CN206296917U - The eye structure of robot, the head construction of robot and robot - Google Patents

Abstract

The utility model provides a kind of eye structure of robot, the head construction and robot of robot, wherein, eye structure includes：Supporting plate component；Eyeball portion, eyeball portion is connected with supporting plate component；Eyelid portion, eyelid portion is pivotably connected with supporting plate component, and eyelid portion moves between the open position for covering the closing position in eyeball portion and exposing eyeball portion；Drive component, drive component includes the slider-crank mechanism and flexible scissors mechanism that are connected, wherein, slider-crank mechanism is connected with eyelid portion, flexible scissors mechanism has retracted position and extended position, and flexible scissors mechanism moves back and forth the blink action that eye structure is realized to drive eyelid portion to switch between closing position and open position between retracted position and extended position.The utility model solves the problems, such as that the complex structure of the eye structure of robot of the prior art, work failure rate are high and existing robot manipulation is complicated.

Description

The eye structure of robot, the head construction of robot and robot

Technical field

The utility model is related to robot field, in particular to a kind of eye structure of robot, the head of robot Portion's structure and robot.

Background technology

Bio-robot be can mimic biology, be engaged in biological characteristic work robot, for example, in western countries, machine Tool pet is all the fashion, and bionical sparrow robot can serve as the task of environmental monitoring, then for example, anthropomorphic robot can be people Class provides many convenient services, therefore, bio-robot increasingly obtains the attention of people, with good development prospect.

In order that the characteristics of bio-robot simulation more true to nature is biological, bio-robot is usually provided with blink The eye structure of function, the eye structure of existing bio-robot is very complicated, and complicated eye structure is easy to break down, So as to cause the operation stability of bio-robot poor, and the eye structure of existing bio-robot generally needs operator Member rotates handle and could obtain power input, therefore, there is complex operation in existing bio-robot.

Utility model content

Main purpose of the present utility model is the head construction and machine for providing a kind of eye structure of robot, robot Device people, to solve, the complex structure of the eye structure of robot of the prior art, work failure rate be high and existing machine The problem of people's complex operation.

To achieve these goals, according to one side of the present utility model, there is provided a kind of eye structure of robot, Including：Supporting plate component；Eyeball portion, eyeball portion is connected with supporting plate component；Eyelid portion, eyelid portion is pivotable with supporting plate component Ground connection, eyelid portion moves between the open position for covering the closing position in eyeball portion and exposing eyeball portion；Drive component, drives Dynamic component includes the slider-crank mechanism and flexible scissors mechanism that are connected, wherein, slider-crank mechanism is connected with eyelid portion, stretches Contracting scissors mechanism has retracted position and extended position, and flexible scissors mechanism is moved back and forth between retracted position and extended position The blink action of eye structure is realized to drive eyelid portion to switch between closing position and open position.

Further, eyeball portion and eyelid portion are two, and two eyeball portions and two eyelid portions correspond and set, its In, eyeball portion has crosswise symmetric plane, and eyelid portion includes upper eyelid and lower eyelid, and upper eyelid and lower eyelid are symmetricly set on horizontal stroke To the both sides of symmetrical plane.

Further, slider-crank mechanism includes：Sliding bar, sliding bar is slidably disposed on supporting plate component, is stretched Contracting scissors mechanism is pivotally connected to drive sliding bar to slide with sliding bar；Two connecting rods, two first ends of connecting rod with Sliding bar is pivotally connected, and two the second ends of connecting rod are pivotally connected with upper eyelid and lower eyelid respectively.

Further, supporting plate component includes the first installing plate and the second installing plate that are oppositely arranged, the first installing plate and Receiving space is formed between second installing plate, drive component is arranged at receiving space, the two ends for sliding bar are pacified with first respectively Dress plate and the second installing plate are slidably connected.

Further, supporting plate component also includes chute supported structure, and chute supported structure is two, two chute supporteds Structure is separately positioned on the first installing plate and the second installing plate, and drive component also includes two rolling bearings, two axis of rolling The two ends for being separately positioned on sliding bar axial direction are held, sliding bar is slidably connected by rolling bearing with chute supported structure.

Further, two chute supported structures are the installation being opened in respectively on the first installing plate and the second installing plate Groove.

