Lip driving device and bionic robot head

By setting up driving mechanisms for the middle, corners, and sides of the lips in the head of the bionic robot, multiple points of the lips can be driven independently, solving the problem of single lip movements in existing technologies and achieving a more realistic expression simulation effect.

CN223589415UActive Publication Date: 2025-11-25SONGYAN POWER (BEIJING) TECHNOLOGY CO LTD
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Patent Information

Application Number
CN202423297403.5
Authority / Receiving Office
CN · China
Patent Type
Utility models(China)
Current Assignee / Owner
Filing Date
2024-12-30
Publication Date
2025-11-25
Estimated Expiration
2034-12-30

AI Technical Summary

Technical Problem

Existing bionic robot lip actuators cannot achieve a variety of micro-expression movements, resulting in poor expression simulation.

Method used

It employs a pair of lip center drive mechanisms, a pair of lip corner drive mechanisms, and two pairs of lip side drive mechanisms, which are connected to the skin of different parts of the lips respectively, independently driving eight points to achieve a variety of micro-expression movements.

Benefits of technology

By independently driving multiple points on the lips, a more realistic facial expression simulation effect is achieved.

✦ Generated by Eureka AI based on patent content.

Smart Images

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    Figure CN223589415U_ABST
Patent Text Reader

Abstract

The utility model relates to the technical field of bionic robots, in particular to a lip driving device and a bionic robot head. The lip driving device provided by the utility model comprises a pair of lip middle driving mechanisms, a pair of lip angle driving mechanisms and two pairs of lip side driving mechanisms, the pair of lip middle driving mechanisms are respectively used for being connected with the skin of the middle part of the upper lip and the skin of the middle part of the lower lip; the pair of lip angle driving mechanisms is used for being connected with the skin of the pair of lip angle parts; one pair of lip side driving mechanisms is used for being connected with the skin on the two sides of the middle of the upper lip, and the other pair of lip side driving mechanisms is used for being connected with the skin on the two sides of the middle of the lower lip. The pair of lip middle driving mechanisms, the pair of lip corner driving mechanisms and the two pairs of lip side driving mechanisms are used for independently driving eight point positions of the skin of the lip part, various micro-expression actions of the lip part can be achieved, and the expression simulation effect is more vivid.
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Description

TECHNICAL FIELD

[0001] The utility model relates to bionic robot technical field especially is involved in a kind of lip driving device and bionic robot head. BACKGROUND

[0002] Robot technology is rapidly developed along with the progress of entire modern science and technology, and the ability of robot is stronger and stronger, and approaches the ability of human being step by step. With the evolution of robot, the gap between it and human being is smaller and smaller, so bionic robot becomes one of the newest research directions in current robot research field. It can realize good man-machine interaction, realize natural, harmonious, friendly communication between human being and machine, reduce the emotional distance between human being and robot, so as to meet the material life demand of human being, and can meet the spiritual and emotional needs of human being.

[0003] At present, in the processing of bionic robot lip part, generally through the traction piece same as lip shape to drive the whole lip movement, although the opening and closing action of lip can be realized, but the various micro-expression actions of lip part cannot be realized, leading to poor expression simulation effect. UTILITY MODEL CONTENT

[0004] The utility model aims at providing a kind of lip driving device and bionic robot head to solve the technical problem that the driving of existing device to lip part is too single, various micro-expression actions of lip part cannot be realized, leading to poor expression simulation effect.

