Eyebrow structure of robot and robot

Abstract

This application discloses an eyebrow structure for a robot and the robot itself, relating to the field of robot technology. The eyebrow structure includes a support, a first driving member, a movable member, a linkage assembly, and a second driving member. The movable member has a first end and a second end that are relatively movable, and a sliding groove is provided on the movable member, located near the second end. The linkage assembly includes a first link and a second link. One end of the first link is rotatably connected to the support, and the other end of the first link is connected to a position on the movable member near the first end. One end of the second link is rotatably connected to the first link, and the other end of the second link is connected to the output end of the first driving member. The second link, under the action of the first driving member, drives the first link to swing within a preset plane to achieve movement of the first end. The output end of the second driving member abuts against the wall of the sliding groove and moves along the groove to achieve movement of the second end. The eyebrow structure of the robot provided by this application has high flexibility.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of robots, in particular to a brow structure of a robot and the robot. BACKGROUND

[0002] The robot is an intelligent robot capable of simulating human facial expressions and emotional actions, which is composed of an expression recognition program, a mechanical transmission structure and a simulated skin organ. As a service robot, it plays an important role in realizing human-computer interaction, especially emotional interaction. Due to the humanization and emotionalization of the robot, the research on the robot has a very wide application prospect. In recent years, more and more research institutions and organizations have carried out research on robots simulating human facial expressions.

[0003] In the related art, the brow structure of the robot connects the pneumatic source and the eyebrow through the connecting assembly, but the pneumatic source can only realize the up-down movement of the eyebrow, resulting in the rigidity and distortion of the facial expression of the robot, which is not flexible enough. SUMMARY

[0004] Therefore, the purpose of the present application is to overcome the deficiencies in the prior art. The present application provides a brow structure of a robot and the robot to solve the technical problem that the brow structure of the robot in the prior art is not flexible enough.

[0005] The present application provides:

[0006] A brow structure of a robot, comprising:

[0007] a support;

[0008] a first driving member;

[0009] a movable member having a first end and a second end that can move relative to each other, and a sliding groove is further provided on the movable member, and the sliding groove is arranged close to the second end;

[0010] a connecting rod assembly comprising a first connecting rod and a second connecting rod, one end of the first connecting rod is rotationally connected with the support, the other end of the first connecting rod is connected with a position on the movable member close to the first end, one end of the second connecting rod is rotationally connected with the first connecting rod, and the other end of the second connecting rod is connected with the output end of the first driving member;

[0011] wherein the second connecting rod drives the first connecting rod to swing in a preset plane under the action of the first driving member to realize the movement of the first end;

[0012] a second driving member, the output end of the second driving member abuts on the groove wall of the sliding groove and moves along the sliding groove to realize the movement of the second end.

[0013] In addition, the eyebrow structure of the robot according to the present application can further have the following additional technical features.

[0014] In some embodiments of the present application, the output end of the first driving member is provided with a first rotating disc, and the second connecting rod is connected to the first rotating disc at an end away from the first connecting rod.

[0015] In some embodiments of the present application, the first rotating disc has a rotation angle of α, and the first connecting rod has an oscillation angle of β in the preset plane, and α = 2.5β is satisfied.

[0016] In some embodiments of the present application, the first rotating disc is provided with an eyelet, and the second connecting rod is connected to the eyelet at an end away from the first connecting rod.

[0017] In some embodiments of the present application, the second connecting rod comprises a rod portion and two rod end bearings, one end of the rod portion is connected to the eyelet through one of the rod end bearings, and the other end of the rod portion is connected to the first connecting rod through the other rod end bearing.

[0018] In some embodiments of the present application, the first connecting rod is provided with a connecting head, and the connecting head is connected to the rod end bearing away from the first rotating disc.

[0019] In some embodiments of the present application, the distance from the connecting head to the connecting position of the first connecting rod and the support is D, and the distance from the connecting head to the connecting position of the first connecting rod and the movable member is d, and 0.5≤d / D≤0.8 is satisfied.

