Mouth driving structure and robot

Abstract

The utility model provides a mouth driving structure and a robot, and belongs to the technical field of robots. The mouth driving structure comprises an upper lip part, a first control device, a first driving device, a second control device and a second driving device; the upper lip part comprises a first upper lip peak and a second upper lip peak; the first control device comprises a first sliding block and at least one first guide rod, the first sliding block is in sliding connection with each first guide rod, and the first sliding block is connected with the first upper lip peak; the output end of the first driving device is connected with the first sliding block through a first connecting piece; the second control device comprises a second sliding block and at least one second guide rod, the second sliding block is connected with each second guide rod in a sliding mode, and the second sliding block is connected with the second upper lip peak. According to the mouth driving structure, the form change of the first upper lip peak and the form change of the second upper lip peak are adjusted respectively, so that the diversity of the form change of the upper lip part is improved, and the control precision of the lip shape change of the upper lip part is improved.

Description

Technical Field

[0001] The utility model relates to the technical field of robots, in particular to a mouth driving structure and a robot. Background Art

[0002] With the development of the robotics industry, service robots are also developing rapidly. As a type of service robot, humanoid robots have appearance features similar to humans and can perform some simple basic humanoid movements while serving people.

[0003] Mouth movements are essential in the speech expression of humanoid robots. At present, most humanoid robots only have jaw movement mechanisms for their lips, which can only make simple lip opening and closing movements. The upper lip of the robot cannot make different changes according to different emotions, resulting in very limited changes in the shape of the robot's lips. Utility Model Content

[0004] In view of this, the purpose of the present invention is to overcome the deficiencies in the prior art and to provide a mouth drive structure and a robot.

[0005] In a first aspect, the utility model provides a mouth driving structure, comprising:

[0006] An upper lip portion, comprising a first upper lip peak and a second upper lip peak;

[0007] A first control device comprises a first slider and at least one first guide rod, wherein the first slider is slidably connected to each of the first guide rods, and the first slider is connected to the first upper lip peak;

[0008] A first driving device, wherein an output end of the first driving device is connected to the first sliding block via a first connecting member;

[0009] A second control device comprises a second slider and at least one second guide rod, wherein the second slider is slidably connected to each of the second guide rods, and the second slider is connected to the second upper lip peak;

[0010] A second driving device, wherein an output end of the second driving device is connected to the second sliding block through a second connecting member.

[0011] Further, the first control device includes a first support member;

[0012] A first connecting platform is provided at one end of the first supporting member away from the first upper lip peak, and the first guiding rod is connected to the first connecting platform;

[0013] A first guide hole is formed in the middle of the first connecting platform;

[0014] One end of the first connecting member away from the first driving device passes through the first guide hole and is connected to the first sliding block.

[0015] Furthermore, there are two first guide rods, and the two first guide rods are respectively arranged at two ends of the first connecting platform;

[0016] The axes of the two first guide rods are parallel to each other.

[0017] Furthermore, a first spring is provided between the two first guide rods;

[0018] One end of the first spring is connected to the first sliding block, and the other end of the first spring is connected to the first connecting platform.

[0019] Further, the first driving device includes a first driving motor and a first swing arm;

[0020] The first swing arm is connected to the first output shaft of the first drive motor, and one end of the first swing arm away from the first output shaft is connected to one end of the first connecting member close to the first drive device.

[0021] Further, a distance from a side of the first sliding block away from the first connecting platform to a side of the first guiding rod away from the first connecting platform is d1, wherein a value range of d1 is 0<d1≤3mm.

[0022] Further, the second control device includes a second support member;

[0023] A second connecting platform is provided at one end of the second supporting member away from the second upper lip peak, and the second guide rod is connected to the second connecting platform;

[0024] A second guide hole is formed in the middle of the second connecting platform;

[0025] One end of the second connecting member away from the second driving device passes through the second guide hole and is connected to the second sliding block.

[0026] Furthermore, there are two second guide rods, and the two second guide rods are respectively arranged at two ends of the second connecting platform;

[0027] The axes of the two second guide rods are parallel to each other.

