A chin opening and closing structure, a head structure, and a shape-mimicking robot

Abstract

This application provides a chin opening and closing structure, a head structure, and a biomimetic robot, relating to the field of robotics. The chin opening and closing structure includes a mouth support, a chin support, a first transmission component, and a drive assembly, with the chin support and mouth support spaced apart. One end of the first transmission component is rotatably connected to the mouth support, and the end of the first transmission component away from the mouth support is connected to the chin support. This application enables the rotation center to approximate the actual physiological rotation center of the human jaw, thereby simulating the complex movement trajectory of the human jaw and improving the biomimetic effect and the realism of the movements.

Description

Technical Field

[0001] This invention relates to the field of robotics, and in particular to a chin opening and closing structure, a head structure, and a biomimetic robot. Background Technology

[0002] Currently, in the design of biomimetic robot heads, the opening and closing movements of the chin are typically handled using a relatively simple direct drive method. A common approach is to directly connect the output of the drive mechanism to the plastic shell or support of the chin. However, this direct drive method has significant limitations: its center of rotation is often constrained by the installation position of the drive mechanism itself. This makes it difficult to simulate the realistic complex movements of the human jaw during opening and closing, resulting in poor biomimetic effects. Summary of the Invention

[0003] In view of this, the purpose of the present invention is to overcome the shortcomings of the prior art and provide a chin opening and closing structure, a head structure and a biomimetic robot, which can make the rotation center close to the real physiological rotation center of the human chin, so as to simulate the complex movement trajectory of the human chin and improve the biomimetic effect and the sense of realism of the movement.

[0004] This invention provides the following technical solution: In a first aspect, embodiments of this application provide a chin opening and closing structure, the chin opening and closing structure comprising: Mouth support; A chin support, wherein the chin support and the mouth support are spaced apart; A first transmission component, one end of which is rotatably connected to the mouth support, and the other end of which is away from the mouth support and connected to the chin support.

[0005] In some embodiments of the first aspect, the chin opening and closing structure further includes: A driving component is disposed on the mouth support and is also connected to the first transmission member. Under the driving action of the driving component, the chin support rotates relative to the mouth support through the first transmission member.

[0006] In some embodiments of the first aspect, the driving component includes: The second transmission member and the third transmission member, the two ends of the third transmission member are rotatably connected to the first transmission member and the second transmission member respectively, and the end of the second transmission member away from the third transmission member is rotatably connected to the mouth support. The first transmission member, the second transmission member, the third transmission member and the mouth support constitute a four-bar linkage mechanism. A power component is connected to the second transmission component to drive the second transmission component to rotate.

[0007] In some embodiments of the first aspect, the chin opening and closing structure further includes a pair of limiting members, the pair of limiting members being disposed on the mouth support, the pair of limiting members being spaced apart along the rotation direction of the second transmission member, the second transmission member being located between the pair of limiting members, and when the second transmission member rotates to a preset position, one of the pair of limiting members being able to form an abutment limiting with the second transmission member.

[0008] In some embodiments of the first aspect, the number of the first transmission members is at least two, and each of the first transmission members is arranged in parallel; wherein at least one of the first transmission members is correspondingly provided with the drive assembly.

[0009] In some embodiments of the first aspect, the number of the first transmission members is two, and the two first transmission members are symmetrically arranged on both sides of the mouth support.

[0010] In some embodiments of the first aspect, a mounting cavity is formed between each of the first transmission members and the mouth support, and the drive assembly is disposed in the mounting cavity.

[0011] In some embodiments of the first aspect, the first transmission member includes a first connecting portion, a second connecting portion, and a third connecting portion connected together. The first connecting portion is disposed away from the mouth support, and the second and third connecting portions are disposed close to the mouth support. The first connecting portion is rotatably connected to the chin support, the second connecting portion is rotatably connected to the third transmission member, and the third connecting portion is rotatably connected to the mouth support.

[0012] In some embodiments of the first aspect, the chin opening and closing structure further includes at least two connectors, each of which is disposed at the end of the first transmission member away from the mouth support, and the connectors are spaced apart. The chin support has at least two insertion holes, and each insertion hole corresponds to a connector. When the first transmission component and the chin support are connected, each of the connectors passes through the corresponding connector hole.

