Humanoid robot face bionic driving structure with high-degree-of-freedom expression control

Abstract

The invention relates to the technical field of robots, in particular to a humanoid robot face bionic driving structure with high-degree-of-freedom expression control, an eyebrow module and an eye module of the humanoid robot face bionic driving structure are both arranged on a fixing frame, a mouth module is arranged below the fixing frame, assembly is more convenient and faster, the space utilization rate is higher, and the maintenance cost is lower. A first movement device, a second movement device and a third movement device in the eye module are vertically and horizontally arranged in a staggered mode. The eyeballs are fixedly connected with the third movement device and can be controlled to rotate up and down and left and right. Eye corner connecting positions on one side of the lower eyelid and one side of the upper eyelid are rotationally connected to the supporting seat, and an eye corner on the other side of the lower eyelid is rotationally connected with an eye corner on the other side of the upper eyelid. The first movement device and the second movement device are matched to drive the upper eyelids and the lower eyelids to move up and down so as to open or close the eyes, so that the structural movement smoothness of the eyes is higher, and the movement of the eyes is more natural and vivid.

Description

Technical Field

[0001] This invention relates to the field of robotics, and in particular to a humanoid robot facial bionic drive structure with high degree of freedom in facial expression control. Background Technology

[0002] With the rapid development of artificial intelligence, bionic robots, and affective computing technologies, the demand for humanoid robots in service, education, healthcare, and companionship fields is constantly growing. Traditional humanoid robots often use simplified motion mechanisms for their facial structures, only achieving basic mouth opening and closing, eye movement, or micro-expression changes. Their degrees of freedom are low, making it impossible to effectively simulate the complex dynamic characteristics of human facial expressions and meet the needs of increasingly demanding emotional interaction scenarios.

[0003] As bionic robots mature, the requirements are no longer limited to performing simple, rigid basic movements; the goal is to achieve movements that closely resemble natural human actions. Due to the lack of a systematic approach to facial muscle region segmentation and coordinated control strategies, existing facial actuation structures generally suffer from significant deficiencies in expressiveness, fluency, and the realism of emotional expression, resulting in a poor user experience during human-computer interaction. Furthermore, their structural layout suffers from low space utilization and high assembly and maintenance costs. Summary of the Invention

[0004] In order to overcome the technical defects mentioned in the background art, the purpose of this invention is to provide a humanoid robot facial bionic drive structure with high degree of freedom of expression control.

[0005] To achieve the above objectives, the present invention adopts the following technical solution:

[0006] A humanoid robot facial bionic driving structure with high degree of freedom expression control includes a fixed frame, an eyebrow module, an eye module, and a mouth module. The eyebrow and eye modules are both mounted on the fixed frame, and the mouth module is located below the fixed frame. Two sets of eyebrow and eye modules are provided, symmetrically arranged along the central axis of the face. Each eye module includes an upper eyelid, a lower eyelid, an eyeball, a first motion device for controlling the movement of the upper eyelid, a second motion device for controlling the movement of the lower eyelid, and a third motion device for controlling the rotation of the eyeball. The first, second, and third motion devices are vertically and horizontally offset. The eyeball is fixedly connected to the third motion device. The lower eyelid and one corner of the upper eyelid are rotatably connected to a support base, which is fixed to the fixed frame. The other corner of the lower eyelid is rotatably connected to the other corner of the upper eyelid.

[0007] By adopting the above technical solution, two sets of eyebrow modules and two sets of eye module modules are fixed on the mounting frame, allowing for precise installation and positioning of the eyebrow and eye modules. This makes assembly more convenient and faster, increases space utilization, and reduces maintenance costs. The third motion device can control the eyeballs to move up, down, left, and right. The first and second motion devices work together to drive the upper and lower eyelids to move up and down, achieving the action of opening or closing the eyes. This makes the structural movement of the eyes smoother, and the eye movements more natural and realistic. The eyebrow module can realize facial actions such as frowning and raising eyebrows, while the mouth module can realize facial actions such as pouting, opening, and closing the mouth, resulting in richer emotional expression, reducing facial stiffness, and significantly improving the user experience.