[0020] In some embodiments of the present application, the first connecting rod comprises a rod body portion and a bent portion, one end of the rod body portion is connected to one end of the bent portion, the other end of the rod body portion is connected to the movable member, and the other end of the bent portion is rotationally connected to the support.

[0021] In some embodiments of the present application, the support is provided with a connecting plate, the connecting plate is inclined in the vertical direction, and a connecting hole is formed in the connecting plate, the end of the bent portion away from the rod body portion is arranged in the connecting hole, and the bent portion is rotationally connected to the connecting plate.

[0022] In some embodiments of the present application, the end of the rod body portion away from the bent portion is provided with a ball head, the position close to the first end of the movable member is provided with a mounting hole, the ball head is arranged in the mounting hole and abuts against the hole wall of the mounting hole.

[0023] In some embodiments of the present application, the output end of the second driving member is provided with a second rotating disc, and a driving rod is arranged on the second rotating disc, one end of the driving rod is fixedly connected with the second rotating disc, and the other end of the driving rod is provided with a ball head, and the ball head is in sliding connection with the sliding groove.

[0024] The present application also provides a robot comprising the eyebrow structure of any of the above embodiments.

[0025] Compared with the prior art, the present application has the beneficial effects that: the present application provides an eyebrow structure of a robot, wherein the outer side of the movable member is covered with a bionic eyebrow, the first end is swung in a preset plane by the first driving member, the brow of the bionic eyebrow is raised or lowered, and thus the bionic eyebrow has the actions of raising the eyebrow and lowering the eyebrow. The second end is moved by the second driving member, the tail of the bionic eyebrow is raised or lowered, and thus the bionic eyebrow has the actions of raising the eyebrow, bending the eyebrow, lowering the eyebrow, etc. Such a fine driving structure makes the two ends of the movable member have more degrees of freedom, and improves the flexibility of the bionic eyebrow.

[0026] In addition, by jointly or separately controlling the first driving assembly and the second driving assembly, the brow and the tail of the bionic eyebrow can be jointly or separately moved, various eyebrow actions of the robot, such as frowning and raising the eyebrow, can be generated, and the expression of the robot is more flexible and lifelike. BRIEF DESCRIPTION OF DRAWINGS

[0027] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings needed in the embodiments will be briefly introduced as follows. It should be understood that the following drawings only show some embodiments of the present application, and therefore should not be regarded as a limitation on the scope, and other related drawings can also be obtained by those skilled in the art without creative labor on the basis of the drawings.

[0028] Figure 1 Fig. 1 shows a structure schematic diagram of an eyebrow structure of a robot in some embodiments of the present application;

[0029] Figure 2 Fig. 2 shows a structure schematic diagram of an eyebrow structure of a robot in some embodiments of the present application;

[0030] Figure 3 Fig. 3 shows an exploded structure schematic diagram of an eyebrow structure of a robot in some embodiments of the present application; Figure 1

[0031] Figure 4 Fig. 4 shows a connection structure schematic diagram of a first connecting rod and a connecting plate in some embodiments of the present application.

[0032] ​Main element symbol explanation: 100 - eyebrow structure of robot; 110 - support; 111 - first connecting piece; 112 - second connecting piece; 113 - third connecting piece; 1111 - connecting plate; 120 - movable group; 121 - first driving piece; 1211 - first rotating disc; 1212 - lifting lug; 122 - movable piece; 1221 - first end; 1222 - second end; 1223 - sliding groove; 123 - connecting rod assembly; 1231 - first connecting rod; 12311 - connecting head; 12312 - rod body part; 12313 - bending part; 11111 - connecting hole; 1232 - second connecting rod; 12321 - rod end bearing; 12314 - ball head; 1224 - mounting hole; 124 - second driving piece; 1241 - second rotating disc; 1242 - driving rod; 1243 - ball head part; 12322 - rod part; I - preset plane. DETAILED DESCRIPTION

[0033] The embodiments of the present application are described below in detail, examples of which are shown in the drawings, wherein the same or similar notations represent the same or similar elements or elements having the same or similar functions throughout. The embodiments described below by referring to the drawings are exemplary only, for the purpose of explanation of the present application, and are not to be understood as a limitation of the present application.