[0028] Furthermore, a second spring is provided between the two second guide rods;

[0029] One end of the second spring is connected to the second sliding block, and the other end of the second spring is connected to the second connecting platform.

[0030] Further, the second driving device includes a second driving motor and a second swing arm;

[0031] The second swing arm is connected to the second output shaft of the second drive motor, and one end of the second swing arm away from the second output shaft is connected to one end of the second connecting member close to the second drive device.

[0032] Further, a distance from a side of the second sliding block away from the second connecting platform to a side of the second guiding rod away from the second connecting platform is d2, wherein a value range of d2 is 0<d2≤3mm.

[0033] In a second aspect, some embodiments of the present invention provide a robot comprising the above-mentioned mouth drive structure.

[0034] The embodiments of the utility model have the following advantages: the mouth driving structure provided by the utility model is connected to the first slider by a first driving device through a first connecting member, and the first upper lip peak is driven to move by the first slider, thereby realizing the morphological change of the first upper lip peak; at the same time, the second driving device is connected to the second slider through a second connecting member, and the second upper lip peak is driven to move by the second slider, thereby realizing the morphological change of the second upper lip peak, that is, by respectively adjusting the morphological changes of the first upper lip peak and the second upper lip peak, the diversity of the upper lip morphological changes and the accuracy of controlling the lip shape changes of the upper lip are improved.

[0035] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and understandable, preferred embodiments are given below and described in detail with reference to the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] In order to more clearly illustrate the technical solutions of the embodiments of the utility model, the drawings required for use in the embodiments will be briefly introduced below. It should be understood that the following drawings only show certain embodiments of the utility model and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other relevant drawings can be obtained based on these drawings without paying creative work.

[0037] Figure 1 A structural schematic diagram showing a mouth driving structure provided by some embodiments of the utility model from one viewing angle;

[0038] Figure 2 A schematic diagram of the internal structure of a mouth driving structure provided by some embodiments of the utility model is shown;

[0039] Figure 3 Shows Figure 2 Enlarged view of part A in the middle.

[0040] Description of main component symbols:

[0041] 100-first control device; 110-first slider; 111-first connecting portion; 120-first guide rod; 130-first support member; 140-first connecting platform; 141-first guide hole; 200-first driving device; 210-first driving motor; 220-first swing arm; 300-first spring; 400-second control device; 410-second slider; 411-second connecting portion; 420-second guide rod; 430-second support member; 440-second connecting platform; 441-second guide hole; 500-second driving device; 510-second driving motor; 520-second swing arm; 600-second spring. DETAILED DESCRIPTION

[0042] The embodiments of the present invention are described in detail below, and examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and cannot be understood as limiting the present invention.

[0043] It should be noted that when an element is referred to as being "fixed to" another element, it may be directly on the other element or there may be a central element. When an element is considered to be "connected to" another element, it may be directly connected to the other element or there may be a central element at the same time. In contrast, when an element is referred to as being "directly on" another element, there is no intermediate element. The terms "vertical", "horizontal", "left", "right" and similar expressions used herein are for illustrative purposes only.

[0044] In the present invention, unless otherwise clearly specified and limited, the terms "install", "connect", "connect", "fix" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0045] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features. In the description of the present utility model, the meaning of "plurality" is two or more, unless otherwise clearly and specifically defined.

[0046] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those commonly understood by those skilled in the art to which this application belongs. The terms used in the specification of the template herein are only for the purpose of describing specific embodiments and are not intended to limit the present invention. The term "and / or" used herein includes any and all combinations of one or more of the related listed items.

[0047] like Figures 1 to 3 As shown, some embodiments of the utility model provide a mouth drive structure, which is mainly used in robots to adjust the richness of the activities of the robot's upper lip and enhance the vividness and flexibility of the robot's lip activities.

[0048] The mouth driving structure includes an upper lip (not shown in the figure), a first control device 100 , a first driving device 200 , a second control device 400 and a second driving device 500 .

[0049] The upper lip portion includes a first upper lip peak and a second upper lip peak. It should be noted that the upper lip portion proposed in this embodiment corresponds to the upper lip of the human body, the first upper lip peak corresponds to the left upper lip peak of the human body, and the second upper lip peak corresponds to the right upper lip peak of the human body.

