Humanoid expression robot head

Abstract

The invention provides a human expression simulation robot head which comprises a head frame, an eye platform is arranged in the head frame, eyeball bodies are connected between the eye platform and the head frame through elastic limiting pieces, and the two sides of the head frame in the width direction are each provided with one eyeball body; an operation connecting rod is arranged on the eye platform and arranged in the direction of the connecting line of the two eyeball bodies. A parallelogram-like mechanism is formed by the head, the operation connecting rod, the transmission connecting rod and the rack of the humanoid expression robot, the parallelogram-like mechanism plays a role in transmission and stable supporting in the movement process of the two eyeball bodies, and on the premise that only the operation connecting rod is operated and controlled, the movement of the two eyeball bodies is facilitated. Synchronous movement of the two eyeball bodies in the horizontal direction and the vertical direction is achieved, and compared with a complex multi-joint control mode, the control difficulty is lowered through the design, and the reliability of the system is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of robots, and in particular to a humanoid expression robot head. Background Art

[0002] There are many technical deficiencies in the existing humanoid expression robot heads, such as insufficient expressions, difficult assembly, high cost, non-standard connectors that are easy to break and jam, and high energy consumption. The main technical problem is that in order to achieve true simulation of facial expressions, the current solutions for humanoid expression robot heads mostly rely on electronic components and complex control systems. Corresponding electronic components are set to control the movement of each organ in different directions, resulting in high control difficulty and complex control methods. The complex structure further increases the risk of failure and reduces system stability.

[0003] In order to solve the above problems, the present invention proposes a humanoid expression robot head with simple structure, low control difficulty and high system reliability. Summary of the invention

[0004] In order to solve the above-mentioned problems existing in the existing humanoid expression robot heads, the present invention provides a humanoid expression robot head.

[0005] According to one object of the present invention, the present invention provides a humanoid expression robot head, including a head frame, characterized in that an eye platform is arranged in the head frame, an eyeball body is connected between the eye platform and the head frame through an elastic limiter, and one eyeball body is arranged on both sides of the head frame in the width direction;

[0006] An operating link is provided on the eye platform, and the operating link is arranged along the connecting line direction of the two eyeball bodies. The operating link is configured to rotate around its own axis and move along its own axial direction. The end of the operating link located on the same side of the width direction of the skull frame and the eyeball body are connected through a transmission link, one end of the transmission link is fixedly connected to the eyeball body, and the other end of the transmission link is hinged to the operating link, and a frame is hinged between the transmission links, wherein the frame and the operating links are parallel, adjacent transmission links are parallel, and the direction of the hinge axis of the transmission link and the operating link and the direction of the hinge axis of the transmission link and the frame are parallel and intersect with the axis direction of the operating link.

[0007] Preferably, the directions of the hinge axes of the transmission connecting rod and the operating connecting rod and the direction of the hinge axes of the transmission connecting rod and the frame are parallel and perpendicular to the direction of the axes of the operating connecting rod.

[0008] Preferably, a connecting rod support is provided on the side of the eye platform close to the back, a connecting hole arranged along the width direction of the skull frame is opened above the connecting rod support, the operating connecting rod is movably inserted into the connecting hole, the axis of the connecting hole coincides with the axis of the operating connecting rod, and one connecting rod support is respectively provided on both sides in the length direction of the operating connecting rod, an eye operating rod is connected to the operating connecting rod, and the eye operating rod is located between two adjacent connecting rod supports.

[0009] Preferably, the elastic limiting component includes an eyeball support, and one eyeball support is respectively provided at each end of the eyeball body in the vertical direction, and an eyeball groove is provided on the eyeball support. The end of the eyeball body in the vertical direction is located in the eyeball groove, and in the vertical direction, the elastic component is provided between the eyeball support and the skull frame above the eyeball body, and between the eyeball support and the eye platform below the eyeball body.

