Bionic face and bionic robot

Abstract

The application provides a bionic face and a bionic robot. The bionic face comprises a main body, a mouth, and two first driving assemblies. The mouth is movably installed on the main body, and the mouth comprises an upper lip, a lower lip, and two corners connecting the upper lip and the lower lip. Each first driving assembly is connected with one corner. The first driving assembly comprises a first driving member and a first connecting member. The first connecting member connects the first driving member and the corner, so as to drive the corner to move left and right relative to the main body and / or to drive the corner to move up and down relative to the main body. The application drives the corner to move through the first driving member and the first connecting member, so as to enrich the action of the face through the action of the corner, and make the bionic robot have more facial expressions.

Description

Technical Field

[0001] This application relates to the field of bionic robot technology, and more specifically, to a bionic face and a bionic robot. Background Technology

[0002] Bionic robots are robots that mimic biological organisms and perform tasks based on their biological characteristics. With the development of technology, the application of bionic robots in industries, medicine, and other fields is gradually increasing.

[0003] Modern bionic robots have corresponding bionic movements in their eyes and heads. However, they lack facial expressions.

[0004] Therefore, how to enrich the movements of bionic faces, thereby enriching the facial expressions of robots, is a technical problem that urgently needs to be solved. Utility Model Content

[0005] This application provides a bionic mouth and a bionic robot, which can enrich the movements of the bionic face, thereby enriching the robot's facial expressions.

[0006] This application is achieved through the following technical solution: In a first aspect, this application provides a bionic face, comprising a main body, a mouth, and two first driving components. The mouth is movably mounted on the main body and includes an upper lip, a lower lip, and two corners of the mouth connecting the upper and lower lips. Each first driving component is connected to one corner of the mouth. Each first driving component includes a first driving member and a first connecting member, the first connecting member connecting the first driving member and the corner of the mouth to drive the corner of the mouth to move left and right relative to the main body; and / or to drive the corner of the mouth to move up and down relative to the main body.

[0007] The technical solution of this application embodiment drives the corner of the mouth to move by setting a first driving member and a first connecting member, thereby enriching the facial movements through the movement of the corner of the mouth, so that the bionic robot has more facial expressions.

[0008] In some embodiments, each group of first driving components has two first driving members and two first connectors, with each first connector corresponding to one first driving member. Each first connector includes a first end connecting to the first driving member and a second end connecting to the corner of the mouth. The two first connectors include a first first connector and a second first connector. In the direction from the second end to the first end, the first first connector extends in a left-right direction away from the other corner of the mouth and tilts upwards, while the second first connector extends in a left-right direction away from the other corner of the mouth and tilts downwards.

[0009] The technical solution of this application embodiment extends the first first connector away from the other corner of the mouth in the left-right direction and is inclined upward, and extends the second first connector away from the other corner of the mouth in the left-right direction and is inclined downward, so that the first first connector and the second first connector jointly drive the corner of the mouth, realizing the compound movement of the corner of the mouth in the up-down direction and the left-right direction. The movement of the corner of the mouth enriches the facial movements, so that the bionic robot has more facial expressions.

[0010] In some embodiments, the two first driving members include a first first driving member and a second first driving member, with the first first driving member positioned above the second first driving member. The output shaft of the first first driving member extends in a left-right direction and is connected to a first first connector. The output shaft of the second first driving member extends in a left-right direction and is inclined downwards, and is connected to a second first connector.

[0011] In order to better fit the facial structure of the human body, the upper and lower jaws of the main body are similar to the human body structure. By extending the output shaft of the first driving member in the left-right direction and extending the output shaft of the second driving member in the left-right direction and tilting it downward, the installation space provided by the main body is adapted to reduce the risk of interference between the first driving component and the main body.

[0012] In some embodiments, the bionic face further includes a second driving component and a third driving component, the second driving component being connected to the upper lip and the third driving component being connected to the lower lip. The second driving component includes a second driving member and a second connecting member, the second connecting member connecting the second driving member and the upper lip to drive the upper lip to move up and down relative to the body. The third driving component includes a third driving member and a third connecting member, the third connecting member connecting the third driving member and the lower lip to drive the lower lip to move up and down relative to the body.

