Facial expression motion structure of intelligent bionic robot

Abstract

The invention relates to the field of bionic robot facial expression control, in particular to an intelligent bionic robot facial expression motion structure which comprises a bottom plate, a supporting mechanism and the like. According to the intelligent bionic robot facial expression motion structure, the whole robot head is divided into ear molds, a brain shell mold, a face mold, a lower jaw mold, an eyebrow mold, an eyelid mold and an eyeball mold; movement control is conducted on the movement states of the eyebrow mold, the eyelid mold, the eyeball mold and the lower jaw mold through the eyebrow control assembly, the eye control assembly and the lower jaw control assembly, and finer movement control is conducted on the lower jaw mold, the eyebrow mold, the eyelid mold and the eyeball mold by means of a connecting structure of a pull rope and a tension spring. And the facial expression vividness of the robot head is improved. The problems that when an existing robot carries out facial expression display, expression vividness can be displayed, and the number of expression types is small are solved.

Description

Technical Field

[0001] The invention relates to the field of bionic robots, in particular to a facial expression motion structure of an intelligent bionic robot. Background Art

[0002] At present, with the emergence of artificial intelligence robots, they are widely used in all walks of life. In the service industry and other industries, the requirements for artificial bionic robots are getting higher and higher. In addition to requiring robots to meet basic functions, people also have spiritual requirements. For example, mobile robots that deliver things to customers in hotels and express cart robots need to have cute appearances, playful anthropomorphic voices and behaviors. These human-like behaviors make customers more comfortable when using them. However, the existing robots have relatively stiff facial expression control, and there are relatively few combinations of attributes such as the direction and amplitude of the movement of the eyes, eyebrows and jaws. As a result, the vividness of the facial expressions that the robots can show when displaying facial expressions has certain defects and the types of expressions are relatively small. Summary of the invention

[0003] In order to overcome the shortcomings of existing robots that have certain defects in the vividness of facial expressions and a small number of expression types when displaying facial expressions, the present invention provides an intelligent bionic robot facial expression motion structure.

[0004] The intelligent bionic robot facial expression motion structure of the present invention comprises a bottom plate, a supporting mechanism, a mounting frame, an ear mold, a crossbeam frame, a skull mold, a facial mold, a lower jaw mold, a permanent magnet, an eyebrow mold, an eyebrow control component, an eyelid mold, an eyeball mold and an eye control component; the bottom plate is connected with the mounting frame through the supporting mechanism; two ear molds which are symmetrical to each other are fixedly connected to the mounting frame; a crossbeam frame is fixedly connected between the two ear molds; a skull mold is fixedly connected to the crossbeam frame; the skull mold is fixedly connected to the facial mold; the facial mold is rotatably connected to the lower jaw mold; The mounting frame is connected to two permanent magnets that are symmetrical to each other through an eyebrow control component; an eyebrow mold corresponding to the number and position of the permanent magnets is provided on the facial mold, an iron sheet material is built into the eyebrow mold, and the eyebrow mold is adsorbed to the outside of the facial mold from the inside of the facial mold by relying on the magnetic attraction force generated on the iron sheet material; the eyebrow mold is set to leave a movable gap between the eyebrow mold and the facial mold; the mounting frame is connected to two eyelid molds that are symmetrical to each other through an eye control component; two eyeball molds are connected to the eye control component, and the eyeball molds are exposed outward from the facial mold.

[0005] Preferably, the eyebrow control component includes an electrically controlled lifting push rod, a first fixed frame, a rotating shaft, a spur gear, a bidirectional toothed plate, an eyebrow control tension spring and an eyebrow control pull rope; the electrically controlled lifting push rod is fixedly connected to the mounting frame; the telescopic ends of the electrically controlled lifting push rod are commonly fixedly connected to the first fixed frame; two mutually symmetrical rotating shafts are rotatably connected to the first fixed frame; the rotating shaft is fixedly connected to a corresponding permanent magnet; a spur gear is fixedly connected to the rotating shaft; a bidirectional toothed plate is slidably connected to the first fixed frame, and tooth profile structures are provided on both sides of the bidirectional toothed plate; the spur gear is meshed with the tooth profile structures on the same side of the bidirectional toothed plate; an eyebrow control tension spring is commonly fixedly connected between the bidirectional toothed plate and the first fixed frame; a eyebrow control pull rope runs through the first fixed frame; one end of the eyebrow control pull rope is fixedly connected to the bidirectional toothed plate; and the other end of the eyebrow control pull rope is connected to the control mechanism.