[0050] The first control device 100 includes a first slider 110 and at least one first guide rod 120. It is understandable that the number of the first guide rods 120 can be one, two or more than two, and can be set according to actual conditions.

[0051] Specifically, each first guide rod 120 is respectively inserted into the first slider 110, and the first slider 110 is slidably connected to each of the first guide rods 120, so that the first guide rod 120 provides limiting and guiding functions for the first slider 110, so that the first slider 110 can slide along the axial direction of the first guide rod 120.

[0052] By connecting the first slider 110 with the first upper lip peak, the first slider 110 can drive the first upper lip peak to move along the axial direction of the first guide rod 120 when sliding along the first guide rod 120, so as to control the lip shape change of the first upper lip peak, thereby adjusting the lip shape change of the upper lip.

[0053] It can be understood that by controlling the moving distance of the first slider 110 on the first guide rod 120, the deformation amount of the first upper lip peak is adjusted so that the first upper lip peak can appear in multiple forms with different deformation amounts, thereby forming a variety of different lip changes on the upper lip, improving the flexibility and diversity of the upper lip changes, and the fineness of the control over the change shape of the first upper lip peak, so that the shape change of the first upper lip peak is more vivid.

[0054] Among them, the output end of the first driving device 200 is connected to the first slider 110 through a first connecting member (not shown in the figure), so that during the operation of the first driving device 200, the first connecting member is driven to move synchronously by the output end of the first driving device 200, and the first slider 110 is driven by the first connecting member to slide along the first guide rod 120, thereby driving the first upper lip peak to move through the first slider 110, so as to adjust the shape of the first upper lip peak, thereby adjusting the shape change of the upper lip.

[0055] Specifically, the first sliding block 110 has a first connecting portion 111 on one side facing the first upper lip peak, so as to be connected to the first upper lip peak through the first connecting portion 111 .

[0056] The moving distance and moving direction of the first connecting member are controlled by the first driving device 200, so as to drive the moving distance and moving direction of the first slider 110 through the first connecting member, thereby driving the first upper lip peak to move through the first slider 110, so as to achieve the adjustment of the morphological change of the first upper lip peak.

[0057] In addition, the second control device 400 includes a second slider 410 and at least one second guide rod 420. It is understandable that the number of the second guide rods 420 can be one, two or more than two, and can be set according to actual conditions.

[0058] Specifically, each second guide rod 420 is respectively passed through the second slider 410, and the second slider 410 is slidably connected to each second guide rod 420, so that the second guide rod 420 provides a limiting and guiding function for the second slider 410, so that the second slider 410 can slide along the axial direction of the second guide rod 420.

[0059] Specifically, the second sliding block 410 has a second connecting portion 411 on a side facing the first upper lip peak, so as to be connected to the second upper lip peak through the second connecting portion 411 .

[0060] By connecting the second slider 410 with the second upper lip peak, the second slider 410 can drive the second upper lip peak to move along the axial direction of the second guide rod 420 when sliding along the second guide rod 420, so as to control the lip shape change of the second upper lip peak, thereby adjusting the lip shape change of the upper lip.

[0061] It can be understood that by controlling the moving distance of the second slider 410 on the second guide rod 420, the deformation amount of the second upper lip peak is adjusted so that the second upper lip peak can appear in multiple forms with different deformation amounts, thereby forming a variety of different lip changes on the upper lip, improving the flexibility and diversity of the upper lip changes, and the fineness of the control over the change shape of the second upper lip peak, so that the shape changes of the second upper lip peak are more vivid.

[0062] Among them, the output end of the second driving device 500 is connected to the second slider 410 through a second connecting member, so that during the operation of the second driving device 500, the second connecting member is driven to move synchronously by the output end of the second driving device 500, and the second slider 410 is driven by the second connecting member to slide along the second guide rod 420, thereby driving the second upper lip peak to move through the second slider 410, so as to adjust the shape of the second upper lip peak, thereby adjusting the shape change of the upper lip.

