Facial eyebrow movement device of bionic robot

Abstract

The invention discloses a bionic robot face eyebrow movement device which comprises a base, two eyebrow peak longitudinal movement units, two eyebrow center longitudinal movement units and two eyebrow center transverse and longitudinal coupling movement units. The base is fixedly connected with a head frame of the robot; the two brow peak longitudinal movement units are independent of each other, are symmetrically installed on the base and serve as power sources for driving the left brow peak and the right brow peak to move in the longitudinal direction. The two eyebrow longitudinal movement units are independent of each other, symmetrically installed on the base and used as power sources for driving the left eyebrow and the right eyebrow to move in the longitudinal direction. The two eyebrow transverse and longitudinal coupling movement units are independent from each other, are respectively mounted on the corresponding eyebrow longitudinal movement units, keep synchronous longitudinal movement with the eyebrow longitudinal movement units, and are also used as power sources for driving the left eyebrow and the right eyebrow to transversely move; a single eyebrow peak has a longitudinal movement mode; a single eyebrow has three motion modes of longitudinal, transverse and transverse and longitudinal coupling. On the premise that the miniaturization requirement is met, the bionic eyebrow multi-dimensional compound motion is achieved.

Description

Technical Field

[0001] The present invention relates to the technical field of bionic robots, and particularly to a bionic robot facial eyebrow movement device. Background Art

[0002] The rapid development of bionic robot technology has put forward higher requirements for anthropomorphic facial expressions, among which eyebrow movement is a key element for transmitting emotions and micro-expressions. Human eyebrows can achieve multi-degree-of-freedom movements such as vertical lifting and horizontal gathering through the coordinated movement of the brow peak and the brow center, and its dynamic range and coordination directly affect the naturalness of expressions. Existing bionic eyebrow driving devices mostly adopt single-degree-of-freedom linear driving. Although they can achieve simple lifting or translation, it is difficult to reproduce the multi-dimensional composite movement of human eyebrows, and there are problems such as high structural redundancy, poor movement coupling, and lag in dynamic response.

[0003] In traditional designs, the independent control of vertical and horizontal movements usually relies on the superimposed arrangement of multiple power sources (such as multiple servos driving different regions respectively), resulting in a large device volume and increased weight, and it is difficult to integrate into the limited space of the robot's face. In addition, the rigid transmission method of gear racks and slide rails is prone to jamming due to assembly errors or sudden load changes, affecting the movement accuracy and reliability. Summary of the Invention

[0004] The present invention aims to solve at least one of the technical problems existing in the prior art.

[0005] For this purpose, the present invention provides a bionic robot facial eyebrow movement device, which realizes the multi-dimensional composite movement of bionic eyebrows on the premise of meeting the miniaturization requirements, reproduces the complex micro-expressions of human eyebrows, improves the delicacy of the robot's emotional expression, and has high reliability.

[0006] To achieve the above object, the present invention adopts the following technical solutions:

[0007] A bionic robot facial eyebrow movement device provided by the present invention includes a base, and two each of a brow peak vertical movement unit, a brow center vertical movement unit, and a brow center horizontal and vertical coupling movement unit; wherein,

[0008] The base is fixedly connected to the head frame of the robot;

[0009] The two brow peak vertical movement units are installed on the base independently and symmetrically, and respectively serve as power sources for driving the left and right brow peaks to move longitudinally;

[0010] The two brow center vertical movement units are installed on the base independently and symmetrically, and respectively serve as power sources for driving the left and right brow centers to move longitudinally;

[0011] The two transverse and longitudinal coupling movement units between the eyebrows are independent of each other and are respectively installed on a corresponding one of the longitudinal movement units between the eyebrows, and maintain synchronous longitudinal movement with the longitudinal movement units between the eyebrows, and also serve as power sources for driving the left and right between the eyebrows to move horizontally respectively;

[0012] A single eyebrow peak has a longitudinal movement mode; a single area between the eyebrows has three movement modes: longitudinal, transverse, and transverse and longitudinal coupling.

[0013] In some embodiments, the base includes a base body and a plurality of mounting members fixed to the base body, and each mounting member is respectively connected to a corresponding longitudinal movement unit of the eyebrow peak and a longitudinal movement unit between the eyebrows.

[0014] In some embodiments, the longitudinal movement unit of the eyebrow peak includes a longitudinal driving motor of the eyebrow peak and a longitudinal execution mechanism of the eyebrow peak. The housing of the longitudinal driving motor of the eyebrow peak is fixedly connected to a first motor mounting member in the base;

[0015] The longitudinal execution mechanism of the eyebrow peak includes a first gear, a first mounting platform, a first slider, and a first linear slide rail; the first gear is connected to the output end of the longitudinal driving motor of the eyebrow peak through a first plum blossom coupling; the first mounting platform is fixedly connected to the first slider, the first slider is slidably arranged on the first linear slide rail, the first linear slide rail is fixedly connected to a first slide rail mounting member in the base and the axial direction of the first linear slide rail is arranged longitudinally; a first rack meshing with the first gear is formed on the first mounting platform, and a first end effector connected to the control point of the robot's eyebrow peak is fixedly arranged on the front side of the first mounting platform.

