WO2019114143A1

WO2019114143A1 - Robot head structure and robot having same

Info

Publication number: WO2019114143A1
Application number: PCT/CN2018/079762
Authority: WO
Inventors: 刘若鹏; 元东维; 尹东富; 郑雷; 郑杨
Original assignee: 深圳光启合众科技有限公司; 深圳光启创新技术有限公司
Priority date: 2017-12-12
Filing date: 2018-03-21
Publication date: 2019-06-20
Also published as: CN207564488U

Abstract

Disclosed are a robot head structure and a robot having same, the robot head structure comprising a mouth bionic mechanism (100). The mouth bionic mechanism (100) comprises: a first support frame assembly (10); a mouth portion (20), the mouth portion (20) comprising an upper lip (21) and a lower lip (22), and the upper lip (21) and/or the lower lip (22) being pivotably connected to the first support frame assembly (10); and a mouth portion driving device (30), an eccentric wheel (32) being provided on the mouth portion driving device (30), the eccentric wheel (32) being in driving connection with the upper lip (21) and/or the lower lip (22) so as to move the upper lip (21) and the lower lip (22) between a first open position and a first closed position. The robot head structure solves the problem of the structure of the humanoid robot being complicated in the prior art.

Description

Robot's head structure and robot with it

Technical field

The utility model relates to the field of robots, in particular to a head structure of a robot and a robot therewith.

Background technique

Bionic robots are robots that can imitate creatures and engage in biological characteristics. Humanoid robots can provide many convenient services for human beings. Therefore, bionic robots are getting more and more people's attention and have good development prospects.

technical problem

In order to make the bionic robot more realistically simulate the characteristics of the creature, the bionic robot is usually provided with an eye structure having a blinking function and a mouth structure in which the mouth is opened or closed. The eye structure and the mouth structure of the existing bionic robot are complicated, and the complicated structure is prone to failure, resulting in poor running stability of the bionic robot. Moreover, the existing bionic robot technology adopts parallel driving, the drawing control algorithm is complicated to edit, the structure is complex, the occupied space is relatively large, and the cost of purchasing the device structure is high.

Technical solution

The main purpose of the present invention is to provide a robot head structure and a robot therewith to solve the problem that the humanoid robot structure in the prior art is complicated.

In order to achieve the above object, according to an aspect of the present invention, a head structure of a robot including a mouth bionic mechanism, the mouth bionic mechanism includes: a first support frame assembly; a mouth portion, the mouth portion including an upper lip and a lower lip The upper lip and/or the lower lip are pivotally coupled to the first support frame assembly; the mouth drive device, the mouth drive is provided with an eccentric wheel, and the eccentric is drivingly coupled to the upper lip and/or the lower lip to enable The upper and lower lips move between a first open position and a first closed position.

Further, the first support frame assembly includes a first support frame, and the mouth drive device comprises: a drive motor, the eccentric wheel is drivingly connected with the drive motor; the first link, the first link is connected with the eccentric wheel; and the second link is The second link is pivotally disposed on the first support frame, the first end of the second link is coupled to the first link, and the second end of the second link is coupled to the lower lip.

Further, the lower lip is a curved plate, the first support frame is two, and the second link is two, and the first second link is pivotally disposed on the first first support frame, and a first end of the lower lip is connected; a second second link is pivotally disposed on the second first support frame, and a first end of the second second link is coupled to the first link, the second The second ends of the second links are coupled to the second ends of the lower lips.

Further, the first support frame assembly further includes a second support frame, the second support frame is disposed opposite to the first support frame, and the mouth drive device further includes: a third link, the third link is connected with the eccentric wheel, and the third The connecting rod and the first connecting rod are located at two sides of the eccentric wheel; the fourth connecting rod, the fourth connecting rod is pivotally disposed on the second supporting frame, and the first end of the fourth connecting rod is connected with the third connecting rod, The second end of the fourth link is coupled to the upper lip; wherein the fourth link is hinged to the second support frame and the fourth link and the second support frame have at least one second hinged position.

