Mouth structure of robot and robot

Abstract

The application provides a mouth structure of a robot and the robot, and belongs to the technical field of robots. The mouth structure of the robot comprises a lip body, an upper lip control assembly, a lower lip control assembly and a corner of the mouth control assembly; the upper lip control assembly comprises a first upper lip peak control device, a second upper lip peak control device and an upper lip valley control device; the lower lip control assembly comprises a first lower lip peak control device, a second lower lip peak control device and a labial sulcus control device; and the corner of the mouth control assembly comprises a first corner of the mouth control device and a second corner of the mouth control device. The mouth structure of the robot provided by the application can adjust the moving distance of the lip body to improve the accuracy of the change form control of the lip body, the diversity and the change efficiency of the change form, thereby further improving the flexibility of the control of the lip body, so as to meet the expression requirements of the lip body of the robot to different mouth shapes and emotions.

Description

TECHNICAL FIELD

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

[0002] With the development of the robot industry, service robots are also rapidly developing. As a kind of service robot, humanoid robots have similar external features to humans, and can perform some simple human-like basic actions while serving people. Psychologists have found that when people express emotions, language only accounts for 7% of the content, and tone can only account for 38% of the content, while 55% of the content is expressed by human expressions and actions. Therefore, it is increasingly important to study the facial expression control and expression implementation method of humanoid robots.

[0003] Among them, the mouth movement is essential in the speech expression of humanoid robots. At present, most of the lips of humanoid robots only have a chin movement mechanism, which can only make simple lip opening and closing actions, and cannot make speaking mouth shapes, and the realism of reproducing human mouth action is low. Although some applicants have developed humanoid robots that can reproduce speaking mouth shapes, the mouth control mechanism still has problems such as slow mouth shape change speed and small change range. SUMMARY

[0004] Therefore, the purpose of the present application is to overcome the shortcomings of the prior art and provide a mouth structure of a robot and the robot.

[0005] The present application provides the following technical solutions: a mouth structure of a robot, comprising:

[0006] a lip body comprising an upper lip and a lower lip; the upper lip comprises a first upper lip peak, an upper lip valley and a second upper lip peak, the lower lip comprises a first lower lip peak, a lip groove and a second lower lip peak, and the upper lip and the lower lip define a first corner of the mouth and a second corner of the mouth;

[0007] an upper lip control assembly comprising a first upper lip peak control device, a second upper lip peak control device and an upper lip valley control device;

[0008] an output end of the first upper lip peak control device is connected with the first upper lip peak to control the first upper lip peak to move in a first direction;

[0009] an output end of the second upper lip peak control device is connected with the second upper lip peak to control the second upper lip peak to move in a second direction;

[0010] an output end of the upper lip valley control device is connected with the upper lip valley to control the upper lip valley to move in a third direction;

[0011] a lower lip control assembly comprising a first lower lip peak control device, a second lower lip peak control device and a lip groove control device;

[0012] an output end of the first lower lip peak control device is connected with the first lower lip peak to control the first lower lip peak to move along a fourth direction;

[0013] an output end of the second lower lip peak control device is connected with the second lower lip peak to control the second lower lip peak to move along a fifth direction;

[0014] an output end of the lip groove control device is connected with the lip groove to control the lip groove to move along a sixth direction;

[0015] a corner of mouth control assembly comprising a first corner of mouth control device and a second corner of mouth control device;

[0016] an output end of the first corner of mouth control device is connected with the first corner of mouth to control the first corner of mouth to move;

[0017] an output end of the second corner of mouth control device is connected with the second corner of mouth to control the second corner of mouth to move.

[0018] further, the first corner of mouth control device comprises a first driving motor, a first swing arm, a first connecting rod, a first connecting part, a second connecting rod, a second swing arm and a second driving motor;

[0019] one end of the first swing arm is connected with an output end of the first driving motor to control the first swing arm to rotate along an axis of the output end of the first driving motor through the first driving motor, and the other end of the first swing arm is rotationally connected with one end of the first connecting rod;

[0020] one end of the second swing arm is connected with an output end of the second driving motor to control the second swing arm to rotate along an axis of the output end of the second driving motor through the second driving motor, and the other end of the second swing arm is rotationally connected with one end of the second connecting rod;

[0021] the other end of the first connecting rod and the other end of the second connecting rod are connected through the first connecting part, and the first connecting part is arranged at the first corner of mouth to drive the first corner of mouth to move through the first connecting part.

[0022] further, the second corner of mouth control device comprises a third driving motor, a third swing arm, a third connecting rod, a second connecting part, a fourth connecting rod, a fourth swing arm and a fourth driving motor;

[0023] One end of the third swing arm is connected with the output end of the third driving motor, so as to control the rotation of the third swing arm along the axis of the output end of the third driving motor through the third driving motor, and the other end of the third swing arm is rotationally connected with one end of the third connecting rod;

[0024] One end of the fourth swing arm is connected with the output end of the fourth driving motor, so as to control the rotation of the fourth swing arm along the axis of the output end of the fourth driving motor through the fourth driving motor, and the other end of the fourth swing arm is rotationally connected with one end of the fourth connecting rod;

[0025] The other end of the third connecting rod and the other end of the fourth connecting rod are connected through a second connecting part, and the second connecting part is arranged at the second mouth corner, so as to drive the second mouth corner to move through the second connecting part.

[0026] Further, the first upper lip peak control device comprises a first upper lip driving motor, a fifth swing arm, a first connecting piece, a first limiting piece, a first reset spring and a third connecting part;

[0027] One end of the fifth swing arm is connected with the output shaft of the first upper lip driving motor, the fifth swing arm can rotate along the output shaft of the first upper lip driving motor, the other end of the fifth swing arm is connected with one end of the first connecting piece, and the other end of the first connecting piece is connected with the third connecting part through the first limiting piece;

[0028] One end of the first reset spring is in abutment with the third connecting part, and the other end of the first reset spring is in abutment with the side of the first limiting piece facing the third connecting part;

[0029] The third connecting part is connected with the first upper lip peak, so as to drive the first upper lip peak to move along the first direction through the third connecting part.

[0030] Further, the second upper lip peak control device comprises a second upper lip driving motor, a sixth swing arm, a second connecting piece, a second limiting piece, a second reset spring and a fourth connecting part;

[0031] One end of the sixth swing arm is connected with the output shaft of the second upper lip driving motor, the sixth swing arm can rotate along the output shaft of the second upper lip driving motor, the other end of the sixth swing arm is connected with one end of the second connecting piece, and the other end of the second connecting piece is connected with the fourth connecting part through the second limiting piece;

[0032] One end of the second reset spring is in abutment with the fourth connecting part, and the other end of the second reset spring is in abutment with the side of the second limiting piece facing the fourth connecting part;

[0033] The fourth connecting part is used for connecting with the second upper lip peak to drive the second upper lip peak to move along the second direction through the fourth connecting part.

[0034] Further, the upper lip valley control device comprises an upper lip valley driving motor, a seventh swing arm, a fifth connecting rod, a first transmission structure and a fifth connecting part.

[0035] One end of the seventh swing arm is connected with the output end of the upper lip valley driving motor, and the other end of the seventh swing arm is connected with one end of the fifth connecting rod. The other end of the fifth connecting rod is connected with the fifth connecting part through the first transmission structure to drive the fifth connecting part to move along the third direction through the first transmission structure.

[0036] Further, the fifth connecting part comprises a first connecting rod, a first transmission member and a first support member.

[0037] One end of the first transmission member is connected with one end of the first connecting rod, and the other end of the first transmission member is connected with the first support member. The first support member is connected with the upper lip valley.

[0038] The first support member comprises a first support leg and a second support leg which are spaced apart. The first support leg and the second support leg are both rotationally connected with the first transmission structure.

[0039] Further, the first transmission structure comprises a third limiting member, a first connecting arm and a first support arm.

[0040] The first connecting arm is rotationally connected with the side of the third limiting member which is away from the upper lip valley. One end of the first connecting arm is rotationally connected with one end of the fifth connecting rod which is away from the upper lip valley driving motor, and the other end of the first connecting arm is rotationally connected with the first support leg.

[0041] One end of the first support arm is rotationally connected with the side of the third limiting member which is close to the upper lip valley, and the other end of the first support arm is rotationally connected with the second support leg.

[0042] Further, the first lower lip peak control device comprises a first screw rod motor, a second transmission structure and a sixth connecting part.

[0043] The sixth connecting part is drivingly connected with the first screw rod motor through the second transmission structure to drive the sixth connecting part to move along the fourth direction through the second transmission structure.

[0044] Further, the sixth connecting part comprises a second connecting rod, a second transmission member and a second support member.

[0045] One end of the second transmission member is connected with one end of the second connecting rod, the other end of the second transmission member is connected with the second support member, and the second support member is connected with the first lower lip peak.

[0046] The second support member comprises a third support leg and a fourth support leg which are spaced apart, and the third support leg and the fourth support leg are both rotationally connected with the second transmission structure.

[0047] Further, the second transmission structure comprises a first guide block, a fourth limiting member, a second connecting arm, a second support arm, a third connecting member and a first connecting plate.