[0013] The technical solution of this application embodiment drives the upper lip to move by setting a second driving member and a second connecting member, and drives the lower lip to move by setting a third driving member and a third connecting member, thereby enriching the facial movements through the movements of the upper and lower lips, so that the bionic robot has more facial expressions.

[0014] In some embodiments, the main body is provided with a first limiting groove and a second limiting groove extending vertically, a second connector is movably disposed in the first limiting groove, and a third connector is movably disposed in the second limiting groove.

[0015] The technical solution of this application embodiment improves the reliability of the movement of the upper and lower lips by movably setting the second connector in the first limiting groove extending in the vertical direction and the third connector in the second limiting groove extending in the vertical direction.

[0016] In some embodiments, there are multiple second drive components, and the second connectors of each second drive component are spaced apart in the left-right direction. There are multiple third drive components, and the third connectors of each third drive component are spaced apart in the left-right direction.

[0017] The technical solution of this application embodiment, by arranging multiple second driving components at intervals, ensures that when the second driving components drive the upper lip to move, the forces on various parts of the upper lip in the left-right direction are more balanced, which helps to improve the stability of the upper lip movement. Similarly, by arranging multiple third driving components at intervals, when the third driving components drive the lower lip to move, the forces on various parts of the lower lip in the left-right direction are more balanced, which also helps to improve the stability of the lower lip movement.

[0018] In some embodiments, the bionic face further includes a nose and two fourth actuation components. The nose is movably mounted on the main body and has two nasal alar portions in the left-right direction. Each fourth actuation component is connected to one nasal alar portion. The fourth actuation component includes a fourth actuating member and a fourth connecting member. The fourth connecting member connects the fourth actuating member and the nasal alar portion to drive the nasal alar portion to move left and right relative to the main body.

[0019] The technical solution of this application embodiment drives the nose to move by setting a fourth driving member and a fourth connecting member, thereby enriching the facial movements through the movement of the nose, so that the bionic robot has more facial expressions.

[0020] In some embodiments, the bionic face further includes an upper jaw, a lower jaw, and a fifth actuation assembly, at least one of the upper jaw and the lower jaw being movably mounted to a body. The fifth actuation assembly includes a fifth actuation member and a fifth connector, the fifth connector connecting the fifth actuation member and the upper jaw to drive the upper jaw to move vertically relative to the body; and / or, the fifth actuation assembly includes a fifth actuation member and a fifth connector, the fifth connector connecting the fifth actuation member and the lower jaw to drive the lower jaw to move vertically relative to the body.

[0021] The technical solution of this application embodiment drives the upper jaw to move by setting a fifth driving member and a fifth connecting member, thereby enriching the facial movements through the movement of the upper jaw and enabling the bionic robot to have more facial expressions. And / or, drives the lower jaw to move by setting a fifth driving member and a fifth connecting member, thereby enriching the facial movements through the movement of the lower jaw and enabling the bionic robot to have more facial expressions.

[0022] In some embodiments, the bionic face also includes silicone skin covering the outer surface of the body, and a first drive component is connected to the side of the silicone skin facing the body.

[0023] The technical solution of this application embodiment improves the aesthetics of the bionic face by providing silicone skin. Simultaneously, by connecting a first driving component to the side of the silicone skin facing the main body, the first driving component can move the silicone skin, thus facilitating the display of facial expressions.

[0024] In a second aspect, this application provides a bionic robot, which includes a bionic face as described in any of the first aspects.

[0025] The technical solution of this application embodiment drives the corner of the mouth to move by setting a first driving member and a first connecting member, thereby enriching the facial movements through the movement of the corner of the mouth, so that the bionic robot has more facial expressions.

