retracted position. The cam driving mechanism The reciprocating movement between the extended position and the retracted position drives the eyelids to switch between the closed position and the open position to realize the blinking action of the eye structure. In this way, the movement of the cam driving mechanism can drive the connecting part to move and pull the eyelids. Since the eye structure of the present invention has few moving structural parts, the reliability of the movement of the eyelids is guaranteed, and the robot can successfully complete the blinking action. Therefore, the fidelity of the robot to imitate living beings is improved, and the robot of the present invention avoids manual operation of eye structure movement, reduces the complexity of robot operation, and further improves the automation degree of the robot.

Description of drawings

The accompanying drawings constituting a part of the present application are used to provide a further understanding of the present invention, and the schematic embodiments and descriptions of the present invention are used to explain the present invention, and do not constitute an improper limitation of the present invention. In the attached picture:

Fig. 1 shows a structural schematic diagram of the eye structure of a robot according to an optional embodiment of the present invention;

Fig. 2 shows a schematic structural diagram of a head structure of a robot according to an alternative embodiment of the present invention.

Wherein, the above-mentioned accompanying drawings include the following reference signs:

10. Supporting part; 20. Eyeball part; 30. Eyelid part; 31. Upper eyelid; 32. Lower eyelid; 40. Driving component; 41. Cam driving mechanism; 411. Slide bar; 412. Cam; 413. Slider; 414, support bearing; 42, connecting part; 421, connecting rod; 50, elastic reset part; 60, driving motor; 70, mounting seat; 80, pin; 90, pivot shaft; 1, face shell; 11, installation space; 12. Weight reduction hole; 2. Eye structure; 3. Mouth structure; 33. First avoidance hole; 34. Second avoidance hole.

Detailed ways

The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only some, not all, embodiments of the present invention. The following description of at least one exemplary embodiment is merely illustrative in nature and in no way taken as limiting the invention, its application or uses. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without creative efforts fall within the protection scope of the present invention.

It should be noted that the terminology used here is only for describing specific implementations, and is not intended to limit the exemplary implementations according to the present application. As used herein, unless the context clearly dictates otherwise, the singular is intended to include the plural, and it should also be understood that when the terms "comprising" and/or "comprising" are used in this specification, they mean There are features, steps, operations, means, components and/or combinations thereof.

The relative arrangements of components and steps, numerical expressions and numerical values set forth in these embodiments do not limit the scope of the present invention unless specifically stated otherwise. At the same time, it should be understood that, for the convenience of description, the sizes of the various parts shown in the drawings are not drawn according to the actual proportional relationship. Techniques, methods and devices known to those of ordinary skill in the relevant art may not be discussed in detail, but where appropriate, such techniques, methods and devices should be considered part of the Authorized Specification. In all examples shown and discussed herein, any specific values should be construed as exemplary only, and not as limitations. Therefore, other examples of the exemplary embodiment may have different values. It should be noted that like numerals and letters denote like items in the following figures, therefore, once an item is defined in one figure, it does not require further discussion in subsequent figures.

In the description of the present invention, it should be understood that orientation words such as "front, back, up, down, left, right", "horizontal, vertical, vertical, horizontal" and "top, bottom" etc. indicate the orientation Or positional relationship is generally based on the orientation or positional relationship shown in the drawings, and is only for the convenience of describing the present invention and simplifying the description. In the absence of a contrary description, these orientation words do not indicate or imply the device or element referred to. It must have a specific orientation or be constructed and operated in a specific orientation, so it should not be construed as limiting the protection scope of the present invention; the orientation words "inner and outer" refer to the inner and outer relative to the outline of each component itself.

For the convenience of description, spatially relative terms may be used here, such as "on ...", "over ...", "on the surface of ...", "above", etc., to describe the The spatial positional relationship between one device or feature shown and other devices or features. It will be understood that the spatially relative terms are intended to encompass different orientations of the device in use or operation in addition to the orientation depicted in the figures. For example, if the device in the figures is turned over, devices described as "above" or "above" other devices or configurations would then be oriented "beneath" or "above" the other devices or configurations. under other devices or configurations”. Thus, the exemplary term "above" can encompass both an orientation of "above" and "beneath". The device may be otherwise oriented (rotated 90 degrees or at other orientations) and the spatially relative descriptions used herein interpreted accordingly.

In addition, it should be noted that the use of words such as "first" and "second" to define components is only for the convenience of distinguishing corresponding components. To limit the protection scope of the present invention.

