Bionic robot face eyebrow movement device

Abstract

The application discloses a bionic robot face eyebrow movement device, which comprises a base, two eyebrow peak longitudinal movement units, two eyebrow center longitudinal movement units and two eyebrow center transverse-longitudinal coupling movement units; the base is fixedly connected with the head frame of the robot; the two eyebrow peak longitudinal movement units are independently and symmetrically arranged on the base and serve as power sources for driving the left and right eyebrow peaks to move longitudinally; the two eyebrow center longitudinal movement units are independently and symmetrically arranged on the base and serve as power sources for driving the left and right eyebrow centers to move longitudinally; the two eyebrow center transverse-longitudinal coupling movement units are independently arranged on the corresponding one of the eyebrow center longitudinal movement units and keep synchronous longitudinal movement with the corresponding one of the eyebrow center longitudinal movement units, and also serve as power sources for driving the left and right eyebrow centers to move transversely; a single eyebrow peak has a longitudinal movement mode; a single eyebrow center has longitudinal, transverse and transverse-longitudinal coupling movement modes. The bionic eyebrow multi-dimensional compound movement is realized under the premise of meeting the miniaturization requirement.

Description

Technical Field

[0001] This invention relates to the field of bionic robot technology, specifically to a bionic robot facial eyebrow movement device. Background Technology

[0002] The rapid development of bionic robotics technology has placed higher demands on anthropomorphic facial expressions, among which eyebrow movement is a key element in conveying emotions and micro-expressions. Human eyebrows can achieve multi-degree-of-freedom movements such as vertical raising and horizontal convergence through the coordinated movement of the brow peak and the center of the brow. Their dynamic range and coordination directly affect the naturalness of expressions. Existing bionic eyebrow driving devices mostly use single-degree-of-freedom linear drives, which can achieve simple raising or translation, but they are difficult to reproduce the multi-dimensional complex movements of human eyebrows, and suffer from problems such as high structural redundancy, poor motion coupling, and lag in dynamic response.

[0003] In traditional designs, independent control of longitudinal and lateral movements typically relies on the superimposed arrangement of multiple power sources (such as multiple servos driving different areas), resulting in a bulky and heavy device that is difficult to integrate into the limited space of a robot's face. Furthermore, rigid transmission methods using gears, racks, and slide rails are prone to jamming due to assembly errors or sudden load changes, affecting motion accuracy and reliability. Summary of the Invention

[0004] The present invention aims to solve at least one of the technical problems existing in the prior art.

[0005] To address this, the present invention provides a bionic robot facial eyebrow motion device that achieves multi-dimensional composite motion of bionic eyebrows while meeting miniaturization requirements, reproduces the complex micro-expressions of human eyebrows, enhances the subtlety of the robot's emotional expression, and has high reliability.

[0006] To achieve the above objectives, the present invention adopts the following technical solution:

[0007] This invention provides a bionic robotic facial eyebrow motion device, comprising a base, and two each of an eyebrow peak longitudinal motion unit, an eyebrow center longitudinal motion unit, and an eyebrow center transverse-longitudinal coupled motion unit; wherein,

[0008] The base is fixedly connected to the robot's head frame;

[0009] The two eyebrow peak longitudinal motion units are installed independently and symmetrically on the base, and serve as the power source for driving the left and right eyebrow peaks to move longitudinally, respectively.

[0010] The two longitudinal motion units of the brow center are installed independently and symmetrically on the base, and serve as the power source for driving the left and right brow centers to move longitudinally, respectively.

[0011] The two eyebrow-center horizontal and vertical coupled motion units are independent of each other and are respectively installed on a corresponding eyebrow-center vertical motion unit. They maintain synchronous vertical motion with the eyebrow-center vertical motion unit and also serve as power sources to drive the left and right eyebrow centers to move horizontally.

[0012] A single brow peak has a vertical movement pattern; a single brow center has three movement patterns: vertical, horizontal, and a combination of both.

[0013] In some embodiments, the base includes a base body and a plurality of mounting components fixed to the base body, each mounting component being connected to a corresponding eyebrow peak longitudinal movement unit and an eyebrow center longitudinal movement unit.

[0014] In some embodiments, the eyebrow longitudinal motion unit includes an eyebrow longitudinal drive motor and an eyebrow longitudinal actuator, wherein the housing of the eyebrow longitudinal drive motor is fixedly connected to a first motor mounting component within the base;

[0015] The eyebrow longitudinal actuator includes a first gear, a first mounting platform, a first slider, and a first linear slide rail; the first gear is connected to the output end of the eyebrow longitudinal drive motor via a first quincunx coupling; the first mounting platform is fixedly connected to the first slider, the first slider is slidably mounted on the first linear slide rail, the first linear slide rail is fixedly connected to a first slide rail mounting component in the base, and the axial direction of the first linear slide rail is longitudinally arranged; a first rack meshing with the first gear is formed on the first mounting platform, and a first end effector connected to the robot eyebrow control point is fixedly mounted on the front side of the first mounting platform.