[0013] In some embodiments of the first aspect, the first transmission member has a first abutting surface, the chin support has a second abutting surface, the rotatable connection between the first transmission member and the mouth support forms a rotation axis, the first abutting surface and the second abutting surface are arranged sequentially along the rotation axis, and the first abutting surface and the second abutting surface abut and are arranged parallel to each other, each of the plugs is disposed on the first abutting surface, and each of the plug holes is disposed on the second abutting surface.

[0014] In some embodiments of the first aspect, the chin support includes a carrier, a first adapter, and a second adapter. The first adapter, the carrier, and the second adapter are sequentially connected along the rotation axis, and the ends of the first adapter and the second adapter away from the carrier are bent toward the mouth support. The first adapter, the carrier, and the second adapter form a clearance cavity, and the end of the mouth support near the chin support is located in the clearance cavity.

[0015] Secondly, embodiments of this application also provide a head structure, the head structure including a chin opening and closing structure as described in any of the above embodiments.

[0016] Thirdly, embodiments of this application also provide a biomimetic robot, which includes a head structure as described in any of the above embodiments.

[0017] The embodiments of the present invention have the following advantages: By employing the chin opening and closing structure provided by this invention, and introducing a first transmission component as an intermediate connecting mechanism, the rotation center of the chin support is no longer limited by the installation position of the drive component, thus allowing it to be designed to more closely approximate the actual physiological rotation center of the human jaw. This enables the chin to simulate the complex motion trajectory of the human jaw during opening and closing, significantly improving the bionic effect and the realism of the movements, without being limited by the installation position of the drive mechanism. This approach reduces the constraints on the installation position of the drive mechanism, allowing for a more rational arrangement of the drive mechanism within a limited space (such as the head of a humanoid robot). Furthermore, since the chin support is rotatably connected to the mouth support through the first transmission component, parameters such as the length and rotation point position of the first transmission component can be independently optimized to adjust the chin's movement pattern, without being directly limited by the size and position of the drive component itself.

[0018] To make the above-mentioned objects, features and advantages of the present invention more apparent and understandable, preferred embodiments are described below in detail with reference to the accompanying drawings. Attached Figure Description

[0019] To more clearly illustrate the technical solutions of the embodiments of the present invention, 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 the present invention and should not be regarded as a limitation on the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0020] Figure 1 This diagram shows a schematic view of a chin opening and closing structure according to an embodiment of the present invention. Figure 2This diagram illustrates a chin opening and closing structure from another perspective, according to an embodiment of the present invention. Figure 3 It shows Figure 1 A magnified schematic diagram of the structure at point A in the diagram; Figure 4 The diagram shows an assembly structure of a first transmission component and a chin support in a humanoid robot according to an embodiment of the present invention.

[0021] Explanation of key component symbols: 100-Drive assembly; 110-Power component; 120-Second transmission component; 130-Third transmission component; 200-Mouth support; 210-Mounting cavity; 220-Limiting component; 300-Chin support; 310-First adapter; 320-Bearing component; 330-Second adapter; 340-Allowing cavity; 350-Insertion hole; 360-Second abutment surface; 400-First transmission component; 410-Third connecting part; 420-First connecting part; 421-First abutment surface; 430-Second connecting part; 500-Upper tooth assembly; 600-Lower tooth assembly; 700-Insertion component; X-Rotation axis. Detailed Implementation

[0022] Embodiments of the present invention are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and should not be construed as limiting the present invention.

[0023] 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.

[0024] In this invention, unless otherwise explicitly 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 invention according to the specific circumstances.

[0025] 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 invention, "a plurality of" means two or more, unless otherwise explicitly specified.

[0026] 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 limit the invention. The term "and / or" as used herein includes any and all combinations of one or more of the associated listed items.

[0027] like Figure 1 and Figure 2 As shown, in order to solve the above-mentioned technical problems, this application provides a chin opening and closing structure, which includes a mouth support 200, a chin support 300, and a first transmission member 400. The chin support 300 and the mouth support 200 are spaced apart. One end of the first transmission member 400 is rotatably connected to the mouth support 200, and the end of the first transmission member 400 away from the mouth support 200 is connected to the chin support 300.

