Simulated humanoid robot facial expression mechanism of multi-degree-of-freedom micro-driver

Abstract

The invention discloses a human-simulated robot facial expression mechanism of a multi-degree-of-freedom micro-driver, which comprises a bottom plate, a supporting disc is fixedly arranged at the top of the bottom plate, a bracket is fixedly arranged on the supporting disc, an adjusting assembly is arranged on the bracket, a supporting frame is fixedly arranged at the top of the bracket, a shell is connected to the supporting frame, and a driving device is arranged on the shell. The shell is covered with an electronic skin layer, a limiting block is fixedly arranged in the electronic skin layer, a limiting cylinder corresponding to the limiting block is fixedly arranged on the shell, the limiting block is arranged in the limiting cylinder in a penetrating mode, a frame is fixedly arranged in the supporting frame, and an air pressure mechanism is arranged in the frame. A controller is fixedly arranged on the bottom plate; according to the humanoid robot facial expression mechanism of the multi-degree-of-freedom micro-driver, the air pump can be controlled to work, auxiliary limiting of the electronic skin layer is achieved by means of the limiting block, and therefore the installation stability of the electronic skin layer is effectively improved.

Description

Technical Field

[0001] This invention relates to the field of robot facial expression mechanism technology, specifically to a multi-degree-of-freedom micro-actuator facial expression mechanism for a humanoid robot. Background Technology

[0002] The multi-degree-of-freedom micro-actuator-based humanoid robot facial expression mechanism is designed to accurately simulate human facial muscle movements, enabling natural, delicate, and interactive emotional expression. It is a key hardware system for enhancing the anthropomorphism and emotional interaction capabilities of robots. By simulating the complex movements of human facial muscles, it allows robots to express emotions, thereby achieving more natural and empathetic human-computer interaction. This is an important sign of the transformation of robots from tools to partners.

[0003] A Chinese patent with publication number CN110103234A discloses a humanoid facial expression robot, including a supporting base plate, a neck mechanism, a mouth mechanism, an eye mechanism, an eyelid mechanism, and an eyebrow mechanism. The bottom of the neck mechanism is fixed to the supporting base plate. The mouth mechanism includes an upper jaw support plate, an upper lip mechanism, a corner of the mouth mechanism, a lower lip mechanism, a chin mechanism, and lips. The upper lip mechanism, corner of the mouth mechanism, lower lip mechanism, and chin mechanism are located on the upper jaw support plate and are respectively connected to the upper lip driving point, corner of the mouth driving point, and lower lip driving point. The mouth mechanism is fixed to the top of the neck mechanism via the upper jaw support plate. The eye mechanism is located on the upper jaw support plate and is used to realize eyeball rotation. The eyelid mechanism is located on the eye mechanism and is used to realize blinking and eye closing actions. The eyebrow mechanism is located on the eye mechanism and is used to realize frowning and eyebrow raising actions. This invention can realize a variety of humanoid facial expressions.

[0004] However, existing humanoid robot facial expression mechanisms using multi-degree-of-freedom micro-actuators cannot provide convenient support for the installation of electronic bionic skin during use. Furthermore, the installed electronic skin layer also suffers from defects such as difficulty in disassembly and maintenance and poor structural flexibility, resulting in significant limitations in the overall performance of the mechanism.

[0005] Therefore, the present invention provides a facial expression mechanism for a humanoid robot with a multi-degree-of-freedom micro-actuator. Summary of the Invention

[0006] The purpose of this invention is to provide a facial expression mechanism for a humanoid robot with a multi-degree-of-freedom micro-actuator, so as to solve the problems mentioned in the background art.

[0007] A facial expression mechanism for a humanoid robot with a multi-degree-of-freedom micro-actuator includes a base plate, a support plate fixedly mounted on the top of the base plate, a bracket fixedly mounted on the support plate, an adjustment component mounted on the bracket, a support frame fixedly mounted on the top of the bracket, a housing connected to the support frame, an electronic skin layer covered on the housing, a limit block fixedly mounted inside the electronic skin layer, a limiting cylinder corresponding to the limit block fixedly mounted on the housing, with the limit block passing through the limiting cylinder, a frame fixedly mounted inside the support frame, a pneumatic mechanism mounted inside the frame, and a controller fixedly mounted on the base plate.

[0008] The base plate is provided with a rotating mechanism, the rotating mechanism is provided with a cleaning component for cleaning the electronic skin layer, and the base plate is provided with a power mechanism for driving the rotating mechanism.

