An expression robot with changeable skin color and face shape

Abstract

The present invention discloses an expression robot with changeable skin color and face shape. The eyebrow mechanism and the eye mechanism are fixedly connected, and the eyebrow mechanism, the eye mechanism and the mouth mechanism are all connected to the deformation mechanism. The eyebrow mechanism, the mouth mechanism and the deformation mechanism are all installed on the head shell mechanism, and the neck mechanism is fixedly installed on the bottom end of the mouth mechanism. The skin color changing mechanism is attached to the head shell mechanism to realize the change of the robot's skin color. The deformation mechanism is mainly driven by a worm gear structure, and the deformation of the robot's eyebrows, eyes and mouth is realized by the worm gear structure. The machine of the present invention realizes adaptive facial transformation according to the characteristics of the human face, can quickly change the face shape, skin color and pupil color according to different application scenarios, and can realize a rich mouth shape to meet the needs of real-time dialogue.

Description

Technical Field

[0001] The invention relates to the technical field of expression robots, and in particular to an expression robot with changeable skin color and face shape. Background Art

[0002] In recent years, humanoid robots have received much attention. However, most existing research focuses on walking control and arm grasping of humanoid robots. In contrast, there is a lack of attention to advanced interactive functions. Advanced interactive functions mainly refer to the emotional interaction between humans and robots, such as typical expression interactions. Expression robots can establish a more expressive and realistic communication channel between humans and robots through changes in facial expressions.

[0003] However, existing expression robots have common shortcomings: 1. They have a single function, a complex internal structure, and a low degree of freedom of expression. They cannot simulate advanced and diverse expressions and mouth shapes, so that their expressions are very stiff; 2. They do not have the ability to change their face shape, and can only present a fixed and single appearance, and cannot adapt to the changing needs of various characters' faces; 3. They do not have the ability to change their skin color, which makes it difficult to meet the application needs of multiple scenes, and they also lack the ability to convey subtle emotions (for example, the gradual redness of the face can convey shy emotions). However, the prior art lacks a multifunctional expression robot that has both facial expression changes and multiple degrees of freedom of the mouth, as well as facial deformation, skin color change, and eye iris color change. Summary of the invention

[0004] In order to solve the problems existing in the background technology, the purpose of the present invention is to provide an expression robot with changeable skin color and face shape.

[0005] The technical solution adopted by the present invention is:

[0006] The robot includes a head assembly, a head shell mechanism, a neck mechanism and a skin color changing mechanism; the head assembly is mainly composed of an eyebrow mechanism, an eye mechanism, a mouth mechanism and a deformation mechanism, the eyebrow mechanism and the eye mechanism are fixedly connected, the eyebrow mechanism, the eye mechanism and the mouth mechanism are all connected to the deformation mechanism, the eyebrow mechanism, the mouth mechanism and the deformation mechanism are all connected to the head shell mechanism, the neck mechanism is fixedly installed on the mouth mechanism, the skin color changing mechanism is attached to the head shell mechanism, and is used to realize the replacement of the robot's skin color, the deformation mechanism includes an eyebrow deformation unit and a mouth deformation unit, the eyebrow deformation unit and the mouth deformation unit are mainly driven by a worm gear structure, and the deformation of the robot's eyebrows and mouth is realized through the worm gear structure.

[0007] The eye mechanism includes an eyelid opening and closing unit, an eyeball rotation unit and a pupil color changing unit, the eyelid opening and closing unit and the eyeball rotation unit are connected, and a pupil color changing unit for pupil color changing is arranged in the eyeball of the eyelid opening and closing unit; the eyelid opening and closing unit includes a first eye servo, a first eye servo arm, an upper eyelid connecting rod, an upper eyelid, a second eye servo, a second eye servo arm, a lower eyelid connecting rod, a lower eyelid, an eyeball and an eye fixing bracket; the first eye servo and the second The eye servos are all fixedly installed on the eye fixing bracket, the output shaft of the first eye servo is hinged to one end of the upper eyelid connecting rod through the first eye servo arm, the other end of the upper eyelid connecting rod is hinged to the upper eyelid, the output shaft of the second eye servo is hinged to one end of the lower eyelid connecting rod through the second eye servo arm, the other end of the lower eyelid connecting rod is hinged to the lower eyelid, the upper eyelid and the lower eyelid are both hinged to the eye fixing bracket, the upper eyelid and the lower eyelid are hinged, and the eyeball is arranged between the upper eyelid and the lower eyelid;

[0008] The eyeball rotation unit comprises an eyeball back plate, a third eye servo, a fourth eye servo, a third eye servo arm, a first eye connecting rod, a second eye connecting rod, a fourth eye servo arm, a third eye connecting rod and a fourth eye connecting rod; the third eye servo and the fourth eye servo are both fixedly mounted on an eye fixing bracket, the eyeball back plate is fixedly mounted on the eyeball, the output shaft of the third eye servo is fixedly connected to one end of the third eye servo arm, the other end of the third eye servo arm is fixedly connected to the bottom end of the first eye connecting rod, one end of the second eye connecting rod is movably connected to the first eye connecting rod up and down, and the other end of the second eye connecting rod is connected to the eyeball back plate through a ball joint; the output shaft of the fourth eye servo is fixedly connected to one end of the fourth eye servo arm, the other end of the fourth eye servo arm is hinged to one end of the third eye connecting rod, the other end of the third eye connecting rod is hinged to the middle of the fourth eye connecting rod, and the two ends of the fourth eye connecting rod are respectively hinged to the eye fixing bracket and the eyeball back plate;

[0009] The pupil color-changing unit includes a pupil, an eye mask, positively charged blue particles and negatively charged brown particles; the pupil and the eye mask are arranged in the middle of the outer surface of the eyeball, and an eye cavity is opened in the middle of the eyeball, in which a transparent liquid, positively charged blue particles and negatively charged brown particles are stored; when a positive current is passed through the transparent liquid, the negatively charged brown particles are adsorbed on the inner surface of the eyeball, making the eye mask of the eyeball brown, and when a negative current is passed through the transparent liquid, the positively charged blue particles are adsorbed on the inner surface of the eyeball, making the eye mask of the eyeball blue.

[0010] The mouth mechanism includes an upper lip unit, a lower lip unit and left and right lip units, and the lower lip unit and the left and right lip units are all connected to the upper lip unit; the upper lip unit includes a first upper lip servo, a first upper lip servo arm, a first upper lip connecting rod, an upper lip slider, a second upper lip servo, a second upper lip servo arm, a second upper lip connecting rod, a first mouth control plate, two third upper lip servos, two third upper lip servo arms, two second mouth control plates and a mouth middle bracket; the first upper lip servo, the second upper lip servo and the two third upper lip servos are all fixedly installed Installed on the mouth middle bracket, the output shaft of the first upper lip servo is hinged to one end of the first upper lip connecting rod through the first upper lip servo arm, the other end of the first upper lip connecting rod is hinged to the first mouth control piece, the output shaft of the second upper lip servo is hinged to one end of the second upper lip connecting rod through the second upper lip servo arm, the other end of the second upper lip connecting rod is installed with an upper lip slider, the upper lip slider can be installed on the first upper lip connecting rod to move forward and backward along the extension direction of the first upper lip connecting rod, and the output shafts of the two third upper lip servos are respectively hinged to the two second mouth control pieces through the third upper lip servo arms;

[0011] The lower lip unit includes a first lower lip servo, a first lower lip servo arm, a first lower lip connecting rod, a lower lip slider, a second lower lip servo, a second lower lip servo arm, a second lower lip connecting rod, a third lower lip connecting rod, a third mouth control plate, two third lower lip servos, two third lower lip servo arms, two fourth mouth control plates, a fourth lower lip servo and a lower lip fixed bracket; the fourth lower lip servo is fixedly installed on the mouth middle bracket, the servo arm of the fourth lower lip servo is connected to the lower lip fixed bracket, the first lower lip servo, the second lower lip servo and the two third lower lip servos are all fixedly installed on the lower lip fixed bracket, the second lower lip The output shaft of the servo is hinged to one end of the second lower lip connecting rod through the second lower lip servo arm, the other end of the second lower lip connecting rod is hinged to one end of the third lower lip connecting rod, the other end of the third lower lip connecting rod is fixedly connected to the third mouth control plate, the output shaft of the first lower lip servo is hinged to one end of the first lower lip connecting rod through the first lower lip servo arm, the other end of the first lower lip connecting rod is equipped with a lower lip slider, the lower lip slider can be installed on the third lower lip connecting rod to move forward and backward along the extension direction of the third lower lip connecting rod, and the output shafts of the two third lower lip servos are respectively hinged to the two fourth mouth control plates through the third lower lip servo arm;

[0012] The left and right lip units include a first mouth servo, a first mouth servo arm, a first mouth connecting rod, a second mouth servo, a second mouth servo arm, a second mouth connecting rod, a fifth mouth control plate and two mouth side brackets; the two mouth side brackets are respectively arranged on the left and right sides of the mouth middle bracket, the first mouth servo and the second mouth servo are both fixedly connected to the mouth side brackets, the output shaft of the first mouth servo is hinged to one end of the first mouth connecting rod through the first mouth servo arm, the output shaft of the second mouth servo is hinged to one end of the second mouth connecting rod through the second mouth servo arm, the other end of the first mouth connecting rod is hinged to the other end of the second mouth connecting rod, and the fifth mouth control plate is installed at the hinge position of the first mouth connecting rod and the second mouth connecting rod.

[0013] The eyebrow deformation unit includes an eyebrow deformation worm gear and two eyebrow deformation connecting rods; the eyebrow deformation worm gear includes a first eyebrow ball buckle, a second eyebrow ball buckle, a third eyebrow ball buckle, a fourth eyebrow ball buckle, a first eyebrow worm gear, a second eyebrow worm gear, an eyebrow deformation worm gear and an eyebrow deformation worm gear housing;

[0014] The top and bottom of the eyebrow deformation connecting rod are fixedly connected to the eyebrow fixing bracket in the eyebrow mechanism and the eye fixing bracket in the eye mechanism respectively, the eyebrow deformation worm gear housing is fixedly installed on the middle face shell of the head shell mechanism, the first eyebrow ball head buckle and the second eyebrow ball head buckle are both fixedly installed on one eyebrow deformation connecting rod, the third eyebrow ball head buckle and the fourth eyebrow ball head buckle are both fixedly installed on the other eyebrow deformation connecting rod, the eyebrow deformation worm gear is located inside the eyebrow deformation worm gear housing, and the eyebrow deformation worm gear housing is provided with four eyebrow worm through holes, one end of the first eyebrow worm is connected to the first eyebrow ball head buckle through a thread after passing through the first eyebrow worm through hole, and the other end is connected to the third eyebrow ball head buckle through a thread after passing through the second eyebrow worm through hole, one end of the second eyebrow worm is connected to the second eyebrow ball head buckle through a thread after passing through the third eyebrow worm through hole, and the other end is connected to the fourth eyebrow ball head buckle through a thread after passing through the fourth eyebrow worm through hole;

[0015] The first eyebrow worm and the second eyebrow worm are arranged in parallel and spaced apart, and the two ends of the eyebrow deformation worm wheel are respectively meshed and connected with the threads on the first eyebrow worm and the second eyebrow worm; the meshing position of the first eyebrow worm and the eyebrow deformation worm wheel is provided with left-handed spiral teeth, the meshing position of the second eyebrow worm and the eyebrow deformation worm wheel is provided with left-handed spiral teeth, and the outer periphery of the eyebrow deformation worm wheel is provided with left-handed spiral teeth; the ends of the first eyebrow ball head buckle and the fourth eyebrow ball head buckle are provided with left-handed internal threaded holes, and the ends of the second eyebrow ball head buckle and the third eyebrow ball head buckle are provided with right-handed internal threaded holes; the end of the first eyebrow worm close to the first eyebrow ball head buckle is provided with a left-handed external thread, the end of the first eyebrow worm close to the third eyebrow ball head buckle is provided with a right-handed external thread, the end of the second eyebrow worm close to the second eyebrow ball head buckle is provided with a right-handed external thread, and the end of the second eyebrow worm close to the fourth eyebrow ball head buckle is provided with a left-handed external thread.

[0016] The mouth deformation unit includes a mouth deformation worm gear, and the mouth deformation worm gear includes a first mouth ball head buckle, a second mouth ball head buckle, a third mouth ball head buckle, a fourth mouth ball head buckle, a first mouth worm, a second mouth worm, a mouth deformation worm wheel and a mouth deformation worm gear housing; the mouth deformation worm gear housing is fixedly mounted on the middle face shell of the head shell mechanism, the first mouth ball head buckle and the second mouth ball head buckle are both fixedly mounted on a side lower jaw of the head shell mechanism, and the third mouth ball head buckle and the fourth mouth ball head buckle are both fixedly mounted on the other side of the head shell mechanism On the side lower jaw, the mouth deformable worm wheel is located inside the mouth deformable worm wheel and worm housing, and four mouth worm through holes are opened on the mouth deformable worm wheel and worm housing. One end of the first mouth worm is connected to the first mouth ball buckle through a thread after passing through the first mouth worm through hole, and the other end is connected to the third mouth ball buckle through a thread after passing through the second mouth worm through hole, one end of the second mouth worm is connected to the second mouth ball buckle through a thread after passing through the third mouth worm through hole, and the other end is connected to the fourth mouth ball buckle through a thread after passing through the fourth mouth worm through hole;

[0017] The first mouth worm and the second mouth worm are arranged in parallel and spaced apart, and the two ends of the mouth deformable worm wheel are respectively meshed and connected with the threads on the first mouth worm and the second mouth worm; left-handed spiral teeth are arranged at the meshing position of the first mouth worm and the mouth deformable worm wheel, left-handed spiral teeth are arranged at the meshing position of the second mouth worm and the mouth deformable worm wheel, and left-handed spiral teeth are arranged on the outer periphery of the mouth deformable worm wheel; left-handed internal threaded holes are provided at the ends of the first mouth ball buckle and the second mouth ball buckle, and right-handed internal threaded holes are provided at the ends of the third mouth ball buckle and the fourth mouth ball buckle; a left-handed external thread is provided at one end of the first mouth worm close to the first mouth ball buckle, a right-handed external thread is provided at one end of the first mouth worm close to the third mouth ball buckle, a left-handed external thread is provided at one end of the second mouth worm close to the second mouth ball buckle, and a right-handed external thread is provided at one end of the second mouth worm close to the fourth mouth ball buckle.