[0010] Preferably, the humanoid expression robot head further comprises:

[0011] An eyelid body, wherein the eyelid body is located in front of the eyeball body, the eyelid body and the eyeball body correspond one to one, a hinge is arranged between the eyelid body and the eye platform, and each eyeball body is respectively provided with a hinge on both sides of the width direction of the skull frame, and the eyelid body is connected to the hinges on both sides of the corresponding eyeball body in the width direction of the skull frame.

[0012] Preferably, the opposite sides of the two eyelid bodies are connected by an eyelid connecting rod, and the eyelid connecting rod is provided on the opposite sides of the two eyelid bodies, the hinge includes an eyelid support member, the upper end of the eyelid support member is provided with a rod groove, the eyelid connecting rod is movably arranged in the rod groove, the inner wall of the rod groove is covered with a rubber layer, and the rubber layer and the eyelid connecting rod are interference connected.

[0013] Preferably, the humanoid expression robot head further comprises: an eyelid operating rod, the eyelid operating rod is connected to the eyelid connecting rod located on opposite sides of the two eyelid bodies, and the eyelid operating rod extends toward the back side of the head frame.

[0014] Preferably, the humanoid expression robot head further comprises:

[0015] A mouth mechanism, the mouth mechanism is located below the eye platform, the mouth mechanism comprises: a chin support and a chin body, the chin support is arranged at the bottom of the head frame, the chin support and the chin body are movably connected, the chin body is arranged to be able to move along the front-to-back direction of the head frame, and the chin body is arranged to be able to rotate around the chin support.

[0016] Preferably, the chin support is provided with a sliding groove, the sliding groove is arranged along the front-to-back direction of the head frame, a sliding rod is provided in the sliding groove, the cross-section of the sliding rod in the length direction of the sliding groove is circular, and the sliding rod is fixedly connected to the chin body.

[0017] Preferably, the sliding groove is located at the center of the chin support, the center of the sliding rod is fixedly connected to the chin body and the chin control rod, the chin control rod extends toward the back of the skull frame, and an elastic reset member is arranged between the sliding rod and the chin support.

[0018] Compared with the prior art, the present invention has the following beneficial effects:

[0019] The head of the humanoid expression robot has a parallelogram-like mechanism formed between the operating link, the transmission link and the frame. The parallelogram-like mechanism plays a role of transmission and stable support during the movement of the two eyeballs. The two eyeballs can achieve synchronous movement in the horizontal and vertical directions by only manipulating the operating link. Compared with the complex multi-joint control method, the above design reduces the control difficulty and improves the reliability of the system.

[0020] The present invention is further described below with reference to the accompanying drawings and embodiments. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 This is an overall schematic diagram of a humanoid expression robot head according to the present invention;

[0022] Figure 2 A schematic diagram of a headless frame of the humanoid expression robot head as described in the present invention;

[0023] Figure 3 The figure is a top-down cross-sectional schematic diagram of the head of a humanoid expression robot described in the present invention. DETAILED DESCRIPTION

[0024] The following description is used to fully explain the present invention so that those skilled in the art can implement the present invention. The preferred embodiments described below are only examples, and those skilled in the art can think of other obvious variations. The basic principles of the present invention defined in the following description can be applied to other embodiments, variations, improvements, equivalents, and other technical solutions that do not deviate from the spirit and scope of the present invention.

[0025] See also Figure 1-3 The present invention provides a technical solution: a humanoid expression robot head, comprising:

[0026] An eye platform 200 is provided in the head frame 100, an eyeball body 201 is connected between the eye platform 200 and the head frame 100 via an elastic limiting member 202, an eyeball body 201 is provided on both sides of the width direction of the head frame 100, and the eyeball body 201 has an initial state. When the eyeball body 201 is in the initial state, the eyeball is located at the center of the eye socket on the head frame 100, and the front of the eyeball faces the front of the head frame 100, and the elastic limiting member 202 is configured to drive the eyeball body 201 to approach the initial state;

