Lower jaw driving device and bionic robot head

Abstract

The utility model relates to the technical field of bionic robots, in particular to a lower jaw driving device and a bionic robot head. The utility model provides a lower jaw driving device which comprises a lower jaw transverse moving driver, a lower jaw rotating driver, a lower jaw linear rotating bearing, a lower jaw support and a lower jaw connecting shaft. The lower jaw transverse movement driver, the lower jaw rotation driver and the lower jaw linear rotation bearing are all arranged on the lower jaw bracket; the lower jaw connecting shaft is arranged in the lower jaw linear rotating bearing and used for being connected with a lower jaw assembly. The lower jaw transverse movement driver is used for driving the lower jaw assembly to transversely move in the axial direction of the lower jaw linear rotating bearing, and the lower jaw rotating driver is used for driving the lower jaw assembly to rotate in the circumferential direction of the lower jaw linear rotating bearing. The lower jaw assembly can not only do opening and closing movement, but also can transversely move, so that expressions generated by the lower jaw assembly due to movement are richer, finer and more concrete, some micro expressions can be achieved, and the lower jaw assembly is more humanoid.

Description

TECHNICAL FIELD

[0001] The utility model relates to bionic robot technical field especially is lower jaw drive arrangement and bionic robot head. BACKGROUND

[0002] Robot technology develops rapidly along with the whole modern science and technology progress, and the ability of robot is stronger and stronger, and approaches the ability of human being step by step. Along with the evolution of robot, the gap between it and human being is smaller and smaller, therefore bionic robot becomes one of the newest research directions in current robot research field. It can realize good man-machine interaction, realizes natural, harmonious, friendly communication between human and machine, reduces the emotional distance between human and robot, thereby satisfying the material life demand of human being, and can satisfy the spiritual and emotional needs of human being.

[0003] At present, in the processing of bionic robot lower jaw, generally drives lower jaw rotation, realizes lower jaw opening and closing movement, because lower jaw movement is too single, leads to the control of expression is single, cannot realize some microexpression expression. CONTENT OF UTILITY MODEL

[0004] The utility model aims at providing a kind of lower jaw drive arrangement and bionic robot head to solve the technical problems that the expression of current technology is single due to the movement of lower jaw is too single, cannot realize some microexpression expression.

[0005] Firstly, the utility model provides a kind of lower jaw drive arrangement, is arranged in bionic robot head, is used to drive lower jaw component movement, and the lower jaw drive arrangement includes: lower jaw transverse drive, lower jaw rotary drive, lower jaw linear rotation bearing, lower jaw support and lower jaw connecting shaft;

[0006] The lower jaw transverse drive, the lower jaw rotary drive, the lower jaw linear rotation bearing are all arranged on the lower jaw support;

[0007] The lower jaw connecting shaft is arranged in the lower jaw linear rotation bearing, and is used to be connected with the lower jaw component;

[0008] The lower jaw transverse drive is used to drive the lower jaw component along the axial transverse movement of the lower jaw linear rotation bearing, and the lower jaw rotary drive is used to drive the lower jaw component along the circumferential rotation movement of the lower jaw linear rotation bearing.

[0009] In optional implementation, it further includes lower jaw transverse rocker arm and lower jaw transverse pull rope;

[0010] The lower jaw transverse rocker arm is connected to the output end of the lower jaw transverse drive;

[0011] The lower jaw transverse moving pull rope is connected with the lower jaw transverse moving rocker arm and used for connecting with the lower jaw assembly.

[0012] In optional embodiments, the lower jaw transverse moving guide wheels are arranged on both sides of the lower jaw support in transverse direction.

[0013] The lower jaw transverse moving pull rope is arranged around the lower jaw transverse moving guide wheels.

[0014] In optional embodiments, the lower jaw support is provided with a lower jaw transverse moving driver mounting slot, and the lower jaw transverse moving driver is arranged in the lower jaw transverse moving driver mounting slot.

[0015] In optional embodiments, the lower jaw transverse moving driver mounting slot is provided with a through hole, and the output end of the lower jaw transverse moving driver is arranged in the through hole.

[0016] In optional embodiments, the lower jaw rotating rocker arm and the lower jaw rotating push-pull rod are further included.