[0018] The skin color changing mechanism is mainly composed of a color changing power device, a color changing valve unit and a color changing face skin unit. The pigment solution in the color changing power device flows into the color changing face skin unit through the color changing valve unit to complete the skin color change of the robot; the color changing power device includes a rotating cone, a bottom disc, a rotating drive device, a concentration adjusting device, a pigment solution, and a pressure liquid; the rotating cone is installed on the bottom disc, and the middle part of the rotating cone is connected to the output shaft of the rotating drive device. The rotating drive device is used to drive the rotating cone to rotate. The inner circumference of the rotating cone is provided with three layers of annular cavities from top to bottom, and the outer circumference is provided with two layers of pressure cavities from top to bottom. The diameters of the three layers of annular cavities increase from top to bottom. A plurality of sinks are provided at the bottom of each layer of annular cavities. The sinks in each layer of sinks are evenly spaced along the circumference of the annular cavity. Each sink is connected to a cylindrical cavity on the side away from the central axis of the rotating cone. Each cylindrical cavity in each layer of cylindrical cavity is connected to each layer of annular cavities through the sink.

[0019] A concentration regulating device is installed in each cylindrical cavity, and the concentration regulating device is mainly composed of a semipermeable membrane, a push rod and an execution control unit. The semipermeable membrane is attached to the side of the push rod close to the central axis of the rotating cone, and the execution control unit is connected to the side away from the central axis of the rotating cone. The execution control unit is used to drive the push rod to move back and forth, and the semipermeable membrane is used to adjust the concentration of the pigment solution in the cylindrical cavity; pigment solution is stored in each layer of the annular cavity, and the three layers of annular cavities arranged from top to bottom are respectively filled with black solution, white solution and yellow solution, and pressure liquid is stored in each layer of the pressure cavity, and the top and bottom pressure cavities are respectively filled with upper pressure liquid and lower pressure liquid, and the annular cavity and the pressure cavity are connected to the color changing valve unit through pipelines.

[0020] The color-changing valve unit includes a first valve body, a second valve body, a third valve body, an upper pressure liquid pipeline, a lower pressure liquid pipeline, a plug, a coil, a permanent magnet, a plug spring, a first current detection probe pair, a second current detection probe pair, a third current detection probe pair, a black solution pipeline, a white solution pipeline, a yellow solution pipeline, a color-changing disc, a color-changing spring, an output liquid pipeline, an upper hydraulic drive device, and a lower hydraulic drive device;

[0021] The second valve body is movably arranged between the first valve body and the third valve body, and the third valve body is provided with three color pipeline through holes from top to bottom, and the three color pipeline through holes are respectively connected with the black solution pipeline, the white solution pipeline and the yellow solution pipeline, and the outlets of the three-layer annular cavity arranged from top to bottom in the color-changing power device are respectively connected with the black solution pipeline, the white solution pipeline and the yellow solution pipeline, and the black solution pipeline, the white solution pipeline and the yellow solution pipeline are respectively provided with the first current detection probe pair, the second current detection probe pair and the third current detection probe pair for detecting the pigment solution; the top of the second valve body is connected with the upper pressure liquid through the upper pressure liquid The pipeline is connected with the outlet of the upper pressure chamber, and the bottom end of the second valve body is connected with the outlet of the lower pressure chamber through the lower pressure liquid pipeline. The upper pressure liquid pipeline and the lower pressure liquid pipeline are respectively provided with an upper hydraulic driving device and a lower hydraulic driving device for driving the second valve body to move up and down. A valve body countersunk hole is opened on the top of the second valve body, and a plug, a permanent magnet and a plug spring are all installed in the valve body countersunk hole. The two ends of the plug spring are respectively connected with the permanent magnet and the plug. The plug is located on the side of the second valve body close to the first valve body, and a coil is installed in the plug. The movement of the plug is controlled by the energization of the coil. A pigment through hole is opened at the bottom of the second valve body;

[0022] Three valve body grooves are provided on the upper part of the first valve body from top to bottom, and the valve body grooves match the plug. The valve body grooves are used to position the plug, thereby controlling the pigment through-hole at the bottom of the second valve body to be connected with the color pipeline through-hole of the specified color on the third valve body. A valve body groove is provided on the side of the bottom of the first valve body close to the second valve body, and the color-changing disc is movably installed in the valve body groove. The two ends of the color-changing spring are respectively connected to the first valve body and the color-changing disc, the middle part of the color-changing disc is connected to one end of the output liquid pipeline, and the other end of the output liquid pipeline is connected to the color-changing dough unit.

[0023] The color-changing skin unit comprises a transparent outer skin, an inner skin, a skin color pigment input pipeline, an oily liquid, an oil disk, an oil spring, an oil housing, an oil current probe and a skin adjustment component;

[0024] The inner face skin is attached to the outer wall of the head shell mechanism, and a plurality of face skin adjustment components for adjusting the thickness of the face skin are arranged between the transparent outer face skin and the inner face skin. The transparent outer face skin and the inner face skin constitute the face skin structure of the robot, and the bottom outlet of the face skin structure is connected with one end of the skin color pigment input pipeline, and the other end of the skin color pigment input pipeline is connected with the output liquid pipeline in the color changing valve unit, and the top outlet of the face skin structure is connected with the opening of the oil shell, and the oil disc and the oil spring are both installed in the oil shell, and the two ends of the oil spring are respectively connected with the oil shell and the oil disc, and the oily liquid is stored in the oil shell, and the oil disc is located between the oily liquid and the oil spring, and the top outlet of the face skin structure is provided with an oil current probe for detecting the oily liquid.

[0025] The dough skin adjustment component is mainly composed of a dough skin permanent magnet, a dough skin spring and a dough skin coil. The dough skin permanent magnet and the dough skin coil are respectively installed on the transparent outer face skin and the inner face skin. The two ends of the dough skin spring are respectively connected to the dough skin permanent magnet and the dough skin coil. The distance between the transparent outer face skin and the inner face skin is controlled by the power supply condition of the dough skin coil, thereby controlling the thickness of the face skin structure.

[0026] The head shell mechanism comprises a side face shell, a middle face shell, a side jaw and a middle jaw; the side face shell is fixedly connected to an eyebrow fixing bracket in an eyebrow mechanism; the side jaw is fixedly connected to a mouth side bracket in a mouth mechanism; the middle face shell and the side jaw are both connected to a deformation mechanism; the middle jaw is mounted on a lower lip fixing bracket in the mouth mechanism; the eyebrow fixing bracket is connected to an eye fixing bracket in the eye mechanism through an eyebrow deformation unit; and the skin color changing mechanism is attached to the side face shell, the middle face shell, the side jaw and the middle jaw of the head shell mechanism.

[0027] The principle of the present invention is as follows:

[0028] 1. Principle of pupil color change:

[0029] The middle part of the eyeball is a cylindrical cavity with a transparent eye mask outside. The middle area of ​​the eye mask is painted black, representing the pupil. There is liquid in the cavity, and there are pigment particles of different sizes in the liquid. The positively charged ones are blue pigment particles, and the negatively charged ones are brown pigment particles. By applying voltages in different directions to the outside of the cavity, the pupil color can be changed. By adjusting the voltage, the depth of the pupil color can be changed, such as Fig. 22 The specific implementation process is as follows:

[0030] 1) No electricity is applied, the charged color particles move randomly in the cavity, the colors are mixed, and the pupil color is gray between brown and blue (such as Fig. 22 Left);

[0031] 2) When a weak voltage is applied, the large charged color particles are not completely adsorbed, and the color is lighter at this time. When a forward voltage is applied, it is light brown, and when a reverse voltage is applied, it is light blue (such as Fig. 22 middle);

[0032] 3) When a larger voltage is applied, the charged colored particles are completely adsorbed, and the color becomes darker. When a forward voltage is applied, it becomes dark brown, and when a reverse voltage is applied, it becomes dark blue (such as Fig. 22 right).

[0033] 2. Expression driving principle:

[0034] 1) Eyebrow: Use the servo to drive the eyebrow control plate through the four-bar mechanism to achieve the eyebrow raising and frowning movements, with a total of 4 degrees of freedom. Frowning, a total of 2 degrees of freedom: The two eyebrow servos drive the connecting rod to drive the eyebrow control plate through the servo arm to drive the face skin to achieve frowning movement. Raising eyebrows, a total of 2 degrees of freedom: The two servos drive the movable bracket through the servo arm, and further drive the eyebrow control plate on the movable bracket to achieve the eyebrow raising movement.

[0035] 2) Eyes: 4 degrees of freedom for eyelid opening and closing, 4 degrees of freedom for eyeball rotation, a total of 8 degrees of freedom.

[0036] 2.1) Eyelid opening and closing: The upper and lower eyelids of the left and right eyes have 1 degree of freedom each, for a total of 4 degrees of freedom: the eye servos drive the connecting rod through the servo arms and drive the eyelids to drive the upper eyelids to achieve eyelid opening and closing movements.

[0037] 2.2) Eyeball rotation: 1 degree of freedom for each eye, 2 degrees of freedom in total:

[0038] The two eye servos drive the connecting rods through the servo arms to drive the rotatable bracket, thereby driving the back plate of the eyeball to rotate around the horizontal axis to achieve the up and down movement of the eyeball.

[0039] 2.3) Eyeball rotation: The left and right eyes have 1 degree of freedom each, for a total of 2 degrees of freedom: The two servos drive the sliding rod through the servo arm to drive the eye connecting rod, thereby driving the eyeball back plate to rotate around the vertical axis to achieve left and right eyeballs. Here, since the fourth eye connecting rod and the eyeball back plate are hinged, the left and right rotation of the eyeball does not affect the rotation of the fourth eye connecting rod, and the up and down and left and right rotations are independent.

[0040] 3) Mouth: 4 degrees of freedom for the upper lip, 5 degrees of freedom for the lower lip, and 4 degrees of freedom for the left and right lips, a total of 13 degrees of freedom

[0041] 3.1) Upper lip: Use the servo to drive the control plate through the connecting rod to realize the lifting and protrusion of the middle of the upper lip and the lifting of the left and right side lips. The upper lips on both sides have one degree of freedom each, and the middle lip has two degrees of freedom, for a total of 4 degrees of freedom. The upper lips on the left and right sides are lifted, with one degree of freedom on each side. Use two upper lip servos to drive the second mouth control plate through the servo arm to realize the lifting movement of the left and right side lips. The lifting and protrusion of the middle lip have two degrees of freedom. The lifting action is realized by the second upper lip servo. The second upper lip servo drives the second upper lip servo arm to drive the second upper lip connecting rod, so that the first upper lip connecting rod moves upward under the upper lip slider limit, driving the first mouth control plate to lift. The protrusion action is realized by the first upper lip servo. The first upper lip servo drives the first upper lip servo arm, so that the first upper lip connecting rod moves forward under the upper lip slider limit, driving the first mouth control plate to protrude.

[0042] 3.2) Lower lip: Use the servo to drive the control plate through the connecting rod to achieve the pull-down and convexity of the middle of the lower lip and the pull-down of the left and right side lips. There is 1 degree of freedom on each side of the lower lip, 2 degrees of freedom in the middle lip, and 1 degree of freedom for the mouth to open and close, for a total of 5 degrees of freedom. The left and right lower lips are pulled down, each with one degree of freedom. Two lower lip servos are used to drive the fourth mouth control plate through the servo arm to achieve the pull-down movement of the left and right side lips. The middle lip is pulled down and convex, with two degrees of freedom. The pull-down action is achieved by the second lower lip servo. The second lower lip servo drives the second lower lip connecting rod through the second lower lip servo arm, so that the first lower lip connecting rod moves downward under the limit of the lower lip slider, driving the third mouth control plate to pull down, and the lower lip is pulled down. The convex action is achieved by the first lower lip servo, and the first lower lip servo drives the first lower lip servo arm, so that the first lower lip connecting rod moves forward under the limit of the lower lip slider, and the lower lip convex is achieved. The mouth opens and closes, and the fourth lower lip servo drives the lower lip fixing bracket, so that the lower lip as a whole can rotate around the fourth lower lip servo.

[0043] 3.3) Left and right lips: Four servos work in pairs to realize the smiling, grinning and pouting movements of the left and right cheeks. 4 degrees of freedom. Smiling: The upper servo drives the first mouth connecting rod to pull the fifth mouth control plate to the upper side through the servo arm to realize the smiling action. Pouting: The lower servo drives the second mouth connecting rod to pull the fifth mouth control plate to the lower side through the servo arm to realize the pouting movement. Grinning: The upper servo and the lower servo move at the same time, driving the fifth mouth control plate to realize the grinning movement.

[0044] 3. Facial deformation principle: realized through worm gear structure

[0045] 1) Eyebrows: Fig.21As shown, the worm gear is used to realize the horizontal expansion / contraction of the eyebrows and eyes on the face, and the distance between the eyes is controlled, mainly in the horizontal expansion / contraction. The expansion / contraction of the ball head buckle drives the change of the distance between the eyebrows and eyes and the change of the left and right face shells. Select that the worm gear and worm gear are both left-handed; select the first eyebrow ball-end buckle and the first eyebrow worm gear to be left-handed (looking from right to left, the worm gear rotates clockwise, and the ball-end buckle moves outward due to the left-hand rotation); select the third eyebrow ball-end buckle and the first eyebrow worm gear to be right-handed (looking from left to right, the worm gear rotates counterclockwise, and the ball-end buckle moves outward due to the right-hand rotation); select the second eyebrow ball-end buckle and the second eyebrow worm gear to be right-handed (looking from right to left, the worm gear rotates counterclockwise, and the ball-end buckle moves outward due to the right-hand rotation); select the fourth eyebrow ball-end buckle and the second eyebrow worm gear to be left-handed (looking from left to right, the worm gear rotates clockwise, and the ball-end buckle moves outward due to the left-hand rotation); when the middle worm gear rotates, the ball-end buckles on both sides can be synchronously moved away from / closer to the center, thereby realizing the lateral expansion / contraction of the facial bracket.

[0046] 2) Mouth: The worm gear is used to realize the fan-shaped expansion / closing of the mouth and nose on both sides of the cheeks, which is more consistent with the shape of the mouth. It is mainly based on the central face remaining unchanged and the fan-shaped expansion around it. The expansion / contraction of the ball head buckle drives the changes of the left and right lower jaws, thereby realizing the deformation of the cheeks.

