An expression robot with changeable eye and skin color

Abstract

The present invention discloses an expression robot with variable pupil color and skin color. The eyebrow mechanism, eye mechanism, nose mechanism and mouth mechanism are all connected to the shell mechanism, the eyebrow mechanism and 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, eye mechanism and mouth mechanism are all connected to the deformation mechanism, the eye mechanism is mainly driven by an electromagnet, and the rotation of the eyeball and the opening and closing of the eyelid in the eye mechanism are controlled by the electromagnet. The pupil color changing unit is arranged in the eyeball to realize the change of the pupil color of the robot, and the skin color changing mechanism is attached to the shell mechanism to realize the change of the skin color of the robot. The present invention adopts electromagnet drive, which can realize fast and real-time driving response, meet the requirements of the frequency required for facial expression and mouth movement, adopt worm gear structure to realize the deformation of eyebrows, eyes and mouth, realize the enlargement and reduction of the face, match different face shapes, and realize the change of skin color through the skin color changing mechanism.

Description

Technical Field

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

[0002] Expressions are an important way to convey emotions and intentions. Expression robots can make communication between people and machines closer to natural interactions between people through the change of facial expressions, bringing users a better interactive experience. The essence of the driving of expression robots is that the internal actuator drives the movement of facial points to achieve expression changes. There are three main types of existing expression robot driving methods: motor drive, pneumatic drive, and memory alloy drive.

[0003] However, the above three methods have common disadvantages: 1. Lack of position feedback, resulting in uncontrollable and inaccurate expression changes; 2. High noise and low space utilization; 3. Insufficient driving frequency, expression changes have a sense of hysteresis; 4. Lack of the ability to change face shape, pupil color and skin color. However, the existing technology lacks a real-time expression-changing robot that can achieve integrated movement and sensing through electromagnetic drive, and accurately control expression changes based on displacement feedback; at the same time, it meets the real-time requirements of expression changes during conversations; and at the same time has the functions of face shape change, pupil color change and skin color change. Summary of the invention

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

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

[0006] The robot comprises a shell mechanism, an eyebrow mechanism, an eye mechanism, a nose mechanism, a mouth mechanism, a deformation mechanism and a skin color changing mechanism; the eyebrow mechanism, the eye mechanism, the nose mechanism and the mouth mechanism are all connected to the shell mechanism, the eyebrow mechanism and the mouth mechanism are respectively installed at the top and bottom ends 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 eye mechanism is mainly driven by an electromagnet, and the skin color changing mechanism is attached to the shell mechanism to realize the change of the robot's skin color.

[0007] The eye mechanism comprises an eyelid driving unit, an eyeball up and down driving unit, an eyeball left and right driving unit and a pupil color changing unit; the eyelid driving unit and the eyeball left and right driving unit are both mounted on the eyeball up and down driving unit, a pupil color changing unit for pupil color changing is arranged in the eyeball of the eyelid driving unit, the electromagnet for driving the movement of the eye mechanism comprises two categories, namely, a first category electromagnet and a second category electromagnet, the eyelid driving unit adopts the second category electromagnet to realize the opening and closing of the eyelid, the eyeball up and down driving unit adopts the first category electromagnet to realize the up and down rotation of the eyeball, and the eyeball left and right driving unit adopts the second category electromagnet to realize the left and right rotation of the eyeball.

[0008] The eyelid driving unit comprises an eye side fixing bracket, an eye middle fixing bracket, a first eyelid electromagnet, a second eyelid electromagnet, a first eyelid connecting rod, a second eyelid connecting rod, a third eyelid connecting rod, a fourth eyelid connecting rod, an upper eyelid, a lower eyelid and an eyeball;

[0009] Two eye side fixing brackets are symmetrically arranged on the left and right sides of the eye middle fixing bracket, respectively. The first eyelid electromagnet and the second eyelid electromagnet are both fixedly installed on the eye side fixing bracket, and the first eyelid electromagnet is located directly above the second eyelid electromagnet. The first eyelid electromagnet and the second eyelid electromagnet both adopt second-class electromagnets. One end of the first eyelid connecting rod is fixedly connected to the movable end of the first eyelid electromagnet, the other end of the first eyelid connecting rod is hinged to one end of the second eyelid connecting rod, the other end of the second eyelid connecting rod is hinged to the upper eyelid, and one end of the third eyelid connecting rod is hinged to the second eyelid. The movable end of the electromagnet is fixedly connected, the other end of the third eyelid connecting rod is hinged to one end of the fourth eyelid connecting rod, and the other end of the fourth eyelid connecting rod is hinged to the lower eyelid; when the first eyelid electromagnet is energized, the first eyelid electromagnet drives the upper eyelid to open and close through the first eyelid connecting rod and the second eyelid connecting rod, and when the second eyelid electromagnet is energized, the second eyelid electromagnet drives the lower eyelid to open and close through the third eyelid connecting rod and the fourth eyelid connecting rod; the upper eyelid and the lower eyelid are both hinged to the eye side fixed bracket, the upper eyelid and the lower eyelid are hinged, and the eyeball is arranged between the upper eyelid and the lower eyelid.

[0010] The eyeball up and down driving unit comprises an eyeball up and down electromagnet, a first eyeball up and down connecting rod, a second eyeball up and down connecting rod, a third eyeball up and down connecting rod, an eyeball back plate and an eyeball fixing bracket; the eyeball up and down electromagnet is vertically fixedly installed on the eye fixing bracket in the eyelid driving unit, the eyeball up and down electromagnet adopts a type of electromagnet, the bottom end of the first eyeball up and down connecting rod is fixedly connected to the movable end of the eyeball up and down electromagnet, the top end of the first eyeball up and down connecting rod is hinged to one end of the second eyeball up and down connecting rod, the other end of the second eyeball up and down connecting rod is hinged to the third eyeball up and down connecting rod, and the eyeball fixing bracket can be extended along the third eyeball up and down connecting rod The eyeball fixing bracket is installed on the third eyeball upper and lower connecting rod so as to be movable left and right in the direction; the rear end of the eyeball in the eyelid driving unit is fixedly connected with the eyeball back plate; a horizontal hole is opened at the end of the eyeball fixing bracket; the eyeball fixing bracket is hinged with the eye side fixing bracket in the eyelid driving unit at the position of the horizontal hole at the end; a vertical hole is opened in the middle of the eyeball fixing bracket; the eyeball fixing bracket is hinged with the eyeball back plate at the position of the middle vertical hole; when the eyeball upper and lower electromagnets are energized, the eyeball upper and lower electromagnets drive the first eyeball upper and lower connecting rod, the second eyeball upper and lower connecting rod and the third eyeball upper and lower connecting rod to move up and down, and then drive the eyeball to swing up and down through the eyeball fixing bracket;

[0011] The eyeball left and right driving unit comprises an eyeball left and right electromagnet, a first eyeball left and right connecting rod, a second eyeball left and right connecting rod, a third eyeball left and right connecting rod, a fourth eyeball left and right connecting rod and a fifth eyeball left and right connecting rod; the eyeball left and right electromagnet is horizontally fixedly installed on an eyeball fixing bracket in the eyeball up and down driving mechanism, the eyeball left and right electromagnet adopts a second type of electromagnet, the root end of the first eyeball left and right connecting rod is fixedly connected to the movable end of the eyeball left and right electromagnet, the end of the first eyeball left and right connecting rod is hinged to the bottom end of the second eyeball left and right connecting rod, and the top end of the second eyeball left and right connecting rod is hinged to the bottom end of the second eyeball left and right connecting rod. The third eyeball left-right connecting rod is hinged to the root end of the third eyeball left-right connecting rod, the end of the third eyeball left-right connecting rod is hinged to the root end of the fourth eyeball left-right connecting rod, the end of the fourth eyeball left-right connecting rod is hinged to the root end of the fifth eyeball left-right connecting rod, and the end of the fifth eyeball left-right connecting rod is fixedly connected to the eyeball back plate in the eyeball up and down driving mechanism; when the eyeball left-right electromagnets are energized, the first eyeball left-right connecting rod is driven to move forward and backward, so that the second eyeball left-right connecting rod, the third eyeball left-right connecting rod, the fourth eyeball left-right connecting rod and the fifth eyeball left-right connecting rod swing left and right, thereby driving the eyeball to swing left and right.

[0012] The pupil color changing unit comprises a pupil, an eye mask, positively charged blue particles and negatively charged brown particles; the pupil and the eye mask are arranged in the middle of the outer surface of the eyeball, the pupil and the eye mask are respectively made of a black opaque film and a transparent film, an eyeball cavity is opened in the middle of the eyeball, and a transparent liquid, positively charged blue particles and negatively charged brown particles are stored in the eyeball cavity; when a positive current is passed through the transparent liquid, the negatively charged brown particles are adsorbed on the inner surface of the eyeball, making the eye mask of the eyeball brown, and when a negative current is passed through the transparent liquid, the positively charged blue particles are adsorbed on the inner surface of the eyeball, making the eye mask of the eyeball blue.

[0013] The first type of electromagnet comprises a first type of magnet rod, a first type of nylon rod, a first type of coil fixing seat, a first type of inductor coil, a first type of spring and a first type of spring fixing seat; the first type of coil fixing seat is fixedly connected to the first type of spring fixing seat, the rear end of the first type of spring is connected to the rear end of the first type of spring fixing seat, the first type of inductor coil is mounted on the first type of coil fixing seat, the first type of nylon rod is arranged in the middle of the first type of inductor coil so as to be movable forward and backward, the front end of the first type of nylon rod is fixedly connected to a first type of magnet rod, the rear end of the first type of nylon rod is mounted on the front end of the first type of spring, when the first type of inductor coil is energized, the first type of magnet rod drives the first type of nylon rod to move forward and backward and squeeze the first type of spring, and the first type of spring is used to reset the first type of magnet rod;

[0014] The second type of electromagnet comprises a second type of magnet rod, a second type of coil fixing seat, a second type of inductor coil, a second type of spring fixing seat, a second type of nylon rod, a second type of spring and a second type of nylon cover; the second type of coil fixing seat and the second type of spring fixing seat are fixedly connected, the second type of inductor coil is installed on the second type of coil fixing seat, the second type of magnet rod is movably arranged in the middle of the second type of inductor coil, the rear end of the second type of magnet rod is fixedly connected with the second type of nylon rod, a circular through hole is opened in the middle of the second type of spring fixing seat, the rear end of the second type of nylon rod passes through the circular through hole on the second type of spring fixing seat and is connected to the second type of nylon cover, the second type of spring is wound around the outer circumference of the second type of nylon rod, and the front and rear ends of the second type of spring are respectively connected to the second type of spring fixing seat and the second type of nylon cover; when the second type of inductor coil is energized, the second type of magnet rod drives the second type of nylon rod to move forward and backward and squeeze the second type of spring, and the second type of spring is used to reset the second type of magnet rod.

[0015] The skin color changing mechanism is mainly composed of a color changing power device, a color changing valve unit and a color changing face skin unit. The pigment solution in the color changing power device flows into the color changing face skin unit through the color changing valve unit to complete the skin color change of the robot; the color changing power device includes a rotating cone, a bottom disc, a rotating drive device, a concentration adjusting device, a pigment solution, and a pressure liquid; the rotating cone is installed on the bottom disc, and the middle part of the rotating cone is connected to the output shaft of the rotating drive device. The rotating drive device is used to drive the rotating cone to rotate. The inner circumference of the rotating cone is provided with three layers of annular cavities from top to bottom, and the outer circumference is provided with two layers of pressure cavities from top to bottom. The diameters of the three layers of annular cavities increase from top to bottom. A plurality of sinks are provided at the bottom of each layer of annular cavities. The sinks in each layer of sinks are evenly spaced along the circumference of the annular cavity. Each sink is connected to a cylindrical cavity on the side away from the central axis of the rotating cone. Each cylindrical cavity in each layer of cylindrical cavity is connected to each layer of annular cavities through the sink.

[0016] A concentration regulating device is installed in each cylindrical cavity. The concentration regulating device mainly consists of a semipermeable membrane, a push rod and an execution control unit. The semipermeable membrane is attached to the side of the push rod close to the central axis of the rotating cone, and the execution control unit is connected to the side away from the central axis of the rotating cone. The execution control unit is used to drive the push rod to move forward and backward, and the semipermeable membrane is used to adjust the concentration of the pigment solution in the cylindrical cavity.

[0017] Pigment solution is stored in each layer of the annular cavity, and the three layers of annular cavities arranged from top to bottom are filled with black solution, white solution and yellow solution respectively. Pressure liquid is stored in each layer of the pressure cavity, and the top and bottom pressure cavities are filled with upper pressure liquid and lower pressure liquid respectively. The annular cavity and the pressure cavity are connected to the color-changing valve unit through pipelines.

