Human head facial expression imitating robot and mouth pouting mechanism integrated system device and control method thereof

Abstract

The invention discloses a human head facial expression imitating robot and a mouth pouting mechanism integrated system device and a control method thereof, and relates to the field of human head facial expression imitating robots. The technical problems that an existing human head and face imitating robot is difficult to achieve by purely depending on the skin, the lips and a driving mechanism of the lips through pouting actions and incomplete in basic emotion expression when facial expressions and emotion behaviors are not full in emotion expression and the like are solved. According to the technical scheme, the device is composed of driving mechanisms for the orbicular orbicular muscle, the masseter muscle, the laughing muscle, the buccal muscle, the anorbital horn muscle, the chin muscle, the anorbital lower lip muscle, the zygomatic muscle, the zygomatic small muscle and the like which simulate the human face skin mouth and the periphery of the human face skin mouth, and the orbicular orbicular muscle driving mechanism is used for achieving the angular distortion action behavior main body. When the driving mechanisms for realizing actions such as cheeks and chin realize the active pouting action, the pouting action is realized by coordinating according to the principle of a facial expression coding system and cooperating with the motion of the orbicular orbicular muscle driving mechanism of the pouting action action. The orbicular orbicular muscle driving mechanism system comprises a soft rope which is pre-embedded in the orbicular orbicular muscle area of the simulated human face skin or connected to the back of the orbicular orbicular muscle area of the simulated human face skin, an elastic steel wire which is pre-embedded in the lip of the simulated human face skin or connected to the back of the lip, and a corresponding rope; the micro-miniature integrated servo motor and the driving and control unit of the micro-miniature integrated servo motor are arranged on the base; the micro-miniature integrated servo motors are all servo motors with position and speed sensors and planetary reducers.

Description

Technical Field

[0001] The invention belongs to the field of humanoid head facial expression robots, and in particular relates to a humanoid head facial expression robot and an integrated system device and control method of a mouth pouting mechanism thereof. Background Art

[0002] After more than 50 years of research and development at home and abroad, humanoid robot technology has gradually been applied to industrial production, commercial and service industries, family and life. Humanoid full-body robots with humanoid heads, faces and expressions have been developed. The artificial emotional interaction between humans and humanoid robots depends on the robot's facial skin, facial features and five senses to form the robot's expression and emotion realization technology.

[0003] At present, the humanoid facial expression robot can realize the changes of basic facial expressions and the ability to perceive the outside world. The application number is ZL200810209803.2. It is a humanoid head robot with facial expression and multi-sensory functions from Harbin Institute of Technology. The robot includes a motion drive mechanism, an expression drive mechanism, a facial shell and facial elastic skin, which solves the problem that the robot at that time had a single expression and no multi-sensory function. The multi-sensory sensor system can sense and process information, and move the skin to realize normal, smiling, laughing, angry, sad, disgusted, surprised and afraid expressions; the application number is CN 202211151369.3, named as the mechanical structure of a multi-motion control point expression robot, is a bionic robot that can realize multiple facial expressions through movements of the eyes, face, mouth, and neck. The entire facial structure is designed with multiple motion control points, which can realize the opening and closing of the eyelids, the up and down, left and right rotation of the eyeballs, cheek movements and other movements. A camera is designed in the eyeball structure to give the robot vision. In addition, the neck can also move. This structure is used to solve the technical problems of the simulated robot's expression not being realistic enough and the insufficient emotional decision-making. Its mouth can realize lip corner movement and tongue movement.

