Bionic robot head and bionic robot

Abstract

The invention relates to the technical field of bionic robots, in particular to a bionic robot head and a bionic robot. The bionic robot head comprises a nose driving device, a lip driving device, a lower jaw assembly, a lower jaw driving device, a pair of cheekbone driving devices, an eye device and an eyebrow driving device. Through the spatial layout of a nose driving device, a lip driving device, a lower jaw assembly, a lower jaw driving device, a pair of cheekbone driving devices, an eye device and an eyebrow driving device, the structure is compact, the space utilization rate is high, the whole head of the bionic robot can be smaller, the size of the head of the bionic robot is similar to that of a human head, the head of the bionic robot is more vivid, and the head of the bionic robot is more vivid. And meanwhile, the control on expressions is richer, and some micro expressions can be realized, so that the method is more humanoid.

Description

Technical Field

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

[0002] Bionic robots are one of the most cutting-edge topics in the field of robotics research today. They integrate multiple disciplines such as mechanics, electronics, computers, materials, sensors, control technology, and artificial intelligence, and reflect the level of scientific and technological development of a country. Compared with other robots, humanoid robots with human head appearance have extremely strong human-computer interaction capabilities. These robots mainly interact with humans through facial expressions and language to think and realize. Research on humanoid robots can promote the development of future robots in the direction of humanization and emotionalization, and promote the harmonious and friendly coexistence of future robots and humans. It is also an important platform for the study of artificial intelligence.

[0003] At present, in order to make the facial expressions of bionic robots richer, it is necessary to install more driving devices in the head of the bionic robot to achieve more degrees of freedom control. The structural space requirements are large, and it is impossible to achieve more degrees of freedom in a space that is only the size of a human head. Summary of the invention

[0004] The purpose of the present invention is to provide a bionic robot head and a bionic robot to solve the current technical problem that more degrees of freedom cannot be designed in a space only the size of a human head.

[0005] In a first aspect, the present invention provides a bionic robot head, comprising: a nose drive device, a lip drive device, a jaw assembly, a jaw drive device, a pair of zygomatic drive devices, an eye device and an eyebrow drive device;

[0006] The nose drive device is arranged on the upper side of the lip drive device, the lower jaw assembly is arranged on the lower side of the lip drive device, a pair of zygomatic drive devices are arranged on the left and right sides of the nose drive device, the lower jaw drive device is arranged on the rear side of the nose drive device, the lip drive device and the pair of zygomatic drive devices, the eye device is arranged on the upper side of the nose drive device, and the eyebrow drive device is arranged on the upper side of the eye device;

[0007] The nose driving device is used to drive the skin movement of the nose, the lip driving device is used to drive the skin movement of the lips, the jaw driving device is used to drive the movement of the jaw assembly, the pair of zygomatic bone driving devices are used to drive the skin movement of a pair of zygomatic bones respectively, the eye device is used to drive the skin movement of the upper eyelid, and the eyebrow drive is used to drive the skin movement of the eyebrow.

[0008] In an optional embodiment, the nasal drive device includes: a nasal driver, a nasal support, a nasal pull rope, a pair of nasal dorsum traction members, and a pair of nose wing traction members;

[0009] The nose driver is arranged on the nose bracket, the pair of nose back traction members are respectively used to connect with the skin of the nose back on both sides of the nose bridge, and the pair of nose wing traction members are respectively used to connect with the skin of the nose wing on both sides of the nose tip;

[0010] The nose driver is transmission-connected to a pair of nose back traction members and a pair of nose wing traction members through the nose pull rope.

[0011] In an optional embodiment, the lip driving device includes: a pair of lip middle driving mechanisms, a pair of lip corner driving mechanisms and two pairs of lip side driving mechanisms;

[0012] A pair of lip middle driving mechanisms are respectively used to connect with the skin of the middle part of the upper lip and the skin of the middle part of the lower lip to drive the skin of the middle part of the upper lip and the skin of the middle part of the lower lip to move;

[0013] The pair of lip corner driving mechanisms are respectively used to connect with the skin of a pair of lip corners to drive the skin of the pair of lip corners to move;

[0014] One pair of the lip side drive mechanisms are respectively used to connect to the skin on both sides of the middle part of the upper lip to drive the skin movement on both sides of the middle part of the upper lip, and the other pair of the lip side drive mechanisms are respectively used to connect to the skin on both sides of the middle part of the lower lip to drive the skin movement on both sides of the middle part of the lower lip.

[0015] In an optional embodiment, the lip middle driving mechanism includes a lip middle up-and-down swing rod, a lip middle front-and-back swing rod, a first lip middle driver, a second lip middle driver and a lip middle bracket, and the first lip middle driver and the second lip middle driver are both arranged on the lip middle bracket;

[0016] The lip middle up-and-down swing rod is hinged to the lip middle bracket, and the first lip middle driver is transmission-connected to the lip middle up-and-down swing rod for driving the lip middle up-and-down swing rod to rotate;

[0017] The front-to-back swing rod in the middle of the lip is hinged to the upper and lower swing rods in the middle of the lip, and one end of the front-to-back swing rod in the middle of the lip is used to connect with the skin in the middle part of the lip, and the second middle driver of the lip is transmission connected to the front-to-back swing rod in the middle of the lip, and is used to drive the front-to-back swing rod in the middle of the lip to rotate.

[0018] In an optional embodiment, the lip angle driving mechanism includes a first lip angle driver, a second lip angle driver, a lip angle bracket, a lip angle traction rod and a lip angle traction member;

[0019] The first lip angle driver and the second lip angle driver are both arranged on the lip angle bracket and are both drivingly connected to the lip angle traction rod. The first lip angle driver is used to drive the lip angle traction rod to move up and down, and the second lip angle driver is used to drive the lip angle traction rod to move left and right.

[0020] The lip corner traction member is connected to the lip corner traction rod and is used to be connected to the skin at the lip corner.

[0021] In an optional embodiment, the lower jaw driving device includes: a lower jaw lateral movement driver, a lower jaw rotation driver, a lower jaw linear rotation bearing, a lower jaw support and a lower jaw connecting shaft;

[0022] The lower jaw transverse movement driver, the lower jaw rotation driver, and the lower jaw linear rotation bearing are all arranged on the lower jaw support;

[0023] The lower jaw connecting shaft is disposed in the lower jaw linear rotation bearing and is used to connect with the lower jaw assembly;

[0024] The lower jaw transverse movement driver is used to drive the lower jaw component to move in an axial transverse direction along the lower jaw linear rotation bearing, and the lower jaw rotation driver is used to drive the lower jaw component to move in a circumferential rotation direction along the lower jaw linear rotation bearing.

[0025] In an optional embodiment, the zygomatic bone driving device includes: a zygomatic bone driver, a zygomatic bone support, and a zygomatic bone member;

[0026] The zygomatic bone driver is arranged on the zygomatic bone support, and the zygomatic bone driver is drivingly connected with the zygomatic bone component;

[0027] The zygomatic piece is used to connect with the skin of the zygomatic area, and the zygomatic driver is used to drive the zygomatic piece to move forward or backward, so that the skin of the zygomatic area can move forward or backward along with the zygomatic piece.

[0028] In an optional embodiment, the eye device includes: an eyeball assembly, an eyeball yaw drive assembly, an eyeball pitch drive assembly, an upper eyelid drive assembly, and an eye support;

[0029] The eyeball assembly, the eyeball yaw drive assembly, the eyeball pitch drive assembly and the upper eyelid drive assembly are each provided in pairs and are all provided on the eye bracket;

[0030] The eyeball assembly is located at the front side of the eye bracket, the eyeball yaw drive assembly and the eyeball pitch drive assembly are both located at the lower side of the eye bracket, and the upper eyelid drive assembly is both located at the upper side of the eye bracket;

[0031] The eyeball yaw drive assembly is used to drive the eyeball assembly to move left and right, the eyeball pitch drive assembly is used to drive the eyeball assembly to rotate forward and backward, and the upper eyelid drive assembly is used to drive the skin movement of the upper eyelid area.

[0032] In an optional embodiment, the eyebrow driving device includes: an eyebrow start driving component, an eyebrow end driving component and an eyebrow support;

[0033] The brow drive assembly includes a brow transverse movement driver, a brow bracket, a brow longitudinal movement driver and a brow traction rod. The brow transverse movement driver is arranged on the brow bracket and is in transmission connection with the brow bracket. The brow longitudinal movement driver is arranged on the brow bracket and is in transmission connection with the brow traction rod. The brow traction rod is used to connect with the skin of the brow part.

[0034] The eyebrow tail driving assembly includes an eyebrow tail longitudinal movement driver and an eyebrow tail traction rod. The eyebrow tail longitudinal movement driver is arranged on the eyebrow support and is transmission-connected with the eyebrow tail traction rod. The eyebrow tail traction rod is used to connect with the skin at the eyebrow tail.

[0035] In a second aspect, the present invention provides a bionic robot comprising the bionic robot head described in any one of the aforementioned embodiments.

[0036] Compared with the prior art, the bionic robot head and the bionic robot provided by the present invention have the following technical advantages:

[0037] The bionic robot head provided by the present invention comprises: a nose driving device, a lip driving device, a lower jaw assembly, a lower jaw driving device, a pair of zygomatic driving devices, an eye device and an eyebrow driving device; the nose driving device is arranged on the upper side of the lip driving device, the lower jaw assembly is arranged on the lower side of the lip driving device, the pair of zygomatic driving devices are arranged on the left and right sides of the nose driving device respectively, the lower jaw driving device is arranged on the rear sides of the nose driving device, the lip driving device and the pair of zygomatic driving devices, the eye device is arranged on the upper side of the nose driving device, and the eyebrow driving device is arranged on the upper side of the eye device; the nose driving device is used to drive the skin movement of the nose, the lip driving device is used to drive the skin movement of the lips, the lower jaw driving device is used to drive the movement of the lower jaw assembly, the pair of zygomatic driving devices are used to drive the skin movement of a pair of zygomatic parts respectively, the eye device is used to drive the skin movement of the upper eyelid part, and the eyebrow driving device is used to drive the skin movement of the eyebrow part.

[0038] By arranging the nose drive device, the lip drive device, the jaw assembly, the jaw drive device, a pair of zygomatic drive devices, the eye device and the eyebrow drive device in space, the structure is compact and the space utilization rate is high, so that the head of the bionic robot can be made smaller as a whole, reaching a size similar to that of a human head, making the bionic robot head more realistic, and at the same time having richer control over expressions, being able to achieve some micro-expressions, making it more human-like.