In order to solve the problems of complex eye structure, high work failure rate and complex operation of existing robots in the prior art, the present invention provides a robot eye structure, a robot head structure and a robot, Wherein, wherein, the robot includes a body structure and a head structure arranged on the body structure, and the head structure is the following head structure; as shown in Figure 2, the head structure of the robot includes a face shell 1 and an eye structure 2 , wherein the face shell 1 has an installation space 11, the eye structure 2 is arranged in the installation space 11, and the eye structure 2 is the following eye structure. As shown in Figure 2, in order to improve the fidelity of the robot's simulated biological outline, the head structure also includes a mouth structure 3, and the face shell 1 is provided with a first avoidance hole 33 and a second avoidance hole 34, and the mouth structure 3 consists of The first escape hole 33 protrudes away from the installation space 11 , and the eyeball portion 20 and eyelid portion 30 of the eye structure 2 are located at the second avoidance hole 34 .

Optionally, in order to improve the flexibility of the movement of the eyelid part 30 and ensure that the eye structure 2 is authentic and reliable when simulating the blinking action of a creature, the eyelid part 30 is pivotally arranged between the support part 10 of the eye structure 2 and the face shell 1 .

Optionally, the face shell 1 of the robot is a face shell simulating a bird, and the mouth structure 3 of the robot is a mouth structure simulating a bird, so that the head structure of the robot is a head shape structure simulating a bird. Certainly the head structure of the robot of the present invention is not limited to imitating birds.

As shown in Figure 2, optionally, in order to reduce the overall weight of the head structure and reduce the support burden of the body structure supporting the head structure, so that the entire robot can achieve a lightweight design and meet the needs of users, the face shell 1 A plurality of lightening holes 12 are provided.

As shown in Figure 1, the eye structure of the robot includes a support part 10, an eyeball part 20, an eyelid part 30 and a drive assembly 40, the eyeball part 20 is connected with the support part 10, and the eyelid part 30 is pivotally connected with the support part 10 , the eyelid portion 30 moves between a closed position covering the eyeball portion 20 and an open position exposing the eyeball portion 20, the driving assembly 40 includes a cam driving mechanism 41 and a connecting portion 42, and the cam driving mechanism 41 drives the eyelid portion 30 through the connecting portion 42 Connected, the cam driving mechanism 41 has an extended position and a retracted position, and the cam driving mechanism 41 reciprocates between the extended position and the retracted position to drive the eyelid portion 30 to switch between the closed position and the open position to realize the blinking action of the eye structure .

In this way, the movement of the cam drive mechanism 41 can drive the connecting part 42 to move and pull the eyelid 30. Since the eye structure of the present invention has few moving structural parts, the reliability of the movement of the eyelid is guaranteed, and the robot can successfully complete the operation. Blinking action, thereby improving the fidelity of the robot imitating creatures, and the robot of the present invention avoids manual operation of eye structure movement, reduces the complexity of robot operation, and further improves the degree of automation of the robot.

Optionally, the support part 10 is in the shape of a plate.

As shown in FIG. 1 and FIG. 2 , the eyelid portion 30 includes an upper eyelid 31 and a lower eyelid 32 , and the connecting portion 42 includes two connecting rods 421 , and the two connecting rods 421 are hinged to the upper eyelid 31 and the lower eyelid 32 respectively. In this way, the cam driving mechanism 41 reciprocates between the retracted position and the extended position to push or pull the two connecting rods 421 to move, and the two connecting rods 421 rotate relative to the eyelid portion 30, thereby pulling the upper eyelid 31 and the lower eyelid 32 to rotate , and then realize the blinking action of the robot.

Specifically, the eyeball portion 20 has a transverse symmetry plane, and the upper eyelid 31 and the lower eyelid 32 are symmetrically arranged on both sides of the transverse symmetry plane.

Preferably, in order to limit the rotation of the connecting rod 421 relative to the eyelid portion 30 along multiple angles so as to ensure that the connecting rod 421 has a single degree of freedom of rotation relative to the eyelid portion 30, the two connecting rods 421 are connected to the upper eyelid 31 and the lower eyelid respectively. The eyelids 32 are pivotally connected.

As shown in Figure 1, specifically, the cam driving mechanism 41 includes a slider 413, a cam 412 and an elastic reset portion 50, the slider 413 is slidably arranged on the support portion 10, and the cam 412 is pivotally connected to the support portion 10 It is connected and abutted against the cam 412 , and the ends of the two connecting rods 421 away from the eyeball 20 are hinged to the slider 413 , and the elastic reset part 50 is connected to the slider 413 .

