An expression robot with multiple degrees of freedom in the mouth

Abstract

The present invention discloses an expression robot with multiple degrees of freedom in the mouth. The eyebrow mechanism, the eye mechanism, the nose mechanism and the mouth mechanism are all connected to the housing mechanism. The eyebrow mechanism and the mouth mechanism are respectively installed at the top and bottom of the eye mechanism. The nose mechanism is installed on the mouth mechanism. The eyebrow mechanism, the eye mechanism and the mouth mechanism are all connected to the deformation mechanism. The mouth mechanism is mainly driven by an electromagnet, and the multi-degree-of-freedom movement of the mouth mechanism is controlled by the electromagnet. The eyebrow deformation unit and the mouth deformation unit in the deformation mechanism are both driven by a worm and worm gear structure, and the deformation of the eyebrows and mouth of the robot is realized through the worm and worm gear structure. The present invention uses an electromagnet drive, which can achieve fast and real-time drive response, meet the frequency requirements of facial expressions and mouth movements, and uses a worm and worm gear structure to realize the deformation of the eyebrows and mouth, realize the magnification and reduction of the face, and match different face shapes.

Description

Technical Field

[0001] The present invention belongs to the technical field of expression robots, and particularly relates to an expression robot with multiple degrees of freedom in the mouth part. Background Art

[0002] Expressions are an important way to convey emotions and intentions. Expression robots can make the communication between humans and machines closer to natural interactions between humans through facial expression changes, bringing a better interaction experience to users. The essence of the drive of an expression robot is that internal actuators drive the movement of facial points to achieve expression changes. The existing driving methods of expression robots mainly fall into three categories: motor drive, pneumatic drive, and shape memory alloy drive.

[0003] However, the above three methods have common drawbacks: 1. Lack of position feedback, resulting in uncontrollable and inaccurate expression changes; 2. High noise and low space utilization; 3. Insufficient driving frequency, with a sense of hysteresis in expression changes; 4. Lack the ability to change face shapes. There is a lack of a real-time expression change robot in the prior art that can achieve integration of motion and sensing through electromagnetic drive, accurately control expression changes according to displacement feedback, meet the real-time requirements of expression changes during conversations, and have functions such as face shape change. Summary of the Invention

[0004] In order to solve the problems existing in the background art, the purpose of the present invention is to provide an expression robot with multiple degrees of freedom in the mouth part.

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

[0006] The expression robot includes a housing mechanism, an eyebrow mechanism, an eye mechanism, a nose mechanism, a mouth mechanism, and a deformation mechanism; the eyebrow mechanism, the eye mechanism, the nose mechanism, and the mouth mechanism are all connected to the housing mechanism, the eyebrow mechanism and the mouth mechanism are respectively installed at the top and bottom of the eye mechanism, the nose mechanism is installed on the mouth mechanism, the eyebrow mechanism, the eye mechanism, and the mouth mechanism are all connected to the deformation mechanism, the mouth mechanism is mainly driven by an electromagnet, and the multi-degree-of-freedom movement of the mouth mechanism is controlled by the electromagnet. The mouth deformation unit in the deformation mechanism is mainly driven by a worm and worm gear structure, and the deformation of the robot's mouth is achieved through the worm and worm gear structure.

[0007] The described mouth mechanism includes a first mouth electromagnet, a first mouth link, a second mouth electromagnet, a second mouth link, a third mouth link, a smile link, a first mouth control piece, upper lip side fixing brackets, an upper lip middle fixing bracket, and a lip unit; two upper lip side fixing brackets are symmetrically arranged on the left and right sides of the upper lip middle fixing bracket respectively. The first mouth electromagnet and the second mouth electromagnet are both fixedly connected to the upper lip side fixing brackets, and the first mouth electromagnet is horizontally arranged above the second mouth electromagnet. Both the first mouth electromagnet and the second mouth electromagnet adopt type-three electromagnets. The root end of the first mouth link is fixedly connected to the movable end of the first mouth electromagnet, the end of the first mouth link is hinged to the top of the smile link, the root end of the second mouth link is fixedly connected to the movable end of the second mouth electromagnet, the end of the second mouth link is hinged to the root end of the third mouth link, the end of the third mouth link is hinged to the bottom of the smile link, and a first mouth control piece is installed at the end of the smile link; the first mouth electromagnet and the second mouth electromagnet are used to drive the smile link to move, thereby realizing the smile, sneer, and grin actions of the mouth. The upper lip side fixing brackets and the upper lip middle fixing bracket are both connected to the lip unit.

[0008] The described lip unit includes lower lip side fixing brackets, a lower lip middle fixing bracket, a third mouth electromagnet, a fourth mouth magnet, a fifth mouth electromagnet, a sixth mouth electromagnet, a second mouth control piece, a third mouth control piece, a fourth mouth control piece, and a fifth mouth control piece; two lower lip side fixing brackets are symmetrically arranged on both sides of the lower lip middle fixing bracket respectively. The outer shells of the third mouth electromagnet and the fourth mouth magnet are respectively fixedly connected to the upper lip side fixing brackets and the upper lip middle fixing bracket. The upper lip side fixing brackets and the upper lip middle fixing bracket are respectively fixedly connected to the lower lip side fixing brackets and the lower lip middle fixing bracket. The outer shells of the fifth mouth electromagnet and the sixth mouth electromagnet are respectively fixedly connected to the lower lip side fixing brackets and the lower lip middle fixing bracket. Both the third mouth electromagnet, the fourth mouth magnet, the fifth mouth electromagnet, and the sixth mouth electromagnet adopt type-three electromagnets. The second mouth control piece, the third mouth control piece, the fourth mouth control piece, and the fifth mouth control piece are respectively installed on the movable ends of the third mouth electromagnet, the fourth mouth magnet, the fifth mouth electromagnet, and the sixth mouth electromagnet; the third mouth electromagnet and the fourth mouth magnet are used to drive the second mouth control piece and the third mouth control piece to move up and down to jointly realize the opening and closing actions of the upper lip, and the fifth mouth electromagnet and the sixth mouth electromagnet are used to drive the fourth mouth control piece and the fifth mouth control piece to move up and down to jointly realize the opening and closing actions of the lower lip.

[0009] The described nose mechanism includes a nose control piece, a nose connecting rod, a nose electromagnet, and a nose fixing bracket; both the nose fixing bracket and the housing of the nose electromagnet are fixedly connected to the nose in the housing mechanism. The nose electromagnet is a type-II electromagnet. The nose connecting rod is fixedly connected to the moving end of the nose electromagnet, and two nose control pieces are hinged on the nose connecting rod. The nose electromagnet is used to drive the nose connecting rod and the nose control pieces to move to achieve the nose-sniffing action. The nose fixing bracket is connected to the upper lip middle fixing bracket in the mouth mechanism.

[0010] The type-II electromagnet includes a type-II magnet rod, a type-II coil fixing seat, a type-II inductance coil, a type-II spring fixing seat, a type-II nylon rod, a type-II spring, and a type-II nylon cover; the type-II coil fixing seat and the type-II spring fixing seat are fixedly connected. The type-II inductance coil is installed on the type-II coil fixing seat. The type-II magnet rod is movably arranged in the middle of the type-II inductance coil. The rear end of the type-II magnet rod is fixedly connected to the type-II nylon rod. A circular through-hole is provided in the middle of the type-II spring fixing seat. The rear end of the type-II nylon rod passes through the circular through-hole in the type-II spring fixing seat and is connected to the type-II nylon cover. The type-II spring is wound around the outer periphery of the type-II nylon rod, and the front and rear ends of the type-II spring are respectively connected to the type-II spring fixing seat and the type-II nylon cover; when the type-II inductance coil is energized, the type-II magnet rod drives the type-II nylon rod to move back and forth and compress the type-II spring, and the type-II spring is used to reset the type-II magnet rod.

[0011] The described type-III electromagnet includes a type-III magnet rod one, a type-III coil fixing seat, a type-III inductance coil one, a type-III nylon rod one, a type-III magnet rod two, a type-III inductance coil two, a type-III nylon rod two, a type-III spring, and a type-III spring fixing seat; the type-III coil fixing seat and the type-III spring fixing seat are fixedly connected. The rear end of the type-III spring is connected to the rear end of the type-III spring fixing seat. Both the type-III inductance coil one and the type-III inductance coil two are installed on the type-III coil fixing seat, and the type-III inductance coil one is located in front of the type-III inductance coil two. The type-III nylon rod one is movably arranged in the middle of the type-III inductance coil one. The type-III magnet rod one is fixedly connected to the front end of the type-III nylon rod one. The front and rear ends of the type-III magnet rod two are respectively connected to the type-III nylon rod one and the type-III nylon rod two. The rear end of the type-III nylon rod two is installed at the front end of the type-III spring; when the type-III inductance coil one and / or the type-III inductance coil two is energized, the type-III magnet rod one and the type-III magnet rod two move, and then synchronously drive the type-III nylon rod one and the type-III nylon rod two to move and compress the type-III spring, and the type-III spring is used to reset the type-III magnet rod one.

[0012] The described mouth deformation unit includes a first mouth deformation connecting rod, a second mouth deformation connecting rod, a third mouth deformation connecting rod, a fourth mouth deformation connecting rod, a fifth mouth deformation connecting rod, a sixth mouth deformation connecting rod, a seventh mouth deformation connecting rod, an eighth mouth deformation connecting rod, and a mouth deformation worm and worm gear; one end of the first mouth deformation connecting rod is hinged to a fixed bracket on one side of the upper lip in the mouth mechanism, and the other end is hinged to one end of the second mouth deformation connecting rod. The other end of the second mouth deformation connecting rod is hinged to the fixed bracket in the middle of the upper lip of the mouth mechanism. One end of the third mouth deformation connecting rod is hinged to the fixed bracket in the middle of the upper lip, and the other end is hinged to one end of the fourth mouth deformation connecting rod. The other end of the fourth mouth deformation connecting rod is hinged to the fixed bracket on the other side of the upper lip in the mouth mechanism; one end of the fifth mouth deformation connecting rod is hinged to the fixed bracket on one side of the upper lip in the mouth mechanism, and the other end is hinged to one end of the sixth mouth deformation connecting rod. The other end of the sixth mouth deformation connecting rod is hinged to the fixed bracket in the middle of the upper lip. One end of the seventh mouth deformation connecting rod is hinged to the fixed bracket in the middle of the upper lip, and the other end is hinged to one end of the eighth mouth deformation connecting rod. The other end of the eighth mouth deformation connecting rod is hinged to the fixed bracket on the other side of the upper lip in the mouth mechanism; the mouth deformation worm and worm gear is installed on the fixed bracket in the middle of the lower lip of the mouth mechanism.

[0013] The described mouth deformation worm and 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, a mouth deformation worm and worm gear housing, a first ball head connecting rod, and a second ball head connecting rod; the mouth deformation worm and worm gear housing is installed on the fixed bracket in the middle of the lower lip. The first mouth ball head buckle and the third mouth ball head buckle are respectively fixedly connected to the two fixed brackets on the sides of the upper lip in the mouth mechanism. The second mouth ball head buckle and the fourth mouth ball head buckle are respectively hinged to one end of the first ball head connecting rod and the second ball head connecting rod. The other ends of the first ball head connecting rod and the second ball head connecting rod are respectively hinged to the two fixed brackets on the sides of the upper lip. The mouth deformation worm wheel is located inside the mouth deformation worm and worm gear housing. Four mouth worm through holes are provided on the mouth deformation worm and worm gear housing. One end of the first mouth worm passes through the first mouth worm through hole and is connected to the first mouth ball head buckle by a thread, and the other end passes through the second mouth worm through hole and is connected to the third mouth ball head buckle by a thread. One end of the second mouth worm passes through the third mouth worm through hole and is connected to the second mouth ball head buckle by a thread, and the other end passes through the fourth mouth worm through hole and is connected to the fourth mouth ball head buckle by a thread.