[0018] The color-changing valve unit includes a first valve body, a second valve body, a third valve body, an upper pressure liquid pipeline, a lower pressure liquid pipeline, a plug, a coil, a permanent magnet, a plug spring, a first current detection probe pair, a second current detection probe pair, a third current detection probe pair, a black solution pipeline, a white solution pipeline, a yellow solution pipeline, a color-changing disc, a color-changing spring, an output liquid pipeline, an upper hydraulic drive device, and a lower hydraulic drive device;

[0019] The second valve body is movably arranged between the first valve body and the third valve body, the third valve body is provided with three color pipeline through holes from top to bottom, the three color pipeline through holes are respectively connected with a black solution pipeline, a white solution pipeline and a yellow solution pipeline, the outlets of the three-layer annular cavity arranged from top to bottom in the color-changing power device are respectively connected with the black solution pipeline, the white solution pipeline and the yellow solution pipeline, and the black solution pipeline, the white solution pipeline and the yellow solution pipeline are respectively provided with a first current detection probe pair, a second current detection probe pair and a third current detection probe pair for detecting the pigment solution;

[0020] The top of the second valve body is connected with the outlet of the upper pressure chamber through the upper pressure liquid pipeline, and the bottom of the second valve body is connected with the outlet of the lower pressure chamber through the lower pressure liquid pipeline. The upper pressure liquid pipeline and the lower pressure liquid pipeline are respectively provided with an upper hydraulic driving device and a lower hydraulic driving device for driving the second valve body to move up and down. A valve body countersunk hole is provided on the top of the second valve body, and a plug, a permanent magnet and a plug spring are all installed in the valve body countersunk hole. The two ends of the plug spring are respectively connected with the permanent magnet and the plug. The plug is located on the side of the second valve body close to the first valve body, and a coil is installed in the plug. The movement of the plug is controlled by the energization of the coil. A pigment through hole is provided at the bottom of the second valve body;

[0021] Three valve body grooves are provided on the upper part of the first valve body from top to bottom, and the valve body grooves match the plug. The valve body grooves are used to position the plug, thereby controlling the pigment through hole at the bottom of the second valve body to be connected with the color pipeline through hole of the specified color on the third valve body. A valve body groove is provided on the side of the bottom of the first valve body close to the second valve body, and the color-changing disc is movably installed in the valve body groove. The two ends of the color-changing spring are respectively connected to the first valve body and the color-changing disc, the middle part of the color-changing disc is connected to one end of the output liquid pipeline, and the other end of the output liquid pipeline is connected to the color-changing dough unit.

[0022] The color-changing skin unit comprises a transparent outer skin, an inner skin, a skin color pigment input pipeline, an oily liquid, an oil disk, an oil spring, an oil housing, an oil current probe and a skin adjustment component;

[0023] The inner face skin is attached to the outer side wall of the shell mechanism, and a plurality of face skin adjustment components for adjusting the thickness of the face skin are arranged between the transparent outer face skin and the inner face skin. The transparent outer face skin and the inner face skin constitute the face skin structure of the robot, and the bottom outlet of the face skin structure is connected with one end of the skin color pigment input pipeline, and the other end of the skin color pigment input pipeline is connected with the output liquid pipeline in the color changing valve unit, and the top outlet of the face skin structure is connected with the opening of the oil shell, and the oil disc and the oil spring are both installed in the oil shell, and the two ends of the oil spring are respectively connected with the oil shell and the oil disc, and the oily liquid is stored in the oil shell, and the oil disc is located between the oily liquid and the oil spring, and the top outlet of the face skin structure is provided with an oil current probe for detecting the oily liquid;

[0024] The dough skin adjustment component is mainly composed of a dough skin permanent magnet, a dough skin spring and a dough skin coil. The dough skin permanent magnet and the dough skin coil are respectively installed on the transparent outer face skin and the inner face skin. The two ends of the dough skin spring are respectively connected to the dough skin permanent magnet and the dough skin coil. The distance between the transparent outer face skin and the inner face skin is controlled by the power supply condition of the dough skin coil, thereby controlling the thickness of the face skin structure.

[0025] The shell mechanism includes a forehead, a side face, a nose, a side jawbone and a middle jawbone; the forehead is fixedly connected to the eyebrow middle fixing bracket in the eyebrow mechanism, the upper and lower parts of the two symmetrical side faces are respectively fixedly connected to the eyebrow side fixing bracket in the eyebrow mechanism and the eye side fixing bracket in the eye mechanism, the eyebrow side fixing bracket and the eye side fixing bracket are fixedly connected to each other, the nose is installed on the nose mechanism, the upper and lower parts of the side jawbone are respectively fixedly connected to the upper lip side fixing bracket and the lower lip side fixing bracket in the mouth mechanism, the middle jawbone is connected between the two symmetrical side jawbones, the middle jawbone is fixedly connected to the lower lip middle fixing bracket in the mouth mechanism, and the upper lip side fixing bracket and the lower lip side fixing bracket are fixedly connected to each other;

[0026] The eyebrow middle fixed bracket in the eyebrow mechanism and the upper lip middle fixed bracket in the mouth mechanism are both fixedly connected to the eye middle fixed bracket in the eye mechanism; the nose fixed bracket in the nose mechanism is installed on the upper lip middle fixed bracket; the eyebrow mechanism and the eye mechanism are both connected to the eyebrow deformation unit in the deformation mechanism; the eyebrow deformation unit is used to drive the eyebrow mechanism and the eye mechanism to expand and contract laterally on the face; the mouth mechanism is connected to the mouth deformation unit in the deformation mechanism; the mouth deformation unit is used to drive the mouth mechanism to expand and close on both sides of the cheeks.

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

[0028] 1. Principle of electromagnet movement: The magnet rod on the center line is sucked in and ejected by turning the inductor coil on and off. At the same time, the magnet rod is fixedly connected to the corresponding nylon rod of the same size. According to the different fixing methods of the spring on the nylon rod and the number of magnet rods, there are three types of electromagnets:

[0029] 1.1. Class I electromagnet

[0030] like Fig.15 As shown, the direction of the magnet rod toward the coil is defined as the forward direction, and the direction away from the coil is defined as the reverse direction. The magnet rods are initially outside the coil and directly connected to the end of the nylon rod. The other end of the nylon rod is connected to the spring, so that the magnet rod is sucked into the coil for linear motion when power is turned on, and the nylon rod is driven to move by the movement of the magnet rod. At the same time, since the other end of the spring is in contact with the spring fixing seat, when the magnet rod moves inward, it drives the nylon rod to move, and the spring is compressed to provide elastic force opposite to the direction of the electromagnetic force. When the power is turned off, it returns to its original position by the compression force of the spring.

[0031] 1.2, Class II electromagnet

[0032] like Fig.16As shown, the direction of the magnet rod toward the coil is defined as the reverse direction, and the direction away from the coil is defined as the forward direction. The magnet rod is initially in the coil and 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. When power is turned on, the magnet rod is ejected from the coil in a straight line. At the same time, because the other end of the spring is in contact with the spring fixing seat, when the magnet rod moves outward, it drives the nylon rod to move, and the spring is compressed to provide elastic force opposite to the electromagnetic force. When the power is turned off, it returns to its original position by relying on the compression force of the spring.

[0033] 1.3. Three types of electromagnets:

[0034] like Fig.17 As shown, since different current inputs can generate magnetic field forces of different magnitudes, the speed of the magnet can be controlled accordingly. In order to achieve high-frequency movement of the mouth and more precise control, a variation of the first type of electromagnet is used for the control of the upper and lower lip points. The overall structure of the three types of electromagnets is similar to that of the first type of electromagnets. The main variation is for the inductor coil and the nylon rod: two inductor coils are connected in series, embedded in the silicon steel shell, and kept coaxial and at a fixed parallel distance. The effect of the magnet rod 1 is consistent with that of the first type of electromagnet. The whole is outside the coil 1 and connected to the nylon rod 1. The size of the nylon rod 1 is equal to the distance between the coil 1 and the two coils. The other end of the nylon rod 1 is connected to the magnet rod 2 to keep the magnet rod 2 completely in the coil 2. The other end of the magnet rod 2 is connected to the nylon rod 2, which is mainly used for the convenience of fixing with the spring. The rest of the structure is consistent with the first type of electromagnet, and the two magnet rods are kept in the same direction.

[0035] At the same time, when the magnet inside the inductor coil moves, the inductance will change. Under the same other conditions, when the magnet gradually enters the coil from outside, the inductance will continue to increase. Based on this, the current position of the magnet can be detected, and different currents will also affect the inductance of the coil. However, it is difficult for one coil to control the speed and accurately calculate the displacement at the same time (the current change during speed regulation will affect the displacement calculation). Therefore, using two inductor coils can achieve more accurate detection (one for speed regulation and one for displacement measurement). At the same time, the two inductor coils can also increase the suction force to a certain extent, achieving a smoother speed change function than one coil, meeting the higher demand of the mouth for drive. The specific implementation method is as follows:

[0036] 1) When a positive current flows through coil 1 and coil 2 is not energized, a relatively slow inhalation is achieved ( Fig.18 Left); If a fixed amount of positive direct current DC is passed through the inside of coil 2 at the same time, the magnet can be quickly sucked in ( Fig.18Right), and the specific suction speed can also be controlled according to the current size inside coil one (speed change); if coil two passes a sinusoidal current AC, the current position of the magnet is determined by the phase difference between the input and output voltages of coil two (position feedback);

[0037] 2) When magnet bar 1 completely enters coil 1, magnet bar 2 completely extends out of coil 2. If no power is applied to either magnet bar, the magnet bar 2 will rebound in the opposite direction. Fig.19 Left); If the positive current is passed through the coil ( Fig.19 In the middle), the magnet can continue to eject in the opposite direction, and the movement range of the magnet can be increased to a certain extent. If a fixed forward current is passed through the coil at the same time ( Fig.19 Right), the ejection speed can be increased; if a sinusoidal current is passed through coil 2, the current position of the magnet can be determined by the phase difference between the input and output voltages of coil 2.

[0038] The principle of position feedback is as follows: when the magnet rod gradually enters the coil from outside, the inductance will increase continuously, and the change in inductance will cause the phase difference of the input and output voltages through the coil to change, thereby determining the current position of the magnet.

[0039] According to this principle, the electromagnet position feedback circuit is designed. The inductor coil can be equivalent to two RL circuits in parallel. When an LC circuit is excited by a signal close to it, a resonant frequency will be generated. 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, the current position of the electromagnet can be determined by the change in the phase angle between the input and output caused by the change in inductance caused by the distance the magnet enters the coil. Fig. 22 shown.

[0040] Fig. 22 a is the electromagnet position feedback circuit, and the input is AC. Resistor R1 and inductor L1 are connected in series to form an RL circuit, and resistor R2 and inductor L2 are connected in series to form another RL circuit. The two RL circuits connected in parallel are equivalent inductor coil circuits. S1 and S2 are the input voltage detection point and output voltage detection point of the coil respectively, and C is the 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. Fig. 22 b is the simulation of the circuit in the visual 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.

[0041] When alternating current is input, the output voltage of the coil can be calculated based on the transfer function. s represents the Laplace operator in the transfer function. The output of the top line is the S1 point signal, that is, the input voltage of the coil. The outputs of the three bottom lines are all S2 point signals, that is, the output voltage of the coil, corresponding to three situations: 1. The magnet does not enter the coil at all, corresponding to the minimum inductance value Lmin; 2. The magnet enters half of the coil, corresponding to the middle inductance value Lmid; 3. The magnet enters the coil completely, corresponding to the maximum inductance value Lmax. Since the position of the magnet in the coil will cause the inductance of the coil to change, 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 follows: Fig.23 (a) and Fig.23 (b) as shown.

[0042] 2. Principle of pupil color change:

[0043] The middle part of the eyeball is a cylindrical cavity with a transparent eye mask outside. The middle area of ​​the eye mask is painted black, representing the pupil. There is liquid in the cavity, and there are pigment particles of different sizes in the liquid. The positively charged ones are blue pigment particles, and the negatively charged ones are brown pigment particles. By applying voltages in different directions to the outside of the cavity, the pupil color can be changed. By adjusting the voltage, the depth of the pupil color can be changed. The specific implementation process is as follows:

[0044] 1) No electricity is applied, the charged color particles move randomly in the cavity, the colors are mixed, and the pupil color is gray between brown and blue (such as Fig. 20 Left);

[0045] 2) When a weak voltage is applied, the large charged color particles are not completely adsorbed, and the color is lighter at this time. When a forward voltage is applied, it is light brown, and when a reverse voltage is applied, it is light blue (such as Fig. 20 middle);

[0046] 3) When a larger voltage is applied, the charged colored particles are completely adsorbed, and the color becomes darker. When a forward voltage is applied, it becomes dark brown, and when a reverse voltage is applied, it becomes dark blue (such as Fig. 20 right).

[0047] 3. Expression driving principle:

[0048] 1) Eyebrow: The eyebrows are directly driven by electromagnets to achieve eyebrow raising and frowning movements, with a total of 4 degrees of freedom. Frowning, a total of 2 degrees of freedom: two second-class electromagnets are used to directly drive the central eyebrow frowning control point (eyebrow second control piece) to achieve frowning; raising eyebrows, a total of 2 degrees of freedom: two first-class electromagnets are used to directly drive the eyebrow raising control points on both sides of the eyebrows (eyebrow first control piece) to achieve eyebrow raising.

[0049] 2) Eyes: The upper and lower eyelids of the left and right eyes open and close, and the eyeballs rotate left and right and up and down, with a total of 7 degrees of freedom.

[0050] 2.1) The upper and lower eyelids of the left and right eyes can be opened and closed by electromagnets with the help of connecting rods, with a total of 4 degrees of freedom.