[0048] One end of the second connecting arm is rotationally connected with the fourth limiting member on the side away from the first lower lip peak, and the other end of the second connecting arm is rotationally connected with the third support leg.

[0049] The second connecting arm is rotationally connected with the fourth limiting member on the side away from the first lower lip peak, one end of the second connecting arm is rotationally connected with the fourth support leg, and the other end of the second connecting arm is rotationally connected with one end of the first connecting plate, and the other end of the first connecting plate is rotationally connected with the first guide block on the end away from the first screw motor through the third connecting member.

[0050] The first guide block is drivingly connected with the first screw motor.

[0051] Further, the second lower lip peak control device comprises a second screw motor, a third transmission structure and a seventh connecting part.

[0052] The seventh connecting part is drivingly connected with the second screw motor through the third transmission structure, so as to drive the seventh connecting part to move in the fifth direction through the third transmission structure.

[0053] Further, the seventh connecting part comprises a third connecting rod, a third transmission member and a third support member.

[0054] One end of the third transmission member is connected with one end of the third connecting rod, the other end of the third transmission member is connected with the third support member, and the third support member is connected with the second lower lip peak.

[0055] The third support member comprises a fifth support leg and a sixth support leg which are spaced apart, and the fifth support leg and the sixth support leg are both rotationally connected with the third transmission structure.

[0056] Further, the third transmission structure comprises a second guide block, a fifth limiting member, a third connecting arm, a third support arm, a fourth connecting member and a second connecting plate.

[0057] One end of the third connecting arm is rotationally connected with the fifth limiting piece near one side of the second lower lip peak, and the other end of the third connecting arm is rotationally connected with the fifth supporting leg;

[0058] The third connecting arm is rotationally connected with the fifth limiting piece away from one side of the second lower lip peak, one end of the third connecting arm is rotationally connected with the sixth supporting leg, and the other end of the third connecting arm is rotationally connected with one end of the second connecting plate, and the other end of the second connecting plate is rotationally connected with the second guide block away from one end of the second lead screw motor through the fourth connecting piece;

[0059] The second guide block is drivingly connected with the second lead screw motor.

[0060] Further, the lip groove control device comprises a lip groove driving motor, an eighth swing arm, a sixth connecting rod, a sixth limiting piece, a fourth connecting arm, a fourth supporting arm, a fifth connecting piece and an eighth connecting part;

[0061] The eighth connecting part comprises a fourth connecting rod, a fourth transmission piece and a fourth supporting piece;

[0062] One end of the fourth transmission piece is connected with one end of the fourth connecting rod, and the other end of the fourth transmission piece is connected with the fourth supporting piece, and the fourth supporting piece is connected with the lip groove;

[0063] The fourth supporting piece comprises a seventh supporting leg and an eighth supporting leg which are spaced apart;

[0064] One end of the seventh supporting leg is rotationally connected with the fourth supporting arm, and the other end of the fourth supporting arm is rotationally connected with the sixth limiting piece near one side of the lip groove;

[0065] One end of the eighth supporting leg is rotationally connected with the fourth connecting arm, and the other end of the fourth connecting arm is rotationally connected with one end of the sixth connecting rod through the fifth connecting piece, and the other end of the sixth connecting rod is rotationally connected with one end of the eighth swing arm, and the other end of the eighth swing arm is connected with the output end of the lip groove driving motor.

[0066] Some embodiments of the present application provide a robot, comprising a mouth structure of the robot.

[0067] Embodiments of the present application have the following advantages: through the upper lip control assembly, the lower lip control assembly and the mouth corner control assembly, multiple shape controls of the lip body can be realized, the moving distance of the lip body is adjusted, the accuracy of the shape control of the lip body, the diversity of the shape change and the change efficiency are improved, and the flexibility of the control of the lip body is further improved, so as to meet the expression needs of different mouth shapes and emotions of the lip body of the robot.

[0068] In order to make the above objectives, features and advantages of the present application more clear and easy to understand, the following will specifically describe the preferred embodiments with reference to the accompanying drawings. BRIEF DESCRIPTION OF DRAWINGS

[0069] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the following will briefly introduce the drawings needed to be used in the embodiments. It should be understood that the following drawings only show some of the embodiments of the present application, and therefore should not be considered as a limitation to the scope. For those skilled in the art, other related drawings can also be obtained without creative labor on the basis of these drawings.

[0070] Figure 1 Fig. 1 shows a perspective view of a mouth structure of a robot according to some embodiments of the present application;

[0071] Figure 2 Fig. 2 shows a perspective view of a mouth structure of a robot according to some embodiments of the present application;

[0072] Figure 3 Fig. 3 shows another perspective view of a mouth structure of a robot according to some embodiments of the present application;

[0073] Figure 4 Fig. 4 shows yet another perspective view of a mouth structure of a robot according to some embodiments of the present application;

[0074] Figure 5 Fig. 5 shows yet another perspective view of a mouth structure of a robot according to some embodiments of the present application;

[0075] Figure 6 Fig. 6 shows yet another perspective view of a mouth structure of a robot according to some embodiments of the present application.

[0076] Explanation of main element symbols:

[0077] 100 - Upper lip control assembly; 110 - First upper lip peak control device; 111 - First upper lip drive motor; 112 - Fifth swing arm; 113 - First connector; 114 - First limiting member; 115 - First return spring; 116 - Third connecting part; 120 - Second upper lip peak control device; 121 - Second upper lip drive motor; 122 - Sixth swing arm; 123 - Second connector; 124 - Second limiting member; 125 - Second return spring; 126 - Fourth connecting part; 130 - Upper lip valley control device; 131 - Upper lip valley drive motor; 132 - Seventh swing arm; 133 - Fifth link; 134 - First transmission structure; 134a - Third limiting member; 134b- First connecting arm; 134c- First support arm; 135- Fifth connecting part; 135a- First connecting rod; 135b- First transmission component; 135c- First support member; 200- Lower lip control assembly; 210- First lower lip peak control device; 211- First lead screw motor; 212- Second transmission structure; 212a- First guide block; 212b- Fourth limiting member; 212c- Second connecting arm; 212d- Second support arm; 212e- Third connecting member; 212f- First connecting plate; 213- Sixth connecting part; 213a- Second connecting rod; 213b- Second transmission component; 213 ... Fifth connecting part; 212a- Second connecting rod; 213b- Second transmission component; 213c- Fifth connecting part; 212a- First connecting rod; 212b- Second connecting rod; 212c- Fifth connecting part; 212a- First connecting rod; 212b- Second connecting rod; 212c- Fifth connecting part; 212a- First connecting rod; 212b- Second connecting rod; 212c- Fifth connecting part; 212a- First connecting rod; 212b- First connecting rod; 212c- Fifth connecting part; 212a- First connecting rod; 220-Second lower lip peak control device; 221-Second lead screw motor; 222-Third transmission structure; 222a-Second guide block; 222b-Fifth limiting member; 222c-Third connecting arm; 222d-Third support arm; 222e-Fourth connecting member; 222f-Second connecting plate; 223-Seventh connecting part; 223a-Third connecting rod; 223b-Third transmission member; 223c-Third support member; 230-Lip groove control device; 231-Lip groove drive motor; 232-Eighth swing arm; 233-Sixth connecting rod; 234-Sixth limiting member; 235-Fourth connecting arm; 236-Fourth support arm; 237 - Fifth connecting member; 238 - Eighth connecting part; 238a - Fourth connecting rod; 238b - Fourth transmission member; 238c - Fourth support member; 300 - Mouth corner control assembly; 310 - First mouth corner control device; 311 - First drive motor; 312 - First swing arm; 313 - First connecting rod; 314 - First connecting part; 315 - Second connecting rod; 316 - Second swing arm; 317 - Second drive motor; 320 - Second mouth corner control device; 321 - Third drive motor; 322 - Third swing arm; 323 - Third connecting rod; 324 - Second connecting part; 325 - Fourth connecting rod; 326 - Fourth swing arm; 327 - Fourth drive motor. Detailed Implementation

[0078] Embodiments of the present application are described in detail below with reference to several drawings. The embodiments described below are illustrative only and are not intended to limit the present application, as the present application can be embodied in various forms.

[0079] It is noted that when an element is referred to as being "on" another element, it can be directly on the other element or intervening elements can also be present. In contrast, when an element is referred to as being "directly on" another element, there are no intervening elements present. As used herein, the term "and / or" includes any and all combinations of one or more of the associated listed items.

[0080] In the present application, unless otherwise explicitly specified and limited, the terms "mounting", "connecting", "connecting", "fixing" and the like should be understood in a broad sense, for example, it can be fixedly connected, or it can be detachably connected, or it can be integrated; it can be mechanically connected, or it can be electrically connected; it can be directly connected, or it can be indirectly connected through an intermediate medium; it can be the internal communication of two elements or the interaction relationship between two elements. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0081] In addition, the terms "first", "second" are only for descriptive purposes and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first", "second" can explicitly or implicitly include one or more of the features. In the description of the present application, the meaning of "multiple" is two or more, unless otherwise explicitly specified and limited.

[0082] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terms used in the specification of the template herein are only for the purpose of describing specific embodiments and are not intended to limit the present application. The term "and / or" used herein includes any and all combinations of one or more related listed items.