[0016] In some embodiments, when the longitudinal driving motor of the eyebrow peak rotates one week, the stroke S1 of the first rack and the speed v1 of the control point of the eyebrow peak are respectively:

[0017] S1 = π·m1·z1

[0018]

[0019] In the formula, m1 and z1 are respectively the module and the number of teeth of the first gear, and ω1 is the angular velocity of the output end of the longitudinal driving motor of the eyebrow peak.

[0020] In some embodiments, the longitudinal movement unit between the eyebrows includes a longitudinal driving motor between the eyebrows and a longitudinal execution mechanism between the eyebrows. The housing of the longitudinal driving motor between the eyebrows is fixedly connected to a second motor mounting member in the base;

[0021] The vertical execution mechanism of the center of the eyebrows includes a second gear, a second mounting platform, a second slider, and a second linear slide rail; the second gear is connected to the output end of the vertical driving motor of the center of the eyebrows through a second plum blossom coupling; the second mounting platform is fixedly connected to the second slider, the second slider is slidably arranged on the second linear slide rail, the second linear slide rail is fixedly connected to a second slide rail mounting part in the base, and the axial direction of the second linear slide rail is arranged longitudinally; a second rack meshing with the second gear is formed on the second mounting platform.

[0022] In some embodiments, the transverse and vertical coupling movement unit of the center of the eyebrows includes a transverse driving motor of the center of the eyebrows and a coupling mechanism; the transverse driving motor of the center of the eyebrows is supported on the second mounting platform, and a plum blossom coupling crank is arranged on the output end of the transverse driving motor of the center of the eyebrows; the coupling mechanism has a plurality of connection ends, wherein the first connection end is semi-rigidly connected to one end of the plum blossom coupling crank far from the output end of the transverse driving motor of the center of the eyebrows, the second connection end is slidably connected to a support arm fixed to the front side of the second mounting platform, and a second end effector connected to the control point of the center of the eyebrows of the robot is fixedly arranged on the front side of the coupling mechanism.

[0023] In some embodiments, the coupling mechanism includes an L-shaped transmission member, a short rod, a cross beam, and the second end effector; a U-shaped slideway arranged along the axial direction of the vertical section is arranged on the vertical section of the L-shaped transmission member, and the arc end of the U-shaped slideway is arranged far from the horizontal section of the L-shaped transmission member, the arc end of the U-shaped slideway serves as the first connection end and is semi-rigidly connected to one end of the short rod, the other end of the short rod is fixedly connected to the plum blossom coupling crank, the cross beam is fixedly connected to the horizontal section of the L-shaped transmission member, the second connection end is located on the cross beam, and the second end effector is fixedly arranged on the front side of the L-shaped transmission member.

[0024] In some embodiments, the short rod is a stud.

[0025] In some embodiments, a first support arm and a second support arm are fixedly arranged on the front side of the second mounting platform, and the two are arranged on the left and right sides of the L-shaped transmission member respectively. A first through hole and a second through hole for the cross beam to pass through are respectively arranged on the first support arm and the second support arm to form a sliding connection with the cross beam.

[0026] In some embodiments, when the vertical driving motor of the center of the eyebrows rotates one week, the stroke of the second rack is:

[0027] S2 = π·m2·z2

[0028] In the formula, S2 is the formation of the second rack, and m2 and z2 are the module and number of teeth of the second gear respectively;

[0029] The speed of the center-of-brow control point is:

[0030]

[0031] In the formula, v x is the lateral movement speed of the center-of-brow control point, v y is the longitudinal movement speed of the center-of-brow control point, ω2 is the angular speed of the output end of the center-of-brow longitudinal drive motor, ω3 is the angular speed of the output end of the center-of-brow lateral drive motor, θ is the rotation angle of the output end of the center-of-brow lateral drive motor, and a is the length from one end of the short rod to the output end of the center-of-brow lateral drive motor.

[0032] Compared with the prior art, the present invention has the following characteristics and beneficial effects:

[0033] Aiming at the problem that the current bionic eyebrow drive device has fewer degrees of freedom and is difficult to reproduce multi-dimensional composite motion, the present invention proposes a method of using six drive motors in two regions of the center of the brow and the brow peak to achieve the longitudinal and lateral movement of the center of the brow and the longitudinal movement of the brow peak, so as to achieve complex composite motion.

[0034] Aiming at the problem that the current bionic eyebrow drive device has a large number of power sources stacked and arranged, resulting in a large device volume, the present invention proposes to use the same end effector for the longitudinal and lateral movement of the center of the brow, so as to simplify the device and save space.