[0027] An operating link 203 is provided on the eye platform 200, and the operating link 203 is arranged along the connecting line direction of the two eyeball bodies 201. The operating link 203 is configured to be suitable for rotating around its own axis and moving along its own axial direction. The end of the operating link 203 located on the same side of the width direction of the skull frame 100 and the eyeball body 201 are connected through a transmission link 204, one end of the transmission link 204 is fixedly connected to the eyeball body 201, and the other end of the transmission link 204 is hinged to the operating link 203, and a frame 205 is hinged between the transmission links 204, wherein the frame 205 and the operating link 203 are parallel, and the adjacent transmission links 204 are parallel, and the direction of the hinge axis of the transmission link 204 and the operating link 203 and the direction of the hinge axis of the transmission link 204 and the frame 205 are parallel and intersect with the axis direction of the operating link 203.

[0028] Through the above design, a parallelogram-like mechanism is formed between the operating link 203, the transmission link 204 and the frame 205. The parallelogram-like mechanism plays a role of transmission and stable support during the movement of the two eyeball bodies 201. Under the premise of only manipulating the operating link 203, the two eyeball bodies 201 can achieve synchronous movement in the horizontal and vertical directions. Compared with the complex multi-joint control method, the above design reduces the control difficulty and improves the reliability of the system.

[0029] In other words, the elastic limiter 202, the operating link 203, the transmission link 204 and the frame 205 constitute a transmission structure of an eyeball body 201, the transmission structure and the eye platform 200 are hinged, and a hinge axis is formed between the transmission structure and the eye platform 200. In the horizontal direction, the transmission structure is configured to drive the eyeball body 201 to rotate around its own center, and in the vertical direction, the transmission structure is configured to drive the eyeball body 201 to rotate around the hinge axis.

[0030] Furthermore, the hinge axis directions of the transmission link 204 and the operating link 203 and the hinge axis directions of the transmission link 204 and the frame 205 are parallel and perpendicular to the axis direction of the operating link 203. During the rotation of the operating link 203 around its own axis, the hinge axis directions of the transmission link 204 and the operating link 203 and the hinge axis directions of the transmission link 204 and the frame 205 have a large angle with the axis of rotation of the operating link 203, thereby avoiding affecting the horizontal position of the eyeball body 201.

[0031] Furthermore, a movable groove is provided at the radial center of the end of the transmission connecting rod 204, the end of the operating connecting rod 203 is movably arranged in the movable groove, and the inner wall of the movable groove and the end of the operating connecting rod 203 are connected via a bearing to enhance the stability of the connection between the two.

[0032] Further, a connecting rod support 206 is provided on the side of the eye platform 200 close to the back, a connecting hole 2061 is provided above the connecting rod support 206, the connecting hole 2061 is provided along the width direction of the head frame 100, the operating connecting rod 203 is movably provided in the connecting hole 2061, and further, the number of the connecting rod support 206 is two, and one connecting rod support 206 is provided on both sides of the head frame 100 in the width direction. The axis of the connecting hole 2061 coincides with the axis of the operating connecting rod 203, so that the operating connecting rod 203 can rotate around its own axis in the connecting hole 2061 and slide along its axis direction.

[0033] An eye operating rod 207 is provided at the center of the operating link 203, and the eye operating rod 207 extends toward the side of the operating link 203 away from the eyeball body 201, wherein the eye operating rod 207 is located between two adjacent link support members 206. The operating link 203 can be operated by the eye operating rod 207, thereby controlling the movement of the eyeball body 201.

[0034] The elastic stopper 202 includes an eyeball support, and an eyeball groove is provided on the eyeball support. The end of the eyeball body 201 in the vertical direction is located in the eyeball groove. Further, the number of the eyeball supports is two, and one eyeball support is provided at each end of the eyeball body 201 in the vertical direction. In the vertical direction, the elastic member is provided between the eyeball support above the eyeball body 201 and the skull frame 100, and the elastic member is provided between the eyeball support below the eyeball body 201 and the eye platform 200. The elastic member is arranged in the vertical direction. Preferably, the elastic member is a spring.

