Multi-image expression robot

Abstract

The present invention provides an expression robot with multiple combined images, which solves the technical problem that the existing robot cannot be combined into different images through parts such as eyeballs and mouths of different shapes. The expression robot with multiple combined images includes at least any two of a forehead turntable, an eye turntable, and a mouth turntable. The forehead turntable is provided with more than two eyebrows of different shapes, the eye turntable is provided with more than two eyeballs of different shapes, and the mouth turntable is provided with more than two mouths of different shapes. The forehead turntable, the eye turntable, and the mouth turntable are all rotatable, and during the rotation process, at least any two of an eyebrow, an eyeball, and a mouth are located in the same face to form more than two different images. At least any two of the forehead turntable, the eye turntable, and the mouth turntable can be combined into multiple images by using eyeballs, eyebrows, and mouths of different shapes when rotating. The change process is full of a sense of science and technology, and can be used for science and technology performances and displays.

Description

Technical Field

[0001] The present invention relates to the technical field of robots, in particular to an expression robot with multiple combined images. Background Art

[0002] An expression robot is an intelligent robot that can simulate human facial expressions and emotional movements. As a service robot, it plays an important role in realizing human-computer interaction, especially emotional interaction. Due to the humanized and emotional characteristics of expression robots, the research on expression robots has very broad application prospects. In recent years, more and more research institutions and organizations have carried out research on humanoid facial expression robots.

[0003] The applicant has found that the prior art has at least the following technical problems: Most of the existing expression robots imitate human expressions by rotating their eyeballs and opening and closing their mouths, but no matter how they change, the shapes of their eyeballs and mouths remain unchanged, that is, they are always robots with the same image. The prior art lacks an expression robot with multiple combined images, which can form different images by combining parts such as eyeballs and mouths of different shapes. Summary of the invention

[0004] The object of the present invention is to provide an expression robot with multiple combination images, so as to solve the technical problem that there is a lack of an expression robot with multiple combination images in the prior art, and the existing robots cannot be combined into different images through parts such as eyeballs and mouths of different shapes; the many technical effects that can be produced by the preferred technical scheme among the many technical schemes provided by the present invention are detailed as follows.

[0005] To achieve the above object, the present invention provides the following technical solutions:

[0006] The present invention provides a multi-combination image expression robot, comprising at least any two of a forehead turntable, an eye turntable, and a mouth turntable, wherein:

[0007] The forehead turntable is provided with more than two different shapes of eyebrows, the eye turntable is provided with more than two different shapes of eyeballs, and the mouth turntable is provided with more than two different shapes of mouths. The forehead turntable, the eye turntable and the mouth turntable are all rotatable, and during the rotation process, at least any two of the eyebrows, the eyeballs and the mouth are located in the same face to form more than two different images in combination.

[0008] Preferably, the expression robot further comprises a chassis, a column and a fixed plate, wherein:

[0009] The upright post is vertically fixed on the chassis, and the forehead turntable, the eye turntable and the mouth turntable are sleeved on the upright post and can rotate with the upright post as the axis;

[0010] The fixing plate is located at the center of the column, and the upper half structure and the lower half structure on the column are mirror images of each other with respect to the fixing plate.

[0011] Preferably, the forehead turntable, the eye turntable and the mouth turntable are all provided with a driving mechanism, and the driving mechanism comprises a reduction motor, an output gear and a transmission gear, wherein:

[0012] The output gear is connected to the output shaft of the reduction motor, the transmission gear is rotatably connected to the column, and the transmission gear is fixedly connected to the corresponding turntable, and the transmission gear and the output gear are meshed with each other. When the reduction motor rotates, it can drive the corresponding turntable to rotate around the axis of the corresponding tube body through gear transmission.

[0013] Preferably, more than two eyebrow mounting frames arranged at intervals are fixed to the periphery of the forehead turntable, and eyebrows of different shapes are fixedly connected to different eyebrow mounting frames.

