Bionic eyebrow movement mechanism and bionic robot

Abstract

The application discloses a kind of bionic eyebrow movement mechanism and bionic robot, it is related to robot technical field.In which, a kind of bionic eyebrow movement mechanism, including: bionic brow bone;Multiple sliding pieces, the multiple sliding pieces are slidably arranged on the bionic brow bone along curved path, and are movably arranged in the first direction X, for connecting bionic eyebrow;Slip drive assembly is drivingly connected with the multiple sliding pieces, for driving the multiple sliding pieces to slide along curved path;And push assembly is drivingly connected with the multiple sliding pieces, for pushing the multiple sliding pieces to move along the first direction X.Based on the technical scheme disclosed in the application, the action of human eyebrow is fully simulated, the difference between the facial expression of bionic robot and human is reduced, so that the humanization degree of bionic robot is greatly improved.

Description

Technical Field

[0001] This invention relates to the field of robotics, specifically to a bionic eyebrow movement mechanism and a bionic robot. Background Technology

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

[0003] In related technologies, to improve the anthropomorphism of bionic robots, the eyebrows of bionic robots are usually 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 move the eyebrow's movement points, thereby realizing actions such as raising and frowning the eyebrows.

[0004] However, because the brow bone of a real person is an irregular curved surface, when a real person raises or frowns, the facial skin usually protrudes or sinks relative to the brow bone. In related technologies, the movement of eyebrow movement points is usually linear, which makes it impossible to fully simulate the eyebrow movement of a real person. As a result, the facial expressions of the bionic robot are quite different from those of a real person, affecting the anthropomorphism of the bionic robot. Summary of the Invention

[0005] The purpose of this invention is to overcome the above-mentioned technical deficiencies and propose a bionic eyebrow movement mechanism and a bionic robot to solve the technical problem that the bionic eyebrow movement differs too much from the movement of real eyebrows and has a low degree of anthropomorphism in the prior art.

[0006] To achieve the above-mentioned technical objectives, the present invention adopts the following technical solution: In a first aspect, the present invention provides a bionic eyebrow movement mechanism, comprising: Bionic brow bone; Multiple sliding members are slidably disposed on the bionic brow bone along a curved path and are movably disposed in the first direction X for connecting the bionic eyebrow. A sliding drive assembly, connected in a transmission manner to the plurality of sliding members, is used to drive the plurality of sliding members to slide along a curved path; and The push assembly is connected to the plurality of sliding members in a transmission manner, 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; the plurality of sliding members are respectively disposed in the plurality of first curved grooves.

[0008] In some embodiments, the slide drive assembly is provided in multiple sets, each set of the slide drive assembly being connected to the plurality of sliders, and the slide drive assembly includes: crank; A sliding drive component is fixedly disposed on the inner side of the bionic brow bone and connected to the crank, for driving the crank to move; and The transmission rod assembly has one end connected to the end of the crank away from the sliding drive member, and the other end connected to the sliding member.

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

[0010] In some embodiments, the end of the crank away from the sliding drive member is provided with an end groove; the end of the transmission rod assembly for connecting the crank passes through the end groove.

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

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

[0013] In some embodiments, the pushing assembly includes a plurality of elastic elements that compress and deform along the first direction X, the plurality of elastic elements being disposed on the sliding drive assembly and respectively connected to the plurality of sliding elements.

[0014] In some embodiments, the slider is a magnetic adsorption element, which is detachably mounted on the sliding drive assembly.

[0015] Secondly, the present invention also provides a bionic robot, including the aforementioned bionic eyebrow movement mechanism.

[0016] Compared with the prior art, the present invention provides a bionic eyebrow motion mechanism and a bionic robot. By setting multiple sliding parts on the bionic brow bone and installing bionic eyebrows through the multiple sliding parts, the sliding drive component drives the multiple sliding parts to move along a curved path. In conjunction with the pushing component, the sliding parts are driven to move along the first direction X, so that the bionic eyebrows can always be in contact with the surface of the bionic brow bone to perform eyebrow movements such as raising and frowning. This fully simulates the eyebrow movements of real people, reduces the difference between the facial expressions of the bionic robot and those of real people, and thus greatly improves the anthropomorphism of the bionic robot. Attached Figure Description

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

[0018] Explanation of reference numerals in the attached drawings: 1. Bionic brow bone; 11. First curved groove; 2. Sliding component; 3. Sliding drive assembly; 31. Servo motor; 32. Crank; 321. End groove; 33. Transmission rod assembly; 331. Sliding guide rod; 3311. Limiting part; 332. Pressure ring; 333. Movable rod; 3331. Telescopic part; 3332. Connecting part; 3333. Abutting part; 3334. Mounting base; 4. Pushing assembly; 41. Compression spring; 5. Mounting plate; 51. Second curved groove. Detailed Implementation

[0019] To make the objectives, technical solutions, and advantages of this invention clearer, the 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 merely illustrative and not intended to limit the invention.