[0051] The upper and lower eyelids of the left and right eyes open and close with one degree of freedom each: four Class II electromagnets are used to drive the upper and lower eyelids to rotate around a fixed axis with the help of eyelid connecting rods, and the upper and lower eyelids are connected to the actual face, that is, the upper and lower eyelids can be closed separately, and can be in a normally open state without power supply;

[0052] 2.2) Eyeball rotation is achieved through electromagnets with the help of connecting rods, with a total of 3 degrees of freedom.

[0053] The eyeball rotates up and down, 1 degree of freedom: the internal eyeball is hinged with the eyeball fixing bracket, supported by the eye side fixing bracket, and the upper and lower eyeball connecting rods and the sliding eyeball fixing bracket on them are driven by a type-one electromagnet to rotate as a whole, indirectly driving the two eyeballs to rotate up and down. The eyeball rotates left and right, 2 degrees of freedom: two type-two electromagnets drive the left and right connecting rods of each eyeball respectively, so that the left and right eyeballs rotate around the vertical hole axis of the protruding part of the eyeball fixing bracket.

[0054] 3) Nose: Nose-lifting action, with 1 degree of freedom.

[0055] The nose is lifted by directly driving the control plate of the nose to contract through a second-class electromagnet.

[0056] 4) Mouth: Electromagnet direct drive realizes lip movement and smiling expression is driven by connecting rod, with a total of 12 degrees of freedom.

[0057] Lip movement, namely the mouth control point (the second control piece of the mouth to the fifth control piece of the mouth), has a total of 6 degrees of freedom: six Class III electromagnets are used to directly drive the corresponding facial points, driving the upward / downward movement to achieve movement; smile movement, namely the mouth control point (the first control piece of the mouth), has a total of 6 degrees of freedom: two Class III electromagnets are used to achieve left / right smile movements, taking the left side as an example: a) through the first mouth electromagnet, the magnet is sucked in to drive the first mouth connecting rod to drive the smile connecting rod backward, while the second mouth electromagnet below remains stationary, to achieve the upward lifting of the smiling face, that is, smiling; b) through the second mouth electromagnet, the magnet is sucked in to drive the second mouth connecting rod and the third mouth connecting rod to drive the smile connecting rod, while the first mouth electromagnet above remains stationary, to achieve the downward pulling of the smiling face, that is, pouting; c) the two mouth electromagnets are sucked in at the same time, to achieve the pulling of the lips backward, that is, grinning.

[0058] 4. Facial deformation principle: realized through worm gear structure

[0059] 1) Eyebrows and eyes: The worm gear is used to expand / contract the eyebrows and eyes horizontally on the face, and the distance between the eyes is controlled, mainly in the horizontal expansion / contraction, such as Fig.21 The eyebrow ball buckle is connected to the eyebrow side fixing bracket, and the expansion / contraction of the eyebrow ball buckle drives the change of the distance between the eyebrow and the eye and the change of the left and right sides of the face. Select that the worm gear and worm gear are both left-handed; select the first eyebrow ball-end buckle and the first eyebrow worm gear to be left-handed (looking from right to left, the worm gear rotates clockwise, and the ball-end buckle moves outward due to the left-hand rotation); select the third eyebrow ball-end buckle and the first eyebrow worm gear to be right-handed (looking from left to right, the worm gear rotates counterclockwise, and the ball-end buckle moves outward due to the right-hand rotation); select the second eyebrow ball-end buckle and the second eyebrow worm gear to be right-handed (looking from right to left, the worm gear rotates counterclockwise, and the ball-end buckle moves outward due to the right-hand rotation); select the fourth eyebrow ball-end buckle and the second eyebrow worm gear to be left-handed (looking from left to right, the worm gear rotates clockwise, and the ball-end buckle moves outward due to the left-hand rotation); when the middle worm gear rotates, the ball-end buckles on both sides can be synchronously moved away from / closer to the center, thereby realizing the lateral expansion / contraction of the facial bracket.

[0060] 2) Mouth: The worm gear is used to realize the fan-shaped expansion / closing of the mouth and nose on both sides of the cheeks, which is more consistent with the shape of the mouth. It is mainly based on the central face remaining unchanged and the fan-shaped expansion around the central face.

[0061] The mouth ball buckle is connected to the upper lip side fixed bracket. The expansion / contraction of the ball buckle drives the change of the left and right lower jaw bones, thus realizing the deformation of the cheek. The worm gear is selected to be left-handed;

[0062] Select the first mouth ball buckle and the first mouth worm to be connected as left-handed (viewed from right to left, the worm rotates clockwise, and due to the left-handed rotation, the ball buckle moves outward); select the third mouth ball buckle and the first mouth worm to be connected as right-handed (viewed from left to right, the worm rotates counterclockwise, and due to the right-handed rotation, the ball buckle moves outward); select the second mouth ball buckle and the second mouth worm to be connected as left-handed (viewed from right to left, the worm rotates counterclockwise, and due to the left-handed rotation, the ball buckle moves inward); select the fourth mouth ball buckle and the second mouth worm to be connected as right-handed (viewed from left to right, the worm rotates clockwise, and due to the right-handed rotation, the ball buckle moves inward); when the middle worm gear rotates, the first mouth ball buckle and the third mouth ball buckle can be synchronously moved away from / towards the center, while the second mouth ball buckle and the fourth mouth ball buckle can be synchronously moved toward / away from the center, so that the left and right mouth brackets form a fan-shaped expansion / closure.

[0063] The present invention adopts modular design, and divides the facial structure of the expression robot into four parts: eyebrows, eyes, nose, and mouth, including 4 degrees of freedom for eyebrows, 7 degrees of freedom for eyes, 1 degree of freedom for nose, and 12 degrees of freedom for mouth, totaling 24 degrees of freedom, so as to realize various basic facial expressions required: eyebrows are directly driven by electromagnets to realize eyebrow raising and frowning movements, eyes are driven by electromagnets with the help of connecting rods to realize the opening and closing of upper and lower eyelids and the rotation of eyeballs, noses are directly driven by electromagnets to realize contraction and lifting of noses, and mouths are directly driven by electromagnets to realize lip movements and smiling expressions. The present invention realizes driving and sensing integration through electromagnets, meets the needs of high-frequency movement of eyes and mouth during dialogue, and the robot also has functions of changing face shape and pupil color.

[0064] 5. Skin color change principle: Skin color change can achieve two effects, one is the change of the depth of the same skin color, and the other is the change of the color of different skin colors.

[0065] 5.1) There are two ways to change the shade of the same skin color: small range change and large range change.

[0066] Small range changes: The distance between the transparent outer skin and the inner skin is changed by the skin adjustment component, and the amount of color solution filled in it is adjusted, thereby changing the average thickness of the color solution, and finally achieving a small range of skin color depth changes under the same skin color. When the skin coil is energized, the skin permanent magnet is pushed out, the distance between the skins increases, the amount of solution increases, the average thickness of the color solution increases, and the color becomes darker in a small range; when the skin coil is not energized, the color is normal; when the skin coil is reversely energized, the skin permanent magnet is sucked in, the distance between the skins becomes smaller, the average thickness of the color solution decreases, and the color becomes lighter in a small range.

[0067] Large-range changes: By moving the position of the semipermeable membrane, the concentration of the color solute in the color solution on the inner side of the semipermeable membrane (close to the rotation center) is adjusted to change the color depth. When the execution control unit pushes the semipermeable membrane toward the rotation center, the volume of the pure water cavity increases, the volume of the pigment cavity decreases, the color solute distribution area becomes smaller, the color concentration increases, and the color becomes darker; when the execution control unit pushes the semipermeable membrane in the opposite direction, the volume of the pure water cavity decreases, the volume of the pigment cavity increases, the color solute distribution area becomes larger, the color concentration decreases, and the color becomes lighter;

[0068] 5.2) There are three stages in skin color change, namely the initial state, color filling state, and color fading state. The final color change effect is as follows: Fig.29 As shown, the color change process is as follows Fig.30 As shown:

[0069] 5.2.1) Initial state (colorless state): The color-changing power device does not work, and the second valve body is at the lowest position under the action of gravity. At this time, under the elastic force of the oil spring of the color-changing skin unit, the non-conductive oily liquid fills the first valve body and the output liquid pipeline.

[0070] 5.2.2) Color filling state: The color changing power device drives the rotating cone to rotate. Under the action of the rotating centrifugal force, the upper pressure liquid and the lower pressure liquid are pushed into the upper pressure liquid pipeline and the lower pressure liquid pipeline respectively. Since the pressure of the lower pressure liquid is greater than the pressure of the upper pressure liquid, when the rotation speed of the rotating cone continues to increase to a certain speed, the pressure of the lower pressure liquid is greater than the sum of the pressure of the upper pressure liquid and the gravity of the second valve body, so the second valve body will push upward. When the predetermined speed is reached, the second valve body will move to the A station, and the plug will pop out and engage with the pit at A under the action of the elastic force of the plug. At this time, the color solution pipeline is connected to the output liquid pipeline, and the color solution will push the color changing disc and enter the color changing face skin unit along the output liquid pipeline. When the color solution passes through the oil current probe, due to the conductivity of the color solution, an electrical signal will be generated at this time, and the electrical signal will be transmitted to the electronic control system, indicating that the color filling has been completed. Under the action of the electronic control system, the rotating cone will maintain a fixed speed to keep the pigment solution stable in the face skin. And because the conductivity of the color solution is different, the type of the color solution is determined according to the detected current size, and the pupil color is controlled to change synchronously.

[0071] 5.2.3) Fading state: When the skin color needs to be changed, it needs to be faded first. At this time, the control system issues a command, the color-changing power device stops working, and the rotating cone stops rotating. The pressure in the upper pressure liquid pipeline and the lower pressure liquid pipeline disappears. However, since the gravity of the second valve body is less than the clamping of the plug and the pit at A, the second valve body remains in place, that is, the first valve body and the third valve body remain in the conductive state. Then, under the elastic force of the oil spring, the non-conductive oily liquid pushes the pigment solution out of the face skin, and the pigment solution returns along the original channel. The color solution in the face skin gradually withdraws and gradually fades. When the oily liquid moves to the position of the third current detection probe pair, since it is non-conductive, the third current detection probe pair changes from the conductive state to the disconnected state, the current signal is interrupted, and the on-off signal is transmitted to the electronic control system. At this time, all fading has been completed, and the fading action is completed. Then, under the action of the electronic control system, the control coil is energized to suck the plug back, and the second valve body falls to the lowest position under the action of gravity, completing the reset, that is, completing an action cycle. Similarly, when the facial skin needs to be switched to another skin color, a different predetermined rotation speed of the color-changing power device is selected and the above process is repeated to complete the task.

[0072] The beneficial effects of the present invention are:

[0073] 1. The present invention adopts electromagnet drive to achieve fast and real-time drive response, meeting the frequency requirements of facial expressions and mouth movements. The electromagnet drive and sensing are integrated, which can achieve speed change and position feedback, and can make complex movements such as micro-expressions and micro-movements of the mouth.

[0074] 2. The present invention uses a pupil color changing unit to achieve the switching of three common pupil colors (blue, brown, and gray), adjusts the pupil color by the direction of the voltage, and adjusts the depth of the pupil color by the voltage size.

[0075] 3. The use of electromagnet drive can achieve silent drive and meet the needs of good human-computer interaction. To a certain extent, direct drive is achieved, and the occupied space is relatively reduced. The drive of each part adopts a symmetrical structure, which reduces the processing cost and is easy to control. The overall structure is relatively simple and the production cost is low.

[0076] 4. The present invention changes the gap between the outer epidermis and the inner epidermis through the facial skin adjustment component, adjusts the amount of color solution filled therein, and then changes the average thickness of the color solution, and finally achieves a small range of skin color depth changes under the same skin color. By adjusting the position of the semipermeable membrane and adjusting the concentration of the color solute in the color solution on the inner side of the semipermeable membrane (close to the rotation center), a large range of skin color depth adjustment under the same skin color can be achieved. The skin color changing mechanism is used to switch between three common skin colors (white, yellow, and black), and when the skin color is switched, the skin color type is judged by the size of the current, and the pupil color change is triggered synchronously to achieve matching of skin color and pupil color. BRIEF DESCRIPTION OF THE DRAWINGS

[0077] Figure 1 This is the overall appearance of the expression robot;

[0078] Figure 2 This is the overall structure diagram of the expression robot;

[0079] Figure 3 It is an eyebrow structure diagram;

[0080] Figure 4 It is the diagram of the eyelid drive mechanism;

[0081] Figure 5 It is a diagram of the mechanism of eyeball up and down movement;

[0082] Figure 6 This is the diagram of the left and right movement of the eyeball

[0083] Figure 7 It is a diagram of the pupil color changing mechanism;

[0084] Figure 8 It is a diagram of the nose structure;

[0085] Fig. 9 It is the diagram of the mouth smiling action mechanism;

[0086] Fig.10 It is a diagram of the mouth and lip movements mechanism;

[0087] Fig.11 It is the diagram of eyebrow deformation mechanism;

[0088] Fig.12 It is a diagram of the mouth deformation mechanism;

[0089] Fig.13 It is a diagram of the worm gear structure of eyebrow deformation;

[0090] Fig.14 This is the structure diagram of the worm gear with mouth deformation;

[0091] Fig.15 It is a type of electromagnet structure diagram;

[0092] Fig.16 It is a diagram of the structure of a type II electromagnet;

[0093] Fig.17 It is a diagram of the structure of three types of electromagnets;

[0094] Fig.18 It is the schematic diagram of the forward motion of three types of electromagnets;

[0095] Fig.19 It is a schematic diagram of the reverse motion of three types of electromagnets;

[0096] Fig. 20 It is a diagram of the principle of pupil color change;

[0097] Fig.21 This is the face deformation effect diagram;

[0098] Fig. 22 There are three types of electromagnet working circuit diagrams;

[0099] Fig.23 It is a schematic diagram of three types of electromagnet position feedback;

[0100] Fig.24 It is a skin color changing mechanism diagram;

[0101] Fig.25 It is a color-changing power device;

[0102] Fig.26 It is a rotating cone;

[0103] Fig. 27 It is the color-changing valve mechanism;

[0104] Fig.28 It is a color-changing facial skin mechanism;

[0105] Fig.29 It is a picture of changing skin color and eye color;

[0106] Fig.30 This is the principle diagram of skin color transformation.