[0028] In these embodiments, the mouth support 200 is a rigid support structure fixed to the robot head skeleton, used to support the upper lip and oral cavity components, and serving as a reference point for chin movement. The mouth support 200 is provided with a mounting shaft for rotatable connection with a shaft hole at one end of the first transmission member 400.

[0029] The chin support 300 is located below and in front of the mouth support 200, spaced apart to form a space that simulates the opening of a human mouth. The chin support 300 is used to mount the robot's lower lip, lower teeth assembly, and chin shell, among other external components. The upper part of the chin support 300 has a connecting part for fixed connection to the other end of the first transmission component 400.

[0030] For example, the first transmission component 400 is a rigid linkage structure, such as a metal rod, carbon fiber rod, or high-strength plastic rod. One end of it is rotatably connected to the mounting shaft on the mouth support 200 via a pin or bearing, forming a first rotating pair. The other end is rigidly fixed to the connection part of the chin support 300 by screws, clips, or welding. It is worth noting that the first transmission component 400 does not directly drive the chin support 300 to rotate around its own point, but rather guides the chin support 300 to move along a specific trajectory by using the rotational connection point with the mouth support 200 as the rotation center.

[0031] In this embodiment, the drive mechanism (e.g., a micro servo motor) is not directly mounted on the chin support 300, but is fixed to a fixed base inside the robot's head. Its output shaft is connected to the middle of the first drive component 400 or near the mouth support 200 via a second transmission component 120 (e.g., a push rod, a pull cable, or another connecting rod). When the servo motor outputs linear or rotational displacement, it pushes or pulls the first transmission component 400 to oscillate around the revolute joint, thereby driving the chin support 300 to open and close.

[0032] By rationally configuring the length of the first transmission component 400, the position of the rotating joint, and the point of drive action, the movement trajectory of the front end of the chin support 300 (i.e., the position simulating the tip of the chin) during the opening and closing process can closely approximate the actual compound movement path of the human chin when opening its mouth. This structure can adjust the chin rotation center to be close to the real physiological rotation center of the human body (located in front of the tragus), significantly improving the bionic naturalness.

[0033] like Figure 1 and Figure 2 As shown, in some embodiments, the chin opening and closing structure further includes a driving component 100, which is disposed on the mouth support 200. The driving component 100 is also connected to the first transmission member 400. Under the driving action of the driving component 100, the chin support 300 rotates relative to the mouth support 200 through the first transmission member 400.

[0034] In these embodiments, the chin opening and closing structure further includes a drive assembly 100, which is directly mounted on the mouth support 200, thereby avoiding the need to arrange the drive components on other moving parts and improving response speed and movement stability.

[0035] For example, the drive assembly 100 is a miniature servo motor, the housing of which is fixed to the mouth bracket 200 by screws or clips. The output shaft of the drive assembly 100 extends horizontally and is drively connected to the first transmission member 400.

[0036] The transmission connection method can take any of the following forms: A through hole is made at one end of the first transmission component 400, which is then fitted onto the output shaft of the servo motor and locked in place by a set screw.

[0037] Alternatively, a rocker arm can be installed on the servo output shaft, with the free end of the rocker arm hinged to the middle or near end of the first transmission component 400 via a pin, forming a push-pull drive.

[0038] When the drive assembly 100 is working, its output shaft rotates, causing the rocker arm to swing (or directly driving the first transmission member 400), causing the first transmission member 400 to swing around its rotational connection point with the mouth support 200. Since the other end of the first transmission member 400 is rigidly connected to the chin support 300, the chin support 300 will open and close relative to the mouth support 200 around the rotational center formed by the linkage mechanism.

[0039] It is worth noting that integrating the drive component 100 onto the fixed reference component 200 of the mouth support not only simplifies the wiring and power supply path, but also makes the center of gravity of the entire chin movement system closer to the head body, which is beneficial to the dynamic balance of the whole machine.