[0035] Aiming at the problem that the current bionic eyebrow drive device uses a fully rigid transmission method, which affects the reliability, the present invention proposes a coupling mechanism. The semi-rigid transmission method not only does not affect the force and motion transmission, but also improves the reliability of the device. Brief Description of the Drawings

[0036] Figure 1 is a schematic diagram of the overall structure of a bionic robot facial eyebrow movement device provided by an embodiment of the present invention;

[0037] Figure 2 is Figure 1 a schematic diagram of the structure of the base in the device shown;

[0038] Figure 3 is Figure 1 a schematic diagram of the structure of the base and the left brow peak longitudinal movement unit in the device shown;

[0039] Figure 4 is Figure 1 a schematic diagram of the structure of the base and the left center-of-brow longitudinal movement unit in the device shown;

[0040] Figure 5 is Figure 1 a schematic diagram of the structure of two center-of-brow transverse and longitudinal coupling movement units in the device shown;

[0041] Figure 6 As Figure 5 shown in the exploded view of the transverse and longitudinal coupling motion unit at the center of the eyebrows.

[0042] In the figure:

[0043] 100, base; 110, base body; 120, first motor mounting part; 130, second motor mounting part; 140, first slide rail mounting part; 150, second slide rail mounting part;

[0044] 200, longitudinal motion unit of the eyebrow peak; 210, longitudinal driving motor of the eyebrow peak; 211, first plum blossom coupling; 220, longitudinal actuator of the eyebrow peak; 221, first gear; 222, first mounting platform; 222a, first rack; 223, first slider; 224, first linear slide rail; 225, first end effector;

[0045] 300, longitudinal motion unit of the center of the eyebrows; 310, longitudinal driving motor of the center of the eyebrows; 311, second plum blossom coupling; 320, longitudinal actuator of the center of the eyebrows; 321, second gear; 322, second mounting platform; 322a, second rack; 322b, mounting hole; 323, second slider; 324, second linear slide rail; 325, first arm; 325a, first through hole; 326, second arm; 326a, second through hole;

[0046] 400, transverse and longitudinal coupling motion unit of the center of the eyebrows; 410, transverse driving motor of the center of the eyebrows; 411, plum blossom coupling crank; 411a, hole position; 420, coupling mechanism; 421, L-shaped transmission part; 421a, U-shaped slideway; 422, short rod; 423, cross beam; 424, second end effector. Detailed implementation manners

[0047] In order to make the objectives, technical solutions and advantages of the present application clearer and more understandable, the present application will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0048] On the contrary, the present application covers any alternatives, modifications, equivalent methods and solutions made within the spirit and scope of the present application as defined by the claims. Further, in order to enable the public to have a better understanding of the present application, some specific details are described in detail in the following detailed description of the present application. Those skilled in the art can fully understand the present application without the description of these details.

[0049] The structures, proportions, sizes, etc. shown in the accompanying drawings of this specification are only used to cooperate with the content disclosed in the specification for those familiar with this technology to understand and read, and are not used to limit the implementation conditions of this application. Therefore, they do not have substantial technical significance. Any modification of the structure, change in the proportional relationship, or adjustment of the size, without affecting the efficacy that this application can produce and the purpose that can be achieved, should still fall within the scope covered by the technical content disclosed in this application. At the same time, the terms such as "upper", "lower", "left", "right", "front", "back", "middle", and "one" cited in this specification are only for the convenience of narration and to be consistent with the orientation shown in the drawings, and are not used to limit the scope of implementation of this application. The change or adjustment of their relative relationship, without substantial change in the technical content, should also be regarded as the scope within which this application can be implemented.

[0050] See Figure 1 , a bionic robot facial eyebrow movement device provided by an embodiment of the present invention includes a base 100, and two each of a brow peak longitudinal movement unit 200, a brow center longitudinal movement unit 300, and a brow center transverse and longitudinal coupling movement unit 400; wherein,

[0051] The base 100 is fixedly connected to the head frame of the robot (the head frame is not shown in the figure).

[0052] Two brow peak longitudinal movement units 200 are independently and symmetrically installed on the base 100, and respectively serve as power sources for driving the left and right brow peaks to move longitudinally.

[0053] Two brow center longitudinal movement units 300 are independently and symmetrically installed on the base 100, and respectively serve as power sources for driving the left and right brow centers to move longitudinally.

[0054] Two brow center transverse and longitudinal coupling movement units 400 are independently installed on a corresponding brow center longitudinal movement unit 300 respectively, move longitudinally in synchronization with the brow center longitudinal movement unit 300, and also respectively serve as power sources for driving the left and right brow centers to move transversely.

[0055] A single brow peak has a longitudinal movement mode; a single brow center has three movement modes: longitudinal, transverse, and transverse and longitudinal coupling.