[0047] Select the worm gear to be left-handed; select the first mouth ball buckle and the first mouth worm to be left-handed (from right to left, the worm rotates clockwise, and due to the left-hand rotation, the ball buckle moves outward); select the third mouth ball buckle and the first mouth worm to be right-handed (from left to right, the worm rotates counterclockwise, and due to the right-hand rotation, the ball buckle moves outward); select the second mouth ball buckle and the second mouth worm to be left-handed (from right to left, the worm rotates counterclockwise, and due to the left The fourth mouth ball buckle is selected to be connected with the second mouth worm for right-hand rotation (from left to right, the worm rotates clockwise, and due to the right-hand rotation, the ball buckle moves inward). When the middle worm gear rotates, the first mouth ball buckle and the third mouth ball buckle can both move away from / toward the center synchronously, while the second mouth ball buckle and the fourth mouth ball buckle can both move toward / away from the center synchronously, so that the mouth side bracket forms a fan-shaped expansion / closure.

[0048] 4. Neck movement principle: The neck mechanism consists of a parallel mechanism plus a servo. The parallel mechanism consists of three chains, two of which are composed of servos, servo arms, ball joints and ball joint connecting rods, and the other is composed of the first push rod joint, electric push rod, second push rod joint and ball bearing. The chain kinematic pairs composed of the servo are: the servo and the servo arm are a revolute pair, the servo arm and the ball joint are hinged to form a revolute pair, and the ball joint and the connecting seat form a spherical pair, which is the RRS chain. The chain kinematic pairs composed of the push rod are: the second push rod joint is hinged to the electric push rod to form a revolute pair, and the electric push rod is a translation pair; the first push rod joint is fixedly connected to the ball bearing, and the ball bearing and the connecting seat form a spherical pair, which is the RPS chain. The parallel mechanism can provide three degrees of freedom, realizing one displacement and two rotations, specifically displacement along the Z axis (neck extension), rotation around the X axis (head swing), and rotation around the Y axis (head nodding). Since the above-mentioned parallel mechanism cannot realize the function of shaking the head, a rotation degree of freedom around the Z axis is added through the third neck servo.

[0049] Specific implementation process, such as Fig.24 As shown:

[0050] 1) Neck extension: The first neck servo rotates clockwise and the second neck servo rotates counterclockwise to lift the rear of the neck connection seat, and the electric push rod extends to lift the front of the neck connection seat synchronously (the same applies to shortening);

[0051] 2) Head shaking: The third neck servo rotates, and the slewing bearing drives the neck servo fixed seat and the parts on it to rotate, realizing the head shaking;

[0052] 3) Nodding: The first neck servo rotates clockwise and the second neck servo rotates counterclockwise to lift the rear of the neck connector, and the electric push rod shortens to lower the front of the neck connector (the same applies to raising the head).

[0053] 4) Head swing: The electric push rod does not move, the first neck servo rotates clockwise to raise the left side of the neck connecting seat, and the second neck servo rotates clockwise to lower the right side of the neck connecting seat.

[0054] 5. Skin color change principle: Skin color change can achieve two effects, one is the change of the depth of the same skin color, and the other is the change of the color of different skin colors.

[0055] 5.1) There are two ways to change the shade of the same skin color: small range change and large range change.

[0056] Small range changes: The distance between the transparent outer skin and the inner skin is changed by the skin adjustment component, and the amount of color solution filled in it is adjusted, thereby changing the average thickness of the color solution, and finally achieving a small range of skin color depth changes under the same skin color. When the skin coil is energized, the skin permanent magnet is pushed out, the distance between the skins increases, the amount of solution increases, the average thickness of the color solution increases, and the color becomes darker in a small range; when the skin coil is not energized, the color is normal; when the skin coil is reversely energized, the skin permanent magnet is sucked in, the distance between the skins becomes smaller, the average thickness of the color solution decreases, and the color becomes lighter in a small range.

[0057] Large-range changes: By moving the position of the semipermeable membrane, the concentration of the color solute in the color solution on the inner side of the semipermeable membrane (close to the rotation center) is adjusted to change the color depth. When the execution control unit pushes the semipermeable membrane toward the rotation center, the volume of the pure water cavity increases, the volume of the pigment cavity decreases, the color solute distribution area becomes smaller, the color concentration increases, and the color becomes darker; when the execution control unit pushes the semipermeable membrane in the opposite direction, the volume of the pure water cavity decreases, the volume of the pigment cavity increases, the color solute distribution area becomes larger, the color concentration decreases, and the color becomes lighter;

[0058] 5.2) There are three stages in skin color change, namely, initial state, color filling state, and color fading state. Fig.23 and Fig.25 As shown:

[0059] 5.2.1) Initial state (colorless state): The color-changing power device does not work, and the second valve body is at the lowest position under the action of gravity. At this time, under the elastic force of the oil spring of the color-changing skin unit, the non-conductive oily liquid fills the first valve body and the output liquid pipeline.

[0060] 5.2.2) Color filling state: The color changing power device drives the rotating cone to rotate. Under the action of the rotating centrifugal force, the upper pressure liquid and the lower pressure liquid are pushed into the upper pressure liquid pipeline and the lower pressure liquid pipeline respectively. Since the pressure of the lower pressure liquid is greater than the pressure of the upper pressure liquid, when the rotation speed of the rotating cone continues to increase to a certain speed, the pressure of the lower pressure liquid is greater than the sum of the pressure of the upper pressure liquid and the gravity of the second valve body, so the second valve body will push upward. When the predetermined speed is reached, the second valve body will move to the A station, and the plug will pop out and engage with the pit at A under the action of the elastic force of the plug. At this time, the color solution pipeline is connected to the output liquid pipeline, and the color solution will push the color changing disc and enter the color changing face skin unit along the output liquid pipeline. When the color solution passes through the oil current probe, due to the conductivity of the color solution, an electrical signal will be generated at this time, and the electrical signal will be transmitted to the electronic control system, indicating that the color filling has been completed. Under the action of the electronic control system, the rotating cone will maintain a fixed speed to keep the pigment solution stable in the face skin. And because the conductivity of the color solution is different, the type of the color solution is determined according to the detected current size, and the pupil color is controlled to change synchronously.

[0061] 5.2.3) Fading state: When the skin color needs to be changed, it needs to be faded first. At this time, the control system issues a command, the color-changing power device stops working, and the rotating cone stops rotating. The pressure in the upper pressure liquid pipeline and the lower pressure liquid pipeline disappears. However, since the gravity of the second valve body is less than the clamping of the plug and the pit at A, the second valve body remains in place, that is, the first valve body and the third valve body remain in the conductive state. Then, under the elastic force of the oil spring, the non-conductive oily liquid pushes the pigment solution out of the face skin, and the pigment solution returns along the original channel. The color solution in the face skin gradually withdraws and gradually fades. When the oily liquid moves to the position of the third current detection probe pair, since it is non-conductive, the third current detection probe pair changes from the conductive state to the disconnected state, the current signal is interrupted, and the on-off signal is transmitted to the electronic control system. At this time, all fading has been completed, and the fading action is completed. Then, under the action of the electronic control system, the control coil is energized to suck the plug back, and the second valve body falls to the lowest position under the action of gravity, completing the reset, that is, completing an action cycle. Similarly, when the facial skin needs to be switched to another skin color, a different predetermined rotation speed of the color-changing power device is selected and the above process is repeated to complete the task.

[0062] The present invention adopts modularization, and divides the expression robot driving structure into four parts: eyebrows, eyes, mouth, and neck, including 4 degrees of freedom for eyebrows, 8 degrees of freedom for eyes, 13 degrees of freedom for mouth, and 4 degrees of freedom for neck, with a total of 29 degrees of freedom. Various basic facial expressions and neck movements required can be realized. The eyebrows have a total of 4 degrees of freedom, and the eyebrows are driven by the steering gear with the help of a connecting rod to realize the eyebrow raising and frowning movements. The eyes have a total of 8 degrees of freedom: the upper and lower eyelids are opened and closed by the steering gear with the help of a connecting rod, with a total of 4 degrees of freedom; the eyeballs are rotated by the steering gear with the help of a connecting rod, with a total of 4 degrees of freedom. The mouth has a total of 13 degrees of freedom, and the lip movements are realized by the steering gear with the help of a connecting rod, with a total of 4 degrees of freedom; the upper and lower middle lips are raised and lifted up / down with 4 degrees of freedom; the smiling, pouting and grinning movements are realized by the steering gear with the help of a connecting rod, with a total of 4 degrees of freedom; the mouth opening movement is realized by direct driving of the steering gear, with a total of 1 degree of freedom. The neck has 4 degrees of freedom, and the parallel mechanism plus the servo can realize neck extension, nodding, shaking and turning. The robot of the present invention has basic expression display function, and also increases the degree of freedom in the mouth to meet the function of real-time dialogue; at the same time, the neck structure is optimized, and 4 degrees of freedom can realize neck extension to meet different scenarios. In addition, in response to the needs of different groups of people, a fast-changing robot with facial deformation, skin color change and eye iris color change is designed, and it has the dual functions of synchronization and decoupling to meet the diversified needs of users.

[0063] The beneficial effects of the present invention are:

[0064] 1. The present invention adopts a worm gear structure to achieve the deformation of eyebrows and mouth, realize the enlargement and reduction of the face, and match different face shapes.

[0065] 2. The present invention uses a pupil color changing device to achieve the switching of three common pupil colors (blue, brown, and gray), adjusts the pupil color by the direction of the voltage, and adjusts the depth of the pupil color by the voltage size.

[0066] 3. The gap between the outer and inner epidermis is changed by the facial skin adjustment component, and the amount of color solution filled therein is adjusted, thereby changing the average thickness of the color solution, and finally achieving a small range of skin color depth changes under the same skin color. By adjusting the position of the semipermeable membrane and adjusting the concentration of the color solute in the color solution on the inner side of the semipermeable membrane (close to the rotation center), a large range of skin color depth adjustment under the same skin color can be achieved. The skin color changing mechanism can realize the switching of three common skin colors (white, yellow, and black), and when the skin color is switched, the skin color type is judged by the size of the current, and the pupil color change is triggered synchronously to achieve the matching of skin color and pupil color.

[0067] 4. The present invention adopts a neck structure of a parallel mechanism plus a servo to achieve switching of multiple states of four degrees of freedom of the neck, namely, neck extension, nodding, shaking head and turning head.

[0068] 5. The expression robot realizes adaptive facial transformation according to the characteristics of human face in response to the requirements of customization. It can quickly change the face shape, skin color, eye color and neck length according to different application scenarios, and can change the type and depth of skin color and eye color, which greatly reduces the time and cost of customization. In terms of the richness of expression, the expression robot has 29 degrees of freedom to meet the basic expression changes, and can realize a variety of mouth shapes to meet the needs of real-time dialogue. BRIEF DESCRIPTION OF THE DRAWINGS

[0069] Figure 1 This is an exploded view of the overall appearance of the expression robot;

[0070] Figure 2 It is a diagram of the head structure;

[0071] Figure 3 It is a diagram of the head shell mechanism;

[0072] Figure 4 It is a diagram of the eyebrow structure;

[0073] Figure 5 It is a diagram of the eyelid opening and closing mechanism;

[0074] Figure 6 It is a diagram of the eyeball rotation mechanism;

[0075] Figure 7 It is a diagram of the pupil color changing mechanism;

[0076] Figure 8 It is a diagram of the upper lip structure of the mouth;

[0077] Fig. 9 It is a diagram of the lower lip structure of the mouth;

[0078] Fig.10 It is a diagram of the left and right lip structure of the mouth;

[0079] Fig.11 It is the diagram of eyebrow deformation mechanism;

[0080] Fig.12 Eyebrow deformation worm gear structure diagram;

[0081] Fig.13 It is a diagram of the mouth deformation mechanism;

[0082] Fig.14 This is the structure diagram of the worm gear with mouth deformation;

[0083] Fig.15 It is a diagram of the neck mechanism;

[0084] Fig.16 It is a skin color changing mechanism diagram;

[0085] Fig.17 It is a color-changing power device;

[0086] Fig.18 It is a rotating cone;

[0087] Fig.19 It is the color-changing valve mechanism;

[0088] Fig. 20 It is a color-changing facial skin mechanism;

[0089] Fig.21 This is the face deformation effect diagram;

[0090] Fig. 22 It is a diagram of the principle of pupil color change;

[0091] Fig.23 It is a picture of changing skin color and eye color;

[0092] Fig.24 This is the effect diagram of neck movement;

[0093] Fig.25 This is the principle diagram of skin color transformation.

