Flexible bionic expression robot structure

Abstract

The utility model relates to a flexible bionic expression robot structure which comprises a framework, a supporting plate and a driving module. The supporting plate is connected to one side of the framework; the driving module is located between the framework and the supporting plate and comprises a first driving module, the first driving module comprises a first driving source, a cam, a first crank piece, a second crank piece and a follower, the first driving source is connected to the supporting plate and used for driving the cam to rotate, and the cam sequentially drives the first crank piece and the second crank piece to swing; the first crank piece and the second crank piece penetrate through the framework from the supporting plate, and the follower rotates relative to the supporting plate, so that the first driving module is used for simulating facial expression actions; according to the flexible bionic expression robot structure, due to the fact that one side of the second crank piece is in clearance rotation connection with the follower, when the second crank piece swings to a certain range angle, the second crank piece starts to drive the follower to rotate, and the first crank piece, the second crank piece and the follower act in a coordinated mode.

Description

TECHNICAL FIELD

[0001] The utility model relates to the technical field of bionic robot, especially to a flexible bionic expression robot structure. BACKGROUND

[0002] With the development of science and technology, expression robot technology is accelerating evolution, and has become a new highland of science and technology competition. Domestic expression robots have developed from scratch, and the technology has been fruitful. The application scenarios are constantly expanding, the process of core component localization is accelerating, and gradually moving towards more advanced and intelligent direction. However, the current robot's cold and emotionless or mechanical expression brings bad experience to users, so modern technology pays more and more attention to the bionic expression research of machine. The control mechanism of the robot bionic expression in the prior art is complex, the manufacturing difficulty is big, and the expression of the robot is not natural, and there is a problem that the control action diversification is affected by space.

[0003] Shenzhen Guangqi United Technology Co., Ltd. proposes a kind of human facial expression mechanism and robot with it (patent No. CN 206296916U), including the eye movement module for eye movement, the cheek movement module for cheek movement, the cheek movement module includes cheek driving mechanism and swing mechanism, eye movement module includes eye movement component, eye movement component includes first eye driving mechanism, first connecting rod component and eyeball. This technical solution solves the problem of simple mechanism action and single expression to some extent.

[0004] Patent No. CN 117697772 B discloses an intelligent flexible bionic expression robot, which includes a model head, a skeleton, a driving module and a skin layer. One side of the skeleton is attached to one side of the model head, and the skeleton forms a first sliding groove and a first slot. The driving module includes a mounting bracket, a brow driving module and an eyelid driving module connected to the mounting bracket. The brow driving module includes a first driving source, a first crank and a first rocker, the first driving source is connected to the mounting bracket for driving the first crank, and the first crank drives the first rocker. The skin layer is attached to the other side of the skeleton opposite the model body, and the skin layer forms a first area and a second area towards the skeleton. The first rocker and the second rocker pass through the first sliding groove, so that the first contact part is embedded or wrapped in the first area and the second contact part is embedded or wrapped in the second area. When the first driving source drives the first crank, the ends of the first rocker and the second rocker drive the first area and the second area of the skin layer to deform flexibly to produce expression. This technical solution greatly realizes the flexible change of robot expression.

[0005] However, the prior art described above simulates the expression of the robot to a certain extent, but each functional module of the robot has a separate driving structure and connecting rod transmission structure, resulting in a complex overall structure of the robot, and a single driving source cannot drive multiple regions of the face to produce deformation expression. At the same time, due to the complex mechanical structure, the robot cannot control the end to make more flexible expression changes in the limited head space, so it is necessary to design a flexible expression robot structure with single driving and multiple region coordinated action. Utility model content

[0006] The utility model discloses a kind of flexible bionic expression robot structures, to solve single driving in the limited head space Multiple region flexible coordinated action.

