A facial expression robot with variable face shapes

Abstract

The present invention discloses an expression robot with a variable face shape. A fixed connection is provided between the eyebrow mechanism and the eye mechanism. The eyebrow mechanism, the eye mechanism, and the mouth mechanism are all connected to the deformation mechanism. The eyebrow mechanism, the mouth mechanism, and the deformation mechanism are all installed on the head shell mechanism. The neck mechanism is fixedly installed at the bottom end of the mouth mechanism to achieve the switching of multiple states with four degrees of freedom including neck elongation, nodding, shaking, and turning. The skin color changing mechanism is attached to the head shell mechanism for realizing the replacement of the robot's skin color. The deformation mechanism is mainly driven by a worm and worm gear structure, and the deformation of the robot's eyebrows, eyes, and mouth is achieved through the worm and worm gear structure. The robot of the present invention realizes the adaptive facial transformation according to the characteristics of the human face, can quickly change the face shape, pupil color, and neck length according to different application scenarios, and can also realize rich mouth shapes to meet the needs of real-time conversations.

Description

Technical Field

[0001] The present invention relates to the technical field of expression robots, and particularly to an expression robot with a variable face shape. Background Art

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

[0003] However, existing expression robots generally have the following disadvantages: 1. They have a single function, a complex internal structure, and a low degree of freedom in expressions, unable to simulate advanced and diverse expressions and mouth shapes, resulting in very stiff expressions; 2. They do not have the ability to change face shapes and can only present a fixed and single appearance form, unable to adapt to the changing needs of various human face shapes; 3. They do not have the ability to change the color of the eye pupils, making it difficult to meet the application requirements of multiple scenarios. However, there is a lack of a multifunctional expression robot in the existing technology that has facial expression changes, multiple degrees of freedom in the mouth, facial deformation, and eye iris color change. Summary of the Invention

[0004] In order to solve the problems existing in the background art, the purpose of the present invention is to provide an expression robot with a variable face shape.

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

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

[0007] The described eyebrow mechanism includes a first eyebrow servo, a first eyebrow servo arm, a first eyebrow connecting rod, an eyebrow movable bracket, a first eyebrow control piece, a second eyebrow servo, a second eyebrow servo arm, a second eyebrow connecting rod, a third eyebrow connecting rod, a second eyebrow control piece, and an eyebrow fixed bracket; the first eyebrow servo and the second eyebrow servo are respectively fixedly installed on the eyebrow fixed bracket and the eyebrow movable bracket, the output shaft of the first eyebrow servo is fixedly connected to one end of the first eyebrow servo arm, the other end of the first eyebrow servo arm is hinged to one end of the first eyebrow connecting rod, the other end of the first eyebrow connecting rod is hinged to the eyebrow movable bracket, the first eyebrow control piece and the third eyebrow connecting rod are both installed on the eyebrow movable bracket, the output shaft of the second eyebrow servo is hinged to one end of the second eyebrow servo arm and the second eyebrow connecting rod, the other end of the second eyebrow connecting rod is hinged to one end of the third eyebrow connecting rod, and the second eyebrow control piece is installed on the other end of the third eyebrow connecting rod.

[0008] The described eye mechanism includes an eyelid opening and closing unit, an eyeball rotation unit, and a pupil color change unit. The eyelid opening and closing unit is connected to the eyeball rotation unit, and a pupil color change unit for pupil color change is arranged in the eyeball of the eyelid opening and closing unit; the eyelid opening and closing unit includes a first eye servo, a first eye servo arm, an upper eyelid connecting rod, an upper eyelid, a second eye servo, a second eye servo arm, a lower eyelid connecting rod, a lower eyelid, an eyeball, and an eye fixed bracket; the first eye servo and the second eye servo are both fixedly installed on the eye fixed bracket, the output shaft of the first eye servo is hinged to one end of the upper eyelid connecting rod through the first eye servo arm, the other end of the upper eyelid connecting rod is hinged to the upper eyelid, the output shaft of the second eye servo is hinged to one end of the lower eyelid connecting rod through the second eye servo arm, the other end of the lower eyelid connecting rod is hinged to the lower eyelid, the upper eyelid and the lower eyelid are both hinged to the eye fixed bracket, the upper eyelid and the lower eyelid are hinged to each other, and the eyeball is arranged between the upper eyelid and the lower eyelid;

[0009] The described eyeball rotation unit includes an eyeball back plate, a third eye servo, a fourth eye servo, a third eye servo arm, a first eye connecting rod, a second eye connecting rod, a fourth eye servo arm, a third eye connecting rod, and a fourth eye connecting rod; the third eye servo and the fourth eye servo are both fixedly installed on the eye fixed bracket, the eyeball back plate is fixedly installed on the eyeball, the output shaft of the third eye servo is fixedly connected to one end of the third eye servo arm, the other end of the third eye servo arm is fixedly connected to the bottom end of the first eye connecting rod, one end of the second eye connecting rod is connected to the first eye connecting rod so as to be movable up and down, and the other end of the second eye connecting rod is connected to the eyeball back plate through a ball joint; the output shaft of the fourth eye servo is fixedly connected to one end of the fourth eye servo arm, the other end of the fourth eye servo arm is hinged to one end of the third eye connecting rod, the other end of the third eye connecting rod is hinged to the middle of the fourth eye connecting rod, and both ends of the fourth eye connecting rod are respectively hinged to the eye fixed bracket and the eyeball back plate;

[0010] The described pupil color-changing unit includes a pupil, an eye membrane, positively charged blue particles, and negatively charged brown particles; a pupil and an eye membrane are provided in the middle of the outer surface of the eyeball, an eyeball cavity is formed in the middle of the eyeball, and transparent liquid, positively charged blue particles, and negatively charged brown particles are stored in the eyeball cavity; when a positive current is applied to the transparent liquid, the negatively charged brown particles are adsorbed on the inner surface of the eyeball, making the eye membrane of the eyeball brown, and when a negative current is applied to the transparent liquid, the positively charged blue particles are adsorbed on the inner surface of the eyeball, making the eye membrane of the eyeball blue.

[0011] The described mouth mechanism includes an upper lip unit, a lower lip unit, and left and right lip units, and the lower lip unit and the left and right lip units are both connected to the upper lip unit; the upper lip unit includes a first upper lip servo, a first upper lip servo arm, a first upper lip link, an upper lip slider, a second upper lip servo, a second upper lip servo arm, a second upper lip link, a first mouth control piece, two third upper lip servos, two third upper lip servo arms, two second mouth control pieces, and a mouth middle bracket; the first upper lip servo, the second upper lip servo, and the two third upper lip servos are all fixedly installed on the mouth middle bracket, the output shaft of the first upper lip servo is hinged to one end of the first upper lip link through the first upper lip servo arm, the other end of the first upper lip link is hinged to the first mouth control piece, the output shaft of the second upper lip servo is hinged to one end of the second upper lip link through the second upper lip servo arm, the other end of the second upper lip link is provided with an upper lip slider, and the upper lip slider is installed on the first upper lip link so as to be movable back and forth along the extension direction of the first upper lip link, and the output shafts of the two third upper lip servos are respectively hinged to the two second mouth control pieces through the third upper lip servo arms;

[0012] The lower lip unit includes a first lower lip servo, a first lower lip servo arm, a first lower lip link, a lower lip slider, a second lower lip servo, a second lower lip servo arm, a second lower lip link, a third lower lip link, a third mouth control piece, two third lower lip servos, two third lower lip servo arms, two fourth mouth control pieces, a fourth lower lip servo, and a lower lip fixed bracket; the fourth lower lip servo is fixedly installed on the mouth middle bracket, the servo arm of the fourth lower lip servo is connected to the lower lip fixed bracket, the first lower lip servo, the second lower lip servo, and the two third lower lip servos are all fixedly installed on the lower lip fixed bracket, the output shaft of the second lower lip servo is hinged to one end of the second lower lip link through the second lower lip servo arm, the other end of the second lower lip link is hinged to one end of the third lower lip link, the other end of the third lower lip link is fixedly connected to the third mouth control piece, the output shaft of the first lower lip servo is hinged to one end of the first lower lip link through the first lower lip servo arm, the other end of the first lower lip link is provided with a lower lip slider, and the lower lip slider is installed on the third lower lip link so as to be movable back and forth along the extension direction of the third lower lip link, and the output shafts of the two third lower lip servos are respectively hinged to the two fourth mouth control pieces through the third lower lip servo arms;

[0013] The left and right lip units described above include a first lip servo, a first lip servo arm, a first lip link, a second lip servo, a second lip servo arm, a second lip link, a fifth lip control piece, and two lip side brackets; the two lip side brackets are respectively arranged on the left and right sides of the middle lip bracket, the first lip servo and the second lip servo are both fixedly connected to the lip side brackets, the output shaft of the first lip servo is hinged to one end of the first lip link through the first lip servo arm, the output shaft of the second lip servo is hinged to one end of the second lip link through the second lip servo arm, the other end of the first lip link and the other end of the second lip link are hinged, and a fifth lip control piece is installed at the hinged position of the first lip link and the second lip link.

[0014] The eyebrow deformation unit described above includes an eyebrow deformation worm and worm gear and two eyebrow deformation links; the eyebrow deformation worm and worm gear includes a first eyebrow ball head buckle, a second eyebrow ball head buckle, a third eyebrow ball head buckle, a fourth eyebrow ball head buckle, a first eyebrow worm, a second eyebrow worm, an eyebrow deformation worm gear, and an eyebrow deformation worm and worm gear housing;

[0015] The top and bottom of the eyebrow deformation link are respectively fixedly connected to the eyebrow fixed bracket in the eyebrow mechanism and the eye fixed bracket in the eye mechanism, the eyebrow deformation worm and worm gear housing is fixedly installed on the middle face shell of the head shell mechanism, the first eyebrow ball head buckle and the second eyebrow ball head buckle are both fixedly installed on one eyebrow deformation link, the third eyebrow ball head buckle and the fourth eyebrow ball head buckle are both fixedly installed on the other eyebrow deformation link, the eyebrow deformation worm gear is located inside the eyebrow deformation worm and worm gear housing, four eyebrow worm through holes are opened on the eyebrow deformation worm and worm gear housing, one end of the first eyebrow worm passes through the first eyebrow worm through hole and is connected to the first eyebrow ball head buckle through a thread, and the other end passes through the second eyebrow worm through hole and is connected to the third eyebrow ball head buckle through a thread, one end of the second eyebrow worm passes through the third eyebrow worm through hole and is connected to the second eyebrow ball head buckle through a thread, and the other end passes through the fourth eyebrow worm through hole and is connected to the fourth eyebrow ball head buckle through a thread.

[0016] The first eyebrow worm and the second eyebrow worm are arranged in parallel at intervals; both ends of the eyebrow deformation worm gear are respectively meshed and connected to the threads on the first eyebrow worm and the second eyebrow worm; a left-handed helical tooth is arranged at the meshing position of the first eyebrow worm and the eyebrow deformation worm gear, a left-handed helical tooth is arranged at the meshing position of the second eyebrow worm and the eyebrow deformation worm gear, and a left-handed helical tooth is arranged on the outer periphery of the eyebrow deformation worm gear;

[0017] The ends of the first eyebrow ball head buckle and the fourth eyebrow ball head buckle are both provided with left-handed internal threaded holes, and the ends of the second eyebrow ball head buckle and the third eyebrow ball head buckle are both provided with right-handed internal threaded holes; one end of the first eyebrow worm gear close to the first eyebrow ball head buckle is provided with a left-handed external thread, and one end of the first eyebrow worm gear close to the third eyebrow ball head buckle is provided with a right-handed external thread. One end of the second eyebrow worm gear close to the second eyebrow ball head buckle is provided with a right-handed external thread, and one end of the second eyebrow worm gear close to the fourth eyebrow ball head buckle is provided with a left-handed external thread.

[0018] The mouth deformation unit includes a mouth deformation worm gear, and the mouth deformation worm gear includes a first mouth ball head buckle, a second mouth ball head buckle, a third mouth ball head buckle, a fourth mouth ball head buckle, a first mouth worm gear, a second mouth worm gear, a mouth deformation worm wheel and a mouth deformation worm gear housing;

[0019] The mouth deformation worm gear housing is fixedly installed on the middle face shell of the head shell mechanism. The first mouth ball head buckle and the second mouth ball head buckle are both fixedly installed on one side lower jaw of the head shell mechanism. The third mouth ball head buckle and the fourth mouth ball head buckle are both fixedly installed on the other side lower jaw of the head shell mechanism. The mouth deformation worm wheel is located inside the mouth deformation worm gear housing. Four mouth worm gear through holes are provided on the mouth deformation worm gear housing. One end of the first mouth worm gear passes through the first mouth worm gear through hole and is connected to the first mouth ball head buckle by a thread, and the other end passes through the second mouth worm gear through hole and is connected to the third mouth ball head buckle by a thread. One end of the second mouth worm gear passes through the third mouth worm gear through hole and is connected to the second mouth ball head buckle by a thread, and the other end passes through the fourth mouth worm gear through hole and is connected to the fourth mouth ball head buckle by a thread.