[0056] It should be noted that in this application, the up and down directions shown in each drawing are regarded as the longitudinal direction, the left and right directions shown in each drawing are regarded as the transverse direction, the front side shown in each drawing is the side of this device close to the robot's face, and the rear side shown in each drawing is the side of this device far from the robot's face.

[0057] In some embodiments, see Figure 2, the base 100 includes a base body 110 and a plurality of mounting members fixed to the base body 110. The base body 110 is a flat bottom plate. In the rear area on the base body 110, there is a main body mounting member fixedly connected to the head frame of the robot (the head frame is not shown in Figure 2 ). In the middle area of the front side on the base body 110, there are mounting members respectively fixedly connected to each eyebrow peak longitudinal movement unit 200 and the eyebrow center longitudinal movement unit 300, which will be described in detail below.

[0058] In some embodiments, referring to Figure 2 , Figure 3 , the structures of the two eyebrow peak longitudinal movement units 200 are exactly the same. Now, taking an eyebrow peak longitudinal movement unit that cooperates with the left eyebrow peak as an example, a detailed description will be given. The eyebrow peak longitudinal movement unit 200 includes an eyebrow peak longitudinal drive motor 210 and an eyebrow peak longitudinal actuator 220. The housing of the eyebrow peak longitudinal drive motor 210 is fixedly connected to a first motor mounting member 120 near the front side of the base body 110 and on the left side of the base body 110. The output end of the eyebrow peak longitudinal drive motor 210 is located on the left side of the base body 110. The eyebrow peak longitudinal actuator 220 includes a first gear 221, a first mounting platform 222, a first slider 223, and a first linear slide rail 224. Among them, the first gear 221 is connected to the output end of the eyebrow peak longitudinal drive motor 210 through a first flexible coupling 211. The first flexible coupling 211 can improve the transmission efficiency between the output end of the eyebrow peak longitudinal drive motor 210 and the first gear 221. The first mounting platform 222 is an L-shaped block. The first mounting platform 222 is fixedly connected to the first slider 223 through bolts. The first slider 223 is slidably arranged on the first linear slide rail 224. The axial direction of the first linear slide rail 224 is arranged longitudinally, and the first linear slide rail 224 is fixedly connected to a first slide rail mounting member 140 located in the front left of the base body 110 ( Figure 3 In , since the first slide rail mounting member in the front left is blocked by the first linear slide rail 224, the first slide rail mounting member 140 located in the front right is marked). On one side of the first mounting platform 222 facing the first gear 221, there is a first rack 222a meshing with the first gear 221. On the front side of the first mounting platform 222, there is a first end effector 225 fixedly connected to the eyebrow peak control point of the robot. The eyebrow peak longitudinal drive motor 210 drives the first gear 221 to rotate. The rotation of the eyebrow peak longitudinal drive motor 210 is converted into up and down translational motion through the meshing between the first rack 222a and the first gear 221, realizing the longitudinal movement of the eyebrow peak. At the same time, the cooperation between the first slider 223 fixedly connected to the first mounting platform 222 and the first linear slide rail 224 fixedly connected to the first slide rail mounting member 140 ensures the longitudinal movement stability of the first mounting platform 222.

[0059] Furthermore, the control point at the brow peak moves longitudinally under the action of the first gear 221 and the first rack 222a. Let the module and the number of teeth of the first gear 221 be m1 and z1 respectively. When the brow peak longitudinal drive motor 210 rotates one week, the stroke S1 of the first rack 222a (i.e., the stroke of the control point at the brow peak) is:

[0060] S1 = π·m1·z1

[0061] When the angular velocity of the output end of the brow peak longitudinal drive motor 210 is ω1, the moving speed v1 of the first rack 222a is:

[0062]

[0063] In a specific embodiment of the present invention, m1 = 1, z1 = 15, v1 = 7.5ω1, with the unit of cm / s.

[0064] In some embodiments, refer to Figure 2 、 Figure 4, the structures of the two longitudinal brow movement units 300 are exactly the same. Now, taking one of the longitudinal brow movement units that cooperates with the left brow as an example, a detailed description is given. The longitudinal brow movement unit 300 includes a longitudinal brow driving motor 310 and a longitudinal brow actuator 320. The housing of the longitudinal brow driving motor 310 is fixedly connected to the second motor mounting member 130 near the middle of the front side of the base body 110, and the output end of the longitudinal brow driving motor 310 is arranged facing the middle of the base body 110. The longitudinal brow actuator 320 includes a second gear 321, a second mounting platform 322, a second slider 323, and a second linear slide rail 324. Among them, the second gear 321 is connected to the output end of the longitudinal brow driving motor 310 through a second flexible coupling 311, and the second flexible coupling 311 can improve the transmission efficiency between the output end of the longitudinal brow driving motor 310 and the second gear 321; the second mounting platform 322 is fixedly connected to the second slider 323 through bolts, and the second slider 323 is slidably arranged on the second linear slide rail 324. The axial direction of the second linear slide rail 324 is arranged longitudinally, and the second linear slide rail 324 is fixedly connected to the second slide rail mounting member 150 on the base body 110 near the first slide rail mounting member 140 through screws; on one side of the second mounting platform 322 facing the second gear 321, a second rack 322a meshing with the second gear 321 is formed. The longitudinal brow driving motor 310 drives the second gear 321 to rotate, and converts the rotation of the longitudinal brow driving motor 310 into a vertical translational motion through the meshing between the second rack 322a and the second gear 321, realizing the longitudinal movement of the brow. At the same time, the cooperation between the second slider 323 fixedly connected to the second mounting platform 322 and the second linear slide rail 324 fixedly connected to the second slide rail mounting member 150 ensures the longitudinal movement stability of the second mounting platform 322.