Further, the head structure further includes: a connecting component, the connecting component is connected with the mouth bionic mechanism; the eye bionic mechanism, the eye bionic mechanism is connected with the connecting component.

Further, the eye bionic mechanism comprises: a second support frame assembly; an eyeball portion, the eyeball portion is pivotally disposed relative to the second support frame assembly; and an eyelid portion, the eyelid portion is pivotally coupled to the second support frame assembly, the eyelid portion Moving between a second closed position covering the eyeball portion and a second open position exposing the eyeball portion; the eyelid driving device, the eyelid driving device being drivingly coupled to the eyelid portion to drive the eyelid portion in the second closed position and the second opening The movement between the positions realizes the blinking action of the eye bionic mechanism.

Further, the eyelid portion includes an upper eyelid and a lower eyelid, and the eyelid driving device comprises: a first steering gear; a first rocker arm, the first rocker arm is drivingly connected with the first steering gear, and the first rocker arm is swingably disposed at the first On a steering gear, the moving plane of the first rocker arm is parallel to the longitudinal symmetry plane of the eyeball portion; the first driving rod, the first end of the first driving rod is hinged with the end of the first rocker arm away from the first steering gear, first The second end of the driving rod is hinged with the upper eyelid or the lower eyelid; the extension link is connected, the first end of the extension link is connected with the first rocker arm, and the second end of the extension link is hinged with the first driving rod.

Further, the eye bionic mechanism further includes a first eyeball driving device, the first eyeball driving device further includes: a second steering gear; a rotating shaft, the first end of the rotating shaft is drivingly connected with the second steering gear, and the second end of the rotating shaft is The eyeball is connected, and the rotating shaft is pivotally disposed on the second steering gear, and the center line of the rotating shaft is parallel to the longitudinal symmetry plane of the eyeball portion.

Further, the eye bionic mechanism further includes a second eyeball driving device, the second eyeball driving device further includes: a third steering gear; a second rocker arm, the second rocker arm is drivingly connected with the third steering gear, and the second rocker arm Swingably disposed on the third steering gear, and the moving plane of the third steering gear is parallel to the longitudinal symmetry plane of the eyeball portion; the second driving rod, the first end of the second driving rod and the second rocking arm are away from the third rudder One end of the machine is hinged, and the second end of the second drive rod is hinged to the second steering gear.

According to another aspect of the present invention, there is provided a robot comprising: a head structure having a head structure as described above.

Beneficial effect

The robot head structure of the present invention is provided with a mouth bionic mechanism, and the opening and closing of the mouth portion are realized by providing the first support frame assembly and the mouth portion driving device on the mouth bionic mechanism. Wherein, the mouth portion is composed of an upper lip and a lower lip, and the upper lip and/or the lower lip are pivotally coupled to the first support frame assembly. During the specific installation process, the upper lip and the lower lip can be moved between the first open position and the first closed position by driving the eccentric to the upper lip and/or the lower lip, thereby realizing the mouth portion. Opening and closing. The mouth part of the utility model can realize the quick opening and closing of the upper lip and the lower lip by driving the eccentric wheel, and solves the problem that the structure of the humanoid robot in the prior art is complicated.

DRAWINGS

The accompanying drawings, which are incorporated in the claims of the claims In the drawing:

Figure 1 shows a schematic structural view of an embodiment of a head structure according to the present invention;

2 is a schematic structural view of a mouth bionic mechanism of a head structure according to the present invention;

3 is a schematic structural view of an eye bionic mechanism of a head structure according to the present invention;

4 is a schematic view showing the structure of a joint assembly of a head structure according to the present invention.