Further, the groove bearing of trend of chute supported structure and the telescopic direction of flexible scissors mechanism are each parallel to transverse direction Symmetrical plane.

Further, eye structure also includes back-moving spring, and the two ends of back-moving spring are connected with two connecting rods respectively.

Further, flexible scissors mechanism includes：Master arm, master arm is rotatably arranged on supporting plate component；From Movable arm-set, the two ends of driven arm component are pivotally connected with two sliding bars respectively, and master arm is connected to drive with driven arm component Driven arm component is moved to be moved back and forth between retracted position and extended position.

Further, driven arm component includes：Multiple first slave arms, sequentially pivot connects multiple first slave arm head and the tail Connect；Multiple second slave arms, multiple second slave arms are arranged in a crossed manner with multiple first slave arms one-to-one corresponding, and one group corresponding The first slave arm and the second slave arm be pivotally connected.

Further, rotary shaft is provided with master arm, master arm is rotated around rotary shaft relative to supporting plate component, actively Arm is pivotally connected with first slave arm, and master arm and the first slave arm connect to form two pivoting points, two pivoting points Respectively positioned at the both sides of rotary shaft；Or master arm is pivotally connected with second slave arm, and master arm and the second slave arm connect Connect to form two pivoting points, two pivoting points are respectively positioned at the both sides of rotary shaft.

Further, drive component also includes motor and cam, and motor is connected with actuated by cams, motor It is arranged on supporting plate component, the circumferential end faces of cam abut to drive master arm to rotate with master arm.

According to another aspect of the present utility model, there is provided a kind of head construction of robot, including facial shell and eye Portion's structure, wherein, facial shell has installing space, and eye structure is arranged in installing space, and eye structure is above-mentioned eye Portion's structure.

Further, also including mouth structure, the first avoidance hole and second is offered on facial shell and avoids hole, mouth knot Structure avoids hole and setting is protruded to the side away from installing space from first, and the eyeball portion and eyelid portion of eye structure are located at second Avoid at hole.

Further, eyelid portion is pivotally disposed between the supporting plate component of eye structure and facial shell.

According to another aspect of the present utility model, there is provided a kind of robot, including head construction described above.

Using the technical solution of the utility model, because the eye structure of robot includes supporting plate component, eyeball portion, eye Skin zone and drive component, eyeball portion are connected with supporting plate component, and eyelid portion is pivotably connected with supporting plate component, and eyelid portion exists Moved between the closing position in covering eyeball portion and the open position for exposing eyeball portion, drive component includes the slide crank being connected Block mechanism and flexible scissors mechanism, wherein, slider-crank mechanism is connected with eyelid portion, flexible scissors mechanism have retracted position and Extended position, flexible scissors mechanism moved back and forth between retracted position and extended position driving eyelid portion in closing position and Switch between open position and realize the blink of eye structure and act.So, song can be driven by the motion of the scissors mechanism that stretches Handle slide block mechanism is moved and realizes pulling eyelid portion, because the motion structure part of eye structure of the present utility model is few, so as to protect The reliability of eyelid portion motion is demonstrate,proved, robot is favorably accomplished blink and is acted, so as to improve robot mimic biology Verisimilitude, and robot of the present utility model avoids artificial operation eye structure motion, reduces answering for robot manipulation Polygamy, further increases the automaticity of robot.

Brief description of the drawings

The Figure of description for constituting the part of the application is used for providing being further understood to of the present utility model, this practicality New schematic description and description is used to explain the utility model, does not constitute to improper restriction of the present utility model. In the accompanying drawings：

Fig. 1 is shown according to a kind of structural representation of the eye structure of the robot of alternative embodiment of the present utility model Figure；

The mouth structure and the structure of the eye structure for eliminating the first installing plate that Fig. 2 shows the robot in Fig. 1 are shown It is intended to；

Fig. 3 is shown according to a kind of structural representation of the head construction of the robot of alternative embodiment of the present utility model Figure；

Fig. 4 shows the structural representation at another visual angle of the head construction in Fig. 3.