[0063] Specifically, the moving distance and moving direction of the second connecting member are controlled by the second driving device 500, so as to drive the moving distance and moving direction of the second slider 410 through the second connecting member, thereby driving the second upper lip peak to move through the second slider 410, so as to achieve the adjustment of the morphological change of the second upper lip peak.

[0064] In this embodiment, the morphological changes of the first upper lip peak and the second upper lip peak are adjusted respectively to improve the diversity of the morphological changes of the upper lip and the accuracy of controlling the lip shape changes of the upper lip.

[0065] It should be noted that the first guide rod 120 and the second guide rod 420 are symmetrically arranged on two opposite sides of the upper lip, so that the movement and change frequency of the first upper lip peak and the movement and change frequency of the second upper lip peak can be completely symmetrical, thereby ensuring the symmetry between the changing shapes of the first upper lip peak and the second upper lip peak, so as to avoid differences in morphological changes between the first upper lip peak and the second upper lip peak.

[0066] In this embodiment, the first connecting member and the second connecting member are both connecting wires.

[0067] like Figure 1 and Figure 3 As shown, in some embodiments of the present invention, the first control device 100 further includes a first support member 130 .

[0068] A first connecting platform 140 is provided at one end of the first support member 130 away from the first upper lip peak, and the first guide rod 120 is connected to the first connecting platform 140 to provide support and fixation to the first guide rod 120 through the first connecting platform 140 and the first support member 130 .

[0069] In addition, a first guide hole 141 is opened in the middle of the first connecting platform 140, and the end of the first connecting member away from the first driving device 200 is passed through the first guide hole 141 and connected to the first slider 110 to provide guidance and limiting functions for the first connecting member through the first guide hole 141.

[0070] Further, in order to improve the smoothness of the first slider 110 during the sliding process on the first guide rod 120, the axis of the first guide hole 141 is parallel to the axis of the first guide rod 120. It should be noted that in this embodiment, the axis of a portion of the first connecting member located between the first connecting platform 140 and the first slider 110 is parallel to the axis of the first guide rod 120, so that when the first connecting member moves under the driving action of the first driving device 200, the axis of a portion of the first connecting member located between the first connecting platform 140 and the first slider 110 is always parallel to the axis of the first guide rod 120. In other words, the force exerted on the slider by one end of the first connecting member close to the first slider 110 is parallel to the axis of the first guide rod 120, so that the first slider 110 can move along the axis direction of the first guide rod 120, which can greatly reduce the friction between the first slider 110 and the first guide rod 120 during the sliding process on the first guide rod 120, thereby improving the smoothness of the first slider 110 during the sliding process on the first guide rod 120, thereby improving the smoothness of the change of the shape of the first upper lip peak.

[0071] like Figure 2 and Figure 3 As shown, in some embodiments of the utility model, there are two first guide rods 120, and the two first guide rods 120 are symmetrically arranged at both ends of the first connecting platform 140, and the axes of the two first guide rods 120 are parallel to each other, so that the two first guide rods 120 can provide limiting and guiding functions for the first slider 110, so as to further improve the stability of the slider during sliding on the first guide rods 120.

[0072] like Figure 2 and Figure 3 As shown, in some embodiments of the present invention, a first spring 300 is provided between the two first guide rods 120 .

[0073] One end of the first spring 300 is connected to the first slider 110 , and the other end of the first spring 300 is connected to the first connecting platform 140 , so that the first slider 110 can be reset under the elastic force of the first spring 300 , thereby resetting the first upper lip peak.

[0074] It should be noted that the restoration of the first upper lip peak refers to the restoration of the first upper lip peak to its initial state, that is, the restoration of the first upper lip peak to the state when the lips are normally closed.

[0075] like Figure 2 As shown, in some embodiments of the present invention, the first driving device 200 includes a first driving motor 210 and a first swing arm 220 .

[0076] The first swing arm 220 is connected to the first output shaft of the first driving motor 210 , so that when the first output shaft of the first driving motor 210 rotates, the first swing arm 220 can be driven to rotate synchronously through the first output shaft.

