Facial skin structure, processing method and bionic robot

Abstract

This invention relates to the field of bionic robot technology, specifically disclosing a facial skin structure, its processing method, and a bionic robot. The facial skin structure includes a facial skin body and several inlay components. The facial skin body has several expression areas; each expression area of ​​the facial skin body is correspondingly provided with at least one inlay component; each inlay component includes an insert and a fabric piece, which are integrally formed with the facial skin body, with the fabric piece located between the insert and the facial skin body. A connecting portion is provided at the end away from the fabric piece for detachable connection to the head support of the bionic robot; at least some of the inserts are contouring inserts, each with a contouring surface that resembles the outer surface of a bone in the human face structure that matches the position of the contouring insert. The contouring surface of the contouring insert in this facial skin structure resembles the outer surface of a bone in the human face structure that matches the position of the contouring insert, thus giving the facial skin structure a more realistic skeletal feel and improving its usability.

Description

Technical Field

[0001] This invention relates to the field of bionic robot technology, and in particular to facial skin structure, processing methods, and bionic robots. Background Technology

[0002] Bionic robots are automated machines that perform tasks. They can be controlled by humans, run pre-programmed routines, or act according to principles established using artificial intelligence. Bionic robots can mimic human forms, assist or replace humans in their work, and provide many convenient services such as shopping guides, tour guides, and information providers. They can also perform dangerous or difficult tasks, showing great promise for future development. While bionic robots can have body shapes and appearances identical to real humans, their realism and expressive abilities directly impact the human-computer interaction experience. To achieve highly realistic facial expressions, the facial skin structure of a bionic robot needs excellent flexibility, fit, and motion reproduction capabilities. Current bionic robot facial skin structures typically consist of a main body and multiple inserts to move it. The main body is usually made of silicone and is glued to the robot's head support, making it difficult to disassemble and increasing maintenance costs and complexity. Furthermore, multiple inserts are usually scattered in various positions on the face body. When the face structure makes expressions, the inserts will lift the face body in a point-like manner. This will lead to poor coordination between multiple inserts when the inserts in different positions drive the face body to move, resulting in problems such as poor expression reproduction of the face body.

[0003] Therefore, a facial skin structure, processing method, and bionic robot are needed to solve the above problems. Summary of the Invention

[0004] The purpose of this invention is to provide a facial skin structure, a processing method, and a bionic robot to solve the problems of difficult disassembly and poor fidelity of facial skin structures in related technologies.

[0005] On one hand, the present invention provides a facial skin structure, the facial skin structure comprising: A face skin body, wherein the face skin body has several expression areas; A plurality of inlay components are provided, with at least one inlay component corresponding to each expression area of ​​the face body; each inlay component includes an insert and a fabric piece, the insert, the fabric piece and the face body are integrally formed, and the fabric piece is located between the insert and the face body, and the end of the insert away from the fabric piece is provided with a connecting part for detachably connecting to the head support of the bionic robot; at least some of the plurality of inserts are contouring inserts, the contouring inserts have contouring surfaces, the contouring surfaces are similar to the outer surface of the bones in the face structure that match the position of the contouring insert.

[0006] As an optional technical solution, the fabric piece corresponding to the contouring insert is a contouring fabric piece, the area of ​​the contouring fabric piece is larger than the area of ​​the contouring surface, and the projection of the contouring surface along the moving direction of the insert is entirely within the range of the projection of the contouring fabric piece along the moving direction of the insert.

[0007] As an optional technical solution, the insert assembly also includes a suture thread that sutures the fabric piece to the insert.

[0008] As an optional technical solution, the insert is made of a flexible material, the connecting part is a slot, and the slot and the contoured surface are arranged opposite to each other.

[0009] As an optional technical solution, the insert, the fabric piece, and the face skin body are integrally formed to create an anchoring structure. As an optional technical solution, the hardness of the insert is greater than the hardness of the face skin body, and the hardness ratio of the insert to the face skin body ranges from 2:1 to 10:1.

[0010] As an optional technical solution, the thickness of the face skin body is in the range of 3mm-mm, and the embedding depth of the insert is 1 / 3 to 2 / 3 of the thickness of the face skin body.