[0006] Preferably, the eye control component includes a second fixed frame, a central frame, a transmission rod, an eye control tension spring, an eye control pull rope and a movable pull rope; the second fixed frame is fixedly connected to the mounting frame; the central frame is fixedly connected to the second fixed frame; two transmission rods are rotatably connected to the central frame; the transmission rod is rotatably connected to a corresponding eyelid mold; an eye control tension spring is fixedly connected between one end of the transmission rod and the second fixed frame; the other end of the transmission rod is fixedly connected to the eye control pull rope; two ball frame empty slot structures are provided on the second fixed frame; two eyeball molds are respectively movably connected to the corresponding ball frame empty slot structures in the second fixed frame; a movable pull rope is connected to the eyeball molds; the eye control pull rope and the movable pull rope are connected to the control mechanism.

[0007] Preferably, the lower jaw control assembly includes a jaw control tension spring and a jaw control pull rope; two jaw control tension springs are fixedly connected between the lower jaw mold and the mounting frame; two jaw control pull ropes are fixedly connected to the lower jaw mold; and the jaw control pull ropes are connected to the control mechanism.

[0008] Preferably, the control mechanism includes a control panel, an eyebrow control rocker, an eye control rocker, a movable rocker and a jaw control rocker; the control panel is fixedly connected to the bottom plate; an eyebrow control rocker, an eyebrow control rocker, two movable rockers and a jaw control rocker are rotatably connected to the control panel in sequence; the eyebrow control pull rope is fixedly connected to the eyebrow control rocker; the two eye control pull ropes are jointly fixedly connected to the eye control rocker; the movable pull ropes connected to the eyeball mold are respectively fixedly connected to the corresponding movable rockers; the two jaw control pull ropes are jointly fixedly connected to the jaw control rocker.

[0009] Preferably, an eyeball cross is fixed to the eyeball mold; four movable pull ropes are connected to the eyeball mold; one ends of the four movable pull ropes on the same eyeball mold are respectively fixed to the four corners of the eyeball cross; an movable cross is fixed to the movable rocker; the other ends of the four movable pull ropes on the same eyeball mold are respectively fixed to the four corners of the movable cross.

[0010] Preferably, an eyebrow control sleeve is fixedly connected between the first fixed frame and the control panel, and the eyebrow control sleeve is sleeved on the surface of the eyebrow control pull rope; two eye control sleeves are fixedly connected between the second fixed frame and the control panel, and the two eye control sleeves are respectively sleeved on the outer surfaces of the two eye control pull ropes; eight movable sleeves are fixedly connected between the second fixed frame and the control panel, and the eight movable sleeves are respectively sleeved on the outer surfaces of the eight movable pull ropes; two jaw control sleeves are fixedly connected to the control panel, and the two jaw control sleeves are respectively sleeved on the outer surfaces of the two jaw control pull ropes.

[0011] Preferably, the control panel is equipped with spherical motion motors corresponding to the number of eyebrow control rockers, eye control rockers, movable rockers and jaw control rockers; the eyebrow control rockers, eye control rockers, movable rockers and jaw control rockers are all controlled by the corresponding spherical motion motors.

[0012] Preferably, the supporting mechanism includes a limited lifting rod, a movable ball head, a fixed plate and a supporting telescopic rod; the limited lifting rod is fixedly connected to the bottom plate; the telescopic rod component of the limited lifting rod is fixedly connected with a movable ball head; the movable ball head is rotatably connected with a fixed plate; the fixed plate is fixedly connected to the bottom plate of the mounting frame through a lower rotating shaft to which four supporting telescopic rods are rotatably connected in a matrix distributed manner, and the axes of the lower rotating shafts connecting each two adjacent supporting telescopic rods to the bottom plate are perpendicular to each other; the supporting telescopic rod is rotatably connected to the fixed plate through an upper rotating shaft.

[0013] Preferably, the barrel component of the position-limiting lifting rod is provided with four clips with arc-shaped cross-sections; the clips are provided with a threaded strip structure, and the threaded strip structures of the four clips together constitute a complete threaded structure; the telescopic rod component of the position-limiting lifting rod is provided with a tightening nut corresponding to the threaded structure.