Wherein, above-mentioned accompanying drawing is marked including the following drawings：

1st, facial shell；15th, installing space；16th, first hole is avoided；17th, second hole is avoided；2nd, mouth structure；3rd, eye Structure；10th, supporting plate component；11st, the first installing plate；12nd, the second installing plate；13rd, receiving space；14th, chute supported structure； 20th, eyeball portion；30th, eyelid portion；31st, upper eyelid；32nd, lower eyelid；40th, drive component；41st, slider-crank mechanism；411st, slide Bar；412nd, connecting rod；42nd, stretch scissors mechanism；421st, master arm；422nd, driven arm component；423rd, the first slave arm；424th, Two slave arms；425th, rotary shaft；426th, pivoting point；43rd, rolling bearing；50th, back-moving spring；60th, motor；70th, cam.

Specific embodiment

Below in conjunction with the accompanying drawing in the utility model embodiment, the technical scheme in the utility model embodiment is carried out Clearly and completely describe, it is clear that described embodiment is only a part of embodiment of the utility model, rather than whole Embodiment.The description only actually at least one exemplary embodiment is illustrative below, never as to this practicality New and its application or any limitation for using.Based on the embodiment in the utility model, those of ordinary skill in the art are not having There is the every other embodiment made and being obtained under the premise of creative work, belong to the scope of the utility model protection.

It should be noted that term used herein above is merely to describe specific embodiment, and be not intended to restricted root According to the illustrative embodiments of the application.As used herein, unless the context clearly indicates otherwise, otherwise singulative Be also intended to include plural form, additionally, it should be understood that, when in this manual use term "comprising" and/or " bag Include " when, it indicates existing characteristics, step, operation, device, component and/or combinations thereof.

Unless specifically stated otherwise, the part and positioned opposite, the digital table of step for otherwise illustrating in these embodiments Scope of the present utility model is not limited up to formula and numerical value.Simultaneously, it should be appreciated that each shown in accompanying drawing for the ease of description The size of individual part is not to be drawn according to actual proportionate relationship.For skill known to person of ordinary skill in the relevant Art, method and apparatus may be not discussed in detail, but in the appropriate case, the technology, method and apparatus should be considered as awarding Weigh a part for specification.In all examples shown here and discussion, any occurrence should be construed as merely example Property, not as limitation.Therefore, the other examples of exemplary embodiment can have different values.It should be noted that：It is similar Label and letter similar terms is represented in following accompanying drawing, therefore, once be defined in a certain Xiang Yi accompanying drawing, then with It need not be further discussed in accompanying drawing afterwards.

In description of the present utility model, it is to be understood that the noun of locality such as " forward and backward, upper and lower, left and right ", " laterally, Vertically, vertically, level " and the indicated orientation such as " top, bottom " or position relationship be normally based on orientation shown in the drawings or position Relation is put, description the utility model is for only for ease of and is simplified description, in the case where opposite explanation is not made, these nouns of locality Do not indicate that and imply that the device or element of meaning there must be specific orientation or with specific azimuth configuration and operation, because This is it is not intended that limitation to the utility model protection domain；The noun of locality " inside and outside " refers to the wheel relative to each part in itself Wide is inside and outside.

For the ease of description, space relative terms can be used herein, such as " ... on ", " ... top ", " in ... upper surface ", " above " etc., for describing such as a device shown in the figure or feature and other devices or spy The spatial relation levied.It should be appreciated that space relative terms are intended to comprising the orientation except device described in figure Outside different azimuth in use or operation.If for example, the device in accompanying drawing is squeezed, be described as " in other devices To be positioned as " under other devices or construction after the device of part or construction top " or " on other devices or construction " Side " or " under other devices or construction ".Thus, exemplary term " ... top " can include " ... top " and " in ... lower section " two kinds of orientation.The device can also other different modes positioning (being rotated by 90 ° or in other orientation), and And respective explanations are made to the relative description in space used herein above.

Furthermore, it is necessary to explanation, limits parts, it is only for be easy to using the word such as " first ", " second " Corresponding parts are distinguished, such as without Stated otherwise, above-mentioned word does not have particular meaning, therefore it is not intended that to this The limitation of utility model protection scope.