[0107] In the figure: shell mechanism-1; forehead-11; side face-13; nose-15; side jaw-16; middle jaw-17; eyebrow mechanism-2: eyebrow side fixing bracket-201; eyebrow middle fixing bracket-202; first eyebrow electromagnet-204; eyebrow first control plate-205; second eyebrow electromagnet-208; eyebrow second control plate-209; eye mechanism-3; eyelid driving unit-31; eye side fixing bracket-3101; eye middle 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-311 6; lower eyelid-3117; eyeball-3118; eyeball up and down drive 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 drive 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 mask-342; negatively charged brown large particles-343; negatively charged brown small particles-344; positively charged blue small blue particles-346; large positively charged blue particles-347; eyeball cavity-348; nose mechanism-4; nose control plate-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 plate-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 Magnet-525; second control piece of mouth-527; third control piece of mouth-528; fourth control piece of mouth-530; fifth control piece of mouth-531; deformation mechanism-6; eyebrow deformation unit-61; eyebrow deformation 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 gear housing-61109; first eyebrow deformation connecting rod-612; second eyebrow deformation connecting rod-613; third eyebrow deformation connecting rod-614;The fourth eyebrow deformation link-615; the mouth deformation unit-62; the first mouth deformation link-6201; the second mouth deformation link-6202; the third mouth deformation link-6203; the fourth mouth deformation link-6204; the fifth mouth deformation link-6205; the sixth mouth deformation link-6206; the seventh mouth deformation link-6207; the eighth mouth deformation link-6208; the first ball head link-6209 and the second ball head link-6210; the mouth deformation worm gear-622; the first mouth ball head buckle-62201; the second mouth ball head buckle-62202; the third mouth ball head buckle-62203; the fourth mouth ball head buckle-62204; the mouth deformation transmission shaft-62205; the first mouth worm-6 2206; second mouth worm-62207; mouth deformed worm wheel-62208; mouth deformed worm wheel housing-62209; first class electromagnet-7; first class magnet rod-71; first class nylon rod-72; first class coil fixing seat-73; first class inductor coil-74; first class spring-75; first class spring fixing seat-76; second class electromagnet-8; second class magnet rod-81; second class coil fixing seat-82; second class inductor coil-83; second class spring fixing seat-84; second class nylon rod-85; second class spring-86; second class nylon cover-87; third class electromagnet-9; third class magnet rod-901; third class coil fixing seat-902; third class inductor coil-903; third class nylon rod-904; third class magnet rod- 905; Class III inductor coil 2-906; Class III nylon rod 2-907; Class III spring-908; Class III spring fixing seat-909; Silicon steel shell-910; Color changing mechanism-10; Color changing power device-101; Rotating cone-1011; Top annular cavity-101101; Middle annular cavity-101102; Bottom annular cavity-101103; Upper pressure cavity-101104; Lower pressure cavity-101105; First cylindrical cavity-101106; Third cylindrical cavity-101107; Fifth cylindrical cavity-101108; Second cylindrical cavity-101109; Fourth cylindrical cavity-101110; Sixth cylindrical cavity-101111; Bottom disc-1012; Rotating drive device-10 13; concentration adjusting device-1014; semipermeable membrane-10141; push rod-10142; execution control unit-10143; pigment solution-1015; black solution-10151; white solution-10152; yellow solution-10153; pressure liquid-1016; upper pressure liquid-10161; lower pressure liquid-10162; color changing valve unit-102; first valve body-10201; second valve body-10202; third valve body-10203; upper pressure liquid pipeline-10204; lower pressure liquid pipeline-10205; plug-10206; coil-10207; permanent magnet-10208; plug spring-10209; first current detection probe pair-10210;The second current detection probe pair 10211; the third current detection probe pair 10212; the black solution pipeline 10213; the white solution pipeline 10214; the yellow solution pipeline 10215; the color-changing disc 10216; the color-changing spring 10217; the output liquid pipeline 10219, the upper hydraulic drive device 10220; the lower hydraulic drive device 10221; the color-changing skin unit 103; the transparent outer skin 10301; the inner skin 10302; the skin color pigment input pipeline 10303; the oily liquid 10304; the oil disc 10305; the oil spring 10306; the oil shell 10307; the skin permanent magnet 10308; the skin spring 10309; the skin coil 10310; the oil current probe 10311. ; DETAILED DESCRIPTION

[0108] The present invention is described in detail below in conjunction with specific implementation cases. The following implementation cases will help those skilled in the art to further understand the present invention, but will not limit the present invention in any form.

[0109] like Figure 1 and Figure 2 As shown, the robot includes a shell 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 shell mechanism 1, the eyebrow mechanism 2 and the mouth mechanism 5 are respectively installed at the top and the 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, the eyebrow deformation unit 61 and the mouth deformation unit 62 are mainly driven by a worm gear structure, and the deformation of the robot's eyebrows and mouth is realized by the worm gear structure. The robot structure of the present invention is a left-right symmetrical structure.

[0110] like Figure 3As shown, the eyebrow mechanism 2 includes an eyebrow side fixing bracket 201, an eyebrow middle fixing bracket 202, a first eyebrow electromagnet 204, an eyebrow first control sheet 205, a second eyebrow electromagnet 208 and an eyebrow second control sheet 209; the two eyebrow side fixing brackets 201 are symmetrically arranged on the left and right sides of the eyebrow middle fixing bracket 202, the shells of the two first eyebrow electromagnets 204 are fixedly installed on the two eyebrow side fixing brackets 201, and the two second eyebrow electromagnets 208 are symmetrically installed on the eyebrow middle fixing brackets. On the frame 202, the first eyebrow electromagnet 204 and the second eyebrow electromagnet 208 respectively use the first type of electromagnet 7 and the second type of electromagnet 8, the first eyebrow control piece 205 and the second eyebrow control piece 209 are respectively installed on the movable ends of the first eyebrow electromagnet 204 and the second eyebrow electromagnet 208, and the first eyebrow electromagnet 204 is used to drive the first eyebrow control piece 205 to move inward to achieve the eyebrow raising action after being energized, and the second eyebrow electromagnet 208 is used to drive the second eyebrow control piece 209 to move outward to achieve the frowning action after being energized. Among them, the first type of magnet bar 71 in the first eyebrow electromagnet 204 is set downward and tilted outward, and the second type of electromagnet 8 in the second eyebrow electromagnet 208 is set downward and tilted inward.

[0111] 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, and the eyeball 3118 of the eyelid driving unit 31 is provided with a pupil color changing unit 34 for changing pupil color. The electromagnets for driving the eye mechanism 3 to move include two categories, namely, a first category electromagnet 7 and a second category electromagnet 8. The eyelid driving unit 31 adopts the second category electromagnet 8 to realize the opening and closing of the eyelids, the eyeball up and down driving unit 32 adopts the first category electromagnet 7 to realize the up and down rotation of the eyeball, and the eyeball left and right driving unit 33 adopts the second category electromagnet 8 to realize the left and right rotation of the eyeball.

[0112] like Figure 4 As 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;

[0113] The two eye side fixing brackets 3101 are symmetrically arranged on the left and right sides of the eye middle fixing bracket 3102, respectively. The shells of the first eyelid electromagnet 3104 and the second eyelid electromagnet 3105 are both horizontally fixedly installed on the eye side fixing bracket 3101, and the first eyelid electromagnet 3104 is located directly above the second eyelid electromagnet 3105. The first eyelid electromagnet 3104 and the second eyelid electromagnet 3105 both use the second type of electromagnet 8. One end of the first eyelid connecting rod 3108 and the second eyelid connecting rod 3108 are connected to each other. The movable end of the first eyelid electromagnet 3104 is fixedly connected, the other end of the first eyelid connecting rod 3108 is hinged to one end of the second eyelid connecting rod 3109, the other end of the second eyelid connecting rod 3109 is hinged to the upper eyelid 3116, one end of the third eyelid connecting rod 3110 is fixedly connected to the movable end of the second eyelid electromagnet 3105, the other end of the third eyelid connecting rod 3110 is hinged to one end of the fourth eyelid connecting rod 3111, and the other end of the fourth eyelid connecting rod 3111 is hinged to the lower eyelid 3117;

[0114] 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 connecting rod 3108 and the second eyelid connecting rod 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 connecting rod 3110 and the fourth eyelid connecting rod 3111; the upper eyelid 3116 and the lower eyelid 3117 are both hinged to the eye side fixing bracket 3101, the upper eyelid 3116 and the lower eyelid 3117 on the same side of the face are hinged, and the eyeball 3118 is arranged between the upper eyelid 3116 and the lower eyelid 3117.

[0115] Specifically, the first eyelid electromagnet 3104 moves outward after being energized, driving the first eyelid connecting rod 3108 and the second eyelid connecting rod 3109 to achieve the closing action of the upper eyelid 3116, and the spring returns to its original position after power failure to achieve the opening of the upper eyelid 3116. The second eyelid electromagnet 3105 moves outward after being energized, driving the third eyelid connecting rod 3110 and the fourth eyelid connecting rod 3111 to achieve the closing action of the lower eyelid, and the spring returns to its original position after power failure to achieve the opening of the lower eyelid.

[0116] like Figure 5 As shown, the eyeball up and down driving unit 32 includes an eyeball up and down electromagnet 321, a first eyeball up and down connecting rod 322, a second eyeball up and down connecting rod 323, a third eyeball up and down connecting rod 324, an eyeball back plate 325 and an eyeball fixing bracket 327;

[0117] The shell of the eyeball upper and lower electromagnet 321 is vertically fixedly installed on the eye fixed bracket 3102 in the eyelid driving unit 31. The eyeball upper and lower electromagnet 321 adopts a type of electromagnet 7. The bottom end of the L-shaped first eyeball upper and lower connecting rod 322 is fixedly connected to the movable end of the eyeball upper and lower electromagnet 321. The top end of the first eyeball upper and lower connecting rod 322 and one end of the second eyeball upper and lower connecting rod 323 are hinged, and the other end of the second eyeball upper and lower connecting rod 323 is hinged to the third eyeball upper and lower connecting rod 324. The eyeball fixing bracket 327 can be hinged along the third eyeball upper and lower connecting rod. The extension direction (i.e., horizontal direction) of the rod 324 is movably mounted on the third eyeball upper and lower connecting rod 324, the rear end of the eyeball 3118 in the eyelid driving unit 31 is fixedly connected with the eyeball back plate 325, the end of the eyeball fixing bracket 327 is provided with a horizontal hole, the eyeball fixing bracket 327 is hinged with the eye side fixing bracket 3101 in the eyelid driving unit 31 at the position of the end horizontal hole, the middle of the eyeball fixing bracket 327 is provided with a vertical hole, the eyeball fixing bracket 327 is hinged with the eyeball back plate 325 at the position of the middle vertical hole;

[0118] When the eyeball upper and lower electromagnets 321 are energized, the eyeball upper and lower electromagnets 321 drive the first eyeball upper and lower connecting rods 322, the second eyeball upper and lower connecting rods 323 and the third eyeball upper and lower connecting rods 324 to move up and down, and then drive the eyeball 3118 to swing up and down through the eyeball fixing bracket 327.

[0119] The eyeball back plate 325 is disc-shaped, and the diameter of the eyeball back plate 325 is smaller than the eyeball 3118. A horizontal protrusion structure is provided at the end of the eyeball fixing bracket 327, and a horizontal hole is provided at the end of the horizontal protrusion structure. The horizontal protrusion structure is hinged with the eyeball fixing hole provided at the corresponding position of the eye side fixing bracket 3101 at the position of the horizontal hole. The axis of the horizontal hole of the horizontal protrusion structure is coaxial with the horizontal axis of the eyeball 3118. Therefore, with the eye side fixing bracket 3101 as support, the eyeball fixing bracket 327 can drive the entire eyeball up and down driving mechanism 32 to rotate around the axis to realize the up and down movement of the eyeball;

[0120] The middle part of the eyeball fixing bracket 327 is a protruding long block with a vertical hole. 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. The hinge is used 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 achieve up and down movement of the eyeball; on the other hand, when the eyeball 3118 rotates left and right, due to the hinged connection, the eyeball 3118 will rotate around the axis of the vertical hole without affecting the eyeball fixing bracket 327, thereby achieving independent left and right movement and up and down movement of the eyeball.