[0035] The humanoid expression robot head also includes an eyelid opening and closing mechanism, and the eyelid opening and closing mechanism includes:

[0036] The eyelid body 300 is located in front of the eyeball body 201, the eyelid body 300 corresponds to the eyeball body 201 one by one, the eyelid body 300 and the eye platform 200 are hinged, and the hinge axis of the eyelid body 300 and the eye platform 200 is arranged along the width direction of the head frame 100, and the eyelid operating rod 303 is connected to the eyelid body 300, and the eyelid operating rod 303 is located on the back of the eyeball body 201. Preferably, the eyelid operating rod 303 is located at the center of the line connecting the adjacent eyelid bodies 300.

[0037] Furthermore, a hinge is provided between the eyelid body 300 and the eye platform 200, and each eyeball body 201 is provided with a hinge on both sides of the width direction of the head frame 100, and the eyelid body 300 is connected to the hinges on both sides of the width direction of the corresponding eyeball body 201 of the head frame 100. By providing a plurality of hinges on the eye platform 200 for the opening and closing of the eyelid body 300, the stability of the opening and closing of the eyelid body 300 is ensured, and some of the hinges are located between the eyeball bodies 201, so that the limited space in the head frame 100 is fully utilized.

[0038] Furthermore, the opposite sides of the two eyelid bodies 300 are connected by an eyelid connecting rod 301, and the opposite sides of the two eyelid bodies 300 are each provided with the eyelid connecting rod 301, and the hinge comprises an eyelid support 302, and the upper end of the eyelid support 302 is provided with a rod groove, and the eyelid connecting rod 301 is movably arranged in the rod groove, and the inner wall of the rod groove is covered with a rubber layer, and the rubber layer is interference-connected with the eyelid connecting rod 301. In one embodiment, the eyelid operating rod 303 is connected to the eyelid connecting rod 301 located on the opposite side of the two eyelid bodies 300.

[0039] When in use, the eyelid operating rod 303 is controlled, and the eyelid operating rod 303 acts on the eyelid body 300 to rotate. The eyelid body 300 rotates in the rod groove through the eyelid connecting rod 301 to achieve control of the opening and closing of the eyelid body 300, wherein the rubber layer covering the inner wall of the rod groove squeezes the outer wall of the rod body to achieve the fixation of the relative position of the eyelid body 300 in different opening and closing states.

[0040] The humanoid expression robot head also includes a mouth mechanism 400 , and the mouth mechanism 400 is located below the eye platform 200 .

[0041] The mouth mechanism 400 comprises:

[0042] The chin support 401 and the chin body 402, wherein the chin support 401 is arranged at the bottom of the head frame 100, the chin support 401 is movably connected to the chin body 402, the chin body 402 is configured to be able to move along the front-to-back direction of the head frame 100, and the chin body 402 is configured to be able to rotate around the chin support 401.

[0043] Specifically, the chin support 401 is provided with a sliding groove 4011, and the sliding groove 4011 is arranged along the front-to-back direction of the head frame 100. A sliding rod 4012 is provided in the sliding groove 4011. The cross-section of the sliding rod 4012 in the length direction of the sliding groove 4011 is circular. The sliding rod 4012 is fixedly connected to the chin body 402. When the sliding rod 4012 slides along the length direction of the sliding groove 4011, the sliding rod 4012 can rotate around its own axis, so that the chin body 402 connected to the sliding rod 4012 can move forward and backward while rotating up and down. In addition, the chin body 402 cooperates with the sliding rod 4012 to be horizontally tilted in the sliding groove 4011, and the chin body 402 also has the function of small left and right displacement on the horizontal plane.

[0044] An elastic return member is provided between the sliding rod 4012 and the chin support member 401. The optional elastic return member is a spring. The sliding rod 4012 is supported by the elastic return member so that the chin body 402 connected to the sliding rod 4012 is in a closed state when not in use.