[0017] The lower jaw rotating rocker arm is connected with the output end of the lower jaw rotating driver, and one end of the lower jaw rotating push-pull rod is connected with the lower jaw rotating rocker arm, and the other end is used for connecting the lower jaw assembly.

[0018] In optional embodiments, the lower jaw rotating rocker arm is in U shape, and the end is connected with the output end of the lower jaw rotating driver, and the bottom is connected with the lower jaw rotating push-pull rod.

[0019] In optional embodiments, the universal ball joint is further included, and the lower jaw rotating push-pull rod is provided with the universal ball joint at both ends.

[0020] In optional embodiments, the lower jaw support is provided with a lower jaw rotating driver mounting slot, and the lower jaw rotating driver is arranged in the lower jaw rotating driver mounting slot.

[0021] In the second aspect, the utility model provides a kind of bionic robot head, including the lower jaw driving device of any one of preceding embodiment.

[0022] Compared with prior art, the lower jaw driving device and bionic robot head provided by the utility model have the following technical advantages:

[0023] The lower jaw driving device provided by the utility model is arranged on the head of the bionic robot and is used for driving the lower jaw assembly to move, and the lower jaw driving device comprises a lower jaw transverse moving driver, a lower jaw rotating driver, a lower jaw linear rotating bearing, a lower jaw support and a lower jaw connecting shaft; the lower jaw transverse moving driver, the lower jaw rotating driver and the lower jaw linear rotating bearing are all arranged on the lower jaw support; the lower jaw connecting shaft is arranged in the lower jaw linear rotating bearing and is used for being connected with the lower jaw assembly; the lower jaw transverse moving driver is used for driving the lower jaw assembly to move transversely along the axial direction of the lower jaw linear rotating bearing, and the lower jaw rotating driver is used for driving the lower jaw assembly to rotate along the circumferential direction of the lower jaw linear rotating bearing.

[0024] The lower jaw transverse moving driver drives the lower jaw assembly to move transversely, so that the lower jaw connecting shaft moves linearly transversely in the lower jaw linear rotating bearing, thereby realizing the transverse movement of the lower jaw assembly; the lower jaw rotating driver drives the lower jaw assembly to move, so that the lower jaw connecting shaft rotates in the lower jaw linear rotating bearing, thereby realizing the rotation of the lower jaw assembly, and further realizing the opening and closing of the lower jaw assembly; since the lower jaw assembly can not only move to open and close but also move transversely, the expression of the lower jaw assembly due to movement is more abundant, delicate and concrete, some micro-expressions can be realized, and the bionic robot is more human-like.

[0025] The bionic robot head provided by the utility model comprises the above lower jaw driving device, and the technical advantages and effects achieved by the bionic robot head include the technical advantages and effects achieved by the above lower jaw driving device, which will not be described in detail here.

[0026] Other features and advantages of the utility model will be described in detail in the subsequent specific implementation mode part. ACCURACY

[0027] In order to more clearly illustrate the specific implementation mode or the technical scheme in the prior art of the utility model, the following will briefly introduce the drawings needed to be used in the specific implementation mode or the prior art description, and obviously, the drawings in the following description are some implementation modes of the utility model, and those skilled in the art can also obtain other drawings according to these drawings without paying creative labor.

[0028] Figure 1 The lower jaw driving device side view provided for the utility model embodiment is shown in the figure.

[0029] Figure 2 The lower jaw driving device rear side view provided for the utility model embodiment is shown in the figure.

[0030] Figure 3 The lower jaw driving device front side view provided for the utility model embodiment is shown in the figure.

[0031] Figure 4 The lower jaw transverse moving schematic view provided for the utility model embodiment is shown in the figure.

[0032] Figure 5 The jaw assembly structure schematic view is provided for the embodiment of the utility model;

[0033] Figure 6 The front view of the bionic robot head is provided for the embodiment of the utility model;

[0034] Figure 7 The side view of the bionic robot head is provided for the embodiment of the utility model.