[0014] Preferably, more than two pairs of eyeball mounting frames arranged at intervals are fixed to the periphery of the eye turntable, and eyeballs of different shapes are fixedly connected to different eyeball mounting frames.

[0015] Preferably, a bracket is also provided on the eye turntable, on which two servos are fixed at intervals, and the two eyeball mounting frames are correspondingly connected to the steering discs of the servos, and when the servos rotate, the eyeball mounting frames and the eyeballs thereon can be driven to rotate.

[0016] Preferably, a first linear drive module is also provided on the eye turntable, and each of the brackets is correspondingly fixed on a slider of the first linear drive module. The first linear drive module is arranged along the radial direction of the eye turntable so that the slider thereon moves linearly in the radial direction of the eye turntable, thereby driving the bracket and the structure on the bracket to move forward and backward.

[0017] Preferably, at least two spaced-apart mouth connectors are fixed to the periphery of the mouth turntable, and mouths of different shapes are fixedly connected to different mouth connectors.

[0018] Preferably, a second linear drive module is also provided on the mouth turntable, and each of the mouth connecting parts corresponds to a slider of the second linear drive module. The second linear drive module is arranged vertically so that the slider thereon moves linearly in the vertical direction, thereby driving the mouth connecting parts to move up and down.

[0019] Preferably, the expression robot is further provided with an interactive unlocking mechanism, and the structure of the interactive unlocking mechanism is:

[0020] The upper and lower parts of the fixed plate are respectively fixed with a third linear drive module and a fourth linear drive module arranged vertically, and the sliders of the third linear drive module and the fourth linear drive module are fixedly connected with an adapter frame, and the adapter frame is connected with a lock bracket, and a connecting sheet metal is fixed at one end of the lock bracket away from the adapter frame, and the connecting sheet metal is used to install the mobile housing;

[0021] The third linear drive module and the fourth linear drive module and the structures thereon are mirror-imaged with respect to the fixed disk, and the sliders on the third linear drive module and the fourth linear drive module can drive the two movable shells to open and close when they move toward or away from each other.

[0022] The multi-combination image expression robot provided by the present invention has the following beneficial effects compared with the prior art: the expression robot comprises any two or three of a forehead turntable, an eye turntable and a mouth turntable, and eyebrows, eyeballs and mouths of different shapes are respectively installed on corresponding turntables of different vertical heights; at least any two of the forehead turntable, the eye turntable and the mouth turntable can be combined into a variety of images by using eyeballs, eyebrows and mouths of different shapes when rotating, and the changing process is full of a sense of science and technology, and can be used for science and technology performances, displays, human-computer interaction, etc. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0024] Figure 1 It is a schematic diagram of the overall structure of the expression robot with multiple combined images of the present invention;

[0025] Figure 2 It is a schematic diagram of the structure of the upper part of the multi-image expression robot;

[0026] Figure 3 It is a schematic diagram of the overall structure of the interactive unlocking mechanism.

[0027] In the figure, 1, forehead turntable; 101, eyebrow mounting frame; 2, eye turntable; 21, first linear drive module; 201, eyeball mounting frame; 202, servo; 203, bracket; 3, mouth turntable; 31, second linear drive module; 301, mouth connector; 4, fixed plate; 5, chassis; 6, top plate; 71, reduction motor; 72, output gear; 73, transmission gear; 81, third linear drive module; 82, fourth linear drive module; 83, adapter frame; 84, lock bracket; 85, connecting sheet metal; 91, upper hollow tube; 92, lower hollow tube; 93, connecting tube. DETAILED DESCRIPTION

[0028] To make the purpose, technical solution and advantages of the present invention clearer, the technical solution of the present invention will be described in detail below. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other implementation methods obtained by ordinary technicians in this field without creative work belong to the scope of protection of the present invention.

[0029] In the description of the present invention, it should be understood that the terms "center", "length", "width", "height", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "side" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention. In the description of the present invention, unless otherwise specified, "plurality" means two or more.