[0014] The first mouth worm and the second mouth worm are arranged in parallel at intervals, and both ends of the mouth-deformed worm gear are respectively meshed and connected with the threads on the first mouth worm and the second mouth worm; at the meshing positions of the first mouth worm and the mouth-deformed worm gear, left-handed spiral teeth are arranged, at the meshing positions of the second mouth worm and the mouth-deformed worm gear, left-handed spiral teeth are arranged, and left-handed spiral teeth are arranged on the outer periphery of the mouth-deformed worm gear; at the ends of both the first mouth ball catch and the second mouth ball catch, left-handed internal threaded holes are opened, and at the ends of both the third mouth ball catch and the fourth mouth ball catch, right-handed internal threaded holes are opened; at one end of the first mouth worm close to the first mouth ball catch, a left-handed external thread is opened, at one end of the first mouth worm close to the third mouth ball catch, a right-handed external thread is opened, at one end of the second mouth worm close to the second mouth ball catch, a left-handed external thread is opened, and at one end of the second mouth worm close to the fourth mouth ball catch, a right-handed external thread is opened.

[0015] The housing mechanism includes the forehead, the side face, the nose, the side jawbones and the middle and lower jawbones; the forehead is fixedly connected to the middle fixed bracket of the eyebrows in the eyebrow mechanism, the upper and lower parts of the two symmetrical side faces are respectively fixedly connected to the side fixed bracket of the eyebrows in the eyebrow mechanism and the side fixed bracket of the eyes in the eye mechanism, the side fixed bracket of the eyebrows and the side fixed bracket of the eyes are fixedly connected between them, the nose is installed on the nose mechanism, the upper and lower parts of the side jawbones are respectively fixedly connected to the upper lip side fixed bracket and the lower lip side fixed bracket in the mouth mechanism, there is a middle and lower jawbone connected between the two symmetrical side jawbones, the middle and lower jawbone is fixedly connected to the middle fixed bracket of the lower lip in the mouth mechanism, and the upper lip side fixed bracket and the lower lip side fixed bracket are fixedly connected between them; the middle fixed bracket of the eyebrows in the eyebrow mechanism and the middle fixed bracket of the upper lip in the mouth mechanism are both fixedly connected to the middle fixed bracket of the eyes in the eye mechanism, the nose fixed bracket in the nose mechanism is installed on the middle fixed bracket of the upper lip, both the eyebrow mechanism and the eye mechanism are connected to the eyebrow and eye deformation unit in the deformation mechanism, the eyebrow and eye deformation unit is used to drive the eyebrow mechanism and the eye mechanism to expand and contract horizontally on the face, and the mouth mechanism is connected to the mouth deformation unit in the deformation mechanism, and the mouth deformation unit is used to drive the mouth mechanism to expand and close on both sides of the cheeks.

[0016] The principle of the present invention is as follows:

[0017] 1. Electromagnet movement principle: By energizing and de-energizing the inductance coil, the suction and ejection control of the magnet bar on its center line is realized. At the same time, the magnet bar is fixedly connected to the nylon bar of the corresponding same size. According to the different fixing methods of the springs on the nylon bar and the number of magnet bars, the electromagnets are divided into three categories:

[0018] 1.1. Type I electromagnet

[0019] As Figure 15As shown in the figure, the direction of the magnet bar towards the coil is defined as the positive direction, and the direction away from the coil is defined as the negative direction. Initially, the magnet bars are all outside the coil and are directly connected to the end of the nylon rod. The other end of the nylon rod is connected to the spring, realizing the linear motion of the magnet bar being sucked into the coil when energized, and relying on the movement of the magnet bar to drive the movement of the nylon rod. At the same time, since the other end of the spring contacts the spring fixing seat, when the magnet bar moves inward, it drives the nylon rod to move, and the spring is compressed accordingly, providing an elastic force in the opposite direction to the electromagnetic force; when the power is turned off, it returns to the original position relying on the spring compression force.

[0020] 1.2. Type II electromagnet

[0021] As Figure 16 shown in the figure, the direction of the magnet bar towards the coil is defined as the negative direction, and the direction away from the coil is defined as the positive direction. Initially, the magnet bars are all inside the coil and are connected to the nylon rod. The nylon rod passes through the spring fixing seat and is then strung in the middle of the spring and connected to the nylon cover, realizing the linear motion of the magnet bar being ejected from the coil when energized. At the same time, since the other end of the spring contacts the spring fixing seat, when the magnet bar moves outward, it drives the nylon rod to move, and the spring is compressed accordingly, providing an elastic force in the opposite direction to the electromagnetic force; when the power is turned off, it returns to the original position relying on the spring compression force.

[0022] 1.3. Type III electromagnet:

[0023] As Figure 17 shown in the figure, since different current inputs can generate different magnitudes of magnetic field forces, the speed of the magnet can be controlled accordingly. To achieve high-frequency movement of the mouth and more precise control, a variant of the type I electromagnet is used for the control of the upper and lower lip points. The overall structure of the type III electromagnet is similar to that of the type I electromagnet, mainly making variant treatments for the inductance coil and the nylon rod: two inductance coils are connected in series and embedded in the silicon steel shell, maintaining the same axis and a fixed parallel distance. The effect of one magnet bar is the same as that of the type I electromagnet, and it is entirely outside coil I and is connected to nylon rod I. The size of nylon rod I is equal to the sum of the length of coil I and the distance between the two coils. The other end of nylon rod I is connected to magnet bar II, keeping magnet bar II completely inside coil II. The other end of magnet bar II is connected to nylon rod II, mainly for facilitating the fixation with the spring. The rest of the structure is the same as that of the type I electromagnet, and the two magnet bars maintain the same direction.

[0024] Meanwhile, when the magnet moves inside the inductance coil, it will cause a change in inductance. Under the same other conditions, when the magnet gradually enters the coil from outside the coil, the phenomenon of continuously increasing inductance will occur. Based on this, the current position of the magnet can be detected. Different current magnitudes will also affect the inductance of the coil, but it is difficult for a single coil to control the speed and accurately calculate the displacement simultaneously (the current change during speed regulation will affect the displacement calculation). Therefore, using two inductance coils can achieve more accurate detection (one for speed regulation specifically and one for displacement measurement specifically). At the same time, the two inductance coils can also increase the generated suction force to a certain extent, realizing a more stable variable-speed function compared to a single coil, meeting the higher requirements of the mouth for driving. The specific implementation method is as follows:

[0025] 1) When a positive current is passed through the first coil, if the second coil is not energized, a relatively slow inhalation can be achieved ( Figure 18 left); if a fixed magnitude of positive direct current DC is simultaneously passed through the second coil, a rapid inhalation of the magnet can be achieved ( Figure 18 right), and the specific inhalation speed can also be controlled according to the magnitude of the current inside the first coil (variable speed); if the second coil is passed with a sinusoidal current AC, the current position of the magnet can be determined through the phase difference between the input and output voltages of the second coil (position feedback);

[0026] 2) When the first magnet bar completely enters the first coil and the second magnet bar completely extends out of the second coil, if neither is energized at this time, it can bounce back in the reverse direction ( Figure 19 left); if a positive current is passed through the second coil ( Figure 19 middle), the magnet can continue to bounce back in the reverse direction, and the movement stroke of the magnet can also be increased to a certain extent. If a fixed magnitude of positive current is simultaneously passed through the first coil ( Figure 19 right), the bounce-back speed can be increased; if the second coil is passed with a sinusoidal current, the current position of the magnet can be determined through the phase difference between the input and output voltages of the second coil.

[0027] The position feedback principle is as follows: When the magnet bar gradually enters the coil from outside the coil, the phenomenon of continuously increasing inductance will occur, and the change in inductance will cause a change in the phase difference between the input and output voltages of the coil, thereby determining the current position of the magnet.

[0028] According to this principle, an electromagnet position feedback circuit is designed. The inductance coil can be equivalently regarded as two RL circuits connected in parallel. When an LC circuit is excited by a signal approaching it, a resonant frequency will be generated, and a slight change in inductance will cause a significant change in the phase angle between the input and output signals. Therefore, by connecting a capacitor in series with the coil, it is possible to determine the current position of the electromagnet through the change in the phase angle between the input and output caused by the change in inductance due to the distance of the magnet entering the coil. The electromagnet position feedback circuit is as Figure 22 shown.

[0029] Figure 22 The a is an electromagnet position feedback circuit with an AC input. The resistor R1 and the inductor L1 are connected in series to form an RL circuit, and the resistor R2 and the inductor L2 are connected in series to form another RL circuit. The two RL circuits are connected in parallel to form an equivalent inductor coil circuit. S1 and S2 are the input voltage detection point and the output voltage detection point of the coil respectively, and C is a capacitor. By comparing the phase difference of the voltage signals at points S1 and S2, the displacement of the electromagnet entering the coil can be calculated. Figure 22 The b is the simulation of this circuit in the visualization simulation tool Simulink, where L1(1)~L1(3) are the inductance values under three different motion conditions, namely Lmin, Lmid, and Lmax in the following text.

[0030] When an AC current is input, according to the transfer function, the output voltage of the coil can be calculated. s represents the Laplace operator in the transfer function. The output of the top line is the signal at point S1, that is, the input voltage of the coil, and the outputs of the bottom three lines are all the signals at point S2, that is, the output voltage of the coil, corresponding to three situations: 1. The magnet has not entered the coil at all, corresponding to the minimum inductance value Lmin; 2. The magnet has entered the coil halfway, corresponding to the intermediate inductance value Lmid; 3. The magnet has completely entered the coil, corresponding to the maximum inductance value Lmax. Since the position of the magnet in the coil will cause a change in the inductance of the coil, the current position of the electromagnet can be determined by the phase difference between the S1 and S2 signals. The relationship between the displacement of the magnet entering the coil and the phase difference between the input and output voltages is as Figure 23 (a) and Figure 23 (b) shown.

[0031] 2. Principle of pupil color change:

[0032] The middle part of the eyeball is a cylindrical cavity with a transparent eye membrane outside. The middle area of the eye membrane is blackened, 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 outside the cavity, the change of pupil color can be realized. By adjusting the voltage magnitude, the change of pupil color depth can be realized. The specific implementation process is as follows:

[0033] 1) Without power, the charged color particles move randomly in the cavity, and the colors are mixed. At this time, the pupil color is gray, which is between brown and blue (as Figure 20 left);

[0034] 2) Apply a weak voltage. The large charged color particles are not completely adsorbed. At this time, the color is lighter. When a positive voltage is applied, it is light brown, and when a negative voltage is applied, it is light blue (as Figure 20 middle);

[0035] 3) Apply a relatively large voltage. The large charged color particles are completely adsorbed, and at this time the color is darker. It is dark brown when applying a positive voltage and dark blue when applying a reverse voltage (as Figure 20 shown on the right).

[0036] 3. Facial expression driving principle:

[0037] 1) Eyebrows: The actions of raising eyebrows and frowning are achieved by directly driving the eyebrows through electromagnets, with a total of 4 degrees of freedom. Frowning, with a total of 2 degrees of freedom: The frowning action is achieved by directly driving the frowning control points of the center eyebrows (the second eyebrow control piece) through two type-II electromagnets respectively; Raising eyebrows, with a total of 2 degrees of freedom: The raising-eyebrows action is achieved by directly driving the raising-eyebrows control points of both sides of the eyebrows (the first eyebrow control piece) through two type-I electromagnets respectively.