[0011] The facial skin structure provided by this invention has at least the following beneficial effects: The facial skin structure provided by this invention includes a facial skin body and several inlay components. The facial skin body has several expression areas; each expression area of ​​the facial skin body is provided with at least one inlay component; each inlay component includes an insert and a fabric piece, the insert, fabric piece, and facial skin body are integrally formed, and the fabric piece is located between the insert and the facial skin body, with a connecting part provided at the end away from the fabric piece for detachable connection to the head support of a bionic robot; at least some of the inserts are contouring inserts, which have contouring surfaces that resemble the outer surface of the bones in the human face structure that match the position of the contouring insert. This facial skin structure, by setting the inlay components to include inserts and fabric pieces integrally formed with the facial skin body, and with the fabric piece located between the facial skin body and the inserts, increases the contact area and mechanical interlocking force between the insert and the facial skin body, preventing the insert from delaminating after long-term movement. Furthermore, the fabric sheet disperses the concentrated stress at the edge of the inserts over a larger area, reducing the risk of cracking in the face skin and extending the lifespan of the face skin structure. The presence of a connecting part at the end of the inserts away from the fabric sheet allows for detachable connection to the head support of the bionic robot, making the face skin structure detachable and improving maintenance efficiency. At least some of the inserts are contouring inserts, with their contoured surfaces resembling the outer surfaces of bones in the human face structure that match the inserts' positions. This gives the face skin structure a more realistic skeletal feel, preventing localized collapse or unevenness caused by scattered small inserts. When the inserts move to form expressions, the facial expressions more closely resemble those of a real human face, thus improving the performance of the face skin structure.

[0012] On the other hand, the present invention provides a processing method for processing the above-mentioned facial skin structure, the processing method comprising the following steps: S10. Prepare a plurality of inserts and attach a piece of fabric to each insert to form a plurality of insert assemblies; S20. The plurality of inlay components are sequentially placed at a plurality of preset positions of the mold, and the plurality of preset positions are set one-to-one with the plurality of bones of the face structure according to the actual layout. S30. Inject silicone into the mold and cure the silicone under set conditions to form the facial skin structure.

[0013] The processing method provided by this invention has at least the following beneficial effects: The processing method provided by this invention can conveniently form the above-mentioned facial skin structure, with high efficiency and good forming effect.

[0014] On the other hand, the present invention provides a bionic robot including the aforementioned facial skin structure.

[0015] The bionic robot provided by this invention has at least the following beneficial effects: The bionic robot provided by this invention, by having the aforementioned facial skin structure, can improve the ease of maintenance of the bionic robot and enhance the quality of its facial expressions, making the expressions of the bionic robot closer to those of a real human face, thereby improving the performance of the bionic robot. Attached Figure Description

[0016] Figure 1 This is a schematic diagram of the facial skin structure in an embodiment of the present invention; Figure 2 This is a flowchart of the processing method in an embodiment of the present invention.

[0017] In the picture: 10. The face itself; 21. Left eyebrow contour insert; 22. Left upper eyelid insert; 23. Left ear insert; 24. Nose-lower eyelid contour insert; 25. Upper left mouth insert; 26. Left corner of mouth insert; 27. Lower left mouth insert; 28. Lower middle lip insert; 29. ​​Upper face skin positioning insert; 210. Right eyebrow contour insert; 211. Right upper eyelid insert; 212. Right ear insert; 213. Upper middle lip insert; 214. Upper right mouth insert; 215. Right corner of mouth insert; 216. Lower right mouth insert; 217. Mushroom head screw; 218. Chin contour insert. Detailed Implementation

[0018] The technical solution of the present invention will now be clearly and completely described with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of the present invention. 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.

[0019] In the description of this invention, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing the invention and for 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, they should not be construed as limitations on the invention. Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance. The terms "first position" and "second position" refer to two different positions. Furthermore, "above," "on top of," and "over" the first feature in relation to the second feature includes the first feature directly above and diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Below," "under," and "below" the first feature in relation to the second feature includes the first feature directly below and diagonally below the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature.

[0020] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" 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; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0021] Embodiments of the present invention are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and should not be construed as limiting the present invention.

[0022] like Figure 1 As shown, this embodiment provides a face skin structure for a bionic face structure. The face skin structure includes a face skin body 10 and several inlay components. The face skin body 10 has several expression areas. Each expression area of ​​the face skin body 10 is provided with at least one inlay component. Each inlay component includes an insert and a fabric piece. The insert, fabric piece, and face skin body 10 are integrally formed, and the fabric piece is located between the insert and the face skin body 10. A connecting part is provided at the end away from the fabric piece for detachable connection to the head support of a bionic robot. At least some of the inserts are contour inserts. The contour inserts have contour surfaces that are similar to the outer surface of the bones in the face structure that match the position of the contour inserts.