[0045] Furthermore, the sliding groove 4011 is located at the center of the chin support 401, and the sliding groove 4011 connects the two sides of the chin support 401 located in the width direction of the skull frame 100. Both ends of the sliding rod 4012 in the length direction extend to the outside of the chin support 401 through the sliding groove 4011. In the vertical direction, the cross-sectional size of the end of the sliding rod 4012 is larger than the cross-sectional size of the sliding groove 4011.

[0046] Furthermore, the center position of the sliding rod 4012 is fixedly connected to the chin body 402 and the chin control rod 403, and the chin control rod 403 extends toward the back of the head frame 100. The cross-sectional size of the chin control rod 403 is smaller than the cross-sectional size of the sliding groove 4011, so that the chin control rod 403 can control the displacement of the chin body 402 front and back, up and down, and left and right.

[0047] In order to meet the lightweight requirements of the robot head, the humanoid expression robot head is 3D printed with lightweight materials, such as high-strength plastics, aluminum alloys, etc. At the same time, by optimizing the structural design, unnecessary parts and weight are reduced, and the overall performance and energy efficiency of the robot are improved. During 3D printing, the columns are rounded to reduce stress concentration at the bottom of the columns and avoid part collapse and failure. During production, only the parts need to be assembled, which reduces the assembly cost and the cost of fine parts and avoids the problem of connection and breakage of fine parts.

[0048] The operability of the device is improved by increasing the damping of key components, such as adding rubber between the eyelid support 302 and the eyelid body 300, setting a spring between the sliding rod 4012 and the chin support 401, and setting an elastic limiter 202 between the eyeball body 201 and the eye platform 200.

[0049] In summary, the present invention can achieve equivalent expression effects using a single mechanism, such as: the front and back left and right movement of the chin, the front and back left and right rotation of the eyeballs

[0050] The humanoid expression robot head has the following advantages as a whole:

[0051] 1. Institutional innovation:

[0052] Modular design: The chin body 402, the eyeball body 201 and the eyelid body 300 are independently movable, and a modular design concept is adopted. Compared with the existing humanoid expression robot that controls the facial expression system as a whole, the present invention can achieve more detailed and independent motion control, and only needs to be repaired separately in case of failure.

[0053] 2. Materials and production process:

[0054] Flexibility of 3D printing: The complex shapes and movable structures achieved through 3D printing are more cost-effective and have the advantages of rapid prototyping in the manufacturing process. Compared with traditional mechanical humanoid robots, 3D printing can iterate and customize designs more quickly;

[0055] Lightweight and customizable: The material selection of 3D printing can provide lightweight advantages, and the size or shape can be adjusted according to needs, which is crucial for flexibility in robot design;

[0056] 400 innovative points of mouth mechanism:

[0057] The kinematic pair of the mouth mechanism 400 of the present invention combines a rotation pair and a translation pair, and can realize large displacement movements forward and backward, upward and downward, and has the ability to move with small displacements left and right. Compared with existing designs in the field of humanoid expression robots, it has the following advantages and innovations:

[0058] 1. Enhancement of multi-dimensional movement:

[0059] More realistic range of motion: Compared with the traditional humanoid robot jaw that mainly relies on a simple revolute pair, the mouth mechanism 400 of the present invention can achieve a large displacement of the jaw body 402 forward and backward and up and down, which is closer to the movement of a real human jaw. For example, when a human chews or speaks, the movement of the jaw is not only rotation, but also involves complex translational movement. The present invention is more in line with human biomechanics and can simulate facial expressions and mouth movements more realistically.

[0060] 2. More flexible expression simulation:

[0061] Degree of refinement in expression changes: By combining the translation joint and the rotation joint, the jaw can not only move in a single direction, but also complete combined movements. This means that complex expressions, such as smiles, confusion, or subtle changes in speech, can be expressed more delicately. In contrast, traditional humanoid robots may only be able to make simple movements in one or two degrees of freedom, making it difficult to achieve such expression details.