[0038] 2) Eyes: The opening and closing of the upper and lower eyelids of the left and right eyes and the left-right, up-down rotation of the eyeballs, with a total of 7 degrees of freedom.

[0039] 2.1) The opening and closing of the upper and lower eyelids of the left and right eyes are achieved by driving through a connecting rod with the help of an electromagnet, with a total of 4 degrees of freedom.

[0040] The opening and closing of the upper and lower eyelids of the left and right eyes, each with 1 degree of freedom: The upper and lower eyelids are driven to rotate around a fixed axis by four type-II electromagnets with the help of eyelid connecting rods, and the upper and lower eyelids are connected to the actual face, that is, the respective closing actions of the upper and lower eyelids are realized, and the normally open state can be achieved without power supply;

[0041] 2.2) The rotation of the eyeballs is achieved by driving through a connecting rod with the help of an electromagnet, with a total of 3 degrees of freedom.

[0042] The up-down rotation of the eyeballs, with 1 degree of freedom: The inner eyeballs are hinged to the eyeball fixing brackets, supported by the fixing brackets on the side of the eyes. The overall rotation of the eyeball up-down connecting rods and the slidable eyeball fixing brackets thereon is driven by a type-I electromagnet, indirectly driving the up-down rotation of the two eyeballs. The left-right rotation of the eyeballs, with 2 degrees of freedom: The left-right eyeball connecting rods of the respective eyeballs are driven by two type-II electromagnets respectively, realizing the rotation of the left and right eyeballs around the vertical hole axis of the protruding part in the middle of the eyeball fixing brackets.

[0043] 3) Nose: The action of raising the nose, with a total of 1 degree of freedom.

[0044] The nose is lifted by directly driving the control piece of the nose to contract through a type-II electromagnet.

[0045] 4) Mouth: The actions of the lips are achieved by direct drive of an electromagnet and the smiling expression is achieved by driving through a connecting rod, with a total of 12 degrees of freedom.

[0046] Lip movement, i.e., the mouth control points (the second to fifth mouth control pieces), has a total of 6 degrees of freedom: Six type-three electromagnets directly drive the corresponding facial points respectively to drive the upward / downward movement; Smile movement, i.e., the mouth control point (the first mouth control piece), has a total of 6 degrees of freedom: The left / right smile actions are achieved through two type-three electromagnets. Taking the left side as an example: a) Through the first mouth electromagnet, the suction magnet drives the first mouth connecting rod to drive the smile connecting rod backward, while the second mouth electromagnet below remains stationary, achieving the upward movement of the smiling face, i.e., smiling; b) Through the second mouth electromagnet, the suction magnet drives the second and third mouth connecting rods to drive the smile connecting rod, while the first mouth electromagnet above remains stationary, achieving the downward movement of the smiling face, i.e., pouting; c) When both mouth electromagnets are suctioned simultaneously, the lips are pulled backward, i.e., grinning.

[0047] 4. Facial deformation principle: It is achieved through a worm and worm gear structure

[0048] 1) Eyebrows and eyes: The horizontal expansion / retraction of the eyebrows and eyes on the face and the change control of the interpupillary distance are achieved through a worm and worm gear. The main focus is on the horizontal expansion / contraction, as Figure 21 shown. The eyebrow ball socket is connected to the fixed bracket on the side of the eyebrow. The expansion / retraction of the eyebrow ball socket drives the change of the distance between the eyebrows and eyes and the change of the left and right sides of the face. The selected worm and worm gear pairs are all left-handed; The first eyebrow ball socket is connected to the first eyebrow worm in a left-handed manner (looking from right to left, the worm rotates clockwise. Due to the left-handedness, the ball socket moves outward); The third eyebrow ball socket is connected to the first eyebrow worm in a right-handed manner (looking from left to right, the worm rotates counterclockwise. Due to the right-handedness, the ball socket moves outward); The second eyebrow ball socket is connected to the second eyebrow worm in a right-handed manner (looking from right to left, the worm rotates counterclockwise. Due to the right-handedness, the ball socket moves outward); The fourth eyebrow ball socket is connected to the second eyebrow worm in a left-handed manner (looking from left to right, the worm rotates clockwise. Due to the left-handedness, the ball socket moves outward); When the middle worm rotates, the ball sockets on both sides can move synchronously away from / towards the center, achieving the horizontal expansion / retraction of the facial bracket.

[0049] 2) Mouth: The fan-shaped expansion / closing of the mouth and nose on both sides of the cheeks is achieved through a worm and worm gear, which is more in line with the shape of the mouth. It is mainly based on the unchanged central face and the fan-shaped expansion around the central face.

[0050] The mouth ball socket is connected to the fixed bracket on the side of the upper lip. The expansion / retraction of the ball socket drives the change of the left and right lower jaws, thus achieving the deformation of the cheeks. The selected worm and worm gear pairs are all left-handed;

[0051] Select the connection between the first mouth ball head buckle and the first mouth worm gear to be left-handed (when viewed from right to left, the worm gear rotates clockwise. Due to the left-handed rotation, the ball head buckle moves outwards); select the connection between the third mouth ball head buckle and the first mouth worm gear to be right-handed (when viewed from left to right, the worm gear rotates counterclockwise. Due to the right-handed rotation, the ball head buckle moves outwards); select the connection between the second mouth ball head buckle and the second mouth worm gear to be left-handed (when viewed from right to left, the worm gear rotates counterclockwise. Due to the left-handed rotation, the ball head buckle moves inwards); select the connection between the fourth mouth ball head buckle and the second mouth worm gear to be right-handed; (when viewed from left to right, the worm gear rotates clockwise. Due to the right-handed rotation, the ball head buckle moves inwards); when the middle worm wheel rotates, it can be realized that while the first mouth ball head buckle and the third mouth ball head buckle both move away from / towards the center synchronously, the second mouth ball head buckle and the fourth mouth ball head buckle both move towards / away from the center synchronously, realizing the fan-shaped expansion / closure of the left and right mouth brackets.

[0052] The present invention adopts a modular design, dividing the facial structure of the expression robot into four parts: eyebrows, eyes, nose, and mouth, including 4 degrees of freedom for the eyebrows, 7 degrees of freedom for the eyes, 1 degree of freedom for the nose, and 12 degrees of freedom for the mouth, a total of 24 degrees of freedom, which can realize various basic expressions required by the face: the eyebrows are directly driven by an electromagnet to realize the actions of raising eyebrows and frowning; the eyes are driven by an electromagnet with the help of a connecting rod to realize the opening and closing of the upper and lower eyelids and the rotation of the eyeballs; the nose is directly driven by an electromagnet to realize the action of shrinking and lifting the nose; the mouth is directly driven by an electromagnet to realize the actions of the lips and the expression of smiling. The present invention realizes the integration of driving and sensing through an electromagnet, meets the requirements of high-frequency movements of the eyes and mouth during conversations, and the robot also has the functions of face shape change and pupil color change.

[0053] The beneficial effects of the present invention are:

[0054] 1. The present invention adopts an electromagnet drive, which can achieve fast and real-time drive response, meeting the frequency requirements of facial expressions and mouth movements. The drive and sensing of the electromagnet are integrated, which can realize speed change and position feedback, and can make complex movements such as micro-expressions and slight mouth movements.

[0055] 2. The present invention adopts a pupil color change unit to realize the switching of three common pupil colors (blue, brown, gray), adjusts the pupil color by adjusting the voltage direction, and adjusts the depth of the pupil color by adjusting the voltage magnitude.

[0056] 3. The present invention adopts a worm and worm gear structure, which can realize the deformation of the eyebrows, eyes and mouth, realize the enlargement and reduction of the face, and match different face shapes.

[0057] 4. Adopting an electromagnet drive can achieve silent drive, meeting the needs of good human-computer interaction. To a certain extent, it realizes direct drive, and the occupied space is relatively reduced. The drives of all parts adopt a symmetrical structure, reducing the processing cost and being convenient for control. The overall structure is relatively simple and the manufacturing cost is low. Brief Description of the Drawings

[0058] Figure 1 is the overall external view of the expression robot;

[0059] Figure 2 is the overall structural diagram of the expression robot;

[0060] Figure 3 is the eyebrow mechanism diagram;

[0061] Figure 4 is the eyelid drive mechanism diagram;

[0062] Figure 5 is the diagram of the mechanism for the up and down movement of the eyeballs;

[0063] Figure 6 is the diagram of the mechanism for the left and right movement of the eyeballs

[0064] Figure 7 is the diagram of the mechanism for pupil color change;

[0065] Figure 8 is the nose mechanism diagram;

[0066] Figure 9 is the diagram of the mechanism for the smiling movement of the mouth;

[0067] Figure 10 is the diagram of the mechanism for the lip movement of the mouth;

[0068] Figure 11 is the diagram of the eyebrow deformation mechanism;

[0069] Figure 12 is the diagram of the mouth deformation mechanism;

[0070] Figure 13 is the structural diagram of the worm and worm gear for eyebrow deformation;

[0071] Figure 14 is the structural diagram of the worm and worm gear for mouth deformation;

[0072] Figure 15 is the structural diagram of a type of electromagnet;

[0073] Figure 16 is the structural diagram of a type II electromagnet;

[0074] Figure 17 is the structural diagram of a type III electromagnet;

[0075] Figure 18 is the schematic diagram of the forward movement of a type III electromagnet;

[0076] Figure 19 is the schematic diagram of the reverse movement of a type III electromagnet;

[0077] Figure 20It is the schematic diagram of pupil color change;

[0078] Figure 21 It is the effect diagram of facial deformation;

[0079] Figure 22 It is the working circuit diagram of three types of electromagnets;

[0080] Figure 23 It is the schematic diagram of position feedback of three types of electromagnets.