[0016] In some embodiments, when the eyebrow peak longitudinal drive motor rotates one revolution, the stroke S1 of the first rack and the speed v1 of the eyebrow peak control point are respectively:

[0017] S1=π·m1·z1

[0018]

[0019] In the formula, m1 and z1 are the module and number of teeth of the first gear, respectively, and ω1 is the angular velocity of the output end of the longitudinal drive motor of the eyebrow peak.

[0020] In some embodiments, the longitudinal movement unit of the brow center includes a longitudinal drive motor of the brow center and a longitudinal actuator of the brow center, wherein the housing of the longitudinal drive motor of the brow center is fixedly connected to a second motor mounting component in the base;

[0021] The longitudinal actuator of the eyebrow center includes a second gear, a second mounting platform, a second slider, and a second linear slide rail; the second gear is connected to the output end of the longitudinal drive motor of the eyebrow center through a second plum blossom-shaped coupling; the second mounting platform is fixedly connected to the second slider, the second slider is slidably mounted on the second linear slide rail, the second linear slide rail is fixedly connected to the second slide rail mounting component in the base, and the axial direction of the second linear slide rail is arranged longitudinally; a second rack that meshes with the second gear is formed on the second mounting platform.

[0022] In some embodiments, the brow center longitudinal and transverse coupling motion unit includes a brow center transverse drive motor and a coupling mechanism; the brow center transverse drive motor is supported on the second mounting platform, and a plum blossom coupling crank is provided on the output end of the brow center transverse drive motor; the coupling mechanism has a plurality of connecting ends, wherein the first connecting end is semi-rigidly connected to one end of the plum blossom coupling crank away from the output end of the brow center transverse drive motor, the second connecting end is slidably connected to a support arm fixed to the front side of the second mounting platform, and a second end effector connected to the robot's brow center control point is fixedly provided on the front side of the coupling mechanism.

[0023] In some embodiments, the coupling mechanism includes an L-shaped transmission member, a short rod, a crossbeam, and a second end actuator; the vertical section of the L-shaped transmission member is provided with a U-shaped slide rail arranged axially along the vertical section, and the arc end of the U-shaped slide rail is disposed away from the horizontal section of the L-shaped transmission member; the arc end of the U-shaped slide rail serves as the first connecting end and is semi-rigidly connected to one end of the short rod; the other end of the short rod is fixedly connected to the crank of the plum blossom coupling; the crossbeam is fixedly connected to the horizontal section of the L-shaped transmission member; the second connecting end is located on the crossbeam; and the second end actuator is fixed to the front side of the L-shaped transmission member.

[0024] In some embodiments, the short rod is a stud.

[0025] In some embodiments, a first arm and a second arm are fixedly provided on the front side of the second mounting platform, and the two are arranged on the left and right sides of the L-shaped transmission member respectively. The first arm and the second arm are respectively provided with a first through hole and a second through hole for the crossbeam to pass through, so as to form a sliding connection with the crossbeam.

[0026] In some embodiments, when the longitudinal drive motor of the brow rotates one revolution, the stroke of the second rack is:

[0027] S² = π·m²·z²

[0028] In the formula, S2 is the stroke of the second rack, and m2 and z2 are the module and number of teeth of the second gear, respectively;

[0029] The speed of the control point at the center of the forehead is:

[0030]

[0031] In the formula, v x v represents the lateral movement velocity of the control point at the center of the forehead. y ω1 is the longitudinal movement speed of the eyebrow control point, ω2 is the angular velocity of the output end of the eyebrow longitudinal drive motor, ω3 is the angular velocity of the output end of the eyebrow lateral drive motor, θ is the rotation angle of the output end of the eyebrow lateral drive motor, and a is the length from one end of the short rod to the output end of the eyebrow lateral drive motor.

[0032] Compared with the prior art, the present invention has the following characteristics and beneficial effects:

[0033] To address the problem that current bionic eyebrow driving devices have limited degrees of freedom and struggle to reproduce multidimensional complex movements, this invention proposes a method that divides the eyebrow into two regions, the center and the peak, and uses six driving motors to achieve longitudinal and lateral movements of the center and longitudinal movement of the peak, thereby realizing complex complex movements.

