Bionic robot head and bionic robot

Abstract

The invention relates to the technical field of bionic robots, in particular to a bionic robot head and a bionic robot. The bionic robot head comprises a nose driving device, a lip driving device, a lower jaw assembly, a lower jaw driving device and a pair of cheekbone driving devices. The nose driving device is arranged on the upper side of the lip driving device, the lower jaw assembly is arranged on the lower side of the lip driving device, the cheekbone driving devices are arranged on the left side and the right side of the nose driving device respectively, and the lower jaw driving device is arranged on the rear sides of the nose driving device, the lip driving device and the cheekbone driving devices. The bionic robot head is compact in structure and high in space utilization rate, the whole bionic robot head can be smaller, the size of the bionic robot head is similar to that of a human head, the bionic robot head is more vivid, meanwhile, control over expressions is richer, some micro expressions can be achieved, and the bionic robot head is more humanoid.

Description

Technical Field

[0001] The invention relates to the technical field of bionic robots, in particular to a bionic robot head and a bionic robot. Background Art

[0002] Bionic robots are one of the most cutting-edge topics in the field of robotics research today. They integrate multiple disciplines such as mechanics, electronics, computers, materials, sensors, control technology, and artificial intelligence, and reflect the level of scientific and technological development of a country. Compared with other robots, humanoid robots with human head appearance have extremely strong human-computer interaction capabilities. These robots mainly interact with humans through facial expressions and language to think and realize. Research on humanoid robots can promote the development of future robots in the direction of humanization and emotionalization, and promote the harmonious and friendly coexistence of future robots and humans. It is also an important platform for the study of artificial intelligence.

[0003] At present, in order to make the facial expressions of bionic robots richer, it is necessary to install more driving devices in the head of the bionic robot to achieve more degrees of freedom control. The structural space requirements are large, and it is impossible to achieve more degrees of freedom in a space that is only the size of a human head. Summary of the invention

[0004] The purpose of the present invention is to provide a bionic robot head and a bionic robot to solve the current technical problem that more degrees of freedom cannot be designed in a space only the size of a human head.

[0005] In a first aspect, the present invention provides a bionic robot head, comprising: a nose drive device, a lip drive device, a jaw assembly, a jaw drive device, and a pair of zygomatic drive devices;

[0006] The nose drive device is arranged on the upper side of the lip drive device, the lower jaw assembly is arranged on the lower side of the lip drive device, the pair of zygomatic drive devices are arranged on the left and right sides of the nose drive device respectively, and the lower jaw drive device is arranged on the rear side of the nose drive device, the lip drive device and the pair of zygomatic drive devices;

[0007] The nose driving device is used to drive the skin movement of the nose, the lip driving device is used to drive the skin movement of the lips, the jaw driving device is used to drive the jaw assembly movement, and the pair of zygomatic bone driving devices are respectively used to drive the skin movement of a pair of zygomatic bone parts.

[0008] In an optional embodiment, the nose drive device includes: a nose driver, a nose bracket, a nose pull rope, a pair of nose back traction members and a pair of nose wing traction members;

[0009] The nose driver is arranged on the nose bracket, the pair of nose back traction members are respectively used to connect with the skin of the nose back on both sides of the nose bridge, and the pair of nose wing traction members are respectively used to connect with the skin of the nose wing on both sides of the nose tip;

[0010] The nose driver is transmission-connected to a pair of nose back traction members and a pair of nose wing traction members through the nose pull rope.

[0011] In an optional embodiment, the lip driving device includes: a pair of lip middle driving mechanisms, a pair of lip corner driving mechanisms and two pairs of lip side driving mechanisms;

[0012] A pair of lip middle driving mechanisms are respectively used to connect with the skin of the middle part of the upper lip and the skin of the middle part of the lower lip to drive the skin of the middle part of the upper lip and the skin of the middle part of the lower lip to move;

[0013] The pair of lip corner driving mechanisms are respectively used to connect with the skin of a pair of lip corners to drive the skin of the pair of lip corners to move;

[0014] One pair of the lip side drive mechanisms are respectively used to connect to the skin on both sides of the middle part of the upper lip to drive the skin movement on both sides of the middle part of the upper lip, and the other pair of the lip side drive mechanisms are respectively used to connect to the skin on both sides of the middle part of the lower lip to drive the skin movement on both sides of the middle part of the lower lip.

[0015] In an optional embodiment, the lip middle driving mechanism includes a lip middle up-and-down swing rod, a lip middle front-and-back swing rod, a first lip middle driver, a second lip middle driver and a lip middle bracket, and the first lip middle driver and the second lip middle driver are both arranged on the lip middle bracket;

[0016] The lip middle up-and-down swing rod is hinged to the lip middle bracket, and the first lip middle driver is transmission-connected to the lip middle up-and-down swing rod for driving the lip middle up-and-down swing rod to rotate;

[0017] The front-to-back swing rod in the middle of the lip is hinged to the upper and lower swing rods in the middle of the lip, and one end of the front-to-back swing rod in the middle of the lip is used to connect with the skin in the middle part of the lip, and the second middle driver of the lip is transmission connected to the front-to-back swing rod in the middle of the lip, and is used to drive the front-to-back swing rod in the middle of the lip to rotate.

[0018] In an optional embodiment, the lip angle driving mechanism includes a first lip angle driver, a second lip angle driver, a lip angle bracket, a lip angle traction rod and a lip angle traction member;

[0019] The first lip angle driver and the second lip angle driver are both arranged on the lip angle bracket and are both drivingly connected to the lip angle traction rod. The first lip angle driver is used to drive the lip angle traction rod to move up and down, and the second lip angle driver is used to drive the lip angle traction rod to move left and right.

[0020] The lip corner traction member is connected to the lip corner traction rod and is used to be connected to the skin at the lip corner.

[0021] In an optional embodiment, the lip side driving mechanism includes a lip side driver, a lip side bracket and a lip side traction member;

[0022] The lip side driver is arranged on the lip side bracket and is transmission-connected with the lip side traction member for driving the lip side traction member to move obliquely upward, obliquely downward and linearly. The lip side traction member is used to connect with the skin on one side of the middle part of the lip.

[0023] In an optional embodiment, the lip middle drive mechanism for connecting to the skin of the middle part of the lower lip and a pair of lip side drive mechanisms for connecting to the skin on both sides of the middle part of the lower lip are both located on the lower jaw assembly.