[0020] To address the aforementioned technical problems, this invention provides a bionic eyebrow movement mechanism and a bionic robot that fully simulates the eyebrow movements of a real person, reduces the difference between the facial expressions of the bionic robot and those of a real person, and thus greatly improves the anthropomorphism of the bionic robot.

[0021] Please see Figure 1 and Figure 2A biomimetic eyebrow movement mechanism includes a biomimetic brow bone 1, multiple sliders 2, a sliding drive assembly 3, and a pushing assembly 4.

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

[0023] Understandably, since multiple sliding parts 2 move on the bionic brow bone 1, in order to ensure the service life of the bionic brow bone 1, the bionic brow bone 1 is preferably made of a wear-resistant material, such as a self-lubricating plastic material, such as polyetheretherketone (PEEK) or Teflon plastic, etc., without specific limitations.

[0024] Meanwhile, since the purpose of this bionic eyebrow movement mechanism is to simulate the movement of real human eyebrows, and real humans have two eyebrows, the bionic eyebrows are also correspondingly set to two. Multiple sliders 2 are used to mount these two bionic eyebrows, that is, the same bionic eyebrow can be connected to one or more sliders 2. However, considering that the movement of real human eyebrows is actually a multi-point compound movement, the same bionic eyebrow is preferably connected to two or more sliders 2, thereby simulating the multi-point compound movement of real human eyebrows and improving the degree of anthropomorphism.

[0025] Furthermore, considering that the movement of the motion point on the brow bone of a real eyebrow should be a curved motion, the aforementioned 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 configured on the bionic brow bone 1. The four sliders 2 can be grouped in pairs, with each pair of sliders 2 corresponding to one of the bionic eyebrows. That is, any bionic eyebrow is simultaneously connected to two sliders 2. In this way, the movement of the bionic eyebrow can actually be driven by two sliders 2, realizing multi-point compound movement, which helps to improve the degree of anthropomorphism.

[0027] Meanwhile, considering that real human eyebrows are usually symmetrical on the brow bone, the two bionic eyebrows and the two sets of sliding parts 2 are preferably set symmetrically on the bionic brow bone 1. Taking any one of the bionic eyebrows as an example, its two corresponding sliding parts 2 can be connected to both sides of the bionic eyebrow along its length, thereby allowing the bionic eyebrow to move as a whole.

[0028] Taking any one of the sliding parts 2 as an example, the sliding part 2 can be a magnetic adsorption component, 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 attract a magnet. In this way, the bionic eyebrow can be easily attached and detached from the bionic brow bone 1.

[0029] Understandably, the function of the aforementioned slider 2 is to install the bionic eyebrow. While ensuring the stability and mobility of the bionic eyebrow installation, its specific material is not limited. Correspondingly, the material of the bionic eyebrow can also be set as needed; for example, animal hair can be used to simulate real eyebrows, etc., and there are no specific limitations on this either.

[0030] Please see Figure 1 To achieve the curved movement of the slider 2, multiple first curved grooves 11 can be provided on the bionic brow bone 1. The multiple first curved grooves 11 correspond one-to-one with the multiple sliders 2 mentioned above. Each slider 2 is installed in the corresponding first curved groove 11, so that each slider 2 can move along the corresponding first curved groove 11.

[0031] In this embodiment, there are 4 sliding members 2, so there are also 4 first curved grooves 11. The 4 first curved grooves 11 are also set in pairs according to the installation requirements of the 4 sliding members 2. The two sets of first curved grooves 11 can also be set symmetrically along the center line of the eyebrows.

[0032] Understandably, the function of the first curved groove 11 is to limit the movement trajectory of the slider 2, allowing 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 according to the movement trajectory of a real eyebrow; for example, motion capture can be performed on the motion points on a real eyebrow to form the movement trajectory of each motion point, and the extension trajectory of the first curved groove 11 can be determined based on this movement trajectory.