[0034] To address the problem of current bionic eyebrow driving devices having multiple power sources stacked together, resulting in a bulky device, this invention proposes using a single end effector for the longitudinal and lateral movements of the eyebrow center, thereby simplifying the device and saving space.

[0035] To address the issue that current bionic eyebrow driving devices all use rigid transmission methods, which affect reliability, this invention proposes a coupling mechanism. This semi-rigid transmission method does not affect motion transmission and improves the reliability of the device. Attached Figure Description

[0036] Figure 1 This is a schematic diagram of the overall structure of a bionic robot facial eyebrow movement device provided in an embodiment of the present invention;

[0037] Figure 2 for Figure 1 A schematic diagram of the base structure in the device shown;

[0038] Figure 3 for Figure 1 A schematic diagram of the structure of the base and the left eyebrow longitudinal motion unit in the device shown;

[0039] Figure 4 for Figure 1 A schematic diagram of the structure of the base and the longitudinal motion unit on the left side of the device shown.

[0040] Figure 5 for Figure 1 A schematic diagram of the structure of the two longitudinally and transversely coupled motion units at the center of the eyebrow in the device shown;

[0041] Figure 6 for Figure 5 The exploded view of the longitudinal and transverse coupled motion unit at the center of the forehead is shown.

[0042] In the picture:

[0043] 100. Base; 110. Base body; 120. First motor mounting component; 130. Second motor mounting component; 140. First slide rail mounting component; 150. Second slide rail mounting component;

[0044] 200. Eyebrow peak longitudinal motion unit; 210. Eyebrow peak longitudinal drive motor; 211. First plum blossom-shaped coupling; 220. Eyebrow peak longitudinal actuator; 221. First gear; 222. First mounting platform; 222a. First rack; 223. First slider; 224. First linear slide rail; 225. First end effector.

[0045] 300. Longitudinal motion unit of the brow center; 310. Longitudinal drive motor of the brow center; 311. Second plum blossom-shaped coupling; 320. Longitudinal actuator of the brow center; 321. Second gear; 322. Second mounting platform; 322a. Second rack; 322b. Mounting hole; 323. Second slider; 324. Second linear slide rail; 325. First support arm; 325a. First through hole; 326. Second support arm; 326a. Second through hole;

[0046] 400. Horizontal and longitudinal coupling motion unit of the eyebrow center; 410. Horizontal drive motor of the eyebrow center; 411. Plum blossom coupling crank; 411a. Hole position; 420. Coupling mechanism; 421. L-shaped transmission component; 421a. U-shaped slide; 422. Short rod; 423. Crossbeam; 424. Second end effector. Detailed Implementation

[0047] To make the objectives, technical solutions, and advantages of this application clearer, the application will be described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely for explaining this application and are not intended to limit this application.

[0048] Conversely, this application covers any alternatives, modifications, equivalent methods, and schemes made within the spirit and scope of this application as defined by the claims. Furthermore, to provide the public with a better understanding of this application, certain specific details are described in detail below. However, this application can be fully understood by those skilled in the art even without these detailed descriptions.

[0049] The structures, proportions, and sizes depicted in the accompanying drawings are solely for illustrative purposes and to aid those skilled in the art in understanding and reading the content disclosed herein. They are not intended to limit the scope of this application and therefore have no substantial technical significance. Any modifications to the structure, changes in proportions, or adjustments to size, provided they do not affect the effectiveness or purpose of this application, should still fall within the scope of the technical content disclosed herein. Furthermore, the terms used in this specification, such as "upper," "lower," "left," "right," "front," "back," "middle," and "one," are merely for clarity and to maintain consistency with the orientations shown in the drawings. They are not intended to limit the scope of this application. Changes or adjustments to their relative relationships, without substantially altering the technical content, should also be considered within the scope of this application's implementation.

[0050] See Figure 1 This invention provides a bionic robot facial eyebrow motion device, comprising a base 100, and two each of an eyebrow peak longitudinal motion unit 200, an eyebrow center longitudinal motion unit 300, and an eyebrow center transverse and longitudinal coupled motion unit 400; wherein,

[0051] The base 100 is fixedly connected to the robot's head frame (not shown in the figure);

[0052] Two eyebrow peak longitudinal motion units 200 are installed independently and symmetrically on the base 100, serving as the power source for driving the left and right eyebrow peaks to move longitudinally, respectively.

[0053] Two longitudinal motion units 300 for the forehead are installed independently and symmetrically on the base 100, serving as the power source for driving the left and right foreheads to move longitudinally, respectively.

[0054] Two horizontal and vertical coupling motion units 400 for the brow center are independent of each other and are respectively installed on a corresponding vertical motion unit 300 for the brow center. They maintain synchronous vertical motion with the vertical motion unit 300 for the brow center and also serve as the power source for driving the left and right brow centers to move horizontally.