[0083] As Figures 1 to 6 As shown in the drawings, some embodiments of the present application provide a mouth structure of a robot, mainly applied to a robot, to control the shape of the robot's lips through the mouth structure of the robot, improve the diversity of the shape of the robot's lips, improve the frequency of the shape change of the robot's lips, and increase the flexibility of the shape change of the robot's lips.

[0084] The mouth structure of the robot comprises a lip body, an upper lip control assembly 100, a lower lip control assembly 200 and a corner of mouth control assembly 300.

[0085] The lip body comprises an upper lip part and a lower lip part, the upper lip part comprises a first upper lip peak, an upper lip valley and a second upper lip peak, the lower lip part comprises a first lower lip peak, a lip groove and a second lower lip peak, and the upper lip part and the lower lip part define a first corner of mouth and a second corner of mouth. It should be noted that the upper lip part corresponds to the upper lip part of the human lip, the lower lip part corresponds to the lower lip part of the human lip, the first upper lip peak corresponds to the left upper lip peak of the human lip, the second upper lip peak corresponds to the right upper lip peak of the human lip, the upper lip valley corresponds to the upper lip valley of the human lip, the first lower lip peak corresponds to the left lower lip peak of the human lip, the second lower lip peak corresponds to the right lower lip peak of the human lip, the lip groove corresponds to the lip groove of the human lip, the first corner of mouth corresponds to the left corner of mouth of the human lip, and the second corner of mouth corresponds to the right corner of mouth of the human lip.

[0086] The upper lip control assembly 100 comprises a first upper lip peak control device 110, a second upper lip peak control device 120 and an upper lip valley control device 130, and the upper lip valley control device 130 is arranged between the first upper lip peak control device 110 and the second upper lip peak control device 120.

[0087] The output end of the first upper lip peak control device 110 is connected with the first upper lip peak, so as to control the first upper lip peak to move along a first direction when the first upper lip peak control device 110 is operated.

[0088] In addition, the output end of the second upper lip peak control device 120 is connected with the second upper lip peak, so as to control the second upper lip peak of the upper lip to move along a second direction when the second upper lip peak control device 120 is operated.

[0089] The output end of the upper lip valley control device 130 is connected with the upper lip valley, so as to control the upper lip valley to move along a third direction when the upper lip valley control device 130 is operated.

[0090] It should be noted that the included angle between the first direction and the third direction is equal to the included angle between the second direction and the third direction, so that the frequency of the movement and change of the first upper lip peak and the frequency of the movement and change of the second upper lip peak are completely symmetrical in the process of controlling the first upper lip peak and the second upper lip peak by the first upper lip peak control device 110 and the second upper lip peak control device 120 respectively, so as to ensure the symmetry between the change forms of the first upper lip peak and the second upper lip peak, so as to avoid the difference in the change form of the upper lip part.

[0091] It can be understood that six changeable shapes of the upper lip part of the robot can be realized by running any one of the first upper lip peak control device 110, the second upper lip peak control device 120 and the upper lip valley control device 130. It should be noted that each changeable shape refers to multiple changeable shapes in one direction, that is, each of the six changeable shapes has multiple changeable shapes.

[0092] For example, when the first upper lip peak control device 110 is running, the first upper lip peak can move in the first direction, in which the first upper lip peak can move towards the lower lip part and can also move away from the lower lip part, that is, the first upper lip peak can move in two opposite directions in the first direction, thereby realizing the control of two changeable shapes of the first upper lip peak in the first direction. Further, the moving distance of the first upper lip peak in the first direction is controlled by the first upper lip peak control device 110, thereby realizing the control of multiple changeable shapes of the first upper lip peak in the first direction.

[0093] For example, when the second upper lip peak control device 120 is running, the changeable shape principle of the second upper lip peak is the same as that of the first upper lip peak, that is, multiple changeable shapes of the second upper lip peak in the second direction can be realized by the second upper lip peak control device 120.

[0094] For example, when the upper lip valley control device 130 is running, the upper lip valley can move in the third direction, in which the upper lip valley can move towards the lower lip part and can also move away from the lower lip part, that is, the upper lip valley can move in two opposite directions in the third direction, thereby realizing the control of two changeable shapes of the upper lip valley in the third direction. Further, the moving distance of the upper lip valley in the third direction is controlled by the upper lip valley control device 130, thereby realizing the control of multiple changeable shapes of the upper lip valley in the third direction.

[0095] In addition, when any two of the first upper lip peak control device 110, the second upper lip peak control device 120 and the upper lip valley control device 130 are running, three changeable shapes of the upper lip part of the robot can be realized.

[0096] For example, when the first upper lip peak control device 110 and the upper lip valley control device 130 operate simultaneously, the first upper lip peak control device 110 controls the movement of the first upper lip peak along a first direction, while the upper lip valley control device 130 controls the movement of the upper lip valley along a third direction, thereby achieving control over the shape of the upper lip. For instance, when both the first upper lip peak and the upper lip valley move away from the lower lip, one shape of the upper lip is controlled. Here, by controlling the movement distance of the first upper lip peak and the upper lip valley, multiple variations of the upper lip shape are controlled. When both the first upper lip peak and the upper lip valley move closer to the lower lip, another shape of the upper lip is controlled. By controlling the movement distance of the first upper lip peak and the upper lip valley, multiple variations of the upper lip shape are controlled. When the first upper lip peak moves closer to the lower lip and the upper lip valley moves away from the lower lip, another variation of the upper lip can be controlled. By controlling the movement distance of the upper lip valley and the first upper lip peak, multiple variations of the upper lip can be controlled.

[0097] For example, when the second upper lip peak control device 120 and the upper lip valley control device 130 are running simultaneously, the change in the shape of the upper lip is the same as the principle when the first upper lip peak control device 110 and the upper lip valley control device 130 are running simultaneously, and will not be described in detail here.

[0098] For example, when the first upper lip peak control device 110 and the second upper lip peak control device 120 are running simultaneously, the control principle of the upper lip's changing shape is the same as the control principle of the upper lip's changing shape when the first upper lip peak control device 110 and the upper lip valley control device 130 are running simultaneously, and will not be described in detail here.

[0099] Furthermore, when the first upper lip peak control device 110, the second upper lip peak control device 120 and the upper lip valley control device 130 operate simultaneously, they can simultaneously control the first upper lip peak, the second upper lip peak and the upper lip valley, thereby achieving control over multiple changing forms of the upper lip.

[0100] Exemplarily, the first upper lip peak and the upper lip valley are both moved towards the direction close to the lower lip part, the second upper lip peak is moved away from the lower lip part; or the first upper lip peak and the upper lip valley are both moved away from the lower lip part, the second upper lip peak is moved towards the direction close to the lower lip part; or the first upper lip peak, the second upper lip peak and the upper lip valley are all moved towards the direction close to the lower lip part; or the first upper lip peak, the second upper lip peak and the upper lip valley are all moved away from the lower lip part; or the first upper lip peak is moved towards the direction close to the lower lip part, the second upper lip peak and the upper lip valley are moved away from the lower lip part; or the first upper lip peak is moved away from the lower lip part, the second upper lip peak and the upper lip valley are moved towards the direction close to the lower lip part; or the first upper lip peak and the second upper lip peak are moved away from the lower lip part, the upper lip valley is moved towards the direction close to the lower lip part; or the first upper lip peak and the second upper lip peak are moved towards the direction close to the lower lip part, the upper lip valley is moved away from the lower lip part; so as to realize the control of multiple morphologies of the upper lip part. Further, by controlling the moving distance of the first upper lip peak, the second upper lip peak and the upper lip valley, the control of multiple change morphologies of the upper lip part is further realized, so as to further improve the variety and morphology change efficiency of the change morphologies of the upper lip part of the robot, so as to realize the fine degree of control of the change morphologies of the upper lip part of the robot.

[0101] The lower lip control assembly 200 comprises a first lower lip peak control device 210, a second lower lip peak control device 220 and a lip groove control device 230, wherein the lip groove control device 230 is arranged between the first lower lip peak control device 210 and the second lower lip peak control device 220, and the first lower lip peak control device 210, the second lower lip peak control device 220 and the lip groove control device 230 are used to realize the control of different change morphologies of the lower lip part.

[0102] Specifically, the output end of the first lower lip peak control device 210 is connected with the first lower lip peak to control the first lower lip peak of the lower lip to move along the fourth direction.

[0103] Exemplarily, when the first lower lip peak control device 210 operates, the first lower lip peak can move along the fourth direction, so as to realize the control of one change morphology of the lower lip part. It should be noted that the first lower lip peak can move along two opposite directions in the fourth direction, that is, along the fourth direction, the first lower lip peak can be controlled to move towards the side close to the upper lip part or the first lower lip peak can be controlled to move away from the side close to the upper lip part through the first lower lip peak control device 210, so as to realize the control of two morphologies in two directions of the first lower lip peak. Further, by controlling the moving distance of the first lower lip peak along the fourth direction through the first lower lip peak control device 210, the control of multiple change morphologies of the first lower lip peak is realized, so as to realize the control of multiple change morphologies of the lower lip part.

