Bionic human face robot

Abstract

The invention discloses a bionic human face robot which comprises a head device, the head device comprises an eye module, the eye module comprises a mounting base, an eyeball component, a first driving assembly and a connecting piece, the first driving assembly is mounted on the mounting base, the driving end of the first driving assembly is in transmission connection with the eyeball component, and the connecting piece is connected with the eyeball component. The mounting seat is arranged on the eyeball part to drive the eyeball part to turn up and down, a center hole is formed in the middle of the back side of the eyeball part, one end of the connecting piece is connected with the mounting seat, the other end of the connecting piece is spherically hinged to the center hole, and the connecting piece is always horizontally arranged to limit the turning stroke of the eyeball part. By means of horizontal arrangement of spherical hinge matching of the connecting pieces, the overturning stroke of the eyeballs can be limited, excessive overturning or separation from the original position is avoided, accurate eye movement is guaranteed, and the simulation degree of facial expressions of the bionic human face robot is effectively improved.

Description

Technical Field

[0001] This application relates to the field of robotics, and more particularly to a bionic humanoid robot. Background Technology

[0002] In the development of bionic humanoid robots, the realism of facial expressions is one of the core indicators for evaluating their interactive performance. As a key component of facial expressions, eye movement accuracy directly determines the realism of the expression simulation. Currently, to achieve multi-pose simulation of the eyes, such as blinking, strabismus, and eyeball rotation, the eye components of existing bionic humanoid robots generally adopt a flip-up structure design. This structure typically uses motors, servos, or piezoelectric actuators in conjunction with gears, linkages, and other transmission components to drive the eye shell or eyeball body to flip around a preset axis.

[0003] However, existing eye-flipping mechanisms have significant technical defects in actual operation: on the one hand, due to insufficient control precision of the output torque of the drive components, or problems such as gaps and unstable friction coefficients in the transmission mechanism, the transition process of the eye-flipping action lacks precise control, and is prone to excessive phenomena such as overshooting of the flipping angle and sudden changes in movement speed; on the other hand, the above-mentioned excessive problems will directly cause the eye components to deviate from the preset movement trajectory relative to the facial base, and in severe cases, even deviate from the initial assembly position or target positioning area, causing the eye posture and the overall facial expression to be uncoordinated, resulting in facial expression distortion and unrealistic problems, which greatly affects the emotional transmission effect and realism of the bionic humanoid robot when interacting with users. Summary of the Invention

[0004] The purpose of this invention is to provide a bionic human face robot that can solve the above-mentioned problems existing in the prior art.

[0005] To achieve the above objectives, this application adopts the following technical solution: On one hand, a bionic humanoid robot is provided, including a head device. The head device includes an eye module, which includes a mounting base, an eyeball component, a first drive assembly, and a connector. The first drive assembly is mounted on the mounting base, and its drive end is connected to the eyeball component to drive the eyeball component to rotate up and down. A central hole is provided in the middle of the back side of the eyeball component. One end of the connector is connected to the mounting base, and the other end is ball-hung in the central hole. The connector is always arranged horizontally to limit the rotation stroke of the eyeball component.

[0006] Furthermore, the mounting base is also provided with a limiting part, which can contact and limit the upper edge of the dorsal side of the eyeball component.

[0007] Furthermore, the back side of the eyeball component is provided with two connecting holes, which are located on the left and right sides of the central hole. A second driving component is installed on the mounting base, and the driving end of the second driving component is respectively connected to the two connecting holes to drive the eyeball component to rotate left and right.

[0008] Furthermore, the eyeball component is provided in two parts, and the upper and lower sides of the front of the eyeball component are respectively provided with movable upper eyelid and lower eyelid, and the two upper eyelids form an angle between them.

[0009] Furthermore, the mounting base is also provided with a third drive assembly and a fourth drive assembly. The drive end of the third drive assembly is connected to the upper eyelid, and the drive end of the fourth drive assembly is connected to the lower eyelid, so as to drive the upper eyelid and the lower eyelid to move up and down respectively.

[0010] Furthermore, the head device also includes a mouth module disposed below the eye module. The mouth module includes connecting plates mounted on the lower sides of the mounting base, two lip components mounted between the two connecting plates, and a fifth drive assembly that drives the two lip components to move respectively. The two lip components are arranged vertically, and the two fifth drive assemblies drive the two lip components to extend forward or retract backward respectively.

[0011] Furthermore, the lip component includes a first rack, and the drive end of the fifth drive assembly is equipped with a first gear, which meshes with the first rack for transmission.

[0012] Furthermore, the head device also includes an eyebrow module, which includes an arc-shaped support base mounted on the rear side of the mounting base and eyebrow components movably mounted on both sides of the front end of the arc-shaped support base. The eyebrow components include a left edge and a right edge. The eyebrow module also includes a plurality of sixth drive components. The drive end of the sixth drive component is equipped with a second gear. The left edge and the right edge both include a second rack that can mesh with the second gear for transmission. The plurality of sixth drive components can drive the left edge and the right edge to move up and down respectively.

[0013] Furthermore, the head device also includes a head housing with a receiving cavity formed inside. The eye module is installed in the receiving cavity. The head housing has multiple mounting holes with magnetic suction elements installed in the mounting holes. When a mask is fitted onto the outer periphery of the head housing, the magnetic suction elements can magnetically attract and fix the mask.

[0014] Furthermore, the bionic humanoid robot includes a neck device and a base. The head device is mounted on the top of the neck device via a drive mechanism, which drives the head device to swing up and down and rotate left and right relative to the neck device. The neck device is movably mounted on the mounting end of the base and is capable of swinging back and forth relative to the base.

