JP2003117255A - Eyeball structure of robot - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide an eyeball structure which is friendly of to a person and a circumferential environment and gives no load to a mobile part. SOLUTION: Soft skin 2 is fixed to upper and lower eyelids 23a and 23b for an eyeball 21. The upper and lower eyelids 23a, 23b and the eyeball 21 constitutes an eyeball sub-assembly 15 by attaching the eyelids to the both sides of the eyeball 21 so as to be rotatable. The eyeball structure is provided with a casing 13 and the eyeball sub-assembly 15 attached to the inner side of the case 13 so as to form an eye hole 30 in the casing 13 and store the eyeball 21 and the upper and lower eyelids 23a, 23b in the eye hole 30. The eyeball sub-assembly 15 includes a driving mechanism for driving the upper and lower eyelids 23a, 23b.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an eyeball structure and a robot having the structure.

[0002]

2. Description of the Related Art In a conventional robot, an outer surface of a housing made of metal, resin, or the like is exposed. Therefore, if the robot falls or collides with the surroundings, it may damage or damage surrounding objects and humans. was there. Further, since the housing and mechanical elements are exposed, the appearance is explicit, the feel is bad, and the human does not feel familiar. Many women and elderly people were not interested in robots with exposed casings and mechanisms, even if they were to perform various effects that were highly complete and reduced the distance from humans.

Some animal toys have a soft stuffed toy bonded to the surface of the toy. Even if such a stuffed toy is bonded to the robot, maintenance of the robot body becomes impossible. Further, there is a problem that the stuffed animal adhered to the robot body becomes a load on the movable part of the robot body, and the driving force is reduced. In particular, the eyelid opening / closing portion has no outer skin due to a load, and has a structure in which the eyelid component itself is exposed to the outside, which is not aesthetically preferable.

[0004]

SUMMARY OF THE INVENTION The present invention has been made in view of the above problems of the prior art, and provides humans with a feeling of familiarity,
An object of the present invention is to provide an eyeball structure that does not damage the surrounding environment and does not give a load to a movable portion, and a robot including the structure.

[0005]

As a means for solving the above problems, the present invention is one in which a flexible outer skin is fixed to the upper and lower eyelids that open and close the eyeball.

The upper and lower eyelids and the eyeball are preferably an eyeball subassembly in which the upper and lower eyelids are rotatably attached to both sides of the eyeball.

The housing has a housing to which the outer cover is attached, and an eye hole is formed in the housing. The eye subassembly is housed in the housing so that the eyeball and the upper and lower eyelids are accommodated in the eye hole. It is preferably attached inside the body.

It is preferable that the eyeball subassembly has a drive mechanism for driving the upper and lower eyelids.

Since the outer skin is applied in this manner, the housing and the mechanical elements are covered, and as a result, the human being is made familiar and the surrounding environment is not damaged. Further, since the outer cover has flexibility, it does not apply a load to the movable part and the driving force does not decrease.

The outer skin having flexibility is preferably made of a material selected from the group consisting of cloth, fur, artificial fur, sponge, and elastomer. These materials have a moderate elasticity, a good feel, and a feeling of familiarity to humans.

The eyeball structure is particularly preferably applied to animal type robots such as cats and foxes.

[0012]

BEST MODE FOR CARRYING OUT THE INVENTION Embodiments of the present invention will be described below with reference to the accompanying drawings.

FIG. 1 shows a cat-type robot having an outer skin covering structure according to the present invention. The outer skin covering structure according to the present invention is not limited to the form of a cat, a fox,
It can also be applied to dogs, birds and other animal types, plant types imitating loofah, apples, insect types such as caterpillars, tentacle type robots such as octopus and squid, or robots imitating fictional characters. .

The robot shown in FIG. 1 comprises a robot body 1 and an outer skin 2. The robot body 1 includes a body portion 3, a head portion 4, both front leg portions 5, both rear leg portions 6, and a tail portion 7. The body 3 includes a drive device (not shown) for driving the head 4, both front legs 5, both rear legs 6, and a tail 7, a control device for controlling the drive device, and the drive device and the control device. It has a built-in battery to supply power. As shown in FIG. 2, the body portion 3 is covered with a housing 8 made of synthetic resin, and the housing 8 forms the outer surface of the body of the cat. Locking holes 9 are formed at five positions on the front, rear, left and right, and the abdomen of the housing 8 so that a later-described fastener 65 of the outer cover 2 is locked.