[0081] In the figure: housing mechanism - 1; forehead - 11; side face - 13; nose - 15; side jaw bone - 16; middle and lower jaw bone - 17; eyebrow mechanism - 2: eyebrow side fixing bracket - 201; middle eyebrow fixing bracket - 202; first eyebrow electromagnet - 204; first eyebrow control piece - 205; second eyebrow electromagnet - 208; second eyebrow control piece - 209; eye mechanism - 3; eyelid driving unit - 31; eye side fixing bracket - 3101; middle eye fixing bracket - 3102; first eyelid electromagnet - 3104; second eyelid electromagnet - 3105; first eyelid connecting rod - 3108; second eyelid connecting rod - 3109; third eyelid connecting rod - 3110; fourth eyelid connecting rod - 3111; upper eyelid - 3116; lower eyelid - 3117; eyeball - 3118; eyeball up and down driving unit - 32; eyeball up and down electromagnet - 321; first eyeball up and down connecting rod - 322; second eyeball up and down connecting rod - 323; third eyeball up and down connecting rod - 324; eyeball back plate - 325; eyeball fixing bracket - 327; eyeball left and right driving unit - 33; eyeball left and right electromagnet - 3301; first eyeball left and right connecting rod - 3302; second eyeball left and right connecting rod - 3303; third eyeball left and right connecting rod - 3304; fourth eyeball left and right connecting rod - 3305; fifth eyeball left and right connecting rod - 3306; pupil color changing unit - 34; pupil - 341; eye film - 342; negatively charged large brown particles - 343; negatively charged small brown particles - 344; positively charged small blue particles - 346; positively charged large blue particles - 347; eyeball cavity - 348; nose mechanism - 4; nose control piece - 41; nose connecting rod - 42; nose electromagnet - 43 and nose fixing bracket - 44; mouth mechanism - 5; first mouth electromagnet - 501; first mouth connecting rod - 502; second mouth electromagnet - 503; second mouth connecting rod - 504; third mouth connecting rod - 505; smile connecting rod - 511; first mouth control piece - 513; lower lip side fixing bracket - 515; lower lip middle fixing bracket - 516; upper lip side fixing bracket - 518; upper lip middle fixing bracket - 519; third mouth electromagnet - 521; fourth mouth magnet - 522; fifth mouth electromagnet - 524; sixth mouth electromagnet - 525; second mouth control piece - 527; third mouth control piece - 528; fourth mouth control piece - 530; fifth mouth control piece - 531; deformation mechanism - 6; eyebrow deformation unit - 61; eyebrow deformation worm and worm gear - 611; first eyebrow ball head buckle - 61101; second eyebrow ball head buckle - 61102; third eyebrow ball head buckle - 61103; fourth eyebrow ball head buckle - 61104; eyebrow deformation transmission shaft - 61105; first eyebrow worm - 61106; second eyebrow worm - 61107; eyebrow deformation worm gear - 61108; eyebrow deformation worm and worm gear housing - 61109; first eyebrow deformation connecting rod - 612; second eyebrow deformation connecting rod - 613; third eyebrow deformation connecting rod - 614;Fourth Eyebrow Deformation Link - 615; Mouth Deformation Unit - 62; First Mouth Deformation Link - 6201; Second Mouth Deformation Link - 6202; Third Mouth Deformation Link - 6203; Fourth Mouth Deformation Link - 6204; Fifth Mouth Deformation Link - 6205; Sixth Mouth Deformation Link - 6206; Seventh Mouth Deformation Link - 6207; Eighth Mouth Deformation Link - 6208; First Ball Head Link - 6209 and Second Ball Head Link - 6210; Mouth Deformation Worm and Worm Gear - 622; First Mouth Ball Head Button - 62201; Second Mouth Ball Head Button - 62202; Third Mouth Ball Head Button - 62203; Fourth Mouth Ball Head Button - 62204; Mouth Deformation Transmission Shaft - 62205; First Mouth Worm - 62206; Second Mouth Worm - 62207; Mouth Deformation Worm Gear - 62208; Mouth Deformation Worm and Worm Gear Housing - 62209; Class I Electromagnet - 7; Class I Magnet Rod - 71; Class I Nylon Rod - 72; Class I Coil Fixing Base - 73; Class I Inductive Coil - 74; Class I Spring - 75; Class I Spring Fixing Base - 76; Class II Electromagnet - 8; Class II Magnet Rod - 81; Class II Coil Fixing Base - 82; Class II Inductive Coil - 83; Class II Spring Fixing Base - 84; Class II Nylon Rod - 85; Class II Spring - 86; Class II Nylon Cover - 87; Class III Electromagnet - 9; Class III Magnet Rod One - 901; Class III Coil Fixing Base - 902; Class III Inductive Coil One - 903; Class III Nylon Rod One - 904; Class III Magnet Rod Two - 905; Class III Inductive Coil Two - 906; Class III Nylon Rod Two - 907; Class III Spring - 908; Class III Spring Fixing Base - 909; Silicon Steel Housing - 910; Detailed Implementation Manner

[0082] The present invention will be described in detail below in combination with specific implementation cases. The following implementation cases will help those skilled in the art to further understand the present invention, but do not limit the present invention in any form.

[0083] As Figure 1 and Figure 2 shown, the robot includes a housing mechanism 1, an eyebrow mechanism 2, an eye mechanism 3, a nose mechanism 4, a mouth mechanism 5, and a deformation mechanism 6; the eyebrow mechanism 2, the eye mechanism 3, the nose mechanism 4, and the mouth mechanism 5 are all connected to the housing mechanism 1. The eyebrow mechanism 2 and the mouth mechanism 5 are respectively installed at the top and bottom of the eye mechanism 3. The nose mechanism 4 is installed on the mouth mechanism 5. The eyebrow mechanism 2, the eye mechanism 3, and the mouth mechanism 5 are all connected to the deformation mechanism 6. The eye mechanism 3 is mainly driven by an electromagnet, and the rotation of the eyeball 3118 and the opening and closing of the eyelids in the eye mechanism 3 are controlled by the electromagnet. The deformation mechanism 6 includes an eyebrow deformation unit 61 and a mouth deformation unit 62. Both the eyebrow deformation unit 61 and the mouth deformation unit 62 are mainly driven by a worm and worm gear structure, and the deformation of the eyebrows and mouth of the robot is realized through the worm and worm gear structure. The structure of the robot of the present invention is a left-right symmetric structure.

[0084] As Figure 3 shown, the eyebrow mechanism 2 includes an eyebrow side fixing bracket 201, an eyebrow middle fixing bracket 202, a first eyebrow electromagnet 204, a first eyebrow control piece 205, a second eyebrow electromagnet 208, and a second eyebrow control piece 209; the two eyebrow side fixing brackets 201 are symmetrically arranged on the left and right sides of the eyebrow middle fixing bracket 202 respectively, the outer shells of the two first eyebrow electromagnets 204 are fixedly installed on the two eyebrow side fixing brackets 201 respectively, the two second eyebrow electromagnets 208 are symmetrically installed on the eyebrow middle fixing bracket 202, the first eyebrow electromagnet 204 and the second eyebrow electromagnet 208 respectively adopt a first type of electromagnet 7 and a second type of electromagnet 8, the first eyebrow control piece 205 and the second eyebrow control piece 209 are respectively installed on the moving ends of the first eyebrow electromagnet 204 and the second eyebrow electromagnet 208, the first eyebrow electromagnet 204 is used to drive the first eyebrow control piece 205 to move inward after being energized to achieve the action of raising eyebrows, and the second eyebrow electromagnet 208 is used to drive the second eyebrow control piece 209 to move outward after being energized to achieve the action of frowning. Among them, the first type of magnet bar 71 in the first eyebrow electromagnet 204 is arranged downward and inclined outward, and the second type of electromagnet 8 in the second eyebrow electromagnet 208 is arranged downward and inclined inward.

[0085] The eye mechanism 3 includes an eyelid driving unit 31, an eyeball up-and-down driving unit 32, an eyeball left-and-right driving unit 33, and a pupil color-changing unit 34; the eyelid driving unit 31 and the eyeball left-and-right driving unit 33 are both installed on the eyeball up-and-down driving unit 32, a pupil color-changing unit 34 for pupil color change is arranged in the eyeball 3118 of the eyelid driving unit 31, the electromagnets for driving the movement of the eye mechanism 3 include two types, namely a first type of electromagnet 7 and a second type of electromagnet 8, the eyelid driving unit 31 adopts the second type of electromagnet 8 to realize the opening and closing of the eyelids, the eyeball up-and-down driving unit 32 adopts the first type of electromagnet 7 to realize the up-and-down rotation of the eyeball, and the eyeball left-and-right driving unit 33 adopts the second type of electromagnet 8 to realize the left-and-right rotation of the eyeball.

[0086] As Figure 4 shown, the eyelid driving unit 31 includes an eye side fixing bracket 3101, an eye middle fixing bracket 3102, a first eyelid electromagnet 3104, a second eyelid electromagnet 3105, a first eyelid connecting rod 3108, a second eyelid connecting rod 3109, a third eyelid connecting rod 3110, a fourth eyelid connecting rod 3111, an upper eyelid 3116, a lower eyelid 3117, and an eyeball 3118;

[0087] Two eye side fixing brackets 3101 are symmetrically arranged on the left and right sides of the middle eye fixing bracket 3102 respectively. The outer shells of the first eyelid electromagnet 3104 and the second eyelid electromagnet 3105 are horizontally and fixedly installed on the eye side fixing brackets 3101, and the first eyelid electromagnet 3104 is located directly above the second eyelid electromagnet 3105. Both the first eyelid electromagnet 3104 and the second eyelid electromagnet 3105 adopt type II electromagnets 8. One end of the first eyelid link 3108 is fixedly connected to the moving end of the first eyelid electromagnet 3104, the other end of the first eyelid link 3108 is hinged to one end of the second eyelid link 3109, and the other end of the second eyelid link 3109 is hinged to the upper eyelid 3116. One end of the third eyelid link 3110 is fixedly connected to the moving end of the second eyelid electromagnet 3105, the other end of the third eyelid link 3110 is hinged to one end of the fourth eyelid link 3111, and the other end of the fourth eyelid link 3111 is hinged to the lower eyelid 3117;

[0088] When the first eyelid electromagnet 3104 is energized, the first eyelid electromagnet 3104 drives the upper eyelid 3116 to open and close through the first eyelid link 3108 and the second eyelid link 3109. When the second eyelid electromagnet 3105 is energized, the second eyelid electromagnet 3105 drives the lower eyelid 3117 to open and close through the third eyelid link 3110 and the fourth eyelid link 3111. Both the upper eyelid 3116 and the lower eyelid 3117 are hinged to the eye side fixing brackets 3101, and the upper eyelid 3116 and the lower eyelid 3117 on the same side of the face are hinged to each other. The eyeball 3118 is arranged between the upper eyelid 3116 and the lower eyelid 3117.

[0089] Specifically, when the first eyelid electromagnet 3104 is energized, it moves outward, driving the first eyelid link 3108 and the second eyelid link 3109 to achieve the closing action of the upper eyelid 3116. After power-off, the spring resets to achieve the opening of the upper eyelid 3116. When the second eyelid electromagnet 3105 is energized, it moves outward, driving the third eyelid link 3110 and the fourth eyelid link 3111 to achieve the closing action of the lower eyelid 3117. After power-off, the spring resets to achieve the opening of the lower eyelid 3117.

[0090] As Figure 5 shown, the eyeball up and down driving unit 32 includes an eyeball up and down electromagnet 321, a first eyeball up and down link 322, a second eyeball up and down link 323, a third eyeball up and down link 324, an eyeball back plate 325 and an eyeball fixing bracket 327;

[0091] The housing of the upper and lower eyeball electromagnet 321 is vertically and fixedly installed on the middle eyeball fixing bracket 3102 in the eyelid driving unit 31. The upper and lower eyeball electromagnet 321 uses a type of electromagnet 7. The bottom end of the L-shaped first upper and lower eyeball connecting rod 322 is fixedly connected to the movable end of the upper and lower eyeball electromagnet 321. The top end of the first upper and lower eyeball connecting rod 322 is hinged to one end of the second upper and lower eyeball connecting rod 323. The other end of the second upper and lower eyeball connecting rod 323 is hinged to the third upper and lower eyeball connecting rod 324. The eyeball fixing bracket 327 is installed on the third upper and lower eyeball connecting rod 324 so as to be movable left and right along the extending direction of the third upper and lower eyeball connecting rod 324 (i.e., the horizontal direction). The rear end of the eyeball 3118 in the eyelid driving unit 31 is fixedly connected with an eyeball back plate 325. A horizontal hole is opened at the end of the eyeball fixing bracket 327. The eyeball fixing bracket 327 is hinged to the side eyeball fixing bracket 3101 in the eyelid driving unit 31 at the position of the horizontal hole at the end. A vertical hole is opened in the middle of the eyeball fixing bracket 327. The eyeball fixing bracket 327 is hinged to the eyeball back plate 325 at the position of the vertical hole in the middle;

[0092] When the upper and lower eyeball electromagnet 321 is powered on, the upper and lower eyeball electromagnet 321 drives the first upper and lower eyeball connecting rod 322, the second upper and lower eyeball connecting rod 323 and the third upper and lower eyeball connecting rod 324 to move up and down, and then drives the eyeball 3118 to swing up and down through the eyeball fixing bracket 327.