[0015] The beneficial effects of this application are as follows: By using a balanced design with one end of the connector fixed and the other end a ball joint, it can strictly ensure that the eye component never leaves the control range of the connector during movement, completely eliminating the risk of it leaving its original position. At the same time, relying on the flexible connection characteristics of the ball joint, it does not interfere with the normal movement of the eye component, breaking the limitation of only being able to rotate up and down, and adapting to more diverse facial expression simulation needs. The mechanical hard limit design of the horizontal connector can effectively avoid the problem of excessive movement without relying on complex electronic control compensation, ensuring the accuracy of eye movement, allowing eye movement to be precisely coordinated with other facial expression components, preventing expression distortion, and significantly improving the realism of the bionic humanoid robot's expressions and the effect of emotion transmission. At the same time, the overall solution realizes the core function through mechanical structure, without the need to add additional high-precision sensors or complex electronic control modules, simplifying the eye module structure, reducing R&D, assembly and maintenance costs, and taking into account both reliability and economy. Attached Figure Description

[0016] The present application will now be described in further detail with reference to the accompanying drawings and embodiments.

[0017] Figure 1 This is a schematic diagram of the bionic humanoid robot described in the embodiments of this application; Figure 2 This is an exploded view of the bionic humanoid robot described in the embodiments of this application; Figure 3 This is a schematic diagram of the eye module described in the embodiments of this application. Figure 1 ; Figure 4 This is a schematic diagram of the eye module described in the embodiments of this application. Figure 2 ; Figure 5 This is a schematic diagram of the eye module described in the embodiments of this application. Figure 3 ; Figure 6 This is a schematic diagram of the head shell described in an embodiment of this application; Figure 7 This is a schematic diagram of the mouth module described in an embodiment of this application; Figure 8 This is a schematic diagram of the drive mechanism described in the embodiments of this application; Figure 9 This is a schematic diagram of the eyebrow module described in an embodiment of this application; Figure 10This is a schematic diagram of the lip component described in an embodiment of this application.

[0018] In the diagram: 120, head assembly; 130, neck assembly; 140, base; 1. Eye module; 101. Mounting base; 102. Eyeball component; 103. First drive assembly; 104. Connector; 105. Limiting part; 106. Second drive assembly; 107. Upper eyelid; 108. Lower eyelid; 109. Third drive assembly; 110. Fourth drive assembly; 111. Support part; 1021. Center hole; 1022. Connecting hole; 2. Mouth module; 201. Connecting plate; 202. Lip component; 203. Fifth drive assembly; 204. Mouth corner component; 2021. First rack; 2031. First gear; 3. Eyebrow module; 301. Arc-shaped support base; 302. Eyebrow component; 303. Sixth drive assembly; 3021. Left edge; 3022. Right edge; 3023. Second rack; 4. Drive mechanism; 401. Seventh drive component; 402. Eighth drive component; 5. Ninth drive component; 6. Head shell; 601. Mounting hole; 602. Back shell; 603. Forehead shell. Detailed Implementation

[0019] To make the technical problems solved by this application, the technical solutions adopted, and the technical effects achieved clearer, the technical solutions of the embodiments of this application are further described in detail below. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments in this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0020] In the description of this application, unless otherwise expressly specified and limited, the terms "connected," "linked," and "fixed" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0021] In this application, unless otherwise expressly specified and limited, "above" or "below" the second feature can include direct contact between the first and second features, or contact between the first and second features through another feature between them. Furthermore, "above," "over," and "on top" of the second feature includes the first feature being directly above or diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature includes the first feature being directly below or diagonally below the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature.

[0022] like Figure 1 As shown, this embodiment provides a bionic humanoid robot, including a head device 120. The head device 120 includes an eye module 1, which includes a mounting base 101, an eyeball component 102, a first drive assembly 103, and a connector 104. The first drive assembly 103 is mounted on the mounting base 101, and its drive end is connected to the eyeball component 102 to drive the eyeball component 102 to rotate up and down. A central hole 1021 is provided in the middle of the back side of the eyeball component 102. One end of the connector 104 is connected to the mounting base 101, and the other end is ball-hung in the central hole 1021. The connector 104 is always arranged horizontally to limit the rotation stroke of the eyeball component 102.

[0023] Based on the above solution, the first drive component 103 is fixed to the mounting base 101 and directly drives the eyeball component 102, providing the power for the eyeball to rotate up and down. Here, the first drive component 103 can drive the eyeball component 102 to rotate up and down, but it is not limited to the up and down rotation of the eyeball component 102, and can adapt to the activity requirements of multi-directional facial expressions. The core of the solution lies in the bidirectional balance design of the connector 104. One end of the connector 104 is rigidly fixed to the mounting base 101 to ensure the stability of the support reference, and the other end is precisely engaged with the central hole 1021 in the middle of the back side of the eyeball component 102 through a ball joint, which provides a fixed fulcrum for eyeball movement. Furthermore, the rotational characteristics of the ball joint prevent rigid obstruction to the normal movement of the eyeball component 102. At the same time, the connector 104 is always horizontally arranged, forming a mechanical hard limit that is directly related to the movement stroke of the eyeball component 102. When the eyeball component 102 moves in any direction under the action of the first drive assembly 103, the length and angle of the horizontal connector 104 will directly limit its range of movement. Once the preset range is reached, a reverse constraint is generated to prevent excessive movement. In addition, the layout of the central hole 1021 coinciding with the geometric center of the eyeball component 102 ensures that all eyeball movements revolve around the fixed center, avoiding movement trajectory deviation caused by fulcrum offset.