[0094] In the figure: head assembly-1; eyebrow mechanism-11; first eyebrow servo-1101; first eyebrow servo-arm-1102; first eyebrow connecting rod-1103; eyebrow movable bracket-1104; first eyebrow control piece-1105; second eyebrow servo-1111; second eyebrow servo-arm-1112; second eyebrow connecting rod-1113; third eyebrow connecting rod-1114; second eyebrow control piece-1115; eyebrow fixed bracket-1121; eye mechanism-12; eyelid opening and closing unit-121; first eye servo-12101; first eye servo-arm-12102; upper eyelid connecting rod-12103; upper eyelid-12104; second eye servo-12105; second eye servo-arm-12106; Lower eyelid connecting rod-12107; Lower eyelid-12108; Eyeball-12109; Eye fixing bracket-12110; Eyeball rotation unit-122; Eyeball back plate-12201; Third eye servo-12203; Fourth eye servo-12204; Third eye servo arm-12205; First eye connecting rod-12206; Second eye connecting rod-12207; Fourth eye servo arm-12208; Third eye connecting rod-12209; Fourth eye connecting rod-12210; Pupil color changing unit-123; Pupil-1231; Eye mask-1232; Negatively charged brown large particles-1233; Negatively charged brown small particles-1234; Positively charged blue small particles-1236; Positively charged blue large particles -1237; eyeball cavity-1238; mouth mechanism-13; upper lip unit-131; first upper lip servo-13101; first upper lip servo arm-13102; first upper lip connecting rod-13103; upper lip slider-13104; second upper lip servo-13105; second upper lip servo arm-13106; second upper lip connecting rod-13107; first mouth control plate-13108; third upper lip servo-13109; third upper lip servo arm-13110; second mouth control plate-13111; mouth middle bracket-13115; upper teeth-13116; lower lip unit-132; first lower lip servo-13201; first lower lip servo arm-13202; first lower lip connecting rod-132 03; lower lip slider-13204; second lower lip servo-13205; second lower lip servo arm-13206; second lower lip connecting rod-13207; third lower lip connecting rod-13208; third mouth control plate-13209; third lower lip servo-13210; third lower lip servo arm-13211; fourth mouth control plate-13212; fourth lower lip servo-13215; lower lip fixing bracket-13217; lower teeth-13216; left and right lip units-133; first mouth servo-13308; first mouth servo arm-13309; first mouth connecting rod-13310; second mouth servo-13311; second mouth servo arm-13312; second mouth connecting rod-13313;The fifth control plate of the mouth-13314; the side bracket of the mouth-13316; the deformation mechanism-14; the eyebrow deformation unit-141; the eyebrow deformation worm gear-1411; the eyebrow deformation connecting rod-1412; including the first eyebrow ball head buckle-141101; the second eyebrow ball head buckle-141102; the third eyebrow ball head buckle-141103; the fourth eyebrow ball head buckle-141104; the eyebrow deformation transmission shaft-141105; the first eyebrow worm-141106; the second eyebrow worm-141107; the eyebrow deformation worm wheel-141108; the eyebrow deformation worm gear housing-141109; the mouth deformation unit-142; the mouth deformation worm gear-1422; the first mouth ball head buckle-142201 ; second mouth ball buckle-142202; third mouth ball buckle-142203; fourth mouth ball buckle-142204; mouth deformation transmission shaft-142205; first mouth worm-142206; second mouth worm-142207; mouth deformation worm wheel-142208; mouth deformation worm wheel shell-142209; head shell mechanism-2; side face shell-21; middle face shell-22; side lower jaw-24; middle lower jaw-25; neck mechanism-4; neck connecting seat-401; first neck ball buckle-402; first neck ball connecting rod-403; second neck ball buckle-404; first neck servo arm-405; first neck servo-406; third neck ball buckle-407; second Neck ball head connecting rod-408; fourth neck ball head buckle-409; second neck servo arm-410; second neck servo-411; ball head bearing-412; first push rod joint-413; electric push rod-414; second push rod joint-415; neck servo fixing seat-416; slewing bearing-417; third neck servo-418; neck base-419; head and neck connecting seat-420; neck-5; body-6; skin color changing mechanism-10; color changing power device-101; rotating cone-1011; top annular cavity-101101; middle annular cavity-101102; bottom annular cavity-101103; upper pressure cavity-101104; lower pressure cavity-101105; first cylinder cavity-101106; third cylindrical cavity-101107; fifth cylindrical cavity-101108; second cylindrical cavity-101109; fourth cylindrical cavity-101110; sixth cylindrical cavity-101111; bottom disc-1012; rotation drive device-1013; concentration adjustment device-1014; semi-permeable membrane-10141; push rod-10142; execution control unit-10143; pigment solution-1015; black solution-10151; white solution-10152; yellow solution-10153; pressure liquid-1016; upper pressure liquid-10161; lower pressure liquid-10162; color change valve unit-102; first valve body-10201; second valve body-10202;The third valve body 10203; the upper pressure liquid pipeline 10204; the lower pressure liquid pipeline 10205; the plug 10206; the coil 10207; the permanent magnet 10208; the plug spring 10209; the first current detection probe pair 10210; the second current detection probe pair 10211; the third current detection probe pair 10212; the black solution pipeline 10213; the white solution pipeline 10214; the yellow solution pipeline 10215; the color change disc 10216; the color change spring 10217; the color change spring 10218; the color change disc 10219; the color change spring 10220; the color change disc 10221; the color change spring 10222; the color change disc 10223; the color change spring 10224; the color change disc 10225; the color change disc 10226; the color change spring 10227; the color change disc 10228; the color change disc 10229; the color change disc 10230; the color change disc 10231; the color change disc 10232; the color change disc 10233; the color change disc 10234; the color change disc 10235; the color change disc 10236; the color change disc 10237; the color change disc 10238; the color change disc 10239; the color change disc 10240; the color change disc 10241 217; output liquid pipeline-10219, upper hydraulic drive device-10220; lower hydraulic drive device-10221; color-changing skin unit-103; transparent outer skin-10301; inner skin-10302; skin color pigment input pipeline-10303; oily liquid-10304; oil disk-10305; oil spring-10306; oil shell-10307; skin permanent magnet-10308; skin spring-10309; skin coil-10310; oil current probe-10311. ; DETAILED DESCRIPTION

[0095] The present invention is described in detail below in conjunction with specific implementation cases. The following implementation cases will help those skilled in the art to further understand the present invention, but will not limit the present invention in any form.

[0096] like Figure 1 and Figure 2 As shown, the robot includes a head assembly 1, a head shell mechanism 2, a neck mechanism 4 and a skin color changing mechanism 10; the head assembly 1 is mainly composed of an eyebrow mechanism 11, an eye mechanism 12, a mouth mechanism 13 and a deformation mechanism 14, the eyebrow mechanism 11 and the eye mechanism 12 are fixedly connected, the eyebrow mechanism 11, the eye mechanism 12 and the mouth mechanism 13 are all connected to the deformation mechanism 14, the eyebrow mechanism 11, the mouth mechanism 13 and the deformation mechanism 14 are all connected to the head shell mechanism 2, the neck mechanism 4 is fixedly installed on the mouth mechanism 13, the skin color changing mechanism 10 is attached to the head shell mechanism 2, and is used to realize the change of the robot's skin color, the deformation mechanism 14 includes an eyebrow deformation unit 141 and a mouth deformation unit 142, the eyebrow deformation unit 141 and the mouth deformation unit 142 are mainly driven by a worm gear structure, and the deformation of the robot's eyebrows and mouth is realized through the worm gear structure.

[0097] In a specific implementation, the deformable worm gear housings of the eyebrow deformation unit 141 and the mouth deformation unit 142 are both mounted on the middle face shell 22, the eyebrow mechanism 11 and the eye mechanism 12 are both connected to the eyebrow deformation unit 141, and the mouth deformation worm gear housing 142209 of the mouth deformation unit 142 is also fixedly connected to the mouth middle bracket 13115 of the mouth mechanism 13. The head shell mechanism 2 is connected to the body 6 through the neck 5.

[0098] like Figure 4 As shown, the eyebrow mechanism 11 includes a first eyebrow servo 1101, a first eyebrow servo arm 1102, a first eyebrow connecting rod 1103, an eyebrow movable bracket 1104, a first eyebrow control sheet 1105, a second eyebrow servo 1111, a second eyebrow servo arm 1112, a second eyebrow connecting rod 1113, a third eyebrow connecting rod 1114, a second eyebrow control sheet 1115 and an eyebrow fixed bracket 1121; the first eyebrow servo 1101 and the second eyebrow servo 1111 are fixedly mounted on the eyebrow fixed bracket 1121 and the eyebrow movable bracket 1104, respectively, and the output shaft of the first eyebrow servo 1101 is connected to the first eyebrow servo arm 1102. One end of the first eyebrow servo arm 1102 is fixedly connected, the other end of the first eyebrow servo arm 1102 is hinged to one end of the first eyebrow connecting rod 1103, the other end of the first eyebrow connecting rod 1103 is hinged to the eyebrow movable bracket 1104, the first eyebrow control piece 1105 and the third eyebrow connecting rod 1114 are both installed on the eyebrow movable bracket 1104, the output shaft of the second eyebrow servo 1111 is hinged through the second eyebrow servo arm 1112 and one end of the second eyebrow connecting rod 1113, the other end of the second eyebrow connecting rod 1113 is hinged to one end of the third eyebrow connecting rod 1114, and the second eyebrow control piece 1115 is installed on the other end of the third eyebrow connecting rod 1114.

[0099] The eyebrow mechanism 11 is a bilaterally symmetrical structure, including two symmetrically arranged first eyebrow servos 1101 and two symmetrically arranged second eyebrow servos 1111. The first eyebrow servo 1101 is responsible for the movement of the first eyebrow control piece 1105 and the second eyebrow control piece 1115. When the first eyebrow servo 1101 is lifted upward, it drives the movement of the first eyebrow connecting rod 1103, the eyebrow movable bracket 1104 and the first eyebrow control piece 1105 and the second eyebrow control piece 1115 to achieve the lifting of the side eyebrows; the second eyebrow servo 1111 is responsible for the movement of the second eyebrow control piece 1115 to achieve the wrinkling of the eyebrows.

[0100] The eye mechanism 12 includes an eyelid opening and closing unit 121, an eyeball rotation unit 122 and a pupil color changing unit 123. The eyelid opening and closing unit 121 and the eyeball rotation unit 122 are connected, and the pupil color changing unit 123 for pupil color changing is arranged in the eyeball 12109 of the eyelid opening and closing unit 121;

[0101] like Figure 5As shown, the eyelid opening and closing unit 121 includes a first eye servo 12101, a first eye servo arm 12102, an upper eyelid connecting rod 12103, an upper eyelid 12104, a second eye servo 12105, a second eye servo arm 12106, a lower eyelid connecting rod 12107, a lower eyelid 12108, an eyeball 12109 and an eye fixing bracket 12110; the first eye servo 12101 and the second eye servo 12105 are both fixedly mounted on the eye fixing bracket 12110, and the output shaft of the first eye servo 12101 is connected to the upper eyelid 12104 through the first eye servo arm 12102. One end of the eyelid connecting rod 12103 is hinged, the other end of the upper eyelid connecting rod 12103 is hinged to the upper eyelid 12104, the output shaft of the second eye servo 12105 is hinged to one end of the lower eyelid connecting rod 12107 through the second eye servo arm 12106, the other end of the lower eyelid connecting rod 12107 is hinged to the lower eyelid 12108, the upper eyelid 12104 and the lower eyelid 12108 are both hinged to the eye fixing bracket 12110, the upper eyelid 12104 and the lower eyelid 12108 are hinged, and the eyeball 12109 is arranged between the upper eyelid 12104 and the lower eyelid 12108;

[0102] The eye mechanism 12 is a bilaterally symmetrical mechanism, including two eyeballs 12109 and two eye fixing brackets 12110. The eye servos 12101, 121005, 12203, and 12204 are all bilaterally symmetrically arranged. The first eye servo 12101 drives the first eye servo arm 12102 and the upper eyelid connecting rod 12103 to drive the upper eyelid 12104 to achieve the closing and opening of the upper eyelid. The second eye servo 12105 drives the second eye servo arm 12106 and the lower eyelid connecting rod 12107 to drive the lower eyelid 12108 to achieve the closing and opening of the lower eyelid.

[0103] like Figure 6As shown, the eyeball rotation unit 122 includes an eyeball back plate 12201, a third eye servo 12203, a fourth eye servo 12204, a third eye servo arm 12205, a first eye connecting rod 12206, a second eye connecting rod 12207, a fourth eye servo arm 12208, a third eye connecting rod 12209 and a fourth eye connecting rod 12210; the third eye servo 12203 and the fourth eye servo 12204 are both fixedly mounted on the eye fixing bracket 12110, the eyeball back plate 12201 is fixedly mounted on the eyeball 12109, the output shaft of the third eye servo 12203 is fixedly connected to one end of the horizontal third eye servo arm 12205, and the third eye servo arm 12205 is fixedly mounted on the eye fixing bracket 12110. The other end is fixedly connected to the bottom end of the vertical first eye connecting rod 12206, one end of the second eye connecting rod 12207 is connected to the first eye connecting rod 12206 movably up and down, and the other end of the second eye connecting rod 12207 is connected to the eyeball back plate 12201 through a ball joint; the output shaft of the fourth eye servo 12204 is fixedly connected to one end of the fourth eye servo arm 12208, the other end of the fourth eye servo arm 12208 is hinged to one end of the third eye connecting rod 12209, the other end of the third eye connecting rod 12209 is hinged to the middle part of the fourth eye connecting rod 12210, and the two ends of the fourth eye connecting rod 12210 are respectively hinged to the eye fixing bracket 12110 and the eyeball back plate 12201;

[0104] The first eye connecting rod 12206 is essentially a sliding rod. When the eye rotates up and down, the second eye connecting rod 12207 will slide up and down on the first eye connecting rod 12206. The end of the second eye connecting rod 12207 is a ball head, which forms a ball head joint with the eyeball back plate 12201. The third eye servo 12203 drives the third eye servo arm 12205 to drive the first eye connecting rod 12206 to rotate, and the second eye connecting rod 12207 will slide on the first eye connecting rod 12206, and at the same time drive the eyeball 12109 to rotate around the vertical axis, so that the eyeball can rotate left and right. The fourth eye servo 12204 drives the fourth eye servo arm 12208, which drives the third eye connecting rod 12209. The third eye connecting rod 12209 drives the fourth eye connecting rod 12210. The fourth eye connecting rod 12210 rotates around the horizontal axis of the eyeball 12109 to realize the up and down rotation of the eyeball. A vertical hole is provided at one end of the fourth eye connecting rod 12210, and the fourth eye connecting rod 12210 is hinged to the eyeball back plate 12201 at the position of the vertical hole. The hinge is used, on the one hand, to connect the fourth eye connecting rod 12210 and the eyeball 12109 together, and to drive the eyeball 12109 to rotate around its horizontal axis through the fourth eye connecting rod 12210 to realize the up and down movement of the eyeball; on the other hand, when the eyeball 12109 rotates left and right, due to the hinged connection, the eyeball 12109 will rotate around the axis of the vertical hole without affecting the eye fixing bracket 12110, thereby realizing independent left and right movement and up and down movement of the eyeball.

[0105] like Figure 7 As shown, the pupil color-changing unit 123 includes a pupil 1231, an eye membrane 1232, positively charged blue particles and negatively charged brown particles; the pupil 1231 and the eye membrane 1232 are provided in the middle of the outer surface of the eyeball 12109, the pupil 1231 and the eye membrane 1232 are respectively made of a black opaque film and a transparent film, an eyeball cavity 1238 is opened in the middle of the eyeball 12109, and a transparent liquid, positively charged blue particles and negatively charged brown particles are stored in the eyeball cavity 1238; when a positive current is passed through the transparent liquid, the negatively charged brown particles are adsorbed on the inner surface of the eyeball 12109, so that the eye membrane 1232 of the eyeball 12109 is brown, and when a negative current is passed through the transparent liquid, the positively charged blue particles are adsorbed on the inner surface of the eyeball 12109, so that the eye membrane 1232 of the eyeball 12109 is blue.

[0106] The negatively charged brown particles include negatively charged brown large particles 1233 and negatively charged brown small particles 1234, and the positively charged blue particles include positively charged blue small particles 1236 and positively charged blue large particles 1237. Transparent liquid is stored in the eyeball cavity 1238, and the charged particles can move in the transparent liquid. The charged particles are in the micron size, and the size of the large particles is 100 times the size of the small particles.

