A mouth structure and its robot

Abstract

This invention relates to the field of robotics, and more particularly to a mouth structure and its robot, comprising: a head shell, the head shell further comprising a mandible rotatably connected to the head shell, and skin covering the exterior of both the head shell and the mandible; and lip corner driving components, disposed within the head shell, and having two sets symmetrically arranged about the vertical central axis of the head shell. This invention, by setting lip corner driving components, upper lip driving components, lower lip driving components, and mandible driving components, respectively enables complex trajectory movements of the lip corners, controllable active eversion and automatic repositioning of the upper and lower lips, and mandibular opening and closing movements. Furthermore, through independent or coordinated driving of each driving component, it can achieve anthropomorphic mouth movements such as pouting, kissing, opening and closing the mouth, speaking, and smiling, enriching the robot's emotional expression capabilities and providing users with more emotional value during human-computer interaction.

Description

Technical Field

[0001] This invention relates to the field of robotics, and more particularly to a mouth structure and a robot thereof. Background Technology

[0002] To enhance the interactive experience between robots and users, bionic humanoid robots typically need to possess facial expression capabilities that closely resemble those of real people, with mouth expressions being an important component of human emotional expression.

[0003] Existing robot mouth drive structures typically employ single-motor driven linkages or wire traction structures, which can only achieve mouth opening and closing actions or unidirectional linear pulling of the corners of the lips. The motion trajectory of the mouth drive point is limited by the motion law of the linkage mechanism, and can usually only move along a straight line or a fixed arc trajectory. It is difficult to achieve complex motion trajectory control according to different expression requirements, resulting in the robot being unable to achieve natural micro-expression actions such as smiling or pursing its lips, and the expression of mouth expressions is relatively simple.

[0004] On the other hand, existing upper and lower lip drive structures can usually only move the lips up and down to complete the opening and closing of the mouth, but cannot achieve controlled active eversion and automatic reset of the lips, so it is difficult to simulate mouth movements such as pouting and kissing.

[0005] In addition, existing mouth drive mechanisms mostly adopt a multi-stage linkage direct drive method. The drive point usually moves along the swing arm trajectory, resulting in low motion accuracy and easy motion vibration. It is difficult to ensure the continuity and smoothness of facial skin movement, leading to poor bionic effect. Summary of the Invention

[0006] The purpose of this invention is to provide a mouth structure and a robot thereof to solve the problems mentioned in the background art.

[0007] To achieve the above objectives, the present invention adopts the following technical solution:

[0008] A mouth structure, comprising:

[0009] The head shell also includes a lower jaw, which is rotatably connected to the head shell, and both the head shell and the lower jaw are covered with skin.

[0010] A corner-of-lip driving assembly is disposed in the head shell and has two sets symmetrically arranged about the vertical central axis of the head shell. The corner-of-lip driving assembly includes a first driving assembly, a second driving assembly and a corner-of-lip connecting assembly. The first driving assembly and the second driving assembly are respectively driven to connect with the corner-of-lip connecting assembly to drive the movement of the corner-of-lip skin.

[0011] An upper lip driving assembly is disposed in the head shell and includes a third driving assembly and an upper lip connecting assembly. The third driving assembly is drivingly connected to the upper lip connecting assembly to drive the upper lip to move.

[0012] A lower lip driving component is disposed in the mandible and includes a fourth driving component and a lower lip connecting component. The fourth driving component is drivingly connected to the lower lip connecting component to drive the lower lip to move.

[0013] A mandibular drive assembly is disposed in the head shell and includes a fifth drive assembly and a mandibular connection assembly. The fifth drive assembly is drivenly connected to the mandibular connection assembly, and the mandibular connection assembly is connected to the fourth drive assembly to drive the mandible to rotate relative to the head shell.

[0014] Preferably, the lip corner connection component includes:

[0015] Vertical rear connecting rod;

[0016] A vertical forward connecting rod, one end of which is rotatably connected to the first drive assembly, and the other end of which is rotatably connected to the vertical rear connecting rod;

[0017] The first guide rail is fixedly installed on the vertical rear connecting rod, and a first slider is slidably connected to it;

[0018] The transverse rear connecting rod is fixedly connected at one end to the first slider and rotatably connected at the other end to the second drive assembly;

[0019] The drive block is fixedly connected at one end to the transverse rear linkage and at the other end to a detachable connector for connecting to the skin.

