Robot mouth device and robot

Abstract

The invention relates to the technical field of robots, in particular to a robot mouth device and a robot. The upper lip movement mechanism is mounted on the upper jaw model and is in driving connection with the upper lip; the lower jawbone model is arranged below the upper jawbone model; the lower lip movement mechanism is mounted at the bottom of the lower jawbone model and is in driving connection with the lower lip; the two mouth corner movement mechanisms are in driving connection with the two mouth corners respectively; wherein the upper lip movement mechanism is in underactuated connection with the upper lip and / or the lower lip movement mechanism is in underactuated connection with the lower lip, so that the upper lip and / or the lower lip are / is more natural when completing corresponding movement actions, and the action stiffness feeling is reduced; when the mouth of the robot needs to be controlled to complete the preset action, the upper lip movement mechanism drives the upper lip, the lower lip movement mechanism drives the lower lip, and the mouth corner movement mechanism drives the mouth corners to move along respective preset routes so as to complete the preset action of the mouth in a matched mode.

Description

Technical Field

[0001] The present invention relates to the technical field of robots, and in particular to a robot mouth device and a robot. Background Art

[0002] As bionic robots gradually mature, the requirements for them are no longer just to be able to perform some simple, rigid basic movements; instead, they pursue natural movements that are close to those of humans. For example, the mouth area design of existing bionic robots mostly adopts a wire-driven structure, which can only perform simple stretching movements, and cannot achieve complex curve movements or natural eversion movements, and lacks realism. Since the robot's mouth movement is not realistic enough, it will cause discomfort to users during human-computer interaction. This phenomenon is called the uncanny valley effect, which seriously affects the application effect of humanoid robots. Summary of the invention

[0003] In order to solve the problem of stiff movement of the current robot mouth, the present invention provides a robot mouth device and a robot.

[0004] The technical solution of the present invention is:

[0005] On the one hand, the present invention provides a robot mouth device, including a lip model; the lip model includes an upper lip, a lower lip and two mouth corners located between the upper lip and the lower lip; it is characterized in that it also includes

[0006] Maxillary model;

[0007] An upper lip movement mechanism, mounted on the maxillary bone model and drivingly connected to the upper lip;

[0008] A mandibular model, arranged below the maxillary model;

[0009] A lower lip movement mechanism is installed at the bottom of the mandibular model and is driven to connect to the lower lip;

[0010] Two mouth corner motion mechanisms, mounted on the maxillary model and / or the mandibular model and respectively driving and connecting the two mouth corners;

[0011] Therein, the upper lip movement mechanism and the upper lip are in an under-actuated connection and / or the lower lip movement mechanism and the lower lip are in an under-actuated connection.

[0012] Furthermore, the upper lip movement mechanism includes a first motor, a first connecting rod assembly and a first under-actuated connection assembly; the input end of the first connecting rod assembly is connected to the output end of the first motor; the output end of the first connecting rod assembly is rotationally connected to the input end of the first under-actuated connection assembly; and the output end of the first under-actuated connection assembly is connected to the upper lip.

[0013] Furthermore, the first motor is installed in the top symmetrical central area of ​​the maxillary model; the first connecting rod assembly includes a first connecting rod, a second connecting rod and a third connecting rod; the first end of the first connecting rod is rotatably connected to the symmetrical central area of ​​the maxillary model, and the second end of the first connecting rod is rotatably connected to the first under-driven connecting assembly; the input end of the second connecting rod is connected to the output end of the first motor; the output end of the second connecting rod is connected to the input end of the third connecting rod, and the output end of the third connecting rod is rotatably connected to the first connecting rod to drive the first connecting rod to rotate.

[0014] Furthermore, the first under-actuated connection assembly includes an under-actuated connection piece and an upper lip connector which are rotationally connected to each other; the under-actuated connection piece is rotationally connected to the output end of the first connecting rod assembly; and the upper lip connector is connected to the upper lip.

[0015] Furthermore, the upper lip connector includes an upper lip connecting seat, a first upper lip connecting member and a second upper lip connecting member; the upper lip connecting seat is rotatably connected to the under-driven connecting piece; the first upper lip connecting member is arranged on the upper lip connecting seat, and the second upper lip connecting member is detachably connected to the first upper lip connecting member.