[0020] The first mouth worm gear and the second mouth worm gear are arranged in parallel at intervals. The two ends of the mouth deformation worm wheel are respectively meshed and connected with the threads on the first mouth worm gear and the second mouth worm gear; at the meshing position of the first mouth worm gear and the mouth deformation worm wheel, left-handed helical teeth are provided, and at the meshing position of the second mouth worm gear and the mouth deformation worm wheel, left-handed helical teeth are provided. Left-handed helical teeth are provided on the outer periphery of the mouth deformation worm wheel;

[0021] The ends of the first mouth ball head buckle and the second mouth ball head buckle are both provided with left-handed internal threaded holes, and the ends of the third mouth ball head buckle and the fourth mouth ball head buckle are both provided with right-handed internal threaded holes; one end of the first mouth worm gear close to the first mouth ball head buckle is provided with a left-handed external thread, and one end of the first mouth worm gear close to the third mouth ball head buckle is provided with a right-handed external thread. One end of the second mouth worm gear close to the second mouth ball head buckle is provided with a left-handed external thread, and one end of the second mouth worm gear close to the fourth mouth ball head buckle is provided with a right-handed external thread.

[0022] The described neck mechanism includes a neck connecting seat, a first neck ball head buckle, a first neck ball head connecting rod, a second neck ball head buckle, a first neck servo arm, a first neck servo, a third neck ball head buckle, a second neck ball head connecting rod, a fourth neck ball head buckle, a second neck servo arm, a second neck servo, a ball head bearing, a first push rod joint, an electric push rod, a second push rod joint, a neck servo fixing seat, a slewing bearing, a third neck servo, a neck base, and a head-neck connecting seat; the outer ring and the inner ring of the slewing bearing are respectively fixedly connected to the neck base and the neck servo fixing seat, the housing of the third neck servo is installed on the neck base, and the output shaft of the third neck servo is connected to the neck servo fixing seat. The third neck servo is used to drive the rotation of the neck servo fixing seat;

[0023] The housings of the first neck servo and the second neck servo are both fixedly installed on the neck servo fixing seat. The output shaft of the first neck servo is hinged to one end of the second neck ball head buckle through the first neck servo arm. The other end of the second neck ball head buckle is connected to the first neck ball head buckle through the first neck ball head connecting rod. The second neck servo is hinged to one end of the fourth neck ball head buckle through the second neck servo arm. The other end of the fourth neck ball head buckle is connected to the third neck ball head buckle through the second neck ball head connecting rod. Both the first neck ball head buckle and the third neck ball head buckle are fixedly installed on the neck connecting seat. The neck connecting seat is fixedly connected to the head-neck connecting seat, and the head-neck connecting seat is fixedly installed on the middle bracket of the mouth mechanism of the mouth. The bottom end of the second push rod joint is hinged to the neck servo fixing seat. The top end of the second push rod joint is connected to the bottom end of the first push rod joint through the telescopable electric push rod. The top end of the first push rod joint is connected to the neck connecting seat through the ball head bearing.

[0024] The described head shell mechanism includes a side face shell, a middle face shell, a side lower jaw, and a middle lower jaw. The side face shell is fixedly connected to the eyebrow fixing bracket in the eyebrow mechanism. The side lower jaw is fixedly connected to the side bracket of the mouth in the mouth mechanism. Both the middle face shell and the side lower jaw are connected to the deformation mechanism. The middle lower jaw is installed on the lower lip fixing bracket in the mouth mechanism. The eyebrow fixing bracket is connected to the eye fixing bracket in the eye mechanism through the eyebrow deformation unit. The skin color changing mechanism is attached to the side face shell, the middle face shell, the side lower jaw, and the middle lower jaw of the head shell mechanism.

[0025] The principle of the present invention is as follows:

[0026] 1. Principle of pupil color change:

[0027] The middle part of the eyeball is a cylindrical cavity with a transparent eye membrane outside. The middle area of the eye membrane is blackened, representing the pupil. There is liquid in the cavity, and there are pigment particles of different sizes in the liquid. The positively charged ones are blue pigment particles, and the negatively charged ones are brown pigment particles. By applying voltages in different directions outside the cavity, the change of pupil color can be achieved. By adjusting the voltage magnitude, the change of pupil color depth can be achieved, such as Figure 22As shown below. The specific implementation process is as follows:

[0028] 1) Without power supply, the charged color particles move randomly in the cavity and the colors are mixed. At this time, the pupil color is gray, which is between brown and blue (as shown on the left); Figure 22 on the left);

[0029] 2) When a weak voltage is applied, the large charged color particles are not completely adsorbed. At this time, the color is lighter. When a positive voltage is applied, it is light brown, and when a negative voltage is applied, it is light blue (as shown in the middle); Figure 22 in the middle);

[0030] 3) When a relatively large voltage is applied, the large charged color particles are completely adsorbed. At this time, the color is darker. When a positive voltage is applied, it is dark brown, and when a negative voltage is applied, it is dark blue (as shown on the right). Figure 22 on the right).

[0031] 2. Expression driving principle:

[0032] 1) Eyebrows: A servo motor drives the eyebrow control piece through a four-bar mechanism to achieve the actions of raising and frowning the eyebrows, with a total of 4 degrees of freedom. For frowning, there are 2 degrees of freedom: Two eyebrow servo motors drive the connecting rods through the servo arms respectively, and then drive the eyebrow control piece to drive the facial skin to achieve the frowning movement. For raising the eyebrows, there are 2 degrees of freedom: Two servo motors drive the movable brackets through the servo arms respectively, and further drive the eyebrow control piece on the movable bracket to achieve the action of raising the eyebrows.

[0033] 2) Eyes: There are 4 degrees of freedom for the opening and closing of the eyelids and 4 degrees of freedom for the rotation of the eyeballs, with a total of 8 degrees of freedom.

[0034] 2.1) Opening and closing of the eyelids: Each of the upper and lower eyelids of the left and right eyes has 1 degree of freedom, with a total of 4 degrees of freedom: The eye servo motors drive the connecting rods through the servo arms respectively and drive the eyelids to drive their upper eyelids to achieve the movement of opening and closing the eyelids.

[0035] 2.2) Up and down rotation of the eyeballs: Each of the left and right eyes has 1 degree of freedom, with a total of 2 degrees of freedom:

[0036] Two eye servo motors drive the connecting rods through the servo arms respectively to drive the rotatable bracket, thereby driving the eyeball backplate to rotate around the horizontal axis to achieve the up and down movement of the eyeballs.

[0037] 2.3) Left and right rotation of the eyeballs: Each of the left and right eyes has 1 degree of freedom, with a total of 2 degrees of freedom: Two servo motors drive the slide rods through the servo arms respectively to drive the eye connecting rods, thereby driving the eyeball backplate to rotate around the vertical axis to achieve the left and right movement of the eyeballs. Here, since the fourth eye connecting rod is hinged to the eyeball backplate, the left and right rotation of the eyeballs does not affect the rotation of the fourth eye connecting rod, realizing the independent up and down and left and right rotations.

[0038] 3) Mouth: The upper lip has 4 degrees of freedom, the lower lip has 5 degrees of freedom, and the left and right lips have 4 degrees of freedom, with a total of 13 degrees of freedom

[0039] 3.1) Upper lip: A servo is used to drive a control piece through a connecting rod to achieve the upward lift and forward protrusion of the middle of the upper lip and the upward lift of the left and right sides of the lip. Each side of the upper lip has one degree of freedom, and the middle lip has two degrees of freedom, for a total of four degrees of freedom. For the upward lift of the left and right sides of the upper lip, each side has one degree of freedom. Two upper lip servos are used to drive the second mouth control piece through the servo arms to achieve the upward lift movement of the left and right sides of the lip. For the upward lift and forward protrusion of the middle lip, there are two degrees of freedom. The upward lift action is achieved by the second upper lip servo. The second upper lip servo drives the second upper lip servo arm to drive the second upper lip connecting rod, causing the first upper lip connecting rod to move upward under the limit of the upper lip slider, driving the first mouth control piece to lift. The forward protrusion action is achieved by the first upper lip servo. The first upper lip servo drives the first upper lip servo arm, causing the first upper lip connecting rod to move forward under the limit of the upper lip slider, driving the first mouth control piece to protrude forward.

[0040] 3.2) Lower lip: A servo is used to drive a control piece through a connecting rod to achieve the downward pull and forward protrusion of the middle of the lower lip and the downward pull of the left and right sides of the lip. Each side of the lower lip has one degree of freedom, the middle lip has two degrees of freedom, and the mouth opening and closing has one degree of freedom, for a total of five degrees of freedom. For the downward pull of the left and right sides of the lower lip, each side has one degree of freedom. Two lower lip servos are used to drive the fourth mouth control piece through the servo arms to achieve the downward pull movement of the left and right sides of the lip. For the downward pull and forward protrusion of the middle lip, there are two degrees of freedom. The downward pull action is achieved by the second lower lip servo. The second lower lip servo drives the second lower lip connecting rod through the second lower lip servo arm, causing the first lower lip connecting rod to move downward under the limit of the lower lip slider, driving the third mouth control piece to pull down, achieving the downward pull of the lower lip. The forward protrusion action is achieved by the first lower lip servo. The first lower lip servo drives the first lower lip servo arm, causing the first lower lip connecting rod to move forward under the limit of the lower lip slider, achieving the forward protrusion of the lower lip. For the mouth opening and closing, the fourth lower lip servo drives the lower lip fixed bracket, enabling the entire lower lip to rotate around the fourth lower lip servo.

[0041] 3.3) Left and right lips: Four servos are used in pairs to achieve the smiling, grinning, and pouting movements of the left and right cheeks. 4 degrees of freedom. Smiling: The upper servo drives the first mouth connecting rod through the servo arm to pull the fifth mouth control piece upward to the side to achieve the smiling action. Pouting: The lower servo drives the second mouth connecting rod through the servo arm to pull the fifth mouth control piece downward to the side to achieve the pouting movement. Grinning: The upper servo and the lower servo move simultaneously, driving the fifth mouth control piece to achieve the grinning movement.

[0042] 3. Facial deformation principle: It is achieved through a worm and worm gear structure

[0043] 1) Eyebrows and eyes: As Figure 21As shown, the horizontal expansion / narrowing of the eyebrows and eyes on the face is achieved through a worm and worm gear, and the control of the change in the distance between the eyes is mainly for horizontal expansion / contraction. The expansion / contraction of the ball head buckle drives the changes in the distances between the eyebrows and eyes and the changes in the left and right face shells. The worm and worm gear are both selected to be left-handed; the connection between the first eyebrow ball head buckle and the first eyebrow worm is selected to be left-handed (when looking from right to left, the worm rotates clockwise, and due to the left-handedness, the ball head buckle moves outwards); the connection between the third eyebrow ball head buckle and the first eyebrow worm is selected to be right-handed (when looking from left to right, the worm rotates counterclockwise, and due to the right-handedness, the ball head buckle moves outwards); the connection between the second eyebrow ball head buckle and the second eyebrow worm is selected to be right-handed (when looking from right to left, the worm rotates counterclockwise, and due to the right-handedness, the ball head buckle moves outwards); the connection between the fourth eyebrow ball head buckle and the second eyebrow worm is selected to be left-handed (when looking from left to right, the worm rotates clockwise, and due to the left-handedness, the ball head buckle moves outwards); when the middle worm rotates, the ball head buckles on both sides can move away from / approach the center synchronously, achieving the horizontal expansion / narrowing of the face bracket.

[0044] 2) Mouth: The fan-shaped expansion / closure of the mouth and nose on both sides of the cheeks is achieved through a worm and worm gear, which is more in line with the shape of the mouth. It is mainly based on the unchanged central face and the fan-shaped expansion around it. The expansion / contraction of the ball head buckle drives the changes in the left and right lower jaws, thus realizing the deformation of the cheeks.

[0045] The worm and worm gear are both selected to be left-handed; the connection between the first mouth ball head buckle and the first mouth worm is selected to be left-handed (when looking from right to left, the worm rotates clockwise, and due to the left-handedness, the ball head buckle moves outwards); the connection between the third mouth ball head buckle and the first mouth worm is selected to be right-handed (when looking from left to right, the worm rotates counterclockwise, and due to the right-handedness, the ball head buckle moves outwards); the connection between the second mouth ball head buckle and the second mouth worm is selected to be left-handed (when looking from right to left, the worm rotates counterclockwise, and due to the left-handedness, the ball head buckle moves inwards); the connection between the fourth mouth ball head buckle and the second mouth worm is selected to be right-handed; (when looking from left to right, the worm rotates clockwise, and due to the right-handedness, the ball head buckle moves inwards); when the middle worm rotates, the first mouth ball head buckle and the third mouth ball head buckle can move away from / approach the center synchronously, while the second mouth ball head buckle and the fourth mouth ball head buckle move towards / away from the center synchronously, realizing the fan-shaped expansion / closure of the side brackets of the mouth.