[0026] Additional aspects and advantages of this application will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of this application. Attached Figure Description

[0027] To more clearly illustrate the technical solutions of the embodiments of this application, 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 application and should not be regarded as a limitation of the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0028] Figure 1 Schematic diagrams of bionic faces provided for some embodiments of this application; Figure 2 A schematic diagram of a first driving component provided for some embodiments of this application; Figure 3 A schematic diagram of a second driving component provided in some embodiments of this application; Figure 4 A schematic diagram of a third driving component provided in some embodiments of this application; Figure 5 A schematic diagram of a first limiting groove provided in some embodiments of this application; Figure 6 A schematic diagram illustrating the connection between the fourth driving component and the nose as provided in some embodiments of this application; Figure 7 This is a schematic diagram showing the connection between the fifth drive component and the jaw portion, as provided in some embodiments of this application.

[0029] Icons: 1-Bionic face; 10-Main body; 11-First limiting groove; 12-Second limiting groove; 20-First driving assembly; 21-First driving component; 211-First first driving component; 212-Second first driving component; 22-First connecting component; 221-First first connecting component; 222-Second first connecting component; 30-Second driving assembly; 31-Second driving component; 32-Second connecting component; 40-Third driving assembly; 41-Third driving component; 42-Third connecting component; 50-Nose; 60-Fourth driving assembly; 61-Fourth driving component; 62-Fourth connecting component; 70-Jaw; 80-Fifth driving assembly; 81-Fifth driving component; 82-Fifth connecting component; X-Left-right direction; Z-Up-down direction. Detailed Implementation

[0030] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, 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 some embodiments of this application, not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0031] Unless otherwise defined, all technical and scientific terms used in this application have the same meaning as commonly understood by one of ordinary skill in the art to which this application pertains; the terminology used in the description of this application is for the purpose of describing particular embodiments only and is not intended to limit the application; the terms "comprising" and "having," and any variations thereof, in the description, claims, and accompanying drawings of this application are intended to cover non-exclusive inclusion. The terms "first," "second," etc., in the description, claims, or accompanying drawings of this application are used to distinguish different objects, not to describe a specific order or hierarchy.

[0032] In this application, the reference to "embodiment" means that a specific feature, structure, or characteristic described in connection with an embodiment may be included in at least one embodiment of this application. The appearance of this phrase in various places throughout the specification does not necessarily refer to the same embodiment, nor is it a mutually exclusive, independent, or alternative embodiment. It will be explicitly and implicitly understood by those skilled in the art that the embodiments described in this application can be combined with other embodiments.

[0033] In the description of this application, it should be noted that, unless otherwise expressly specified and limited, the terms "installation," "connection," "linking," and "attachment" 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 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 according to the specific circumstances.

[0034] In this application, the term "and / or" is merely a description of the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A existing alone, A and B existing simultaneously, or B existing alone. Additionally, in this application, the character " / " generally indicates that the preceding and following related objects have an "or" relationship.

[0035] In this application, "multiple" refers to two or more (including two), similarly, "multiple sets" refers to two or more (including two sets), and "multiple pieces" refers to two or more (including two pieces).

[0036] Please refer to Figure 1 and Figure 2 , Figure 1 This is a schematic diagram of a bionic face provided in some embodiments of this application. Figure 2 This is a schematic diagram of a first driving component provided in some embodiments of this application. Embodiments of this application provide a bionic face 1, which includes a main body 10, a mouth, and two first driving components 20. The mouth is movably mounted on the main body 10 and includes an upper lip, a lower lip, and two corners of the mouth connecting the upper and lower lips. Each first driving component 20 is connected to one corner of the mouth. Each first driving component 20 includes a first driving member 21 and a first connecting member 22. The first connecting member 22 connects the first driving member 21 and the corner of the mouth to drive the corner of the mouth to move left and right relative to the main body 10; and / or to drive the corner of the mouth to move up and down relative to the main body 10.

[0037] In some embodiments, the bionic face 1 includes a body 10, which may be part of a head on which a mouth is mounted. Alternatively, the body 10 may be mounted on the head, thereby achieving the mounting of the bionic face 1 in the bionic robot. The connection between the body 10 and the head may be integral molding, bolting, welding, etc.

[0038] In some embodiments, the up-down direction can be represented by the direction indicated by the letter Z in the figure, and the left-right direction can be represented by the direction indicated by the letter X in the figure. The up-down direction Z can be parallel to the direction of gravity, and the left-right direction X is based on a structure similar to that of the human body.

[0039] In some embodiments, the two first drive components 20 may have the same structure.