[0121] A sliding groove is provided at one end of the eyeball fixing bracket 327 close to the eyeball upper and lower electromagnets 321, so that the eyeball fixing bracket 327 and the third eyeball upper and lower connecting rod 324 are clearance-matched, so that the eyeball fixing bracket 327 can slide along the third eyeball upper and lower connecting rod 324, in order to cooperate with the eyebrow deformation mechanism to achieve the change of the interocular distance.

[0122] The spring of the upper and lower electromagnets 321 of the eyeball is 5mm shorter than that of other electromagnets, so the magnet rod initially enters the inductor coil 5mm. This setting enables the upper and lower electromagnets 321 of the eyeball to achieve bidirectional movement to meet the needs of the upper and lower eyeball movement.

[0123] like Figure 6 As shown, the eyeball left and right driving unit 33 includes an eyeball left and right electromagnet 3301, a first eyeball left and right connecting rod 3302, a second eyeball left and right connecting rod 3303, a third eyeball left and right connecting rod 3304, a fourth eyeball left and right connecting rod 3305 and a fifth eyeball left and right connecting rod 3306; the shell of the eyeball left and right electromagnet 3301 is horizontally fixedly installed on the eyeball fixing bracket 327 in the eyeball up and down driving mechanism 32, the eyeball left and right electromagnet 3301 adopts the second type electromagnet 8, the root end of the first eyeball left and right connecting rod 3302 and the eyeball left and right electromagnet 3301 The movable end of the first eyeball left-right connecting rod 3302 is hinged to the bottom end of the second eyeball left-right connecting rod 3303, the top end of the second eyeball left-right connecting rod 3303 is hinged to the root end of the third eyeball left-right connecting rod 3304, the end of the third eyeball left-right connecting rod 3304 is hinged to the root end of the fourth eyeball left-right connecting rod 3305, the end of the fourth eyeball left-right connecting rod 3305 is hinged to the root end of the fifth eyeball left-right connecting rod 3306, and the end of the fifth eyeball left-right connecting rod 3306 is fixedly connected to the eyeball back plate 325 in the eyeball up and down driving mechanism 32.

[0124] When the eyeball left and right electromagnet 3301 is energized, it drives the first eyeball left and right connecting rod 3302 to move forward and backward, causing the second eyeball left and right connecting rod 3303, the third eyeball left and right connecting rod 3304, the fourth eyeball left and right connecting rod 3305 and the fifth eyeball left and right connecting rod 3306 to swing left and right, thereby driving the eyeball 3118 to swing left and right.

[0125] The second-class spring of the left and right electromagnets 3301 for the eyeball is 5mm shorter than the springs of other second-class electromagnets, so the second-class magnet rod initially enters the inductor coil 5mm. This setting enables the left and right electromagnets 3301 for the eyeball to achieve bidirectional movement to meet the needs of left and right eyeball movement.

[0126] like Figure 7As shown, the pupil color changing unit 34 includes a pupil 341, an eye membrane 342, positively charged blue particles and negatively charged brown particles; the pupil 341 and the eye membrane 342 are provided in the middle of the outer surface of the eyeball 3118, the pupil 341 and the eye membrane 342 are respectively made of a black opaque film and a transparent film, an eye cavity 348 is opened in the middle of the eyeball 3118, and a transparent liquid, positively charged blue particles and negatively charged brown particles are stored in the eye cavity 348; 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, so that the eye membrane 342 of the eyeball 3118 is brown, and when a negative current is passed through the transparent liquid, the positively charged blue particles are adsorbed on the inner surface of the eyeball 3118, so that the eye membrane 342 of the eyeball 3118 is blue.

[0127] The negatively charged brown particles include negatively charged brown large particles 343 and negatively charged brown small particles 344, and the positively charged blue particles include positively charged blue small particles 346 and positively charged blue large particles 347. Transparent liquid is stored in the eyeball cavity 348, and the charged particles can move in the transparent liquid. The charged particles are in the micron size, and the size of the large particles is 100 times the size of the small particles.

[0128] like Figure 8 As shown, 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 shells of the nose fixing bracket 44 and the nose electromagnet 43 are fixedly connected to the nose 15 in the shell mechanism 1, the nose electromagnet 43 adopts a second-class 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-lifting action, and the nose fixing bracket 44 is connected to the upper lip middle fixing bracket 519 in the mouth mechanism 5.

[0129] like Fig. 9 As shown, 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;

[0130] 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 shells of the first mouth electromagnet 501 and the second mouth electromagnet 503 are fixedly connected to the upper lip side fixing bracket 518. The first mouth electromagnet 501 and the second mouth electromagnet 503 are both tilted inwardly toward the cheek direction, 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 use three types of electromagnets 9. The first mouth electromagnet 501 and the second mouth electromagnet 503 are used to jointly control the first mouth control plate 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 link 502 is hinged to the top of the smile link 511, the root end of the second mouth link 504 is fixedly connected to the movable end of the second mouth electromagnet 503, the end of the second mouth link 504 is hinged to the root end of the third mouth link 505, the end of the third mouth link 505 is hinged to the bottom of the smile link 511, and the end of the smile link 511 is installed with the first mouth control plate 513; the first mouth electromagnet 501 and the second mouth electromagnet 503 are used to drive the smile link 511 to move, thereby driving the first mouth control plate 513 to move forward and backward, up and down, left and right, and then realize the smiling, pouting and grinning movements of the mouth, and the upper lip side fixed bracket 518 and the upper lip middle fixed bracket 519 are both connected to the lip unit.

[0131] like Fig.10 As 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;

[0132] The two lower lip side fixing brackets 515 are symmetrically arranged on both sides of the lower lip middle fixing bracket 516, the 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 tilted downward to simulate the upper lip of the human body, the 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 tilted upward to simulate the lower lip of the human body, The third mouth electromagnet 521, the fourth mouth magnet 522, the fifth mouth electromagnet 524 and the sixth mouth electromagnet 525 all use three types of electromagnets 9, and the second mouth control piece 527, the third mouth control piece 528, the fourth mouth control piece 530 and the fifth mouth 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 second mouth control piece 527 and the third mouth control piece 528 to move up and down to jointly realize the opening and closing action of the upper lip, and the fifth mouth electromagnet 524 and the sixth mouth electromagnet 525 are used to drive the fourth mouth control piece 530 and the fifth mouth control piece 531 to move up and down to realize the opening and closing action of the lower lip.

[0133] like Fig.15 As shown, the first type of electromagnet 7 includes a first type of magnet rod 71, a first type of nylon rod 72, a first type of coil fixing seat 73, a first type of inductor 74, a first type of spring 75 and a first type of spring fixing seat 76. The first type of magnet rod 71 and the first type of spring fixing seat 76 are respectively arranged near the front end and the rear end of the first type of electromagnet 7; the rear end of the first type of coil fixing seat 73 and the front end of the first type of spring fixing seat 76 are fixedly connected, the rear end of the first type of spring 75 is connected to the rear end of the first type of spring fixing seat 76, and the first type of electromagnet 7 is connected to the rear end of the first type of coil fixing seat 73. The inductor coil 74 is installed on a coil fixing seat 73, a nylon rod 72 is movably arranged in the middle of the inductor coil 74, the front end of the nylon rod 72 is fixedly connected to a magnet rod 71, and the rear end of the nylon rod 72 is installed at the front end of a spring 75. When the inductor coil 74 is energized, the magnet rod 71 drives the nylon rod 72 to move forward and backward and squeeze the spring 75. The spring 75 is used to reset the magnet rod 71.

[0134] Among them, the first-class magnet rod 71, the first-class nylon rod 72, the first-class inductor coil 74 and the first-class spring 75 are coaxial. The length of the first-class magnet rod 71 is greater than the length of the first-class inductor coil 74, and the length of the first-class nylon rod 72 is substantially the same as the length of the first-class inductor coil 74. The first-class nylon rod 72 is divided into two sections, the diameter of the section close to the first-class magnet rod 71 is the same as that of the first-class magnet rod 71, and the diameter of the section close to the first-class spring 75 is slightly smaller than that of the first-class spring 75, so as to facilitate insertion into the first-class spring 75. The first-class magnet rod 71 is initially located outside the first-class inductor coil 74, and the initial position of the first-class nylon rod 72 is located inside the first-class inductor coil 74. After the first-class inductor coil 74 is energized, the first-class magnet rod 71 in the first-class electromagnet 7 will drive itself to move into the first-class inductor coil 74. The first-class coil fixing seat 73 serves as the outer shell of the first-class electromagnet 7, and the front end of the first-class magnet rod 71 serves as the movable end of the first-class electromagnet 7.

[0135] like Fig.16 As shown, the second type of electromagnet 8 includes a second type of magnet rod 81, a second type of coil fixing seat 82, a second type of inductor 83, a second type of spring fixing seat 84, a second type of nylon rod 85, a second type of spring 86 and a second type of nylon cover 87. The second type of magnet rod 81 and the second type of spring 86 are respectively arranged near the front end and the rear end of the second type of electromagnet 8; the rear end of the second type of coil fixing seat 82 and the second type of spring fixing seat 84 are fixedly connected, the second type of inductor 83 is installed on the second type of coil fixing seat 82, the second type of magnet rod 81 is arranged in the middle of the second type of inductor 83 so as to be movable forward and backward, and the rear end of the second type of magnet rod 81 A second type of nylon rod 85 is fixedly connected, a circular through hole is opened in the middle of the second type of spring fixing seat 84, the rear end of the second type of nylon rod 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 circumference of the second type of nylon rod 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 inductor 83 is energized, the second type of magnet rod 81 drives the second type of nylon rod 85 to move forward and backward and squeeze the second type of spring 86, and the second type of spring 86 is used to reset the second type of magnet rod 81.

[0136] Among them, the second type of magnet rod 81, the second type of inductor coil 83, the second type of nylon rod 85, the second type of spring 86 and the second type of nylon cover 87 are coaxial. The second type of magnet rod 81 is longer than the second type of inductor coil 83, and the second type of nylon rod 85 and the second type of inductor coil 83 are substantially the same length. The second type of nylon rod 85 is divided into two sections, the diameter of the section close to the second type of magnet rod 81 is the same as that of the second type of magnet rod 81, and the diameter of the section close to the second type of nylon cover 87 is slightly smaller than that of the second type of spring 86, which is used to facilitate insertion into the second type of spring 86. The initial position of the second type of magnet rod 81 is inside the second type of inductor coil 83, and the initial position of the second type of nylon rod 85 is outside the second type of inductor coil 83. After the second type of inductor coil 83 is energized, the second type of magnet rod 81 in the second type of electromagnet will drive the whole to move outside the second type of inductor coil 83. The second type of coil fixing seat 82 serves as the outer shell of the second type of electromagnet 8, and the front end of the second type of magnet rod 81 serves as the movable end of the second type of electromagnet 8.

[0137] like Fig.17 As shown, the three types of electromagnets 9 include three types of magnet rods 1 901, three types of coil fixing seats 902, three types of inductance coils 1 903, three types of nylon rods 1 904, three types of magnet rods 2 905, three types of inductance coils 2 906, three types of nylon rods 2 907, three types of springs 908 and three types of spring fixing seats 909. The three types of magnet rods 1 901 and the three types of spring fixing seats 909 are respectively arranged near the front end and the rear end of the three types of electromagnets 9; the rear end of the three types of coil fixing seats 902 and the front end of the three types of spring fixing seats 909 are fixedly connected, the rear end of the three types of springs 908 is connected to the rear end of the three types of spring fixing seats 909, the three types of inductance coils 1 903 and the three types of inductance coils 2 906 are both installed on the three types of coil fixing seats 902 through the silicon steel shell 910, and the three types of inductance coils 1 903 Located at the front side of the third type of inductor coil 1 906, the third type of nylon rod 1 904 is movably arranged in the middle of the third type of inductor coil 1 903, the third type of magnet rod 1 901 is fixedly connected to the front end of the third type of nylon rod 1 904, the front and rear ends of the third type of magnet rod 2 905 are respectively fixedly connected to the third type of nylon rod 1 904 and the third type of nylon rod 2 907, and the rear end of the third type of nylon rod 2 907 is installed at the front end of the third type of spring 908; when the third type of inductor coil 1 903 and / or the third type of inductor coil 2 906 are energized, the third type of magnet rod 1 901 and the third type of magnet rod 2 905 are moved, thereby synchronously driving the third type of nylon rod 1 904 and the third type of nylon rod 2 907 to move, and compressing the third type of spring 908, and the third type of spring 908 is used to reset the third type of magnet rod 1 901.

[0138] Specifically, the three types of magnet rods 1 901, the three types of inductor coils 1 903, the three types of nylon rods 1 904, the three types of magnet rods 2 905, the three types of inductor coils 2 906, the three types of nylon rods 2 907 and the three types of springs 908 are coaxial. The length of the three types of magnet rods 1 901 is longer than the overall length of the silicon steel housing 910, and the length of the three types of nylon rods 1 904 is the length of the three types of inductor coils 1 903 plus the spacing between the two three types of inductor coils 903 and 906. The lengths of the three types of magnet rods 2 905, the three types of inductor coils 1 903 and the three types of inductor coils 2 906 are the same. The initial position of the third type magnet rod 1 901 is outside the third type inductor coil 1 903, the initial position of the third type nylon rod 1 904 is from the third type inductor coil 1 903 to the outside of the third type inductor coil 2 906, the initial position of the third type magnet rod 2 905 is inside the third type inductor coil 2 906, and the initial position of the third type nylon rod 2 907 is outside the third type inductor coil 2 906. After the third type inductor coil 1 903 is energized, the third type magnet rod 1 901 of the third type electromagnet will drive the whole to move into the third type inductor coil 1 903. The third type coil fixing seat 902 serves as the outer shell of the third type electromagnet 9, and the front end of the third type magnet rod 1 901 serves as the movable end of the third type electromagnet 9.