[0055] A single brow peak has a vertical movement pattern; a single brow center has three movement patterns: vertical, horizontal, and a combination of both.

[0056] It should be noted that in this application, the vertical direction shown in each figure is taken as the longitudinal direction, the horizontal direction shown in each figure is taken as the transverse direction, the front side shown in each figure is the side of the device close to the robot's face, and the rear side shown in each figure is the side of the device away from the robot's face.

[0057] In some embodiments, see Figure 2The base 100 includes a base body 110 and several mounting components fixed to the base body 110. The base body 110 is a flat base plate. A head frame for the robot is provided in the rear region of the base body 110 (the head frame is located in...). Figure 2 (Not shown in the image) The main mounting components are fixedly connected. Mounting components, which are fixedly connected to each eyebrow peak longitudinal movement unit 200 and eyebrow center longitudinal movement unit 300, are distributed in the front central region of the base body 110. These will be described in detail below.

[0058] In some embodiments, see Figure 2 , Figure 3 The two eyebrow longitudinal motion units 200 have identical structures. A detailed description will be given using the eyebrow longitudinal motion unit that works with the left eyebrow as an example. The eyebrow longitudinal motion unit 200 includes an eyebrow longitudinal drive motor 210 and an eyebrow longitudinal actuator 220. The housing of the eyebrow longitudinal drive motor 210 is fixedly connected to a first motor mounting member 120 located near the front side of the base body 110 and on the left side of the base body 110. The output end of the eyebrow longitudinal drive motor 210 is located on the left side of the base body 110. The eyebrow longitudinal actuator 220 includes a first gear 221, a first mounting platform 222, a first slider 223, and a first linear guide rail 224. The first gear 221 is connected to the output end of the eyebrow-shaped longitudinal drive motor 210 via a first plum blossom-shaped coupling 211. The first plum blossom-shaped coupling 211 can improve the transmission efficiency between the output end of the eyebrow-shaped longitudinal drive motor 210 and the first gear 221. The first mounting platform 222 is an L-shaped block. The first mounting platform 222 is fixedly connected to the first slider 223 by bolts. The first slider 223 is slidably mounted on the first linear slide rail 224. The first linear slide rail 224 is axially arranged longitudinally, and the first linear slide rail 224 is connected to the first slide rail mounting part 140 located at the left front of the base body 110 by screws. Figure 3 Since the first slide rail mounting component on the left front is blocked by the first linear slide rail 224, the first slide rail mounting component 140 located on the right front is marked as fixedly connected. A first rack 222a is formed on the side of the first mounting platform 222 facing the first gear 221, meshing with the first gear 221. A first end effector 225 connected to the robot eyebrow control point is fixedly installed on the front side of the first mounting platform 222. The eyebrow longitudinal drive motor 210 drives the first gear 221 to rotate. The rotation of the eyebrow longitudinal drive motor 210 is converted into up and down translation through the meshing between the first rack 222a and the first gear 221, realizing the longitudinal movement of the eyebrow. At the same time, the cooperation between the first slider 223 fixedly connected to the first mounting platform 222 and the first linear slide rail 224 fixedly connected to the first slide rail mounting component 140 ensures the longitudinal movement stability of the first mounting platform 222.

[0059] Furthermore, the control point at the eyebrow peak moves longitudinally under the action of the first gear 221 and the first rack 222a. Let the module and number of teeth of the first gear 221 be m1 and z1 respectively. When the eyebrow peak longitudinal drive motor 210 rotates one revolution, the stroke S1 of the first rack 222a (i.e., the stroke of the control point at the eyebrow peak) is:

[0060] S1=π·m1·z1

[0061] When the angular velocity at the output of the eyebrow longitudinal drive motor 210 is ω1, the movement speed v1 of the first rack 222a is:

[0062]

[0063] In one specific embodiment of the present invention, m1 = 1, z1 = 15, v1 = 7.5ω1, in cm / s.

