Robotic head facial expression driving system

Abstract

The application relates to a robot head facial expression driving system, and relates to the technical field of robot head control, in particular to a robot head facial expression driving system, which comprises a head shell, a face skin covering the front face of the head shell, a head support arranged in the head shell, an upper lip support arranged at the back of the upper lip of the face skin, a lower jaw support arranged at the back of the lower jaw of the face skin, and a lip-jaw driving system arranged on the head support and driving the upper lip support and the lower jaw support to move; the lip-jaw driving system comprises a lip-jaw action execution mechanism and a lip-jaw driving motor module; and the lip-jaw driving motor module is drivingly connected with a driving gear.In the application, part of components of the lip-jaw driving system can be shared by the upper jaw and the lower jaw, the driving system of the robot head is reduced, the upper lip can change slightly along with the movement of the lower jaw, and the facial expression of the robot is more natural and rich.

Description

Technical Field

[0001] This invention relates to the field of robot head control technology, and in particular to a robot head and facial expression driving system. Background Technology

[0002] In the field of robot facial expression simulation, in order for robots to simulate a wide range of human facial expressions, it is usually necessary to integrate multiple drive units inside the head shell to control the movement of facial organs such as eyebrows, eyelids, upper lip, jaw and corners of mouth. In traditional solutions, each movable part (such as left eyebrow, right eyebrow, upper eyelid, lower eyelid, upper lip, jaw and left and right corners of mouth) is equipped with an independent drive motor and transmission mechanism.

[0003] However, for small humanoid robots with a height of less than 60cm, the head size is extremely limited. In such a small space, the numerous drive motors and their independent transmission mechanisms are prone to serious spatial conflicts and assembly difficulties, resulting in a crowded internal layout of the head. This not only increases the overall size and weight of the robot, but also greatly limits the miniaturization and lightweight design of the robot. Summary of the Invention

[0004] The purpose of this invention is to provide a robot head and facial expression driving system to solve at least one of the above-mentioned technical problems.

[0005] The technical problem solved by this invention can be achieved by the following technical solutions: A robotic facial expression driving system includes a head shell, a facial skin covering the front of the head shell, and a head support inside the head shell. An upper lip support is located behind the upper lip of the facial skin, and a lower jaw support is located behind the lower jaw of the facial skin. The head support is equipped with a lip and jaw driving system that drives the upper lip and lower jaw supports. The lip and jaw driving system includes a lip and jaw action actuator and a lip and jaw drive motor module. The lip and jaw drive motor module is connected to a drive gear. The lip and jaw action actuator includes an active transmission lever structure, rotatably connected to the head support via a rotating shaft. The active transmission lever structure is inclined from top to bottom and has a driven rack at its upper end that meshes with the drive gear. The active transmission lever structure has a driven rack... A first active lever arm extends from the shaft to the upper end of the active drive lever structure, and a first driven lever arm extends from the shaft to the lower end of the active drive lever structure; a driven drive lever structure is rotatably connected to the head support via a driven shaft, the driven drive lever structure extends from back to front and its rear end is inserted into the first driven lever arm to allow it to be driven by the first driven lever arm; a mandibular component is connected to the end of the first driven lever arm away from the shaft, a mandibular connector is inserted into the front end of the mandibular component, and a mandibular support is fixedly connected to the front of the mandibular connector; an upper lip connector is inserted into the front end of the driven drive lever structure, the front part of the upper lip connector extends forward and downward and is fixedly connected to the upper lip support; the lip and jaw drive motor module is at a height of the head shell that is higher than the height of the eyes.

[0006] Preferably, the head shell has a through-hole at the philtrum position, and the front part of the upper lip connector extends through the philtrum opening and connects to the philtrum position of the face skin.

[0007] Preferably, the length of the first driving arm is greater than the length of the first driven arm, and the rotation radius of the driven rack is greater than the rotation radius of the driving gear.

[0008] Preferably, the lip and jaw drive motor and the lip and jaw reduction gear set of the lip and jaw drive motor module are both located inside a lip and jaw drive housing. The drive shaft extends from the lip and jaw drive housing and is fitted with the drive gear. The drive gear is vertically mounted on the front end area of ​​the side of the lip and jaw drive motor module. The drive gear has teeth arranged at the bottom and no teeth arranged at the top. Furthermore, the outer diameter of the tooth ends of the drive gear is greater than half the height of the lip and jaw drive housing, so that the teeth arranged at the bottom of the drive gear extend beyond the lower part of the lip and jaw drive housing, and ensures that no teeth extend beyond the upper part of the lip and jaw drive housing. The rotation range of the drive gear is limited to the limit rotation state, and no teeth extend beyond the upper part of the lip and jaw drive housing.

[0009] Preferably, the first driven arm is in a "Z" shape and is formed by connecting a first support, a second support, and a third support in sequence; the front end of the third support is connected to the chin piece, the third support extends backward and connects to the lower end of the second support, the upper end of the second support extends backward and upward to the back of the philtrum and connects to the front end of the first support, and the rear end of the first support is connected to the first driven arm.

[0010] Preferably, the first support has an upper opening that extends vertically, and the second support has a lower opening that extends front to back. The upper and lower openings are connected at their lower parts, and the upper part has a columnar connecting portion. The driven transmission lever structure includes a second driving arm located behind the driven shaft and inserted into the first driven arm, and a second driven arm located in front of the driven shaft. The second driving arm has a lip notch with a rearward opening. The lip notch causes the rear end of the second driving arm to form two leg-shaped insertion leg structures. The two insertion legs are respectively inserted into the upper opening and the lower opening, and the connecting portion is inserted into the lip notch.

[0011] Preferably, the first active lever arm is in a "Z" shape and is formed by connecting the fourth support, the fifth support, and the sixth support in sequence; the lower end of the sixth support is connected to the first driven lever arm, the upper end of the sixth support extends backward and upward to a height higher than the nose and then connects to one end of the fifth support, the other end of the fifth support extends to the right and then connects to the lower end of the fourth support, and the upper end of the fourth support is provided with at least three notches, the notches forming the driven rack.

[0012] Preferably, a support plate is provided at the junction of the first active lever arm and the first driven lever arm. The support plate is located above the active transmission lever structure. One side of the support plate is connected to the first active lever arm, and the other side is connected to the first driven lever arm. The support plate is located on the right side of the active transmission lever structure. The driven transmission lever structure includes a second active lever arm located behind the driven shaft and inserted into the first driven lever arm. The second active lever arm is connected to the left side of the first driven lever arm and inserted into the left side of the support plate. The second driven lever arm is located in front of the support plate.

[0013] Preferably, the first driven arm is formed by connecting a first support, a second support, and a third support in sequence to form a "Z"-shaped structure. The rear end of the driven transmission lever structure is inserted into the first corner of the "Z"-shaped structure formed by connecting the first support and the second support. The driven transmission lever structure and the part after the first corner of the first driven arm are vertically spaced apart. The lower part of the head shell is fixedly connected to the maxilla. The lower surface of the maxilla is equipped with upper teeth. The maxilla is provided with a stop for limiting the lowest position of the upper lip support.

[0014] Preferably, the driven transmission lever structure includes a second active lever arm located behind the driven shaft and inserted into the first driven lever arm, and a second driven lever arm located in front of the driven shaft. The second driven lever arm is provided with a receiving cavity, a top opening at the top of the second driven lever arm, and a front opening at the front end face of the second driven lever arm. The front opening and the top opening are both connected to the receiving cavity. The upper lip connector includes a sliding block that matches the shape of the receiving cavity. The sliding block is inserted into the receiving cavity, and the top of the sliding block is provided with an upwardly protruding stop that extends from the top opening.