[0014] The intelligent bionic robot facial expression motion structure of the present invention divides the robot head as a whole into an ear mold, a skull mold, a facial mold, a jaw mold, an eyebrow mold, an eyelid mold and an eyeball mold, and controls the motion states of the eyebrow mold, the eyelid mold, the eyeball mold and the jaw mold through an eyebrow control component, an eye control component and a jaw control component respectively, wherein the eyebrow control component, the eye control component and the jaw control component use a connection structure of a pull rope and a tension spring to perform more refined activity control on the jaw mold, the eyebrow mold, the eyelid mold and the eyeball mold, thereby improving the vividness of the facial expression of the robot head.

[0015] The intelligent bionic robot facial expression motion structure of the present invention is further provided with a supporting mechanism consisting of a telescopic rod and a supporting telescopic rod, which simulates the twisting action of the neck under the robot head, thereby achieving the purpose of imitating real person expressions and actions.

[0016] The intelligent bionic robot facial expression motion structure of the present invention overcomes the technical problems that the existing robots have certain defects in the vividness of facial expressions and a small number of expression types when displaying facial expressions. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 A structural diagram for describing the present invention; Figure 2 To describe the crossbeam frame structure diagram of the present invention; Figure 3 To describe the structure diagram of the jaw mold of the present invention; Figure 4 To describe the structure diagram of the permanent magnet and the eyebrow mold of the present invention; Figure 5 To describe the structure diagram of the eyebrow control assembly of the present invention; Figure 6 A diagram for describing the structure of the eye control component of the present invention; Figure 7 To describe the structure of the transmission rod and the eye-control tension spring of the present invention; Figure 8 To describe the eyelid mold and eyeball mold structure diagram of the present invention; Fig. 9 A diagram of the structure of the jaw control assembly for describing the present invention; Fig.10 To describe the structure diagram of the control mechanism of the present invention; Fig.11 To describe the telescopic rod structure diagram of the present invention; Fig.12 A schematic diagram for describing the initial state of the support mechanism of the present invention; Fig.13 A schematic diagram for describing the torsion state of the support mechanism of the present invention.

[0018] Markings in the accompanying drawings: 11-bottom plate, 12-limit lifting rod, 121-movable ball head, 122-clamp, 1220-threaded strip structure, 123-tightening nut, 13-fixed plate, 14-support telescopic rod, 15-mounting frame, 21-ear mold, 22-beam frame, 23-head mold, 24-face mold, 25-mandible mold, 31-first fixed frame, 311-electrically controlled lifting push rod, 32-rotating shaft, 33-permanent magnet, 34-eyebrow mold, 35-spur gear, 36-bidirectional tooth plate, 37-eyebrow control pull Spring, 38-eyebrow control rope, 381-eyebrow control sleeve, 41-second fixed frame, 42-center frame, 43-transmission rod, 44-eyelid mold, 45-eyeball mold, 451-eyeball cross, 46-eye control spring, 47-eye control rope, 471-eye control sleeve, 48-movable rope, 481-movable sleeve, 51-jaw control spring, 52-jaw control rope, 521-jaw control sleeve, 6-control panel, 61-eyebrow control rocker, 62-eye control rocker, 63-movable rocker, 631-movable cross, 64-jaw control rocker. DETAILED DESCRIPTION

[0019] Hereinafter, embodiments of the present invention will be described with reference to the drawings.

[0020] Example 1 Intelligent bionic robot facial expression motion structure, such as Figure 1-Figure 10 As shown, it includes a base plate 11, a supporting mechanism, a mounting frame 15, an ear mold 21, a crossbeam frame 22, a skull mold 23, a facial mold 24, a lower jaw mold 25, a permanent magnet 33, an eyebrow mold 34, an eyebrow control component, an eyelid mold 44, an eyeball mold 45 and an eye control component; the base plate 11 is connected to the mounting frame 15 through the supporting mechanism; two ear molds 21 are fixedly connected to the mounting frame 15; the two ear molds 21 are commonly fixedly connected to the crossbeam frame 22; the skull mold 23 is fixedly connected to the facial mold 24 on the front side of the skull mold 23; the lower jaw mold 25 is rotatably connected to the lower side of the facial mold 24; the mounting frame 15 is connected to the eyebrow control component; the eyebrow control component is connected to two permanent magnets 33; The mold 24 is provided with an eyebrow mold 34 corresponding to the number and position of the permanent magnets 33. The eyebrow mold 34 is built with iron sheet material. The permanent magnet 33 and the eyebrow mold 34 are respectively located on the inner and outer sides of the facial mold 24, and the permanent magnet 33 generates a magnetic attraction to the eyebrow mold 34 through the iron sheet material built into the eyebrow mold 34, so that the eyebrow mold 34 is tightly attached to the surface of the facial mold 24; the eyebrow mold 34 is set to leave a movable gap between it and the facial mold 24 to prevent the eyebrow mold 34 from being stuck during the up and down movement along the surface of the facial mold 24; the mounting frame 15 is connected to an eye control component; two eyelid molds 44 are connected to the eye control component; two eyeball molds 45 are connected to the eye control component, and the eyeball molds 45 are exposed outward from the facial mold 24.