[0039] The bionic robot provided by the present invention includes the above-mentioned bionic robot head. Therefore, the technical advantages and effects achieved by it include the technical advantages and effects achieved by the above-mentioned bionic robot head, which will not be elaborated in detail here.

[0040] Other features and advantages of the present invention will be described in detail in the following detailed description. BRIEF DESCRIPTION OF THE DRAWINGS

[0041] In order to more clearly illustrate the specific implementation methods of the present invention or the technical solutions in the prior art, the drawings required for use in the specific implementation methods or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some implementation methods of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0042] Figure 1 A side view of the lip intermediate driving mechanism provided by an embodiment of the present invention;

[0043] Figure 2 A schematic diagram of the structure of the lip intermediate driving mechanism provided by an embodiment of the present invention;

[0044] Figure 3 A side view of a lip angle driving mechanism provided by an embodiment of the present invention;

[0045] Figure 4 A schematic diagram of the structure of a lip angle driving mechanism provided by an embodiment of the present invention;

[0046] Figure 5 A side view of a lip side driving mechanism provided by an embodiment of the present invention;

[0047] Figure 6 A schematic diagram of the structure of the lip side driving mechanism provided in an embodiment of the present invention;

[0048] Figure 7 A schematic diagram of a bionic robot head provided by an embodiment of the present invention;

[0049] Figure 8 A schematic diagram of the structure of a nose drive device provided in an embodiment of the present invention;

[0050] Fig. 9A side view of a nasal dorsum traction member and a nasal drive device when the nasal dorsum traction member is in a normal position provided by an embodiment of the present invention;

[0051] Fig.10 A side view of a nose dorsum traction member and a nose driving device after the nose dorsum traction member is raised provided by an embodiment of the present invention;

[0052] Fig.11 A side view of a jaw drive device provided by an embodiment of the present invention;

[0053] Fig.12 A rear side view of a jaw drive device provided by an embodiment of the present invention;

[0054] Fig.13 A front side view of a jaw drive device provided by an embodiment of the present invention;

[0055] Fig.14 A schematic diagram of the lateral movement of the mandible provided in an embodiment of the present invention;

[0056] Fig.15 A schematic diagram of the structure of a lower jaw assembly provided in an embodiment of the present invention;

[0057] Fig.16 A side view of the head of a bionic robot provided by an embodiment of the present invention;

[0058] Fig.17 A schematic diagram of the zygomatic bone driving device provided in an embodiment of the present invention showing the extreme position of the upward oblique movement;

[0059] Fig.18 A schematic diagram of the zygomatic bone driving device provided in an embodiment of the present invention showing the extreme position of the downward oblique movement;

[0060] Fig.19 A schematic diagram of the upper structure of an eye support provided by an embodiment of the present invention;

[0061] Fig. 20 A schematic diagram of the lower structure of an eye support provided by an embodiment of the present invention;

[0062] Fig.21 A schematic diagram of installing an eyeball assembly provided in an embodiment of the present invention;

[0063] Fig. 22 An exploded diagram of an eyeball assembly provided by an embodiment of the present invention;

[0064] Fig.23 A schematic diagram of the structure of an eyeball yaw drive assembly provided in an embodiment of the present invention;

[0065] Fig.24 A schematic diagram of the installation of an eyeball yaw drive assembly provided in an embodiment of the present invention;

[0066] Fig.25A schematic diagram of the structure of an eyeball pitch drive assembly provided in an embodiment of the present invention;

[0067] Fig.26 A schematic diagram of the installation of an eyeball pitch drive assembly provided in an embodiment of the present invention;

[0068] Fig. 27 A schematic diagram of the structure of an upper eyelid drive component provided by an embodiment of the present invention;

[0069] Fig.28 A schematic diagram of the structure of an eyebrow driving device provided in an embodiment of the present invention;

[0070] Fig.29 An exploded view of an eyebrow driving device provided in an embodiment of the present invention;

[0071] Fig.30 An exploded diagram of a head drive assembly provided in an embodiment of the present invention;

[0072] Fig.31 An exploded view of the eyebrow tail drive assembly provided in an embodiment of the present invention;

[0073] Fig.32 An exploded view of an eyebrow support provided by an embodiment of the present invention;

[0074] Fig.33 A schematic diagram of the bionic robot head structure provided by an embodiment of the present invention.

[0075] Icons: 1- lip middle driving mechanism; 2- lip angle driving mechanism; 3- lip side driving mechanism; 4- lip middle up and down swing rod; 5- lip middle front and back swing rod; 6- first lip middle driver; 7- second lip middle driver; 8- lip middle bracket; 9- first lip middle transmission rocker; 10- first lip middle transmission connecting rod; 11- first lip middle transmission transfer rod; 12- first lip middle push-pull rod; 13- second lip middle transmission rocker; 14- second lip middle transmission connecting rod; 15- second lip middle transmission transfer rod; 16- second lip middle push-pull rod; 17- first lip angle driver; 18- second lip angle driver; 19- lip angle bracket; 20- lip angle traction rod; 21- lip angle traction member; 22-first lip angle transmission rocker; 23-lip angle transmission shaft; 24-lip angle transmission connecting rod; 25-second lip angle transmission rocker; 26-lip side driver; 27-lip side bracket; 28-lip side traction member; 29-lip side transmission slide rail; 30-lip side rocker; 31-lip side transmission rod; 32-first lip side free arm; 33-second lip side free arm; 34-nose driving device; 35-nose bracket; 36-nose pull rope; 37-nose back traction member; 38-nose wing traction member; 39-nose back traction slide rail; 40-nose wing traction slide rail; 41-nose back nose wing traction slide rail mounting frame; 42-nose wire rack; 43-split line; 44-cage block; 45-cage block traction rod; 46-nose rocker; 47-nose servo; 48 - jaw lateral movement driver; 49 - jaw rotation driver; 50 - jaw linear rotation bearing; 51 - jaw bracket; 52 - jaw connecting shaft; 53 - jaw lateral movement rocker arm; 54 - jaw lateral movement pull rope; 55 - jaw lateral movement guide wheel; 56 - jaw lateral movement driver mounting slot; 57 - jaw rotation rocker arm; 58 - jaw rotation push-pull rod; 59 - universal ball joint; 60 - jaw rotation driver mounting slot; 61 - jaw assembly; 62 - zygomatic drive device; 63 - zygomatic bracket; 64 - zygomatic component; 65 - zygomatic transmission slide rail; 66 - first zygomatic transmission component; 67 - first section; 68 - second section; 69 - zygomatic transmission rod; 70 - zygomatic servo; 71 - zygomatic rocker arm; 72 - spherical surface; 73 - eyeball assembly; 74 -eyeball body; 75-eyeball bracket; 76-eyeball support; 77-visual module; 78-eye bracket; 79-pressing tablet; 80-eyeball shell; 81-seat; 82-eyeball bracket connecting rod; 83-eyeball yaw drive assembly; 84-eyeball yaw driver; 85-yaw V-type connecting rod; 86-yaw ball head pull rod; 87-yaw rocker arm; 88-yaw straight connecting rod; 89-eyeball pitch drive assembly; 90-eyeball pitch driver; 91-pitch bending connecting rod; 92-pitch rocker arm; 93-pitch straight connecting rod; 94-upper eyelid drive assembly; 95-upper eyelid driver; 96-upper eyelid traction frame; 97-upper eyelid traction member; 98-magnet mounting slot; 99-upper eyelid rocker arm; 100-upper eyelid connecting rod;101-eyebrow driving device; 102-eyebrow driving assembly; 103-eyebrow tail driving assembly; 104-eyebrow bracket; 105-eyebrow transverse movement driver; 106-eyebrow bracket; 107-eyebrow longitudinal movement driver; 108-eyebrow traction rod; 109-eyebrow tail longitudinal movement driver; 110-eyebrow tail traction rod; 111-eyebrow transverse movement slide rail; 112-eyebrow transverse movement rocker arm; 113-eyebrow longitudinal movement slide rail; 114-eyebrow longitudinal movement rocker arm; 115-eyebrow longitudinal movement connecting rod; 116-slide rail mounting slot; 117-eyebrow tail longitudinal movement slide rail; 118-eyebrow tail longitudinal movement rocker arm; 119-eyebrow tail longitudinal movement transmission rod; 120-eyebrow tail longitudinal movement connecting rod. ; DETAILED DESCRIPTION

[0076] The technical solution of the present invention will be clearly and completely described below in conjunction with the embodiments. Obviously, the described embodiments are part of the embodiments of the present invention, rather than all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0077] In the description of the present invention, it should be noted that the terms "center," "up," "down," "left," "right," "vertical," "horizontal," "inside," "outside," etc., indicating positions or positional relationships, are based on the positions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific position, be constructed and operate in a specific position, and therefore cannot be understood as limiting the present invention. In addition, the terms "first," "second," and "third" are used for descriptive purposes only, and cannot be understood as indicating or implying relative importance.

[0078] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0079] In addition, the technical solutions between the various embodiments can be combined with each other, but it must be based on the fact that ordinary technicians in the field can implement it. When the combination of technical solutions is contradictory or cannot be implemented, it should be deemed that such combination of technical solutions does not exist and is not within the scope of protection required by the present invention.

[0080] The present invention is further described in detail below through specific implementation examples in conjunction with the accompanying drawings.

[0081] Specific structure such as Figures 1 to 33 shown.

[0082] The present embodiment provides a bionic robot head, comprising: a nose driving device 34, a lip driving device, a lower jaw assembly 61, a lower jaw driving device, a pair of zygomatic bone driving devices 62, an eye device and an eyebrow driving device 101; the nose driving device 34 is arranged on the upper side of the lip driving device, the lower jaw assembly 61 is arranged on the lower side of the lip driving device, the pair of zygomatic bone driving devices 62 are arranged on the left and right sides of the nose driving device 34, the lower jaw driving device is arranged on the rear sides of the nose driving device 34, the lip driving device and the pair of zygomatic bone driving devices 62, the eye device is arranged on the upper side of the nose driving device 34, and the eyebrow driving device 101 is arranged on the upper side of the eye device; the nose driving device 34 is used to drive the skin movement of the nose, the lip driving device is used to drive the skin movement of the lips, the lower jaw driving device is used to drive the movement of the lower jaw assembly 61, the pair of zygomatic bone driving devices 62 are respectively used to drive the skin movement of a pair of zygomatic bones, the eye device is used to drive the skin movement of the upper eyelid, and the eyebrow driving device is used to drive the skin movement of the eyebrow. In this embodiment, by spatially arranging the nose drive device 34, the lip drive device, the jaw assembly 61, the jaw drive device, the pair of zygomatic drive devices 62, the eye device and the eyebrow drive device 101, the structure is compact and the space utilization rate is high, so that the bionic robot head can be made smaller as a whole, reaching a size similar to that of a human head, making the bionic robot head more realistic, and at the same time, the control of expression is richer, and some micro-expressions can be realized, so as to be more human-like. It should be noted that the bionic robot head can be a human-like head, or a head of other organisms with similar organ distribution to that of a human head.