[0015] Beneficial effects: 1. In this invention, the lip and jaw driving system drives the philtrum to move, which in turn drives the upper lip to move. When the lower jaw moves, the upper lip can simulate the subtle changes that occur in humans as the lower jaw moves, thus making the robot's facial expressions more natural and rich.

[0016] 2. The present invention assembles the lip and jaw drive motor module into a position above the eyes with sufficient space inside the head shell, which can be used in small bionic robots with a height of less than 60cm.

[0017] 3. Some components of the lip and jaw drive system of the present invention can be shared by the upper and lower jaws, which helps to reduce the drive system of the robot head. Attached Figure Description

[0018] Figure 1 This is a schematic diagram of the overall structure of the robot's facial expression driving system according to the present invention; Figure 2 This is a schematic diagram of the structure of the head shell of the robot's facial expression driving system according to the present invention; Figure 3 This is a schematic diagram of the internal structure of the head shell of the robot's facial expression driving system according to the present invention; Figure 4 This is a rear view schematic diagram of the head support structure of the robot's facial expression driving system according to the present invention; Figure 5 This is a partial structural schematic diagram of the robot's facial expression driving system according to the present invention; Figure 6 This is a schematic diagram of the structure of the robot's facial expression driving system according to the present invention; Figure 7 This is a schematic diagram of the lip and jaw drive system of the robot's facial expression drive system of the present invention; Figure 8 This is a schematic diagram of the lip and jaw drive system of the robot's facial expression drive system according to the present invention from another perspective. Figure 9The robot's facial expression driving system of the present invention Figure 5 Exploded view of the middle structure; Figure 10 This is a side view of the driven transmission lever structure of the robot's facial expression driving system according to the present invention; Figure 11 This is a schematic diagram illustrating the eyelid driving system of the robot's facial expression driving system according to the present invention. Figure 12 This is a schematic diagram illustrating the eyebrow driving system of the robot's facial expression driving system according to the present invention. Figure 13 For the present invention Figure 12 A structural diagram from another perspective of the medium structure; Figure 14 This is a schematic diagram illustrating the structure of the eyebrow connector in the robot head and face expression driving system of the present invention. Figure 15 A schematic diagram of the head support structure of the robot facial expression driving system of the present invention; Figure 16 This is a schematic diagram illustrating the structure of the robot's facial expression driving system of the present invention, specifically the corner-of-mouth driving system. Figure 17 This is a schematic diagram illustrating the structure of the mouth corner connector in the robot's facial expression driving system of the present invention.

[0019] In the diagram, 1. Head shell; 1-1. Philtrum opening; 1-2. Maxilla; 1-3. Eye opening; 1-4. Support plate; 2. Head support; 3. Upper lip support; 31. Upper lip connector; 4. Lower jaw support; 41. Lower jaw connector; 42. Lower jaw component; 5. Lip and jaw drive motor module; 51. Drive gear; 6. Lip and jaw action actuator; 61. Driven transmission lever structure; 61-1. First drive arm; 61-2. First driven arm; 62. Rotating shaft; 63. Driven rack; 64. Driven... 64-1. Driven lever structure; 64-2. Second driven lever arm; 64-3. Driven pivot shaft; 65. Upper opening; 66. Lower opening; 67. Lip and jaw notch; 68. Support plate; 610. Top opening; 611. Front opening; 612. Stop; 7. Upper eyelid support; 71. B1 crossbar; 8. Lower eyelid support; 81. B2 crossbar; 9. Eyelid action actuator; 91. Upper eyelid drive lever structure; 92. Lower eyelid drive lever structure; 93. Eyelid pivot shaft; 94. 95. First notch of eyelid; 96. Second notch of eyelid; 97. Upper fixed protrusion; 98. Lower fixed protrusion; 10. Eyelid drive motor module; 101. Rotating component; 101-1. First actuating protrusion of eyelid; 101-2. Second actuating protrusion of eyelid; 11. Eyebrow support component; 111. Eyebrow connector; 12. Eyebrow action actuator; 121. Eyebrow moving rod; 122. Eyebrow driven gear; 123. Eyebrow notch; 124. Eyebrow guide groove; 125. Horizontal rotating shaft; 126. Horizontal rotating component; 27. Eyebrow insert; 128. Eyebrow pivot; 13. Eyebrow drive motor module; 131. Eyebrow drive gear; 14. Mouth corner actuator; 141. Mouth corner moving rod; 142. Rotating frame; 142-1. Shaft frame; 142-2. U-shaped fork; 143. Insert; 144. Mouth corner guide groove; 145. Mouth corner insert; 146. Mouth corner pivot; 147. Mouth corner driven gear; 15. Mouth corner drive motor module; 151. Mouth corner drive gear; 16. Mouth corner support; 161. Mouth corner connector. Detailed Implementation

[0020] To make the technical means, creative features, objectives and effects of the invention easier to understand, the invention will be further explained below with reference to specific illustrations.

[0021] Reference Figure 1 and Figure 2 and Figure 3 The robot's facial expression driving system includes a head shell 1, a face skin covering the front of the head shell 1, and a head support 2 located inside the head shell 1. The face skin has two eyebrows, two upper eyelids, two lower eyelids, an upper lip, a lower jaw, and two corners of the mouth.

[0022] Reference Figures 1-10An upper lip support 3 is provided behind the upper lip of the facial skin, and a lower jaw support 4 is provided behind the lower jaw of the facial skin. The head support 2 is equipped with a lip and jaw drive system that drives the upper lip support 3 and the lower jaw support 4 to move. The lip and jaw drive system includes a lip and jaw drive motor module 5 and a lip and jaw action actuator 6.

[0023] The lip and jaw drive motor module 5 includes a lip and jaw drive motor, a lip and jaw reduction system, and a lip and jaw drive shaft. A drive gear 51 is mounted on the lip and jaw drive shaft. The lip and jaw drive motor and the lip and jaw reduction system are both located inside a lip and jaw drive housing. The lip and jaw drive shaft extends from the lip and jaw drive housing and is fitted with the drive gear 51, thereby protecting this part using the lip and jaw drive housing. The lip and jaw reduction system includes a reduction gear set.

[0024] A drive gear 51 is vertically mounted on the front end of the side of the lip and jaw drive motor module 5. The drive gear 51 has teeth arranged at its lower part and no teeth at its upper part. Furthermore, the outer diameter of the teeth of the drive gear 51 is greater than half the height of the lip and jaw drive housing. This ensures that the teeth arranged at the lower part of the drive gear 51 extend beyond the lower part of the lip and jaw drive housing, while ensuring that no teeth extend beyond the upper part of the lip and jaw drive housing. The rotation range of the drive gear 51 is limited to its maximum rotational state, ensuring that no teeth extend beyond the upper part of the lip and jaw drive housing. The height of the lip and jaw drive motor module 5 on the head housing 1 is higher than the height of the eye.

[0025] The lip and jaw movement actuator 6 includes an active transmission lever structure 61 and a driven transmission lever structure 64 located inside the head shell 1.