[0016] Furthermore, one of the first upper lip connecting member and the second upper lip connecting member is a boss, and the other is a groove, and the boss and the groove are magnetically connected.

[0017] Furthermore, the lower lip movement mechanism includes a second motor, a second connecting rod assembly and a lower lip connector; the second motor is installed at the bottom of the mandibular model, and the output end of the second motor is connected to the input end of the second connecting rod assembly; the output end of the second connecting rod assembly is rotatably connected to the lower lip connector to drive it to move tilted upward or tilted downward, and the lower lip connector is connected to the lower lip.

[0018] Furthermore, the second link assembly includes a fourth link, a fifth link and a sixth link which are rotatably connected to each other in sequence, and the sixth link is rotatably connected to the lower lip connector; the mandibular model has an inclined guide portion, and the sixth link is arranged on the guide portion and is suitable for guiding and moving along the guide portion.

[0019] Furthermore, the mouth corner movement mechanism includes a third motor, a fourth motor, a first active rod, a second active rod, a seventh connecting rod, an eighth connecting rod and a mouth corner connector; the output end of the third motor is connected to the input end of the first active rod, and the output end ball head of the first active rod is connected to the seventh connecting rod; the output end of the fourth motor is connected to the second active rod, and the output end ball head of the second active rod is connected to the eighth connecting rod; the seventh connecting rod is rotatably connected to the eighth connecting rod; one of the seventh connecting rod and the eighth connecting rod has an extension section and the extension section is connected to the mouth corner connector.

[0020] According to another aspect of the present invention, there is also provided a robot, comprising the robot mouth device as described above:.

[0021] The beneficial effects achieved by the present invention are:

[0022] The robot mouth device of the present invention includes a lip model; the lip model includes an upper lip, a lower lip and two mouth corners located between the upper lip and the lower lip; it also includes a maxillary model; an upper lip movement mechanism, which is installed on the maxillary model and driven to connect to the upper lip; a mandibular model, which is arranged below the maxillary model; a lower lip movement mechanism, which is installed on the bottom of the mandibular model and driven to connect to the lower lip; two mouth corner movement mechanisms, which are installed on the maxillary model and / or the mandibular model and driven to connect to the two mouth corners respectively; wherein the upper lip movement mechanism and the upper lip are in an under-actuated connection and / or the lower lip movement mechanism and the lower lip are in an under-actuated connection. The maxillary model and the mandibular model are set up to build the main supporting skeleton of the robot's mouth; the upper lip movement mechanism is installed on the maxillary model, and the lower lip movement mechanism is installed on the bottom of the mandibular model, so that the overall structural design of the robot's mouth area can be reasonable and compact; when it is necessary to control the robot's mouth to complete a predetermined action, the upper lip movement mechanism drives the upper lip, the lower lip movement mechanism drives the lower lip, and the corner of the mouth movement mechanism drives the corner of the mouth to make the three move along their respective preset routes to cooperate to complete the predetermined action of the mouth; and because the upper lip movement mechanism and the upper lip are under-driven and / or the lower lip movement mechanism and the lower lip are under-driven, the upper lip and / or the lower lip will be more natural when completing the corresponding movement, reducing the stiffness of the movement. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present application and, together with the description, serve to explain the principles of the present application.

[0024] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, for ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative labor.

[0025] One or more embodiments are exemplarily described by pictures in the corresponding drawings, and these exemplified descriptions do not constitute limitations on the embodiments. Elements with the same reference numerals in the drawings represent similar elements, and unless otherwise stated, the figures in the drawings do not constitute proportional limitations.

[0026] Figure 1 It is a schematic diagram of the three-dimensional structure of the first embodiment of the present application;

[0027] Figure 2 is a side structural schematic diagram of Embodiment 1 of the present application;

[0028] Figure 3 yes Figure 2 Schematic diagram after removing the mouth corner movement structure;

[0029] Figure 4 is a schematic structural diagram of an upper lip movement mechanism according to a first embodiment of the present application;

[0030] Figure 5 is a schematic structural diagram of a lower lip movement mechanism according to an embodiment of the present application;

[0031] Figure 6 It is a structural schematic diagram of the mouth corner movement mechanism of Example 1 of the present application.