[0104] Additionally, an output end of the second lower lip peak control device 220 is connected with the second lower lip peak to control the second lower lip peak to move along a fifth direction.

[0105] For example, when the second lower lip peak control device 220 is operated, the second lower lip peak can move along the fifth direction, thereby achieving control of another changeable shape of the lower lip part. It should be noted that the principle of changing the shape of the second lower lip peak is the same as that of the first lower lip peak, and will not be repeated here. It can be understood that the moving distance of the second lower lip peak along the fifth direction is controlled by the second lower lip peak control device 220 to achieve control of multiple changeable shapes of the second lower lip peak, thereby achieving control of multiple changeable shapes of the lower lip part.

[0106] The output end of the lip groove control device 230 is connected with the lip groove to control the lip groove to move along a sixth direction.

[0107] Specifically, when the lip groove control device 230 is operated, the lip groove can move along the sixth direction, thereby achieving control of another changeable shape of the lower lip part. It should be noted that the lip groove can move along two opposite directions along the sixth direction, that is, along the sixth direction, the lip groove can be controlled to move to the side close to the upper lip part by the lip groove control device 230 or the lip groove can be controlled to move to the side away from the upper lip part by the lip groove control device 230, thereby achieving control of two shapes in two directions of the lip groove. Further, the moving distance of the lip groove along the sixth direction is controlled by the lip groove control device 230 to achieve control of multiple changeable shapes of the lip groove, thereby achieving control of multiple changeable shapes of the lower lip part.

[0108] It should be noted that the included angle between the fourth direction and the sixth direction is equal to the included angle between the fifth direction and the sixth direction, so that the frequency of movement and change of the first lower lip peak and the second lower lip peak can be completely symmetrical in the process of controlling the first lower lip peak and the second lower lip peak by the first lower lip peak control device 210 and the second lower lip peak control device 220 respectively, so as to ensure the symmetry between the changeable shapes of the first lower lip peak and the second lower lip peak to avoid differences in the changeable shapes of the lower lip part.

[0109] It can be understood that when any one of the first lower lip peak control device 210, the second lower lip peak control device 220 and the lip groove control device 230 is operated, six changeable shapes of the lower lip part of the robot can be achieved. It should be noted that each changeable shape refers to multiple changeable shapes in one direction, that is, each of the six changeable shapes has multiple changeable shapes.

[0110] Exemplarily, when any two of the first lower lip peak control device 210, the second lower lip peak control device 220 and the labial sulcus control device 230 are operated, three changed forms of the lower lip part of the robot can be realized.

[0111] Exemplarily, when the first lower lip peak control device 210 and the labial sulcus control device 230 are operated simultaneously, the first lower lip peak is controlled to move along the fourth direction by the first lower lip peak control device 210, and the labial sulcus is controlled to move along the sixth direction by the labial sulcus control device 230, so as to realize the control of the lower lip part form, for example, when the first lower lip peak and the labial sulcus are both moved away from the lower lip part, so as to realize the control of one form of the lower lip part, and the control of multiple changed forms of the lower lip part is realized by controlling the moving distance of the first lower lip peak and the labial sulcus. When the first lower lip peak and the labial sulcus are both moved towards the lower lip part, so as to realize the control of another form of the lower lip part, and the control of multiple changed forms of the lower lip part is realized by controlling the moving distance of the first lower lip peak and the labial sulcus. When the first lower lip peak is moved towards the lower lip part, and the labial sulcus is moved away from the lower lip part, so as to realize the control of another changed form of the lower lip part, and the control of multiple changed forms of the lower lip part is realized by controlling the moving distance of the labial sulcus and the first lower lip peak.

[0112] Exemplarily, when the second lower lip peak control device 220 and the labial sulcus control device 230 are operated simultaneously, the changed form of the lower lip part is the same as that when the first lower lip peak control device 210 and the labial sulcus control device 230 are operated simultaneously, which will not be repeated here.

[0113] Exemplarily, when the first lower lip peak control device 210 and the second lower lip peak control device 220 are operated simultaneously, the control principle of the changed form of the lower lip part is the same as that when the first lower lip peak control device 210 and the labial sulcus control device 230 are operated simultaneously, which will not be repeated here.

[0114] Further, when the first lower lip peak control device 210, the second lower lip peak control device 220 and the labial sulcus control device 230 are operated simultaneously, the control of the first lower lip peak, the second lower lip peak and the labial sulcus is realized, so as to realize the control of multiple changed forms of the lower lip part.

[0115] For example, the first lower lip peak and the labial groove are both moved towards the upper lip, the second lower lip peak is moved away from the upper lip; or the first lower lip peak and the labial groove are both moved away from the upper lip, the second lower lip peak is moved towards the upper lip; or the first lower lip peak, the second lower lip peak and the labial groove are all moved towards the upper lip; or the first lower lip peak, the second lower lip peak and the labial groove are all moved away from the upper lip; or the first lower lip peak is moved towards the upper lip, the second lower lip peak and the labial groove are moved away from the upper lip; or the first lower lip peak is moved away from the upper lip, the second lower lip peak and the labial groove are moved towards the upper lip; or the first lower lip peak and the second lower lip peak are moved away from the upper lip, the labial groove is moved towards the upper lip; or the first lower lip peak and the second lower lip peak are moved towards the upper lip, the labial groove is moved away from the upper lip; so as to realize the control of multiple forms of the lower lip. Further, by controlling the moving distance of the first lower lip peak, the second lower lip peak and the labial groove, the control of multiple changed forms of the lower lip is further realized, so as to further improve the variety and form change efficiency of the changed form of the lower lip of the robot, and the precision of the control of the changed form of the lower lip of the robot is realized.

[0116] It should be noted that the upper lip control assembly and the lower lip control assembly can realize the control of different forms of the upper lip and the lower lip, realize the variety, control precision and control efficiency of the control of the forms of the upper lip and the lower lip, realize the flexibility of the control of the forms of the lips, and realize the requirements of the robot for different mouth shape changes.

[0117] In the embodiment, the mouth corner control assembly 300 includes a first mouth corner control device 310 and a second mouth corner control device 320. It should be noted that the first mouth corner control device 310 is arranged at a position corresponding to the left cheek in the head of the robot, and the second mouth corner control device 320 is arranged at a position corresponding to the right cheek in the head of the robot.

[0118] The output end of the first mouth corner control device 310 is connected with the first mouth corner to control the movement of the first mouth corner. It should be noted that in the embodiment, the first mouth corner control device 310 can control the first mouth corner to move towards the upper lip, or control the first mouth corner to move towards the lower lip, or control the first mouth corner to move towards the position corresponding to the left cheek in the head of the robot, or control the first mouth corner to move away from the position corresponding to the left cheek in the head of the robot, so as to realize the control of multiple directions of the first mouth corner. Further, by controlling the moving distance of the first mouth corner by the first mouth corner control device 310, the variety and precision of the control of the changed form of the first mouth corner are realized, so as to further improve the flexibility of the control of the first mouth corner.

[0119] In addition, the output end of the second corner of the mouth control device 320 is connected with the second corner of the mouth to control the movement of the second corner of the mouth. It should be noted that in the embodiment, the control principle of the second corner of the mouth by the second corner of the mouth control device 320 is the same as the control principle of the first corner of the mouth by the first corner of the mouth control device 310, which will not be described here.

[0120] It can be understood that the upper lip control assembly 100, the lower lip control assembly 200 and the corner of the mouth control assembly 300 can control the lip body in multiple forms, and the movement distance of the lip body is adjusted to improve the accuracy of the control of the change form of the lip body, the diversity of the form change and the change efficiency, thereby further improving the flexibility of the control of the lip body to meet the expression needs of the lip body of the robot to different mouth shapes and emotions, thereby meeting the requirements of the lip of the robot to the expression accuracy of different mouth shapes.

[0121] As shown in Figure 2 In some embodiments of the present application, the first corner of the mouth control device 310 includes a first driving motor 311, a first swing arm 312, a first connecting rod 313, a first connecting portion 314, a second connecting rod 315, a second swing arm 316 and a second driving motor 317.

[0122] Specifically, one end of the first swing arm 312 is connected with the output end of the first driving motor 311. It should be noted that the first swing arm 312 is a linear swing arm, and the first swing arm 312 is perpendicular to the axis of the output end of the first driving motor 311, so as to control the first swing arm 312 to rotate along the axis of the output end of the first driving motor 311 by the first driving motor 311. At the same time, the other end of the first swing arm 312 is rotatably connected with one end of the first connecting rod 313, so that the first swing arm 312 can drive the first connecting rod 313 to swing in the process of rotation.

[0123] In addition, one end of the second swing arm 316 is connected with the output end of the second driving motor 317. It should be noted that the second swing arm 316 is a linear swing arm, and the second swing arm 316 is perpendicular to the axis of the output end of the second driving motor 317, so as to control the second swing arm 316 to rotate along the axis of the output end of the second driving motor 317 by the second driving motor 317. At the same time, the other end of the second swing arm 316 is rotatably connected with one end of the second connecting rod 315, so that the second swing arm 316 can drive the second connecting rod 315 to swing in the process of rotation.