[0007] To solve the above technical problems, a flexible bionic expression robot structure is provided, comprising a skeleton, a support plate, and a drive module. The support plate is connected to one side of the skeleton. The drive module is located between the skeleton and the support plate. The drive module includes a first drive module, which includes a first drive source, a cam, a first bending member, a second bending member, and a follower. The first drive source is connected to the support plate to drive the cam to rotate. The cam drives the first bending member and the second bending member to oscillate in sequence. The first bending member and the second bending member are arranged in the skeleton from the support plate. The follower rotates relative to the support plate to simulate the facial expression action of the first drive module. The second bending member is connected to the follower with a gap on one side. When the second bending member oscillates to a certain range of angles, the second bending member starts to drive the follower to rotate, so that the first bending member, the second bending member, and the follower coordinate action.

[0008] Further, the second bending member includes a second contact portion, a second rod body, an upper eyelid portion, and a tooth. The second rod body is connected between the second contact portion and the upper eyelid portion. The tooth is protruded on one side of the second rod body. The follower includes a meshing tooth, a third rod body, and a lower eyelid portion. The meshing tooth is located on one side of the third rod body. The meshing tooth is connected to the tooth with a gap. The lower eyelid portion is connected to the end of the third rod body. When the tooth and the meshing tooth contact and abut to rotate, the upper eyelid portion and the lower eyelid portion close to each other.

[0009] Further, the first bending member includes a first contact portion, a first rod body, and an eyebrow portion. The first rod body is connected between the first contact portion and the eyebrow portion. The first contact portion and the second contact portion are misaligned and abut on one side of the cam, so that the first drive source drives the eyebrow portion and the upper eyelid portion asynchronously.

[0010] Further, the tooth surface of the tooth forms a deviation angle, and the deviation angle faces away from the direction of the meshing tooth.

[0011] Further, the driving module further comprises a second driving module, the second driving module comprises a second driving source, a first crank, a first rocker, a second rocker, a first rocker arm and a second rocker arm, the second driving source is connected to the support plate for driving the first crank, the first crank drives the first rocker to move and the first rocker arm to rotate respectively, the first rocker is slidingly connected with the support plate, the first rocker arm is rotatably connected with the support plate, the second rocker arm is rotatably connected with the support plate, the second rocker is rotatably connected with the support plate, and the two ends of the second rocker are movably connected with the first rocker and the second rocker arm.

[0012] When the first crank rotates, the first rocker arm and the second rocker arm coordinate to drive the lower face expression.

[0013] Further, the first rocker forms a sliding groove, and the end of the first crank is movably arranged in the sliding groove, when the first crank rotates, the first rocker slides relative to the support plate, and the first rocker abuts against the second rocker to drive the second rocker, so that the end of the second rocker drives the second rocker arm.

[0014] Further, the first rocker arm comprises a connecting portion, an extension body and a protruding portion, the connecting portion is hingedly connected with the support plate, one end of the extension body is connected with the connecting portion, and the other end of the extension body extends through the skeleton, and the protruding portion is located on one side of the extension body, the first crank abuts against the protruding portion to drive the connecting portion to rotate relative to the support plate.

[0015] Further, the driving module further comprises a third driving module, the third driving module comprises a third driving source, a second crank and a third rocker arm, the third driving source is connected to the support plate for driving the second crank, the third rocker arm is hingedly connected with the support plate, and the second crank drives the third rocker arm to rotate relative to the support plate.

[0016] Further, the third rocker arm comprises a third contact portion, a connecting body and a chin portion, the end of the second crank is movably arranged in the third contact portion, the connecting body is connected between the third contact portion and the chin portion, the connecting body is hingedly connected with the support plate, and the chin portion extends through the skeleton.

[0017] Further, the flexible bionic expression robot structure further comprises a loudspeaker, and the loudspeaker is located between the support plate and the chin portion.

[0018] The embodiment of the present application has the following beneficial effects:

[0019] 1、the flexible bionic expression robot structure in the embodiment, because the second curved member is connected with the follower through the gap on one side, when the second curved member swings to a certain angle, the second curved member starts to drive the follower to rotate, the first curved member, the second curved member and the follower coordinate the action, and then the first driving module simulates the facial expression action, which overcomes the difficulty of single driving multiple regions in the limited head space in the prior art;