[0064] In some embodiments, see Figure 2 , Figure 4The two eyebrow longitudinal motion units 300 have identical structures. A detailed description will be given using the eyebrow longitudinal motion unit that works with the left eyebrow as an example. The eyebrow longitudinal motion unit 300 includes an eyebrow longitudinal drive motor 310 and an eyebrow longitudinal actuator 320. The housing of the eyebrow longitudinal drive motor 310 is fixedly connected to a second motor mounting piece 130 near the center of the front side of the base body 110. The output end of the eyebrow longitudinal drive motor 310 faces the center of the base body 110. The eyebrow longitudinal actuator 320 includes a second gear 321, a second mounting platform 322, a second slider 323, and a second linear guide rail 324. The second gear 321 is connected to the output end of the longitudinal drive motor 310 via a second plum blossom-shaped coupling 311. The second plum blossom-shaped coupling 311 can improve the transmission efficiency between the output end of the longitudinal drive motor 310 and the second gear 321. The second mounting platform 322 is fixedly connected to the second slider 323 by bolts. The second slider 323 is slidably mounted on the second linear slide rail 324. The second linear slide rail 324 is axially arranged longitudinally, and the second linear slide rail 324 is fixedly connected to the second slide rail mounting member 150 on the base body 110 near the first slide rail mounting member 140 by screws. A second rack 322a that meshes with the second gear 321 is formed on the side of the second mounting platform 322 facing the second gear 321. The longitudinal drive motor 310 drives the second gear 321 to rotate. The rotation of the longitudinal drive motor 310 is converted into up-and-down translational motion through the meshing between the second rack 322a and the second gear 321, thus realizing the longitudinal movement of the eyebrow. At the same time, the cooperation between the second slider 323, which is fixedly connected to the second mounting platform 322, and the second linear slide rail 324, which is fixedly connected to the second slide rail mounting part 150, ensures the longitudinal movement stability of the second mounting platform 322.

[0065] In some embodiments, see Figures 4-6Two horizontal and vertical coupling motion units 400 for the eyebrows are located on the front side of the overall device and are distributed left and right. The two horizontal and vertical coupling motion units 400 for the eyebrows have the same structure. The following is a detailed description of the horizontal and vertical coupling motion unit for the eyebrows that cooperates with the left eyebrow. The horizontal and vertical coupling motion unit 400 for the eyebrows includes an eyebrow horizontal drive motor 410 and a coupling mechanism 420. The eyebrow horizontal drive motor 410 is supported on the second mounting platform 322 in the left eyebrow vertical motion unit. The output end of the eyebrow horizontal drive motor 410 is arranged facing the front side of the base body 110 and a plum blossom coupling crank 411 is provided on the output end of the eyebrow horizontal drive motor 410. The second mounting platform 322 has a mounting hole 322b that matches the housing of the eyebrow horizontal drive motor 410. The mounting hole 322b is arranged near the side wall of the second mounting platform 322 where the second gear 322a is located. The coupling mechanism 420 has several connection ends, wherein the first connection end is semi-rigidly connected to one end of the lateral drive motor 410 on the plum blossom coupling crank 411 away from the eyebrow center, the second connection end is slidably connected to the support arm fixed to the front side of the second mounting platform 322, and a second end effector 424 connected to the robot eyebrow center control point is fixedly provided on the front side of the coupling mechanism 420.

[0066] Furthermore, the coupling mechanism 420 includes an L-shaped transmission member 421, a short rod 422, a crossbeam 423, and a second end actuator 424; wherein, the vertical section of the L-shaped transmission member 421 is provided with a longitudinal U-shaped slide 421a that is semi-rigidly connected to one end of the short rod 422, and the arc end of the U-shaped slide 421a is set away from the horizontal section of the L-shaped transmission member 421 and serves as the first connection end of the coupling structure 420; the other end of the short rod 422 is fixedly connected to the hole 411a on the plum blossom coupling crank 411, thereby transmitting the rotation of the eyebrow transverse drive motor 410 to the L-shaped transmission member 421 through the plum blossom coupling crank 411 and the short rod 422. The longitudinal dimension of the U-shaped slide 421a on the L-shaped transmission component 421 is not less than the vertical section length of the plum blossom coupling crank 411. The vertical section length of the plum blossom coupling crank 411 determines the maximum displacement of the center of gravity in a single lateral (e.g., to the left) and a single longitudinal (e.g., upward) direction. The lateral dimension of the U-shaped slide 421a is slightly larger than the lateral dimension of the short rod 422, allowing the short rod 422 to extend into the U-shaped slide 421a, ensuring the assembly of the two. Optionally, the short rod 422 is a stud. The short stud's small size reduces the space occupied by the moving parts while maintaining the structural stability of the mechanism. The stud has a threaded cylindrical surface, and its contact with the U-shaped slide 421a is usually a line contact or surface contact. With lubrication, frictional resistance can be effectively reduced and service life extended. If the stud is hardened or made of wear-resistant material, wear can be further reduced. The horizontal section of the L-shaped transmission component 421 is fixedly connected to or integrally formed with the crossbeam 423, and the two maintain synchronous movement. The second connecting end of the coupling mechanism 420 is located on the crossbeam 423. Specifically, a first arm 325 and a second arm 326 that form sliding contact with the crossbeam 423 are fixed to the front side of the second mounting platform 322 by screws, and the two are respectively arranged on the left and right sides of the L-shaped transmission component 421. The first arm 325 and the second arm 326 are respectively provided with a first through hole 325a and a second through hole 326a for the crossbeam 423 to pass through. The setting of these two through holes is, on the one hand, to avoid interfering with the lateral movement of the crossbeam 423, and on the other hand, to support the crossbeam 423 and ensure the stability of the structure. The second end actuator 424 is fixed to the front side of the L-shaped transmission component 421 and connected to the eyebrow center control point, driving the eyebrow center to move. The lateral movement and longitudinal movement of the eyebrow center share a single control point. It should be noted that, in order to ensure that the movement of the crossbeams 423 within the two longitudinal and transverse coupling motion units 400 does not interfere with each other, the crossbeams 423 of the two units are staggered in front and behind.When the longitudinal drive motor 310 moves, it drives the longitudinal actuator 320 and the longitudinal coupling motion unit 400 of the eyebrow through the meshing between the second rack 322a and the second gear 321. When the longitudinal coupling motion unit 400 of the eyebrow moves along with the longitudinal actuator 320, the transverse drive motor 410 of the eyebrow moves, and the short rod 422 is driven by the plum blossom coupling crank 411, and the L-shaped transmission component 421 and the second end actuator 424 are driven to move through the U-shaped slide rail 421a.