[0107] The mouth mechanism 13 includes an upper lip unit 131, a lower lip unit 132 and left and right lip units 133, and the lower lip unit 132 and the left and right lip units 133 are all connected to the upper lip unit 131; Figure 8As shown, the upper lip unit 131 includes a first upper lip servo 13101, a first upper lip servo arm 13102, a first upper lip connecting rod 13103, an upper lip slider 13104, a second upper lip servo 13105, a second upper lip servo arm 13106, a second upper lip connecting rod 13107, a first mouth control piece 13108, two third upper lip servos 13109, two third upper lip servo arms 13110, two second mouth control pieces 13111 and a mouth middle bracket 13115; the first upper lip servo 13101, the second upper lip servo 13105 and the two third upper lip servos 13109 are all fixedly mounted on the mouth middle bracket 13115, and the output shaft of the first upper lip servo 13101 is connected to the mouth middle bracket 13115. The first upper lip servo arm 13102 is hinged to one end of the first upper lip connecting rod 13103, the other end of the first upper lip connecting rod 13103 is hinged to the first mouth control plate 13108, the output shaft of the second upper lip servo 13105 is hinged to one end of the second upper lip connecting rod 13107 through the second upper lip servo arm 13106, the other end of the second upper lip connecting rod 13107 is installed with an upper lip slider 13104, the upper lip slider 13104 can be installed on the first upper lip connecting rod 13103 so as to move forward and backward along the extension direction of the first upper lip connecting rod 13103, the output shafts of the two third upper lip servos 13109 are respectively hinged to the two second mouth control plates 13111 through the two third upper lip servo arms 13110;

[0108] The first upper lip servo 13101 and the second upper lip servo 13105 are jointly responsible for the first mouth control plate 13108, which is used to realize the lifting and protruding action of the middle part of the upper lip. The third upper lip servo 13109 controls the second mouth control plate 13111, which is used to realize the lifting action of the left / right part of the upper lip. The first mouth control plate 13108 and the second mouth control plate 13111 are both arranged on the outside of the upper teeth 13116.

[0109] like Fig. 9 As shown, the lower lip unit 132 includes a first lower lip servo 13201, a first lower lip servo arm 13202, a first lower lip connecting rod 13203, a lower lip slider 13204, a second lower lip servo 13205, a second lower lip servo arm 13206, a second lower lip connecting rod 13207, a third lower lip connecting rod 13208, a third mouth control piece 13209, two third lower lip servos 13210, two third lower lip servo arms 13211, two fourth mouth control pieces 13212, a fourth lower lip servo 13215 and a lower lip fixing bracket 13217;

[0110] The fourth lower lip servo 13215 is fixedly mounted on the mouth middle bracket 13115, and the servo arm of the fourth lower lip servo 13215 is connected to the lower lip fixed bracket 13217, and is used to drive the lower lip fixed bracket 13217 to swing. The first lower lip servo 13201, the second lower lip servo 13205 and the two third lower lip servos 13210 are all fixedly mounted on the lower lip fixed bracket 13217, and the output shaft of the second lower lip servo 13205 is hinged to one end of the second lower lip connecting rod 13207 through the second lower lip servo arm 13206, and the other end of the second lower lip connecting rod 13207 is hinged to one end of the third lower lip connecting rod 13208. , the other end of the third lower lip connecting rod 13208 is fixedly connected to the third mouth control plate 13209, the output shaft of the first lower lip servo 13201 is hinged to one end of the first lower lip connecting rod 13203 through the first lower lip servo arm 13202, the other end of the first lower lip connecting rod 13203 is installed with a lower lip slider 13204, and the lower lip slider 13204 can be installed on the third lower lip connecting rod 13208 so as to move forward and backward along the extension direction of the third lower lip connecting rod 13208, and the output shafts of the two third lower lip servos 13210 are respectively hinged to the two fourth mouth control plates 13212 through the two third lower lip servo arms 13211;

[0111] The first lower lip servo 13201 and the second lower lip servo 13205 are jointly responsible for the third mouth control piece 13209, which is used to realize the lifting and protruding action of the middle part of the lower lip, and the third lower lip servo 13210 controls the fourth mouth control piece 13212, which is used to realize the pulling down action of the left / right part of the lower lip. The third mouth control piece 13209 and the fourth mouth control piece 13212 are both arranged on the outer side of the lower teeth 13216.

[0112] like Fig.10 As shown, the left and right lip units 133 include a first mouth servo 13308, a first mouth servo arm 13309, a first mouth connecting rod 13310, a second mouth servo 13311, a second mouth servo arm 13312, a second mouth connecting rod 13313, a fifth mouth control plate 13314 and two mouth side brackets 13316; the two mouth side brackets 13316 are respectively arranged on the left and right sides of the mouth middle bracket 13115, and the first mouth servo 13308 and the second mouth servo 13311 are both fixedly connected to the mouth side brackets. On the bracket 13316, the output shaft of the first mouth servo 13308 is hinged to one end of the first mouth connecting rod 13310 through the first mouth servo arm 13309, the output shaft of the second mouth servo 13311 is hinged to one end of the second mouth connecting rod 13313 through the second mouth servo arm 13312, the other end of the first mouth connecting rod 13310 and the other end of the second mouth connecting rod 13313 are hinged, and a fifth mouth control plate 13314 is installed at the hinge position of the first mouth connecting rod 13310 and the second mouth connecting rod 13313.

[0113] The left and right lip units 133 are bilaterally symmetrical mechanisms, and the mouth servos 13308 and 13311 are both bilaterally symmetrically arranged. The first mouth servo 13308 and the second mouth servo 13311 on the left / right side are jointly responsible for the fifth control piece 13314 of the left / right mouth, which is used to realize the smiling, pouting and grinning movements of the left / right mouth.

[0114] like Fig.11 and Fig.12 As shown, the eyebrow deformation unit 141 includes an eyebrow deformation worm gear 1411 and two eyebrow deformation connecting rods 1412; the eyebrow deformation worm gear 1411 includes a first eyebrow ball head buckle 141101, a second eyebrow ball head buckle 141102, a third eyebrow ball head buckle 141103, a fourth eyebrow ball head buckle 141104, a first eyebrow worm 141106, a second eyebrow worm 141107, an eyebrow deformation worm wheel 141108 and an eyebrow deformation worm gear housing 141109;

[0115] The top and bottom of the eyebrow deformation connecting rod 1412 are fixedly connected to the eyebrow fixing bracket 1121 in the eyebrow mechanism 11 and the eye fixing bracket 12110 in the eye mechanism 12 respectively; the eyebrow deformation worm gear housing 141109 is fixedly mounted on the middle face shell 22 of the head shell mechanism 2; the first eyebrow ball head buckle 141101 and the second eyebrow ball head buckle 141102 are both fixedly mounted on one eyebrow deformation connecting rod 1412; the third eyebrow ball head buckle 141103 and the fourth eyebrow ball head buckle 141104 are both fixedly mounted on the other eyebrow deformation connecting rod 1412; the eyebrow deformation worm gear 141108 is located inside the eyebrow deformation worm gear housing 141109; Four eyebrow worm through holes are provided on the eyebrow deforming worm gear housing 141109, one end of the first eyebrow worm 141106 is passed through the first eyebrow worm through hole and is connected to the first eyebrow ball buckle 141101 through a thread, the other end of the first eyebrow worm 141106 is passed through the second eyebrow worm through hole and is connected to the third eyebrow ball buckle 141103 through a thread, one end of the second eyebrow worm 141107 is passed through the third eyebrow worm through hole and is connected to the second eyebrow ball buckle 141102 through a thread, and the other end of the second eyebrow worm 141107 is passed through the fourth eyebrow worm through hole and is connected to the fourth eyebrow ball buckle 141104 through a thread.

[0116] The first eyebrow worm 141106 and the second eyebrow worm 141107 are arranged in parallel and spaced apart, the eyebrow deformation worm wheel 141108 is located between the first eyebrow worm 141106 and the second eyebrow worm 141107, and the two ends of the eyebrow deformation worm wheel 141108 are respectively engaged with the threads on the first eyebrow worm 141106 and the second eyebrow worm 141107; the first eyebrow worm 141106 and the eyebrow deformation worm wheel 141108 are respectively engaged with the threads on the first eyebrow worm 141106 and the second eyebrow worm 141107; Left-handed spiral teeth are arranged at the meshing position of 41108, left-handed spiral teeth are arranged at the meshing position of the second eyebrow worm 141107 and the eyebrow deforming worm wheel 141108, and left-handed spiral teeth are arranged on the periphery of the eyebrow deforming worm wheel 141108, wherein the eyebrow deforming worm wheel 141108 is connected to the eyebrow deforming transmission shaft 141105 in the external eyebrow worm wheel driving device, and the eyebrow worm wheel driving device is used to drive the eyebrow deforming worm wheel 141108 to rotate.

[0117] The ends of the first eyebrow ball head buckle 141101 and the fourth eyebrow ball head buckle 141104 are provided with left-handed internal thread holes, and the ends of the second eyebrow ball head buckle 141102 and the third eyebrow ball head buckle 141103 are provided with right-handed internal thread holes; the end of the first eyebrow worm 141106 close to the first eyebrow ball head buckle 141101 is provided with a left-handed external thread, and the length of the external thread is slightly smaller than the length of the internal thread at the end of the first eyebrow ball head buckle 141101, and the end of the first eyebrow worm 141106 close to the third eyebrow ball head buckle 141103 is provided with a left-handed external thread. A right-handed external thread is provided, and the length of this section of the external thread is slightly smaller than the length of the internal thread at the end of the third eyebrow ball buckle 141103; a right-handed external thread is provided at one end of the second eyebrow worm gear 141107 close to the second eyebrow ball buckle 141102, and the length of this section of the external thread is slightly smaller than the length of the internal thread at the end of the second eyebrow ball buckle 141102; a left-handed external thread is provided at one end of the second eyebrow worm gear 141107 close to the fourth eyebrow ball buckle 141104, and the length of this section of the external thread is slightly smaller than the length of the internal thread at the end of the fourth eyebrow ball buckle 141104.

[0118] like Fig.13 and Fig.14 As shown, the mouth deformation unit 142 includes a mouth deformation worm gear 1422, and the mouth deformation worm gear 1422 includes a first mouth ball head buckle 142201, a second mouth ball head buckle 142202, a third mouth ball head buckle 142203, a fourth mouth ball head buckle 142204, a first mouth worm 142206, a second mouth worm 142207, a mouth deformation worm wheel 142208 and a mouth deformation worm gear housing 142209;

[0119] The mouth-deformable worm gear housing 142209 is fixedly mounted on the middle face shell 22 of the head shell mechanism 2, the first mouth ball head buckle 142201 and the second mouth ball head buckle 142202 are both fixedly mounted on a side lower jaw 24 of the head shell mechanism 2, the third mouth ball head buckle 142203 and the fourth mouth ball head buckle 142204 are both fixedly mounted on the other side lower jaw 24 of the head shell mechanism 2, the mouth-deformable worm wheel 142208 is located inside the mouth-deformable worm gear housing 142209, and the mouth-deformable worm gear housing 142209 is provided with four mouth worm through holes, the first One end of a mouth worm 142206 passes through the first mouth worm through hole and is connected to the first mouth ball buckle 142201 by a thread, the other end of the first mouth worm 142206 passes through the second mouth worm through hole and is connected to the third mouth ball buckle 142203 by a thread, one end of the second mouth worm 142207 passes through the third mouth worm through hole and is connected to the second mouth ball buckle 142202 by a thread, and the other end of the second mouth worm 142207 passes through the fourth mouth worm through hole and is connected to the fourth mouth ball buckle 142204 by a thread.

[0120] The first mouth worm 142206 and the second mouth worm 142207 are arranged in parallel and spaced apart, the mouth deformable worm wheel 142208 is located between the first mouth worm 142206 and the second mouth worm 142207, and the two ends of the mouth deformable worm wheel 142208 are respectively engaged with the threads on the first mouth worm 142206 and the second mouth worm 142207; the first mouth worm 142206 and the mouth deformable worm wheel 142208 are respectively engaged with the threads on the first mouth worm 142206 and the second mouth worm 142207; Left-handed spiral teeth are arranged at the meshing position of the mouth worm 2208, left-handed spiral teeth are arranged at the meshing position of the second mouth worm 142207 and the mouth deformable worm wheel 142208, and left-handed spiral teeth are arranged on the periphery of the mouth deformable worm wheel 142208, wherein the mouth deformable worm wheel 142208 is connected to the mouth deformable transmission shaft 142205 in the mouth worm wheel driving device, and the mouth worm wheel driving device is used to drive the mouth deformable worm wheel 142208 to rotate.

[0121] The ends of the first mouth ball buckle 142201 and the second mouth ball buckle 142202 are provided with left-handed internal thread holes, and the ends of the third mouth ball buckle 142203 and the fourth mouth ball buckle 142204 are provided with right-handed internal thread holes; the end of the first mouth worm 142206 close to the first mouth ball buckle 142201 is provided with a left-handed external thread, and the length of the external thread is slightly smaller than the length of the internal thread at the end of the first mouth ball buckle 142201, and the end of the first mouth worm 142206 close to the third mouth ball buckle 142203 is provided with a left-handed external thread. A right-handed external thread is provided, and the length of this section of the external thread is slightly smaller than the length of the internal thread at the end of the third mouth ball buckle 142203; a left-handed external thread is provided at one end of the second mouth worm 142207 close to the second mouth ball buckle 142202, and the length of this section of the external thread is slightly smaller than the length of the internal thread at the end of the second mouth ball buckle 142202; a right-handed external thread is provided at one end of the second mouth worm 142207 close to the fourth mouth ball buckle 142204, and the length of this section of the external thread is slightly smaller than the length of the internal thread at the end of the fourth mouth ball buckle 142204.