[0062] 3. Better motion control:

[0063] More precise positioning and control: By introducing a mobile pair, the device can more accurately control the position of the chin body 402 in multiple degrees of freedom, which helps to achieve more precise expression control and mouth movements. This design can have obvious advantages in scenarios that require highly precise control, such as the high-fidelity requirements of simulated robot facial expressions.

[0064] 4. Improved mechanical structure:

[0065] Stability and durability of movement: The design of combining rotating and sliding joints can make the structure of the jaw more stable and reduce the wear problem of a single moving joint in long-term operation. Different moving joints share the movement load, which may help to extend the service life of the structure and improve reliability in practical applications.

[0066] This multi-degree-of-freedom design combined with different kinematic pairs not only expands the range of motion of the chin, but also enhances the precision and expressiveness of mechanical simulation. It is particularly suitable for scenes that require highly realistic expressions and motion simulations.

[0067] Innovations of eye mechanism:

[0068] 1. Unique combination: Combining the parallelogram-like mechanism with the revolute pair. This innovative design idea is relatively new in the eye mechanism. The rotation of the revolute pair drives the movement of the parallelogram-like mechanism, giving full play to the advantages of the two mechanisms and realizing a more flexible up, down, left and right movement of the eyeball in the head.

[0069] 2. Optimize space utilization: Within the limited head space, this structural design can effectively utilize the space and make the layout of the eye mechanism more compact and reasonable. Compared with the traditional eye movement mechanism, this design can achieve more complex movement functions without increasing too much volume.

[0070] 3. Multi-directional movement capability: Through the coordination of the parallelogram-like mechanism and the revolute pair, the eyeball can achieve all-round movement up, down, left and right. This multi-directional movement capability makes the robot's expression more vivid and lifelike, and enhances the interaction with humans.

[0071] 4. Smoothness and accuracy of movement: The eye mechanism has the characteristics of high stability and predictable motion trajectory, and the revolute pair can provide precise rotation control. The combination of the two makes the movement of the eyeball smoother and more accurate, avoiding shaking and deviation, and improving the visual performance quality of the robot.

[0072] 5. Simplify control difficulty: The design of the eye mechanism makes the way of controlling eye movement simpler and more intuitive. By controlling the rotation angle and displacement of the connecting rod on the rotating pair, the movement of the eye mechanism can be controlled, thereby realizing various movement states of the eye. Compared with the complex multi-joint control method, this design reduces the control difficulty and improves the reliability of the system.

[0073] The embodiments described above are only used to illustrate the technical ideas and features of the present invention, and their purpose is to enable technicians in this field to understand the contents of the present invention and implement them accordingly. The patent scope of the present invention cannot be limited only by this embodiment, that is, any equivalent changes or modifications made according to the spirit disclosed by the present invention still fall within the patent scope of the present invention.

Claims

1. A humanoid expression robot head, comprising a head frame (100), characterized in that: An eye platform (200) is arranged inside the skull frame (100), an eyeball body (201) is connected between the eye platform (200) and the skull frame (100) via an elastic stopper (202), and one eyeball body (201) is arranged on each side of the skull frame (100) in the width direction; The eye platform (200) is provided with an operating link (203), the operating link (203) is arranged along the connecting line direction of the two eyeball bodies (201), the operating link (203) is configured to be suitable for rotating around its own axis and moving along its own axial direction, and the end of the operating link (203) located on the same side of the width direction of the skull frame (100) and the eyeball body (201) are connected via a transmission link (204), and one end of the transmission link (204) is fixedly connected to the eyeball body (201). ), the other end of the transmission link (204) is hinged to the operating link (203), a frame (205) is hinged between the transmission links (204), wherein the frame (205) and the operating link (203) are parallel, adjacent transmission links (204) are parallel, the direction of the hinge axis of the transmission link (204) and the operating link (203) is parallel to the direction of the hinge axis of the transmission link (204) and the frame (205), and intersects with the axis direction of the operating link (203).

2. A humanoid expression robot head according to claim 1, characterized in that: The directions of the hinge axes of the transmission connecting rod (204) and the operating connecting rod (203) and the directions of the hinge axes of the transmission connecting rod (204) and the frame (205) are parallel and perpendicular to the directions of the axes of the operating connecting rod (203).