[0083] In the optional technical solution of this embodiment, the nose driving device 34 includes: a nose driver, a nose bracket 35, a nose pull rope 36, a pair of nose back traction members 37 and a pair of nose wing traction members 38; the nose driver is arranged on the nose bracket 35, the pair of nose back traction members 37 are respectively used to connect with the skin of the nose back on both sides of the nose bridge, and the pair of nose wing traction members 38 are respectively used to connect with the skin of the nose wing on both sides of the nose tip; the nose driver is connected to the pair of nose back traction members 37 and the pair of nose wing traction members 38 through the nose pull rope 36. In this embodiment, the nose bracket 35 is arranged on the head of the bionic robot as a carrier of the entire nose driving device 34, and the nose driver drives the pair of nose back traction members 37 and the pair of nose wing traction members 38 to move through the nose pull rope 36, thereby driving the movement of the nose back and nose wings, making the control of the nose expression richer, more delicate and concrete, and being able to achieve some micro-expressions, so as to be more human-like. In this embodiment, the nose pull rope 36 can be directly connected to the nose back traction member 37 and the nose wing traction member 38, and the structure is simple.

[0084] The optional technical solution of this embodiment also includes at least one dorsum of nose traction slide 39 and at least one wing of nose traction slide 40; the dorsum of nose traction slide 39 and the wing of nose traction slide 40 are both arranged on the nose bracket 35, and the dorsum of nose traction member 37 is connected to the slider of the dorsum of nose traction slide 39, and the wing of nose traction member 38 is connected to the slider of the wing of nose traction slide 40; the nose drive is connected to the slider of the dorsum of nose traction slide 39 and the slider of the wing of nose traction slide 40 through the nose pull rope 36. In this embodiment, the nose dorsum traction rail 39 and the nose wing traction rail 40 are both arranged vertically, the nose pull rope 36 and the nose dorsum traction member 37 are both connected to the slider of the nose dorsum traction rail 39, and when the nose driver drives the slider of the nose dorsum traction rail 39 to move up and down through the nose pull rope 36, the slider of the nose dorsum traction rail 39 can drive the nose dorsum traction member 37 to move up and down, and the setting of the nose dorsum traction rail 39 can ensure the linear movement of the nose dorsum traction member 37, thereby ensuring the stability of the movement; the nose pull rope 36 and the nose wing traction member 38 are both connected to the slider of the nose wing traction rail 40, and when the nose driver drives the slider of the nose wing traction rail 40 to move up and down through the nose pull rope 36, the slider of the nose wing traction rail 40 can drive the nose wing traction member 38 to move up and down, and the setting of the nose wing traction rail 40 can ensure the linear movement of the nose wing traction member 38, thereby ensuring the stability of the movement.

[0085] In this embodiment, the nose dorsum traction rail 39 is preferably arranged along the tilt direction of the nose bridge, so that the nose dorsum traction member 37 moves along the direction of the nose bridge, and the nose dorsum traction member 37 is prevented from over-protruding the skin at the nose dorsum, thereby ensuring that the micro-expression is more realistic.

[0086] In this embodiment, both the dorsum traction rail 39 and the wing traction rail 40 may be provided with one, a pair of dorsum traction members 37 may be connected to a slider of a dorsum traction rail 39, and a pair of wing traction members 38 may be connected to a slider of a wing traction rail 40; or two dorsum traction rails 39 and two wing traction rails 40 may be provided, and the dorsum traction members 37 and the pair of wing traction members 38 may be connected one to one; or one dorsum traction rail 39 may be provided, and two wing traction rails 40 may be provided, and the connection method may be as described above.

[0087] In this embodiment, a pair of nose dorsum traction rails 39 are provided, and one nose wing traction rail 40 is provided, and the pair of nose dorsum traction rails 39 are respectively located on both sides of the nose wing traction rail 40; a pair of nose dorsum traction members 37 are respectively connected to the sliders of the pair of nose dorsum traction rails 39, and a pair of nose wing traction members 38 are both connected to the slider of one nose wing traction rail 40. The overall space occupied is smaller, and the movement is coordinated to avoid mutual interference.

[0088] The optional technical solution of this embodiment also includes a nose dorsum nose wing traction rail mounting frame 41, which is connected to the nose bracket 35; the nose dorsum nose wing traction rail 39 and the nose wing traction rail 40 are both arranged on the nose dorsum nose wing traction rail mounting frame 41. The nose dorsum nose wing traction rail 39 and the nose wing traction rail 40 are installed on the nose bracket 35 through the nose dorsum nose wing traction rail mounting frame 41, which is convenient to install, has a more reasonable design and high space utilization.

[0089] The optional technical solution of this embodiment also includes a nose wire rack 42, which is arranged on the nose back and nose wing traction slide rail mounting frame 41; a converging part and a plurality of branching parts 43 are provided on the nose wire rack 42, and the converging part is connected with all the branching parts 43; a plurality of nose pull ropes 36 are provided, and all the nose pull ropes 36 are passed through the converging part, and are passed through the branching parts 43 one by one; one end of all the nose pull ropes 36 are connected to the nose driver, and the other end is connected to the slider of the nose back traction slide rail 39 and the slider of the nose wing traction slide rail 40 one by one. In this embodiment, all nose pull cords 36 are connected to the output end of a nose driver after being merged together through the converging part, and are connected to the slider of the nose back traction slide rail 39 and the slider of the nose wing traction slide rail 40 in a one-to-one correspondence after being separated through the branching part 43. The nose wire rack 42 can not only guide the nose pull cord 36, but also has the functions of merging and shunting, so that all nose pull cords 36 can be driven by one nose driver, with a simple structure, small space occupation, and good driving synchronization. This embodiment is not limited to this, and multiple nose drivers can also be set, and they correspond to the nose pull cords 36 one by one, that is, one nose pull cord 36 is driven by one nose driver; it can also be that multiple nose drivers are set, and the number is less than the number of nose pull cords 36, in which case at least one nose driver is connected to multiple nose pull cords 36.

[0090] In the optional technical solution of this embodiment, the nose wing traction member 38 includes an inlay block 44 and an inlay block traction rod 45; the inlay block 44 is connected to the inlay block traction rod 45 and is used to be inlayed on the skin of the nose wing; the inlay block traction rod 45 is in transmission connection with the nose pull rope 36. In this embodiment, the inlay block 44 is integrally formed with the skin of the nose wing and is embedded inside, and the inlay block traction rod 45 is detachably connected to the inlay block 44, which is convenient for installation; at the same time, the inlay block traction rod 45 is connected to the slider of the nose wing traction slide rail 40, and the overall structure is simple, which drives the skin of the nose wing to move stably and reliably.

[0091] In the optional technical solution of this embodiment, a magnetic attraction portion is provided on the nose back traction member 37, and the magnetic attraction portion is used to magnetically cooperate with a magnetic member on the skin of the nose back. The structure is simple and easy to install and disassemble.

[0092] In the optional technical solution of this embodiment, a nose rocker arm 46 is further included, the nose driver is a nose servo 47, the nose rocker arm 46 is connected to the output end of the nose servo 47, and the nose pull rope 36 is connected to the nose rocker arm 46. The nose servo 47 controls the stretching amount of the nose pull rope 36 more accurately, so that the nose expression is more accurate and delicate. At the same time, the nose pull rope 36 is connected to the output end of the nose servo 47 through the nose rocker arm 46, and the connection is stable and the movement effect is good.

[0093] The present embodiment is not limited to this, and the nose drive may also be a rotating motor, and the output end of the rotating motor is connected to the nose pull rope 36 or is connected to the nose pull rope 36 through the nose rocker arm 46; it may also be a telescopic motor, and the output end of the telescopic motor is connected to the nose pull rope 36.

[0094] In the optional technical solution of this embodiment, the lip driving device includes: a pair of lip middle driving mechanisms 1, a pair of lip corner driving mechanisms 2 and two pairs of lip side driving mechanisms 3; the pair of lip middle driving mechanisms 1 are respectively used to connect with the skin of the middle part of the upper lip and the skin of the middle part of the lower lip to drive the movement of the skin of the middle part of the upper lip and the skin of the middle part of the lower lip; the pair of lip corner driving mechanisms 2 are respectively used to connect with the skin of a pair of lip corners to drive the movement of the skin of the opposite lip corners; the pair of lip side driving mechanisms 3 are respectively used to connect with the skin on both sides of the middle part of the upper lip to drive the movement of the skin on both sides of the middle part of the upper lip, and the other pair of lip side driving mechanisms 3 are respectively used to connect with the skin on both sides of the middle part of the lower lip to drive the movement of the skin on both sides of the middle part of the lower lip. By independently driving eight points of the skin of the lip part by a pair of lip middle driving mechanisms 1, a pair of lip corner driving mechanisms 2 and two pairs of lip side driving mechanisms 3, a variety of micro-expression movements of the lip part can be realized, making the expression simulation effect more realistic.