Specifically, the rotation of the cam 412 can push the slider 413 to move away from the cam 412, and when the slider 413 moves to the farthest position from the center of the cam 412, the cam driving mechanism 41 is in the extended position. When the slider 413 moves to the closest position to the center of the cam 412, the cam driving mechanism 41 is in the retracted position. When the slider 413 moves away from the cam 412, the slider 413 pushes the two connecting rods 421 to rotate. The connecting rod 421 rotates with respect to the slider 413 and the eyelid portion 30 at the same time, and the connecting rod 421 provides the eyelid portion 30 with a swing force to move to the closed position, so that the eyelid portion 30 is in the closed position; In the process of moving toward the cam 412, the slider 413 pulls the two connecting rods 421 to rotate, and the connecting rod 421 rotates with respect to the slider 413 and the eyelid portion 30 at the same time, and the connecting rod 421 provides the eyelid portion 30 with the ability to move to the open position. The swinging action is strong so that the eyelid portion 30 is in the open position. In addition, it should be noted that the connection between the elastic reset part 50 and the slider 413 can make the slider 413 always in contact with the cam 412, and provide a reset force for the slider 413 to move toward the cam 412, ensuring that the cam driving mechanism 41 for sustained motion reliability.

Preferably, in order to limit the rotation of the connecting rod 421 relative to the sliding block 413 along multiple angles, thereby ensuring that the connecting rod 421 has a single degree of freedom of rotation relative to the sliding block 413, the parts far away from the eyeball 20 of the two connecting rods 421 and the sliding Block 413 is pivotally connected. Specifically, the eye structure of the robot also includes a pivot shaft 90, one pivot shaft 90 is respectively provided on both sides of the upper eyelid 31 of the eyelid part 30, and a pivot hole is provided on the support part 10 and the face shell 1 of the robot. The eyelid 31 is pivotally connected with the support portion 10 and the face shell 1 of the robot by two pivot shafts 90 on both sides respectively. Similarly, a pivot shaft 90 is respectively provided on both sides of the lower eyelid 32 of the eyelid portion 30, and the support portion 10 and the face shell 1 of the robot are provided with pivot holes, and the lower eyelid 32 is pivotally connected with the support part 10 and the face shell 1 of the robot through two pivot shafts 90 on both sides thereof.

Optionally, the elastic reset part 50 is a tension spring.

As shown in Figure 1, in order to improve the support stability of the slider 413, ensure the long-term stable movement of the slider 413, thereby improving the reliability of the eye structure to complete the blinking action, the cam driving mechanism 41 also includes a slider 411, the slider 411 The rod 411 is disposed on the supporting portion 10 , and the slider 413 is slidably disposed on the sliding rod 411 .

As shown in FIG. 1 , the cam driving mechanism 41 further includes a support bearing 414 sleeved on the slide bar 411 , and the slide block 413 is connected to the slide bar 411 through the support bearing 414 . In this way, the movement resistance of the sliding block 413 relative to the sliding bar 411 is effectively reduced, and the excessive friction force between the sliding block 413 and the sliding bar 411 is prevented from causing wear on the sliding block 413 or the sliding bar 411 and causing the cam to drive The movement of the mechanism 41 is disabled, thereby improving the stability of the eye structure to realize the blinking action.

Optionally, the support bearing 414 is a sliding bearing.

As shown in Figure 1, there are two eyeball parts 20 and two eyelid parts 30, and the two eyeball parts 20 and the two eyelid parts 30 are provided in one-to-one correspondence, there are two connecting parts 42, and there are two sliders 413, wherein, The first ends of the two connecting parts 42 are respectively connected to the two eyelid parts 30, the second ends of the two connecting parts 42 are connected to the two sliders 413, and the two sliders 413 are respectively located on both sides of the cam 412, elastically The resetting part 50 is respectively connected with two sliders 413 . In this way, the eye structure 2 can truly simulate the eye features of various animals, making the head structure of the robot more vivid and realistic, thereby improving people's sense of experience in using the robot; not only that, but the two sliders 413 respectively The cam 412 is located on both sides of the cam 412. When the cam 412 rotates, the cam 412 can simultaneously drive the two sliders 413 to move in opposite directions, so that the two sliders 413 push the connecting part 42 to drive the two eyelids. part 30 moves to the closed position; the two ends of the elastic reset part 50 are respectively connected with two sliders 413, and during the rotation of the cam 412, the cam driving mechanism 41 moves from the extended position to the retracted position, so that the sliders 413 It is always in contact with the cam 412 , so as to provide a restoring tension for the two sliders 413 to move toward each other.