[0033] Please see Figure 1 and Figure 2 The aforementioned sliding drive component 3 is mainly 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, in order to further improve the similarity between the movement of the bionic eyebrow and the movement of a real eyebrow, the movement of each slider 2 is preferably driven by a different sliding drive component 3. Therefore, multiple sets of sliding drive components 3 are preferably provided, and multiple sets of sliding drive components 3 correspond to multiple sliders 2 respectively. Each sliding drive component 3 drives its corresponding slider 2 to ensure precise control of the movement of each slider 2.

[0034] In this embodiment, the aforementioned sliding drive assembly 3 includes a sliding drive component, a crank 32, and a transmission rod assembly 33. The sliding drive component is connected to the crank 32, and the crank 32 is further connected to the corresponding sliding member 2 via the transmission rod assembly 33. Thus, the sliding drive component 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] Please see Figure 2 and Figure 3 To install the aforementioned sliding drive assembly 3, a mounting plate 5 can be provided 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, multiple support feet can be formed (e.g., injection molding) on ​​the inner side of the bionic brow bone 1, and the mounting plate 5 can be fixed to the multiple support feet with screws. Thus, the mounting plate 5 can form a platform for installing each sliding drive assembly 3 on the inner side of the bionic brow bone 1.

[0036] Each sliding drive component 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 components 3 as an example, the sliding drive component is a servo motor 31, which can be a servo motor or a stepper motor, and it can be fixed to the mounting plate 5 with screws.

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

[0038] The transmission rod assembly 33 is connected to the end of the crank 32 furthest from the output shaft of the servo motor 31. Specifically, the end of the transmission rod assembly 33 closest to the servo motor 31 can pass through the end groove 321 on the crank 32. Thus, when the servo motor 31 drives the crank 32 to rotate, the crank 32 can drive the transmission rod assembly 33 to rotate accordingly, and the transmission rod assembly 33 can also slide along the end groove 321. It can be seen that the movement of the transmission rod assembly 33 on the crank 32 is actually a compound motion, that is, a compound motion of rotation around the output shaft of the servo motor 31 and sliding motion along the end groove 321. Through this compound motion, the sliding member 2 and the bionic eyebrow movement can be driven, which can further simulate the movement of real eyebrows.

[0039] Combined with appendix Figure 4To satisfy the aforementioned movement pattern of the transmission rod assembly 33, a second curved groove 51 can be correspondingly provided on the mounting plate 5, allowing the transmission rod assembly 33 to pass through the second curved groove 51. At this time, when driven by the servo motor 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 and the first curved groove 11 are actually configured in a one-to-one correspondence. Although the second curved groove 51 and the first curved groove 11 are installed in different positions, their extension trajectories are the same, such as their length and curvature. In practical applications, the shape and trajectory of the first curved groove 11 can be determined first by 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] Please see 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 inserted into the second curved groove 51, allowing it to translate along the groove. A limiting portion 3311 is protruded on the side of the sliding guide rod 331 near the servo motor 31, and this limiting portion 3311 abuts against the side of the mounting plate 5 near the servo motor 31.

[0042] The pressure ring 332 is integrally positioned on the side of the mounting plate 5 away from the servo motor 31. It can be detachably mounted on the sliding guide rod 331, for example, by threading the pressure ring 332 to the end of the sliding guide rod 331 away from the servo motor 31. Thus, when the pressure ring 332 is tightened, it can abut against the side of the mounting plate 5 away from the servo motor 31. However, to ensure the flexibility of the transmission rod assembly 33's movement within the second curved groove 51, the pressure ring 332 should not be overtightened. The specific tightening degree should be such that the sliding guide rod 331 neither jumps along its axial direction nor affects the sliding of the transmission rod assembly 33 along the second curved groove 51.

[0043] The aforementioned movable rod 333 is mainly used to connect the sliding member 2. It can be telescopically installed inside the sliding guide rod 331. That is, the sliding guide rod 331 can be set as a hollow tubular structure, and the movable rod 333 is 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 its axial direction. The end of the movable rod 333 away from 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 conform to the surface of the bionic brow bone 1, the structure of the movable rod 333 can be optimized while setting the aforementioned push component 4.