[0032] In the figure,

[0033] 100, maxillary model; 200, upper lip movement mechanism; 300, mandibular model; 400, lower lip movement mechanism; 500, mouth corner movement mechanism; 110, alveolar bone; 210, first motor; 220, first connecting rod assembly; 230, first underactuated connection assembly; 221, first connecting rod; 222, second connecting rod; 223, third connecting rod; 231, underactuated connection piece; 232, upper lip connector; 2321, upper lip connector seat; 2322, first upper Lip connector; 2323, second upper lip connector; 410, second motor; 420, second connecting rod assembly; 430, lower lip connector; 421, fourth connecting rod; 422, fifth connecting rod; 423, sixth connecting rod; 510, third motor; 520, fourth motor; 530, third connecting rod assembly; 540, fourth connecting rod assembly; 550, mouth corner connector; 531, first active rod; 532, seventh connecting rod; 541, second active rod; 542, eighth connecting rod. DETAILED DESCRIPTION

[0034] In order to make the purpose, technical solution and advantages of the embodiments of the present application clearer, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in the field without making creative work are within the scope of protection of this application.

[0035] The disclosure below provides many different embodiments or examples to realize the different structures of the present application. In order to simplify the disclosure of the present application, the parts and settings of specific examples are described below. Of course, they are only examples, and the purpose is not to limit the present application. In addition, the present application can repeat reference numbers and / or letters in different examples. This repetition is for the purpose of simplification and clarity, and does not itself indicate the relationship between the various embodiments and / or settings discussed.

[0036] For ease of description, spatial relative terms may be used in the text to describe the relative positional relationship or movement of one element or feature relative to another element or feature as shown in the figure, such as "inside", "outside", "inner side", "outer side", "below", "below", "above", "above", "front", "back", etc. Such spatial relative terms are intended to include different orientations of the device in use or operation other than the orientation depicted in the figure. For example, if the device in the figure undergoes a position flip or a posture change or a motion state change, then these directional indications also change accordingly, for example: an element described as "below other elements or features" or "below other elements or features" will subsequently be oriented as "above other elements or features" or "above other elements or features". Therefore, the example term "below ······" may include both upper and lower orientations. The device may be otherwise oriented (rotated 90 degrees or in other directions) and the spatial relative descriptors used in the text are interpreted accordingly.

[0037] Embodiment 1

[0038] The embodiment of the present application discloses a robot mouth device, including a lip model (not shown, the whole is made of flexible and deformable material); the lip model includes an upper lip, a lower lip and two corners of the mouth located between the upper lip and the lower lip; it also includes a maxillary model 100; an upper lip movement mechanism 200, which is installed on the maxillary model 100 and driven to connect to the upper lip; a mandibular model 300, which is arranged below the maxillary model 100; a lower lip movement mechanism 400, which is installed at the bottom of the mandibular model 300 and driven to connect to the lower lip; two corners of the mouth movement mechanisms 500, which are installed on the maxillary model 100 and / or the mandibular model 300 and driven to connect to the two corners of the mouth respectively; wherein, the upper lip movement mechanism 200 and the upper lip are under-driven and / or the lower lip movement mechanism 400 and the lower lip are under-driven.

[0039] In this embodiment, the maxillary model 100 and the mandibular model 300 are arranged to construct the main support skeleton of the robot's mouth; the maxillary model 100 and the mandibular model 300 can be connected to a jaw drive device (not shown) separately or together to realize the corresponding movement of the maxillary model 100 and the mandibular model 300; the upper lip movement mechanism 200 is installed on the maxillary model 100, and the lower lip movement mechanism 400 is installed on the bottom of the mandibular model 300, so that the overall structural design of the robot's mouth area can be reasonable and compact, and the installation space occupancy can be effectively reduced; when the control mechanism needs to be controlled, the upper lip movement mechanism 200 can be installed on the maxillary model 100, and the lower lip movement mechanism 400 can be installed on the bottom of the mandibular model 300, so as to realize the corresponding movement of the maxillary model 100 and the mandibular model 300. When the robot's mouth completes a predetermined movement, the upper lip movement mechanism 200 drives the upper lip, the lower lip movement mechanism 400 drives the lower lip, and the corner of the mouth movement mechanism 500 drives the corner of the mouth so that the three move along their respective preset routes to cooperate to complete the predetermined movement of the mouth; and because the upper lip movement mechanism 200 and the upper lip are under-driven connections and / or the lower lip movement mechanism 400 and the lower lip are under-driven connections (under-driven connection; refers to the number of drivers being less than the number of degrees of freedom that need to be driven in the system), the upper lip and / or lower lip will be more natural when completing the corresponding movement, reducing the stiffness of the movement.