[0065] In some embodiments, refer to Figures 4 to 6, two horizontal and vertical coupling movement units 400 of the eyebrows are located on the front side of the overall device and are distributed left and right. The structures of the two horizontal and vertical coupling movement units 400 of the eyebrows are the same. Now, a horizontal and vertical coupling movement unit of the eyebrows cooperating with the left eyebrow will be taken as an example for detailed description. The horizontal and vertical coupling movement unit 400 of the eyebrows includes a horizontal driving motor 410 of the eyebrows and a coupling mechanism 420. The horizontal driving motor 410 of the eyebrows is supported on the second mounting platform 322 in the vertical movement unit of the left eyebrow. The output end of the horizontal driving motor 410 of the eyebrows is arranged facing the front side of the base body 110, and a plum coupling crank 411 is provided on the output end of the horizontal driving motor 410 of the eyebrows. An installation hole 322b matching the housing of the horizontal driving motor 410 of the eyebrows is provided on the second mounting platform 322, and the installation hole 322b is arranged close to the side wall where the second gear 322a is provided on the second mounting platform 322. The coupling mechanism 420 has a number of connection ends. Among them, the first connection end is semi-rigidly connected to the end of the plum coupling crank 411 far from the output end of the horizontal driving motor 410 of the eyebrows, and the second connection end is slidably connected to the support arm fixed on the front side of the second mounting platform 322. A second end effector 424 connected to the control point of the robot's eyebrows is fixedly provided on the front side of the coupling mechanism 420.

[0066] Furthermore, the coupling mechanism 420 includes an L-shaped transmission member 421, a short rod 422, a cross beam 423, and a second end effector 424. Among them, a longitudinal U-shaped slideway 421a semi-rigidly connected to one end of the short rod 422 is provided on the vertical section of the L-shaped transmission member 421, and the arc end of the U-shaped slideway 421a is arranged away from the horizontal section of the L-shaped transmission member 421 and serves as the first connection end of the coupling structure 420. The other end of the short rod 422 is fixedly connected to the hole position 411a on the plum blossom coupling crank 411, so that the rotation of the horizontal drive motor 410 for the eyebrows is transmitted to the L-shaped transmission member 421 through the plum blossom coupling crank 411 and the short rod 422. The longitudinal dimension of the U-shaped slideway 421a on the L-shaped transmission member 421 is not less than the length of the vertical section of the plum blossom coupling crank 411, and the length of the vertical section of the plum blossom coupling crank 411 determines the maximum displacement of the eyebrows in a single horizontal direction (such as to the left) and a single vertical direction (such as upward). The transverse dimension of the U-shaped slideway 421a is slightly larger than the transverse dimension of the short rod 422, so that the short rod 422 can extend into the U-shaped slideway 421a to ensure their assembly. Optionally, the short rod 422 is a stud. The short characteristics of the stud reduce the occupied space of the moving parts while maintaining the structural stability of the mechanism. The stud has a threaded cylindrical surface, and its contact with the U-shaped slideway 421a is usually line contact or surface contact. With lubrication, the friction resistance can be effectively reduced and the service life can be extended. If the stud is hardened or made of wear-resistant material, the wear can be further reduced. The horizontal section of the L-shaped transmission member 421 is fixedly connected to or integrally formed with the cross beam 423, and the two move synchronously. The second connection end of the coupling mechanism 420 is located on the cross beam 423. Specifically, a first arm 325 and a second arm 326 that form a sliding contact with the cross beam 423 are fixed by screws on the front side of the second mounting platform 322, and the two are arranged on the left and right sides of the L-shaped transmission member 421 respectively. First through holes 325a and second through holes 326a for the cross beam 423 to pass through are respectively provided on the first arm 325 and the second arm 326. The setting of these two through holes does not interfere with the transverse movement of the cross bar 423 on the one hand, and can support the cross bar 423 on the other hand to ensure the structural stability. The second end effector 424 is fixed to the front side of the L-shaped transmission member 421 and is connected to the eyebrow control point to drive the movement of the eyebrows. The horizontal movement and the vertical movement of the eyebrows share one control point. It should be noted that in order to ensure that the movement of the cross beam 423 in the two eyebrow horizontal-vertical coupling movement units 400 does not interfere with each other, the cross beams 423 of the two are arranged staggeredly in the front and back directions.When the brow longitudinal drive motor 310 moves, the engagement between the second rack 322a and the second gear 321 drives the brow longitudinal actuator 320 and the brow transverse-longitudinal coupling motion unit 400 to move; during the process that the brow transverse-longitudinal coupling motion unit 400 moves along with the brow longitudinal actuator 320, when the brow transverse drive motor 410 moves, the plum blossom coupling crank 411 drives the short rod 422, and drives the L-shaped transmission member 421 and the second end actuator 424 to move through the U-shaped slideway 421a.

