Eyebrow module and robot

Abstract

The application provides an eyebrow module and a robot, and belongs to the technical field of robots. The eyebrow module comprises a frame body, an eyebrow bone, a first transmission assembly and a second transmission assembly; the eyebrow bone is arranged in a spaced manner with the frame body, and the eyebrow bone has a first end portion and a second end portion arranged in opposite directions; the first transmission assembly is arranged on one side of the frame body, the first transmission assembly has a first connecting end and a second connecting end, the first connecting end is rotationally connected with the frame body, and the second connecting end is movably connected with the first end portion; the second transmission assembly has a third connecting end and a fourth connecting end, the third connecting end is rotationally connected with the frame body, and the fourth connecting end is movably connected with the second end portion. The eyebrow module provided by the application controls the movement of the first end portion of the eyebrow bone through the first transmission assembly, and controls the movement of the second end portion through the second transmission assembly, so that the two ends of the eyebrow bone are controlled respectively, the flexibility and diversity of the movement of the eyebrow bone are further improved, and the flexibility of cooperation with the facial expression of the robot is improved.

Description

Technical Field

[0001] This application relates to the field of robotics technology, and in particular to an eyebrow module and robot. Background Technology

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

[0003] In related technologies, in order to improve the anthropomorphism of bionic robots, the eyebrows of bionic robots are usually designed to be movable. However, when existing robot eyebrows move, the various positions of the eyebrows usually move up or down synchronously, resulting in relatively simple eyebrow movements and difficulty in achieving more expressions. Summary of the Invention

[0004] In view of this, the purpose of this application is to overcome the shortcomings of the prior art and provide an eyebrow module and robot.

[0005] This application provides the following technical solution: an eyebrow module, comprising: Frame; The brow bone is spaced apart from the frame and has a first end and a second end that are opposite to each other. A first transmission component is disposed on one side of the frame. The first transmission component has a first connecting end and a second connecting end. The first connecting end is rotatably connected to the frame, and the second connecting end is movably connected to the first end. The second transmission assembly is disposed on the side of the frame away from the first transmission assembly. The second transmission assembly has a third connecting end and a fourth connecting end. The third connecting end is rotatably connected to the frame, and the fourth connecting end is movably connected to the second end.

[0006] In some embodiments, the eyebrow module further includes a first servo motor, which is connected to the frame. The first transmission assembly includes a first transmission component and a second transmission component. One end of the first transmission component is connected to the first servo motor, and the other end of the first transmission component is rotatably connected to the second transmission component. The second transmission component has a first connecting end and a second connecting end arranged opposite to each other.

[0007] In some embodiments, the second transmission member includes a first transmission arm, a first connector, and a first ball. One end of the first transmission arm is connected to the first connector, and the end of the first transmission arm facing away from the first connector is the first connection end. The first ball is connected to the end of the first connector facing away from the first transmission arm to form the second connection end.

[0008] In some embodiments, the first end includes a first base and a first limiting member connected to each other. The first base defines a first mounting groove, and the first limiting member has a through first mounting hole. The first mounting groove communicates with the first mounting hole to form a first mounting space, and the first sphere is received in the first mounting space.

[0009] In some embodiments, the diameter of the first mounting hole gradually decreases from the side closer to the first base to the side farther away from the first base, and the diameter of the end of the first limiting member away from the first base is smaller than the diameter of the first sphere.

[0010] In some embodiments, the first connector includes a first connecting shaft, a first bent portion, and a first fixed shaft. The first connecting shaft is connected to one end of the first bent portion, the first fixed shaft is connected to the other end of the first bent portion, and the end of the first connecting shaft opposite to the first bent portion is connected to the first ball. The outer diameter of the first connecting shaft is smaller than the diameter of the first mounting hole. The first fixed shaft has a first receiving groove at one end away from the first bent portion, and the first connecting member is at least partially received in the first receiving groove.

[0011] In some embodiments, the first transmission member includes a first swing arm and a first transmission rod. One end of the first swing arm is fixedly connected to the output end of the first servo motor, one end of the first transmission rod is rotatably connected to the end of the first swing arm opposite to the first servo motor, and the other end of the first transmission rod is rotatably connected to the first transmission arm.