[0139] like Fig.11 As shown, the eyebrow deformation unit 61 includes an eyebrow deformation worm gear 611, a first eyebrow deformation link 612, a second eyebrow deformation link 613, a third eyebrow deformation link 614 and a fourth eyebrow deformation link 615; one end of the first eyebrow deformation link 612 is hinged to an eye side fixing bracket 3101 in the eye mechanism 3, the other end of the first eyebrow deformation link 612 is hinged to one end of the second eyebrow deformation link 613, and the other end of the second eyebrow deformation link 613 is hinged to one end of the eyebrow deformation link 614. It is hinged to the eye middle fixed bracket 3102 in the eye mechanism 3, one end of the third eyebrow deformation link 614 is hinged to the eye middle fixed bracket 3102, the other end of the third eyebrow deformation link 614 is hinged to one end of the fourth eyebrow deformation link 615, the other end of the fourth eyebrow deformation link 615 is hinged to another eye side fixed bracket 3101 in the eye mechanism 3, and the eyebrow deformation worm gear 611 is fixedly connected to the eyebrow middle fixed bracket 202 in the eyebrow mechanism 2.

[0140] like Fig.13As shown, the eyebrow deformation 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 deformation worm wheel 61108 and an eyebrow deformation worm gear housing 61109; the eyebrow deformation worm gear housing 61109 is installed on the eyebrow middle fixed bracket 202, the first eyebrow ball head buckle 61101 and the second eyebrow ball head buckle 61102 are both fixedly installed on an eyebrow side fixed bracket 201 in the eyebrow mechanism 2, and the third eyebrow ball head buckle 61103 and the fourth eyebrow ball head buckle 61104 are both fixedly installed on the other eyebrow side fixed bracket 201 in the eyebrow mechanism 2. 01, the eyebrow deforming worm gear 61108 is located inside the eyebrow deforming worm gear housing 61109, and the eyebrow deforming worm gear housing 61109 is provided with four eyebrow worm through holes, one end of the first eyebrow worm gear 61106 is passed through the first eyebrow worm gear through hole and is connected to the first eyebrow ball head buckle 61101 through a thread, the other end of the first eyebrow worm gear 61106 is passed through the second eyebrow worm gear through hole and is connected to the third eyebrow ball head buckle 61103 through a thread, one end of the second eyebrow worm gear 61107 is passed through the third eyebrow worm gear through hole and is connected to the second eyebrow ball head buckle 61102 through a thread, and the other end of the second eyebrow worm gear 61107 is passed through the fourth eyebrow worm gear through hole and is connected to the fourth eyebrow ball head buckle 61104 through a thread.

[0141] The first eyebrow worm 61106 and the second eyebrow worm 61107 are arranged in parallel and at intervals, the eyebrow deformation worm wheel 61108 is located between the first eyebrow worm 61106 and the second eyebrow worm 61107, and the two ends of the eyebrow deformation worm wheel 61108 are respectively engaged with the threads on the first eyebrow worm 61106 and the second eyebrow worm 61107; left-handed spiral teeth are provided at the meshing position of the first eyebrow worm 61106 and the eyebrow deformation worm wheel 61108, left-handed spiral teeth are provided at the meshing position of the second eyebrow worm 61107 and the eyebrow deformation worm wheel 61108, and left-handed spiral teeth are provided on the periphery of the eyebrow deformation worm wheel 61108, wherein the eyebrow deformation worm wheel 61108 is externally connected to the eyebrow deformation transmission shaft 61105 in the eyebrow worm wheel driving device, and the eyebrow worm wheel driving device is used to drive the eyebrow deformation worm wheel 61108 to rotate.

[0142] The ends of the first eyebrow ball buckle 61101 and the fourth eyebrow ball buckle 61104 are provided with left-handed internal thread holes, and the ends of the second eyebrow ball buckle 61102 and the third eyebrow ball buckle 61103 are provided with right-handed internal thread holes; the end of the first eyebrow worm 61106 close to the first eyebrow ball buckle 61101 is provided with a left-handed external thread, and the length of the external thread is slightly smaller than the length of the internal thread at the end of the first eyebrow ball buckle 61101, and the end of the first eyebrow worm 61106 close to the third eyebrow ball buckle 61103 is provided with a left-handed external thread. A right-handed external thread is provided, and the length of this section of the external thread is slightly smaller than the length of the internal thread at the end of the third eyebrow ball buckle 61103; a right-handed external thread is provided at one end of the second eyebrow worm gear 61107 close to the second eyebrow ball buckle 61102, and the length of this section of the external thread is slightly smaller than the length of the internal thread at the end of the second eyebrow ball buckle 61102; a left-handed external thread is provided at one end of the second eyebrow worm gear 61107 close to the fourth eyebrow ball buckle 61104, and the length of this section of the external thread is slightly smaller than the length of the internal thread at the end of the fourth eyebrow ball buckle 61104.

[0143] like Fig.12 As 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 gear 622;

[0144] One end of the first mouth deformation link 6201 is hinged to an upper lip side fixing bracket 518 in the mouth mechanism 5, and the other end is hinged to one end of the second mouth deformation link 6202, and the other end of the second mouth deformation link 6202 is hinged to the upper lip middle fixing bracket 519 of the mouth mechanism 5; one end of the third mouth deformation link 6203 is hinged to the upper lip middle fixing bracket 519, and the other end is hinged to one end of the fourth mouth deformation link 6204, and the other end of the fourth mouth deformation link 6204 is hinged to another upper lip side fixing bracket 518 in the mouth mechanism 5; One end is hinged to an upper lip side fixed bracket 518 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 upper lip middle fixed bracket 519, one end of the seventh mouth deformation link 6207 is hinged to the upper lip middle fixed bracket 519, 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 another upper lip side fixed bracket 518 in the mouth mechanism 5; the mouth deformation worm gear 622 is installed on the lower lip middle fixed bracket 516 of the mouth mechanism 5.

[0145] like Fig.14As shown, the mouth deformable worm gear 622 includes a first mouth ball head buckle 62201, a second mouth ball head buckle 62202, a third mouth ball head buckle 62203, a fourth mouth ball head 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 6210; the mouth deformable worm gear housing 62209 is installed On the lower lip middle fixed bracket 516, the first mouth ball head buckle 62201 and the third mouth ball head buckle 62203 are fixedly connected to the two upper lip side fixed brackets 518 in the mouth mechanism 5, respectively, the second mouth ball head buckle 62202 and the fourth mouth ball head buckle 62204 are respectively hinged to one end of the first ball head connecting rod 6209 and the second ball head connecting rod 6210, and the other ends of the first ball head connecting rod 6209 and the second ball head connecting rod 6210 are respectively hinged to the two upper lip side fixed brackets. 518 is hinged, the first mouth ball buckle 62201 and the second mouth ball buckle 62202 are arranged on the same side, the third mouth ball buckle 62203 and the fourth mouth ball buckle 62204 are arranged on the same side, the mouth deformable worm wheel 62208 is located inside the mouth deformable worm wheel housing 62209, and the mouth deformable worm wheel housing 62209 is provided with four mouth worm through holes, one end of the first mouth worm 62206 is passed through the first mouth worm through hole and then through the screw The thread is connected to the first mouth ball buckle 62201, the other end of the first mouth worm 62206 is connected to the third mouth ball buckle 62203 by a thread, one end of the second mouth worm 62207 is connected to the second mouth ball buckle 62202 by a thread after passing through the third mouth worm through hole, and the other end of the second mouth worm 62207 is connected to the fourth mouth ball buckle 62204 by a thread after passing through the fourth mouth worm through hole.

[0146] The first mouth worm 62206 and the second mouth worm 62207 are arranged in parallel and at intervals, and the mouth deformable worm wheel 62208 is located between the first mouth worm 62206 and the second mouth worm 62207, 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 arranged at the meshing position between the first mouth worm 62206 and the mouth deformable worm wheel 62208, left-handed spiral teeth are arranged at the meshing position between the second mouth worm 62207 and the mouth deformable worm wheel 62208, and left-handed spiral teeth are arranged on the periphery of the mouth deformable worm wheel 62208, wherein the mouth deformable worm wheel 62208 is externally connected to the mouth deformable transmission shaft 62205 in the mouth worm wheel driving device, and the mouth worm wheel driving device is used to drive the mouth deformable worm wheel 62208 to rotate.

[0147] The ends of the first mouth ball buckle 62201 and the second mouth ball buckle 62202 are both provided with left-handed internal threaded holes, and the ends of the third mouth ball buckle 62203 and the fourth mouth ball buckle 62204 are both provided with right-handed internal threaded holes; the end of the first mouth worm 62206 close to the first mouth ball buckle 62201 is provided with a left-handed external thread, and the length of the external thread is slightly smaller than the length of the internal thread at the end of the first mouth ball buckle 62201, and the end of the first mouth worm 62206 close to the third mouth ball buckle 62203 is provided with a right-handed internal threaded hole. A right-handed external thread is provided, and the length of this section of the external thread is slightly smaller than the length of the internal thread at the end of the third mouth ball buckle 62203; a left-handed external thread is provided at one end of the second mouth worm 62207 close to the second mouth ball buckle 62202, and the length of this section of the external thread is slightly smaller than the length of the internal thread at the end of the second mouth ball buckle 62202; a right-handed external thread is provided at one end of the second mouth worm 62207 close to the fourth mouth ball buckle 62204, and the length of this section of the external thread is slightly smaller than the length of the internal thread at the end of the fourth mouth ball buckle 62204.

[0148] like Fig.24 As shown, the skin color changing mechanism 10 is mainly composed of a color changing power device 101, a color changing valve unit 102 and a color changing skin unit 103. The pigment solution 1015 in the color changing power device 101 flows into the color changing skin unit 103 through the color changing valve unit 102 to complete the skin color change of the robot;

[0149] like Fig.25 and Fig.26 As shown, the color-changing power device 101 includes a rotating cone 1011, a bottom disc 1012, a rotating drive device 1013, a concentration adjustment device 1014, a pigment solution 1015, and a pressure liquid 1016; the rotating cone 1011 is installed on the bottom disc 1012, the middle part of the rotating cone 1011 is connected to the output shaft of the rotating drive device 1013, the rotating drive device 1013 is used to drive the rotating cone 1011 to rotate, the inner circumference of the rotating cone 1011 is provided with three layers of annular cavities from top to bottom, and the outer circumference of the rotating cone 1011 is provided with two layers of pressure The three layers of circular ring cavities are respectively the top circular ring cavity 101101, the middle circular ring cavity 101102 and the bottom circular ring cavity 101103 from top to bottom, and the pressure chambers are respectively the upper pressure chamber 101104 and the lower pressure chamber 101105 from top to bottom. The diameters of the three layers of circular ring cavities increase from top to bottom. A plurality of sink grooves are arranged at the bottom of each layer of circular ring cavities. The sink grooves in each layer of sink grooves are evenly spaced along the circumference of the circular ring cavity. Each sink groove is connected to a cylindrical cavity on the side away from the central axis of the rotating cone 1011. Each cylindrical cavity in each layer of cylindrical cavity is connected to each layer of circular ring cavities through the sink grooves.

[0150] A concentration adjustment device 1014 is installed in each cylindrical cavity. The concentration adjustment device 1014 mainly consists of a semipermeable membrane 10141, a push rod 10142 and an execution control unit 10143. The semipermeable membrane 10141 is attached to the side of the push rod 10142 close to the central axis of the rotating cone 1011, and the execution control unit 10143 is connected to the side away from the central axis of the rotating cone 1011. The execution control unit 10143 is used to drive the push rod 10142 to move forward and backward. 41 is used to adjust the concentration of the pigment solution 1015 in the cylindrical cavity; each layer of the annular cavity stores the pigment solution 1015, and the three layers of the annular cavity arranged from top to bottom are filled with black solution 10151, white solution 10152 and yellow solution 10153 respectively, and each layer of the pressure cavity stores pressure liquid 1016, and the top and bottom pressure cavities are filled with upper pressure liquid 10161 and lower pressure liquid 10162 respectively, and the annular cavity and the pressure cavity are connected to the color-changing valve unit 102 through pipelines.