[0046] 4. Neck movement principle: The neck mechanism consists of a parallel mechanism and a servo motor. The parallel mechanism is composed of three chains. Two of them are composed of a servo motor, a servo arm, a ball button and a ball button connecting rod, and the other is composed of a first push rod joint, an electric push rod, a second push rod joint and a ball bearing. The kinematic pairs of the chain composed of the servo motor are: the servo motor and the servo arm form a revolute pair, the servo arm and the ball button are hinged to form a revolute pair, and the ball button and the connecting seat form a spherical pair, which is an R-R-S chain. The kinematic pairs of the chain composed of the push rod are: the second push rod joint is hinged with the electric push rod to form a revolute pair, and the electric push rod is a prismatic pair; the first push rod joint is fixedly connected with the ball bearing, and the ball bearing and the connecting seat form a spherical pair, which is an R-P-S chain. The parallel mechanism can provide 3 degrees of freedom, realizing one displacement and two rotations, specifically the displacement along the Z-axis (neck elongation), the rotation around the X-axis (head swaying), and the rotation around the Y-axis (nodding). Since the above parallel mechanism cannot realize the function of shaking the head, a third neck servo motor is added to increase a degree of freedom of rotation around the Z-axis.

[0047] The specific implementation process is as Figure 24 shown:

[0048] 1). Neck elongation: The first neck servo motor rotates clockwise and the second neck servo motor rotates counterclockwise to lift the rear part of the neck connecting seat, and the electric push rod extends to synchronously lift the front part of the neck connecting seat (the same applies to shortening);

[0049] 2). Head swaying: The third neck servo motor rotates, and the slewing bearing drives the neck servo motor fixing seat and the parts thereon to rotate to realize head swaying;

[0050] 3). Nodding: The first neck servo motor rotates clockwise and the second neck servo motor rotates counterclockwise to lift the rear part of the neck connecting seat, and the electric push rod shortens to lower the front part of the neck connecting seat (the same applies to raising the head).

[0051] 4). Head tilting: The electric push rod remains stationary. The first neck servo motor rotates clockwise to raise the left side of the neck connecting seat, and the second neck servo motor rotates clockwise to lower the right side of the neck connecting seat.

[0052] 5. Skin color transformation principle: The skin color transformation can achieve two effects, one is the change in the depth of the same skin color, and the other is the change in the color of different skin colors.

[0053] 5.1) There are two ways to change the depth of the same skin color: small-range change and large-range change.

[0054] Small - range change: By adjusting the distance between the transparent outer skin and the inner skin through the skin adjustment component, the amount of color solution filled in is adjusted, and then the average thickness of the color solution is changed, finally realizing small - range changes in skin color depth 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 changes slightly deeper; when the skin coil is not energized, the color is normal; when the skin coil is energized in the reverse direction, the skin permanent magnet is drawn in, the distance between the skins becomes smaller, the average thickness of the color solution decreases, and the color fades slightly.

[0055] Large - range change: By moving the position of the semi - permeable membrane, the concentration of the color solute in the color solution inside the semi - permeable membrane (near the rotation center side) is adjusted, thereby changing the color depth. When the execution control unit pushes the semi - permeable membrane towards the rotation center direction, the volume of the pure - water cavity increases, the volume of the pigment cavity decreases, the distribution area of the color solute becomes smaller, the color concentration increases, so the color becomes deeper; when the execution control unit pushes the semi - permeable membrane in the reverse direction, the volume of the pure - water cavity decreases, the volume of the pigment cavity increases, the distribution area of the color solute becomes larger, the color concentration decreases, and thus the color fades.

[0056] 5.2) There are three processes in total for skin - color transformation, namely the starting state, the color - filling state, and the fading state, as Figure 23 and Figure 25 shown:

[0057] 5.2.1) Starting state (colorless state): The color - changing power device does not work, and the second valve body is in the lowest position under the action of gravity. At this time, under the elastic force of the oil - fluid spring of the color - changing skin unit, the non - conductive oily liquid fills the first valve body and the output liquid pipeline.

[0058] 5.2.2) Color filling state: The color-changing power device operates to drive the rotating cone to rotate. Under the action of rotational centrifugal force, the upper pressure liquid and the lower pressure liquid are respectively pushed into the upper pressure liquid pipeline and the lower pressure liquid pipeline. Since the pressure of the lower pressure liquid is greater than that of the upper pressure liquid, when the rotational 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. Therefore, the second valve body will be pushed upward. At the predetermined speed, the second valve body will move to the A station, and the plug will pop out under the elastic force of the plug column and engage with the concave pit at A. 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 facial skin unit along the output liquid pipeline. When the color solution passes through the oil current probe, since the color solution is conductive, an electrical signal will be generated at this time. The electrical signal is transmitted to the electronic control system, indicating that the color filling is 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 facial skin. And due to the different conductivity of the color solution, according to the detected current magnitude, the type of the color solution is judged to control the synchronous change of the pupil color.

[0059] 5.2.3) Color fading state: When changing the skin color is required, first, color fading is needed. At this time, the control system issues an instruction, and 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 fixation of the plug column and the concave pit at A, the second valve body still remains in place, that is, the first valve body and the third valve body still remain in the conducting state. Then, under the elastic force of the oil spring, the non-conductive oily liquid pushes the pigment solution out of the facial skin. The pigment solution returns along the original channel, and the color solution in the facial skin gradually exits and 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 conducting state to the disconnected state, and the current signal is interrupted. The on-off signal is transmitted to the electronic control system. At this time, all the color fading is completed, and the color fading action ends. Furthermore, under the action of the electronic control system, the control coil is energized to suck back the plug column, and the second valve body drops to the lowest position under the action of gravity to complete the reset, that is, to complete an action cycle. Similarly, when the facial skin needs to switch to other skin colors, select different predetermined speeds of the color-changing power device and repeat the above process to complete.

[0060] The present invention adopts a modular design, dividing the driving structure of the expression robot into four parts: the eyebrows, eyes, mouth, and neck, including 4 degrees of freedom for the eyebrows, 8 degrees of freedom for the eyes, 13 degrees of freedom for the mouth, and 4 degrees of freedom for the neck, with a total of 29 degrees of freedom. It can achieve various basic facial expressions and neck movements required. The eyebrows have a total of 4 degrees of freedom. The servos drive the eyebrows through connecting rods to achieve the actions of raising the eyebrows and frowning. The eyes have a total of 8 degrees of freedom: the servos drive to achieve the opening and closing of the upper and lower eyelids through connecting rods, with a total of 4 degrees of freedom; the servos drive to achieve the rotation of the eyeballs through connecting rods, with a total of 4 degrees of freedom. The mouth has a total of 13 degrees of freedom. The servos drive to achieve lip movements through connecting rods, with a total of 4 degrees of freedom; the upper and lower middle lip protrusions and upper / lower lifts have 4 degrees of freedom; the servos drive to achieve smiling, sneering, and grinning actions through connecting rods, with a total of 4 degrees of freedom; the servos directly drive to achieve the action of opening the mouth, with a total of 1 degree of freedom. The neck has a total of 4 degrees of freedom. The parallel mechanism plus servos are used to achieve neck elongation, nodding, shaking the head, and turning the head. The robot of the present invention not only has the basic function of facial expression display, but also increases the degrees of freedom of the mouth to meet the function of real-time conversation; at the same time, the neck structure is optimized, with 4 degrees of freedom to achieve neck elongation to meet different scenarios. In addition, for the needs of different groups of people, a robot with rapid changes in facial deformation, skin color change, and eye iris color change is designed, and it has both synchronous and decoupling functions, which can meet the diverse needs of users.

[0061] The beneficial effects of the present invention are as follows:

[0062] 1. The present invention adopts a worm and worm gear structure to achieve the deformation of the eyebrows, eyes, and mouth, and to achieve the magnification and reduction of the face to match different face shapes.

[0063] 2. The present invention adopts a pupil color-changing device to achieve the switching of three common pupil colors (blue, brown, gray), adjust the pupil color by adjusting the voltage direction, and adjust the depth of the pupil color by adjusting the voltage magnitude.

[0064] 3. The present invention changes the gap between the outer skin and the inner skin through the skin adjustment component, adjusts the amount of color solution filled therein, and then changes the average thickness of the color solution, and finally realizes small-range skin color depth changes under the same skin color. By adjusting the position of the semi-permeable membrane, the concentration of the color solute in the color solution on the inner side (close to the rotation center side) of the semi-permeable membrane is adjusted to achieve large-range adjustment of skin color depth under the same skin color. The switching of three common skin colors (white, yellow, black) is realized through the skin color changing mechanism, and when the skin color is switched, the skin color type is judged by the magnitude of the current, and the pupil color change is synchronously triggered to achieve the matching of skin color and pupil color.

[0065] 4. The present invention adopts a neck structure of a parallel mechanism plus a servo to achieve the switching of multiple states of four degrees of freedom: neck elongation, nodding, shaking the head, and turning the head.

[0066] 5. For customization requirements, the expression robot realizes adaptive facial transformation according to facial features. It can quickly change the face shape, skin color, pupil color, and neck length according to different application scenarios. Moreover, it can change the type and depth of skin color and pupil color, greatly reducing the time and cost of customization. In terms of the richness of expressions, the expression robot has 29 degrees of freedom, meeting basic expression changes, and can achieve rich mouth shapes to meet the needs of real-time conversations. Brief Description of the Drawings

[0067] Figure 1 is the exploded view of the overall shape of the expression robot;

[0068] Figure 2 is the head mechanism diagram;

[0069] Figure 3 is the head shell mechanism diagram;

[0070] Figure 4 is the eyebrow mechanism diagram;

[0071] Figure 5 is the eyelid opening and closing mechanism diagram;

[0072] Figure 6 is the eyeball rotation mechanism diagram;

[0073] Figure 7 is the pupil color change mechanism diagram;

[0074] Figure 8 is the upper lip mechanism diagram of the mouth;

[0075] Figure 9 is the lower lip mechanism diagram of the mouth;

[0076] Figure 10 is the left and right lip mechanism diagram of the mouth;

[0077] Figure 11 is the eyebrow deformation mechanism diagram;

[0078] Figure 12 Structural diagram of the eyebrow deformation worm and worm gear;

[0079] Figure 13 is the mouth deformation mechanism diagram;

[0080] Figure 14 Structural diagram of the mouth deformation worm and worm gear;

[0081] Figure 15 is the neck mechanism diagram;

[0082] Figure 16 is the skin color change mechanism diagram;

[0083] Figure 17 is the color change power device;

[0084] Figure 18 is a rotating cone;

[0085] Figure 19 is a color-changing valve mechanism;

[0086] Figure 20 is a color-changing leather surface mechanism;

[0087] Figure 21 is a facial deformation effect diagram;

[0088] Figure 22 is a pupil color-changing principle diagram;

[0089] Figure 23 is a skin color and pupil color-changing effect diagram;

[0090] Figure 24 is a neck movement effect diagram;

[0091] Figure 25 is a skin color transformation principle diagram.