[0093] The eyeball back plate 325 is disc-shaped, and the diameter of the eyeball back plate 325 is smaller than that of the eyeball 3118. A horizontal protruding structure is provided at the end of the eyeball fixing bracket 327, and a horizontal hole is opened at the end of the horizontal protruding structure. The horizontal protruding structure is hinged to the eyeball fixing hole opened at the corresponding position of the side eyeball fixing bracket 3101 at the position of the horizontal hole. The axis of the horizontal hole of the horizontal protruding structure is coaxial with the horizontal axis of the eyeball 3118. Therefore, supported by the side eyeball fixing bracket 3101, the eyeball fixing bracket 327 can drive the entire eyeball up and down driving mechanism 32 to rotate around this axis to realize the up and down movement of the eyeball;

[0094] The middle part of the eyeball fixing bracket 327 is a protruding long block, and a vertical hole is opened in the protruding long block. The protruding long block is hinged to the vertical hole in the middle of the eyeball back plate 325 at the position of the vertical hole. This hinge is on the one hand to connect the eyeball fixing bracket 327 and the eyeball 3118 together, and drive the eyeball 3118 to rotate around its horizontal axis through the eyeball fixing bracket 327 to realize the up and down movement of the eyeball; on the other hand, when the eyeball 3118 rotates left and right, due to the hinge connection method, the eyeball 3118 will rotate around the axis of the vertical hole without affecting the eyeball fixing bracket 327, realizing the independent left and right movement and up and down movement of the eyeball.

[0095] The end of the eye fixation bracket 327 close to the upper and lower electromagnets 321 of the eyeball is provided with a sliding groove, so that the eye fixation bracket 327 has a clearance fit with the third upper and lower eyeball connecting rod 324, so that the eye fixation bracket 327 can slide along the third upper and lower eyeball connecting rod 324, aiming to cooperate with the eyebrow deformation mechanism to realize the change of the eye distance.

[0096] A kind of spring of the upper and lower eyeball electromagnet 321 is 5 mm shorter than the springs of other kinds of electromagnets. Therefore, a kind of magnet rod initially enters the inductor coil by 5 mm. This setting enables the upper and lower eyeball electromagnet 321 to realize bidirectional movement to meet the needs of the up and down movement of the eyeball.

[0097] As Figure 6 As shown, the left and right eyeball driving unit 33 includes a left and right eyeball electromagnet 3301, a first left and right eyeball connecting rod 3302, a second left and right eyeball connecting rod 3303, a third left and right eyeball connecting rod 3304, a fourth left and right eyeball connecting rod 3305 and a fifth left and right eyeball connecting rod 3306; the housing of the left and right eyeball electromagnet 3301 is horizontally fixedly installed on the eye fixation bracket 327 in the up and down eyeball driving mechanism 32. The left and right eyeball electromagnet 3301 adopts a second kind of electromagnet 8. The root end of the first left and right eyeball connecting rod 3302 is fixedly connected to the movable end of the left and right eyeball electromagnet 3301. The end of the first left and right eyeball connecting rod 3302 is hinged to the bottom end of the second left and right eyeball connecting rod 3303. The top end of the second left and right eyeball connecting rod 3303 is hinged to the root end of the third left and right eyeball connecting rod 3304. The end of the third left and right eyeball connecting rod 3304 is hinged to the root end of the fourth left and right eyeball connecting rod 3305. The end of the fourth left and right eyeball connecting rod 3305 is hinged to the root end of the fifth left and right eyeball connecting rod 3306. The end of the fifth left and right eyeball connecting rod 3306 is fixedly connected to the eyeball back plate 325 in the up and down eyeball driving mechanism 32.

[0098] When the left and right eyeball electromagnet 3301 is powered on, it drives the first left and right eyeball connecting rod 3302 to move back and forth, causing the second left and right eyeball connecting rod 3303, the third left and right eyeball connecting rod 3304, the fourth left and right eyeball connecting rod 3305 and the fifth left and right eyeball connecting rod 3306 to swing left and right, and then driving the eyeball 3118 to swing left and right.

[0099] A kind of spring of the left and right eyeball electromagnet 3301 is 5 mm shorter than the springs of other kinds of electromagnets. Therefore, a kind of magnet rod initially enters the inductor coil by 5 mm. This setting enables the left and right eyeball electromagnet 3301 to realize bidirectional movement to meet the needs of the left and right movement of the eyeball.

[0100] As Figure 7As shown in the figure, the pupil color-changing unit 34 includes a pupil 341, an eye membrane 342, positively charged blue particles, and negatively charged brown particles. In the middle of the outer surface of the eyeball 3118, there are provided a pupil 341 and an eye membrane 342. The pupil 341 and the eye membrane 342 are made of a black opaque film and a transparent film respectively. In the middle of the eyeball 3118, there is provided an eyeball cavity 348, in which there are stored a transparent liquid, positively charged blue particles, and negatively charged brown particles. When a positive current is passed through the transparent liquid, the negatively charged brown particles are adsorbed on the inner surface of the eyeball 3118, making the eye membrane 342 of the eyeball 3118 brown. When a negative current is passed through the transparent liquid, the positively charged blue particles are adsorbed on the inner surface of the eyeball 3118, making the eye membrane 342 of the eyeball 3118 blue.

[0101] The negatively charged brown particles include negatively charged brown large particles 343 and negatively charged brown small particles 344. The positively charged blue particles include positively charged blue small particles 346 and positively charged blue large particles 347. In the eyeball cavity 348, there is stored a transparent liquid, and the charged particles can move in the transparent liquid. The size of the charged particles is in the micron range, and the size of the large particles is 100 times that of the small particles.

[0102] As Figure 8 shown in the figure, the nose mechanism 4 includes a nose control piece 41, a nose connecting rod 42, a nose electromagnet 43, and a nose fixing bracket 44. The nose fixing bracket 44 and the housing of the nose electromagnet 43 are both fixedly connected to the nose 15 in the housing mechanism 1. The nose electromagnet 43 uses a type-II electromagnet 8. The nose electromagnet 43 is inclined. The nose connecting rod 42 is fixedly connected to the movable end of the nose electromagnet 43, and two nose control pieces 41 are hinged on the nose connecting rod 42 to simulate the shape of the human nose. After the nose electromagnet 43 is energized, it is used to drive the nose connecting rod 42 and the nose control piece 41 to move to achieve the nose-sniffing action. The nose fixing bracket 44 is connected to the upper lip middle fixing bracket 519 in the mouth mechanism 5.

[0103] As Figure 9 shown in the figure, the mouth mechanism 5 includes a first mouth electromagnet 501, a first mouth connecting rod 502, a second mouth electromagnet 503, a second mouth connecting rod 504, a third mouth connecting rod 505, a triangular smile connecting rod 511, a first mouth control piece 513, an upper lip side fixing bracket 518, an upper lip middle fixing bracket 519, and a lip unit.

[0104] Two upper lip side fixing brackets 518 are symmetrically arranged on the left and right sides of the upper lip middle fixing bracket 519 respectively. The housings of the first mouth electromagnet 501 and the second mouth electromagnet 503 are fixedly connected to the upper lip side fixing brackets 518. The first mouth electromagnet 501 and the second mouth electromagnet 503 are both inclined inward in the direction of the cheek, and the first mouth electromagnet 501 is horizontally arranged above the second mouth electromagnet 503. The first mouth electromagnet 501 and the second mouth electromagnet 503 both adopt type-three electromagnets 9. The first mouth electromagnet 501 and the second mouth electromagnet 503 are used to jointly control the first mouth control piece 513. The root end of the first mouth connecting rod 502 is fixedly connected to the movable end of the first mouth electromagnet 501. The end of the first mouth connecting rod 502 is hinged to the top of the smile connecting rod 511. The root end of the second mouth connecting rod 504 is fixedly connected to the movable end of the second mouth electromagnet 503. The end of the second mouth connecting rod 504 is hinged to the root end of the third mouth connecting rod 505. The end of the third mouth connecting rod 505 is hinged to the bottom of the smile connecting rod 511. The end of the smile connecting rod 511 is provided with the first mouth control piece 513. The first mouth electromagnet 501 and the second mouth electromagnet 503 are used to drive the smile connecting rod 511 to move, so as to drive the first mouth control piece 513 to move back and forth, swing up and down, left and right, and thus realize the smile, sneer and grin actions of the mouth. The upper lip side fixing brackets 518 and the upper lip middle fixing bracket 519 are both connected to the lip unit.

[0105] As Figure 10 shown, the lip unit includes a lower lip side fixing bracket 515, a lower lip middle fixing bracket 516, a third mouth electromagnet 521, a fourth mouth magnet 522, a fifth mouth electromagnet 524, a sixth mouth electromagnet 525, a second mouth control piece 527, a third mouth control piece 528, a fourth mouth control piece 530 and a fifth mouth control piece 531;

[0106] Two lower lip side fixing brackets 515 are symmetrically arranged on both sides of the lower lip middle fixing bracket 516 respectively. The outer shells of the third mouth electromagnet 521 and the fourth mouth magnet 522 are fixedly connected to the upper lip side fixing bracket 518 and the upper lip middle fixing bracket 519 respectively. The upper lip side fixing bracket 518 and the upper lip middle fixing bracket 519 are fixedly connected to the lower lip side fixing bracket 515 and the lower lip middle fixing bracket 516 respectively. The third mouth electromagnet 521 and the fourth mouth magnet 522 are arranged obliquely downward to simulate the human upper lip. The outer shells of the fifth mouth electromagnet 524 and the sixth mouth electromagnet 525 are fixedly connected to the lower lip side fixing bracket 515 and the lower lip middle fixing bracket 516 respectively. The fifth mouth electromagnet 524 and the sixth mouth electromagnet 525 are arranged obliquely upward to simulate the human lower lip. The third mouth electromagnet 521, the fourth mouth magnet 522, the fifth mouth electromagnet 524 and the sixth mouth electromagnet 525 all adopt the type-three electromagnet 9. The mouth second control piece 527, the mouth third control piece 528, the mouth fourth control piece 530 and the mouth fifth control piece 531 are respectively installed on the movable ends of the third mouth electromagnet 521, the fourth mouth magnet 522, the fifth mouth electromagnet 524 and the sixth mouth electromagnet 525. The third mouth electromagnet 521 and the fourth mouth magnet 522 are used to drive the mouth second control piece 527 and the mouth third control piece 528 to move up and down to jointly realize the opening and closing actions of the upper lip. The fifth mouth electromagnet 524 and the sixth mouth electromagnet 525 are used to drive the mouth fourth control piece 530 and the mouth fifth control piece 531 to move up and down to jointly realize the opening and closing actions of the lower lip.

[0107] As Figure 15 shown, the type-one electromagnet 7 includes a type-one magnet bar 71, a type-one nylon bar 72, a type-one coil fixing seat 73, a type-one inductance coil 74, a type-one spring 75 and a type-one spring fixing seat 76. The type-one magnet bar 71 and the type-one spring fixing seat 76 are respectively arranged near the front end and the rear end of the type-one electromagnet 7. There is a fixed connection between the rear end of the type-one coil fixing seat 73 and the front end of the type-one spring fixing seat 76. The rear end of the type-one spring 75 is connected to the rear end of the type-one spring fixing seat 76. The type-one inductance coil 74 is installed on the type-one coil fixing seat 73. The type-one nylon bar 72 is arranged in the middle of the type-one inductance coil 74 so as to be movable back and forth. The front end of the type-one nylon bar 72 is fixedly connected with a type-one magnet bar 71. The rear end of the type-one nylon bar 72 is installed at the front end of the type-one spring 75. When the type-one inductance coil 74 is electrified, the type-one magnet bar 71 drives the type-one nylon bar 72 to move back and forth and compress the type-one spring 75. The type-one spring 75 is used to reset the type-one magnet bar 71.

