Mouth corner driving structure for bionic robot

Abstract

The utility model discloses a mouth corner driving structure for a bionic robot. The mouth corner driving structure comprises a head front shell, an afterbrain shell, a bionic human face, a mouth corner driving unit and a support assembly. The front head shell is connected with the afterbrain shell, a bionic human face is fixedly arranged on the surface of the front head shell, a mouth corner supporting assembly is fixedly arranged in the bionic human face, a support assembly is fixedly arranged in an inner space formed by the front head shell and the afterbrain shell, and the support assembly comprises an upper head gearbox fixing piece, a middle head gearbox fixing piece, a lower head gearbox fixing piece and an auxiliary head gearbox fixing piece; the mouth corner driving unit comprises a mouth corner driving steering engine and a driving connecting assembly, the mouth corner driving steering engine is fixed in the head gearbox fixing part, the output end of the mouth corner driving steering engine is connected with the head gearbox fixing part, and the driving connecting assembly is arranged on the head gearbox auxiliary fixing part and connected with the mouth corner supporting assembly and the head gearbox fixing part. Through a single driving source and a polyformaldehyde connecting piece, up-and-down movement of the left mouth corner and the right mouth corner of the robot is controlled.

Description

Technical Field

[0001] This utility model relates to the field of robotics technology, and more specifically to a mouth corner driving structure for a bionic robot. Background Technology

[0002] Currently, service robots, especially companion robots used for elderly care and childcare, are receiving increasing attention. Users not only require robots to perform various actions, but also hope that robots can have human expressions.

[0003] Robot facial expression structure refers to the collective term for the mechanical transmission system, drive unit, biomimetic materials, and control system integrated into the robot's head to simulate the facial expressions of living organisms (mainly humans). Its core objective is to overcome the rigidity of traditional robot faces and, through physical deformation and movement, endow robots with richer, more natural, and emotionally expressive facial expressions, thereby enhancing the intimacy and empathy of human-computer interaction.

[0004] The corners of the mouth are one of the key parts for expressing joy, anger, sorrow, and happiness. In the traditional facial structure of robots, the mouth corner actuators are often complex and take up a lot of space, or can only achieve simple, large-amplitude movements, making it difficult to simulate subtle micro-expressions such as the upward or downward turn of the corners of the mouth in humans, resulting in stiff and unnatural robot expressions.

[0005] For example, the utility model patent with publication number CN210025312U discloses a humanoid facial expression robot. To drive the corners of the mouth, a complex mechanical structure is used. In the disclosed solution, two sets of mouth corner mechanisms are symmetrically arranged. Each set of mouth corner mechanisms includes a mouth corner servo motor, a mouth corner winch, a mouth corner flexible cable, a mouth corner pulley group, a mouth corner steering wheel, a mouth corner groove, a mouth corner connecting rod, and a mouth corner groove fixing plate. One end of the mouth corner connecting rod of one set of mouth corner mechanisms is connected to the left mouth corner driving point, and one end of the mouth corner connecting rod of the other set of mouth corner mechanisms is connected to the right mouth corner driving point. The mouth corner servo motor, mouth corner pulley group, and mouth corner groove fixing plate are located on the upper jaw. On the support plate, two sets of mouth corner grooves are symmetrically arranged on both sides of the lips and close to the corners of the mouth; the mouth corner winch is connected to the mouth corner servo and is the output of the mouth corner servo; the mouth corner grooves are fixed to the mouth corner groove fixing plate, and the mouth corner steering wheel is fixed on the mouth corner groove and can rotate relative to the mouth corner groove; the other end of the mouth corner connecting rod is slidably connected to the mouth corner groove; one end of the mouth corner flexible cable is wound around the mouth corner winch, and the other end passes through the mouth corner pulley group and the mouth corner steering wheel in sequence before connecting to the mouth corner connecting rod. Driven by the mouth corner servo, the mouth corner winch pulls the mouth corner flexible cable, causing the mouth corner connecting rod to slide back and forth on the mouth corner groove, realizing various movements that imitate the corners of a human mouth. In the above scheme, corresponding mouth corner servos are set for the two sets of mouth corner mechanisms, and a complex motion module is set to realize the mouth corner operation. In this scheme, in order to simulate a human face, a mask shell is also set on the surface of the structure. The mouth corner mechanism is not fixedly connected to the mask shell. In order to present a better mouth corner control effect, the mouth corner mechanism needs to move a large distance on the mask shell to show the mouth corner operation.