[0020] 2、the flexible bionic expression robot structure in the embodiment, because the second curved member includes a second contact part, a second rod body, an upper eyelid part and a tooth, the second rod body is connected between the second contact part and the upper eyelid part, and the tooth is protruded on one side of the second rod body; the follower includes a meshing tooth, a third rod body and a lower eyelid part, the meshing tooth is located on one side of the third rod body, the meshing tooth is connected with the tooth through the gap, and the lower eyelid part is connected to the end of the third rod body, so that when the tooth and the meshing tooth are in contact and abutment and rotate, the upper eyelid part and the lower eyelid part are closed towards each other;

[0021] 3、the flexible bionic expression robot structure in the embodiment, because the second driving module includes a second driving source, a first crank, a first rocker plate, a second rocker plate, a first rocker lever and a second rocker lever, the second driving source is connected to the support plate for driving the first crank, the first crank drives the first rocker plate to move and the first rocker lever to rotate, the first rocker plate is slidingly connected with the support plate, the first rocker lever is rotatably connected with the support plate, the second rocker lever is rotatably connected with the support plate, the second rocker plate is rotatably connected with the support plate, and the two ends of the second rocker plate are movably connected with the first rocker plate and the second rocker lever, so that when the first crank rotates, the first rocker lever and the second rocker lever coordinate the action to simulate the lower facial expression. BRIEF DESCRIPTION OF DRAWINGS

[0022] In order to more clearly illustrate the technical scheme in the embodiments of the present application or the prior art, the drawings needed in the following embodiment or prior art description will be briefly introduced. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creating labor.

[0023] Figure 1 The schematic diagram of the flexible bionic expression robot structure according to the embodiment of the present application;

[0024] Figure 2 The exploded schematic diagram of the flexible bionic expression robot structure according to the embodiment of the present application;

[0025] Figure 3 The first perspective structure schematic diagram of the driving module according to the embodiment of the present application;

[0026] Figure 4 The second perspective view structure diagram of the driving module is shown in the embodiment of the utility model;

[0027] Figure 5 For Figure 4 The local enlarged view of A in the middle;

[0028] Figure 6 The structure schematic diagram of the first driving module is shown in the embodiment of the utility model;

[0029] Figure 7 For Figure 6 The local enlarged view of B in the middle;

[0030] Figure 8 The explosion schematic diagram of the first driving module is shown in the embodiment of the utility model;

[0031] Figure 9 The structure schematic diagram of the second curved member is shown in the embodiment of the utility model;

[0032] Figure 10 The structure schematic diagram of the follower is shown in the embodiment of the utility model;

[0033] Figure 11 The structure schematic diagram of the first curved member is shown in the embodiment of the utility model;

[0034] Figure 12 The first perspective view structure diagram of the second driving module is shown in the embodiment of the utility model;

[0035] Figure 13 The second perspective view structure diagram of the second driving module is shown in the embodiment of the utility model;

[0036] Figure 14 The explosion schematic diagram of the second driving module is shown in the embodiment of the utility model;

[0037] Figure 15 The structure schematic diagram of the first rocker is shown in the embodiment of the utility model;

[0038] Figure 16 The structure schematic diagram of the first rocker is shown in the embodiment of the utility model;

[0039] Figure 17 The structure schematic diagram of the third rocker is shown in the embodiment of the utility model.

[0040] Wherein: 100, flexible bionic expression robot structure; 110, skeleton; 120, support plate; 130, drive module; 131, first drive module; 1311, first drive source; 1312, cam; 1313, first bending member; 13131, first contact part; 13132, first rod body; 13133, eyebrow part; 1314, second bending member; 13141, second contact part; 13142, second rod body; 13143, upper eyelid part; 13144, tooth; 1315, follower; 13151, meshing tooth; 13152, third rod body; 13153, lower eyelid part; 132, second drive module; 1321, second drive source; 1322, first crank; 1323, first rocker plate; 13231, sliding groove; 1324, second rocker plate; 1325, first rocker lever; 13251, connecting part; 13252, extension body; 13253, protruding part; 1326, second rocker lever; 133, third drive module; 1331, third drive source; 1332, second crank; 1333, third rocker lever; 13331, third contact part; 13332, connecting body; 13333, chin part; 140, loudspeaker. DETAILED DESCRIPTION

[0041] For the purpose of facilitating the understanding of the present application, a more comprehensive description of the present application will be given below with reference to the relevant drawings. The drawings show the preferred embodiments of the present application. However, the present application can be realized in many different forms and is not limited to the embodiments described herein. On the contrary, the purpose of providing these embodiments is to make the disclosure of the present application more thorough and comprehensive.