As shown in Figure 1, the eye structure of the present invention also includes two pins 80, the two pins 80 are respectively arranged on the two sliders 413, and the two ends of the elastic reset part 50 are respectively hooked on two Pin 80 on.

Preferably, the distances between the two ends of the cam 412 and the contact points of the two sliders 413 and the center of the cam 412 are equal. In this way, it is not only ensured that the cam 412 can drive the two sliders 413 to move synchronously, but also the distance between the two sliders and the center of the cam 412 is always equal, thereby ensuring that the blinking actions of the two eyelids 30 are performed simultaneously and synchronously.

As shown in FIG. 1 , in order to ensure the reliability of the blinking action of the eye structure 2 and reasonably utilize the space of the installation space 11, the drive assembly 40 also includes a drive motor 60, which is arranged on the support part 10 and is connected to the support part 10. The cam 412 is drivingly connected.

In an optional embodiment of the present invention, the eye structure further includes two mounting seats 70, the two mounting seats 70 are detachably connected to the support part 10 and protrude toward the first side of the support part 10, and the sliding bar 411 is disposed between the two installation seats 70 , the drive motor 60 is located on the second side of the support part 10 and is connected to the support part 10 through the two installation seats 70 .

The setting of the mounting seat 70 not only improves the connection stability between the slide bar 411 and the support part 10, but also reserves enough avoidance space between the slide bar 411 and the support part 10, effectively preventing the support part 10 from slipping. The motion of the rod 411 interferes, thereby improving the motion stability of the cam driving mechanism 41 . In addition, the disassembly of the mounting base 70 relative to the support portion 10 can facilitate sequential disassembly and maintenance of the cam driving mechanism 41 .

Optionally, the two mounting bases 70 are detachably connected to the support part 10 by screws.

In another optional embodiment of the present invention, the eye structure further includes two mounting seats 70, the two mounting seats 70 are fixedly arranged on the support part 10 and protrude toward the first side of the support part 10, and the sliding rod 411 is disposed between the two installation seats 70 , the drive motor 60 is located on the second side of the support part 10 and is connected to the support part 10 through the two installation seats 70 .

Similarly, the setting of the mounting seat 70 not only improves the connection stability between the slide bar 411 and the support part 10, but also reserves enough avoidance space between the slide bar 411 and the support part 10, effectively avoiding the support part 10 interferes with the motion of the slider 413, thereby improving the motion stability of the cam driving mechanism 41.

As shown in Figure 1, in order to further improve the support stability of the slider 411 to the slider 413 during the movement of the slider 413, there are two sliders 411, and the two sliders 411 are arranged at intervals. The two ends are respectively slidably sleeved on the two sliding rods 411 ; there are two elastic resetting parts 50 , and the two elastic resetting parts 50 are respectively arranged on two ends of the slider 413 .

It should be noted that the terminology used here is only for describing specific implementations, and is not intended to limit the exemplary implementations according to the present application. As used herein, unless the context clearly dictates otherwise, the singular is intended to include the plural, and it should also be understood that when the terms "comprising" and/or "comprising" are used in this specification, they mean There are features, steps, operations, means, components and/or combinations thereof.

It should be noted that the terms "first" and "second" in the description and claims of the present application and the above drawings are used to distinguish similar objects, but not necessarily used to describe a specific sequence or sequence. It is to be understood that the data so used are interchangeable under appropriate circumstances such that the embodiments of the application described herein can be practiced in sequences other than those illustrated or described herein.

The above descriptions are only preferred embodiments of the present invention, and are not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and changes. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present invention shall be included within the protection scope of the present invention.

Claims (15)

1. a kind of eye structure of robot, which is characterized in that including：

Support portion (10)；

Eyeball portion (20), the eyeball portion (20) connect with the support portion (10)；

Eyelid portion (30), the eyelid portion (30) are pivotably connected with the support portion (10)；

Drive component (40), the driving component (40) include cam drive mechanism (41), the cam drive mechanism (41) with The eyelid portion (30) is drivingly connected, and there is the cam drive mechanism (41) extended position and retracted position, the cam to drive Motivation structure (41) moves back and forth between the extended position and the retracted position to drive eyelid portion (30) to blink Action.