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

[0046] The pushing assembly 4 can be mounted on the transmission rod assembly 33, thereby enabling the pushing assembly 4 to push the movable rod 333 to extend and retract along the sliding guide rod 331, and causing the movable rod 333 to abut against the inner side of the bionic brow bone 1 through the abutment part 3333. At this time, since the sliding member 2 is mounted on the connecting part 3332, when it is pressed against the inner side of the bionic brow bone 1 at the moment of abutment, the bionic eyebrow on the sliding member 2 will also be in constant contact with the surface of the bionic brow bone 1.

[0047] In this embodiment, to facilitate the installation of the sliding member 2, a mounting base 3334 can be provided at the end of the connecting portion 3332 away from the telescopic portion 3331. A slot can be opened in the mounting base 3334. The sliding member 2 can be directly embedded in the slot, as long as it is ensured that the end face of the sliding member 2 can extend to the outside of the bionic brow bone 1 through the first curved groove 11. Specifically, the fixing method of the sliding member 2 on the mounting base 3334 can be set as needed. For example, the sliding member 2 can be glued and fixed in the mounting base 3334. To facilitate the disassembly of the sliding member 2, a through hole can be provided on the mounting base 3334 at the position opposite the bottom of the slot, so that the sliding member 2 can be pushed out of the slot of the mounting base 3334.

[0048] Understandably, since the pressure ring 332 and the limiting part 3311 abut against both 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 abutting part 3333, friction will occur at each contact point in actual application. To ensure the service life of the transmission rod assembly 33, the transmission rod assembly 33 is preferably made of a material with wear-resistant and corrosion-resistant properties, such as high-carbon stainless steel that has undergone heat treatment; no specific limitation is made thereto.

[0049] Please see Figure 5 In this embodiment, the aforementioned push assembly 4 is mainly used to push the movable rod 333 to extend and retract on the sliding guide rod 331 so that the aforementioned abutting part 3333 can always fit against the inner side of the bionic brow bone 1.

[0050] Based on this, the jacking assembly 4 includes multiple elastic elements that can compress and deform along the first direction X. Each of these elastic elements corresponds to one of the transmission rod groups 33, and each elastic element is respectively disposed on the corresponding transmission rod group 33. The elastic element can be a compression spring 41, which can be sleeved on the corresponding movable rod 333. Specifically, the compression spring 41 can be sleeved on the telescopic part 3331 of the corresponding movable rod 333, and its two ends can respectively abut against the pressure ring 332 and the connecting part 3332.

[0051] Thus, when the transmission rod assembly 33 moves along the second curved groove 51 driven by the servo motor 31 and the crank 32, although the inner side of the bionic brow bone 1 is curved, the movable rod 333 can perform adaptive extension and retraction along the sliding guide rod 331. During this process, the compression spring 41 can push the abutment part 3333 to fit against the inner side of the bionic brow bone 1 at all times, so that the sliding member 2 and the bionic eyebrow can fit against the surface of the bionic brow bone 1 appropriately.

[0052] It should be noted that the concept of "first direction X" is involved in many places in this embodiment; specifically, in this embodiment, "first direction X" is actually equivalent to the direction of the extension and retraction 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] To better understand this invention, the following is combined with... Figure 1-5 The technical solution of this embodiment will be described in detail below: In this embodiment, two bionic eyebrows can be provided on the bionic brow bone 1. Each bionic eyebrow is connected to two sliding members 2, and the two sliding members 2 are respectively disposed in two first curved grooves 11. In this way, the two sliding members 2 can move along the corresponding first curved grooves 11, and the movement of each bionic eyebrow is actually driven by the two sliding members 2 connected to it.

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

[0055] In response to the motion characteristics of the sliding member 2, a second curved groove 51 is provided on the mounting plate 5, which, together with the end groove 321 provided at the end of the crank 32, enables the transmission rod assembly 33 to move along the second curved groove 51 under the action of the servo motor 31 and the crank 32, thereby indirectly driving the sliding member 2 to move along the corresponding first curved groove 11, thus realizing the motion form of a curved path.

[0056] Meanwhile, by configuring the transmission rod assembly 33 as a combination of a sliding guide rod 331, a pressure ring 332, and a movable rod 333, and in conjunction with the compression spring 41, the abutment portion 3333 on the movable rod 333 can always be in contact with the inner side of the bionic brow bone 1, thus ensuring that the bionic eyebrow can always be in contact with the outer side of the bionic brow bone 1. Therefore, when the sliding member 2 moves the bionic eyebrow, the bionic eyebrow will always be in contact with the bionic brow bone 1 during movement.