[0092] In the figure: Head component - 1; Eyebrow mechanism - 11; First eyebrow servo - 1101; First eyebrow servo arm - 1102; First eyebrow connecting rod - 1103; Eyebrow movable bracket - 1104; First eyebrow control piece - 1105; Second eyebrow servo - 1111; Second eyebrow servo arm - 1112; Second eyebrow connecting rod - 1113; Third eyebrow connecting rod - 1114; Second eyebrow control piece - 1115; Eyebrow fixed bracket - 1121; Eye mechanism - 12; Eyelid opening and closing unit - 121; First eye servo - 12101; First eye servo arm - 12102; Upper eyelid connecting rod - 12103; Upper eyelid - 12104; Second eye servo - 12105; Second eye servo arm - 12106; Lower eyelid connecting rod - 12107; Lower eyelid - 12108; Eyeball - 12109; Eye fixed bracket - 12110; Eyeball rotation unit - 122; Eyeball back plate - 12201; Third eye servo - 12203; Fourth eye servo - 12204; Third eye servo arm - 12205; First eye connecting rod - 12206; Second eye connecting rod - 12207; Fourth eye servo arm - 12208; Third eye connecting rod - 12209; Fourth eye connecting rod - 12210; Pupil color change unit - 123; Pupil - 1231; Eye membrane - 1232; Negatively charged large brown particles - 1233; Negatively charged small brown particles - 1234; Positively charged small blue particles - 1236; Positively charged large blue particles - 1237; Eyeball cavity - 1238; Mouth mechanism - 13; Upper lip unit - 131; First upper lip servo - 13101; First upper lip servo arm - 13102; First upper lip connecting rod - 13103; Upper lip slider - 13104; Second upper lip servo - 13105; Second upper lip servo arm - 13106; Second upper lip connecting rod - 13107; First mouth control piece - 13108; Third upper lip servo - 13109; Third upper lip servo arm - 13110; Second mouth control piece - 13111; Mouth middle bracket - 13115; Upper teeth - 13116; Lower lip unit - 132; First lower lip servo - 13201; First lower lip servo arm - 13202; First lower lip connecting rod - 13203; Lower lip slider - 13204; Second lower lip servo - 13205; Second lower lip servo arm - 13206; Second lower lip connecting rod - 13207; Third lower lip connecting rod - 13208; Third mouth control piece - 13209; Third lower lip servo - 13210; Third lower lip servo arm - 13211; Fourth mouth control piece - 13212; Fourth lower lip servo - 13215; Lower lip fixed bracket - 13217; Lower teeth - 13216; Left and right lip unit - 133; First mouth servo - 13308; First mouth servo arm - 13309; First mouth connecting rod - 13310; Second mouth servo - 13311; Second mouth servo arm - 13312; Second mouth connecting rod - 13313;Fifth control piece of the mouth - 13314; Side bracket of the mouth - 13316; Deformation mechanism - 14; Eyebrow deformation unit - 141; Eyebrow deformation worm and worm gear - 1411; Eyebrow deformation connecting rod - 1412; Including the first eyebrow ball socket - 141101; Second eyebrow ball socket - 141102; Third eyebrow ball socket - 141103; Fourth eyebrow ball socket - 141104; Eyebrow deformation transmission shaft - 141105; First eyebrow worm - 141106; Second eyebrow worm - 141107; Eyebrow deformation worm wheel - 141108; Eyebrow deformation worm and worm gear housing - 141109; Mouth deformation unit - 142; Mouth deformation worm and worm gear - 1422; First mouth ball socket - 142201; Second mouth ball socket - 142202; Third mouth ball socket - 142203; Fourth mouth ball socket - 142204; Mouth deformation transmission shaft - 142205; First mouth worm - 142206; Second mouth worm - 142207; Mouth deformation worm wheel - 142208; Mouth deformation worm and worm gear housing - 142209; Head shell mechanism - 2; Side face shell - 21; Middle face shell - 22; Side lower jaw - 24; Middle lower jaw - 25; Neck mechanism - 4; Neck connecting seat - 401; First neck ball socket - 402; First neck ball connecting rod - 403; Second neck ball socket - 404; First neck servo arm - 405; First neck servo - 406; Third neck ball socket - 407; Second neck ball connecting rod - 408; Fourth neck ball socket - 409; Second neck servo arm - 410; Second neck servo - 411; Ball head bearing - 412; First push rod joint - 413; Electric push rod - 414; Second push rod joint - 415; Neck servo fixing seat - 416; Slewing bearing - 417; Third neck servo - 418; Neck base - 419; Head and neck connecting seat - 420; Neck - 5; Body - 6; Skin color changing mechanism - 10; Color changing power device - 101; Rotating cone - 1011; Top circular cavity - 101101; Middle circular cavity - 101102; Bottom circular 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; Rotation drive device - 1013; Concentration adjustment device - 1014; Semi - permeable membrane - 10141; Push rod - 10142; Execution control unit - 10143; Pigment solution - 1015; Black solution - 10151; White solution - 10152; Yellow solution - 10153; Pressure liquid - 1016; Upper pressure liquid - 10161; Lower pressure liquid - 10162; Color 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 column - 10206; coil - 10207; permanent magnet - 10208; plug column spring - 10209; first current detection probe pair - 10210; second current detection probe pair - 10211; third current detection probe pair - 10212; black solution pipeline - 10213; white solution pipeline - 10214; yellow solution pipeline - 10215; color-changing disc - 10216; color-changing spring - 10217; output liquid pipeline - 10219, upper hydraulic drive device - 10220; lower hydraulic drive device - 10221; color-changing skin unit - 103; transparent outer skin - 10301; inner skin - 10302; skin color pigment input pipeline - 10303; oily liquid - 10304; oil liquid disc - 10305; oil liquid spring - 10306; oil liquid housing - 10307; skin permanent magnet - 10308; skin spring - 10309; skin coil - 10310; oil liquid current probe - 10311; Detailed implementation mode

[0093] The present invention will be described in detail below in combination with specific implementation cases. The following implementation cases will help those skilled in the art to further understand the present invention, but do not limit the present invention in any form.

[0094] As Figure 1 and Figure 2 shown, the robot includes a head component 1, a head shell mechanism 2, a neck mechanism 4 and a skin color changing mechanism 10; the head component 1 is mainly composed of an eyebrow mechanism 11, an eye mechanism 12, a mouth mechanism 13 and a deformation mechanism 14. The eyebrow mechanism 11 and the eye mechanism 12 are fixedly connected to each other. The eyebrow mechanism 11, the eye mechanism 12 and the mouth mechanism 13 are all connected to the deformation mechanism 14. The eyebrow mechanism 11, the mouth mechanism 13 and the deformation mechanism 14 are all connected to the head shell mechanism 2. The neck mechanism 4 is fixedly installed on the mouth mechanism 13. The skin color changing mechanism 10 is attached to the head shell mechanism 2 and is used to realize the replacement of the robot's skin color. The deformation mechanism 14 includes an eyebrow deformation unit 141 and a mouth deformation unit 142. The eyebrow deformation unit 141 and the mouth deformation unit 142 are both mainly driven by a worm and worm gear structure, and the deformation of the robot's eyebrows and mouth is realized through the worm and worm gear structure.

[0095] In specific implementation, the deformation worm and worm gear housings of the eyebrow deformation unit 141 and the mouth deformation unit 142 are both installed on the middle face shell 22. The eyebrow mechanism 11 and the eye mechanism 12 are both connected to the eyebrow deformation unit 141. The mouth deformation worm and worm gear housing 142209 of the mouth deformation unit 142 is also fixedly connected to the middle mouth bracket 13115 of the mouth mechanism 13. The head shell mechanism 2 is connected to the body 6 through the neck 5.

[0096] As shown Figure 4 shown, the eyebrow mechanism 11 includes a first eyebrow servo 1101, a first eyebrow servo arm 1102, a first eyebrow connecting rod 1103, an eyebrow movable bracket 1104, a first eyebrow control piece 1105, a second eyebrow servo 1111, a second eyebrow servo arm 1112, a second eyebrow connecting rod 1113, a third eyebrow connecting rod 1114, a second eyebrow control piece 1115, and an eyebrow fixed bracket 1121. The first eyebrow servo 1101 and the second eyebrow servo 1111 are respectively fixedly installed on the eyebrow fixed bracket 1121 and the eyebrow movable bracket 1104. The output shaft of the first eyebrow servo 1101 is fixedly connected to one end of the first eyebrow servo arm 1102. The other end of the first eyebrow servo arm 1102 is hinged to one end of the first eyebrow connecting rod 1103. The other end of the first eyebrow connecting rod 1103 is hinged to the eyebrow movable bracket 1104. The first eyebrow control piece 1105 and the third eyebrow connecting rod 1114 are both installed on the eyebrow movable bracket 1104. The output shaft of the second eyebrow servo 1111 is hinged to one end of the second eyebrow servo arm 1112 and the second eyebrow connecting rod 1113. The other end of the second eyebrow connecting rod 1113 is hinged to one end of the third eyebrow connecting rod 1114. The second eyebrow control piece 1115 is installed on the other end of the third eyebrow connecting rod 1114.

[0097] The eyebrow mechanism 11 is a left-right symmetric structure, including two symmetrically arranged first eyebrow servos 1101 and two symmetrically arranged second eyebrow servos 1111. The first eyebrow servo 1101 is responsible for the movement of the first eyebrow control piece 1105 and the second eyebrow control piece 1115. When the first eyebrow servo 1101 is lifted upward, it drives the movement of the first eyebrow connecting rod 1103, the eyebrow movable bracket 1104, and its first eyebrow control piece 1105 and second eyebrow control piece 1115, so as to realize the lifting of the side eyebrows. The second eyebrow servo 1111 is responsible for the movement of the second eyebrow control piece 1115, so as to realize the wrinkling of the eyebrows.

[0098] The eye mechanism 12 includes an eyelid opening and closing unit 121, an eyeball rotation unit 122, and a pupil color change unit 123. The eyelid opening and closing unit 121 is connected to the eyeball rotation unit 122. A pupil color change unit 123 for pupil color change is arranged in the eyeball 12109 of the eyelid opening and closing unit 121;

[0099] As shown Figure 5As shown in the figure, the eyelid opening and closing unit 121 includes a first eye servo 12101, a first eye servo arm 12102, an upper eyelid link 12103, an upper eyelid 12104, a second eye servo 12105, a second eye servo arm 12106, a lower eyelid link 12107, a lower eyelid 12108, an eyeball 12109, and an eye fixing bracket 12110; the first eye servo 12101 and the second eye servo 12105 are both fixedly installed on the eye fixing bracket 12110. The output shaft of the first eye servo 12101 is hinged to one end of the upper eyelid link 12103 through the first eye servo arm 12102, and the other end of the upper eyelid link 12103 is hinged to the upper eyelid 12104. The output shaft of the second eye servo 12105 is hinged to one end of the lower eyelid link 12107 through the second eye servo arm 12106, and the other end of the lower eyelid link 12107 is hinged to the lower eyelid 12108. Both the upper eyelid 12104 and the lower eyelid 12108 are hinged to the eye fixing bracket 12110, and the upper eyelid 12104 and the lower eyelid 12108 are hinged to each other. The eyeball 12109 is arranged between the upper eyelid 12104 and the lower eyelid 12108;

[0100] The eye mechanism 12 is a left-right symmetric mechanism, including two eyeballs 12109 and two eye fixing brackets 12110. The eye servos 12101, 121005, 12203, and 12204 are all arranged symmetrically left and right. The first eye servo 12101 drives the first eye servo arm 12102 and the upper eyelid link 12103, driving the upper eyelid 12104 to perform the opening and closing action of the upper eyelid. The second eye servo 12105 drives the second eye servo arm 12106 and the lower eyelid link 12107, driving the lower eyelid 12108 to perform the opening and closing action of the lower eyelid.

[0101] As Figure 6As shown in the figure, the eyeball rotation unit 122 includes an eyeball back plate 12201, a third eye servo 12203, a fourth eye servo 12204, a third eye servo arm 12205, a first eye link 12206, a second eye link 12207, a fourth eye servo arm 12208, a third eye link 12209, and a fourth eye link 12210. The third eye servo 12203 and the fourth eye servo 12204 are both fixedly installed on the eye fixing bracket 12110. The eyeball back plate 12201 is fixedly installed on the eyeball 12109. The output shaft of the third eye servo 12203 is fixedly connected to one end of the horizontal third eye servo arm 12205. The other end of the third eye servo arm 12205 is fixedly connected to the bottom end of the vertical first eye link 12206. One end of the second eye link 12207 is connected to the first eye link 12206 in a vertically movable manner. The other end of the second eye link 12207 is connected to the eyeball back plate 12201 through a ball joint. The output shaft of the fourth eye servo 12204 is fixedly connected to one end of the fourth eye servo arm 12208. The other end of the fourth eye servo arm 12208 is hinged to one end of the third eye link 12209. The other end of the third eye link 12209 is hinged to the middle of the fourth eye link 12210. The two ends of the fourth eye link 12210 are respectively hinged to the eye fixing bracket 12110 and the eyeball back plate 12201.

[0102] The first eye link 12206 is essentially a sliding rod. When the eye rotates up and down, the second eye link 12207 will slide up and down on the first eye link 12206. The end of the second eye link 12207 is a ball head, forming a ball joint with the eyeball back plate 12201. The third eye servo 12203 drives the third eye servo arm 12205, driving the first eye link 12206 to rotate. The second eye link 12207 will slide on the first eye link 12206, simultaneously driving the eyeball 12109 to rotate around the vertical axis, realizing the left - right rotation of the eyeball. The fourth eye servo 12204 drives the fourth eye servo arm 12208, driving the third eye link 12209. The third eye link 12209 drives the fourth eye link 12210. The fourth eye link 12210 rotates around the horizontal axis of the eyeball 12109, realizing the up - down rotation of the eyeball. One end of the fourth eye link 12210 is provided with a vertical hole, and the fourth eye link 12210 is hinged to the eyeball back plate 12201 at the position of this vertical hole. On the one hand, this hinge is to connect the fourth eye link 12210 and the eyeball 12109 together, driving the eyeball 12109 to rotate around its horizontal axis through the fourth eye link 12210, realizing the up - down movement of the eyeball. On the other hand, when the eyeball 12109 rotates left and right, due to the hinge connection method, the eyeball 12109 will rotate around the axis of this vertical hole without affecting the eye fixing bracket 12110, realizing the independence of the left - right movement and the up - down movement of the eyeball.

[0103] As shown Figure 7 in the figure, the pupil color-changing unit 123 includes a pupil 1231, an eye film 1232, positively charged blue particles, and negatively charged brown particles; the middle of the outer surface of the eyeball 12109 is provided with a pupil 1231 and an eye film 1232. The pupil 1231 and the eye film 1232 are made of a black opaque film and a transparent film respectively. An eyeball cavity 1238 is formed in the middle of the eyeball 12109, and a transparent liquid, positively charged blue particles, and negatively charged brown particles are stored in the eyeball cavity 1238. When a positive current is applied to the transparent liquid, the negatively charged brown particles are adsorbed on the inner surface of the eyeball 12109, making the eye film 1232 of the eyeball 12109 brown. When a negative current is applied to the transparent liquid, the positively charged blue particles are adsorbed on the inner surface of the eyeball 12109, making the eye film 1232 of the eyeball 12109 blue.