[0023] Specifically, in this embodiment, the face skin structure includes an insert integrally formed with the face skin body 10 and a fabric piece, with the fabric piece located between the face skin body 10 and the insert. The fabric piece increases the contact area and mechanical interlocking force between the insert and the face skin body 10, preventing the insert from detaching after long-term use. Furthermore, the fabric piece disperses the concentrated stress at the edge of the insert over a larger area, reducing the risk of cracking in the face skin body 10 and thus extending the service life of the face skin structure. Furthermore, by providing a connecting part at the end of the insert that is away from the fabric piece, it is used to connect to the head support of the bionic robot, thereby making the facial skin structure a detachable structure, which can improve maintenance efficiency. Moreover, at least some of the inserts are contour inserts, and the contour surface of the contour insert is similar to the outer surface of the bone in the human face structure that matches the position of the contour insert. This can form a continuous rigid support surface inside the facial skin body 10, thereby making the facial skin structure have a more realistic bone feel, avoiding local collapse or unevenness of the facial skin caused by the use of scattered small inserts, and making the facial expressions more closely resemble the expressions of the actual human face when the inserts move, thereby improving the performance of the facial skin structure.

[0024] Optionally, in this embodiment, a drive mechanism is provided on the head support. The inlay component that needs to move when forming a facial expression is connected to the drive mechanism, and the inlay component that does not need to move when forming a facial expression is directly connected to the connector of the head support. No specific restrictions are imposed here.

[0025] Optionally, in this embodiment, the contouring inserts include a left eyebrow contouring insert 21, a nose-lower eyelid contouring insert 24, a right eyebrow contouring insert 210, and a chin contouring insert 218. The left eyebrow contouring insert 21 and the right eyebrow contouring insert 210 are respectively provided with a left eyebrow contouring surface and a right eyebrow contouring surface that match the frontal bone of the human face structure; the nose-lower eyelid contouring insert 24 is provided with a nose-lower eyelid contouring surface that matches the nasal bone, infraorbital margin, and nasal cartilage of the human face structure; the chin contouring insert 218 is provided with a chin contouring surface that matches the mandible of the human face structure. This configuration allows the static facial skin structure to approximate the actual facial structure, enhancing the realism of the facial skin structure.

[0026] In this embodiment, as Figure 1 As shown, the face structure also includes an upper eyelid left insert 22, an ear left insert 23, a mouth upper left insert 25, a left corner of the mouth insert 26, a mouth lower left insert 27, a lip lower middle insert 28, an upper face positioning insert 29, an upper eyelid right insert 211, an ear right insert 212, a lip upper middle insert 213, a mouth upper right insert 214, a mouth corner right insert 215, and a mouth lower right insert 216, which are used to support the face body and form related target expressions.

[0027] Optionally, in other embodiments, the contouring insert further includes an upper contouring insert and a lower contouring insert for the mouth. The upper contouring insert and / or the lower contouring insert for the mouth are U-shaped or arc-shaped, and are provided with mouth contouring surfaces that match the maxilla or mandible of the human face structure. No specific limitations are imposed here, and the position and number of contouring inserts can be specifically set according to the actual use scenario. No specific limitations are imposed here.

[0028] Optionally, in this embodiment, the spacing between two adjacent inlay components is 5mm-20mm, and the spacing between two adjacent inlay components varies in different expression regions. Within the same expression region, the spacing between two adjacent inlay components can be the same or different. The principle is to increase the distribution density of inlay components in areas with large facial movement amplitudes to create more refined expressions; no specific limitations are imposed here. Furthermore, the 5-20mm spacing allows the deformation fields generated between adjacent inlay components to overlap, forming a continuous curved surface and avoiding a rigid "dot matrix" feel, thereby improving the quality of the resulting expression. Further, optionally, increasing the density of inlay components in areas with large facial movement amplitudes (such as around the mouth and eyes) can present richer facial details; while reducing the density of inlay components in areas with small amplitudes (such as the forehead and cheeks) can save costs and improve the economic efficiency of the facial skin structure.

[0029] Furthermore, the fabric piece corresponding to the contour insert is a contour fabric piece, the area of ​​which is larger than the area of ​​the contour surface, and the projection of the contour surface along the moving direction of the insert is entirely within the range of the projection of the contour fabric piece along the moving direction of the insert.