Wherein, the above figures include the following reference numerals:

10, the first support frame assembly; 11, the first support frame; 12, the second support frame; 20, the mouth portion; 21, the upper lip; 22, the lower lip; 30, the mouth drive device; 31, the drive motor; , eccentric wheel; 33, first link; 34, second link; 35, third link; 36, fourth link; 40, second support frame assembly; 50, eyeball; 60, eyelid; 61, upper eyelid; 62, lower eyelid; 70, eyelid driving device; 71, first steering gear; 72, first rocker arm; 73, first driving rod; 74, extension link; 80, connecting block; Fixed plate; 100, mouth bionic mechanism; 110, first eyeball driving device; 111, second steering gear; 112, rotating shaft; 113, coupling; 120, second eyeball driving device; 121, third rudder Machine 122; second rocker arm; 123, second drive rod; 124, mounting bracket; 130, support plate; 200, connecting assembly; 210, first fixing plate; 220, second fixing plate; 230, third fixing Board; 300, eye bionics.

Embodiments of the invention

It should be noted that the embodiments in the present application and the features in the embodiments may be combined with each other without conflict. The present invention will be described in detail below with reference to the drawings in conjunction with the embodiments.

The utility model provides a head structure of a robot. Referring to FIG. 1 and FIG. 2, the head structure of the robot comprises a mouth bionic mechanism 100. The mouth bionic mechanism 100 comprises: a first support frame assembly 10; a mouth portion 20, a mouth The portion 20 includes an upper lip 21 and a lower lip 22, and the upper lip 21 and/or the lower lip 22 are pivotally coupled to the first support frame assembly 10; the mouth drive unit 30, the mouth drive unit 30 is provided with an eccentric 32 The eccentric 32 is drivingly coupled to the upper lip 21 and/or the lower lip 22 to move the upper lip 21 and the lower lip 22 between the first open position and the first closed position.

The robot head structure of the present invention is provided with a mouth bionic mechanism 100, and the opening and closing of the mouth portion 20 is realized by providing the first support frame assembly 10 and the mouth portion driving device 30 on the mouth bionic mechanism 100. Among them, the mouth portion 20 is composed of an upper lip 21 and a lower lip 22, and the upper lip 21 and/or the lower lip 22 are pivotally coupled to the first support frame assembly 10. During specific mounting, by driving the eccentric 32 to the upper lip 21 and/or the lower lip 22, the upper lip 21 and the lower lip 22 can be moved between the first open position and the first closed position, thereby The opening and closure of the mouth portion 20 is achieved. The mouth portion 20 of the present invention can realize the quick opening and closing of the upper lip 21 and the lower lip 22 by driving the eccentric wheel 32, thereby solving the problem that the structure of the humanoid robot in the prior art is complicated.

In the present embodiment, optionally, the eccentric 32 is drivingly coupled to the upper lip 21 and the upper lip 21 is pivotally coupled to the first support frame assembly 10.

Optionally, the eccentric 32 is drivingly coupled to the lower lip 22 and the lower lip 22 is pivotally coupled to the first support frame assembly 10.

Optionally, the eccentric 32 is drivingly coupled to the upper lip 21 and the lower lip 22, and the upper lip 21 and the lower lip 22 are pivotally coupled to the first support frame assembly 10.

In order to enable the driving action of the lower lip 22 by the eccentric wheel 32, as shown in FIG. 2, the first support frame assembly 10 includes a first support frame 11, and the mouth drive device 30 includes a drive motor 31, an eccentric 32 and a drive. The motor 31 is drivingly connected, and the eccentric 32 is rotatably disposed on the driving motor 31; the first link 33, the first link 33 is connected to the eccentric 32, and the first link 33 is rotatable with the eccentric 32; a lever 34, the second link 34 is pivotally disposed on the first support frame 11, the first end of the second link 34 is coupled to the first link 33, and the second end of the second link 34 is connected to the lower lip 22 connections.

In this embodiment, the first support frame 11 is an L-shaped plate, the second link 34 is pivotally disposed on the long plate of the L-shaped plate, and the second link 34 is connected to the lower lip 22, the first link One end of 33 is connected to the eccentric wheel 32, and the two ends of the first link 33 are connected to the second link 34. The driving motor 31 drives the eccentric wheel 32 to rotate, the eccentric wheel 32 drives the first link 33 to move, and the first link 33 pushes the second link 34 to drive the lower lip 22 to move.