[0040] In an optional embodiment, the upper lip movement mechanism 200 includes a first motor 210, a first connecting rod assembly 220 and a first under-actuated connection assembly 230; the input end of the first connecting rod assembly 220 is connected to the output end of the first motor 210; the output end of the first connecting rod assembly 220 is rotatably connected to the input end of the first under-actuated connection assembly 230; and the output end of the first under-actuated connection assembly 230 is connected to the upper lip.

[0041] In this embodiment, reference Figure 2Since the output end of the first connecting rod assembly 220 is rotationally connected to the input end of the first under-actuated connection assembly 230, and the upper lip itself is flexible, this connection method is used to make the drive of the upper lip an under-actuated connection, so that the movement process of the upper lip is not a linear push-pull action, but can perform adaptive movements according to the corresponding tissue and organ shapes, which is more humanized.

[0042] In an optional embodiment, the first motor 210 is installed in the top symmetrical center area of ​​the maxillary model 100; the first connecting rod assembly 220 includes a first connecting rod 221, a second connecting rod 222 and a third connecting rod 223; the first end of the first connecting rod 221 is rotatably connected to the symmetrical center area of ​​the maxillary model 100, and the second end of the first connecting rod 221 is rotatably connected to the first under-driven connecting assembly 230; the input end of the second connecting rod 222 is connected to the output end of the first motor 210; the output end of the second connecting rod 222 is connected to the input end of the third connecting rod 223, and the output end of the third connecting rod 223 is rotatably connected to the first connecting rod 221 to drive the first connecting rod 221 to rotate.

[0043] In this embodiment, since the first connecting rod 221 usually needs to be arranged at a position directly opposite to the middle of the upper lip so as to be directly connected to the center of the upper lip, if the first motor 210 is directly connected to the first connecting rod 221, the problem of poor structural layout balance will occur; Figure 1 , 3 As shown in the figure, the second connecting rod 222 and the third connecting rod 223 are provided so that the first motor 210 can also be arranged in the middle position area aligned with the upper lip, so that the overall structure is more compact and the center of gravity is more balanced; at the same time, the first connecting rod 221 is driven by the second connecting rod 222 and the third connecting rod 223, so that the rotation range of the first connecting rod 221 can be more conveniently controlled.

[0044] In an optional embodiment, the first connecting rod assembly 220 is a connecting rod, which is rotatably connected to the maxillary model 100, and the first motor 210 is directly connected to the rotating shaft of the first connecting rod assembly 220 to drive the first connecting rod assembly 220 to rotate. This embodiment can also complete the action of driving the first under-driven connection assembly 230 to rotate.

[0045] In an optional embodiment, the first under-actuated connection assembly 230 includes an under-actuated connection piece 231 and an upper lip connector 232 which are rotationally connected to each other; the under-actuated connection piece 231 is rotationally connected to the output end of the first connecting rod assembly 220; and the upper lip connector 232 is connected to the upper lip.

[0046] In this embodiment, the first connecting rod assembly 220 is directly driven by the first motor 210, and the under-driven connecting piece 231 is rotationally connected to the output end of the first connecting rod assembly 220, and the upper lip connector 232 is rotationally connected to the under-driven connecting piece 231. Therefore, it is equivalent to that the structural design has two under-driven rotating shafts, thereby facilitating the completion of complex movements with a greater degree of adaptive movements and a greater variety of movements; for example, when the corners of the mouth are retracted, the first motor 210 drives the first under-driven connecting assembly 230 to move downward, and since both the under-driven connecting piece 231 and the upper lip connector 232 have under-driven rotating shafts, the action of everting the upper lip can be completed.