[0108] Among them, a first type of magnet bar 71, a first type of nylon bar 72, a first type of inductance coil 74, and a first type of spring 75 are coaxial. The length of the first type of magnet bar 71 is greater than the length of the first type of inductance coil 74, and the length of the first type of nylon bar 72 is basically the same as the length of the first type of inductance coil 74. The first type of nylon bar 72 is divided into two sections. The diameter of the section close to the first type of magnet bar 71 is the same as that of the first type of magnet bar 71, and the diameter of the section close to the first type of spring 75 is slightly smaller than that of the first type of spring 75, and its function is to facilitate the insertion into the first type of spring 75. The initial position of the first type of magnet bar 71 is outside the first type of inductance coil 74, the initial position of the first type of nylon bar 72 is inside the first type of inductance coil 74, and after the first type of inductance coil 74 is energized, the first type of magnet bar 71 in the first type of electromagnet 7 will drive itself to move into the first type of inductance coil 74. The first type of coil fixing seat 73 serves as the housing of the first type of electromagnet 7, and the front end of the first type of magnet bar 71 serves as the moving end of the first type of electromagnet 7.

[0109] As Figure 16 shown, the second type of electromagnet 8 includes a second type of magnet bar 81, a second type of coil fixing seat 82, a second type of inductance coil 83, a second type of spring fixing seat 84, a second type of nylon bar 85, a second type of spring 86, and a second type of nylon cover 87. The second type of magnet bar 81 and the second type of spring 86 are respectively arranged close to the front end and the rear end of the second type of electromagnet 8; a fixed connection is made between the rear end of the second type of coil fixing seat 82 and the second type of spring fixing seat 84. The second type of inductance coil 83 is installed on the second type of coil fixing seat 82. The second type of magnet bar 81 is movably arranged in the middle of the second type of inductance coil 83. A second type of nylon bar 85 is fixedly connected to the rear end of the second type of magnet bar 81. A circular through hole is formed in the middle of the second type of spring fixing seat 84. The rear end of the second type of nylon bar 85 passes through the circular through hole on the second type of spring fixing seat 84 and is connected to the second type of nylon cover 87. The second type of spring 86 is wound around the outer periphery of the second type of nylon bar 85, and the front and rear ends of the second type of spring 86 are respectively connected to the second type of spring fixing seat 84 and the second type of nylon cover 87; when the second type of inductance coil 83 is energized, the second type of magnet bar 81 drives the second type of nylon bar 85 to move back and forth and compress the second type of spring 86, and the second type of spring 86 is used to reset the second type of magnet bar 81.

[0110] Among them, the second-class magnet bar 81, the second-class inductance coil 83, the second-class nylon bar 85, the second-class spring 86, and the second-class nylon cover 87 are coaxial. The length of the second-class magnet bar 81 is longer than that of the second-class inductance coil 83, and the lengths of the second-class nylon bar 85 and the second-class inductance coil 83 are basically the same. The second-class nylon bar 85 is divided into two sections. The diameter of the section close to the second-class magnet bar 81 is the same as that of the second-class magnet bar 81, and the diameter of the section close to the second-class nylon cover 87 is slightly smaller than that of the second-class spring 86, and its function is to facilitate sleeving into the second-class spring 86. The initial position of the second-class magnet bar 81 is inside the second-class inductance coil 83, and the initial position of the second-class nylon bar 85 is outside the second-class inductance coil 83. After the second-class inductance coil 83 is energized, the second-class magnet bar 81 in the second-class electromagnet will drive the whole to move outside the second-class inductance coil 83. The second-class coil fixing seat 82 serves as the housing of the second-class electromagnet 8, and the front end of the second-class magnet bar 81 serves as the moving end of the second-class electromagnet 8.

[0111] As Figure 17 shown, the third-class electromagnet 9 includes a third-class magnet bar one 901, a third-class coil fixing seat 902, a third-class inductance coil one 903, a third-class nylon bar one 904, a third-class magnet bar two 905, a third-class inductance coil two 906, a third-class nylon bar two 907, a third-class spring 908, and a third-class spring fixing seat 909. The third-class magnet bar one 901 and the third-class spring fixing seat 909 are respectively arranged near the front end and the rear end of the third-class electromagnet 9; a fixed connection is made between the rear end of the third-class coil fixing seat 902 and the front end of the third-class spring fixing seat 909. The rear end of the third-class spring 908 is connected to the rear end of the third-class spring fixing seat 909. Both the third-class inductance coil one 903 and the third-class inductance coil two 906 are installed on the third-class coil fixing seat 902 through a silicon steel housing 910, and the third-class inductance coil one 903 is located on the front side of the third-class inductance coil two 906. The third-class nylon bar one 904 is movably arranged in the middle of the third-class inductance coil one 903. The third-class magnet bar one 901 is fixedly connected to the front end of the third-class nylon bar one 904. The front and rear ends of the third-class magnet bar two 905 are respectively fixedly connected to the third-class nylon bar one 904 and the third-class nylon bar two 907. The rear end of the third-class nylon bar two 907 is installed at the front end of the third-class spring 908; when the third-class inductance coil one 903 and / or the third-class inductance coil two 906 are energized, the third-class magnet bar one 901 and the third-class magnet bar two 905 move, thereby synchronously driving the third-class nylon bar one 904 and the third-class nylon bar two 907 to move, and compressing the third-class spring 908. The third-class spring 908 is used to reset the third-class magnet bar one 901.

[0112] Specifically, three types of magnet rods 901, three types of inductance coils 903, three types of nylon rods 904, three types of magnet rods 905, three types of inductance coils 906, three types of nylon rods 907, and three types of springs 908 are coaxial. The length of the three types of magnet rods 901 is longer than the overall length of the silicon steel housing 910. The length of the three types of nylon rods 904 is the length of the three types of inductance coils 903 plus the distance between the two three types of inductance coils 903 and 906. The lengths of the three types of magnet rods 905, the three types of inductance coils 903, and the three types of inductance coils 906 are the same. The initial position of the three types of magnet rods 901 is outside the three types of inductance coils 903. The initial position of the three types of nylon rods 904 starts from the three types of inductance coils 903 to outside the three types of inductance coils 906. The initial position of the three types of magnet rods 905 is inside the three types of inductance coils 906. The initial position of the three types of nylon rods 907 is outside the three types of inductance coils 906. After the three types of inductance coils 903 are energized, the three types of magnet rods 901 of the three types of electromagnets will drive the whole to move into the three types of inductance coils 903. The three types of coil fixing seats 902 serve as the housing of the three types of electromagnets 9, and the front end of the three types of magnet rods 901 serves as the moving end of the three types of electromagnets 9.

[0113] As Figure 11 shown, the eyebrow deformation unit 61 includes an eyebrow deformation worm and worm gear 611, a first eyebrow deformation connecting rod 612, a second eyebrow deformation connecting rod 613, a third eyebrow deformation connecting rod 614, and a fourth eyebrow deformation connecting rod 615. One end of the first eyebrow deformation connecting rod 612 is hinged to one of the eye side fixing brackets 3101 in the eye mechanism 3. The other end of the first eyebrow deformation connecting rod 612 is hinged to one end of the second eyebrow deformation connecting rod 613. The other end of the second eyebrow deformation connecting rod 613 is hinged to the eye middle fixing bracket 3102 in the eye mechanism 3. One end of the third eyebrow deformation connecting rod 614 is hinged to the eye middle fixing bracket 3102. The other end of the third eyebrow deformation connecting rod 614 is hinged to one end of the fourth eyebrow deformation connecting rod 615. The other end of the fourth eyebrow deformation connecting rod 615 is hinged to the other eye side fixing bracket 3101 in the eye mechanism 3. The eyebrow deformation worm and worm gear 611 are fixedly connected to the eyebrow middle fixing bracket 202 in the eyebrow mechanism 2.

[0114] As Figure 13As shown in the figure, the eyebrow-deformed worm and worm gear 611 includes a first eyebrow ball head buckle 61101, a second eyebrow ball head buckle 61102, a third eyebrow ball head buckle 61103, a fourth eyebrow ball head buckle 61104, a first eyebrow worm 61106, a second eyebrow worm 61107, an eyebrow-deformed worm gear 61108 and an eyebrow-deformed worm and worm gear housing 61109; the eyebrow-deformed worm and worm gear housing 61109 is installed on the eyebrow middle fixing bracket 202, the first eyebrow ball head buckle 61101 and the second eyebrow ball head buckle 61102 are both fixedly installed on a side eyebrow fixing bracket 201 in the eyebrow mechanism 2, the third eyebrow ball head buckle 61103 and the fourth eyebrow ball head buckle 61104 are both fixedly installed on the other side eyebrow fixing bracket 201 in the eyebrow mechanism 2, the eyebrow-deformed worm gear 61108 is located inside the eyebrow-deformed worm and worm gear housing 61109, four eyebrow worm through holes are provided on the eyebrow-deformed worm and worm gear housing 61109, one end of the first eyebrow worm 61106 passes through the first eyebrow worm through hole and is connected to the first eyebrow ball head buckle 61101 by thread, the other end of the first eyebrow worm 61106 passes through the second eyebrow worm through hole and is connected to the third eyebrow ball head buckle 61103 by thread, one end of the second eyebrow worm 61107 passes through the third eyebrow worm through hole and is connected to the second eyebrow ball head buckle 61102 by thread, and the other end of the second eyebrow worm 61107 passes through the fourth eyebrow worm through hole and is connected to the fourth eyebrow ball head buckle 61104 by thread.

[0115] The first eyebrow worm 61106 and the second eyebrow worm 61107 are arranged in parallel at intervals, the eyebrow-deformed worm gear 61108 is located between the first eyebrow worm 61106 and the second eyebrow worm 61107, and both ends of the eyebrow-deformed worm gear 61108 are meshed and connected with the threads on the first eyebrow worm 61106 and the second eyebrow worm 61107 respectively; a left-handed helical tooth is provided at the meshing position between the first eyebrow worm 61106 and the eyebrow-deformed worm gear 61108, a left-handed helical tooth is provided at the meshing position between the second eyebrow worm 61107 and the eyebrow-deformed worm gear 61108, and a left-handed helical tooth is provided on the outer periphery of the eyebrow-deformed worm gear 61108. Among them, the eyebrow-deformed worm gear 61108 is externally connected to the eyebrow-deformed transmission shaft 61105 in the eyebrow worm gear driving device, and the eyebrow worm gear driving device is used to drive the eyebrow-deformed worm gear 61108 to rotate.

[0116] The ends of the first eyebrow ball head buckle 61101 and the fourth eyebrow ball head buckle 61104 are both provided with left-handed internal threaded holes, and the ends of the second eyebrow ball head buckle 61102 and the third eyebrow ball head buckle 61103 are both provided with right-handed internal threaded holes; one end of the first eyebrow worm 61106 close to the first eyebrow ball head buckle 61101 is provided with a left-handed external thread, and the length of this section of external thread is slightly less than the length of the internal thread at the end of the first eyebrow ball head buckle 61101. One end of the first eyebrow worm 61106 close to the third eyebrow ball head buckle 61103 is provided with a right-handed external thread, and the length of this section of external thread is slightly less than the length of the internal thread at the end of the third eyebrow ball head buckle 61103. One end of the second eyebrow worm 61107 close to the second eyebrow ball head buckle 61102 is provided with a right-handed external thread, and the length of this section of external thread is slightly less than the length of the internal thread at the end of the second eyebrow ball head buckle 61102. One end of the second eyebrow worm 61107 close to the fourth eyebrow ball head buckle 61104 is provided with a left-handed external thread, and the length of this section of external thread is slightly less than the length of the internal thread at the end of the fourth eyebrow ball head buckle 61104.