[0005] Firstly, the utility model provides a kind of lip driving device, is arranged in bionic robot head, is used to drive the skin movement of lip part, and the lip driving device includes: a pair of lip intermediate driving mechanism, a pair of lip angle driving mechanism and two pairs of lip side driving mechanism;

[0006] A pair of lip intermediate driving mechanism is respectively used to be connected with the skin of upper lip intermediate part and the skin of lower lip intermediate part to drive the skin movement of upper lip intermediate part and lower lip intermediate part;

[0007] A pair of lip angle driving mechanism is respectively used to be connected with the skin of a pair of lip angle part to drive the skin movement of a pair of lip angle part;

[0008] One pair of lip side driving mechanism is respectively used to be connected with the skin of the two sides of upper lip intermediate part to drive the skin movement of the two sides of upper lip intermediate part, and the other pair of lip side driving mechanism is respectively used to be connected with the skin of the two sides of lower lip intermediate part to drive the skin movement of the two sides of lower lip intermediate part.

[0009] In an optional embodiment, the lip middle driving mechanism comprises a lip middle up-down swing rod, a lip middle front-back swing rod, a first lip middle driver, a second lip middle driver and a lip middle support, and the first lip middle driver and the second lip middle driver are arranged on the lip middle support;

[0010] The lip middle up-down swing rod is hinged to the lip middle support, the first lip middle driver is in transmission connection with the lip middle up-down swing rod for driving the lip middle up-down swing rod to rotate;

[0011] The lip middle front-back swing rod is hinged to the lip middle up-down swing rod, and one end of the lip middle front-back swing rod is used for connecting with the skin of the middle part of the lip, the second lip middle driver is in transmission connection with the lip middle front-back swing rod for driving the lip middle front-back swing rod to rotate.

[0012] In an optional embodiment, the lip middle driving mechanism further comprises a first lip middle transmission swing arm, a first lip middle transmission connecting rod, a first lip middle transmission adapter rod and a first lip middle push-pull rod;

[0013] The first lip middle transmission swing arm, the first lip middle transmission connecting rod, the first lip middle transmission adapter rod and the first lip middle push-pull rod are sequentially in rotary connection, the first lip middle transmission swing arm is connected to the output end of the first lip middle driver, the first lip middle transmission adapter rod is in rotary connection with the lip middle support, and the first lip middle push-pull rod is in rotary connection with the lip middle up-down swing rod.

[0014] In an optional embodiment, the lip middle driving mechanism further comprises a second lip middle transmission swing arm, a second lip middle transmission connecting rod, a second lip middle transmission adapter rod and a second lip middle push-pull rod;

[0015] The second lip middle transmission swing arm, the second lip middle transmission connecting rod, the second lip middle transmission adapter rod and the second lip middle push-pull rod are sequentially in rotary connection, the second lip middle transmission swing arm is connected to the output end of the second lip middle driver, the second lip middle transmission adapter rod is in rotary connection with the lip middle support, and the second lip middle push-pull rod is in rotary connection with the other end of the lip middle front-back swing rod.

[0016] In an optional embodiment, the lip corner driving mechanism comprises a first lip corner driver, a second lip corner driver, a lip corner support, a lip corner traction rod and a lip corner traction piece;

[0017] The first lip corner driver and the second lip corner driver are arranged on the lip corner support and are in transmission connection with the lip corner traction rod, the first lip corner driver is used for driving the up-and-down movement of the lip corner traction rod, and the second lip corner driver is used for driving the left-and-right movement of the lip corner traction rod.

[0018] The lip corner traction member is connected to the lip corner traction rod and is used for connecting with the skin of the lip corner part.

[0019] In an optional embodiment, the lip corner driving mechanism further comprises a first lip corner transmission rocker arm, a lip corner transmission shaft, a lip corner transmission connecting rod and a second lip corner transmission rocker arm.

[0020] The first lip corner transmission rocker arm is connected to the output end of the first lip corner driver through the lip corner transmission shaft, the two ends of the lip corner transmission connecting rod are rotationally connected to the first lip corner transmission rocker arm and the lip corner traction rod respectively, the second lip corner transmission rocker arm is connected to the output end of the second lip corner driver and is in rotational connection with the lip corner traction rod.

[0021] In an optional embodiment, the lip side driving mechanism comprises a lip side driver, a lip side support and a lip side traction member.