[0012] In some embodiments, the eyebrow module further includes a second servo motor, which is connected to the frame. The second transmission assembly includes a third transmission member and a fourth transmission member. One end of the third transmission member is connected to the second servo motor, and the other end of the third transmission member is rotatably connected to the fourth transmission member. The fourth transmission member has the third connection end and the fourth connection end arranged opposite to each other.

[0013] In some embodiments, the fourth transmission member includes a second transmission arm, a second connector, and a second ball. One end of the second transmission arm is connected to the second connector, and the end of the second transmission arm facing away from the second connector is the third connection end. The second ball is connected to the end of the second connector facing away from the second transmission arm to form the fourth connection end.

[0014] In some embodiments, the second end includes a second seat and a second limiting member connected to each other. The second seat defines a second mounting groove, and the second limiting member has a through second mounting hole. The second mounting groove and the second mounting hole communicate to form a second mounting space, and the second sphere is received in the second mounting space.

[0015] In some embodiments, the diameter of the second mounting hole gradually decreases from the side closer to the second base to the side farther away from the second base, and the diameter of the end of the second limiting member away from the second base is smaller than the diameter of the second sphere.

[0016] In some embodiments, the third transmission component includes a second swing arm and a second transmission rod. One end of the second swing arm is fixedly connected to the output end of the second servo motor, one end of the second transmission rod is rotatably connected to the end of the second swing arm opposite to the second servo motor, and the other end of the second transmission rod is rotatably connected to the second transmission arm.

[0017] In some embodiments, the second connector includes a second connecting shaft, a second bent portion, and a second fixed shaft. The second connecting shaft is connected to one end of the second bent portion, and the second fixed shaft is connected to the other end of the second bent portion. The end of the second connecting shaft facing away from the second bent portion is connected to the second ball. The outer diameter of the second connecting shaft is smaller than the diameter of the second mounting hole. The second fixed shaft has a second receiving groove at one end away from the second bent portion, and the second connector is at least partially received in the second receiving groove.

[0018] Secondly, this application provides a robot including the aforementioned eyebrow module.

[0019] The embodiments of this application have the following advantages: The eyebrow module provided by this application controls the movement of the first end of the brow bone through the first transmission component and controls the movement of the second end through the second transmission component, so as to realize the separate control of the two ends of the brow bone, thereby further improving the flexibility and diversity of brow bone movement, and thus improving the flexibility and diversity of robot facial expressions.

[0020] To make the above-mentioned objectives, features and advantages of this application more apparent and understandable, preferred embodiments are described below in detail with reference to the accompanying drawings. Attached Figure Description

[0021] To more clearly illustrate the technical solutions of the embodiments of this application, the accompanying drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of this application and should not be regarded as a limitation of the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0022] Figure 1 This application provides a schematic diagram of the structure of an eyebrow module from one perspective, based on some embodiments thereof. Figure 2 This application provides a schematic diagram of the structure of an eyebrow module from another perspective, illustrating some embodiments thereof. Figure 3 This application provides structural schematic diagrams of an eyebrow module from other perspectives, illustrating some embodiments thereof. Figure 4 This invention provides a schematic diagram of the structure of an eyebrow module in which the brow bone is connected to the second and fourth connecting ends from one perspective, according to some embodiments of this application. Figure 5 An exploded view of the brow bone and the second and fourth connecting ends in an eyebrow module provided by some embodiments of this application is shown.

[0023] Explanation of key component symbols: 100 - Frame; 200 - First servo motor; 300 - Second servo motor; 400 - Eyebrow bone; 410 - First end; 420 - Second end; 500 - First transmission assembly; 600 - Second transmission assembly; 621 - Third connecting end; 622 - Fourth connecting end; 510 - First transmission component; 520 - Second transmission component; 521 - First connecting end; 522 - Second connecting end; 523 - First transmission arm; 524 - First connecting component; 525 - First sphere; 411 - First base; 412 - First limiting component; 413 - First mounting slot; 414 - First mounting hole; 5241 - First... Connecting shaft; 5242-First bend; 5243-First fixed shaft; 5244-First receiving groove; 511-First swing arm; 512-First transmission rod; 610-Third transmission component; 620-Fourth transmission component; 623-Second transmission arm; 624-Second connecting component; 625-Second sphere; 421-Second seat; 422-Second limiting component; 423-Second mounting groove; 424-Second mounting hole; 611-Second swing arm; 612-Second transmission rod; 6241-Second connecting shaft; 6242-Second bend; 6243-Second fixed shaft; 6244-Second receiving groove. Detailed Implementation

[0024] The embodiments of this application 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 this application, and should not be construed as limiting this application.

