Bionic eyebrow movement mechanism and bionic robot

Abstract

The invention discloses a bionic eyebrow movement mechanism and a bionic robot, and relates to the technical field of robots. The bionic eyebrow movement mechanism comprises a bionic eyebrow bone, a bionic eyebrow body and a bionic eyebrow body, the multiple sliding pieces are arranged on the bionic eyebrow bone in a sliding mode along a curve path, are movably arranged in the first direction X and are used for being connected with bionic eyebrows; the sliding driving assembly is in transmission connection with the multiple sliding parts and used for driving the multiple sliding parts to slide along a curve path; and the pushing assembly is in transmission connection with the multiple sliding parts and used for pushing the multiple sliding parts to move in the first direction X. Based on the technical scheme disclosed by the invention, the eyebrow action of a real person is fully simulated, and the difference between the facial expression of the bionic robot and the real person is reduced, so that the anthropomorphic degree of the bionic robot is greatly improved.

Description

Technical Field

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

[0002] Bionic robots usually have an appearance similar to a human head. Compared with other robots, bionic robots usually have extremely strong human-computer interaction capabilities. Such robots can interact with humans in terms of thinking and consciousness through facial expressions and language, representing the current development trend in the field of robotics.

[0003] In related technologies, to enhance the anthropomorphism of bionic robots, their eyebrows are often designed to be movable. To achieve this, existing bionic robots typically use a crank-slider mechanism in conjunction with a servo motor or stepper motor to drive the movement points of the eyebrows, thereby achieving movements such as raising and frowning the eyebrows.

[0004] However, since the brow bone of a real person is an irregular surface, when a real person raises his eyebrows or frowns, the facial skin will usually bulge or sink relative to the brow bone. The movement of the eyebrow action points in related technologies is usually linear motion, which makes it impossible to fully simulate the eyebrow movements of real people. As a result, the facial expressions of bionic robots are quite different from those of real people, affecting the degree of anthropomorphism of the bionic robots. Summary of the Invention

[0005] The purpose of the present invention is to overcome the above technical deficiencies and propose a bionic eyebrow movement mechanism and a bionic robot to solve the technical problems in the prior art that the bionic eyebrow movement is too different from the real eyebrow movement and the degree of anthropomorphism is low.

[0006] In order to achieve the above technical objectives, the present invention adopts the following technical solutions: In a first aspect, the present invention provides a bionic eyebrow movement mechanism, comprising: Bionic brow bone; A plurality of sliding members, each of which is slidably arranged on the bionic brow bone along a curved path and is movably arranged in a first direction X for connecting the bionic eyebrows; a sliding drive assembly, in driving connection with the plurality of sliding members, for driving the plurality of sliding members to slide along a curved path; and The pushing assembly is transmission-connected to the plurality of sliding members and is used to push the plurality of sliding members to move along the first direction X.

[0007] In some embodiments, a plurality of first curved grooves are provided through the bionic brow bone; and the plurality of sliding members are respectively provided in the plurality of first curved grooves.

[0008] In some embodiments, the sliding drive assembly is provided in multiple groups, the multiple groups of sliding drive assemblies are respectively connected to the multiple sliding members, and the sliding drive assembly includes: crank; a sliding drive member, fixedly disposed on the inner side of the bionic brow bone and connected to the crank, for driving the crank to move; and A transmission rod assembly has one end connected to an end of the crank away from the sliding drive member, and the other end connected to the sliding member.

[0009] In some embodiments, a mounting plate is fixedly provided on the inner side of the bionic brow bone, a second curved groove is provided on the mounting plate, and the transmission rod assembly is passed through the second curved groove.

[0010] In some embodiments, an end slot is provided at one end of the crank away from the sliding drive member; and an end of the transmission rod assembly for connecting to the crank is passed through the end slot.

[0011] In some embodiments, the transmission rod assembly includes: a sliding guide rod movably inserted into the second curved groove, and provided with a limiting portion on the sliding guide rod, the limiting portion abutting against one side of the mounting plate; a pressing ring detachably connected to the sliding guide rod, and the pressing ring abuts against a side of the mounting plate facing away from the limiting portion; and The movable rod is telescopically arranged in the sliding guide rod along the first direction X, and one end of the movable rod away from the sliding guide rod is connected to the sliding member.