In order to the complex structure, the work failure rate that solve the eye structure of robot of the prior art are high and existing The complicated problem of robot manipulation, the utility model provide a kind of eye structure of robot, the head construction of robot and Robot, wherein, robot includes body structure and the head construction being arranged in body structure, and head construction is following heads Portion's structure；As shown in Figure 3 and Figure 4, the head construction of robot includes facial shell 1 and eye structure 3, and facial shell 1 has Installing space 15, eye structure 3 is arranged in installing space 15, and eye structure 3 is following eye structure；As shown in figure 3, being The verisimilitude of robot simulation's biology appearance profile is improved, head construction also includes mouth structure 2, opens up on facial shell 1 There is the first avoidance hole 16 and second to avoid hole 17, it is convex to the side away from installing space 15 that mouth structure 2 avoids hole 16 from first Go out to set, and the eyeball portion 20 and eyelid portion 30 of eye structure 3 are located at the second avoidance hole 17.

Alternatively, in order to improve the flexibility that eyelid portion 30 moves, it is ensured that eye structure 3 is simulated true when biological blink is acted Real reliable, eyelid portion 30 is pivotally disposed between the supporting plate component 10 of eye structure 3 and facial shell 1.

Alternatively, the facial shell 1 of robot is the facial shell of simulation birds, and the mouth structure 2 of robot is simulation The mouth structure of birds, so that the head construction of robot is the head configuration structure for simulating birds.Certain this practicality is new The head construction of the robot of type is not limited to simulate birds.

As shown in Figures 1 to 4, because the eye structure of robot includes supporting plate component 10, eyeball portion 20, eyelid portion 30 With drive component 40, eyeball portion 20 is connected with supporting plate component 10, and eyelid portion 30 is pivotably connected with supporting plate component 10, eye Skin zone 30 moves between the open position for covering the closing position in eyeball portion 20 and exposing eyeball portion 20, and drive component 40 includes The slider-crank mechanism 41 and flexible scissors mechanism 42 being connected, wherein, slider-crank mechanism 41 is connected with eyelid portion 30, stretches Scissors mechanism 42 has retracted position and extended position, and flexible scissors mechanism 42 is back and forth transported between retracted position and extended position The dynamic blink action that eye structure 3 is realized to drive eyelid portion 30 to switch between closing position and open position.

So, slider-crank mechanism 41 can be driven to move by the motion of the scissors mechanism 42 that stretches and realizes pulling eyelid Portion 30, because the motion structure part of eye structure of the present utility model 3 is few, so as to ensure that the reliability of the motion of eyelid portion 30, Make robot favorably accomplish blink to act, it is so as to improve the verisimilitude of robot mimic biology and of the present utility model Robot avoids artificial operation eye structure 3 and moves, and reduces the complexity of robot manipulation, further increases robot Automaticity.

As shown in Figure 1 to Figure 3, eyeball portion 20 and eyelid portion 30 are two, two eyeball portions 20 and two eyelid portions 30 Correspond and set, wherein, eyeball portion 20 has crosswise symmetric plane, and eyelid portion 30 includes upper eyelid 31 and lower eyelid 32, on Eyelid 31 and lower eyelid 32 are symmetricly set on the both sides of crosswise symmetric plane.So, eye structure 3 can truly simulation it is various The eye feature of animal, makes the head construction of robot vivider more true to nature, so as to improve experience of the people to robot Sense.

As depicted in figs. 1 and 2, slider-crank mechanism 41 includes sliding bar 411 and two connecting rods 412, and sliding bar 411 can It is slidably arranged on supporting plate component 10, flexible scissors mechanism 42 is pivotally connected to drive sliding bar 411 to slide with sliding bar 411 Dynamic, two first ends of connecting rod 412 are pivotally connected with sliding bar 411, two the second ends of connecting rod 412 respectively with upper eye Skin 31 and lower eyelid 32 are pivotally connected.So, stretch scissors mechanism 42 moved back and forth between retracted position and extended position from And promote sliding bar 411 to move along a straight line, two connecting rods 412 can be driven to rotate and pull so as to slide bar 411 Eyelid 31 and lower eyelid 32 rotate, and then realize the blink action of robot.

As shown in Figure 1, Figure 2 and Figure 4, supporting plate component 10 includes the first installing plate 11 and the second installing plate that are oppositely arranged 12, receiving space 13 is formed between the first installing plate 11 and the second installing plate 12, drive component 40 is arranged at receiving space 13, The two ends for sliding bar 411 are slidably connected with the first installing plate 11 and the second installing plate 12 respectively.So, the first installing plate 11 and Two installing plates 12 have been not only acted as to the effectively support limit effect of sliding bar 411, have effectively planned the sliding of sliding bar 411 Receiving space 13 between path, and the first installing plate 11 and the second installing plate 12 is slider-crank mechanism 41 and flexible scissor Mechanism 42 there is provided enough spaces, it is ensured that the motion reliability of slider-crank mechanism 41 and flexible scissors mechanism 42 Property.