[0034] In the description of the present application, it is to be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and the like indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only for the purpose of facilitating the description of the present application and simplifying the description, and are not to indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation of the present application.

[0035] In addition, the terms "first", "second" are only for the purpose of description, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the technical features indicated. Therefore, the features defined with "first", "second" can explicitly or implicitly include one or more of the features. In the description of the present application, the meaning of "a plurality of" is two or more, unless otherwise specifically limited.

[0036] In this application, unless specifically defined otherwise, the terms "mount", "connect", "connection", "fixed", and the like, should be understood broadly, for example, can be fixed connection, can also be detachable connection, or integrated; can be mechanical connection, can also be electrical connection; can be direct connection, can also be indirect connection through an intermediate medium, can be internal communication of two elements or interaction relationship between two elements. For those skilled in the art, the specific meaning of the above terms in this application can be understood according to the specific circumstances.

[0037] In this application, unless specifically defined otherwise, the first feature is "on" or "under" the second feature can be that the first and second features are in direct contact, or the first and second features are in indirect contact through an intermediate medium. Moreover, the first feature "above", "over" and "on" the second feature can be that the first feature is directly above or obliquely above the second feature, or only indicates that the horizontal height of the first feature is higher than that of the second feature. The first feature "below", "under" and "under" the second feature can be that the first feature is directly below or obliquely below the second feature, or only indicates that the horizontal height of the first feature is less than that of the second feature.

[0038] In the related art, the eyebrow structure of the robot connects the pneumatic source and the eyebrow through the connecting assembly, but the pneumatic source can only realize the up-down movement of the eyebrow, resulting in the rigidity and distortion of the facial expression of the robot, which is not flexible enough.

[0039] In order to solve the above technical problems, as shown in Figure 1 The embodiment of the present application provides an eyebrow structure 100 of a robot, which comprises a support 110 and two movable groups 120, the two movable groups 120 are symmetrically and spacedly connected to the support 110, each movable group 120 is connected to a bionic eyebrow, the movable group 120 drives the bionic eyebrow to move, and the facial expression is simulated.

[0040] Please continue to refer to Figure 2 and Figure 3 Each movable group 120 comprises a first driving member 121, a movable member 122, a connecting rod assembly 123 and a second driving member 124.

[0041] The movable member 122 has a first end 1221 and a second end 1222 which can move relatively, and a sliding groove 1223 is further arranged on the movable member 122, and the sliding groove 1223 is arranged close to the second end 1222.

[0042] The outer side of the movable member 122 is connected with the bionic eyebrow, and in the embodiment, the movable member 122 is in a strip shape. In other embodiments, the movable member 122 can also be connected by a plurality of strip-shaped plates to form a long strip with curvature or a straight long strip, so as to approach the natural eyebrow shape of the living being.

[0043] The first end 1221 of the movable element 122 is driven by the first driving element 121 to realize the action of the brow, and the second end 1222 is driven by the second driving element 124 to realize the action of the tail of the eyebrow.

[0044] Specifically, the connecting rod assembly 123 includes a first connecting rod 1231 and a second connecting rod 1232. One end of the first connecting rod 1231 is rotationally connected with the support 110, and the other end of the first connecting rod 1231 is connected with the movable element 122 at a position close to the first end 1221. In this way, the support 110 and the first connecting rod 1231 form a swing type connection structure, and the end of the first connecting rod 1231 away from the support 110 is a free swing end.

[0045] One end of the second connecting rod 1232 is rotationally connected with the first connecting rod 1231, and the other end of the second connecting rod 1232 is connected with the output end of the first driving element 121. In this way, the second connecting rod 1232 provides power for the swing of the first connecting rod 1231. Specifically, the second connecting rod 1232 drives the first connecting rod 1231 to swing in the preset plane I under the action of the first driving element 121, so as to realize the movement of the first end 1221 and make the brow of the bionic eyebrow appear to rise or fall.