[0021] like Figure 3-Figure 5 As shown, the eyebrow control assembly includes an electric control lifting push rod 311, a first fixed frame 31, a rotating shaft 32, a spur gear 35, a bidirectional toothed plate 36, an eyebrow control tension spring 37 and an eyebrow control pull rope 38; two electric control lifting push rods 311 are fixedly connected to the mounting frame 15; the telescopic ends of the two electric control lifting push rods 311 are fixedly connected to the first fixed frame 31; two rotating shafts 32 are rotatably connected to the first fixed frame 31; the two rotating shafts 32 are each fixedly connected to a corresponding permanent magnet 33; the two rotating shafts A spur gear 35 is fixedly connected to each of the two fixing frames 32; a bidirectional toothed plate 36 is slidably connected to the first fixing frame 31, and tooth profile structures are provided on both sides of the bidirectional toothed plate 36; the two spur gears 35 are respectively meshed with the tooth profile structures on both sides of the bidirectional toothed plate 36; a control eyebrow tension spring 37 is fixedly connected between the bidirectional toothed plate 36 and the first fixing frame 31; a control eyebrow pull rope 38 runs through the first fixing frame 31; one end of the control eyebrow pull rope 38 is fixedly connected to the bidirectional toothed plate 36; the other end of the control eyebrow pull rope 38 is connected to the control mechanism.

[0022] like Figure 1 , Figure 2 , Figure 6-Figure 8 As shown, the eye control component includes a second fixed frame 41, a central frame 42, a transmission rod 43, an eye control tension spring 46, an eye control pull rope 47 and a movable pull rope 48; the second fixed frame 41 is fixedly connected to the mounting frame 15; the central frame 42 is fixedly connected to the second fixed frame 41; two transmission rods 43 are rotatably connected to the central frame 42; the two transmission rods 43 are respectively rotatably connected to an eyelid mold 44; an eye control tension spring 46 is respectively fixedly connected between one end of the two transmission rods 43 and the second fixed frame 41; an eye control pull rope 47 is respectively fixedly connected to the other end of the two transmission rods 43; two ball frame hollow groove structures are provided on the second fixed frame 41; two eyeball molds 45 are respectively movably connected to the corresponding ball frame hollow groove structures in the second fixed frame 41; four movable pull ropes 48 are respectively connected to the two eyeball molds 45; the two eye control pull ropes 47 and the two movable pull ropes 48 are all connected to the control mechanism.

[0023] like Figure 3 and Fig. 9 As shown, the lower jaw control assembly includes a jaw control tension spring 51 and a jaw control pull rope 52; two jaw control tension springs 51 are fixedly connected between the lower jaw mold 25 and the mounting frame 15; two jaw control pull ropes 52 are fixedly connected to the lower jaw mold 25; and the two jaw control pull ropes 52 are both connected to the control mechanism.