[0024] In an optional embodiment, the lower jaw driving device includes: a lower jaw lateral movement driver, a lower jaw rotation driver, a lower jaw linear rotation bearing, a lower jaw support and a lower jaw connecting shaft;

[0025] The lower jaw transverse movement driver, the lower jaw rotation driver, and the lower jaw linear rotation bearing are all arranged on the lower jaw support;

[0026] The lower jaw connecting shaft is disposed in the lower jaw linear rotation bearing and is used to connect with the lower jaw assembly;

[0027] The lower jaw transverse movement driver is used to drive the lower jaw component to move in an axial transverse direction along the lower jaw linear rotation bearing, and the lower jaw rotation driver is used to drive the lower jaw component to move in a circumferential rotation direction along the lower jaw linear rotation bearing.

[0028] In an optional embodiment, the zygomatic bone driving device includes: a zygomatic bone driver, a zygomatic bone support, and a zygomatic bone member;

[0029] The zygomatic bone driver is arranged on the zygomatic bone support, and the zygomatic bone driver is drivingly connected with the zygomatic bone component;

[0030] The zygomatic piece is used to connect with the skin of the zygomatic area, and the zygomatic driver is used to drive the zygomatic piece to move forward or backward, so that the skin of the zygomatic area can move forward or backward along with the zygomatic piece.

[0031] In a second aspect, the present invention provides a bionic robot comprising the bionic robot head described in any one of the aforementioned embodiments.

[0032] Compared with the prior art, the bionic robot head and the bionic robot provided by the present invention have the following technical advantages:

[0033] The bionic robot head provided by the present invention comprises: a nose driving device, a lip driving device, a lower jaw assembly, a lower jaw driving device and a pair of zygomatic bone driving devices; the nose driving device is arranged on the upper side of the lip driving device, the lower jaw assembly is arranged on the lower side of the lip driving device, the pair of zygomatic bone driving devices are respectively arranged on the left and right sides of the nose driving device, and the lower jaw driving device is arranged on the rear sides of the nose driving device, the lip driving device and the pair of zygomatic bone driving devices; the nose driving device is used to drive the skin movement of the nose, the lip driving device is used to drive the skin movement of the lip, the lower jaw driving device is used to drive the movement of the lower jaw assembly, and the pair of zygomatic bone driving devices are respectively used to drive the skin movement of the pair of zygomatic bone parts.

[0034] By arranging the nose drive device, the lip drive device, the jaw assembly, the jaw drive device and a pair of zygomatic bone drive devices in space, the structure is compact and the space utilization rate is high, so that the head of the bionic robot can be made smaller as a whole, approaching the size of a human head, making the bionic robot head more realistic, and at the same time having richer control over expressions, being able to realize some micro-expressions, making it more human-like.

[0035] The bionic robot provided by the present invention includes the above-mentioned bionic robot head. Therefore, the technical advantages and effects achieved by it include the technical advantages and effects achieved by the above-mentioned bionic robot head, which will not be elaborated in detail here.

[0036] Other features and advantages of the present invention will be described in detail in the following detailed description. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] In order to more clearly illustrate the specific implementation methods of the present invention or the technical solutions in the prior art, the drawings required for use in the specific implementation methods or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some implementation methods of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0038] Figure 1 A side view of the lip intermediate driving mechanism provided by an embodiment of the present invention;

[0039] Figure 2 A schematic diagram of the structure of the lip intermediate driving mechanism provided by an embodiment of the present invention;

[0040] Figure 3 A side view of a lip angle driving mechanism provided by an embodiment of the present invention;

[0041] Figure 4 A schematic diagram of the structure of a lip angle driving mechanism provided by an embodiment of the present invention;

[0042] Figure 5 A side view of a lip side driving mechanism provided by an embodiment of the present invention;

[0043] Figure 6 A schematic diagram of the structure of the lip side driving mechanism provided in an embodiment of the present invention;

[0044] Figure 7 A schematic diagram of a bionic robot head provided by an embodiment of the present invention;

[0045] Figure 8 A schematic diagram of the structure of a nose drive device provided in an embodiment of the present invention;

[0046] Fig. 9 A side view of a nasal dorsum traction member and a nasal drive device when the nasal dorsum traction member is in a normal position provided by an embodiment of the present invention;

[0047] Fig.10 A side view of a nose dorsum traction member and a nose driving device after the nose dorsum traction member is raised provided by an embodiment of the present invention;

[0048] Fig.11 A side view of a jaw drive device provided by an embodiment of the present invention;

[0049] Fig.12 A rear side view of a jaw drive device provided by an embodiment of the present invention;

[0050] Fig.13 A front side view of a jaw drive device provided by an embodiment of the present invention;

[0051] Fig.14 A schematic diagram of the lateral movement of the mandible provided in an embodiment of the present invention;

[0052] Fig.15 A schematic diagram of the structure of a lower jaw assembly provided in an embodiment of the present invention;

[0053] Fig.16 A side view of the head of a bionic robot provided by an embodiment of the present invention;

[0054] Fig.17 A schematic diagram of the zygomatic bone driving device provided in an embodiment of the present invention showing the extreme position of the upward oblique movement;

[0055] Fig.18 This is a schematic diagram of the zygomatic bone driving device provided by an embodiment of the present invention at the extreme position of the downward oblique movement.

[0056] Icons: 1- lip middle driving mechanism; 2- lip angle driving mechanism; 3- lip side driving mechanism; 4- lip middle up and down swing rod; 5- lip middle front and back swing rod; 6- first lip middle driver; 7- second lip middle driver; 8- lip middle bracket; 9- first lip middle transmission rocker; 10- first lip middle transmission connecting rod; 11- first lip middle transmission transfer rod; 12- first lip middle push-pull rod; 13- second lip middle transmission rocker; 14- second lip middle transmission connecting rod; 15- second lip middle transmission Adapter rod; 16-second lip middle push-pull rod; 17-first lip angle driver; 18-second lip angle driver; 19-lip angle bracket; 20-lip angle traction rod; 21-lip angle traction member; 22-first lip angle transmission rocker; 23-lip angle transmission shaft; 24-lip angle transmission connecting rod; 25-second lip angle transmission rocker; 26-lip side driver; 27-lip side bracket; 28-lip side traction member; 29-lip side transmission slide rail; 30-lip side rocker; 31-lip side transmission rod; 32-first lip side free arm; 33-second lip side free arm; 3 4-nose drive device; 35-nose bracket; 36-nose pull rope; 37-nose back traction member; 38-nose wing traction member; 39-nose back traction slide rail; 40-nose wing traction slide rail; 41-nose back and nose wing traction slide rail mounting frame; 42-nose wire rack; 43-wire splitter; 44-embedded block; 45-embedded block traction rod; 46-nose rocker arm; 47-nose servo; 48-mandibular lateral movement driver; 49-mandibular rotation driver; 50-mandibular linear rotation bearing; 51-mandibular bracket; 52-mandibular connecting shaft; 53-mandibular Transverse rocker arm; 54-mandibular transverse pull rope; 55-mandibular transverse guide wheel; 56-mandibular transverse driver mounting slot; 57-mandibular rotation rocker arm; 58-mandibular rotation push-pull rod; 59-universal ball joint; 60-mandibular rotation driver mounting slot; 61-mandibular assembly; 62-zygomatic drive device; 63-zygomatic bracket; 64-zygomatic component; 65-zygomatic transmission slide rail; 66-first zygomatic transmission component; 67-first section; 68-second section; 69-zygomatic transmission rod; 70-zygomatic servo; 71-zygomatic rocker arm; 72-spherical surface. DETAILED DESCRIPTION