[0020] Preferably, the first driving component includes:

[0021] A first motor has an output end that drives a first rocker arm, and the other end of the first rocker arm is rotatably connected to the vertical forward connecting rod.

[0022] The lip corner rotating support is fixedly connected to the first motor at one end and rotatably connected to the vertical rear connecting rod at the other end.

[0023] Preferably, the second driving component includes:

[0024] The second motor has a second rocker arm connected to its output end, and a transverse front link is connected to the second rocker arm. The other end of the transverse front link is rotatably connected to the transverse rear link.

[0025] Preferably, the upper lip connection component includes:

[0026] The second guide rail is fixedly positioned at the front end between the two sets of lip corner driving components and is arranged along the axis of symmetry of the two sets of lip corner driving components. A second slider is slidably connected to the second guide rail.

[0027] The upper lip slider is fixedly connected to the second slider;

[0028] The upper lip connecting rod is rotatably connected at one end to the upper lip slider and at the other end to the third drive assembly;

[0029] The first push-pull block is fixedly connected to the upper lip slider;

[0030] The upper lip piece is rotatably connected to the first push-pull block and is used to connect to the upper lip skin;

[0031] The first pull rope has one end connected to the upper lip plate and the other end connected to the head shell.

[0032] Preferably, the third driving component includes:

[0033] The third motor has a third rocker arm connected to its output end, and the other end of the third rocker arm is rotatably connected to the upper lip connecting rod.

[0034] Preferably, the lower lip connecting assembly includes:

[0035] Lower lip fixing block;

[0036] The second push-pull block is rotatably connected to the lower lip fixing block;

[0037] The lower lip piece is rotatably connected to the second push-pull block and is used to connect to the lower lip skin;

[0038] The second pull rope has one end connected to the lower lip and the other end connected to the mandible.

[0039] Preferably, the fourth driving component includes:

[0040] A fourth motor is fixedly connected to the lower jaw, and the output end of the fourth motor drives a fourth rocker arm. The fourth rocker arm is fixedly connected to a lower lip rocker arm, and the lower lip fixing block is detachably connected to the lower lip rocker arm.

[0041] Preferably, the fifth drive component includes a fifth motor, and the output end of the fifth motor is connected to a fifth rocker arm;

[0042] The mandibular connection assembly includes a mandibular rocker arm and a mandibular fixing plate. One end of the mandibular rocker arm is fixedly connected to the fifth rocker arm, and the other end is fixedly connected to the fourth motor.

[0043] One end of the mandibular fixation plate is fixedly connected to the fourth motor, and the other end is rotatably connected to the fifth motor.

[0044] A robot including a mouth structure as described in any of the preceding claims.

[0045] Compared with the prior art, the present invention provides a mouth structure and its robot, which has the following beneficial effects:

[0046] 1. This invention sets up a lip corner driving component, an upper lip driving component, a lower lip driving component, and a mandible driving component, which are used to realize the complex trajectory movement of the lip corner, the controllable active eversion and automatic repositioning of the upper and lower lips, and the opening and closing movement of the mandible. It can realize human-like mouth movements such as pouting, kissing, opening and closing the mouth, speaking, and smiling through the independent or collaborative driving of each driving component, enriching the robot's emotional expression ability and providing users with more emotional value in the process of human-computer interaction.

[0047] 2. This invention sets up two sets of lip corner driving components to drive the lip corners on both sides of the cheek respectively. The first driving component and the second driving component can drive separately or in concert, so that the driving block can move along a preset trajectory in a two-dimensional plane, realizing multi-directional motion control of the lip corner position. This can more accurately simulate complex micro-expressions such as smiling and pouting, and improve the biomimetic realism of the robot's mouth expressions.

[0048] 3. The upper lip connecting component and the lower lip connecting component of the present invention both adopt a structure combining push-pull blocks, lip pieces and pull ropes. The lip pieces are driven to move by the push-pull blocks and the lip pieces are flipped by the pull ropes. After the pull ropes are released, the lip pieces automatically return to their original position based on the elasticity of the skin. There is no need to set up an independent flipping drive mechanism, which can realize the lip eversion and resetting action, thereby simulating rich mouth movements such as pouting and kissing, and improving the robot's emotional expression ability.