[0009] Preferably, the adjustment assembly includes a first connecting frame, an electric push rod, a support shaft, a connecting plate, and a second connecting frame. The support shaft is symmetrically arranged on the bracket, and the connecting plate is symmetrically arranged on one side of the bracket, with the connecting plate rotatably connected to the support shaft. The first connecting frame is fixedly arranged on the bracket. The bottom end of the electric push rod is movably connected to the first connecting frame, and the second connecting frame is movably connected to the telescopic end of the electric push rod, with the second connecting frame fixedly connected to the connecting plate. A lip assembly is provided on the housing, and one end of the connecting plate is connected to the lip assembly.

[0010] Preferably, the adjustment assembly further includes a support ring, an eyeball assembly, a rotating rod, a protective shell, a first reducer, and a first motor. The support rings are symmetrically arranged on the support frame. The eyeball assembly is disposed inside the support ring. The rotating rod is rotatably disposed inside the support ring and is connected to the eyeball assembly. The protective shell, corresponding to the support ring, is fixedly disposed on the support frame and is located on one side of the support ring. The first reducer is fixed inside the protective shell, and its output end is fixedly connected to the end of the rotating rod. The first motor is fixed inside the protective shell, and its output end is fixedly connected to the input end of the first reducer.

[0011] Preferably, a second motor is fixedly installed inside the protective shell, a limiting cylinder is fixedly installed inside the protective shell, a support rod is inserted inside the limiting cylinder, and one end of the support rod is fixedly connected to the output end of the second motor. The shell and the electronic skin layer are provided with through holes corresponding to the support rod, and the support rod passes through the through holes. An eyebrow component is installed at one end of the support rod.

[0012] Preferably, the pneumatic mechanism includes an air pump, a connecting pipe, an air box, a connecting component, and a sealing component. The air pump is fixed inside the frame, the air box is fixed inside the frame, one end of the connecting pipe is connected to the air box, and the other end of the connecting pipe is connected to the air pump. The air box is provided with a connecting component for allowing gas to flow, and the air box is provided with a sealing component for adjusting the closed state of the air box.

[0013] Preferably, the connecting component includes a connecting pipe, a diversion groove, a connecting head, a second solenoid valve, and an air supply pipe. The end of the connecting pipe is connected to the top of the air box. The diversion grooves are symmetrically arranged on the frame and are connected to the connecting pipe. The bottom end of the limiting cylinder is connected to a first connector. The connecting heads are arranged in an array on the diversion grooves and are connected to the corresponding first connectors through pipes. The inner wall of the limiting cylinder is in contact with the limiting block. The second solenoid valve is fixed on the air box. One end of the air supply pipe is fixedly connected to the output end of the second solenoid valve.

[0014] The sealing assembly includes a ball valve, a power motor, and a first solenoid valve. The ball valve is rotatably disposed inside the air box, and the outer wall of the ball valve is in contact with the inner wall of the air box. The power motor is fixed on the air box, and the output end of the power motor is fixedly connected to the ball valve. The first solenoid valve is mounted on the frame.

[0015] Preferably, the rotating mechanism includes an annular groove, a rotating ring, a limiting groove, and a guide ring. The annular groove is disposed inside the support plate, the rotating ring is rotatably disposed inside the annular groove, the limiting groove is disposed inside the rotating ring, and the guide ring is rotatably disposed inside the limiting groove, with the inner ring of the guide ring fixedly connected to the inner wall of the annular groove.

[0016] Preferably, a second connector is fixedly connected inside the bracket, and the output end of the second connector is connected to a pipe, with one end of the pipe extending to one side of the guide ring. The input end of the second connector is connected to the output end of the air supply pipe.

[0017] Preferably, the cleaning assembly includes an L-shaped frame, a diverter pipe, and nozzles. The L-shaped frame is fixed to the side of the rotating ring, the diverter pipe is embedded inside the L-shaped frame and is connected to a circular pipe, the nozzle array is arranged on the diverter pipe, and a circular pipe is embedded inside the L-shaped frame, with one end of the circular pipe extending into the limiting groove.

[0018] Preferably, the power mechanism includes a transmission gear, a power box, a drive gear, a second reducer, and a third motor. The transmission gear is fixed on a rotating ring, the power box is fixed on a base plate, the drive gear is rotatably disposed inside the power box and meshes with the transmission gear, the second reducer is fixed inside the power box, and the center position of the second reducer is fixedly connected to the center position of the drive gear via a shaft, and the output end of the third motor is fixedly connected to the center position of the drive gear via a shaft.

[0019] Compared with the prior art, the beneficial effects of the present invention are:

[0020] 1. The multi-degree-of-freedom micro-actuator facial expression mechanism for a humanoid robot described in this invention improves the stability of the electronic skin layer installation. To enhance the installation stability of the electronic skin layer, an air pump can be controlled to extract air from the air box via a connecting pipe, and then the air inside the limiting cylinder can be extracted via a connecting component. The limiting block is used to achieve auxiliary limiting of the electronic skin layer, thereby effectively improving the installation stability of the electronic skin layer.