[0006] Therefore, there is an urgent need for a dedicated driving structure that is compact, precisely controlled, and reliably drives the bionic mouth corner to achieve micro-expressions. Utility Model Content

[0007] To address the problems of low mechanical control precision, complex structure, and high cost in traditional robot mouth corner control, this invention proposes a mouth corner driving structure for biomimetic robots. By using a single driving source and leveraging the high rigidity of the acetal connector and the robustness of the insert injection molding process, the robot's left and right mouth corners can be controlled to move up and down.

[0008] The technical solution adopted by this utility model to solve its technical problem is:

[0009] A mouth corner driving structure for a bionic robot includes: a front shell, a back shell, a bionic face, a mouth corner driving unit, and a support assembly;

[0010] The front shell and the back shell are connected. The bionic face is fixedly disposed on the surface of the front shell. A mouth corner support assembly is fixedly disposed inside the bionic face. The support assembly is fixedly disposed in the internal space formed by the front shell and the back shell. The support assembly includes an upper head dental box fixing component, a middle head dental box fixing component, a lower head dental box fixing component, and an auxiliary head dental box fixing component. The middle head dental box fixing component, the lower head dental box fixing component, and the auxiliary head dental box fixing component are fixedly connected in sequence. The upper head dental box fixing component is movably disposed on the upper middle head dental box fixing component, and the lower head dental box fixing component is fixedly connected to the front shell.

[0011] The mouth corner driving unit includes a mouth corner driving servo and a driving connection assembly. The mouth corner driving servo is fixedly mounted on the head tooth box fixing component, and the output end of the mouth corner driving servo is connected to the head tooth box fixing component. The driving connection assembly is mounted on the head tooth box auxiliary fixing component and is connected to the mouth corner support assembly and the head tooth box fixing component respectively. The mouth corner driving servo drives the head tooth box fixing component to move up and down, thereby driving the driving connection assembly to drive the mouth corner support assembly to move up and down in the mouth corner area formed on the bionic face.

[0012] Furthermore, the corner support assembly includes an upper right corner support block, a lower right corner support block, an upper left corner support block, and a lower left corner support block, and the drive connection assembly includes four acetal connectors, which are respectively fixedly connected to the upper right corner support block, the lower right corner support block, the upper left corner support block, and the lower left corner support block.

[0013] Furthermore, the acetal connector includes a clamping part, a connecting bushing, and a connecting rod. The clamping part is fixedly connected to the corner support assembly. The connecting bushing is rotatably mounted on the head dental box auxiliary fixing part via a connecting shaft. The connecting rod slides through the head dental box fixing part and connects to the head dental box fixing part.

[0014] Furthermore, the head gear box fixing component has symmetrically provided limit holes on both sides, and the top end of the connecting rod is slidably disposed in the limit hole. The up and down movement of the head gear box fixing component drives the connecting rod located in the limit hole to move up and down.

[0015] Furthermore, the head gearbox fixing component, the lower part of the head gearbox fixing component, and the auxiliary fixing component of the head gearbox are fixed by screws, and the lower part of the head gearbox fixing component is fixedly connected to the front shell of the head by screws.

[0016] Furthermore, the upper part of the head gear box fixing component is provided with a snap-fit ​​groove, the middle part is provided with a movable limiting groove, the lower part of the head gear box fixing component is provided with a connecting protrusion, the snap-fit ​​groove is connected to the output end of the mouth corner drive servo, and the connecting protrusion is located in the movable limiting groove.

[0017] Furthermore, the bionic face is made of soft silicone, and the mouth corner support component is fixedly connected to the bionic face through an insert injection molding process.

[0018] Furthermore, the bionic face is glued to the surface of the front shell of the head.

[0019] Compared with the prior art, the beneficial effects of this application are:

[0020] This bionic face uses elastic silicone material and has a deformable area built into the corner control area. The corner drive servo drives the upper right corner support block, lower right corner support block, upper left corner support block, and lower left corner support block through the acetal connector, thereby controlling the corner area of ​​the bionic face. The corner drive function is separated into an independent module, with a clear structure that is easy to install, debug, and maintain.

[0021] The layered core support system adopts a multi-layered support structure consisting of upper, middle, and lower head jaw box fixing parts and auxiliary head jaw box fixing parts. It perfectly fits the limited dome-shaped space inside the robot's head shell. The complex multiple acetylene connectors and mouth corner drive servos are stacked in three-dimensional space along the Z-axis and partitioned in the XY plane, rather than laid out horizontally. This makes the overall layout more compact and allows for the layout of multiple servos on the layered fixing parts, meeting the layout requirements of other facial module motion control modules.