[0012] In some embodiments, the movable rod comprises: a telescopic portion, telescopically arranged in the sliding guide rod; and The connecting portion has one end fixedly connected to one end of the telescopic portion away from the sliding guide rod, and the other end connected to the sliding member, and the connecting portion is provided with an abutting portion for abutting against the inner side of the bionic brow bone.

[0013] In some embodiments, the pushing assembly includes a plurality of elastic members that are compressed and deformed along the first direction X. The plurality of elastic members are disposed on the sliding drive assembly and are respectively transmission-connected to the plurality of sliding members.

[0014] In some embodiments, the sliding member is a magnetic adsorption member, and the magnetic adsorption member is detachably disposed on the sliding drive assembly.

[0015] In a second aspect, the present invention further provides a bionic robot comprising the above-mentioned bionic eyebrow movement mechanism.

[0016] Compared with the prior art, the bionic eyebrow movement mechanism and bionic robot provided by the present invention are configured to provide a plurality of sliding members on the bionic brow bone, and to mount the bionic eyebrows through the plurality of sliding members. At the same time, a sliding drive assembly is used to drive the plurality of sliding members to move along a curved path, and a push assembly is used to drive the sliding members to move along a first direction X, so that the bionic eyebrows can always move in conformity with the surface of the bionic brow bone to complete eyebrow movements such as raising and frowning, fully simulating the eyebrow movements of a real person, reducing the difference between the facial expressions of the bionic robot and those of a real person, and thereby greatly improving the degree of anthropomorphism of the bionic robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 is a first structural schematic diagram of a bionic eyebrow movement mechanism in one embodiment of the present invention; Figure 2 is a second structural schematic diagram of the bionic eyebrow movement mechanism in one embodiment of the present invention; Figure 3 It is a schematic diagram of a partial structure of a sliding drive assembly in one embodiment of the present invention; Figure 4 This is a schematic diagram mainly used to illustrate the structure of the first curved groove and the second curved groove in one embodiment of the present invention; Figure 5 It is a cross-sectional schematic diagram mainly used to illustrate the sliding drive assembly and the pushing assembly in one embodiment of the present invention.

[0018] Explanation of the accompanying drawings: 1. Bionic brow ridge; 11. First curved groove; 2. Sliding part; 3. Sliding drive assembly; 31. Servo; 32. Crank; 321. End slide groove; 33. Transmission rod group; 331. Sliding guide rod; 3311. Limiting part; 332. Pressing ring; 333. Movable rod; 3331. Telescopic part; 3332. Connecting part; 3333. Abutting part; 3334. Mounting seat; 4. Pushing assembly; 41. Compression spring; 5. Mounting plate; 51. Second curved groove. DETAILED DESCRIPTION

[0019] In order to make the purpose, technical solutions and advantages of the present invention more clearly understood, the present invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention.

[0020] In order to solve the above technical problems, the present invention provides a bionic eyebrow movement mechanism and a bionic robot, which fully simulate the eyebrow movements of a real person, reduce the difference between the facial expressions of the bionic robot and that of a real person, and thus greatly improve the degree of anthropomorphism of the bionic robot.

[0021] See also Figure 1 and Figure 2A bionic eyebrow movement mechanism includes a bionic brow bone 1, multiple sliding parts 2, a sliding drive component 3 and a pushing component 4.

[0022] Among them, the bionic brow bone 1 simulates the structure of a real person's brow bone, and its surface is a curved structure; multiple sliding members 2 are used to install two bionic eyebrows (not shown in the figure), which are used to drive the two bionic eyebrows to move on the bionic brow bone 1 to simulate the movement of a real person's eyebrows; the sliding drive component 3 is connected to the multiple sliding members 2 for driving the multiple sliding members 2 to move; and the pushing component 4 is also connected to the multiple sliding members 2 for driving the multiple sliding members 2 to move along the first direction X, so that the two bionic eyebrows can move in accordance with the surface of the bionic brow bone 1.