It should be noted that the installing space 15 in order to effectively, reasonably utilize facial shell 1, the first installing plate 11 It is be arranged in parallel with the second installing plate 12.Specifically, connected by multiple connecting poles between the first installing plate 11 and the second installing plate 12 Connect, multiple connecting poles are located in receiving space 13, and around the first installing plate 11 or the periphery interval setting of the second installing plate 12, this Sample is that ensure that the connective stability between the first installing plate 11 and the second installing plate 12, turn avoid and takes receiving space 13 Internal excessive space and interfere the motion of slider-crank mechanism 41 or flexible scissors mechanism 42.

As depicted in figs. 1 and 2, supporting plate component 10 also includes chute supported structure 14, and chute supported structure 14 is two, Two chute supported structures 14 are separately positioned on the first installing plate 11 and the second installing plate 12, and drive component 40 also includes two Rolling bearing 43, two rolling bearings 43 are separately positioned on the two ends of sliding bar 411 axial direction, and sliding bar 411 passes through rolling bearing 43 are slidably connected with chute supported structure 14.So, rolling bearing 43 is rolled at chute supported structure 14, is efficiently reduced Frictional force between sliding bar 411 and supporting plate component 10, extends the service life of eye structure 3, and set and support The chute supported structure 14 that board component 10 is detachably connected, chute supported structure 14 can not only effectively plan sliding bar 411 Sliding path, improve the connective stability of sliding bar 411 and supporting plate component 10, and be also convenient for the chute supported to wearing and tearing Structure 14 is changed, and equally serves the effect of the service life of extension eye structure 3.

Alternatively, in an alternative embodiment (not shown) of the present utility model, two chute supported structures 14 are to divide The mounting groove on the first installing plate 11 and the second installing plate 12 is not opened in.

In the present embodiment, the chute supported structure 14 for being set on the first installing plate 11 is body structure, and chute supported Structure 14 is removably connected with the first installing plate 11, and the chute supported structure 14 set on the second installing plate 12 is mounting groove, Chute supported structure 14 in body structure has guide chute, and the one end for sliding bar 411 is set by a rolling bearing 43 In guide chute, the other end for sliding bar 411 is slideably overlapped on the edge of mounting groove by a rolling bearing 43.

Alternatively, the groove bearing of trend of chute supported structure 14 and the telescopic direction of flexible scissors mechanism 42 are each parallel to horizontal stroke To symmetrical plane.So, enabling the motion of upper eyelid 31 and lower eyelid 32 is synchronously carried out, the position of upper eyelid 31 and lower eyelid 32 Putting can constantly be arranged on the both sides of crosswise symmetric plane, and then improve the reliability that eye structure 3 simulates biological blink action Property.

As depicted in figs. 1 and 2, the scissors mechanism 42 that stretches includes master arm 421 and driven arm component 422, and master arm 421 can It is rotatably arranged on supporting plate component 10, the two ends of driven arm component 422 are pivotally connected with two sliding bars 411 respectively, it is main Swing arm 421 and driven arm component 422 connect to drive driven arm component 422 back and forth to be transported between retracted position and extended position It is dynamic.

Specifically, driven arm component 422 includes multiple first slave arms 423 and multiple second slave arms 424；Multiple first The head and the tail of slave arm 423 are sequentially pivotally connected, and multiple second slave arms 424 are corresponded to intersect and set with multiple first slave arms 423 Put, and one group of corresponding first slave arm 423 and the second slave arm 424 are pivotally connected.This way it is ensured that flexible scissors mechanism The stretching motion of 42 stabilizations.

Alternatively, multiple first slave arms 423 are sequentially pivotally connected along the direction head and the tail away from eyelid portion 30.