[0057] In practical applications, when the two sliders 2 move upwards simultaneously, it corresponds to raising the eyebrows; when the two sliders 2 move downwards simultaneously, it corresponds to frowning; and when the two sliders 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 methods, the bionic eyebrows can move in constant contact with the surface of the bionic brow bone 1 to complete eyebrow movements such as raising and frowning, fully simulating the eyebrow movements of real people, reducing the difference between the facial expressions of the bionic robot and those of real people, and thus greatly improving the anthropomorphism of the bionic robot.

[0059] The present invention also provides a bionic robot, which includes a body, limbs, and a head structure. The head structure includes the aforementioned bionic eyebrow motion mechanism, specifically, the head structure includes a bionic brow bone 1 and two bionic eyebrows, both of which are motion-controlled using the aforementioned bionic eyebrow motion mechanism.

[0060] In this way, bionic robots can fully simulate the eyebrow movements of real people, reducing the difference between the facial expressions of bionic robots and real people, thereby greatly improving the anthropomorphism of bionic robots.

[0061] It should be understood that bionic robots may also adopt other structural forms, but without changing the bionic eyebrows and their motion mechanism, they cannot exceed the scope covered by this embodiment.

[0062] In the description of this application, it should be noted that the terms "upper" and "lower," etc., indicating the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, 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, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this application. Unless otherwise expressly specified and limited, the terms "installed," "connected," and "linked" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication between two elements. For those skilled in the art, the specific meaning 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 merely to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

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

Claims

1. A biomimetic eyebrow movement mechanism, characterized in that, include: Bionic brow bone; Multiple sliding members are slidably disposed on the bionic brow bone along a curved path and are movably disposed in the first direction X for connecting the bionic eyebrow. A sliding drive assembly is connected to the plurality of sliding elements for driving the plurality of sliding elements to slide along a curved path; as well as The jacking assembly is connected to the plurality of sliding members in a transmission manner, and is used to push the plurality of sliding members to move along the first direction X; The sliding drive assembly is provided in multiple sets, and the multiple sets of sliding drive assemblies are respectively connected to the multiple sliding members, and the sliding drive assembly includes: crank; A sliding drive component is fixedly disposed on the inner side of the bionic brow bone and connected to the crank, for driving the crank to move; and The transmission rod assembly has one end connected to the end of the crank away from the sliding drive member, and the other end connected to the sliding member; An installation plate is fixedly provided on the inner side of the bionic brow bone, and a second curved groove is provided on the installation plate, and the transmission rod assembly passes through the second curved groove. The transmission rod assembly includes: A sliding guide rod is movably inserted into the second curved groove, and a limiting part is provided on the sliding guide rod, the limiting part abutting against one side of the mounting plate; A pressure ring, detachably connected to the sliding guide rod, and the pressure ring abuts against the side of the mounting plate opposite to the limiting portion; and The movable rod is telescopically disposed within the sliding guide rod along the first direction X, and the end of the movable rod away from the sliding guide rod is connected to the sliding member.

2. The bionic eyebrow movement mechanism according to claim 1, characterized in that, The bionic brow bone is provided with a plurality of first curved grooves; the plurality of sliding members are respectively disposed in the plurality of first curved grooves.

3. The bionic eyebrow movement mechanism according to claim 1, characterized in that, The end of the crank away from the sliding drive member is provided with an end groove; the end of the transmission rod assembly used to connect the crank passes through the end groove.

4. The bionic eyebrow movement mechanism according to claim 1, characterized in that, The movable lever includes: The telescopic part is telescopically disposed within the sliding guide rod; and The connecting part has one end fixedly connected to the end of the telescopic part away from the sliding guide rod, and the other end connected to the sliding member. The connecting part is provided with an abutting part for abutting against the inner side of the bionic brow bone.

5. The bionic eyebrow movement mechanism according to any one of claims 1-4, characterized in that, The jacking assembly includes a plurality of elastic elements that compress and deform along the first direction X. The plurality of elastic elements are disposed on the sliding drive assembly and are respectively connected to the plurality of sliding elements in a transmission manner.

6. The bionic eyebrow movement mechanism according to any one of claims 1-4, characterized in that, The sliding member is a magnetic adsorption member, which is detachably mounted on the sliding drive assembly.

7. A biomimetic robot, characterized in that, Includes the bionic eyebrow movement mechanism as described in any one of claims 1-6.

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