[0004] The head movements of humanoid robots mainly include eyes, mouth and neck, among which mouth movements are essential in the speech expression of humanoid robots. At present, most humanoid robots have only jaw movement mechanisms on their lips, and the fidelity of imitating human mouth movements is low. In order to make the humanoid facial expression robot more humanoid, the application number is CN202311402344.0, which is a mouth transmission mechanism, facial structure and robot. The robot mouth transmission mechanism includes a fixed component, a lower jaw component, a transmission component and a drive component, which can not only move the lower jaw up and down, but also The invention can realize opening and closing the mouth, and can also realize extending and retracting the chin by controlling the forward and backward movement of the mandible, which better imitates the human mouth movement; the application number is CN201811559587.4. It is also a mouth structure of a bionic robot, which includes a jaw mechanism and a mouth mechanism arranged in the robot head frame, and adopts two motors to drive the jaw mechanism and the mouth mechanism respectively, which can realistically imitate the human mouth and jaw movement, realize a variety of mouth movements, enhance the anthropomorphic effect of the humanoid robot's mouth, and has a simple structure; the application number is CN 201920625575.0 is a humanoid robot mouth mechanism, which includes a lip model, an upper jaw support plate and a chin model. The lip model is used to simulate real lips, which is convenient for observing the actual movement effect of the lip model. It has a high frequency of mouth shape changes and can realize complex speaking mouth shape movements; the application number is CN202211570757.5, and its name is a simulation robot mouth opening and closing mechanism. Usually, the chin of a humanoid robot is a relatively independent structure, and the mouth opening and closing range is large. In the later stage, it needs to be fully covered with an overall silicone skin, without The method gives the head more operating space and modeling space. This mechanism improves this problem by changing and reducing the overall chin; the application number is CN202311418138.9, and the name is a robot mouth structure and robot. The robot's mouth structure includes a lip body, an upper lip control component, a lower lip control component, and a mouth corner control component. It can not only control the opening and closing of the mouth through the chin movement mechanism, but also control the change of the mouth shape through the lip control mechanism. The mouth shape changes faster and more widely, and can better reproduce human mouth shape movements. However, most humanoid robots currently focus too much on voice interaction in their mouth movements, and lack other mouth movements to express facial emotions, such as pouting.

[0005] Currently, there is no public technical solution regarding a humanoid head facial expression robot with a pouting mechanism, capable of realizing pouting movements and control methods, and an integrated system device and control method for a mouth pouting mechanism. Summary of the invention

[0006] The technical problems to be solved by the present invention are:

[0007] In order to solve the technical problems that the existing humanoid head and facial robots are difficult to achieve in expressing emotional dissatisfaction through facial expressions and emotional behaviors simply by relying on skin and lips and their driving mechanisms, and the basic emotional expression is incomplete, the present invention further provides a humanoid head and facial expression robot and an integrated system device and control method for its pouting mechanism.

[0008] The technical solution adopted by the present invention to solve the above problems is:

[0009] The present invention provides a humanoid head facial expression robot, which includes a humanoid facial skin, a facial skin mouth and surrounding muscle driving mechanism system, a multi-axis servo drive and control unit module system, and a main control computer system. The humanoid facial skin mouth and surrounding muscle driving mechanism system includes partial driving mechanisms such as orbicularis oris, masseter, risorius, buccinator, depressor anguli oris, mentalis, depressor labii inferioris, zygomaticus, and zygomaticus minor. The orbicularis oris driving mechanism is the main body of the pouting action. When the partial driving mechanisms for the cheek, chin, and other actions are realized, the orbicularis oris driving mechanism of the pouting action is coordinated and cooperated with the movement of the pouting action according to the principle of the facial expression coding system to realize the pouting action. The orbicularis oris driving mechanism system comprises an elastic soft rope embedded in the orbicularis oris region of the human-like facial skin or connected to the back of the orbicularis oris region of the human-like facial skin, an inner-threaded elastic steel wire thin-diameter cylindrical spiral spring embedded in the lips of the human-like facial skin or connected to the back of the lips, and corresponding ropes, pulleys, and micro-integrated servo motors. The micro-integrated servo motors used are servo motors with position and speed sensors and planetary reducers; the multi-axis servo drive and control unit module system provides position, speed, and torque control signals for the servo motors of the facial skin and various muscle drive mechanism systems, as well as voltages and currents to drive the corresponding servo motors to achieve speed and torque drive and control; the main control computer system is a main control computer that connects the multi-axis servo drive and control unit modules in the multi-axis servo drive and control unit module system through computer network communication to coordinate the human-like head and facial organs, skin expressions, corresponding five senses, and human-human-like head and facial expression robots, and is a host computer main control system at the task level of human-human-like head and facial expression robots' emotional interaction operations.