[0025] It should be noted that when an element is said to be "fixed" to another element, it can be directly on the other element or there may be an intervening element. When an element is said to be "connected" to another element, it can be directly connected to the other element or there may be an intervening element. Conversely, when an element is said to be "directly" on another element, there is no intervening element. The terms "vertical," "horizontal," "left," "right," and similar expressions used in this document are for illustrative purposes only.

[0026] In this application, unless otherwise expressly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this application according to the specific circumstances.

[0027] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this application, "multiple" means two or more, unless otherwise explicitly specified.

[0028] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used herein in the template description is for the purpose of describing particular embodiments only and is not intended to be limiting of this application. The term "and / or" as used herein includes any and all combinations of one or more of the associated listed items.

[0029] like Figures 1 to 3 As shown, some embodiments of this application provide an eyebrow module, mainly used in robots, to improve the flexibility and diversity of robot eyebrow movements in order to match various facial expressions of the robot.

[0030] The eyebrow module includes a frame 100, an eyebrow bone 400, a first transmission component 500, and a second transmission component 600.

[0031] The brow bone 400 is spaced apart from the frame 100. The brow bone 400 has a first end 410 and a second end 420 that are arranged opposite to each other. It should be noted that the first end 410 and the second end 420 are located along the length of the brow bone 400. In this embodiment, the first end 410 is the inner corner of the eyebrow, and the second end 420 is the outer corner of the eyebrow.

[0032] A first transmission assembly 500 is disposed on one side of the frame 100. The first transmission assembly 500 has a first connecting end 521 and a second connecting end 522. The first connecting end 521 is rotatably connected to the frame 100, and the second connecting end 522 is movably connected to the first end 410, thereby movably connecting the first end 410 of the brow bone 400 to the frame 100 via the first transmission assembly 500. It should be noted that the first transmission assembly 500 is configured to drive the first end 410 to move.

[0033] The second transmission assembly 600 is disposed on the side of the frame 100 opposite to the first transmission assembly 500. The second transmission assembly 600 has a third connecting end 621 and a fourth connecting end 622. The third connecting end 621 is rotatably connected to the frame 100, and the fourth connecting end 622 is movably connected to the second end 420, thereby movably connecting the second end 420 of the brow bone 400 to the frame 100 via the second transmission assembly 600. It should be noted that the second transmission assembly 600 is configured to drive the second end 420 to move.

[0034] It should be noted that the movement in this embodiment includes at least vertical movement. The first end 410 and the second end 420 are controlled to move by the first transmission component 500 and the second transmission component 600, respectively. It can be understood that in some embodiments, the first end 410 and the second end 420 can be controlled to move upward simultaneously by the first transmission component 500 and the second transmission component 600 to form raised eyebrows; in some embodiments, the first end 410 and the second end 420 can be controlled to move downward simultaneously by the first transmission component 500 and the second transmission component 600 to form lowered eyebrows; in some embodiments, the first end 410 can be controlled to move upward by the first transmission component 500, and the second end 420 can be controlled to stop moving or move downward by the second transmission component 600; in other embodiments, the first end 410 can be controlled to stop moving or move downward by the first transmission component 500, and the second end 420 can be controlled to move downward by the second transmission component 600.

[0035] It is understandable that by independently controlling the activities of the first end 410 and the second end 420 through the first transmission component 500 and the second transmission component 600 respectively, the flexibility and diversity of the brow bone 400's activities can be further enhanced, thereby improving the diversity and flexibility of the robot's facial expressions.

[0036] In some embodiments, the brow bone 400 is a flexible brow bone 400.

[0037] It should be noted that by detachably connecting the first transmission component 500 and the second transmission component 600 to the brow bone 400, different shapes of the brow bone 400 can be replaced according to the actual situation to match different characters, thus improving the matching accuracy.

[0038] like Figure 2 and Figure 3 As shown, in some embodiments of this application, the eyebrow module further includes a first servo motor 200, which is connected to the frame 100. The connection method between the two includes any one of snap-fit, adhesive, or bolt connection, which can be specifically set according to the actual situation.