[0022] Using a servo motor as the drive source, combined with connectors made of acetal steel and a precision transmission mechanism, the motion transmission is accurate, with little backlash, and easy to control, achieving high-precision motion control of the deformable facial area.

[0023] With high reliability, the upper right corner support block, lower right corner support block, upper left corner support block, and lower left corner support block in the mouth area are fixed to the face using an insert injection molding process. The connection is firm, achieving a seamless combination of multiple parts. It is not easy to fall off during movement, has a long service life, and reduces subsequent assembly processes. Attached Figure Description

[0024] To more clearly illustrate the technical solutions of the embodiments of this disclosure, the accompanying drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of this disclosure and should not be regarded as a limitation of the scope. For those skilled in the art, other related drawings can be obtained from these drawings without creative effort.

[0025] Figure 1 This is a three-dimensional structural diagram of the overall appearance of this utility model.

[0026] Figure 2 This is a side view of the overall appearance of this utility model.

[0027] Figure 3 This is a schematic diagram of the internal structure of this utility model.

[0028] Figure 4 This is a three-dimensional structural diagram of the bionic human face of this utility model.

[0029] Figure 5 This is one of the three-dimensional structural diagrams of the corner-of-mouth driving unit and support assembly of this utility model.

[0030] Figure 6 The second schematic diagram of the three-dimensional structure of the corner-of-mouth driving unit and bracket assembly of this utility model.

[0031] Figure 7 This is a schematic diagram of the assembly of the corner-of-mouth driving unit and the bracket assembly of this utility model.

[0032] Figure 8 This is a three-dimensional structural diagram of the acetal connector of this utility model.

[0033] Figure 9 This is a three-dimensional structural diagram of the head gearbox fixing component of this utility model.

[0034] 100. Front shell of the head; 200. Back shell of the head; 300. Bionic face; 310. Mouth corner support assembly; 311. Upper right mouth corner support block; 312. Lower right mouth corner support block; 313. Upper left mouth corner support block; 314. Lower left mouth corner support block; 400. Mouth corner drive unit; 410. Mouth corner drive servo; 420. Drive connection assembly; 421. Cyanotron connector; 4211. Clamping part; 4212. Connecting bushing; 4213. Connecting rod; 500. Bracket assembly; 510. Upper part of the head gearbox fixing part; 511. Limiting hole; 512. Snap-fit ​​groove; 513. Movable limiting groove; 520. Middle part of the head gearbox fixing part; 521. Connecting protrusion; 530. Lower part of the head gearbox fixing part; 540. Auxiliary fixing part of the head gearbox. Detailed Implementation

[0035] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of this application, and not all of the embodiments. Based on the embodiments of this application, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of this application.

[0036] In the description of this application, it should be noted that, unless otherwise explicitly specified and limited, the terms "connected," "linked," and "set up" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal communication between two components. Those skilled in the art can understand the specific meaning of the above terms in this application based on the specific circumstances. The embodiments of this application will now be described based on its overall structure.

[0037] See Figure 1-6 A mouth-corner driving structure for a bionic robot includes: a front head shell 100, a back head shell 200, a bionic face 300, a mouth-corner driving unit 400, and a support assembly 500. The front head shell 100 and the back head shell 200 are connected. The bionic face 300 is fixedly disposed on the surface of the front head shell 100, and a mouth-corner support assembly 310 is fixedly disposed within the bionic face 300. The support assembly 500 is fixedly disposed within the internal space formed by the front head shell 100 and the back head shell 200. The support assembly 500 includes an upper head-tooth box fixing component 510, a middle head-tooth box fixing component 520, a lower head-tooth box fixing component 530, and an auxiliary head-tooth box fixing component 540. The middle head-tooth box fixing component 520, the lower head-tooth box fixing component 530, and the auxiliary head-tooth box fixing component 540 are sequentially fixedly connected. The upper head-tooth box fixing component 510 is movably disposed on the middle head-tooth box fixing component 520. The lower part 530 of the head jaw box fixing component is fixedly connected to the front shell 100 of the head; the corner of the mouth driving unit 400 includes a corner of the mouth driving servo 410 and a driving connection component 420. The corner of the mouth driving servo 410 is fixedly installed on the middle part 520 of the head jaw box fixing component. The output end of the corner of the mouth driving servo 410 is connected to the upper part 510 of the head jaw box fixing component. The driving connection component 420 is installed on the auxiliary fixing component 540 of the head jaw box and is connected to the corner of the mouth support component 310 and the upper part 510 of the head jaw box fixing component. The corner of the mouth driving servo 410 drives the upper part 510 of the head jaw box fixing component to move up and down, thereby driving the driving connection component 420 to drive the corner of the mouth support component 310 to move up and down on the bionic face 300 to form a corner of the mouth area.