[0010] In the present invention, the facial organs and facial skin of the humanoid head and face robot are divided into three parts: a general head and face expression robot part, an orbicularis oris muscle and lips, and a skin part surrounding the orbicularis oris muscle: the general humanoid head and face expression robot part is the existing skin area consisting of the five sense organs and the orbicularis oris muscle and lips driving mechanism; the orbicularis oris muscle and lips part is the part in which the orbicularis oris muscle and lips driving elements are embedded in the facial skin of the orbicularis oris muscle and lips area or connected to the inner surface of the skin, i.e., the back side, of the soft rope, elastic steel wire mouth and other driving elements, namely, the pouting driving mechanism and the orbicularis oris muscle and lips of the humanoid head and face expression robot; the skin part surrounding the orbicularis oris muscle mainly includes the skin area where the masseter muscle, risorius muscle, buccinator muscle, depressor anguli oris muscle, mentalis muscle, depressor labii inferioris muscle, zygomaticus muscle, zygomaticus minor muscle and the like are located, and the functions of the masseter muscle, risorius muscle, buccinator muscle, depressor anguli oris muscle, mentalis muscle, depressor labii inferioris muscle, zygomaticus muscle, zygomaticus minor muscle and the like are respectively realized by tendon driving mechanisms such as ropes and the like. Among them, the realization of the pouting action and emotional expression of the human head and facial skin requires the coordination and control of the action of the facial features, five senses and the skin drive mechanism around the orbicularis oris in the other two parts. Its control principle and method are based on the Ekman facial expression coding system and the prior knowledge and data generated based on human facial expressions, the coordination control program of facial muscle movement emotional expression and the servo drive control of the underlying servo drive and control unit system in the main control computer system.

[0011] The beneficial effects of the present invention are:

[0012] The present invention provides a humanoid head facial expression robot, and particularly provides an integrated system device and control method for a mouth pouting mechanism, and provides a new pouting driving method and technology.

[0013] The present invention provides a humanoid head facial expression robot, which is composed of the orbicularis oris muscle, masseter muscle, risorius muscle, cheek muscle, depressor anguli oris muscle, mentalis muscle, depressor labii inferioris muscle, zygomaticus muscle, zygomaticus minor muscle and other partial driving mechanisms of the mouth of the humanoid facial skin and its surroundings. The orbicularis oris muscle driving mechanism is the main body of the pouting action behavior. When the various partial driving mechanisms for realizing the cheek, chin and other action behaviors realize the main pouting action behavior, the orbicularis oris muscle driving mechanism of the pouting action behavior is coordinated and cooperated with the movement of the pouting action behavior according to the principle of the facial expression coding system to realize the pouting action. The orbicularis oris muscle driving mechanism system comprises a soft rope pre-buried in the orbicularis oris muscle area of ​​the humanoid facial skin or connected to the back of the orbicularis oris muscle area of ​​the humanoid facial skin, an inner-threaded elastic steel wire thin-diameter cylindrical helical spring pre-buried in the lips of the humanoid facial skin or connected to the back of the lips, and a corresponding rope, a rope wheel, and a micro-integrated servo motor and its driving and control unit; the micro-integrated servo motor used is a servo motor with a position speed sensor and a planetary reducer.

[0014] The present invention completely solves the technical problem that the existing humanoid head facial expression robot is difficult to realize the pouting action behavior of the lips by simply relying on facial skin and driving method. After solving this problem, the present invention further completely realizes the speech and lip coordination technology corresponding to the pouting action behavior, and completely solves the pouting driving technology problem of the humanoid head facial expression robot that has not been effectively solved for a long time.

[0015] The present invention proposes a new pouting driving technology, which can further promote the realization of the speech-lip coordination technology under the pouting action behavior of the humanoid head and facial robot, thereby enriching the emotional behavior of the humanoid head and facial expression robot and the human-machine emotional interaction technical capabilities of the humanoid head and facial expression robot in terms of pouting action behavior and artificial emotion, providing new technology and vitality for more realistic humanoid head and facial expression robots and humanoid full-body robots, and providing practical technology and application value for further promoting advanced humanoid robots and artificial emotions that coexist harmoniously with humans. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 The components and structure of the robot body with the function of pouting and imitating human head facial expression;

[0017] Figure 2 A diagram showing the division of elastic skin areas on the humanoid face of a humanoid head and face robot with a pouting function;

[0018] Figure 3 This is the distribution map of skin motor muscles on human face;

[0019] Figure 4 This is a diagram of the integrated system of a humanoid head facial expression robot with the function of pouting and five facial features and five senses;