[0030] Specifically, in this embodiment, the fabric piece is a contoured fabric piece. The shape of the contoured fabric piece matches the contoured surface of the corresponding contoured insert, and the area of ​​the contoured fabric piece is larger than the area of ​​the contoured curved surface. This allows the contoured fabric piece to completely wrap around the contoured insert. When the insert assembly moves under the drive, the contoured fabric piece can always be within the range of the insert's movement. This ensures that the force applied directly to the face skin body 10 by the insert can be preferentially applied to the contoured fabric piece, ensuring that the contoured fabric piece can always bear the force applied to the face skin body 10 by the insert. This increases the force-bearing area, reduces the concentrated force on the face skin body 10, and thus reduces the probability of damage to the face skin body 10.

[0031] Furthermore, the inlay assembly also includes stitching threads that sew the fabric piece to the inlay.

[0032] Specifically, in this embodiment, a connecting hole is provided on the insert, and a suture thread passes through the connecting hole and the fabric piece, thereby connecting the fabric piece to the insert. This prevents misalignment of the fabric piece and the insert during the formation of the face skin structure, thus improving the accuracy of the relative position of the insert and the fabric piece, and consequently enhancing the reliability of the face skin structure. Furthermore, after the fabric piece, the insert, and the face skin body 10 are integrally formed, the force on the insert can be stably and reliably transmitted to the face skin body 10 through the fabric piece, further improving the performance of the face skin structure.

[0033] Optionally, in this embodiment, the fabric is a non-woven fabric or gauze. Both non-woven fabric and gauze have fiber pores. During the curing process of platinum silicone, some platinum silicone will penetrate into the fiber pores, so that the fabric forms an "anchoring effect" between the platinum silicone and the insert, which greatly improves the bonding reliability between the insert and the platinum silicone and helps to extend the service life.

[0034] Optionally, the fabric layer is 0.1mm-0.5mm thick, which can increase the bonding area without significantly increasing the overall thickness of the insert, without affecting the deformation of the face, thus ensuring the realism of the expression.

[0035] Furthermore, the insert is made of a flexible material, and the connecting part is a slot, which is set opposite to the contoured curved surface.

[0036] Specifically, in this embodiment, the insert is made of a flexible material. This flexible material has similar elasticity and deformation characteristics to platinum silicone, which can prevent cracking at the bonding interface due to material differences, thereby extending the lifespan of the facial skin structure. Furthermore, since the insert's hardness is typically slightly higher than the facial skin body by 10, this design ensures that the insert first displaces under stress, then deforms the surrounding silicone, creating an "active drive + passive follow" effect. This reduces the mechanical feel during facial expression formation and improves usability.

[0037] Optionally, the insert can be made of any of the following materials: TPU (thermoplastic polyurethane elastomer), TPE (triethyl phosphate), silicone, or rubber, without any specific restrictions.

[0038] Furthermore, the insert, fabric piece, and face skin body 10 are integrally molded to form an anchoring structure.

[0039] In this embodiment, during the curing process of platinum silicone, some platinum silicone can penetrate into the fiber pores of the fabric; and some platinum silicone can fill the gap between the fabric and the insert, thereby significantly increasing the number of connection points between the insert and the face skin body 10, forming an anchoring structure, and thus improving the connection stability between the insert and the face skin body 10.

[0040] Furthermore, the hardness of the insert is greater than that of the face skin body 10, and the hardness ratio of the insert to the face skin body 10 ranges from 2:1 to 10:1.

[0041] Specifically, in this embodiment, if the hardness ratio is less than 2:1, it indicates that the insert is too soft. When the insert is subjected to force, it will deform first, resulting in a decrease in the force reaching the face skin body 10. Under the same force, this will result in a smaller range of facial expressions and will be detrimental to the precise control of facial expressions. If the hardness ratio is greater than 10:1, it indicates that the insert is too hard. The insert will provide rigid support to the face skin body 10, making the edge of the insert faintly visible on the surface of the face skin body 10, thus affecting the aesthetics of the face skin structure. Furthermore, if the hardness difference between the insert and the face skin body 10 is too large, it will lead to severe stress concentration at the bonding interface, accelerating the cracking of the face skin body 10 and thus affecting the service life of the face skin structure.