[0151] The rotating cone 1011 is in the shape of a truncated cone, with smooth outer walls and bottom surfaces, and a transmission hole is provided at the center line. The transmission hole is used to connect the rotating drive device 1013. At the same time, the transmission hole is connected to the external atmosphere to balance the air pressure. The maximum diameters of the three layers of annular cavities are different, and they increase from top to bottom. Each layer of the annular cavity is in the shape of an annulus, and an air pressure balance hole is provided at the top near the inner side of each layer of the annular cavity, which is connected to the external atmosphere. A layer of sink grooves is provided at the bottom end of each layer of the annular cavity, and each layer of sink grooves is mainly composed of a number of sink grooves arranged at intervals along the circumference of the annular cavity. Each sink groove is processed with a smooth cylindrical cavity in the direction away from the central axis of the rotating cone 1011. The cylindrical cavity also has three layers. The first layer of the cylindrical cavity is as follows. Fig.18The first cylindrical cavity 101106 and the second cylindrical cavity 101109 in the figure, the second cylindrical cavity is the third cylindrical cavity 101107 and the fourth cylindrical cavity 101110 in the figure, and the third cylindrical cavity is the fifth cylindrical cavity 101108 and the sixth cylindrical cavity 101111 in the figure. The two layers of pressure cavities are both in the shape of annular cones, and the maximum diameters of the two layers of pressure cavities are different. The diameter of the lower pressure cavity 101105 is larger than that of the upper pressure cavity 101104, wherein the upper pressure cavity 101104 is flush with the top annular cavity 101101, and the lower pressure cavity 101105 is flush with the bottom annular cavity 101103. The lowest surface of each layer of annular cavity is higher than the top of the cylindrical cavity in the same layer. A pigment output pipeline is set at the near-middle side of the annular cavity, and the pipeline extends to the outside of the bottom of the rotating cone 1011, and is smoothly sealed and connected with the corresponding hole of the bottom disk 1012. Pressure pipes are provided near the outer sides of the two pressure chambers, and are smoothly sealed and communicated with the corresponding holes of the bottom disc 1012. An air pressure balance hole is provided on the upper wall near the inner side of each pressure chamber, which is connected to the external atmosphere. The top annular chamber 101101, the middle annular chamber 101102 and the bottom annular chamber 101103 are respectively connected to the black solution pipeline 10213, the white solution pipeline 10214 and the yellow solution pipeline 10215 in the color-changing valve unit 102, and the upper pressure chamber 101104 and the lower pressure chamber 101105 are respectively connected to the upper pressure liquid pipeline 10204 and the lower pressure liquid pipeline 10205.

[0152] The push rod 10141 is a T-shaped structure, and its end face is disc-shaped, and a plurality of through holes are arranged on the disc. The semipermeable membrane 10142 is attached and fixed on the disc-shaped surface of the push rod, and the execution control unit 10143 can push the push rod to move forward and backward. The outer wall of the disc of the push rod 10141 is a smooth structure, which can slide relative to the smooth inner wall of the cylindrical cavity in a sealed manner. The semipermeable membrane 10142 only allows water to pass through, and does not allow pigment solutes to pass through. The execution control unit 10143 communicates wirelessly with the whole machine electronic control system. The pigment solution 1015 is an incompressible liquid, which is conductive, and the conductivity of solutions of different colors is different. The pressure liquid 1016 is an incompressible liquid and is used for fluid transmission.

[0153] The bottom disc 1012 is truncated cone-shaped, and a transmission hole is provided at the center line, and the transmission hole is used to connect the rotation drive device 1013. The outer wall and the upper and lower surfaces of the bottom disc 1012 are smooth structures. The upper plane of the bottom disc 1012 is provided with a plurality of annular grooves, and the annular grooves correspond to the multiple pigment output pipelines and pressure liquid pipeline outlets of the rotating cone 1011 one by one and are smoothly sealed and connected, so as to realize the dynamic connection of the pipeline when the rotating cone 1011 rotates relative to the bottom disc 1012. In addition, the bottom disc 1012 is provided with a plurality of through holes parallel to the axial direction near the outer side, and the plurality of through holes are respectively connected with the annular grooves, so that the multiple pigment output pipelines and pressure liquid pipelines of the rotating cone 1011 are led out to the outside. The rotation drive device 1013 is locked at the bottom center position of the bottom disc 1012, and its function is to drive the rotating cone 1011 to rotate.

[0154] like Fig. 27 As shown, the color-changing valve unit 102 includes a first valve body 10201, a second valve body 10202, a third valve body 10203, an upper pressure liquid pipeline 10204, a lower pressure liquid pipeline 10205, a plug 10206, a coil 10207, a permanent magnet 10208, a plug spring 10209, a first current detection probe pair 10210, a second current detection probe pair 10211, a third current detection probe pair 10212, a black solution pipeline 10213, a white solution pipeline 10214, a yellow solution pipeline 10215, a color-changing disc 10216, a color-changing spring 10217, an output liquid pipeline 10219, an upper hydraulic driving device 10220 and a lower hydraulic driving device 10221;

[0155] The second valve body 10202 is movably arranged between the first valve body 10201 and the third valve body 10203, and the third valve body 10203 is provided with three color pipeline through holes from top to bottom, and the three color pipeline through holes are respectively connected with the black solution pipeline 10213, the white solution pipeline 10214 and the yellow solution pipeline 10215, and the outlets of the three-layer annular cavity arranged from top to bottom in the color-changing power device 101 are respectively connected with the black solution pipeline 10213, the white solution pipeline 10214 and the yellow solution pipeline 10215, and the black solution pipeline 10213, the white solution pipeline 10214 and the yellow solution pipeline 10215 are respectively provided with a first current detection probe pair 10210, a second current detection probe pair 10211 and a third current detection probe pair 10212 for detecting the pigment solution 1015;

[0156] The top of the second valve body 10202 is connected to the outlet of the upper pressure chamber 101104 through the upper pressure liquid pipeline 10204, and the bottom of the second valve body 10202 is connected to the outlet of the lower pressure chamber 101105 through the lower pressure liquid pipeline 10205. The upper pressure liquid pipeline 10204 and the lower pressure liquid pipeline 10205 are respectively provided with an upper hydraulic driving device 10220 and a lower hydraulic driving device 10221 for driving the second valve body 10202 to move up and down. The top of the second valve body 10202 is opened. A valve body countersunk hole is provided, a plug 10206, a permanent magnet 10208 and a plug spring 10209 are all installed in the valve body countersunk hole, two ends of the plug spring 10209 are respectively connected to the permanent magnet 10208 and the plug 10206, the plug 10206 is located on the side of the second valve body 10202 close to the first valve body 10201, the coil 10207 is installed in the plug 10206, the movement of the plug 10206 is controlled by the power supply of the coil 10207, and a pigment through hole is opened at the bottom of the second valve body 10202;

[0157] Three valve body grooves are provided on the upper part of the first valve body 10201 from top to bottom, and the valve body grooves match the plug 10206. The valve body grooves are used to position the plug 10206, thereby controlling the pigment through hole at the bottom of the second valve body 10202 to be connected with the color pipeline through hole of the specified color on the third valve body 10203. A valve body groove is provided on the side of the bottom of the first valve body 10201 close to the second valve body 10202, and the color-changing disc 10216 is movably installed in the valve body groove. The two ends of the two color-changing springs 10217 are respectively connected to the first valve body 10201 and the color-changing disc 10216, the middle part of the color-changing disc 10216 is connected to one end of the output liquid pipeline 10219, and the other end of the output liquid pipeline 10219 is connected to the color-changing dough unit 103.

[0158] In the specific implementation, the first valve body 10201, the second valve body 10202 and the third valve body 10203 are installed vertically. The left side of the first valve body 10201, the left and right sides of the second valve body 10202, and the right side of the third valve body 10203 are smooth surfaces, and the three are relatively sealed and slidable. The upper hydraulic drive device 10220 and the lower hydraulic drive device 10221 can use the push rod to push the second valve body 10202 up and down under the drive of fluid pressure. Three spherical pits A, B, and C are opened on the first valve body 10201, and the shape matches the spherical convex surface of the plug 10206, which is used to lock the second valve body 10202 to prevent it from falling when the skin color fades. When the yellow solution pipeline is connected, the plug is just in the pit A; when the white solution pipeline is connected, the plug is just in the pit B; when the black solution pipeline is connected, the plug is just in the pit C.

[0159] The second valve body 10202 has a countersunk hole on the upper part, and the inner wall is smooth, which is used to place the plug, coil, permanent magnet and plug spring, and there is also an air guide hole at the rear. When the coil 10207 is not energized, under the elastic force of the plug spring, the plug 10206 is fixed to the pit of the first valve body 10201, and the second valve body 10202 is locked; when the coil 10207 is energized, it pushes the permanent magnet 10208 and the plug 10206 back, and the second valve body is released.

[0160] A pair of current detection probes are installed at the ends of the three solution pipelines. Since the solution is conductive, a signal will be detected when there is a colored solution in the pipeline, and no signal will be detected when the pipeline is filled with non-conductive liquid. This component is used to detect whether the fading process of the skin color is completed. The end of the output liquid pipeline 10219 is chamfered to prevent the color-changing disc 10216 and the second valve body 10202 from being tightly attached to each other so that the solution does not flow. The disc surface of the color-changing disc 10216 close to the second valve body 10202 is a rough surface, and the upper and lower surfaces of the color-changing disc 10216 slide smoothly and seal with the first valve body 10201, and an air guide hole is opened on the right side of the first valve body 10201.

[0161] like Fig.28 As shown, the color-changing skin unit 103 includes a transparent outer skin 10301, an inner skin 10302, a skin color pigment input pipeline 10303, an oily liquid 10304, an oil disk 10305, an oil spring 10306, an oil housing 10307, ​​an oil current probe 10311, and a skin adjustment component;

[0162] The inner face skin 10302 is attached to the outer wall of the shell mechanism 1, and a plurality of face skin adjustment components for adjusting the thickness of the face skin are arranged between the transparent outer face skin 10301 and the inner face skin 10302. The transparent outer face skin 10301 and the inner face skin 10302 constitute the face skin structure of the robot, and the bottom outlet of the face skin structure is connected to one end of the skin color pigment input pipeline 10303, and the other end of the skin color pigment input pipeline 10303 is connected to the output liquid pipeline 10219 in the color changing valve unit 102, and the top outlet of the face skin structure is connected to the oil outlet. The opening of the shell 10307 is connected, the oil disc 10305 and the oil spring 10306 are both installed in the oil shell 10307, ​​the two ends of the oil spring 10306 are respectively connected to the inner wall surface of the oil shell 10307 and the oil disc 10305, the oily liquid 10304 is stored in the oil shell 10307, ​​and the oil disc 10305 is located between the oily liquid 10304 and the oil spring 10306, and an oil current probe 10311 for detecting the oily liquid is provided at the outlet position of the top of the face structure;

[0163] The dough skin adjustment component is mainly composed of a dough skin permanent magnet 10308, a dough skin spring 10309 and a dough skin coil 10310. The dough skin permanent magnet 10308 and the dough skin coil 10310 are respectively installed on the transparent outer face skin 10301 and the inner face skin 10302. The two ends of the dough skin spring 10309 are respectively connected to the dough skin permanent magnet 10308 and the dough skin coil 10310. The distance between the transparent outer face skin 10301 and the inner face skin 10302 is controlled by the power supply condition of the dough skin coil 10310, thereby controlling the thickness of the face skin structure.

[0164] When the dough coil 10310 is energized, it pushes the dough permanent magnet 10308, drives the transparent outer skin 10301, increases the distance between the transparent outer skin 10301 and the inner skin 10302, adjusts the amount of color solution filled therein, and then changes the average thickness of the color solution, and finally achieves a small range of skin color depth changes under the same skin color. The oily liquid 10304 uses an oily transparent non-conductive liquid, which is transparent, incompressible, insoluble in water and color solution, and non-conductive. The stiffness of the oil spring 10306 is low, but greater than the equivalent stiffness of the two color-changing springs 10217.

[0165] The shell mechanism 1 includes a forehead 11, a side face 13, a nose 15, a side jawbone 16 and a middle jawbone 17; the forehead 11 is fixedly connected to the eyebrow middle fixing bracket 202 in the eyebrow mechanism 2, the upper and lower parts of the two symmetrical side faces 13 are respectively fixedly connected to the eyebrow side fixing bracket 201 in the eyebrow mechanism 2 and the eye side fixing bracket 3101 in the eye mechanism 3, the eyebrow side fixing bracket 201 and the eye side fixing bracket 3101 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 fixing bracket 518 and the lower lip side fixing bracket 515 in the mouth mechanism 5, the middle jawbone 17 is connected between the two symmetrical side jawbones 16, the middle jawbone 17 is fixedly connected to the lower lip middle fixing bracket 516 in the mouth mechanism 5, and the upper lip side fixing bracket 518 and the lower lip side fixing bracket 515 are fixedly connected;

[0166] The eyebrow middle fixed bracket 202 in the eyebrow mechanism 2 and the upper lip middle fixed bracket 519 in the mouth mechanism 5 are both fixedly connected to the eye middle fixed bracket 3102 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, the eyebrow mechanism 2 and the eye mechanism 3 are both 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 shrink laterally 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, and the inner face skin 10302 in the skin color changing mechanism 10 is attached to the forehead 11, side face 13, nose 15, side jawbone 16 and middle and lower jawbone 17 of the outer shell mechanism 1.