[0024] like Figure 2 and Fig.10As shown, the control mechanism includes a control panel 6, an eyebrow control rocker 61, an eye control rocker 62, a movable rocker 63 and a jaw control rocker 64; the control panel 6 is fixedly connected to the bottom plate 11; the control panel 6 is rotatably connected with an eyebrow control rocker 61, an eye control rocker 62, two movable rockers 63 and a jaw control rocker 64 in sequence; the eyebrow control pull rope 38 is fixedly connected to the eyebrow control rocker 61; an eyebrow control sleeve 381 is fixedly connected between the first fixed frame 31 and the control panel 6, and the eyebrow control sleeve 381 is sleeved on the surface of the eyebrow control pull rope 38; two eye control pull ropes 47 are fixedly connected to the eye control rocker 62; two eye control sleeves 471 are fixedly connected between the second fixed frame 41 and the control panel 6, and the two eye control sleeves 471 are respectively sleeved on the two eye control pull ropes 47 outer surface; the movable pull ropes 48 connected to the two eyeball molds 45 are respectively fixed to the corresponding movable rockers 63; eight movable sleeves 481 are commonly fixed between the second fixing frame 41 and the control panel 6, and the eight movable sleeves 481 are respectively sleeved on the outer surfaces of the eight movable pull ropes 48; the two jaw control pull ropes 52 are commonly fixed to the jaw control rocker 64; two jaw control sleeves 521 are fixed to the control panel 6, and the two jaw control sleeves 521 are respectively sleeved on the outer surfaces of the two jaw control pull ropes 52; when different rockers pull the corresponding pull ropes to move, the pull ropes will move along the inside of the corresponding sleeves, while ensuring that the pull ropes are subjected to lower movement resistance, the pull ropes will not be loose as a whole due to being in a suspended state, thereby improving the control flexibility of the pull ropes.

[0025] like Fig.10 As shown, an eyeball cross 451 is fixedly connected to each of the two eyeball molds 45; four movable pull ropes 48 are connected to each of the two eyeball molds 45; one end of the four movable pull ropes 48 on the same eyeball mold 45 is respectively fixedly connected to the four corners of the eyeball cross 451; an movable cross 631 is fixedly connected to each of the two movable rockers 63; the other ends of the four movable pull ropes 48 on the same eyeball mold 45 are respectively fixedly connected to the four corners of the movable cross 631.

[0026] The control panel 6 is equipped with spherical motion motors corresponding to the number of eyebrow control rockers 61, eye control rockers 62, movable rockers 63 and jaw control rockers 64; the eyebrow control rockers 61, eye control rockers 62, movable rockers 63 and jaw control rockers 64 are all controlled by the corresponding spherical motion motors.

[0027] The intelligent bionic robot facial expression motion structure of the present invention divides the robot head as a whole into an ear mold 21, a skull mold 23, a facial mold 24, a jaw mold 25, an eyebrow mold 34, an eyelid mold 44 and an eyeball mold 45, and controls the motion states of the eyebrow mold 34, the eyelid mold 44, the eyeball mold 45 and the jaw mold 25 through an eyebrow control component, an eye control component and a jaw control component respectively.

[0028] In the control work of the eyebrow mold 34, the spherical motion motor controls the eyebrow control rocker 61 to rotate downward and pull the eyebrow control rope 38. The specific way in which the spherical motion motor controls the eyebrow control rocker 61 to realize spherical trajectory motion is already the prior art and will not be elaborated here. The eyebrow control rope 38 pulls the bidirectional toothed plate 36 to move upward, and the bidirectional toothed plate 36 drives the eyebrow control tension spring 37 used for resetting to stretch upward. At the same time, the bidirectional toothed plate 36 engages with two spur gears 35 to drive the two rotating shafts 32 to rotate in opposite directions respectively. The two rotating shafts 32 drive the two permanent magnets 33 and the two eyebrow molds 34 adsorbed thereon to rotate in opposite directions. At the same time, the electrically controlled lifting push rod 311 controls the first fixed frame 31 to drive the two rotating shafts 32 and the two permanent magnets 33 connected thereto and the two eyebrow molds 34 to move up and down, thereby realizing the flexible movement of controlling the eyebrow mold 34 to move up and down and rotate at the same time, thereby improving the liveliness of the activity of the eyebrow mold 34.