[0008] Furthermore, the first motion device includes a first servo motor, a first swing arm, a first connecting rod, and a first connecting block. The output shaft of the first servo motor is fixedly connected to one end of the first swing arm, the other end of the first swing arm is hinged to one end of the first connecting rod, the other end of the first connecting rod is hinged to one end of the first connecting block, and the other end of the first connecting block is fixedly connected to the corner of the eye on one side of the upper eyelid. The device provides stable transmission, is easy to assemble, and can drive the upper eyelid to rotate up and down.

[0009] Furthermore, the first swing arm and the first connecting block are vertically arranged, and the first connecting rod is horizontally arranged, which facilitates the provision of installation space for the structure below, making the structure more compact.

[0010] Furthermore, the second motion device includes a second servo motor, a second swing arm, a second connecting rod, and a second connecting block. The output shaft of the second servo motor is fixedly connected to one end of the second swing arm, the other end of the second swing arm is hinged to one end of the second connecting rod, one end of the second connecting rod is hinged to one end of the second connecting block, and the other end of the second connecting block is fixed to the corner of the eye on the other side of the lower eyelid. The second swing arm and the second connecting block are vertically arranged, and the height of one end of the second connecting rod is higher than the height of the other end of the second connecting rod. The structure is compact, the drive is stable, and it can drive the lower eyelid to rotate up and down.

[0011] Furthermore, the third motion device is disposed between the first motion device and the second motion device. The third motion device includes a horizontal adjustment mechanism for controlling the horizontal rotation of the eyeball and a vertical adjustment mechanism for controlling the vertical rotation of the eyeball. The horizontal adjustment mechanism includes a third servo motor and a U-shaped first connecting frame, which has a simple structure, occupies little space, and is lighter. The output shaft of the third servo motor is fixedly connected to the middle of the first connecting frame. One end of the first connecting frame is hinged to a horizontal side of the back of the eyeball, and the other end of the first connecting frame is hinged to another horizontal side of the back of the eyeball, facilitating the left and right rotation of the eyeball.

[0012] Furthermore, the vertical adjustment mechanism includes a fourth servo motor and a second connecting frame arranged in a U-shape. The output shaft of the fourth servo motor is fixedly connected to the middle of the second connecting frame. One end of the second connecting frame is hinged to the lower end of the back side of the eyeball, and the other end of the second connecting frame is hinged to the upper end of the back side of the eyeball, which facilitates the up-and-down rotation of the eyeball, making installation convenient and transmission stable.

[0013] Furthermore, the second connecting frame is disposed within the U-shaped groove of the first connecting frame. One side of the first connecting frame has an upward-facing arch, and the fourth servo motor is disposed below the arch, resulting in a compact structure and higher space utilization.

[0014] Furthermore, the eyebrow module includes an brow bone, an brow bone driving device, and an eyebrow head driving device. The brow bone is used to connect the eyebrow structure. The brow bone driving device includes a fifth servo, a third swing arm, a third connecting rod, and a first swing rod. The output shaft of the fifth servo is fixedly connected to one end of the third swing arm, the other end of the third swing arm is hinged to the third connecting rod, and the other end of the third connecting rod is hinged to the middle of the first swing rod. One end of the first swing rod is hinged to the fixed frame, and the other end of the first swing rod is fixedly connected to the back side of the brow bone near the eyebrow head. With precise control, the fifth servo can drive the eyebrow head to move up and down, thereby realizing actions such as frowning and raising eyebrows, resulting in richer expressions and more natural and vivid facial expressions.

[0015] Furthermore, the eyebrow driving device includes a sixth servo motor, a mounting base, a fourth swing arm, a fourth connecting rod, and a second swing rod. The sixth servo motor is fixed to the mounting base, which is fixed to the mounting frame. The output shaft of the sixth servo motor is fixedly connected to one end of the fourth swing arm, the other end of the fourth swing arm is hinged to one end of the fourth connecting rod, and the other end of the fourth connecting rod is hinged to the second swing rod. One end of the second swing rod is fixed to the mounting base, and the other end of the second swing rod is connected to the eyebrow. The rotation of the sixth servo motor can drive the eyebrow to move along a set trajectory through the fourth swing arm, the fourth connecting rod, and the second swing rod, thereby driving the eyebrow movement and allowing the robot's eyebrows to mimic human eyebrows in various forms such as raised, furrowed, and relaxed.