[0021] 2. The facial expression mechanism of a humanoid robot with a multi-degree-of-freedom micro-actuator described in this invention, when performing a disassembly operation on the electronic skin layer, the air pump works and delivers airflow into the air box. The air pressure is transmitted into the limiting cylinder through the connecting component, thereby driving the limiting block to move outward and push the electronic skin layer, so that a disassembly gap is formed between the assembled electronic skin layers, which facilitates the disassembly and replacement of the electronic skin layer by the staff and improves the work efficiency of disassembly and maintenance.

[0022] 3. The facial expression mechanism of a humanoid robot with a multi-degree-of-freedom micro-actuator described in this invention involves a compressed air pump delivering compressed air. The compressed air flows into the air chamber through a connecting pipe. After passing through a ball valve, the compressed air flows into the connecting pipe for delivery. When air pressure needs to flow into the air delivery pipe, the control motor drives the ball valve to move. After the ball valve moves, it seals the top of the air chamber. A second control valve opens, allowing the compressed air to flow into the air delivery pipe. The compressed air then flows into the second connector through the air delivery pipe, into the limiting groove through the pipe, into the circular pipe, and into the diverter pipe. Finally, the nozzle directs the compressed air to one side of the electronic skin layer, thus cleaning the electronic skin layer.

[0023] 4. The multi-degree-of-freedom micro-actuator facial expression mechanism for a humanoid robot described in this invention uses a third motor to drive a second reducer. Through the meshing of the drive gear and transmission gear, the rotating ring and L-shaped frame move synchronously, thereby driving the diverter pipe and nozzle to achieve 360° circular motion, completing the all-round cleaning of the electronic skin layer. This cleaning method uses airflow without physical contact, without friction or pressure, and will not damage the surface microstructure, conductive circuits, and flexible film layer. It can effectively blow away dust, lint, powder, and process residue particles, resulting in a thorough cleaning effect. It is a safe cleaning method suitable for precision flexible devices such as electronic skin. Attached Figure Description

[0024] Figure 1 This is a schematic diagram of the facial expression mechanism of the simulated humanoid robot using the multi-degree-of-freedom micro-actuator of the present invention;

[0025] Figure 2 This is a schematic diagram of the connection structure between the support frame and the bracket of the present invention;

[0026] Figure 3 This is a schematic diagram of the three-dimensional structure of the protective shell of the present invention;

[0027] Figure 4 This is a schematic diagram of the electronic skin layer and shell structure of the present invention;

[0028] Figure 5 For the present invention Figure 2 Enlarged schematic diagram of structure A in the middle;

[0029] Figure 6 This is a schematic diagram of the framework and diversion channel structure of the present invention;

[0030] Figure 7 This is a schematic diagram of the air box structure of the present invention;

[0031] Figure 8 This is a schematic diagram of the limiting cylinder and limiting block structure of the present invention;

[0032] Figure 9 This is a three-dimensional structural diagram of the rotating ring and L-shaped frame of the present invention;

[0033] Figure 10 This is a schematic diagram of the rotating ring structure of the present invention;

[0034] Figure 11 This is a schematic diagram of the power box structure of the present invention.

[0035] In the diagram: 1. Base plate; 2. Support plate; 3. Bracket; 4. Connecting frame 1; 5. Electric push rod; 6. Support shaft; 7. Connecting plate; 8. Connecting frame 2; 9. Support frame; 10. Support ring; 11. Eyeball assembly; 12. Rotating rod; 13. Protective shell; 14. Reducer 1; 15. Motor 1; 16. Motor 2; 17. Limiting cylinder; 18. Support rod; 19. Eyebrow assembly; 20. Shell; 21. Electronic skin layer; 22. Through hole; 23. Limiting block; 24. Limiting cylinder; 25. Lip assembly; 26. Frame; 27. Air pump 28. Connecting pipe; 29. ​​Air box; 30. Ball valve; 31. Connecting pipe; 32. Power motor; 33. Solenoid valve No. 1; 34. Diverter groove; 35. Connecting head; 36. Solenoid valve No. 2; 37. Air supply pipe; 38. Annular groove; 39. Rotating ring; 40. Transmission gear; 41. L-shaped frame; 42. Diverter pipe; 43. No. 1 nozzle; 44. Limiting groove; 45. Guide ring; 46. Connector No. 2; 47. Round pipe; 48. Power box; 49. Drive gear; 50. Reducer No. 2; 51. Motor No. 3; 52. Connector No. 1; 53. Controller. Detailed Implementation