[0040] like Figure 2 and Figure 3 As shown, in some embodiments, the drive assembly 100 includes a second transmission member 120, a third transmission member 130, and a power member 110. Both ends of the third transmission member 130 are rotatably connected to the first transmission member 400 and the second transmission member 120, respectively. The end of the second transmission member 120 away from the third transmission member 130 is rotatably connected to the mouth support 200. The first transmission member 400, the second transmission member 120, the third transmission member 130, and the mouth support 200 constitute a four-bar linkage. The power member 110 is driveably connected to the second transmission member 120 to drive the second transmission member 120 to rotate.

[0041] In these embodiments, the mouth support 200 serves as a fixed frame, i.e., a frame rod in a four-bar linkage. One end of the first transmission member 400 is rotatably connected to the mouth support 200, forming a first revolute joint, and the other end is fixedly connected to the chin support 300, serving as the output link of the four-bar linkage. One end of the second transmission member 120 is rotatably connected to the mouth support 200, forming a second revolute joint, and its other end, away from the mouth support 200, is rotatably connected to one end of the third transmission member 130, forming a third revolute joint. The other end of the third transmission member 130 is rotatably connected to the middle or proximal end of the first transmission member 400, forming a fourth revolute joint.

[0042] Thus, the mouthpiece support 200, the first transmission component 400, the second transmission component 120, and the third transmission component 130 together constitute a planar four-bar linkage. This mechanism can be designed as a crank-rocker mechanism or a double-rocker mechanism, depending on the length ratio of each link.

[0043] A power component 110 (e.g., a micro servo, stepper motor, or linear actuator motor) is fixedly mounted on the mouth support 200, and its output end is connected to the second transmission component 120. In one embodiment, the power component 110 is a servo motor, and its output shaft is directly fixed to one end of the second transmission component 120, so that the power component 110 drives the second transmission component 120 to rotate.

[0044] When the power component 110 is activated, it drives the second transmission component 120 to swing, and transmits the motion to the first transmission component 400 through the third transmission component 130, forcing the first transmission component 400 to swing, thereby driving the chin support 300 to complete the opening and closing action. Because the four-bar linkage has definite kinematic characteristics, the composite motion trajectory of the human jaw during the mouth opening process can be fitted by adjusting the length of each link.

[0045] like Figure 3 As shown, in some embodiments, the chin opening and closing structure further includes a pair of limiting members 220. The pair of limiting members 220 are disposed on the mouth support 200. The pair of limiting members 220 are spaced apart along the rotation direction of the second transmission member 120. The second transmission member 120 is located between the pair of limiting members 220. When the second transmission member 120 rotates to a preset position, one of the pair of limiting members 220 can form an abutment limit with the second transmission member 120.

[0046] In these embodiments, to ensure that the chin opening and closing action operates within a safe and controllable range, and to avoid damage to the mechanism or distortion of facial expressions due to overdrive, this embodiment adds a pair of limiting members 220 to the aforementioned four-bar linkage drive structure.

[0047] A pair of limiting members 220 are fixedly mounted on the mouth support 200 and are spaced apart along the rotation direction of the second transmission member 120 (i.e., around the swing arc direction of the rotating pair). The second transmission member 120 is located between the pair of limiting members 220. When it swings under the drive of the power member 110, its body (or the extended limiting boss) can contact the corresponding limiting member 220 at two extreme positions to form a mechanical stop.

[0048] In addition, to mitigate impact and reduce noise, elastic materials (such as silicone pads, rubber rings, or polyurethane buffer layers) can be applied to the contact surfaces of the limiting member 220.

[0049] like Figure 1 and Figure 2 As shown, in some embodiments, the number of first transmission members 400 is at least two, and the first transmission members 400 are arranged in parallel. At least one first transmission member 400 is correspondingly provided with a drive assembly 100.

[0050] In these embodiments, to improve the smoothness of the chin support 300 movement, its torsional resistance, and its long-term operational reliability, this embodiment adopts a structural scheme in which multiple first transmission components 400 are arranged in parallel.

[0051] In the chin opening and closing structure, there are two first transmission components 400, or three or more, namely, first transmission component 400 and first transmission component 400. The two first transmission components 400 are symmetrically arranged along the left-right direction (i.e., the lateral direction) of the robot's face and are parallel to each other, and their extension directions are approximately perpendicular to the sagittal plane of the face.