[0049] 4. The lip corner assembly and upper lip assembly of the present invention are respectively provided with guide rails and slider guide structures to constrain the motion of the moving parts, so that the driving parts can move stably along the preset path, improve the transmission accuracy and motion stability, reduce friction loss and motion vibration during operation, make the movement of the mouth skin smoother and more natural, and improve the realism of the robot's facial expressions. Attached Figure Description

[0050] Figure 1 This is a side view of the structure of the present invention;

[0051] Figure 2 This is an isometric schematic diagram of the internal structure of the present invention;

[0052] Figure 3 This is an isometric schematic diagram of the lip corner driving component of the present invention;

[0053] Figure 4 This is an exploded view of the lip corner driving component of the present invention;

[0054] Figure 5 This is an isometric schematic diagram of the upper lip driving component of the present invention;

[0055] Figure 6 This is an exploded view of the upper lip connecting assembly of the present invention;

[0056] Figure 7 This is an isometric schematic diagram (first view) of the connection structure between the lower lip driving component and the mandibular driving component of the present invention.

[0057] Figure 8 This is an isometric schematic diagram (second perspective) of the connection structure between the lower lip driving component and the mandibular driving component of the present invention.

[0058] Figure 9 This is an exploded view of the connection structure between the lower lip driving component and the mandibular driving component of the present invention;

[0059] Figure 10 This is an exploded view of the lower lip connecting assembly of the present invention;

[0060] Figure 11 This is a partially enlarged side view of the internal structure of the present invention.

[0061] In the picture:

[0062] 100. Skull; 110. Jaw; 120. Skin;

[0063] 200. Lip corner drive assembly; 210. First drive assembly; 211. First motor; 212. First rocker arm; 213. Lip corner rotation support; 220. Second drive assembly; 221. Second motor; 222. Second rocker arm; 223. Lateral front link; 230. Lip corner connecting assembly; 231. Vertical rear link; 232. Vertical front link; 233. First guide rail; 234. First slider; 235. Lateral rear link; 236. Drive block; 237. Connector;

[0064] 300. Upper lip drive assembly; 310. Third drive assembly; 311. Third motor; 312. Third rocker arm; 320. Upper lip connecting assembly; 321. Second guide rail; 322. Second slider; 323. Upper lip slider; 324. Upper lip connecting rod; 325. First push-pull block; 326. Upper lip piece; 327. First pull rope;

[0065] 400. Lower lip drive assembly; 410. Fourth drive assembly; 411. Fourth motor; 412. Fourth rocker arm; 413. Lower lip rocker arm; 420. Lower lip connecting assembly; 421. Lower lip fixing block; 422. Second push-pull block; 423. Lower lip piece; 424. Second pull rope;

[0066] 500. Mandibular drive assembly; 510. Fifth drive assembly; 511. Fifth motor; 512. Fifth rocker arm; 520. Mandibular connection assembly; 521. Mandibular rocker arm; 522. Mandibular fixation plate. Detailed Implementation

[0067] The technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments.

[0068] In the description of this invention, it should be understood that the terms "upper", "lower", "front", "rear", "left", "right", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.

[0069] like Figure 1 - Figure 11 As shown, a mouth structure includes:

[0070] The head shell 100 includes a lower jaw 110, which is rotatably connected to the head shell 100, allowing the lower jaw 110 to swing relative to the head shell 100 around the axis of rotation between the lower jaw 110 and the head shell 100, thereby simulating the opening and closing action of the human lower jaw 110. Both the head shell 100 and the lower jaw 110 are provided with skin 120. Each drive component is connected to the skin 120 of the corresponding area of ​​the mouth of the head shell 100 through a corresponding connector 237, so that the movement of the drive component can be transmitted to the skin 120 to control the changes in mouth expressions and achieve a biomimetic effect.

[0071] The corner of the lip driving component 200 is disposed in the head shell 100 and has two sets symmetrically arranged about the vertical central axis of the head shell 100. The corner of the lip driving component 200 includes a first driving component 210, a second driving component 220 and a corner of the lip connecting component 230. The first driving component 210 and the second driving component 220 are respectively driven to be connected to the corner of the lip connecting component 230 to drive the corner of the lip skin 120 to move.