[0042] Furthermore, the thickness of the face skin body 10 ranges from 3mm to 10mm, and the embedding depth of the insert is 1 / 3 to 2 / 3 of the thickness of the face skin body 10.

[0043] Specifically, in this embodiment, the face skin structure is made of platinum silicone, and the thickness of the platinum silicone is 3mm-10mm. The thickness range of 3mm-10mm ensures that the face skin body 10 has both the soft touch of real skin and sufficient tear resistance, avoiding the problem of easy breakage due to excessive thickness or the difficulty of deformation due to excessive thickness. The hardness of the platinum silicone is set to 0HA-30HA, which enables the face skin body 10 to have the soft touch of real skin, while having sufficient structural strength, and allows the face skin to present more delicate micro-expressions, such as slight wrinkles and muscle tremors, thereby ensuring the performance of the face skin structure. In addition, the softer platinum silicone allows for the use of a smaller power motor, reducing energy consumption and cost.

[0044] Optionally, several expression areas include thin areas and thick areas. Thin areas are areas with frequent facial movements (such as the corners of the mouth and eyes). The thickness of the skin body 10 in the thin areas is set to 3mm-5mm. Thick areas are areas that require support (such as the cheeks and chin). The thickness of the skin body 10 in the thick areas is set to 8mm-10mm. This achieves the differentiation of the skin body 10 into different areas, which not only allows for the presentation of more delicate micro-expressions, such as slight wrinkles and muscle tremors, but also reduces the energy consumption for forming expressions, thereby reducing costs.

[0045] Alternatively, in another embodiment, the skin structure may also be made of TEP (Triethyl Phosphate), without any specific limitation.

[0046] Specifically, in this embodiment, the embedding depth of the insert is 1 / 3 to 2 / 3 of the thickness of the face skin body 10. This ensures that the embedding depth is less than the thickness of the face skin, ensuring that the insert is completely encased in silicone and does not affect the appearance. If the embedding depth of the insert is less than 1 / 3 of the thickness of the face skin body 10, it indicates that the embedding depth is too shallow, the bonding strength between the insert and the face skin body 10 is poor, and the insert is prone to detaching from the face skin body 10, affecting the usability of the face skin body 10. If the embedding depth of the insert is greater than 2 / 3 of the thickness of the face skin body 10, the insert is close to the outer surface of the face skin body 10, which can easily cause stiff spots when forming expressions, affecting the expression formation effect.

[0047] like Figure 2 As shown, this embodiment also provides a processing method for processing the above-mentioned facial skin structure. The processing method includes the following steps: S10. Prepare several inserts and connect fabric pieces to each insert to form several insert components.

[0048] Specifically, in this embodiment, the insert is molded using a mold, which ensures good consistency of the insert and thus ensures the uniformity of the facial skin structure. Furthermore, the related technology of molding the insert using a mold is prior art and will not be elaborated upon here.

[0049] S11. A sewing hole is machined on the insert, and the sewing thread passes through the sewing hole and the fabric piece to connect the fabric piece to the insert.

[0050] Specifically, in this embodiment, a number of suture holes are machined on the insert at intervals along its periphery. The distance between two adjacent suture holes is 2mm-3.5mm. The suture thread passes through the suture holes and the fabric piece in sequence to connect the fabric piece to the insert. This arrangement can ensure the stability and reliability of the connection between the fabric piece and the insert, ensure that the fabric will not wrinkle or shift under the flow impact during subsequent platinum silicone injection, and avoid the fabric piece from folding and forming hard spots, which would affect the softness of the face skin body 10, thereby ensuring the performance of the face skin body 10.

[0051] Alternatively, in another embodiment, stitching holes may be evenly distributed on the insert, without any specific limitation.

[0052] Optionally, before attaching the fabric to the surface of the insert, the surface of the insert can be plasma treated or coated with a coupling agent to enhance the bonding strength between the insert and the platinum silicone, thereby improving the performance of the skin structure and preventing the skin body 10 formed by the insert and the platinum silicone from detaching.

[0053] S20. Several inlay components are sequentially set to several preset positions of the mold, and the several preset positions are set to correspond one-to-one with several bones of the human face structure according to the actual layout.

[0054] Specifically, in this embodiment, a positioning pin is provided at a preset position of the mold to accurately position the insert, thereby ensuring the stability and reliability of the insert's position.

[0055] Optionally, in this embodiment, the positioning accuracy of the insert by the positioning pin is less than ±0.5mm.