[0052] One end of each first transmission component 400 is rotatably connected to the mouth support 200 via an independent rotating joint; the other end is rigidly connected to the left and right sides of the chin support 300, respectively. Thus, the chin support 300 is supported and driven by two parallel first transmission components 400, forming a double-link parallel constraint system, which effectively prevents the chin from swaying, twisting, or sinking to one side during opening and closing.

[0053] In terms of drive configuration, at least one first transmission member 400 is provided with a corresponding drive assembly 100. In one embodiment, a complete drive assembly 100 is provided only on the left side of the first transmission member 400, forming a four-bar linkage as described above; while the right side of the first transmission member 400 serves as a driven link, not directly connected to the drive source, and only plays a guiding and balancing role.

[0054] Since both first transmission components 400 are fixedly connected to the same rigid chin support 300, when the left drive component 100 drives the first transmission component 400 to swing, the overall movement of the chin support 300 will force the right first transmission component 400 to swing synchronously, thereby achieving natural coordination of the movement on both sides without the need for additional synchronous control.

[0055] In another variant embodiment, independent drive components 100 are provided on both the left and right sides, i.e., dual-side four-bar drive. The two sets of drive components 100 are driven synchronously by the same control signal, which can provide greater driving torque.

[0056] like Figure 1 and Figure 2 As shown, in some embodiments, there are two first transmission members 400, and the two first transmission members 400 are symmetrically arranged on both sides of the mouth support 200.

[0057] In these embodiments, to further improve the left-right symmetry and naturalness of the humanoid robot’s facial movements, two first transmission components 400 are symmetrically arranged on the left and right sides of the mouth support 200. That is, with the sagittal midline (central vertical plane) of the robot’s face as the symmetry reference, the first transmission component 400 is located on the left side and the first transmission component 400 is located on the right side, and the two are distributed in a mirror symmetric manner in space.

[0058] Specifically, the mouth support 200 has identical mounting ear seats on the inner sides of its left and right cheeks. One end of a first transmission member 400 is connected to the left mounting ear seat via a rotating joint, and the other end is fixed to the left connecting part of the chin support 300. One end of another first transmission member 400 is connected to the right mounting ear seat via a rotating joint, and the other end is fixed to the right connecting part of the chin support 300.

[0059] With this symmetrical layout, regardless of whether the drive component 100 is set on one side or both sides, the chin support 300 can maintain good lateral balance during opening and closing, avoiding non-biomimetic phenomena such as crooked mouth or unilateral lag.

[0060] In addition, the symmetrical arrangement facilitates the assembly of the outer shell and the appearance design, makes high use of the internal space of the left and right sides, and allows the cables to be routed along symmetrical paths, which is conducive to the modular production and maintenance of the whole machine.

[0061] like Figure 1 and Figure 2 As shown, in some embodiments, an installation cavity 210 is formed between each of the first transmission members 400 and the mouth support 200, and the power member 110 is disposed in the installation cavity 210.

[0062] In these embodiments, the installation method of the drive component 100 is optimized to improve the utilization rate of the internal space of the humanoid robot's head.

[0063] With two first transmission components 400 symmetrically arranged on the left and right sides of the mouth support 200, each first transmission component 400 and its adjacent partial structure of the mouth support 200 together form a semi-enclosed mounting cavity 210. Specifically, the mouth support 200 has inwardly recessed shell structures or support walls on its left and right sides. The first transmission component 400 serves as one side boundary of the cavity, and together with the side wall and bottom plate of the mouth support 200, they form an approximately box-shaped accommodating space, namely the mounting cavity 210.

[0064] The power component 110 of the drive assembly 100 is housed within one of the mounting cavities 210. For example, the power component 110 is fixed to the bottom of the cavity, its output shaft extends out of the cavity and connects to a second transmission component 120, the second transmission component 120 and a third transmission component 130 are hinged outside the cavity, and the third transmission component 130 is connected to a first transmission component 400.

[0065] The above design serves both to protect the power component 110 and to improve the compactness of the design.