The head 4 comprises a mask assembly 10 forming the frontal region and the face, and a base assembly 11 forming the occipital region. The mask assembly 10 is shown in FIG.
As shown in FIG. 2, the base assembly 11 is detachably coupled with a screw 12. The mask assembly 11 includes a housing 13 forming outer surfaces of the frontal region and the face, a binaural ear 14, a binocular subassembly 15, and
The lower jaw 16 is attached.

As shown in FIG. 4, the two ears 14 have a housing 13
It is attached so as to be rotatable about the connecting shaft 17 by about 90 °, and by rotating the connecting shaft 17, it is possible to change the state of lying sideways and standing to the front.

The binocular subassembly 15 has a pair of rectangular frames 19 connected by a connecting shaft 18, as shown in FIGS. Lever 20 is fixed to both ends of the connecting shaft 18. 2 eyeballs on each frame 19
1 is fixedly attached via a base 22, and upper and lower eyelids 23 for opening and closing the eyeball 21 are provided on both sides of the base 22.
A and 23b are rotatably attached by a shaft 24. A pair of protrusions 25 is provided on the upper and lower eyelids 23a and 23b. Base 22 and frame 19 of both eyes 21
A slide shaft 26 extending in the front-rear direction is provided between the two, and a T-shaped slide member 27 is slidably supported by the slide shaft 26. The slide member 27 has a protrusion 28, which is a lever 20 of the connecting shaft 18.
Is rotatably connected to. In addition, the slide member 27
Of the upper and lower eyelids 23a and 23b are formed through a pin (not shown) at both wing tips of the upper and lower eyelids 23a and 23b.
It is connected to 5.

The binocular subassembly 15 is
The eyeballs 21 and the upper and lower eyelids 23a and 23b are connected to the housing 1
It is attached to the inside of the housing 13 so as to be housed in the eye hole 30 provided in the housing 3. When the connecting shaft 18 rotates, the lever 20 rotates integrally with the connecting shaft 18, and the slide member 27 slides on the slide shaft 26 in the front-rear direction. As a result, the upper and lower eyelids 23a and 23b are opened and closed. Has become.

The lower jaw 16 is, as shown in FIG.
A shaft 31 is rotatably attached to the casing 13 so that the mouth is opened and closed by rotating the casing 13 integrally with the upper jaw 32 separated from the upper jaw 32 and moving it closer to the upper jaw 32. An engagement groove 33 is formed on the lower surface of the lower jaw 16.

As shown in FIG. 3, the base assembly 11 of the head 4 has a connecting shaft 17 for both ears 14 of the mask assembly 10 when the mask assembly 10 is joined.
(See FIG. 4) and engages with the binaural drive portion 34 that interlocks and rotates the connection shaft 17, and the connection shaft 18 of the binocular subassembly 15 (see FIG. 5). Binocular drive unit 35 for rotating 18 together and engagement groove 3 of lower jaw 16
3 (see FIG. 4) to engage the lower jaw 16 and swing the lower jaw 16 in conjunction with each other. Further, the base assembly 11 is rotatable vertically and horizontally with respect to the body portion 3 by a drive unit (not shown).

As shown in FIG. 2, the front legs 5 have upper arms 37 each having a base end rotatably connected to the body 3.
A forearm 38 rotatably connected to the tip of the upper arm 37,
It consists of a foot 39 rotatably connected to the tip of the forearm 38, and can be changed between an upright state and a sitting state. Similarly, each of the rear legs 6 has an upper leg 40 whose base end is rotatably connected to the body 3,
A lower leg 41 rotatably connected to the tip of the upper leg 40,
The leg portion 42 is rotatably connected to the tip of the lower leg 41, and can be changed between an upright state and a sitting state.