[0104] The negatively charged brown particles include negatively charged brown large particles 1233 and negatively charged brown small particles 1234, and the positively charged blue particles include positively charged blue small particles 1236 and positively charged blue large particles 1237. A transparent liquid is stored in the eyeball cavity 1238, and the charged particles can move in the transparent liquid. The size of the charged particles is in the micron range, and the size of the large particles is 100 times that of the small particles.

[0105] The mouth mechanism 13 includes an upper lip unit 131, a lower lip unit 132, and left and right lip units 133. The lower lip unit 132 and the left and right lip units 133 are both connected to the upper lip unit 131; As shown Figure 8As shown in the figure, the upper lip unit 131 includes a first upper lip servo 13101, a first upper lip servo arm 13102, a first upper lip link 13103, an upper lip slider 13104, a second upper lip servo 13105, a second upper lip servo arm 13106, a second upper lip link 13107, a first mouth control piece 13108, two third upper lip servos 13109, two third upper lip servo arms 13110, two second mouth control pieces 13111, and a mouth middle bracket 13115. The first upper lip servo 13101, the second upper lip servo 13105, and the two third upper lip servos 13109 are all fixedly installed on the mouth middle bracket 13115. The output shaft of the first upper lip servo 13101 is hinged to one end of the first upper lip link 13103 through the first upper lip servo arm 13102, and the other end of the first upper lip link 13103 is hinged to the first mouth control piece 13108. The output shaft of the second upper lip servo 13105 is hinged to one end of the second upper lip link 13107 through the second upper lip servo arm 13106, and the other end of the second upper lip link 13107 is equipped with the upper lip slider 13104. The upper lip slider 13104 is installed on the first upper lip link 13103 so as to be movable back and forth along the extension direction of the first upper lip link 13103. The output shafts of the two third upper lip servos 13109 are respectively hinged to the two second mouth control pieces 13111 through the two third upper lip servo arms 13110.

[0106] The first upper lip servo 13101 and the second upper lip servo 13105 are jointly responsible for the first mouth control piece 13108, and are used to realize the lifting and protruding actions of the middle part of the upper lip. The third upper lip servo 13109 controls the second mouth control piece 13111, and is used to realize the lifting action of the left / right part of the upper lip. Both the first mouth control piece 13108 and the second mouth control piece 13111 are arranged outside the upper teeth 13116.

[0107] As Figure 9As shown, the lower lip unit 132 includes a first lower lip servo 13201, a first lower lip servo arm 13202, a first lower lip connecting rod 13203, a lower lip slider 13204, a second lower lip servo 13205, a second lower lip servo arm 13206, a second lower lip connecting rod 13207, a third lower lip connecting rod 13208, a third mouth control piece 13209, two third lower lip servos 13210, two third lower lip servo arms 13211, two fourth mouth control pieces 13212, a fourth lower lip servo 13215, and a lower lip fixing bracket 13217; the fourth lower lip servo 13215 is fixedly installed on the middle bracket 13115 of the mouth, and the servo arm of the fourth lower lip servo 13215 is connected to the lower lip fixing bracket 13217 for driving the lower lip fixing bracket 13217 to swing. The first lower lip servo 13201, the second lower lip servo 13205, and the two third lower lip servos 13210 are all fixedly installed on the lower lip fixing bracket 13217. The output shaft of the second lower lip servo 13205 is hinged to one end of the second lower lip connecting rod 13207 through the second lower lip servo arm 13206. The other end of the second lower lip connecting rod 13207 is hinged to one end of the third lower lip connecting rod 13208. The other end of the third lower lip connecting rod 13208 is fixedly connected to the third mouth control piece 13209. The output shaft of the first lower lip servo 13201 is hinged to one end of the first lower lip connecting rod 13203 through the first lower lip servo arm 13202. The other end of the first lower lip connecting rod 13203 is provided with a lower lip slider 13204. The lower lip slider 13204 is installed on the third lower lip connecting rod 13208 so as to be movable back and forth along the extending direction of the third lower lip connecting rod 13208. The output shafts of the two third lower lip servos 13210 are respectively hinged to the two fourth mouth control pieces 13212 through the two third lower lip servo arms 13211;

[0108] The first lower lip servo 13201 and the second lower lip servo 13205 are jointly responsible for the third mouth control piece 13209 to realize the lifting and protruding actions of the middle part of the lower lip. The third lower lip servo 13210 controls the fourth mouth control piece 13212 to realize the downward pulling actions of the left / right parts of the lower lip. Both the third mouth control piece 13209 and the fourth mouth control piece 13212 are arranged outside the lower teeth 13216.

[0109] As Figure 10As shown in the figure, the left and right lip units 133 include a first mouth servo 13308, a first mouth servo arm 13309, a first mouth link 13310, a second mouth servo 13311, a second mouth servo arm 13312, a second mouth link 13313, a fifth mouth control piece 13314, and two mouth side brackets 13316; the two mouth side brackets 13316 are respectively arranged on the left and right sides of the mouth middle bracket 13115, the first mouth servo 13308 and the second mouth servo 13311 are both fixedly connected to the mouth side bracket 13316, the output shaft of the first mouth servo 13308 is hinged to one end of the first mouth link 13310 through the first mouth servo arm 13309, the output shaft of the second mouth servo 13311 is hinged to one end of the second mouth link 13313 through the second mouth servo arm 13312, the other end of the first mouth link 13310 and the other end of the second mouth link 13313 are hinged, and a fifth mouth control piece 13314 is installed at the hinged position of the first mouth link 13310 and the second mouth link 13313.

[0110] The left and right lip units 133 are left and right symmetric mechanisms, and the mouth servos 13308 and 13311 are both left and right symmetrically arranged. The first mouth servo 13308 and the second mouth servo 13311 on the left / right side are jointly responsible for the left / right mouth fifth control piece 13314 to realize the smiling, lip-curling, and grinning movements of the left / right mouth.

[0111] As Figure 11 and Figure 12 As shown in the figure, the eyebrow deformation unit 141 includes an eyebrow deformation worm and worm gear 1411 and two eyebrow deformation links 1412; the eyebrow deformation worm and worm gear 1411 includes a first eyebrow ball head buckle 141101, a second eyebrow ball head buckle 141102, a third eyebrow ball head buckle 141103, a fourth eyebrow ball head buckle 141104, a first eyebrow worm 141106, a second eyebrow worm 141107, an eyebrow deformation worm gear 141108, and an eyebrow deformation worm and worm gear housing 141109;

[0112] The top and bottom of the eyebrow deformation connecting rod 1412 are fixedly connected to the eyebrow fixing bracket 1121 in the eyebrow mechanism 11 and the eye fixing bracket 12110 in the eye mechanism 12 respectively. The eyebrow deformation worm and worm gear housing 141109 is fixedly installed on the middle face shell 22 of the head shell mechanism 2. The first eyebrow ball head buckle 141101 and the second eyebrow ball head buckle 141102 are both fixedly installed on an eyebrow deformation connecting rod 1412. The third eyebrow ball head buckle 141103 and the fourth eyebrow ball head buckle 141104 are both fixedly installed on another eyebrow deformation connecting rod 1412. The eyebrow deformation worm gear 141108 is located inside the eyebrow deformation worm and worm gear housing 141109. Four eyebrow worm through holes are provided on the eyebrow deformation worm and worm gear housing 141109. One end of the first eyebrow worm 141106 passes through the first eyebrow worm through hole and is connected to the first eyebrow ball head buckle 141101 by thread. The other end of the first eyebrow worm 141106 passes through the second eyebrow worm through hole and is connected to the third eyebrow ball head buckle 141103 by thread. One end of the second eyebrow worm 141107 passes through the third eyebrow worm through hole and is connected to the second eyebrow ball head buckle 141102 by thread. The other end of the second eyebrow worm 141107 passes through the fourth eyebrow worm through hole and is connected to the fourth eyebrow ball head buckle 141104 by thread.

[0113] The first eyebrow worm 141106 and the second eyebrow worm 141107 are arranged in parallel at intervals. The eyebrow deformation worm gear 141108 is located between the first eyebrow worm 141106 and the second eyebrow worm 141107. Both ends of the eyebrow deformation worm gear 141108 are meshed and connected to the threads on the first eyebrow worm 141106 and the second eyebrow worm 141107 respectively. Left-handed helical teeth are provided at the meshing positions of the first eyebrow worm 141106 and the eyebrow deformation worm gear 141108. Left-handed helical teeth are provided at the meshing positions of the second eyebrow worm 141107 and the eyebrow deformation worm gear 141108. Left-handed helical teeth are provided on the outer periphery of the eyebrow deformation worm gear 141108. The eyebrow deformation worm gear 141108 is externally connected to the eyebrow deformation transmission shaft 141105 in the eyebrow worm gear driving device. The eyebrow worm gear driving device is used to drive the eyebrow deformation worm gear 141108 to rotate.

[0114] The ends of the first eyebrow ball head buckle 141101 and the fourth eyebrow ball head buckle 141104 are both provided with left-handed internal threaded holes, and the ends of the second eyebrow ball head buckle 141102 and the third eyebrow ball head buckle 141103 are both provided with right-handed internal threaded holes; one end of the first eyebrow worm 141106 close to the first eyebrow ball head buckle 141101 is provided with a left-handed external thread, and the length of this section of external thread is slightly less than the length of the internal thread at the end of the first eyebrow ball head buckle 141101. One end of the first eyebrow worm 141106 close to the third eyebrow ball head buckle 141103 is provided with a right-handed external thread, and the length of this section of external thread is slightly less than the length of the internal thread at the end of the third eyebrow ball head buckle 141103. One end of the second eyebrow worm 141107 close to the second eyebrow ball head buckle 141102 is provided with a right-handed external thread, and the length of this section of external thread is slightly less than the length of the internal thread at the end of the second eyebrow ball head buckle 141102. One end of the second eyebrow worm 141107 close to the fourth eyebrow ball head buckle 141104 is provided with a left-handed external thread, and the length of this section of external thread is slightly less than the length of the internal thread at the end of the fourth eyebrow ball head buckle 141104.

[0115] As Figure 13 and Figure 14 shown, the mouth deformation unit 142 includes a mouth deformation worm and worm gear 1422, and the mouth deformation worm and worm gear 1422 includes a first mouth ball head buckle 142201, a second mouth ball head buckle 142202, a third mouth ball head buckle 142203, a fourth mouth ball head buckle 142204, a first mouth worm 142206, a second mouth worm 142207, a mouth deformation worm gear 142208 and a mouth deformation worm and worm gear housing 142209;

[0116] The mouth deformation worm and worm gear housing 142209 is fixedly installed on the middle face shell 22 of the head shell mechanism 2. The first mouth ball head buckle 142201 and the second mouth ball head buckle 142202 are both fixedly installed on one side lower jaw 24 of the head shell mechanism 2. The third mouth ball head buckle 142203 and the fourth mouth ball head buckle 142204 are both fixedly installed on the other side lower jaw 24 of the head shell mechanism 2. The mouth deformation worm gear 142208 is located inside the mouth deformation worm and worm gear housing 142209. Four mouth worm through holes are provided on the mouth deformation worm and worm gear housing 142209. One end of the first mouth worm 142206 passes through the first mouth worm through hole and is connected to the first mouth ball head buckle 142201 by a thread. The other end of the first mouth worm 142206 passes through the second mouth worm through hole and is connected to the third mouth ball head buckle 142203 by a thread. One end of the second mouth worm 142207 passes through the third mouth worm through hole and is connected to the second mouth ball head buckle 142202 by a thread. The other end of the second mouth worm 142207 passes through the fourth mouth worm through hole and is connected to the fourth mouth ball head buckle 142204 by a thread.

[0117] The first mouth worm 142206 and the second mouth worm 142207 are arranged in parallel at an interval. The mouth deformed worm wheel 142208 is located between the first mouth worm 142206 and the second mouth worm 142207. Both ends of the mouth deformed worm wheel 142208 are meshed and connected with the threads on the first mouth worm 142206 and the second mouth worm 142207 respectively; at the meshing position between the first mouth worm 142206 and the mouth deformed worm wheel 142208, left-handed helical teeth are arranged, at the meshing position between the second mouth worm 142207 and the mouth deformed worm wheel 142208, left-handed helical teeth are arranged, and left-handed helical teeth are arranged on the outer periphery of the mouth deformed worm wheel 142208. Among them, the mouth deformed worm wheel 142208 is externally connected to the mouth deformed transmission shaft 142205 in the mouth worm wheel driving device, and the mouth worm wheel driving device is used to drive the mouth deformed worm wheel 142208 to rotate.

