Mouth expression mechanism and profiling robot

Abstract

The application provides a mouth expression mechanism and a profiling robot, and relates to the technical field of robots. The mouth expression mechanism comprises an upper lip assembly, the upper lip assembly comprises an upper lip support assembly and a first upper lip transmission assembly, the upper lip support assembly comprises an upper lip rack and a first upper lip connecting piece, the first upper lip connecting piece is rotationally arranged on the upper lip rack, and the first upper lip connecting piece is located on one side of the upper lip rack. The first upper lip transmission assembly comprises a first upper lip transmission rod and a second upper lip transmission rod, one end of the first upper lip transmission rod is rotationally connected with the first upper lip connecting piece, and the end of the first upper lip transmission rod, which is away from the first upper lip connecting piece, is rotationally connected with the second upper lip transmission rod. The end of the second upper lip transmission rod, which is away from the first upper lip transmission rod, is located on the side of the upper lip rack, which is away from the first upper lip connecting piece. The application has the advantages of more reasonable structure layout, more flexible movement and effective interference alleviation. In addition, the overall structure is compact, and the occupied space is small.

Description

Technical Field

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

[0002] In fields such as bionic robots, intelligent dolls, and humanoid animation devices, mouth expression simulation mechanisms are one of the core components for realizing the anthropomorphism and emotional expression functions of these devices. To achieve more natural and richer mouth movements, various mouth drive mechanisms driven by linkages, cranks, or gears have been developed in existing technologies.

[0003] However, existing mouth expression mechanisms still have shortcomings in practical applications. Due to unreasonable design of the connection points between transmission rods and the relative position of the frame, the range of motion of some mechanisms is limited, the flexibility of movement is poor, and motion interference is prone to occur, affecting the operational reliability of the mechanism. Summary of the Invention

[0004] In view of this, the purpose of the present invention is to overcome the shortcomings of the prior art and provide a mouth expression mechanism and a bionic robot with a more reasonable structural layout, more flexible movement and effective mitigation of interference; moreover, the overall structure is compact and occupies little space, which is conducive to use in the limited space of a miniaturized bionic face.

[0005] This invention provides the following technical solution: In a first aspect, embodiments of this application provide a mouth expression mechanism, the mouth expression mechanism including an upper lip component, the upper lip component comprising: An upper lip support assembly, comprising an upper lip frame and a first upper lip connector, wherein the first upper lip connector is rotatably mounted on the upper lip frame and is located on one side of the upper lip frame; The first upper lip transmission assembly includes a first upper lip transmission rod and a second upper lip transmission rod. One end of the first upper lip transmission rod is rotatably connected to the first upper lip connector, and the end of the first upper lip transmission rod away from the first upper lip connector is rotatably connected to the second upper lip transmission rod. The end of the second upper lip transmission rod away from the first upper lip transmission rod is located on the side of the upper lip frame away from the first upper lip connector.

[0006] In some embodiments of the first aspect, the upper lip support assembly further includes a first upper lip rocker arm, the first upper lip rocker arm and the first upper lip drive rod being spaced apart, one end of the first upper lip rocker arm being rotatably connected to the first upper lip connector, and the end of the first upper lip rocker arm away from the first upper lip connector being rotatably connected to the upper lip frame. The first upper lip drive rod has a first upper lip connecting part, a second upper lip connecting part and a third upper lip connecting part. The first upper lip connecting part is rotatably connected to the first upper lip connector, the second upper lip connecting part is rotatably connected to the upper lip frame, and the third upper lip connecting part is rotatably connected to the second upper lip drive rod.

[0007] In some embodiments of the first aspect, the upper lip support assembly further includes a second upper lip connector and a third upper lip drive rod, the third upper lip drive rod being bent along its length, one end of the third upper lip drive rod being rotatably connected to the second upper lip connector, the second upper lip connector being rotatably mounted on the upper lip frame.

[0008] In some embodiments of the first aspect, the upper lip assembly further includes a second upper lip rocker arm and a third upper lip rocker arm, the second upper lip rocker arm and the third upper lip rocker arm being spaced apart, one end of the second upper lip rocker arm being rotatably connected to the upper lip frame, and the end of the second upper lip rocker arm away from the upper lip frame being rotatably connected to the second upper lip connector; one end of the third upper lip rocker arm being rotatably connected to the upper lip frame, and the end of the third upper lip rocker arm away from the upper lip frame being rotatably connected to the second upper lip connector.

[0009] In some embodiments of the first aspect, the upper lip assembly further includes a first upper lip power member and a fourth upper lip rocker arm. The first upper lip power member is disposed on the upper lip frame. The output shaft of the first upper lip power member is tractively connected to one end of the fourth upper lip rocker arm. The end of the fourth upper lip rocker arm away from the first upper lip power member is rotatably connected to the second upper lip connector. The first upper lip power member can drive the fourth upper lip rocker arm to rotate, thereby causing the second upper lip connector to rotate relative to the upper lip frame.

[0010] In some embodiments of the first aspect, the upper lip assembly further includes a second upper lip power member and a fifth upper lip rocker arm. The second upper lip power member is disposed on the upper lip frame. The output shaft of the second upper lip power member is tractively connected to one end of the fifth upper lip rocker arm. The end of the fifth upper lip rocker arm away from the second upper lip power member is rotatably connected to the end of the second upper lip transmission rod away from the first upper lip transmission rod. The second upper lip power member can drive the fifth upper lip rocker arm to rotate, thereby causing the first upper lip connector to rotate relative to the upper lip frame.

[0011] In some embodiments of the first aspect, second upper lip connectors are respectively provided on both sides of the first upper lip connector, and a second upper lip power member is respectively provided on the corresponding side of each second upper lip connector. The first upper lip power member is located on the side of the upper lip frame close to the first upper lip connector, and the second upper lip power member is located on the side of the upper lip frame away from the first upper lip connector. The two second upper lip power members are spaced apart and define a clearance space. Each second upper lip power member is located between the first upper lip power member and the first upper lip connector, and the second upper lip transmission rod passes through the clearance space.

[0012] In some embodiments of the first aspect, the end of the third upper lip drive rod near the second upper lip connector is bent toward the first upper lip power member.