[0024] In this design, relying on the balanced design of the connector 104, which is fixed at one end and has a ball joint at the other, the eyeball component 102 always moves around the ball joint point of the connector 104 as a fixed fulcrum. The ball joint only allows rotation around the fulcrum, strictly limiting the displacement of the eyeball in the front-back and left-right directions. For example, when simulating blinking or strabismus, the eyeball component 102 can only rotate within the control range of the connector 104. It will not deviate from its relative position with other facial components due to excessive movement, ensuring that the eyes are always in the preset coordination area of ​​the facial expression, laying the foundation for the naturalness of the overall expression.

[0025] Furthermore, the flexibility of the ball joint connection allows the eyeball component 102 to move flexibly in multiple directions within the control range of the connector 104, such as flipping up and down, slightly turning left and right, and rotating obliquely, rather than being limited to a single up-and-down flipping as in the prior art. For example, when simulating a confused expression, the eyeball component 102 can achieve a slight oblique rotation under the constraint of the connector 104, and when simulating a focused expression, it can achieve a slight horizontal rotation, greatly expanding the richness of facial expressions of the bionic humanoid robot; at the same time, the rotational resistance of the ball joint is extremely small, and it will not hinder the subtle movements of the eyeball component 102 like a rigid connection, ensuring that every facial expression can be completed smoothly and avoiding stiff expressions caused by movement jamming.

[0026] Meanwhile, the mechanical hard limit of the horizontal connector 104 directly acts on the movement stroke of the eyeball component 102, eliminating the need for complex electronic torque compensation, such as real-time motor fine-tuning, in existing technologies, to precisely control the range of motion. For example, when simulating a surprised expression, the upward roll of the eyeball is strictly limited by the horizontal connector 104 to a certain angle, which can be preset by the length of the connector 104. This avoids the unnatural state of excessive upward roll leading to excessive eyeball exposure, as seen in existing technologies. Furthermore, the response speed of the hard limit is much faster than that of electronic compensation, instantly preventing excessive movement and avoiding facial distortion caused by delay, ensuring precise synchronization between eye movements and facial muscle movements. Moreover, the design of the central hole 1021 coinciding with the geometric center of the eyeball ensures that all eyeball movements revolve around the fixed center, preventing eyeball tilting caused by the offset of the movement fulcrum in existing technologies, such as the eyeball tilting to one side during roll. For example, when simulating a downward-looking expression, the relative position of the eyeballs with the bridge of the nose and eyelids remains unchanged during the downward rolling of the eyeballs. There will be no uncoordinated state where the eyeballs deviate towards the nostrils, ensuring that the eye posture is highly matched with the overall facial expression and improving the authenticity of emotional transmission during user interaction.

[0027] In some embodiments, the first drive assembly 103 includes a first power component and a first transmission component. The first power component (such as a micro servo motor or stepper motor) is fixed to the mounting base 101 to provide a stable power source for eye movement. Its fixed installation method avoids displacement of the power component with eye movement, ensuring a constant power output reference. The first transmission component (such as a transmission rod, cable, or gear set) serves as the power transmission medium. One end is connected to the output end of the first power component, and the other end is precisely positioned below the eyeball component 102 at the connection point. This position allows the transmission force to form a reasonable torque relationship with the center of eye movement, meaning the driving force acts directly below the center of eye movement. This allows the eyeball to rotate smoothly around the center hole 1021 with a relatively small driving force, and avoids displacement due to force. The force deviation causes the eyeball to tilt on one side due to force. At the same time, the support part 111 on the mounting base 101 is for the first transmission component to pass through. Its inner wall is precisely matched with the outer wall of the transmission component to provide real-time guidance and constraint for the transmission component, preventing the transmission component from lateral swinging during power transmission and ensuring that the power can be accurately transmitted to the eyeball component 102 in a preset direction. In addition, the support part 111 has a reserved fixing position for the connector 104 on one side relative to the eyeball component 102, so that the connector 104 can be directly fixed to the support part 111 without the need to open an additional independent installation structure on the mounting base 101. This realizes the structural integration of the support part 111, which both guides the transmission component and fixes the connector 104, allowing the drive component and the constraint component to share the installation reference and reducing the coordination error caused by the deviation of the installation reference of multiple components.

[0028] Furthermore, it also includes a limiting part 105, which is located on the upper side of the support part 111. The limiting part 105 can contact and limit the upper back edge of the eyeball component 102. The installation position of the limiting part 105 corresponds to the movement trajectory of the upper back edge of the eyeball component 102. When the eyeball component 102 flips upward under the action of the first drive component 103, its upper back edge will gradually approach the limiting part 105 with the flipping action. When the flipping amplitude reaches a preset threshold, the upper back edge of the eyeball component 102 will directly make physical contact with the limiting part 105, forming a rigid block on the upward flipping action of the eyeball component 102, preventing the upward flipping amplitude from exceeding the preset range. The existing horizontal connector 104 can limit the overall stroke of the eyeball component 102 when flipping up and down, while the supplementary limiting part 105 is specifically designed to strengthen the limiting in the upward flipping direction. On the one hand, the connector 104 constrains the overall rotation range from the central fulcrum; on the other hand, the limiting part 105 directly limits the upward rotation limit from the edge contact, forming a double limiting at the center and the edge. At the same time, the support part 111 guides the transmission component on the lower side, and the limiting part 105 constrains the upward rotation on the upper side, forming a corresponding upper and lower structure of lower-side drive guidance and upper-side limiting protection, ensuring that the upward rotation of the eyeball component 102 is both precisely controlled by the drive and protected by the double limiting. Moreover, the contact between the limiting part 105 and the upper edge of the back side of the eyeball component 102 is a surface or line contact, with a small contact area and conforming to the curved surface of the back side of the eyeball component 102. The curvature of the contact surface of the limiting part 105 can be preset, which can generate sufficient blocking force to limit the upward rotation without causing local compression deformation of the eyeball component 102. At the same time, the contact limiting only acts in the upward rotation direction and does not interfere with the downward rotation or other reasonable directions of the eyeball component 102, ensuring the targeted and non-interfering nature of the limiting function.