[0036] 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. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0037] Please see Figure 1-11 The present invention provides a technical solution: a facial expression mechanism for a humanoid robot with a multi-degree-of-freedom micro-actuator, comprising a base plate 1, a support plate 2 fixedly mounted on the top of the base plate 1, a bracket 3 fixedly mounted on the support plate 2, an adjustment component mounted on the bracket 3, a support frame 9 fixedly mounted on the top of the bracket 3, a housing 20 connected to the support frame 9, an electronic skin layer 21 covered on the housing 20, a limit block 23 fixedly mounted inside the electronic skin layer 21, a limit cylinder 24 corresponding to the limit block 23 fixedly mounted on the housing 20, and the limit block 23 passing through the limit cylinder 24, a frame 26 fixedly mounted inside the support frame 9, a pneumatic mechanism mounted inside the frame 26, and a controller 53 fixedly mounted on the base plate 1;

[0038] A rotating mechanism is provided on the base plate 1, and a cleaning component for cleaning the electronic skin layer 21 is provided on the rotating mechanism. A power mechanism for driving the rotating mechanism is provided on the base plate 1.

[0039] The controller 53 is externally powered and electrically connected to the internal electronic equipment of the humanoid robot facial expression mechanism of the multi-degree-of-freedom micro-actuator. It can control the operation of the humanoid robot facial expression mechanism. When using the humanoid robot facial expression mechanism, after placing the base plate 1 in a predetermined position, the position of the base plate 1 is fixed by bolts. The support frame 9 is supported by the bracket 3, which in turn supports the housing 20. When the electronic skin covers the key areas of the robot's face, and the electronic skin layer 21 is placed on the housing 20, the limiting block 23 will insert into the corresponding limiting cylinder 24. After the electronic skin layer 21 is assembled on the housing 20, the pneumatic mechanism is controlled to move, which will extract the air inside the limiting cylinder 24. When the outer wall of the 23 block is in contact with the inner wall of the limiting cylinder 24, a negative pressure is generated inside the limiting cylinder 24, which causes the limiting block 23 to slide into the limiting cylinder 24. Since the other end of the limiting block 23 is fixedly connected to the electronic skin layer 21, it can limit the electronic skin layer 21 and improve the stability of the electronic skin layer 21 splicing. Conversely, when it is necessary to disassemble the electronic skin layer 21, the pneumatic mechanism is controlled to move and deliver air pressure into the limiting cylinder 24. The air pressure will push the limiting block 23 to move out of the limiting cylinder 24. After the limiting block 23 moves out of the limiting cylinder 24, defects and cracks can appear in the spliced ​​electronic skin layer 21. Then, the staff can easily disassemble and replace the spliced ​​electronic skin layer 21 through the defects and cracks, which improves work efficiency. Through the cooperation of the power mechanism, the rotation mechanism and the cleaning component, the electronic skin layer 21 can be cleaned.

[0040] Facial expression movements can be adjusted by regulating the movement of components. The electronic skin layer 21 takes into account multimodal perception and deformation driving and display capabilities such as touch, temperature, and strain, supporting natural, delicate, and low-latency expression generation and lip-voice synchronization. In collaboration with the expression control system, it prioritizes the presentation of micro-expressions and continuous expression sequences, reduces the uncanny valley effect, and enhances the sense of presence and affinity.

[0041] Furthermore, the adjustment assembly includes a first connecting frame 4, an electric push rod 5, a support shaft 6, a connecting plate 7, and a second connecting frame 8. The support shaft 6 is symmetrically arranged on the bracket 3, and the connecting plate 7 is symmetrically arranged on one side of the bracket 3. The connecting plate 7 is rotatably connected to the support shaft 6. The first connecting frame 4 is fixedly arranged on the bracket 3. The bottom end of the electric push rod 5 is movably connected to the first connecting frame 4. The second connecting frame 8 is movably connected to the telescopic end of the electric push rod 5. The second connecting frame 8 is fixedly connected to the connecting plate 7. A lip assembly 25 is provided on the housing 20, and one end of the connecting plate 7 is connected to the lip assembly 25.

[0042] The first connecting frame 4 provides installation space for the electric push rod 5. The controller 53 can control the extension and retraction of the electric push rod 5, which can pull the connecting plate 7 to move. With the cooperation of the support shaft 6, one end of the connecting plate 7 will be limited, allowing the connecting plate 7 to make arc-shaped movements. The slight movement of the connecting plate 7 can drive the lip assembly 25 to move, thereby enabling the multi-degree-of-freedom micro-actuator humanoid robot facial expression mechanism to simulate lip movements.