[0022] The lip side driver is arranged on the lip side support and is in transmission connection with the lip side traction member and is used for driving the obliquely-upward and obliquely-downward linear movement of the lip side traction member, and the lip side traction member is used for connecting with the skin of one side of the middle part of the lips.

[0023] In an optional embodiment, the lip side driving mechanism further comprises a lip side transmission sliding rail, a lip side rocker arm and a lip side transmission rod.

[0024] The lip side transmission sliding rail is arranged obliquely, the lip side rocker arm is connected to the output end of the lip side driver, and the two ends of the lip side transmission rod are rotationally connected to the sliding block of the lip side transmission sliding rail and the lip side rocker arm respectively.

[0025] In an optional embodiment, the lip side driving mechanism further comprises a first lip side free arm and a second lip side free arm.

[0026] The first lip side free arm is rotationally connected to the sliding block of the lip side transmission sliding rail, the second lip side free arm is rotationally connected to the first lip side free arm, the rotation surface of the first lip side free arm is perpendicular to the rotation surface of the second lip side free arm, and the lip side traction member is connected to the second lip side free arm.

[0027] In a second aspect, the utility model provides a kind of bionic robot head, comprising the lip part driving device of any one of preceding embodiment.

[0028] Compared with the prior art, the lip driving device and the bionic robot head provided by the utility model have the technical advantages that

[0029] The lip driving device provided by the utility model is arranged on the bionic robot head and is used for driving the skin movement of the lip part.

[0030] The eight points of the skin of the lip part are independently driven by the pair of lip middle driving mechanisms, the pair of lip corner driving mechanisms and the two pairs of lip side driving mechanisms, various micro-expression actions of the lip part can be realized, and the expression simulation effect is more realistic.

[0031] The bionic robot head provided by the utility model comprises the above lip driving device, and the technical advantages and effects achieved by the bionic robot head include the technical advantages and effects achieved by the above lip driving device, which will not be described in detail here.

[0032] Other features and advantages of the utility model will be described in detail in the following specific embodiment part. ACCURACY OF DRAWINGS

[0033] In order to more clearly illustrate the specific embodiment of the utility model or the technical scheme in the prior art, the following will briefly introduce the drawings needed to be used in the specific embodiment or the prior art description, and obviously, the drawings in the following description are some embodiments of the utility model, and for those skilled in the art, other drawings can also be obtained according to these drawings without creative labor.

[0034] Figure 1 The lip middle driving mechanism side view provided by the embodiment of the utility model is shown in the figure.

[0035] Figure 2 The lip middle driving mechanism structure schematic view provided by the embodiment of the utility model is shown in the figure.

[0036] Figure 3 The lip corner driving mechanism side view provided by the embodiment of the utility model is shown in the figure.

[0037] Figure 4 The lip corner driving mechanism structure schematic view provided by the utility model embodiment;

[0038] Figure 5 The lip side driving mechanism side view provided by the utility model embodiment;

[0039] Figure 6 The lip side driving mechanism structure schematic view provided by the utility model embodiment;

[0040] Figure 7 The bionic robot head schematic view provided by the utility model embodiment.

[0041] Icon: 1-lip middle driving mechanism; 2-lip corner driving mechanism; 3-lip side driving mechanism; 4-lip middle up and down swing rod; 5-lip middle front and back swing rod; 6-first lip middle driver; 7-second lip middle driver; 8-lip middle support; 9-first lip middle transmission swing arm; 10-first lip middle transmission connecting rod; 11-first lip middle transmission transfer rod; 12-first lip middle push-pull rod; 13-second lip middle transmission swing arm; 14-second lip middle transmission connecting rod; 15-second lip middle transmission transfer rod; 16-second lip middle push-pull rod; 17-first lip corner driver; 18-second lip corner driver; 19-lip corner support; 20-lip corner traction rod; 21-lip corner traction piece; 22-first lip corner transmission swing arm; 23-lip corner transmission shaft; 24-lip corner transmission connecting rod; 25-second lip corner transmission swing arm; 26-lip side driver; 27-lip side support; 28-lip side traction piece; 29-lip side transmission slide rail; 30-lip side swing arm; 31-lip side transmission rod; 32-first lip side free arm; 33-second lip side free arm. DETAILED DESCRIPTION