[0117] As Figure 12 shown, the mouth deformation unit 62 includes a first mouth deformation link 6201, a second mouth deformation link 6202, a third mouth deformation link 6203, a fourth mouth deformation link 6204, a fifth mouth deformation link 6205, a sixth mouth deformation link 6206, a seventh mouth deformation link 6207, an eighth mouth deformation link 6208 and a mouth deformation worm and worm gear 622;

[0118] One end of the first mouth deformation link 6201 is hinged to a fixed bracket 518 on the side of the upper lip in the mouth mechanism 5, and the other end is hinged to one end of the second mouth deformation link 6202. The other end of the second mouth deformation link 6202 is hinged to a fixed bracket 519 in the middle of the upper lip of the mouth mechanism 5. One end of the third mouth deformation link 6203 is hinged to the fixed bracket 519 in the middle of the upper lip, and the other end is hinged to one end of the fourth mouth deformation link 6204. The other end of the fourth mouth deformation link 6204 is hinged to the other fixed bracket 518 on the side of the upper lip in the mouth mechanism 5. One end of the fifth mouth deformation link 6205 is hinged to a fixed bracket 518 on the side of the upper lip in the mouth mechanism 5, and the other end is hinged to one end of the sixth mouth deformation link 6206. The other end of the sixth mouth deformation link 6206 is hinged to the fixed bracket 519 in the middle of the upper lip. One end of the seventh mouth deformation link 6207 is hinged to the fixed bracket 519 in the middle of the upper lip, and the other end is hinged to one end of the eighth mouth deformation link 6208. The other end of the eighth mouth deformation link 6208 is hinged to the other fixed bracket 518 on the side of the upper lip in the mouth mechanism 5. The mouth deformation worm and worm gear 622 is installed on the fixed bracket 516 in the middle of the lower lip of the mouth mechanism 5.

[0119] As Figure 14As shown, the mouth-deforming worm and worm gear 622 includes a first mouth ball stud 62201, a second mouth ball stud 62202, a third mouth ball stud 62203, a fourth mouth ball stud 62204, a first mouth worm 62206, a second mouth worm 62207, a mouth-deforming worm gear 62208, a mouth-deforming worm and worm gear housing 62209, a first ball-link 6209 and a second ball-link 6210; the mouth-deforming worm and worm gear housing 62209 is mounted on the lower lip middle fixing bracket 516, the first mouth ball stud 62201 and the third mouth ball stud 62203 are respectively fixedly connected to two upper lip side fixing brackets 518 in the mouth mechanism 5, the second mouth ball stud 62202 and the fourth mouth ball stud 62204 are respectively hinged to one end of the first ball-link 6209 and the second ball-link 6210, the other ends of the first ball-link 6209 and the second ball-link 6210 are respectively hinged to the two upper lip side fixing brackets 518, the first mouth ball stud 62201 and the second mouth ball stud 62202 are arranged on the same side, the third mouth ball stud 62203 and the fourth mouth ball stud 62204 are arranged on the same side, the mouth-deforming worm gear 62208 is located inside the mouth-deforming worm and worm gear housing 62209, four mouth worm through-holes are provided on the mouth-deforming worm and worm gear housing 62209, one end of the first mouth worm 62206 passes through the first mouth worm through-hole and is connected to the first mouth ball stud 62201 by thread, the other end of the first mouth worm 62206 passes through the second mouth worm through-hole and is connected to the third mouth ball stud 62203 by thread, one end of the second mouth worm 62207 passes through the third mouth worm through-hole and is connected to the second mouth ball stud 62202 by thread, and the other end of the second mouth worm 62207 passes through the fourth mouth worm through-hole and is connected to the fourth mouth ball stud 62204 by thread.

[0120] The first mouth worm 62206 and the second mouth worm 62207 are arranged in parallel at intervals, the mouth-deforming worm gear 62208 is located between the first mouth worm 62206 and the second mouth worm 62207, and both ends of the mouth-deforming worm gear 62208 are respectively meshed and connected to the threads on the first mouth worm 62206 and the second mouth worm 62207; left-handed helical teeth are provided at the meshing positions of the first mouth worm 62206 and the mouth-deforming worm gear 62208, left-handed helical teeth are provided at the meshing positions of the second mouth worm 62207 and the mouth-deforming worm gear 62208, and left-handed helical teeth are provided on the outer periphery of the mouth-deforming worm gear 62208, wherein the mouth-deforming worm gear 62208 is externally connected to the mouth-deforming transmission shaft 62205 in the mouth worm gear driving device, and the mouth worm gear driving device is used to drive the mouth-deforming worm gear 62208 to rotate.

[0121] The ends of the first mouth ball head buckle 62201 and the second mouth ball head buckle 62202 are both provided with left-handed internal threaded holes, and the ends of the third mouth ball head buckle 62203 and the fourth mouth ball head buckle 62204 are both provided with right-handed internal threaded holes; one end of the first mouth worm 62206 close to the first mouth ball head buckle 62201 is provided with a left-handed external thread, and the length of this section of external thread is slightly less than the length of the internal thread at the end of the first mouth ball head buckle 62201. One end of the first mouth worm 62206 close to the third mouth ball head buckle 62203 is provided with a right-handed external thread, and the length of this section of external thread is slightly less than the length of the internal thread at the end of the third mouth ball head buckle 62203. One end of the second mouth worm 62207 close to the second mouth ball head buckle 62202 is provided with a left-handed external thread, and the length of this section of external thread is slightly less than the length of the internal thread at the end of the second mouth ball head buckle 62202. One end of the second mouth worm 62207 close to the fourth mouth ball head buckle 62204 is provided with a right-handed external thread, and the length of this section of external thread is slightly less than the length of the internal thread at the end of the fourth mouth ball head buckle 62204.

[0122] The housing mechanism 1 includes a forehead 11, side faces 13, a nose 15, side jawbones 16 and a middle and lower jawbone 17; the forehead 11 is fixedly connected to the middle fixed bracket 202 of the eyebrows in the eyebrow mechanism 2. The upper and lower parts of the two symmetrical side faces 13 are respectively fixedly connected to the side fixed bracket 201 of the eyebrows in the eyebrow mechanism 2 and the side fixed bracket 3101 of the eyes in the eye mechanism 3. The side fixed bracket 201 of the eyebrows and the side fixed bracket 3101 of the eyes are fixedly connected between them. The nose 15 is installed on the nose mechanism 4. The upper and lower parts of the side jawbone 16 are respectively fixedly connected to the upper lip side fixed bracket 518 and the lower lip side fixed bracket 515 in the mouth mechanism 5. There is a middle and lower jawbone 17 connected between the two symmetrical side jawbones 16, and the middle and lower jawbone 17 is fixedly connected to the lower lip middle fixed bracket 516 in the mouth mechanism 5. The upper lip side fixed bracket 518 and the lower lip side fixed bracket 515 are fixedly connected between them;

[0123] The middle fixed bracket 202 of the eyebrows in the eyebrow mechanism 2 and the upper lip middle fixed bracket 519 in the mouth mechanism 5 are both fixedly connected to the middle fixed bracket 3102 of the eyes in the eye mechanism 3. The nose fixed bracket 44 in the nose mechanism 4 is installed on the upper lip middle fixed bracket 519. Both the eyebrow mechanism 2 and the eye mechanism 3 are connected to the eyebrow deformation unit 61 in the deformation mechanism 6. The eyebrow deformation unit 61 is used to drive the eyebrow mechanism 2 and the eye mechanism 3 to expand and contract horizontally on the face. The mouth mechanism 5 is connected to the mouth deformation unit 62 in the deformation mechanism 6. The mouth deformation unit 62 is used to drive the mouth mechanism 5 to expand and close on both sides of the cheeks.

[0124] 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 them; although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that they can still modify the technical solutions described in the foregoing embodiments, or perform equivalent replacements on some or all of the technical features; and these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. An expression robot with multi - degree - of - freedom mouth, characterized in that: It includes a housing mechanism (1), an eyebrow mechanism (2), an eye mechanism (3), a nose mechanism (4), a mouth mechanism (5) and a deformation mechanism (6); the eyebrow mechanism (2), the eye mechanism (3), the nose mechanism (4) and the mouth mechanism (5) are all connected to the housing mechanism (1), the eyebrow mechanism (2) and the mouth mechanism (5) are respectively installed at the top and bottom of the eye mechanism (3), the nose mechanism (4) is installed on the mouth mechanism (5), the eyebrow mechanism (2), the eye mechanism (3) and the mouth mechanism (5) are all connected to the deformation mechanism (6), the mouth mechanism (5) is mainly driven by an electromagnet, and the multi - degree - of - freedom movement of the mouth mechanism (5) is controlled by the electromagnet. The mouth deformation unit (62) in the deformation mechanism (6) is mainly driven by a worm - gear and worm structure, and the deformation of the robot's mouth is realized through the worm - gear and worm structure; The mouth deformation unit (62) includes a first mouth deformation link (6201), a second mouth deformation link (6202), a third mouth deformation link (6203), a fourth mouth deformation link (6204), a fifth mouth deformation link (6205), a sixth mouth deformation link (6206), a seventh mouth deformation link (6207), an eighth mouth deformation link (6208) and a mouth deformation worm - gear and worm (622); One end of the first mouth deformation link (6201) is hinged to a fixed bracket (518) on one side of the upper lip in the mouth mechanism (5), and the other end is hinged to one end of the second mouth deformation link (6202). The other end of the second mouth deformation link (6202) is hinged to the fixed bracket (519) in the middle of the upper lip of the mouth mechanism (5). One end of the third mouth deformation link (6203) is hinged to the fixed bracket (519) in the middle of the upper lip, and the other end is hinged to one end of the fourth mouth deformation link (6204). The other end of the fourth mouth deformation link (6204) is hinged to the other fixed bracket (518) on one side of the upper lip in the mouth mechanism (5); One end of the fifth mouth deformation link (6205) is hinged to a fixed bracket (518) on one side of the upper lip in the mouth mechanism (5), and the other end is hinged to one end of the sixth mouth deformation link (6206). The other end of the sixth mouth deformation link (6206) is hinged to the fixed bracket (519) in the middle of the upper lip. One end of the seventh mouth deformation link (6207) is hinged to the fixed bracket (519) in the middle of the upper lip, and the other end is hinged to one end of the eighth mouth deformation link (6208). The other end of the eighth mouth deformation link (6208) is hinged to the other fixed bracket (518) on one side of the upper lip in the mouth mechanism (5); The mouth deformation worm - gear and worm (622) is installed on the fixed bracket (516) in the middle of the lower lip of the mouth mechanism (5).

2. The expression robot with multi - degree - of - freedom mouth according to claim 1, characterized in that: The described mouth mechanism (5) includes a first mouth electromagnet (501), a first mouth connecting rod (502), a second mouth electromagnet (503), a second mouth connecting rod (504), a third mouth connecting rod (505), a smile connecting rod (511), a first mouth control piece (513), upper lip side fixing brackets (518), an upper lip middle fixing bracket (519), and a lip unit; Two upper lip side fixing brackets (518) are symmetrically arranged on the left and right sides of the upper lip middle fixing bracket (519). The first mouth electromagnet (501) and the second mouth electromagnet (503) are both fixedly connected to the upper lip side fixing brackets (518), and the first mouth electromagnet (501) is horizontally arranged above the second mouth electromagnet (503). Both the first mouth electromagnet (501) and the second mouth electromagnet (503) use type-three electromagnets (9). The root end of the first mouth connecting rod (502) is fixedly connected to the movable end of the first mouth electromagnet (501), the end of the first mouth connecting rod (502) is hinged to the top of the smile connecting rod (511), the root end of the second mouth connecting rod (504) is fixedly connected to the movable end of the second mouth electromagnet (503), the end of the second mouth connecting rod (504) is hinged to the root end of the third mouth connecting rod (505), the end of the third mouth connecting rod (505) is hinged to the bottom of the smile connecting rod (511), and a first mouth control piece (513) is installed at the end of the smile connecting rod (511). The first mouth electromagnet (501) and the second mouth electromagnet (503) are used to drive the smile connecting rod (511) to move, thereby realizing the smile, sneer, and grin actions of the mouth. The upper lip side fixing brackets (518) and the upper lip middle fixing bracket (519) are both connected to the lip unit.