[0020] Figure 5 It is the integrated system composition and principle diagram of the mouth pouting mechanism of the human-like facial expression robot;

[0021] Figure 6 It is the embedded principle and structure diagram of the specific implementation method 1 of the pouting action driving mechanism;

[0022] Figure 7 It is the back connection principle and structure diagram of the second specific implementation method of the pouting action driving mechanism;

[0023] Figure 8 This is a schematic diagram of the composition and control method of the pouting action behavior control system of the mouth pouting mechanism of a robot imitating human head facial expressions. DETAILED DESCRIPTION

[0024] Specific implementation method 1: Figure 1As shown, the humanoid head facial expression robot body 1 described in this embodiment is composed of a 1:1 ratio humanoid head facial organ integrated mechanical system 1-1 with visual and auditory sensors, and a humanoid facial elastic skin 1-2; wherein, the humanoid head facial organ integrated mechanical system 1-1 is composed of a facial organ integrated mechanical system 1-1-1 with binocular visual sensors and driven by 21 micro servo motors, and a rapidly formed facial skin supporting lining shell 1-1-2; the Velcro group 1-2-1' fixed on the back of the humanoid facial elastic skin 1-2 is connected to the Velcro slider group 1-1-1' on 1-1 that passes through the through-hole narrow groove of the facial skin supporting lining shell 1-1-2 and is driven by the servo motor on 1-1 and the rope transmission system, thereby driving the humanoid facial elastic skin 1-2 to achieve facial expression changes.

[0025] Specific implementation method 2: Figure 2 As shown, the elastic skin 1-2 of the humanoid head and face described in this embodiment divides the facial organs and facial skin of the humanoid head and face robot into three parts: the general head and facial expression robot part 1-2-1, the orbicularis oris muscle and lips part 1-2-2, and the skin part around the orbicularis oris muscle 1-2-3. This reasonable division is based on the mechanism of human pouting: according to the distribution of human facial skin muscles Figure 3 ,because Figure 3 The human orbicularis oris muscle is a muscle that contracts into a smaller oval or round shape to "tighten" the mouth muscles and drive the lips to stretch outward to achieve the pouting action. This is different from the mechanism of other facial skin areas that rely on the simple contraction and relaxation of muscle groups to drive the facial skin movements in the corresponding facial areas to achieve expression changes. The present invention enriches the emotional behavior of the humanoid head facial expression robot and the human-machine emotional interaction technical capabilities of the humanoid head facial expression robot in terms of pouting action and artificial emotion, making the humanoid head facial expression robot more realistic.

[0026] Specific implementation method three: Figure 4As shown, the integrated system of the humanoid head and facial expression robot described in this embodiment is composed of a humanoid head and facial expression robot body 1, a servo drive and control unit group 2 based on industrial automation bus technology, a host computer 3 as a host computer, and a computer network communication 4. According to the aforementioned humanoid head and facial elastic skin 1-2, the facial organs and facial skin of the humanoid head and facial robot are divided into three parts: a general head and facial expression robot part 1-2-1, an orbicularis oris muscle and lip part 1-2-2, and an orbicularis oris muscle surrounding skin part 1-2-3. The servo drive and control unit group 2 is further divided into three parts: a servo drive and control unit group 2-1 of the general head and facial expression robot part 1-2-1, a servo drive and control unit group 2-2 of the orbicularis oris and lips 1-2-2, and a servo drive and control unit group 2-3 of the skin part around the orbicularis oris 1-2-3; the main control computer 3 has an expression controller 3-1 of the general head and facial expression robot part 1-2-1, a pouting action behavior controller 3-2 of the orbicularis oris and lips 1-2-2, and an expression controller 3-3 of the skin part around the orbicularis oris 1-2-3 corresponding to these three parts. In addition, since the pouting action of the orbicularis oris and the lip 1-2-2 and the facial expression behavior of the skin part 1-2-3 around the orbicularis oris are interrelated and coupled, the controller main control computer 3 also contains a coordinator 3-4 responsible for the pouting action of the orbicularis oris and the lip 1-2-2 and the facial expression behavior of the skin part 1-2-3 around the orbicularis oris, and an expression master planner 3-5 located on the upper layers of 3-1, 3-2, 3-3 and 3-4 for forming humanoid expressions with the facial features, five senses and facial skin of the humanoid head facial expression robot. 3-5 provides task parameters and instructions for emotional action behaviors to the controllers 3-1 to 3-3 and the coordinator 3-4 respectively.