[0124] Further, the other end of the first connecting rod 313 and the other end of the second connecting rod 315 are rotationally connected through the first connecting portion 314, so that the first driving motor 311 and the second driving motor 317 can drive the first connecting portion 314 to move through the first connecting rod 313 and the second connecting rod 315 during operation.

[0125] Specifically, when the first driving motor 311 is started, the first swing arm 312 is driven to rotate through the output end of the first driving motor 311, so that the first connecting rod 313 is swung on an arc formed by the axis of the first driving motor 311 as the center and the length of the first swing arm 312 as the radius during rotation of the first swing arm 312. At this time, since the second driving motor 317 is in a stationary state, that is, the second swing arm 316 is in a stationary state, when the first connecting rod 313 swings, the first connecting portion 314 can be driven to move, so that the second connecting rod 315 is driven to rotate along the axis of the connecting portion between the second swing arm 316 and the second connecting rod 315 through the first connecting portion 314 as the first connecting portion 314 swings.

[0126] In addition, when the second driving motor 317 is started, the second swing arm 316 is driven to rotate through the output end of the second driving motor 317, so that the second connecting rod 315 is swung on an arc formed by the axis of the second driving motor 317 as the center and the length of the second swing arm 316 as the radius during rotation of the second swing arm 316. At this time, since the first driving motor 311 is in a stationary state, that is, the first swing arm 312 is in a stationary state, when the second connecting rod 315 swings, the first connecting portion 314 can be driven to move, so that the first connecting rod 313 is driven to rotate along the axis of the connecting portion between the first swing arm 312 and the first connecting rod 313 through the first connecting portion 314 as the second connecting portion 324 swings.

[0127] In the present embodiment, the first connecting portion 314 is arranged at the first corner of the mouth, so that the first corner of the mouth is driven to move through the first connecting portion 314.

[0128] It can be understood that by controlling the rotation speed and rotation direction of the output end of the first driving motor 311, the swing speed and swing direction of the first connecting rod 313 are adjusted, so that the moving direction and moving speed of the first connecting portion 314 are controlled, thereby achieving control of the moving direction and moving speed of the first corner of the mouth. By controlling the rotation speed and rotation direction of the output end of the second driving motor 317, the swing speed and swing direction of the second connecting rod 315 are adjusted, so that the moving direction and moving speed of the first connecting portion 314 are controlled, thereby achieving control of the moving direction and moving speed of the first corner of the mouth.

[0129] Further, when the first driving motor 311 and the second driving motor 317 operate at the same time, by adjusting the rotating direction and rotating speed of the first swing arm 312 and the second swing arm 316, the moving direction, moving speed and moving distance of the first connecting part 314 are further controlled, the first mouth corner is driven to move by the first connecting part 314, the moving direction, moving speed and moving distance of the first mouth corner are controlled, and the diversity, accuracy and flexibility of the shape change of the first mouth corner are improved.

[0130] As shown in Figure 6 the second mouth corner control device comprises a third driving motor 321, a third swing arm 322, a third connecting rod 323, a second connecting part 324, a fourth connecting rod 325, a fourth swing arm 326 and a fourth driving motor 327.

[0131] Specifically, one end of the third swing arm 322 is connected with the output end of the third driving motor 321, and it should be noted that the third swing arm 322 is a linear swing arm, and the third swing arm 322 is perpendicular to the axis of the output end of the third driving motor 321, so as to control the third swing arm 322 to rotate along the axis of the output end of the third driving motor 321. At the same time, the other end of the third swing arm 322 is rotationally connected with one end of the third connecting rod 323, so that the third swing arm 322 can drive the third connecting rod 323 to swing in the process of rotation.

[0132] In addition, one end of the fourth swing arm 326 is connected with the output end of the fourth driving motor 327, and it should be noted that the fourth swing arm 326 is a linear swing arm, and the fourth swing arm 326 is perpendicular to the axis of the output end of the fourth driving motor 327, so as to control the fourth swing arm 326 to rotate along the axis of the output end of the fourth driving motor 327. At the same time, the other end of the fourth swing arm 326 is rotationally connected with one end of the fourth connecting rod 325, so that the fourth swing arm 326 can drive the fourth connecting rod 325 to swing in the process of rotation.

[0133] Further, the other end of the third connecting rod 323 and the other end of the fourth connecting rod 325 are connected through the second connecting part 324, so that the third driving motor 321 and the fourth driving motor 327 can drive the second connecting part 324 to move in the process of operation through the third connecting rod 323 and the fourth connecting rod 325.

[0134] Specifically, when the third driving motor 321 starts, the third swing arm 322 is driven to rotate by the output end of the third driving motor 321, and the swing principle of the third swing arm 322 is the same as that of the first swing arm 312, which will not be described here.

[0135] In addition, when the fourth drive motor 327 is driven, the fourth swing arm 326 is rotated through the output end of the fourth drive motor 327. The swing principle of the fourth swing arm 326 is the same as that of the second swing arm 316, and the movement principle of the second connecting part 324 is the same as that of the first connecting part 314. These will not be described in detail here.

[0136] In this embodiment, the second connecting part 324 is disposed at the second corner of the mouth so that the second corner of the mouth can be moved by the second connecting part 324.

[0137] It is understandable that by controlling the rotational speed and direction of the output end of the third drive motor 321, the swing speed and direction of the third link 323 are adjusted, thereby controlling the moving direction and speed of the second connecting part 324, thus achieving control over the moving direction and speed of the second corner of the mouth. Similarly, by controlling the rotational speed and direction of the output end of the fourth drive motor 327, the swing speed and direction of the fourth link 325 are adjusted, thereby controlling the moving direction and speed of the second connecting part 324, thus achieving control over the moving direction and speed of the second corner of the mouth.

[0138] Furthermore, when the third drive motor 321 and the fourth drive motor 327 operate simultaneously, they can drive the second corner of the mouth to move through the second connecting part 324, thereby controlling the direction, speed and distance of movement of the second corner of the mouth, thus improving the diversity, accuracy and flexibility of the shape changes of the second corner of the mouth.

[0139] It is understandable that by controlling the rotation direction, rotation speed, and number of starts of the output ends of the first drive motor 311, the second drive motor 317, the third drive motor 321, and the fourth drive motor 327, the diversity, precision, and flexibility of the control over the shape changes of the first and second corners of the mouth can be achieved.

[0140] like Figure 6 As shown, in some embodiments of the present invention, the first upper lip peak control device 110 includes a first upper lip drive motor 111, a fifth swing arm 112, a first connector 113, a first limiting member 114, a first return spring 115, and a third connecting part 116. The first upper lip drive motor 111 is a servo motor.

[0141] Specifically, one end of the fifth swing arm 112 is connected with the output shaft of the first upper lip driving motor 111, the fifth swing arm 112 is perpendicular to the axis of the first upper lip driving motor 111, and the fifth swing arm 112 can rotate along the output shaft of the first upper lip driving motor 111. Meanwhile, the other end of the fifth swing arm 112 is connected with one end of the first connecting piece 113, so that the first connecting piece 113 can move along with the movement of the fifth swing arm 112, and the other end of the first connecting piece 113 is connected with the third connecting part 116 through the first limiting part 114, so as to limit the first connecting piece 113 through the first limiting part 114, and meanwhile, the third connecting part 116 is moved by the first connecting piece 113 in the process of movement.

[0142] The third connecting part 116 is connected with the first upper lip peak, so as to drive the first upper lip peak to move along the first direction through the third connecting part 116.

[0143] In addition, one end of the first reset spring 115 abuts against the third connecting part 116, and the other end of the first reset spring 115 abuts against the side of the first limiting part 114 which faces the third connecting part 116, so that the first upper lip peak can restore the initial state under the elastic force of the first reset spring 115.

[0144] Specifically, in the embodiment, the rotation speed and rotation direction of the first upper lip driving motor 111 are controlled, and the movement speed, movement direction and movement distance of the first connecting piece 113 are controlled, so as to control the movement speed, movement distance and movement direction of the third connecting part 116, and thus the shape change of the first upper lip peak is controlled.

[0145] It should be noted that when the third connecting part 116 drives the first upper lip peak to move away from the lower lip part, at this time, the first reset spring 115 is compressed between the third connecting part 116 and the first limiting part 114, and stores elastic potential energy. It can be understood that when the first upper lip driving motor 111 controls the first connecting piece 113 to move towards the lower lip part, at this time, the third connecting part 116 is pushed to move towards the lower lip part under the elastic force of the first reset spring 115, so as to restore the initial state of the first upper lip peak.

[0146] As shown in FIG. 1, Figure 6 In some embodiments of the present application, the second upper lip peak control device 120 includes a second upper lip driving motor 121, a sixth swing arm 122, a second connecting piece 123, a second limiting part 124, a second reset spring 125 and a fourth connecting part 126. The second upper lip driving motor 121 is a rudder.