[0042] It should be noted that when an element is referred to as being "fixed" to another element, it can be directly on the other element or there can be an intervening element. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or there can be an intervening element. The terms "vertical", "horizontal", "left", "right", and similar expressions used herein are for illustrative purposes only.

[0043] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which the present application belongs. The terminology used in the description of the present application herein only for the purpose of describing specific embodiments and is not intended to limit the present application. The term "and / or" as used herein includes any and all combinations of one or more of the associated listed items.

[0044] Reference should be made to Figures 1-17The utility model embodiment provides a kind of flexible bionic expression robot structure 100, including skeleton 110, support plate 120, drive module 130;Support plate 120 is connected to one side of skeleton 110;Drive module 130 is located between skeleton 110 and support plate 120, and drive module 130 includes first drive module 131, and first drive module 131 includes first drive source 1311, cam 1312, first bending member 1313, second bending member 1314 and follower 1315, and first drive source 1311 is connected to support plate 120 for driving cam 1312 rotation, cam 1312 respectively successively drive first bending member 1313 and second bending member 1314 swing, and first bending member 1313 and second bending member 1314 are arranged in skeleton 110 from support plate 120, and follower 1315 rotates relative to support plate 120, to make first drive module 131 for bionic upper facial expression action;Wherein, one side of second bending member 1314 and follower 1315 gap rotation are connected, when second bending member 1314 swings to certain range angle, second bending member 1314 starts to drive follower 1315 rotation, to make first bending member 1313, second bending member 1314 and follower 1315 coordinated action.In specific application, because one side of second bending member 1314 and follower 1315 gap rotation are connected, so that second bending member 1314 only swings to certain range angle, second bending member 1314 only then starts to contact follower 1315, so that second bending member 1314 drives follower 1315 rotation, first bending member 1313, second bending member 1314 and follower 1315 coordinated action, it is worth mentioning, the action amplitude of first bending member 1313, second bending member 1314 and follower 1315 is different, so when imitating human expression, skin muscle contraction amount is different, and then make first drive module 131 bionic upper facial expression action, solve in limited head space, through single drive source drive multiple area flexible coordinated action.

[0045] In a possible implementation, the second cam member 1314 includes a second contact portion 13141, a second rod body 13142, an upper eyelid portion 13143, and a tooth 13144, the second rod body 13142 is connected between the second contact portion 13141 and the upper eyelid portion 13143, and the tooth 13144 is protruded on one side of the second rod body 13142; the follower 1315 includes an engaging tooth 13151, a third rod body 13152, and a lower eyelid portion 13153, the engaging tooth 13151 is located on one side of the third rod body 13152, the engaging tooth 13151 is connected with the tooth 13144 in a clearance, and the lower eyelid portion 13153 is connected to the end of the third rod body 13152; when the tooth 13144 is in contact with the engaging tooth 13151 and rotates, the upper eyelid portion 13143 and the lower eyelid portion 13153 are closed to each other. In a specific application, since the tooth 13144 is protruded on one side of the second rod body 13142, the engaging tooth 13151 is located on one side of the third rod body 13152, and the engaging tooth 13151 is connected with the tooth 13144 in a clearance, when the tooth 13144 is in contact with the engaging tooth 13151 and rotates, the upper eyelid portion 13143 is driven to rotate by the second rod body 13142, and the lower eyelid portion 13153 is driven to rotate by the third rod body 13152, so that the upper eyelid portion 13143 and the lower eyelid portion 13153 are closed to each other. It is worth noting that the rotation range of the upper eyelid portion 13143 is greater than that of the lower eyelid portion 13153.