[0067] Furthermore, the control point at the center of the eyebrows has two degrees of freedom, horizontal and vertical. The vertical movement of the control point at the center of the eyebrows is similar to that of the eyebrow peak. Let the module and number of teeth of the second gear 321 be m2 and z2 respectively. When the longitudinal drive motor 310 at the center of the eyebrows rotates one revolution, the stroke S2 ​​of the second rack 322a (i.e., the stroke of the control point at the center of the eyebrows) is:

[0068] S² = π·m²·z²

[0069] When the angular velocity at the output of the longitudinal drive motor 310 at the center of the eyebrows is ω2, the speed of the second rack 322a is also the longitudinal speed of the control point at the center of the eyebrows, v. y for:

[0070]

[0071] For the lateral movement of the control point at the center of the eyebrows, taking the longitudinal direction of the plum blossom coupling crank 411 as the reference, let the rotation angle θ of the output end of the lateral drive motor 410 at the center of the eyebrows, and the length from one end of the short rod 422 to the output end of the lateral drive motor 410 at the center of the eyebrows be a, where a = 13.5 mm. Then the lateral position change of the control point at the center of the eyebrows is a·sinθ. When the angular velocity of the output end of the lateral drive motor 410 at the center of the eyebrows is ω3, then the lateral movement speed v of the control point at the center of the eyebrows is... x for:

[0072]

[0073] Therefore, the movement speed of the control point at the center of the forehead is:

[0074]

[0075] In a specific embodiment of the present invention, m2 = 1, z2 = 28, a = 13.5 mm, and the movement speed of the control point at the center of the eyebrows is:

[0076]

[0077] Optionally, in this embodiment of the invention, each drive motor is a stepper motor.

[0078] In summary, the bionic robot facial eyebrow motion device provided by this invention uses a base for support and fixation. Each motion unit is equipped with a 180° drive motor for power. The longitudinal actuators of the eyebrow center and eyebrow peak respectively use gear racks and slide rails to convert the rotation of the drive motors into vertical translation, realizing the vertical movement of the eyebrow center and eyebrow peak. The eyebrow center longitudinal and transverse coupling motion unit moves synchronously with the eyebrow center longitudinal actuator in the longitudinal direction. The coupling mechanism independently controls the transverse movement of the eyebrow center through a short rod and a U-shaped slide rail, converting the rotation of the transverse drive motor into left and right translation. This motion device is divided into two parts, the eyebrow center and the eyebrow peak, and can realize the longitudinal and transverse movements of the eyebrow center and the transverse movement of the eyebrow peak, for a total of 6 degrees of freedom. Its core point is:

[0079] 1) Multi-degree-of-freedom cooperative motion, independent control of different regions: The facial eyebrows of the bionic robot are divided into two independent motion regions: the center of the eyebrow and the eyebrow peak. Six drive motors (three on each side) are used to achieve the longitudinal motion of the eyebrow peak and the longitudinal and lateral motion of the center of the eyebrow, totaling six degrees of freedom, which is close to the natural dynamic range of human eyebrows.

[0080] 2) Horizontal and vertical coupling design of the brow area: The brow area uses an L-shaped transmission component with a U-shaped slide and a short rod coupling mechanism to separate and control the vertical drive motor and the horizontal drive motor of the brow area, so as to realize the coordinated action of vertical lifting and horizontal gathering of the brow area, simulating the micro-expression linkage of human eyebrows.

