A humanoid head facial expression robot and its pouting mechanism integrated system device and control method

Abstract

A humanoid facial expression robot and its integrated system device for pouting, as well as a control method, relate to the field of humanoid facial expression robots. This device addresses the technical issues of existing humanoid facial expression robots, which struggle to achieve pouting movements and incomplete basic emotional expression simply by relying on the skin, lips, and their drive mechanisms when expressing dissatisfaction and other facial expressions. Key technical points: The device comprises a humanoid facial skin mouth and surrounding drive mechanisms for the orbicularis oris, masseter, zygomaticus, buccinator, depressor anguli oris, mentalis, depressor labii inferioris, zygomaticus, and zygomaticus minor muscles. The orbicularis oris drive mechanism is the main mechanism for achieving pouting. The various drive mechanisms for cheek and chin movements coordinate and cooperate with the orbicularis oris drive mechanism to achieve the pouting action, according to the principles of the facial expression coding system. The orbicularis oris muscle driving mechanism system is composed of a soft rope pre-buried in the orbicularis oris muscle area of ​​the simulated human facial skin or connected to the back of the orbicularis oris muscle area of ​​the simulated human facial skin, an elastic steel wire pre-buried in the lips of the simulated human facial skin or connected to the back of the lips, and corresponding ropes, pulleys, and a micro-integrated servo motor and its drive and control unit; the micro-integrated servo motors used are all servo motors with position speed sensors and planetary reducers.

Description

Technical Field

[0001] The present 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 pouting mechanism of the robot. 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, families and daily 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 robot expressions and emotions.

[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 robots at that time had a single expression and no multi-sensory function. The multi-sensory sensor system can perceive 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 the mechanical structure of the 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 and 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 the movement of the lips, mouth corners and tongue.

[0004] The head movements of humanoid robots mainly include eyes, mouth and neck, among which mouth movements are essential for the speech expression of humanoid robots. At present, most humanoid robots have only jaw movement mechanisms for 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's 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 mouth can be opened and closed, and the chin can be extended and retracted 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. This structure includes a jaw mechanism and a mouth mechanism arranged in the robot head frame, and two motors are used to drive the jaw mechanism and the mouth mechanism respectively. It can realistically imitate the human mouth and jaw movement, realize a variety of lip 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 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 a whole silicone skin. The method gives the head more operating space and shaping 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 quickly and with a large range of changes, and can better reproduce human mouth movements. However, most current humanoid robots 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 disclosure of a humanoid head facial expression robot with a pouting mechanism, capable of realizing pouting movements and control methods, or 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 expression robots are unable to express emotional dissatisfaction and other behaviors by simply relying on the skin and lips and their driving mechanisms to pout, and the basic emotional expression is incomplete, the present invention provides a humanoid head and facial expression robot and its mouth pouting mechanism integrated system device and control method.

[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 comprising a humanoid facial skin, a facial skin and mouth area and surrounding muscle drive mechanism system, a multi-axis servo drive and control unit module system, and a main control computer system. The facial skin and mouth area and surrounding muscle drive mechanism system includes drive mechanisms for the orbicularis oris, masseter, zygomaticus, buccinator, depressor anguli oris, mentalis, depressor labii inferioris, zygomaticus, and zygomaticus minor. The orbicularis oris drive mechanism is the primary mechanism for achieving pouting. The various drive mechanisms for achieving cheek and chin movements coordinate and cooperate with the orbicularis oris drive mechanism during pouting, according to the principles of the facial expression coding system, to achieve the pouting action. The orbicularis oris muscle drive mechanism system is composed of an elastic soft rope pre-buried in the orbicularis oris muscle area of ​​the simulated human facial skin or connected to the back of the orbicularis oris muscle area of ​​the simulated human facial skin, an inner-threaded elastic steel wire thin-diameter cylindrical coil spring pre-buried in the lips of the simulated human facial skin or connected to the back of the lips, and corresponding ropes, pulleys, and a micro-integrated servo motor. The micro-integrated servo motor used is a servo motor with a position and speed sensor and a planetary reducer; 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 the voltage and current 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 each multi-axis servo drive and control unit module in the multi-axis servo drive and control unit module system through computer network communication to carry out coordinated control of the simulated human head and facial organs, skin expressions, corresponding five senses sensor system, and human-human head facial expression robot human-machine interaction, and is a host computer main control system at the task level of human-human head facial expression robot emotional interaction operation.