[0046] In a possible implementation, the first cam member 1313 includes a first contact portion 13131, a first rod body 13132, and an eyebrow portion 13133, the first rod body 13132 is connected between the first contact portion 13131 and the eyebrow portion 13133, and the first contact portion 13131 and the second contact portion 13141 are misaligned and abutted on one side of the cam 1312, so that the first driving source 1311 drives the eyebrow portion 13133 and the upper eyelid portion 13143 asynchronously. In a specific application, since the first cam member 1313 includes the first contact portion 13131, the first rod body 13132, and the eyebrow portion 13133, the first rod body 13132 drives the eyebrow portion 13133 to swing, and the first contact portion 13131 and the second contact portion 13141 are misaligned and abutted on one side of the cam 1312, so that the cam 1312 can lift the first contact portion 13131 and the second contact portion 13141 in sequence in the axial direction, so that the first rod body 13132 and the second rod body 13142 swing in sequence, and then the first driving source 1311 drives the movement of the eyebrow portion 13133 and the upper eyelid portion 13143 asynchronously and coordinately.

[0047] In a possible implementation, the tooth surface of the tooth 13144 is formed with a deviation angle, and the deviation angle faces away from the meshing tooth 13151. In specific applications, in order to reduce the impact of the tooth 13144 on the meshing tooth 13151, the tooth surface of the tooth 13144 is formed with a deviation angle, and the deviation angle faces away from the meshing tooth 13151. In this way, when the tooth 13144 rotates towards the meshing tooth 13151, the curved tooth surface of the tooth 13144 can buffer the impact on the meshing tooth 13151, thereby improving the service life of the second curved member 1314 and the follower 1315.

[0048] In a possible implementation, the driving module 130 further includes a second driving module 132. The second driving module 132 includes a second driving source 1321, a first handle 1322, a first rocker plate 1323, a second rocker plate 1324, a first rocker arm 1325, and a second rocker arm 1326. The second driving source 1321 is connected to the support plate 120 to drive the first handle 1322. The first handle 1322 drives the first rocker plate 1323 to move and the first rocker arm 1325 to rotate, respectively. The first rocker plate 1323 is slidingly connected to the support plate 120. The first rocker arm 1325 is rotatably connected to the support plate 120. The second rocker arm 1326 is rotatably connected to the support plate 120. The second rocker plate 1324 is rotatably connected to the support plate 120, and two ends of the second rocker plate 1324 are movably connected to the first rocker plate 1323 and the second rocker arm 1326. When the first handle 1322 rotates, the first rocker arm 1325 and the second rocker arm 1326 cooperatively generate a motion of simulating a lower facial expression. In specific applications, because the second driving module 132 includes the second driving source 1321, the first handle 1322, the first rocker plate 1323, the second rocker plate 1324, the first rocker arm 1325, and the second rocker arm 1326, the second driving source 1321 is connected to the support plate 120 to drive the first handle 1322. The first handle 1322 drives the first rocker plate 1323 to move relative to the support plate 120 and drives the first rocker arm 1325 to rotate relative to the support plate 120. The first rocker plate 1323 is slidingly connected to the support plate 120. The first rocker arm 1325 is rotatably connected to the support plate 120. The second rocker arm 1326 is rotatably connected to the support plate 120. The second rocker plate 1324 is rotatably connected to the support plate 120, and two ends of the second rocker plate 1324 movably abut against the first rocker plate 1323 and the second rocker arm 1326. Thus, when the first handle 1322 rotates, the first rocker arm 1325 swings under the action of the first handle 1322, and the second rocker arm 1326 swings under the cooperation of the first rocker plate 1323 and the second rocker plate 1324. Thus, the first rocker arm 1325 and the second rocker arm 1326 cooperatively generate a motion of simulating a lower facial expression. It should be noted that the swinging motion of the first rocker arm 1325 and the swinging motion of the second rocker arm 1326 are asynchronous, and the swinging amplitude of the first rocker arm 1325 is smaller than that of the second rocker arm 1326.

[0049] In a possible implementation, the first rocker 1323 forms a sliding groove 13231, and the first handle 1322 is movably arranged in the sliding groove 13231. When the first handle 1322 rotates, the first rocker 1323 slides relative to the support plate 120, and the first rocker 1323 abuts against the second rocker 1324 to drive the second rocker 1324. In a specific application, since the first rocker 1323 forms the sliding groove 13231, the length direction of the sliding groove 13231 is perpendicular to the sliding direction of the first rocker 1323 relative to the support plate 120, and the first handle 1322 is movably arranged in the sliding groove 13231. Thus, when the first handle 1322 rotates, the first handle 1322 slides relative to the sliding groove 13231 to drive the first rocker 1323 to slide relative to the support plate 120, and then the first rocker 1323 abuts against the second rocker 1324 to drive the second rocker 1324.