[0039] The first transmission assembly 500 includes a first transmission member 510 and a second transmission member 520. One end of the first transmission member 510 is connected to the first servo motor 200 so that the first transmission member 510 can be driven to rotate by the first servo motor 200.

[0040] Furthermore, the other end of the first transmission member 510 is rotatably connected to the second transmission member 520, so that the second transmission member 520 can be driven to swing through the first transmission member 510. The second transmission member 520 has a first connecting end 521 and a second connecting end 522 arranged opposite to each other. It can be understood that the second transmission member 520 is rotatably connected to the frame 100, and the second connecting end 522 of the second transmission member 520 is movably connected to the first end 410.

[0041] It should be noted that when the first servo motor 200 is running, the first servo motor 200 drives the first transmission component 510 to swing, thereby driving the second transmission component 520 to swing relative to the frame 100, thereby driving the first end 410 to move up and down through the second connecting end 522.

[0042] like Figure 3 As shown, in some embodiments of this application, the second transmission member 520 includes a first transmission arm 523, a first connector 524 and a first ball 525. One end of the first transmission arm 523 is connected to the first connector 524, and the connection method between the two includes any one of snap-fit, adhesive, threaded connection and bolted connection.

[0043] The first drive arm 523, with its end facing away from the first connector 524, is designated as the first connecting end 521, which is rotatably connected to the frame 100. The first ball 525 is connected to the end of the first connector 524 facing away from the first drive arm 523, forming the second connecting end 522. Furthermore, the connection between the first ball 525 and the first connector 524 can be achieved through any of the following methods: snap-fit, adhesive bonding, threaded connection, or bolted connection. By detachably connecting the first drive arm 523, the first connector 524, and the first ball 525, assembly convenience and efficiency are improved, facilitating replacement or maintenance.

[0044] like Figure 4 and Figure 5 As shown, in some embodiments of this application, the first end 410 includes a first seat 411 and a first limiting member 412 connected to each other. The connection method between the first seat 411 and the first limiting member 412 includes any one of snap-fit, adhesive, threaded connection and bolted connection.

[0045] The first base 411 defines a first mounting groove 413 on the side facing the first limiting member 412. The first limiting member 412 is provided with a through first mounting hole 414 in the direction facing the first base 411. The first mounting groove 413 communicates with the first mounting hole 414 to form a first mounting space. The first ball 525 is housed in the first mounting space so that the groove wall of the first mounting groove 413 and the hole wall of the first mounting hole 414 limit the first ball 525 to prevent the first ball 525 from falling out of the first mounting space, so as to ensure the stability of the connection between the first ball 525 and the first end 410.

[0046] It should be noted that the groove wall of the first mounting groove 413 and the hole wall of the first mounting hole 414 are smoothly connected to the first ball 525, which can not only reduce friction, but also improve the flexibility of the first ball 525 to rotate or swing relative to the first end 410, thereby improving the flexibility of the first transmission assembly 500 in controlling the movement of the first end 410.

[0047] In some embodiments of this application, the diameter of the first mounting hole 414 gradually decreases from the side closer to the first base 411 to the side farther away from the first base 411, and the diameter of the end of the first limiting member 412 away from the first base 411 is smaller than the diameter of the first ball 525, so as to limit the first ball 525 through the first limiting member 412, so as to ensure the stability of the connection between the first ball 525 and the first end 410.

[0048] like Figure 4 and Figure 5As shown, in some embodiments of this application, the first connector 524 includes a first connecting shaft 5241, a first bent portion 5242 and a first fixed shaft 5243. The first connecting shaft 5241 is connected to one end of the first bent portion 5242. In some embodiments, the first connecting shaft 5241 and the first bent portion 5242 are coaxially connected.

[0049] In addition, the first fixed shaft 5243 is connected to the other end of the first bent portion 5242, and the first fixed shaft 5243 is coaxially connected to the end of the first bent portion 5242 away from the first connecting shaft 5241.

[0050] In this embodiment, the end of the first connecting shaft 5241 opposite to the first bent portion 5242 is connected to the first ball 525. The connection method between the first connecting shaft 5241 and the first ball 525 includes any one of snap-fit, adhesive, and threaded connection. The outer diameter of the first connecting shaft 5241 is smaller than the diameter of the first mounting hole 414 to prevent the first ball 525 from falling out of the first mounting hole 414.