[0035] Icon: 1 - jaw horizontal moving driver; 2 - jaw rotating driver; 3 - jaw linear rotating bearing; 4 - jaw support; 5 - jaw connecting shaft; 6 - jaw horizontal moving rocker arm; 7 - jaw horizontal moving pull rope; 8 - jaw horizontal moving guide wheel; 9 - jaw horizontal moving driver installation slot; 10 - jaw rotating rocker arm; 11 - jaw rotating push-pull rod; 12 - universal ball joint; 13 - jaw rotating driver installation slot; 14 - jaw assembly. DETAILED DESCRIPTION

[0036] The technical scheme of the utility model will be described below in conjunction with the 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 the person skilled in the art without creative labor belong to the protection scope of the utility model.

[0037] In the description of the utility model, it needs to be explained that the orientation or position relationship indicated by the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer" and the like is the orientation or position relationship based on the shown in the drawings, and is only for the convenience of describing the utility model and simplifying the description, and cannot be understood as indicating or implying that the indicated device or element must have a particular orientation, a particular orientation and operation, therefore, cannot be understood as a limitation on 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.

[0038] In the description of the utility model, it needs to be explained that, unless otherwise explicitly specified and limited, the terms "mounting", "connecting", "connection" should be understood broadly, for example, can be fixed connection, can also be detachable connection, or integrally connected; can be mechanical connection, can also be electrical connection; can be directly connected, can also be indirectly connected through intermediate medium, can be the communication inside two elements. For the person skilled in the art, the specific meaning of the above terms in the utility model can be understood according to the specific circumstances.

[0039] In addition, the technical solutions among various embodiments can be combined with each other, but the combination of the technical solutions should be considered not to exist and not within the protection scope of the utility model on the basis that the combination of the technical solutions can be realized by the ordinary skilled in the art, when the combination of the technical solutions appears contradictory or cannot be realized.

[0040] The utility model will be described in further detail below through specific embodiment and in combination with the drawings.

[0041] The specific structure is shown as Figures 1 to 7 .

[0042] The embodiment provides a lower jaw driving device arranged at a bionic robot head and used for driving a lower jaw assembly 14 to move, the lower jaw driving device comprising a lower jaw transverse movement driver 1, a lower jaw rotation driver 2, a lower jaw linear rotation bearing 3, a lower jaw support 4 and a lower jaw connecting shaft 5; the lower jaw transverse movement driver 1, the lower jaw rotation driver 2 and the lower jaw linear rotation bearing 3 are all arranged on the lower jaw support 4; the lower jaw connecting shaft 5 is arranged in the lower jaw linear rotation bearing 3 and is used for being connected with the lower jaw assembly 14; the lower jaw transverse movement driver 1 is used for driving the lower jaw assembly 14 to move transversely along the axial direction of the lower jaw linear rotation bearing 3, and the lower jaw rotation driver 2 is used for driving the lower jaw assembly 14 to rotate along the circumferential direction of the lower jaw linear rotation bearing 3.

[0043] In the embodiment, the lower jaw transverse movement driver 1 drives the lower jaw assembly 14 to move transversely, so that the lower jaw connecting shaft 5 moves linearly transversely in the lower jaw linear rotation bearing 3, and the transverse movement of the lower jaw assembly 14 is realized; the lower jaw rotation driver 2 drives the lower jaw assembly 14 to move, so that the lower jaw connecting shaft 5 rotates in the lower jaw linear rotation bearing 3, the rotation of the lower jaw assembly 14 is realized, and then the opening and closing of the lower jaw assembly 14 are realized; since the lower jaw assembly 14 can not only move to open and close but also move transversely, the expression of the lower jaw assembly 14 due to movement is more abundant, delicate and figurative, some micro expressions can be realized, and the bionic robot head is more human-like.

[0044] 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.

[0045] In the optional technical solution of the embodiment, a lower jaw transverse movement rocker arm 6 and a lower jaw transverse movement pull rope 7 are further included; the lower jaw transverse movement rocker arm 6 is connected to the output end of the lower jaw transverse movement driver 1; the lower jaw transverse movement pull rope 7 is connected to the lower jaw transverse movement rocker arm 6 and is used for being connected with the lower jaw assembly 14.