[0050] In a possible implementation, the first rocker 1325 includes a connecting portion 13251, an extension body 13252, and a protruding portion 13253. The connecting portion 13251 is hingedly connected to the support plate 120. One end of the extension body 13252 is connected to the connecting portion 13251, and the other end of the extension body 13252 extends through the skeleton 110. The protruding portion 13253 is located on one side of the extension body 13252. The first handle 1322 abuts against the protruding portion 13253 to drive the connecting portion 13251 to rotate relative to the support plate 120. In a specific application, since the first rocker 1325 includes the connecting portion 13251, the extension body 13252, and the protruding portion 13253, the connecting portion 13251 is hingedly connected to the support plate 120, one end of the extension body 13252 is connected to the connecting portion 13251, and the other end of the extension body 13252 extends through the skeleton 110. The protruding portion 13253 is located on one side of the extension body 13252. Thus, when the first handle 1322 abuts against the protruding portion 13253 to drive the connecting portion 13251 to rotate relative to the support plate 120, the extension body 13252 rotates relative to the support plate 120 to simulate the wrinkle nose action.

[0051] In a possible implementation, the driving module 130 further comprises a third driving module 133, the third driving module 133 comprising a third driving source 1331, a second handle 1332 and a third rocker 1333, the third driving source 1331 being connected to the support plate 120 for driving the second handle 1332, the third rocker 1333 being hinged to the support plate 120, the second rocker 1326 driving the third rocker 1333 to rotate relative to the support plate 120. In specific applications, since the driving module 130 further comprises the third driving module 133, the third driving module 133 comprising the third driving source 1331, the second handle 1332 and the third rocker 1333, the third driving source 1331 being connected to the support plate 120 for driving the second handle 1332, the third rocker 1333 being hinged to the support plate 120, thus the second handle 1332 drives the third rocker 1333 to rotate relative to the support plate 120 to generate action.

[0052] In a possible implementation, the third rocker 1333 comprises a third contact portion 13331, a connecting body 13332 and a chin portion 13333, the end of the second handle 1332 being movable on the third contact portion 13331, the connecting body 13332 being connected between the third contact portion 13331 and the chin portion 13333, the connecting body 13332 being hinged to the support plate 120, and the chin portion 13333 being arranged in the framework 110. In specific applications, since the third rocker 1333 comprises the third contact portion 13331, the connecting body 13332 and the chin portion 13333, the end of the second handle 1332 is movable on the third contact portion 13331, the connecting body 13332 is connected between the third contact portion 13331 and the chin portion 13333, the connecting body 13332 is hinged to the support plate 120, and the chin portion 13333 is arranged in the framework 110, thus when the second handle 1332 rotates, the connecting body 13332 drives the chin portion 13333 to generate simulated action.

[0053] In a possible implementation, the flexible bionic expression robot structure 100 further comprises a loudspeaker 140, the loudspeaker 140 being arranged between the support plate 120 and the chin portion 13333. In specific applications, in order to more realistically restore the mechanism of human throat sound generation, the loudspeaker 140 is arranged between the support plate 120 and the chin portion 13333, so that the loudspeaker 140 produces different sounds according to the opening and closing state of the chin portion 13333 when simulating language.

[0054] The above-described embodiments only express several implementation manners of the present application, and the description is relatively specific and detailed, but cannot be understood as a limitation on the patent application scope. It should be noted that, for ordinary skilled persons in the art, without departing from the concept of the present application, several modifications and improvements can be made, which all belong to the protection scope of the present application. Therefore, the protection scope of the present application patent should be subject to the appended claims.

