A humanoid expression robot head

Abstract

The application provides a humanoid expression robot head, which comprises a head frame, an eye platform arranged in the head frame, eyeball bodies connected between the eye platform and the head frame through elastic limit members, and one of the eyeball bodies arranged on each side of the head frame in the width direction of the head frame; an operation connecting rod is arranged on the eye platform and arranged along the connecting line direction of the two eyeball bodies. The humanoid expression robot head, the operation connecting rod, the transmission connecting rod and the rack form a parallelogram-like mechanism, the parallelogram-like mechanism plays a transmission and stable support role in the movement of the two eyeball bodies, and synchronous movement of the two eyeball bodies in the horizontal and vertical directions can be realized under the premise that only the operation connecting rod is controlled. Compared with a complex multi-joint control mode, the above design reduces the control difficulty and improves the reliability of the system.

Description

Technical Field

[0001] This invention relates to the field of robotics, and more particularly to a humanoid facial expression robot head. Background Technology

[0002] Existing humanoid facial expression robot heads have several technical shortcomings, such as insufficient expression richness, assembly difficulties, high cost, non-standard connectors that are prone to breakage and jamming, and high energy consumption. The main technical problem is that current solutions for achieving realistic facial expression simulation in humanoid robot heads rely heavily on electronic components and complex control systems. Corresponding electronic components are set up 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] To address the aforementioned problems, this invention proposes a humanoid facial expression robot head that is simple in structure, easy to control, and highly reliable. Summary of the Invention

[0004] To address the problems existing in the current humanoid expression robot heads, this invention provides a humanoid expression robot head.

[0005] According to one objective of the present invention, the present invention provides a humanoid facial expression robot head, including a head frame, characterized in that an eye platform is provided inside the head frame, an eyeball body is connected between the eye platform and the head frame by an elastic limiting member, and an eyeball body is respectively provided on both sides of the head frame in the width direction.

[0006] An operating link is provided on the eye platform. The operating link is arranged along the line connecting the two eyeball bodies. The operating link is adapted 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 is connected to the eyeball body 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. A frame is hinged between the transmission links. The frame is parallel to the operating link, and adjacent transmission links are parallel. The hinge axis directions of the transmission link and the operating link, as well as the hinge axis directions of the transmission link and the frame, are parallel and intersect at the axial direction of the operating link.

[0007] Preferably, the hinge axis directions of the transmission link and the operating link, as well as the hinge axis direction of the transmission link and the frame, are parallel and perpendicular to the axial direction of the operating link.

[0008] Preferably, a connecting rod support is provided on the side of the eye platform near the back. A connecting hole is provided above the connecting rod support along the width direction of the skull frame. 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. A connecting rod support is provided on each side of the operating connecting rod along its length. An eye operating rod is connected to the operating connecting rod and is located between two adjacent connecting rod supports.

[0009] Preferably, the elastic limiting member includes an eyeball holder, with one eyeball holder corresponding to each end of the eyeball body in the vertical direction. The eyeball holder has an eyeball groove, and the end of the eyeball body in the vertical direction is located in the eyeball groove. In the vertical direction, the elastic member is provided between the eyeball holder and the skull frame above the eyeball body, and between the eyeball holder and the eye platform below the eyeball body.

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

[0011] An eyelid body is located in front of the eyeball body. The eyelid body and the eyeball body correspond one-to-one. A hinge is provided between the eyelid body and the eye platform. Each eyeball body is provided with a hinge on both sides of the skull frame in the width direction. The eyelid body is connected to the hinges on both sides of the corresponding eyeball body in the skull frame in the width direction.

[0012] Preferably, the two eyelid bodies are connected on opposite sides 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, and the upper end of the eyelid support has a rod groove. The eyelid connecting rod is movably disposed 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-fitted.

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

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

[0015] A mouth mechanism is located below the eye platform. The mouth mechanism includes a chin support and a chin body. The chin support is disposed at the bottom of the skull frame. The chin support and the chin body are movably connected. The chin body is adapted to move along the front-back direction of the skull frame and is adapted 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-back direction of the skull frame, a sliding rod is provided in the sliding groove, the sliding rod has a circular cross-section along the length direction of the sliding groove, 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 provided between the sliding rod and the chin support.

[0018] Compared with the prior art, the beneficial effects of the present invention are:

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

[0020] The present invention will be further described below with reference to the accompanying drawings and embodiments. Attached Figure Description

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

[0022] Figure 2 This is a schematic diagram of the headless frame of the humanoid facial expression robot head described in this invention;

[0023] Figure 3 This is a top-view cross-sectional view of the head of a humanoid facial expression robot according to the present invention. Detailed Implementation

[0024] The following description is intended to provide a detailed account of the invention so that those skilled in the art can implement it. The preferred embodiments described below are merely examples, and other obvious variations will occur to those skilled in the art. The basic principles of the invention defined in the following description can be applied to other embodiments, modifications, improvements, equivalents, and other technical solutions that do not depart from the spirit and scope of the invention.