[0040] In some embodiments, the two first drive components 20 may be spaced apart along the left-right direction X and located at the same level in the up-down direction Z.

[0041] In some embodiments, with the left-right direction X as the projection direction, the orthographic projections of the two first driving components 20 can overlap.

[0042] In some embodiments, the left side of the upper lip and the left side of the lower lip are connected to form one corner of the mouth. The right side of the upper lip and the right side of the lower lip are connected to form another corner of the mouth.

[0043] For ease of demonstration of the first drive component 20, the upper and lower lips are not shown in the figure.

[0044] In some embodiments, there are two first driving components 20, one first driving component 20 is connected to one corner of the mouth, and the other first driving component 20 is connected to the other corner of the mouth.

[0045] In some embodiments, the first driving component 21 may be a cylinder, a motor, a servo motor, etc.

[0046] In some embodiments, the first connector 22 may be a link.

[0047] In some embodiments, the first connector 22 may be composed of multiple hinged links.

[0048] In some embodiments, the first driving member 21 can drive the corner of the mouth to move upward through the first connecting member 22; or, the first driving member 21 can drive the corner of the mouth to move downward through the first connecting member 22; or, the first driving member 21 can drive the corner of the mouth to move to the left through the first connecting member 22; or, the first driving member 21 can drive the corner of the mouth to move to the right through the first connecting member 22; or, the first driving member 21 can drive the corner of the mouth to make a combined movement in the vertical direction Z and the horizontal direction X through the first connecting member 22.

[0049] In some embodiments, the two first drive components 20 can move independently, for example, one first drive component 20 drives one corner of the mouth to move while the other first drive component 20 remains stationary so that the other corner of the mouth remains stationary.

[0050] In some embodiments, the two first driving components 20 can move simultaneously so that the two corners of the mouth move at the same time, and the movements of the two corners of the mouth can be the same or different.

[0051] In some embodiments, two first driving components 20 are used to drive the two corners of the mouth to move away from each other in the left-right direction X to achieve a "grinning" expression of the bionic face 1; to drive the two corners of the mouth to move closer to each other in the left-right direction X to achieve a "pouting" expression of the bionic face 1; to drive the two corners of the mouth to move upward in the up-down direction Z to achieve a "smiling" expression of the bionic face 1; and to drive the two corners of the mouth to move downward in the up-down direction Z to achieve a "sad" expression of the bionic face 1.

[0052] The technical solution of this application embodiment drives the corner of the mouth to move by setting a first driving member 21 and a first connecting member 22, thereby enriching the facial movements through the movement of the corner of the mouth, so that the bionic robot has more facial expressions.

[0053] Please refer to Figure 1 and Figure 2 In some embodiments, each group of first driving components 20 has two first driving members 21 and two first connecting members 22, with each first connecting member 22 corresponding to one first driving member 21. The first connecting member 22 includes a first end connected to the first driving member 21 and a second end connected to the corner of the mouth. The two first connecting members 22 include a first first connecting member 221 and a second first connecting member 222. Along the direction from the second end to the first end, the first first connecting member 221 extends away from the other corner of the mouth in the left-right direction X and is inclined upward, and the second first connecting member 222 extends away from the other corner of the mouth in the left-right direction X and is inclined downward.

[0054] In some embodiments, the two corners of the mouth may include a left corner of the mouth and a right corner of the mouth. The two first connectors 22 of each group of first driving components 20 may include a first first connector 221 and a second first connector 222. The two first driving components 21 of each group of first driving components 20 may include a first first driving component 211 and a second first driving component 212, with the first first driving component 211 connected to the first first connector 221 and the second first driving component 212 connected to the second first connector 222.

[0055] Taking the first drive assembly 20 connected to the left corner of the mouth as an example. The first connector 22 can be located to the left of the left corner of the mouth. The first connector 22 includes a first end and a second end. The first end is connected to the first drive assembly 21, and the second end is connected to the left corner of the mouth. The first end is located to the left of the second end. At least a portion of the first connector 221 is located above the second connector 222. The second end of the first connector 221 is connected to the second end of the second connector 222. The first connector 221 extends from right to left and is inclined upwards. The second connector 222 extends from right to left and is inclined downwards.