[0043] Furthermore, the adjustment assembly also includes a support ring 10, an eyeball assembly 11, a rotating rod 12, a protective shell 13, a first reducer 14, and a first motor 15. The support ring 10 is symmetrically arranged on the support frame 9. The eyeball assembly 11 is arranged inside the support ring 10. The rotating rod 12 is rotatably arranged inside the support ring 10 and is connected to the eyeball assembly 11. The protective shell 13, corresponding to the support ring 10, is fixedly arranged on the support frame 9 and is located on one side of the support ring 10. The first reducer 14 is fixed inside the protective shell 13 and its output end is fixedly connected to the end of the rotating rod 12. The first motor 15 is fixed inside the protective shell 13 and its output end is fixedly connected to the input end of the first reducer 14.

[0044] When motor 15 operates, it drives reducer 14 to move, which in turn drives rotating rod 12 to rotate in both directions. When rotating rod 12 rotates, it drives eyeball assembly 11 to move inside support ring 10. By driving eyeball assembly 11 to move, eyeball movement can be simulated.

[0045] Furthermore, a second motor 16 is fixedly installed inside the protective shell 13, and a limiting cylinder 17 is fixedly installed inside the protective shell 13. A support rod 18 is inserted inside the limiting cylinder 17, and one end of the support rod 18 is fixedly connected to the output end of the second motor 16. A through hole 22 corresponding to the support rod 18 is provided on the shell 20 and the electronic skin layer 21, and the support rod 18 passes through the through hole 22. An eyebrow component 19 is installed at one end of the support rod 18.

[0046] The second motor 16 can move in both directions. When the second motor 16 moves, it will drive the support rod 18 to rotate inside the limiting cylinder 17. When the support rod 18 rotates, it will drive the eyebrow component 19 to move. In this way, the facial expression mechanism of the humanoid robot with multi-degree-of-freedom micro-actuator can simulate further simulated expressions.

[0047] Furthermore, the pneumatic mechanism includes an air pump 27, a connecting pipe 28, an air box 29, a connecting component, and a sealing component. The air pump 27 is fixed inside the frame 26, the air box 29 is fixed inside the frame 26, one end of the connecting pipe 28 is connected to the air box 29, and the other end of the connecting pipe 28 is connected to the air pump 27. The air box 29 is provided with a connecting component for allowing gas to flow, and the air box 29 is provided with a sealing component for adjusting the closed state of the air box 29.

[0048] The air pump 27 can be controlled by the controller 53. When it is necessary to improve the stability of the electronic skin layer 21 installation, the air pump 27 is controlled to extract air from the air box 29 through the connecting pipe 28. Then, the air inside the limiting cylinder 24 is extracted through the connecting component. The limiting block 23 can then help limit the electronic skin layer 21. The top of the air box 29 can be sealed through the sealing component. Conversely, when it is necessary to remove the electronic skin layer 21, the air pump 27 operates to deliver gas flow into the air box 29. The air pressure enters the limiting cylinder 24 through the connecting component, which can then drive the limiting block 23 to move outward, driving the electronic skin layer 21 on one side to move, making it easier for personnel to remove the electronic skin layer 21.

[0049] Furthermore, the connecting components include a connecting pipe 31, a diversion groove 34, a connecting head 35, a second solenoid valve 36, and an air supply pipe 37. The end of the connecting pipe 31 is connected to the top of the air box 29. The diversion groove 34 is symmetrically arranged on the frame 26 and is connected to the connecting pipe 31. The bottom end of the limiting cylinder 24 is connected to a first connector 52. The connecting heads 35 are arrayed on the diversion groove 34 and are connected to the corresponding first connector 52 through pipes. The inner wall of the limiting cylinder 24 is in contact with the limiting block 23. The second solenoid valve 36 is fixed on the air box 29. One end of the air supply pipe 37 is fixedly connected to the output end of the second solenoid valve 36.

[0050] The sealing assembly includes a ball valve 30, a power motor 32, and a first solenoid valve 33. The ball valve 30 is rotatably disposed inside the air box 29, and the outer wall of the ball valve 30 is in contact with the inner wall of the air box 29. The power motor 32 is fixed on the air box 29, and the output end of the power motor 32 is fixedly connected to the ball valve 30. The first solenoid valve 33 is mounted on the frame 26.

[0051] The opening and closing of solenoid valve 33 is controlled to facilitate the flow of air into the frame 26. When the air pump 27 compresses and delivers air, the compressed air flows into the air box 29 through the connecting pipe 28. After passing through the ball valve 30, the compressed air flows into the connecting pipe 31 for delivery. When air pressure is needed to flow into the air delivery pipe 37, the power motor 32 is controlled to drive the ball valve 30 to move. After the ball valve 30 moves, it will seal the top of the air box 29. The second solenoid valve 36 is opened, and the compressed air will flow into the air delivery pipe 37. Through the air delivery pipe 37, the compressed air will flow into the second connector 46.