[0023] It is understandable that since multiple sliding parts 2 move on the bionic brow ridge 1, in order to ensure the service life of the bionic brow ridge 1, the bionic brow ridge 1 is preferably made of a wear-resistant material, for example, it can be a self-lubricating plastic material, such as polyetheretherketone plastic (PEEK) or Teflon plastic, etc., without specific limitation.

[0024] Furthermore, since the purpose of the bionic eyebrow motion mechanism is to simulate the movement of a real person's eyebrows, and a real person has two eyebrows, two bionic eyebrows are also provided. Multiple sliders 2 are used to mount the two bionic eyebrows. That is, the same bionic eyebrow can be connected to one or more sliders 2. However, considering that the movement of a real person's eyebrows is actually a multi-point complex motion, it is preferred that the same bionic eyebrow be connected to two or more sliders 2 to simulate the multi-point complex motion of a real person's eyebrows and enhance the degree of anthropomorphism.

[0025] In addition, considering that the movement of the action point on the real eyebrow on the brow bone should be a curved motion, the above-mentioned multiple sliding parts 2 preferably move along a curved path on the bionic brow bone 1 to further improve the anthropomorphism of the bionic eyebrow.

[0026] In this embodiment, four sliders 2 can be provided on the bionic brow bone 1. The four sliders 2 can be grouped in pairs, with each group corresponding to a bionic eyebrow. That is, each bionic eyebrow is simultaneously connected to two sliders 2. In this way, the movement of the bionic eyebrow can actually be driven by the two sliders 2, achieving multi-point compound motion and helping to enhance the degree of anthropomorphism.

[0027] At the same time, considering that the two eyebrows of a real person are usually symmetrical on the brow bone, the two bionic eyebrows and the two sets of sliding members 2 are preferably arranged symmetrically on the bionic brow bone 1. Taking any bionic eyebrow as an example, the two corresponding sliding members 2 can be connected to the two sides of the bionic eyebrow in the length direction, so that the bionic eyebrow can achieve overall movement.

[0028] Taking any one of the sliding members 2 as an example, the sliding member 2 can be a magnetic adsorption member, such as a magnet; correspondingly, the side of the bionic eyebrow close to the bionic brow bone 1 can be made of a material that can be attracted to the magnet. In this way, the bionic eyebrow can be easily assembled and disassembled on the bionic brow bone 1.

[0029] It is understood that the function of the slider 2 is to mount the bionic eyebrows. As long as the bionic eyebrows are stable and movable, their specific material is not limited. Correspondingly, the material of the bionic eyebrows can also be set as needed. For example, animal hair can be used to simulate real human eyebrows, and this is also not specifically limited.

[0030] See also Figure 1 In order to realize the curved movement of the sliding member 2, a plurality of first curved grooves 11 can be provided on the bionic brow bone 1. The plurality of first curved grooves 11 correspond one-to-one to the plurality of sliding members 2 mentioned above. Each sliding member 2 is respectively installed in the corresponding first curved groove 11, so that each sliding member 2 can move along the corresponding first curved groove 11.

[0031] Since in this embodiment, there are four sliding members 2, the first curved grooves 11 are also correspondingly set to four, and the four first curved grooves 11 are also arranged in groups of two according to the installation requirements of the four sliding members 2. The two groups of first curved grooves 11 can also be symmetrically arranged along the midline of the eyebrows.

[0032] It is understood that the function of the first curved groove 11 is to define the motion trajectory of the slider 2, enabling it to move along a curved path on the bionic brow bone 1 to simulate real eyebrow movements. Based on this, the specific extension trajectory of the first curved groove 11 can be determined based on the motion trajectory of a real eyebrow. For example, motion capture can be performed on the movement points of a real eyebrow to generate the motion trajectory of each movement point, and the extension trajectory of the first curved groove 11 can be determined based on this motion trajectory.