[0056] Taking the first drive assembly 20 connected to the right corner of the mouth as an example. The first connector 22 can be located to the right of the right corner of the mouth. The first connector 22 includes a first end and a second end. The first end is connected to the first drive assembly 21, and the second end is connected to the right corner of the mouth. The first end is located to the right of the second end. At least a portion of the first connector 221 is located above the second connector 222. The second end of the first connector 221 is connected to the second end of the second connector 222. The first connector 221 extends from left to right and is inclined upwards. The second connector 222 extends from left to right and is inclined downwards.

[0057] In some embodiments, the first first driving member 211 drives one corner of the mouth to move away from the other corner of the mouth through the first first connecting member 221, and the second first driving member 212 drives one corner of the mouth to move away from the other corner of the mouth through the second first connecting member 222, thereby realizing that one corner of the mouth moves away from the other corner of the mouth along the left-right direction X.

[0058] In some embodiments, the first first driving member 211 drives one corner of the mouth to move closer to another corner of the mouth through the first first connecting member 221, and the second first driving member 212 drives one corner of the mouth to move closer to another corner of the mouth through the second first connecting member 222, thereby realizing that one corner of the mouth moves closer to another corner of the mouth in the left-right direction X.

[0059] In some embodiments, the first first driving member 211 drives one corner of the mouth to move away from the other corner of the mouth through the first first connecting member 221, and the second first driving member 212 drives one corner of the mouth to move closer to the other corner of the mouth through the second first connecting member 222, thereby realizing that one corner of the mouth moves upward along the vertical direction Z.

[0060] In some embodiments, the first first driving member 211 drives one corner of the mouth to move closer to another corner of the mouth through the first first connecting member 221, and the second first driving member 212 drives one corner of the mouth to move away from another corner of the mouth through the second first connecting member 222, thereby realizing that one corner of the mouth moves downward along the vertical direction Z.

[0061] The technical solution of this application embodiment extends the first first connector 221 away from the other corner of the mouth in the left-right direction X and is inclined upward, and extends the second first connector 222 away from the other corner of the mouth in the left-right direction X and is inclined downward, so that the first first connector 221 and the second first connector 222 jointly drive the corner of the mouth, realizing the composite movement of the corner of the mouth in the up-down direction Z and the left-right direction X. The movement of the corner of the mouth enriches the facial movements, so that the bionic robot has more facial expressions.

[0062] Please refer to Figure 1 and Figure 2In some embodiments, the two first driving members 21 include a first first driving member 211 and a second first driving member 212, with the first first driving member 211 located above the second first driving member 212. The output shaft of the first first driving member 211 extends in the left-right direction X and is connected to a first first connector 221. The output shaft of the second first driving member 212 extends in the left-right direction X and is inclined downward, and is connected to a second first connector 222.

[0063] In some embodiments, the output shaft of the first first drive member 211 may be a shaft segment that is hinged to the first first connector 221.

[0064] In some embodiments, the output shaft of the second first drive member 212 may be a shaft segment that is hinged to the second first connector 222.

[0065] In some embodiments, similar to the structure of a human body, the upper jaw and lower jaw 70 of the bionic face 1 form a mounting space with the upper end extending in the left-right direction X and the lower end extending in the left-right direction X and tilting upwards. Therefore, the output shaft of the first first drive member 211 extends in the left-right direction X, and the output shaft of the second first drive member 212 extends in the left-right direction X and tilts downwards to accommodate the mounting space. Alternatively, by extending the output shaft of the first first drive member 211 in the left-right direction X and the output shaft of the second first drive member 212 in the left-right direction X and tilting downwards, the main body 10 of the bionic face 1 can better conform to the facial structure of a human body.

[0066] In order to better fit the facial structure of the human body, the upper jaw and lower jaw 70 of the main body 10 are similar to the human body structure. By extending the output shaft of the first first drive member 211 in the left-right direction X, and extending the output shaft of the second first drive member 212 in the left-right direction X and tilting it downward, the installation space provided by the main body 10 is adapted to reduce the risk of interference between the first drive assembly 20 and the main body 10.