[0029] Furthermore, the back side of the eyeball component 102 is provided with two connecting holes 1022, located on the left and right sides of the central hole 1021. A second drive assembly 106 is mounted on the mounting base 101, and the drive end of the second drive assembly 106 is respectively connected to the two connecting holes 1022 to drive the eyeball component 102 to rotate left and right. Compared with the existing design that can only rotate up and down, the left and right rotation function can support the bionic humanoid robot to simulate more facial expressions that conform to human physiological habits. For example, when simulating curiosity, the eyeball component 102 turns slightly to the left / right; when simulating alertness, the eyeball component 102 quickly scans left and right; when simulating focused observation, the eyeball component 102 follows the target to move left and right, completely breaking through the limitation of a single dimension of movement, making facial expressions closer to real human reactions, and enhancing emotional resonance during interaction. Two connecting holes 1022 are symmetrically distributed on both sides of the central hole 1021, so that the driving force of the second driving component 106 forms a balanced torque. Compared with the existing single-side single-point drive design, it can completely avoid the tilting or trajectory deviation of the eyeball component 102 caused by uneven force during left and right flipping. For example, when simulating looking from the front to the left, the eyeball component 102 can rotate precisely around the central hole 1021, and its relative position with the eyelid and brow bone remains unchanged, ensuring a natural and coordinated expression. Moreover, the second driving component 106 is independent of the first driving component 103 and can be precisely controlled by independent electronic control signals to control the angle and speed of left and right flipping. It can also be flexibly combined with the up and down flipping action of the first driving component 103. For example, when simulating surprise and looking to the left, the first driving component 103 can be controlled to drive the eyeball component 102 to flip up by 10° and the second driving component 106 can drive the eyeball component 102 to flip to the left by 20°. The two actions are without delay and interference, realizing the accurate reproduction of complex expressions and avoiding facial distortion caused by motion coupling.

[0030] Meanwhile, the second drive assembly 106 includes a second power component and a connecting rod. The connecting rod includes an input end connected to the output end of the second power component and an output end connected to two connecting holes 1022. The output end of the connecting rod and the connecting holes 1022 can be connected by a screw. As a transmission medium between the second power component and the eyeball component 102, the connecting rod's input end is directly and rigidly connected to the output end of the second power component, converting the rotational or linear motion of the second power component into the swinging or pushing-pull motion of the connecting rod itself. The output end is connected to the two connecting holes 1022 on the left and right sides of the back of the eyeball component 102 through a forked structure or double arms. This design ensures that the output force of the second power component can be evenly distributed to the left and right connecting holes 1022 through the connecting rod, avoiding the flipping jam caused by the asynchronous power on both sides, and realizing the smooth left and right flipping of the eyeball component 102 around the central hole 1021.

[0031] Generally, two eyeball components 102 are provided. Each eyeball component 102 has a movable upper eyelid portion 107 and a lower eyelid portion 108 on its upper and lower sides, respectively, with an angle between the two upper eyelid portions 107. The two eyeball components 102 are symmetrically installed on the mounting base 101 according to the interpupillary distance of a human eye, forming a spatial layout consistent with the human eye. Each eyeball component 102 can independently rotate up and down and left and right, while a unified control module enables coordinated eye movements, providing a stable eyeball reference for eyelid movement. Eyelid movement always uses the position of the corresponding eyeball component 102 as a reference, avoiding eyelid misalignment caused by a disconnect between eyeball and eyelid movement. The angle formed by the two upper eyelid portions 107 more closely conforms to the structure of the human face, allowing for movements that more closely resemble real facial changes.

[0032] In addition, the mounting base 101 is also provided with a third drive assembly 109 and a fourth drive assembly 110. The drive end of the third drive assembly 109 is connected to the upper eyelid portion 107, and the drive end of the fourth drive assembly 110 is connected to the lower eyelid portion 108, so as to drive the upper eyelid portion 107 and the lower eyelid portion 108 to move up and down respectively. The third drive assembly 109 and the fourth drive assembly 110 are both fixedly mounted on the mounting base 101, sharing a stable mounting reference with the first drive assembly 103 and the second drive assembly 106 of the eyeball driving component 102, to ensure the stability of the power output. The third drive assembly 109 is connected to the side of the upper eyelid 107 away from the edge of the eyeball component 102 via a transmission structure, and outputs a lifting / lowering driving force; the fourth drive assembly 110 is connected to the lower eyelid 108 via a similar transmission structure, and outputs an upward / downward driving force. The power directions of the two are consistent with the preset movement trajectories of the upper eyelid 107 and the lower eyelid 108, respectively.

[0033] It is worth noting that since there are two eyeball components 102, there are corresponding upper eyelid portions 107 and lower eyelid portions 108, and therefore two third drive components 109 and two fourth drive components 110 are symmetrically arranged. The third drive components 109 and fourth drive components 110 on the same side are arranged one after the other. The drive ends of the two symmetrical third drive components 109 or two symmetrical fourth drive components 110 are opposite each other, and a gap is reserved between them for accommodating the transmission structure. For example, the third drive component 109 includes a third power component, and the fourth drive component 110 includes a fourth power component. The third power component and the fourth power component are respectively connected by corresponding transmission rods. The transmission rods are all set in the gap, which can make reasonable use of the installation space. Moreover, the reserved gap provides an independent movement channel for the transmission rods. When the transmission rods move in the gap, they will not collide or rub against the drive components, the connecting holes 1022 of the eyeball components 102, the connecting parts 104, or the limiting parts 105 on the symmetrical side. For example, the transmission rod of the left third drive assembly 109 moves up and down in the left gap and will not interfere with the transmission rod of the right third drive assembly 109 or the central hole 1021 on the back of the eyeball component 102, reducing component wear caused by mechanical interference. This design can reduce the failure rate of the eyelid drive system and significantly improve its service life.