[0042] The technical solutions of the utility model will be described clearly and completely below in combination with embodiments. Obviously, the described embodiments are part of the embodiments of the utility model, rather than all the embodiments. Based on the embodiments in the utility model, all other embodiments obtained by those skilled in the art without creative labor fall within the protection scope of the utility model.

[0043] In the description of the utility model, it is necessary to explain that, the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "internal", "external" and the like indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the utility model and simplifying the description, and do not indicate or imply that the indicated device or element must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as limiting the utility model. In addition, the terms "first", "second", "third" are only for the purpose of description, and cannot be understood as indicating or implying relative importance.

[0044] In the description of the utility model, it is necessary to explain that, unless otherwise expressly specified and limited, the terms "mounting", "connecting", "connecting" should be understood broadly, for example, it can be fixedly connected, can also be detachably connected, or integrally connected, can be mechanically connected, can also be electrically connected, can be directly connected, can also be indirectly connected through an intermediate medium, and can be the communication between two elements. For ordinary skilled persons in the art, the specific meaning of the above terms in the utility model can be understood according to the specific circumstances.

[0045] In addition, the technical solutions of each embodiment can be combined with each other, but it must be based on that the ordinary skilled person in the art can realize, when the combination of technical solutions appears contradictory or unachievable, it should be considered that the combination of technical solutions does not exist, and is not within the protection scope required by the utility model.

[0046] The utility model will be further described in detail below through specific examples and in conjunction with the drawings.

[0047] The specific structure is as shown in Figures 1 to 7 .

[0048] The embodiment provides a lip driving device arranged on a bionic robot head and used for driving skin movement of a lip part, the lip driving device comprising: a pair of lip middle driving mechanisms 1, a pair of lip corner driving mechanisms 2 and two pairs of lip side driving mechanisms 3; the pair of lip middle driving mechanisms 1 are respectively used for connecting with skin of middle parts of upper lips and skin of middle parts of lower lips, so as to drive skin movement of the middle parts of the upper lips and the middle parts of the lower lips; the pair of lip corner driving mechanisms 2 are respectively used for connecting with skin of a pair of lip corner parts, so as to drive skin movement of the pair of lip corner parts; one pair of lip side driving mechanisms 3 are respectively used for connecting with skin on both sides of the middle parts of the upper lips, so as to drive skin movement on both sides of the middle parts of the upper lips, and the other pair of lip side driving mechanisms 3 are respectively used for connecting with skin on both sides of the middle parts of the lower lips, so as to drive skin movement on both sides of the middle parts of the lower lips. Eight points of the skin of the lip part are respectively driven independently by the pair of lip middle driving mechanisms 1, the pair of lip corner driving mechanisms 2 and the two pairs of lip side driving mechanisms 3, so that various micro-expression actions of the lip part can be realized, and the expression simulation effect is more realistic.

[0049] It should be noted that the bionic robot head can be a human head, or a head of other organisms with similar human head organ distribution.