[0067] Please refer to Figure 1 and refer to Figure 3 and Figure 4 , Figure 3 This is a schematic diagram of a second driving component provided in some embodiments of this application. Figure 4This is a schematic diagram of a third driving component provided in some embodiments of this application. In some embodiments, the bionic face 1 further includes a second driving component 30 and a third driving component 40, wherein the second driving component 30 is connected to the upper lip and the third driving component 40 is connected to the lower lip. The second driving component 30 includes a second driving member 31 and a second connecting member 32, wherein the second connecting member 32 connects the second driving member 31 and the upper lip to drive the upper lip to move up and down relative to the body 10. The third driving component 40 includes a third driving member 41 and a third connecting member 42, wherein the third connecting member 42 connects the third driving member 41 and the lower lip to drive the lower lip to move up and down relative to the body 10.

[0068] In some embodiments, the second drive component 31 may be a cylinder, a motor, a servo motor, etc.

[0069] In some embodiments, the third drive unit 41 may be a cylinder, a motor, a servo motor, etc.

[0070] In some embodiments, the second connector 32 may be a link.

[0071] In some embodiments, the second connector 32 may be composed of multiple hinged links.

[0072] In some embodiments, the third connector 42 may be a link.

[0073] In some embodiments, the third connector 42 may be composed of multiple hinged links.

[0074] In some embodiments, the second driving member 31 can drive the upper lip to move upward through the second connecting member 32; or, the second driving member 31 can drive the upper lip to move downward through the second connecting member 32.

[0075] In some embodiments, the third driving member 41 can drive the lower lip to move upward through the third connecting member 42; or, the third driving member 41 can drive the lower lip to move downward through the third connecting member 42.

[0076] In some embodiments, the second drive member 31 and the third drive member 41 can move independently. For example, the second drive member 31 can move the upper lip upward while the third drive member 40 remains stationary, thus keeping the lower lip stationary. Alternatively, the second drive member 31 can move the upper lip downward while the third drive member 40 remains stationary, thus keeping the lower lip stationary. Alternatively, the second drive member 31 can remain stationary, keeping the upper lip stationary, while the third drive member 40 can move the lower lip upward. Alternatively, the second drive member 31 can remain stationary, keeping the upper lip stationary, while the third drive member 40 can move the lower lip downward.

[0077] In some embodiments, the second driving component 30 and the third driving component 40 can move simultaneously, so that the upper lip and the lower lip move at the same time. The movements of the upper lip and the lower lip can be the same or different.

[0078] The technical solution of this application embodiment drives the upper lip to move by setting a second driving member 31 and a second connecting member 32, and drives the lower lip to move by setting a third driving member 41 and a third connecting member 42, thereby enriching the facial movements through the movements of the upper and lower lips, so that the bionic robot has more facial expressions.

[0079] Please refer to Figure 1 , Figure 3 and Figure 4 and refer to Figure 5 , Figure 5 This is a schematic diagram of a first limiting groove provided in some embodiments of this application. In some embodiments, the main body 10 is provided with a first limiting groove 11 and a second limiting groove 12 extending vertically, a second connecting member 32 is movably disposed in the first limiting groove 11, and a third connecting member 42 is movably disposed in the second limiting groove 12.

[0080] In some embodiments, the first limiting groove 11 may extend vertically, and the second connecting member 32 is disposed within the first limiting groove 11. The outer surface of the second connecting member 32 in the left-right direction X abuts against the inner groove surface of the first limiting groove 11 to restrict the movement of the second connecting member 32 in the left-right direction X. Alternatively, the outer surface of the second connecting member 32 in the left-right direction X has a small gap with the inner groove surface of the first limiting groove 11 to facilitate the installation of the second connecting member 32.

[0081] In some embodiments, when the second driving member 31 drives the upper lip to move up and down through the second connecting member 32, the second connecting member 32 moves up and down within the first limiting groove 11.