[0030] The embodiment of the present invention provides an expression robot with multiple combined images. Eyeballs, eyebrows and mouths of different shapes can be combined into multiple images according to the rotation of a turntable, and the changing process is full of a sense of technology.

[0031] Combine the following Figure 1-Figure 3 The technical solution provided by the present invention is described in more detail.

[0032] Embodiment 1

[0033] like Figure 1-Figure 3As shown, an expression robot with multiple combined images of the present embodiment comprises at least any two of a forehead turntable 1, an eye turntable 2 and a mouth turntable 3, wherein: the forehead turntable 1 is provided with two or more eyebrows of different shapes, the eye turntable 2 is provided with two or more eyeballs of different shapes, the mouth turntable 3 is provided with two or more mouths of different shapes, the forehead turntable 1, the eye turntable 2 and the mouth turntable 3 are located at different vertical heights and are all rotatable, and during the rotation process, at least any two of an eyebrow, an eyeball and a mouth can be located in the same face to form two or more different images in combination.

[0034] Preferably, see Figure 1 As shown, the multi-combination expression robot in this embodiment includes a forehead turntable 1, an eye turntable 2 and a mouth turntable 3, and the eyebrows, eyeballs and mouth on the corresponding turntables can all be simulation models of 3D printed parts. Figure 1 and Figure 2 As shown, the forehead turntable 1 of this embodiment is provided with three eyebrows of different shapes and arranged at intervals, the eye turntable 2 is provided with three eyeballs of different shapes and arranged at intervals, and the mouth turntable 3 is provided with three mouths of different shapes and arranged at intervals; the forehead turntable 1, the eye turntable 2 and the mouth turntable 3 are all rotatable, and when any turntable is rotated, eyebrows, eyeballs and mouths of different shapes can be rotated to the same vertical line to combine into different images.

[0035] In this embodiment, the expression robot with multiple combined images includes any two or three of the forehead turntable 1, the eye turntable 2, and the mouth turntable 3, and eyebrows, eyeballs, and mouths of different shapes are respectively installed on corresponding turntables at different vertical heights; at least any two of the forehead turntable 1, the eye turntable 2, and the mouth turntable 3 can use eyeballs, eyebrows, and mouths of different shapes to combine into a variety of images when rotating, and the changing process is full of a sense of technology, which can be used for technology performances, displays, human-computer interaction, etc.

[0036] As an alternative embodiment, see Figure 1 and Figure 2 As shown, the expression robot of this embodiment also includes a chassis 5, a column and a fixed plate 4, wherein: the column (upper hollow tube 91 and lower hollow tube 92) is vertically fixed on the chassis 5, the forehead turntable 1, the eye turntable 2 and the mouth turntable 3 are mounted on the column and can rotate around the column as the axis; the fixed plate 4 is located at the center of the column, and the upper half structure and the lower half structure on the column are mirror images of each other with respect to the fixed plate 4.

[0037] See also Figure 1Specifically, the column of this embodiment includes an upper hollow tube 91 and a lower hollow tube 92, the upper hollow tube 91 and the lower hollow tube 92 are connected and fixed by a connecting tube 93, the fixing plate 4 is fixed on the connecting tube 93, the upper hollow tube 91 is provided with a forehead turntable 1, an eye turntable 2 and a mouth turntable 3 from top to bottom, and the lower hollow tube 92 is provided with a mouth turntable 3, a glasses turntable and a forehead turntable 1 from top to bottom.

[0038] The expression robot in this embodiment has an upper structure and a lower structure that are mirror-symmetrical about the fixed disk 4, which has a stronger sense of technology. During the rotation of the corresponding turntable, the expression robot can form different images on the upper and lower sides of the fixed disk 4.

[0039] Since the upper and lower structures on the column are mirror images of each other with respect to the fixed plate 4, the structure of the upper part is used as an example for explanation below. Figure 2 .