[0034] Furthermore, the aforementioned drive structures are all independent modules, with relatively independent mounting parts formed on the mounting base 101 for their installation, so that each structural component can be reasonably integrated on the mounting base 101 to form a compact and reasonably assembled eye module 1.

[0035] In some embodiments, the head device 120 further includes a mouth module 2 disposed below the eye module 1. The mouth module 2 includes connecting plates 201 mounted on the lower sides of the mounting base 101, two lip components 202 mounted between the two connecting plates 201, and fifth drive components 203 that drive the movement of the two lip components 202 respectively. The two lip components 202 are arranged vertically, and the two fifth drive components 203 drive the two lip components 202 to extend forward or retract backward respectively. The two connecting plates 201 are symmetrically fixed on the lower sides of the mounting base 101, sharing the same mounting reference with the eye module 1, ensuring that the relative position of the mouth module 2 and the eye module 1 conforms to the physiological characteristics of the human face. A rigid frame is formed between the connecting plates 201 across the lower part of the mounting base 101, providing mounting tracks for the upper and lower lip components 202, limiting the movement of the lip components 202 to only the front-back direction, avoiding unintended left-right offset or vertical misalignment, and providing stable motion constraints for expression simulation.

[0036] In the mouth module 2, two lip components 202 are arranged vertically, corresponding to the human upper and lower lips, and are respectively mounted between the connecting plates 201 via a sliding structure. The upper lip component 202 is connected to the upper fifth drive assembly 203, and the lower lip component 202 is connected to the lower fifth drive assembly 203, forming a one-to-one drive relationship. The fifth drive assembly 203 is fixed to the inside of the connecting plate 201, and its drive end is connected to the inner middle of the corresponding lip component 202, outputting linear power to push forward or pull backward. When the drive end extends forward, it pushes the lip component 202 forward along the track; when the drive end retracts backward, it pulls the lip component 202 backward along the track, and the range of motion of the upper and lower lip components 202 can be adjusted independently.

[0037] Specifically, the fifth drive component 203 achieves typical lip expressions through coordinated control. When simulating a pout, the upper and lower fifth drive components 203 simultaneously drive the two lip components 202 to extend forward, bringing the front ends of the upper and lower lip components 202 closer together to form a rounded, protruding lip shape, conforming to the characteristic of human lips turning forward when pouting. When simulating a pursed lip, the upper and lower fifth drive components 203 simultaneously drive the two lip components 202 to retract backward, tightening the upper and lower lip components 202 towards the inside of the mouth to form a concave lip shape, replicating the physiological state of human lips retracting when pursing. In addition, by adjusting the difference in the extension / retraction amplitude of the upper and lower lip components 202, subtle expressions such as unilateral pouting can be simulated, enhancing the richness of expressions.

[0038] The lip component 202 includes a first rack 2021, and the driving end of the fifth drive assembly 203 is equipped with a first gear 2031, which meshes with the first rack 2021 for transmission. The driving end of the fifth drive assembly 203 outputs rotational motion, such as clockwise / counterclockwise rotation, and the first gear 2031 fixed at its end rotates synchronously with the driving end. The first rack 2021 integrated inside the lip component 202 is arranged in the front-back direction, and the tooth surface of the first rack 2021 meshes tightly with the tooth surface of the first gear 2031. When the first gear 2031 rotates clockwise, the thrust of the meshing teeth drives the first rack 2021 to move forward, thereby pushing the lip component 202 to extend forward along the track of the connecting plate 201; when the first gear 2031 rotates counterclockwise, the pulling force of the meshing teeth drives the first rack 2021 to move backward, pulling the lip component 202 to retract backward along the track, ensuring that the power transmission direction is completely consistent with the preset movement direction of the lip component 202.

[0039] Furthermore, the first gear 2031 and the first rack 2021 employ a precision meshing design, eliminating the play-offs of traditional linkage drives or the elastic deformation issues of wire drives. This rigid meshing ensures a strict proportional relationship between the rotation angle of the fifth drive assembly 203 and the linear displacement of the lip component 202, and this proportion remains stable during long-term use. Simultaneously, the first rack 2021 is fixed to the inner side of the lip component 202, with its length parallel to the sliding track of the connecting plate 201. This ensures that during meshing transmission, the lip component 202 moves only along a straight line, preventing lateral shifts or vertical tilts due to transmission deviations, further enhancing operational stability.

[0040] In addition, the mouth module 2 also includes corner mouth components 204 located on both sides. The rotation of the corner mouth components 204 is powered by an independent drive assembly, allowing the corner mouth components 204 to rotate relative to each other. The two corner mouth components 204 are respectively connected to the left and right ends of the connecting plate 201 via rotary joints. Their rotation axis is set in a direction perpendicular to the facial plane, allowing only a single degree of freedom of upward or downward rotation of the corner mouth components 204 around this axis, strictly limiting unnecessary forward, backward, left, and right displacements. This constraint ensures that the rotation trajectory of the corner mouth components 204 always conforms to the natural movement path of the human corner of the mouth, avoiding facial distortion caused by multi-directional displacement.