[0067] Further, the control point at the brow has two degrees of freedom in the transverse and longitudinal directions. The longitudinal movement of the control point at the brow is similar to that of the brow peak. Let the module and number of teeth of the second gear 321 be m2 and z2 respectively. When the brow longitudinal drive motor 310 rotates one week, the stroke S2 of the second rack 322a (i.e., the stroke of the control point at the brow) is:

[0068] S2 = π·m2·z2

[0069] When the angular velocity of the output end of the brow longitudinal drive motor 310 is ω2, the movement speed of the second rack 322a, that is, the longitudinal movement speed v of the control point at the brow y is:

[0070]

[0071] For the transverse movement of the control point at the brow, taking the longitudinal direction of the plum blossom coupling crank 411 as the reference, let the rotation angle of the output end of the brow transverse drive motor 410 be θ, and the length from one end of the short rod 422 to the output end of the brow transverse drive motor 410 be a, a = 13.5 mm. Then the transverse position change of the control point at the brow is a·sinθ. When the angular velocity of the output end of the brow transverse drive motor 410 is ω3, then the transverse movement speed v of the control point at the brow x is:

[0072]

[0073] Therefore, the movement speed of the control point at the brow is:

[0074]

[0075] In a specific embodiment of the present invention, m2 = 1, z2 = 28, a = 13.5 mm, and the movement speed of the control point at the brow is:

[0076]

[0077] Optionally, in the embodiments of the present invention, each drive motor adopts a stepper motor.

[0078] In summary, for the bionic robot facial eyebrow movement device provided by the embodiments of the present invention, the base plays a role of bearing and fixing. Each movement unit is respectively configured with a 180° driving motor to provide power. The longitudinal actuators of the center of the eyebrows and the peaks of the eyebrows are respectively matched with a gear rack and a slide rail to convert the rotation of the driving motor into up-and-down translational motion, so as to realize the up-and-down movement of the center of the eyebrows and the peaks of the eyebrows. The longitudinal and transverse coupling movement unit of the center of the eyebrows moves synchronously with the longitudinal actuator of the center of the eyebrows in the longitudinal direction. The coupling mechanism is independently controlled by a short rod and a U-shaped slide rail to convert the rotation of the transverse driving motor into left-and-right translational motion. This movement device is divided into two parts: the center of the eyebrows and the peaks of the eyebrows, and can realize the longitudinal and transverse movement of the center of the eyebrows and the transverse movement of the peaks of the eyebrows, with a total of 6 degrees of freedom. The key points are as follows:

[0079] 1) Multi-degree-of-freedom coordinated movement and independent control of different regions: The facial eyebrows of the bionic robot are divided into two independent movement regions, namely the center of the eyebrows and the peaks of the eyebrows. The longitudinal movement of the peaks of the eyebrows and the combined longitudinal and transverse movement of the center of the eyebrows are realized through 6 driving motors (3 on each side, left and right), with a total of 6 degrees of freedom, approaching the natural dynamic range of human eyebrows.

[0080] 2) Longitudinal and transverse coupling design of the center of the eyebrows: In the center-of-the-eyebrows area, through a coupling mechanism of an L-shaped transmission part with a U-shaped slide rail + a short rod, the longitudinal driving motor and the transverse driving motor of the center of the eyebrows are separately controlled to realize the coordinated movement of the longitudinal lifting and transverse gathering of the center of the eyebrows, simulating the micro-expression linkage of human eyebrows.

[0081] 3) Compact modular structure: The base adopts a planar bottom plate design, integrating multiple groups of adjustable mounting parts that cooperate with the corresponding longitudinal movement units of the peaks of the eyebrows and the longitudinal movement units of the center of the eyebrows, supporting a left-right symmetric layout, adapting to different facial sizes, and reducing redundant structures at the same time.