[0029] In the control work of the eyelid mold 44 and the eyeball mold 45, the spherical motion motor controls the movable rocker 63 to pull the movable cross 631 to rotate in any rotation direction, and the movable cross 631 pulls each movable pull rope 48, driving the eyeball mold 45 connected to the eyeball cross 451 to rotate in the opposite direction of the deflection direction of the movable cross 631, and the spherical motion motor controls the eye control rocker 62 to rotate downward to pull the eye control pull rope 47, and the eye control pull rope 47 pulls the lower end of the transmission rod 43 to move backward. The rotation axis of the transmission rod 43 is arranged in the middle, so the upper end of the transmission rod 43 will move forward, combined with Figure 6 and Figure 7 To be easier to understand, the transmission rod 43 drives the eye control tension spring 46 for resetting to stretch, and at the same time, the transmission rod 43 drives the eyelid mold 44 to rotate around the center of the eyeball mold 45 to simulate the action of a person closing his eyelids. When the spherical motion motor controls the eye control rocker 62 to rotate upward to release the eye control pull rope 47, the stretched eye control tension spring 46 pulls the transmission rod 43 to drive the eyelid mold 44 to rotate in the opposite direction around the center of the eyeball mold 45 to simulate the action of a person opening his eyelids, thereby realizing the control of the eyeball mold 45 to rotate in any direction and the control of the eyelid mold 44 to simulate the opening and closing movements of real human eyelids, thereby improving the vividness of the activities of the eyeball mold 45 and the eyelid mold 44.

[0030] During the control of the lower jaw mold 25, the spherical motion motor controls the jaw control rocker 64 to rotate downward and pull the jaw control rope 52, and the jaw control rope 52 pulls the lower jaw mold 25 to flip downward. At the same time, the lower jaw mold 25 drives the jaw control tension spring 51 to stretch downward, simulating the real human mouth opening action. When the spherical motion motor controls the jaw control rocker 64 to rotate upward and releases the jaw control rope 52, the stretched jaw control tension spring 51 pulls the lower jaw mold 25 to reset upward, simulating the real human mouth closing action, realizing the flexible movement of controlling the lower jaw mold 25 to flip up and down, thereby improving the vividness of the lower jaw mold 25 activity.

[0031] In addition, when the spherical motion motors for controlling the eyebrow control rocker 61, the eye control rocker 62, the movable rocker 63 and the jaw control rocker 64 are not installed on the control panel 6, the eyebrow control rocker 61, the eye control rocker 62, the movable rocker 63 and the jaw control rocker 64 on the control panel 6 are all manually controlled. At this time, the intelligent bionic robot facial expression motion structure of the present invention can be used as an interactive robot that relies on manual control by the staff to show corresponding vivid expressions to customers.

[0032] Example 2 like Figure 1-Figure 11 As shown, on the basis of Example 1, the supporting mechanism of this embodiment includes a limited lifting rod 12, a movable ball head 121, a fixed plate 13 and a supporting telescopic rod 14; the middle part of the bottom plate 11 is fixedly connected to the limited lifting rod 12; the telescopic rod component of the limited lifting rod 12 is fixedly connected to the movable ball head 121; the movable ball head 121 is rotatably connected to the fixed plate 13; the fixed plate 13 is fixedly connected to the mounting frame 15; the upper surface of the bottom plate 11 is rotatably connected to a supporting telescopic rod 14 through four matrix-distributed lower rotating shafts, and the straight lines where the axes of each two adjacent lower rotating shafts are located are perpendicular to each other; the upper ends of the four supporting telescopic rods 14 are rotatably connected to the fixed plate 13 through the upper rotating shafts.

[0033] When it is necessary to twist the molds above the fixing plate 13 to simulate the action of a person turning his head, the user manually rotates the fixing plate 13, and the fixing plate 13 drives each supporting telescopic rod 14 to rotate downward around the axis of the lower rotating shaft connected thereto. Fig.13 As shown, the supporting telescopic rod 14 rotating downward at the same time pulls the fixed plate 13, and the fixed plate 13 drives the telescopic rod part of the limiting lifting rod 12 to retract downward through the movable ball head 121, so that the fixed plate 13 drives the various molds above it to complete the rotation action, completing the action simulation of the robot head rotating to one side as a whole. At this time, each supporting telescopic rod 14 is twisted into a twisted state, allowing the supporting telescopic rod 14 to simulate the twisting action of the neck.

[0034] Example 3 like Figure 1-Figure 11 As shown, on the basis of Example 2, the barrel component of the position limiting lifting rod 12 of this embodiment is provided with four clips 122 with a circular arc structure in cross section; the outer surface of the four clips 122 is respectively provided with a plurality of threaded strip structures 1220, and the threaded strip structures 1220 of the four clips 122 together constitute a complete threaded structure; the telescopic rod component of the position limiting lifting rod 12 is provided with a tightening nut 123, and the tightening nut 123 is provided with a threaded groove structure corresponding to the threaded structure.