[0040] This embodiment provides a structure in which the forehead turntable 1, the eye turntable 2 and the mouth turntable 3 can rotate 360 ​​degrees:

[0041] See also Figure 2 As shown, the forehead turntable 1, the eye turntable 2 and the mouth turntable 3 are all provided with a driving mechanism, and the driving mechanism includes a reduction motor 71, an output gear 72 and a transmission gear 73, and the output gear 72 and the transmission gear 73 are both cylindrical spur gears, wherein: the output gear 72 is connected to the output shaft of the reduction motor 71, and the transmission gear 73 is rotatably connected to the column through a bearing, and the transmission gear 73 is fixedly connected to the corresponding turntable, such as the transmission gear 73 is fixedly connected to the corresponding turntable through a bolt and nut assembly, and the transmission gear 73 and the output gear 72 are meshed with each other. When the reduction motor 71 rotates, it can drive the corresponding turntable to rotate with the axis of the corresponding tube body as the axis through gear transmission.

[0042] like Figure 2 As shown in the figure, a top plate 6 is provided on the top of the upper hollow column, the reduction motor 71 on the forehead turntable 1 is fixed on the top plate 6, and the transmission gear 73 and the forehead turntable 1 are arranged in a colinear manner with the central axis. The reduction motor 71 rotates, and the transmission is driven by the meshing transmission gear 73 and the output gear 72, thereby driving the forehead turntable 1 to rotate, so that eyebrows of different shapes are rotated to the position on the same face with different eyeballs and mouths.

[0043] See also Figure 1 and Figure 2 As shown, the eye turntable 2 and the mouth turntable 3 in this embodiment also adopt the above-mentioned driving mechanism, that is, there are three groups of reduction motors 71, output gears 72 and transmission gears 73, each group is used to drive the forehead turntable 1, the eye turntable 2 and the mouth turntable 3 to rotate 360° with the column as the axis.

[0044] As an alternative embodiment, see Figure 2 As shown, the forehead turntable 1 is connected to the column through a bearing, and more than two eyebrow mounting frames 101 arranged at intervals are fixed to the periphery of the forehead turntable 1, and eyebrows of different shapes are fixedly connected to different eyebrow mounting frames 101. In this embodiment, three eyebrow mounting frames 101 arranged at intervals are fixed to the periphery of the forehead turntable 1, and the angle between each eyebrow mounting frame 101 is 120°. Each eyebrow mounting frame 101 is provided with eyebrows of different shapes, and the eyebrows can be formed into different shapes through 3D printing, thereby forming different images in combination with eyeballs and mouths.

[0045] As an alternative embodiment, see Figure 2 As shown, the eye turntable 2 is connected to the column through a bearing, and more than two pairs of eyeball mounting frames 201 arranged at intervals are fixed to the periphery of the eye turntable 2, and eyeballs of different shapes are fixedly connected to different eyeball mounting frames 201. In this embodiment, three eyeball mounting frames 201 arranged at intervals are fixed to the periphery of the eye turntable 2, and the angle between each eyeball mounting frame 201 is 120°. Each eyeball mounting frame 201 is provided with an eyeball of a different shape, and the eyeball can be formed into different shapes through 3D printing, thereby forming different images in combination with eyebrows and mouths.

[0046] Similarly, see Figure 2 The mouth turntable 3 is connected to the column through a bearing, and the periphery of the mouth turntable 3 is fixed with more than two spaced mouth connectors 301, and different mouth connectors 301 are fixedly connected with mouths of different shapes. In this embodiment, the periphery of the mouth turntable 3 is fixed with three spaced mouth connectors 301, and the angle between each mouth connector 301 is 120°. Each mouth connector 301 is provided with a mouth of different shapes, and the mouth can be formed into different shapes through 3D printing, thereby forming different images in combination with eyebrows and eyeballs.