[0118] Left-handed internal threaded holes are opened at the ends of both the first mouth ball head buckle 142201 and the second mouth ball head buckle 142202, and right-handed internal threaded holes are opened at the ends of both the third mouth ball head buckle 142203 and the fourth mouth ball head buckle 142204; at one end of the first mouth worm 142206 close to the first mouth ball head buckle 142201, a left-handed external thread is opened, and the length of this section of external thread is slightly less than the length of the internal thread at the end of the first mouth ball head buckle 142201. At one end of the first mouth worm 142206 close to the third mouth ball head buckle 142203, a right-handed external thread is opened, and the length of this section of external thread is slightly less than the length of the internal thread at the end of the third mouth ball head buckle 142203. At one end of the second mouth worm 142207 close to the second mouth ball head buckle 142202, a left-handed external thread is opened, and the length of this section of external thread is slightly less than the length of the internal thread at the end of the second mouth ball head buckle 142202. At one end of the second mouth worm 142207 close to the fourth mouth ball head buckle 142204, a right-handed external thread is opened, and the length of this section of external thread is slightly less than the length of the internal thread at the end of the fourth mouth ball head buckle 142204.

[0119] As Figure 15As shown in the figure, the neck mechanism 4 includes a neck connecting seat 401, a first neck ball button 402, a first neck ball connecting rod 403, a second neck ball button 404, a first neck servo arm 405, a first neck servo 406, a third neck ball button 407, a second neck ball connecting rod 408, a fourth neck ball button 409, a second neck servo arm 410, a second neck servo 411, a ball head bearing 412, a first push rod joint 413, an electric push rod 414, a second push rod joint 415, a neck servo fixing seat 416, a slewing bearing 417, a third neck servo 418, a neck base 419 and a head-neck connecting seat 420; the outer ring and the inner ring of the slewing bearing 417 are respectively fixedly connected to the neck base 419 and the neck servo fixing seat 416, the housing of the third neck servo 418 is installed on the neck base 419, and the output shaft of the third neck servo 418 is connected to the neck servo fixing seat 416, and the third neck servo 418 is used to drive the neck servo fixing seat 416 to rotate;

[0120] The housings of the first neck servo 406 and the second neck servo 411 are both fixedly installed on the neck servo fixing seat 416. The output shaft of the first neck servo 406 is hinged to one end of the second neck ball button 404 through the first neck servo arm 405. The other end of the second neck ball button 404 is connected to the first neck ball button 402 through the first neck ball connecting rod 403. Both the first neck ball button 402 and the second neck ball button 404 are connected to the first neck ball connecting rod 403 by threads. The second neck servo 411 is hinged to one end of the fourth neck ball button 409 through the second neck servo arm 410. The other end of the fourth neck ball button 409 is connected to the third neck ball button 407 through the second neck ball connecting rod 408. Both the third neck ball button 407 and the fourth neck ball button 409 are connected to the second neck ball connecting rod 408 by threads. Both the first neck ball button 402 and the third neck ball button 407 are fixedly installed on the neck connecting seat 401. The horizontal neck connecting seat 401 is fixedly connected to the vertical head-neck connecting seat 420. The head-neck connecting seat 420 is fixedly installed on the mouth middle bracket 13115 of the mouth mechanism 13; the bottom end of the second push rod joint 415 is hinged to the neck servo fixing seat 416. The top end of the second push rod joint 415 is connected to the bottom end of the first push rod joint 413 through the telescopable electric push rod 414. The top end of the first push rod joint 413 is connected to the neck connecting seat 401 through the ball head bearing 412.

[0121] The first neck servo arm 405 and the second neck servo arm 410 are coplanar. The axes of the output shafts of the first neck servo 406 and the second neck servo 411 are both perpendicular to the axis of rotation of the second push rod joint 415. The electric push rod 414 is perpendicular to the neck base 419 in its initial state. The third neck servo 418 is used to drive the rotation of the upper part of the neck mechanism 4 to achieve the shaking head movement of the neck mechanism. The first neck servo 406 and the second neck servo 411 are respectively used to drive the first neck ball head link 403 and the second neck ball head link 408 to lift, so as to achieve the swinging head movement of the neck mechanism. Cooperating with the telescopable electric push rod 414, actions such as nodding and stretching of the neck mechanism can be achieved.

[0122] As Figure 16 shown, the skin color changing mechanism 10 mainly consists of a skin color changing power device 101, a skin color changing valve unit 102 and a skin color changing leather unit 103. The pigment solution 1015 in the skin color changing power device 101 flows into the skin color changing leather unit 103 through the skin color changing valve unit 102 to complete the skin color change of the robot.

[0123] As Figure 17 and Figure 18 shown, the skin color changing power device 101 includes a rotating cone 1011, a bottom disc 1012, a rotation driving device 1013, a concentration adjusting 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 rotation driving device 1013. The rotation driving device 1013 is used to drive the rotating cone 1011 to rotate. The inner circumference of the rotating cone 1011 is provided with three circular ring cavities from top to bottom, and the outer circumference of the rotating cone 1011 is provided with two pressure cavities from top to bottom. The three 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. The pressure cavities are respectively the upper pressure cavity 101104 and the lower pressure cavity 101105 from top to bottom. The diameters of the three circular ring cavities increase in sequence from top to bottom. A number of sinking grooves are provided at the bottom of each circular ring cavity. Each sinking groove in each layer of sinking grooves is evenly spaced along the circumferential direction of the circular ring cavity. Each sinking groove communicates with a cylindrical cavity on the side away from the central axis of the rotating cone 1011. Each cylindrical cavity in each layer of cylindrical cavities communicates with each layer of circular ring cavities through the sinking grooves.

[0124] A concentration adjustment device 1014 is installed in each cylindrical cavity. The concentration adjustment device 1014 mainly consists of a semi-permeable membrane 10141, a push rod 10142, and an execution control unit 10143. The semi-permeable membrane 10141 is attached to one 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 other 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 back and forth, and the semi-permeable membrane 10141 is used to adjust the concentration of the pigment solution 1015 in the cylindrical cavity;

[0125] Each layer of the annular cavity stores a pigment solution 1015. The three layers of annular cavities arranged from top to bottom are filled with a black solution 10151, a white solution 10152, and a yellow solution 10153 respectively. Each layer of the pressure cavity stores a pressure liquid 1016. The upper pressure liquid 10161 and the lower pressure liquid 10162 are filled in the top and bottom pressure cavities respectively. The annular cavity and the pressure cavity are both connected to the color-changing valve unit 102 through pipelines.

[0126] The rotating cone 1011 is in the shape of a frustum of a cone, with a smooth outer wall and bottom surface. A transmission hole is provided at the center line, which is used to connect the rotation drive device 1013. At the same time, the transmission hole is connected to the external atmosphere to facilitate air pressure balance. The maximum diameters of the three layers of annular cavities are different, showing an increasing state from top to bottom. Each layer of the annular cavity is annular. An air pressure balance hole is provided at the top of the inner side of each layer of the annular cavity, which is communicated with the external atmosphere. A sink is provided at the bottom end of each layer of the annular cavity. Each sink mainly consists of a number of sinks arranged at intervals along the circumferential direction of the annular cavity. Each sink is machined with a smooth cylindrical cavity in the direction away from the central axis of the rotating cone 1011. There are also three layers of cylindrical cavities. The first layer of the cylindrical cavity is as Figure 18The first cylindrical cavity 101106 and the second cylindrical cavity 101109 in [description], the second layer of cylindrical cavities such as the third cylindrical cavity 101107 and the fourth cylindrical cavity 101110 in the figure, the third layer of cylindrical cavities such as the fifth cylindrical cavity 101108 and the sixth cylindrical cavity 101111 in the figure. Both layers of pressure cavities are in the shape of a frustum of a circular cone, and the maximum diameters of the two layers of pressure cavities are different. The diameter of the lower pressure cavity 101105 is greater than that of the upper pressure cavity 101104. Among them, the upper pressure cavity 101104 is flush with the top circular cavity 101101, and the lower pressure cavity 101105 is flush with the bottom circular cavity 101103. The lowest surface of each layer of circular cavity is higher than the topmost part of the cylindrical cavity of the same layer. A pigment output pipeline is arranged at the near-middle side position of the circular cavity, and the pipeline extends to the outside of the bottom of the rotating cone 1011 and is smoothly and hermetically connected to the corresponding hole of the bottom disc 1012. Pressure pipelines are arranged on the near-outside sides of the two layers of pressure cavities and are smoothly and hermetically connected to the corresponding holes of the bottom disc 1012. An air pressure balance hole is arranged on the upper wall near the inner side of each pressure cavity and is communicated with the external atmosphere. The top circular cavity 101101, the middle circular cavity 101102 and the bottom circular cavity 101103 are respectively communicated with the black solution pipeline 10213, the white solution pipeline 10214 and the yellow solution pipeline 10215 in the color change valve unit 102, and the upper pressure cavity 101104 and the lower pressure cavity 101105 are respectively connected to the upper pressure liquid pipeline 10204 and the lower pressure liquid pipeline 10205.

[0127] The push rod 10141 has a T-shaped structure, and its end face is disc-shaped. A number of through holes are arranged on the disc-shaped surface. The semi-permeable membrane 10142 is attached and fixed to the disc-shaped surface of the push rod, and the execution control unit 10143 can push the push rod to move back and forth. The outer wall of the disc of the push rod 10141 is a smooth structure and can slide relatively hermetically with the smooth inner wall of the cylindrical cavity. The semi-permeable 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 overall machine's electric control system. The pigment solution 1015 is an incompressible liquid, 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.

[0128] The bottom disk 1012 is frustum-shaped, with a transmission hole provided at the center line for connecting the rotary drive device 1013. The outer wall and the upper and lower table surfaces of the bottom disk 1012 are smooth structures. A plurality of annular grooves are provided on the upper plane of the bottom disk 1012, and the annular grooves correspond to and are smoothly and sealingly connected to the plurality of pigment output pipelines and the pressure liquid pipeline outlets of the rotary cone 1011 one by one, so as to realize the dynamic connection of the pipelines when the rotary cone 1011 rotates relative to the bottom disk 1012. In addition, a plurality of through holes parallel to the axis direction are provided near the outer side of the bottom disk 1012, and the plurality of through holes are respectively communicated with the annular grooves, so as to lead out the plurality of pigment output pipelines and the pressure liquid pipelines of the rotary cone 1011 to the outside. The rotary drive device 1013 is locked at the bottom center position of the bottom disk 1012, and its function is to drive the rotary cone 1011 to rotate.

[0129] As Figure 19 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 column 10206, a coil 10207, a permanent magnet 10208, a plug column 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 disk 10216, a color-changing spring 10217, an output liquid pipeline 10219, an upper hydraulic drive device 10220 and a lower hydraulic drive device 10221;

[0130] The second valve body 10202 is movably arranged up and down 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 communicated with the black solution pipeline 10213, the white solution pipeline 10214 and the yellow solution pipeline 10215. The outlets of the three-layer annular cavities arranged from top to bottom in the color-changing power device 101 are respectively communicated with the black solution pipeline 10213, the white solution pipeline 10214 and the yellow solution pipeline 10215. The first current detection probe pair 10210, the second current detection probe pair 10211 and the third current detection probe pair 10212 for detecting the pigment solution 1015 are respectively arranged on the black solution pipeline 10213, the white solution pipeline 10214 and the yellow solution pipeline 10215;

[0131] The top end of the second valve body 10202 is communicated with the outlet of the upper pressure chamber 101104 through the upper pressure liquid pipeline 10204, and the bottom end of the second valve body 10202 is communicated with the outlet of the lower pressure chamber 101105 through the lower pressure liquid pipeline 10205. 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 are respectively arranged on the upper pressure liquid pipeline 10204 and the lower pressure liquid pipeline 10205. A valve body counterbore is formed at the top of the second valve body 10202. A plug column 10206, a permanent magnet 10208 and a plug column spring 10209 are all installed in the valve body counterbore. The two ends of the plug column spring 10209 are respectively connected with the permanent magnet 10208 and the plug column 10206. The plug column 10206 is located on the side of the second valve body 10202 close to the first valve body 10201. A coil 10207 is installed in the plug column 10206, and the movement of the plug column 10206 is controlled by the energization condition of the coil 10207. A pigment through-hole is formed at the bottom of the second valve body 10202;

[0132] Three valve body grooves are formed in the upper part of the first valve body 10201 from top to bottom. The valve body grooves are matched with the plug column 10206 and are used for positioning the plug column 10206, so as to control the conduction between the pigment through-hole at the bottom of the second valve body 10202 and the color pipeline through-hole of the specified color on the third valve body 10203. A valve body groove is formed on the side of the bottom of the first valve body 10201 close to the second valve body 10202. A color-changing disc 10216 is movably installed in the valve body groove. The two ends of two color-changing springs 10217 are respectively connected with the first valve body 10201 and the color-changing disc 10216. The middle part of the color-changing disc 10216 is connected with one end of an output liquid pipeline 10219, and the other end of the output liquid pipeline 10219 is connected with a color-changing skin unit 103.