[0010] In the present invention, the facial organs and facial skin of the humanoid head and face robot are divided into three parts: the general head and facial expression robot part, the orbicularis oris muscle and lips, and the skin part around the orbicularis oris muscle: the general humanoid head and facial expression robot part is the existing skin area consisting of the five sense organs and the orbicularis oris muscle and lip driving mechanism except for the orbicularis oris muscle and lip driving mechanism; the orbicularis oris muscle and lip part is the part consisting of the orbicularis oris muscle and lip area facial skin embedded in the orbicularis oris muscle and lip area facial skin or connected to the inner surface of the skin, i.e., the back surface, which is the component of the pouting driving mechanism and the orbicularis oris muscle and lips of the humanoid head and facial expression robot; the skin part around the orbicularis oris muscle mainly includes the skin area where the masseter muscle, zygomatic muscle, buccinator muscle, depressor anguli oris muscle, mentalis muscle, depressor labii inferioris muscle, zygomaticus muscle, zygomaticus minor muscle, etc. are located, and the functions of the masseter muscle, zygomatic muscle, buccinator muscle, depressor anguli oris muscle, mentalis muscle, depressor labii inferioris muscle, zygomaticus muscle, and zygomaticus minor muscle are respectively realized by tendon driving mechanisms such as ropes. The pouting behavior and emotional expression of the human-like facial skin require coordinated control of the facial features, five senses, and the skin drive mechanisms surrounding the orbicularis oris muscle. This control principle and method utilizes a master computer system based on the Ekman facial expression coding system and prior knowledge and data generated based on human facial expressions, a coordinated control program for facial muscle movement and emotional expression, and servo drive control within the underlying servo drive and control unit system.

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

[0012] The present invention provides a robot imitating human head facial expression, 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 comprising a driving mechanism for the orbicularis oris, masseter, zygomatic, buccinator, depressor anguli oris, mentalis, depressor labii inferioris, zygomaticus, and zygomaticus minor muscles in and around the humanoid facial skin. The orbicularis oris driving mechanism is the primary mechanism for achieving pouting. The driving mechanisms for the cheeks, chin, and other movements coordinate and cooperate with the orbicularis oris driving mechanism according to the principles of the facial expression coding system to achieve the pouting action. The orbicularis oris driving mechanism system comprises a soft rope embedded within or connected to the back of the orbicularis oris region of the humanoid facial skin, a thin-diameter cylindrical coil spring embedded within or connected to the back of the lips, a corresponding rope, a rope pulley, a miniature integrated servo motor, and its drive and control unit. The miniature integrated servo motor is a servo motor equipped with a position and speed sensor and a planetary reducer.

[0014] The present invention completely solves the technical problem that existing humanoid head facial expression robots are difficult to achieve pouting movements of the lips and mouth by relying solely on facial skin and driving methods. While solving this problem, the present invention further completely realizes the speech and lip coordination technology corresponding to the pouting movement behavior, and completely solves the pouting driving technology problem of humanoid head facial expression robots that has not been effectively solved for a long time.

[0015] The present invention proposes a new pouting drive technology, which can further promote the realization of speech-lip coordination technology under the pouting action of the humanoid head and facial expression 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 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 pouting function and the ability to imitate human facial expressions;

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

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

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

[0020] Figure 5 This is the integrated system structure and principle diagram of the pouting mechanism of the human-like facial expression robot.

[0021] Figure 6 This is the embedded principle and structure diagram of the first specific implementation scheme of the pouting action driving mechanism;

[0022] Figure 7 This is a back-connected principle and structure diagram of the second embodiment of the pouting action driving mechanism;

[0023] Figure 8 This is a schematic diagram of the composition and control method of the pouting action control system of the mouth of a robot that imitates 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 scale 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 21 micro servo motors, and a rapidly prototyping facial skin support liner 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 the humanoid head facial organ integrated mechanical system 1-1, which passes through the narrow through-hole groove of the facial skin support liner 1-1-2 and is driven by the servo motor and rope transmission system on 1-1, thereby driving the humanoid facial elastic skin 1-2 to realize facial expression changes.