[0057] The technical solution of the present invention will be clearly and completely described below in conjunction with the embodiments. Obviously, the described embodiments are part of the embodiments of the present invention, rather than all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0058] In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicating the orientation or positional relationship, are based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operate in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, the terms "first", "second", and "third" are used for descriptive purposes only and cannot be understood as indicating or implying relative importance.

[0059] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0060] In addition, the technical solutions between the various embodiments can be combined with each other, but it must be based on the fact that ordinary technicians in the field can implement it. When the combination of technical solutions is contradictory or cannot be implemented, it should be deemed that such combination of technical solutions does not exist and is not within the scope of protection required by the present invention.

[0061] The present invention is further described in detail below through specific implementation examples in conjunction with the accompanying drawings.

[0062] Specific structure such as Figures 1 to 18 shown.

[0063] This embodiment provides a bionic robot head, including: a nose drive device 34, a lip drive device, a jaw assembly 61, a jaw drive device and a pair of zygomatic drive devices 62;

[0064] The nose drive device 34 is arranged on the upper side of the lip drive device, the lower jaw assembly 61 is arranged on the lower side of the lip drive device, the pair of zygomatic drive devices 62 are arranged on the left and right sides of the nose drive device 34, and the lower jaw drive device is arranged on the rear side of the nose drive device 34, the lip drive device and the pair of zygomatic drive devices 62;

[0065] The nose driving device 34 is used to drive the skin movement of the nose, the lip driving device is used to drive the skin movement of the lips, the jaw driving device is used to drive the jaw assembly 61 to move, and the pair of zygomatic driving devices 62 are used to drive the skin movement of a pair of zygomatic bones respectively.

[0066] In this embodiment, by arranging the nose drive device 34, the lip drive device, the jaw assembly 61, the jaw drive device and a pair of zygomatic bone drive devices 62 in space, the structure is compact and the space utilization rate is high, so that the head of the bionic robot can be made smaller as a whole, approaching the size of a human head, making the bionic robot head more realistic, and at the same time, the control over facial expressions is richer, and some micro-expressions can be realized, making it more human-like.

[0067] It should be noted that the bionic robot head can be a human-like head or a head of other organisms with organ distribution similar to that of a human head.

[0068] In the optional technical solution of this embodiment, the nose drive device 34 includes: a nose driver, a nose bracket 35, a nose pull rope 36, a pair of nose back traction parts 37 and a pair of nose wing traction parts 38; the nose driver is arranged on the nose bracket 35, the pair of nose back traction parts 37 are respectively used to connect with the skin of the nose back on both sides of the nose bridge, and the pair of nose wing traction parts 38 are respectively used to connect with the skin of the nose wing on both sides of the nose tip; the nose driver is transmission-connected to the pair of nose back traction parts 37 and the pair of nose wing traction parts 38 through the nose pull rope 36.

[0069] In this embodiment, the nose bracket 35 is arranged on the head of the bionic robot as a carrier of the entire nose driving device 34. The nose driver drives a pair of nose back traction members 37 and a pair of nose wing traction members 38 to move through the nose pull rope 36, thereby driving the movement of the nose back and nose wings, making the control of nose expressions richer, delicate and concrete, and being able to achieve some micro-expressions, making it more human-like.

[0070] In this embodiment, the nose pull rope 36 can be directly connected to the nose back traction member 37 and the nose wing traction member 38, and the structure is simple.

[0071] The optional technical solution of this embodiment also includes at least one dorsum of nose traction slide 39 and at least one wing of nose traction slide 40; the dorsum of nose traction slide 39 and the wing of nose traction slide 40 are both arranged on the nose bracket 35, and the dorsum of nose traction member 37 is connected to the slider of the dorsum of nose traction slide 39, and the wing of nose traction member 38 is connected to the slider of the wing of nose traction slide 40; the nose drive is connected to the slider of the dorsum of nose traction slide 39 and the slider of the wing of nose traction slide 40 through the nose pull rope 36.

[0072] In this embodiment, the nose dorsum traction rail 39 and the nose wing traction rail 40 are both arranged vertically, the nose pull rope 36 and the nose dorsum traction member 37 are both connected to the slider of the nose dorsum traction rail 39, and when the nose driver drives the slider of the nose dorsum traction rail 39 to move up and down through the nose pull rope 36, the slider of the nose dorsum traction rail 39 can drive the nose dorsum traction member 37 to move up and down, and the setting of the nose dorsum traction rail 39 can ensure the linear movement of the nose dorsum traction member 37, thereby ensuring the stability of the movement; the nose pull rope 36 and the nose wing traction member 38 are both connected to the slider of the nose wing traction rail 40, and when the nose driver drives the slider of the nose wing traction rail 40 to move up and down through the nose pull rope 36, the slider of the nose wing traction rail 40 can drive the nose wing traction member 38 to move up and down, and the setting of the nose wing traction rail 40 can ensure the linear movement of the nose wing traction member 38, thereby ensuring the stability of the movement.

[0073] In this embodiment, the nose dorsum traction rail 39 is preferably arranged along the tilt direction of the nose bridge, so that the nose dorsum traction member 37 moves along the direction of the nose bridge, and the nose dorsum traction member 37 is prevented from over-protruding the skin at the nose dorsum, thereby ensuring that the micro-expression is more realistic.

[0074] In this embodiment, both the dorsum traction rail 39 and the wing traction rail 40 may be provided with one, a pair of dorsum traction members 37 may be connected to a slider of a dorsum traction rail 39, and a pair of wing traction members 38 may be connected to a slider of a wing traction rail 40; or two dorsum traction rails 39 and two wing traction rails 40 may be provided, and the dorsum traction members 37 and the pair of wing traction members 38 may be connected one to one; or one dorsum traction rail 39 may be provided, and two wing traction rails 40 may be provided, and the connection method may be as described above.