2. eye structure according to claim 1, which is characterized in that the driving component (40) further includes and the cam The interconnecting piece (42) that driving mechanism (41) is drivingly connected, the eyelid portion (30) includes upper eyelid (31) and lower eyelid (32), institute It includes two connecting rods (421) to state interconnecting piece (42), two connecting rods (421) respectively with the upper eyelid (31) and described Lower eyelid (32) is hinged.

3. eye structure according to claim 2, which is characterized in that the cam drive mechanism (41) includes：

Sliding block (413), the sliding block (413) are slidably disposed on the support portion (10)；

Cam (412), the cam (412) pivotly connect with the support portion (10) and are abutted with the cam (412), And the end far from the eyeball portion (20) of two connecting rods (421) is hinged with the sliding block (413)；

Elastic reset portion (50), the elastic reset portion (50) connect with the sliding block (413).

4. eye structure according to claim 3, which is characterized in that the cam drive mechanism (41) further includes slide bar (411), the slide bar (411) is set on the support portion (10), and the sliding block (413) is slidably disposed on the cunning On bar (411).

5. eye structure according to claim 4, which is characterized in that the cam drive mechanism (41) further includes support shaft It holds (414), the spring bearing (414) is set on the slide bar (411), and the sliding block (413) passes through the spring bearing (414) it is connect with the slide bar (411).

6. eye structure according to claim 3, which is characterized in that the eyeball portion (20) and the eyelid portion (30) are equal It it is two, two eyeball portions (20) and two eyelid portions (30) are arranged in a one-to-one correspondence, and the interconnecting piece (42) is two It is a, the sliding block (413) be two, wherein the first end of two interconnecting pieces (42) respectively with two eyelid portions (30) it connects, the second end of two interconnecting pieces (42) is connect with two sliding blocks (413), and two sliding blocks (413) point Not Wei Yu the cam (412) both sides, the both ends of the elastic reset portion (50) respectively with two sliding blocks (413) even It connects.

7. eye structure according to claim 6, which is characterized in that the both ends of the cam (412) respectively with two institutes The abutting of sliding block (413) is stated, and two abutments are equal with the distance between the cam (412) center.

8. eye structure according to claim 4, which is characterized in that the driving component (40) further includes driving motor (60), the driving motor (60) is arranged on the support portion (10) and is drivingly connected with the cam (412).

9. eye structure according to claim 8, which is characterized in that

The eye structure further includes two mounting bases (70), two mounting bases (70) removably with the support portion (10) it connects and is protruded towards the first side of the support portion (10) and is arranged, the slide bar (411) is arranged in two installations Between seat (70), the driving motor (60) is located at the second side of the support portion (10) and by two mounting base (70) It is connect with the support portion (10)；Or

The eye structure further includes two mounting bases (70), and two mounting bases (70) are fixed at the support portion (10) it protrudes on and towards the first side of the support portion (10) and is arranged, the slide bar (411) is arranged in two mounting bases (70) between, the driving motor (60) be located at the second side of the support portion (10) and by two mounting bases (70) with Support portion (10) connection.

10. eye structure according to claim 4, which is characterized in that the slide bar (411) is two, two cunnings Bar (411) is arranged at intervals, and the both ends of the sliding block (413) are respectively slidably set on two slide bars (411)； The elastic reset portion (50) is two, and two elastic reset portions (50) are separately positioned on the both ends of the sliding block (413).

11. a kind of head construction of robot, including facial shell (1) and eye structure (2), which is characterized in that wherein, described Facial shell (1) has installation space (11), and eye structure (2) setting is in the installation space (11), the eye Structure (2) is the eye structure described in any one of claims 1 to 10.

12. head construction according to claim 11, which is characterized in that the head construction further includes mouth structure (3), Offer the first avoid holes (33) and the second avoid holes (34) on face shell (1), the mouth structure (3) is by described the One avoid holes (33) protrude setting, and the eyeball portion of the eye structure (2) to the direction far from the installation space (11) (20) it is located at second avoid holes (34) with eyelid portion (30).

13. head construction according to claim 11, which is characterized in that the eyelid portion (30) is pivotally disposed at institute It states between the support portion (10) of eye structure (2) and the facial shell (1).

14. head construction according to claim 11, which is characterized in that offer multiple subtract on the face shell (1) Repeated hole (12).

15. a kind of robot, which is characterized in that include the head construction as described in any one of claim 11 to 14.