[0038] Working principle: When the control system sends a command to the mouth corner drive servo 410, the output shaft of the mouth corner drive servo 410 rotates, causing the head tooth box fixing component 510 connected to it to move up and down. The head tooth box fixing component 510 is connected to the drive connection assembly 420. The up and down movement of the head tooth box fixing component 510 drives the drive connection assembly 420 to move synchronously. The movement of the drive connection assembly 420 is ultimately transmitted to the mouth corner support blocks (upper right mouth corner support block 311, lower right mouth corner support block 312, upper left mouth corner support block 313, and lower left mouth corner support block 314) fixed in the bionic face 300, thereby pulling the mouth corner of the bionic face 300 to deform, realizing the micro-expression movement of the mouth corner moving up and down.

[0039] In this embodiment, a bionic face 300 is provided on the surface of the front shell 100. The upper right corner support block 311, lower right corner support block 312, upper left corner support block 313, and lower left corner support block 314 are built into the corner control area of ​​the bionic face 300, forming a deformable corner area. A corner drive servo motor 410 drives the upper right corner support block 311, lower right corner support block 312, upper left corner support block 313, and lower left corner support block 314 to move through the drive connection component 420, thereby controlling the corner area of ​​the bionic face 300. The corner drive function is separated into an independent module, with a clear structure, which is convenient for installation, debugging, and maintenance.

[0040] Meanwhile, in this embodiment, the support assembly 500 adopts a layered design, consisting of a multi-layered support structure composed of upper, middle, and lower head jaw box fixing parts (510, 520, 530) and head jaw box auxiliary fixing parts 540. This perfectly fits the limited dome-shaped space inside the robot's head shell, stacking the complex multiple acetylene connectors and mouth corner drive servos in three-dimensional space along the Z-axis and partitioning them in the XY plane, rather than laying them out horizontally. This makes the overall layout more compact and allows for the layout of multiple servos on the layered fixing parts, meeting the layout requirements of other facial module motion control modules.

[0041] To achieve high-precision simulation of facial expressions in the corner of the mouth area, such as Figure 4 , 5 As shown, the corner support assembly 310 includes a right upper corner support block 311, a right lower corner support block 312, a left upper corner support block 313, and a left lower corner support block 314. The drive connection assembly 420 includes four acetal connectors 421, which are fixedly connected to the right upper corner support block 311, the right lower corner support block 312, the left upper corner support block 313, and the left lower corner support block 314, respectively.

[0042] In this embodiment, the mouth corner drive servo 410 transmits power to the inside of the mouth corner of the bionic face 300 through four acetal connectors 421 and mouth corner support components 310 (upper right mouth corner support block 311, lower right mouth corner support block 312, upper left mouth corner support block 313, and lower left mouth corner support block 314), thereby realizing the micro-movement of the mouth corner moving up and down.

[0043] like Figure 7 The diagram shows the assembly of the corner mouth drive unit 400 on the bracket assembly 500 in this embodiment. The arrows in the diagram indicate the assembly direction. The corner mouth drive servo 410 is fixedly mounted on the head jaw box fixing member 520. The upper part of the head jaw box fixing member 510 is movably mounted on the upper part of the head jaw box fixing member 520. The output end of the corner mouth drive servo 410 is connected to the upper part of the head jaw box fixing member 510. The middle part of the head jaw box fixing member 520 is fixedly connected to the lower part of the head jaw box fixing member 530. The drive connection assembly 420 is mounted on the auxiliary fixing member of the head jaw box 540. The auxiliary fixing member of the head jaw box 540 is fixedly connected to the lower part of the head jaw box fixing member 530.

[0044] In this embodiment, the drive connection assembly 420 consists of multiple acetal alloy connectors 421, which connect to the corner support assembly 310. In this embodiment, the acetal alloy connectors 421 are linkage rods made of engineering plastics. Because engineering plastics have excellent strength and stiffness, their specific strength (strength / density) is even close to that of some metals. They are not easily bent or deformed under stress, allowing for precise transmission of force and motion, ensuring the accuracy of the robot's facial expressions. Using a servo motor as the drive source, combined with acetal alloy connectors and a precision transmission mechanism, motion transmission is precise, with low backlash, and easy control, achieving high-precision motion control of the deformable facial area.