[0167] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or replace some or all of the technical features therein by equivalents. However, these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. An expression robot with changeable pupil and skin color, characterized in that: The robot comprises a shell mechanism (1), an eyebrow mechanism (2), an eye mechanism (3), a nose mechanism (4), a mouth mechanism (5), a deformation mechanism (6) and a skin color changing mechanism (10); the eyebrow mechanism (2), the eye mechanism (3), the nose mechanism (4) and the mouth mechanism (5) are all connected to the shell mechanism (1); the eyebrow mechanism (2) and the mouth mechanism (5) are respectively mounted on the top and bottom ends of the eye mechanism (3); the nose mechanism (4) is mounted 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 driven by an electromagnet; the skin color changing mechanism (10) is attached to the shell mechanism (1) and is used to achieve the change of the skin color of the robot; The eye mechanism (3) comprises an eyelid drive unit (31), an eyeball up-and-down drive unit (32), an eyeball left-and-right drive unit (33) and a pupil color changing unit (34); the eyelid drive unit (31) and the eyeball left-and-right drive unit (33) are both mounted on the eyeball up-and-down drive unit (32); the eyeball (3118) of the eyelid drive unit (31) is provided with a pupil color changing unit (34) for changing pupil color; the electromagnets for driving the eye mechanism (3) to move comprise two types, namely, a first type of electromagnet (7) and a second type of electromagnet (8); the eyelid drive unit (31) uses the second type of electromagnet (8) to realize the opening and closing of the eyelids; the eyeball up-and-down drive unit (32) uses the first type of electromagnet (7) to realize the up-and-down rotation of the eyeball; and the eyeball left-and-right drive unit (33) uses the second type of electromagnet (8) to realize the left-and-right rotation of the eyeball; The eyelid driving unit (31) comprises 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); The two eye side fixing brackets (3101) are symmetrically arranged on the left and right sides of the eye middle fixing bracket (3102), respectively. The first eyelid electromagnet (3104) and the second eyelid electromagnet (3105) are both fixedly mounted on the eye side fixing bracket (3101), and the first eyelid electromagnet (3104) is located directly above the second eyelid electromagnet (3105). The second type of electromagnet (8) is adopted, one end of the first eyelid connecting rod (3108) is fixedly connected to the movable end of the first eyelid electromagnet (3104), the other end of the first eyelid connecting rod (3108) is hinged to one end of the second eyelid connecting rod (3109), the other end of the second eyelid connecting rod (3109) is hinged to the upper eyelid (3116), one end of the third eyelid connecting rod (3110) is fixedly connected to the movable end of the second eyelid electromagnet (3105), and the The other end of the third eyelid connecting rod (3110) is hinged to one end of the fourth eyelid connecting rod (3111), and the other end of the fourth eyelid connecting rod (3111) is hinged to the lower eyelid (3117); when the first eyelid electromagnet (3104) is energized, the first eyelid electromagnet (3104) drives the upper eyelid (3116) to open and close via the first eyelid connecting rod (3108) and the second eyelid connecting rod (3109); when the second eyelid electromagnet (3105) is energized, the upper eyelid (3116) is driven to open and close. Afterwards, the second eyelid electromagnet (3105) drives the lower eyelid (3117) to open and close through the third eyelid connecting rod (3110) and the fourth eyelid connecting rod (3111); the upper eyelid (3116) and the lower eyelid (3117) are both hinged to the eye side fixing bracket (3101), the upper eyelid (3116) and the lower eyelid (3117) are hinged, and the eyeball (3118) is arranged between the upper eyelid (3116) and the lower eyelid (3117).

2. The expression robot with changeable pupil and skin color according to claim 1, characterized in that: The eyeball up and down driving unit (32) comprises an eyeball up and down electromagnet (321), a first eyeball up and down connecting rod (322), a second eyeball up and down connecting rod (323), a third eyeball up and down connecting rod (324), an eyeball back plate (325) and an eyeball fixing bracket (327); the eyeball up and down electromagnet (321) is vertically fixedly mounted on the eye fixing bracket (3102) in the eyelid driving unit (31); the eyeball up and down electromagnet (321) adopts a type of electromagnet (7); the bottom end of the first eyeball up and down connecting rod (322) is fixedly connected to the movable end of the eyeball up and down electromagnet (321); the top end of the first eyeball up and down connecting rod (322) is hinged to one end of the second eyeball up and down connecting rod (323); the other end of the second eyeball up and down connecting rod (323) is hinged to the third eyeball up and down connecting rod (324); and the eyeball fixing bracket (327) can be moved along the third eyeball up and down connecting rod (324). The eyeball fixing bracket (327) is mounted on the third eyeball upper and lower connecting rod (324) so ​​as to be movable left and right in the extending direction of the eyeball, the rear end of the eyeball (3118) in the eyelid driving unit (31) is fixedly connected to the eyeball back plate (325), the end of the eyeball fixing bracket (327) is provided with a horizontal hole, the eyeball fixing bracket (327) is hinged to the eye side fixing bracket (3101) in the eyelid driving unit (31) at the position of the end horizontal hole, the middle of the eyeball fixing bracket (327) is provided with a vertical hole, and the eyeball fixing bracket (327) is hinged to the eyeball back plate (325) at the position of the middle vertical hole; when the eyeball upper and lower electromagnets (321) are energized, the eyeball upper and lower electromagnets (321) drive the first eyeball upper and lower connecting rod (322), the second eyeball upper and lower connecting rod (323) and the third eyeball upper and lower connecting rod (324) to move up and down, thereby driving the eyeball (3118) to swing up and down through the eyeball fixing bracket (327); The eyeball left-right driving unit (33) comprises an eyeball left-right electromagnet (3301), a first eyeball left-right connecting rod (3302), a second eyeball left-right connecting rod (3303), a third eyeball left-right connecting rod (3304), a fourth eyeball left-right connecting rod (3305) and a fifth eyeball left-right connecting rod (3306); the eyeball left-right electromagnet (3301) is horizontally fixedly mounted on an eyeball fixing bracket (327) in the eyeball up-down driving unit (32); the eyeball left-right electromagnet (3301) adopts a second-class electromagnet (8); the root end of the first eyeball left-right connecting rod (3302) is fixedly connected to the movable end of the eyeball left-right electromagnet (3301); the end of the first eyeball left-right connecting rod (3302) and the bottom end of the second eyeball left-right connecting rod (3303) are hinged; the second eyeball left-right connecting rod (3304) is hinged to the bottom end of the second eyeball left-right connecting rod (3305); the 3) The top end is hinged to the root end of the third eyeball left-right connecting rod (3304), the end of the third eyeball left-right connecting rod (3304) is hinged to the root end of the fourth eyeball left-right connecting rod (3305), the end of the fourth eyeball left-right connecting rod (3305) is hinged to the root end of the fifth eyeball left-right connecting rod (3306), and the end of the fifth eyeball left-right connecting rod (3306) is fixedly connected to the eyeball back plate (325) in the eyeball up and down driving unit (32); when the eyeball left-right electromagnet (3301) is energized, the first eyeball left-right connecting rod (3302) is driven to move forward and backward, so that the second eyeball left-right connecting rod (3303), the third eyeball left-right connecting rod (3304), the fourth eyeball left-right connecting rod (3305) and the fifth eyeball left-right connecting rod (3306) swing left and right, thereby driving the eyeball (3118) to swing left and right.

3. The expression robot with changeable pupil and skin color according to claim 1, characterized in that: The pupil color changing unit (34) comprises a pupil (341), an eye mask (342), positively charged blue particles and negatively charged brown particles; the pupil (341) and the eye mask (342) are arranged in the middle of the outer surface of the eyeball (3118), the pupil (341) and the eye mask (342) are respectively made of a black opaque film and a transparent film; an eyeball cavity (348) is opened in the middle of the eyeball (3118), and a transparent liquid, positively charged blue particles and negatively charged brown particles are stored in the eyeball cavity (348); 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), so that the eye mask (342) of the eyeball (3118) is 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), so that the eye mask (342) of the eyeball (3118) is blue.

4. The expression robot with changeable pupil and skin color according to claim 1, characterized in that: The first type of electromagnet (7) comprises a first type of magnet rod (71), a first type of nylon rod (72), a first type of coil fixing seat (73), a first type of inductor coil (74), a first type of spring (75) and a first type of spring fixing seat (76); the first type of coil fixing seat (73) and the first type of spring fixing seat (76) are fixedly connected, the rear end of the first type of spring (75) is connected to the rear end of the first type of spring fixing seat (76), the first type of inductor coil (74) is mounted on the first type of coil fixing seat (73), A nylon rod (72) is arranged in the middle of an inductor (74) so ​​as to be movable forward and backward. The front end of the nylon rod (72) is fixedly connected to a magnet rod (71). The rear end of the nylon rod (72) is installed at the front end of a spring (75). When the inductor (74) is energized, the magnet rod (71) drives the nylon rod (72) to move forward and backward and squeeze the spring (75). The spring (75) is used to reset the magnet rod (71). The second type of electromagnet (8) comprises a second type of magnet rod (81), a second type of coil fixing seat (82), a second type of inductor coil (83), a second type of spring fixing seat (84), a second type of nylon rod (85), a second type of spring (86) and a second type of nylon cover (87); the second type of coil fixing seat (82) and the second type of spring fixing seat (84) are fixedly connected, the second type of inductor coil (83) is mounted on the second type of coil fixing seat (82), the second type of magnet rod (81) is arranged in the middle of the second type of inductor coil (83) so as to be movable forward and backward, the rear end of the second type of magnet rod (81) is fixedly connected to the second type of nylon rod (85), the second type of spring (86) and the second type of nylon cover (87) A circular through hole is opened in the middle of the fixing seat (84); the rear end of the second-class nylon rod (85) passes through the circular through hole on the second-class spring fixing seat (84) and is connected to the second-class nylon cover (87); the second-class spring (86) is wound around the outer periphery of the second-class nylon rod (85); and the front and rear ends of the second-class spring (86) are respectively connected to the second-class spring fixing seat (84) and the second-class nylon cover (87); when the second-class inductor coil (83) is energized, the second-class magnet rod (81) drives the second-class nylon rod (85) to move forward and backward and squeeze the second-class spring (86); the second-class spring (86) is used to reset the second-class magnet rod (81).

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

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

7. The expression robot with changeable pupil and skin color according to claim 5, characterized in that: The color-changing facial skin unit (103) comprises a transparent outer facial skin (10301), an inner facial skin (10302), a skin color pigment input pipeline (10303), an oily liquid (10304), an oil disk (10305), an oil spring (10306), an oil housing (10307), an oil current probe (10311), and a facial skin adjustment component; The inner face skin (10302) is attached to the outer wall of the outer shell mechanism (1); a plurality of face skin adjustment components for adjusting the thickness of the face skin are arranged between the transparent outer face skin (10301) and the inner face skin (10302); the transparent outer face skin (10301) and the inner face skin (10302) form a face skin structure of the robot; the bottom outlet of the face skin structure is connected to one end of a skin color pigment input pipeline (10303); the other end of the skin color pigment input pipeline (10303) is connected to an output liquid pipeline (10219) in the color changing valve unit (102); and the top outlet of the face skin structure is connected to an oil liquid output pipeline (10219). The opening of the housing (10307) is connected, the oil disc (10305) and the oil spring (10306) are both installed in the oil housing (10307), the two ends of the oil spring (10306) are respectively connected to the oil housing (10307) and the oil disc (10305), the oily liquid (10304) is stored in the oil housing (10307), and the oil disc (10305) is located between the oily liquid (10304) and the oil spring (10306), and the outlet at the top of the face structure is provided with an oil current probe (10311) for detecting the oily liquid; The dough skin adjustment component is mainly composed of a dough skin permanent magnet (10308), a dough skin spring (10309) and a dough skin coil (10310); the dough skin permanent magnet (10308) and the dough skin coil (10310) are respectively installed on the transparent outer face skin (10301) and the inner face skin (10302); the two ends of the dough skin spring (10309) are respectively connected to the dough skin permanent magnet (10308) and the dough skin coil (10310); the distance between the transparent outer face skin (10301) and the inner face skin (10302) is controlled by the power supply condition of the dough skin coil (10310), thereby controlling the thickness of the face skin structure.

8. The expression robot with changeable pupil and skin color according to claim 1, characterized in that: The shell mechanism (1) comprises a forehead (11), a side face (13), a nose (15), a side jawbone (16) and a middle jawbone (17); the forehead (11) is fixedly connected to an eyebrow middle fixing bracket (202) in the eyebrow mechanism (2); the upper and lower parts of the side face (13) are respectively fixedly connected to an eyebrow side fixing bracket (201) in the eyebrow mechanism (2) and an eye side fixing bracket (3101) in the eye mechanism (3); the eyebrow side fixing bracket (201) and the eye side fixing bracket (3101) are fixedly connected to each other. The nose (15) is fixedly connected to the nose mechanism (4), the upper and lower parts of the side jaw bones (16) are respectively fixedly connected to the upper lip side fixing bracket (518) and the lower lip side fixing bracket (515) in the mouth mechanism (5), a middle mandible (17) is connected between the two symmetrical side jaw bones (16), the middle mandible (17) is fixedly connected to the lower lip middle fixing bracket (516) in the mouth mechanism (5), and the upper lip side fixing bracket (518) and the lower lip side fixing bracket (515) are fixedly connected to each other; The eyebrow middle fixed bracket (202) in the eyebrow mechanism (2) and the upper lip middle fixed bracket (519) in the mouth mechanism (5) are both fixedly connected to the eye middle fixed bracket (3102) in the eye mechanism (3); the nose fixed bracket (44) in the nose mechanism (4) is mounted on the upper lip middle fixed bracket (519); the eyebrow mechanism (2) and the eye mechanism (3) are both 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 laterally 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 cheek.

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