[0027] The computer network communication (4) can adopt industrial automation technology communication bus EtherCAT and RS232, CAN, CAN-Open, USB.

[0028] The design of the pursing action of the orbicularis oris muscle and the lips (1-2-2) and the expression control of the skin around the orbicularis oris muscle (1-2-3) is consistent with the distribution of motor muscles on the human facial skin.

[0029] Specific implementation method four: Figure 5As shown, the integrated system device 1-2-2' of the mouth pouting mechanism of the humanoid head facial expression robot described in this embodiment is composed of the elastic area of ​​the orbicularis oris muscle 1-2-2 of the humanoid facial elastic skin 1-2, the pouting action behavior driving mechanism 1-2-2'-1, the micro servo motor and the rope transmission system 1-2-2'-2. 1-1-1'-1 to 1-1-1'-5, 1-1-1'-1' to 1-1-1'-4' are respectively reciprocating moving parts driven by the integrated micro servo motor with position speed sensor and reducer and the rope transmission system on the body of the integrated mechanical system 1-1-1, and these reciprocating moving parts are respectively connected with the corresponding hooks in the hook group 1-2-1' on the back of the facial elastic skin 1-2, so as to realize the elastic deformation displacement movement of the elastic skin around the orbicularis oris muscle in the coordination and coordinated behavior of the elastic skin around the orbicularis oris muscle required for the mouth pouting action. There are two specific implementations of the pouting action driving mechanism 1-2-2'-1:

[0030] The first implementation method is as follows Figure 6 As shown, in the elastic area of ​​the orbicularis oris muscle 1-2-2 of the elastic skin 1-2 that simulates human facial face, three thin-diameter cylindrical spiral spring rings 1-2-2-1 to 1-2-2-3 with elastic steel wires inserted therein or rubber band rings 1-2-2-1' to 1-2-2-3' with stiffness greater than that of the elastic skin but different from that of the elastic skin are arranged at certain intervals through 3D printing technology. The left and right ends of these rings are respectively gathered at points A and B, which serve as the connection ends between the servo motor and the rope transmission system.

[0031] The second implementation method is as follows Figure 7 As shown, on the back side, i.e., the inner surface, of the elastic area of ​​the orbicularis oris muscle 1-2-2 of the elastic skin 1-2 imitating human face, three rings of hole wall 1-2-2-4 and hole 1-2-2-5 structures are designed and manufactured side by side according to the contour shape of the orbicularis oris muscle, which are integrated with the inner side of the elastic skin imitating human face and are just flush with the inner surface of the skin; three thin-diameter cylindrical spiral spring rings 1-2-2-1 to 1-2-2-3 with elastic steel wires inserted therein or rubber bands 1-2-2-1' to 1-2-2-3' with greater stiffness than the elastic skin but different elasticity are respectively inserted into the holes distributed in the three rings, and then the left and right ends are respectively assembled together to serve as the connection ends between the servo motor and the rope transmission system.

[0032] Specific implementation method five: Figure 8As shown, the pouting action behavior control method of the integrated system of the pouting mechanism of the mouth of a humanoid head and facial expression robot described in this embodiment is performed by the master planner 3-5 in the main control computer 3 according to the internal and external stimulation behaviors obtained by the human-computer interaction interface to plan the emotional behavior task. When the external perception or internal emotional stimulation signals such as human language voice, expression images, etc. containing dissatisfaction enter the master planner through the human-computer interaction interface or the internal state sensor, the master planner sends the pouting action behavior parameters and instructions, coordination parameters and instructions to the expression controller 3-1 of the general head and facial expression robot part 1-2-1, the pouting action behavior controller 3-2 of the orbicularis oris and lips 1-2-2, the expression controller 3-3 of the skin part 1-2-3 around the orbicularis oris and the coordinator 3-4 according to the current expression and emotional state of the robot. The coordinator 3-4 provides the task parameters and instructions of the emotional action behavior to the expression controller 3-3 of the skin part 1-2-3 around the orbicularis oris.