[0052] Furthermore, the rotating mechanism includes an annular groove 38, a rotating ring 39, a limiting groove 44, and a guide ring 45. The annular groove 38 is disposed inside the support plate 2, the rotating ring 39 is rotatably disposed inside the annular groove 38, the limiting groove 44 is disposed inside the rotating ring 39, and the guide ring 45 is rotatably disposed inside the limiting groove 44, and the inner ring of the guide ring 45 is fixedly connected to the inner wall of the annular groove 38.

[0053] The rotating ring 39 can rotate inside the annular groove 38. The guide ring 45 and the limiting groove 44 cooperate to limit and guide the rotating ring 39, so that the rotating ring 39 rotates smoothly. When the rotating ring 39 rotates, it will drive the L-shaped frame 41 to move. A sealing ring is provided on the guide ring 45, which is used to seal the gap between the guide ring 45 and the limiting groove 44.

[0054] Furthermore, a second connector 46 is fixedly connected inside the bracket 3, and a pipe is connected to the output end of the second connector 46, with one end of the pipe extending to one side of the guide ring 45. The input end of the second connector 46 is connected to the output end of the air supply pipe 37.

[0055] Compressed air will flow into connector 46 via air supply pipe 37, and gas will flow into limiting groove 44 via pipeline.

[0056] Furthermore, the cleaning assembly includes an L-shaped frame 41, a diversion pipe 42, and a nozzle 43. The L-shaped frame 41 is fixed to the side of the rotating ring 39. The diversion pipe 42 is embedded inside the L-shaped frame 41 and is connected to the round pipe 47. The nozzles 43 are arranged in an array on the diversion pipe 42. The round pipe 47 is embedded inside the L-shaped frame 41, and one end of the round pipe 47 extends into the limiting groove 44, while the other end of the round pipe 47 is connected to the diversion pipe 42.

[0057] After the gas flows into the limiting groove 44 through the pipe, the air flows into the round tube 47. The compressed air then flows into the diversion tube 42 through the round tube 47. The compressed air then flows to one side of the electronic skin layer 21 through the nozzle 43, thereby cleaning the electronic skin layer 21. The airflow is non-physical, without friction or pressure, and will not damage the surface microstructure, conductive circuits and flexible film. It can directly blow away dust, lint, powder and process residue particles, making the cleaning more thorough. It is the safest and most suitable cleaning method for precision flexible devices such as electronic skin.

[0058] Furthermore, the power mechanism includes a transmission gear 40, a power box 48, a drive gear 49, a second reducer 50, and a third motor 51. The transmission gear 40 is fixed on the rotating ring 39, the power box 48 is fixed on the base plate 1, the drive gear 49 is rotatably disposed inside the power box 48, and the drive gear 49 meshes with the transmission gear 40, the second reducer 50 is fixed inside the power box 48, and the center position of the second reducer 50 is fixedly connected to the center position of the drive gear 49 through a shaft, and the output end of the third motor 51 is fixedly connected to the center position of the drive gear 49 through a shaft.

[0059] The operation of motor 51 drives reducer 50 to move. Reducer 50 moves drive gear 49 to move. The movement of drive gear 49 and transmission gear 40 work together to drive rotating ring 39 to move. The movement of rotating ring 39 drives L-shaped frame 41 to move. The movement of L-shaped frame 41 drives diverter pipe 42 and nozzle 43 to move in a circular motion, which can perform 360-degree cleaning of electronic skin layer 21, improving the cleaning effect.