[0077] In addition, the end of the first swing arm 220 away from the first output shaft is connected to the end of the first connecting member close to the first driving device 200, so that the first swing arm 220 can drive the first connecting member to move during the synchronous rotation with the first output shaft, and drive the first slider 110 to move through the first connecting member, thereby driving the first upper lip peak to move through the first slider 110, thereby adjusting the deformation state of the first upper lip peak.

[0078] Specifically, when the first drive motor 210 controls the first output shaft to rotate in the first direction, the first output shaft drives the first swing arm 220 to rotate in the first direction, the first swing arm 220 drives the first connecting member to move synchronously, and the first slider 110 driven by the first connecting member moves toward the direction close to the first connecting platform 140. At this time, the distance between the first slider 110 and the first connecting platform 140 gradually decreases, the first spring 300 is in a compressed state, and elastic potential energy is stored. At the same time, the first upper lip peak moves with the first slider 110 toward the direction close to the first connecting platform 140, thereby adjusting the deformation state of the first upper lip peak.

[0079] When the first driving motor 210 stops running, the first output shaft, the first swing arm 220, the first connecting member, the first slider 110, the first spring 300 and the first upper lip peak maintain the current state.

[0080] In addition, when the first drive motor 210 controls the first output shaft to rotate in the second direction, the first output shaft drives the first swing arm 220 to rotate in the second direction, and the first swing arm 220 drives the first connecting member to move in the second direction. At this time, the pulling force of the first swing arm 220 on the first connecting member disappears, so that the first spring 300 has a tendency to push the first slider 110 away from the first connecting platform 140 under the action of elastic potential energy, and pushes the first slider 110 to move away from the first connecting platform 140 through the first spring 300, so as to drive the first upper lip peak to reset through the first slider 110. At the same time, the first connecting member is in a stretched state, and the first connecting member provides a pulling force and a limiting function to the first slider 110 to prevent the first slider 110 from sliding off the first guide rod 120, so as to improve the stability of the first slider 110 in the process of sliding on the first guide rod 120.

[0081] It should be noted that the first direction is opposite to the second direction. Specifically, if the first direction is a clockwise direction, the second direction is a counterclockwise direction.

[0082] In some embodiments of the utility model, when the first slider 110 is reset, at this time, the distance from the side of the first slider 110 away from the first connecting platform 140 to the side of the first guide rod 120 away from the first connecting platform 140 is d1, wherein the value range of d1 is 0<d1≤3mm, which can prevent the first slider 110 from sliding off the first guide rod 120 to ensure the stability of the first slider 110 during the sliding process on the first guide rod 120.

[0083] It is understandable that the value of d1 can be any value between 0 and 3 mm, and can be set according to actual conditions.

[0084] like Figure 2 and Figure 3 As shown, in some embodiments of the present invention, the second control device 400 also includes a second support member 430 .

[0085] A second connecting platform 440 is provided at one end of the second support member 430 away from the second upper lip peak, and the second guide rod 420 is connected to the second connecting platform 440 to provide support and fixation for the second guide rod 420 through the second connecting platform 440 and the second support member 430 .

[0086] In addition, a second guide hole 441 is opened in the middle of the second connecting platform 440, and the end of the second connecting member away from the second driving device 500 is passed through the second guide hole 441 and connected to the second slider 410 to provide guidance and limiting functions for the second connecting member through the second guide hole 441.

[0087] Further, in order to improve the smoothness of the second slider 410 during the sliding process on the second guide rod 420, the axis of the second guide hole 441 is parallel to the axis of the second guide rod 420. It should be noted that in this embodiment, the axis of a portion of the second connecting member located between the second connecting platform 440 and the second slider 410 is parallel to the axis of the second guide rod 420, so that when the second connecting member moves under the driving action of the second driving device 500, the axis of a portion of the second connecting member located between the second connecting platform 440 and the second slider 410 is always parallel to the axis of the second guide rod 420. In other words, the force exerted on the slider by one end of the second connecting member close to the second slider 410 is parallel to the axis of the second guide rod 420, so that the second slider 410 can move along the axis direction of the second guide rod 420, which can greatly reduce the friction between the second slider 410 and the second guide rod 420 during the sliding process on the second guide rod 420, thereby improving the smoothness of the second slider 410 during the sliding process on the second guide rod 420, thereby improving the smoothness of the second upper lip peak morphological changes.