[0035] When the user turns the tightening nut 123 downward, the tightening nut 123 will move downward along the threaded structure on the outer surface of the four clips 122, and the tightening nut 123 will tightly tighten the four clips 122 together through the threaded structure, thereby squeezing and clamping the telescopic rod component of the limiting lifting rod 12, thereby locking the telescopic rod component of the limiting lifting rod 12 so that it can no longer move up and down, and then locking the entire support mechanism, so that each mold on the support mechanism remains in the current rotation direction.

[0036] The above embodiments are provided for persons familiar with the art to implement or use the present invention. Personnel familiar with the art can make various modifications or changes to the above embodiments without departing from the inventive concept of the present invention. Therefore, the protection scope of the present invention is not limited to the above embodiments, but should be the maximum scope of the innovative features mentioned in the claims.

Claims

1. An intelligent bionic robot facial expression motion structure, comprising: a base plate (11); a mounting frame (15) connected to the base plate (11) via a supporting mechanism; Its characteristics are: The device also comprises an ear mold (21); two ear molds (21) are fixedly connected to the mounting frame (15) and are symmetrical to each other; a crossbeam frame (22) is fixedly connected between the two ear molds (21); a skull mold (23) is fixedly connected to the crossbeam frame (22); a facial mold (24) is fixedly connected to the skull mold (23); the facial mold (24) is rotatably connected to a lower jaw mold (25); the mounting frame (15) is connected to two permanent magnets (33) that are symmetrical to each other through an eyebrow control assembly; and the facial mold (24) is provided with a plurality of permanent magnets (33) corresponding in number and position to the permanent magnets (33). The eyebrow mold (34) has an iron sheet material built therein, and the eyebrow mold (34) is adsorbed on the outside of the facial mold (24) from the inside of the facial mold (24) by means of a magnetic attraction force generated on the iron sheet material; the eyebrow mold (34) is arranged to have a movable gap between the eyebrow mold (34) and the facial mold (24); the mounting frame (15) is connected to two eyelid molds (44) that are symmetrical to each other via an eye control component; and two eyeball molds (45) are connected to the eye control component, and the eyeball molds (45) are exposed outward from the facial mold (24).

2. The intelligent bionic robot facial expression motion structure according to claim 1, characterized in that: The eyebrow control assembly comprises an electric-controlled lifting push rod (311); the electric-controlled lifting push rod (311) is fixedly connected to the mounting frame (15); the telescopic ends of the electric-controlled lifting push rod (311) are fixedly connected to a first fixing frame (31); two rotating shafts (32) symmetrical to each other are rotatably connected to the first fixing frame (31); the rotating shaft (32) is fixedly connected to a corresponding permanent magnet (33); a spur gear (35) is fixedly connected to the rotating shaft (32); A bidirectional toothed plate (36) is slidably connected, and tooth profile structures are provided on both sides of the bidirectional toothed plate (36); the spur gear (35) meshes with the tooth profile structure on the same side of the bidirectional toothed plate (36); an eyebrow control tension spring (37) is fixedly connected between the bidirectional toothed plate (36) and the first fixed frame (31); an eyebrow control pull rope (38) passes through the first fixed frame (31); one end of the eyebrow control pull rope (38) is fixedly connected to the bidirectional toothed plate (36); and the other end of the eyebrow control pull rope (38) is connected to the control mechanism.

3. The intelligent bionic robot facial expression motion structure according to claim 2, characterized in that the eyes The control assembly comprises a second fixing frame (41); the second fixing frame (41) is fixedly connected to the mounting frame (15); the center frame (42) is fixedly connected to two transmission rods (43) rotatably connected to the center frame (42); the transmission rod (43) is rotatably connected to a corresponding eyelid mold (44); an eyelid control tension spring (46) is fixedly connected between one end of the transmission rod (43) and the second fixing frame (41); the other end of the transmission rod (43) is fixedly connected to an eyelid control pull rope (47); two ball frame hollow groove structures are provided on the second fixing frame (41); two eyeball molds (45) are respectively movably connected to the corresponding ball frame hollow groove structures in the second fixing frame (41); a movable pull rope (48) is connected to the eyeball mold (45); the eyeball control pull rope (47) and the movable pull rope (48) are connected to the control mechanism.