[0013] In some embodiments of the first aspect, the mouth expression mechanism includes a lower lip assembly, the lower lip assembly comprising: A lower lip support assembly, comprising a lower lip frame and a lower lip connector, wherein the lower lip connector is rotatably mounted on the lower lip frame and is located on one side of the lower lip frame; The first lower lip drive assembly includes a first lower lip drive rod and a second lower lip drive rod. One end of the first lower lip drive rod is rotatably connected to the lower lip connector, and the end of the first lower lip drive rod away from the lower lip connector is rotatably connected to the second lower lip drive rod. The end of the second lower lip drive rod away from the first lower lip drive rod is located on the side of the lower lip frame away from the lower lip connector.

[0014] In some embodiments of the first aspect, the lower lip support assembly further includes a first lower lip rocker arm, the first lower lip rocker arm and the first lower lip drive rod being spaced apart, one end of the first lower lip rocker arm being rotatably connected to the lower lip connector, and the end of the first lower lip rocker arm away from the lower lip connector being rotatably connected to the lower lip frame; The first lower lip drive rod has a first lower lip connecting part, a second lower lip connecting part and a third lower lip connecting part. The first lower lip connecting part is rotatably connected to the lower lip connector, the second lower lip connecting part is rotatably connected to the lower lip frame, and the third lower lip connecting part is rotatably connected to the second lower lip drive rod.

[0015] In some embodiments of the first aspect, the lower lip assembly further includes a lower lip power member and a second lower lip rocker arm, the output shaft of the lower lip power member being tractively connected to one end of the second lower lip rocker arm, the end of the second lower lip rocker arm away from the lower lip power member being rotatably connected to the second lower lip drive rod, and the lower lip power member being capable of driving the second lower lip rocker arm to rotate so as to drive the lower lip connector to rotate relative to the lower lip frame.

[0016] In some embodiments of the first aspect, the mouth expression mechanism includes a corner of the mouth assembly, the corner of the mouth assembly includes a corner of the mouth transmission assembly and a corner of the mouth connector, the corner of the mouth transmission assembly includes a first corner of the mouth transmission rod and a second corner of the mouth transmission rod, one end of the first corner of the mouth transmission rod is rotatably connected to the corner of the mouth connector, and the end of the first corner of the mouth transmission rod away from the corner of the mouth connector is rotatably connected to the second corner of the mouth transmission rod.

[0017] In some embodiments of the first aspect, the corner of the mouth assembly further includes a first corner of the mouth power member, a second corner of the mouth power member, a first corner of the mouth rocker arm, and a second corner of the mouth rocker arm. The end of the first corner of the mouth transmission rod away from the corner of the mouth connector is rotatably connected to the first corner of the mouth rocker arm, and the end of the first corner of the mouth rocker arm away from the first corner of the mouth transmission rod is drively connected to the output shaft of the first corner of the mouth power member. The end of the second corner of the mouth transmission rod away from the corner of the mouth connector is rotatably connected to the second corner of the mouth rocker arm, and the end of the second corner of the mouth rocker arm away from the second corner of the mouth transmission rod is drively connected to the output shaft of the second corner of the mouth power member. Under the driving action of the first corner of the mouth power member and the second corner of the mouth power member, the first corner of the mouth rocker arm and the second corner of the mouth rocker arm drive the first corner of the mouth transmission rod and the second corner of the mouth transmission rod to swing relative to each other.

[0018] Secondly, this application also provides a biomimetic robot, which includes a head skeleton and a mouth expression mechanism as described in any of the above embodiments, the mouth expression mechanism being mounted on the head skeleton.

[0019] The embodiments of the present invention have the following advantages: The mouth expression mechanism provided by this invention defines the end of the second upper lip drive rod away from the first upper lip drive rod as located on the side of the upper lip frame away from the first upper lip connector. This allows the transmission path to cross or avoid the frame body, thereby improving the spatial relative position of the rods and the frame, alleviating motion interference problems, and improving operational reliability. Because the interference problem has been solved and the rod connections optimized, the mechanism of this invention is no longer limited by unreasonable geometric constraints, allowing the upper lip support assembly and related transmission rods to achieve greater range of motion and stroke, thus making mouth movements more flexible and natural, and facilitating the expression of richer emotions. Furthermore, while alleviating interference, the rotational connection layout between the first upper lip connector, the first upper lip drive rod, and the second upper lip drive rod not only avoids interference but also makes the overall structure more compact.

[0020] 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

[0021] 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.

[0022] Figure 1 This diagram shows a structural schematic of a mouth expression mechanism provided by an embodiment of the present invention from one perspective; Figure 2 This diagram shows a structural schematic from another perspective of a mouth expression mechanism provided by an embodiment of the present invention; Figure 3 This diagram illustrates a structural schematic of an upper lip assembly according to an embodiment of the present invention from one perspective. Figure 4 This diagram illustrates a structural schematic of an upper lip assembly provided by an embodiment of the present invention from another perspective; Figure 5 This diagram illustrates a structural schematic of an upper lip assembly provided by an embodiment of the present invention from yet another perspective. Figure 6 This diagram illustrates a structural schematic of a lower lip assembly according to an embodiment of the present invention from one perspective. Figure 7 The diagram shows a structural schematic of a corner mouth component provided by an embodiment of the present invention from one perspective.

[0023] Explanation of key component symbols: 10-Upper lip assembly; 110-Upper lip support assembly; 111-Upper lip frame; 112-First upper lip rocker arm; 113-First upper lip connector; 120-First upper lip transmission assembly; 121-First upper lip transmission rod; 121a-Third upper lip connection; 121b-Second upper lip connection; 121c-First upper lip connection; 122-Second upper lip transmission rod; 130-Fifth upper lip rocker arm; 140-Second upper lip power component; 150-Second upper lip connector; 160-Third upper lip transmission rod; 170-Second upper lip rocker arm; 180-Third upper lip rocker arm; 190-Fourth upper lip rocker arm; 200-First upper lip power component; 20 - Lower lip assembly; 210 - Lower lip support assembly; 211 - Lower lip frame; 212 - Lower lip connector; 213 - First lower lip rocker arm; 220 - Lower lip transmission assembly; 221 - First lower lip transmission rod; 222 - Second lower lip transmission rod; 230 - Second lower lip rocker arm; 240 - Lower lip power component; 250 - Clearance space; 30 - Mouth corner assembly; 260 - Mouth corner transmission assembly; 261 - First mouth corner transmission rod; 262 - Second mouth corner transmission rod; 263 - Mouth corner connector; 264 - Second mouth corner rocker arm; 265 - First mouth corner rocker arm; 266 - First mouth corner power component; 267 - Second mouth corner power component. Detailed Implementation

[0024] 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.