[0047] In an optional embodiment, if Figure 3 As shown, the maxillary model 100 has an alveolar bone 110 protruding toward the outside of the lip, and the under-actuated connecting piece 231 and the upper lip connector 232 can contact the convex surface of the alveolar bone 110 on the side facing the inner side of the lip; the under-actuated connecting piece 231 and the upper lip connector 232 connected by the under-actuated shaft lean against the convex side of the alveolar bone 110, and when both move upward or downward, they will be affected by the shape of the alveolar bone 110 itself, so that they can move adaptively according to the shape of the alveolar bone 110; optionally, the alveolar bone 110 is designed to imitate the human alveolar bone or is slightly deformed and modified to achieve more realistic movements.

[0048] In an optional embodiment, the upper lip connector 232 includes an upper lip connecting seat 2321, a first upper lip connecting member 2322 and a second upper lip connecting member 2323; the upper lip connecting seat 2321 is rotatably connected to the under-driven connecting piece 231; the first upper lip connecting member 2322 is arranged on the upper lip connecting seat 2321, and the second upper lip connecting member 2323 is detachably connected to the first upper lip connecting member 2322; the second upper lip connecting member 2323 is connected to the upper lip.

[0049] In this embodiment, by detachably connecting the second upper lip connecting member 2323 to the first upper lip connecting member 2322, installation and disassembly are facilitated when the parts connected thereto need to be repaired and maintained; optionally, the side of the second upper lip connecting member 2323 facing the upper lip is a flat surface or a protruding contour surface, and its area can be appropriately increased to increase the contact area between the second upper lip connecting member 2323 and the upper lip, thereby improving the connection stability between the two; optionally, the second upper lip connecting member 2323 and the upper lip are adhesively connected.

[0050] In an optional embodiment, one of the first upper lip connecting member 2322 and the second upper lip connecting member 2323 is a boss, and the other is a groove; and the boss and the groove are magnetically connected.

[0051] In this embodiment, the first upper lip connector 2322 and the second upper lip connector 2323 can be quickly connected and disassembled through the magnetic connection, which makes the operation easier; and through the matching structure of the boss and the groove, it can play the following roles: first, it plays a positioning and guiding role; second, it increases the adsorption area between the first upper lip connector 2322 and the second upper lip connector 2323, thereby providing a greater suction force to make the connection between the first upper lip connector 2322 and the second upper lip connector 2323 more secure and less likely to loosen.

[0052] In an optional embodiment, the lower lip movement mechanism 400 includes a second motor 410, a second connecting rod assembly 420 and a lower lip connector 430; the second motor 410 is installed at the bottom of the mandibular model 500, and the output end of the second motor 410 is connected to the input end of the second connecting rod assembly 420; the output end of the second connecting rod assembly 420 is rotated to connect to the lower lip connector 430 to drive it to move tilted upward or tilted downward, and the lower lip connector 430 is connected to the lower lip.

[0053] In this embodiment, the second motor 410 can drive the second connecting rod assembly 420 to move it in a preset direction, and the output end of the second connecting rod assembly 420 is rotatably connected to the lower lip connector 430. At this time, the connecting shaft between the second connecting rod assembly 420 and the lower lip connector 430 is an under-driven rotating shaft, which can make the lower lip adaptively move according to the shapes of the surrounding tissue models during the up and down movement, thereby making the up and down movement of the lower lip more natural and realistic; for example, when the second motor 410 is working, the lower lip connector 430 is driven by the second connecting rod assembly 420 to move obliquely upward, and the lower lip connector 430 drives the lower lip to move up and realize the eversion movement; thereby improving the diversity of the movement movements of the robot's mouth; for example, when the lower lip connector 430 drives the lower lip to move up and realize the eversion movement, the upper lip movement mechanism 200 drives the upper lip to realize the eversion movement, and when combined with the retraction of the mouth corners, the pouting movement can be imitated.