[0046] The output end of the second driving element 124 abuts against the groove wall of the sliding groove and moves along the sliding groove to realize the movement of the second end 1222. In this way, the tail of the bionic eyebrow appears to rise or fall.

[0047] Through the movement of the first end 1221 driven by the first driving element 121 and the movement of the second end 1222 driven by the second driving element 124, the two-point fine driving structure makes the two ends of the movable element 122 have more degrees of freedom. At the same time, by simultaneously or separately controlling the first driving element 121 and the second driving element 124, the first end 1221 can be moved alone, the second end 1222 can be moved alone, and the first end 1221 and the second end 1222 can be moved simultaneously. The brow and the tail of the bionic eyebrow can be jointly or separately moved, and the robot can produce various eyebrow movements such as frowning and raising eyebrows, so that the expression of the robot is more lively and lifelike.

[0048] In an embodiment, the output end of the first driving element 121 is provided with a first rotating disc 1211. In this embodiment, the first rotating disc 1211 is circular, and the output end of the first driving element 121 moves along a circular arc path. Compared with a linear movement path, the linear movement path only has two directions of reciprocating movement, while the circular arc movement path can make the first driving element 121 have more output directions. It can be understood that in other embodiments, the first rotating disc 1211 can also be elliptical, and the output end of the first driving element 121 can also move along an elliptical direction to adapt to different design requirements.

[0049] The second connecting rod 1232 is connected with the first connecting rod 1231, and one end of the second connecting rod 1232 away from the first connecting rod 1231 is connected with the first rotating disc 1211. The first connecting rod 1231 is connected with the movable element 122 at a position close to the first end 1221. In this way, the rotation of the rotating disc is transmitted by the second connecting rod 1232 and the first connecting rod 1231, so as to realize the movement of the first end 1221 driven by the first rotating disc 1211.

[0050] The first end 1221 swings in the preset plane I.

[0051] Specifically, as shown in Figure 1 When the first rotating disc 1211 rotates by a certain angle along the clockwise or counterclockwise direction, the first rotating disc 1211 drives the second connecting rod 1232 to move away from or close to the movable element 122. The end of the first connecting rod 1231 away from the movable element 122 serves as a fulcrum, and the end of the first connecting rod 1231 away from the movable element 122 swings up or down under the drive of the second connecting rod 1232, so as to realize the swinging up or down of the first end 1221.

[0052] Further, the swinging amplitude of the first end 1221 can be adjusted as required. Specifically, by changing the swinging angle of the first end 1221 and / or the length of the first connecting rod 1231, the swinging amplitude of the first end 1221 can be adjusted.

[0053] The swinging angle of the first end 1221 is related to the rotation angle of the first rotating disc 1211. For example, the rotation angle of the first rotating disc 1211 is set as α, and the swinging angle of the first connecting rod 1231 in the preset plane I is β, which satisfies: α = 2.5β. It should be noted that α = 2.5β can be adjusted, which can be changed, such as α = 2β, α = 4β, etc.

[0054] The swinging angle of the first end 1221 is related to the length of the first connecting rod 1231. As mentioned before, taking the connection between the first connecting rod 1231 and the support 110 as a fulcrum, in the case of the same swinging angle, the farther the distance from the fulcrum, the greater the swinging amplitude of the first end 1221.

[0055] Please refer to Figure 4In one embodiment, a connector 12311 is provided on the first connecting rod 1231. The connector 12311 is connected to the end of the second connecting rod 1232 away from the first turntable 1211. The distance from the connector 12311 to the connection position of the first connecting rod 1231 and the bracket 110 is set as D, and the distance from the connector 12311 to the connection position of the first connecting rod 1231 and the movable part 122 is set as d, satisfying: 0.5≤d / D≤0.8. In this way, with the connection point of the first connecting rod 1231 and the bracket 110 as the fulcrum, under the action of the lever principle, the position of the connector 12311 is set at the end of the first connecting rod 1231 closer to the movable part 122, making it easier for the first turntable 1211 to drive the first connecting rod 1231 to swing, thus reducing the power of the first turntable 1211.