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

[0026] In this 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.

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

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

[0029] like Figure 1 , Figure 2 and Figure 3 As shown, to solve the above-mentioned technical problems, this application provides a mouth expression mechanism. The mouth expression mechanism includes an upper lip assembly 10, which includes an upper lip support assembly 110 and a first upper lip transmission assembly 120. The upper lip support assembly 110 includes an upper lip frame 111 and a first upper lip connector 113. The first upper lip connector 113 is rotatably mounted on the upper lip frame 111 and located on one side of the upper lip frame 111. The first upper lip transmission assembly 120 includes a first upper lip transmission rod 121 and a second upper lip transmission rod 122. One end of the first upper lip transmission rod 121 is rotatably connected to the first upper lip connector 113, and the end of the first upper lip transmission rod 121 away from the first upper lip connector 113 is rotatably connected to the second upper lip transmission rod 122. The end of the second upper lip transmission rod 122 away from the first upper lip transmission rod 121 is located on the side of the upper lip frame 111 away from the first upper lip connector 113.

[0030] In these embodiments, the upper lip support assembly 110 includes an upper lip frame 111 and a first upper lip connector 113. The upper lip frame 111 serves as a fixed base for the entire upper lip assembly 10. The first upper lip connector 113 is rotatably mounted on one side (e.g., the left or right side) of the upper lip frame 111 via a pin or bearing, allowing the connector to rotate freely relative to the upper lip frame 111 about a fixed axis. This rotatable connection point constitutes one of the fulcrums for the upper lip's movement.

[0031] The first upper lip drive assembly 120 includes a first upper lip drive rod 121 and a second upper lip drive rod 122. One end of the first upper lip drive rod 121 is rotatably connected to the first upper lip connector 113 via a ball joint or pin, and the other end is rotatably connected to one end of the second upper lip drive rod 122, forming a linkage chain structure. Crucially, the end of the second upper lip drive rod 122 away from the first upper lip drive rod 121 is positioned on the side of the upper lip frame 111 away from the first upper lip connector 113. For example, if the first upper lip connector 113 is located on the left side of the frame, the free end of the second upper lip drive rod 122 is located on the right side of the frame.

[0032] This configuration, with its transmission path distributed across the frame, effectively expands the freedom of movement of the upper lip. It avoids the link folding limits or dead points that can occur with traditional same-side arrangements. Simultaneously, it reduces the risk of spatial interference between transmission links and the frame or other surface components.

[0033] In actual driving, the free end of the second upper lip drive rod 122 can be pulled or pushed by a micro motor or linear actuator, thereby causing the first upper lip drive rod 121 to swing around the first upper lip connector 113, ultimately causing the upper lip support structure to produce anthropomorphic movements such as lifting upwards and pressing downwards. Since each connection point is a revolute joint, the overall movement is smooth and the response is rapid.

[0034] It should be noted that the structural principle of the upper lip assembly 10 described above can also be applied to the lower lip assembly 20. For example, by replacing the upper lip frame 111 with a lower lip support and reversing the arrangement of the transmission rods, synchronous or independent movement of the lower lip can be achieved. Furthermore, multiple such mechanisms can be combined and used in conjunction with a control system to achieve various complex expressions such as smiling, surprise, and pouting.

[0035] like Figure 3 As shown, in some embodiments, the upper lip support assembly 110 further includes a first upper lip rocker arm 112, the first upper lip rocker arm 112 and the first upper lip transmission rod 121 are spaced apart, one end of the first upper lip rocker arm 112 is rotatably connected to the first upper lip connector 113, and the end of the first upper lip rocker arm 112 away from the first upper lip connector 113 is rotatably connected to the upper lip frame 111.

[0036] The first upper lip drive rod 121 has a first upper lip connecting part 121c, a second upper lip connecting part 121b and a third upper lip connecting part 121a. The first upper lip connecting part 121c is rotatably connected to the first upper lip connector 113, the second upper lip connecting part 121b is rotatably connected to the upper lip frame 111, and the third upper lip connecting part 121a is rotatably connected to the second upper lip drive rod 122.

[0037] In these embodiments, to further improve the stability and trajectory controllability of the upper lip movement, a first upper lip rocker arm 112 is added to the upper lip support component 110, and a cooperative constraint mechanism is formed with the first upper lip transmission rod 121.

[0038] The first upper lip rocker arm 112 and the first upper lip transmission rod 121 are spaced apart along the height direction of the upper lip frame 111. They do not interfere with each other in space, but they work together on the first upper lip connector 113.

[0039] Specifically, one end of the first upper lip rocker arm 112 is connected to the first upper lip connector 113 via a pin. The other end of the first upper lip rocker arm 112, away from the first upper lip connector 113, is connected to the upper lip frame 111 via another rotating joint.

[0040] Thus, the first upper lip connector 113, the first upper lip rocker arm 112, and the upper lip frame 111 form a stable four-bar linkage, which effectively restricts the degree of freedom of the first upper lip connector 113 in unintended directions, retaining only its rotational motion around the designed axis, thereby improving the repeatability accuracy and structural rigidity of the upper lip action.

[0041] Meanwhile, the first upper lip drive rod 121 is designed with three independent connection points: a first upper lip connecting part 121c is located at one end of the drive rod and is connected to the first upper lip connector 113; a second upper lip connecting part 121b is located in the middle or near the middle of the drive rod and is connected to the upper lip frame 111; and a third upper lip connecting part 121a is located at the other end of the drive rod and is connected to the second upper lip drive rod 122. This design allows the second upper lip connecting part 121b to act as a fulcrum, the first upper lip connecting part 121c to act as a driven end, and the third upper lip connecting part 121a to act as a driving end.