As shown in Fig. 2 being provided with rotary shaft 425 on master arm 421, master arm 421 is around rotary shaft 425 relative to supporting plate Component 10 is rotated, and specifically, master arm 421 is pivotally connected by around rotary shaft 425 with the first installing plate 11.In the present embodiment In, master arm 421 is pivotally connected with first slave arm 423, and the connection of 421 and first slave arm of master arm 423 forms two Individual pivoting point 426, two pivoting points 426 are respectively positioned at the both sides of rotary shaft 425.

Certainly, for the flexibility for ensureing to be connected between master arm 421 and driven arm component 422, master arm 421 and one Second slave arm 424 is pivotally connected, and the connection of 421 and second slave arm of master arm 424 forms two pivoting points 426, two pivots Contact 426 is respectively positioned at the both sides of rotary shaft 425.

As depicted in figs. 1 and 2, in order to ensure the reliability that eye structure 3 is moved, drive component 40 also includes motor 60 and cam 70, motor 60 and the drive connection of cam 70, motor 60 are arranged on supporting plate component 10, cam 70 Circumferential end faces abut to drive master arm 421 to rotate with master arm 421.Wherein, motor 60 and cam 70 are used as driving group The power section of part 40 drives slider-crank mechanism 41 and flexible scissors mechanism 42 stably to move.

As depicted in figs. 1 and 2, eye structure 3 also includes back-moving spring 50, the two ends of back-moving spring 50 respectively with two companies Extension bar 412 is connected.It should be noted that when flexible scissors mechanism 42 is in the close position in extended position, eyeball portion 20, Back-moving spring 50 is in extended state, and so, back-moving spring 50 is always two connecting rods 412 and provides pulling force, makes eyeball portion 20 With the trend moved towards open position, so as to ensure that master arm 421 is contacted with cam 70 all the time.

It should be noted that term used herein above is merely to describe specific embodiment, and be not intended to restricted root According to the illustrative embodiments of the application.As used herein, unless the context clearly indicates otherwise, otherwise singulative Be also intended to include plural form, additionally, it should be understood that, when in this manual use term "comprising" and/or " bag Include " when, it indicates existing characteristics, step, work, device, component and/or combinations thereof.

It should be noted that term " first ", " in the description and claims of this application and above-mentioned accompanying drawing Two " it is etc. for distinguishing similar object, without for describing specific order or precedence.It should be appreciated that so using Data can exchange in the appropriate case, so that presently filed embodiment described herein can be with except illustrating herein Or the order beyond those of description is implemented.

Preferred embodiment of the present utility model is the foregoing is only, the utility model is not limited to, for this For the technical staff in field, the utility model can have various modifications and variations.It is all it is of the present utility model spirit and principle Within, any modification, equivalent substitution and improvements made etc. should be included within protection domain of the present utility model.

Claims (16)

1. a kind of eye structure of robot, it is characterised in that including：

Supporting plate component (10)；

Eyeball portion (20), the eyeball portion (20) is connected with the supporting plate component (10)；

Eyelid portion (30), the eyelid portion (30) is pivotably connected with the supporting plate component (10), the eyelid portion (30) Moved between the open position for covering the closing position of the eyeball portion (20) and exposing the eyeball portion (20)；

Drive component (40), the drive component (40) includes the slider-crank mechanism (41) being connected and flexible scissors mechanism (42), wherein, the slider-crank mechanism (41) is connected with the eyelid portion (30), and the flexible scissors mechanism (42) is with receipts Condense and put and extended position, the flexible scissors mechanism (42) moves back and forth between the retracted position and the extended position The eye structure (3) is realized to drive the eyelid portion (30) to switch between the closing position and the open position Blink is acted.

2. eye structure according to claim 1, it is characterised in that the eyeball portion (20) and the eyelid portion (30) are It is two, two eyeball portions (20) and two eyelid portions (30) correspond and set, wherein, the eyeball portion (20) With crosswise symmetric plane, the eyelid portion (30) includes upper eyelid (31) and lower eyelid (32), the upper eyelid (31) and institute State the both sides that lower eyelid (32) is symmetricly set on the crosswise symmetric plane.

3. eye structure according to claim 2, it is characterised in that the slider-crank mechanism (41) includes：

Sliding bar (411), sliding bar (411) is slidably disposed on the supporting plate component (10), the telescoping scissors Fork mechanism (42) is pivotally connected to drive sliding bar (411) to slide with sliding bar (411)；

Two connecting rods (412), two first ends of the connecting rod (412) are pivotally connected with sliding bar (411), and two Second end of the individual connecting rod (412) is pivotally connected with the upper eyelid (31) and the lower eyelid (32) respectively.