[0016] Furthermore, the mounting frame includes, from bottom to top, a first mounting slot, a second mounting slot, and a third mounting slot. The first mounting slot is used to install two sets of the eye modules. Two second mounting slots are provided in the middle of the mounting frame, and the mounting base is fixed in the corresponding second mounting slot. Two sets of third mounting slots are arranged adjacent to each other, and each third mounting slot is used to fix one of the fifth servo motors. The overall structure is compact, with high space utilization, and the staggered vertical and horizontal arrangement also avoids interference between operations.

[0017] In summary, the beneficial effects of the present invention are as follows:

[0018] This invention, by fixing two sets of eyebrow modules and two sets of eye module modules to a mounting frame, allows for precise installation and positioning of the eyebrow and eye module installation positions, making assembly more convenient and faster, increasing space utilization, and reducing maintenance costs. The third motion device controls the eyeballs' up, down, left, and right rotation. The first and second motion devices work together to drive the upper and lower eyelids to move up and down, achieving the opening and closing of the eyes. This results in smoother eye movement and more natural and realistic eye movements. The eyebrow module enables facial movements such as frowning and raising eyebrows, while the mouth module enables facial movements such as pouting, opening, and closing the mouth, enriching emotional expression, reducing facial stiffness, and significantly improving the user experience. Attached Figure Description

[0019] Figure 1 This is a schematic diagram of the facial structure of an embodiment of the humanoid robot facial bionic driving structure with high degree of freedom of expression control according to the present invention.

[0020] Figure 2 This is a front view of an embodiment of the humanoid robot facial bionic driving structure with high degree of freedom expression control according to the present invention.

[0021] Figure 3This is a schematic diagram of an embodiment of the humanoid robot facial bionic driving structure with high degree of freedom expression control according to the present invention.

[0022] Figure 4 This is a schematic diagram of another perspective of an embodiment of the humanoid robot facial bionic driving structure with high degree of freedom expression control according to the present invention.

[0023] Figure 5 This is a schematic diagram of the installation structure of an embodiment of the eye module of the humanoid robot's facial bionic driving structure with high degree of freedom of expression control according to the present invention.

[0024] Figure 6 This is a schematic diagram of an embodiment of the eye module of the humanoid robot's facial bionic driving structure with high degree of freedom of expression control according to the present invention.

[0025] Figure 7 This is a schematic diagram of an embodiment of the eyebrow module of the humanoid robot facial bionic driving structure with high degree of freedom of expression control according to the present invention.

[0026] Explanation of the reference numerals in the figure:

[0027] 1. A humanoid robot facial bionic drive structure with high degree of freedom in facial expression control; 2. Fixing frame; 21. First fixing slot; 22. Second fixing slot; 23. Third fixing slot; 24. Mounting plate; 3. Eyebrow module; 31. Eyebrow bone; 32. Eyebrow bone drive device; 321. Fifth servo motor; 322. Third swing arm; 323. Third link; 324. First swing arm; 33. Eyebrow drive device; 331. Sixth servo motor; 332. Mounting base; 333. Fourth swing arm; 334. Fourth link; 335. Second swing arm; 4. Eye module; 41. Upper eyelid; 42. Lower eyelid; 43. Eyeball; 44. First motion device; 441. First servo motor; 442. 443. First swing arm; 444. First connecting block; 45. Second motion device; 451. Second servo; 452. Second swing arm; 453. Second connecting block; 454. Second connecting block; 46. Third motion device; 461. Horizontal adjustment mechanism; 4611. Third servo; 4612. First support rod; 4613. Second support rod; 4614. Third support rod; 462. Vertical adjustment mechanism; 4621. Fourth servo; 4622. Fourth support rod; 4623. Fifth support rod; 4624. Sixth support rod; 47. Support base; 5. Mouth module; 6. Outer shell; 61. Forehead; 62. Side profile; 63. Cheek; 64. Nose; 65. Chin. Detailed Implementation

[0028] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention are within the scope of protection of the present invention.

[0029] Those skilled in the art should understand that, in the disclosure of this invention, the terms "longitudinal," "lateral," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention 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. Therefore, the above terms should not be construed as limiting this invention.

[0030] In the description of this invention, the use of terms such as "a number" means one or more, with "more than" meaning two or more. Terms like "greater than," "less than," and "exceeding" are understood to exclude the stated number, while terms like "above," "below," and "within" are understood to include the stated number. The use of terms like "first," "second," and "third" is merely for distinguishing technical features and should not be construed as indicating or implying relative importance, the number of indicated technical features, or the sequential relationship between indicated technical features.