[0041] Typically, the mouth module 2 also includes a mounting plate for mounting the lip component 202, ensuring that the lip component 202 or the fifth drive assembly 203 can be accurately installed.

[0042] In some embodiments, the head device 120 further includes an eyebrow module 3, which includes an arc-shaped support 301 mounted on the rear side of the mounting base 101 and eyebrow components 302 respectively movably mounted on both sides of the front end of the arc-shaped support 301. The eyebrow components 302 include a left edge portion 3021 and a right edge portion 3022. The eyebrow module 3 also includes a plurality of sixth drive components 303. The drive end of the sixth drive component 303 is equipped with a second gear. The left edge portion 3021 and the right edge portion 3022 each include a second rack 3023 that can mesh with the second gear for transmission. The plurality of sixth drive components 303 can respectively drive the left edge portion 3021 and the right edge portion 3022 to move up and down.

[0043] In this design, the arc-shaped support base 301 is fixed to the rear side of the mounting base 101. Its front arc-shaped contour strictly matches the natural curvature of human eyebrows, providing a reference track for the movement of the eyebrow components 302 on both sides. This arc-shaped design ensures that the up-and-down movement trajectory of the eyebrow components 302 always conforms to the physiological movement path of human eyebrows. For example, when raising the eyebrows, the eyebrows move upward and outward along the arc, and when frowning, they move downward and inward along the arc, avoiding stiff eyebrow movement caused by a straight track and structurally ensuring the naturalness of facial expressions. Each eyebrow component 302 is divided into a left edge portion 3021 and a right edge portion 3022. For example, the inner end of the left eyebrow is the left edge portion 3021 and the outer end is the right edge portion 3022. The two are independently installed on the front end of the arc-shaped support base 301 through a sliding structure and can move up and down along the arc track respectively. This edge separation design replicates the non-rigid characteristics of human eyebrows, namely, when human eyebrows move, the inner and outer ends often move at different rates. For example, when raising an eyebrow, the outer end moves upward more than the inner end. The independent movement of the left and right edge parts 3022 can accurately reproduce this difference.

[0044] By fixing the sixth drive assembly 303 to the inner side of the arc-shaped support 301, the second gear mounted on its drive end meshes with the second rack 3023 on the inner side of the left edge portion 3021 and the right edge portion 3022. When the sixth drive assembly 303 outputs rotational power, the second gear drives the second rack 3023 to move along the arc-shaped track through meshing transmission, thereby driving the corresponding edge portion to move up and down. For example, when the sixth drive assembly 303 drives the right edge portion 3022 of the left eyebrow to rotate forward, the second gear pushes the second rack 3023 to move upward along the arc, realizing the upward lifting of the outer end of the left eyebrow; when rotating in the opposite direction, it pulls the edge portion downward, realizing the downward drooping of the outer end.

[0045] Multiple sixth-drive components 303 work collaboratively through a control module to achieve complex eyebrow expressions. When simulating a raised eyebrow in surprise, the right edge 3022 of both eyebrows is driven upwards by the corresponding sixth-drive component 303 by 5mm, and the left edge 3021 moves 2mm, forming an arc shape with a higher outer end and a lower inner end, matching the upward-raised eyebrows of humans in surprise. When simulating a furrowed brow in confusion, the left edge 3021 of both eyebrows moves downwards by 4mm, and the right edge 3022 moves 1mm, forming a shape with a lower inner end and a flatter outer end. When simulating a raised eyebrow in doubt, only the right edge 3022 of the left eyebrow moves upwards by 3mm, while the right side remains stationary, conveying subtle emotions through unilateral movement. Simultaneously, the eyebrow movements are coordinated with the eye and mouth modules 2 to ensure consistent facial expression logic.

[0046] Specifically, the head device 120 also includes a head shell 6, which has a receiving cavity. The eye module 1 is installed in the receiving cavity. The head shell 6 has multiple mounting holes 601, and magnetic suction elements are installed in the mounting holes 601. When a mask is fitted onto the outer periphery of the head shell 6, the magnetic suction elements can magnetically attract and fix the mask. The head shell 6 is a rigid structure, such as ABS plastic or lightweight alloy, and its overall outline simulates the shape of a human head. The size of the receiving cavity formed inside it is precisely matched with the eye module 1. The inner wall of the receiving cavity has a preset limiting boss or groove, which cooperates with the edge of the mounting seat 101 of the eye module 1 to fix the eye module 1 in a preset position in the receiving cavity, ensuring that the eye module 1 does not move within the head device 120. At the same time, the head shell 6, as an outer structure, can block external dust, moisture, or minor impacts from directly impacting the internal eye module 1, forming a physical protective barrier.

[0047] Multiple mounting holes 601 are formed on the outer periphery of the head shell 6, mainly concentrated on the front side of the head shell 6. Each mounting hole 601 contains a magnetic attractor, such as a neodymium iron boron magnet, with a scratch-resistant coating on its surface. The installation depth of the magnetic attractor is flush with the surface of the head shell 6, and the magnetic poles are aligned in the same direction to ensure that the magnetic force is evenly distributed on the outer periphery of the head shell 6. When the outer mask is fitted onto the outer periphery of the head shell 6, the mask is usually made of flexible or rigid materials such as silicone or resin. A ferromagnetic mating part, such as an iron sheet or a magnet, is provided on the corresponding position on the inner side. The mating part on the inner side of the mask and the magnetic attractor in the mounting hole 601 of the shell generate a magnetic attraction due to the attraction of opposite poles. The resultant force of multiple magnetic attraction points tightly adheres the mask to the surface of the head shell 6, achieving fixation.