[0047] The following is a detailed description of the process of forming different facial expression robots with different images by combining eyebrows, eyeballs, and mouths of different shapes: No. 1 eyebrow, No. 2 eyebrow, and No. 3 eyebrow are connected to the three eyebrow mounting frames 101 of the forehead turntable 1 respectively (not shown in the figure), and the three eyebrows are 3D printed parts with different shapes; No. 1 eyeball, No. 2 eyeball, and No. 3 eyeball are connected to the eyeball fixing frame of the eye turntable 2 respectively; No. 1 mouth, No. 2 mouth, and No. 3 mouth are connected to the mouth connector 301 of the mouth turntable 3 respectively. Assuming that in the initial position, No. 1 eyebrow, No. 1 eyeball, and No. 1 mouth are located in the same face, No. 2 eyebrow, No. 2 eyeball, and No. 2 mouth are located in the same face, and No. 3 eyebrow, No. 3 eyeball, and No. 3 mouth are located in the same face, and a total of three faces are formed on the facial expression robot; if the corresponding facial parts are set at 90° intervals on the corresponding turntable, four faces are formed.

[0048] At this time, the reduction motor 71 on the forehead turntable 1 rotates, driving the forehead turntable 1 to rotate 120° and then stop. At this time, the No. 2 eyebrow, No. 1 eyeball, and No. 1 mouth are located in the same face, the No. 3 eyebrow, No. 2 eyeball, and No. 2 mouth are located in the same face, and the No. 1 eyebrow, No. 3 eyeball, and No. 3 mouth are located in the same face; due to the change of the eyebrows, the images on the three faces are all changed. Similarly, the corresponding rotation of the eye turntable 2 and the mouth turntable 3 by the corresponding degree can change the images on the three faces, forming expression robots with different combined images.

[0049] Embodiment 2

[0050] This embodiment is an improvement on the above-mentioned embodiment 1. In this embodiment, the eyeballs on the eye turntable 2 can move with different degrees of freedom to express different expressions.

[0051] See also Figure 2 As shown, the eye turntable 2 is also provided with a bracket 203, on which two steering gears 202 are fixed at intervals, and two eyeball mounting frames 201 are correspondingly connected to the steering discs of the steering gears 202. When the steering gears 202 rotate, the eyeball mounting frames 201 and the eyeballs thereon can be driven to rotate. The steering gear 202 is a mature technology in this field, and its structure is not described in detail here. It can be directly purchased from the market, such as a robot steering gear of model RDS3115.

[0052] The steering wheel of the steering gear 202 rotates, and the eyeball mounting frame 201 rotates accordingly, and the eyeball connected to the eyeball mounting frame 201 rotates accordingly, which can imitate the expression of human eyeball rotation.

[0053] As an alternative embodiment, see Figure 2 As shown, the eye turntable 2 of this embodiment is also provided with a first linear drive module 21, and each bracket 203 is correspondingly fixed on a slider of the first linear drive module 21. The first linear drive module 21 is arranged along the radial direction of the eye turntable 2, so that the slider on it moves linearly in the radial direction of the eye turntable 2, thereby driving the bracket 203 and the structure on the bracket 203 to move forward and backward. Among them, the above-mentioned linear drive module is a mature technology in this field, and its structure is not described in detail here. It can be directly purchased from the market, such as the tolomatic IMA linear drive module. The structural principle of the linear drive module is mainly: the servo motor performs left and right rotational motion, and the servo motor and the ball screw are connected together through a coupling, thereby driving the screw to rotate, and the screw converts the rotational motion into linear motion through a nut. Due to the precise matching of the servo motor and the ball screw, the slider installed on the nut is driven to perform precise linear motion on the linear guide rail. Several precise components are matched together to perform precise positioning.

[0054] The first linear drive module 21 can drive the bracket 203 and the servo 202 and the eyeball mounting frame 201 on the bracket 203 to move radially along the eye turntable 2, thereby realizing the forward and backward movement of the eyeball, and can demonstrate the expression of the expression robot such as shock, making the expression of the expression robot richer and more technological.