[0031] The following is in conjunction with the appendix Figure 1-7 The embodiments of the present invention will be described in further detail below.

[0032] A humanoid robot facial bionic drive structure 1 with high degree of freedom in facial expression control, such as Figure 1 , Figure 2 , Figure 3 Figure 4As shown, it includes a fixing frame 2, an eyebrow module 3, an eye module 4, and a mouth module 5. The eyebrow module 3 and eye module 4 are both mounted on the fixing frame 2, and the mouth module 5 is located below the fixing frame 2. Two sets of both the eyebrow module 3 and eye module 4 are provided, and they are symmetrically arranged along the central axis of the face. The eye module 4 includes an upper eyelid 41, a lower eyelid 42, an eyeball 43, a first motion device 44 for controlling the movement of the upper eyelid 41, a second motion device 45 for controlling the movement of the lower eyelid 42, and a third motion device 46 for controlling the rotation of the eyeball 43. The first motion device 44, the second motion device 45, and the third motion device 46 are vertically and horizontally offset. The eyeball 43 is fixedly connected to the third motion device 46, and the lower eyelid 42 is rotatably connected to a support base 47 at one corner of the upper eyelid 41. The support base 47 is fixed to the fixing frame 2. The corner of the lower eyelid 42 on the other side rotates and connects with the corner of the upper eyelid 41 on the other side.

[0033] The system secures two sets of eyebrow modules 3 and two sets of eye modules 4 to the mounting bracket 2, allowing for precise installation and positioning of these modules. This makes assembly more convenient and faster, increases space utilization, and reduces maintenance costs. The third motion device 46 controls the eyeballs 43 to move up, down, left, and right. The first motion device 44, in conjunction with the second motion device 45, drives the upper eyelids 41 and 42 to move up and down, enabling the opening and closing of the eyes. This results in smoother eye movement and more natural, realistic eye movements. The eyebrow module 3 enables facial movements such as frowning and raising eyebrows, while the mouth module 5 enables facial movements such as pouting, opening, and closing the mouth, providing richer emotional expression, reducing facial stiffness, and significantly improving the user experience.

[0034] In some embodiments, please refer to Figure 4 , Figure 5 , Figure 6 The first motion device 44 includes a first servo motor 441, a first swing arm 442, a first connecting rod 443, and a first connecting block 444. The output shaft of the first servo motor 441 is fixedly connected to one end of the first swing arm 442, the other end of the first swing arm 442 is hingedly connected to one end of the first connecting rod 443, the other end of the first connecting rod 443 is hingedly connected to one end of the first connecting block 444, and the other end of the first connecting block 444 is fixedly connected to the corner of the eye on one side of the upper eyelid 41. The device provides stable transmission, is easy to assemble, and can drive the upper eyelid 41 to rotate up and down.

[0035] Preferably, the first swing arm 442 and the first connecting block 444 are vertically arranged, and the first connecting rod 443 is horizontally arranged, which facilitates the provision of installation space for the structure below, resulting in a more compact structure. Specifically, it can provide installation space for the fourth servo motor 4621 below.

[0036] In some embodiments, please refer to Figure 4 , Figure 5 , Figure 6 The second motion device 45 includes a second servo motor 451, a second swing arm 452, a second connecting rod 453, and a second connecting block 454. The output shaft of the second servo motor 451 is fixedly connected to one end of the second swing arm 452, and the other end of the second swing arm 452 is hinged to one end of the second connecting rod 453. One end of the second connecting rod 453 is hinged to one end of the second connecting block 454, and the other end of the second connecting block 454 is fixed to the corner of the eye on the other side of the lower eyelid 42. The second swing arm 452 and the second connecting block 454 are vertically arranged, and the height of one end of the second connecting rod 453 is higher than the height of the other end of the second connecting rod 453. The structure is compact, the drive is stable, and it can drive the lower eyelid 42 to rotate up and down.

[0037] Specifically, the second servo motor 451 is placed below the first servo motor 441, and a first motion device 44 is provided between the first connecting rod 443 and the second connecting rod 453, resulting in a more compact structure. The first connecting block 444 is located between the lower eyelid 42 and the support base 47, and the second connecting block 454 is located between the upper eyelid 41 and the support base 47. One end of the support base 47 is fixed to the mounting plate 24 of the fixing frame 2. The support base 47 is configured with a Z-shaped structure, and the other end of the support base 47 is vertically inclined towards one side of the eyeball 43. A rotating part is provided at the upper end of the support base 47, and the first connecting block 444 and the second connecting block 454 are rotatably connected to the corresponding rotating parts.