Claims

1. A flexible biomimetic expression robotic structure, characterized by, The utility model relates to a bionic face expression device, including: skeleton; supporting plate, the supporting plate is connected to one side of the skeleton; drive module, the drive module is located between the skeleton and the supporting plate, the drive module includes first drive module, the first drive module includes first drive source, cam, first crank member, second crank member and follower, the first drive source is connected to the supporting plate for driving the cam rotation, the cam respectively first and last drive the first crank member and the second crank member swing, the first crank member and the second crank member from the supporting plate are arranged in the skeleton, the follower rotates relative to the supporting plate, to make the first drive module be used for imitating upper facial expression action; Wherein, one side of the second crank member is connected with the follower with clearance rotation, when the second crank member swings to a certain range angle, the second crank member starts to drive the follower to rotate, so that the first crank member, second crank member and follower coordinate action.

2. The flexible biomimetic expressive robotic structure of claim 1, wherein, The second crank member includes a second contact portion, a second rod body, an upper eyelid portion, and a tooth, the second rod body is connected between the second contact portion and the upper eyelid portion, the tooth is protruded on one side of the second rod body; the follower includes a meshing tooth, a third rod body, and a lower eyelid portion, the meshing tooth is located on one side of the third rod body, the meshing tooth is connected with the tooth with clearance, the lower eyelid portion is connected to the end of the third rod body, when the tooth is in contact with the meshing tooth, the upper eyelid portion and the lower eyelid portion are closed towards each other.

3. The flexible biomimetic expressive robotic structure of claim 2, wherein, The first crank member includes a first contact portion, a first rod body, and an eyebrow portion, the first rod body is connected between the first contact portion and the eyebrow portion, the first contact portion and the second contact portion are offset and abutted on one side of the cam, so that the first drive source drives the eyebrow portion and the upper eyelid portion asynchronously.

4. The flexible biomimetic expressive robotic structure of claim 2 or 3, wherein, The tooth surface of the tooth forms an offset angle, and the offset angle is away from the direction of the meshing tooth.

5. The flexible biomimetic expressive robotic structure of claim 1, wherein, The drive module further includes a second drive module, the second drive module includes a second drive source, a first crank handle, a first rocker, a second rocker, a first rocker arm, and a second rocker arm, the second drive source is connected to the supporting plate for driving the first crank handle, the first crank handle drives the first rocker to move and the first rocker arm to rotate respectively, the first rocker is slidingly connected with the supporting plate, the first rocker arm and the supporting plate are rotationally connected, the second rocker arm and the supporting plate are rotationally connected, the second rocker is rotationally connected to the supporting plate, and the two ends of the second rocker are movably connected to the first rocker and the second rocker arm. When the first crank handle rotates, the first rocker arm and the second rocker arm coordinate action to imitate lower facial expression.

6. The flexible biomimetic expression robotic structure of claim 5, wherein, The first rocker forms a sliding groove, and the end of the first crank handle is movably arranged in the sliding groove, when the first crank handle rotates, the first rocker slides relative to the supporting plate, the first rocker drives the second rocker to abut, so that the end of the second rocker drives the second rocker arm.

7. The flexible biomimetic expression robotic structure of claim 5, wherein, The first rocker includes a connecting part, an extension body and a protruding part, the connecting part is hinged to the support plate, one end of the extension body is connected to the connecting part, the other end of the extension body extends through the framework, the protruding part is located on one side of the extension body, the first rocker abuts and drives the protruding part to make the connecting part rotate relative to the support plate.

8. The flexible biomimetic expression robotic structure of claim 5, wherein, The driving module further includes a third driving module, the third driving module includes a third driving source, a second rocker and a third rocker, the third driving source is connected to the support plate for driving the second rocker, the third rocker is hinged to the support plate, the second rocker drives the third rocker to rotate relative to the support plate.

9. The flexible biomimetic expressive robotic structure of claim 8, wherein, The third rocker includes a third contact part, a connecting body and a chin part, the end of the second rocker moves in the third contact part, the connecting body is connected between the third contact part and the chin part, the connecting body is hinged to the support plate, and the chin part extends through the framework.

10. The flexible biomimetic expressive robotic structure of claim 9, wherein, The flexible bionic expression robot structure further includes a loudspeaker, and the loudspeaker is located between the support plate and the chin part.

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