[0051] The first fixed shaft 5243 has a first receiving groove 5244 at one end away from the first bent portion 5242. The first connector 524 is at least partially received in the first receiving groove 5244 and is coaxially connected to the first fixed shaft 5243. The connection between the two can be any one of snap-fit, adhesive, or threaded connection to improve the convenience and flexibility of assembly.

[0052] It should be noted that the first connecting shaft 5241 and the first fixed shaft 5243 are connected by the first bending part 5242 to shorten the stroke of the first connecting member 524, thereby further improving the sensitivity of the first end 410 to move through the first connecting member 524.

[0053] like Figure 3 As shown, in some embodiments of this application, the first transmission member 510 includes a first swing arm 511 and a first transmission rod 512. One end of the first swing arm 511 is fixedly connected to the output end of the first servo motor 200. One end of the first transmission rod 512 is rotatably connected to the end of the first swing arm 511 away from the first servo motor 200. The other end of the first transmission rod 512 is rotatably connected to the first transmission arm 523. When the first servo motor 200 is running, the first servo motor 200 can drive the first swing arm 511 to swing about the output shaft of the first servo motor 200. The first swing arm 511 drives the first transmission rod 512 to swing, thereby driving the first transmission arm 523 to rotate about the first connecting end 521 relative to the frame 100. This causes the first end 410 to move up and down to adjust the swing of the brow bone 400.

[0054] like Figures 1 to 3As shown, in some embodiments of this application, the eyebrow module further includes a second servo motor 300, which is connected to the frame 100. The connection method between the two includes any one of snap-fit, adhesive, or bolt connection, which can be specifically set according to the actual situation.

[0055] The second transmission assembly 600 includes a third transmission member 610 and a fourth transmission member 620. One end of the third transmission member 610 is connected to the second servo motor 300 so that the second servo motor 300 can drive the third transmission member 610 to rotate.

[0056] Furthermore, the other end of the third transmission member 610 is rotatably connected to the fourth transmission member 620, so that the fourth transmission member 620 can be driven to swing through the third transmission member 610. The fourth transmission member 620 has a third connecting end 621 and a fourth connecting end 622 arranged opposite to each other. It can be understood that the fourth transmission member 620 is rotatably connected to the frame 100, and the fourth connecting end 622 of the fourth transmission member 620 is movably connected to the second end 420.

[0057] It should be noted that when the second servo motor 300 is running, it drives the third transmission component 610 to swing, which in turn drives the fourth transmission component 620 to swing relative to the frame 100, thereby driving the second end 420 to move up and down through the fourth connecting end 622.

[0058] like Figures 2 to 4 As shown, in some embodiments of this application, the fourth transmission member 620 includes a second transmission arm 623, a second connector 624, and a second ball 625. One end of the second transmission arm 623 is connected to the second connector 624, and the connection method between the two includes any one of snap-fit, adhesive, threaded connection, and bolted connection.

[0059] The end of the second drive arm 623 facing away from the second connector 624 is the third connecting end 621. The second ball 625 is connected to the end of the second connector 624 facing away from the second drive arm 623 to form the fourth connecting end 622. Furthermore, the connection method between the second ball 625 and the second connector 624 includes any one of snap-fit, adhesive, threaded connection, or bolted connection. By detachably connecting the second drive arm 623, the second connector 624, and the second ball 625, the convenience and efficiency of assembly are improved, facilitating replacement or maintenance.

[0060] like Figure 4 and Figure 5 As shown, in some embodiments of this application, the second end 420 includes a second seat 421 and a second limiting member 422 connected to each other. The connection method between the second seat 421 and the second limiting member 422 includes any one of snap-fit, adhesive, threaded connection and bolted connection.

[0061] The second base 421 defines a second mounting groove 423 on the side facing the second limiting member 422. The second limiting member 422 is provided with a through second mounting hole 424 in the direction facing the second base 421. The second mounting groove 423 and the second mounting hole 424 communicate to form a second mounting space. The second ball 625 is housed in the second mounting space so that the groove wall of the second mounting groove 423 and the hole wall of the second mounting hole 424 limit the second ball 625 to prevent the second ball 625 from falling out of the second mounting space, thereby ensuring the stability of the connection between the second ball 625 and the second end 420.