[0025] Specific implementation method 2: Figure 2 As shown, the humanoid facial elastic skin 1-2 of this embodiment divides the facial organs and skin of the humanoid head and face robot 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 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 In humans, the elliptical orbicularis oris muscle contracts into a smaller oval or circular shape, "tightening" the mouth muscles and driving the lips outward to achieve pouting. This mechanism differs from the simple contraction and relaxation of muscle groups in other facial areas, which drive facial skin movements in corresponding areas to achieve facial expressions. This invention enriches the emotional behavior of the humanoid facial expression robot and the human-machine emotional interaction technology capabilities of the humanoid facial expression robot in terms of pouting behavior and artificial emotions, making the humanoid facial expression robot more realistic.

[0026] Specific implementation method three: Figure 4As shown, the integrated system of a humanoid head and facial expression robot described in this embodiment comprises 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. Based on the aforementioned humanoid facial elastic skin 1-2, the facial organs and facial skin of the humanoid head and facial expression 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 first servo drive and control unit group 2-1 of the general head and facial expression robot part 1-2-1, a second servo drive and control unit group 2-2 of the orbicularis oris and lips 1-2-2, and a third servo drive and control unit group 2-3 of the skin part around the orbicularis oris 1-2-3; the main control computer 3 corresponds to these three parts and contains a first 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 a second expression controller 3-3 of the skin part around the orbicularis oris 1-2-3. In addition, since the pouting action of the orbicularis oris muscle and the lip 1-2-2 and the facial expression behavior of the skin portion 1-2-3 surrounding the orbicularis oris muscle 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 muscle and the lip 1-2-2 and the facial expression behavior of the skin portion 1-2-3 surrounding the orbicularis oris muscle, and an expression master planner 3-5 located on the upper layers of 3-1, 3-2, 3-3 and 3-4 for forming a humanoid expression by 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 behavior 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 as well as RS232, CAN, CAN-Open, USB.

[0028] The design of the 1-2-2 pouting movement between the orbicularis oris muscle and the lips and the 1-2-3 expression control of the skin around the orbicularis oris muscle 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' for the pouting mechanism of a humanoid facial expression robot described in this embodiment comprises the orbicularis oris muscle and lip 1-2-2 of the elastic skin 1-2 of the humanoid face, a pouting action drive mechanism 1-2-2'-1, a micro-servo motor, and a cable transmission system 1-2-2'-2. Components 1-1-1'-1 through 1-1-1'-5 and 1-1-1'-1' through 1-1-1'-4 are reciprocating elements on the body of the integrated facial mechanism system 1-1-1, driven by an integrated micro-servo motor with a position and speed sensor and a speed reducer, and a cable transmission system. These reciprocating elements connect to corresponding Velcro fasteners in a Velcro group 1-2-1' on the back of the elastic skin 1-2, thereby achieving the elastic deformation and displacement of the elastic skin surrounding the orbicularis oris muscle in coordination with the elastic skin surrounding the orbicularis oris muscle required for the 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, three thin-diameter cylindrical helical spring rings 1-2-2-1 to 1-2-2-3 with elastic steel wire inserted therein, or rubber band rings 1-2-2-1' to 1-2-2-3' with greater stiffness than the elastic skin but varying in stiffness, are arranged at regular intervals in the elastic area of ​​the orbicularis oris muscle and lip 1-2-2 of the simulated human facial elastic skin 1-2 using 3D printing technology. The left and right ends of these rings are assembled at points A and B, respectively, serving as connection endpoints between the servo motor and the rope transmission system.

[0031] The second embodiment 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 and lips 1-2-2 of the elastic skin 1-2, three rings of hole walls 1-2-2-4 and holes 1-2-2-5 are designed and fabricated side by side according to the contour of the orbicularis oris muscle, which are integrated with the inner surface of the elastic skin and are flush with the inner surface of the skin. Three thin-diameter cylindrical helical 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' having greater stiffness than the elastic skin but different elasticity, are respectively inserted into the holes distributed in the three rings. The left and right ends are then assembled together to serve as connection endpoints 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 signal containing human language voice, expression image, etc. such as dissatisfaction enters 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 first 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 lip part 1-2-2, the second 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 second 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 to have achieved the technical effects and effectively solved the technical problems raised.