[0042] like Figure 2 and Figure 4 As shown, in some embodiments, the upper lip support assembly 110 further includes a second upper lip connector 150 and a third upper lip drive rod 160. The third upper lip drive rod 160 is bent along its length direction, and one end of the third upper lip drive rod 160 is rotatably connected to the second upper lip connector 150. The second upper lip connector 150 is rotatably mounted on the upper lip frame 111.

[0043] In these embodiments, to further enrich the dimensions of upper lip movement (such as achieving asymmetrical expressions, upturned corners of the mouth, etc.), this embodiment introduces a second upper lip connector 150 and a third upper lip transmission rod 160 in the upper lip support component 110 to form a second drive path that is parallel to or coordinated with the first side transmission system.

[0044] The second upper lip connector 150 is rotatably mounted on the upper lip frame 111 via a pin or miniature bearing. Its installation position can be located in the right side region of the upper lip frame 111 to connect to the right side of the upper lip. The first upper lip connector 113 is located in the middle to connect to the middle of the upper lip, providing the upper lip with multi-point control capabilities that are closer to the distribution of the orbicularis oris muscle in the human body.

[0045] The third upper lip drive rod 160 is bent along its length, for example, in an L-shape. This bending design is primarily for the following purposes: to accommodate the narrow and irregular space inside the bionic face, to avoid electronic components, and to adapt to the shape of the bionic face.

[0046] One end of the third upper lip drive rod 160 is connected to the second upper lip connector 150 via a revolute joint (such as a pin or ball joint). The other end of the third upper lip drive rod 160 is connected to an external drive source to receive driving force.

[0047] During operation, when an external drive source pulls or pushes the distal end of the third upper lip drive rod 160, the force is transmitted to the second upper lip connector 150 due to the leverage effect generated by its bent structure, causing it to rotate around its own axis, thereby causing local deformation of the soft epidermis of the upper lip (such as a silicone lip) connected to it.

[0048] like Figure 4 As shown, in some embodiments, the upper lip assembly 10 further includes a second upper lip rocker arm 170 and a third upper lip rocker arm 180, which are spaced apart. One end of the second upper lip rocker arm 170 is rotatably connected to the upper lip frame 111, and the end of the second upper lip rocker arm 170 away from the upper lip frame 111 is rotatably connected to the second upper lip connector 150. One end of the third upper lip rocker arm 180 is rotatably connected to the upper lip frame 111, and the end of the third upper lip rocker arm 180 away from the upper lip frame 111 is rotatably connected to the second upper lip connector 150.

[0049] To further improve the motion stability, lateral load resistance, and trajectory repeatability of the second upper lip connector 150, this embodiment introduces a second upper lip rocker arm 170 and a third upper lip rocker arm 180 into the upper lip assembly 10 to form a linkage support system for the second upper lip connector 150.

[0050] The second upper lip rocker arm 170 and the third upper lip rocker arm 180 are spaced apart along the height direction of the upper lip frame 111, and the two form a certain distance in the direction perpendicular to the main motion plane, thereby constructing a spatial parallelogram mechanism.

[0051] Thus, the second upper lip connector 150, the second upper lip rocker arm 170, the third upper lip rocker arm 180, and the upper lip frame 111 together constitute a closed four-bar linkage. The spaced arrangement of the two rocker arms effectively prevents the second upper lip connector 150 from twisting, moving back and forth, or swaying laterally during movement, ensuring that it rotates only around the designed axis and greatly improving the consistency of movement.

[0052] When the upper lip epidermis is subjected to external contact or sudden changes in internal driving load, the double rocker arms can share the load, avoiding deformation or failure caused by stress concentration at a single point.

[0053] like Figure 4 and Figure 5 As shown, in some embodiments, the upper lip assembly 10 further includes a first upper lip power member 200 and a fourth upper lip rocker arm 190. The first upper lip power member 200 is disposed on the upper lip frame 111. The output shaft of the first upper lip power member 200 is connected to one end of the fourth upper lip rocker arm 190. The end of the fourth upper lip rocker arm 190 away from the first upper lip power member 200 is rotatably connected to the second upper lip connector 150. The first upper lip power member 200 can drive the fourth upper lip rocker arm 190 to rotate, thereby causing the second upper lip connector 150 to rotate relative to the upper lip frame 111.

[0054] In these embodiments, the first upper lip power unit 200 is fixedly mounted on the upper lip frame 111. This power unit is selected as a miniature servo motor, voice coil motor, or linear-rotary converter actuator. It is small in size and has sufficient output torque to drive the upper lip skin made of silicone or TPU to complete facial expressions. It also has a position feedback function to support closed-loop control.

[0055] The output shaft of the first upper lip power component 200 is connected to one end of the fourth upper lip rocker arm 190 via a coupling, pin, or direct keying, so that the rotational motion of the output shaft is directly converted into the oscillation of the fourth upper lip rocker arm 190.

[0056] The other end of the fourth upper lip rocker arm 190, away from the first upper lip power member 200, is connected to the second upper lip connector 150 via a pin or ball joint.

[0057] Therefore, when the first upper lip power component 200 is working, its output shaft drives the fourth upper lip rocker arm 190 to swing around the center of the output shaft, thereby pulling or pushing the second upper lip connector 150, causing it to move relative to the upper lip frame 111.

[0058] like Figure 4 and Figure 5As shown, in some embodiments, the upper lip assembly 10 further includes a second upper lip power member 140 and a fifth upper lip rocker arm 130. The second upper lip power member 140 is disposed on the upper lip frame 111. The output shaft of the second upper lip power member 140 is connected to one end of the fifth upper lip rocker arm 130. The end of the fifth upper lip rocker arm 130 away from the second upper lip power member 140 and the end of the second upper lip transmission rod 122 away from the first upper lip transmission rod 121 are rotatably connected. The second upper lip power member 140 can drive the fifth upper lip rocker arm 130 to rotate, thereby driving the first upper lip connector 113 to rotate relative to the upper lip frame 111.

[0059] In these embodiments, the second upper lip power component 140 is fixedly mounted on the upper lip frame 111, away from the first upper lip connector 113. This power component is also preferably a micro servo motor, brushless motor, or linear resonant actuator, which has the characteristics of small size, low power consumption, and high torque density, and is suitable for the limited space of a bionic face.