[0055] Embodiment 3

[0056] This embodiment is an improvement on the above-mentioned Embodiment 1 and Embodiment 2. In this embodiment, the mouth connector 301 on the mouth turntable 3 can move up and down.

[0057] For details, see Figure 2 A second linear drive module 31 is also provided on the mouth turntable 3, and each mouth connection member 301 corresponds to a slider of the second linear drive module 31. The second linear drive module 31 is arranged vertically so that the slider thereon moves linearly in the vertical direction, thereby driving the mouth connection member 301 to move up and down.

[0058] The structure of the second linear drive module 31 is the same as that of the first drive module, and will not be described in detail here. When the slider of the second linear drive module 31 moves up and down, it can drive the mouth connector 301 and the mouth to move up and down, and can imitate the expression of the mouth opening and closing, making the expression of the expression robot richer and more technological.

[0059] Embodiment 4

[0060] The present embodiment is an improvement on the above-mentioned embodiment. The multi-combination expression robot can electrically connect all the reduction motors 71 and linear drive modules to the controller, and the operating states of the corresponding reduction motors 71 and linear drive modules are controlled by the controller.

[0061] In order to further improve the interactivity of the expression robot, as an optional implementation, the expression robot of this embodiment is also provided with an interactive unlocking mechanism, and the structure of the interactive unlocking mechanism is:

[0062] See also Figure 1 and Figure 3As described, the upper and lower parts of the fixed disk 4 are respectively fixed with the third linear drive module 81 and the fourth linear drive module 82 arranged vertically. The structures of the third linear drive module 81 and the fourth linear drive module 82 are the same as those of the first drive module, and are not described here. The sliders of the third linear drive module 81 and the fourth linear drive module 82 are fixedly connected with an adapter frame 83, and the adapter frame 83 is connected with a lock bracket 84. The adapter frame 83 and the lock bracket 84 surround the column. The function of the adapter frame 83 is to connect the lock bracket 84 and the slider of the corresponding linear module; the end of the lock bracket 84 away from the adapter frame 83 is fixed with more than two spaced connection sheet metals 85, and the connection sheet metal 85 is used to install the mobile shell; the third linear drive module 81 and the fourth linear drive module 82 and the structure thereon are mirrored with respect to the fixed disk 4, and the sliders on the third linear drive module 81 and the fourth linear drive module 82 can drive the two mobile shells to open and close when they move toward or away from each other.

[0063] The movable shells on the upper and lower parts of the fixed plate 4 can open and close when the sliders on the third linear drive module 81 and the sliders on the fourth linear drive module 82 move toward or away from each other. When the movable shells of the upper and lower parts move away from each other, it can give people a prompt to unlock. When the movable shells of the upper and lower parts move toward each other, it can give people a prompt to lock, making the interaction between the expression robot and people stronger.

[0064] The shape of the above-mentioned movable shell can be set according to actual conditions, such as the upper movable shell and the lower movable shell can be set as an interlocking structure. It should be understood that the above-mentioned interactive unlocking mechanism is not an actual control mechanism for starting the expression robot, but only gives people a hint of unlocking and locking through the opening and closing action of the movable shell, thereby enhancing the interaction between man and machine and improving the sense of technology.

[0065] In the description of this specification, specific features, structures or characteristics may be combined in an appropriate manner in any one or more embodiments or examples.

[0066] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. 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 may be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples, without contradiction.

[0067] The above is only a specific embodiment of the present invention, but the protection scope of the present invention is not limited thereto. Any person skilled in the art can easily think of changes or substitutions within the technical scope disclosed by the present invention, which should be included in the protection scope of the present invention. Therefore, the protection scope of the present invention should be based on the protection scope of the claims.