[0075] In this embodiment, a pair of nose dorsum traction rails 39 are provided, and one nose wing traction rail 40 is provided, and the pair of nose dorsum traction rails 39 are respectively located on both sides of the nose wing traction rail 40; a pair of nose dorsum traction members 37 are respectively connected to the sliders of the pair of nose dorsum traction rails 39, and a pair of nose wing traction members 38 are both connected to the slider of one nose wing traction rail 40. The overall space occupied is smaller, and the movement is coordinated to avoid mutual interference.

[0076] The optional technical solution of this embodiment also includes a nose dorsum nose wing traction rail mounting frame 41, which is connected to the nose bracket 35; the nose dorsum nose wing traction rail 39 and the nose wing traction rail 40 are both arranged on the nose dorsum nose wing traction rail mounting frame 41. The nose dorsum nose wing traction rail 39 and the nose wing traction rail 40 are installed on the nose bracket 35 through the nose dorsum nose wing traction rail mounting frame 41, which is convenient to install, has a more reasonable design and high space utilization.

[0077] The optional technical solution of this embodiment also includes a nose wire rack 42, which is arranged on the nose back and nose wing traction slide rail mounting frame 41; a converging part and a plurality of branching parts 43 are provided on the nose wire rack 42, and the converging part is connected with all the branching parts 43; a plurality of nose pull ropes 36 are provided, and all the nose pull ropes 36 are passed through the converging part, and are passed through the branching parts 43 one by one; one end of all the nose pull ropes 36 are connected to the nose driver, and the other end is connected to the slider of the nose back traction slide rail 39 and the slider of the nose wing traction slide rail 40 one by one.

[0078] In the present embodiment, all the nose pull ropes 36 are merged together through the converging part and connected to the output end of a nose driver. After being separated through the branching part 43, they are connected one-to-one with the slider of the nose back traction slide rail 39 and the slider of the nose wing traction slide rail 40. The nose wire rack 42 can not only guide the nose pull ropes 36, but also has the functions of merging and diverting, so that all the nose pull ropes 36 can be driven by a nose driver. The structure is simple, the space occupied is small, and the driving synchronization is good.

[0079] The present embodiment is not limited thereto, and multiple nose drivers may be provided, and they correspond one-to-one to the nose pull ropes 36, that is, one nose pull rope 36 is driven by one nose driver; multiple nose drivers may also be provided, and the number of the drivers is less than the number of the nose pull ropes 36, in which case at least one nose driver is connected to multiple nose pull ropes 36.

[0080] In the optional technical solution of this embodiment, the nose wing traction member 38 includes an embedding block 44 and an embedding block traction rod 45; the embedding block 44 is connected to the embedding block traction rod 45 and is used to embed in the skin of the nose wing; the embedding block traction rod 45 is transmission-connected to the nose pull rope 36.

[0081] In this embodiment, the embedding block 44 is integrally formed with the skin of the nose wing and embedded inside, and the embedding block traction rod 45 is detachably connected to the embedding block 44 for easy installation; at the same time, the embedding block traction rod 45 is connected to the slider of the nose wing traction rail 40. The overall structure is simple and can drive the skin of the nose wing to move stably and reliably.

[0082] In the optional technical solution of this embodiment, a magnetic attraction portion is provided on the nose back traction member 37, and the magnetic attraction portion is used to magnetically cooperate with a magnetic member on the skin of the nose back. The structure is simple and easy to install and disassemble.

[0083] In the optional technical solution of this embodiment, a nose rocker arm 46 is further included, the nose driver is a nose servo 47, the nose rocker arm 46 is connected to the output end of the nose servo 47, and the nose pull rope 36 is connected to the nose rocker arm 46. The nose servo 47 controls the stretching amount of the nose pull rope 36 more accurately, so that the nose expression is more accurate and delicate. At the same time, the nose pull rope 36 is connected to the output end of the nose servo 47 through the nose rocker arm 46, and the connection is stable and the movement effect is good.

[0084] The present embodiment is not limited to this, and the nose drive may also be a rotating motor, and the output end of the rotating motor is connected to the nose pull rope 36 or is connected to the nose pull rope 36 through the nose rocker arm 46; it may also be a telescopic motor, and the output end of the telescopic motor is connected to the nose pull rope 36.

[0085] In the optional technical solution of this embodiment, the lip driving device includes: a pair of lip middle driving mechanisms 1, a pair of lip corner driving mechanisms 2 and two pairs of lip side driving mechanisms 3; the pair of lip middle driving mechanisms 1 are respectively used to connect with the skin of the middle part of the upper lip and the skin of the middle part of the lower lip to drive the movement of the skin of the middle part of the upper lip and the skin of the middle part of the lower lip; the pair of lip corner driving mechanisms 2 are respectively used to connect with the skin of a pair of lip corners to drive the movement of the skin of the opposite lip corners; the pair of lip side driving mechanisms 3 are respectively used to connect with the skin on both sides of the middle part of the upper lip to drive the movement of the skin on both sides of the middle part of the upper lip, and the other pair of lip side driving mechanisms 3 are respectively used to connect with the skin on both sides of the middle part of the lower lip to drive the movement of the skin on both sides of the middle part of the lower lip. By independently driving eight points of the skin of the lip part by a pair of lip middle driving mechanisms 1, a pair of lip corner driving mechanisms 2 and two pairs of lip side driving mechanisms 3, a variety of micro-expression movements of the lip part can be realized, making the expression simulation effect more realistic.

[0086] In the optional technical solution of this embodiment, the lip middle driving mechanism 1 includes a lip middle up and down swing rod 4, a lip middle front and back swing rod 5, a first lip middle driver 6, a second lip middle driver 7 and a lip middle bracket 8, and the first lip middle driver 6 and the second lip middle driver 7 are both arranged on the lip middle bracket 8; the lip middle up and down swing rod 4 is hinged to the lip middle bracket 8, and the first lip middle driver 6 is transmission connected to the lip middle up and down swing rod 4 to drive the lip middle up and down swing rod 4 to rotate; the lip middle front and back swing rod 5 is hinged to the lip middle up and down swing rod 4, and one end of the lip middle front and back swing rod 5 is used to connect to the skin of the middle part of the lip, and the second lip middle driver 7 is transmission connected to the lip middle front and back swing rod 5 to drive the lip middle front and back swing rod 5 to rotate. The first lip middle driver 6 is used to drive the lip middle up and down swing rod 4 to rotate around its hinge point, thereby driving the lip middle front and back swing rod 5 to move up and down. The second lip middle driver 7 is used to drive the lip middle front and back swing rod 5 to rotate around its hinge point, thereby driving the lip middle front and back swing rod 5 to swing back and forth, realizing two degrees of freedom in the middle part of the lips, so that more micro-expressions can be made.