[0066] like Figure 4As shown, in some embodiments, the first transmission member 400 includes a first connecting portion 420, a second connecting portion 430, and a third connecting portion 410 connected together. The first connecting portion 420 is located at the end of the first transmission member 400 away from the mouth support 200, and the second connecting portion 430 and the third connecting portion 410 are located at the ends of the first transmission member 400 close to the mouth support 200. The first connecting portion 420 is rotatably connected to the chin support 300, the second connecting portion 430 is rotatably connected to the third transmission member, and the third connecting portion 410 is rotatably connected to the mouth support 200.

[0067] In these embodiments, the first transmission component 400 has an overall "Y"-shaped or triangular frame structure, including a first connecting part 420, a second connecting part 430 and a third connecting part 410, which are connected to each other to form a rigid whole.

[0068] The first connecting part 420 is located at the end of the first transmission member 400 away from the mouth support 200, and is rotatably connected to the chin support 300 via a pin or bearing. This first connecting part 420 has a through hole or ear-like structure for engaging with the chin support 300. The second connecting part 430 is located at the end of the first transmission member 400 near the mouth support 200, and is rotatably connected to the lower end of the third transmission member 130 via a pin. The third connecting part 410 is also located at the end of the first transmission member 400 near the mouth support 200, and is directly rotatably connected to the mouth support 200 via a pin or an internal bearing. This configuration helps reduce the volume occupied by the four-bar linkage, facilitating miniaturization.

[0069] like Figure 4 As shown, in some embodiments, the chin opening and closing structure further includes at least two connectors 700, each connector 700 being disposed at the end of the first transmission member 400 away from the mouth support 200, and the connectors 700 being spaced apart. The chin support 300 has at least two insertion holes 350, each insertion hole 350 corresponding to a connector 700. When the first transmission member 400 and the chin support 300 are connected, each connector 700 passes through the corresponding insertion hole 350.

[0070] In these embodiments, a multi-point plug-in connection structure is adopted to improve the assembly accuracy, connection rigidity and maintenance convenience between the chin support 300 and the first transmission component 400.

[0071] The chin opening and closing structure also includes at least two connectors 700, each connector 700 being disposed at the end of the first transmission member 400 away from the mouth support 200. The connectors 700 are spaced apart laterally or longitudinally to form a stable positioning reference surface.

[0072] Correspondingly, the chin support 300 has at least two insertion holes 350 at the corresponding position on its upper part, and the position, number and shape of each insertion hole 350 correspond one-to-one with the insertion piece 700.

[0073] When the first transmission component 400 is connected to the chin support 300, each connector 700 passes through the corresponding connector hole 350 to achieve mechanical engagement. It can then be locked in place using a snap fastener, a spring pin, or a small number of fastening screws.

[0074] like Figure 4 As shown, in some embodiments, the first transmission member 400 has a first abutting surface 421, the chin support 300 has a second abutting surface 360, and the rotational connection between the first transmission member 400 and the mouth support 200 forms a rotation axis X. Along the rotation axis X, the first abutting surface 421 and the second abutting surface 360 ​​are arranged sequentially, and the first abutting surface 421 and the second abutting surface 360 ​​abut and are arranged in parallel. Each plug-in member 700 is disposed on the first abutting surface 421, and each plug-in hole 350 is disposed on the second abutting surface 360.

[0075] In these embodiments, the first transmission member 400 has a first abutment surface 421 at its end away from the mouth support 200, which is a flat plane. Correspondingly, the upper part of the chin support 300 has a second abutment surface 360 ​​at a corresponding position, the shape of which matches the first abutment surface 421.

[0076] The rotatable connection (i.e., revolute joint) between the first transmission member 400 and the mouth support 200 has a rotation axis X, which typically extends along the left-right direction of the robot's face. Viewed along the direction of this rotation axis X (i.e., axial direction), the first abutment surface 421 and the second abutment surface 360 ​​are arranged sequentially, that is, when the first transmission member 400 is installed upward to the chin support 300, the first abutment surface 421 first approaches and finally fits against the second abutment surface 360.

[0077] Crucially, the first contact surface 421 and the second contact surface 360 ​​abut against each other and are parallel to each other after assembly, forming a stable surface contact support. This surface contact can effectively transmit bending moment and shear force, preventing the chin support 300 from swaying or deflecting slightly under high-speed opening and closing or external contact.