[0026] The active transmission lever structure 61 is rotatably connected to the head bracket 2 via a rotating shaft 62. The active transmission lever structure 61 is inclined from top to bottom and has a driven rack 63 at its upper end that meshes with the active gear 51. The active transmission lever structure 61 has a first active force arm 61-1 extending from the rotating shaft 62 to the upper end of the active transmission lever structure 61 and a first driven force arm 61-2 extending from the rotating shaft 62 to the lower end of the active transmission lever structure 61. At both ends of the active transmission lever structure 61 in the length direction, the end with the driven rack 63 is the upper end, and the other end is the lower end of the active transmission lever structure 61. Specifically, the active transmission lever structure 61 has a first active force arm 61-1 extending from the rotating shaft 62 to the driven rack 63, and a first driven force arm 61-2 extending from the rotating shaft 62 to the end away from the driven rack 63. The first active lever arm 61-1 is shaped like a "Z" when viewed from top to bottom, and is formed by connecting the fourth support, the fifth support, and the sixth support in sequence. The lower end of the sixth support is connected to the first driven lever arm 61-2. The upper end of the sixth support extends backward and upward to a height higher than the nose and then connects to one end of the fifth support. The other end of the fifth support extends to the right and then connects to the lower end of the fourth support. The upper end of the fourth support is provided with at least three notches, which form a driven rack 63.

[0027] The first driven arm 61-2 is formed by connecting the first support, the second support, and the third support in sequence to form a "Z" shape. The rear end of the driven transmission lever structure 64 is inserted into the first corner of the "Z" shape formed by the connection of the first support and the second support. The first corner is the turning point formed by the connection of the first support and the second support. The driven transmission lever structure 64 and the part after the first corner of the first driven arm 61-2 are vertically separated. Specifically, the first driven arm 61-2 is "Z" shaped when viewed from left to right and is formed by connecting the first support, the second support, and the third support in sequence. The front end of the third support is located below the height of the nose. The front end of the third support is connected to the chin piece 42. The front end of the chin piece 42 is connected to the chin insertion piece 41. The front end of the chin insertion piece 41 is fixedly connected to the chin support piece 4. The third support extends backward and connects to the lower end of the second support. The upper end of the second support extends backward and upward to the back of the philtrum and connects to the front end of the first support. The rear end of the first support is connected to the first active power arm 61-1. The first driven arm 61-2 is designed in a "Z" shape, and the rear end of the driven transmission lever structure 64 is inserted into the first corner of the "Z" shape in the first driven arm 61-2, that is, the turning point formed by the connection between the first support and the second support. This design allows the first driven arm 61-2 of the active transmission lever structure 61 to extend from top to bottom, while allowing the driven transmission lever structure 64 and the part after the first corner of the first driven arm 61-2 to be vertically separated, which facilitates the layout between the driven transmission lever structure 64 and the first driven arm 61-2 and improves the space utilization of the head shell.

[0028] Preferably, the length of the first driving arm 61-1 is greater than the length of the first driven arm 61-2, and the rotation radius of the driven rack 63 is greater than the rotation radius of the driving gear 51, forming a reduction gear relationship. Preferably, the extension directions of the fourth support and the sixth support are parallel to each other, and the width of the fourth support and the sixth support gradually increases from top to bottom.

[0029] The driven transmission lever structure 64 is rotatably connected to the head support 2 via the driven shaft 65. The driven transmission lever structure 64 extends from rear to front and its rear end is inserted into the first driven arm 61-2 to allow it to be driven by the first driven arm 61-2. An upper lip connector 31 is inserted into the front end of the driven transmission lever structure 64. The front part of the upper lip connector 31 extends forward and downward and is fixedly connected to the upper lip support 3. Specifically, the driven transmission lever structure 64 includes a second driving arm 64-1 located behind the driven shaft 65 and inserted into the first driven arm 61-2, and a second driven arm 64-2 located in front of the driven shaft 65. The first driven arm 61-2 drives and inserts into the second driving arm 64-1. The upper lip connector 31 is inserted into the second driving arm 64-1, and the front part of the upper lip connector 31 is partially or completely embedded in the philtrum of the face. Of course, the front part of the upper lip connector 31 can also be connected to the upper lip support 3 embedded in the philtrum of the face.

[0030] The first support has an upper opening 66 that runs vertically through it, and the second support has a lower opening 67 that runs front to back through it. The upper openings 66 and 67 are connected at the bottom, and the upper parts have a columnar connecting part. The second active lever arm 64-1 has a lip notch 68 with a rearward opening. The lip notch 68 causes the rear end of the second active lever arm 64-1 to form two leg-like plug-in leg structures. The two plug-in legs are respectively inserted into the upper opening 66 and the lower opening 67, and the connecting part is inserted into the lip notch 68. There are gaps between the plug-in legs and the upper openings 66 and 67, so that there is room for free movement between the driven transmission lever structure 64 and the active transmission lever structure 61. The depth to which the plug-in legs are inserted into the upper openings 66 and 67 is such that they do not come out when the active transmission lever structure 61 drives the driven transmission lever structure 64 to tilt around the driven rotating shaft 65. The driven rotating shaft 65 is located in front of the rotating shaft 62.

[0031] In this invention, a columnar connecting portion is formed at the connection between the first and second supports of the first driven arm 61-2. The second active driven arm 64-1 has a rearward-facing lip notch 68, allowing the two insert legs formed by the lip notch 68 to slide along the length of the columnar connecting portion and to rotate within the columnar connecting portion. This allows the driven transmission lever structure 64 to rotate slightly along the columnar connecting portion and has a certain amount of room for movement in the front-rear direction. The driven transmission lever structure 64 is inserted into the upper lip insert 31, and the front part of the upper lip insert 31 has an upper part extending forward and downward. The lip support 3 enables the driven transmission lever structure 64 to drive the philtrum to pull the upper lip, and the upper jaw and upper lip are driven synchronously, which in turn drives the corresponding muscle core, so that the movement of the lower lip muscles matches that of the upper lip. By designing the first driven arm 61-2 in a "Z" shape, the rotation ratio of the lower jaw to the driven transmission lever structure 64 is adjusted to find a suitable range of motion for the upper lip, and the length relationship of the first driven arm 61-2 is formed so that the upper lip forms a reasonable range when opening and closing the mouth, thereby more accurately simulating the subtle undulations, bulges or tensions of the philtrum that are unique to human speech and facial expressions.

[0032] Preferably, the second driven arm 64-2 is square-shaped and has a receiving cavity. The top of the second driven arm 64-2 has a top opening 610, and the front end face of the second driven arm 64-2 has a front opening 611. Both the front opening 611 and the top opening 610 communicate with the receiving cavity. The upper lip connector 31 includes a sliding block that matches the shape of the receiving cavity. The sliding block is inserted into the receiving cavity, and the top of the sliding block has an upwardly protruding stop 612 that extends from the top opening 610. The front end face of the upper lip connector 31 is connected to an upper lip support 3. Specifically, the front end face of the sliding block has a connecting plate extending forward and downward. The bottom of the connecting plate has an upper lip support 3, the width of which is greater than the width of the connecting plate, so that both ends of the upper lip support 3 protrude from the sides of the connecting plate. The connecting plate has a through-hole, allowing for better connection of the faceplate. A gap is provided between the sliding block and the receiving cavity, so that after the upper lip connector 31 is inserted into the second driven arm 64-2, it still has a certain degree of freedom of movement; the stop block is used to restrict the upper lip connector 31 from dislodging from the second driven arm 64-2; the connection between the sliding block and the connecting plate is provided with an outward flange to limit the insertion depth of the sliding block.