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

[0026] An eye platform 200 is provided inside the skull frame 100. An eyeball body 201 is connected between the eye platform 200 and the skull frame 100 through an elastic limiting member 202. An eyeball body 201 is provided on each side of the skull frame 100 in the width direction. 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 skull frame 100, and the front of the eyeball faces the front of the skull frame 100. 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. The operating link 203 is arranged along the line connecting the two eyeball bodies 201. The operating link 203 is adapted to rotate around its own axis and move 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 is connected to the eyeball body 201 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. A frame 205 is hinged between the transmission links 204. The frame 205 and the operating link 203 are parallel, and adjacent transmission links 204 are parallel. The hinge axis directions of the transmission links 204 and the operating link 203, as well as the hinge axis directions of the transmission links 204 and the frame 205, are parallel and intersect at the axial direction of the operating link 203.

[0028] Through the above design, the operating link 203, the transmission link 204, and the frame 205 form a parallelogram-like mechanism. The parallelogram-like mechanism plays a role in transmission and stable support during the movement of the two eyeball bodies 201. It can achieve synchronous movement of the two eyeball bodies 201 in the horizontal and vertical directions by only controlling the operating link 203. 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 limiting member 202, the operating linkage 203, the transmission linkage 204, and the frame 205 constitute the transmission structure of the eyeball body 201. The transmission structure is hinged to the eye platform 200, 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. 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, as well as 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, as well as the hinge axis directions of the transmission link 204 and the frame 205, have a large included 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 formed at the radial center of the end of the transmission connecting rod 204, and the end of the operating connecting rod 203 is movably disposed within the movable groove. The inner wall of the movable groove and the end of the operating connecting rod 203 are connected by a bearing to enhance the stability of the connection between the two.

[0032] Furthermore, a connecting rod support 206 is provided on the side of the eye platform 200 near the back. A connecting hole 2061 is provided above the connecting rod support 206, and the connecting hole 2061 is arranged along the width direction of the skull frame 100. The operating connecting rod 203 is movably inserted into the connecting hole 2061. Further, there are two connecting rod supports 206, one on each side of the skull frame 100 in the width direction. The axis of the connecting hole 2061 coincides with the axis of the operating connecting rod 203, thereby allowing the operating connecting rod 203 to rotate around its own axis and slide along its axial direction within the connecting hole 2061.

[0033] An eye control lever 207 is positioned at the center of the operating linkage 203. The eye control lever 207 extends toward the side of the operating linkage 203 away from the eyeball body 201, and is located between two adjacent linkage supports 206. The operating linkage 203 can be operated via the eye control lever 207 to control the movement of the eyeball body 201.

[0034] The elastic limiting member 202 includes an eyeball rest with an eyeball groove. The vertical end of the eyeball body 201 is located within the eyeball groove. Further, there are two eyeball rests, one for each vertical end of the eyeball body 201. In the vertical direction, the elastic member is positioned between the eyeball rest above the eyeball body 201 and the skull frame 100, and between the eyeball rest below the eyeball body 201 and the eye platform 200. The elastic member is arranged vertically. Preferably, the elastic member is a spring.

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

[0036] An eyelid body 300 is located in front of the eyeball body 201, with each eyelid body 300 corresponding to one of the eyeball bodies 201. The eyelid body 300 is hinged to the eye platform 200, and the hinge axis between the eyelid body 300 and the eye platform 200 is arranged along the width direction of the skull frame 100. An 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 adjacent eyelid bodies 300.

[0037] Furthermore, a hinge is provided between the eyelid body 300 and the eye platform 200. Each eyeball body 201 has a hinge on each side of the skull frame 100 in the width direction. The eyelid body 300 connects to the hinges on both sides of the skull frame 100 corresponding to the eyeball body 201 in the width direction. By providing multiple 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. Some of the hinges are located between the eyeball bodies 201, thus making full use of the limited space within the skull frame 100.

[0038] Furthermore, the two eyelid bodies 300 are connected on opposite sides by an eyelid connecting rod 301. Each of the two eyelid bodies 300 has an eyelid connecting rod 301 on its opposite side. The hinge includes an eyelid support 302, the upper end of which has a groove. The eyelid connecting rod 301 is movably disposed within the groove, and the inner wall of the groove is covered with a rubber layer. The rubber layer and the eyelid connecting rod 301 are press-fitted together. In one embodiment, the eyelid operating rod 303 is connected to the eyelid connecting rod 301 located on opposite sides of the two eyelid bodies 300.