[0082] 4) Reuse of power sources: The longitudinal and transverse drives of the center of the eyebrows share the same rack mounting platform, that is, the second mounting platform. The transverse driving motor of the center of the eyebrows is superimposed and installed through a lateral support arm, avoiding the waste of space caused by the independent arrangement of multiple power sources.

[0083] 5) Short rod - U-shaped slide rail semi-rigid transmission: In the transverse drive of the center of the eyebrows, the cooperation of a short rod + a U-shaped slide rail (semi-rigid transmission) is adopted to convert the rotation of the driving motor into transverse translational motion. This design reduces the frictional resistance through line contact, allows self-compensation for minor assembly errors, and avoids the risk of jamming in the traditional rigid transmission of gear racks.

[0084] 6) Coupling mechanism: The second mounting platform of the longitudinal actuator of the center of the eyebrows is integrated with a first support arm and a second support arm, which are slidably connected to the cross beam fixed on the L-shaped transmission part, transmitting both longitudinal movement and allowing independent transverse drive, realizing the decoupling of the movement of the center of the eyebrows.

[0085] A bionic robot facial eyebrow movement device provided by an embodiment of the present invention has the following technical advantages:

[0086] 1) High bionics and rich expressiveness: Through multi-degree-of-freedom composite movements (such as vertical lifting + horizontal convergence of the glabella), complex micro-expressions of human eyebrows (such as surprise, anger, sadness) can be reproduced, enhancing the delicacy of the robot's emotional expression.

[0087] 2) Space efficiency and lightweight: The modular layout and power source reuse reduce the device volume by more than 40%, adapting to the limited space of the robot's face; the use of an aluminum alloy base and lightweight sliders significantly reduces the overall weight. In a specific embodiment of the present invention, the overall length of the device is about 90 mm, the width is 70 mm, and the contact area of the end effector is about 22 m 2 .

[0088] 3) Anti-interference and long life: The semi-rigid transmission (short rod - U-shaped slideway) reduces wear through flexible contact and extends the service life (experimental verification shows that the life exceeds 500,000 cycles) while ensuring the transmission accuracy.

[0089] 4) Dynamic performance optimization: The longitudinal drive of the eyebrow peak and glabella adopts the cooperation of a gear rack and a slide rail, with a transmission efficiency of 92% and a response speed ≤ 0.1 s; the horizontal drive of the glabella amplifies the stroke through the lever effect of the short rod, and the single drive motor can achieve a horizontal stroke of ±15 mm.

[0090] 5) Low cost and easy maintenance: The core transmission components (gears, slide rails, short rods) use standardized parts, with low processing and replacement costs; the modular design supports local maintenance without the need for overall disassembly.

[0091] In the description of this specification, the descriptions referring to terms such as "one embodiment", "some embodiments", "schematic embodiments", "examples", "specific examples", or "some examples" etc. mean that the specific features, structures, materials, or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present disclosure. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials, or characteristics described can be combined in a suitable manner in any one or more embodiments or examples.

[0092] Although the embodiments of the present disclosure have been shown and described, those of ordinary skill in the art can understand that various changes, modifications, substitutions, and variations can be made to these embodiments without departing from the principles and purposes of the present disclosure, and the scope of the present disclosure is defined by the claims and their equivalents.

Claims

1. A bionic robot facial eyebrow movement device, characterized in that, It includes a base, and two each of a longitudinal eyebrow peak movement unit, a longitudinal movement unit of the center of the eyebrows, and a transverse and longitudinal coupling movement unit of the center of the eyebrows; among them, the base is fixedly connected to the head frame of the robot; the two longitudinal eyebrow peak movement units are installed on the base independently and symmetrically, and respectively serve as power sources for driving the left and right eyebrow peaks to move longitudinally; the two longitudinal movement units of the center of the eyebrows are installed on the base independently and symmetrically, and respectively serve as power sources for driving the left and right centers of the eyebrows to move longitudinally; the two transverse and longitudinal coupling movement units of the center of the eyebrows are installed on a corresponding one of the longitudinal movement units of the center of the eyebrows independently, move longitudinally in synchronization with the longitudinal movement unit of the center of the eyebrows, and also respectively serve as power sources for driving the left and right centers of the eyebrows to move transversely; a single eyebrow peak has a longitudinal movement mode; a single center of the eyebrows has three movement modes: longitudinal, transverse, and transverse and longitudinal coupling.

2. The bionic robot facial eyebrow movement device according to claim 1, characterized in that, The base includes a base body and a plurality of mounting parts fixed on the base body, and each mounting part is respectively connected to the corresponding longitudinal eyebrow peak movement unit and the longitudinal movement unit of the center of the eyebrows.