Legs 39 and 42 of both front leg portions 5 and both rear leg portions 6
Has a base portion 43, a claw portion 44, and a pad 45.
The base portion 43 has a fitting portion 46 having a U-shaped cross section at the tip, and a rectangular engaging hole 47 is formed in the bottom surface. The claw portion 44 is
It is made of a flexible material such as rubber and has a rectangular fitting hole 48 at the rear end into which the fitting portion 46 of the base portion 43 is fitted, as shown in FIG. Also, on the bottom surface of the claw portion 44,
A rectangular hole 49 is formed which matches the engaging hole 47 of the base 43 when the engaging part 46 of the base 43 is fitted in the fitting hole 48 of the claw 44. The pad 45 is the claw portion 4
4, the fitting shaft 46 of the base 43 is fitted in the fitting hole 48 of the base 4, and the mounting shaft portion has a substantially rectangular cross section and is inserted into the hole 49 of the claw 44 and the engaging hole 47 of the base 43. Has 50. The mounting shaft portion 50 has a slit 5 formed at the tip thereof.
1 imparts elasticity in the lateral direction perpendicular to the axis. A claw 52 that engages with the edge of the engaging hole 47 of the base is formed at the tip of the mounting shaft 50.

The tail portion 7 has a flexible structure, the base end of which is attached to the rear portion of the body portion 3 and is swung up, down, left and right by appropriately pulling three wires (not shown) inserted inside. It can be done.

On the other hand, as shown in FIG. 9, the outer skin 2 is a main body outer skin sewn so as to cover the body portion 3, both front leg portions 5, both rear leg portions 6 and the tail portion 7 of the robot main body 1 in advance. 6
1 and a head skin 62 sewn so as to cover the head 4. Although the outer cover 2 is made of artificial fur in the present embodiment, the outer cover 2 is not limited to this and may be made of cloth material, natural fur, sponge, elastomer, or other flexible material.

The main body outer skin 61 has an opening 63 at the neck and an opening 64 that can be opened and closed with a Velcro fastener or the like at a portion corresponding to the belly of the body 3, and the robot main body 61 can be opened by utilizing the opening 64. The body 3, the front legs 5, the rear legs 6, and the tail 7 of FIG. Further, the opening 64 is opened and closed when the battery housed in the body is replaced.

Of the main body outer skin 61, the parts corresponding to the movable parts of the robot main body 1, that is, the neck, the joints of both front leg parts 5 and both rear leg parts 6, and the outer skin of the tail part 7 expand and contract in the movable direction. On the other hand, the portion corresponding to the non-movable portion, that is, the portion other than the movable portions is formed of the non-stretchable outer skin. The elasticity of the outer cover 2 can be retained by adopting at least one of the longitudinal or horizontal fiber materials forming the outer cover 2 having elasticity.

On the inner surface of the outer skin 61 of the main body, the claw portions 44 are fixed in advance to the portions corresponding to the claw portions 44 of both the front leg portions 5 and the rear leg portions 6 by adhesion, sewing or the like.

More specifically, fasteners 65 are provided on the inner surface of the main body outer skin 61 at positions corresponding to the locking holes 9 provided on the left, right, front and back, and the belly of the body 8 of the body 3 of the robot body 1. It is installed. As shown in FIGS. 10 and 11, the fastener 65 includes a head portion 66 and elastic leg portions 67. The head portion 66 has a hole 69 through which a thread 68 having a predetermined length is inserted. The locking holes 9 are provided in both legs 67.
A claw 70 that engages with the inner edge of the is formed. The fastener 65 is a thread 68 inserted through the hole 69 of the head 66.
Is attached so as to be separated from the inner surface of the main body outer skin 61 by a predetermined distance.

As shown in FIG. 9, the head skin 62 has an opening 71 in the neck and a cut 72 formed from the opening 71 to the back of the head. The mask assembly 10 of the head 4 covers both ears 14, the forehead, the face and the lower jaw 16, and covers the occipital region of the base assembly 11. A hole 73 is formed at a position corresponding to both eyeballs 21. Further, as shown in FIG. 1, a nose head 74 is attached to a position corresponding to the nose, whiskers 75 are attached to both diagonally lower sides of the nose head 74, and the upper jaw 32 and the lower jaw 1
Between 6 is a mouthpiece 76 imitating teeth, tongue and oral surface
Is attached. The face is lined up like a real cat's face, and the hair is appropriately cut.

Of the head skin 62, the mask assembly 1
The part corresponding to the movable part of 0, that is, the base of both ears 14, the upper and lower eyelids 32a and 32b, and the base of the lower jaw 16 are made of a stretchable outer skin, and the other non-movable parts are the non-stretchable outer skin. It is composed of. The elasticity of the outer cover can be retained by adopting at least one of the longitudinal and horizontal fiber materials forming the outer cover having elasticity.