[0095] In the optional technical solution of this embodiment, the lip middle driving mechanism 1 includes a lip middle up and down swing rod 4, a lip middle front and back swing rod 5, a first lip middle driver 6, a second lip middle driver 7 and a lip middle bracket 8, and the first lip middle driver 6 and the second lip middle driver 7 are both arranged on the lip middle bracket 8; the lip middle up and down swing rod 4 is hinged to the lip middle bracket 8, and the first lip middle driver 6 is transmission connected to the lip middle up and down swing rod 4 to drive the lip middle up and down swing rod 4 to rotate; the lip middle front and back swing rod 5 is hinged to the lip middle up and down swing rod 4, and one end of the lip middle front and back swing rod 5 is used to connect to the skin of the middle part of the lip, and the second lip middle driver 7 is transmission connected to the lip middle front and back swing rod 5 to drive the lip middle front and back swing rod 5 to rotate. The first lip middle driver 6 drives the lip middle up-down swing rod 4 to rotate around its hinge point, thereby driving the lip middle front-back swing rod 5 to move up and down, and the second lip middle driver 7 drives the lip middle front-back swing rod 5 to rotate around its hinge point, thereby driving the lip middle front-back swing rod 5 to swing back and forth, realizing two degrees of freedom in the middle part of the lip, so that more micro-expressions can be made. Further, the lip middle driving mechanism 1 also includes a first lip middle transmission rocker arm 9, a first lip middle transmission connecting rod 10, a first lip middle transmission adapter rod 11 and a first lip middle push-pull rod 12; the first lip middle transmission rocker arm 9, the first lip middle transmission connecting rod 10, the first lip middle transmission adapter rod 11 and the first lip middle push-pull rod 12 are rotatably connected in sequence, and the first lip middle transmission rocker arm 9 is connected to the output end of the first lip middle driver 6, the first lip middle transmission adapter rod 11 is rotatably connected to the lip middle bracket 8, and the first lip middle push-pull rod 12 is rotatably connected to the lip middle up-down swing rod 4. Among them, the first lip intermediate transmission adapter rod 11 is V-shaped or L-shaped, and one end is connected to the first lip intermediate transmission connecting rod 10, and the other end is connected to the first lip intermediate push-pull rod 12. Transmission through the first lip intermediate transmission adapter rod 11 can avoid the first lip intermediate transmission rocker arm 9, the first lip intermediate transmission connecting rod 10, the first lip intermediate transmission adapter rod 11 and the first lip intermediate push-pull rod 12 are all in a straight line, making the spatial layout more compact, while the overall structure is simple and the transmission is stable.

[0096] In the optional technical solution of this embodiment, the lip intermediate driving mechanism 1 also includes a second lip intermediate transmission rocker arm 13, a second lip intermediate transmission connecting rod 14, a second lip intermediate transmission adapter rod 15 and a second lip intermediate push-pull rod 16; the second lip intermediate transmission rocker arm 13, the second lip intermediate transmission connecting rod 14, the second lip intermediate transmission adapter rod 15 and the second lip intermediate push-pull rod 16 are rotationally connected in sequence, and the second lip intermediate transmission rocker arm 13 is connected to the output end of the second lip intermediate driver 7, the second lip intermediate transmission adapter rod 15 is rotationally connected to the lip intermediate bracket 8, and the second lip intermediate push-pull rod 16 is rotationally connected to the other end of the lip intermediate front and rear swing rod 5. Among them, the second lip intermediate transmission adapter rod 15 is V-shaped or L-shaped, and one end is connected to the second lip intermediate transmission connecting rod 14, and the other end is connected to the second lip intermediate push-pull rod 16. Transmission through the second lip intermediate transmission adapter rod 15 can avoid the second lip intermediate transmission rocker arm 13, the second lip intermediate transmission connecting rod 14, the second lip intermediate transmission adapter rod 15 and the second lip intermediate push-pull rod 16 are all in a straight line, making the spatial layout more compact, while the overall structure is simple and the transmission is stable.

[0097] In the optional technical solution of this embodiment, the lip angle driving mechanism 2 includes a first lip angle driver 17, a second lip angle driver 18, a lip angle bracket 19, a lip angle traction rod 20 and a lip angle traction member 21; the first lip angle driver 17 and the second lip angle driver 18 are both arranged on the lip angle bracket 19, and are both connected to the lip angle traction rod 20 in a transmission manner, the first lip angle driver 17 is used to drive the lip angle traction rod 20 to move up and down, and the second lip angle driver 18 is used to drive the lip angle traction rod 20 to move left and right; the lip angle traction member 21 is connected to the lip angle traction rod 20 and is used to connect to the skin at the lip angle. The lip angle traction rod 20 is driven to move up and down by the first lip angle driver 17, and is driven to swing left and right by the second lip angle driver 18, so as to realize two degrees of freedom at the lip angle, so as to make more micro expressions. Furthermore, the lip angle driving mechanism 2 also includes a first lip angle transmission rocker 22, a lip angle transmission shaft 23, a lip angle transmission connecting rod 24 and a second lip angle transmission rocker 25; the first lip angle transmission rocker 22 is connected to the output end of the first lip angle driver 17 through the lip angle transmission shaft 23, and the two ends of the lip angle transmission connecting rod 24 are respectively rotatably connected to the first lip angle transmission rocker 22 and the lip angle traction rod 20, and the second lip angle transmission rocker 25 is connected to the output end of the second lip angle driver 18, and is rotatably connected to the lip angle traction rod 20. The first lip angle transmission rocker 22 and the second lip angle transmission rocker 25 are staggered in layout, so that the first lip angle driver 17 and the second lip angle driver 18 can be close to each other while ensuring the point travel, and the spatial layout is more compact compared to the horizontal and vertical layouts.

[0098] In the optional technical solution of this embodiment, the lip side driving mechanism 3 includes a lip side driver 26, a lip side bracket 27 and a lip side traction member 28; the lip side driver 26 is arranged on the lip side bracket 27 and is in transmission connection with the lip side traction member 28, and is used to drive the lip side traction member 28 to move obliquely upward, obliquely downward and linearly, and the lip side traction member 28 is used to connect with the skin on one side of the middle part of the lip. A degree of freedom of the lip side part is realized, so that more micro expressions can be made.

[0099] In the optional technical solution of this embodiment, the lip side driving mechanism 3 also includes a lip side transmission slide rail 29, a lip side rocker arm 30 and a lip side transmission rod 31; the lip side transmission slide rail 29 is tilted, the lip side rocker arm 30 is connected to the output end of the lip side driver 26, and the two ends of the lip side transmission rod 31 are respectively rotatably connected to the slider of the lip side transmission slide rail 29 and the lip side rocker arm 30. The setting of the lip side transmission slide rail 29 ensures the stability of the linear motion, and the overall structure is simple and the transmission is stable.

[0100] In the optional technical solution of this embodiment, the lip side driving mechanism 3 also includes a first lip side free arm 32 and a second lip side free arm 33; the first lip side free arm 32 is rotatably connected to the slider of the lip side transmission slide rail 29, the second lip side free arm 33 is rotatably connected to the first lip side free arm 32, and the rotation surface of the first lip side free arm 32 is perpendicular to the rotation surface of the second lip side free arm 33, and the lip side traction member 28 is connected to the second lip side free arm 33. The lip side traction member 28 has passive freedom in the left and right directions and the front and back directions, so that it can move freely within a certain range during the movement of other points, so that the transition of skin movement is natural. In this embodiment, the lip intermediate driving mechanism 1, the lip angle driving mechanism 2 and the lip side driving mechanism 3 are simple in structure, and the stroke of the points is large, so that the expression can be made more exaggerated. In this embodiment, the first lip intermediate driver 6, the second lip intermediate driver 7, the first lip angle driver 17, the second lip angle driver 18 and the lip side driver 26 can be a steering gear, or a servo motor or other motors.

[0101] In the optional technical solution of this embodiment, the lip middle driving mechanism 1 for connecting with the skin of the middle part of the lower lip and the pair of lip side driving mechanisms 3 for connecting with the skin of both sides of the middle part of the lower lip are both located on the lower jaw assembly 61. The structure is compact, the space utilization is improved, and the structure is stable.

[0102] In the optional technical solution of this embodiment, the lower jaw driving device includes: a lower jaw transverse movement driver 48, a lower jaw rotation driver 49, a lower jaw linear rotation bearing 50, a lower jaw support 51 and a lower jaw connecting shaft 52; the lower jaw transverse movement driver 48, the lower jaw rotation driver 49 and the lower jaw linear rotation bearing 50 are all arranged on the lower jaw support 51; the lower jaw connecting shaft 52 is arranged in the lower jaw linear rotation bearing 50, and is used to connect with the lower jaw assembly 61; the lower jaw transverse movement driver 48 is used to drive the lower jaw assembly 61 to move transversely along the axial direction of the lower jaw linear rotation bearing 50, and the lower jaw rotation driver 49 is used to drive the lower jaw assembly 61 to move circumferentially along the lower jaw linear rotation bearing 50. In this embodiment, the lower jaw assembly 61 is driven to move laterally by the lower jaw transverse displacement driver 48, so that the lower jaw connecting shaft 52 moves laterally and linearly in the lower jaw linear rotation bearing 50, thereby realizing the transverse displacement of the lower jaw assembly 61; the lower jaw assembly 61 is driven to move by the lower jaw rotation driver 49, so that the lower jaw connecting shaft 52 rotates in the lower jaw linear rotation bearing 50, thereby realizing the rotation of the lower jaw assembly 61, and then realizing the opening and closing of the lower jaw assembly 61. Since the lower jaw assembly 61 can not only open and close but also move laterally, the expression of the lower jaw assembly 61 due to the movement is richer, delicate and concrete, and some micro-expressions can be realized, thereby being more human-like.

[0103] The optional technical solution of this embodiment also includes a lower jaw transverse movement rocker arm 53 and a lower jaw transverse movement pull rope 54; the lower jaw transverse movement rocker arm 53 is connected to the output end of the lower jaw transverse movement driver 48; the lower jaw transverse movement pull rope 54 is connected to the lower jaw transverse movement rocker arm 53, and is used to connect with the lower jaw assembly 61. In this embodiment, one lower jaw transverse movement rope 54 can be provided, in which case the middle of the lower jaw transverse movement rope 54 is connected to the lower jaw transverse movement rocker arm 53, and both ends of the lower jaw transverse movement rope 54 are connected to the middle of the lower jaw assembly 61. The lower jaw transverse movement rocker arm 53 swings left and right to make the two ends of the lower jaw transverse movement rope 54 pull the lower jaw assembly 61 to the left or right respectively; two lower jaw transverse movement ropes 54 can also be provided, in which case one end of the two lower jaw transverse movement ropes 54 are connected to the lower jaw transverse movement rocker arm 53, and the other ends of the two lower jaw transverse movement ropes 54 are connected to the middle of the lower jaw assembly 61. The lower jaw transverse movement rocker arm 53 swings left and right to make the two lower jaw transverse movement ropes 54 pull the lower jaw assembly 61 to the left or right respectively. The overall structure is simple, and the transverse movement is stable and convenient. In this embodiment, the lower jaw transverse movement driver 48 can be a steering gear, a servo motor, or other motors that meet the requirements.