Preferably, the second link 34 is hinged to the first support frame 11 and the second link 34 has at least one first hinge position between the first support frame 11.

In the present embodiment, the range of motion of the lower lip 22 can be adjusted by providing a plurality of hinge holes on the second link 34 and the first support frame 11.

Preferably, the lower lip 22 is a curved plate, the first support frame 11 is two, the second link 34 is two, and the first second link 34 is pivotally disposed on the first first support frame. 11 and connected to the first end of the lower lip 22; the second second link 34 is pivotally disposed on the second first support frame 11, the first end of the second second link 34 Connected to the first link 33, the second end of the second second link 34 is coupled to the second end of the lower lip 22.

In order to enable the driving of the upper lip 21, as shown in FIG. 2, the first support frame assembly 10 further includes a second support frame 12, the second support frame 12 is disposed opposite to the first support frame 11, and the mouth drive device 30 is further The third link 35 is connected to the eccentric 32, the third link 35 and the first link 33 are located on two sides of the eccentric 32, and the third link 35 is rotatable with the eccentric 32; The fourth link 36, the fourth link 36 is pivotally disposed on the second support frame 12, the first end of the fourth link 36 is coupled to the third link 35, and the second end of the fourth link 36 Connected to the upper lip 21.

In this embodiment, the second support frame 12 is a straight plate, the third link 35 of the mouth drive device 30 is connected to the eccentric wheel 32, and the fourth link 36 is pivotally disposed on the second support frame 12, The first end of the four link 36 is coupled to the third link 35, and the second end of the fourth link 36 is coupled to the upper lip 21. During the specific use, the driving motor 31 drives the eccentric 32 to rotate, the eccentric 32 drives the third link 35 to move, and the third link 35 pushes the fourth link 36 to drive the upper lip 21 to move.

Preferably, the fourth link 36 is hinged to the second support frame 12, and the fourth link 36 and the second support frame 12 have at least one second hinged position.

In the present embodiment, by providing a plurality of hinge holes on the fourth link 36 and the second support frame 12, the range of motion of the upper lip 21 can be adjusted.

Preferably, the upper lip 21 is a curved plate, the second support frame 12 is two, and the fourth link 36 is two, and the first fourth link 36 is pivotally disposed on the first second support frame. 12, and connected to the first end of the upper lip 21; the second fourth link 36 is pivotally disposed on the second second support frame 12, the first end of the second fourth link 36 Connected to the third link 35, the second end of the second fourth link 36 is coupled to the second end of the upper lip 21.

In the present embodiment, the first support frame 11 is located inside the second support frame 12.

In order to ensure the integrity of the head structure, as shown in FIGS. 1 and 3, the head structure further includes: a connection assembly 200, the connection assembly 200 is coupled to the mouth bionic mechanism 100; the eye bionic mechanism 300, the eye bionic mechanism 300 and the connection assembly The 200 connection, the connection assembly 200 is used to connect the eye bionic mechanism 300 with the mouth bionic mechanism 100.

For the specific structure of the eye bionic mechanism 300, as shown in FIG. 3, the eye bionic mechanism 300 includes: a second support frame assembly 40; an eyeball portion 50, the eyeball portion 50 is pivotally disposed relative to the second support frame assembly 40; the eyelid portion 60, the eyelid portion 60 is pivotally coupled to the second support frame assembly 40, and the eyelid portion 60 moves between a second closed position covering the eyeball portion 50 and a second open position exposing the eyeball portion 50; the eyelid driving device 70 The eyelid driving device 70 is drivingly coupled to the eyelid portion 60 to drive the eyelid portion 60 to move between the second closed position and the second open position to effect a blinking action of the eye bionic mechanism 300.