[0050] In an optional technical solution of the embodiment, the lip middle driving mechanism 1 comprises a lip middle up-down swing rod 4, a lip middle front-back swing rod 5, a first lip middle driver 6, a second lip middle driver 7 and a lip middle support 8, and the first lip middle driver 6 and the second lip middle driver 7 are arranged on the lip middle support 8; the lip middle up-down swing rod 4 is hinged to the lip middle support 8, the first lip middle driver 6 is in transmission connection with the lip middle up-down swing rod 4 and is used for driving the lip middle up-down swing rod 4 to rotate; the lip middle front-back swing rod 5 is hinged to the lip middle up-down swing rod 4, and one end of the lip middle front-back swing rod 5 is used for connecting with skin of a middle part of a lip, the second lip middle driver 7 is in transmission connection with the lip middle front-back swing rod 5 and is used for driving the lip middle front-back swing rod 5 to rotate. The first lip middle driver 6 drives the lip middle up-down swing rod 4 to rotate around the hinge point, so as to drive the lip middle front-back swing rod 5 to move up and down, and the second lip middle driver 7 drives the lip middle front-back swing rod 5 to rotate around the hinge point, so as to drive the lip middle front-back swing rod 5 to swing front and back, two degrees of freedom of the middle part of the lip are realized, and more micro-expressions can be made.

[0051] Further, the lip middle driving mechanism 1 further comprises a first lip middle transmission rocker arm 9, a first lip middle transmission connecting rod 10, a first lip middle transmission adapter rod 11 and a first lip middle push-pull rod 12; the first lip middle transmission rocker arm 9, the first lip middle transmission connecting rod 10, the first lip middle transmission adapter rod 11 and the first lip middle push-pull rod 12 are sequentially rotationally connected, and the first lip middle transmission rocker arm 9 is connected to the output end of the first lip middle driver 6, the first lip middle transmission adapter rod 11 is rotationally connected to the lip middle support 8, and the first lip middle push-pull rod 12 is rotationally connected to the lip middle up-down swing rod 4. Among them, the first lip middle transmission adapter rod 11 is V-shaped or L-shaped, one end of which is connected with the first lip middle transmission connecting rod 10, and the other end is connected with the first lip middle push-pull rod 12, and the transmission is realized through the first lip middle transmission adapter rod 11, which can avoid that the first lip middle transmission rocker arm 9, the first lip middle transmission connecting rod 10, the first lip middle transmission adapter rod 11 and the first lip middle push-pull rod 12 are all in a straight line, so that the spatial layout is more compact, the overall structure is simple, and the transmission is stable.

[0052] In an optional technical solution of the embodiment, the lip middle driving mechanism 1 further comprises a second lip middle transmission rocker arm 13, a second lip middle transmission connecting rod 14, a second lip middle transmission adapter rod 15 and a second lip middle push-pull rod 16; the second lip middle transmission rocker arm 13, the second lip middle transmission connecting rod 14, the second lip middle transmission adapter rod 15 and the second lip middle push-pull rod 16 are sequentially rotationally connected, and the second lip middle transmission rocker arm 13 is connected to the output end of the second lip middle driver 7, the second lip middle transmission adapter rod 15 is rotationally connected to the lip middle support 8, and the second lip middle push-pull rod 16 is rotationally connected to the other end of the lip middle front-rear swing rod 5. Among them, the second lip middle transmission adapter rod 15 is V-shaped or L-shaped, one end of which is connected with the second lip middle transmission connecting rod 14, and the other end is connected with the second lip middle push-pull rod 16, and the transmission is realized through the second lip middle transmission adapter rod 15, which can avoid that the second lip middle transmission rocker arm 13, the second lip middle transmission connecting rod 14, the second lip middle transmission adapter rod 15 and the second lip middle push-pull rod 16 are all in a straight line, so that the spatial layout is more compact, the overall structure is simple, and the transmission is stable.