[0133] In specific implementation, the first valve body 10201, the second valve body 10202 and the third valve body 10203 are vertically installed. The left side surface of the first valve body 10201, the left and right side surfaces of the second valve body 10202, and the right side surface of the third valve body 10203 are smooth surfaces, and they are relatively sealed and slidable with each other. The upper hydraulic driving device 10220 and the lower hydraulic driving device 10221 can both use a push rod to push the second valve body 10202 to move up and down under the drive of fluid pressure. Three spherical pits A, B, and C are formed on the first valve body 10201, and the shapes are matched with the spherical convex surfaces of the plug column 10206, and are used for locking the second valve body 10202 to prevent it from falling when changing skin color and fading. When the yellow solution pipeline is connected, the plug column is just in the pit A; when the white solution pipeline is connected, the plug column is just in the pit B; when the black solution pipeline is connected, the plug column is just in the pit C.

[0134] There is a counterbore on the upper part of the second valve body 10202, with a smooth inner wall, which is used to place the plug post, coil, permanent magnet and plug post spring. There is also an air guide hole at the rear. When the coil 10207 is not energized, under the elastic force of the plug post spring, the plug post 10206 is clamped with the pit of the first valve body 10201, and the second valve body 10202 is locked; when the coil 10207 is energized, the permanent magnet 10208 and the plug post 10206 are pushed back to release the second valve body.

[0135] Current detection probe pairs are installed at the ends of all three solution pipelines. Since the solution is conductive, a signal will be detected when there is 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 skin color changing fading process is completed. The end of the output liquid pipeline 10219 has a chamfer to prevent the color changing disc 10216 from being in close contact with the second valve body 10202, causing the solution to not flow. The disc surface of the color changing disc 10216 close to the second valve body 10202 is a rough surface. The upper and lower surfaces of the color changing disc 10216 slide smoothly and sealingly with the first valve body 10201, and there is an air guide hole on the right side of the first valve body 10201.

[0136] As Figure 20 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 liquid disc 10305, an oil liquid spring 10306, an oil liquid housing 10307, an oil liquid current probe 10311 and a skin adjusting assembly; the inner skin 10302 is attached to the outer side wall of the head shell mechanism 2. There are several skin adjusting assemblies for adjusting the skin thickness between the transparent outer skin 10301 and the inner skin 10302. The transparent outer skin 10301 and the inner skin 10302 form the skin structure of the robot. The bottom outlet of the skin structure is communicated with one end of the skin color pigment input pipeline 10303, and the other end of the skin color pigment input pipeline 10303 is communicated with the output liquid pipeline 10219 in the color changing valve unit 102. The top outlet of the skin structure is communicated with the opening of the oil liquid housing 10307. The oil liquid disc 10305 and the oil liquid spring 10306 are both installed in the oil liquid housing 10307. The two ends of the oil liquid spring 10306 are respectively connected with the inner wall surface of the oil liquid housing 10307 and the oil liquid disc 10305. The oily liquid 10304 is stored in the oil liquid housing 10307, and the oil liquid disc 10305 is located between the oily liquid 10304 and the oil liquid spring 10306. An oil liquid current probe 10311 for detecting the oily liquid is arranged at the outlet position at the top of the skin structure;

[0137] The dough sheet adjusting component mainly consists of a dough sheet permanent magnet 10308, a dough sheet spring 10309, and a dough sheet coil 10310. The dough sheet permanent magnet 10308 and the dough sheet coil 10310 are respectively installed on the transparent outer dough sheet 10301 and the inner dough sheet 10302. Both ends of the dough sheet spring 10309 are respectively connected to the dough sheet permanent magnet 10308 and the dough sheet coil 10310. The distance between the transparent outer dough sheet 10301 and the inner dough sheet 10302 is controlled by the energization condition of the dough sheet coil 10310, thereby controlling the thickness of the dough sheet structure.

[0138] When the dough sheet coil 10310 is energized, it will push the dough sheet permanent magnet 10308, drive the transparent outer dough sheet 10301, increase the distance between the transparent outer dough sheet 10301 and the inner dough sheet 10302, adjust the amount of color solution filled therein, thereby changing the average thickness of the color solution, and finally realizing small - range changes in skin color shade under the same skin color. The oily liquid 10304 is an oily transparent non - conductive liquid, which is transparent, incompressible, insoluble in water and the color solution, and non - conductive. The stiffness of the oil - liquid spring 10306 is relatively low, but greater than the equivalent stiffness of the two color - changing springs 10217.

[0139] As Figure 3 shown, the head shell mechanism 2 includes a side face shell 21, a middle face shell 22, a side lower jaw 24, and a middle - lower jaw 25. The middle face shell 22 has an inward - protruding support bracket for fixing the worm - gear structure of the deformation mechanism 14 to realize the change of face shape. The side face shell 21 is fixedly connected to the eyebrow fixing bracket 1121 in the eyebrow mechanism 11. The side lower jaw 24 is fixedly connected to the side - mouth bracket 13316 in the mouth mechanism 13. Both the middle face shell 22 and the side lower jaw 24 are connected to the deformation mechanism 14. The middle - lower jaw 25 is installed on the lower - lip fixing bracket 13217 in the mouth mechanism 13. The eyebrow fixing bracket 1121 is connected to the eye - fixing bracket 12110 in the eye mechanism 12 through the eyebrow - deformation connecting rod 1412 of the eyebrow - deformation unit 141. The inner dough sheet 10302 in the skin - color - changing mechanism 10 is attached to the side face shell 21, the middle face shell 22, the side lower jaw 24, and the middle - lower jaw 25 of the head shell mechanism 2.

[0140] Finally, it should be noted that the above - mentioned 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 foregoing embodiments, those of ordinary skill in the art should understand that: they can still modify the technical solutions recorded in the foregoing embodiments, or perform equivalent replacements on some or all of the technical features; and 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. A robot with variable facial shape and expression, characterized in that: The invention comprises a head assembly (1), a head shell mechanism (2), a neck mechanism (4) and a skin color changing mechanism (10); the head assembly (1) mainly comprises an eyebrow mechanism (11), an eye mechanism (12), a mouth mechanism (13) and a deformation mechanism (14); the eyebrow mechanism (11) and the eye mechanism (12) are fixedly connected; the eyebrow mechanism (11), the eye mechanism (12) and the mouth mechanism (13) are all connected to the deformation mechanism (14); the eyebrow mechanism (11), the mouth mechanism (13) and the deformation mechanism (14) are connected to each other; The deformation mechanism (14) is connected to the head shell mechanism (2), the neck mechanism (4) is fixedly mounted on the mouth mechanism (13), the skin color changing mechanism (10) is attached to the head shell mechanism (2) and is used to change the skin color of the robot, the deformation mechanism (14) comprises an eyebrow deformation unit (141) and a mouth deformation unit (142), the eyebrow deformation unit (141) and the mouth deformation unit (142) are mainly driven by a worm gear structure, and the deformation of the robot's eyebrows and mouth is achieved through the worm gear structure; The mouth mechanism (13) includes an upper lip unit (131), a lower lip unit (132) and left and right lip units (133), wherein the lower lip unit (132) and the left and right lip units (133) are all connected to the upper lip unit (131); the upper lip unit (131) includes a first upper lip servo (13101), a first upper lip servo arm (13102), a first upper lip connecting rod (13103), an upper lip slider (13104 ... connecting rod (13104), a first upper lip connecting rod (13105), a first upper lip connecting rod (13106), a first upper lip connecting rod (13107), a first upper lip connecting rod (13108), a first upper lip connecting rod (13109), a first upper lip connecting rod (131101), a first upper lip connecting rod (131102), a first upper lip connecting rod (131103), a first upper lip connecting rod (131104), a first upper lip connecting rod (131105), a first upper lip connecting rod (131106), a first upper lip connecting rod (131107), a first upper lip connecting rod (131108), a first upper lip connecting rod (131109), a first upper lip connecting rod (13110 two upper lip servos (13105), a second upper lip servo arm (13106), a second upper lip connecting rod (13107), a first mouth control plate (13108), two third upper lip servos (13109), two third upper lip servo arms (13110), two second mouth control plates (13111) and a mouth middle bracket (13115); the first upper lip servo (13101), the second upper lip servo (13105) and the two third upper lip The servos (13109) are all fixedly mounted on the mouth middle bracket (13115), the output shaft of the first upper lip servo (13101) is hinged to one end of the first upper lip connecting rod (13103) through the first upper lip servo arm (13102), the other end of the first upper lip connecting rod (13103) is hinged to the first mouth control plate (13108), the output shaft of the second upper lip servo (13105) is hinged to the second upper lip connecting rod (13106) through the second upper lip servo arm (13106). One end of the second upper lip connecting rod (13107) is hinged, and the other end of the second upper lip connecting rod (13107) is equipped with an upper lip slider (13104), and the upper lip slider (13104) can be installed on the first upper lip connecting rod (13103) so as to move forward and backward along the extension direction of the first upper lip connecting rod (13103), and the output shafts of the two third upper lip servos (13109) are respectively hinged with the two second mouth control plates (13111) through the third upper lip servo arms (13110); The lower lip unit (132) comprises a first lower lip servo (13201), a first lower lip servo arm (13202), a first lower lip connecting rod (13203), a lower lip slider (13204), a second lower lip servo (13205), a second lower lip servo arm (13206), a second lower lip connecting rod (13207), a third lower lip connecting rod (13208), a third mouth control plate (13209), two third lower lip servos (13210), two third lower lip servo arms (13211), and a third lower lip connecting rod (13212). 3211), two fourth mouth control plates (13212), a fourth lower lip steering gear (13215) and a lower lip fixing bracket (13217); the fourth lower lip steering gear (13215) is fixedly mounted on the mouth middle bracket (13115), the steering gear arm of the fourth lower lip steering gear (13215) is connected to the lower lip fixing bracket (13217), the first lower lip steering gear (13201), the second lower lip steering gear (13205) and the two third lower lip steering gears (13210) are all fixedly mounted on the lower lip On the fixed bracket (13217), the output shaft of the second lower lip servo (13205) is hinged to one end of the second lower lip connecting rod (13207) through the second lower lip servo arm (13206), the other end of the second lower lip connecting rod (13207) is hinged to one end of the third lower lip connecting rod (13208), the other end of the third lower lip connecting rod (13208) is fixedly connected to the third mouth control plate (13209), and the output shaft of the first lower lip servo (13201) is hinged to one end of the third lower lip connecting rod (13208) through the first lower lip servo arm (13206). 3202) is hinged to one end of the first lower lip connecting rod (13203), a lower lip slider (13204) is installed at the other end of the first lower lip connecting rod (13203), the lower lip slider (13204) can be installed on the third lower lip connecting rod (13208) to move forward and backward along the extension direction of the third lower lip connecting rod (13208), and the output shafts of the two third lower lip servos (13210) are respectively hinged to the two fourth mouth control plates (13212) through the third lower lip servo arms (13211); The left and right lip units (133) include a first mouth servo (13308), a first mouth servo arm (13309), a first mouth connecting rod (13310), a second mouth servo (13311), a second mouth servo arm (13312), a second mouth connecting rod (13313), a fifth mouth control plate (13314) and two mouth side brackets (13316); the two mouth side brackets (13316) are respectively arranged on the left and right sides of the mouth middle bracket (13115), and the first mouth servo (13308) and the second mouth servo (13311) are both fixedly connected to the mouth side brackets. On the side bracket (13316), the output shaft of the first nozzle servo (13308) is hinged to one end of the first nozzle connecting rod (13310) through the first nozzle servo arm (13309), the output shaft of the second nozzle servo (13311) is hinged to one end of the second nozzle connecting rod (13313) through the second nozzle servo arm (13312), the other end of the first nozzle connecting rod (13310) and the other end of the second nozzle connecting rod (13313) are hinged, and a fifth nozzle control plate (13314) is installed at the hinge position of the first nozzle connecting rod (13310) and the second nozzle connecting rod (13313); The eyebrow deformation unit (141) comprises an eyebrow deformation worm gear (1411) and two eyebrow deformation connecting rods (1412); the eyebrow deformation worm gear (1411) comprises a first eyebrow ball head buckle (141101), a second eyebrow ball head buckle (141102), a third eyebrow ball head buckle (141103), a fourth eyebrow ball head buckle (141104), a first eyebrow worm gear (141106), a second eyebrow worm gear (141107), an eyebrow deformation worm gear (141108) and an eyebrow deformation worm gear housing (141109); The top and bottom of the eyebrow deformation connecting rod (1412) are respectively fixedly connected to the eyebrow fixing bracket (1121) in the eyebrow mechanism (11) and the eye fixing bracket (12110) in the eye mechanism (12); the eyebrow deformation worm gear housing (141109) is fixedly mounted on the middle face shell (22) of the head shell mechanism (2); the first eyebrow ball head buckle (141101) and the second eyebrow ball head buckle (141102) are both fixedly mounted on one eyebrow deformation connecting rod (1412); the third eyebrow ball head buckle (141103) and the fourth eyebrow ball head buckle (141104) are both fixedly mounted on the other eyebrow deformation connecting rod (1412); the eyebrow deformation worm gear (141108) is fixedly mounted on the middle face shell (22) of the head shell mechanism (2); Inside the eyebrow deforming worm gear housing (141109), four eyebrow worm through holes are opened on the eyebrow deforming worm gear housing (141109); one end of the first eyebrow worm gear (141106) passes through the first eyebrow worm gear through hole and is connected to the first eyebrow ball head buckle (141101) through a thread; the other end passes through the second eyebrow worm gear through hole and is connected to the third eyebrow ball head buckle (141103) through a thread; one end of the second eyebrow worm gear (141107) passes through the third eyebrow worm gear through hole and is connected to the second eyebrow ball head buckle (141102) through a thread; the other end passes through the fourth eyebrow worm gear through hole and is connected to the fourth eyebrow ball head buckle (141104) through a thread.