In the present embodiment, it is composed of the second support frame assembly 40, the eyeball portion 50, the eyelid portion 60, and the eyelid portion driving device 70 in the eye bionic mechanism 300. By driving the eyelid driving device 70 to the eyelid portion 60, the eyelid portion 60 can be driven to move between the second closed position and the second open position to effect the blinking action of the eye bionic mechanism 300.

Preferably, both the eyeball portion 50 and the eyelid portion 60 are two, and the two eyeball portions 50 and the two eyelid portions 60 are disposed one by one.

In order to enable the eyelid driving device 70 to drive the eyelid portion 60 to move, as shown in FIG. 3, the eyelid portion 60 includes an upper eyelid 61 and a lower eyelid 62. The eyelid driving device 70 includes: a first steering gear 71; a first rocker arm 72. The first rocker arm 72 is drivingly coupled to the first steering gear 71. The first rocker arm 72 is swingably disposed on the first steering gear 71. The plane of motion of the first rocker arm 72 is parallel to the longitudinal plane of symmetry of the eyeball portion 50. The first driving rod 73, the first end of the first driving rod 73 is hinged with the end of the first rocker arm 72 away from the first steering gear 71, and the second end of the first driving rod 73 is opposite to the upper eyelid 61 or the lower eyelid 62. Hinged.

In the present embodiment, the eyelid portion 60 is composed of an upper eyelid 61 and a lower eyelid 62. The first steering gear 71 of the eyelid driving device 70 is drivingly coupled to the first rocker arm 72 such that the first rocker arm 72 is swingably disposed on the first steering gear 71. By articulating the first end of the first drive rod 73 of the eyelid driving device 70 with the end of the first rocker arm 72 remote from the first steering gear 71, the second end of the first drive rod 73 is connected to the upper eyelid 61 or the lower eyelid 62 hinged. When the first steering gear 71 drives the first rocker arm 72 to swing, the first rocker arm 72 drives the first driving rod 73 to move, so that the upper eyelid 61 or the lower eyelid 62 connected thereto can be moved.

Preferably, the eye bionic mechanism 300 further includes a connection block 80, and the second end of the first drive rod 73 is hinged to the upper eyelid 61 or the lower eyelid 62 by the connection block 80.

In view of the length problem of the first rocker arm 72, preferably, the eyelid driving device 70 includes an extension link 74 to which the first end of the extension link 74 is coupled to the first rocker arm 72, and the second end of the extension link 74 It is hinged to the first drive rod 73.

In order to ensure structural stability, as shown in FIG. 3, the eye bionic mechanism 300 further includes a fixing plate 90 that is coupled to the second support frame assembly 40, and the first steering gear 71 is disposed on the fixed plate 90.

For the specific structure of the eye bionic mechanism 300, the eye bionic mechanism 300 further includes a first eyeball driving device 110. The first eyeball driving device 110 further includes: a second steering gear 111; a rotating shaft 112, the first end of the rotating shaft 112 and the first The second steering gear 111 is drivingly coupled. The second end of the rotating shaft 112 is coupled to the eyeball portion 50. The rotating shaft 112 is pivotally disposed on the second steering gear 111. The center line of the rotating shaft 112 is parallel to the longitudinal symmetry plane of the eyeball portion 50.

In the present embodiment, in order to realize the rotation of the eyeball portion 50, the second steering gear 111 of the first eyeball driving device 110 is coupled to the rotating shaft 112, and the second end of the rotating shaft 112 is coupled to the eyeball portion 50 to be rotated by the driving shaft 112. The eyeball 50 can be rotated. In the present embodiment, the center line of the rotating shaft 112 is parallel to the longitudinal symmetry plane of the eyeball portion 50, so that the left and right rotation of the eyeball portion 50 can be achieved.

In the present embodiment, the second steering gear 111 is coupled to the eyeball portion 50 via the coupling 113.