[0033] The head shell 1 has a through-and-through philtrum opening 1-1 at the philtrum position. The front part of the upper lip connector 31 extends through the philtrum opening 1-1 and connects to the philtrum position of the facial skin. Specifically, the head shell 1 includes a posterior skull shell located at the rear and a facial shell located at the front. The facial shell has a through-and-through philtrum opening 1-1 at the philtrum position. The second power arm 64-2 is inserted into the philtrum opening 1-1. The front part of the upper lip connector 31 extends out from the philtrum opening 1-1 and is partially or completely embedded into the facial skin covering the head shell 1, with the embedding position at the philtrum position.

[0034] The lip and jaw driving system of the present invention can drive only the upper lip support 3 to move up and down. Alternatively, and preferably, the end of the first driven arm 61-2 away from the rotating shaft 62 is connected to the lower jaw member 42. In this way, the lip and jaw driving system of the present invention can drive the upper lip support 3 and the lower jaw support 4 simultaneously. By designing the rear end of the driven transmission lever structure 64 to be inserted into the first driven arm 61-2 of the active transmission lever structure 61 to allow it to be driven by the first driven arm 61-2, when the first driven arm 61-2 drives the lower jaw support 4 to move, it drives the driven transmission lever structure 64 to move, so that the philtrum position of the facial skin connected to the driven transmission lever structure 64 pulls the upper lip to move, so that when the mouth is opened and closed, the upper lip forms a reasonable range of motion, making the movement of the lower jaw support 4 more coordinated, simulating the subtle undulations, bulges, or tension of the philtrum unique to human speech and facial expressions, while reducing the number of drive systems in the robot head.

[0035] Preferably, the active transmission lever structure 61 is provided with a limiting plate, which limits the second active force arm 64-1 of the driven transmission lever structure 64 to the left side of the limiting plate. Preferably, a support plate 69 is provided at the junction of the first active force arm 61-1 and the first driven force arm 61-2. The support plate 69 is located above the active transmission lever structure 61, with one side of the support plate 69 connected to the first active force arm 61-1 and the other side connected to the first driven force arm 61-2. The support plate 69 is located on the right side of the active transmission lever structure 61. The support plate 69 serves as a limiting plate for the upper lip connector 31.

[0036] Preferably, the lower part of the head shell 1 is fixedly connected to the maxilla 1-2, the maxilla 1-2 is located below the philtrum opening 1-1, the upper teeth are mounted on the lower surface of the maxilla 1-2, and the maxilla 1-2 is provided with a stop for limiting the lowest position of the upper lip support 3.

[0037] Preferably, the overall structure formed by the connection of the second active power arm 64-1 and the second driven power arm 64-2 is shaped like a "┗" when viewed from above. The second active power arm 64-1 is directly opposite the left side of the second driven power arm 64-2, wherein the second active power arm 64-1 vacates the space on the right side while connecting with the first driven power arm 61-2 located on the opposite left side, and the second driven power arm 64-2 delivers the upper lip connector 31 to the connection point located in the center.

[0038] Preferably, the back of the face skin also has a flexible upper lip support to support the shape of the upper lip. The flexible upper lip support has an upper lip cavity to accommodate the upper lip support 3. Each upper lip cavity has an upper lip opening at the back. The upper lip support 3 is fixed by the upper lip opening and is used for the upper lip connector 31 to be inserted after it passes through, leaving an outlet.

[0039] Preferably, the posterior part of the facial skin also includes a flexible mandibular support to support the shape of the mandible. The flexible mandibular support has a mandibular cavity to accommodate the mandibular support member 4, and each mandibular cavity has a mandibular opening at its rear. The mandibular support member 4 is fixed in place by the mandibular opening, and an outlet is left for the mandibular connector 41 to pass through and be inserted. Specifically, the mandibular support member 4 includes a lower lip block supporting the lower lip and a mandibular block supporting the mandible. The anterior parts of the upper lip block and the mandibular block have a labiomaxillary groove to conform to the curves of the lower lip and mandible of the human face.

[0040] like Figure 1 and Figure 2 and Figure 3 and Figure 4 and Figure 5 and Figure 6 and Figure 11 The face skin has upper eyelid support members 7 behind the two upper eyelids, and the two upper eyelid support members 7 are fixedly connected by a B1 crossbar 71. The face skin has lower eyelid support members 8 behind the two lower eyelids, and the two lower eyelid support members 8 are fixedly connected by a B2 crossbar 81. The B2 crossbar 81 is located below the B1 crossbar 71. The head support 2 is equipped with an eyelid driving system that simultaneously drives the upper eyelid support members 7 and the lower eyelid support members 8. The eyelid driving system includes an eyelid action actuator 9 and an eyelid drive motor module 10.

[0041] The eyelid drive motor module 10 includes an eyelid drive motor, an eyelid reduction system, and an eyelid drive shaft. A rotating component 101 is mounted on the eyelid drive shaft. The eyelid reduction system includes a reduction gear set. Both the eyelid drive motor and the eyelid reduction system are located within an eyelid drive housing. The eyelid drive shaft extends from the eyelid drive housing and is fitted with the rotating component 101, thereby protecting this part using the eyelid drive housing. Specifically, the eyelid drive housing is flat, and its thickness is set along the front-to-back direction.

[0042] Above and below the rotation axis of the rotating component 101, there are respectively a first eyelid actuating protrusion 101-1 and a second eyelid actuating protrusion 101-2 facing the same side.

[0043] The eyelid action actuator 9 includes an upper eyelid transmission lever structure 91 and a lower eyelid transmission lever structure 92. The upper eyelid transmission lever structure 91 is fixed behind the B1 crossbar 71, and the lower eyelid transmission lever structure 92 is fixed behind the B2 crossbar 81. The upper eyelid transmission lever structure 91 and the lower eyelid transmission lever structure 92 are arranged side by side in a transverse direction. The upper eyelid transmission lever structure 91 and the lower eyelid transmission lever structure 92 are rotatably connected to the head support 2 via a transverse eyelid pivot 93. Specifically, the upper eyelid transmission lever structure 91 and the lower eyelid transmission lever structure 92 are located behind one side of the B1 crossbar 71.

[0044] The upper eyelid transmission lever structure 91 has a first eyelid notch 94 with its opening facing backward, and the lower eyelid transmission lever structure 92 has a second eyelid notch 95 with its opening facing backward. The first eyelid actuating protrusion 101-1 is inserted into the first eyelid notch 94, and the second eyelid actuating protrusion 101-2 is inserted into the second eyelid notch 95, so as to form a motion coordination mechanism in which the first eyelid actuating protrusion 101-1 and the second eyelid actuating protrusion 101-2 respectively actuate the upper eyelid transmission lever structure 91 and the lower eyelid transmission lever structure 92 to rotate in opposite directions around the eyelid rotation axis 93.