[0056] Alternatively, in another embodiment, a positioning groove is provided on the mold for positioning the insert; no specific limitation is made here.

[0057] S30. Inject silicone into the mold and allow it to solidify under set conditions to form a facial skin structure.

[0058] Specifically, in this embodiment, a vacuum-assisted injection process is used to inject platinum silicone into the mold, so that the platinum silicone can fully fill the gap between the insert and the mold and avoid the formation of air bubbles.

[0059] Optionally, the set conditions include room temperature and curing time. In this embodiment, the room temperature is controlled at 22℃-27℃, preferably 25℃; the curing time is 100min-150min, preferably 120min.

[0060] Alternatively, in another embodiment, the room temperature can be 23°C, 24°C, 26°C or 27°C; the curing time can be 100 min, 110 min, 130 min, 140 min or 150 min, and no specific limitation is made here.

[0061] This embodiment also provides a bionic robot, including the facial skin structure described above.

[0062] Specifically, in this embodiment, the bionic robot also includes a head support, a drive mechanism, and a connector. The fixed end of the drive mechanism is disposed on the head support, and the connector is disposed on the output end of the drive mechanism. The connector can be detachably connected to the connecting part of the face skin structure.

[0063] This bionic robot features a facial skin structure, the connecting part of which can be detachably connected to the head support connector. Compared to traditional adhesive connections, this allows for non-destructive installation and removal of the facial skin structure. Furthermore, when repairing or replacing the facial skin body 10, the inlay components, and the drive mechanism, the connecting part can be separated from the head support connector, allowing for the disassembly of the facial skin structure. This facilitates convenient repair of the inlay components and drive mechanism, as well as replacement of the facial skin structure, thereby improving the efficiency of repair and maintenance.

[0064] Optionally, in this embodiment, the connecting part is a slot, and the connecting member is a snap-fit ​​member. The snap-fit ​​member can snap into the slot, thereby making the face skin structure and the head support detachably connected.

[0065] Optionally, the connector is a mushroom-head screw 217, and the slot is a hemispherical groove. The mushroom-head screw 217 and the hemispherical groove are interference-fitted. The mushroom head can be fixed by inserting into the slot and disassembled by pulling it out, without tools or with only simple tools, thus improving the ease of assembly and disassembly. Moreover, the interference fit between the mushroom-head screw 217 and the hemispherical groove will not loosen during normal movement, but will only disengage when subjected to excessive tension. Finally, the spherical shape of the mushroom head allows the connecting structure to rotate freely within a certain angle range, adapting to directional changes when the face deforms.

[0066] Optionally, a baffle is provided around the opening of the hemispherical groove. The baffle abuts against the end face of the mushroom head screw 217 away from the hemispherical groove, thereby limiting the mushroom head screw 217 and reducing the risk of the mushroom head screw 217 coming out.

[0067] Optionally, in this embodiment, the mushroom-head screw 217 has a head diameter of 3mm-8mm and a shank diameter of 1mm-3mm, with a head-to-shank diameter ratio of 2:1 to 4:1. A sufficiently large head diameter ensures that it will not dislodge during normal movement after being engaged in the hemispherical groove, while a relatively small shank diameter ensures that the head can elastically deform and disengage from the hemispherical groove during disassembly. The head-to-shank ratio of 2:1 to 4:1 keeps the engagement force within the range of 5N-20N, preventing both excessive tightness leading to disassembly difficulties and excessive looseness causing disengagement during movement, thus improving performance.

[0068] Furthermore, the following installation method is used when installing the facial skin structure onto the head support.

[0069] Specifically, the installation method includes the following steps: Connect the inlay component of the expression area located in the middle of the face body 10 to the corresponding connector; following the order of first installing the inlay component in the middle and then installing the inlay components around the perimeter, connect all the inlay components to all the corresponding connectors in sequence, and adjust the position of the face body 10 in real time during the connection process to ensure that each inlay component and each connector is accurately aligned one by one.

[0070] Optionally, the installation method includes the following steps: first, connecting the upper inlay component insert to the corresponding connector; then, connecting the middle inlay component insert to the corresponding connector; and finally, connecting the lower inlay component insert to the corresponding connector. No specific limitations are imposed here.

[0071] Furthermore, the bionic robot also employs the following movement method based on its facial skin structure.