[0060] Working principle: First, the base plate 1 is fixed in position using bolts, and the support frame 9 is supported by the bracket 3, which in turn supports the housing 20. When the electronic skin layer 21 is placed on the housing 20, the limiting block 23 will insert into the corresponding limiting cylinder 24. After the electronic skin layer 21 is assembled on the housing 20, the controller 53 can control the air pump 27 to work. When it is necessary to improve the stability of the electronic skin layer 21 installation, the air pump 27 is controlled to extract air from the air box 29 through the connecting pipe 28, and then extract air from the limiting cylinder 24 through the connecting component. The limiting block 23 can then assist in the installation of the electronic skin layer 21. 1. Limiting the movement: The top of the air box 29 can be sealed by the sealing component. Conversely, when the electronic skin layer 21 needs to be disassembled, the air pump 27 operates to deliver gas into the air box 29. Through the connecting component, the air pressure enters the limiting cylinder 24, which in turn drives the limiting block 23 to move outward, driving the electronic skin layer 21 on one side to move. This can cause defects and cracks to appear in the spliced ​​electronic skin layer 21, allowing workers to easily disassemble and replace the spliced ​​electronic skin layer 21 through these defects and cracks, improving work efficiency. When the air pump 27 compresses air, the compressed air flows into the air box 29 through the connecting pipe 28. After passing through the ball valve 30, the compressed air flows into the connecting pipe 31 for delivery. When air pressure needs to flow into the air delivery pipe 37, the control motor 32 operates, driving the ball valve 30 to move. After the ball valve 30 moves, it seals the top of the air box 29. The second control solenoid valve 36 opens, and compressed air flows into the air delivery pipe 37. Through the air delivery pipe 37, the compressed air flows into the second connector 46. Through the pipe, the gas flows into the limiting groove 44. The air flows into the circular pipe 47. Through the circular pipe 47, the compressed air flows into the diverter pipe 42. Through the nozzle 43, the compressed air flows to one side of the electronic skin layer 21, thus cleaning the electronic skin layer 21. The third motor 51 operates, driving the second reducer 50 to move. The second reducer 50 moves... This will drive the drive gear 49 to move. The drive gear 49, in conjunction with the transmission gear 40, will drive the rotating ring 39 to move. The rotating ring 39, in turn, will drive the L-shaped frame 41 to move. The L-shaped frame 41, in turn, will drive the diverter pipe 42 and the nozzle 43 to move in a circular motion, enabling a 360-degree cleaning of the electronic skin layer 21. This improves the cleaning effect. The airflow is non-physical, without friction or pressure, and will not damage the surface microstructure, conductive circuits, or flexible film layer. It can directly blow away dust, lint, powder, and process residue particles, resulting in a more thorough cleaning. This is the safest and most suitable cleaning method for precision flexible devices like electronic skin. The operation of motor 15 will drive reducer 14 to move, which in turn will drive the rotating rod 12 to rotate in both directions.When the rotating rod 12 rotates, it drives the eyeball assembly 11 to move inside the support ring 10. By driving the eyeball assembly 11 to move, eyeball movement can be simulated. The second motor 16 can move in both directions. When the second motor 16 moves, it drives the support rod 18 to rotate inside the limiting cylinder 17. When the support rod 18 rotates, it drives the eyebrow assembly 19 to move. Thus, the multi-degree-of-freedom micro-actuator's humanoid robot facial expression mechanism can simulate further simulated expressions.

[0061] 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. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

Claims

1. A facial expression mechanism for a humanoid robot with a multi-degree-of-freedom micro-actuator, characterized in that: Includes a base plate (1), a support plate (2) fixedly mounted on the top of the base plate (1), a bracket (3) fixedly mounted on the support plate (2), an adjustment component mounted on the bracket (3), a support frame (9) fixedly mounted on the top of the bracket (3), a housing (20) connected to the support frame (9), an electronic skin layer (21) covering the housing (20), a limit block (23) fixedly mounted inside the electronic skin layer (21), a limit cylinder (24) corresponding to the limit block (23) fixedly mounted on the housing (20), and the limit block (23) passing through the limit cylinder (24), a frame (26) fixedly mounted inside the support frame (9), a pneumatic mechanism mounted inside the frame (26), and a controller (53) fixedly mounted on the base plate (1). A rotating mechanism is provided on the base plate (1), and a cleaning component for cleaning the electronic skin layer (21) is provided on the rotating mechanism. A power mechanism for driving the rotating mechanism is provided on the base plate (1).

2. The facial expression mechanism for a humanoid robot with a multi-degree-of-freedom micro-actuator according to claim 1, characterized in that: The adjustment assembly includes a first connecting frame (4), an electric push rod (5), a support shaft (6), a connecting plate (7), and a second connecting frame (8). The support shaft (6) is symmetrically arranged on the bracket (3). The connecting plate (7) is symmetrically arranged on one side of the bracket (3) and is rotatably connected to the support shaft (6). The first connecting frame (4) is fixedly arranged on the bracket (3). The bottom end of the electric push rod (5) is movably connected to the first connecting frame (4). The second connecting frame (8) is movably connected to the telescopic end of the electric push rod (5) and is fixedly connected to the connecting plate (7). A lip assembly (25) is provided on the housing (20), and one end of the connecting plate (7) is connected to the lip assembly (25).

3. The facial expression mechanism for a humanoid robot with a multi-degree-of-freedom micro-actuator according to claim 2, characterized in that: The adjustment assembly also includes a support ring (10), an eyeball assembly (11), a rotating rod (12), a protective shell (13), a first reducer (14), and a first motor (15). The support ring (10) is symmetrically arranged on the support frame (9). The eyeball assembly (11) is arranged inside the support ring (10). The rotating rod (12) is rotatably arranged inside the support ring (10) and is connected to the eyeball assembly (11). The protective shell (13) corresponding to the support ring (10) is fixedly arranged on the support frame (9) and is located on one side of the support ring (10). The first reducer (14) is fixed inside the protective shell (13) and its output end is fixedly connected to the end of the rotating rod (12). The first motor (15) is fixed inside the protective shell (13) and its output end is fixedly connected to the input end of the first reducer (14).