[0087] Furthermore, the lip intermediate driving mechanism 1 also includes a first lip intermediate transmission rocker arm 9, a first lip intermediate transmission connecting rod 10, a first lip intermediate transmission adapter rod 11 and a first lip intermediate push-pull rod 12; the first lip intermediate transmission rocker arm 9, the first lip intermediate transmission connecting rod 10, the first lip intermediate transmission adapter rod 11 and the first lip intermediate push-pull rod 12 are rotationally connected in sequence, and the first lip intermediate transmission rocker arm 9 is connected to the output end of the first lip intermediate driver 6, the first lip intermediate transmission adapter rod 11 is rotationally connected to the lip intermediate bracket 8, and the first lip intermediate push-pull rod 12 is rotationally connected to the lip intermediate up and down swing rod 4. Among them, the first lip intermediate transmission adapter rod 11 is V-shaped or L-shaped, and one end is connected to the first lip intermediate transmission connecting rod 10, and the other end is connected to the first lip intermediate push-pull rod 12. Transmission through the first lip intermediate transmission adapter rod 11 can avoid the first lip intermediate transmission rocker arm 9, the first lip intermediate transmission connecting rod 10, the first lip intermediate transmission adapter rod 11 and the first lip intermediate push-pull rod 12 are all in a straight line, making the spatial layout more compact, while the overall structure is simple and the transmission is stable.

[0088] In the optional technical solution of this embodiment, the lip intermediate driving mechanism 1 also includes a second lip intermediate transmission rocker arm 13, a second lip intermediate transmission connecting rod 14, a second lip intermediate transmission adapter rod 15 and a second lip intermediate push-pull rod 16; the second lip intermediate transmission rocker arm 13, the second lip intermediate transmission connecting rod 14, the second lip intermediate transmission adapter rod 15 and the second lip intermediate push-pull rod 16 are rotationally connected in sequence, and the second lip intermediate transmission rocker arm 13 is connected to the output end of the second lip intermediate driver 7, the second lip intermediate transmission adapter rod 15 is rotationally connected to the lip intermediate bracket 8, and the second lip intermediate push-pull rod 16 is rotationally connected to the other end of the lip intermediate front and rear swing rod 5. Among them, the second lip intermediate transmission adapter rod 15 is V-shaped or L-shaped, and one end is connected to the second lip intermediate transmission connecting rod 14, and the other end is connected to the second lip intermediate push-pull rod 16. Transmission through the second lip intermediate transmission adapter rod 15 can avoid the second lip intermediate transmission rocker arm 13, the second lip intermediate transmission connecting rod 14, the second lip intermediate transmission adapter rod 15 and the second lip intermediate push-pull rod 16 are all in a straight line, making the spatial layout more compact, while the overall structure is simple and the transmission is stable.

[0089] In the optional technical solution of this embodiment, the lip angle driving mechanism 2 includes a first lip angle driver 17, a second lip angle driver 18, a lip angle bracket 19, a lip angle traction rod 20 and a lip angle traction member 21; the first lip angle driver 17 and the second lip angle driver 18 are both arranged on the lip angle bracket 19, and are both connected to the lip angle traction rod 20 in a transmission manner, the first lip angle driver 17 is used to drive the lip angle traction rod 20 to move up and down, and the second lip angle driver 18 is used to drive the lip angle traction rod 20 to move left and right; the lip angle traction member 21 is connected to the lip angle traction rod 20 and is used to connect to the skin at the lip angle. The lip angle traction rod 20 is driven to move up and down by the first lip angle driver 17, and is driven to swing left and right by the second lip angle driver 18, so as to realize two degrees of freedom at the lip angle, so as to make more micro expressions.

[0090] Furthermore, the lip angle driving mechanism 2 also includes a first lip angle transmission rocker 22, a lip angle transmission shaft 23, a lip angle transmission connecting rod 24 and a second lip angle transmission rocker 25; the first lip angle transmission rocker 22 is connected to the output end of the first lip angle driver 17 through the lip angle transmission shaft 23, and the two ends of the lip angle transmission connecting rod 24 are respectively rotatably connected to the first lip angle transmission rocker 22 and the lip angle traction rod 20, and the second lip angle transmission rocker 25 is connected to the output end of the second lip angle driver 18, and is rotatably connected to the lip angle traction rod 20. The first lip angle transmission rocker 22 and the second lip angle transmission rocker 25 are staggered in layout, so that the first lip angle driver 17 and the second lip angle driver 18 can be close to each other while ensuring the point travel, and the spatial layout is more compact compared to the horizontal and vertical layouts.

[0091] In the optional technical solution of this embodiment, the lip side driving mechanism 3 includes a lip side driver 26, a lip side bracket 27 and a lip side traction member 28; the lip side driver 26 is arranged on the lip side bracket 27 and is in transmission connection with the lip side traction member 28, and is used to drive the lip side traction member 28 to move obliquely upward, obliquely downward and linearly, and the lip side traction member 28 is used to connect with the skin on one side of the middle part of the lip. A degree of freedom of the lip side part is realized, so that more micro expressions can be made.

[0092] In the optional technical solution of this embodiment, the lip side driving mechanism 3 also includes a lip side transmission slide rail 29, a lip side rocker arm 30 and a lip side transmission rod 31; the lip side transmission slide rail 29 is tilted, the lip side rocker arm 30 is connected to the output end of the lip side driver 26, and the two ends of the lip side transmission rod 31 are respectively rotatably connected to the slider of the lip side transmission slide rail 29 and the lip side rocker arm 30. The setting of the lip side transmission slide rail 29 ensures the stability of the linear motion, and the overall structure is simple and the transmission is stable.

[0093] In the optional technical solution of this embodiment, the lip side driving mechanism 3 also includes a first lip side free arm 32 and a second lip side free arm 33; the first lip side free arm 32 is rotationally connected to the slider of the lip side transmission slide rail 29, the second lip side free arm 33 is rotationally connected to the first lip side free arm 32, and the rotation surface of the first lip side free arm 32 is perpendicular to the rotation surface of the second lip side free arm 33, and the lip side traction member 28 is connected to the second lip side free arm 33. The lip side traction member 28 has passive degrees of freedom in the left and right directions and the front and back directions, so that it can move freely within a certain range during the movement of other points, so that the transition of skin movement is natural.

[0094] In this embodiment, the lip middle driving mechanism 1, the lip corner driving mechanism 2 and the lip side driving mechanism 3 have simple structures and a large travel of the points, so that the expressions can be made more exaggerated.

[0095] In this embodiment, the first lip intermediate driver 6 , the second lip intermediate driver 7 , the first lip angle driver 17 , the second lip angle driver 18 and the lip side driver 26 may be steering gears, or servo motors or other motors.