[0122] like Fig.15 As shown, the neck mechanism 4 includes a neck connecting seat 401, a first neck ball head buckle 402, a first neck ball head connecting rod 403, a second neck ball head buckle 404, a first neck servo arm 405, a first neck servo 406, a third neck ball head buckle 407, a second neck ball head connecting rod 408, a fourth neck ball head buckle 409, a second neck servo arm 410, a second neck servo 411, a ball head bearing 412, a first push rod joint 413, an electric push rod 414, a second push rod joint 415, A neck servo fixed seat 416, a slewing bearing 417, a third neck servo 418, a neck base 419 and a head-neck connecting seat 420; the outer ring and the inner ring of the slewing bearing 417 are fixedly connected to the neck base 419 and the neck servo fixed seat 416 respectively, the shell of the third neck servo 418 is installed on the neck base 419, the output shaft of the third neck servo 418 is connected to the neck servo fixed seat 416, and the third neck servo 418 is used to drive the neck servo fixed seat 416 to rotate;

[0123] The outer shells of the first neck servo 406 and the second neck servo 411 are both fixedly mounted on the neck servo fixing seat 416, the output shaft of the first neck servo 406 is hinged to one end of the second neck ball buckle 404 through the first neck servo arm 405, the other end of the second neck ball buckle 404 is connected to the first neck ball buckle 402 through the first neck ball head connecting rod 403, the first neck ball head buckle 402 and the second neck ball head buckle 404 are both connected to the first neck ball head connecting rod 403 through threads, the second neck servo 411 is hinged to one end of the fourth neck ball head buckle 409 through the second neck servo arm 410, the other end of the fourth neck ball head buckle 409 is connected to the third neck ball head buckle 407 through the second neck ball head connecting rod 408 The third neck ball head buckle 407 and the fourth neck ball head buckle 409 are connected to the second neck ball head connecting rod 408 through threads, the first neck ball head buckle 402 and the third neck ball head buckle 407 are fixedly mounted on the neck connecting seat 401, the horizontal neck connecting seat 401 is fixedly connected to the vertical head and neck connecting seat 420, and the head and neck connecting seat 420 is fixedly mounted on the mouth middle bracket 13115 of the mouth mechanism 13; the bottom end of the second push rod joint 415 is hinged on the neck servo fixing seat 416, the top end of the second push rod joint 415 is connected to the bottom end of the first push rod joint 413 through a telescopic electric push rod 414, and the top end of the first push rod joint 413 is connected to the neck connecting seat 401 through a ball head bearing 412.

[0124] The first neck servo arm 405 and the second neck servo arm 410 are coplanar, the output shaft axes of the first neck servo 406 and the second neck servo 411 are perpendicular to the rotation axis of the second push rod joint 415, and the electric push rod 414 is initially perpendicular to the neck base 419. The third neck servo 418 is used to drive the rotation of the upper part of the neck mechanism 4 to achieve the shaking motion of the neck mechanism, the first neck servo 406 and the second neck servo 411 are respectively used to drive the first neck ball head connecting rod 403 and the second neck ball head connecting rod 408 to lift up to achieve the shaking motion of the neck mechanism, and with the telescopic electric push rod 414, the neck mechanism can achieve the nodding, extension and other actions.

[0125] like Fig.16 As shown, the skin color changing mechanism 10 is mainly composed of a color changing power device 101, a color changing valve unit 102 and a color changing skin unit 103. The pigment solution 1015 in the color changing power device 101 flows into the color changing skin unit 103 through the color changing valve unit 102 to complete the skin color change of the robot;

[0126] like Fig.17 and Fig.18As shown, the color-changing power device 101 includes a rotating cone 1011, a bottom disc 1012, a rotating drive device 1013, a concentration adjustment device 1014, a pigment solution 1015, and a pressure liquid 1016; the rotating cone 1011 is installed on the bottom disc 1012, the middle part of the rotating cone 1011 is connected to the output shaft of the rotating drive device 1013, the rotating drive device 1013 is used to drive the rotating cone 1011 to rotate, the inner circumference of the rotating cone 1011 is provided with three layers of annular cavities from top to bottom, and the outer circumference of the rotating cone 1011 is provided with two layers of pressure The three layers of circular ring cavities are respectively the top circular ring cavity 101101, the middle circular ring cavity 101102 and the bottom circular ring cavity 101103 from top to bottom, and the pressure chambers are respectively the upper pressure chamber 101104 and the lower pressure chamber 101105 from top to bottom. The diameters of the three layers of circular ring cavities increase from top to bottom. A plurality of sink grooves are arranged at the bottom of each layer of circular ring cavities. The sink grooves in each layer of sink grooves are evenly spaced along the circumference of the circular ring cavity. Each sink groove is connected to a cylindrical cavity on the side away from the central axis of the rotating cone 1011. Each cylindrical cavity in each layer of cylindrical cavity is connected to each layer of circular ring cavities through the sink grooves.

[0127] A concentration adjustment device 1014 is installed in each cylindrical cavity. The concentration adjustment device 1014 is mainly composed of a semipermeable membrane 10141, a push rod 10142 and an execution control unit 10143. The semipermeable membrane 10141 is attached to the side of the push rod 10142 close to the central axis of the rotating cone 1011, and the execution control unit 10143 is connected to the side away from the central axis of the rotating cone 1011. The execution control unit 10143 is used to drive the push rod 10142 to move forward and backward, and the semipermeable membrane 10141 is used to adjust the concentration of the pigment solution 1015 in the cylindrical cavity;

[0128] Each layer of the annular cavity stores a pigment solution 1015, and the three layers of the annular cavity arranged from top to bottom are respectively filled with a black solution 10151, a white solution 10152 and a yellow solution 10153; each layer of the pressure cavity stores a pressure liquid 1016, and the top and bottom pressure cavities are respectively filled with an upper pressure liquid 10161 and a lower pressure liquid 10162; the annular cavity and the pressure cavity are connected to the color-changing valve unit 102 through pipelines.

[0129] The rotating cone 1011 is in the shape of a truncated cone, with smooth outer walls and bottom surfaces, and a transmission hole is provided at the center line. The transmission hole is used to connect the rotating drive device 1013. At the same time, the transmission hole is connected to the external atmosphere to balance the air pressure. The maximum diameters of the three layers of annular cavities are different, and they increase from top to bottom. Each layer of the annular cavity is in the shape of an annulus, and an air pressure balance hole is provided at the top near the inner side of each layer of the annular cavity, which is connected to the external atmosphere. A layer of sink grooves is provided at the bottom end of each layer of the annular cavity, and each layer of sink grooves is mainly composed of a number of sink grooves arranged at intervals along the circumference of the annular cavity. Each sink groove is processed with a smooth cylindrical cavity in the direction away from the central axis of the rotating cone 1011. The cylindrical cavity also has three layers. The first layer of the cylindrical cavity is as follows. Fig.18 The first cylindrical cavity 101106 and the second cylindrical cavity 101109 in the figure, the second cylindrical cavity is the third cylindrical cavity 101107 and the fourth cylindrical cavity 101110 in the figure, and the third cylindrical cavity is the fifth cylindrical cavity 101108 and the sixth cylindrical cavity 101111 in the figure. The two layers of pressure cavities are both in the shape of annular cones, and the maximum diameters of the two layers of pressure cavities are different. The diameter of the lower pressure cavity 101105 is larger than that of the upper pressure cavity 101104, wherein the upper pressure cavity 101104 is flush with the top annular cavity 101101, and the lower pressure cavity 101105 is flush with the bottom annular cavity 101103. The lowest surface of each layer of annular cavity is higher than the top of the cylindrical cavity in the same layer. A pigment output pipeline is set at the near-middle side of the annular cavity, and the pipeline extends to the outside of the bottom of the rotating cone 1011, and is smoothly sealed and connected with the corresponding hole of the bottom disk 1012. Pressure pipes are provided near the outer sides of the two pressure chambers, and are smoothly sealed and communicated with the corresponding holes of the bottom disc 1012. An air pressure balance hole is provided on the upper wall near the inner side of each pressure chamber, which is connected to the external atmosphere. The top annular chamber 101101, the middle annular chamber 101102 and the bottom annular chamber 101103 are respectively connected to the black solution pipeline 10213, the white solution pipeline 10214 and the yellow solution pipeline 10215 in the color-changing valve unit 102, and the upper pressure chamber 101104 and the lower pressure chamber 101105 are respectively connected to the upper pressure liquid pipeline 10204 and the lower pressure liquid pipeline 10205.

[0130] The push rod 10141 is a T-shaped structure, and its end face is disc-shaped, and a plurality of through holes are arranged on the disc. The semipermeable membrane 10142 is attached and fixed on the disc-shaped surface of the push rod, and the execution control unit 10143 can push the push rod to move forward and backward. The outer wall of the disc of the push rod 10141 is a smooth structure, which can slide relative to the smooth inner wall of the cylindrical cavity in a sealed manner. The semipermeable membrane 10142 only allows water to pass through, and does not allow pigment solutes to pass through. The execution control unit 10143 communicates wirelessly with the whole machine electronic control system. The pigment solution 1015 is an incompressible liquid, which is conductive, and the conductivity of solutions of different colors is different. The pressure liquid 1016 is an incompressible liquid and is used for fluid transmission.

[0131] The bottom disc 1012 is truncated cone-shaped, and a transmission hole is provided at the center line, and the transmission hole is used to connect the rotation drive device 1013. The outer wall and the upper and lower surfaces of the bottom disc 1012 are smooth structures. The upper plane of the bottom disc 1012 is provided with a plurality of annular grooves, and the annular grooves correspond to the multiple pigment output pipelines and pressure liquid pipeline outlets of the rotating cone 1011 one by one and are smoothly sealed and connected, so as to realize the dynamic connection of the pipeline when the rotating cone 1011 rotates relative to the bottom disc 1012. In addition, the bottom disc 1012 is provided with a plurality of through holes parallel to the axial direction near the outer side, and the plurality of through holes are respectively connected with the annular grooves, so that the multiple pigment output pipelines and pressure liquid pipelines of the rotating cone 1011 are led out to the outside. The rotation drive device 1013 is locked at the bottom center position of the bottom disc 1012, and its function is to drive the rotating cone 1011 to rotate.

[0132] like Fig.19 As shown, the color-changing valve unit 102 includes a first valve body 10201, a second valve body 10202, a third valve body 10203, an upper pressure liquid pipeline 10204, a lower pressure liquid pipeline 10205, a plug 10206, a coil 10207, a permanent magnet 10208, a plug spring 10209, a first current detection probe pair 10210, a second current detection probe pair 10211, a third current detection probe pair 10212, a black solution pipeline 10213, a white solution pipeline 10214, a yellow solution pipeline 10215, a color-changing disc 10216, a color-changing spring 10217, an output liquid pipeline 10219, an upper hydraulic driving device 10220 and a lower hydraulic driving device 10221;

[0133] The second valve body 10202 is movably arranged between the first valve body 10201 and the third valve body 10203, and the third valve body 10203 is provided with three color pipeline through holes from top to bottom, and the three color pipeline through holes are respectively connected with the black solution pipeline 10213, the white solution pipeline 10214 and the yellow solution pipeline 10215, and the outlets of the three-layer annular cavity arranged from top to bottom in the color-changing power device 101 are respectively connected with the black solution pipeline 10213, the white solution pipeline 10214 and the yellow solution pipeline 10215, and the black solution pipeline 10213, the white solution pipeline 10214 and the yellow solution pipeline 10215 are respectively provided with a first current detection probe pair 10210, a second current detection probe pair 10211 and a third current detection probe pair 10212 for detecting the pigment solution 1015;

[0134] The top of the second valve body 10202 is connected to the outlet of the upper pressure chamber 101104 through the upper pressure liquid pipeline 10204, and the bottom of the second valve body 10202 is connected to the outlet of the lower pressure chamber 101105 through the lower pressure liquid pipeline 10205. The upper pressure liquid pipeline 10204 and the lower pressure liquid pipeline 10205 are respectively provided with an upper hydraulic driving device 10220 and a lower hydraulic driving device 10221 for driving the second valve body 10202 to move up and down. The top of the second valve body 10202 is opened. A valve body countersunk hole is provided, a plug 10206, a permanent magnet 10208 and a plug spring 10209 are all installed in the valve body countersunk hole, two ends of the plug spring 10209 are respectively connected to the permanent magnet 10208 and the plug 10206, the plug 10206 is located on the side of the second valve body 10202 close to the first valve body 10201, the coil 10207 is installed in the plug 10206, the movement of the plug 10206 is controlled by the power supply of the coil 10207, and a pigment through hole is opened at the bottom of the second valve body 10202;

[0135] Three valve body grooves are provided on the upper part of the first valve body 10201 from top to bottom, and the valve body grooves match the plug 10206. The valve body grooves are used to position the plug 10206, thereby controlling the pigment through hole at the bottom of the second valve body 10202 to be connected with the color pipeline through hole of the specified color on the third valve body 10203. A valve body groove is provided on the side of the bottom of the first valve body 10201 close to the second valve body 10202, and the color-changing disc 10216 is movably installed in the valve body groove. The two ends of the two color-changing springs 10217 are respectively connected to the first valve body 10201 and the color-changing disc 10216, the middle part of the color-changing disc 10216 is connected to one end of the output liquid pipeline 10219, and the other end of the output liquid pipeline 10219 is connected to the color-changing dough unit 103.

[0136] In the specific implementation, the first valve body 10201, the second valve body 10202 and the third valve body 10203 are installed vertically. The left side of the first valve body 10201, the left and right sides of the second valve body 10202, and the right side of the third valve body 10203 are smooth surfaces, and the three are relatively sealed and slidable. The upper hydraulic drive device 10220 and the lower hydraulic drive device 10221 can use the push rod to push the second valve body 10202 up and down under the drive of fluid pressure. Three spherical pits A, B, and C are opened on the first valve body 10201, and the shape matches the spherical convex surface of the plug 10206, which is used to lock the second valve body 10202 to prevent it from falling when the skin color fades. When the yellow solution pipeline is connected, the plug is just in the pit A; when the white solution pipeline is connected, the plug is just in the pit B; when the black solution pipeline is connected, the plug is just in the pit C.

[0137] The second valve body 10202 has a countersunk hole on the upper part, and the inner wall is smooth, which is used to place the plug, coil, permanent magnet and plug spring, and there is also an air guide hole at the rear. When the coil 10207 is not energized, under the action of the plug spring elastic force, the plug 10206 is fixed to the pit of the first valve body 10201, and the second valve body 10202 is locked; when the coil 10207 is energized, it pushes the permanent magnet 10208 and the plug 10206 back, and the second valve body is released.

[0138] A pair of current detection probes are installed at the ends of the three solution pipelines. Since the solution is conductive, a signal will be detected when there is a colored solution in the pipeline, and no signal will be detected when the pipeline is filled with non-conductive liquid. This component is used to detect whether the fading process of the skin color is completed. The end of the output liquid pipeline 10219 is chamfered to prevent the color-changing disc 10216 and the second valve body 10202 from being tightly attached to each other so that the solution does not flow. The disc surface of the color-changing disc 10216 close to the second valve body 10202 is a rough surface, and the upper and lower surfaces of the color-changing disc 10216 slide smoothly and seal with the first valve body 10201, and an air guide hole is opened on the right side of the first valve body 10201.