[0054] In an optional embodiment, the lower lip connector 430 has a similar or identical structure to that of the upper lip connector 232, and has all the embodiments of the above-mentioned upper lip connector 232 and the corresponding technical effects. To avoid lengthy content, the specific structure will not be described, and only the most important parts will be selected for explanation, that is, the lower lip connector 430 itself is a split and detachable design, which can be easily installed and disassembled when the lower lip or other related connectors need to be maintained and repaired; further, the lower lip connector 430 includes a lower lip connecting seat, a first lower lip connecting member and a second lower lip connecting member; the first lower lip connecting member and the second lower lip connecting member are connected by a magnetic detachable connection, and one of the first lower lip connecting member and the second lower lip connecting member is a boss structure, and the other is a groove structure.

[0055] In an optional embodiment, the second link assembly 420 includes a fourth link 421, a fifth link 422 and a sixth link 423 which are rotatably connected to each other in sequence, and the sixth link 423 is rotatably connected to the lower lip connector 430; the mandibular model 300 has an inclined guide portion 310, and the sixth link 423 is arranged on the guide portion 310 and is suitable for guiding and moving along the guide portion 310.

[0056] In this embodiment, the inclined guide portion 310 is used as a guide support, so that the sixth link 423 can drive the lower lip connector 430 to move obliquely upward or downward; for example, when the second motor 410 drives the fourth link 421 to rotate, the fifth link 422 connected to the fourth link 421 drives the sixth link 423 to move obliquely toward the outside of the lip in the guide portion 310, and the lower lip connector 430 also drives the upper lip to move upward obliquely, and when moving upward, the under-driven structural design can complete the eversion action.

[0057] In an optional embodiment, the mouth corner movement mechanism 500 includes a third motor 510, a third connecting rod assembly 530, a fourth motor 520 and a fourth connecting rod assembly 540; the input end of the third connecting rod assembly 530 is connected to the output end of the third motor 510; the input end of the fourth connecting rod assembly 540 is connected to the output end of the fourth motor 520, and the output end of the fourth connecting rod assembly 540 is rotatably connected to the output end of the third connecting rod assembly 530; wherein, the output end of the third connecting rod assembly 530 is connected to the corner of the mouth through a mouth corner connector 550 and / or the output end of the fourth connecting rod assembly 540 is connected to the corner of the mouth through a mouth corner connector 550; optionally, a supplementary explanation is made as follows: the mouth corner connection is the inner side of the mouth corner, that is, the side facing the oral cavity, so as to hide the movement mechanism to achieve an aesthetic effect.

[0058] In this embodiment, if Figure 6 As shown, by adopting a dual-motor combined with connecting rod drive mode, one of the corners of the lip can be driven to perform movements such as up and down, pushing forward and pulling backward, making the movement of the corner of the mouth more flexible and diversified; optionally, in actual application, the embodiment of the present application can be set to two sets of corner of the mouth movement mechanisms to drive the two corners of the mouth to perform specified movements respectively.

[0059] In an optional embodiment, the third connecting rod assembly 530 includes a first active rod 531 and a seventh connecting rod 532 which are rotatably connected to each other; the fourth connecting rod assembly 540 includes a second active rod 541 and an eighth connecting rod 542 which are rotatably connected to each other; the first active rod 531 cooperates with the seventh connecting rod 532, and the second active rod 541 cooperates with the eighth connecting rod 542, and the simplest and most compact connecting rod structure can be used to realize the up and down, forward pushing and backward pulling movements of the corners of the mouth, thereby simulating the normal movements of the human mouth corner muscles.

[0060] In an optional embodiment, the first active rod 531 and the seventh connecting rod 532 are connected by a ball head; the second active rod 541 and the eighth connecting rod 542 are connected by a ball head; due to the shape characteristics of the robot's mouth corners themselves, if the first active rod 531 and the seventh connecting rod 532, and the second active rod 541 and the eighth connecting rod 542 are connected by ordinary hinges, then when the third motor 510 and the fourth motor 520 respectively drive the third connecting rod assembly 530 and the fourth connecting rod assembly 540 to move, the seventh connecting rod 532 and the eighth connecting rod 542 cannot perform adaptive movements according to the deformation of the mouth corners, resulting in the up and down, forward pushing and backward pulling movements of the mouth corners being relatively stiff, and the connecting rod structure adopts a ball head design, which is an under-driven system. This design can adapt to the deformation of the flexible mouth skin, and while providing power, it makes the lips move smoothly and conforms to the natural movement characteristics of the human mouth.