[0147] Specifically, one end of the sixth swing arm 122 is connected to the output shaft of the second upper lip drive motor 121. The sixth swing arm 122 is perpendicular to the axis of the second upper lip drive motor 121 and can rotate along the output shaft of the second upper lip drive motor 121. Simultaneously, the other end of the sixth swing arm 122 is connected to one end of the second connecting member 123, so that the second connecting member 123 can move with the movement of the sixth swing arm 122. The other end of the second connecting member 123 passes through the second limiting member 124 and connects to the fourth connecting part 126, so that the second limiting member 124 limits the movement of the second connecting member 123, and simultaneously, the second connecting member 123 drives the fourth connecting part 126 to move during its movement.

[0148] The fourth connecting part 126 is used to connect with the second upper lip peak so as to drive the second upper lip peak to move along the second direction through the fourth connecting part 126.

[0149] In addition, one end of the second return spring 125 abuts against the fourth connecting portion 126, and the other end of the second return spring 125 abuts against the side of the second limiting member 124 facing the fourth connecting portion 126, so that the second upper lip peak can return to its initial state under the elastic force of the second return spring 125.

[0150] Specifically, in this embodiment, by controlling the rotation speed and rotation direction of the second upper lip drive motor 121, the moving speed, moving direction and moving distance of the second connector 123 are controlled, thereby controlling the moving speed, moving distance and moving direction of the fourth connector 126, and thus controlling the shape change of the second upper lip peak.

[0151] It should be noted that when the fourth connecting part 126 moves the second upper lip peak away from the lower lip, the second return spring 125 is compressed between the fourth connecting part 126 and the second limiting member 124, storing elastic potential energy. It can be understood that when the second upper lip drive motor 121 controls the second connecting member 123 to move closer to the lower lip, the elastic force of the second return spring 125 pushes the fourth connecting part 126 to move closer to the lower lip, thereby restoring the second upper lip peak to its initial state.

[0152] like Figure 2 As shown, in some embodiments of the present invention, the upper lip valley control device 130 includes an upper lip valley drive motor 131, a seventh swing arm 132, a fifth connecting rod 133, a first transmission structure 134, and a fifth connecting part 135. The upper lip valley drive motor 131 is a servo motor.

[0153] One end of the seventh swing arm 132 is connected with the output end of the upper lip valley driving motor 131, and the other end of the seventh swing arm 132 is rotationally connected with one end of the fifth connecting rod 133, so that the seventh swing arm 132 can drive the fifth connecting rod 133 to swing in the process of rotation. The other end of the fifth connecting rod 133 is connected with the fifth connecting part 135 through the first transmission structure 134, so as to drive the fifth connecting part 135 to move along the three directions through the first transmission structure 134.

[0154] It should be noted that the fifth connecting part 135 is connected with the upper lip valley, so that the fifth connecting part 135 drives the upper lip valley to move synchronously along the third direction in the process of movement. Specifically, the rotation direction, rotation speed and rotation angle of the output end of the upper lip valley driving motor 131 are adjusted, so as to drive the fifth connecting rod 133, the first transmission structure 134 and the fifth connecting part 135 to control the moving distance, moving speed and moving direction of the upper lip valley in the third direction, thereby realizing the control of the speed, change accuracy and flexibility of the form change of the upper lip valley.

[0155] Specifically, the fifth connecting part 135 includes a first connecting rod 135a, a first transmission part 135b and a first supporting part 135c. One end of the first transmission part 135b is connected with one end of the first connecting rod 135a, and the other end of the first transmission part 135b is connected with the first supporting part 135c. The first supporting part 135c is connected with the upper lip valley, so as to drive the upper lip valley to move synchronously through the first supporting part 135c in the process of movement, thereby realizing the control of the form of the upper lip valley.

[0156] The first supporting part 135c includes first and second supporting feet which are spaced apart, and the first and second supporting feet are rotationally connected with the first transmission structure 134, so as to drive the first supporting part 135c to rotate through the first transmission structure 134, thereby enabling the first supporting part 135c to drive the first supporting part 135c to move through the first connecting rod 135a.

[0157] Furthermore, the first transmission structure 134 includes a third limiting member 134a, a first connecting arm 134b, and a first support arm 134c. The first connecting arm 134b is rotatably connected to the side of the third limiting member 134a away from the upper lip valley, so that the first connecting arm 134b can rotate along the axis of the connection between the first connecting arm 134b and the third limiting member 134a. In addition, one end of the first connecting arm 134b is rotatably connected to the end of the fifth link 133 away from the upper lip valley drive motor 131, and the end of the fifth link 133 near the upper lip valley drive motor 131 is rotatably connected to the end of the seventh swing arm 132 away from the upper lip valley drive motor 131. At the same time, the other end of the first connecting arm 134b is rotatably connected to the first support foot, so that during the rotation of the seventh swing arm 132, the fifth connecting part 135 can be moved through the fifth link 133 and the first connecting arm 134b, thereby moving the upper lip valley through the first support member 135c.

[0158] Specifically, one end of the first support arm 134c is rotatably connected to the side of the third limiting member 134a near the upper lip valley, and the other end of the first support arm 134c is rotatably connected to the second support foot. The first support arm 134c can provide support for the fifth connecting part 135 to improve the stability of the fifth connecting part 135 during movement.

[0159] In this embodiment, by controlling the rotation direction, rotation speed and rotation angle of the output end of the upper lip valley drive motor 131, the upper lip valley is driven to move along the third direction through the fifth connecting part 135, thereby improving the speed, accuracy and flexibility of the upper lip valley shape change.

[0160] like Figure 3 As shown, in some embodiments of the present invention, the first lower lip peak control device 210 includes a first lead screw motor 211, a second transmission structure 212, and a sixth connecting part 213.

[0161] The sixth connecting part 213 is connected to the first lead screw motor 211 via the second transmission structure 212, so that the sixth connecting part 213 can be driven to move along the fourth direction via the second transmission structure 212. It should be noted that the sixth connecting part 213 is connected to the first lower lip peak, so that the first lower lip peak can be driven to move along the fourth direction via the sixth connecting part 213.

[0162] The second transmission member 213b is connected to one end of the second connecting rod 213a, and the other end of the second transmission member 213b is connected to the second supporting member 213c, and the second supporting member 213c is connected to the first lower lip peak, so as to drive the first lower lip peak to move synchronously through the second supporting member 213c, thereby adjusting the moving direction and distance of the first lower lip peak.

[0163] It should be noted that the sixth connecting part 213 includes the second connecting rod 213a, the second transmission member 213b and the second supporting member 213c.

[0164] In this embodiment, the second supporting member 213c includes a third supporting leg and a fourth supporting leg which are spaced apart, and the third supporting leg and the fourth supporting leg are both rotationally connected to the second transmission structure 212, so as to drive the second supporting member 213c to rotate through the second transmission structure 212.

[0165] In addition, the second transmission structure 212 includes a first guide block 212a, a fourth limiting member 212b, a second connecting arm 212c, a second supporting arm 212d, a third connecting member 212e and a first connecting plate 212f.

[0166] The one end of the second connecting arm 212c is rotationally connected to the side of the fourth limiting member 212b which is close to the first lower lip peak, so that the second connecting arm 212c can rotate relative to the fourth limiting member 212b, and the fourth limiting member 212b provides a limiting action on the second connecting arm 212c, and the other end of the second connecting arm 212c is rotationally connected to the third supporting leg, so that the second connecting arm 212c can drive the third supporting leg to rotate in the process of rotation.

[0167] In addition, the second connecting arm 212c is rotationally connected to the side of the fourth limiting member 212b which is away from the first lower lip peak, and the one end of the second connecting arm 212c is rotationally connected to the fourth supporting leg, and the other end of the second connecting arm 212c is rotationally connected to one end of the first connecting plate 212f, so that the first connecting plate 212f can drive the fourth supporting leg to rotate through the second connecting arm 212c. At the same time, the other end of the first connecting plate 212f is rotationally connected to the end of the first guide block 212a which is away from the first lead screw motor 211 through the third connecting member 212e, so that the first guide block 212a can drive the first connecting plate 212f to rotate through the third connecting member 212e in the process of moving along the axis direction of the lead screw of the first lead screw motor 211.

[0168] Specifically, the first guide block 212a is in transmission connection with the first lead screw motor 211. When the first lead screw motor 211 operates, the first guide block 212a can move along the axial direction of the lead screw in the first lead screw motor 211. In the moving process of the first guide block 212a, the third connecting piece 212e is driven to move, the first connecting plate 212f is driven to rotate through the third connecting piece 212e, the second connecting arm 212c is driven to rotate through the first connecting plate 212f, and the second supporting piece 213c is driven to move through the second connecting arm 212c through the second transmission piece 213b and the second connecting rod 213a, so as to drive the first lower lip peak to move along the fourth direction through the second supporting piece 213c in the moving process.

[0169] It can be understood that the moving direction, the moving speed and the moving distance of the first guide block 212a are adjusted by adjusting the rotating direction, the rotating speed and the rotating angle of the first lead screw motor 211, so as to realize the adjustment of the direction, the speed and the flexibility of the morphological change of the first lower lip peak.

[0170] As shown in the figure, Figure 4 In some embodiments of the present application, the second lower lip peak control device 220 includes a second lead screw motor 221, a third transmission structure 222 and a seventh connecting part 223.