The head skin 62 is previously attached to the mask assembly 10 of the head 4 of the robot body 1. Then, of the inner surface of the head skin 62, the edges of the holes 73 corresponding to both eyes are fixed to the upper and lower eyelids 23a and 23b, and the portion corresponding to the lower jaw 16 is fixed to the lower jaw 16 by adhesion or sewing in advance. There is.

Next, a method for attaching the outer skin 2 having the above-mentioned structure to the robot body 1 will be described.

First, in a state where both front leg portions 5 and both rear leg portions 6 of the robot body 1 are bent and the tail portion 7 is bent at the base so as to be along the body portion 3, the opening 64 of the body outer skin 61 is opened. Open, the robot body 1 is housed inside from the opening 64,
The base assembly 11 of the head 4 is exposed through the opening 63, and both front leg parts 5, both rear leg parts 6 and the tail part 7 are aligned. Then, both front leg portions 5 and both rear leg portions 6 of the robot body 1 are extended and inserted into the respective portions, and the fitting portions 46 of the tip claw portions 44 are previously attached to the inner surface of the body outer skin 61. It is fitted into the fitting hole 47 of. Further, the tail portion 7 of the robot body 1 is extended and inserted into the corresponding portion. Next, each fastener 65 on the inner surface of the main body outer skin 61
Is inserted into the locking hole 9 of the body portion 3 as shown in FIG. Further, from the outside of the main body outer skin 61, the pad 49 is inserted into the engaging holes 47 of the base portion 43 and the claw portions 49 of the claw portions 44 fitted together.
The mounting shaft portion 50 is inserted and locked in the engaging hole 47 of the base portion 43. This prevents the pawl portion 44 from coming off the base portion 43.

Subsequently, the opening 71 and the slit 72 of the head outer skin 62 to which the mask assembly 10 is fixed in advance on the inner surface are opened, and the base assembly 11 of the head 4 is covered. At this time, the lower jaw 16 of the mask assembly 10 is closed, the mask assembly 10 is pressed toward the base assembly 11 to be coupled, and fixed by the screw 12.
Thereby, the connecting shaft 17 of both ears 14 of the mask assembly 10, the connecting shaft 18 of the binocular sub-assembly 15, the lower jaw 16
The engaging grooves 33 of are connected to the ear drive unit 34, the binocular drive unit 35, and the lower jaw drive unit 36 of the base assembly 11, respectively, and can be driven.

Next, the cut 72 in the neck of the head skin 62 is sewn, and the opening 71 in the neck of the head skin 62 and the body skin 6 are sewn.
The opening 63 of the neck portion 1 is sewn. As a result, the head skin 62 and the main body skin 61 are completely attached to the robot main body 1.

As described above, in the feline type robot of the present invention, since the outer skin 2 is attached to the surfaces of the casings 8 and 13 of the robot body 1, the conventional robot in which the casing and the mechanical elements are exposed. Compared with the above, it gives the user a sense of familiarity and does not damage the surrounding environment even if the user falls or collides. further,
Since the outer cover 2 has flexibility, it does not apply a load to the movable part of the robot body 1 and the driving force does not decrease. In particular, since the outer skin 2 of the movable part has elasticity, the load on the movable part can be further reduced. Further, as shown in FIG. 11, the main body outer skin 61 is allowed to move by a predetermined amount with respect to the housing 8 of the robot main body 1 by the thread 68 of the fastener 65, so that the skin becomes like a real cat. You can pinch just or pick up your neck.

In the feline type robot of the present invention, the claw portion 44 is preliminarily fixed to the inner surface of the main body outer skin 61, and the mask assembly 10 is further preliminarily fixed to the inner surface of the head outer skin 62. The deviation of 62 can be prevented.

Further, the movable parts of the mask assembly 10, that is, the ears 14, the upper and lower eyelids 23a and 23b, and the lower jaw 16 are attached close to the head outer skin 62, and these are attached to the respective drive parts of the base assembly 11. Since the gears 34, 35 and 36 are interlocked with each other, the power of the drive portions 34, 35 and 36 can be reliably transmitted to the movable portion, and the outer skin 62 can be moved exactly like in reality.