[0081] 3) Compact modular structure: The base adopts a flat bottom plate design, integrating multiple sets of adjustable mounting parts that cooperate with the corresponding eyebrow peak vertical movement unit and eyebrow center vertical movement unit, supporting a symmetrical layout to adapt to different face sizes, while reducing redundant structures.

[0082] 4) Power source reuse: The longitudinal and lateral drives of the eyebrow center share the same rack mounting platform, i.e., the second mounting platform. The lateral drive motor of the eyebrow center is installed by stacking the lateral support arm, avoiding the waste of space by arranging multiple power sources independently.

[0083] 5) Short Rod-U-Shaped Slide Semi-rigid Transmission: In the lateral drive of the eyebrow center, a combination of a short rod and a U-shaped slide (semi-rigid transmission) is used to convert the rotation of the drive motor into lateral translation. This design reduces frictional resistance through line contact, allows for self-compensation of minor assembly errors, and avoids the jamming risk of traditional gear and rack rigid transmissions.

[0084] 6) Coupling mechanism: The second mounting platform of the longitudinal actuator of the eyebrow center integrates the first arm and the second arm, which are slidably connected to the crossbeam fixed on the L-shaped transmission component. This not only transmits longitudinal motion but also allows for independent lateral drive, thus achieving decoupling of the eyebrow center motion.

[0085] The bionic robot facial eyebrow movement device provided in this embodiment of the invention has the following technical advantages:

[0086] 1) High biomimicry and richness of expression: Through multi-degree-of-freedom compound movements (such as vertical elevation of the brow and horizontal convergence), the complex micro-expressions of human eyebrows (such as surprise, anger, sadness) can be reproduced, enhancing the subtlety of the robot's emotional expression.

[0087] 2) Space Efficiency and Lightweight Design: Modular layout and power source reuse reduce the device size by more than 40%, adapting to the limited space on a robot's face; the use of an aluminum alloy base and lightweight sliders significantly reduces the overall weight. In one specific embodiment of the invention, the device is approximately 90mm long and 70mm wide, with an end effector contact area of ​​approximately 22m². 2 .

[0088] 3) Anti-interference and long service life: The semi-rigid transmission (short rod-U-shaped slide) reduces wear and extends service life by flexible contact while ensuring transmission accuracy (experimental verification shows that the service life exceeds 500,000 cycles).

[0089] 4) Dynamic performance optimization: The longitudinal drive of the brow peak and the center of the brow adopts a gear rack and slide rail combination, with a transmission efficiency of 92% and a response speed of ≤0.1s; the lateral drive of the center of the brow amplifies the stroke through the leverage effect of the short rod, and the lateral stroke of a single drive motor can reach ±15mm.

[0090] 5) Low cost and easy maintenance: The core transmission components (gears, slide rails, short rods) use standardized parts, resulting in low processing and replacement costs; the modular design supports partial maintenance without the need for overall disassembly.

[0091] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "illustrative embodiment," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of this disclosure. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0092] Although embodiments of this disclosure have been shown and described, those skilled in the art will understand that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of this disclosure, the scope of which is defined by the claims and their equivalents.

Claims

1. A bionic robotic facial eyebrow movement device, characterized in that, It includes a base, and two each of the brow peak longitudinal motion unit, the brow center longitudinal motion unit, and the brow center horizontal-vertical coupled motion unit; among which, The base is fixedly connected to the robot's head frame; The two eyebrow peak longitudinal motion units are installed independently and symmetrically on the base, and serve as the power source for driving the left and right eyebrow peaks to move longitudinally, respectively. The two longitudinal motion units of the brow center are installed independently and symmetrically on the base, and serve as the power source for driving the left and right brow centers to move longitudinally, respectively. The two eyebrow-center horizontal and vertical coupled motion units are independent of each other and are respectively installed on a corresponding eyebrow-center vertical motion unit. They maintain synchronous vertical motion with the eyebrow-center vertical motion unit and also serve as power sources to drive the left and right eyebrow centers to move horizontally. A single brow peak exhibits a vertical movement pattern; a single brow center exhibits three movement patterns: vertical, horizontal, and a combination of vertical and horizontal movements. The eyebrow peak longitudinal motion unit includes an eyebrow peak longitudinal drive motor and an eyebrow peak longitudinal actuator. The housing of the eyebrow peak longitudinal drive motor is fixedly connected to the first motor mounting component in the base. The eyebrow longitudinal actuator includes a first gear, a first mounting platform, a first slider, and a first linear slide rail; the first gear is connected to the output end of the eyebrow longitudinal drive motor via a first quincunx coupling; the first mounting platform is fixedly connected to the first slider, the first slider is slidably mounted on the first linear slide rail, the first linear slide rail is fixedly connected to a first slide rail mounting component in the base, and the axial direction of the first linear slide rail is longitudinally arranged; a first rack meshing with the first gear is formed on the first mounting platform, and a first end effector connected to the robot eyebrow control point is fixedly mounted on the front side of the first mounting platform.