[0060] The output shaft of the second upper lip power component 140 is connected to one end of the fifth upper lip rocker arm 130 via a pin, keyway, or flexible coupling structure, so that the rotational motion of the output shaft is directly converted into the oscillation of the fifth upper lip rocker arm 130.

[0061] Crucially, the other end of the fifth upper lip rocker arm 130, away from the second upper lip power member 140, is connected to the second upper lip drive rod 122 via a revolute joint (such as a miniature bearing or ball joint). It should be specifically noted here that one end of the second upper lip drive rod 122 is rotatably connected to the first upper lip drive rod 121, and the end away from the first upper lip drive rod 121 is the free end, which is connected to the fifth upper lip rocker arm 130.

[0062] This results in the following driving path: second upper lip power component 140, fifth upper lip rocker arm 130, second upper lip transmission rod 122, first upper lip transmission rod 121, first upper lip connector 113, and upper lip skin movement.

[0063] When the second upper lip power member 140 is working, it drives the fifth upper lip rocker arm 130 to swing, push or pull the free end of the second upper lip transmission rod 122, thereby forcing the first upper lip transmission rod 121 to rotate around its second upper lip connection part 121b with the upper lip frame 111, and finally drive the first upper lip connector 113 to move relative to the upper lip frame 111.

[0064] like Figure 5As shown, in some embodiments, second upper lip connectors 150 are respectively provided on both sides of the first upper lip connector 113, and a second upper lip power member 140 is respectively provided on the corresponding side of each second upper lip connector 150. The first upper lip power member 200 is located on the side of the upper lip frame 111 close to the first upper lip connector 113, and the second upper lip power member 140 is located on the side of the upper lip frame 111 away from the first upper lip connector 113. The two second upper lip power members 140 are spaced apart and form a clearance space 250. Each second upper lip power member 140 is located between the first upper lip power member 200 and the first upper lip connector 113, and the second upper lip transmission rod 122 passes through the clearance space 250.

[0065] In these embodiments, in order to further improve the symmetry control of upper lip expression and achieve efficient arrangement of multiple driving units in a limited space, the overall layout of the upper lip component 10 is optimized: a second upper lip connector 150 is provided on the left and right sides of the first upper lip connector 113 to form a three-point support structure.

[0066] The first upper lip connector 113 is located in the middle region of the upper lip frame 111, for example, near the midline of the face, serving as the core fulcrum for the central movement of the upper lip.

[0067] A second upper lip connector 150 is provided on its left and right sides (i.e. both sides). The two second upper lip connectors 150 are symmetrically or approximately symmetrically mounted on the upper lip frame 111, and each independently controls the deformation of the left and right corner areas of the mouth.

[0068] Accordingly, a second upper lip power member 140 is disposed on the corresponding side (i.e., the outer side) of each second upper lip connector 150. Specifically, the left second upper lip power member 140 corresponds to the left second upper lip connector 150, and the right second upper lip power member 140 corresponds to the right second upper lip connector 150.

[0069] The first upper lip power component 200 is mounted on the upper lip frame 111, specifically on the side near the first upper lip connector 113, such as the front side of the frame. Two second upper lip power components 140 are located on the side of the upper lip frame 111 away from the first upper lip connector 113, such as the rear side of the frame, and are spaced apart from each other, defining a laterally penetrating clearance space 250 between them. A second upper lip drive rod 122 passes through the clearance space 250.

[0070] The second upper lip drive rod 122 is used to connect the first upper lip drive rod 121 to the drive end. In this embodiment, the second upper lip drive rod 122 passes through the gap between the two second upper lip power components 140, thereby avoiding physical interference with the power component housing.

[0071] Clearly, this layout offers high space utilization. By extending the two second upper lip power components 140 outwards, it not only provides a passage for the central drive rod but also makes full use of the frame's lateral width. The second upper lip drive rod 122 can swing freely within the clearance space 250 without being obstructed by the power components, ensuring a smooth, unhindered stroke throughout its entire travel.

[0072] like Figure 4 and Figure 5 As shown, in some embodiments, the end of the third upper lip drive rod 160 near the second upper lip connector 150 is bent towards the first upper lip power member 200.

[0073] In these embodiments, in order to further optimize the internal wiring space, reduce motion interference and improve transmission efficiency, the bending shape of the third upper lip transmission rod 160 is optimized to be closer to the second upper lip connector 150.

[0074] The third upper lip drive rod 160 has an asymmetrical bending structure, for example, it is formed by connecting two straight rods with an arc transition. The bending towards the first upper lip power component 200 means that the extended direction of the bent rod segment in the projected or actual space is closer to the contour of the first upper lip power component 200, rather than perpendicular or away from it. By bending towards the first upper lip power component 200, it can adapt to the contour range of the face.

[0075] In the symmetrical structure of the above embodiment, the third upper lip drive rod 160 on the left can be bent towards the central first upper lip power member 200, and the same applies to the third upper lip drive rod 160 on the right, forming an inward layout to further compress the outer contour size.

[0076] like Figure 6 As shown, in some embodiments, the mouth expression mechanism includes a lower lip assembly 20, which includes a lower lip support assembly 210 and a first lower lip transmission assembly 220. The lower lip support assembly 210 includes a lower lip frame 211 and a lower lip connector 212. The lower lip connector 212 is rotatably mounted on the lower lip frame 211 and is located on one side of the lower lip frame 211.

[0077] The first lower lip drive assembly 220 includes a first lower lip drive rod 221 and a second lower lip drive rod 222. One end of the first lower lip drive rod 221 is rotatably connected to the lower lip connector 212, and the end of the first lower lip drive rod 221 away from the lower lip connector 212 is rotatably connected to the second lower lip drive rod 222. The end of the second lower lip drive rod 222 away from the first lower lip drive rod 221 is located on the side of the lower lip frame 211 away from the lower lip connector 212.

[0078] In these embodiments, the lower lip support assembly 210 includes a lower lip frame 211 and a lower lip connector 212. The lower lip frame 211 serves as a fixed base for the movement of the lower lip. The lower lip connector 212 is rotatably mounted on the lower lip frame 211 via a pin or miniature bearing, and its mounting position is located on one side of the lower lip frame 211, forming a fulcrum for the movement of the lower lip.