[0061] In an optional embodiment, an avoidance groove 560 is provided on at least one of the seventh link 532 and the eighth link 542, and the connection between the seventh link 532 and the eighth link 542 is located on the avoidance groove 560, so that the rotational connection between the two links will not cause the connection to protrude to the outside of the mouth, so that the connection structure between the seventh link 532 and the eighth link 542 is small and compact, and will not affect the aesthetics.

[0062] In an optional embodiment, the structure of the corner of mouth connector 550 is similar or identical to that of the upper lip connector 232, and has all the embodiments of the above-mentioned upper lip connector 232 and the corresponding technical effects. In order to avoid lengthy content, the specific structure will not be described, and only the most important parts will be selected for explanation, that is, the corner of mouth connector 550 itself is a split and detachable design, which can be easily installed and disassembled when the corner of mouth or other related connectors need to be maintained and repaired; further, the corner of mouth connector 550 includes a corner of mouth connecting seat, a first corner of mouth connecting member and a second corner of mouth connecting member, and the first corner of mouth connecting member and the second corner of mouth connecting member are detachably connected; optionally, one of the first corner of mouth connecting member and the second corner of mouth connecting member is a boss structure, and the other is a groove structure; preferably, the boss structure and the groove structure are magnetically matched.

[0063] Embodiment 2

[0064] The robot includes the robot mouth device as described above. It should be understood that since the robot of the embodiment of the present application includes the robot mouth device, it should include all embodiments of the robot mouth device as described above and the corresponding effects thereof.

[0065] It should be understood that the terms used herein are only for the purpose of describing specific example embodiments and are not intended to be limiting. Unless the context clearly indicates otherwise, the singular forms "one", "an" and "said" as used herein may also be meant to include plural forms. The terms "include", "comprise", "contain", and "have" are inclusive, and therefore specify the existence of stated features, steps, operations, elements and / or parts, but do not exclude the existence or addition of one or more other features, steps, operations, elements, parts, and / or combinations thereof. The method steps, processes, and operations described herein are not interpreted as necessarily requiring them to be performed in the specific order described or illustrated, unless the execution order is clearly indicated. It should also be understood that additional or alternative steps may be used.

[0066] Although the terms first, second, third, etc. can be used in the text to describe multiple elements, components, regions, layers and / or sections, these elements, components, regions, layers and / or sections should not be limited by these terms. These terms can only be used to distinguish an element, component, region, layer or section from another region, layer or section. Unless the context clearly indicates, terms such as "first", "second" and other numerical terms do not imply order or sequence when used in the text. Therefore, the first element, component, region, layer or section discussed below can be referred to as the second element, component, region, layer or section without departing from the teaching of the example embodiments.

[0067] The above description is only a specific implementation of the present application, so that those skilled in the art can understand or implement the present application. Various modifications to these embodiments will be apparent to those skilled in the art, and the general principles defined herein can be implemented in other embodiments without departing from the spirit or scope of the present application. Therefore, the present application will not be limited to the embodiments shown herein, but will conform to the widest range consistent with the principles and novel features applied for herein.

Claims

1. A robot mouth device, comprising a lip model; the lip model comprises an upper lip, a lower lip and two mouth corners located between the upper lip and the lower lip; characterized in that: Also includes Maxillary model (100); An upper lip movement mechanism (200) is mounted on the maxillary bone model (100) and is driven to connect to the upper lip; A mandibular model (300) is arranged below the maxillary model (100); A lower lip movement mechanism (400), installed at the bottom of the mandibular model (300) and drivingly connected to the lower lip; Two mouth corner movement mechanisms (500), which are installed on the maxillary model (100) and / or the mandibular model (300) and respectively drive and connect the two mouth corners; Therein, the upper lip movement mechanism (200) is in an under-actuated connection with the upper lip and / or the lower lip movement mechanism (400) is in an under-actuated connection with the lower lip.