[0033] See also Figure 1 and Figure 2 The aforementioned sliding drive assembly 3 is primarily used to drive the slider 2 to move on the bionic brow bone 1. Since the movement of each bionic eyebrow is driven by two sliders 2, to further enhance the similarity between the bionic eyebrow movements and those of a real person, the movement of each slider 2 is preferably driven by a different sliding drive assembly 3. Therefore, it is preferred to provide multiple sets of sliding drive assemblies 3, each corresponding to a plurality of sliders 2. Each sliding drive assembly 3 drives its corresponding slider 2, ensuring precise control of the movement of each slider 2.

[0034] In this embodiment, the sliding drive assembly 3 includes a sliding drive member, a crank 32, and a transmission rod assembly 33. The sliding drive member is connected to the crank 32, which is in turn connected to the corresponding sliding member 2 via the transmission rod assembly 33. Thus, the sliding drive member can drive the sliding member 2 to move along its corresponding first curved groove 11 via the crank 32 and the transmission rod assembly 33.

[0035] See also Figure 2 and Figure 3 In order to install the above-mentioned sliding drive component 3, a mounting plate 5 can be set on the inner side of the bionic brow bone 1. The mounting plate 5 can be made of aluminum alloy or other low-density metal materials; the mounting plate 5 can be detachably fixed to the inner side of the bionic brow bone 1. For example, a plurality of supporting feet can be formed (such as injection molding) on ​​the inner side of the bionic brow bone 1, and the mounting plate 5 can be fixed to the plurality of supporting feet by screws, so that the mounting plate 5 can form a platform for installing each sliding drive component 3 on the inner side of the bionic brow bone 1.

[0036] Each sliding drive assembly 3 can be arranged side by side on the mounting plate 5 along the distribution direction of each sliding member 2. Taking any one of the sliding drive assemblies 3 as an example, the sliding drive member is a steering gear 31, which can be a servo motor or a stepper motor and can be fixed to the mounting plate 5 by screws.

[0037] The crank 32 is connected to the end of the output shaft of the servo 31. The two are fixedly connected, for example, by splines and screws, so that the servo 31 can drive the crank 32 to rotate. At the same time, an end slot 321 is provided through the end of the crank 32 away from the servo 31. The end slot 321 can be configured as a U-shaped slot.

[0038] The transmission rod assembly 33 is integrally connected to the end of the crank 32 that is distal from the output shaft of the servo 31. Specifically, the end of the transmission rod assembly 33 that is proximal to the servo 31 is inserted into the end slot 321 of the crank 32. Thus, when the servo 31 rotates the crank 32, the crank 32 not only drives the transmission rod assembly 33 to rotate with it, but also allows the transmission rod assembly 33 to slide along the end slot 321. Thus, the movement of the transmission rod assembly 33 on the crank 32 is actually a compound motion: a combination of rotation about the output shaft of the servo 31 and sliding along the end slot 321. This compound motion drives the slider 2 and the bionic eyebrow to move, further simulating the movements of a real eyebrow.

[0039] Combined with attachment Figure 4To accommodate the aforementioned motion of the transmission rod assembly 33, a second curved groove 51 can be defined on the mounting plate 5 so that the transmission rod assembly 33 can be inserted into the second curved groove 51. In this case, when driven by the servo 31 and the crank 32, the transmission rod assembly 33 can move along the second curved groove 51.

[0040] It should be noted that the second curved groove 51 is actually provided in a one-to-one correspondence with the first curved groove 11. Furthermore, although the second curved groove 51 and the first curved groove 11 are installed in different locations, their extension paths are identical, such as their length and curvature. In practical applications, the shape and trajectory of the first curved groove 11 can be determined through motion capture, and then the shape and trajectory of the second curved groove 51 can be determined based on the first curved groove 11.

[0041] See also Figure 5 In this embodiment, the transmission rod assembly 33 includes a sliding guide rod 331, a pressure ring 332, and a movable rod 333. The sliding guide rod 331 is movably disposed within the second curved groove 51, enabling translational movement along the second curved groove 51. A protruding limiter 3311 is formed on the side of the sliding guide rod 331 proximate to the servo 31. The limiter 3311 abuts against the side of the mounting plate 5 proximate to the servo 31.