[0072] The upper lip drive assembly 300 is disposed in the head shell 100 and includes a third drive assembly 310 and an upper lip connection assembly 320. The third drive assembly 310 is driven to connect with the upper lip connection assembly 320 to drive the upper lip to move.

[0073] The lower lip driving component 400 is disposed in the lower jaw 110 and includes a fourth driving component 410 and a lower lip connecting component 420. The fourth driving component 410 and the lower lip connecting component 420 are driven to drive the lower lip to move.

[0074] The mandible drive assembly 500 is disposed in the head shell 100 and includes a fifth drive assembly 510 and a mandible connection assembly 520. The fifth drive assembly 510 is driven to connect with the mandible connection assembly 520, and the mandible connection assembly 520 is connected to the fourth drive assembly 410 to drive the mandible 110 to rotate relative to the head shell 100. The fourth drive assembly 410 and the fifth drive assembly 510 can independently control the eversion of the lower lip and the opening and closing angle of the mandible 110 relative to the head shell 100, enabling the robot to perform a variety of complex facial expressions such as opening the mouth, closing the mouth, slightly opening the mouth, pouting, kissing, and speaking, thereby improving the expressiveness of the facial expressions.

[0075] In an embodiment, such as Figure 2 , Figure 3 , Figure 4 As shown, the lip corner connection assembly 230 includes:

[0076] The vertical rear connecting rod 231 includes a first end and a second end, and the first end and the second end are perpendicular to each other;

[0077] The vertical forward connecting rod 232 has one end rotatably connected to the first drive assembly 210 and the other end rotatably connected to the first end of the vertical rear connecting rod 231;

[0078] The first guide rail 233 is fixedly installed on the second end of the vertical rear connecting rod 231, and a first slider 234 is slidably connected to it. The sliding direction of the first slider 234 is parallel to the length direction of the second end.

[0079] The transverse rear link 235 is fixedly connected to the first slider 234 by bolts at one end to form an integral structure, and rotatably connected to the second drive assembly 220 at the other end. The guide sliding structure of the first guide rail 233 and the first slider 234 is used to constrain the movement trajectory of the transverse rear link 235, so that under the driving action of the second drive assembly 220, the transverse rear link 235 can move linearly along the set path of the first guide rail 233 with the first slider 234.

[0080] The drive block 236 is fixedly connected at one end to the transverse rear link 235. Specifically, the drive block 236 is fixedly connected to the transverse rear link 235 by bolts, so that the drive block 236 can move synchronously with the transverse rear link 235. The other end of the drive block 236 away from the transverse rear link 235 is connected to a detachable connector 237, which is used to connect to the skin 120.

[0081] Specifically, the connector 237 is a flat-head bolt, the bolt body of which is threadedly connected to the drive block 236 for easy disassembly and replacement. The flat-head nut is inverted and embedded in the skin 120 of the cheek of the head shell 100 for pulling the skin 120 of the corresponding area.

[0082] The connector 237 has a detachable structure, which allows the drive block 236 to be quickly separated from the skin 120. When maintaining, replacing the skin 120 or repairing, it is not necessary to disassemble the entire drive assembly, thereby reducing maintenance costs and avoiding damage to the skin 120 caused by repeated disassembly and assembly.

[0083] In an embodiment, such as Figure 3 , Figure 4 As shown, the first drive component 210 includes:

[0084] The first motor 211 has a first rocker arm 212 connected to its output end, and the other end of the first rocker arm 212 is rotatably connected to the vertical forward connecting rod 232.

[0085] The lip corner rotating support 213 has one end fixedly connected to the first motor 211 by bolts. The lip corner rotating support 213 is set on the same side as the first rocker arm 212 and away from the first rocker arm 212. The other end of the lip corner rotating support 213 is provided with a first connecting shaft for rotatably connecting with the second end of the vertical rear connecting rod 231. The first rocker arm 212 and the vertical forward connecting rod 232 form a crank rocker arm structure, which makes the vertical rear connecting rod 231 rotate around the first connecting shaft and drive the first guide rail 233 to swing synchronously. This allows the drive block 236 to slide in conjunction with the first slider 234 based on the swing of the first connecting shaft, so that the drive block 236 can achieve compound trajectory motion in the plane.