[0079] One end of the first lower lip drive rod 221 is connected to the lower lip connector 212 via a rotating joint (such as a ball joint or pin connection). The other end of the first lower lip drive rod 221, away from the lower lip connector 212, is connected to the second lower lip drive rod 222.

[0080] Crucially, the end of the second lower lip drive rod 222 that is away from the first lower lip drive rod 221 is arranged on the lower lip frame 211, that is, on the opposite side to the side where the lower lip connector 212 is located.

[0081] This cross-rack arrangement aligns with the design philosophy of the upper lip assembly 10, expanding the lower lip's range of motion and avoiding the stroke limitations caused by traditional same-side linkages. It also reduces the risk of interference between the linkages and the lower lip's internal structure during transmission and minimizes overall size.

[0082] In actual operation, the free end of the second lower lip transmission rod 222 can be pushed by a micro motor, a pull rope, or a push rod linked to the upper lip, causing the first lower lip transmission rod 221 to swing, thereby driving the lower lip connector 212 to rotate around its axis, ultimately causing the lower lip skin (such as a silicone lower lip) to open downwards and close upwards.

[0083] like Figure 6 As shown, in some embodiments, the lower lip support assembly 210 further includes a first lower lip rocker arm 213, the first lower lip rocker arm 213 and the first lower lip transmission rod 221 are spaced apart, one end of the first lower lip rocker arm 213 is rotatably connected to the lower lip connector 212, and the end of the first lower lip rocker arm 213 away from the lower lip connector 212 is rotatably connected to the lower lip frame 211.

[0084] The first lower lip drive rod 221 has a first lower lip connecting part, a second lower lip connecting part and a third lower lip connecting part. The first lower lip connecting part is rotatably connected to the lower lip connector 212, the second lower lip connecting part is rotatably connected to the lower lip frame 211, and the third lower lip connecting part is rotatably connected to the second lower lip drive rod 222.

[0085] In this embodiment, a first lower lip rocker arm 213 is added to the lower lip support assembly 210, and the structure of the first lower lip transmission rod 221 is optimized so that it has three independent connection parts.

[0086] The first lower lip rocker arm 213 and the first lower lip transmission rod 221 are spaced apart along the height direction of the lower lip frame 211. For example, the first lower lip rocker arm 213 is located on the inner side near the oral cavity area, and the first lower lip transmission rod 221 is located on the outer side near the chin contour. The two do not interfere with each other in space, but they work together on the lower lip connector 212.

[0087] Therefore, the lower lip connector 212, the first lower lip rocker arm 213 and the lower lip frame 211 effectively restrict the degree of freedom of the lower lip connector 212 in unintended directions, retaining only its rotational motion around the designed axis, which significantly improves the repeatability accuracy and structural rigidity of the lower lip action.

[0088] Meanwhile, the first lower lip drive rod 221 is designed with three independent connection points. The first lower lip connection point is located at one end of the drive rod and connects to the second lower lip connection point via the lower lip connector 212. The second lower lip connection point is located in the middle or near the middle of the drive rod and connects to the lower lip frame 211. The third lower lip connection point is located at the other end of the drive rod and connects to the second lower lip drive rod 222.

[0089] During operation: The second lower lip connector is fixed to the lower lip frame 211 as a fulcrum. The third lower lip connector receives the push-pull force from the second lower lip drive rod 222 as input. The first lower lip connector outputs the amplified or adjusted motion to the lower lip connector 212.

[0090] like Figure 6 As shown, in some embodiments, the lower lip assembly 20 further includes a lower lip power member 240 and a second lower lip rocker arm 230. The output shaft of the lower lip power member 240 is connected to one end of the second lower lip rocker arm 230. The end of the second lower lip rocker arm 230 away from the lower lip power member 240 is rotatably connected to the second lower lip transmission rod 222. The lower lip power member 240 can drive the second lower lip rocker arm 230 to rotate, thereby causing the lower lip connector 212 to rotate relative to the lower lip frame 211.

[0091] To achieve precise, independent, and rapid active control of the lower lip's movements, this embodiment adds a lower lip power component 240 and a second lower lip rocker arm 230 to the lower lip assembly 20, forming a compact drive unit.

[0092] The lower lip power component 240 is fixedly mounted on the lower lip frame 211. For example, the power component is selected as a micro servo motor, voice coil motor or small geared motor, which has a compact size and output torque sufficient to drive the lower lip skin made of silicone or thermoplastic elastomer to complete actions such as opening and closing and forward extension.

[0093] The output shaft of the lower lip power component 240 is connected to one end of the second lower lip rocker arm 230 via a pin, keyway, or flexible coupling structure, so that the rotational motion of the output shaft is directly converted into the oscillation of the second lower lip rocker arm 230.

[0094] The other end of the second lower lip rocker arm 230, away from the lower lip power member 240, is connected to the second lower lip drive rod 222 via a rotating pair (such as a miniature ball joint or a bushed pin).

[0095] When the lower lip power member 240 is working, it drives the second lower lip rocker arm 230 to swing, thereby pushing or pulling the free end of the second lower lip transmission rod 222, forcing the first lower lip transmission rod 221 to rotate around its second lower lip connection with the lower lip frame 211, and ultimately driving the lower lip connector 212 relative to the lower lip frame 211.

[0096] like Figure 7 As shown, in some embodiments, the mouth expression mechanism includes a mouth corner assembly 30, which includes a mouth corner transmission assembly 260 and a mouth corner connector 263. The mouth corner transmission assembly 260 includes a first mouth corner transmission rod 261 and a second mouth corner transmission rod 262. One end of the first mouth corner transmission rod 261 is rotatably connected to the mouth corner connector 263, and the end of the first mouth corner transmission rod 261 away from the mouth corner connector 263 is rotatably connected to the second mouth corner transmission rod 262.

[0097] To further enhance the richness and anthropomorphism of mouth expressions, especially to achieve micro-expressions such as upturning, downturning, outward expansion, or inward retraction of the corners of the mouth, this embodiment adds a corner-of-mouth component 30 to the mouth expression mechanism. This component can be set on the left and right sides (i.e., the left corner-of-mouth component 30 and the right corner-of-mouth component 30) and controlled independently, or it can be set on only one side to achieve asymmetrical expressions.