[0088] like Figures 1 to 3 As shown, in some embodiments of the utility model, there are two second guide rods 420, and the two second guide rods 420 are symmetrically arranged at both ends of the second connecting platform 440, and the axes of the two second guide rods 420 are parallel to each other, so that the second slider 410 is provided with limiting and guiding functions through the two second guide rods 420, so as to further improve the stability of the slider during sliding on the second guide rods 420.

[0089] like Figure 2 and Figure 3 As shown, in some embodiments of the present invention, a second spring 600 is provided between two of the second guide rods 420 .

[0090] One end of the second spring 600 is connected to the second slider 410 , and the other end of the second spring 600 is connected to the second connecting platform 440 , so that the second slider 410 can be reset under the elastic force of the second spring 600 , thereby resetting the second upper lip peak.

[0091] It should be noted that the restoration of the second upper lip peak refers to the restoration of the second upper lip peak to its initial state, that is, the second upper lip peak is restored to the state when the lips are normally closed.

[0092] like Figure 1 and Figure 2 As shown, in some embodiments of the present invention, the second driving device 500 includes a second driving motor 510 and a second swing arm 520 .

[0093] The second swing arm 520 is connected to the second output shaft of the second driving motor 510 , so that when the second output shaft of the second driving motor 510 rotates, the second swing arm 520 can be driven to rotate synchronously through the second output shaft.

[0094] In addition, the end of the second swing arm 520 away from the second output shaft is connected to the end of the second connecting member close to the second driving device 500, so that the second swing arm 520 can drive the second connecting member to move during the synchronous rotation with the second output shaft, and the second connecting member can drive the second slider 410 to move, thereby driving the second upper lip peak to move through the second slider 410, thereby adjusting the deformation state of the second upper lip peak.

[0095] Specifically, when the second drive motor 510 controls the second output shaft to rotate in the first direction, the second output shaft drives the second swing arm 520 to rotate in the first direction, the second swing arm 520 drives the second connecting member to move synchronously, and the second slider 410 driven by the second connecting member moves toward the direction close to the second connecting platform 440. At this time, the distance between the second slider 410 and the second connecting platform 440 gradually decreases, and the second spring 600 is in a compressed state and stores elastic potential energy. At the same time, the second upper lip peak moves with the second slider 410 toward the direction close to the second connecting platform 440, thereby adjusting the deformation state of the second upper lip peak.

[0096] When the second driving motor 510 stops running, the second output shaft, the second swing arm 520, the second connecting member, the second slider 410, the second spring 600 and the second upper lip peak maintain the current state.

[0097] In addition, when the second drive motor 510 controls the second output shaft to rotate in the second direction, the second output shaft drives the second swing arm 520 to rotate in the second direction, and the second swing arm 520 drives the second connecting member to move in the second direction. At this time, the pulling force of the second swing arm 520 on the second connecting member disappears, so that the second spring 600 has a tendency to push the second slider 410 away from the second connecting platform 440 under the action of elastic potential energy, and pushes the second slider 410 to move away from the second connecting platform 440 through the second spring 600, so as to drive the second upper lip peak to reset through the second slider 410. At the same time, the second connecting member is in a stretched state, and the second connecting member provides a pulling force and a limiting function to the second slider 410, so as to prevent the second slider 410 from sliding off the second guide rod 420, so as to improve the stability of the second slider 410 in the process of sliding on the second guide rod 420.

[0098] In some embodiments of the utility model, when the second slider 410 is reset, at this time, the distance from the side of the second slider 410 away from the second connecting platform 440 to the side of the second guide rod 420 away from the second connecting platform 440 is d2, wherein the value range of d2 is 0<d2≤3mm, which can prevent the second slider 410 from sliding off the second guide rod 420 to ensure the stability of the second slider 410 during the sliding process on the second guide rod 420.

[0099] It is understandable that the value of d2 can be any value between 0 and 3 mm, and can be set according to actual conditions.

[0100] Some embodiments of the present utility model further provide a robot, comprising the robot mouth driving structure described in any one of the above embodiments.