[0104] The optional technical solution of this embodiment further includes a lower jaw transverse movement guide wheel 55; the lower jaw support 51 is provided with a lower jaw transverse movement guide wheel 55 on both sides of the lower jaw support 51, and the lower jaw transverse movement pull rope 54 is wound around the lower jaw transverse movement guide wheel 55. Through the guidance of the lower jaw transverse movement guide wheel 55, the lower jaw transverse movement pull rope 54 can stably pull the lower jaw assembly 61.

[0105] In the optional technical solution of this embodiment, a lower jaw transverse movement driver installation slot 56 is provided on the lower jaw support 51, and the lower jaw transverse movement driver 48 is provided in the lower jaw transverse movement driver installation slot 56. The stability of the lower jaw transverse movement driver 48 is ensured and the installation is convenient. Specifically, a through hole is provided at the bottom of the lower jaw transverse movement driver installation slot 56, and the output end of the lower jaw transverse movement driver 48 is penetrated through the through hole.

[0106] The optional technical solution of this embodiment also includes a lower jaw rotating rocker arm 57 and a lower jaw rotating push-pull rod 58; the lower jaw rotating rocker arm 57 is connected to the output end of the lower jaw rotating driver 49, one end of the lower jaw rotating push-pull rod 58 is connected to the lower jaw rotating rocker arm 57, and the other end is used to connect the lower jaw assembly 61. In this embodiment, the lower jaw rotating driver 49 drives the lower jaw rotating rocker arm 57 to rotate, and the lower jaw assembly 61 is pushed and pulled by the lower jaw rotating push-pull rod 58, so that the lower jaw connecting shaft 52 rotates in the lower jaw linear rotating bearing 50, and then the lower jaw assembly 61 rotates to achieve opening and closing, with a simple structure and stable driving. In this embodiment, the lower jaw rotating driver 49 can be a steering gear, a servo motor, or other motors that meet the requirements.

[0107] In the optional technical solution of this embodiment, the lower jaw rotating rocker arm 57 is U-shaped, and the end is connected to the output end of the lower jaw rotating driver 49, and the bottom is connected to the lower jaw rotating push-pull rod 58. In this embodiment, both ends of the lower jaw rotating rocker arm 57 are connected to the output end of the lower jaw rotating driver 49, and the middle position of the bottom of the lower jaw rotating rocker arm 57 is connected to a lower jaw rotating push-pull rod 58, and the lower jaw rotating push-pull rod 58 is connected to the middle of the lower jaw assembly 61 to ensure the stability of the movement of the lower jaw assembly 61.

[0108] The optional technical solution of this embodiment further includes a universal ball joint 59, and both ends of the mandibular rotation push-pull rod 58 are provided with a universal ball joint 59. The two ends of the mandibular rotation push-pull rod 58 are respectively connected to the mandibular rotation rocker arm 57 and the mandibular assembly 61 through the universal ball joint 59, so that the rotation movement and the lateral movement of the mandibular assembly 61 do not interfere with each other, thereby ensuring the independence of the movement.

[0109] In an optional technical solution of this embodiment, a lower jaw rotation driver installation slot 60 is provided on the lower jaw support 51, and the lower jaw rotation driver 49 is arranged in the lower jaw rotation driver installation slot 60. The stability of the lower jaw rotation driver 49 is ensured and the installation is convenient.

[0110] In the optional technical solution of this embodiment, the zygomatic drive device 62 includes: a zygomatic drive, a zygomatic support 63, and a zygomatic piece 64; the zygomatic drive is arranged on the zygomatic support 63, and the zygomatic drive is connected to the zygomatic piece 64 by transmission; the zygomatic piece 64 is used to connect with the skin of the zygomatic part, and the zygomatic drive is used to drive the zygomatic piece 64 to move forward or backward, so that the skin of the zygomatic part can move forward or backward with the zygomatic piece 64. In this embodiment, the zygomatic support 63 is arranged on the head of the bionic robot as a carrier of the entire zygomatic drive device 62, and the zygomatic drive drives the zygomatic piece 64 to move forward to push up the skin of the zygomatic part, so that the skin of the zygomatic part is slightly convex, and the zygomatic drive drives the zygomatic piece 64 to move backward to restore the skin of the zygomatic part to the state when it is not pushed up, so that the expression control of the zygomatic part is richer, more delicate and more concrete, and some micro-expressions can be realized, so as to be more human-like. In this embodiment, the front-to-back direction refers to the front-to-back direction of the head of the bionic robot itself.

[0111] The optional technical solution of this embodiment further includes a zygomatic transmission rail 65 and a first zygomatic transmission member 66; the zygomatic transmission rail 65 is arranged on the zygomatic support 63, and the first zygomatic transmission member 66 is connected to the zygomatic member 64 and the slider of the zygomatic transmission rail 65 respectively; the zygomatic driver is used to drive the first zygomatic transmission member 66 to move. In this embodiment, since the first zygomatic transmission member 66 is connected to the slider of the zygomatic transmission rail 65, the first zygomatic transmission member 66 can move along the zygomatic transmission rail 65 when moving, so as to ensure the linear movement of the first zygomatic transmission member 66, thereby ensuring the linear movement of the zygomatic member 64, and further ensuring the stability of the movement.

[0112] In this embodiment, the zygomatic transmission member can be separately provided with the slider of the zygomatic transmission rail 65 and connected by a connecting member, or can be integrally formed. In this embodiment, the zygomatic transmission rail 65 can be provided along the front-back direction.

[0113] Preferably, in this embodiment, the zygomatic transmission rail 65 is tilted relative to the front-to-back direction, and the zygomatic transmission component includes a first section 67 and a second section 68, and the extension direction of the first section 67 is the same as the extension direction of the zygomatic transmission rail 65, and the extension direction of the second section 68 is the front-to-back direction; the first section 67 is connected to the slider of the zygomatic transmission rail 65, and the second section 68 is connected to the zygomatic component 64.

[0114] In this embodiment, the zygomatic bone transmission member moves in the oblique and front-to-back directions, wherein the second section 68 is bent relative to the first section 67, that is, the second section 68 extends forward relative to the first section 67. When the zygomatic bone transmission member moves along the zygomatic bone transmission slide rail 65, the second section 68 drives the zygomatic bone member 64 to move in an oblique upward or oblique downward direction, and when the skin of the zygomatic bone area is lifted up, it is lifted up obliquely, making the expression more realistic.

[0115] In the optional technical solution of this embodiment, the zygomatic driver is transmission-connected to the first zygomatic transmission member 66. Specifically, the zygomatic driver is transmission-connected to the first section 67, and the first section 67 is driven to move along the zygomatic transmission slide rail 65 through the slider of the zygomatic transmission slide rail 65, which has a simple structure and stable driving.

[0116] However, the present embodiment is not limited thereto, and the zygomatic drive may also be a slider connected to the zygomatic drive rail 65 for transmission.

[0117] Specifically, the zygomatic bone driver may be directly connected to the slider of the zygomatic bone transmission rail 65 , or directly connected to the first zygomatic bone transmission member 66 .

[0118] The optional technical solution of this embodiment further includes a second zygomatic transmission member, through which the zygomatic driver is transmission-connected to the first zygomatic transmission member 66. The zygomatic driver can be arranged on one side of the extending direction of the zygomatic transmission rail 65, so as to avoid the zygomatic driver and the zygomatic transmission rail 65 being in one line, thereby improving space utilization.

[0119] In an optional technical solution of this embodiment, the second zygomatic bone transmission member can be a zygomatic bone pull rope, one end of which is connected to the first section 67, and the other end is transmission-connected to the zygomatic bone driver, which has a simple structure and convenient transmission.

[0120] In this embodiment, the second zygomatic transmission member is a zygomatic transmission rod 69, one end of which is hinged to the first zygomatic transmission member 66, and the other end is connected to the zygomatic driver. The transmission reliability through the zygomatic transmission rod 69 is high.

[0121] In the optional technical solution of this embodiment, the zygomatic bone driver is a zygomatic bone steering engine 70. The zygomatic bone steering engine 70 is more precisely controlled, so that the facial expressions of the zygomatic bone part are more precise and delicate.

[0122] An optional technical solution of this embodiment further includes a zygomatic rocker arm 71 , which is connected to the output end of the zygomatic servo 70 , and a second zygomatic transmission member is connected to the zygomatic rocker arm 71 .

[0123] In this embodiment, the second zygomatic transmission member is hinged to the zygomatic rocker arm 71 , and the zygomatic rocker arm 71 , the second zygomatic transmission member and the first zygomatic transmission member 66 form a crank slider structure, which has stable movement and good transmission effect.

[0124] The present embodiment is not limited thereto, and the zygomatic bone driver may also be a rotary motor, the output end of which is connected to the zygomatic bone rocker arm 71 ; or a telescopic motor, the output end of which is connected to the zygomatic bone transmission rod 69 or directly connected to the first zygomatic bone transmission member 66 .

[0125] In the optional technical solution of this embodiment, a spherical surface 72 is provided on the zygomatic part 64, and the spherical surface 72 is used to connect with the skin of the zygomatic part. The spherical surface 72 connects with the skin of the zygomatic part to make the zygomatic part more human-like. Among them, the zygomatic part 64 can fit with the skin of the zygomatic part, and when the zygomatic part 64 moves forward, the skin of the zygomatic part is lifted up, and when the zygomatic part 64 moves backward, the skin of the zygomatic part can rebound under its own elasticity; the zygomatic part 64 can also be connected with the skin of the zygomatic part, and at this time, the movement of the zygomatic part 64 directly drives the movement of the skin of the zygomatic part.

[0126] In the optional technical scheme of this embodiment, the eye device includes: an eyeball assembly 73, an eyeball yaw drive assembly 83, an eyeball pitch drive assembly 89, an upper eyelid drive assembly 94 and an eye bracket 78; the eyeball assembly 73, the eyeball yaw drive assembly 83, the eyeball pitch drive assembly 89 and the upper eyelid drive assembly 94 are each provided in a pair and are all provided on the eye bracket 78; the eyeball assembly 73 is located on the front side of the eye bracket 78, the eyeball yaw drive assembly 83 and the eyeball pitch drive assembly 89 are both located on the lower side of the eye bracket 78, and the upper eyelid drive assembly 94 is both located on the upper side of the eye bracket 78; the eyeball yaw drive assembly 83 is used to drive the eyeball assembly 73 to move left and right, the eyeball pitch drive assembly 89 is used to drive the eyeball assembly 73 to rotate back and forth, and the upper eyelid drive assembly 94 is used to drive the skin movement of the upper eyelid area. In this embodiment, by spatially arranging the eyeball assembly 73, the eyeball yaw drive assembly 83, the eyeball pitch drive assembly 89 and the upper eyelid drive assembly 94 on the eye bracket 78, the structure is made compact and the space utilization rate is high, so that the head of the bionic robot can be made smaller as a whole, approaching the size of a human head, making the bionic robot head more realistic, and at the same time having richer control over expressions, being able to realize some micro-expressions, making it more human-like.