[0171] The seventh connecting part 223 is in transmission connection with the second lead screw motor 221 through the third transmission structure 222, so as to drive the seventh connecting part 223 to move along the fifth direction through the third transmission structure 222. It should be noted that the seventh connecting part 223 is connected with the second lower lip peak, so as to drive the second lower lip peak to move along the fifth direction through the seventh connecting part 223.

[0172] One end of the third transmission piece 223b is connected with one end of the third connecting rod 223a, and the other end of the third transmission piece 223b is connected with the third supporting piece 223c. The third supporting piece 223c is connected with the second lower lip peak, so as to drive the second lower lip peak to move synchronously through the third supporting piece 223c, thereby adjusting the moving direction and the moving distance of the second lower lip peak.

[0173] It should be noted that the seventh connecting part 223 includes a third connecting rod 223a, a third transmission piece 223b and a third supporting piece 223c.

[0174] In the present embodiment, the third supporting piece 223c includes a fifth supporting leg and a sixth supporting leg which are spaced apart. The fifth supporting leg and the sixth supporting leg are in rotating connection with the third transmission structure 222, so as to drive the third supporting piece 223c to rotate through the third transmission structure 222.

[0175] In addition, the third transmission structure 222 comprises a second guide block 222a, a fifth limiting piece 222b, a third connecting arm 222c, a third supporting arm 222d, a fourth connecting piece 222e and a second connecting plate 222f.

[0176] One end of the third connecting arm 222c is rotationally connected to the side of the fifth limiting piece 222b close to the second lower lip peak, so that the third connecting arm 222c can rotate relative to the fifth limiting piece 222b, and the fifth limiting piece 222b provides a limiting action on the third connecting arm 222c, and the other end of the third connecting arm 222c is rotationally connected to the fifth supporting foot, so that the third connecting arm 222c can rotate the fifth supporting foot in the process of rotation.

[0177] In addition, the third connecting arm 222c is rotationally connected to the side of the fifth limiting piece 222b away from the second lower lip peak, one end of the third connecting arm 222c is rotationally connected to the sixth supporting foot, and the other end of the third connecting arm 222c is rotationally connected to one end of the second connecting plate 222f, so that the second connecting plate 222f can drive the sixth supporting foot to rotate through the third connecting arm 222c. At the same time, the other end of the second connecting plate 222f is rotationally connected to the end of the second guide block 222a away from the second lead screw motor 221 through the fourth connecting piece 222e, so that the second guide block 222a can drive the second connecting plate 222f to rotate through the fourth connecting piece 222e in the process of moving along the axis direction of the lead screw of the second lead screw motor 221.

[0178] Specifically, the second guide block 222a is drivingly connected to the second lead screw motor 221. When the second lead screw motor 221 operates, the second guide block 222a can move along the axis direction of the lead screw in the second lead screw motor 221, and in the process of moving, the fourth connecting piece 222e is driven to move, the second connecting plate 222f is driven to rotate through the fourth connecting piece 222e, the third connecting arm 222c is driven to rotate through the second connecting plate 222f, and the third supporting piece 223c is driven to move through the third connecting arm 222c through the third transmission piece 223b and the third connecting rod 223a, so that the second lower lip peak is driven to move in the fifth direction through the third supporting piece 223c in the process of moving.

[0179] It can be understood that by adjusting the rotation direction, rotation speed and rotation angle of the second lead screw motor 221, the moving direction, moving speed and moving distance of the second guide block 222a are adjusted, so that the direction, speed and flexibility of the morphological change of the second lower lip peak are adjusted.

[0180] As Figure 5As shown, in some embodiments of the present application, the labial sulcus control device 230 comprises a labial sulcus driving motor 231, an eighth swing arm 232, a sixth connecting rod 233, a sixth limiting piece 234, a fourth connecting arm 235, a fourth support arm 236, a fifth connecting piece 237, and an eighth connecting part 238.

[0181] The eighth connecting part 238 comprises a fourth connecting rod 238a, a fourth transmission part 238b, and a fourth support part 238c. One end of the fourth transmission part 238b is connected with one end of the fourth connecting rod 238a, and the other end of the fourth transmission part 238b is connected with the fourth support part 238c. The fourth support part 238c is connected with the labial sulcus, so as to drive the labial sulcus to move through the fourth support part 238c, thereby achieving the control of the labial sulcus shape change.

[0182] In addition, the fourth support part 238c comprises a seventh support leg and an eighth support leg which are spaced apart. One end of the seventh support leg is rotationally connected with one end of the fourth support arm 236. The other end of the fourth support arm 236 is rotationally connected with the side of the sixth limiting piece 234 which is close to the labial sulcus. The fourth support arm 236 can rotate along the axis of the connecting part between the sixth limiting piece 234 and the fourth support arm 236.

[0183] Specifically, the other end of the fourth connecting arm 235 is rotationally connected with the eighth support leg, so that the fourth connecting arm 235 can drive the fourth support part 238c to rotate through the eighth support leg in the process of rotation, and the fourth support part 238c can drive the fourth connecting rod 238a to move in the process of rotation through the fourth support part 238c, thereby driving the labial sulcus to move through the fourth support part 238c, so as to achieve the control of the labial sulcus shape change.

[0184] Meanwhile, the other end of the fourth connecting arm 235 is rotationally connected with one end of the sixth connecting rod 233 through the fifth connecting piece 237. The other end of the sixth connecting rod 233 is rotationally connected with one end of the eighth swing arm 232. The other end of the eighth swing arm 232 is connected with the output end of the labial sulcus driving motor 231. It should be noted that the axis of the eighth swing arm 232 is perpendicular to the output end of the labial sulcus driving motor 231.

[0185] It can be understood that when the output end of the labial groove driving motor 231 rotates, the eighth swing arm 232 is driven to rotate, and in the process of rotating, the sixth connecting rod 233 is driven to rotate through the eighth swing arm 232, and the fifth connecting piece 237 is driven to swing through the sixth connecting rod 233, so that the eighth connecting part 238 is driven to move through the fifth connecting piece 237 through the fourth connecting arm 235, so that the labial groove is driven to move through the fourth supporting piece 238c, so as to realize the control of the shape of the labial groove.

[0186] Specifically, by controlling the rotation direction, rotation speed and rotation angle of the labial groove driving motor 231, the moving direction, moving speed and moving distance of the fourth supporting piece 238c and the labial groove are adjusted, so as to realize the adjustment of the direction, speed and flexibility of the shape change of the labial groove.

[0187] Some embodiments of the application also provide a robot comprising the mouth structure of any one of the above embodiments.

[0188] In all examples shown and described herein, any specific values should be interpreted as merely exemplary and not as a limitation, and thus other examples of the example embodiments can have different values.

[0189] It should be noted that similar reference numbers and letters refer to similar items in the following drawings, and thus, once an item is defined in one drawing, it need not be further defined and explained in subsequent drawings.

[0190] The above-described embodiments only express several implementation manners of the present application, and the description is more specific and detailed, but it should not be understood as a limitation on the scope of the present application. It should be pointed out that for ordinary skilled in the art, without departing from the concept of the present application, a number of modifications and improvements can be made, which are all within the protection scope of the present application.

Claims

1. A mouth structure of a robot characterized by comprising: The application relates to a lip control device, comprising: a lip body comprising an upper lip and a lower lip, the upper lip comprising a first upper lip peak, an upper lip valley and a second upper lip peak, the lower lip comprising a first lower lip peak, a lip groove and a second lower lip peak, the upper lip and the lower lip defining a first corner of the mouth and a second corner of the mouth; an upper lip control assembly comprising a first upper lip peak control device, a second upper lip peak control device and an upper lip valley control device; an output end of the first upper lip peak control device being connected to the first upper lip peak to control the first upper lip peak to move in a first direction; an output end of the second upper lip peak control device being connected to the second upper lip peak to control the second upper lip peak to move in a second direction; an output end of the upper lip valley control device being connected to the upper lip valley to control the upper lip valley to move in a third direction; a lower lip control assembly comprising a first lower lip peak control device, a second lower lip peak control device and a lip groove control device; an output end of the first lower lip peak control device being connected to the first lower lip peak to control the first lower lip peak to move in a fourth direction; an output end of the second lower lip peak control device being connected to the second lower lip peak to control the second lower lip peak to move in a fifth direction; an output end of the lip groove control device being connected to the lip groove to control the lip groove to move in a sixth direction; a corner of the mouth control assembly, the corner of the mouth control assembly comprising a first corner of the mouth control device and a second corner of the mouth control device; an output end of the first corner of the mouth control device being connected to the first corner of the mouth to control the first corner of the mouth to move; an output end of the second corner of the mouth control device being connected to the second corner of the mouth to control the second corner of the mouth to move.

2. The mouth structure of the robot according to claim 1, characterized in that, the first corner of the mouth control device comprising a first driving motor, a first swing arm, a first connecting rod, a first connecting part, a second connecting rod, a second swing arm and a second driving motor; one end of the first swing arm being connected to an output end of the first driving motor to control the first swing arm to rotate along an axis of the output end of the first driving motor by the first driving motor, the other end of the first swing arm being rotatably connected to one end of the first connecting rod; one end of the second swing arm being connected to an output end of the second driving motor to control the second swing arm to rotate along an axis of the output end of the second driving motor by the second driving motor, the other end of the second swing arm being rotatably connected to one end of the second connecting rod; the other end of the first connecting rod and the other end of the second connecting rod being connected by the first connecting part, the first connecting part being arranged at the first corner of the mouth to drive the first corner of the mouth to move by the first connecting part.