To remove the outer skin 2 from the robot body 1, first, the pad 45 is removed, the base 43 is separated from the claw 44, and both front leg parts 5, both rear leg parts 6 and the tail part 7 are pulled out and fastened. The body 3 is exposed while removing the tool 65. In this state, the screw 12 on the neck is removed to remove the mask assembly 10
When the outer cover 2 is separated from the base assembly 11, the outer cover 2 can be removed from the robot body 1. Further, in order to attach the outer skin 2 to the robot main body 1, an operation opposite to the above-described outer skin 2 removal is performed. In this way, the outer skin 2 can be easily attached and detached, so that battery replacement and maintenance can be easily performed at any time.

In FIG. 12, a pad 77 having elasticity is provided on the back surface of the housing 8 of the robot body 1 with the double-sided tape 7.
8 is attached, and the outer skin 2 is attached on the pad 77. As a result, the outer skin 2 retains bulge and elasticity, the outer shape of the limb of the cat becomes more realistic, and the feel when stroking or hugging is enhanced. A similar pad is attached to a portion that is easily touched by the user, for example, both ears 14 of the mask assembly 10, the frontal region, the face and the lower jaw 16, the abdomen of the torso 3, both the front legs 5 and both the rear legs 6, and the like. You can wear it. Also, by changing the size of these pads for each robot, it is possible to easily change the type and health of the cat.

[0041]

As is apparent from the above description, according to the present invention, since the flexible outer skin is fixed to the upper and lower eyelids for opening and closing the eyeball, the casing and the mechanical elements are covered. It gives a feeling of familiarity to humans, especially women and the elderly, and does not damage the surrounding environment. Further, since the outer cover has flexibility, it has an effect that it does not apply a load to the movable part and the driving force does not decrease.

[Brief description of drawings]

FIG. 1 is a perspective view of a robot body according to an embodiment of the present invention, which is a perspective view of a robot body.

FIG. 2 is an exploded perspective view of the robot body shown in FIG.

FIG. 3 is an enlarged exploded perspective view of the head of FIG.

4 is a side view of the head mask assembly of FIG. 3. FIG.

5A and 5B are binocular subassemblies attached to the mask assembly of FIG. 3, where FIG. 5A is a perspective view seen obliquely from the front and FIG. 5B is a perspective view seen obliquely from the rear.

FIG. 6 is an exploded perspective view of the binocular subassembly of FIG.

7 is an exploded perspective view of the foot of FIG.

8A is a cross-sectional view showing an assembled state of the foot of FIG. 2, and FIG. 8B is a cross-sectional view taken along line 8B-8B of FIG.

9 is an exploded perspective view of the outer cover of FIG.

FIG. 10 is a perspective view of the fastener attached to the outer skin of FIG. 9.

11 is a cross-sectional view showing a state in which the fastener of FIG. 10 is attached to a case body.

FIG. 12 is a perspective view of the robot body in a perspective view showing a state in which the back cover is broken and the pad is removed in another embodiment of the feline robot of the present invention.

[Explanation of symbols]

1 ... Robot body, 2 ... outer skin, 13 ... Case 15 ... Binocular subassembly, 21 ... Eyeball 23a, 23b ... Upper and lower eyelids 30 ... Eye hole

─────────────────────────────────────────────────── ───

[Procedure amendment]

[Submission date] November 1, 2002 (2002.11.
1)

[Procedure Amendment 1]

[Document name to be amended] Statement

[Name of item to be amended] Title of invention

[Correction method] Change

[Correction content]

Title of robot eye structure

[Procedure Amendment 2]

[Document name to be amended] Statement

[Name of item to be amended] Claims

[Correction method] Change

[Correction content]

[Claims]

[Procedure 3]

[Document name to be amended] Statement

[Correction target item name] 0001

[Correction method] Change

[Correction content]

[0001]

TECHNICAL FIELD The present invention relates to an eyeball structure of a robot.

[Procedure amendment 4]

[Document name to be amended] Statement

[Name of item to be corrected] 0003

[Correction method] Change

[Correction content]

Some animal toys have a soft stuffed toy bonded to the surface of the toy. Even if such a stuffed toy is bonded to the robot, maintenance of the robot body becomes impossible. Further, there is a problem that the stuffed animal adhered to the robot body becomes a load on the movable part of the robot body, and the driving force is reduced.