[0045] The acetal connector 421 is an important component for realizing motion transmission, such as... Figure 5-8 As shown, the acetal connector 421 includes a clamping part 4211, a connecting bushing 4212, and a connecting rod 4213. The clamping part 4211 is fixedly connected to the corner support assembly 310. The connecting bushing 4212 is rotatably mounted on the head dental box auxiliary fixing part 540 through a connecting shaft. After connection, the acetal connector 421 can rotate up and down around the connecting shaft. The connecting rod 4213 slides through the middle 520 and the lower 530 of the head dental box fixing part and connects to the upper 510 of the head dental box fixing part.

[0046] like Figure 5 , 6 As shown, the connecting rod 4213 passes through the hole or slot in the head gear box fixing part 520 and the lower part 530 of the head gear box fixing part, and the connecting rod can move up and down smoothly and with low friction within this hole or slot.

[0047] like Figure 9 As shown, limit holes 511 are symmetrically provided on both sides of the head gear box fixing component 510. The top end of the connecting rod 4213 is slidably disposed in the limit hole 511. The up and down movement of the head gear box fixing component 510 drives the connecting rod 4213 located in the limit hole 511 to move up and down.

[0048] In this embodiment, when the head gearbox fixing component 510 is driven up and down by the mouth corner drive servo 410, the inner wall of the limiting hole 511 on it will push the connecting rod 4213 inside to move up and down together. The limiting hole 511 has a simple structure, without a complicated power transmission module, which is convenient for processing and installation.

[0049] Furthermore, to facilitate the installation of the head gearbox mounting bracket 510 and the mouth corner drive servo 410, such as... Figure 6 , Figure 9 As shown, a snap-fit ​​groove 512 is provided on the upper part of the head gear box fixing part 510, and a movable limiting groove 513 is provided in the middle part. A connecting protrusion 521 is provided on the lower part of the head gear box fixing part 520. The snap-fit ​​groove 512 is connected to the output end of the mouth corner drive servo motor 410, and the connecting protrusion 521 is located in the movable limiting groove 513.

[0050] In order to achieve convenient and secure connection of the bracket assembly 500, in this embodiment, the head gear box fixing component 520, the lower head gear box fixing component 530 and the auxiliary head gear box fixing component 540 are fixed by screws, and the lower head gear box fixing component 530 is fixedly connected to the front shell 100 by screws.

[0051] The materials used to manufacture simulated human faces are diverse. Depending on the application scenario, budget, and required level of realism, ABS, PC engineering plastics, resin, TPE / TPU (thermoplastic elastomer / polyurethane elastomer), silicone rubber, etc. can be used. In order to improve the realism of facial expressions, in this embodiment, the bionic face 300 is made of soft silicone material, and the corner mouth support component 310 is fixedly connected to the bionic face 300 through an insert injection molding process.

[0052] In this embodiment, the insert injection molding process involves pre-placing the part (referred to as the "insert" or "workpiece to be inserted") that needs to be fixedly connected to the bionic face 300 into the mold, and then injecting silicone to cover or bond the insert together. Figure 4 The schematic diagram of the three-dimensional structure of the bionic face shows that the mouth corner support component 310 includes: upper right mouth corner support block 311, lower right mouth corner support block 312, upper left mouth corner support block 313, and lower left mouth corner support block 314.

[0053] In this embodiment, due to the design of varying silicone thickness zones, a deformation of only 0.5mm is sufficient to produce the micro-movement of the corners of the mouth moving up and down. Simultaneously, the corner-of-mouth support component 310 is fixedly connected to the bionic face 300 using an insert injection molding process. During vulcanization, the liquid silicone forms an extremely strong mechanical interlock and chemical bond with the embedded support components in each facial expression deformation area (upper right corner-of-mouth support block 311, lower right corner-of-mouth support block 312, upper left corner-of-mouth support block 313, and lower left corner-of-mouth support block 314), becoming a unified whole. This bonding strength far exceeds that of adhesive bonding, ensuring efficient and reliable power transmission from the mechanism to the "skin," preventing detachment, extending its lifespan, and reducing subsequent assembly steps.

[0054] In order to achieve a fixed connection between the bionic face 300 and the front shell 100, in this embodiment, the bionic face 300 is glued to the surface of the front shell 100.