[0101] It should be noted that the robot provided in this embodiment has the components and structures described in the mouth drive structure described in any of the above embodiments, as well as the beneficial effects described in any of the above embodiments, which will not be described one by one here.

[0102] In all examples shown and described herein, any specific values ​​should be interpreted as merely exemplary and not as limiting, and thus other examples of the exemplary embodiments may have different values.

[0103] It should be noted that similar reference numerals and letters denote similar items in the following drawings, and therefore, once an item is defined in one drawing, further definition and explanation thereof is not required in subsequent drawings.

[0104] The above-mentioned embodiments only express several implementation methods of the present invention, and the description is relatively specific and detailed, but it cannot be understood as limiting the scope of the present invention. It should be pointed out that for ordinary technicians in this field, several modifications and improvements can be made without departing from the concept of the present invention, which all belong to the protection scope of the present invention.

Claims

1. A mouth drive structure, characterized in that: include: An upper lip portion, comprising a first upper lip peak and a second upper lip peak; A first control device comprises a first slider and at least one first guide rod, wherein the first slider is slidably connected to each of the first guide rods, and the first slider is connected to the first upper lip peak; A first driving device, wherein an output end of the first driving device is connected to the first sliding block via a first connecting member; A second control device comprises a second slider and at least one second guide rod, wherein the second slider is slidably connected to each of the second guide rods, and the second slider is connected to the second upper lip peak; A second driving device, wherein an output end of the second driving device is connected to the second sliding block through a second connecting member.

2. The mouth drive structure according to claim 1, characterized in that: The first control device includes a first support member; A first connecting platform is provided at one end of the first supporting member away from the first upper lip peak, and the first guiding rod is connected to the first connecting platform; A first guide hole is formed in the middle of the first connecting platform; One end of the first connecting member away from the first driving device passes through the first guide hole and is connected to the first sliding block.

3. The mouth drive structure according to claim 2, characterized in that: There are two first guide rods, and the two first guide rods are respectively arranged at two ends of the first connecting platform; The axes of the two first guide rods are parallel to each other.

4. The mouth drive structure according to claim 3, characterized in that: A first spring is provided between the two first guide rods; One end of the first spring is connected to the first sliding block, and the other end of the first spring is connected to the first connecting platform.

5. The mouth drive structure according to claim 4, characterized in that: The first driving device includes a first driving motor and a first swing arm; The first swing arm is connected to the first output shaft of the first drive motor, and one end of the first swing arm away from the first output shaft is connected to one end of the first connecting member close to the first drive device.

6. The mouth drive structure according to claim 4, characterized in that: The distance from the side of the first sliding block away from the first connecting platform to the side of the first guiding rod away from the first connecting platform is d1, wherein the value range of d1 is 0<d1≤3mm.

7. The mouth drive structure according to any one of claims 1 to 6, characterized in that: The second control device includes a second support member; A second connecting platform is provided at one end of the second supporting member away from the second upper lip peak, and the second guide rod is connected to the second connecting platform; A second guide hole is formed in the middle of the second connecting platform; One end of the second connecting member away from the second driving device passes through the second guide hole and is connected to the second sliding block.

8. The mouth drive structure according to claim 7, characterized in that: There are two second guide rods, and the two second guide rods are respectively arranged at two ends of the second connecting platform; The axes of the two second guide rods are parallel to each other.

9. The mouth drive structure according to claim 8, characterized in that: A second spring is provided between the two second guide rods; One end of the second spring is connected to the second sliding block, and the other end of the second spring is connected to the second connecting platform.

10. The mouth drive structure according to claim 8, characterized in that: The second driving device includes a second driving motor and a second swing arm; The second swing arm is connected to the second output shaft of the second drive motor, and one end of the second swing arm away from the second output shaft is connected to one end of the second connecting member close to the second drive device.

11. The mouth drive structure according to claim 8, characterized in that: The distance from the side of the second sliding block away from the second connecting platform to the side of the second guide rod away from the second connecting platform is d2, wherein the value range of d2 is 0<d2≤3mm.

12. A robot, characterized in that: The invention comprises the mouth driving structure according to any one of claims 1 to 11.

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