[0056] A lifting lug 1212 is provided on the first turntable 1211, and the end of the second connecting rod 1232 away from the first connecting rod 1231 is connected to the lifting lug 1212. The second connecting rod 1232 includes a rod portion 12322 and two rod end bearings 12321. One end of the rod portion 12322 is connected to the lifting lug 1212 through one rod end bearing 12321, and the other end of the rod portion 12322 is connected to the first connecting rod 1231 through the other rod end bearing 12321. The connector 12311 is connected to the rod end bearing 12321 away from the first turntable 1211. The rod end bearing 12321 and the lifting lug 1212 have similar shapes, making the connection structure between the rod end bearing 12321 and the lifting lug 1212 more stable.

[0057] For example, the rod end bearing 12321 is a fisheye rod end spherical bearing. For instance... Figure 2 , 3 As shown in Figure 4, the first turntable 1211 is spaced apart and positioned to the upper right of the first connecting rod 1231. The first turntable 1211 rotates in the upper plane, while the first connecting rod 1231 swings in the preset plane I. Without the second connecting rod 1232, the movements of the first connecting rod 1231 and the first turntable 1211 are independent. By setting fisheye rod end joint bearings at both ends of the rod 12322 and connecting the two fisheye rod end joint bearings to the first connecting rod 1231 and the first turntable 1211 respectively, a transmission relationship is established between the first turntable 1211 and the first connecting rod 1231. Thus, by controlling the rotation angle of the first turntable 1211, the swing angle of the first connecting rod 1231 in the preset plane I can be controlled.

[0058] In one embodiment, the first connecting rod 1231 includes a rod body portion 12312 and a bent portion 12313. One end of the rod body portion 12312 is connected to one end of the bent portion 12313, the other end of the rod body portion 12312 is connected to the movable member 122, and the other end of the bent portion 12313 is rotatably connected to the bracket 110. Thus, the connection structure between the first connecting rod 1231 and the bracket 110 forms a connection structure similar to a clock hand, with the connection point between the bent portion 12313 and the bracket 110 serving as the fulcrum for swinging, and the connection point between the rod body portion 12312 and the movable member 122 serving as the swing point.

[0059] Furthermore, the bracket 110 is provided with a connecting plate 1111, which is inclined in the vertical direction and has a connecting hole 11111. The end of the bent portion 12313 away from the rod portion 12312 passes through the connecting hole 11111, and the bent portion 12313 is rotatably connected to the connecting plate 1111; and / or, the end of the rod portion 12312 away from the bent portion 12313 is provided with a ball head 12314, and the movable member 122 is provided with a mounting hole 1224 near the first end 1221. The ball head 12314 passes through the mounting hole 1224 and abuts against the wall of the mounting hole 1224.

[0060] Among them, such as Figure 4 As shown, the connecting plate 1111 is inclined and parallel to the preset plane I. The inclination angle of the connecting plate 1111 in the vertical direction is 45-80 degrees, and correspondingly, the inclination angle of the preset plane I with the vertical direction is 45-80 degrees. For example, the inclination angle of the preset plane I with the vertical direction is any one of 45 degrees, 50 degrees, 55 degrees, 60 degrees, 65 degrees, 70 degrees, 75 degrees, and 80 degrees.

[0061] It should be noted that the tilt angle between the preset plane I and the vertical direction is related to the structure of the slide 1223. It can be understood that the larger the tilt angle between the preset plane I and the vertical direction, the longer the horizontal stroke. The slide 1223 is set along the length of the movable member 122. The larger the tilt angle between the preset plane I and the vertical direction, the longer the slide 1223, and the longer the horizontal stroke of the output end of the second drive member 124 within the slide 1223, making the movement of the movable member 122 smoother.