[0042] The pressure ring 332 is integrally mounted on the side of the mounting plate 5 facing away from the servo 31. It can be removably mounted on the sliding guide rod 331. For example, the pressure ring 332 can be threadedly connected to the end of the sliding guide rod 331 facing away from the servo 31. In this way, when the pressure ring 332 is tightened, it abuts the side of the mounting plate 5 facing away from the servo 31. However, to ensure the flexibility of the transmission rod assembly 33 within the second curved groove 51, the pressure ring 332 should not be overtightened. The specific tightening level should be determined so that the sliding guide rod 331 neither experiences axial runout nor interferes with the sliding of the transmission rod assembly 33 along the second curved groove 51.

[0043] The movable rod 333 is primarily used to connect the sliding member 2. It can be integrally and telescopically disposed within the sliding guide rod 331. Specifically, the sliding guide rod 331 can be configured as a hollow tubular structure, and the movable rod 333 can be inserted into the sliding guide rod 331. This allows the movable rod 333 to both translate along the second curved groove 51 with the sliding guide rod 331 and the pressure ring 332, and to telescopically move along the second curved groove 51. The end of the movable rod 333, which is distal to the sliding guide rod 331, is used to connect to the corresponding sliding member 2.

[0044] In order to ensure that the bionic eyebrow can move in accordance with the surface of the bionic brow bone 1 , the structure of the movable rod 333 can be optimized while providing the above-mentioned pushing component 4 .

[0045] For example, in one embodiment, the movable rod 333 includes a telescopic portion 3331 and a connecting portion 3332. The telescopic portion 3331 is telescopically disposed within the sliding guide rod 331, while the connecting portion 3332 is connected to the telescopic portion 3331 at one end and to the sliding member 2 at the other end. The connecting portion 3332 can be vertically disposed on the telescopic portion 3331 and can be provided with an abutting portion 3333 for abutting the inner surface of the bionic brow bone 1; the abutting portion 3333 is preferably rounded.

[0046] The pushing assembly 4 can be mounted on the transmission rod assembly 33, so that the pushing assembly 4 can push the movable rod 333 to telescopically move along the sliding guide rod 331, and make the movable rod 333 abut against the inner side of the bionic brow ridge 1 through the abutting portion 3333. At this time, because the sliding member 2 is mounted on the connecting portion 3332, when the sliding member 2 abuts against the inner side of the bionic brow ridge 1, the bionic eyebrows on the sliding member 2 will also always adhere to the surface of the bionic brow ridge 1.

[0047] In this embodiment, to facilitate installation of the slider 2, a mounting seat 3334 may be provided at the end of the connecting portion 3332 remote from the telescopic portion 3331. A notch may be provided within the mounting seat 3334; the slider 2 may be directly embedded within the notch, ensuring that the end surface of the slider 2 extends through the first curved groove 11 to the outside of the bionic brow bone 1. Specifically, the method for securing the slider 2 to the mounting seat 3334 can be customized as needed. For example, the slider 2 may be adhesively secured to the mounting seat 3334. To facilitate removal of the slider 2, a through-hole may be provided on the mounting seat 3334 directly opposite the bottom of the notch, facilitating ejection of the slider 2 from the notch of the mounting seat 3334.

[0048] It is understood that since the pressure ring 332 and the limiting portion 3311 respectively abut against the two sides of the mounting plate 5, and the movable rod 333 also abuts against the inner side of the bionic brow bone 1 through the abutment portion 3333, friction will occur at these contact points in actual use. To ensure the service life of the transmission rod assembly 33, the entire transmission rod assembly 33 is preferably made of a material with friction and corrosion resistance, such as heat-treated high-carbon stainless steel, which is not specifically limited.

[0049] See also Figure 5 In this embodiment, the pushing assembly 4 is mainly used to push the movable rod 333 to telescopically move on the sliding guide rod 331, so that the abutting portion 3333 can always fit the inner side of the bionic brow bone 1.