[0062] It should be noted that the groove wall of the second mounting groove 423 and the hole wall of the second mounting hole 424 are smoothly connected to the second ball 625, which not only reduces friction but also improves the flexibility of the second ball 625 to rotate or swing relative to the second end 420, thereby improving the flexibility of the second transmission assembly 600 in controlling the movement of the second end 420.

[0063] like Figure 2 As shown, in some embodiments of this application, the third transmission member 610 includes a second swing arm 611 and a second transmission rod 612. One end of the second swing arm 611 is fixedly connected to the output end of the second servo motor 300, and one end of the second transmission rod 612 is rotatably connected to the end of the second swing arm 611 away from the second servo motor 300. The other end of the second transmission rod 612 is rotatably connected to the second transmission arm 623, so that when the second servo motor 300 is running, the second swing arm 611 can be driven to swing about the output shaft of the second servo motor 300, and the second swing arm 611 drives the second transmission rod 612 to swing, thereby driving the second transmission arm 623 to rotate about the second connecting end 522 relative to the frame 100, thereby driving the second end 420 to move up and down to adjust the swing of the brow bone 400.

[0064] In some embodiments of this application, the diameter of the second mounting hole 424 gradually decreases from the side closer to the second base 421 to the side farther away from the second base 421, and the diameter of the end of the second limiting member 422 away from the second base 421 is smaller than the diameter of the second ball 625, so as to limit the second ball 625 through the second limiting member 422, so as to ensure the stability of the connection between the second ball 625 and the second end 420.

[0065] like Figure 2 As shown, in some embodiments of this application, the second connector 624 includes a second connecting shaft 6241, a second bent portion 6242, and a second fixed shaft 6243. The second connecting shaft 6241 is connected to one end of the second bent portion 6242. In some embodiments, the second connecting shaft 6241 and the second bent portion 6242 are coaxially connected.

[0066] In addition, the second fixed shaft 6243 is connected to the other end of the second bent portion 6242, and the second fixed shaft 6243 is coaxially connected to the end of the second bent portion 6242 away from the second connecting shaft 6241.

[0067] In this embodiment, the end of the second connecting shaft 6241 opposite to the second bent portion 6242 is connected to the second ball 625. The connection method between the second connecting shaft 6241 and the second ball 625 includes any one of snap-fit, adhesive, or threaded connection. The outer diameter of the second connecting shaft 6241 is smaller than the diameter of the second mounting hole 424 to prevent the second ball 625 from falling out of the second mounting hole 424.

[0068] The second fixed shaft 6243 has a second receiving groove 6244 at one end away from the second bent portion 6242. The second connector 624 is at least partially received in the second receiving groove 6244 and is coaxially connected to the second fixed shaft 6243. The connection between the two can be any one of snap-fit, adhesive, or threaded connection to improve the convenience and flexibility of assembly.

[0069] It should be noted that the second connecting shaft 6241 and the second fixed shaft 6243 are connected by the second bending part 6242 to shorten the stroke of the second connecting member 624, thereby further improving the sensitivity of the second end 420 to move through the second connecting member 624, and thus improving the sensitivity of the brow bone 400 movement.

[0070] In addition, this application also provides a robot that includes the eyebrow module from any of the above embodiments.

[0071] It should be noted that the robot provided in this application has the structure of the eyebrow module in any of the above embodiments and the beneficial effects thereof, which will not be described in detail here.

[0072] In all examples shown and described herein, any specific values ​​should be interpreted as merely exemplary and not as limitations; therefore, other examples of exemplary embodiments may have different values.

[0073] It should be noted that similar labels and letters in the following figures indicate similar items. Therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures.

[0074] The embodiments described above are merely illustrative of several implementation methods of this application, and while the descriptions are specific and detailed, they should not be construed as limiting the scope of this application. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these modifications and improvements all fall within the protection scope of this application.

Claims

1. An eyebrow module, characterized in that, include: Frame; The brow bone is spaced apart from the frame and has a first end and a second end that are opposite to each other. A first transmission component is disposed on one side of the frame. The first transmission component has a first connecting end and a second connecting end. The first connecting end is rotatably connected to the frame, and the second connecting end is movably connected to the first end. The second transmission assembly is disposed on the side of the frame away from the first transmission assembly. The second transmission assembly has a third connecting end and a fourth connecting end. The third connecting end is rotatably connected to the frame, and the fourth connecting end is movably connected to the second end.