[0045] The first actuating protrusion 101-1 of the eyelid is slidably inserted into the first notch 94 of the eyelid, and the length of the first notch 94 at least covers the sliding distance of the first actuating protrusion 101-1 within the first notch 94 of the eyelid during the opening and closing of the upper eyelid. The second actuating protrusion 101-2 of the eyelid is slidably inserted into the second notch 95 of the eyelid, and the length of the second notch 95 at least covers the sliding distance of the second actuating protrusion 101-2 within the second notch 95 of the eyelid during the opening and closing of the lower eyelid. Furthermore, the depth to which the first actuating protrusion 101-1 is inserted into the first notch 94 of the eyelid is such that it does not dislodge during the rotation of the upper eyelid transmission lever structure 91 by the rotating member 101 around the eyelid pivot 93. The depth to which the second actuating protrusion 101-2 is inserted into the second notch 95 of the eyelid is such that it does not dislodge during the rotation of the lower eyelid transmission lever structure 92 by the rotating member 101 around the eyelid pivot 93.

[0046] Preferably, the eyelid drive motor module 10, the rotating component 101, the first eyelid actuation protrusion 101-1, and the second eyelid actuation protrusion 101-2 are all located behind the B1 crossbar 71 and the B2 crossbar 81, and the overall transverse span of the eyelid drive motor module 10, the rotating component 101, the first eyelid actuation protrusion 101-1, and the second eyelid actuation protrusion 101-2 is smaller than the overall transverse span of the two upper eyelid support components 7. Therefore, when viewed from the front, the eyelid drive system is completely obscured by the upper eyelid support components 7 and the B1 crossbar 71, and does not protrude additionally to the sides of the head, thus avoiding interference with the inner wall of the head shell 1. This allows the robot head to maintain the narrowest possible transverse dimension. Simultaneously, by utilizing the space behind the upper eyelid support components 7 and the lower eyelid support components 8, the components are prevented from being stacked on one side, thereby maximizing the compression of the head thickness and allowing for a thinner head shell design and a more compact overall shape.

[0047] The upper eyelid transmission lever structure 91, B1 crossbar 71 and two upper eyelid support members 7 adopt an integral molding structure to form an upper eyelid driving structure for the two upper eyelids driving the face. The lower eyelid transmission lever structure 92, B2 crossbar 81 and two lower eyelid support members 8 adopt an integral molding structure to form a lower eyelid driving structure for the two lower eyelids driving the face.

[0048] Behind the face skin, there are also flexible upper eyelid supports and lower eyelid supports to support the shape of the upper and lower eyelids; the upper eyelid supports and lower eyelid supports are both integrally formed with the face skin; the upper eyelid supports have an upper eyelid cavity that wraps the upper eyelid support member 7, and an upper eyelid closure at the rear; the upper eyelid support member 7 is located in the upper eyelid cavity, and is fixed by the upper eyelid closure, and is inserted through the upper eyelid transmission lever structure 91, leaving an outlet; the lower eyelid supports have a lower eyelid cavity that wraps the lower eyelid support member 8, and are both provided with a lower eyelid closure at the rear; the lower eyelid support member 8 is located in the lower eyelid cavity, and is fixed by the lower eyelid closure, and is inserted through the lower eyelid transmission lever structure 92, leaving an outlet.

[0049] The upper eyelid support 7 has a forward-protruding upper fixing protrusion 96 above it; the upper end of the upper fixing protrusion 96 extends upward to the rear of the eyebrow area, and the upper fixing protrusion 96 is located in the cavity of the upper eyelid cavity; the upper eyelid support 7 has a forward-protruding arc surface, and the upper fixing protrusion 96 has a backward-concave arc surface in front of it, so as to fix the two upper eyelids of the face skin with the convex arc surface and the concave arc surface.

[0050] The lower eyelid support member 8 has a forward-protruding lower fixing protrusion 97 at its lower end, which extends downward to the back of the cheekbone area. The lower fixing protrusion 97 is located in the cavity of the lower eyelid cavity. The lower eyelid support member 8 has a forward-protruding arc surface, and the lower fixing protrusion 97 has a backward-concave arc surface in front of it. The two lower eyelid flexible supports are fixed by the convex and concave arc surfaces.

[0051] Specifically, a wavy protrusion is provided above the two upper fixed protrusions 96, and the two upper eyelid flexible supports of the face skin wrap around the wavy protrusions of the upper fixed protrusions 96 to fix and connect the two upper fixed protrusions 96. A wavy protrusion is provided below the two lower fixed protrusions 97, and the two lower eyelid flexible supports of the face skin wrap around the wavy protrusions of the lower fixed protrusions 97 to fix and connect the two lower fixed protrusions 97.

[0052] The upper and lower eyelids of a real human face are not simply flat surfaces, but rather three-dimensional curved surfaces that gradually transition from the eyelid edge to the eyebrow or cheekbone. This invention allows the upper eyelid of the facial skin to naturally exhibit a three-dimensional bulge from the eyelid to the eyebrow area, and the lower eyelid to form a natural transition from the eyelid to the cheekbone, thereby making the robot's eyes appear more three-dimensional. Furthermore, when the upper and lower eyelids move, the eye area of ​​the facial skin is stretched due to the support of the convex and concave curved surfaces, further enhancing the facial expression simulation of the small robotic body. The undulating contour of the wavy protrusions allows the facial skin material to be embedded in the valleys of these wavy protrusions during injection molding or bonding, significantly increasing the contact area between the eyelids of the facial skin and the upper fixed protrusion 96 and the lower fixed protrusion 97, thus ensuring a firm connection even when the eyelids of the facial skin are repeatedly stretched.

[0053] The head shell 1 has an integrated eye opening 1-3 at the upper part of the bridge of the nose. The eye opening 1-3 includes two openings, a left opening and a right opening, for accommodating the eye structure. The left opening and the right opening are connected by a connecting opening to form an integrated eye opening 1-3. The upper part of the bridge of the nose of the face shell has an upwardly extending support piece 1-4, which is inserted into the lower part of the connecting opening. The upper eyelid support piece 7 and the lower eyelid support piece 8 are embedded in the face skin, while the B1 crossbar 71 and the B2 crossbar 81 are exposed. In the assembled state, the support piece 1-4 is inserted into the gap in front of the B1 crossbar 71 and the B2 crossbar 81 and behind the face skin.

[0054] The eyelid drive motor module 10 can simultaneously drive the upper eyelid support 7 and the lower eyelid support 7. By designing the first actuating protrusion 101-1 on the rotating component 101 to insert into the first eyelid notch 94 and the second actuating protrusion 101-2 to insert into the second eyelid notch 95, the upper eyelid transmission lever structure 91 and the lower eyelid transmission lever structure 92 are allowed to be actuated by the rotating component 101. This allows the first actuating protrusion 101-1 and the second actuating protrusion 101-2 to drive the upper eyelid transmission lever structure 91 and the lower eyelid transmission lever structure 92 to swing in opposite directions around the eyelid axis 93 when the rotating component 101 rotates. The upper eyelid support component 7 and the lower eyelid support component 8 move in opposite directions, simulating the natural movement of the eyelids when a real person opens and closes their eyes. At the same time, the upper eyelid support component 7 and the lower eyelid support component 8 directly or indirectly support and connect the upper and lower eyelid areas of the face, respectively. When the upper eyelid support component 7 and the lower eyelid support component 8 move in opposite directions, they cause the entire eye area of ​​the face to undergo a coordinated deformation. This makes the robot's eye expressions no longer limited to the simple opening and closing of the eyelid boundaries, but presents a movement effect similar to the coordinated movement of the eye muscle groups in a real person. This further enhances the anthropomorphism of the small body robot when the user interacts with the robot.