3. The multi-degree-of-freedom facial expression robot mouth according to claim 2, wherein: The described lip unit includes a lower lip side fixing bracket (515), a lower lip middle fixing bracket (516), a third mouth electromagnet (521), a fourth mouth magnet (522), a fifth mouth electromagnet (524), a sixth mouth electromagnet (525), a second mouth control piece (527), a third mouth control piece (528), a fourth mouth control piece (530), and a fifth mouth control piece (531); Two lower lip side fixing brackets (515) are symmetrically arranged on both sides of the lower lip middle fixing bracket (516). The housings of the third mouth electromagnet (521) and the fourth mouth magnet (522) are fixedly connected to the upper lip side fixing bracket (518) and the upper lip middle fixing bracket (519) respectively. The upper lip side fixing bracket (518) and the upper lip middle fixing bracket (519) are fixedly connected to the lower lip side fixing bracket (515) and the lower lip middle fixing bracket (516) respectively. The housings of the fifth mouth electromagnet (524) and the sixth mouth electromagnet (525) are fixedly connected to the lower lip side fixing bracket (515) and the lower lip middle fixing bracket (516) respectively. The third mouth electromagnet (521), the fourth mouth magnet (522), the fifth mouth electromagnet (524) and the sixth mouth electromagnet (525) all adopt type-three electromagnets (9). The mouth second control piece (527), the mouth third control piece (528), the mouth fourth control piece (530) and the mouth fifth control piece (531) are respectively installed on the movable ends of the third mouth electromagnet (521), the fourth mouth magnet (522), the fifth mouth electromagnet (524) and the sixth mouth electromagnet (525). The third mouth electromagnet (521) and the fourth mouth magnet (522) are used to drive the mouth second control piece (527) and the mouth third control piece (528) to move up and down to jointly realize the opening and closing actions of the upper lip. The fifth mouth electromagnet (524) and the sixth mouth electromagnet (525) are used to drive the mouth fourth control piece (530) and the mouth fifth control piece (531) to move up and down to jointly realize the opening and closing actions of the lower lip.

4. The multi-degree-of-freedom facial expression robot for the mouth according to claim 1, wherein: The nose mechanism (4) includes a nose control piece (41), a nose connecting rod (42), a nose electromagnet (43) and a nose fixing bracket (44). Both the nose fixing bracket (44) and the housing of the nose electromagnet (43) are fixedly connected to the nose (15) in the housing mechanism (1). The nose electromagnet (43) adopts a type-two electromagnet (8). The nose connecting rod (42) is fixedly connected to the movable end of the nose electromagnet (43), and two nose control pieces (41) are hinged on the nose connecting rod (42). The nose electromagnet (43) is used to drive the nose connecting rod (42) and the nose control piece (41) to move to realize the nose shrugging action. The nose fixing bracket (44) is connected to the upper lip middle fixing bracket (519) in the mouth mechanism (5).

5. The multi-degree-of-freedom facial expression robot for the mouth according to claim 4, wherein: The second - type electromagnet (8) includes a second - type magnet rod (81), a second - type coil fixing base (82), a second - type inductance coil (83), a second - type spring fixing base (84), a second - type nylon rod (85), a second - type spring (86) and a second - type nylon cover (87); the second - type coil fixing base (82) and the second - type spring fixing base (84) are fixedly connected, the second - type inductance coil (83) is installed on the second - type coil fixing base (82), the second - type magnet rod (81) is movably arranged in the middle of the second - type inductance coil (83), the rear end of the second - type magnet rod (81) is fixedly connected with a second - type nylon rod (85), a circular through - hole is opened in the middle of the second - type spring fixing base (84), the rear end of the second - type nylon rod (85) passes through the circular through - hole on the second - type spring fixing base (84) and is connected with the second - type nylon cover (87), the second - type spring (86) is wound around the outer periphery of the second - type nylon rod (85), and the front and rear ends of the second - type spring (86) are respectively connected with the second - type spring fixing base (84) and the second - type nylon cover (87); when the second - type inductance coil (83) is energized, the second - type magnet rod (81) drives the second - type nylon rod (85) to move back and forth and compress the second - type spring (86), and the second - type spring (86) is used to reset the second - type magnet rod (81).

6. The multi - degree - of - freedom facial expression robot according to claim 2, characterized in that: The third - type electromagnet (9) includes a third - type magnet rod one (901), a third - type coil fixing base (902), a third - type inductance coil one (903), a third - type nylon rod one (904), a third - type magnet rod two (905), a third - type inductance coil two (906), a third - type nylon rod two (907), a third - type spring (908) and a third - type spring fixing base (909); the third - type coil fixing base (902) and the third - type spring fixing base (909) are fixedly connected, the rear end of the third - type spring (908) is connected with the rear end of the third - type spring fixing base (909), the third - type inductance coil one (903) and the third - type inductance coil two (906) are both installed on the third - type coil fixing base (902), and the third - type inductance coil one (903) is located in front of the third - type inductance coil two (906), the third - type nylon rod one (904) is movably arranged in the middle of the third - type inductance coil one (903), the third - type magnet rod one (901) is fixedly connected to the front end of the third - type nylon rod one (904), the front and rear ends of the third - type magnet rod two (905) are respectively fixedly connected with the third - type nylon rod one (904) and the third - type nylon rod two (907), and the rear end of the third - type nylon rod two (907) is installed at the front end of the third - type spring (908); when the third - type inductance coil one (903) and / or the third - type inductance coil two (906) is energized, the third - type magnet rod one (901) and the third - type magnet rod two (905) move, thereby synchronously driving the third - type nylon rod one (904) and the third - type nylon rod two (907) to move and compress the third - type spring (908), and the third - type spring (908) is used to reset the third - type magnet rod one (901).

7. The multi-degree-of-freedom mouth expression robot according to claim 1, characterized in that: The mouth deformable worm gear (622) comprises a first mouth ball buckle (62201), a second mouth ball buckle (62202), a third mouth ball buckle (62203), a fourth mouth ball buckle (62204), a first mouth worm (62206), a second mouth worm (62207), a mouth deformable worm wheel (62208), a mouth deformable worm gear housing (62209), a first ball head connecting rod (6209) and a second ball head connecting rod (6209). The mouth deformable worm gear housing (62209) is mounted on the lower lip fixed bracket (516), the first mouth ball buckle (62201) and the third mouth ball buckle (62203) are respectively fixedly connected to the two upper lip side fixed brackets (518) in the mouth mechanism (5), the second mouth ball buckle (62202) and the fourth mouth ball buckle (62204) are respectively fixedly connected to the first ball connecting rod (6209) and the second One end of the ball head connecting rod (6210) is hinged, and the other ends of the first ball head connecting rod (6209) and the second ball head connecting rod (6210) are hinged to the two upper lip side fixing brackets (518) respectively. The mouth deformable worm wheel (62208) is located inside the mouth deformable worm wheel housing (62209). The mouth deformable worm wheel housing (62209) is provided with four mouth worm through holes. One end of the first mouth worm (62206) passes through the first mouth After passing through the through hole of the first worm gear, the first end is connected to the first nozzle ball buckle (62201) by a thread, and the other end is passed through the through hole of the second worm gear and connected to the third nozzle ball buckle (62203) by a thread. One end of the second nozzle worm gear (62207) is passed through the through hole of the third worm gear and connected to the second nozzle ball buckle (62202) by a thread, and the other end is passed through the through hole of the fourth worm gear and connected to the fourth nozzle ball buckle (62204) by a thread.

8. The multi-degree-of-freedom mouth expression robot according to claim 7, characterized in that: The first mouth worm (62206) and the second mouth worm (62207) are arranged in parallel and spaced apart, and the two ends of the mouth deformable worm wheel (62208) are respectively engaged with the threads on the first mouth worm (62206) and the second mouth worm (62207); left-handed spiral teeth are provided at the meshing position between the first mouth worm (62206) and the mouth deformable worm wheel (62208), left-handed spiral teeth are provided at the meshing position between the second mouth worm (62207) and the mouth deformable worm wheel (62208), and left-handed spiral teeth are provided on the periphery of the mouth deformable worm wheel (62208); The ends of the first mouth ball head buckle (62201) and the second mouth ball head buckle (62202) are both provided with left-handed internal threaded holes, and the ends of the third mouth ball head buckle (62203) and the fourth mouth ball head buckle (62204) are both provided with right-handed internal threaded holes; one end of the first mouth worm (62206) close to the first mouth ball head buckle (62201) is provided with a left-handed external thread, and one end of the first mouth worm (62206) close to the third mouth ball head buckle (62203) is provided with a right-handed external thread. One end of the second mouth worm (62207) close to the second mouth ball head buckle (62202) is provided with a left-handed external thread, and one end of the second mouth worm (62207) close to the fourth mouth ball head buckle (62204) is provided with a right-handed external thread.

9. The multi-degree-of-freedom facial expression robot for the mouth according to claim 1, characterized in that: The housing mechanism (1) includes a forehead (11), a side face (13), a nose (15), side jawbones (16) and a middle and lower jawbone (17); the forehead (11) is fixedly connected to the middle fixed bracket (202) of the eyebrows in the eyebrow mechanism (2), and the upper and lower parts of the side face (13) are respectively fixedly connected to the side fixed bracket (201) of the eyebrows in the eyebrow mechanism (2) and the side fixed bracket (3101) of the eyes in the eye mechanism (3). The side fixed bracket (201) of the eyebrows and the side fixed bracket (3101) of the eyes are fixedly connected. The nose (15) is installed on the nose mechanism (4). The upper and lower parts of the side jawbone (16) are respectively fixedly connected to the upper lip side fixed bracket (518) and the lower lip side fixed bracket (515) in the mouth mechanism (5). A middle and lower jawbone (17) is connected between the two symmetric side jawbones (16), and the middle and lower jawbone (17) is fixedly connected to the middle fixed bracket (516) of the lower lip in the mouth mechanism (5). The upper lip side fixed bracket (518) and the lower lip side fixed bracket (515) are fixedly connected. The middle fixed bracket (202) of the eyebrows in the eyebrow mechanism (2) and the middle fixed bracket (519) of the upper lip in the mouth mechanism (5) are both fixedly connected to the middle fixed bracket (3102) of the eyes in the eye mechanism (3). The nose fixed bracket (44) in the nose mechanism (4) is installed on the middle fixed bracket (519) of the upper lip. The eyebrow mechanism (2) and the eye mechanism (3) are both connected to the eyebrow and eye deformation unit (61) in the deformation mechanism (6). The eyebrow and eye deformation unit (61) is used to drive the eyebrow mechanism (2) and the eye mechanism (3) to expand and contract horizontally on the face. The mouth mechanism (5) is connected to the mouth deformation unit (62) in the deformation mechanism (6). The mouth deformation unit (62) is used to drive the mouth mechanism (5) to expand and close on both sides of the cheeks.

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