[0098] The corner connector 263 is rotatably or oscillatingly mounted on the end region of the facial skeleton or upper / lower lip frame 211 (e.g., at the left and right ear plates of the upper lip frame 111) via a micro pin or flexible hinge. A soft corner skin (such as silicone or TPE material) is connected to its outer side, serving as the direct driving point for corner deformation.

[0099] During operation, when the second corner-of-the-mouth transmission rod 262 is pulled or pushed, the force is transmitted through the first corner-of-the-mouth transmission rod 261 to the corner-of-the-mouth connector 263, causing it to rotate or swing around its own axis, thereby causing local deformation of the skin at the corner of the mouth. For example: pulling upward corresponds to an upward turn of the corner of the mouth, indicating a smile; pushing downward corresponds to a downward turn of the corner of the mouth, indicating sadness or dissatisfaction; and stretching laterally corresponds to an outward widening of the corner of the mouth, indicating surprise.

[0100] like Figure 7As shown, in some embodiments, the corner-of-the-mouth assembly 30 further includes a first corner-of-the-mouth power member 266, a second corner-of-the-mouth power member 267, a first corner-of-the-mouth rocker arm 265, and a second corner-of-the-mouth rocker arm 264. The end of the first corner-of-the-mouth transmission rod 261 away from the corner-of-the-mouth connector 263 is rotatably connected to the first corner-of-the-mouth rocker arm 265, and the end of the first corner-of-the-mouth rocker arm 265 away from the first corner-of-the-mouth transmission rod 261 is drive-connected to the output shaft of the first corner-of-the-mouth power member 266. The end of the second corner-of-the-mouth transmission rod 262 away from the corner-of-the-mouth connector 263 is rotatably connected to the second corner-of-the-mouth rocker arm 264, and the end of the second corner-of-the-mouth rocker arm 264 away from the second corner-of-the-mouth transmission rod 262 is drive-connected to the output shaft of the second corner-of-the-mouth power member 267. Under the driving action of the first corner-of-the-mouth power member 266 and the second corner-of-the-mouth power member 267, the first corner-of-the-mouth rocker arm 265 and the second corner-of-the-mouth rocker arm 264 drive the first corner-of-the-mouth transmission rod 261 and the second corner-of-the-mouth transmission rod 262 to swing relative to each other.

[0101] To achieve bidirectional active control of mouth corner movements (e.g., simultaneously supporting mouth corner lifting and pulling down, or extending and retracting), this embodiment further introduces a first mouth corner power component 266, a second mouth corner power component 267, a first mouth corner rocker arm 265, and a second mouth corner rocker arm 264 into the mouth corner assembly 30, forming a high-degree-of-freedom dual-input drive system.

[0102] The first corner mouth power component 266 and the second corner mouth power component 267 are both fixedly installed on the facial skeleton, the upper lip frame 111 or a special bracket, and can be selected as a micro digital servo, a voice coil motor or a linear resonant actuator.

[0103] During operation: When the first corner of the mouth power component 266 drives its output shaft to rotate, it causes the first corner of the mouth rocker arm 265 to swing, thereby pulling or pushing the first corner of the mouth transmission rod 261.

[0104] Simultaneously, the second corner-of-the-mouth power component 267 drives the second corner-of-the-mouth rocker arm 264 to swing, acting on the second corner-of-the-mouth transmission rod 262. Since the proximal ends of the first corner-of-the-mouth transmission rod 261 and the second corner-of-the-mouth transmission rod 262 are connected to the same corner-of-the-mouth connector 263, their relative swinging motion under force will synthesize into a composite motion, causing the corner-of-the-mouth connector 263 to undergo multi-degree-of-freedom posture changes, for example: Two power components drive in the same direction to cause the corners of the mouth to extend forward or retract as a whole.

[0105] Alternatively, the first power component pulls upwards, and the second power component pushes downwards, causing the corners of the mouth to turn upwards and a smile to appear.

[0106] Alternatively, the first power component pushes down and the second power component pulls up, causing the corners of the mouth to turn down in a contemptuous manner.

[0107] Alternatively, the two power components pull outwards in opposite directions, causing the corners of the mouth to widen in surprise.

[0108] In some embodiments, this application also provides a biomimetic robot, which includes a head skeleton and a mouth expression mechanism as described in any of the above embodiments, the mouth expression mechanism being mounted on the head skeleton.

[0109] Since the aforementioned mouth expression mechanism has the aforementioned technical effects, the biomimetic robot that includes the mouth expression mechanism should have the same technical effects, which will not be elaborated here.

[0110] 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.

[0111] 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.

[0112] The embodiments described above are merely examples 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 present 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 mouth expression mechanism, characterized in that, The mouth expression mechanism includes an upper lip component, which includes: An upper lip support assembly, comprising an upper lip frame and a first upper lip connector, wherein the first upper lip connector is rotatably mounted on the upper lip frame and is located on one side of the upper lip frame; The first upper lip transmission assembly includes a first upper lip transmission rod and a second upper lip transmission rod. One end of the first upper lip transmission rod is rotatably connected to the first upper lip connector, and the end of the first upper lip transmission rod away from the first upper lip connector is rotatably connected to the second upper lip transmission rod. The end of the second upper lip transmission rod away from the first upper lip transmission rod is located on the side of the upper lip frame away from the first upper lip connector.

2. The mouth expression mechanism according to claim 1, characterized in that, The upper lip support assembly further includes a first upper lip rocker arm, the first upper lip rocker arm and the first upper lip transmission rod are spaced apart, one end of the first upper lip rocker arm is rotatably connected to the first upper lip connector, and the end of the first upper lip rocker arm away from the first upper lip connector is rotatably connected to the upper lip frame. The first upper lip drive rod has a first upper lip connecting part, a second upper lip connecting part and a third upper lip connecting part. The first upper lip connecting part is rotatably connected to the first upper lip connector, the second upper lip connecting part is rotatably connected to the upper lip frame, and the third upper lip connecting part is rotatably connected to the second upper lip drive rod.