[0038] In this mechanism, the first servo motor 441 rotates clockwise, causing the upper eyelid 41 to rotate upwards along the axis of the rotating parts of the two support seats 47 via the first swing arm 442, the first connecting rod 443, and the first connecting block 444. Conversely, the second servo motor 451 rotates clockwise, causing the lower eyelid 42 to rotate downwards along the axis of the rotating parts of the two support seats 47 via the second swing arm 452, the second connecting rod 453, and the second connecting block 454. The two mechanisms work together to open the eyes. Conversely, the first servo motor 441 drives the upper eyelid 41, and the second servo motor 451 drives the lower eyelid 42 to move in opposite directions to close the eyes.

[0039] In some embodiments, please refer to Figure 5 , Figure 6The third motion device 46 is disposed between the first motion device 44 and the second motion device 45. The third motion device 46 includes a horizontal adjustment mechanism 461 for controlling the horizontal rotation of the eyeball 43 and a vertical adjustment mechanism 462 for controlling the vertical rotation of the eyeball 43. The horizontal adjustment mechanism 461 includes a third servo motor 4611 and a U-shaped first connecting frame, which has a simple structure, occupies little space, and is lighter. The output shaft of the third servo motor 4611 is fixedly connected to the middle of the first connecting frame. One end of the first connecting frame is hinged to a horizontal side of the back of the eyeball 43, and the other end of the first connecting frame is hinged to the other horizontal side of the back of the eyeball 43, facilitating the left and right rotation of the eyeball 43.

[0040] Preferably, the first connecting frame includes a first support rod 4612, a second support rod 4613, and a third support rod 4614. The output shaft of the third servo motor 4611 is fixedly connected to the middle of the second support rod 4613, with the output shaft of the third servo motor 4611 facing upwards to drive the second support rod 4613 to rotate horizontally about the output shaft of the third servo motor 4611. One end of the first support rod 4612 is hinged to a horizontal side on the back of the eyeball 43, and the other end of the first support rod 4612 is fixedly connected to one end of the second support rod 4613. The other end of the second support rod 4613 is fixedly connected to one end of the third support rod 4614, and the other end of the third support rod 4614 is hinged to the other horizontal side on the back of the eyeball 43.

[0041] Specifically, the third servo motor 4611 rotates clockwise, driving the second support rod 4613 to rotate clockwise. Under the influence of the first support rod 4612 and the third support rod 4614, the eyeball 43 rotates towards the side of the third support rod 4614. Conversely, the third servo motor 4611 rotates counter-clockwise, driving the second support rod 4613 to rotate counter-clockwise. Under the influence of the first support rod 4612 and the third support rod 4614, the eyeball 43 rotates towards the side of the first support rod 4612.

[0042] Preferably, the vertical adjustment mechanism 462 includes a fourth servo motor 4621 and a second connecting frame arranged in a U-shape. The output shaft of the fourth servo motor 4621 is fixedly connected to the middle of the second connecting frame. One end of the second connecting frame is hinged to the lower end of the back side of the eyeball 43, and the other end of the second connecting frame is hinged to the upper end of the back side of the eyeball 43, which facilitates the up-and-down rotation of the eyeball 43, making installation convenient and transmission stable.

[0043] The second connecting frame is located within the U-shaped groove of the first connecting frame. One side of the first connecting frame has an upward-facing arch, and the fourth servo motor 4621 is located below the arch, resulting in a compact structure and higher space utilization.

[0044] Specifically, the end of the third support rod 4614 that connects to the second support rod 4613 is bent into a U-shape to form the arch, which facilitates the installation of the fourth servo motor 4621 and improves the compactness of the structural installation.

[0045] Preferably, the second connecting frame includes a fourth support rod 4622, a fifth support rod 4623, and a sixth support rod 4624. The output shaft of the fourth servo motor 4621 is fixedly connected to the middle of the fifth support rod 4623. The output shaft of the fourth servo motor 4621 is horizontally arranged, and the fifth support rod 4623 is vertically arranged. One end of the fourth support rod 4622 is hinged to the lower end of the back side of the eyeball 43, and the other end of the fourth support rod 4622 is fixedly connected to one end of the fifth support rod 4623. The other end of the fifth support rod 4623 is fixedly connected to one end of the sixth support rod 4624, and the other end of the sixth support rod 4624 is hinged to the upper end of the back side of the eyeball 43.