[Procedure Amendment 5]

[Document name to be amended] Statement

[Correction target item name] 0004

[Correction method] Change

[Correction content]

[0004]

SUMMARY OF THE INVENTION The present invention has been made in view of the above problems of the prior art, and provides humans with a feeling of familiarity,
An object is to provide an eyeball structure of a robot that does not damage the surrounding environment and does not give a load to a movable part.

[Procedure correction 6]

[Document name to be amended] Statement

[Name of item to be corrected] 0005

[Correction method] Change

[Correction content]

[0005]

[Means for Solving the Problems] As means for solving the above problems, the present invention provides an eye hole in a casing forming a face of a robot, and an eyeball in the eye hole and an eyelid for opening and closing the eyeball. A hole is formed in a position corresponding to the eyeball of the outer skin having flexibility to cover the housing, and the inner edge of the hole of the outer skin is fixed to the eyelid.

[Procedure Amendment 7]

[Document name to be amended] Statement

[Correction target item name] 0006

[Correction method] Change

[Correction content]

The eyelid and the eyeball are a binocular subassembly in which the eyelid is rotatably attached to both sides of the eyeball.

[Procedure Amendment 8]

[Document name to be amended] Statement

[Correction target item name] 0007

[Correction method] Change

[Correction content]

The binocular subassembly is mounted inside the housing.

[Procedure Amendment 9]

[Document name to be amended] Statement

[Correction target item name] 0008

[Correction method] Change

[Correction content]

The binocular subassembly has a pair of frames connected by a connecting shaft, levers are fixed to both ends of the connecting shaft, eyeballs are fixed to the frames via a base, and the eyelids are attached to the eyelids. A protrusion is formed, a slide shaft is installed between the eyeball and the frame in the front-rear direction, a T-shaped slide member is slidably supported by the slide shaft, and the protrusion provided on the slide member is rotated by the lever. The slide member is operatively connected to each other, and long holes are formed at both blade ends of the slide member, and the long holes are connected to the protrusions of the eyelid via pins.

[Procedure Amendment 10]

[Document name to be amended] Statement

[Correction target item name] 0013

[Correction method] Change

[Correction content]

FIG. 1 shows a cat type robot having an eyeball structure according to the present invention. Eye structure according to the present invention is not limited to the form of cats, fox, dog, other animal types of birds, loofah, plant type imitating apple, etc.,
Insect type robots such as potatoes, tentacle type robots such as octopus and squid,
Alternatively, it can be applied to a robot imitating a fictional character. ─────────────────────────────────────────────────── ───

[Procedure amendment]

[Submission date] December 17, 2002 (2002.12.
17)

[Procedure Amendment 1]

[Document name to be amended] Statement

[Name of item to be amended] Claims

[Correction method] Change

[Correction content]

[Claims]

[Procedure Amendment 2]

[Document name to be amended] Statement

[Name of item to be corrected] 0005

[Correction method] Change

[Correction content]

[0005]

As a means for solving the above problems, the present invention provides a base assembly forming a occipital region of a robot head and a mask assembly detachably connected to the base assembly. And a housing for forming the face of the mask assembly, in which an eye hole is provided, the eye hole and the upper and lower eyelids that open and close the eye are accommodated, and the outer skin having flexibility to cover the head. Is previously attached to the mask assembly, a hole is formed in the outer skin at a position corresponding to the eyeball, and the edge of the hole of the outer skin is fixed to the upper and lower eyelids.

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Claims (5)

[Claims] 1. An eyeball structure comprising a flexible outer skin fixed to upper and lower eyelids for opening and closing the eyeball. 2. The eyeball structure according to claim 1, wherein the upper and lower eyelids and the eyeball are an eyeball subassembly in which the upper and lower eyelids are rotatably attached to both sides of the eyeball. 3. An eyeball subassembly having a casing to which the outer skin is attached, wherein the casing has an eye hole formed therein, and the eyeball and the upper and lower eyelids are accommodated in the eyehole. The eyeball structure according to claim 2, wherein the eyeball structure is mounted inside the housing. 4. The eyeball structure according to claim 2, wherein the eyeball subassembly includes a drive mechanism that drives the upper and lower eyelids. 5. A robot provided with the eyeball structure according to claim 1.