[0048] In addition, the head shell 6 can be designed as a split structure, namely, a back shell 602 located on the rear side and a forehead shell 603 located on the front side. The mounting hole 601 and the magnetic attachment are mainly set on the forehead shell 603, and the forehead shell 603 needs to have corresponding openings for the eye module 1 and the mouth module 2.

[0049] Preferably, the bionic humanoid robot includes a neck device 130 and a base 140. The head device 120 is mounted on the top of the neck device 130 via a drive mechanism 4, which drives the head device 120 to swing up and down and rotate left and right relative to the neck device 130. The neck device 130 is movably mounted on the mounting end of the base 140 and can swing back and forth relative to the base 140. The drive mechanism 4 is fixed to the top of the neck device 130, and its output end is rigidly connected to the bottom of the head device 120. Two independent drive shafts are used to achieve the two movements respectively. Up and down swing: Controlled by a pitch drive shaft arranged along the front and back direction of the neck device 130. The drive mechanism 4 outputs torque to drive the head device 120 to rotate around the shaft. The rotation trajectory conforms to the physiological curvature of the human neck flexion and extension. For example, when raising the head, the head tilts backward and upward, and when lowering the head, it tilts forward and downward.

[0050] Left and right rotation: Controlled by a yaw drive shaft arranged vertically along the neck device 130. The drive mechanism 4 outputs torque to drive the head device 120 to rotate horizontally around the shaft. The rotation center coincides with the central axis of the neck device 130, avoiding body imbalance caused by head displacement.

[0051] The two movements can be executed independently or in combination through the coordinated control of the drive mechanism 4, such as turning the head to the left while raising the head, and the range of motion is constrained by mechanical limits to avoid structural damage caused by excessive rotation.

[0052] The neck device 130 is mounted on the mounting end of the base 140 via a movable connecting structure. The connecting shaft is arranged along the left-right direction of the base 140, allowing the neck device 130 to swing back and forth only around this shaft. This movement is powered by a drive assembly integrated into the mounting end of the base 140: the output end of the drive assembly is connected to the middle of the neck device 130 via a connecting rod. When the output end extends, it pushes the neck device 130 to swing forward, simulating the movement of a probe; when the output end retracts, it pulls the neck device 130 to swing backward, simulating tilting backward. The swing trajectory is consistent with the flexion-extension physiological curve of the human neck.

[0053] The movements of the head and neck are coordinated through a unified control module: for example, when simulating observing a target on the upper left, the control module simultaneously triggers the neck device 130 to swing forward 10°, the head device 120 to swing upward 30°, and the head device 120 to rotate to the left 45°. The start time difference of the three actions is ≤20ms, and the movement speed is adjusted according to the human movement law of the neck moving first and the head moving later, to ensure that the overall movement conforms to the natural timing of human body movement; when simulating bending down to pick up an object, the neck device 130 is simultaneously triggered to swing backward 5° and the head device 120 to swing downward 30°, avoiding the center of gravity shift caused by a single head movement and enhancing the stability of the movement.

[0054] Specifically, the drive mechanism 4 includes a seventh drive assembly 401 and an eighth drive assembly 402. The seventh drive assembly 401 drives the head device 120 to swing up and down, and the eighth drive assembly 402 drives the head device 120 to rotate left and right in the horizontal direction. At the same time, a ninth drive assembly 5 is provided at the bottom of the neck device 130, and the neck device 130 is driven to swing back and forth relative to the base 140 through the ninth drive assembly 5.

[0055] In this design, the seventh drive assembly 401 is horizontally mounted on the front side of the top of the neck device 130, and its output shaft is arranged along the front-rear direction of the neck device 130. The output shaft is fixed to the bottom rear end of the head device 120 through a rigid connector 104. When the seventh drive assembly 401 receives a control signal, the output shaft rotates around its own axis, directly driving the head device 120 to rotate around the output shaft through the connector 104: when rotating in the forward direction, the front end of the head device 120 tilts downward and lowers its head, while the rear end lifts upward; when rotating in the reverse direction, the front end of the head device 120 tilts upward and raises its head, while the rear end sinks downward.

[0056] The eighth drive assembly 402, the power source for the left-right rotation of the head device 120, is vertically mounted at the center of the top of the neck device 130, with its output shaft arranged along the vertical direction of the neck device 130. When the eighth drive assembly 402 is working, the output shaft rotates around the vertical axis, thereby driving the entire head device 120 to rotate around the vertical axis: when rotating in the forward direction, the head device 120 rotates to the left; when rotating in the reverse direction, the head device 120 rotates to the right. Its transmission characteristic is that the center of rotation is based on the central axis of the neck, ensuring that the center of gravity is always aligned with the neck device 130 when the head rotates, avoiding body swaying caused by the shift of the center of gravity.

[0057] The installation positions of the seventh drive component 401 and the eighth drive component 402 are not specifically limited. The seventh drive component 401 and the head device 120 can be driven to swing left and right by the eighth drive component 402 first, and then the head device 120 can be driven to swing up and down by the seventh drive component 401 alone. Alternatively, the eighth drive component 402 and the head device 120 can be driven to swing up and down by the seventh drive component 401 first, and then the head device 120 can be driven to rotate left and right by the eighth drive component 402 alone.

[0058] The ninth drive assembly 5, the power source for the forward and backward swinging of the neck device 130, is horizontally mounted inside the mounting end of the base 140. Its output end is connected to the rear bottom of the neck device 130 via a linkage mechanism. The connecting shaft between the neck device 130 and the base 140 is arranged in the left-right direction. The ninth drive assembly 5 drives the neck device 130 to rotate around this shaft via a push-pull linkage: when the output end extends, the linkage pushes the front end of the neck device 130 to swing forward; when the output end retracts, the linkage pulls the rear end of the neck device 130 to swing backward. Its transmission path conforms to the physiological structure of human neck flexion and extension, that is, the power is applied to the back of the neck, simulating the pulling effect of the muscles at the back of the neck, so that the curvature of the swing trajectory is consistent with the human neck movement curve.