3. The bionic robot facial eyebrow movement device according to claim 1, characterized in that, The longitudinal eyebrow peak movement unit includes a longitudinal eyebrow peak driving motor and a longitudinal eyebrow peak executing mechanism, and the housing of the longitudinal eyebrow peak driving motor is fixedly connected to the first motor mounting part in the base; The longitudinal eyebrow peak executing mechanism includes a first gear, a first mounting platform, a first slider, and a first linear slide rail; the first gear is connected to the output end of the longitudinal eyebrow peak driving motor through a first flexible coupling; the first mounting platform is fixedly connected to the first slider, the first slider is slidably arranged on the first linear slide rail, the first linear slide rail is fixedly connected to the first slide rail mounting part in the base and the axial direction of the first linear slide rail is arranged longitudinally; a first rack meshing with the first gear is formed on the first mounting platform, and a first end effector connected to the eyebrow peak control point of the robot is fixedly arranged on the front side of the first mounting platform.

4. The bionic robot facial eyebrow movement device according to claim 3, characterized in that, When the longitudinal eyebrow peak driving motor rotates one week, the stroke S1 of the first rack and the speed v1 of the eyebrow peak control point are respectively: S1 = π·m1·z1 In the formula, m1 and z1 are respectively the module and the number of teeth of the first gear, and ω1 is the angular velocity of the output end of the longitudinal eyebrow peak driving motor.

5. The biomimetic robot facial eyebrow movement device according to claim 1, wherein The longitudinal movement unit of the center of the eyebrows includes a longitudinal driving motor of the center of the eyebrows and a longitudinal executing mechanism of the center of the eyebrows, and the housing of the longitudinal driving motor of the center of the eyebrows is fixedly connected to the second motor mounting part in the base; The longitudinal executing mechanism of the center of the eyebrows includes a second gear, a second mounting platform, a second slider, and a second linear slide rail; the second gear is connected to the output end of the longitudinal driving motor of the center of the eyebrows through a second flexible coupling; the second mounting platform is fixedly connected to the second slider, the second slider is slidably arranged on the second linear slide rail, the second linear slide rail is fixedly connected to the second slide rail mounting part in the base and the axial direction of the second linear slide rail is arranged longitudinally; a second rack meshing with the second gear is formed on the second mounting platform.

6. The bionic robot facial eyebrow movement device according to claim 5, characterized in that, The horizontal and vertical coupling movement unit at the center of the eyebrows includes a horizontal driving motor at the center of the eyebrows and a coupling mechanism; the horizontal driving motor at the center of the eyebrows is supported on the second mounting platform, and a plum blossom coupling crank is provided at the output end of the horizontal driving motor at the center of the eyebrows; the coupling mechanism has a number of connection ends, wherein the first connection end is semi-rigidly connected to the end of the plum blossom coupling crank far from the output end of the horizontal driving motor at the center of the eyebrows, the second connection end is slidably connected to a support arm fixed to the front side of the second mounting platform, and a second end effector connected to the center control point of the robot's eyebrows is fixedly provided on the front side of the coupling mechanism.

7. The biomimetic robot facial eyebrow movement device according to claim 6, characterized in that, The coupling mechanism includes an L-shaped transmission member, a short rod, a cross beam and the second end effector; a U-shaped slideway arranged along the axial direction of the vertical section is provided on the vertical section of the L-shaped transmission member, and the arc end of the U-shaped slideway is arranged far from the horizontal section of the L-shaped transmission member, the arc end of the U-shaped slideway serves as the first connection end and is semi-rigidly connected to one end of the short rod, the other end of the short rod is fixedly connected to the plum blossom coupling crank, the cross beam is fixedly connected to the horizontal section of the L-shaped transmission member, the second connection end is located on the cross beam, and the second end effector is fixedly provided on the front side of the L-shaped transmission member.

8. The biomimetic robot facial eyebrow movement device according to claim 6, characterized in that The short rod is a stud.

9. The bionic robot facial eyebrow movement device according to claim 6, characterized in that, A first support arm and a second support arm are fixedly provided on the front side of the second mounting platform, and the two are arranged on the left and right sides of the L-shaped transmission member respectively. A first through hole and a second through hole for the cross beam to pass through are respectively provided on the first support arm and the second support arm to form a sliding connection with the cross beam.

10. The bionic robot facial eyebrow movement device according to claim 6, characterized in that, When the vertical driving motor at the center of the eyebrows rotates one week, the stroke of the second rack is: S2 = π·m2·z2 In the formula, S2 is the formation of the second rack, and m2 and z2 are the module and number of teeth of the second gear respectively; The speed of the center control point of the eyebrows is: where, v x is the horizontal movement speed of the center point of the eyebrows, v y is the vertical movement speed of the center point of the eyebrows, ω2 is the angular velocity at the output end of the vertical driving motor for the eyebrows, ω3 is the angular velocity at the output end of the horizontal driving motor for the eyebrows, θ is the rotation angle at the output end of the horizontal driving motor for the eyebrows, and a is the length from one end of the short rod to the output end of the horizontal driving motor for the eyebrows.

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