[0046] In this configuration, the fourth servo motor 4621 rotates clockwise, causing the fifth support rod 4623 to rotate vertically clockwise. The fourth support rod 4622 moves towards the eyeball 43, and the sixth support rod 4624 pulls the eyeball 43 towards the side of the fifth support rod 4623, thus causing the eyeball 43 to rotate upwards. Conversely, the fourth servo motor 4621 rotates counterclockwise, causing the fifth support rod 4623 to rotate vertically counterclockwise. The fourth support rod 4622 moves towards the side of the fifth support rod 4623, and the sixth support rod 4624 pulls the eyeball 43 towards the direction of the eyeball 43, thus causing the eyeball 43 to rotate downwards.

[0047] In some embodiments, please refer to Figure 3 , Figure 4 , Figure 7 The eyebrow module 3 includes an eyebrow bone 31, an eyebrow bone drive device 32, and an eyebrow head drive device 33. The eyebrow bone 31 is used to connect the eyebrow structure. The eyebrow bone drive device 32 includes a fifth servo motor 321, a third swing arm 322, a third connecting rod 323, and a first swing rod 324. The output shaft of the fifth servo motor 321 is fixedly connected to one end of the third swing arm 322, the other end of the third swing arm 322 is hinged to the third connecting rod 323, and the other end of the third connecting rod 323 is hinged to the middle of the first swing rod 324. One end of the first swing rod 324 is hinged to the fixed frame 2, and the other end of the first swing rod 324 is fixedly connected to the back side of the eyebrow bone 31 near the eyebrow head. With precise control, the fifth servo motor 321 can drive the eyebrow head to move up and down, thereby realizing actions such as frowning and raising eyebrows, resulting in rich expressions and more natural and vivid facial expressions.

[0048] In some embodiments, the eyebrow driving device 33 includes a sixth servo motor 331, a mounting base 332, a fourth swing arm 333, a fourth connecting rod 334, and a second swing rod 335. The sixth servo motor 331 is fixed to the mounting base 332, which is fixed to the mounting bracket 2. The output shaft of the sixth servo motor 331 is fixedly connected to one end of the fourth swing arm 333, and the other end of the fourth swing arm 333 is hinged to one end of the fourth connecting rod 334. The other end of the fourth connecting rod 334 is hinged to the second swing rod 335. One end of the second swing rod 335 is fixed to the mounting base 332, and the other end of the second swing rod 335 is connected to the eyebrow. The rotation of the sixth servo motor 331 can drive the eyebrow to move along a set trajectory through the fourth swing arm 333, the fourth connecting rod 334, and the second swing rod 335, thereby driving the eyebrow movement and allowing the robot's eyebrows to mimic human eyebrows in various forms such as raised, furrowed, and relaxed.

[0049] In some embodiments, the mounting bracket 2 includes, from bottom to top, a first mounting slot 21, a second mounting slot 22, and a third mounting slot 23. The first mounting slot 21 is used to install two sets of eye modules 4. Two second mounting slots 22 are provided in the middle of the mounting bracket 2, and the mounting base 332 is fixed in the corresponding second mounting slot 22. Two sets of third mounting slots 23 are arranged adjacent to each other, and a fifth servo motor 321 is fixedly installed in each third mounting slot 23. The overall structure is compact and has high space utilization. The staggered arrangement vertically and horizontally can also avoid interference between operations.

[0050] Specifically, the fixing frame 2 is configured with three layers, and the length of the fixing frame 2 decreases in a stepped manner from bottom to top. The first fixing groove 21, two second fixing grooves 22, and two third fixing grooves 23 are all symmetrically arranged along the central axis of the fixing frame 2.