[0033] The present invention has been verified through experiments and practical applications, and the technical effects achieved by the present invention have been effectively solved.

[0034] Although the present invention is disclosed as above, the protection scope of the present invention is not limited thereto. Those skilled in the art may make various changes and modifications without departing from the spirit and scope of the present invention, and these changes and modifications will fall within the protection scope of the present invention.

Claims

1. A robot imitating human head and facial expression, characterized in that: The humanoid head facial expression robot comprises a humanoid head facial expression robot body (1), wherein the body (1) is composed of a 1:1 ratio humanoid head facial organ integrated mechanical system (1-1) with visual and auditory sensors and a humanoid facial elastic skin (1-2); wherein the humanoid head facial organ integrated mechanical system (1-1) is composed of a facial organ integrated mechanical system (1-1-1) with binocular visual sensors and driven by a plurality of micro-servo motors, and a rapidly formed facial skin support lining shell (1-1-2); a Velcro group (1-2-1') fixedly connected to the back of the humanoid facial elastic skin (1-2) is connected to a Velcro slider group (1-1-1') on (1-1) that passes through a through hole narrow groove of the facial skin support lining shell (1-1-2) and is driven by a servo motor and a rope transmission system on (1-1), thereby driving the humanoid facial elastic skin (1-2) to achieve facial expression changes.

2. The humanoid head facial expression robot according to claim 1, characterized in that: The humanoid head and face elastic skin (1-2) divides the facial organs and facial skin of the humanoid head and face robot into three parts: a general head and face expression robot part (1-2-1), an orbicularis oris muscle and lips (1-2-2), and an orbicularis oris muscle surrounding skin part (1-2-3); such a reasonable division is based on the mechanism of human pouting: according to the distribution of human facial skin muscles, since the human orbicularis oris muscle relies on the oval orbicularis oris muscle to contract into a smaller oval or circular shape, the mouth muscles are "tightened" to drive the lips to stretch outward to achieve the pouting action.

3. The humanoid head facial expression robot according to claim 2, characterized in that: The humanoid head facial expression robot also includes a servo drive and control unit group (2) based on industrial automation bus technology, a main control computer (3) as a host computer, and a computer network communication (4). According to the aforementioned humanoid head and face elastic skin (1-2), the facial organs and facial skin of the humanoid head and face robot are divided into three parts: the general head and face expression robot part (1-2-1), the orbicularis oris muscle and lips (1-2-2), and the skin part around the orbicularis oris muscle (1-2-3); The servo drive and control unit group (2) is further divided into three parts: a servo drive and control unit group (2-1) of the general head and facial expression robot part (1-2-1), a servo drive and control unit group (2-2) of the orbicularis oris muscle and lips (1-2-2), and a servo drive and control unit group (2-3) of the skin part around the orbicularis oris muscle (1-2-3); The main control computer (3) is respectively equipped with (contains) an expression controller (3-1) of the general head and facial expression robot part (1-2-1), a pursing action controller (3-2) of the orbicularis oris muscle and lips (1-2-2), and an expression controller (3-3) of the skin part around the orbicularis oris muscle (1-2-3); The pursing action of the orbicularis oris muscle and the lip (1-2-2) and the facial expression behavior of the skin part (1-2-3) around the orbicularis oris muscle are mutually related and coupled. The controller main control computer (3) also has a built-in (built-in) coordinator (3-4) responsible for the pursing action of the orbicularis oris muscle and the lip (1-2-2) and the facial expression behavior of the skin part (1-2-3) around the orbicularis oris muscle, as well as a coordinator (3-4) located at the facial expression controller (3-1), the pursing action behavior controller (3-2), and the facial expression controller (3-3). The facial features, five sense organs and facial skin of the humanoid head and facial expression robot on the upper layer of the coordinator (3-4) form an expression master planner (3-5) for humanoid expressions. The expression master planner (3-5) provides task parameters and instructions for emotional actions and behaviors to the expression controller (3-1) of the general head and facial expression robot part (1-2-1), the behavior controller (3-2), the expression controller (3-3) of the skin part around the orbicularis oris muscle (1-2-3) and the coordinator (3-4).