[0127] In the optional technical solution of this embodiment, the eyeball assembly 73 includes: an eyeball body 74, an eyeball bracket 75, an eyeball support 76 and a visual module 77; the eyeball body 74 is rotatably connected to the eyeball bracket 75, and the eyeball body 74 can rotate left and right relative to the eyeball bracket 75; the eyeball bracket 75 is rotatably connected to the eyeball support 76, and the eyeball bracket 75 can rotate forward and backward relative to the eyeball support 76; the eyeball support 76 is used to be connected to the eye bracket 78; the camera of the visual module 77 is set at the pupil of the eyeball body 74. In this embodiment, the outside world can be sensed through the visual module 77. Since the eyeball body 74 can rotate forward and backward and left and right, and each eyeball can move independently, when the eyeball assembly 73 cooperates with the driving device, the eyeball body 74 can cooperate to make corresponding actions according to different external conditions, so that the expression is richer and the simulation effect is better. At the same time, the overall structure of the eyeball assembly 73 is simple.

[0128] In the optional technical solution of this embodiment, flange deep groove ball bearings and plug bolts are provided on both the upper and lower sides of the eyeball body 74; the plug bolts are passed through the flange deep groove ball bearings and connected to the ends of the eyeball bracket 75. In this embodiment, flange deep groove ball bearings are pressed into the upper and lower sides of the eyeball body 74, and the plug bolts pass through the flange deep groove ball bearings and are respectively connected to the upper and lower ends of the eyeball bracket 75, which has a simple structure and stable rotation.

[0129] In the optional technical solution of this embodiment, the eyeball support 76 includes a seat body 81 and an eyeball support connecting rod 82 disposed on the seat body 81; the eyeball support connecting rod 82 is rotatably connected to the eyeball support 75, and the seat body 81 is used to be connected to the eye support 78. The structure is simple and easy to install.

[0130] In the optional technical solution of this embodiment, the eyeball bracket 75 has a left plate and a right plate that are opposite and spaced apart, and flange deep groove ball bearings and plug bolts are provided on the left plate and the right plate; the eyeball support 76 is inserted between the left plate and the right plate, and the plug bolts are passed through the flange deep groove ball bearings and connected to the eyeball support 76. In this embodiment, the upper end of the left plate is connected to the upper end of the right plate, the lower end of the left plate is connected to the lower end of the right plate, the middle part of the left plate and the middle part of the right plate are pressed into the flange deep groove ball bearings, the end of the eyeball bracket connecting rod 82 is located between the left plate and the right plate, and the plug bolts pass through the flange deep groove ball bearings to connect with the eyeball bracket connecting rod 82, the overall structure is simple, and the rotation is stable.

[0131] The optional technical solution of this embodiment further includes a pressing sheet 79; the pressing sheet 79 is connected to the eyeball body 74 and is located between the eyeball bracket 75 and the camera of the visual module 77, and is used to fix the camera of the visual module 77 at the pupil of the eyeball body 74. The camera of the visual module 77 is pressed at the pupil of the eyeball body 74 by the pressing sheet 79 to prevent the camera of the visual module 77 from shaking.

[0132] In an optional technical solution of this embodiment, a positioning groove is provided on the side of the eyeball body 74 facing the camera of the visual module 77; the camera of the visual module 77 is arranged in the positioning groove. In this embodiment, the positioning groove is provided on the eyeball body 74 to facilitate the installation of the camera of the visual module 77, and the positioning groove can better limit the camera of the visual module 77 to ensure the stability of the camera of the visual module 77.

[0133] The optional technical solution of this embodiment further includes an eyeball housing 80; the eyeball housing 80 is disposed on the front side of the eyeball body 74 and is connected to the eyeball body 74; a shooting hole is provided on the eyeball housing 80, and the shooting hole corresponds to the pupil of the eyeball body 74. The eyeball housing 80 can effectively protect the eyeball body 74 and prevent the eyeball body 74 from being damaged.

[0134] The optional technical solution of this embodiment also includes a buckle structure disposed between the eyeball shell 80 and the eyeball body 74, and the eyeball shell 80 is connected to the eyeball body 74 through the buckle structure. The eyeball shell 80 and the eyeball body 74 are connected through the buckle structure, which has a simple structure and is easy to install and disassemble.

[0135] The optional technical solution of this embodiment also includes a positioning structure disposed between the eyeball shell 80 and the eyeball body 74, and the relative sliding between the eyeball shell 80 and the eyeball body 74 is limited by the positioning structure. The stability of the position between the eyeball shell 80 and the eyeball body 74 is ensured. In this embodiment, the positioning structure can be a positioning rib, and after the eyeball shell 80 is installed on the eyeball body 74, the positioning rib can limit the relative sliding between the two; the positioning structure can also be a positioning column and a positioning hole that cooperate with each other, and the positioning column is inserted into the positioning hole, which can also prevent the relative sliding between the eyeball shell 80 and the eyeball body 74.

[0136] In the optional technical solution of this embodiment, the eyeball yaw drive assembly 83 includes: an eyeball yaw driver 84, a yaw V-shaped connecting rod 85 and a yaw ball head pull rod 86; the eyeball yaw driver 84 is arranged on the eye bracket 78; the bending part of the yaw V-shaped connecting rod 85 is rotatably connected to the eyeball support 76, the output end of the eyeball yaw driver 84 is transmission-connected to the first end of the yaw V-shaped connecting rod 85, the ball head at one end of the yaw ball head pull rod 86 is connected to the second end of the yaw V-shaped connecting rod 85, and the ball head at the other end of the yaw ball head pull rod 86 is connected to the eyeball body 74, which is used to drive the eyeball body 74 to rotate left and right around the eyeball bracket 75. In this embodiment, the first end of the yaw V-shaped link 85 is driven to move by the eyeball yaw driver 84, so that the yaw V-shaped link 85 rotates, so that the second end of the yaw V-shaped link 85 drives the yaw ball head pull rod 86 to push and pull the eyeball body 74, and then the eyeball body 74 rotates left and right around the eyeball bracket 75. Through the setting of the yaw V-shaped link 85, the eyeball yaw drive component 83 is not in a straight line, which reduces the space occupied in one direction and improves space utilization. In addition, the eyeball yaw drive component 83 drives one eyeball body 74 to move alone, which can realize more eye expressions. At the same time, the ball heads at both ends of the yaw ball head pull rod 86 can avoid interfering with the pitch movement of the eyeball body 74 itself, thereby realizing the parallel connection of the degrees of freedom of the eyeball body 74.

[0137] The optional technical solution of this embodiment further includes a yaw rocker arm 87; the output end of the eyeball yaw driver 84 is connected to the yaw rocker arm 87, and the yaw rocker arm 87 is transmission-connected to the first end of the yaw V-shaped connecting rod 85. The structure is simple and the transmission is stable.

[0138] The optional technical solution of this embodiment further includes a yaw straight connecting rod 88, and the yaw rocker arm 87 is connected to the first end of the yaw V-shaped connecting rod 85 through the yaw straight connecting rod 88. The structure is simple and the transmission is stable.

[0139] In the optional technical solution of this embodiment, both ends of the yaw straight link 88 are provided with flange deep groove ball bearings and plug bolts, and the plug bolts are inserted into the flange deep groove ball bearings; the two ends of the yaw straight link 88 are respectively connected to the first end of the yaw V-type link 85 and the yaw rocker arm 87 through plug bolts. In this embodiment, both ends of the yaw straight link 88 are pressed into the flange deep groove ball bearings, and the two ends of the yaw straight link 88 are respectively connected to the first end of the yaw V-type link 85 and the yaw rocker arm 87 through plug bolts passing through the flange deep groove ball bearings, which has a simple structure, is easy to install, and has a stable rotation effect.

[0140] In the optional technical solution of this embodiment, the length of the first end of the yaw V-shaped link 85 is greater than the length of the second end. In this embodiment, since the length of the first end of the yaw V-shaped link 85 is greater than the length of the second end, the yaw V-shaped link 85 has the function of reducing the stroke, which can improve the rotation accuracy of the eyeball body 74 and make the expression more delicate and accurate.

[0141] In the optional technical solution of this embodiment, the ball heads at both ends of the yaw ball head tie rod 86 are located on the same side of the yaw ball head tie rod 86. In this embodiment, the ball heads at both ends of the yaw ball head tie rod 86 are located on the upper side or the lower side to avoid occupying too much space in the upper and lower directions and improve space utilization.

[0142] In the optional technical solution of this embodiment, a flange deep groove ball bearing and a plug bolt are provided at the bend of the yaw V-shaped connecting rod 85; the plug bolt is passed through the flange deep groove ball bearing and connected to the eyeball support 76. Specifically, the flange deep groove ball bearing is pressed into the bend of the yaw V-shaped connecting rod 85, and the plug bolt passes through the flange deep groove ball bearing and is connected to the end of the eyeball support 76 away from the eyeball body 74. The structure is simple, and the structures are compact with each other, which reduces the occupied space.

[0143] In the optional technical solution of this embodiment, the ball heads at both ends of the yaw ball head tie rod 86 are connected with plug bolts, and are respectively connected to the second end of the yaw V-shaped connecting rod 85 and the eyeball body 74 through the plug bolts. The structure is simple, the connection is stable, and the rotation effect is stable.

[0144] In the optional technical solution of this embodiment, the eyeball yaw driver 84 is an eyeball yaw steering gear. The control accuracy is high, but it is not limited to this. The eyeball yaw driver 84 can also be a servo motor, or other motors that meet the requirements.

[0145] In the optional technical solution of this embodiment, the eyeball pitch drive assembly 89 includes: an eyeball pitch drive 90 and a pitch bending link 91; the eyeball pitch drive 90 is arranged on the eye support 78; the output end of the eyeball pitch drive 90 is connected to one end of the pitch bending link 91 by transmission, and the other end of the pitch bending link 91 is connected to the eyeball support 75, which is used to drive the eyeball support 75 to rotate forward and backward around the eyeball support 76. In this embodiment, the eyeball pitch drive 90 drives one end of the pitch bending link 91 to move, so that the other end of the pitch bending link 91 pushes and pulls the eyeball support 75, so that the eyeball support 75 rotates forward and backward around the eyeball support 76. Through the arrangement of the pitch bending link 91, the eyeball pitch drive assembly 89 is not in a straight line, which reduces the space occupied in one direction and improves the space utilization rate. In addition, the eyeball pitch drive assembly 89 drives one eyeball body 74 to move alone, which can realize more eye expressions. At the same time, the eyeball pitch drive assembly 89 has a simple structure and stable driving.