2. The expression robot with variable facial shape according to claim 1, characterized in that: The eyebrow mechanism (11) comprises a first eyebrow steering gear (1101), a first eyebrow steering gear arm (1102), a first eyebrow connecting rod (1103), an eyebrow movable bracket (1104), a first eyebrow control plate (1105), a second eyebrow steering gear (1111), a second eyebrow steering gear arm (1112), a second eyebrow connecting rod (1113), a third eyebrow connecting rod (1114), a second eyebrow control plate (1115) and an eyebrow fixed bracket (1121); the first eyebrow steering gear (1101) and the second eyebrow steering gear (1111) are respectively fixedly mounted on the eyebrow fixed bracket (1121) and the eyebrow movable bracket (1104); the output shaft of the first eyebrow steering gear (1101) and the first eyebrow steering gear arm (1112) are connected to each other. The first eyebrow steering gear arm (1102) is fixedly connected to one end of the first eyebrow connecting rod (1103), the other end of the first eyebrow connecting rod (1103) is hinged to one end of the first eyebrow connecting rod (1103), the other end of the first eyebrow connecting rod (1103) is hinged to the eyebrow movable bracket (1104), the first eyebrow control plate (1105) and the third eyebrow connecting rod (1114) are both installed on the eyebrow movable bracket (1104), the output shaft of the second eyebrow steering gear (1111) is hinged through the second eyebrow steering gear arm (1112) and one end of the second eyebrow connecting rod (1113), the other end of the second eyebrow connecting rod (1113) is hinged to one end of the third eyebrow connecting rod (1114), and the second eyebrow control plate (1115) is installed on the other end of the third eyebrow connecting rod (1114).

3. The expression robot with variable facial shape according to claim 1, characterized in that: The eye mechanism (12) comprises an eyelid opening and closing unit (121), an eyeball rotation unit (122) and a pupil color changing unit (123); the eyelid opening and closing unit (121) and the eyeball rotation unit (122) are connected, and the pupil color changing unit (123) for changing the pupil color is arranged in the eyeball (12109) of the eyelid opening and closing unit (121); the eyelid opening and closing unit (121) comprises a first eye steering engine (121); 2101), a first eye servo arm (12102), an upper eyelid connecting rod (12103), an upper eyelid (12104), a second eye servo (12105), a second eye servo arm (12106), a lower eyelid connecting rod (12107), a lower eyelid (12108), an eyeball (12109) and an eye fixing bracket (12110); the first eye servo (12101) and the second eye servo (12103) are 2105) are fixedly mounted on the eye fixing bracket (12110), the output shaft of the first eye steering gear (12101) is hinged to one end of the upper eyelid connecting rod (12103) through the first eye steering gear arm (12102), the other end of the upper eyelid connecting rod (12103) is hinged to the upper eyelid (12104), and the output shaft of the second eye steering gear (12105) is hinged to the lower eyelid through the second eye steering gear arm (12106). One end of the connecting rod (12107) is hinged, the other end of the lower eyelid connecting rod (12107) is hinged to the lower eyelid (12108), the upper eyelid (12104) and the lower eyelid (12108) are both hinged to the eye fixing bracket (12110), the upper eyelid (12104) and the lower eyelid (12108) are hinged, and the eyeball (12109) is arranged between the upper eyelid (12104) and the lower eyelid (12108); The eyeball rotation unit (122) comprises an eyeball back plate (12201), a third eye steering gear (12203), a fourth eye steering gear (12204), a third eye steering gear arm (12205), a first eye connecting rod (12206), a second eye connecting rod (12207), a fourth eye steering gear arm (12208), a third eye connecting rod (12209) and a fourth eye connecting rod (12210); the third eye steering gear (12203) and the fourth eye steering gear (12204) are both fixedly mounted on an eye fixing bracket (12110), the eyeball back plate (12201) is fixedly mounted on an eyeball (12109), the output shaft of the third eye steering gear (12203) is fixedly connected to one end of the third eye steering gear arm (12205), and the third eye steering gear arm (12210) is fixedly mounted on the eye fixing bracket (12110). 2205) is fixedly connected to the bottom end of the first eye connecting rod (12206), one end of the second eye connecting rod (12207) is movably connected to the first eye connecting rod (12206), and the other end of the second eye connecting rod (12207) is connected to the eyeball back plate (12201) through a ball joint; the output shaft of the fourth eye servo (12204) is fixedly connected to one end of the fourth eye servo arm (12208), the other end of the fourth eye servo arm (12208) is hinged to one end of the third eye connecting rod (12209), the other end of the third eye connecting rod (12209) is hinged to the middle of the fourth eye connecting rod (12210), and the two ends of the fourth eye connecting rod (12210) are respectively hinged to the eye fixing bracket (12110) and the eyeball back plate (12201); The pupil color changing unit (123) comprises a pupil (1231), an eye membrane (1232), positively charged blue particles and negatively charged brown particles; the pupil (1231) and the eye membrane (1232) are arranged in the middle of the outer surface of the eyeball (12109), an eyeball cavity (1238) is opened in the middle of the eyeball (12109), and a transparent liquid, positively charged blue particles and negatively charged brown particles are stored in the eyeball cavity (1238); when a positive current is passed through the transparent liquid, the negatively charged brown particles are adsorbed on the inner surface of the eyeball (12109), so that the eye membrane (1232) of the eyeball (12109) is brown, and when a negative current is passed through the transparent liquid, the positively charged blue particles are adsorbed on the inner surface of the eyeball (12109), so that the eye membrane (1232) of the eyeball (12109) is blue.

4. The expression robot with variable facial shape according to claim 1, characterized in that: The first eyebrow worm (141106) and the second eyebrow worm (141107) are arranged in parallel and spaced apart, and the two ends of the eyebrow deformation worm wheel (141108) are respectively meshed and connected with the threads on the first eyebrow worm (141106) and the second eyebrow worm (141107); left-handed spiral teeth are arranged at the meshing position between the first eyebrow worm (141106) and the eyebrow deformation worm wheel (141108), left-handed spiral teeth are arranged at the meshing position between the second eyebrow worm (141107) and the eyebrow deformation worm wheel (141108), and left-handed spiral teeth are arranged on the periphery of the eyebrow deformation worm wheel (141108); The ends of the first eyebrow ball buckle (141101) and the fourth eyebrow ball buckle (141104) are both provided with left-handed internal thread holes, and the ends of the second eyebrow ball buckle (141102) and the third eyebrow ball buckle (141103) are both provided with right-handed internal thread holes; the end of the first eyebrow worm (141106) close to the first eyebrow ball buckle (141101) is provided with a left-handed external thread, and the end of the first eyebrow worm (141106) close to the third eyebrow ball buckle (141103) is provided with a right-handed external thread, the end of the second eyebrow worm (141107) close to the second eyebrow ball buckle (141102) is provided with a right-handed external thread, and the end of the second eyebrow worm (141107) close to the fourth eyebrow ball buckle (141104) is provided with a left-handed external thread.

5. The expression robot with variable facial shape according to claim 1, characterized in that: The mouth deformation unit (142) comprises a mouth deformation worm gear (1422), and the mouth deformation worm gear (1422) comprises a first mouth ball head buckle (142201), a second mouth ball head buckle (142202), a third mouth ball head buckle (142203), a fourth mouth ball head buckle (142204), a first mouth worm (142206), a second mouth worm (142207), a mouth deformation worm wheel (142208) and a mouth deformation worm gear housing (142209); The mouth deformable worm gear housing (142209) is fixedly mounted on the middle face housing (22) of the head housing mechanism (2); the first mouth ball head buckle (142201) and the second mouth ball head buckle (142202) are both fixedly mounted on a side lower jaw (24) of the head housing mechanism (2); the third mouth ball head buckle (142203) and the fourth mouth ball head buckle (142204) are both fixedly mounted on the other side lower jaw (24) of the head housing mechanism (2); the mouth deformable worm wheel (142208) is located inside the mouth deformable worm gear housing (142209); and the mouth deformable worm gear housing (142209) is fixedly mounted on the middle face housing (22) of the head housing mechanism (2). 142209) is provided with four mouth worm through holes, one end of the first mouth worm (142206) is passed through the first mouth worm through hole and connected to the first mouth ball buckle (142201) by a thread, the other end is passed through the second mouth worm through hole and connected to the third mouth ball buckle (142203) by a thread, one end of the second mouth worm (142207) is passed through the third mouth worm through hole and connected to the second mouth ball buckle (142202) by a thread, and the other end is passed through the fourth mouth worm through hole and connected to the fourth mouth ball buckle (142204) by a thread.

6. The expression robot with variable facial shape according to claim 5, characterized in that: The first mouth worm (142206) and the second mouth worm (142207) are arranged in parallel and spaced apart, and the two ends of the mouth deformable worm wheel (142208) are respectively meshed and connected with the threads on the first mouth worm (142206) and the second mouth worm (142207); left-handed spiral teeth are arranged at the meshing position between the first mouth worm (142206) and the mouth deformable worm wheel (142208), left-handed spiral teeth are arranged at the meshing position between the second mouth worm (142207) and the mouth deformable worm wheel (142208), and left-handed spiral teeth are arranged on the periphery of the mouth deformable worm wheel (142208); The ends of the first nozzle ball head buckle (142201) and the second nozzle ball head buckle (142202) are both provided with left-handed internal threaded holes, and the ends of the third nozzle ball head buckle (142203) and the fourth nozzle ball head buckle (142204) are both provided with right-handed internal threaded holes; the end of the first nozzle worm gear (142206) close to the first nozzle ball head buckle (142201) is provided with a left-handed external thread, and the end of the first nozzle worm gear (142206) close to the third nozzle ball head buckle (142203) is provided with a right-handed external thread, the end of the second nozzle worm gear (142207) close to the second nozzle ball head buckle (142202) is provided with a left-handed external thread, and the end of the second nozzle worm gear (142207) close to the fourth nozzle ball head buckle (142204) is provided with a right-handed external thread.

7. The expression robot with variable facial shape according to claim 1, characterized in that: The neck mechanism (4) comprises a neck connecting seat (401), a first neck ball head buckle (402), a first neck ball head connecting rod (403), a second neck ball head buckle (404), a first neck steering gear arm (405), a first neck steering gear (406), a third neck ball head buckle (407), a second neck ball head connecting rod (408), a fourth neck ball head buckle (409), a second neck steering gear arm (410), a second neck steering gear (411), a ball head bearing (412), a first push rod joint (413), an electric push rod (414), and a second push rod joint (415). ), a neck servo fixing seat (416), a slewing bearing (417), a third neck servo (418), a neck base (419) and a head-neck connecting seat (420); the outer ring and the inner ring of the slewing bearing (417) are fixedly connected to the neck base (419) and the neck servo fixing seat (416) respectively, the outer shell of the third neck servo (418) is installed on the neck base (419), the output shaft of the third neck servo (418) is connected to the neck servo fixing seat (416), and the third neck servo (418) is used to drive the neck servo fixing seat (416) to rotate; The housings of the first neck servo (406) and the second neck servo (411) are fixedly mounted on the neck servo fixing seat (416); the output shaft of the first neck servo (406) is hinged to one end of the second neck ball buckle (404) through the first neck servo arm (405); the other end of the second neck ball buckle (404) is connected to the first neck ball buckle (402) through the first neck ball connecting rod (403); the second neck servo (411) is hinged to one end of the fourth neck ball buckle (409) through the second neck servo arm (410); the other end of the fourth neck ball buckle (409) is hinged to the third neck ball buckle (407) through the second neck ball connecting rod (408). ), the first neck ball head buckle (402) and the third neck ball head buckle (407) are both fixedly mounted on the neck connection seat (401), the neck connection seat (401) is fixedly connected to the head and neck connection seat (420), and the head and neck connection seat (420) is fixedly mounted on the mouth middle bracket (13115) of the mouth mechanism (13); the bottom end of the second push rod joint (415) is hinged on the neck servo fixing seat (416), the top end of the second push rod joint (415) is connected to the bottom end of the first push rod joint (413) through a telescopic electric push rod (414), and the top end of the first push rod joint (413) is connected to the neck connection seat (401) through a ball head bearing (412).

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

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