Claims

1. A multi-image expression robot, characterized in that: It includes at least any two of the forehead turntable (1), the eye turntable (2), and the mouth turntable (3), wherein: The forehead turntable (1) is provided with more than two different shaped eyebrows, the eye turntable (2) is provided with more than two different shaped eyeballs, and the mouth turntable (3) is provided with more than two different shaped mouths. The forehead turntable (1), the eye turntable (2) and the mouth turntable (3) are located at different vertical heights and are all rotatable. During the rotation process, at least any two of the eyebrows, the eyeballs and the mouth can be located in the same face to form two or more different images in combination. The periphery of the forehead turntable (1) is fixed with more than two eyebrow mounting frames (101) arranged at intervals, and eyebrows of different shapes are fixedly connected to different eyebrow mounting frames (101); Two or more pairs of eyeball mounting frames (201) arranged at intervals are fixed to the periphery of the eye turntable (2), and eyeballs of different shapes are fixedly connected to different eyeball mounting frames (201); The eye turntable (2) is also provided with a bracket (203), on which two steering gears (202) are fixed at intervals, and the two eyeball mounting frames (201) are correspondingly connected to the steering discs of the steering gears (202), and when the steering gears (202) rotate, they can drive the eyeball mounting frames (201) and the eyeballs thereon to rotate; The eye turntable (2) is also provided with a first linear drive module (21), and each of the brackets (203) is correspondingly fixed on a slider of the first linear drive module (21). The first linear drive module (21) is arranged along the radial direction of the eye turntable (2) so that the slider thereon moves linearly in the radial direction of the eye turntable (2), thereby driving the bracket (203) and the structure on the bracket (203) to move forward and backward; The periphery of the mouth turntable (3) is fixed with more than two mouth connecting pieces (301) arranged at intervals, and mouths of different shapes are fixedly connected to different mouth connecting pieces (301); The mouth turntable (3) is also provided with a second linear drive module (31), and each of the mouth connecting members (301) corresponds to a slider of the second linear drive module (31). The second linear drive module (31) is arranged vertically so that the slider thereon moves linearly in the vertical direction, thereby driving the mouth connecting member (301) to move up and down; The expression robot further comprises a column and a fixed plate (4), wherein: the fixed plate (4) is located at the center of the column, and the upper half structure and the lower half structure on the column are mirror images of each other with respect to the fixed plate (4); The expression robot is also provided with an interactive unlocking mechanism, the structure of which is: A third linear drive module (81) and a fourth linear drive module (82) arranged vertically are fixed to the upper and lower parts of the fixed plate (4), respectively; an adapter frame (83) is fixedly connected to the sliders of the third linear drive module (81) and the fourth linear drive module (82); the adapter frame (83) is connected to a lock bracket (84); a connecting sheet metal (85) is fixed to one end of the lock bracket (84) away from the adapter frame (83); the connecting sheet metal (85) is used for mounting a movable housing; The third linear drive module (81) and the fourth linear drive module (82) and the structures thereon are arranged in a mirror image with respect to the fixed disk (4), and when the sliders on the third linear drive module (81) and the fourth linear drive module (82) move towards or away from each other, they can drive the two movable shells to perform an opening and closing action.

2. The multi-image expression robot according to claim 1, characterized in that: The expression robot further comprises a chassis (5), the upright post being vertically fixed on the chassis (5), the forehead turntable (1), the eye turntable (2) and the mouth turntable (3) being sleeved on the upright post and being able to rotate with the upright post as an axis.

3. The multi-image expression robot according to claim 2, characterized in that: The forehead turntable (1), the eye turntable (2) and the mouth turntable (3) are all provided with a driving mechanism, the driving mechanism comprising a reduction motor (71), an output gear (72) and a transmission gear (73), wherein: The output gear (72) is connected to the output shaft of the reduction motor (71), the transmission gear (73) is rotatably connected to the column, and the transmission gear (73) is fixedly connected to the corresponding rotating disk, and the transmission gear (73) and the output gear (72) are meshed with each other. When the reduction motor (71) rotates, it can drive the corresponding rotating disk to rotate around the axis of the corresponding tube body through gear transmission.

Images