[0046] In the embodiment, one jaw transverse moving pull rope 7 can be arranged, the middle part of the jaw transverse moving pull rope 7 is connected with the jaw transverse moving rocker arm 6, and both ends of the jaw transverse moving pull rope 7 are connected to the middle part of the jaw assembly 14. The jaw transverse moving rocker arm 6 drives the jaw assembly 14 to move left or right by swinging left and right. Two jaw transverse moving pull ropes 7 can also be arranged, one end of the two jaw transverse moving pull ropes 7 is connected with the jaw transverse moving rocker arm 6, and the other end of the two jaw transverse moving pull ropes 7 is connected to the middle part of the jaw assembly 14. The jaw transverse moving rocker arm 6 drives the jaw assembly 14 to move left or right by swinging left and right. The overall structure is simple, the transverse moving is stable and convenient.

[0047] In the embodiment, the jaw transverse moving driver 1 can be a rudder, a servo motor or other motors meeting the requirements.

[0048] In the optional technical solution of the embodiment, the jaw transverse moving guide wheels 8 are arranged on the two sides of the jaw support 4 in the transverse direction, and the jaw transverse moving pull rope 7 is arranged around the jaw transverse moving guide wheels 8. The jaw transverse moving guide wheels 8 guide the jaw transverse moving pull rope 7 to stably pull the jaw assembly 14.

[0049] In the optional technical solution of the embodiment, the jaw transverse moving driver mounting groove 9 is arranged on the jaw support 4, and the jaw transverse moving driver 1 is arranged in the jaw transverse moving driver mounting groove 9. The stability of the jaw transverse moving driver 1 is ensured, and the installation is convenient.

[0050] Specifically, the groove bottom of the jaw transverse moving driver mounting groove 9 is provided with a through hole, and the output end of the jaw transverse moving driver 1 is arranged in the through hole.

[0051] In the optional technical solution of the embodiment, the jaw rotating rocker arm 10 and the jaw rotating push-pull rod 11 are further arranged. The jaw rotating rocker arm 10 is connected to the output end of the jaw rotating driver 2, one end of the jaw rotating push-pull rod 11 is connected to the jaw rotating rocker arm 10, and the other end is used to connect the jaw assembly 14.

[0052] In the embodiment, the jaw rotating driver 2 drives the jaw rotating rocker arm 10 to rotate, the jaw rotating push-pull rod 11 pushes and pulls the jaw assembly 14, so that the jaw connecting shaft 5 rotates in the jaw linear rotating bearing 3, and the jaw assembly 14 rotates to realize opening and closing. The structure is simple, and the driving is stable.

[0053] In the embodiment, the jaw rotating driver 2 can be a rudder, a servo motor or other motors meeting the requirements.

[0054] In the optional technical solution of the embodiment, the jaw rotating rocker arm 10 is in a U shape, the end part is connected to the output end of the jaw rotating driver 2, and the bottom part is connected to the jaw rotating push-pull rod 11.

[0055] In the embodiment, the two ends of the lower jaw rotating rocker arm 10 are connected with the output ends of the lower jaw rotating driver 2, the middle position of the bottom of the lower jaw rotating rocker arm 10 is connected with a lower jaw rotating push-pull rod 11, and the lower jaw rotating push-pull rod 11 is connected with the middle part of the lower jaw assembly 14, so as to ensure the stability of the movement of the lower jaw assembly 14.

[0056] In the optional technical scheme of the embodiment, the universal ball joint 12 is further included, and the two ends of the lower jaw rotating push-pull rod 11 are provided with the universal ball joint 12. The two ends of the lower jaw rotating push-pull rod 11 are connected with the lower jaw rotating rocker arm 10 and the lower jaw assembly 14 through the universal ball joint 12 respectively, so that the rotating movement and the transverse movement of the lower jaw assembly 14 do not interfere with each other, and the independence of the movement is ensured.

[0057] In the optional technical scheme of the embodiment, the lower jaw rotating driver mounting groove 13 is arranged on the lower jaw support 4, and the lower jaw rotating driver 2 is arranged in the lower jaw rotating driver mounting groove 13. The stability of the lower jaw rotating driver 2 is ensured, and the installation is facilitated.

[0058] The bionic robot head provided by the embodiment comprises the lower jaw driving device, and therefore the technical advantages and effects achieved by the bionic robot head include the technical advantages and effects achieved by the lower jaw driving device, which will not be described herein.

[0059] Finally, it should be noted that: the above embodiments are only used to illustrate the technical solutions of the utility model, but not to limit them; although the utility model has been described in detail with reference to the above embodiments, those skilled in the art should understand that: they can still modify the technical solutions recorded in the above 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 utility model.