[0051] This humanoid robot facial bionic drive structure 1, equipped with high-degree-of-freedom expression control, also includes a shell 6. The shell 6 has through slots corresponding to the eyes, eyebrows, and mouth, exposing the corresponding structures. Furthermore, the shell 6 generates structures for the forehead 61, side profile 62, cheeks 63, nose 64, and chin 65, resulting in a more vivid and aesthetically pleasing face, simplified manufacturing process, and cost savings. This humanoid robot facial bionic drive structure 1, through the modular arrangement and control of multi-degree-of-freedom drive units, achieves precise motion control of multiple functional areas of the robot's face (including eyebrows, eyes, mouth, and jaw), simulating the diversity and dynamic changes of human facial expressions, meeting the needs for natural and fluent emotional expression and human-computer interaction. This structure employs a bionic muscle group arrangement method, spatially arranging multiple degree-of-freedom drive units according to facial muscle anatomy, respectively controlling the stretching, lifting, compression, and rotation of key facial areas. The eyebrow, eye, and mouth devices are connected to the shell 6 via standardized interfaces. The eyebrow, eye, and mouth devices utilize a short-link design for their actuation, improving space utilization by 40%. Furthermore, each actuation mechanism can operate independently or coordinate according to a preset strategy to achieve combined facial expressions such as smiling, frowning, surprise, and sadness. In addition, the structure of this invention features excellent modularity and maintainability, adaptable to different shell materials and faux leather systems, resulting in a more realistic and lifelike appearance.

[0052] This invention achieves multi-region, multi-directional facial movement through multiple finely controlled degrees of freedom, including the raising and lowering of the brow bone 31, the raising and lowering of the brow, the rotation of the upper eyelid 41 and lower eyelid 42, and the rotation of the eyeball 43. This far surpasses the 3-8 degrees of freedom expression structure of traditional robots, greatly enhancing facial expression capabilities and realism. The drive structure layout is based on the division of human facial muscle regions, resulting in natural movement trajectories and smooth expression transitions, highly replicating real human emotional states. The drive structure partitions are replaceable, and the control system supports directional configuration, facilitating future functional expansion and software / hardware updates. This invention supports linkage with emotion recognition systems, voice systems, and other modules, possessing strong emotional interaction capabilities, and is suitable for high-interaction scenarios such as family care, psychological rehabilitation, educational guidance, and public services. Its compact structure facilitates assembly and provides a good foundation for material compatibility and cost control.

[0053] The embodiments described in this specific implementation are preferred embodiments of this application and are not intended to limit the scope of protection of this application. Identical components are represented by the same reference numerals. Therefore, all equivalent changes made to the structure, shape, and principle of this application should be covered within the scope of protection of this application.

Claims

1. A humanoid robot facial bionic driving structure with high degree of freedom in facial expression control, characterized in that, The device includes a fixing frame (2), an eyebrow module (3), an eye module (4), and a mouth module (5); the eyebrow module (3) and the eye module (4) are both mounted on the fixing frame (2), and the mouth module (5) is located below the fixing frame (2); the eyebrow module (3) and the eye module (4) are each provided in two sets, and are symmetrically arranged along the central axis of the face; the eye module (4) includes an upper eyelid (41), a lower eyelid (42), an eyeball (43), a first motion device (44) for controlling the movement of the upper eyelid (41), and a second motion device for controlling the movement of the lower eyelid (42). The device includes a first motion device (44), a second motion device (45), and a third motion device (46) for controlling the rotation of the eyeball (43); the first motion device (44), the second motion device (45), and the third motion device (46) are staggered vertically and horizontally; the eyeball (43) is fixedly connected to the third motion device (46); the lower eyelid (42) and the corner of the upper eyelid (41) are rotatably connected to the support base (47), and the support base (47) is fixed to the fixing frame (2); the corner of the lower eyelid (42) is rotatably connected to the corner of the upper eyelid (41).

2. The humanoid robot facial bionic driving structure with high degree of freedom expression control according to claim 1, characterized in that, The first motion device (44) includes a first servo motor (441), a first swing arm (442), a first connecting rod (443), and a first connecting block (444); the output shaft of the first servo motor (441) is fixedly connected to one end of the first swing arm (442), the other end of the first swing arm (442) is hingedly connected to one end of the first connecting rod (443), the other end of the first connecting rod (443) is hingedly connected to one end of the first connecting block (444), and the other end of the first connecting block (444) is fixedly connected to the corner of the eye on one side of the upper eyelid (41).

3. The humanoid robot facial bionic driving structure with high degree of freedom expression control according to claim 2, characterized in that, The first swing arm (442) and the first connecting block (444) are vertically arranged, and the first connecting rod (443) is horizontally arranged.