[0096] In the optional technical solution of this embodiment, the lip middle driving mechanism 1 for connecting with the skin of the middle part of the lower lip and the pair of lip side driving mechanisms 3 for connecting with the skin of both sides of the middle part of the lower lip are both located on the lower jaw assembly 61. The structure is compact, the space utilization is improved, and the structure is stable.

[0097] In the optional technical solution of this embodiment, the lower jaw driving device includes: a lower jaw transverse movement driver 48, a lower jaw rotation driver 49, a lower jaw linear rotation bearing 50, a lower jaw support 51 and a lower jaw connecting shaft 52; the lower jaw transverse movement driver 48, the lower jaw rotation driver 49 and the lower jaw linear rotation bearing 50 are all arranged on the lower jaw support 51; the lower jaw connecting shaft 52 is arranged in the lower jaw linear rotation bearing 50, and is used to connect with the lower jaw assembly 61; the lower jaw transverse movement driver 48 is used to drive the lower jaw assembly 61 to move transversely along the axial direction of the lower jaw linear rotation bearing 50, and the lower jaw rotation driver 49 is used to drive the lower jaw assembly 61 to move circumferentially along the lower jaw linear rotation bearing 50.

[0098] In this embodiment, the lower jaw assembly 61 is driven to move laterally by the lower jaw transverse displacement driver 48, so that the lower jaw connecting shaft 52 moves laterally and linearly in the lower jaw linear rotation bearing 50, thereby realizing the transverse displacement of the lower jaw assembly 61; the lower jaw assembly 61 is driven to move by the lower jaw rotation driver 49, so that the lower jaw connecting shaft 52 rotates in the lower jaw linear rotation bearing 50, thereby realizing the rotation of the lower jaw assembly 61, and then realizing the opening and closing of the lower jaw assembly 61. Since the lower jaw assembly 61 can not only open and close but also move laterally, the expression of the lower jaw assembly 61 due to the movement is richer, delicate and concrete, and some micro-expressions can be realized, thereby being more human-like.

[0099] The optional technical solution of this embodiment also includes a lower jaw transverse movement rocker arm 53 and a lower jaw transverse movement pull rope 54; the lower jaw transverse movement rocker arm 53 is connected to the output end of the lower jaw transverse movement driver 48; the lower jaw transverse movement pull rope 54 is connected to the lower jaw transverse movement rocker arm 53, and is used to connect with the lower jaw assembly 61.

[0100] In this embodiment, one mandibular transverse movement rope 54 can be provided, at which time the middle part of the mandibular transverse movement rope 54 is connected to the mandibular transverse movement rocker arm 53, and both ends of the mandibular transverse movement rope 54 are connected to the middle part of the mandibular assembly 61, and the mandibular transverse movement rocker arm 53 swings left and right to make the two ends of the mandibular transverse movement rope 54 pull the mandibular assembly 61 to the left or right respectively; two mandibular transverse movement ropes 54 can also be provided, at which time one end of the two mandibular transverse movement ropes 54 are connected to the mandibular transverse movement rocker arm 53, and the other ends of the two mandibular transverse movement ropes 54 are connected to the middle part of the mandibular assembly 61, and the mandibular transverse movement rocker arm 53 swings left and right to make the two mandibular transverse movement ropes 54 pull the mandibular assembly 61 to the left or right respectively, the overall structure is simple, and the transverse movement is stable and convenient.

[0101] In this embodiment, the lower jaw transverse movement driver 48 can be a steering gear, a servo motor, or other motors that meet the requirements.

[0102] The optional technical solution of this embodiment further includes a lower jaw transverse movement guide wheel 55; the lower jaw support 51 is provided with a lower jaw transverse movement guide wheel 55 on both sides of the lower jaw support 51, and the lower jaw transverse movement pull rope 54 is wound around the lower jaw transverse movement guide wheel 55. Through the guidance of the lower jaw transverse movement guide wheel 55, the lower jaw transverse movement pull rope 54 can stably pull the lower jaw assembly 61.

[0103] In the optional technical solution of this embodiment, a lower jaw lateral movement driver installation slot 56 is provided on the lower jaw support 51, and the lower jaw lateral movement driver 48 is arranged in the lower jaw lateral movement driver installation slot 56. The stability of the lower jaw lateral movement driver 48 is ensured and the installation is convenient.

[0104] Specifically, a through hole is provided at the bottom of the lower jaw transverse movement driver installation slot 56, and the output end of the lower jaw transverse movement driver 48 is provided through the through hole.

[0105] The optional technical solution of this embodiment also includes a lower jaw rotating rocker arm 57 and a lower jaw rotating push-pull rod 58; the lower jaw rotating rocker arm 57 is connected to the output end of the lower jaw rotating driver 49, one end of the lower jaw rotating push-pull rod 58 is connected to the lower jaw rotating rocker arm 57, and the other end is used to connect to the lower jaw assembly 61.

[0106] In this embodiment, the lower jaw rotation driver 49 drives the lower jaw rotation rocker arm 57 to rotate, and pushes and pulls the lower jaw assembly 61 through the lower jaw rotation push-pull rod 58, so that the lower jaw connecting shaft 52 rotates in the lower jaw linear rotation bearing 50, and then the lower jaw assembly 61 rotates to achieve opening and closing. The structure is simple and the drive is stable.

[0107] In this embodiment, the lower jaw rotation driver 49 can be a steering gear, a servo motor, or other motors that meet the requirements.

[0108] In an optional technical solution of this embodiment, the lower jaw rotation rocker arm 57 is U-shaped, and its end is connected to the output end of the lower jaw rotation driver 49 , and its bottom is connected to the lower jaw rotation push-pull rod 58 .

[0109] In this embodiment, both ends of the mandible rotation rocker arm 57 are connected to the output end of the mandible rotation driver 49, the bottom middle position of the mandible rotation rocker arm 57 is connected to a mandible rotation push-pull rod 58, and the mandible rotation push-pull rod 58 is connected to the middle part of the mandible assembly 61 to ensure the stability of the movement of the mandible assembly 61.

[0110] The optional technical solution of this embodiment further includes a universal ball joint 59, and both ends of the mandibular rotation push-pull rod 58 are provided with a universal ball joint 59. The two ends of the mandibular rotation push-pull rod 58 are respectively connected to the mandibular rotation rocker arm 57 and the mandibular assembly 61 through the universal ball joint 59, so that the rotation movement and the lateral movement of the mandibular assembly 61 do not interfere with each other, thereby ensuring the independence of the movement.

[0111] In an optional technical solution of this embodiment, a lower jaw rotation driver installation slot 60 is provided on the lower jaw support 51, and the lower jaw rotation driver 49 is arranged in the lower jaw rotation driver installation slot 60. The stability of the lower jaw rotation driver 49 is ensured and the installation is convenient.