Claims

1. A mandibular drive arrangement provided in a robotic head for driving movement of a mandibular assembly (14), characterised in that, The lower jaw driving device comprises a lower jaw transverse driving device (1), a lower jaw rotating driving device (2), a lower jaw linear-rotating bearing (3), a lower jaw support (4) and a lower jaw connecting shaft (5); The lower jaw transverse driving device (1), the lower jaw rotating driving device (2) and the lower jaw linear-rotating bearing (3) are arranged on the lower jaw support (4); The lower jaw connecting shaft (5) is arranged in the lower jaw linear-rotating bearing (3) and is used for connecting the lower jaw assembly (14); The lower jaw transverse driving device (1) is used for driving the lower jaw assembly (14) to move transversely along the axis of the lower jaw linear-rotating bearing (3), and the lower jaw rotating driving device (2) is used for driving the lower jaw assembly (14) to rotate circumferentially along the lower jaw linear-rotating bearing (3).

2. The mandible drive device of claim 1, wherein The lower jaw transverse driving device (1) is used for driving the lower jaw assembly (14) to move transversely along the axis of the lower jaw linear-rotating bearing (3), and the lower jaw rotating driving device (2) is used for driving the lower jaw assembly (14) to rotate circumferentially along the lower jaw linear-rotating bearing (3). The lower jaw transverse driving device (1) is used for driving the lower jaw assembly (14) to move transversely along the axis of the lower jaw linear-rotating bearing (3), and the lower jaw rotating driving device (2) is used for driving the lower jaw assembly (14) to rotate circumferentially along the lower jaw linear-rotating bearing (3). The lower jaw transverse driving device (1) is used for driving the lower jaw assembly (14) to move transversely along the axis of the lower jaw linear-rotating bearing (3), and the lower jaw rotating driving device (2) is used for driving the lower jaw assembly (14) to rotate circumferentially along the lower jaw linear-rotating bearing (3).

3. The mandible drive device of claim 2, wherein The lower jaw transverse driving device (1) is used for driving the lower jaw assembly (14) to move transversely along the axis of the lower jaw linear-rotating bearing (3), and the lower jaw rotating driving device (2) is used for driving the lower jaw assembly (14) to rotate circumferentially along the lower jaw linear-rotating bearing (3). The lower jaw transverse driving device (1) is used for driving the lower jaw assembly (14) to move transversely along the axis of the lower jaw linear-rotating bearing (3), and the lower jaw rotating driving device (2) is used for driving the lower jaw assembly (14) to rotate circumferentially along the lower jaw linear-rotating bearing (3).

4. The mandible drive device of claim 2, wherein The lower jaw transverse driving device (1) is used for driving the lower jaw assembly (14) to move transversely along the axis of the lower jaw linear-rotating bearing (3), and the lower jaw rotating driving device (2) is used for driving the lower jaw assembly (14) to rotate circumferentially along the lower jaw linear-rotating bearing (3).

5. The mandibular driving device of claim 4, wherein, The lower jaw transverse driving device (1) is used for driving the lower jaw assembly (14) to move transversely along the axis of the lower jaw linear-rotating bearing (3), and the lower jaw rotating driving device (2) is used for driving the lower jaw assembly (14) to rotate circumferentially along the lower jaw linear-rotating bearing (3).

6. A mandibular driven device according to any one of claims 1-5, wherein, The lower jaw transverse driving device (1) is used for driving the lower jaw assembly (14) to move transversely along the axis of the lower jaw linear-rotating bearing (3), and the lower jaw rotating driving device (2) is used for driving the lower jaw assembly (14) to rotate circumferentially along the lower jaw linear-rotating bearing (3). The lower jaw transverse driving device (1) is used for driving the lower jaw assembly (14) to move transversely along the axis of the lower jaw linear-rotating bearing (3), and the lower jaw rotating driving device (2) is used for driving the lower jaw assembly (14) to rotate circumferentially along the lower jaw linear-rotating bearing (3).

7. The mandibular driving device of claim 6, wherein, The lower jaw transverse driving device (1) is used for driving the lower jaw assembly (14) to move transversely along the axis of the lower jaw linear-rotating bearing (3), and the lower jaw rotating driving device (2) is used for driving the lower jaw assembly (14) to rotate circumferentially along the lower jaw linear-rotating bearing (3).