4. The intelligent bionic robot facial expression motion structure according to claim 3, characterized in that: The lower jaw control component comprises a jaw control tension spring (51); two jaw control tension springs (51) are fixedly connected between the lower jaw mold (25) and the mounting frame (15); two jaw control pull ropes (52) are fixedly connected to the lower jaw mold (25); and the jaw control pull ropes (52) are connected to the control mechanism.

5. The intelligent bionic robot facial expression motion structure according to claim 4, characterized in that: The control mechanism comprises a control panel (6), an eyebrow control rocker (61), an eye control rocker (62), a movable rocker (63) and a jaw control rocker (64); the control panel (6) is fixedly connected to the bottom plate (11); an eyebrow control rocker (61), an eye control rocker (62), two movable rockers (63) and a jaw control rocker (64) are rotatably connected to the control panel (6) in sequence; an eyebrow control pull rope (38) is fixedly connected to the eyebrow control rocker (61); two eye control pull ropes (47) are jointly fixedly connected to the eye control rocker (62); movable pull ropes (48) connected to the eyeball mold (45) are respectively fixedly connected to corresponding movable rockers (63); and two jaw control pull ropes (52) are jointly fixedly connected to the jaw control rocker (64).

6. The intelligent bionic robot facial expression motion structure according to claim 5, characterized in that: An eyeball cross (451) is fixedly connected to the eyeball mold (45); four movable pull ropes (48) are connected to the eyeball mold (45); one end of the four movable pull ropes (48) on the same eyeball mold (45) is respectively fixedly connected to four corners of the eyeball cross (451); an movable cross (631) is fixedly connected to the movable rocker (63); the other end of the four movable pull ropes (48) on the same eyeball mold (45) is respectively fixedly connected to four corners of the movable cross (631).

7. The intelligent bionic robot facial expression motion structure according to claim 6, characterized in that: An eyebrow control sleeve (381) is fixedly connected between the first fixing frame (31) and the control panel (6), and the eyebrow control sleeve (381) is sleeved on the surface of the eyebrow control pull rope (38); two eye control sleeves (471) are fixedly connected between the second fixing frame (41) and the control panel (6), and the two eye control sleeves (471) are sleeved on the outer surfaces of the two eye control pull ropes (47) respectively; eight movable sleeves (481) are fixedly connected between the second fixing frame (41) and the control panel (6), and the eight movable sleeves (481) are sleeved on the outer surfaces of the eight movable pull ropes (48) respectively; two jaw control sleeves (521) are fixedly connected to the control panel (6), and the two jaw control sleeves (521) are sleeved on the outer surfaces of the two jaw control pull ropes (52) respectively.

8. The intelligent bionic robot facial expression motion structure according to claim 5, characterized in that: The control panel (6) is provided with spherical motion motors corresponding in number to the eyebrow control rocker (61), the eye control rocker (62), the movable rocker (63) and the jaw control rocker (64); the eyebrow control rocker (61), the eye control rocker (62), the movable rocker (63) and the jaw control rocker (64) are all controlled by the corresponding spherical motion motors.

9. The intelligent bionic robot facial expression motion structure according to any one of claims 1 to 8, characterized in that: The support mechanism comprises a limited lifting rod (12); the limited lifting rod (12) is fixedly connected to the bottom plate (11); the telescopic rod component of the limited lifting rod (12) is fixedly connected to a movable ball head (121); the movable ball head (121) is rotatably connected to a fixed plate (13); the fixed plate (13) is fixedly connected to a mounting frame (15); four supporting telescopic rods (14) are rotatably connected to the bottom plate (11) via a lower rotating shaft in a matrix distributed manner, and the axes of the lower rotating shafts connecting each two adjacent supporting telescopic rods (14) and the bottom plate (11) are perpendicular to each other; the supporting telescopic rods (14) are rotatably connected to the fixed plate (13) via an upper rotating shaft.

10. The intelligent bionic robot facial expression motion structure according to claim 9, characterized in that: The cylinder part of the position-limiting lifting rod (12) is provided with four clips (122) whose cross-sections are arc structures; the clips (122) are provided with a threaded strip structure (1220), and the threaded strip structures (1220) of the four clips (122) together form a complete threaded structure; and the telescopic rod part of the position-limiting lifting rod (12) is sleeved with a tightening nut (123) corresponding to the threaded structure.

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