[0146] In the optional technical solution of this embodiment, the pitch bending link 91 includes a first rod portion, a second rod portion and a junction portion; one end of the first rod portion and one end of the second rod portion are both connected to the junction portion, and the junction portion is transmission-connected to the output end of the eyeball pitch actuator 90; the eyeball bracket 75 has a left plate and a right plate that are opposite and spaced apart, the other end of the first rod portion is connected to the left plate, and the other end of the second rod portion is connected to the right plate. The pitch bending link 91 is an integral structure, the structure is stable, and the driving effect is stable.

[0147] In the optional technical solution of this embodiment, the bending part of the pitch bending link 91 is located on the first rod part and the second rod part, and is located at the position corresponding to the first rod part and the second rod part. In this embodiment, the pitch bending link 91 is bent on the first rod part and the second rod part, which ensures the overall strength of the pitch bending link 91 and avoids breaking.

[0148] In the optional technical solution of this embodiment, the bending angle of the pitch bending link 91 is between 90° and 180°. The bending angle can be 90°, 100° or 120°, but is not limited thereto, and can be any angle between 90° and 180°, as long as the power transmission is not in a straight line.

[0149] The optional technical solution of this embodiment further includes a pitch rocker arm 92; the output end of the eyeball pitch driver 90 is connected to the pitch rocker arm 92, and the pitch rocker arm 92 is transmission-connected to the pitch bending connecting rod 91. The structure is simple and the transmission is stable.

[0150] The optional technical solution of this embodiment further includes a pitch straight link 93, and the pitch rocker arm 92 is connected to the pitch bending link 91 through the pitch straight link 93. The structure is simple and the transmission is stable.

[0151] In the optional technical solution of this embodiment, both ends of the pitch straight link 93 are provided with flange deep groove ball bearings and plug bolts, and the plug bolts are inserted into the flange deep groove ball bearings; the two ends of the pitch straight link 93 are respectively connected to the pitch rocker arm 92 and the pitch bending link 91 through plug bolts. In this embodiment, both ends of the pitch straight link 93 are pressed into the flange deep groove ball bearings, and the two ends of the pitch straight link 93 are respectively connected to the pitch rocker arm 92 and the pitch bending link 91 through plug bolts passing through the flange deep groove ball bearings, which has a simple structure, is easy to install, and has a stable rotation effect.

[0152] In the optional technical solution of this embodiment, the pitch bending link 91 is divided into a first section 67 and a second section 68 by a bend, and the length of the first section 67 is less than the length of the second section 68; the first section 67 is transmission-connected to the output end of the eyeball pitch driver 90, and the second section 68 is connected to the eyeball bracket 75. In this embodiment, since the length of the first section 67 of the pitch bending link 91 is less than the length of the second section 68, the pitch bending link 91 has the function of amplifying the stroke, so that the pitch rocker arm 92 and the pitch straight link 93 do not need more stroke space, thereby making the eyeball pitch drive assembly 89 occupy a smaller space as a whole.

[0153] In the optional technical solution of this embodiment, the eyeball pitch driver 90 is an eyeball pitch servo. The control accuracy is high, but it is not limited to this. The eyeball pitch driver 90 can also be a servo motor, or other motors that meet the requirements.

[0154] In the optional technical solution of this embodiment, the upper eyelid drive assembly 94 includes: an upper eyelid driver 95, an upper eyelid traction frame 96 and an upper eyelid traction member 97; the upper eyelid driver 95 is arranged on the eye bracket 78 and is transmission-connected to the upper eyelid traction frame 96; the upper eyelid traction frame 96 is bow-shaped and is used to be erected on the eyeball, and both ends of the upper eyelid traction frame 96 are rotatably connected to the eye bracket 78 so that the upper eyelid traction frame 96 can rotate back and forth around the eyeball; the upper eyelid traction member 97 is connected to the upper eyelid traction frame 96 and is used to be connected to the skin of the upper eyelid area. In this embodiment, since the upper eyelid traction frame 96 is arched and is mounted on the eyeball, the eyeball is located in the upper eyelid traction frame 96. When the upper eyelid traction frame 96 is driven by the upper eyelid driver 95 to rotate on the eye bracket 78, the upper eyelid traction frame 96 can rotate back and forth around the eyeball to avoid interference with the eyeball. At the same time, the rotation of the upper eyelid traction frame 96 can drive the upper eyelid traction member 97 connected to the skin of the upper eyelid area to move, so that the skin of the upper eyelid area moves together, ensuring the stability of the skin movement of the upper eyelid area, thereby making the expression more realistic.

[0155] In the optional technical solution of this embodiment, a magnet is provided on the upper eyelid traction frame 96, and the upper eyelid frame is connected to the upper eyelid traction member 97 through the magnet. In this embodiment, the upper eyelid traction frame 96 and the upper eyelid traction member 97 are connected by magnetic attraction, and the connection is stable and convenient. It should be noted that the upper eyelid traction member 97 is designed to match the skin of the upper eyelid area through profiling.

[0156] In an optional technical solution of this embodiment, a magnet mounting groove 98 is provided on the upper eyelid traction frame 96, and the notch of the magnet mounting groove 98 faces the front side; the magnet is arranged in the magnet mounting groove 98. In this embodiment, the magnet is installed in the magnet mounting groove 98 to ensure the stability of the magnet, and the notch of the magnet mounting groove 98 faces the front side, which facilitates the connection between the magnet and the upper eyelid traction member 97.

[0157] In the optional technical solution of this embodiment, the magnet mounting groove 98 is arranged in the middle of the upper eyelid traction frame 96. Ensure that the magnet is in the middle of the upper eyelid traction frame 96 and the upper eyelid traction member 97, so that the upper eyelid traction frame 96 drives the upper eyelid traction member 97 to move more stably.

[0158] The optional technical solution of this embodiment further includes an upper eyelid rocker arm 99; the output end of the upper eyelid driver 95 is connected to the upper eyelid rocker arm 99, and the upper eyelid rocker arm 99 is transmission-connected to the upper eyelid traction frame 96. The structure is simple and the transmission is stable.

[0159] The optional technical solution of this embodiment further includes an upper eyelid connecting rod 100; the upper eyelid rocker arm 99 is connected to the upper eyelid traction frame 96 through the upper eyelid connecting rod 100. The structure is simple and the transmission is stable.

[0160] In an optional technical solution of this embodiment, a hollow hole is provided on the upper eyelid connecting rod 100. In this embodiment, by providing a hollow hole on the upper eyelid connecting rod 100, the weight of the upper eyelid connecting rod 100 is reduced and the transmission effect is ensured. Among them, one or more hollow holes can be provided, as long as the requirements are met.

[0161] In the optional technical solution of this embodiment, the upper eyelid connecting rod 100 is connected to the slot wall of the magnet mounting slot 98. Specifically, the upper eyelid connecting rod 100 is connected to the left slot wall or the right slot wall of the magnet mounting slot 98, making the structure more compact and improving space utilization.

[0162] In the optional technical solution of this embodiment, both ends of the upper eyelid connecting rod 100 are provided with plug bolts; the two ends of the upper eyelid connecting rod 100 are respectively connected to the upper eyelid rocker arm 99 and the upper eyelid traction frame 96 through plug bolts. In this embodiment, the two ends of the upper eyelid connecting rod 100 are respectively connected to the upper eyelid rocker arm 99 and the upper eyelid traction frame 96 through plug bolts, which has a simple structure, is easy to install, and has a stable rotation effect.

[0163] In the optional technical scheme of this embodiment, the eyebrow driving device 101 includes: an eyebrow driving component 102, an eyebrow tail driving component 103 and an eyebrow support 104; the eyebrow driving component 102 includes an eyebrow transverse movement driver 105, an eyebrow support 106, an eyebrow longitudinal movement driver 107 and an eyebrow traction rod 108, the eyebrow transverse movement driver 105 is arranged on the eyebrow support 104, and is transmission-connected to the eyebrow support 106, the eyebrow longitudinal movement driver 107 is arranged on the eyebrow support 106, and is transmission-connected to the eyebrow traction rod 108, and the eyebrow traction rod 108 is used to connect with the skin of the eyebrow part; the eyebrow tail driving component 103 includes an eyebrow tail longitudinal movement driver 109 and an eyebrow tail traction rod 110, the eyebrow tail longitudinal movement driver 109 is arranged on the eyebrow support 104, and is transmission-connected to the eyebrow tail traction rod 110, and the eyebrow tail traction rod 110 is used to connect with the skin of the eyebrow tail part.

[0164] In this embodiment, the eyebrow area is decomposed into three independent degrees of freedom, namely the up and down movement of the eyebrow, the left and right movement of the eyebrow, and the up and down movement of the eyebrow tail, and the three independent degrees of freedom are controlled separately, which can make the skin in the eyebrow area show more expressions and make the expressions more realistic.

[0165] In the optional technical solution of this embodiment, the brow drive assembly 102 further includes a brow transverse sliding rail 111, which is arranged on the brow support 104; the brow support 106 is connected to the slider of the brow transverse sliding rail 111. The stability of the brow support 106 during transverse movement is ensured by the guiding effect of the brow transverse sliding rail 111.

[0166] In the optional technical solution of this embodiment, the brow drive assembly 102 also includes a brow transverse movement rocker arm 112; the output end of the brow transverse movement driver 105 is connected to the brow transverse movement rocker arm 112, and the brow transverse movement rocker arm 112 is connected to the brow bracket 106. The structure is simple and the transmission is stable.

[0167] In the optional technical solution of this embodiment, the brow drive assembly 102 further includes a brow longitudinal sliding rail 113, which is arranged on the brow bracket 106; the brow traction rod 108 is connected to the slider of the brow longitudinal sliding rail 113. The stability of the brow traction rod 108 during longitudinal movement is ensured by the guiding effect of the brow longitudinal sliding rail 113.