[0139] like Fig. 20 As shown, the color-changing facial skin unit 103 includes a transparent outer facial skin 10301, an inner facial skin 10302, a skin color pigment input pipeline 10303, an oily liquid 10304, an oil disk 10305, an oil spring 10306, an oil shell 10307, ​​an oil current probe 10311 and a facial skin adjustment component; the inner facial skin 10302 is attached to the outer wall of the head shell mechanism 2, and a plurality of facial skin adjustment components for adjusting the thickness of the facial skin are arranged between the transparent outer facial skin 10301 and the inner facial skin 10302. The transparent outer facial skin 10301 and the inner facial skin 10302 constitute the facial skin structure of the robot, and the bottom outlet of the facial skin structure is connected to one end of the skin color pigment input pipeline 10303, and the skin color The other end of the pigment input pipeline 10303 is connected to the output liquid pipeline 10219 in the color-changing valve unit 102, the top outlet of the face skin structure is connected to the opening of the oil housing 10307, ​​the oil disc 10305 and the oil spring 10306 are both installed in the oil housing 10307, ​​the two ends of the oil spring 10306 are respectively connected to the inner wall surface of the oil housing 10307 and the oil disc 10305, the oily liquid 10304 is stored in the oil housing 10307, ​​and the oil disc 10305 is located between the oily liquid 10304 and the oil spring 10306, and an oil current probe 10311 for detecting the oily liquid is provided at the outlet position of the top of the face skin structure;

[0140] The dough skin adjustment component is mainly composed of a dough skin permanent magnet 10308, a dough skin spring 10309 and a dough skin coil 10310. The dough skin permanent magnet 10308 and the dough skin coil 10310 are respectively installed on the transparent outer face skin 10301 and the inner face skin 10302. The two ends of the dough skin spring 10309 are respectively connected to the dough skin permanent magnet 10308 and the dough skin coil 10310. The distance between the transparent outer face skin 10301 and the inner face skin 10302 is controlled by the power supply condition of the dough skin coil 10310, thereby controlling the thickness of the face skin structure.

[0141] When the dough coil 10310 is energized, it pushes the dough permanent magnet 10308, drives the transparent outer skin 10301, increases the distance between the transparent outer skin 10301 and the inner skin 10302, adjusts the amount of color solution filled therein, and then changes the average thickness of the color solution, and finally achieves a small range of skin color depth changes under the same skin color. The oily liquid 10304 uses an oily transparent non-conductive liquid, which is transparent, incompressible, insoluble in water and color solution, and non-conductive. The stiffness of the oil spring 10306 is low, but greater than the equivalent stiffness of the two color-changing springs 10217.

[0142] like Figure 3 As shown, the head shell mechanism 2 includes a side face shell 21, a middle face shell 22, a side jaw 24 and a middle jaw 25. The middle face shell 22 has an inwardly protruding bracket for fixing the worm gear structure of the deformation mechanism 14 to achieve the change of the face shape. The side face shell 21 is fixedly connected to the eyebrow fixing bracket 1121 in the eyebrow mechanism 11, the side jaw 24 is fixedly connected to the mouth side bracket 13316 in the mouth mechanism 13, and the middle face shell 22 and the side jaw 2 4 are connected to the deformation mechanism 14, the middle lower jaw 25 is installed on the lower lip fixing bracket 13217 in the mouth mechanism 13, the eyebrow fixing bracket 1121 is connected to the eye fixing bracket 12110 in the eye mechanism 12 through the eyebrow deformation connecting rod 1412 of the eyebrow deformation unit 141, and the inner face skin 10302 in the skin color changing mechanism 10 is attached to the side face shell 21, the middle face shell 22, the side lower jaw 24 and the middle lower jaw 25 of the head shell mechanism 2.

[0143] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or replace some or all of the technical features therein by equivalents. However, these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. An expression robot with changeable skin color and face shape, characterized by: The invention comprises a head assembly (1), a head shell mechanism (2), a neck mechanism (4) and a skin color changing mechanism (10); the head assembly (1) mainly comprises an eyebrow mechanism (11), an eye mechanism (12), a mouth mechanism (13) and a deformation mechanism (14); the eyebrow mechanism (11) and the eye mechanism (12) are fixedly connected; the eyebrow mechanism (11), the eye mechanism (12) and the mouth mechanism (13) are all connected to the deformation mechanism (14); the eyebrow mechanism (11), the mouth mechanism (13) and the deformation mechanism (14) are connected to each other; The deformation mechanism (14) is connected to the head shell mechanism (2), the neck mechanism (4) is fixedly mounted on the mouth mechanism (13), the skin color changing mechanism (10) is attached to the head shell mechanism (2) and is used to change the skin color of the robot, the deformation mechanism (14) comprises an eyebrow deformation unit (141) and a mouth deformation unit (142), the eyebrow deformation unit (141) and the mouth deformation unit (142) are mainly driven by a worm gear structure, and the deformation of the robot's eyebrows and mouth is achieved through the worm gear structure; The eyebrow deformation unit (141) comprises an eyebrow deformation worm gear (1411) and two eyebrow deformation connecting rods (1412); the eyebrow deformation worm gear (1411) comprises a first eyebrow ball head buckle (141101), a second eyebrow ball head buckle (141102), a third eyebrow ball head buckle (141103), a fourth eyebrow ball head buckle (141104), a first eyebrow worm gear (141106), a second eyebrow worm gear (141107), an eyebrow deformation worm gear (141108) and an eyebrow deformation worm gear housing (141109); The top and bottom of the eyebrow deformation connecting rod (1412) are respectively fixedly connected to the eyebrow fixing bracket (1121) in the eyebrow mechanism (11) and the eye fixing bracket (12110) in the eye mechanism (12); the eyebrow deformation worm gear housing (141109) is fixedly mounted on the middle face shell (22) of the head shell mechanism (2); the first eyebrow ball head buckle (141101) and the second eyebrow ball head buckle (141102) are both fixedly mounted on one eyebrow deformation connecting rod (1412); the third eyebrow ball head buckle (141103) and the fourth eyebrow ball head buckle (141104) are both fixedly mounted on the other eyebrow deformation connecting rod (1412); the eyebrow deformation worm gear (141108) is fixedly mounted on the middle face shell (22) of the head shell mechanism (2); Inside the eyebrow deformation worm gear housing (141109), four eyebrow worm through holes are opened on the eyebrow deformation worm gear housing (141109); one end of the first eyebrow worm (141106) passes through the first eyebrow worm through hole and is connected to the first eyebrow ball buckle (141101) through a thread, and the other end passes through the second eyebrow worm through hole and is connected to the third eyebrow ball buckle (141103) through a thread; one end of the second eyebrow worm (141107) passes through the third eyebrow worm through hole and is connected to the second eyebrow ball buckle (141102) through a thread, and the other end passes through the fourth eyebrow worm through hole and is connected to the fourth eyebrow ball buckle (141104) through a thread; The first eyebrow worm (141106) and the second eyebrow worm (141107) are arranged in parallel and spaced apart, and the two ends of the eyebrow deformation worm wheel (141108) are respectively meshed with the threads on the first eyebrow worm (141106) and the second eyebrow worm (141107); left-handed spiral teeth are arranged at the meshing position between the first eyebrow worm (141106) and the eyebrow deformation worm wheel (141108), left-handed spiral teeth are arranged at the meshing position between the second eyebrow worm (141107) and the eyebrow deformation worm wheel (141108), and left-handed spiral teeth are arranged on the periphery of the eyebrow deformation worm wheel (141108); the first eyebrow ball head buckle (141101) and the fourth eyebrow ball head buckle (141101) 04) are provided with left-handed internal thread holes at their ends, and right-handed internal thread holes are provided at their ends of the second eyebrow ball buckle (141102) and the third eyebrow ball buckle (141103); a left-handed external thread is provided at one end of the first eyebrow worm (141106) close to the first eyebrow ball buckle (141101), a right-handed external thread is provided at one end of the first eyebrow worm (141106) close to the third eyebrow ball buckle (141103), a right-handed external thread is provided at one end of the second eyebrow worm (141107) close to the second eyebrow ball buckle (141102), and a left-handed external thread is provided at one end of the second eyebrow worm (141107) close to the fourth eyebrow ball buckle (141104).

2. The expression robot with changeable skin color and face shape according to claim 1, characterized in that: The eye mechanism (12) comprises an eyelid opening and closing unit (121), an eyeball rotation unit (122) and a pupil color changing unit (123); the eyelid opening and closing unit (121) and the eyeball rotation unit (122) are connected, and the pupil color changing unit (123) for changing the pupil color is arranged in the eyeball (12109) of the eyelid opening and closing unit (121); the eyelid opening and closing unit (121) comprises a first eye steering engine (121); 2101), a first eye servo arm (12102), an upper eyelid connecting rod (12103), an upper eyelid (12104), a second eye servo (12105), a second eye servo arm (12106), a lower eyelid connecting rod (12107), a lower eyelid (12108), an eyeball (12109) and an eye fixing bracket (12110); the first eye servo (12101) and the second eye servo (12103) are 2105) are fixedly mounted on the eye fixing bracket (12110), the output shaft of the first eye steering gear (12101) is hinged to one end of the upper eyelid connecting rod (12103) through the first eye steering gear arm (12102), the other end of the upper eyelid connecting rod (12103) is hinged to the upper eyelid (12104), and the output shaft of the second eye steering gear (12105) is hinged to the lower eyelid through the second eye steering gear arm (12106). One end of the connecting rod (12107) is hinged, the other end of the lower eyelid connecting rod (12107) is hinged to the lower eyelid (12108), the upper eyelid (12104) and the lower eyelid (12108) are both hinged to the eye fixing bracket (12110), the upper eyelid (12104) and the lower eyelid (12108) are hinged, and the eyeball (12109) is arranged between the upper eyelid (12104) and the lower eyelid (12108); The eyeball rotation unit (122) comprises an eyeball back plate (12201), a third eye steering gear (12203), a fourth eye steering gear (12204), a third eye steering gear arm (12205), a first eye connecting rod (12206), a second eye connecting rod (12207), a fourth eye steering gear arm (12208), a third eye connecting rod (12209) and a fourth eye connecting rod (12210); the third eye steering gear (12203) and the fourth eye steering gear (12204) are both fixedly mounted on an eye fixing bracket (12110), the eyeball back plate (12201) is fixedly mounted on an eyeball (12109), an output shaft of the third eye steering gear (12203) is fixedly connected to one end of the third eye steering gear arm (12205), and the third eye steering gear arm (12210) is fixedly mounted on the eye fixing bracket (12110). 05) is fixedly connected to the bottom end of the first eye connecting rod (12206), one end of the second eye connecting rod (12207) is movably connected to the first eye connecting rod (12206), and the other end of the second eye connecting rod (12207) is connected to the eyeball back plate (12201) through a ball joint; the output shaft of the fourth eye servo (12204) is fixedly connected to one end of the fourth eye servo arm (12208), the other end of the fourth eye servo arm (12208) is hinged to one end of the third eye connecting rod (12209), the other end of the third eye connecting rod (12209) is hinged to the middle of the fourth eye connecting rod (12210), and the two ends of the fourth eye connecting rod (12210) are respectively hinged to the eye fixing bracket (12110) and the eyeball back plate (12201); The pupil color changing unit (123) comprises a pupil (1231), an eye membrane (1232), positively charged blue particles and negatively charged brown particles; the pupil (1231) and the eye membrane (1232) are arranged in the middle of the outer surface of the eyeball (12109), an eyeball cavity (1238) is opened in the middle of the eyeball (12109), and a transparent liquid, positively charged blue particles and negatively charged brown particles are stored in the eyeball cavity (1238); when a positive current is passed through the transparent liquid, the negatively charged brown particles are adsorbed on the inner surface of the eyeball (12109), so that the eye membrane (1232) of the eyeball (12109) is brown, and when a negative current is passed through the transparent liquid, the positively charged blue particles are adsorbed on the inner surface of the eyeball (12109), so that the eye membrane (1232) of the eyeball (12109) is blue.

3. The expression robot with changeable skin color and face shape according to claim 1, characterized in that: The mouth mechanism (13) includes an upper lip unit (131), a lower lip unit (132) and left and right lip units (133), wherein the lower lip unit (132) and the left and right lip units (133) are all connected to the upper lip unit (131); the upper lip unit (131) includes a first upper lip servo (13101), a first upper lip servo arm (13102), a first upper lip connecting rod (13103), an upper lip slider (13104 ... connecting rod (13104), a first upper lip connecting rod (13105), a first upper lip connecting rod (13106), a first upper lip connecting rod (13107), a first upper lip connecting rod (13108), a first upper lip connecting rod (13109), a first upper lip connecting rod (131101), a first upper lip connecting rod (131102), a first upper lip connecting rod (131103), a first upper lip connecting rod (131104), a first upper lip connecting rod (131105), a first upper lip connecting rod (131106), a first upper lip connecting rod (131107), a first upper lip connecting rod (131108), a first upper lip connecting rod (131109), a first upper lip connecting rod (13110 two upper lip servos (13105), a second upper lip servo arm (13106), a second upper lip connecting rod (13107), a first mouth control plate (13108), two third upper lip servos (13109), two third upper lip servo arms (13110), two second mouth control plates (13111) and a mouth middle bracket (13115); the first upper lip servo (13101), the second upper lip servo (13105) and the two third upper lip The servos (13109) are all fixedly mounted on the mouth middle bracket (13115), the output shaft of the first upper lip servo (13101) is hinged to one end of the first upper lip connecting rod (13103) through the first upper lip servo arm (13102), the other end of the first upper lip connecting rod (13103) is hinged to the first mouth control plate (13108), the output shaft of the second upper lip servo (13105) is hinged to the second upper lip connecting rod (13106) through the second upper lip servo arm (13106). One end of the second upper lip connecting rod (13107) is hinged, and the other end of the second upper lip connecting rod (13107) is equipped with an upper lip slider (13104), and the upper lip slider (13104) can be installed on the first upper lip connecting rod (13103) so as to move forward and backward along the extension direction of the first upper lip connecting rod (13103), and the output shafts of the two third upper lip servos (13109) are respectively hinged with the two second mouth control plates (13111) through the third upper lip servo arms (13110); The lower lip unit (132) comprises a first lower lip servo (13201), a first lower lip servo arm (13202), a first lower lip connecting rod (13203), a lower lip slider (13204), a second lower lip servo (13205), a second lower lip servo arm (13206), a second lower lip connecting rod (13207), a third lower lip connecting rod (13208), a third mouth control plate (13209), two third lower lip servos (13210), two third lower lip servo arms (13211), and a third lower lip connecting rod (13212). 3211), two fourth mouth control plates (13212), a fourth lower lip steering gear (13215) and a lower lip fixing bracket (13217); the fourth lower lip steering gear (13215) is fixedly mounted on the mouth middle bracket (13115), the steering gear arm of the fourth lower lip steering gear (13215) is connected to the lower lip fixing bracket (13217), the first lower lip steering gear (13201), the second lower lip steering gear (13205) and the two third lower lip steering gears (13210) are all fixedly mounted on the lower lip On the fixed bracket (13217), the output shaft of the second lower lip servo (13205) is hinged to one end of the second lower lip connecting rod (13207) through the second lower lip servo arm (13206), the other end of the second lower lip connecting rod (13207) is hinged to one end of the third lower lip connecting rod (13208), the other end of the third lower lip connecting rod (13208) is fixedly connected to the third mouth control plate (13209), and the output shaft of the first lower lip servo (13201) is hinged to one end of the third lower lip connecting rod (13208) through the first lower lip servo arm (13206). 3202) is hinged to one end of the first lower lip connecting rod (13203), a lower lip slider (13204) is installed at the other end of the first lower lip connecting rod (13203), the lower lip slider (13204) can be installed on the third lower lip connecting rod (13208) to move forward and backward along the extension direction of the third lower lip connecting rod (13208), and the output shafts of the two third lower lip servos (13210) are respectively hinged to the two fourth mouth control plates (13212) through the third lower lip servo arms (13211); The left and right lip units (133) include a first mouth servo (13308), a first mouth servo arm (13309), a first mouth connecting rod (13310), a second mouth servo (13311), a second mouth servo arm (13312), a second mouth connecting rod (13313), a fifth mouth control plate (13314) and two mouth side brackets (13316); the two mouth side brackets (13316) are respectively arranged on the left and right sides of the mouth middle bracket (13115), and the first mouth servo (13308) and the second mouth servo (13311) are both fixedly connected to the mouth side brackets. On the side bracket (13316), the output shaft of the first mouth servo (13308) is hinged to one end of the first mouth connecting rod (13310) through the first mouth servo arm (13309), the output shaft of the second mouth servo (13311) is hinged to one end of the second mouth connecting rod (13313) through the second mouth servo arm (13312), the other end of the first mouth connecting rod (13310) and the other end of the second mouth connecting rod (13313) are hinged, and a fifth mouth control plate (13314) is installed at the hinge position of the first mouth connecting rod (13310) and the second mouth connecting rod (13313).