[0039] In use, the eyelid operating lever 303 is controlled, which causes the eyelid body 300 to rotate. The eyelid body 300 rotates in the groove of the eyelid connecting rod 301, thereby controlling the opening and closing of the eyelid body 300. The rubber layer covering the inner wall of the groove squeezes the outer wall of the rod, thereby fixing 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, which is located below the eye platform 200.

[0041] The mouth mechanism 400 includes:

[0042] The chin support 401 and the chin body 402 are provided. The chin support 401 is disposed at the bottom of the skull frame 100. The chin body 402 is movably connected to the chin support 401. The chin body 402 is configured to move along the front-back direction of the skull frame 100 and is configured to rotate around the chin support 401.

[0043] Specifically, the chin support 401 is provided with a sliding groove 4011, which is arranged along the front-back direction of the skull frame 100. A sliding rod 4012 is provided in the sliding groove 4011. The cross-section of the sliding rod 4012 along the length of the sliding groove 4011 is circular. The sliding rod 4012 is fixedly connected to the chin body 402. During the sliding process along the length of the sliding groove 4011, the sliding rod 4012 can rotate around its own axis, thereby enabling the chin body 402 connected to the sliding rod 4012 to move back and forth while rotating up and down. In addition, the chin body 402 can tilt horizontally within the sliding groove 4011 in cooperation with the sliding rod 4012. The chin body 402 also has the function of small left and right displacement on the horizontal plane.

[0044] An elastic reset member is provided between the sliding rod 4012 and the chin support member 401. The elastic reset member can be a spring. The sliding rod 4012 is supported by the elastic reset 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. The two 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 dimension of the end of the sliding rod 4012 is larger than the cross-sectional dimension of the sliding groove 4011.

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

[0047] To meet the lightweight requirements of the robot's head, the humanoid facial expression robot head is 3D printed using lightweight materials such as high-strength plastics and aluminum alloys. Simultaneously, by optimizing the structural design, unnecessary parts and weight are reduced, improving the robot's overall performance and energy efficiency. During 3D printing, the columns are rounded to reduce stress concentration at the bottom, preventing part breakage and failure. During manufacturing, only assembly of the parts is required, reducing assembly costs and the cost of delicate parts, and avoiding the problem of connection breakage of delicate components.

[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 limiting member 202 between the eyeball body 201 and the eye platform 200.

[0049] In summary, this invention can achieve equivalent facial expression effects using a single mechanism, such as the forward, backward, left, and right movement of the chin, or the forward, backward, left, and right rotation of the eyeballs.

[0050] The humanoid facial expression robot head has the following advantages:

[0051] 1. Institutional Innovation:

[0052] Modular design: The chin body 402, eyeball body 201 and eyelid body 300 are independently movable. The design adopts a modular approach. Compared with the existing humanoid facial expression robots that control the facial expression system as a whole, this invention can achieve more detailed and independent motion control. In case of failure, only individual parts need to be repaired.

[0053] 2. Materials and Manufacturing Process:

[0054] The flexibility of 3D printing: Complex shapes and movable structures achieved through 3D printing offer advantages in manufacturing processes, such as greater cost-effectiveness and rapid prototyping. Compared to traditional mechanical humanoid robots, 3D printing allows for faster iteration and customized design.

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

[0056] 400 Innovations in Mouth Mechanism:

[0057] The mouth mechanism 400 of this invention combines revolute and prismatic joints, enabling large forward and backward, up and down movements, as well as small left and right movements. Compared with existing designs, it has the following advantages and innovations in the field of humanoid facial expression robots:

[0058] 1. Enhancement of multidimensional motion:

[0059] More realistic range of motion: Compared to traditional humanoid robot chins that mainly rely on simple rotational joints, the mouth mechanism 400 of this invention can achieve significant forward and backward, and up and down displacement of the chin body 402, more closely resembling the movement of a real human chin. For example, when a human chews or speaks, the movement of the chin involves not only rotation but also complex translational movements. This invention is more in line with human biomechanics and can more realistically simulate facial expressions and mouth movements.

[0060] 2. More flexible facial expression simulation:

[0061] The finesse of facial expressions: By combining prismatic and rotatory joints, the jaw can not only move in a single direction but also perform combined movements. This means that complex expressions, such as smiles, confusion, or subtle changes in speech, can be expressed with greater subtlety. In contrast, traditional humanoid robots may only be able to perform simple movements in one or two degrees of freedom, making it difficult to achieve such facial detail.