[0086] In an embodiment, such as Figure 3 , Figure 4 As shown, the second drive component 220 includes:

[0087] The second motor 221 has a second rocker arm 222 connected to its output end, and a transverse front connecting rod 223 is connected to the second rocker arm 222. The other end of the transverse front connecting rod 223 is rotatably connected to the transverse rear connecting rod 235. The second rocker arm 222 and the transverse front connecting rod 223 form a crank rocker arm structure, thereby driving the transverse rear connecting rod 235 to drive the first slider 234 to slide along the path set by the first guide rail 233 to make linear motion. Thus, under the drive of the second motor 221, the skin 120 is pulled synchronously to make linear motion through the drive block 236.

[0088] The first drive component 210 controls the vertical rear rocker arm to rotate, and the second drive component 220 controls the linear motion of the lateral rear link 235. The two can be driven independently or coupled, so that the drive block 236 drives the skin 120 of the head shell 100 cheek area to move in a two-dimensional plane according to a preset trajectory, which meets the needs of complex micro-expression control.

[0089] In an embodiment, such as Figure 5 , Figure 6 , Figure 11 As shown, the upper lip connection assembly 320 includes:

[0090] The second guide rail 321 is fixedly set at the front end position between the two sets of lip corner driving components 200 and is set along the vertical central axis of the head shell 100. The second slider 322 is slidably connected to the second guide rail 321.

[0091] The upper lip slider 323 is fixedly connected to the second slider 322. The guide sliding structure of the second guide rail 321 and the second slider 322 is used to constrain the movement trajectory of the upper lip slider 323, so that the upper lip slider 323 moves in a straight line along the set path of the second guide rail 321, making the movement of the upper lip component more stable, reducing movement jitter, and improving the naturalness of lip movements.

[0092] The upper lip connecting rod 324 is rotatably connected to the upper lip slider 323 at one end and connected to the third drive assembly 310 at the other end. Under the driving action of the third drive assembly 310, the upper lip slider 323 is driven to slide along the set path of the second guide rail 321 through the second slider 322.

[0093] The first push-pull block 325 is fixedly connected to the upper lip slider 323. Specifically, the first push-pull block 325 and the upper lip slider 323 are connected as an integral structure by a pin, which facilitates disassembly and assembly, and allows the upper lip slider 323 to move synchronously with the first push-pull block 325.

[0094] The upper lip piece 326 is rotatably connected to the first push-pull block 325, so that the first push-pull block 325 can drive the upper lip piece 326 to make linear motion, and can also rotate relative to each other around the connecting shaft. The upper lip piece 326 is inwardly embedded in the upper lip skin 120 to connect with the upper lip skin 120, so that the upper lip piece 326 can rotate around its connecting shaft with the first push-pull block 325, and drive the upper lip skin 120 to turn outward in sync, simulating the pouting action;

[0095] The first pull rope 327 has one end connected to the upper lip plate 326. Specifically, the upper lip plate 326 has a through hole. One end of the first pull rope 327 passes through the through hole of the upper lip plate 326 and is provided with an anti-loosening knot, thereby connecting to the upper lip plate 326. The other end of the first pull rope 327 is connected to the head shell 100.

[0096] In this embodiment, the first pull rope 327 is made of a non-elastic material, and its length remains unchanged, so it will not be stretched or deformed due to force.

[0097] In an embodiment, such as Figure 5 As shown, the third drive component 310 includes:

[0098] The third motor 311 has a third rocker arm 312 connected to its output end. The other end of the third rocker arm 312 is rotatably connected to the upper lip connecting rod 324. Under the drive of the third motor 311, the third rocker arm 312 drives the upper lip slider 323 to make linear motion in the vertical direction through the upper lip connecting rod 324.