4. The humanoid robot facial bionic driving structure with high degree of freedom expression control according to claim 1, characterized in that, The second motion device (45) includes a second servo motor (451), a second swing arm (452), a second connecting rod (453), and a second connecting block (454); the output shaft of the second servo motor (451) is fixedly connected to one end of the second swing arm (452), the other end of the second swing arm (452) is hinged to one end of the second connecting rod (453), one end of the second connecting rod (453) is hinged to one end of the second connecting block (454), and the other end of the second connecting block (454) is fixed to the corner of the eye on the other side of the lower eyelid (42); the second swing arm (452) and the second connecting block (454) are arranged vertically, and the height of one end of the second connecting rod (453) is higher than the height of the other end of the second connecting rod (453).

5. The humanoid robot facial bionic driving structure with high degree of freedom expression control according to claim 1, characterized in that, The third motion device (46) is disposed between the first motion device (44) and the second motion device (45); the third motion device (46) includes a horizontal adjustment mechanism (461) for controlling the horizontal rotation of the eyeball (43) and a vertical adjustment mechanism (462) for controlling the vertical rotation of the eyeball (43); the horizontal adjustment mechanism (461) includes a third servo motor (4611) and a first connecting frame arranged in a U-shape; the output shaft of the third servo motor (4611) is fixedly connected to the middle of the first connecting frame; one end of the first connecting frame is hinged to a horizontal side of the back of the eyeball (43), and the other end of the first connecting frame is hinged to another horizontal side of the back of the eyeball (43).

6. The humanoid robot facial bionic driving structure with high degree of freedom expression control according to claim 5, characterized in that, The vertical adjustment mechanism (462) includes a fourth servo motor (4621) and a second connecting frame arranged in a U-shape; the output shaft of the fourth servo motor (4621) is fixedly connected to the middle of the second connecting frame; one end of the second connecting frame is hinged to the lower end of the back side of the eyeball (43), and the other end of the second connecting frame is hinged to the upper end of the back side of the eyeball (43).

7. The humanoid robot facial bionic driving structure with high degree of freedom expression control according to claim 6, characterized in that, The second connecting frame is disposed in the U-shaped groove of the first connecting frame; one side of the first connecting frame is provided with an upward arched part, and the fourth servo (4621) is disposed below the arched part.

8. The humanoid robot facial bionic driving structure with high degree of freedom expression control according to claim 1, characterized in that, The eyebrow module (3) includes an eyebrow bone (31), an eyebrow bone driving device (32), and an eyebrow head driving device (33); the eyebrow bone (31) is used to connect the eyebrow structure; the eyebrow bone driving device (32) includes a fifth servo (321), a third swing arm (322), a third connecting rod (323), and a first swing rod (324); the output shaft of the fifth servo (321) is fixedly connected to one end of the third swing arm (322), the other end of the third swing arm (322) is hinged to the third connecting rod (323), and the other end of the third connecting rod (323) is hinged to the middle of the first swing rod (324); one end of the first swing rod (324) is hinged to the fixed frame (2), and the other end of the first swing rod (324) is fixedly connected to the back side of the eyebrow bone (31) near the eyebrow head.

9. The humanoid robot facial bionic driving structure with high degree of freedom expression control according to claim 8, characterized in that, The eyebrow drive device (33) includes a sixth servo motor (331), a mounting base (332), a fourth swing arm (333), a fourth connecting rod (334), and a second swing rod (335); the sixth servo motor (331) is fixed on the mounting base (332), and the mounting base (332) is fixed on the fixing frame (2); the output shaft of the sixth servo motor (331) is fixedly connected to one end of the fourth swing arm (333), the other end of the fourth swing arm (333) is hinged to one end of the fourth connecting rod (334), and the other end of the fourth connecting rod (334) is hinged to the second swing rod (335); one end of the second swing rod (335) is fixed on the mounting base (332); the other end of the second swing rod (335) is connected to the eyebrow.

10. The humanoid robot facial bionic driving structure with high degree of freedom expression control according to claim 9, characterized in that, The mounting bracket (2) includes a first mounting slot (21), a second mounting slot (22), and a third mounting slot (23) arranged sequentially from bottom to top; the first mounting slot (21) is used to install two sets of the eye modules (4); the middle part of the mounting bracket (2) is provided with two second mounting slots (22), and the mounting base (332) is fixed in the corresponding second mounting slot (22); the third mounting slots (23) are arranged in two adjacent sets, and each third mounting slot (23) is fixedly installed with a fifth servo motor (321).

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