[0062] 3. Better motion control:

[0063] More precise positioning and control: By introducing a prismatic joint, this device can more precisely control the position of the chin body 402 in multiple degrees of freedom, which helps to achieve more precise facial expression control and mouth movements. This design has significant advantages in scenarios that require highly precise control, such as the high fidelity requirements of facial expressions in humanoid robots.

[0064] 4. Improved mechanical structure:

[0065] Stability and durability of motion: The design combining revolute and prismatic joints makes the chin structure more stable, reduces wear and tear on individual kinematic joints during long-term operation, and the distribution of motion load among different kinematic joints may help extend the service life of the structure and improve reliability in practical applications.

[0066] This multi-degree-of-freedom design, which incorporates different kinematic pairs, not only expands the range of motion of the chin but also enhances the precision and expressiveness of mechanical simulation, making it particularly suitable for scenarios requiring highly realistic facial expressions and motion simulation.

[0067] Innovations in eye care:

[0068] 1. Unique combination method: Combining a parallelogram-like mechanism with a revolute joint is an innovative design concept that is relatively novel in eye mechanisms. The rotation of the revolute joint drives the movement of the parallelogram-like mechanism, giving full play to the advantages of both mechanisms and enabling the eyeball to move more flexibly up, down, left, and right within the skull.

[0069] 2. Optimized space utilization: Within the limited space of the skull, this structural design can effectively utilize space, making 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 the volume too much.

[0070] 3. Multi-directional movement capability: Through the cooperation of a parallelogram-like mechanism and a rotating joint, the eyeball can achieve all-round movement in all directions, up, down, left, and right. This multi-directional movement capability makes the robot's expressions more vivid and realistic, enhancing the interaction with humans.

[0071] 4. Stability and accuracy of movement: The eye mechanism features high stability and predictable movement trajectory, while the rotary joint provides precise rotation control. The combination of the two makes the eye movement more stable and accurate, avoiding wobbling and deviation, and improving the visual performance quality of the robot.

[0072] 5. Simplified control difficulty: The design of the eye mechanism makes controlling eye movement simpler and more intuitive. By controlling the rotation angle and displacement of the linkage on the rotating joint, the movement of the eye mechanism can be controlled, thereby realizing various movement states of the eye. Compared with complex multi-joint control methods, 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. Their purpose is to enable those skilled in the art to understand the content of the present invention and implement it accordingly. The scope of patent application of the present invention should not be limited by these embodiments. That is, any equivalent changes or modifications made in accordance with the spirit disclosed in the present invention still fall within the patent scope of the present invention.

Claims

1. A humanoid facial expression robot head, comprising a skull frame (100), characterized in that, An eye platform (200) is provided inside the skull frame (100). An eyeball body (201) is connected between the eye platform (200) and the skull frame (100) through an elastic limiting member (202). An eyeball body (201) is provided on each side of the skull frame (100) in the width direction. An operating link (203) is provided on the eye platform (200). The operating link (203) is arranged along the line connecting the two eyeball bodies (201). The operating link (203) is adapted to rotate around its own axis and move 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) is connected to the eyeball body (201) through a transmission link (204). 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), and a frame (205) is hinged between the transmission links (204). The frame (205) and the operating link (203) are parallel, and adjacent transmission links (204) are parallel. The hinge axis direction of the transmission link (204) and the operating link (203) is parallel to the hinge axis direction of the transmission link (204) and the frame (205), and intersects at the axis direction of the operating link (203).

2. The humanoid facial expression robot head according to claim 1, characterized in that, 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).

3. The humanoid facial 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) near the back. A connecting hole (2061) is provided above the connecting rod support (206) along the width direction of the skull frame (100). The operating rod (203) is movably inserted into the connecting hole (2061). The axis of the connecting hole (2061) coincides with the axis of the operating rod (203). A connecting rod support (206) is provided on each side of the operating rod (203) along its length. An eye operating rod (207) is connected to the operating rod (203). The eye operating rod (207) is located between two adjacent connecting rod supports (206).

4. The humanoid facial expression robot head according to claim 1, characterized in that, The elastic limiting member (202) includes an eyeball holder. Each end of the eyeball body (201) in the vertical direction is provided with an eyeball holder. The eyeball holder is provided with an eyeball groove. The end of the eyeball body (201) in the vertical direction is located in the eyeball groove. In the vertical direction, elastic members are provided between the eyeball holder and the skull frame (100) above the eyeball body (201) and between the eyeball holder and the eye platform (200) below the eyeball body (201).

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

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

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

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

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

10. A humanoid facial expression robot head according to claim 9, characterized in that, The sliding groove (4011) is located at the center of the chin support (401), and 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 provided between the sliding rod (4012) and the chin support (401).

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