[0078] Furthermore, each connector 700 is disposed on the first abutment surface 421 (e.g., protruding outward from this plane), while each connector hole 350 is disposed through the second abutment surface 360 ​​(i.e., the entrance of the hole is located on the second abutment surface 360). When the first transmission member 400 is connected to the chin support 300: the connector 700 is first inserted into the corresponding connector hole 350 to provide initial guidance and coarse positioning, and then the first abutment surface 421 and the second abutment surface 360 ​​are fully fitted to achieve positioning and uniform load distribution.

[0079] like Figure 2 As shown, in some embodiments, the chin support 300 includes a carrier 320, a first adapter 310, and a second adapter 330. Along the rotation axis X, the first adapter 310, the carrier 320, and the second adapter 330 are sequentially connected. The ends of the first adapter 310 and the second adapter 330 away from the carrier 320 are both bent toward the mouth support 200. The first adapter 310, the carrier 320, and the second adapter 330 surround and form a relief cavity 340. The end of the mouth support 200 near the chin support 300 is located in the relief cavity 340.

[0080] In these embodiments, in order to solve the problem that the chin support 300 and the mouth support 200 may collide or interfere during the large-angle opening and closing process, and at the same time to provide layout space for the internal transmission components, the overall configuration of the chin support 300 is optimized in this embodiment.

[0081] The structure consists of three parts: a carrier component 320, a first adapter component 310, and a second adapter component 330. These three parts can be assembled separately to form an integral structure.

[0082] Along the rotation axis X, the first adapter 310, the carrier 320, and the second adapter 330 are connected in sequence. Among them, the carrier 320 is located in the middle and constitutes the main support area of ​​the chin support 300, which is used to install appearance or functional components such as silicone skin for the lower lip and dental models.

[0083] The first adapter 310 and the second adapter 330 are located on both sides of the carrier 320, and the ends of both that are away from the carrier 320 are bent toward the mouth support 200.

[0084] Thus, the first adapter 310, the carrier 320, and the second adapter 330 together form a clearance cavity 340 with an opening facing the mouth support 200.

[0085] In the assembled state, the end of the mouth support 200 near the chin support 300 extends into and is located within the clearance cavity 340. This design allows the mouth support 200 to penetrate deep into the chin's movement envelope without protruding outwards, thereby preventing the chin from impacting the front end of the mouth support 200 when closing, reducing the overall facial thickness, and making the robot's appearance closer to human proportions.

[0086] In addition, such as Figure 1 As shown, the mouth support 200 is used to install the upper teeth assembly 500, and the chin support 300 is used to install the lower teeth assembly 600. The upper teeth assembly 500 and the lower teeth assembly 600 are arranged opposite to each other. This layout helps to reduce the overall structure without reducing the number of parts used.

[0087] In some embodiments, this application also provides a head structure, which includes a chin opening and closing structure as described in any of the above embodiments.

[0088] Since the chin opening and closing structure described above has the aforementioned technical effects, the head structure including this chin opening and closing structure should have the same technical effects, which will not be elaborated here.

[0089] In some embodiments, this application also provides a biomimetic robot, which includes a head structure as described in any of the above embodiments.

[0090] Since the aforementioned head structure has the aforementioned technical effects, the biomimetic robot including this head structure should have the same technical effects, which will not be elaborated here.

[0091] 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.

[0092] 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.

[0093] The above-described embodiments are merely illustrative of several implementations of the present invention, and while the descriptions are specific and detailed, they should not be construed as limiting the scope of the invention. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of the present invention, and these modifications and improvements all fall within the scope of protection of the present invention.

Claims

1. A chin opening and closing structure, characterized in that, The chin opening and closing structure includes: Mouth support (200); A chin support (300) and a mouth support (200) are spaced apart; A first transmission member (400) is rotatably connected at one end to the mouth support (200), and the end of the first transmission member (400) away from the mouth support (200) is connected to the chin support (300).