8. The mandibular driving device of claim 7, wherein, The lower jaw transverse driving device (1) is used for driving the lower jaw assembly (14) to move transversely along the axis of the lower jaw linear-rotating bearing (3), and the lower jaw rotating driving device (2) is used for driving the lower jaw assembly (14) to rotate circumferentially along the lower jaw linear-rotating bearing (3).

9. A mandibular driven device according to any one of claims 1-5, wherein, The lower jaw transverse driving device (1) is used for driving the lower jaw assembly (14) to move transversely along the axis of the lower jaw linear-rotating bearing (3), and the lower jaw rotating driving device (2) is used for driving the lower jaw assembly (14) to rotate circumferentially along the lower jaw linear-rotating bearing (3).

10. A biomimetic robotic head, characterized by The lower jaw transverse driving device (1) is used for driving the lower jaw assembly (14) to move transversely along the axis of the lower jaw linear-rotating bearing (3), and the lower jaw rotating driving device (2) is used for driving the lower jaw assembly (14) to rotate circumferentially along the lower jaw linear-rotating bearing (3). The lower jaw transverse driving device (1) is used for driving the lower jaw assembly (14) to move transversely along the axis of the lower jaw linear-rotating bearing (3), and the lower jaw rotating driving device (2) is used for driving the lower jaw assembly (14) to rotate circumferentially along the lower jaw linear-rotating bearing (3). The lower jaw transverse driving device (1) is used for driving the lower jaw assembly (14) to move transversely along the axis of the lower jaw linear-rotating bearing (3), and the lower jaw rotating driving device (2) is used for driving the lower jaw assembly (14) to rotate circumferentially along the lower jaw linear-rotating bearing (3). The lower jaw transverse driving device (1) is used for driving the lower jaw assembly (14) to move transversely along the axis of the lower jaw linear-rotating bearing (3), and the lower jaw rotating driving device (2) is used for driving the lower jaw assembly (14) to rotate circumferentially along the lower jaw linear-rotating bearing (3). The lower jaw transverse driving device (1) is used for driving the lower jaw assembly (14) to move transversely along the axis of the lower jaw linear-rotating bearing (3), and the lower jaw rotating driving device (2) is used for driving the lower jaw assembly (14) to rotate circumferentially along the lower jaw linear-rotating bearing (3). The lower jaw transverse driving device (1) is used for driving the lower jaw assembly (14) to move transversely along the axis of the lower jaw linear-rotating bearing (3), and the lower jaw rotating driving device (2) is used for driving the lower jaw assembly (14) to rotate circumferentially along the lower jaw linear-rotating bearing (3). The lower jaw transverse driving device (1) is used for driving the lower jaw assembly (14) to move transversely along the axis of the lower jaw linear-rotating bearing (3), and the lower jaw rotating driving device (2) is used for driving the lower jaw assembly (14) to rotate circumferentially along the lower jaw linear-rotating bearing (3). The lower jaw transverse driving device (1) is used for driving the lower jaw assembly (14) to move transversely along the axis of the lower jaw linear-rotating bearing (3), and the lower jaw rotating driving device (2) is used for driving the lower jaw assembly (14) to rotate circumferentially along the lower jaw linear-rotating bearing (3). The lower jaw transverse driving device (1) is used for driving the lower jaw assembly (14) to move transversely along the axis of the lower jaw linear-rotating bearing (3), and the lower jaw rotating driving device (2) is used for driving the lower jaw assembly (14) to rotate circumferentially along the lower jaw linear-rotating bearing (3). The lower jaw transverse driving device (1) is used for driving the lower jaw assembly (14) to move transversely along the axis of the lower jaw linear-rotating bearing (3), and the lower jaw rotating driving device (2) is used for driving the lower jaw assembly (14) to rotate circumferentially along the lower jaw linear-rotating bearing (3). The lower jaw transverse driving device (1) is used for driving the lower jaw assembly (14) to move transversely along the axis of the lower jaw linear-rotating bearing (3), and the lower jaw rotating driving device (2) is used for driving the lower jaw assembly (14) to rotate circumferentially along the lower jaw linear-rotating bearing (3). The lower jaw transverse driving device (1) is used for driving the lower jaw assembly (14) to move transvers

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