[0055] like Figure 1 and Figure 2 and Figure 3 and Figure 4 and Figure 5 and Figure 6 and Figure 12 and Figure 13 and Figure 14 and Figure 15 The face has two eyebrow supports 11 behind each eyebrow, and the head support 2 is equipped with an eyebrow drive system that drives the eyebrow supports 11 to move. The eyebrow drive system includes an eyebrow action actuator 12 and an eyebrow drive motor module 13.

[0056] The eyebrow drive motor module 13 includes an eyebrow drive motor, an eyebrow reduction system, and an eyebrow drive shaft. The eyebrow drive motor is connected to the eyebrow drive shaft through the eyebrow reduction system. An eyebrow drive gear 131 is mounted on the eyebrow drive shaft. The eyebrow reduction system includes a reduction gear set.

[0057] The eyebrow drive motor and eyebrow reduction system of the eyebrow drive motor module 13 are both located inside an eyebrow drive housing. The eyebrow drive shaft extends from the eyebrow drive housing and is fitted with the eyebrow drive gear 131, thereby protecting this part using the eyebrow drive housing.

[0058] The eyebrow drive motor module 13 is equipped with an eyebrow drive gear 131 on the front side. A rack is arranged on the lower inner side of the eyebrow drive gear 131, but there is no rack on the upper outer side. The outer side of the eyebrow drive gear 131 is close to the head shell 1, but the eyebrow drive gear 131 does not contact the head shell 1.

[0059] The eyebrow movement actuator 12 includes an eyebrow driven gear 122 and an eyebrow moving rod 121. The eyebrow driven gear 122 is rotatably connected to the head support 2 via an eyebrow pivot. The eyebrow driven gear 122 is positioned slightly inward and below the eyebrow drive gear 131. The outer side of the eyebrow driven gear 122 has a rack that meshes with the eyebrow drive gear 131, while the inner side of the eyebrow driven gear 122 does not have a rack. The rack range of both the eyebrow drive gear 131 and the eyebrow driven gear 122 is less than 90 degrees. The radius of the eyebrow driven gear 122 is larger than the radius of the eyebrow drive gear 131, forming a reduction gear engagement. The rotation range of the eyebrow drive gear 131 and the eyebrow driven gear 122 is limited to the meshing range, ensuring that the movement amplitude of the eyebrow support member 11 is limited to a preset range of motion.

[0060] The rear end of the eyebrow movable rod 121 is connected to the head support 2 via a movable joint having left-right rotational freedom and up-down rotational freedom; the front end of the eyebrow movable rod 121 is connected to the rear of the eyebrow support member 11; the eyebrow driven gear 122 has an eyebrow notch 123, and the eyebrow movable rod 121 is inserted into the eyebrow notch 123; thus forming a drive mechanism for the eyebrow driven gear 122 to move the movable member.

[0061] The head support 2 is provided with an arc-shaped eyebrow guide groove 124, with the area between the two eyebrows as the inner side and the arc-shaped convex side of the eyebrow guide groove 124 facing outward. The eyebrow movable rod 121 is inserted into the eyebrow guide groove 124, forming a sliding connection with the eyebrow guide groove 124 as the track. This forms a drive system where the eyebrow drive motor module 13 drives the eyebrow driven gear 122, which in turn moves the eyebrow movable rod 121 along the arc-shaped trajectory of the eyebrow guide groove 124, driving the eyebrow support member 11 and thus the movement of the facial eyebrows. By employing a toggle-type structure with the eyebrow guide groove 124 and the eyebrow driven gear 122 working together, combined with the eyebrow movable rod 121, the eyebrow support member 11 moves along the arc-shaped trajectory of the eyebrow guide groove 124, thereby causing the facial skin to exhibit realistic twisting and bending deformations, simulating bionic eyebrow movements and expressions, and improving the naturalness and vividness of the robot's facial expressions.

[0062] Preferably, the rear end of the eyebrow motion lever 121 is rotatably connected to a left-right horizontal rotating component 126 via a left-right horizontal rotating shaft 125, allowing the eyebrow motion lever 121 to have the freedom of vertical rotation. The horizontal rotating component 126 is rotatably connected to the head support 2 via a right-left vertical rotating shaft, allowing the eyebrow motion lever 121 to have the freedom of left-right rotation. Each eyebrow is equipped with an eyebrow motion actuator 12, and the left and right eyebrows can be driven independently, enabling asymmetrical micro-expression movements, enriching the subtlety and realism of the robot's expressions. The horizontal rotating components 126 of the two eyebrow motion actuators 12 are coaxially connected to the head support 2, compressing the lateral space occupied by the eyebrow motion actuators 12 and making them more compact.

[0063] Preferably, an eyebrow connector 111 is fixed at the rear of the eyebrow support 11. The rear end of the eyebrow connector 111 adopts an eyebrow plug with a polygonal columnar structure. The front end of the eyebrow movable rod 121 has an eyebrow socket 127 that mates with the eyebrow plug. The eyebrow plug is slidably inserted into the eyebrow socket 127. Specifically, the eyebrow connector 111 has an exposed section. The middle of the exposed section is provided with an eyebrow through hole that runs through the left and right directions of the exposed section, forming a flexible linkage relationship between the front end of the eyebrow movable rod 121 and the eyebrow support block.

[0064] Preferably, the back of the face skin also has a flexible eyebrow support that supports the eyebrow shape; the flexible eyebrow support has a silicone material outline integrally formed on the back of the face skin; the flexible eyebrow support has an eyebrow cavity, which has an eyebrow cavity that encloses the eyebrow support member 11, and has an eyebrow closing opening at the rear; the eyebrow support member 11 is located in the eyebrow cavity, and the eyebrow support member 11 is fixed by the eyebrow closing opening, and leaves an outlet for the eyebrow insertion member 111 to be inserted after it passes through.

[0065] Preferably, the eyebrow drive housing is flat, and the flat sides of the two eyebrow drive housings are opposite each other; the two eyebrows are equipped with two eyebrow action actuators 12 and eyebrow drive motor modules 13, and the two eyebrow drive housings are arranged in a figure-eight shape with a narrower top and a wider bottom on the head support 2, with the outer upper end of the eyebrow drive housing and the outer lower end of the eyebrow drive housing both attached to the head housing 1.

[0066] The eyebrow driven gears 122 of the two eyebrow drive systems are adjacent on their inner sides and arranged separately; the racks of both eyebrow driven gears 122 are located on their outer sides, while the adjacent inner sides do not have racks; the distance between the eyebrow rotation shafts 128 of the two eyebrow driven gears 122 is less than twice the distance from the eyebrow rotation shaft 128 to the tooth tip. Specifically, by setting two mirror-symmetrically arranged eyebrow drive systems, each independently drives the eyebrow support members 11 on the left and right sides, enabling the left and right eyebrows to perform independent movements, realizing complex micro-expressions such as unilateral eyebrow raising and asymmetrical frowning, enriching the expressiveness of the robot's facial expressions. At the same time, while ensuring that their independent movements do not interfere with each other, the two eyebrow drive systems minimize the lateral distance between them, making the overall structure compact and making full use of the limited space inside the robot's head.

[0067] like Figure 1 and Figure 2 and Figure 3 and Figure 4 and Figure 5 and Figure 6 and Figure 15 and Figure 16 and Figure 17 Mouth corner support 16 is provided behind each of the two corners of the mouth on the face skin. The head support 2 is equipped with a mouth corner drive system that drives the mouth corner support 16 to move. The mouth corner drive system includes a mouth corner action actuator 14 and a mouth corner drive motor module 15.