4. The facial expression mechanism for a humanoid robot with a multi-degree-of-freedom micro-actuator according to claim 3, characterized in that: The protective shell (13) is fixedly equipped with a second motor (16), and a limiting cylinder (17) is fixedly equipped inside the protective shell (13). A support rod (18) is inserted inside the limiting cylinder (17), and one end of the support rod (18) is fixedly connected to the output end of the second motor (16). The shell (20) and the electronic skin layer (21) are provided with through holes (22) corresponding to the support rod (18), and the support rod (18) passes through the through holes (22). An eyebrow component (19) is installed at one end of the support rod (18).

5. The facial expression mechanism for a humanoid robot with a multi-degree-of-freedom micro-actuator according to claim 1, characterized in that: The pneumatic mechanism includes an air pump (27), a connecting pipe (28), an air box (29), a connecting component, and a sealing component. The air pump (27) is fixed inside the frame (26), the air box (29) is fixed inside the frame (26), and one end of the connecting pipe (28) is connected to the air box (29), and the other end of the connecting pipe (28) is connected to the air pump (27). The air box (29) is provided with a connecting component for allowing gas to flow, and the air box (29) is provided with a sealing component for adjusting the closed state of the air box (29).

6. The facial expression mechanism for a humanoid robot with a multi-degree-of-freedom micro-actuator according to claim 5, characterized in that: The connecting component includes a connecting pipe (31), a diversion groove (34), a connecting head (35), a second solenoid valve (36), and an air supply pipe (37). The end of the connecting pipe (31) is connected to the top of the air box (29). The diversion groove (34) is symmetrically arranged on the frame (26) and is connected to the connecting pipe (31). The bottom end of the limiting cylinder (24) is connected to a first connector (52). The connecting heads (35) are arranged in an array on the diversion groove (34) and are connected to the corresponding first connector (52) through a pipe. The inner wall of the limiting cylinder (24) is in contact with the limiting block (23). The second solenoid valve (36) is fixed on the air box (29). One end of the air supply pipe (37) is fixedly connected to the output end of the second solenoid valve (36). The sealing assembly includes a ball valve (30), a power motor (32), and a first solenoid valve (33). The ball valve (30) is rotatably disposed inside the air box (29), and the outer wall of the ball valve (30) is in contact with the inner wall of the air box (29). The power motor (32) is fixed on the air box (29), and the output end of the power motor (32) is fixedly connected to the ball valve (30). The first solenoid valve (33) is mounted on the frame (33).

7. The facial expression mechanism for a humanoid robot with a multi-degree-of-freedom micro-actuator according to claim 6, characterized in that: The rotating mechanism includes an annular groove (38), a rotating ring (39), a limiting groove (44), and a guide ring (45). The annular groove (38) is disposed inside the support plate (2). The rotating ring (39) is rotatably disposed inside the annular groove (38). The limiting groove (44) is disposed inside the rotating ring (39). The guide ring (45) is rotatably disposed inside the limiting groove (44), and the inner ring of the guide ring (45) is fixedly connected to the inner wall of the annular groove (38).

8. The facial expression mechanism for a humanoid robot with a multi-degree-of-freedom micro-actuator according to claim 7, characterized in that: The bracket (3) is fixedly connected to a second connector (46), and the output end of the second connector (46) is connected to a pipe, and one end of the pipe extends to the side of the guide ring (45). The input end of the second connector (46) is connected to the output end of the air supply pipe (37).

9. The facial expression mechanism for a humanoid robot with a multi-degree-of-freedom micro-actuator according to claim 1, characterized in that: The cleaning assembly includes an L-shaped frame (41), a diversion pipe (42), and a nozzle (43). The L-shaped frame (41) is fixed to the side of the rotating ring (39). The diversion pipe (42) is embedded inside the L-shaped frame (41) and is connected to a round pipe (47). The nozzles (43) are arranged in an array on the diversion pipe (42). The round pipe (47) is embedded inside the L-shaped frame (41), and one end of the round pipe (47) extends into the limiting groove (44).

10. The facial expression mechanism for a humanoid robot with a multi-degree-of-freedom micro-actuator according to claim 9, characterized in that: The power mechanism includes a transmission gear (40), a power box (48), a drive gear (49), a second reducer (50), and a third motor (51). The transmission gear (40) is fixed on a rotating ring (39). The power box (48) is fixed on a base plate (1). The drive gear (49) is rotatably disposed inside the power box (48) and meshes with the transmission gear (40). The second reducer (50) is fixed inside the power box (48), and the center position of the second reducer (50) is fixedly connected to the center position of the drive gear (49) via a shaft. The output end of the third motor (51) is fixedly connected to the center position of the drive gear (49) via a shaft.

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