[0099] The third motor 311 drives the upper lip connecting rod 324 through the third rocker arm 312 to push the upper lip slider 323 downward. The first push-pull block 325 pushes the upper lip piece 326 downward along the path set by the second guide rail 321. During this process, the distance between the two ends of the first pull rope 327 gradually increases. Since the length of the first pull rope 327 remains unchanged, it becomes taut after the distance between the two ends of the first pull rope 327 reaches its limit position. This causes the upper lip piece 326 to be pulled by the tension of the first pull rope 327, which can pull the upper lip piece 326 to rotate and flip upward around its own connecting shaft with the first push-pull block 325, thereby causing the upper lip skin 120 to flip outward, simulating a pouting posture.

[0100] The third motor 311 drives the upper lip connecting rod 324 through the third rocker arm 312 to pull the upper lip slider 323 upward. The first push-pull block 325 drives the upper lip piece 326 upward. During this process, the distance between the two ends of the first pull rope 327 gradually decreases. The first pull rope 327 is relaxed, and the tension on the upper lip piece 326 disappears. Since the upper lip piece 326 is embedded in the upper lip skin 120, after the first pull rope 327 is relaxed, the skin 120 uses its own elasticity to drive the upper lip piece 326 back to the initial position, thus releasing the pouting posture.

[0101] In an embodiment, such as Figure 10 , Figure 11 As shown, the lower lip connecting assembly 420 includes:

[0102] Lower lip fixing block 421;

[0103] The second push-pull block 422 is rotatably connected to the lower lip fixing block 421;

[0104] The lower lip piece 423 is rotatably connected to the second push-pull block 422 and is used to connect the lower lip skin 120. Specifically, the lower lip piece 423 is inwardly embedded in the lower lip skin 120 and can drive the lower lip skin 120 to move.

[0105] The second pull rope 424 is connected at one end to the lower lip plate 423 and at the other end to the lower jaw 110. Similarly, the lower lip plate 423 is provided with a through hole, and the second pull rope 424 is provided with an anti-loosening knot after passing through the corresponding through hole.

[0106] The second pull rope 424 is also made of non-elastic material, and its length remains unchanged, so it will not be stretched or deformed due to force.

[0107] Specifically, the fourth motor 411 drives the lower lip rocker arm 413 to swing through the fourth rocker arm 412, and drives the lower lip fixing block 421 and the second push-pull block 422 to rotate around the central axis of the output shaft of the fourth motor 411 and lift them upward. This causes the second push-pull block 422 to move the lower lip piece 423 towards the mouth. During this process, the distance between the two ends of the second pull rope 424 gradually increases. Since the second pull rope 424 is made of non-elastic material and its length remains constant, when the distance between the two ends of the second pull rope 424 reaches the limit position, the second pull rope 424 enters a tension state, so that the lower lip piece 423 is subjected to the pulling force of the second pull rope 424, and can rotate around its own connecting shaft with the second push-pull block 422 and flip outward, thereby causing the lower lip skin 120 to flip outward, simulating a pouting or kissing action.

[0108] During reset, the fourth motor 411 drives the lower lip rocker arm 413 to swing in the opposite direction via the fourth rocker arm 412, and drives the lower lip fixing block 421 and the second push-pull block 422 to move downward. The second push-pull block 422 drives the lower lip piece 423 to move away from the mouth. During this process, the distance between the two ends of the second pull rope 424 gradually decreases, and the second pull rope 424 gradually returns from a tense state to a relaxed state. The tension on the lower lip piece 423 gradually decreases until it disappears. Since the lower lip piece 423 is embedded in the lower lip skin 120, after the second pull rope 424 relaxes, the lower lip skin 120 drives the lower lip piece 423 to rotate around its connecting axis with the second push-pull block 422 and return to the initial position, thereby releasing the pouting state.

[0109] The upper lip piece 326 and the lower lip piece 423 are driven independently by the third motor 311 and the fourth motor 411, respectively. Therefore, they can be turned outward individually, synchronously, or at different amplitudes, thus achieving a variety of mouth movements such as pouting and kissing. During the movement, there is no need to set up an independent flipping drive mechanism to achieve the outward and repositioning of the upper and lower lips. This not only reduces the structural complexity but also improves the reliability of the movement, making the bionic expressions more vivid.