[0062] The output end of the second driving component 124 is provided with a second turntable 1241, and a driving rod 1242 is provided on the second turntable 1241. One end of the driving rod 1242 is fixedly connected to the second turntable 1241, and the other end of the driving rod 1242 is provided with a ball head 1243, which is slidably connected to a groove. The surface of the arc surface of the ball head 1243 is smooth, making the sliding process of the ball head 1243 smooth and not prone to jamming, thus making the movement of the bionic eyebrow more natural and not stiff.

[0063] As Figure 3 shown, the support 110 includes a second connecting piece 112, a first connecting piece 111 and a third connecting piece 113 connected in sequence. Two movable groups 120 are connected to the second connecting piece 112 and the third connecting piece 113 respectively.

[0064] It can be understood that, for the purpose of reducing the eyebrow structure, the distance between the first driving member 121 and the second driving member 124 should be as small as possible, and in the embodiment, the first driving member 121 and the second driving member 124 are centrally arranged on the opposite sides of the first connecting piece 111 or the third connecting piece 113.

[0065] It should be noted that, in the embodiment, the first connecting piece 111 is in a plate shape. In other embodiments, the first connecting piece 111 can be in other shapes, as long as it can help to mount the eyebrow structure on the robot head, and make the two bionic eyebrows on the two movable groups 122 in the correct position, so that the face structure of the robot is more human-like.

[0066] The first driving member 121 and the second driving member 124 can drive the movable group 122 individually or simultaneously, so as to make the eyebrow display different expressions.

[0067] When the first driving member 121 drives the first end 1221 to move individually:

[0068] As Figure 1 shown, Figure 1 the position of the movable group 122 in the initial state, when the first rotating disc 1211 rotates clockwise alone, the first rotating disc 1211 drives the first end 1221 to rise, and the frowning expression with two eyebrow tips rising simultaneously appears, when the first rotating disc 1211 rotates counterclockwise alone, the low eyebrow expression with two eyebrow tips descending simultaneously appears.

[0069] When the second driving member 124 drives the second end 1222 to move individually:

[0070] Figure 1 the position of the movable group 122 in the initial state, when the second rotating disc 1241 rotates clockwise alone, the second rotating disc 1241 drives the second end 1222 to rise, and the frowning expression with two eyebrow tails rising simultaneously appears, when the second rotating disc 1241 rotates counterclockwise alone, the low eyebrow expression with two eyebrow tails descending simultaneously appears.

[0071] When the first driving member 121 and the second driving member 124 drive the first end 1221 and the second end 1222 simultaneously:

[0072] Figure 1For the position of the movable part 122 in the initial state, when the first rotating disc 1211 rotates clockwise, the second rotating disc 1241 rotates clockwise, the expression of lifting the eyebrows at the brow and the tail of the eyebrow is generated; when the first rotating disc 1211 rotates counterclockwise, the second rotating disc 1241 rotates counterclockwise, the expression of lowering the eyebrows at the brow and the tail of the eyebrow is generated; when the first rotating disc 1211 rotates clockwise, the second rotating disc 1241 rotates counterclockwise, the expression of lifting the brow and lowering the tail of the eyebrow is generated; when the first rotating disc 1211 rotates counterclockwise, the second rotating disc 1241 rotates clockwise, the expression of lowering the brow and lifting the tail of the eyebrow is generated, the height difference between the brow and the tail of the eyebrow is large, the eyebrows are inverted, and the expression is displayed more angrily.

[0073] The application also provides a robot comprising the eyebrow structure 100 of any of the above embodiments.

[0074] Exemplarily, a bionic eyebrow is arranged on one side of the movable part 122, and the bionic eyebrow can be exposed above the eyes of the robot, and the driving part is arranged at the back to facilitate hiding.

[0075] The movable part 122 is flexibly moved at multiple angles to adapt to the needs of adjusting different expressions, the first end 1221 is moved by the first driving part 121, and the second end 1222 is moved by the second driving part 124, the two-point fine driving structure makes the two ends of the movable part 122 have more degrees of freedom. Meanwhile, cooperating with simultaneous or separate control of the first driving part 121 and the second driving part 124, the first end 1221 can be moved alone, the second end 1222 can be moved alone, and the first end 1221 and the second end 1222 can be moved simultaneously, the brow and the tail of the bionic eyebrow can be moved jointly or separately, and the robot can generate various eyebrow movements such as frowning and opening the eyebrows, so that the expression of the robot is closer to that of a human being.