2. The bionic robot facial eyebrow movement device according to claim 1, characterized in that, The base includes a base body and several mounting components fixed to the base body, each mounting component being connected to a corresponding eyebrow peak longitudinal movement unit and eyebrow center longitudinal movement unit.

3. The bionic robot facial eyebrow movement device according to claim 1, characterized in that, When the longitudinal drive motor of the eyebrow peak rotates one revolution, the stroke of the first rack is... Speed ​​of eyebrow peak control point They are respectively: In the formula, and These are the module and number of teeth of the first gear, respectively. This refers to the angular velocity at the output end of the longitudinal drive motor for the eyebrow peak.

4. The bionic robot facial eyebrow movement device according to claim 1, characterized in that, The eyebrow longitudinal motion unit includes an eyebrow longitudinal drive motor and an eyebrow longitudinal actuator. The housing of the eyebrow longitudinal drive motor is fixedly connected to the second motor mounting component in the base. The longitudinal actuator of the eyebrow center includes a second gear, a second mounting platform, a second slider, and a second linear slide rail; the second gear is connected to the output end of the longitudinal drive motor of the eyebrow center through a second plum blossom-shaped coupling; the second mounting platform is fixedly connected to the second slider, the second slider is slidably mounted on the second linear slide rail, the second linear slide rail is fixedly connected to the second slide rail mounting component in the base, and the axial direction of the second linear slide rail is arranged longitudinally; a second rack that meshes with the second gear is formed on the second mounting platform.

5. The bionic robot facial eyebrow movement device according to claim 4, characterized in that, The eyebrow-center longitudinal coupling motion unit includes an eyebrow-center lateral drive motor and a coupling mechanism; the eyebrow-center lateral drive motor is supported on the second mounting platform, and a plum blossom coupling crank is provided on the output end of the eyebrow-center lateral drive motor; the coupling mechanism has several connecting ends, wherein the first connecting end is semi-rigidly connected to one end of the plum blossom coupling crank away from the output end of the eyebrow-center lateral drive motor, the second connecting end is slidably connected to the support arm fixed to the front side of the second mounting platform, and a second end effector connected to the robot's eyebrow-center control point is fixedly provided on the front side of the coupling mechanism.

6. The bionic robot facial eyebrow movement device according to claim 5, characterized in that, The coupling mechanism includes an L-shaped transmission component, a short rod, a crossbeam, and a second end actuator. The vertical section of the L-shaped transmission component has a U-shaped slide rail arranged axially along the vertical section, with the arc end of the U-shaped slide rail positioned away from the horizontal section of the L-shaped transmission component. The arc end of the U-shaped slide rail serves as the first connecting end and is semi-rigidly connected to one end of the short rod. The other end of the short rod is fixedly connected to the crank of the plum blossom coupling. The crossbeam is fixedly connected to the horizontal section of the L-shaped transmission component. The second connecting end is located on the crossbeam, and the second end actuator is fixed to the front side of the L-shaped transmission component.

7. The bionic robot facial eyebrow movement device according to claim 6, characterized in that, The short rod is made of stud.

8. The bionic robot facial eyebrow movement device according to claim 6, characterized in that, A first arm and a second arm are fixedly provided on the front side of the second mounting platform, and the two are arranged on the left and right sides of the L-shaped transmission member respectively. The first arm and the second arm are respectively provided with a first through hole and a second through hole for the crossbeam to pass through, so as to form a sliding connection with the crossbeam.

9. The bionic robot facial eyebrow movement device according to claim 5, characterized in that, When the longitudinal drive motor of the brow center rotates one revolution, the stroke of the second rack is: In the formula, For the stroke of the second rack, and These are the module and number of teeth of the second gear, respectively; The speed of the control point at the center of the forehead is: In the formula, The lateral movement speed of the control point between the eyebrows. The longitudinal movement speed of the control point between the eyebrows. The angular velocity at the output of the longitudinal drive motor in the center of the forehead. The angular velocity at the output of the horizontal drive motor in the center of the forehead. The rotation angle of the output end of the horizontal drive motor in the center of the forehead. The length from one end of the short rod to the output end of the horizontal drive motor at the center of the eyebrows.

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