4. The humanoid head facial expression robot according to claim 1, characterized in that: The humanoid head facial organ integrated mechanical system (1-1) is composed of a facial organ integrated mechanical system (1-1-1) with binocular vision sensors and 21 micro-servo motors, and a rapidly molded facial skin support liner shell (1-1-2).

5. The humanoid head facial expression robot according to claim 3, characterized in that: The computer network communication (4) can adopt industrial automation technology communication bus EtherCAT and RS232, CAN, CAN-Open, USB.

6. The humanoid head facial expression robot according to claim 1, characterized in that: The design of the pursing action of the orbicularis oris muscle and the lips (1-2-2) and the expression control of the skin around the orbicularis oris muscle (1-2-3) is consistent with the distribution of motor muscles on the human facial skin.

7. An integrated system device for the mouth pouting mechanism of a humanoid head facial expression robot according to claim 1, 2 or 3, characterized in that: The integrated system device (1-2-2') of the mouth pouting mechanism is composed of an elastic region of the orbicularis oris (1-2-2) imitating the elastic skin (1-2) of the human face, a pouting action driving mechanism (1-2-2'-1), a micro servo motor and a rope transmission system (1-2-2'-2); The integrated mechanical system 1-1-1 is driven by a group of reciprocating moving parts (1-1-1'-1~1-1'-5, 1-1-1'-1'~1-1'-4') on the main body of the integrated mechanical system 1-1-1, which is driven by an integrated micro servo motor with a position speed sensor and a reducer and a rope transmission system, and is respectively connected with corresponding velcro in a velcro group (1-2-1') on the back of the facial elastic skin (1-2), so as to realize the elastic deformation displacement movement of the elastic skin in the area around the orbicularis oris muscle under the coordination of the elastic skin in the area around the orbicularis oris muscle required for the pouting action.

8. The integrated system device for mouth pouting mechanism according to claim 7, characterized in that: The pouting action driving mechanism (1-2-2'-1) is: In the elastic area of ​​the orbicularis oris muscle (1-2-2) of the elastic skin (1-2) imitating human facial skin, three thin-diameter cylindrical spiral spring rings (1-2-2-1 to 1-2-2-3) with elastic steel wires inserted therein or rubber band rings (1-2-2-1' to 1-2-2-3') with greater stiffness than the elastic skin but different stiffness are arranged at a certain interval by 3D printing technology. The left and right ends of these rings are respectively assembled at points A and B, which serve as the connection ends between the servo motor and the rope transmission system; Alternatively, on the back side, i.e., the inner surface, of the elastic area of ​​the orbicularis oris muscle (1-2-2) of the elastic skin (1-2) simulating human face, three rings of hole wall (1-2-2-4) and hole (1-2-2-5) structures are designed and manufactured in parallel according to the contour shape of the orbicularis oris muscle, which are integrated with the inner surface of the elastic skin simulating human face and are just flush with the inner surface of the skin; three thin-diameter cylindrical spiral spring rings (1-2-2-1 to 1-2-2-3) with elastic steel wires inserted therein or rubber bands (1-2-2-1' to 1-2-2-3') with greater stiffness than the elastic skin but different elasticity are respectively inserted into the holes distributed in the three rings; then the left and right ends are respectively assembled together to serve as connection ends between the servo motor and the rope transmission system.

9. A control method for the integrated system device of the mouth pouting mechanism of the humanoid head facial expression robot according to claim 7 or 8, characterized in that: The pouting action behavior control method of the integrated system device of the mouth pouting mechanism is: The master planner (3-5) in the main control computer (3) performs emotional behavior task planning based on the internal and external stimulus behaviors obtained by the human-computer interaction interface. When external perception or internal emotional stimulus signals such as human language speech, facial expression images, etc. containing dissatisfaction enter the master planner through the human-computer interaction interface or the internal state sensor, the master planner sends pouting action behavior parameters and instructions, coordination parameters and instructions to the expression controller (3-1) of the general head and facial expression robot part (1-2-1), the pouting action behavior controller (3-2) of the orbicularis oris and lips (1-2-2), the expression controller (3-3) of the skin part around the orbicularis oris (1-2-3) and the coordinator (3-4) according to the current expression and emotional state of the robot. The coordinator (3-4) provides the expression controller (3-3) of the skin part around the orbicularis oris (1-2-3) with the task parameters and instructions of emotional action behavior.

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