[0059] In the description herein, it should be understood that the terms "upper," "lower," "left," "right," and other orientations or positional relationships are used only for ease of description and simplification of operation, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this application. Furthermore, the terms "first" and "second" are used merely for descriptive distinction and have no special meaning.

[0060] In the description of this specification, references to terms such as "an embodiment," "example," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the present invention. In this specification, illustrative expressions of the above terms do not necessarily refer to the same embodiment or example.

[0061] Furthermore, it should be understood that although this specification describes embodiments, not every embodiment contains only one independent technical solution. This narrative style of the specification is merely for clarity. Those skilled in the art should consider the specification as a whole, and the technical solutions in each embodiment can also be appropriately combined to form other embodiments that can be understood by those skilled in the art.

[0062] The technical principles of this application have been described above with reference to specific embodiments. These descriptions are merely for explaining the principles of this application and should not be construed as limiting the scope of protection of this application in any way. Based on this explanation, those skilled in the art can readily conceive of other specific embodiments of this application without inventive effort, and these embodiments will all fall within the scope of protection of this application.

Claims

1. A bionic humanoid robot, comprising a head assembly (120), characterized in that, The head device (120) includes an eye module (1), which includes a mounting base (101), an eyeball component (102), a first drive assembly (103), and a connector (104). The first drive assembly (103) is mounted on the mounting base (101). The drive end of the first drive assembly (103) is connected to the eyeball component (102) to drive the eyeball component (102) to rotate up and down. A central hole (1021) is provided in the middle of the back side of the eyeball component (102). One end of the connector (104) is connected to the mounting base (101), and the other end is ball-hinged to the central hole (1021). The connector (104) is always arranged horizontally to limit the rotation stroke of the eyeball component (102).

2. The bionic humanoid robot according to claim 1, characterized in that, The mounting base (101) is also provided with a limiting part (105), which can contact and limit the upper edge of the dorsal side of the eyeball component (102).

3. The bionic humanoid robot according to claim 1, characterized in that, The eyeball component (102) is provided with two connecting holes (1022) on the back side. The two connecting holes (1022) are located on the left and right sides of the central hole (1021). A second driving component (106) is installed on the mounting base (101). The driving end of the second driving component (106) is connected to the two connecting holes (1022) respectively to drive the eyeball component (102) to rotate left and right.

4. The bionic humanoid robot according to any one of claims 1-3, characterized in that, The eyeball component (102) is provided in two parts. The upper and lower sides of the front of the eyeball component (102) are respectively provided with movable upper eyelid (107) and lower eyelid (108), and an angle is formed between the two upper eyelids (107).

5. The bionic humanoid robot according to claim 4, characterized in that, The mounting base (101) is also provided with a third drive assembly (109) and a fourth drive assembly (110). The drive end of the third drive assembly (109) is connected to the upper eyelid (107) and the drive end of the fourth drive assembly (110) is connected to the lower eyelid (108) to drive the upper eyelid (107) and the lower eyelid (108) to move up and down respectively.

6. The bionic humanoid robot according to any one of claims 1-3, characterized in that, The head device (120) also includes a mouth module (2) disposed below the eye module (1). The mouth module (2) includes a connecting plate (201) installed on both sides below the mounting base (101), two lip components (202) installed between the two connecting plates (201), and a fifth drive assembly (203) that drives the two lip components (202) to move respectively. The two lip components (202) are arranged vertically, and the two fifth drive assemblies (203) drive the two lip components (202) to extend forward or retract backward respectively.

7. The bionic humanoid robot according to claim 6, characterized in that, The lip component (202) includes a first rack (2021), and the drive end of the fifth drive assembly (203) is equipped with a first gear (2031), which meshes with the first rack (2021) for transmission.

8. The bionic humanoid robot according to any one of claims 1-3, characterized in that, The head device (120) also includes an eyebrow module (3), which includes an arc-shaped support (301) mounted on the rear side of the mounting base (101) and eyebrow components (302) respectively movably mounted on both sides of the front end of the arc-shaped support (301). The eyebrow components (302) include a left edge (3021) and a right edge (3022). The eyebrow module (3) also includes a plurality of sixth drive components (303). The drive end of the sixth drive component (303) is equipped with a second gear. The left edge (3021) and the right edge (3022) each include a second rack (3023) that can mesh with the second gear. The plurality of sixth drive components (303) can drive the left edge (3021) and the right edge (3022) to move up and down respectively.

9. The bionic humanoid robot according to any one of claims 1-3, characterized in that, The head device (120) also includes a head housing (6), in which a receiving cavity is formed, and the eye module (1) is installed in the receiving cavity. The head housing (6) is provided with a plurality of mounting holes (601), and a magnetic suction member is provided in the mounting hole (601). When the mask is fitted on the outer periphery of the head housing (6), the magnetic suction member can attract and fix the mask by magnetic attraction.

10. The bionic humanoid robot according to any one of claims 1-3, characterized in that, The bionic humanoid robot includes a neck device (130) and a base (140). The head device (120) is mounted on the top of the neck device (130) via a drive mechanism (4). The drive mechanism (4) drives the head device (120) to swing up and down and rotate left and right relative to the neck device (130). The neck device (130) is movably mounted on the mounting end of the base (140), and the neck device (130) can swing back and forth relative to the base (140).

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