[0068] The corner of the mouth drive motor module 15 includes a corner of the mouth drive motor, a corner of the mouth reduction system, and a corner of the mouth drive shaft. The corner of the mouth drive motor is connected to the corner of the mouth drive shaft through the corner of the mouth reduction system. A corner of the mouth drive shaft is equipped with a corner of the mouth drive gear 151. The corner of the mouth reduction system includes a reduction gear set.

[0069] The corner of the mouth drive motor and the corner of the mouth reduction system of the corner of the mouth drive motor module 15 are both located inside a corner of the mouth drive housing. The corner of the mouth drive shaft extends from the corner of the mouth drive housing and is fitted with the corner of the mouth drive gear 151, thereby protecting this part by using the corner of the mouth drive housing.

[0070] The corner of the mouth drive motor module 15 is equipped with a corner of the mouth drive gear 151 on the front side. The corner of the mouth drive gear 151 has a rack arranged on the lower outer side and no rack on the upper inner side.

[0071] The mouth corner movement actuator 14 includes a mouth corner movable rod 141 and a rotating frame 142. The front end of the mouth corner movable rod 141 is connected to the mouth corner support 16, and the rear end of the mouth corner movable rod 141 is connected to the head support 2 through a movable joint with left and right rotation freedom and up and down rotation freedom.

[0072] Specifically, the movable joint is a cross joint; a mouth corner connector 161 is fixed at the rear of the mouth corner support 16. The rear end of the mouth corner connector 161 adopts a polygonal columnar structure mouth corner plug. The front end of the mouth corner movable rod 141 has a mouth corner socket 145 that mates with the mouth corner plug. The mouth corner plug is slidably inserted into the mouth corner socket 145. When the face skin is stretched, the mouth corner support 16 can slide back and forth slightly along the front end of the mouth corner movable rod 141 to avoid the face skin from being stretched too much, causing the robot's expression to be unnatural.

[0073] The corner-of-the-mouth connector 161 has an exposed section, and a through hole for the corner of the mouth is provided in the middle of the exposed section in the left and right directions, forming a flexible linkage between the front end of the corner-of-the-mouth moving rod 141 and the corner-of-the-mouth support 16. Specifically, it improves the flexibility of left and right twisting and restricts the flexibility in the up and down direction, making it easier for the corner of the mouth to move gently in the left and right directions, avoiding stiffness, and simulating the movement of muscles.

[0074] Preferably, the exposed section bends towards the mouth to adapt to the external contour of the corners of the human face that narrows inward or towards the mouth, in conjunction with the facial skin in this patent application for reproduction, and while giving as much space as possible to the mouth corner movement actuator, leaving space in the front for the simulation reproduction of the facial contour.

[0075] The rotating frame 142 includes a shaft frame 142-1 extending in the front-rear direction. The shaft frame 142-1 is connected to the head support 2 via a corner pivot 146. The rear end of the shaft frame 142-1 is connected to a corner driven gear 147 that meshes with the corner drive gear 151. A U-shaped fork 142-2 is integrally formed on the inner side of the front end of the shaft frame 142-1. The U-shaped fork 142-2 has an inlet 143 that opens inward. The corner movable rod 141 is inserted into the inlet 143, forming a drive mechanism in which the rotating frame 142 moves the corner movable rod 141, thereby moving the corner support 16. The head support 2 is provided with an arc-shaped mouth corner guide groove 144. The arc-shaped outward convex side of the mouth corner guide groove 144 faces the mouth corner. The mouth corner movable rod 141 is inserted into the mouth corner guide groove 144, forming a sliding connection with the mouth corner guide groove 144 as the track. This forms a mouth corner drive system in which the mouth corner drive motor module 15 drives the rotating frame 142, and the rotating frame 142 moves the mouth corner movable rod 141 along the arc-shaped trajectory of the mouth corner guide groove 144 to drive the mouth corner support 16, thereby moving the mouth corner of the simulated face skin.

[0076] Preferably, the corner-of-the-mouth driven gear 147 has a rack on its inner side but not on its outer side; the corner-of-the-mouth driven gear 147 is positioned below and slightly outward of the corner-of-the-mouth driving gear 151; the outer side of the corner-of-the-mouth driven gear 147 is close to the head shell 1, and the rack range of the corner-of-the-mouth driven gear 147 is limited to its rotation range, without the rack contacting the head shell 1; the rack range of the corner-of-the-mouth driven gear 147 is less than 90 degrees, and the radius of the corner-of-the-mouth driven gear 147 is greater than the radius of the corner-of-the-mouth driving gear 151, forming a reduction gear engagement; the rotation range of the corner-of-the-mouth driving gear 151 and the corner-of-the-mouth driven gear 147 is limited to rotation within the meshing range.

[0077] Preferably, the overall structure of the corner of the mouth guide groove 144 is approximately heart-shaped, with the apex of the heart facing the mouth. The inner and outer edges of the corner of the mouth guide groove 144 are rounded. When the heart-shaped structure approaches its maximum amplitude, it naturally decelerates and slightly retracts, simulating the natural pause after the human apple muscles exert force, so that the corner of the mouth expression is not stiff. The rounded corner structure makes the corner of the mouth movement rod 141 slide more smoothly along the arc-shaped corner of the mouth guide groove 144, reducing sliding resistance.

[0078] Preferably, the back of the face skin also has a flexible corner support to support the shape of the corners of the mouth; the flexible corner support has a silicone material contour integrally formed behind the face skin; the flexible corner support has a corner cavity that encloses the corner support member 16, and has a corner opening at the rear, the corner support member 16 is located in the corner cavity, and the corner support member 16 is fixed by the corner opening, and provides an outlet for the corner connector 161 to be inserted after it passes through. The silicone material contour provides a flexible transition connection and flexible adaptation to the face skin, and the embedded elastic corner support member 16 provides shape support and movement drive while performing a secondary flexible transition, making the overall movement precise and rapid, and possessing both a sense of power and a graceful beauty during the movement.

[0079] Unilateral mouth corner movements only require one mouth corner drive system. The mouth corner active gear 151 drives the mouth corner driven gear 147 to rotate, and the mouth corner driven gear 147 causes the rotating frame 142 to rotate. The rotating frame 142 actuates the mouth corner movable rod 141, thereby driving the mouth corner support 16 to move. Through the dual cooperation of the mouth corner support 16 and the mouth corner guide groove 144, the single rotational motion is transformed into a complex facial expression trajectory. There is no need for multi-motor coordinated control. The single mouth corner drive system occupies little internal head space, is easy to control, and is conducive to miniaturization, lightweighting, and low-cost manufacturing. No muscles are required. The mouth corner support 16 moves along the mouth corner guide groove 144 with the mouth corner movable rod 141 to realize mouth movements such as raising and lowering the mouth corners, which are associated with muscles. It can naturally simulate expressions such as smiling and sadness. While realizing mouth expressions, it simplifies the related mechanisms for realizing mouth expressions.

[0080] The robot head dimensions of this invention are controlled to be no more than 90mm in height, no more than 75mm in width, and no more than 90mm in front-to-back distance.

[0081] The foregoing has shown and described the basic principles, main features, and advantages of the invention. Those skilled in the art should understand that the invention is not limited to the above embodiments. The embodiments and descriptions in the specification are merely illustrative of the principles of the invention. Various changes and modifications can be made without departing from the spirit and scope of the invention, and all such changes and modifications fall within the scope of the claimed invention. The scope of protection of the invention is defined by the appended claims and their equivalents.