3. The mouth structure of the robot according to claim 1, characterized by, the second corner of the mouth control device comprising a third driving motor, a third swing arm, a third connecting rod, a second connecting part, a fourth connecting rod, a fourth swing arm and a fourth driving motor; one end of the third swing arm being connected to an output end of the third driving motor to control the third swing arm to rotate along an axis of the output end of the third driving motor by the third driving motor, the other end of the third swing arm being rotatably connected to one end of the third connecting rod; one end of the fourth swing arm being connected to an output end of the fourth driving motor to control the fourth swing arm to rotate along an axis of the output end of the fourth driving motor by the fourth driving motor, the other end of the fourth swing arm being rotatably connected to one end of the fourth connecting rod. One end of the fourth swing arm is connected with an output end of the fourth driving motor, so as to control the fourth swing arm to rotate along an axis of the output end of the fourth driving motor through the fourth driving motor, and the other end of the fourth swing arm is rotatably connected with one end of the fourth connecting rod; The other end of the third connecting rod and the other end of the fourth connecting rod are connected through a second connecting part, and the second connecting part is arranged at the second mouth corner, so as to drive the second mouth corner to move through the second connecting part.

4. The mouth structure of the robot according to claim 1, characterized by, The first upper lip peak control device comprises a first upper lip driving motor, a fifth swing arm, a first connecting piece, a first limiting piece, a first reset spring and a third connecting part; One end of the fifth swing arm is connected with an output shaft of the first upper lip driving motor, and the fifth swing arm can rotate along the output shaft of the first upper lip driving motor, and the other end of the fifth swing arm is connected with one end of the first connecting piece, and the other end of the first connecting piece passes through the first limiting piece and is connected with the third connecting part; One end of the first reset spring is in abutment with the third connecting part, and the other end of the first reset spring is in abutment with one side of the first limiting piece facing the third connecting part; The third connecting part is connected with the first upper lip peak, so as to drive the first upper lip peak to move along the first direction through the third connecting part.

5. The mouth structure of the robot according to claim 1, characterized by, The second upper lip peak control device comprises a second upper lip driving motor, a sixth swing arm, a second connecting piece, a second limiting piece, a second reset spring and a fourth connecting part; One end of the sixth swing arm is connected with an output shaft of the second upper lip driving motor, and the sixth swing arm can rotate along the output shaft of the second upper lip driving motor, and the other end of the sixth swing arm is connected with one end of the second connecting piece, and the other end of the second connecting piece passes through the second limiting piece and is connected with the fourth connecting part; One end of the second reset spring is in abutment with the fourth connecting part, and the other end of the second reset spring is in abutment with one side of the second limiting piece facing the fourth connecting part; The fourth connecting part is used for being connected with the second upper lip peak, so as to drive the second upper lip peak to move along the second direction through the fourth connecting part.

6. The mouth structure of the robot according to claim 1, characterized by, The upper lip valley control device comprises an upper lip valley driving motor, a seventh swing arm, a fifth connecting rod, a first transmission structure and a fifth connecting part; One end of the seventh swing arm is connected with an output end of the upper lip valley driving motor, and the other end of the seventh swing arm is connected with one end of the fifth connecting rod, and the other end of the fifth connecting rod is connected with the fifth connecting part through the first transmission structure, so as to drive the fifth connecting part to move along the third direction through the first transmission structure.

7. The mouth structure of the robot according to claim 6, characterized in that, The fifth connecting part comprises a first connecting rod, a first transmission piece and a first supporting piece; One end of the first transmission piece is connected with one end of the first connecting rod, and the other end of the first transmission piece is connected with the first supporting piece, and the first supporting piece is connected with the upper lip valley; The first supporting piece comprises first and second supporting feet which are spaced apart, and the first and second supporting feet are rotatably connected with the first transmission structure.

8. The mouth structure of the robot according to claim 7, characterized in that, The first transmission structure comprises a third limiting piece, a first connecting arm and a first supporting arm; The first connecting arm is rotationally connected to the third limiting piece away from one side of the upper lip valley, and one end of the first connecting arm is rotationally connected to one end of the fifth connecting rod away from the upper lip valley driving motor, and the other end of the first connecting arm is rotationally connected to the first supporting leg; One end of the first supporting arm is rotationally connected to the third limiting piece close to one side of the upper lip valley, and the other end of the first supporting arm is rotationally connected to the second supporting leg.

9. The mouth structure of the robot according to claim 1, characterized by, The first lower lip peak control device comprises a first screw motor, a second transmission structure and a sixth connecting part; The sixth connecting part is drivingly connected to the first screw motor through the second transmission structure, so as to drive the sixth connecting part to move in the fourth direction through the second transmission structure.

10. The mouth structure of the robot according to claim 9, characterized in that, The sixth connecting part comprises a second connecting rod, a second transmission piece and a second supporting piece; One end of the second transmission piece is connected to one end of the second connecting rod, the other end of the second transmission piece is connected to the second supporting piece, and the second supporting piece is connected to the first lower lip peak; The second supporting piece comprises a third supporting leg and a fourth supporting leg which are spaced apart, and the third supporting leg and the fourth supporting leg are rotationally connected to the second transmission structure.

11. The mouth structure of the robot according to claim 10, characterized in that, The second transmission structure comprises a first guide block, a fourth limiting piece, a second connecting arm, a second supporting arm, a third connecting piece and a first connecting plate; One end of the second connecting arm is rotationally connected to the fourth limiting piece close to the first lower lip peak, and the other end of the second connecting arm is rotationally connected to the third supporting leg; The second connecting arm is rotationally connected to the fourth limiting piece away from one side of the first lower lip peak, one end of the second connecting arm is rotationally connected to the fourth supporting leg, and the other end of the second connecting arm is rotationally connected to one end of the first connecting plate, and the other end of the first connecting plate is rotationally connected to one end of the first guide block away from the first screw motor through the third connecting piece; The first guide block is drivingly connected to the first screw motor.

12. The mouth structure of the robot according to claim 1, characterized by, The second lower lip peak control device comprises a second screw motor, a third transmission structure and a seventh connecting part; The seventh connecting part is drivingly connected to the second screw motor through the third transmission structure, so as to drive the seventh connecting part to move in the fifth direction through the third transmission structure.

13. The mouth structure of the robot according to claim 12, characterized in that, The seventh connecting part comprises a third connecting rod, a third transmission piece and a third supporting piece; One end of the third transmission piece is connected to one end of the third connecting rod, the other end of the third transmission piece is connected to the third supporting piece, and the third supporting piece is connected to the second lower lip peak; The third supporting piece comprises a fifth supporting leg and a sixth supporting leg which are spaced apart, and the fifth supporting leg and the sixth supporting leg are rotationally connected to the third transmission structure.

14. The mouth structure of the robot according to claim 13, characterized in that, The third transmission structure comprises a second guide block, a fifth limiting piece, a third connecting arm, a third supporting arm, a fourth connecting piece and a second connecting plate; One end of the third connecting arm is rotationally connected with the fifth limiting piece near one side of the second lower lip peak, and the other end of the third connecting arm is rotationally connected with the fifth supporting leg; The third connecting arm is rotationally connected with the fifth limiting piece away from one side of the second lower lip peak, one end of the third connecting arm is rotationally connected with the sixth supporting leg, and the other end of the third connecting arm is rotationally connected with one end of the second connecting plate, and the other end of the second connecting plate is rotationally connected with the second guide block away from one end of the second lead screw motor through the fourth connecting piece; The second guide block is drivingly connected with the second lead screw motor.

15. The mouth structure of the robot according to claim 1, characterized by, The lip groove control device comprises a lip groove driving motor, an eighth swing arm, a sixth connecting rod, a sixth limiting piece, a fourth connecting arm, a fourth supporting arm, a fifth connecting piece and an eighth connecting part; The eighth connecting part comprises a fourth connecting rod, a fourth transmission piece and a fourth supporting piece; One end of the fourth transmission piece is connected with one end of the fourth connecting rod, and the other end of the fourth transmission piece is connected with the fourth supporting piece, and the fourth supporting piece is connected with the lip groove; The fourth supporting piece comprises a seventh supporting leg and an eighth supporting leg which are spaced apart; One end of the seventh supporting leg is rotationally connected with one end of the fourth supporting arm, and the other end of the fourth supporting arm is rotationally connected with the sixth limiting piece near one side of the lip groove; The eighth supporting leg is rotationally connected with one end of the fourth connecting arm, and the other end of the fourth connecting arm is rotationally connected with one end of the sixth connecting rod through the fifth connecting piece, one end of the sixth connecting rod is rotationally connected with one end of the eighth swing arm, and the other end of the eighth swing arm is connected with the output end of the lip groove driving motor.

16. A robot, characterized in that A mouth structure of a robot as claimed in any one of claims 1 to 15.

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