[0050] On this basis, the push assembly 4 includes multiple elastic members that are compressed and deformed along the first direction X. Each of these elastic members may correspond to one of the transmission rod groups 33, and each elastic member is disposed on the corresponding transmission rod group 33. The elastic member may be a compression spring 41, which may be mounted on the corresponding movable rod 333. Specifically, the compression spring 41 may be mounted on the telescopic portion 3331 of the corresponding movable rod 333, with its ends respectively abutting the pressure ring 332 and the connecting portion 3332.

[0051] In this way, when the transmission rod group 33 is driven by the servo 31 and the crank 32 to move along the second curved groove 51, although the inner side of the bionic brow bone 1 is a curved surface, the movable rod 333 can adaptively telescope along the sliding guide rod 331; in this process, the compression spring 41 can always push the abutment part 3333 to fit the inner side of the bionic brow bone 1, so that the sliding part 2 and the bionic eyebrow can moderately fit the surface of the bionic brow bone 1 and move.

[0052] It should be noted that the concept of “first direction X” is involved in many places in this embodiment; specifically, in this embodiment, the “first direction X” is actually equivalent to the direction of telescopic movement of the movable rod 333 on the sliding guide rod 331, that is, equivalent to the axial direction of the sliding guide rod 331.

[0053] In order to better understand the present invention, the following Figure 1-5 The technical solution of this embodiment is described in detail: In this embodiment, two bionic eyebrows can be provided on the bionic brow bone 1, and each bionic eyebrow is connected to two sliders 2, which are respectively disposed in two first curved grooves 11. In this way, the two sliders 2 can move along the corresponding first curved grooves 11, and the movement of each bionic eyebrow is actually driven by the two sliders 2 connected to it.

[0054] On this basis, by setting a servo 31 on the mounting plate 5, the servo 31 is further connected to a transmission rod group 33 through a crank 32, and the transmission rod group 33 is further connected to the sliding member 2, so that the servo 31 can drive the sliding member 2 to move through the crank 32 and the transmission rod group 33.

[0055] In view of the movement characteristics of the sliding member 2, a second curved groove 51 is provided on the mounting plate 5, which cooperates with the end slide groove 321 provided at the end of the crank 32, so that the transmission rod group 33 can move along the second curved groove 51 under the action of the servo 31 and the crank 32, thereby indirectly driving the sliding member 2 to move along the corresponding first curved groove 11, realizing the movement form of a curved path.

[0056] At the same time, by configuring the transmission rod assembly 33 to be a combination of a sliding guide rod 331, a pressure ring 332, and a movable rod 333, and cooperating with the compression spring 41, the contact portion 3333 on the movable rod 333 can always fit the inner side of the bionic brow bone 1, thus ensuring that the bionic eyebrow can always fit the outer side of the bionic brow bone 1. In this way, when the slider 2 drives the bionic eyebrow to move, the bionic eyebrow will always fit the bionic brow bone 1 to move.

[0057] In actual application, when the two sliding members 2 move upward at the same time, it corresponds to the eyebrow-raising action; when the two sliding members 2 move downward at the same time, it corresponds to the frowning action; and when the two sliding members 2 are in the middle position of the corresponding first curved groove 11, the bionic eyebrows can be regarded as being in a natural state.

[0058] Through the above method, the bionic eyebrows can always move in accordance with the surface of the bionic brow bone 1 to complete eyebrow movements such as raising eyebrows and frowning, fully simulating the eyebrow movements of real people, reducing the difference between the facial expressions of the bionic robot and real people, thereby greatly improving the degree of anthropomorphism of the bionic robot.

[0059] The present invention further provides a bionic robot comprising a body, limbs, and a head structure, wherein the head structure includes the aforementioned bionic eyebrow motion mechanism, that is, the head structure includes a bionic brow bone 1 and two bionic eyebrows, and both bionic eyebrows are controlled by the aforementioned bionic eyebrow motion mechanism.

[0060] In this way, the bionic robot can fully simulate the eyebrow movements of a real person, reduce the difference between the facial expressions of the bionic robot and a real person, and thus greatly improve the degree of anthropomorphism of the bionic robot.