In order to enable the eyeball portion 50 to rotate up and down, the eye bionic mechanism 300 further includes a second eyeball driving device 120. The second eyeball driving device 120 further includes: a third steering gear 121; a second rocker arm 122, and a second rocker arm 122 is drivingly connected to the third steering gear 121, the second rocker arm 122 is swingably disposed on the third steering gear 121, and the moving plane of the third steering gear 121 is parallel to the longitudinal symmetry plane of the eyeball portion 50; the second driving rod 123. The first end of the second driving rod 123 is hinged with an end of the second rocker arm 122 away from the third steering gear 121, and the second end of the second driving rod 123 is hinged with the second steering gear 111.

In this embodiment, the third steering gear 121 of the second eyeball driving device 120 is drivingly connected to the second rocker arm 122, and the second rocker arm 122 is swingably disposed on the third steering gear 121. The second driving rod 123 The first end is hinged to the end of the second rocker arm 122 away from the third steering gear 121, and the second end of the second drive rod 123 is hinged to the second steering gear 111. By driving the second rocker arm 122 to swing, the second driving rod 123 is driven to push the second steering gear 111, thereby realizing the rotation of the eyeball portion 50. In the present embodiment, the plane of motion of the third steering gear 121 is parallel to the longitudinal plane of symmetry of the eyeball portion 50, so that the up and down rotation of the eyeball portion 50 can be achieved.

Preferably, the second eyeball driving device 120 further includes: a mounting bracket 124, the mounting bracket 124 is hinged with the second end of the second driving rod 123, the second steering gear 111 is coupled to the mounting bracket 124, and the second driving rod 123 is The two ends are hinged to the second steering gear 111 through the mounting bracket 124.

In view of the stability of the structure, the eye bionic mechanism 300 further includes a support plate 130. The first end of the support plate 130 is hinged with the mounting bracket 124, and the second end of the support plate 130 is coupled to the second support frame assembly 40.

In the present embodiment, the first end of the support plate 130 is hinged with the mounting bracket 124, and the second end of the support plate 130 is connected to the second support frame assembly 40 by the fixing plate 90.

In this embodiment, as shown in FIG. 4, the connection assembly 200 is composed of a first fixing plate 210, a second fixing plate 220, and a third fixing plate 230. The third fixing plate 230 is located at the first fixing plate 210 and the second fixing plate. Between plates 220. The second fixing plate 220 is connected to the fixing plate 90, and the first fixing plate 210 is connected to the plate for mounting the driving motor 31 and the eccentric wheel 32.

The utility model also provides a robot, comprising: a head structure, wherein the head structure is the above-mentioned head structure.

From the above description, it can be seen that the above embodiments of the present invention achieve the following technical effects:

The above description is only for the preferred embodiment of the present invention, and is not intended to limit the present invention. For those skilled in the art, various modifications and changes can be made in the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and scope of the present invention are intended to be included within the scope of the present invention.

Claims

A head structure of a robot, comprising a mouth bionic mechanism (100), the mouth bionic mechanism (100) comprising:

First support frame assembly (10);

a mouth portion (20), the mouth portion (20) including an upper lip (21) and a lower lip (22), the upper lip (21) and/or the lower lip (22) being pivotally coupled to the The first support frame assembly (10) is connected;

a mouth drive device (30), the mouth drive device (30) is provided with an eccentric wheel (32), the eccentric wheel (32) and the upper lip (21) and/or the lower lip (22) The drive is coupled to move the upper lip (21) and the lower lip (22) between the first open position and the first closed position.
The head structure according to claim 1, wherein the first support frame assembly (10) comprises a first support frame (11), and the mouth drive device (30) comprises:

a driving motor (31), the eccentric wheel (32) being drivingly connected to the driving motor (31);

a first link (33), the first link (33) being coupled to the eccentric (32);