[0072] Specifically, the bionic robot also includes a controller, which is communicatively connected to the drive mechanism. The movement method of the facial structure includes the following: setting a target expression, the controller recognizing and parsing the target expression, and then controlling the drive mechanism of each insert corresponding to the target expression to drive the corresponding insert to move. The movement of the insert can cause a local deformation of the facial body 10 that is consistent with the movement of real facial muscles, thereby simulating a real human facial expression.

[0073] Optionally, in this embodiment, the driving mechanism includes multiple driving structures, and each insert is provided with a corresponding driving structure for driving the insert to move.

[0074] Furthermore, the following disassembly method is used when removing the facial skin structure from the head support.

[0075] Specifically, the installation method includes the following steps: Starting from the edge of the face skin structure, manually or with tools, detach the inserts of the inlay components in the edge area from their corresponding connectors. Following a gradual, outward-to-inward approach, detach the inserts and corresponding connectors of the remaining inlay components one by one. Once all inserts and connectors of all inlay components have been detached, remove the entire face skin structure. Disassembling from the edge of the face skin structure allows it to gradually separate from the head support, avoiding tearing of the face skin body 10 due to a single, large pull. Gradual detachment also distributes the required force, making the operation easy to complete with one hand.

[0076] Obviously, the above description is merely a preferred embodiment of the present invention and an explanation of the technical principles employed. Those skilled in the art should understand that the scope of disclosure involved in this invention is not limited to technical solutions formed by specific combinations of the above-described technical features, but should also cover other technical solutions formed by arbitrary combinations of the above-described technical features or their equivalents without departing from the above-described concept. For example, technical solutions formed by substituting the above-described features with (but not limited to) technical features with similar functions disclosed in this invention.

Claims

1. A facial skin structure for use in mimicking human faces, characterized in that, include: A face skin body (10) having several expression areas; A plurality of inlay components are provided, and each expression area of ​​the face skin body (10) is provided with at least one of the inlay components; each inlay component includes an inlay and a piece of cloth, the inlay, the piece of cloth and the face skin body (10) are integrally formed, and the piece of cloth is located between the inlay and the face skin body (10), and the end of the inlay away from the piece of cloth is provided with a connecting part for detachably connecting to the head support of the bionic robot; at least some of the plurality of inlays are contouring inlays, the contouring inlays have contouring surfaces, and the contouring surfaces are similar to the outer surface of the bones in the face structure that match the position of the contouring inlays.

2. The facial skin structure according to claim 1, characterized in that, The fabric piece corresponding to the contouring insert is a contouring fabric piece. The area of ​​the contouring fabric piece is larger than the area of ​​the contouring surface, and the projection of the contouring surface along the moving direction of the insert is entirely within the range of the projection of the contouring fabric piece along the moving direction of the insert.

3. The facial skin structure according to claim 2, characterized in that, The insert assembly also includes a suture thread that sutures the fabric piece to the insert.

4. The facial skin structure according to claim 1, characterized in that, The insert is made of a flexible material, and the connecting part is a slot, which is arranged opposite to the contoured surface.

5. The facial skin structure according to claim 4, characterized in that, The insert, the fabric piece, and the face skin body (10) are integrally formed to form an anchoring structure.

6. The facial skin structure according to any one of claims 1-5, characterized in that, The hardness of the insert is greater than that of the face skin body (10), and the hardness ratio of the insert to the face skin body (10) ranges from 2:1 to 10:

1.

7. The facial skin structure according to claim 6, characterized in that, The thickness of the face skin body (10) ranges from 3mm to 10mm, and the embedding depth of the insert is 1 / 3 to 2 / 3 of the thickness of the face skin body (10).

8. A processing method, characterized in that, The processing method for fabricating the facial skin structure according to any one of claims 1-7 includes the following steps: S10. Prepare a plurality of inserts and attach a piece of fabric to each insert to form a plurality of insert assemblies; S20. The plurality of inlay components are respectively set at a plurality of preset positions of the mold, and the plurality of preset positions are respectively set in accordance with the actual layout of the plurality of bones of the face structure. S30. Inject silicone into the mold and cure the silicone under set conditions to form the facial skin structure.

9. The processing method according to claim 8, characterized in that, Connecting the insert and the fabric piece specifically includes: A stitching hole is machined in the insert, and a stitch passes through the stitching hole and the fabric piece to connect the fabric piece to the insert.

10. A biomimetic robot, characterized in that, Includes the facial skin structure as described in any one of claims 1-7.

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