[0112] In the optional technical solution of this embodiment, the zygomatic bone driving device 62 includes: a zygomatic bone driver, a zygomatic bone support 63, and a zygomatic bone component 64; the zygomatic bone driver is arranged on the zygomatic bone support 63, and the zygomatic bone driver is connected to the zygomatic bone component 64 in a transmission manner; the zygomatic bone component 64 is used to connect with the skin of the zygomatic bone area, and the zygomatic bone driver is used to drive the zygomatic bone component 64 to move forward or backward, so that the skin of the zygomatic bone area can move forward or backward with the zygomatic bone component 64.

[0113] In this embodiment, the zygomatic bone support 63 is arranged on the head of the bionic robot as a carrier of the entire zygomatic bone driving device 62. The zygomatic bone driver drives the zygomatic bone component 64 to move forward to lift the skin of the zygomatic bone area, making the skin of the zygomatic bone area slightly convex. The zygomatic bone driver drives the zygomatic bone component 64 to move backward to restore the skin of the zygomatic bone area to a state without being lifted up, thereby making the expression control of the zygomatic bone area richer, delicate and concrete, and realizing some micro-expressions, making it more human-like.

[0114] In this embodiment, the front-to-back direction refers to the front-to-back direction of the bionic robot head itself.

[0115] The optional technical solution of this embodiment also includes a zygomatic bone transmission rail 65 and a first zygomatic bone transmission member 66; the zygomatic bone transmission rail 65 is arranged on the zygomatic bone bracket 63, and the first zygomatic bone transmission member 66 is respectively connected to the zygomatic bone member 64 and the slider of the zygomatic bone transmission rail 65; the zygomatic bone driver is used to drive the first zygomatic bone transmission member 66 to move.

[0116] In this embodiment, since the first zygomatic bone transmission component 66 is connected to the slider of the zygomatic bone transmission rail 65, the first zygomatic bone transmission component 66 can move along the zygomatic bone transmission rail 65 during movement, thereby ensuring the linear movement of the first zygomatic bone transmission component 66, thereby ensuring the linear movement of the zygomatic bone component 64, and further ensuring the stability of the movement.

[0117] In this embodiment, the zygomatic transmission member can be separately provided with the slider of the zygomatic transmission slide rail 65 and connected through a connecting member, or can be integrally formed.

[0118] In this embodiment, the zygomatic transmission slide rail 65 can be arranged along the front-to-back direction.

[0119] Preferably, in this embodiment, the zygomatic transmission rail 65 is tilted relative to the front-to-back direction, and the zygomatic transmission component includes a first section 67 and a second section 68, and the extension direction of the first section 67 is the same as the extension direction of the zygomatic transmission rail 65, and the extension direction of the second section 68 is the front-to-back direction; the first section 67 is connected to the slider of the zygomatic transmission rail 65, and the second section 68 is connected to the zygomatic component 64.

[0120] In this embodiment, the zygomatic bone transmission member moves in the oblique and front-to-back directions, wherein the second section 68 is bent relative to the first section 67, that is, the second section 68 extends forward relative to the first section 67. When the zygomatic bone transmission member moves along the zygomatic bone transmission slide rail 65, the second section 68 drives the zygomatic bone member 64 to move in an oblique upward or oblique downward direction, and when the skin of the zygomatic bone area is lifted up, it is lifted up obliquely, making the expression more realistic.

[0121] In the optional technical solution of this embodiment, the zygomatic driver is transmission-connected to the first zygomatic transmission member 66. Specifically, the zygomatic driver is transmission-connected to the first section 67, and the first section 67 is driven to move along the zygomatic transmission slide rail 65 through the slider of the zygomatic transmission slide rail 65, which has a simple structure and stable driving.

[0122] However, the present embodiment is not limited thereto, and the zygomatic drive may also be a slider connected to the zygomatic drive rail 65 for transmission.

[0123] Specifically, the zygomatic bone driver may be directly connected to the slider of the zygomatic bone transmission rail 65 , or directly connected to the first zygomatic bone transmission member 66 .

[0124] The optional technical solution of this embodiment further includes a second zygomatic transmission member, through which the zygomatic driver is transmission-connected to the first zygomatic transmission member 66. The zygomatic driver can be arranged on one side of the extending direction of the zygomatic transmission rail 65, so as to avoid the zygomatic driver and the zygomatic transmission rail 65 being in one line, thereby improving space utilization.

[0125] In an optional technical solution of this embodiment, the second zygomatic bone transmission member can be a zygomatic bone pull rope, one end of which is connected to the first section 67, and the other end is transmission-connected to the zygomatic bone driver, which has a simple structure and convenient transmission.

[0126] In this embodiment, the second zygomatic transmission member is a zygomatic transmission rod 69, one end of which is hinged to the first zygomatic transmission member 66, and the other end is connected to the zygomatic driver. The transmission reliability through the zygomatic transmission rod 69 is high.

[0127] In the optional technical solution of this embodiment, the zygomatic bone driver is a zygomatic bone steering engine 70. The zygomatic bone steering engine 70 is more precisely controlled, so that the facial expressions of the zygomatic bone part are more precise and delicate.

[0128] An optional technical solution of this embodiment further includes a zygomatic rocker arm 71 , which is connected to the output end of the zygomatic servo 70 , and a second zygomatic transmission member is connected to the zygomatic rocker arm 71 .

[0129] In this embodiment, the second zygomatic transmission member is hinged to the zygomatic rocker arm 71 , and the zygomatic rocker arm 71 , the second zygomatic transmission member and the first zygomatic transmission member 66 form a crank slider structure, which has stable movement and good transmission effect.

[0130] The present embodiment is not limited thereto, and the zygomatic bone driver may also be a rotary motor, the output end of which is connected to the zygomatic bone rocker arm 71 ; or a telescopic motor, the output end of which is connected to the zygomatic bone transmission rod 69 or directly connected to the first zygomatic bone transmission member 66 .

[0131] In the optional technical solution of this embodiment, a spherical surface 72 is provided on the zygomatic part 64, and the spherical surface 72 is used to connect with the skin of the zygomatic part. The spherical surface 72 connects with the skin of the zygomatic part to make the zygomatic part more human-like. Among them, the zygomatic part 64 can fit with the skin of the zygomatic part, and when the zygomatic part 64 moves forward, the skin of the zygomatic part is lifted up, and when the zygomatic part 64 moves backward, the skin of the zygomatic part can rebound under its own elasticity; the zygomatic part 64 can also be connected with the skin of the zygomatic part, and at this time, the movement of the zygomatic part 64 directly drives the movement of the skin of the zygomatic part.