[0076] In the description of the present application, the description of the terms "one embodiment", "some embodiments", "an example", "a specific example", or "some examples" means that the specific features, structures, materials or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present application. In the present application, the illustrative description of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any suitable manner in any one or more embodiments or examples. In addition, the different embodiments or examples described in the present application and the features of the different embodiments or examples can be combined and combined by those skilled in the art without contradiction.

[0077] Although the embodiments of the present application have been shown and described above, it is understood that the above-described embodiments are exemplary and are not to be construed as limiting the present application, and that changes, modifications, substitutions and variations can be made by those skilled in the art without departing from the scope of the present application.

Claims

1. A brow structure of a robot, characterized by, The robot comprises a support, a first driving member, a movable member having a first end and a second end which are relatively movable, a sliding groove provided on the movable member and close to the second end, a connecting rod assembly comprising a first connecting rod and a second connecting rod, one end of the first connecting rod being rotationally connected to the support, the other end of the first connecting rod being connected to the movable member close to the first end, one end of the second connecting rod being rotationally connected to the first connecting rod, the other end of the second connecting rod being connected to the output end of the first driving member, the first connecting rod comprising a rod body and a bent portion, one end of the rod body being connected to one end of the bent portion, the other end of the rod body being connected to the movable member, the other end of the bent portion being rotationally connected to the support, wherein the second connecting rod drives the first connecting rod to swing in a preset plane under the action of the first driving member, so as to realize the movement of the first end, the output end of a second driving member abutting on the groove wall of the sliding groove and moving along the sliding groove to realize the movement of the second end, the output end of the second driving member being provided with a second rotating disc, the second rotating disc being provided with a driving rod, one end of the driving rod being fixedly connected to the second rotating disc, the other end of the driving rod being provided with a ball head portion, the ball head portion being slidably connected to the sliding groove. The output end of the first driving member is provided with a first rotating disc, and one end of the second connecting rod away from the first connecting rod is connected to the first rotating disc. The rotation angle of the first rotating disc is α, and the swinging angle of the first connecting rod in the preset plane is β, and α = 2.5β is satisfied. The first rotating disc is provided with an ear, and one end of the second connecting rod away from the first connecting rod is connected to the ear. The second connecting rod comprises a rod portion and two rod end bearings, one end of the rod portion being connected to the ear through one of the rod end bearings, and the other end of the rod portion being connected to the first connecting rod through the other rod end bearing. The first connecting rod is provided with a connecting head, and the connecting head is connected to the rod end bearing away from the first rotating disc. The distance from the connecting head to the connecting position of the first connecting rod and the support is D, and the distance from the connecting head to the connecting position of the first connecting rod and the movable member is d, and 0.5≤d / D≤0.8 is satisfied. The support is provided with a connecting plate which is inclined in the vertical direction and is provided with a connecting hole, one end of the bent portion away from the rod body is arranged in the connecting hole, and the bent portion is rotationally connected to the connecting plate; and / or 2. The eyebrow structure of the robot according to claim 1, characterized by, One end of the rod body away from the bent portion is provided with a ball head, and the position close to the first end of the movable member is provided with a mounting hole, the ball head is arranged in the mounting hole and abuts against the hole wall of the mounting hole. The eyebrow structure of the robot comprises the eyebrow structure of any one of claims 1 to 7.

3. The eyebrow structure of the robot according to claim 2, characterized by ​ 4. The eyebrow structure of the robot according to claim 3, characterized by ​ 5. The eyebrow structure of the robot according to claim 4, characterized by ​ 6. The eyebrow structure of the robot according to claim 5, wherein ​ 7. The eyebrow structure of the robot according to claim 1, characterized by, ​ ​ 8. A robot, characterized in that ​

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