Claims

1. A robot head and facial expression driving system, comprising a head shell (1), a face skin covering the front of the head shell (1), and a head support (2) disposed within the head shell (1), characterized in that: An upper lip support (3) is provided behind the upper lip of the face skin, and a lower jaw support (4) is provided behind the lower jaw of the face skin. The head support (2) is provided with a lip and jaw drive system that drives the upper lip support (3) and the lower jaw support (4) to move. The lip and jaw drive system includes a lip and jaw action actuator (6) and a lip and jaw drive motor module (5). The lip and jaw drive motor module (5) drives a drive gear (51). The lip and jaw movement actuator (6) includes: An active transmission lever structure (61) is rotatably connected to a head bracket (2) via a rotating shaft (62). The active transmission lever structure (61) is inclined from top to bottom and has a driven rack (63) meshing with the active gear (51) at its upper end. The active transmission lever structure (61) has a first active force arm (61-1) extending from the rotating shaft (62) to the upper end of the active transmission lever structure (61) and a first driven force arm (61-2) extending from the rotating shaft (62) to the lower end of the active transmission lever structure (61). The driven transmission lever structure (64) is rotatably connected to the head bracket (2) via a driven shaft (65). The driven transmission lever structure (64) extends from back to front and its rear end is inserted into the first driven power arm (61-2) to allow it to be driven by the first driven power arm (61-2). The first end of the power arm (61-2) away from the pivot (62) is connected to a mandibular component (42), and a mandibular connector (41) is inserted into the front end of the mandibular component (42). A mandibular support component (4) is fixedly connected to the front of the mandibular connector (41). The driven transmission lever structure (64) has an upper lip connector (31) inserted at its front end. The front part of the upper lip connector (31) extends forward and downward and is fixedly connected to the upper lip support (3). The lip and jaw drive motor module (5) is located at a height above the eye level on the head shell (1).

2. The robot facial expression driving system according to claim 1, characterized in that: The head shell (1) has a through philtrum opening (1-1) at the philtrum position, and the front part of the upper lip connector (31) extends through the philtrum opening (1-1) and connects to the philtrum position of the face skin.

3. The robot head and facial expression driving system according to claim 1, characterized in that: The length of the first driving arm (61-1) is greater than the length of the first driven arm (61-2), and the rotation radius of the driven rack (63) is greater than the rotation radius of the driving gear (51).

4. The robot head and facial expression driving system according to claim 1, characterized in that: The lip and jaw drive motor and the lip and jaw reduction gear set of the lip and jaw drive motor module (5) are both located in a lip and jaw drive housing, and the lip and jaw drive shaft extends from the lip and jaw drive housing and is equipped with the drive gear (51). The active gear (51) is vertically mounted on the front end area of ​​the side of the lip and jaw drive motor module (5). The active gear (51) has teeth arranged below and no teeth arranged above. Furthermore, the outer diameter of the tooth end of the drive gear (51) is greater than half the height of the lip and jaw drive housing, so that the teeth arranged below the drive gear (51) extend beyond the lower part of the lip and jaw drive housing, and ensure that no teeth extend beyond the upper part of the lip and jaw drive housing. The rotation range of the drive gear (51) is limited to the state of limit rotation, in which no gear teeth on the upper part of the drive housing exceed the limit.

5. The robot facial expression driving system according to claim 1, 2, 3 or 4, characterized in that: The first driven arm (61-2) is in the shape of a "z" and is formed by connecting the first support, the second support, and the third support in sequence; The front end of the third support is connected to the chin piece (42), the third support extends backward and connects to the lower end of the second support, the upper end of the second support extends backward and upward to the back of the philtrum and connects to the front end of the first support, and the rear end of the first support is connected to the first active lever arm (61-1).

6. The robot head and facial expression driving system according to claim 5, characterized in that: The first support has an upper opening (66) that runs vertically through the top and bottom, and the second support has a lower opening (67) that runs front to back through the bottom. The upper opening (66) and the lower opening (67) are connected at the bottom and have a columnar connecting part at the top. The driven transmission lever structure (64) includes a second driving arm (64-1) located behind the driven shaft (65) and inserted into the first driven arm (61-2), and a second driven arm (64-2) located in front of the driven shaft (65). The second driving arm (64-1) has a lip and jaw notch (68) with the opening facing backward. The lip and jaw notch (68) makes the rear end of the second driving arm (64-1) form two leg-shaped insertion leg structures. The two insertion legs are respectively inserted into the upper opening (66) and the lower opening (67). The connecting part is inserted into the lip and jaw notch (68).

7. The robot facial expression driving system according to claim 1, 2, 3 or 4, characterized in that: The first active lever arm (61-1) is in the shape of a "z" and is formed by the fourth support, the fifth support and the sixth support connected in sequence; The lower end of the sixth support is connected to the first driven arm (61-2). The upper end of the sixth support extends backward and upward to a height higher than the nose and then connects to one end of the fifth support. The other end of the fifth support extends to the right and then connects to the lower end of the fourth support. The upper end of the fourth support is provided with at least three notches, which form the driven rack.

8. The robot head and facial expression driving system according to claim 6, characterized in that: A support plate (69) is provided at the junction of the first active lever arm (61-1) and the first driven lever arm (61-2). The support plate (69) is located above the active transmission lever structure (61). One side of the support plate (69) is connected to the first active lever arm (61-1), and the other side is connected to the first driven lever arm (61-2). The support plate (69) is located on the right side of the active transmission lever structure (61). The driven transmission lever structure (64) includes a second driving arm (64-1) located behind the driven shaft (65) and inserted into the first driven arm (61-2). The second driving arm (64-1) is connected to the left side of the second driven arm (64-2). The second driving arm (64-1) is inserted into the left side of the support plate (69). The second driven arm (64-2) is located in front of the support plate (69).

9. The robot head and facial expression driving system according to claim 1, 2, 3 or 4, characterized in that: The first driven arm (61-2) is formed by connecting the first support, the second support and the third support in sequence to form a "z" shaped structure. The rear end of the driven transmission lever structure (64) is inserted into the first corner of the "z" shaped structure formed by connecting the first support and the second support. The driven transmission lever structure (64) and the part after the first corner of the first driven arm (61-2) are vertically spaced apart. The lower part of the head shell (1) is fixedly connected to the maxilla (1-2), the lower surface of the maxilla (1-2) is fitted with upper teeth, and the maxilla (1-2) is provided with a stop for limiting the lowest position of the upper lip support (3).

10. The robot head and facial expression driving system according to claim 1, 2, 3 or 4, characterized in that: The driven transmission lever structure (64) includes a second active force arm (64-1) located behind the driven rotating shaft (65) and inserted into the first driven force arm (61-2), and a second driven force arm (64-2) located in front of the driven rotating shaft (65). The second driven force arm (64-2) is provided with a receiving cavity. The top of the second driven force arm (64-2) is provided with a top opening (610), and the front end face of the second driven force arm (64-2) is provided with a front opening (611). The front opening (611) and the top opening (610) are both connected to the receiving cavity. The upper lip connector (31) includes a sliding block that matches the shape of the receiving cavity. The sliding block is inserted into the receiving cavity, and the top of the sliding block is provided with an upwardly protruding stop (612) that extends from the top opening (610).

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