[0053] In an optional technical solution of the embodiment, the corner of the mouth driving mechanism 2 comprises a first corner of the mouth driver 17, a second corner of the mouth driver 18, a corner of the mouth support 19, a corner of the mouth traction rod 20 and a corner of the mouth traction piece 21; the first corner of the mouth driver 17 and the second corner of the mouth driver 18 are both arranged on the corner of the mouth support 19 and are both in transmission connection with the corner of the mouth traction rod 20; the first corner of the mouth driver 17 is used to drive the corner of the mouth traction rod 20 to move up and down, and the second corner of the mouth driver 18 is used to drive the corner of the mouth traction rod 20 to move left and right; the corner of the mouth traction piece 21 is connected to the corner of the mouth traction rod 20 and is used to be connected with the skin at the corner of the mouth position. The corner of the mouth traction rod 20 is driven by the first corner of the mouth driver 17 to move up and down, and the corner of the mouth traction rod 20 is driven by the second corner of the mouth driver 18 to swing left and right, so that two degrees of freedom of the corner of the mouth position are realized, thereby more micro-expressions can be made.

[0054] Further, the corner of the mouth driving mechanism 2 further comprises a first corner of the mouth transmission rocker arm 22, a corner of the mouth transmission shaft 23, a corner of the mouth transmission connecting rod 24 and a second corner of the mouth transmission rocker arm 25; the first corner of the mouth transmission rocker arm 22 is connected to the output end of the first corner of the mouth driver 17 through the corner of the mouth transmission shaft 23, both ends of the corner of the mouth transmission connecting rod 24 are respectively rotationally connected to the first corner of the mouth transmission rocker arm 22 and the corner of the mouth traction rod 20, the second corner of the mouth transmission rocker arm 25 is connected to the output end of the second corner of the mouth driver 18 and is in rotational connection with the corner of the mouth traction rod 20. The first corner of the mouth transmission rocker arm 22 and the second corner of the mouth transmission rocker arm 25 are arranged in a staggered manner, so that the first corner of the mouth driver 17 and the second corner of the mouth driver 18 can be close to each other under the premise of ensuring the point position stroke, and the spatial layout is more compact relative to the horizontal column type and the vertical column type.

[0055] In an optional technical solution of the embodiment, the corner of the mouth driving mechanism 2 comprises a first corner of the mouth driver 17, a second corner of the mouth driver 18, a corner of the mouth support 19, a corner of the mouth traction rod 20 and a corner of the mouth traction piece 21; the first corner of the mouth driver 17 and the second corner of the mouth driver 18 are both arranged on the corner of the mouth support 19 and are both in transmission connection with the corner of the mouth traction rod 20; the first corner of the mouth driver 17 is used to drive the corner of the mouth traction rod 20 to move up and down, and the second corner of the mouth driver 18 is used to drive the corner of the mouth traction rod 20 to move left and right; the corner of the mouth traction piece 21 is connected to the corner of the mouth traction rod 20 and is used to be connected with the skin at the corner of the mouth position. The corner of the mouth traction rod 20 is driven by the first corner of the mouth driver 17 to move up and down, and the corner of the mouth traction rod 20 is driven by the second corner of the mouth driver 18 to swing left and right, so that two degrees of freedom of the corner of the mouth position are realized, thereby more micro-expressions can be made.

[0056] In an optional technical solution of the embodiment, the corner of the mouth driving mechanism 2 comprises a first corner of the mouth driver 17, a second corner of the mouth driver 18, a corner of the mouth support 19, a corner of the mouth traction rod 20 and a corner of the mouth traction piece 21; the first corner of the mouth driver 17 and the second corner of the mouth driver 18 are both arranged on the corner of the mouth support 19 and are both in transmission connection with the corner of the mouth traction rod 20; the first corner of the mouth driver 17 is used to drive the corner of the mouth traction rod 20 to move up and down, and the second corner of the mouth driver 18 is used to drive the corner of the mouth traction rod 20 to move left and right; the corner of the mouth traction piece 21 is connected to the corner of the mouth traction rod 20 and is used to be connected with the skin at the corner of the mouth position. The corner of the mouth traction rod 20 is driven by the first corner of the mouth driver 17 to move up and down, and the corner of the mouth traction rod 20 is driven by the second corner of the mouth driver 18 to swing left and right, so that two degrees of freedom of the corner of the mouth position are realized, thereby more micro-expressions can be made.