3. A humanoid expression robot head according to claim 1, characterized in that: A connecting rod support (206) is provided on the side of the eye platform (200) close to the back, and a connecting hole (2061) is provided above the connecting rod support (206) and is arranged along the width direction of the skull frame (100). The operating connecting rod (203) is movably inserted into the connecting hole (2061), and the axis of the connecting hole (2061) coincides with the axis of the operating connecting rod (203). One connecting rod support (206) is provided on each side of the operating connecting rod (203) in the length direction, and an eye operating rod (207) is connected to the operating connecting rod (203), and the eye operating rod (207) is located between two adjacent connecting rod support members (206).

4. A humanoid expression robot head according to claim 1, characterized in that: The elastic limiting member (202) comprises an eyeball support, and one eyeball support is respectively provided at each end of the eyeball body (201) in the vertical direction, and an eyeball groove is provided on the eyeball support. The end of the eyeball body (201) in the vertical direction is located in the eyeball groove. In the vertical direction, the elastic member is provided between the eyeball support and the skull frame (100) above the eyeball body (201), and between the eyeball support and the eye platform (200) below the eyeball body (201).

5. The humanoid expression robot head according to claim 1, characterized in that: The humanoid expression robot head also includes: An eyelid body (300), wherein the eyelid body (300) is located in front of the eyeball body (201), and the eyelid body (300) corresponds to the eyeball body (201) one by one. A hinge is provided between the eyelid body (300) and the eye platform (200), and each eyeball body (201) is provided with a hinge on both sides in the width direction of the skull frame (100), and the eyelid body (300) is connected to the hinges on both sides of the corresponding eyeball body (201) in the width direction of the skull frame (100).

6. A humanoid expression robot head according to claim 5, characterized in that: The opposite sides of the two eyelid bodies (300) are connected by an eyelid connecting rod (301), and the eyelid connecting rod (301) is provided on the opposite sides of the two eyelid bodies (300). The hinge comprises an eyelid support member (302), and a rod groove is provided at the upper end of the eyelid support member (302). The eyelid connecting rod (301) is movably arranged in the rod groove, and the inner wall of the rod groove is covered with a rubber layer, and the rubber layer and the eyelid connecting rod (301) are interference-connected.

7. A humanoid expression robot head according to claim 6, characterized in that: The humanoid expression robot head also includes: an eyelid operating rod (303), the eyelid operating rod (303) is connected to the eyelid connecting rod (301) located on the opposite side of the two eyelid bodies (300), and the eyelid operating rod (303) extends toward the back side of the head frame (100).

8. The humanoid expression robot head according to claim 1, characterized in that: The humanoid expression robot head also includes: A mouth mechanism (400), the mouth mechanism (400) is located below the eye platform (200), the mouth mechanism (400) comprises: a chin support (401) and a chin body (402), the chin support (401) is arranged at the bottom of the skull frame (100), the chin support (401) and the chin body (402) are movably connected, the chin body (402) is arranged to be able to move along the front-to-back direction of the skull frame (100), and the chin body (402) is arranged to be able to rotate around the chin support (401).

9. A humanoid expression robot head according to claim 8, characterized in that: The chin support (401) is provided with a sliding groove (4011), and the sliding groove (4011) is arranged along the front-to-back direction of the head frame (100). A sliding rod (4012) is provided in the sliding groove (4011), and the cross-section of the sliding rod (4012) in the length direction of the sliding groove (4011) is circular. The sliding rod (4012) and the chin body (402) are fixedly connected.

10. The humanoid expression robot head according to claim 9, characterized in that: The sliding groove (4011) is located at the center of the chin support (401), the center of the sliding rod (4012) is fixedly connected to the chin body (402) and the chin control rod (403), the chin control rod (403) extends toward the back of the skull frame (100), and an elastic reset member is arranged between the sliding rod (4012) and the chin support (401).

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