[0168] In the optional technical solution of this embodiment, the brow drive assembly 102 also includes a brow longitudinal movement rocker arm 114 and a brow longitudinal movement connecting rod 115; the output end of the brow longitudinal movement driver 107 is connected to the brow longitudinal movement rocker arm 114, and the two ends of the brow longitudinal movement connecting rod 115 are respectively rotatably connected to the brow longitudinal movement rocker arm 114 and the brow traction rod 108. The structure is simple and the transmission is stable.

[0169] In the optional technical solution of this embodiment, a slide rail installation groove 116 is provided on the brow support 104; the brow head transverse sliding rail 111 is arranged in the slide rail installation groove 116. The installation of the brow head transverse sliding rail 111 is convenient, and the space utilization rate is high.

[0170] In the optional technical solution of this embodiment, the eyebrow tail driving assembly 103 further includes an eyebrow tail longitudinal sliding rail 117, which is arranged on the eyebrow support 104; the eyebrow tail traction rod 110 is connected to the slider of the eyebrow tail longitudinal sliding rail 117. Through the guiding effect of the eyebrow tail longitudinal sliding rail 117, the stability of the eyebrow tail traction rod 110 during longitudinal movement is ensured.

[0171] In the optional technical solution of this embodiment, the eyebrow tail driving assembly 103 also includes an eyebrow tail longitudinal movement rocker arm 118, an eyebrow tail longitudinal movement transmission rod 119 and an eyebrow tail longitudinal movement connecting rod 120; the output end of the eyebrow tail longitudinal movement driver 109 is connected to the eyebrow tail longitudinal movement rocker arm 118, the eyebrow tail longitudinal movement rocker arm 118 is rotatably connected to the eyebrow tail longitudinal movement connecting rod 120 through the eyebrow tail longitudinal movement transmission rod 119, the eyebrow tail longitudinal movement connecting rod 120 is connected to the slider of the eyebrow tail longitudinal movement slide rail 117, and the eyebrow tail traction rod 110 is connected to the eyebrow tail longitudinal movement connecting rod 120. The structure is simple and the transmission is stable.

[0172] In the optional technical solution of this embodiment, the eyebrow tail traction rod 110 is rotatably connected to the eyebrow tail longitudinal movement connecting rod 120 and can swing horizontally, so that the eyebrow tail traction rod 110 has passive freedom in the left and right directions, making the expression transition natural.

[0173] In this embodiment, the range of motion of each point is larger, the expression of expression is stronger, and the excessive concavity or convexity of the skin caused by internal transmission can be reduced under a large range of motion.

[0174] The present embodiment provides a bionic robot, including the bionic robot head described above. Thus, the technical advantages and effects achieved by the bionic robot head include the technical advantages and effects achieved by the bionic robot head described above, which will not be repeated here.

[0175] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or replace some or all of the technical features therein with equivalents. However, these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A bionic robot head, characterized in that: include: A nose drive device (34), a lip drive device, a jaw assembly (61), a jaw drive device, a pair of cheekbone drive devices (62), an eye device and an eyebrow drive device (101); The nose drive device (34) is arranged on the upper side of the lip drive device, the lower jaw assembly (61) is arranged on the lower side of the lip drive device, a pair of zygomatic drive devices (62) are arranged on the left and right sides of the nose drive device (34), respectively, the lower jaw drive device is arranged on the rear side of the nose drive device (34), the lip drive device and the pair of zygomatic drive devices (62), the eye device is arranged on the upper side of the nose drive device (34), and the eyebrow drive device (101) is arranged on the upper side of the eye device; The nose driving device (34) is used to drive the skin movement of the nose, the lip driving device is used to drive the skin movement of the lips, the jaw driving device is used to drive the jaw assembly (61) to move, the pair of zygomatic bone driving devices (62) are used to drive the skin movement of a pair of zygomatic bone parts respectively, the eye device is used to drive the skin movement of the upper eyelid part, and the eyebrow driving device is used to drive the skin movement of the eyebrow part.

2. The bionic robot head according to claim 1, characterized in that: The nose driving device (34) comprises: a nose driver, a nose support (35), a nose pull rope (36), a pair of nose back traction members (37) and a pair of nose wing traction members (38); The nose driver is arranged on the nose bracket (35), the pair of nose back traction members (37) are respectively used to connect with the skin of the nose back on both sides of the nose bridge, and the pair of nose wing traction members (38) are respectively used to connect with the skin of the nose wing on both sides of the nose tip; The nose driver is connected to a pair of nose back traction members (37) and a pair of nose wing traction members (38) through the nose pull rope (36).

3. The bionic robot head according to claim 1, characterized in that: The lip driving device comprises: a pair of lip middle driving mechanisms (1), a pair of lip corner driving mechanisms (2) and two pairs of lip side driving mechanisms (3); A pair of lip middle driving mechanisms (1) are respectively used to connect with the skin of the middle part of the upper lip and the skin of the middle part of the lower lip to drive the skin of the middle part of the upper lip and the skin of the middle part of the lower lip to move; A pair of lip corner driving mechanisms (2) are respectively used to connect to the skin of a pair of lip corners to drive the skin of the pair of lip corners to move; A pair of the lip side drive mechanisms (3) are respectively used to connect to the skin on both sides of the middle part of the upper lip to drive the skin on both sides of the middle part of the upper lip to move, and another pair of the lip side drive mechanisms (3) are respectively used to connect to the skin on both sides of the middle part of the lower lip to drive the skin on both sides of the middle part of the lower lip to move.

4. The bionic robot head according to claim 3, characterized in that: The lip middle driving mechanism (1) comprises a lip middle up-and-down swing rod (4), a lip middle front-and-back swing rod (5), a first lip middle driver (6), a second lip middle driver (7) and a lip middle bracket (8), and the first lip middle driver (6) and the second lip middle driver (7) are both arranged on the lip middle bracket (8); The lip middle up-and-down swing rod (4) is hinged to the lip middle bracket (8), and the first lip middle driver (6) is transmission-connected to the lip middle up-and-down swing rod (4) for driving the lip middle up-and-down swing rod (4) to rotate; The front-to-back swing rod (5) in the middle of the lip is hinged to the upper and lower swing rod (4) in the middle of the lip, and one end of the front-to-back swing rod (5) in the middle of the lip is used to connect with the skin in the middle part of the lip, and the second middle driver (7) in the lip is transmission-connected to the front-to-back swing rod (5) in the middle of the lip, and is used to drive the front-to-back swing rod (5) in the middle of the lip to rotate.

5. The bionic robot head according to claim 3, characterized in that: The lip angle driving mechanism (2) comprises a first lip angle driver (17), a second lip angle driver (18), a lip angle bracket (19), a lip angle traction rod (20) and a lip angle traction member (21); The first lip angle driver (17) and the second lip angle driver (18) are both arranged on the lip angle bracket (19), and are both transmission-connected to the lip angle traction rod (20); the first lip angle driver (17) is used to drive the lip angle traction rod (20) to move up and down, and the second lip angle driver (18) is used to drive the lip angle traction rod (20) to move left and right; The lip corner traction member (21) is connected to the lip corner traction rod (20) and is used to connect to the skin at the lip corner.

6. The bionic robot head according to claim 1, characterized in that: The lower jaw driving device comprises: a lower jaw transverse movement driver (48), a lower jaw rotation driver (49), a lower jaw linear rotation bearing (50), a lower jaw support (51) and a lower jaw connecting shaft (52); The lower jaw transverse movement driver (48), the lower jaw rotation driver (49), and the lower jaw linear rotation bearing (50) are all arranged on the lower jaw support (51); The lower jaw connecting shaft (52) is disposed in the lower jaw linear rotation bearing (50) and is used to connect with the lower jaw assembly (61); The lower jaw transverse movement driver (48) is used to drive the lower jaw component (61) to perform axial transverse movement along the lower jaw linear rotation bearing (50), and the lower jaw rotation driver (49) is used to drive the lower jaw component (61) to perform circumferential rotation movement along the lower jaw linear rotation bearing (50).

7. The bionic robot head according to claim 1, characterized in that: The zygomatic bone driving device (62) comprises: a zygomatic bone driver, a zygomatic bone support (63), and a zygomatic bone component (64); The zygomatic bone driver is arranged on the zygomatic bone support (63), and the zygomatic bone driver is drivingly connected to the zygomatic bone component (64); The zygomatic piece (64) is used to connect with the skin of the zygomatic area, and the zygomatic driver is used to drive the zygomatic piece (64) to move forward or backward, so that the skin of the zygomatic area can move forward or backward along with the zygomatic piece (64).

8. The bionic robot head according to claim 1, characterized in that: The eye device comprises: an eyeball assembly (73), an eyeball yaw drive assembly (83), an eyeball pitch drive assembly (89), an upper eyelid drive assembly (94) and an eye support (78); The eyeball assembly (73), the eyeball yaw drive assembly (83), the eyeball pitch drive assembly (89) and the upper eyelid drive assembly (94) are each provided in a pair and are all provided on the eye support (78); The eyeball assembly (73) is located on the front side of the eye bracket (78), the eyeball yaw drive assembly (83) and the eyeball pitch drive assembly (89) are both located on the lower side of the eye bracket (78), and the upper eyelid drive assembly (94) is both located on the upper side of the eye bracket (78); The eyeball yaw drive assembly (83) is used to drive the eyeball assembly (73) to move left and right, the eyeball pitch drive assembly (89) is used to drive the eyeball assembly (73) to rotate forward and backward, and the upper eyelid drive assembly (94) is used to drive the skin of the upper eyelid to move.

9. The bionic robot head according to claim 1, characterized in that: The eyebrow driving device (101) comprises: an eyebrow start driving component (102), an eyebrow end driving component (103) and an eyebrow support (104); The brow drive assembly (102) comprises a brow transverse movement driver (105), a brow support (106), a brow longitudinal movement driver (107) and a brow traction rod (108); the brow transverse movement driver (105) is arranged on the brow support (104) and is transmission-connected to the brow support (106); the brow longitudinal movement driver (107) is arranged on the brow support (106) and is transmission-connected to the brow traction rod (108); the brow traction rod (108) is used to connect to the skin of the brow area; The eyebrow tail driving assembly (103) comprises an eyebrow tail longitudinal movement driver (109) and an eyebrow tail traction rod (110). The eyebrow tail longitudinal movement driver (109) is arranged on the eyebrow support (104) and is transmission-connected to the eyebrow tail traction rod (110). The eyebrow tail traction rod (110) is used to connect to the skin at the eyebrow tail.

10. A bionic robot, characterized in that: A bionic robot head comprising any one of claims 1-9.

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