2. The chin opening and closing structure according to claim 1, characterized in that, The chin opening and closing structure also includes: A drive assembly (100) is disposed on the mouth support (200). The drive assembly (100) is also connected to the first transmission member (400). Under the driving action of the drive assembly (100), the chin support (300) rotates relative to the mouth support (200) through the first transmission member (400).

3. The chin opening and closing structure according to claim 2, characterized in that, The drive component (100) includes: The second transmission member (120) and the third transmission member (130) are rotatably connected at both ends to the first transmission member (400) and the second transmission member (120) respectively. The end of the second transmission member (120) away from the third transmission member (130) is rotatably connected to the mouth support (200). The first transmission member (400), the second transmission member (120), the third transmission member (130) and the mouth support (200) constitute a four-bar linkage. A power component (110) is connected to the second transmission component (120) to drive the second transmission component (120) to rotate.

4. The chin opening and closing structure according to claim 3, characterized in that, The chin opening and closing structure also includes a pair of limiting members (220). The pair of limiting members (220) are disposed on the mouth support (200). The pair of limiting members (220) are spaced apart along the rotation direction of the second transmission member (120). The second transmission member (120) is located between the pair of limiting members (220). When the second transmission member (120) rotates to a preset position, one of the pair of limiting members (220) can form an abutment limit with the second transmission member (120).

5. The chin opening and closing structure according to claim 2, characterized in that, The number of the first transmission member (400) is at least two, and each of the first transmission members (400) is arranged in parallel; wherein at least one of the first transmission members (400) is correspondingly provided with the drive assembly (100).

6. The chin opening and closing structure according to claim 5, characterized in that, There are two first transmission components (400), and the two first transmission components (400) are symmetrically arranged on both sides of the mouth support (200).

7. The chin opening and closing structure according to claim 6, characterized in that, An installation cavity (210) is formed between each of the first transmission members (400) and the mouth support (200), and the drive assembly (100) is disposed in the installation cavity (210).

8. The chin opening and closing structure according to claim 3, characterized in that, The first transmission member (400) has a first connecting portion (420), a second connecting portion (430) and a third connecting portion (410). The first connecting portion (420) is disposed away from the mouth support (200), and the second connecting portion (430) and the third connecting portion (410) are disposed close to the mouth support (200). The first connecting portion (420) is rotatably connected to the chin support (300), the second connecting portion (430) is rotatably connected to the third transmission member (130), and the third connecting portion (410) is rotatably connected to the mouth support (200).

9. The chin opening and closing structure according to claim 1, characterized in that, The chin opening and closing structure also includes at least two connectors (700), each connector (700) being disposed at the end of the first transmission member (400) away from the mouth support (200), and the connectors (700) being spaced apart; The chin support (300) has at least two insertion holes (350), and each insertion hole (350) corresponds to the insertion member (700). When the first transmission member (400) and the chin support (300) are connected, each of the plugs (700) passes through the corresponding plug hole (350).

10. The chin opening and closing structure according to claim 9, characterized in that, The first transmission member (400) has a first abutting surface (421), and the chin support (300) has a second abutting surface (360). The first transmission member (400) and the mouth support (200) are rotatably connected and define a rotation axis (X). The first transmission member (400) rotates around the rotation axis (X). Along the direction of the rotation axis (X), the first abutting surface (421) and the second abutting surface (360) are arranged in sequence, and the first abutting surface (421) and the second abutting surface (360) abut and are arranged in parallel. Each of the plugs (700) is disposed on the first abutting surface (421), and each of the plug holes (350) is disposed on the second abutting surface (360).

11. The chin opening and closing structure according to claim 10, characterized in that, The chin support (300) includes a carrier (320), a first adapter (310), and a second adapter (330). Along the rotation axis (X), the first adapter (310), the carrier (320), and the second adapter (330) are sequentially connected. The ends of the first adapter (310) and the second adapter (330) away from the carrier (320) are bent toward the mouth support (200). The first adapter (310), the carrier (320), and the second adapter (330) form a relief cavity (340). The end of the mouth support (200) near the chin support (300) is located in the relief cavity (340).

12. A head structure, characterized in that, The head structure includes the chin opening and closing structure as described in any one of claims 1 to 11.

13. A shape-mimicking robot, characterized in that, The biomimetic robot includes the head structure as described in claim 12.

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