[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 a human head and facial expression, characterized by: 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') fixed on the back of the humanoid facial elastic skin (1-2) is connected to a Velcro slider group (1-1-1') on the humanoid head facial organ integrated mechanical system (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 the (1-1), thereby driving the humanoid facial elastic skin (1-2) to achieve facial expression changes; The humanoid facial 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 facial expression robot part (1-2-1), the orbicularis oris muscle and lips (1-2-2), and the skin 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, the human orbicularis oris muscle relies on the oval orbicularis oris muscle to contract into a smaller oval or circular shape, "tightening" the mouth muscles to drive the lips to stretch outward to achieve the pouting action; 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 facial 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 facial expression robot part (1-2-1), the orbicularis oris muscle and lips (1-2-2), and the skin around the orbicularis oris muscle (1-2-3). The servo drive and control unit group (2) is further divided into three parts: a first servo drive and control unit group (2-1) of the general head and facial expression robot part (1-2-1), a second servo drive and control unit group (2-2) of the orbicularis oris muscle and lips (1-2-2), and a third 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 a first expression controller (3-1) of the general head and facial expression robot part (1-2-1), a pouting action controller (3-2) of the orbicularis oris muscle and lips (1-2-2), and a second expression controller (3-3) of the skin part around the orbicularis oris muscle (1-2-3); The pouting action of the orbicularis oris muscle and the lip (1-2-2) and the facial expression behavior of the skin portion (1-2-3) surrounding the orbicularis oris muscle are mutually related and coupled. The controller main control computer (3) also has a built-in coordinator (3-4) responsible for the pouting action of the orbicularis oris muscle and the lip (1-2-2) and the facial expression behavior of the skin portion (1-2-3) surrounding the orbicularis oris muscle, as well as a first facial expression controller (3-1), a pouting action controller (3-2), a second facial expression controller (3-3) and a coordinator (3-4). 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) of humanoid expression. The expression master planner (3-5) provides task parameters and instructions of emotional action behavior to the first expression controller (3-1) of the general head and facial expression robot part (1-2-1), the behavior controller (3-2), the second expression controller (3-3) of the skin part around the orbicularis oris muscle (1-2-3) and the coordinator (3-4).

2. 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 formed facial skin support liner (1-1-2).

3. The humanoid head facial expression robot according to claim 1, characterized in that: The computer network communication (4) adopts industrial automation technology communication bus EtherCAT as well as RS232, CAN, CAN-Open, and USB.

4. The humanoid head facial expression robot according to claim 1, characterized in that: The design of the pouting 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 face.

5. An integrated system device for the pouting mechanism of a humanoid 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 the orbicularis oris muscle and the elastic area of ​​the lips (1-2-2) that simulate the elastic skin of the human face (1-2), 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) of the facial organs is driven by a group of reciprocating moving parts (1-1-1'-1 to 1-1-1'-5, 1-1-1'-1' to 1-1-1'-4') on the main body by an integrated micro-servo motor with a position and speed sensor and a reducer and a rope transmission system. The reciprocating moving parts are respectively connected to corresponding hook and loop fasteners in a group of hook and loop fasteners (1-2-1') on the back of elastic skin (1-2) of an artificial face, thereby realizing the elastic deformation and 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 pouting.

6. The integrated system device for the pouting mechanism of the humanoid head facial expression robot according to claim 5, characterized in that: The pouting action driving mechanism (1-2-2'-1) is: In the elastic area of ​​the orbicularis oris and lips (1-2-2) of the elastic skin (1-2) of the human face, three thin-diameter cylindrical spiral spring rings (1-2-2-1 to 1-2-2-3) with elastic steel wire inserted therein, or rubber band rings (1-2-2-1' to 1-2-2-3') with greater stiffness than the elastic skin but with different stiffness, are arranged at regular intervals using 3D printing technology. The left and right ends of these rings are assembled at points A and B, respectively, serving as the connection points 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 and lips (1-2-2) of the elastic skin (1-2) imitating human face, three rings of hole walls (1-2-2-4) and holes (1-2-2-5) are designed and manufactured side by side according to the contour of the orbicularis oris muscle, which are integrated with the inner surface of the elastic skin and are just flush with the inner surface of the skin. Three thin-diameter cylindrical helical 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') having 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 endpoints between a servo motor and a rope transmission system.

7. A control method for the integrated system device for the pouting mechanism of the humanoid head facial expression robot according to claim 5 or 6, 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 the external perception or internal emotional stimulation signal containing dissatisfied human language speech, facial expression image enters 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 first 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 second 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 task parameters and instructions of the emotional action behavior to the expression controller (3-3) of the skin part around the orbicularis oris (1-2-3).

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