[0061] It should be understood that the bionic robot may also adopt other structural forms, without changing the bionic eyebrow and its movement mechanism, and it does not exceed the scope covered by this embodiment.

[0062] In the description of this application, it should be noted that the terms "upper" and "lower" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on this application. Unless otherwise expressly specified and limited, the terms "installed", "connected" and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or an indirect connection through an intermediate medium, or it can be internal communication between two elements. For those of ordinary skill in the art, the specific meanings of the above terms in this application can be understood according to the specific circumstances.

[0063] It should be noted that, in this application, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device comprising a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, an element defined by the sentence "comprising a ..." does not exclude the presence of other identical elements in the process, method, article or device comprising the element.

[0064] The specific embodiments of the present invention described above do not limit the scope of protection of the present invention. Any other corresponding changes and modifications made based on the technical concept of the present invention should be included in the scope of protection of the claims of the present invention.

Claims

1. A bionic eyebrow movement mechanism, characterized in that: include: Bionic brow bone; A plurality of sliding members, each of which is slidably arranged on the bionic brow bone along a curved path and is movably arranged in a first direction X for connecting the bionic eyebrows; a sliding drive assembly, in transmission connection with the plurality of sliding members, and configured to drive the plurality of sliding members to slide along a curved path; as well as The pushing assembly is transmission-connected to the plurality of sliding members and is used to push the plurality of sliding members to move along the first direction X.

2. The bionic eyebrow movement mechanism according to claim 1, characterized in that: A plurality of first curved grooves are provided through the bionic brow bone; and the plurality of sliding members are respectively provided in the plurality of first curved grooves.

3. The bionic eyebrow movement mechanism according to claim 1, characterized in that: The sliding drive assembly is provided with multiple groups, and the multiple groups of sliding drive assemblies are respectively connected to the multiple sliding members, and the sliding drive assembly includes: crank; a sliding drive member, fixedly disposed on the inner side of the bionic brow bone and connected to the crank, for driving the crank to move; and A transmission rod assembly has one end connected to an end of the crank away from the sliding drive member, and the other end connected to the sliding member.

4. The bionic eyebrow movement mechanism according to claim 3, characterized in that: A mounting plate is fixedly provided on the inner side of the bionic brow bone, a second curved groove is provided on the mounting plate, and the transmission rod assembly is passed through the second curved groove.

5. The bionic eyebrow movement mechanism according to claim 4, characterized in that: An end sliding groove is provided at one end of the crank away from the sliding drive member; and an end of the transmission rod assembly for connecting with the crank is passed through the end sliding groove.

6. The bionic eyebrow movement mechanism according to claim 4, characterized in that: The transmission rod assembly comprises: a sliding guide rod movably inserted into the second curved groove, and provided with a limiting portion on the sliding guide rod, the limiting portion abutting against one side of the mounting plate; a pressing ring detachably connected to the sliding guide rod, and the pressing ring abuts against a side of the mounting plate facing away from the limiting portion; and The movable rod is telescopically arranged in the sliding guide rod along the first direction X, and one end of the movable rod away from the sliding guide rod is connected to the sliding member.

7. The bionic eyebrow movement mechanism according to claim 6, characterized in that: The movable rod comprises: a telescopic portion, telescopically arranged in the sliding guide rod; and The connecting portion has one end fixedly connected to one end of the telescopic portion away from the sliding guide rod, and the other end connected to the sliding member, and the connecting portion is provided with an abutting portion for abutting against the inner side of the bionic brow bone.

8. The bionic eyebrow movement mechanism according to any one of claims 1 to 7, characterized in that: The pushing assembly includes a plurality of elastic members that are compressed and deformed along the first direction X. The plurality of elastic members are arranged on the sliding drive assembly and are respectively connected to the plurality of sliding members in a transmission manner.

9. The bionic eyebrow movement mechanism according to any one of claims 1 to 7, characterized in that: The sliding member is a magnetic adsorption member, and the magnetic adsorption member is detachably arranged on the sliding drive assembly.

10. A bionic robot, characterized in that: The bionic eyebrow movement mechanism comprises the bionic eyebrow movement mechanism as described in any one of claims 1 to 9.

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