2. The eyebrow module according to claim 1, characterized in that, The eyebrow module also includes a first servo motor, which is connected to the frame. The first transmission assembly includes a first transmission component and a second transmission component. One end of the first transmission component is connected to the first servo motor, and the other end of the first transmission component is rotatably connected to the second transmission component. The second transmission component has a first connecting end and a second connecting end arranged opposite to each other.

3. The eyebrow module according to claim 2, characterized in that, The second transmission component includes a first transmission arm, a first connector, and a first ball. One end of the first transmission arm is connected to the first connector, and the end of the first transmission arm facing away from the first connector is the first connection end. The first ball is connected to the end of the first connector facing away from the first transmission arm to form the second connection end.

4. The eyebrow module according to claim 3, characterized in that, The first end includes a first base and a first limiting member connected to each other. The first base defines a first mounting groove, and the first limiting member has a through first mounting hole. The first mounting groove communicates with the first mounting hole to form a first mounting space, and the first sphere is received in the first mounting space.

5. The eyebrow module according to claim 4, characterized in that, The diameter of the first mounting hole gradually decreases from the side closer to the first base to the side farther away from the first base, and the diameter of the end of the first limiting member away from the first base is smaller than the diameter of the first sphere.

6. The eyebrow module according to claim 4, characterized in that, The first connector includes a first connecting shaft, a first bent portion, and a first fixed shaft. The first connecting shaft is connected to one end of the first bent portion, and the first fixed shaft is connected to the other end of the first bent portion. The end of the first connecting shaft facing away from the first bent portion is connected to the first ball. The outer diameter of the first connecting shaft is smaller than the diameter of the first mounting hole. The first fixed shaft has a first receiving groove at one end away from the first bent portion, and the first connecting member is at least partially received in the first receiving groove.

7. The eyebrow module according to any one of claims 3 to 6, characterized in that, The first transmission component includes a first swing arm and a first transmission rod. One end of the first swing arm is fixedly connected to the output end of the first servo motor. One end of the first transmission rod is rotatably connected to the end of the first swing arm opposite to the first servo motor. The other end of the first transmission rod is rotatably connected to the first transmission arm.

8. The eyebrow module according to claim 1, characterized in that, The eyebrow module also includes a second servo motor, which is connected to the frame. The second transmission assembly includes a third transmission member and a fourth transmission member. One end of the third transmission member is connected to the second servo motor, and the other end of the third transmission member is rotatably connected to the fourth transmission member. The fourth transmission member has the third connection end and the fourth connection end arranged opposite to each other.

9. The eyebrow module according to claim 8, characterized in that, The fourth transmission component includes a second transmission arm, a second connector, and a second ball. One end of the second transmission arm is connected to the second connector, and the end of the second transmission arm facing away from the second connector is the third connection end. The second ball is connected to the end of the second connector facing away from the second transmission arm to form the fourth connection end.

10. The eyebrow module according to claim 9, characterized in that, The second end includes a second seat and a second limiting member connected to each other. The second seat defines a second mounting groove, and the second limiting member has a through second mounting hole. The second mounting groove and the second mounting hole communicate to form a second mounting space, and the second sphere is received in the second mounting space.

11. The eyebrow module according to claim 10, characterized in that, The diameter of the second mounting hole gradually decreases from the side closer to the second base to the side farther away from the second base, and the diameter of the end of the second limiting member away from the second base is smaller than the diameter of the second sphere.

12. The eyebrow module according to claim 10, characterized in that, The third transmission component includes a second swing arm and a second transmission rod. One end of the second swing arm is fixedly connected to the output end of the second servo motor. One end of the second transmission rod is rotatably connected to the end of the second swing arm opposite to the second servo motor. The other end of the second transmission rod is rotatably connected to the second transmission arm.

13. The eyebrow module according to any one of claims 10 to 12, characterized in that, The second connector includes a second connecting shaft, a second bent portion, and a second fixed shaft. The second connecting shaft is connected to one end of the second bent portion, and the second fixed shaft is connected to the other end of the second bent portion. The end of the second connecting shaft facing away from the second bent portion is connected to the second ball. The outer diameter of the second connecting shaft is smaller than the diameter of the second mounting hole. The second fixed shaft has a second receiving groove at one end away from the second bent portion, and the second connector is at least partially received in the second receiving groove.

14. A robot, characterized in that, Includes the eyebrow module as described in any one of claims 1 to 13.

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