[0110] In an embodiment, such as Figure 7 , Figure 8 , Figure 9 , Figure 11 As shown, the fourth drive component 410 includes:

[0111] The fourth motor 411 is fixedly connected to the lower jaw 110, and the output end of the fourth motor 411 drives the fourth rocker arm 412. The fourth rocker arm 412 is fixedly connected to the lower lip rocker arm 413. The lower lip fixing block 421 is detachably connected to the lower lip rocker arm 413 through a pin, so that the lower lip fixing block 421 can be pulled out along the axial direction of the pin, which facilitates the quick connection and replacement of the entire structure of the lower lip connecting assembly 420.

[0112] In an embodiment, such as Figure 9 As shown, the fifth drive assembly 510 includes a fifth motor 511, and the output end of the fifth motor 511 is connected to a fifth rocker arm 512.

[0113] The mandibular connection assembly 520 includes a mandibular rocker arm 521 and a mandibular fixing plate 522. One end of the mandibular rocker arm 521 is fixedly connected to the fifth rocker arm 512, and the other end is fixedly connected to the fourth motor 411.

[0114] One end of the mandibular fixing plate 522 is fixedly connected to the fourth motor 411, and the other end is rotatably connected to the fifth motor 511. It is used to cooperate with the mandibular rocker arm 521 to support the fourth motor 411. The fifth motor 511 drives the mandibular rocker arm 521 to rotate through the fifth rocker arm 512, thereby driving the entire fourth drive assembly 410 and the mandible 110 to rotate around the rotation axis of the mandible 110 and the head shell 100, so as to realize the control of the opening and closing angle of the mandible 110.

[0115] The fifth motor 511 drives the fifth rocker arm 512 to swing, which in turn drives the lower jaw rocker arm 521 to move. The lower jaw rocker arm 521 further drives the fourth motor 411 and the lower lip assembly, which are fixed to it, to swing synchronously. The fourth motor 411 drives the lower lip to evert. Since the fourth motor 411 is fixedly mounted on the lower jaw rocker arm 521, the lower lip drive assembly 400 can move synchronously with the lower jaw 110 when the lower jaw 110 rotates, ensuring that the lower lip movement always remains consistent with the position of the lower jaw 110, thus preventing the lower lip from everting. The relative misalignment between the lower jaw 110 and the mandible enhances the biomimetic effect. Furthermore, the fourth motor 411 and the fifth motor 511 do not interfere with each other and can be driven independently or in coordination. This enables the synchronous or independent control of the opening and closing of the mandible 110 and the eversion of the lower lip, allowing the robot to perform complex mouth expressions such as opening the mouth, closing the mouth, slightly opening the mouth, pouting, kissing, speaking, and eversion of the lips at different opening degrees. This improves the freedom, coordination, and expressiveness of mouth movements, thereby enhancing the biomimetic effect.

[0116] A robot includes the mouth structure described above. Since this robot adopts the technical solution of the mouth structure in the above embodiments, it has at least all the beneficial effects brought about by the technical solutions in the above embodiments, which will not be elaborated here.

[0117] The above description is only a preferred embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any equivalent substitutions or modifications made by those skilled in the art within the scope of the technology disclosed in the present invention, based on the technical solution and inventive concept of the present invention, should be covered within the scope of protection of the present invention.

Claims

1. A mouth structure, characterized in that, include: The head shell (100) further includes a lower jaw (110), which is rotatably connected to the head shell (100). Both the head shell (100) and the lower jaw (110) are provided with skin (120). A corner lip driving assembly (200) is disposed in the head shell (100) and has two sets symmetrically arranged about the vertical central axis of the head shell (100). The corner lip driving assembly (200) includes a first driving assembly (210), a second driving assembly (220) and a corner lip connecting assembly (230). The first driving assembly (210) and the second driving assembly (220) are respectively driven to connect with the corner lip connecting assembly (230) to drive the corner lip skin (120) to move. An upper lip drive assembly (300) is disposed in the head shell (100) and includes a third drive assembly (310) and an upper lip connection assembly (320). The third drive assembly (310) is driven to connect with the upper lip connection assembly (320) to drive the upper lip to move. A lower lip driving assembly (400) is disposed in the mandible (110) and includes a fourth driving assembly (410) and a lower lip connecting assembly (420). The fourth driving assembly (410) is drivingly connected to the lower lip connecting assembly (420) to drive the lower lip to move. A mandibular drive assembly (500) is disposed in the head shell (100) and includes a fifth drive assembly (510) and a mandibular connection assembly (520). The fifth drive assembly (510) is driven to be connected to the mandibular connection assembly (520), and the mandibular connection assembly (520) is connected to the fourth drive assembly (410) to drive the mandible (110) to rotate relative to the head shell (100).