a second link (34), the second link (34) is pivotally disposed on the first support frame (11), the first end of the second link (34) is A first link (33) is coupled, and a second end of the second link (34) is coupled to the lower lip (22).
The head structure according to claim 2, wherein the lower lip (22) is a curved plate, the first support frame (11) is two, and the second link (34) is Two, a first one of the second links (34) is pivotally disposed on the first of the first support frames (11) and coupled to the first end of the lower lip (22); The second second link (34) is pivotally disposed on the second first support frame (11), and the first end of the second second link (34) is The first link (33) is coupled, and the second end of the second link (34) is coupled to the second end of the lower lip (22).
The head structure according to claim 2, wherein the first support frame assembly (10) further comprises a second support frame (12), the second support frame (12) and the first support The frame (11) is oppositely disposed, and the mouth drive device (30) further includes:

a third link (35), the third link (35) is coupled to the eccentric (32), and the third link (35) and the first link (33) are located at the eccentric Both sides of the wheel (32);

a fourth link (36), the fourth link (36) is pivotally disposed on the second support frame (12), the first end of the fourth link (36) is a third link (35) is connected, and a second end of the fourth link (36) is connected to the upper lip (21);

Wherein the fourth link (36) is hinged with the second support frame (12), and the fourth link (36) and the second support frame (12) have at least one second hinge position.
The head structure according to claim 1, wherein the head structure further comprises:

a connection assembly (200), the connection assembly (200) being coupled to the mouth bionic mechanism (100);

An eye bionic mechanism (300), the eye bionic mechanism (300) being coupled to the connection assembly (200).
The head structure of claim 5, wherein the eye bionic mechanism (300) comprises:

a second support frame assembly (40);

An eyeball portion (50), the eyeball portion (50) being pivotally disposed relative to the second support frame assembly (40);

An eyelid portion (60) pivotally coupled to the second support frame assembly (40), the eyelid portion (60) covering a second closure of the eyeball portion (50) Moving between the position and the second open position exposing the eyeball portion (50);

An eyelid driving device (70) drivingly coupled to the eyelid portion (60) to drive the eyelid portion (60) in the second closed position and the second opening The blinking action of the eye bionic mechanism (300) is achieved by moving between positions.
The head structure according to claim 6, wherein the eyelid portion (60) comprises an upper eyelid (61) and a lower eyelid (62), and the eyelid driving device (70) comprises:

First steering gear (71);

a first rocker arm (72), the first rocker arm (72) is drivingly coupled to the first steering gear (71), and the first rocker arm (72) is swingably disposed on the first steering gear (71), a plane of motion of the first rocker arm (72) is parallel to a longitudinal plane of symmetry of the eyeball portion (50);

a first driving rod (73), a first end of the first driving rod (73) is hinged with an end of the first rocker arm (72) remote from the first steering gear (71), the first a second end of the drive rod (73) is hinged to the upper eyelid (61) or the lower eyelid (62);

An extension link (74), a first end of the extension link (74) coupled to the first rocker arm (72), a second end of the extension link (74) and the first drive rod (73) Hinged.
The head structure according to claim 6, wherein the eye bionic mechanism (300) further comprises a first eyeball driving device (110), the first eyeball driving device (110) further comprising:

Second steering gear (111);

a rotating shaft (112), a first end of the rotating shaft (112) is drivingly connected to the second steering gear (111), and a second end of the rotating shaft (112) is connected to the eyeball portion (50), A rotating shaft (112) is pivotally disposed on the second steering gear (111), and a center line of the rotating shaft (112) is parallel to a longitudinal symmetry plane of the eyeball portion (50).
The head structure according to claim 8, wherein the eye bionic mechanism (300) further comprises a second eyeball driving device (120), the second eyeball driving device (120) further comprising:

Third steering gear (121);

a second rocker arm (122), the second rocker arm (122) is drivingly coupled to the third steering gear (121), and the second rocker arm (122) is swingably disposed at the third steering gear (121), and a plane of motion of the third steering gear (121) is parallel to a longitudinal plane of symmetry of the eyeball portion (50);

a second driving rod (123), a first end of the second driving rod (123) is hinged to an end of the second rocker arm (122) remote from the third steering gear (121), the second A second end of the drive rod (123) is hinged to the second steering gear (111).
A robot comprising: a head structure, the head structure being the head structure according to any one of claims 1 to 9.