3. The mouth expression mechanism according to claim 1, characterized in that, The upper lip support assembly further includes a second upper lip connector and a third upper lip transmission rod. The third upper lip transmission rod is bent along its length. One end of the third upper lip transmission rod is rotatably connected to the second upper lip connector. The second upper lip connector is rotatably mounted on the upper lip frame.

4. The mouth expression mechanism according to claim 3, characterized in that, The upper lip assembly further includes a second upper lip rocker arm and a third upper lip rocker arm, which are spaced apart. One end of the second upper lip rocker arm is rotatably connected to the upper lip frame, and the end of the second upper lip rocker arm away from the upper lip frame is rotatably connected to the second upper lip connector. One end of the third upper lip rocker arm is rotatably connected to the upper lip frame, and the end of the third upper lip rocker arm away from the upper lip frame is rotatably connected to the second upper lip connector.

5. The mouth expression mechanism according to claim 4, characterized in that, The upper lip assembly further includes a first upper lip power component and a fourth upper lip rocker arm. The first upper lip power component is disposed on the upper lip frame. The output shaft of the first upper lip power component is operatively connected to one end of the fourth upper lip rocker arm. The end of the fourth upper lip rocker arm away from the first upper lip power component is rotatably connected to the second upper lip connector. The first upper lip power component can drive the fourth upper lip rocker arm to rotate, thereby causing the second upper lip connector to rotate relative to the upper lip frame.

6. The mouth expression mechanism according to claim 5, characterized in that, The upper lip assembly further includes a second upper lip power component and a fifth upper lip rocker arm. The second upper lip power component is disposed on the upper lip frame. The output shaft of the second upper lip power component is operatively connected to one end of the fifth upper lip rocker arm. The end of the fifth upper lip rocker arm away from the second upper lip power component is rotatably connected to the end of the second upper lip transmission rod away from the first upper lip transmission rod. The second upper lip power component can drive the fifth upper lip rocker arm to rotate, thereby causing the first upper lip connector to rotate relative to the upper lip frame.

7. The mouth expression mechanism according to claim 6, characterized in that, The first upper lip connector has a second upper lip connector on each side. Each second upper lip connector has a second upper lip power component on its corresponding side. The first upper lip power component is located on the side of the upper lip frame closer to the first upper lip connector. The second upper lip power component is located on the side of the upper lip frame away from the first upper lip connector. The two second upper lip power components are spaced apart and form a clearance space. Each second upper lip power component is located between the first upper lip power component and the first upper lip connector. The second upper lip transmission rod passes through the clearance space.

8. The mouth expression mechanism according to claim 7, characterized in that, The end of the third upper lip drive rod near the second upper lip connector is bent towards the first upper lip power component.

9. The mouth expression mechanism according to claim 1, characterized in that, The mouth expression mechanism includes a lower lip assembly, which includes: A lower lip support assembly, comprising a lower lip frame and a lower lip connector, wherein the lower lip connector is rotatably mounted on the lower lip frame and is located on one side of the lower lip frame; The first lower lip drive assembly includes a first lower lip drive rod and a second lower lip drive rod. One end of the first lower lip drive rod is rotatably connected to the lower lip connector, and the end of the first lower lip drive rod away from the lower lip connector is rotatably connected to the second lower lip drive rod. The end of the second lower lip drive rod away from the first lower lip drive rod is located on the side of the lower lip frame away from the lower lip connector.

10. The mouth expression mechanism according to claim 9, characterized in that, The lower lip support assembly further includes a first lower lip rocker arm, the first lower lip rocker arm and the first lower lip transmission rod are spaced apart, one end of the first lower lip rocker arm is rotatably connected to the lower lip connector, and the end of the first lower lip rocker arm away from the lower lip connector is rotatably connected to the lower lip frame. The first lower lip drive rod has a first lower lip connecting part, a second lower lip connecting part and a third lower lip connecting part. The first lower lip connecting part is rotatably connected to the lower lip connector, the second lower lip connecting part is rotatably connected to the lower lip frame, and the third lower lip connecting part is rotatably connected to the second lower lip drive rod.

11. The mouth expression mechanism according to claim 10, characterized in that, The lower lip assembly also includes a lower lip power component and a second lower lip rocker arm. The output shaft of the lower lip power component is connected to one end of the second lower lip rocker arm. The end of the second lower lip rocker arm away from the lower lip power component is rotatably connected to the second lower lip transmission rod. The lower lip power component can drive the second lower lip rocker arm to rotate, thereby causing the lower lip connector to rotate relative to the lower lip frame.

12. The mouth expression mechanism according to claim 1, characterized in that, The mouth expression mechanism includes a mouth corner assembly, which includes a mouth corner transmission assembly and a mouth corner connector. The mouth corner transmission assembly includes a first mouth corner transmission rod and a second mouth corner transmission rod. One end of the first mouth corner transmission rod is rotatably connected to the mouth corner connector, and the end of the first mouth corner transmission rod away from the mouth corner connector is rotatably connected to the second mouth corner transmission rod.

13. The mouth expression mechanism according to claim 12, characterized in that, The corner of the mouth assembly further includes a first corner of the mouth power component, a second corner of the mouth power component, a first corner of the mouth rocker arm, and a second corner of the mouth rocker arm. The end of the first corner of the mouth transmission rod away from the corner of the mouth connector is rotatably connected to the first corner of the mouth rocker arm, and the end of the first corner of the mouth rocker arm away from the first corner of the mouth transmission rod is drive-connected to the output shaft of the first corner of the mouth power component. The end of the second corner of the mouth transmission rod away from the corner of the mouth connector is rotatably connected to the second corner of the mouth rocker arm, and the end of the second corner of the mouth rocker arm away from the second corner of the mouth transmission rod is drive-connected to the output shaft of the second corner of the mouth power component. Under the driving action of the first corner of the mouth power component and the second corner of the mouth power component, the first corner of the mouth rocker arm and the second corner of the mouth rocker arm drive the first corner of the mouth transmission rod and the second corner of the mouth transmission rod to swing relative to each other.

14. A shape-mimicking robot, characterized in that, The biomimetic robot includes a head frame and a mouth expression mechanism as described in any one of claims 1 to 13, the mouth expression mechanism being mounted on the head frame.

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