[0057] In an optional technical solution of the embodiment, the labial side driving mechanism 3 further comprises a first labial side free arm 32 and a second labial side free arm 33; the first labial side free arm 32 is rotationally connected to the slider of the labial side transmission slide rail 29, the second labial side free arm 33 is rotationally connected to the first labial side free arm 32, and the rotation surface of the first labial side free arm 32 is perpendicular to the rotation surface of the second labial side free arm 33, and the labial side traction member 28 is connected to the second labial side free arm 33. The labial side traction member 28 has passive degrees of freedom in the left-right direction and the front-rear direction, so that it can freely move within a certain range during movement of other points, so that the transition of skin movement is natural.

[0058] In the embodiment, the labial middle driving mechanism 1, the labial angle driving mechanism 2 and the labial side driving mechanism 3 have simple structures and large point travel, so that the expression can be exaggerated.

[0059] In the embodiment, the first labial middle driving device 6, the second labial middle driving device 7, the first labial angle driving device 17, the second labial angle driving device 18 and the labial side driving device 26 can be a rudder machine, a servo motor or other motors.

[0060] The bionic robot head provided in the embodiment comprises the labial driving device, and therefore the technical advantages and effects achieved by the bionic robot head include the technical advantages and effects achieved by the labial driving device, which will not be described herein.

[0061] Finally, it should be noted that: the above embodiments are only used to illustrate the technical solutions of the present application, but not to limit them; although the present application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that: it can still modify the technical solutions recorded in the foregoing embodiments, or make equivalent replacement for part or all of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the scope of the technical solutions of the embodiments of the present application.

Claims

1. A lip-driving device, disposed in the head of a bionic robot, for driving the movement of the skin in the lip area, characterized in that, The lip driving device includes: a pair of lip center driving mechanisms (1), a pair of lip corner driving mechanisms (2), and two pairs of lip side driving mechanisms (3); A pair of lip center drive mechanisms (1) are respectively connected to the skin of the middle part of the upper lip and the skin of the middle part of the lower lip to drive the skin of the middle part of the upper lip and the skin of the middle part of the lower lip to move; A pair of lip corner driving mechanisms (2) are respectively used to connect with the skin of a pair of lip corners to drive the skin of the lip corners; One pair of the lip-side drive mechanisms (3) are respectively connected to the skin on both sides of the middle part of the upper lip to drive the skin on both sides of the middle part of the upper lip to move. The other pair of the lip-side drive mechanisms (3) are respectively connected to the skin on both sides of the middle part of the lower lip to drive the skin on both sides of the middle part of the lower lip to move.

2. The lip driving device according to claim 1, characterized in that, The lip center drive mechanism (1) includes a lip center up-and-down swing rod (4), a lip center front-and-back swing rod (5), a first lip center driver (6), a second lip center driver (7), and a lip center support (8), and the first lip center driver (6) and the second lip center driver (7) are both disposed on the lip center support (8). The lip center swing rod (4) is hinged to the lip center support (8), and the first lip center driver (6) is connected to the lip center swing rod (4) for driving the lip center swing rod (4) to rotate. The lip center front-back swing rod (5) is hinged to the lip center up-down swing rod (4), and one end of the lip center front-back swing rod (5) is used to connect with the skin in the middle of the lips. The second lip center driver (7) is connected to the lip center front-back swing rod (5) for driving the lip center front-back swing rod (5) to rotate.

3. The lip driving device according to claim 2, characterized in that, The lip center drive mechanism (1) further includes a first lip center transmission rocker arm (9), a first lip center transmission connecting rod (10), a first lip center transmission adapter rod (11), and a first lip center push-pull rod (12); The first lip center transmission rocker arm (9), the first lip center transmission connecting rod (10), the first lip center transmission adapter rod (11), and the first lip center push-pull rod (12) are rotatably connected in sequence. The first lip center transmission rocker arm (9) is connected to the output end of the first lip center driver (6). The first lip center transmission adapter rod (11) is rotatably connected to the lip center bracket (8). The first lip center push-pull rod (12) is rotatably connected to the lip center up-and-down swing rod (4).