4. eye structure according to claim 3, it is characterised in that the supporting plate component (10) is including what is be oppositely arranged First installing plate (11) and the second installing plate (12), form between first installing plate (11) and second installing plate (12) Receiving space (13), the drive component (40) is arranged on the receiving space (13) place, the two ends point of the sliding bar (411) It is not slidably connected with first installing plate (11) and second installing plate (12).

5. eye structure according to claim 4, it is characterised in that the supporting plate component (10) also includes chute supported Structure (14), the chute supported structure (14) is two, and two chute supported structures (14) are separately positioned on described On one installing plate (11) and second installing plate (12), the drive component (40) also includes two rolling bearings (43), two The individual rolling bearing (43) is separately positioned on the two ends of sliding bar (411) axial direction, and the sliding bar (411) is by described Rolling bearing (43) is slidably connected with the chute supported structure (14).

6. eye structure according to claim 5, it is characterised in that two chute supported structures (14) to open respectively It is located at the mounting groove on first installing plate (11) and second installing plate (12).

7. eye structure according to claim 5, it is characterised in that the groove bearing of trend of the chute supported structure (14) With the telescopic direction of the flexible scissors mechanism (42) each parallel to the crosswise symmetric plane.

8. eye structure according to claim 3, it is characterised in that the eye structure (3) also includes back-moving spring (50), the two ends of the back-moving spring (50) are connected with two connecting rods (412) respectively.

9. eye structure according to claim 3, it is characterised in that the flexible scissors mechanism (42) includes：

Master arm (421), the master arm (421) is rotatably arranged on the supporting plate component (10)；

Driven arm component (422), sliding bar (411) described with two pivots company respectively at the two ends of the driven arm component (422) Connect, the master arm (421) is connected to drive the driven arm component (422) in the receipts with the driven arm component (422) Condense to put and moved back and forth and the extended position between.

10. eye structure according to claim 9, it is characterised in that the driven arm component (422) includes：

Multiple first slave arms (423), multiple first slave arm (423) head and the tail are sequentially pivotally connected；

Multiple second slave arms (424), multiple second slave arms (424) are with multiple first slave arms (423) one by one Correspondence is arranged in a crossed manner, and one group of corresponding first slave arm (423) and second slave arm (424) are pivotally connected.

11. eye structures according to claim 10, it is characterised in that be provided with rotary shaft on the master arm (421) (425), the master arm (421) rotates around the rotary shaft (425) relative to the supporting plate component (10),

Master arm (421) first slave arm (423) described with is pivotally connected, and the master arm (421) and described First slave arm (423) connection forms two pivoting points (426), and two pivoting points (426) are located at the rotary shaft respectively (425) both sides；Or

Master arm (421) second slave arm (424) described with is pivotally connected, and the master arm (421) and described Second slave arm (424) connection forms two pivoting points (426), and two pivoting points (426) are located at the rotary shaft respectively (425) both sides.

12. eye structures according to claim 9, it is characterised in that the drive component (40) also includes motor (60) and cam (70), the motor (60) and the cam (70) drive connection, the motor (60) is arranged on On the supporting plate component (10), the circumferential end faces of the cam (70) abut to drive the master with the master arm (421) Swing arm (421) is rotated.

13. a kind of head constructions of robot, it is characterised in that including facial shell (1) and eye structure (3), wherein, it is described With installing space (15), the eye structure (3) is arranged in the installing space (15) facial shell (1), the eye Eye structure of the structure (3) any one of claim 1 to 12.

14. head constructions according to claim 13, it is characterised in that also including mouth structure (2), the facial shell (1) the first avoidance hole (16) and second is offered on and avoids hole (17), the mouth structure (2) avoids hole (16) by described first To away from the installing space (15) side protrude set, and the eye structure (3) eyeball portion (20) and eyelid portion (30) hole (17) place is avoided positioned at described second.

15. head constructions according to claim 13, it is characterised in that the eyelid portion (30) is pivotally disposed at institute State between the supporting plate component (10) of eye structure (3) and the facial shell (1).

16. a kind of robots, it is characterised in that including the head construction as any one of claim 13 to 15.