[0055] It will be apparent to those skilled in the art that this invention is not limited to the details of the exemplary embodiments described above, and that it can be implemented in other specific forms without departing from the spirit or essential characteristics of this invention. Therefore, the embodiments should be considered illustrative and non-limiting in all respects, and the scope of this invention is defined by the appended claims rather than the foregoing description. Thus, it is intended that all variations falling within the meaning and scope of equivalents of the claims be included within this invention. No reference numerals in the claims should be construed as limiting the scope of the claims.

Claims

1. A mouth corner driving structure for a bionic robot, characterized in that, include: Front head shell (100), back head shell (200), bionic face (300), mouth corner driving unit (400), support assembly (500); The front head shell (100) and the back head shell (200) are connected. The bionic face (300) is fixedly disposed on the surface of the front head shell (100). A mouth corner support assembly (310) is fixedly disposed inside the bionic face (300). The support assembly (500) is fixedly disposed in the internal space formed by the front head shell (100) and the back head shell (200). The support assembly (500) includes a head dental box fixing member (510) and a head. The head dental box fixing component (520), the lower head dental box fixing component (530), and the auxiliary head dental box fixing component (540) are sequentially fixedly connected. The upper head dental box fixing component (510) is movably mounted on the upper head dental box fixing component (520). The lower head dental box fixing component (530) is fixedly connected to the front head shell (100). The corner-of-mouth driving unit (400) includes a corner-of-mouth driving servo (410) and a driving connection assembly (420). The corner-of-mouth driving servo (410) is fixedly mounted on the head-tooth box fixing member (520). The output end of the corner-of-mouth driving servo (410) is connected to the head-tooth box fixing member (510). The driving connection assembly (420) is mounted on the head-tooth box auxiliary fixing member (540) and is connected to the corner-of-mouth support assembly (310) and the head-tooth box fixing member (510) respectively. The corner-of-mouth driving servo (410) drives the head-tooth box fixing member (510) to move up and down, thereby driving the driving connection assembly (420) to drive the corner-of-mouth support assembly (310) to move up and down in the corner-of-mouth area formed on the bionic face (300).

2. The mouth corner driving structure for a bionic robot according to claim 1, characterized in that, The corner support assembly (310) includes a right upper corner support block (311), a right lower corner support block (312), a left upper corner support block (313), and a left lower corner support block (314). The drive connection assembly (420) includes four acetal connectors (421), which are fixedly connected to the right upper corner support block (311), the right lower corner support block (312), the left upper corner support block (313), and the left lower corner support block (314), respectively.

3. The mouth corner driving structure for a bionic robot according to claim 2, characterized in that, The acetal connector (421) includes a clamping part (4211), a connecting bushing (4212), and a connecting rod (4213). The clamping part (4211) is fixedly connected to the corner support assembly (310). The connecting bushing (4212) is rotatably mounted on the head dental box auxiliary fixing part (540) via a connecting shaft. The connecting rod slides through the middle (520) and lower (530) of the head dental box fixing part and connects to the upper (510) of the head dental box fixing part.

4. The mouth corner driving structure for a bionic robot according to claim 3, characterized in that, The head gear box fixing component (510) has symmetrically provided limiting holes (511) on both sides. The top end of the connecting rod (4213) is slidably disposed in the limiting hole (511). The connecting rod (4213) located in the limiting hole (511) is driven to move up and down by the up and down movement of the head gear box fixing component (510).

5. The mouth corner driving structure for a bionic robot according to claim 1, characterized in that, The head gear box fixing component (520), the lower part of the head gear box fixing component (530), and the auxiliary fixing component of the head gear box (540) are fixed by screws. The lower part of the head gear box fixing component (530) is fixedly connected to the front shell of the head (100) by screws.

6. The mouth corner driving structure for a bionic robot according to claim 1, characterized in that, The upper part of the head gear box fixing part (510) is provided with a snap-fit ​​groove (512) and the middle part is provided with a movable limiting groove (513). The lower part of the head gear box fixing part (520) is provided with a connecting protrusion (521). The snap-fit ​​groove (512) is connected to the output end of the mouth corner drive servo (410). The connecting protrusion (521) is located in the movable limiting groove (513).

7. The mouth corner driving structure for a bionic robot according to claim 1, characterized in that, The bionic face (300) is made of soft silicone, and the corner support component (310) is fixedly connected to the bionic face (300) through an insert injection molding process.

8. The mouth corner driving structure for a bionic robot according to claim 1, characterized in that, The bionic face (300) is glued to the surface of the front shell (100).

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