2. The robot mouth device according to claim 1, characterized in that: The upper lip movement mechanism (200) comprises a first motor (210), a first connecting rod assembly (220) and a first under-actuated connection assembly (230); the input end of the first connecting rod assembly (220) is connected to the output end of the first motor (210); the output end of the first connecting rod assembly (220) is rotatably connected to the input end of the first under-actuated connection assembly (230); and the output end of the first under-actuated connection assembly (230) is connected to the upper lip.

3. The robot mouth device according to claim 2, characterized in that: The first motor (210) is installed at the top symmetrical center area of ​​the maxillary model (100); the first connecting rod assembly (220) includes a first connecting rod (221), a second connecting rod (222) and a third connecting rod (223); the first end of the first connecting rod (221) is rotatably connected to the symmetrical center area of ​​the maxillary model (100), and the second end of the first connecting rod (221) is rotatably connected to the first under-driven connecting assembly (230); the input end of the second connecting rod (222) is connected to the output end of the first motor (210); the output end of the second connecting rod (222) is connected to the input end of the third connecting rod (223), and the output end of the third connecting rod (223) is rotatably connected to the first connecting rod (221) to drive the first connecting rod (221) to rotate.

4. The robot mouth device according to claim 2, characterized in that: The first underactuated connection assembly (230) comprises an underactuated connection piece (231) and an upper lip connector (232) which are rotatably connected to each other; the underactuated connection piece (231) is rotatably connected to the output end of the first connecting rod assembly (220); and the upper lip connector (232) is connected to the upper lip.

5. The robot mouth device according to claim 4, characterized in that: The upper lip connector (232) includes an upper lip connecting seat (2321), a first upper lip connecting piece (2322) and a second upper lip connecting piece (2323); the upper lip connecting seat (2321) is rotatably connected to the under-driven connecting piece (231); the first upper lip connecting piece (2322) is arranged on the upper lip connecting seat (2321), and the second upper lip connecting piece (2323) is detachably connected to the first upper lip connecting piece (2322).

6. The robot mouth device according to claim 5, characterized in that: One of the first upper lip connecting piece (2322) and the second upper lip connecting piece (2323) is a boss, and the other is a groove, and the boss and the groove are magnetically connected.

7. The robot mouth device according to any one of claims 1 to 6, characterized in that: The lower lip movement mechanism (400) includes a second motor (410), a second connecting rod assembly (420) and a lower lip connector (430); the second motor (410) is installed at the bottom of the mandibular model (500), and the output end of the second motor (410) is connected to the input end of the second connecting rod assembly (420); the output end of the second connecting rod assembly (420) is rotatably connected to the lower lip connector (430) to drive it to move tilted upward or tilted downward, and the lower lip connector (430) is connected to the lower lip.

8. The robot mouth device according to claim 7, characterized in that: The second link assembly (420) includes a fourth link (421), a fifth link (422) and a sixth link (423) which are rotatably connected to each other in sequence, and the sixth link (423) is rotatably connected to the lower lip connector (430); the mandibular model (300) has an inclined guide portion (310), and the sixth link (423) is arranged on the guide portion (310) and is suitable for guiding and moving along the guide portion (310).

9. The robot mouth device according to any one of claims 1 to 6, characterized in that: The mouth corner movement mechanism (500) comprises a third motor (510), a fourth motor (520), a first active rod (531), a second active rod (541), a seventh connecting rod (532), an eighth connecting rod (542) and a mouth corner connector (550); the output end of the third motor (510) is connected to the input end of the first active rod (531), and the ball head of the output end of the first active rod (531) is connected to the seventh connecting rod (532); the output end of the fourth motor (520) is connected to the second active rod (541), and the ball head of the output end of the second active rod (541) is connected to the eighth connecting rod (542); the seventh connecting rod (532) is rotatably connected to the eighth connecting rod (542); one of the seventh connecting rod (532) and the eighth connecting rod (542) has an extension section and the extension section is connected to the mouth corner connector (550).

10. A robot comprising a robot mouth device as claimed in any one of claims 1 to 9.

Images