4. The lip driving device according to claim 2, characterized in that, The lip center drive mechanism (1) further includes a second lip center transmission rocker arm (13), a second lip center transmission connecting rod (14), a second lip center transmission adapter rod (15), and a second lip center push-pull rod (16). The second lip center transmission rocker arm (13), the second lip center transmission connecting rod (14), the second lip center transmission adapter rod (15), and the second lip center push-pull rod (16) are rotatably connected in sequence. The second lip center transmission rocker arm (13) is connected to the output end of the second lip center driver (7). The second lip center transmission adapter rod (15) is rotatably connected to the lip center bracket (8). The second lip center push-pull rod (16) is rotatably connected to the other end of the lip center front and rear swing rod (5).

5. The lip driving device according to claim 1, characterized in that, The lip corner driving mechanism (2) includes a first lip corner driver (17), a second lip corner driver (18), a lip corner bracket (19), a lip corner traction rod (20), and a lip corner traction member (21); The first lip corner actuator (17) and the second lip corner actuator (18) are both mounted on the lip corner bracket (19) and are both connected to the lip corner traction rod (20). The first lip corner actuator (17) is used to drive the lip corner traction rod (20) to move up and down, and the second lip corner actuator (18) is used to drive the lip corner traction rod (20) to move left and right. The corner lip traction member (21) is connected to the corner lip traction rod (20) and is used to connect with the skin at the corner of the lip.

6. The lip driving device according to claim 5, characterized in that, The lip corner driving mechanism (2) further includes a first lip corner transmission rocker arm (22), a lip corner transmission shaft (23), a lip corner transmission link (24), and a second lip corner transmission rocker arm (25); The first lip corner transmission rocker arm (22) is connected to the output end of the first lip corner driver (17) via the lip corner transmission shaft (23). The two ends of the lip corner transmission link (24) are rotatably connected to the rotation of the first lip corner transmission rocker arm (22) and the lip corner traction rod (20), respectively. The second lip corner transmission rocker arm (25) is connected to the output end of the second lip corner driver (18) and is rotatably connected to the lip corner traction rod (20).

7. The lip driving device according to any one of claims 1-6, characterized in that, The lip-side drive mechanism (3) includes a lip-side driver (26), a lip-side bracket (27), and a lip-side traction member (28); The lip-side actuator (26) is mounted on the lip-side bracket (27) and is connected to the lip-side traction member (28) for driving the lip-side traction member (28) to move in a straight line at an angle up and down. The lip-side traction member (28) is used to connect with the skin on one side of the middle part of the lip.

8. The lip driving device according to claim 7, characterized in that, The lip-side drive mechanism (3) also includes a lip-side transmission slide rail (29), a lip-side rocker arm (30), and a lip-side transmission rod (31); The lip-side drive slide rail (29) is inclined, the lip-side rocker arm (30) is connected to the output end of the lip-side driver (26), and the two ends of the lip-side drive rod (31) are respectively rotatably connected to the slider of the lip-side drive slide rail (29) and the lip-side rocker arm (30).

9. The lip driving device according to claim 8, characterized in that, The lip-side drive mechanism (3) further includes a first lip-side free arm (32) and a second lip-side free arm (33); The first lip-side free arm (32) is rotatably connected to the slider of the lip-side transmission slide rail (29), the second lip-side free arm (33) is rotatably connected to the first lip-side free arm (32), and the rotation surface of the first lip-side free arm (32) is perpendicular to the rotation surface of the second lip-side free arm (33). The lip-side traction member (28) is connected to the second lip-side free arm (33).

10. A biomimetic robot head, characterized in that, Includes the lip driving device according to any one of claims 1-9.