[0132] The present embodiment provides a bionic robot, including the bionic robot head described above. Thus, the technical advantages and effects achieved by the bionic robot include the technical advantages and effects achieved by the bionic robot head described above, which will not be described in detail here.

[0133] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or replace some or all of the technical features therein with equivalents. However, these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A bionic robot head, characterized in that: include: A nose drive device (34), a lip drive device, a jaw assembly (61), a jaw drive device and a pair of zygomatic drive devices (62); The nose drive device (34) is arranged on the upper side of the lip drive device, the lower jaw assembly (61) is arranged on the lower side of the lip drive device, a pair of zygomatic drive devices (62) are arranged on the left and right sides of the nose drive device (34), respectively, and the lower jaw drive device is arranged on the rear side of the nose drive device (34), the lip drive device and the pair of zygomatic drive devices (62); The nose driving device (34) is used to drive the skin movement of the nose, the lip driving device is used to drive the skin movement of the lips, the jaw driving device is used to drive the jaw assembly (61) to move, and the pair of zygomatic bone driving devices (62) are respectively used to drive the skin movement of a pair of zygomatic bone parts.

2. The bionic robot head according to claim 1, characterized in that: The nose driving device (34) comprises: a nose driver, a nose support (35), a nose pull rope (36), a pair of nose back traction members (37) and a pair of nose wing traction members (38); The nose driver is arranged on the nose bracket (35), the pair of nose back traction members (37) are respectively used to connect with the skin of the nose back on both sides of the nose bridge, and the pair of nose wing traction members (38) are respectively used to connect with the skin of the nose wing on both sides of the nose tip; The nose driver is connected to a pair of nose back traction members (37) and a pair of nose wing traction members (38) through the nose pull rope (36).

3. The bionic robot head according to claim 1, characterized in that: The lip driving device comprises: a pair of lip middle driving mechanisms (1), a pair of lip corner driving mechanisms (2) and two pairs of lip side driving mechanisms (3); A pair of lip middle driving mechanisms (1) are respectively used to connect with the skin of the middle part of the upper lip and the skin of the middle part of the lower lip to drive the skin of the middle part of the upper lip and the skin of the middle part of the lower lip to move; A pair of lip corner driving mechanisms (2) are respectively used to connect to the skin of a pair of lip corners to drive the skin of the pair of lip corners to move; A pair of the lip side drive mechanisms (3) are respectively used to connect to the skin on both sides of the middle part of the upper lip to drive the skin on both sides of the middle part of the upper lip to move, and another pair of the lip side drive mechanisms (3) are respectively used to connect to the skin on both sides of the middle part of the lower lip to drive the skin on both sides of the middle part of the lower lip to move.

4. The bionic robot head according to claim 3, characterized in that: The lip middle driving mechanism (1) comprises a lip middle up-and-down swing rod (4), a lip middle front-and-back swing rod (5), a first lip middle driver (6), a second lip middle driver (7) and a lip middle bracket (8), and the first lip middle driver (6) and the second lip middle driver (7) are both arranged on the lip middle bracket (8); The lip middle up-and-down swing rod (4) is hinged to the lip middle bracket (8), and the first lip middle driver (6) is transmission-connected to the lip middle up-and-down swing rod (4) for driving the lip middle up-and-down swing rod (4) to rotate; The front-to-back swing rod (5) in the middle of the lip is hinged to the upper and lower swing rod (4) in the middle of the lip, and one end of the front-to-back swing rod (5) in the middle of the lip is used to connect with the skin in the middle part of the lip, and the second middle driver (7) in the lip is transmission-connected to the front-to-back swing rod (5) in the middle of the lip, and is used to drive the front-to-back swing rod (5) in the middle of the lip to rotate.

5. The bionic robot head according to claim 3, characterized in that: The lip angle driving mechanism (2) comprises a first lip angle driver (17), a second lip angle driver (18), a lip angle bracket (19), a lip angle traction rod (20) and a lip angle traction member (21); The first lip angle driver (17) and the second lip angle driver (18) are both arranged on the lip angle bracket (19), and are both transmission-connected to the lip angle traction rod (20); the first lip angle driver (17) is used to drive the lip angle traction rod (20) to move up and down, and the second lip angle driver (18) is used to drive the lip angle traction rod (20) to move left and right; The lip corner traction member (21) is connected to the lip corner traction rod (20) and is used to connect to the skin at the lip corner.

6. The bionic robot head according to claim 3, characterized in that: The lip side driving mechanism (3) comprises a lip side driver (26), a lip side bracket (27) and a lip side traction member (28); The lip side driver (26) is arranged on the lip side bracket (27) and is transmission-connected with the lip side traction member (28) for driving the lip side traction member (28) to move obliquely upward, obliquely downward and linearly. The lip side traction member (28) is used to connect with the skin on one side of the middle part of the lip.

7. The bionic robot head according to claim 3, characterized in that: The lip middle drive mechanism (1) for connecting to the skin of the middle part of the lower lip and a pair of lip side drive mechanisms (3) for connecting to the skin on both sides of the middle part of the lower lip are both located on the lower jaw component (61).

8. The bionic robot head according to claim 1, characterized in that: The lower jaw driving device comprises: a lower jaw transverse movement driver (48), a lower jaw rotation driver (49), a lower jaw linear rotation bearing (50), a lower jaw support (51) and a lower jaw connecting shaft (52); The lower jaw transverse movement driver (48), the lower jaw rotation driver (49), and the lower jaw linear rotation bearing (50) are all arranged on the lower jaw support (51); The lower jaw connecting shaft (52) is disposed in the lower jaw linear rotation bearing (50) and is used to connect with the lower jaw assembly (61); The lower jaw transverse movement driver (48) is used to drive the lower jaw component (61) to perform axial transverse movement along the lower jaw linear rotation bearing (50), and the lower jaw rotation driver (49) is used to drive the lower jaw component (61) to perform circumferential rotation movement along the lower jaw linear rotation bearing (50).

9. The bionic robot head according to claim 1, characterized in that: The zygomatic bone driving device (62) comprises: a zygomatic bone driver, a zygomatic bone support (63), and a zygomatic bone component (64); The zygomatic bone driver is arranged on the zygomatic bone support (63), and the zygomatic bone driver is drivingly connected to the zygomatic bone component (64); The zygomatic piece (64) is used to connect with the skin of the zygomatic area, and the zygomatic driver is used to drive the zygomatic piece (64) to move forward or backward, so that the skin of the zygomatic area can move forward or backward along with the zygomatic piece (64).

10. A bionic robot, characterized in that: A bionic robot head comprising any one of claims 1-9.

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