2. The mouth structure according to claim 1, characterized in that, The lip corner connection assembly (230) includes: Vertical rear link (231); The vertical forward connecting rod (232) is rotatably connected at one end to the first drive assembly (210) and at the other end to the vertical rear connecting rod (231); The first guide rail (233) is fixedly installed on the vertical rear connecting rod (231), and a first slider (234) is slidably connected to it. The transverse rear connecting rod (235) is fixedly connected at one end to the first slider (234) and rotatably connected at the other end to the second drive assembly (220); The drive block (236) is fixedly connected at one end to the transverse rear link (235) and at the other end to a detachable connector (237) for connecting to the skin (120).

3. The mouth structure according to claim 2, characterized in that, The first driving component (210) includes: The first motor (211) has a first rocker arm (212) connected to its output end, and the other end of the first rocker arm (212) is rotatably connected to the vertical forward connecting rod (232); The lip corner rotating support (213) is fixedly connected at one end to the first motor (211) and rotatably connected at the other end to the vertical rear connecting rod (231).

4. A mouth structure according to claim 3, characterized in that, The second drive component (220) includes: The second motor (221) has a second rocker arm (222) connected to its output end, and a transverse front link (223) is connected to the second rocker arm (222). The other end of the transverse front link (223) is rotatably connected to the transverse rear link (235).

5. A mouth structure according to claim 1, characterized in that, The upper lip connection assembly (320) includes: The second guide rail (321) is fixedly disposed at the front end position between the two sets of lip corner driving components (200) and is disposed along the axis of symmetry of the two sets of lip corner driving components (200). A second slider (322) is slidably connected on the second guide rail (321). The upper lip slider (323) is fixedly connected to the second slider (322); The upper lip connecting rod (324) is rotatably connected at one end to the upper lip slider (323) and at the other end to the third drive assembly (310); The first push-pull block (325) is fixedly connected to the upper lip slider (323); The upper lip piece (326) is rotatably connected to the first push-pull block (325) and is used to connect the upper lip skin (120). The first pull rope (327) is connected at one end to the upper lip plate (326) and at the other end to the head shell (100).

6. A mouth structure according to claim 5, characterized in that, The third drive component (310) includes: The third motor (311) has a third rocker arm (312) connected to its output end, and the other end of the third rocker arm (312) is rotatably connected to the upper lip connecting rod (324).

7. A mouth structure according to claim 1, characterized in that, The lower lip connecting assembly (420) includes: Lower lip fixing block (421); The second push-pull block (422) is rotatably connected to the lower lip fixing block (421); The lower lip piece (423) is rotatably connected to the second push-pull block (422) for connecting the lower lip skin (120). The second pull rope (424) is connected at one end to the lower lip piece (423) and at the other end to the mandible (110).

8. A mouth structure according to claim 7, characterized in that, The fourth drive component (410) includes: A fourth motor (411) is fixedly connected to the lower jaw (110), and the output end of the fourth motor (411) is driven to connect to a fourth rocker arm (412). The fourth rocker arm (412) is fixedly connected to a lower lip rocker arm (413), and the lower lip fixing block (421) is detachably connected to the lower lip rocker arm (413).

9. A mouth structure according to claim 8, characterized in that, The fifth drive assembly (510) includes a fifth motor (511), and the output end of the fifth motor (511) is connected to a fifth rocker arm (512). The mandibular connection assembly (520) includes a mandibular rocker arm (521) and a mandibular fixing plate (522). One end of the mandibular rocker arm (521) is fixedly connected to the fifth rocker arm (512), and the other end is fixedly connected to the fourth motor (411). One end of the mandibular fixation plate (522) is fixedly connected to the fourth motor (411), and the other end is rotatably connected to the fifth motor (511).

10. A robot, characterized in that, Includes the mouth structure as described in any one of claims 1-9.

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