4. The expression robot with changeable skin color and face shape according to claim 1, characterized in that: The mouth deformation unit (142) comprises a mouth deformation worm gear (1422), and the mouth deformation worm gear (1422) comprises a first mouth ball buckle (142201), a second mouth ball buckle (142202), a third mouth ball buckle (142203), a fourth mouth ball buckle (142204), a first mouth worm (142206), a second mouth worm (142207), a mouth deformation worm gear (142208), a first mouth worm (142209), a second mouth worm (142210), a first mouth worm (142211), a second mouth worm (142212), a first mouth worm (142213), a second mouth worm (142214), a first mouth worm (142215), a second mouth worm (142216), a first mouth worm (142217), a second mouth worm (142218), a first mouth worm (142219), a second mouth worm (142222), a first mouth worm (142223), a second mouth worm (142224), a first mouth worm (142225), a second mouth worm (142226), a second mouth worm (142227), a first mouth worm (142228), a second mouth worm (142229), a first mouth worm (142230), a second mouth worm (142231), a first mouth worm (142232), a second mouth worm (142233), a first mouth worm (142234), a second mouth worm (142235), a first mouth worm (142236), a second mouth worm (142237), a first mouth worm (142238), a second mouth worm (142239), a first The mouth portion deformable worm gear (142208) and the mouth portion deformable worm gear housing (142209); the mouth portion deformable worm gear housing (142209) is fixedly mounted on the middle face housing (22) of the head housing mechanism (2); the first mouth portion ball head buckle (142201) and the second mouth portion ball head buckle (142202) are both fixedly mounted on a side lower jaw (24) of the head housing mechanism (2); the third mouth portion ball head buckle (142203) and the fourth The mouth ball buckle (142204) is fixedly mounted on the other side lower jaw (24) of the head shell mechanism (2), the mouth deformable worm wheel (142208) is located inside the mouth deformable worm wheel housing (142209), and the mouth deformable worm wheel housing (142209) is provided with four mouth worm through holes, and one end of the first mouth worm (142206) is passed through the first mouth worm through hole and is connected to the first mouth worm through a thread. The second worm gear (142207) is connected to the second worm gear ball buckle (142201) through a thread, and the other end is connected to the third worm gear ball buckle (142203) through a thread after passing through the second worm gear through hole, and one end of the second worm gear (142207) is connected to the second worm gear ball buckle (142202) through a thread after passing through the third worm gear through hole, and the other end is connected to the fourth worm gear ball buckle (142204) through a thread after passing through the fourth worm gear through hole; The first mouth worm (142206) and the second mouth worm (142207) are arranged in parallel and spaced apart, and the two ends of the mouth deformable worm wheel (142208) are respectively meshed and connected with the threads on the first mouth worm (142206) and the second mouth worm (142207); left-handed spiral teeth are arranged at the meshing position of the first mouth worm (142206) and the mouth deformable worm wheel (142208), left-handed spiral teeth are arranged at the meshing position of the second mouth worm (142207) and the mouth deformable worm wheel (142208), and left-handed spiral teeth are arranged on the periphery of the mouth deformable worm wheel (142208); the first mouth ball buckle (142201) and the second mouth ball buckle (142 202) are provided with left-handed internal threaded holes at their ends, and right-handed internal threaded holes are provided at the ends of the third nozzle ball buckle (142203) and the fourth nozzle ball buckle (142204); a left-handed external thread is provided at one end of the first nozzle worm (142206) close to the first nozzle ball buckle (142201), a right-handed external thread is provided at one end of the first nozzle worm (142206) close to the third nozzle ball buckle (142203), a left-handed external thread is provided at one end of the second nozzle worm (142207) close to the second nozzle ball buckle (142202), and a right-handed external thread is provided at one end of the second nozzle worm (142207) close to the fourth nozzle ball buckle (142204).

5. The expression robot with changeable skin color and face shape according to claim 1, characterized in that: The skin color changing mechanism (10) is mainly composed of a color changing power device (101), a color changing valve unit (102) and a color changing skin unit (103). The pigment solution (1015) in the color changing power device (101) flows into the color changing skin unit (103) through the color changing valve unit (102) to complete the skin color change of the robot. The color changing power device (101) comprises a rotating cone (1011), a bottom disc (1012), a rotating drive device (1013), a concentration adjustment device (1014), a pigment solution (1015) and a pressure liquid (1016). The rotating cone (1011) is installed on the bottom disc (1012). ), the middle part of the rotating cone (1011) is connected to the output shaft of the rotating drive device (1013), the rotating drive device (1013) is used to drive the rotating cone (1011) to rotate, the inner circumference of the rotating cone (1011) is provided with three layers of annular cavities from top to bottom, and the outer circumference is provided with two layers of pressure cavities from top to bottom, the diameters of the three layers of annular cavities increase from top to bottom, a plurality of sink grooves are provided at the bottom of each layer of annular cavities, and the sink grooves in each layer of sink grooves are evenly spaced along the circumference of the annular cavities, and each sink groove is connected to a cylindrical cavity on the side away from the central axis of the rotating cone (1011), and each cylindrical cavity in each layer of cylindrical cavities is connected to each layer of annular cavities through the sink grooves; A concentration adjustment device (1014) is installed in each cylindrical cavity. The concentration adjustment device (1014) mainly consists of a semipermeable membrane (10141), a push rod (10142) and an execution control unit (10143). The semipermeable membrane (10141) is attached to the side of the push rod (10142) close to the central axis of the rotating cone (1011), and the execution control unit (10143) is connected to the side away from the central axis of the rotating cone (1011). The execution control unit (10143) is used to drive the push rod (10142) to move forward and backward. 10141) is used to adjust the concentration of the pigment solution (1015) in the cylindrical cavity; each layer of the annular cavity stores the pigment solution (1015), and the three layers of the annular cavity arranged from top to bottom are respectively filled with a black solution (10151), a white solution (10152) and a yellow solution (10153); each layer of the pressure cavity stores a pressure liquid (1016), and the top and bottom pressure cavities are respectively filled with an upper pressure liquid (10161) and a lower pressure liquid (10162), and the annular cavity and the pressure cavity are connected to the color-changing valve unit (102) through a pipeline.

6. The expression robot with changeable skin color and face shape according to claim 5, characterized in that: The color-changing valve unit (102) comprises a first valve body (10201), a second valve body (10202), a third valve body (10203), an upper pressure liquid pipeline (10204), a lower pressure liquid pipeline (10205), a plug (10206), a coil (10207), a permanent magnet (10208), a plug spring (10209), a first current detection probe pair (10210), a second current detection probe pair (10211), a third current detection probe pair (10212), a black solution pipeline (10213), a white solution pipeline (10214), a yellow solution pipeline (10215), a color-changing disc (10216), a color-changing spring (10217), an output liquid pipeline (10219), an upper hydraulic drive device (10220) and a lower hydraulic drive device (10221); The second valve body (10202) is movably disposed between the first valve body (10201) and the third valve body (10203). The third valve body (10203) is provided with three color pipeline through holes from top to bottom. The three color pipeline through holes are respectively connected to the black solution pipeline (10213), the white solution pipeline (10214) and the yellow solution pipeline (10215). The outlets of the three-layer annular cavity disposed from top to bottom in the color-changing power device (101) are respectively connected to the black solution pipeline (10213), the white solution pipeline (10214) and the yellow solution pipeline (10215). The black solution pipeline (10213), the white solution pipeline (10214) and the yellow solution pipeline (10215) are connected, and the first current detection probe pair (10210), the second current detection probe pair (10211) and the third current detection probe pair (10212) for detecting the pigment solution (1015) are respectively arranged on the black solution pipeline (10213), the white solution pipeline (10214) and the yellow solution pipeline (10215); the top end of the second valve body (10202) is connected to the upper pressure chamber (101104) through the upper pressure liquid pipeline (10204) The outlet of the second valve body (10202) is connected, the bottom end of the second valve body (10202) is connected to the outlet of the lower pressure chamber (101105) through the lower pressure liquid pipeline (10205), the upper pressure liquid pipeline (10204) and the lower pressure liquid pipeline (10205) are respectively provided with an upper hydraulic driving device (10220) and a lower hydraulic driving device (10221) for driving the second valve body (10202) to move up and down, the top of the second valve body (10202) is provided with a valve body counterbore, and the plug (10206), the permanent magnet (1020 8) and the plug spring (10209) are both installed in the countersunk hole of the valve body, the two ends of the plug spring (10209) are respectively connected to the permanent magnet (10208) and the plug (10206), the plug (10206) is located on the side of the second valve body (10202) close to the first valve body (10201), the coil (10207) is installed in the plug (10206), the movement of the plug (10206) is controlled by the power supply of the coil (10207), and a pigment through hole is opened at the bottom of the second valve body (10202); The upper part of the first valve body (10201) is provided with three valve body grooves from top to bottom, the valve body grooves match the plug (10206), and the valve body grooves are used to position the plug (10206), thereby controlling the pigment through hole at the bottom of the second valve body (10202) to be connected with the color pipeline through hole of the specified color on the third valve body (10203). A valve body groove is provided on the side of the bottom of the first valve body (10201) close to the second valve body (10202), and the color-changing disc (10216) is movably installed in the valve body groove. The two ends of the color-changing spring (10217) are respectively connected to the first valve body (10201) and the color-changing disc (10216), the middle part of the color-changing disc (10216) is connected to one end of the output liquid pipeline (10219), and the other end of the output liquid pipeline (10219) is connected to the color-changing skin unit (103).

7. The expression robot with changeable skin color and face shape according to claim 5, characterized in that: The color-changing facial skin unit (103) comprises a transparent outer facial skin (10301), an inner facial skin (10302), a skin color pigment input pipeline (10303), an oily liquid (10304), an oil disk (10305), an oil spring (10306), an oil housing (10307), an oil current probe (10311) and a facial skin adjustment component; The inner face skin (10302) is attached to the outer wall of the head shell mechanism (2), and a plurality of face skin adjustment components for adjusting the thickness of the face skin are arranged between the transparent outer face skin (10301) and the inner face skin (10302). The transparent outer face skin (10301) and the inner face skin (10302) constitute the face skin structure of the robot. The bottom outlet of the face skin structure is connected to one end of the skin color pigment input pipeline (10303), and the other end of the skin color pigment input pipeline (10303) is connected to the output liquid pipeline (10219) in the color changing valve unit (102). The top outlet of the face skin structure is connected to the oil liquid input pipeline (10219). The opening of the housing (10307) is connected, the oil disc (10305) and the oil spring (10306) are both installed in the oil housing (10307), the two ends of the oil spring (10306) are respectively connected to the oil housing (10307) and the oil disc (10305), the oily liquid (10304) is stored in the oil housing (10307), and the oil disc (10305) is located between the oily liquid (10304) and the oil spring (10306), and the outlet at the top of the face structure is provided with an oil current probe (10311) for detecting the oily liquid.

8. The expression robot with changeable skin color and face shape according to claim 7, characterized in that: The dough skin adjustment component is mainly composed of a dough skin permanent magnet (10308), a dough skin spring (10309) and a dough skin coil (10310). The dough skin permanent magnet (10308) and the dough skin coil (10310) are respectively installed on the transparent outer face skin (10301) and the inner face skin (10302). The two ends of the dough skin spring (10309) are respectively connected to the dough skin permanent magnet (10308) and the dough skin coil (10310). The distance between the transparent outer face skin (10301) and the inner face skin (10302) is controlled by the power supply condition of the dough skin coil (10310), thereby controlling the thickness of the face skin structure.

9. The expression robot with changeable skin color and face shape according to claim 1, characterized in that: The head shell mechanism (2) comprises a side face shell (21), a middle face shell (22), a side jaw (24) and a middle jaw (25); the side face shell (21) is fixedly connected to an eyebrow fixing bracket (1121) in the eyebrow mechanism (11); the side jaw (24) is fixedly connected to a mouth side bracket (13316) in the mouth mechanism (13); the middle face shell (22) and the side jaw (24) are both fixedly connected to the deformation mechanism (14). The middle jaw (25) is mounted on a lower lip fixing bracket (13217) in the mouth mechanism (13), the eyebrow fixing bracket (1121) is connected to an eye fixing bracket (12110) in the eye mechanism (12) through an eyebrow deformation unit (141), and the skin color changing mechanism (10) is attached to the side face shell (21), the middle face shell (22), the side jaw (24) and the middle jaw (25) of the head shell mechanism (2).

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