[0082] In some embodiments, the second limiting groove 12 may extend vertically, and the third connecting member 42 is disposed within the second limiting groove 12. The outer surface of the third connecting member 42 in the left-right direction X abuts against the inner groove surface of the second limiting groove 12 to restrict the movement of the third connecting member 42 in the left-right direction X. Alternatively, the outer surface of the third connecting member 42 in the left-right direction X has a small gap with the inner groove surface of the second limiting groove 12 to facilitate the installation of the third connecting member 42.

[0083] In some embodiments, when the third driving member 41 drives the lower lip to move up and down through the third connecting member 42, the third connecting member 42 moves up and down within the second limiting groove 12.

[0084] The technical solution of this application embodiment improves the reliability of the movement of the upper and lower lips by movably setting the second connector 32 in the first limiting groove 11 extending in the vertical direction Z and movably setting the third connector 42 in the second limiting groove 12 extending in the vertical direction Z.

[0085] Please refer to Figure 1 , Figure 3 and Figure 4 In some embodiments, there are multiple second drive components 30, and the second connectors 32 of each second drive component 30 are spaced apart along the left-right direction X. There are multiple third drive components 40, and the third connectors 42 of each third drive component 40 are spaced apart along the left-right direction X.

[0086] In some embodiments, there are multiple second drive components 30 and multiple third drive components 40. The number of second drive components 30 and the number of third drive components 40 may be the same or different.

[0087] In some embodiments, the number of second drive components 30 can be three. Correspondingly, the number of second drive elements 31 is three, and the number of second connectors 32 is three, with one second connector 32 corresponding to one second drive element 31.

[0088] In some embodiments, the second connectors 32 may be evenly spaced and connected to various portions of the upper lip in the left-right direction X.

[0089] In some embodiments, the number of third drive components 40 can be three. Correspondingly, the number of third drive elements 41 is three, and the number of third connectors 42 is three, with one third connector 42 corresponding to one third drive element 41.

[0090] In some embodiments, the third connector 42 may be evenly spaced and connected to various portions of the lower lip in the left-right direction X.

[0091] The technical solution of this application embodiment, by arranging multiple second driving components 30 at intervals, ensures that when the second driving components 30 drive the upper lip to move, the forces on various parts of the upper lip in the left-right direction X are more balanced, which helps to improve the stability of the upper lip movement. Similarly, by arranging multiple third driving components 40 at intervals, when the third driving components 40 drive the lower lip to move, the forces on various parts of the lower lip in the left-right direction X are more balanced, which also helps to improve the stability of the lower lip movement.

[0092] Please refer to Figure 1 and refer to Figure 6 , Figure 6This is a schematic diagram illustrating the connection between a fourth driving component and a nose according to some embodiments of this application. In some embodiments, the bionic face 1 further includes a nose 50 and two fourth driving components 60. The nose 50 is movably mounted on the main body 10 and has two nasal alar portions in the left-right direction X. Each fourth driving component 60 is connected to one nasal alar portion. The fourth driving component 60 includes a fourth driving member 61 and a fourth connecting member 62. The fourth connecting member 62 connects the fourth driving member 61 and the nasal alar portion to drive the nasal alar portion to move left and right relative to the main body 10.

[0093] In some embodiments, the two fourth drive components 60 may have the same structure.

[0094] In some embodiments, the two fourth drive components 60 may be spaced apart in the left-right direction X and located at the same level in the up-down direction Z.

[0095] In some embodiments, with the left-right direction X as the projection direction, the orthographic projections of the two fourth driving components 60 can overlap.

[0096] In some embodiments, the fourth drive component 61 may be a cylinder, a motor, a servo motor, etc.

[0097] In some embodiments, the fourth connector 62 may be a link.

[0098] In some embodiments, the fourth connector 62 may be composed of multiple hinged links.

[0099] In some embodiments, the nose portion 50 may include two nasal alar portions on the left and right sides. The two nasal alar portions may include a left nasal alar portion and a right nasal alar portion. A fourth driving component 60 may be disposed on the left side of the left nasal alar portion, and another fourth driving component 60 may be disposed on the right side of the right nasal alar portion. Taking the fourth driving component 60 connected to the left nasal alar portion as an example, the fourth connector 62 may be located on the left side of the left nasal alar portion. Taking the fourth driving component 60 connected to the right nasal alar portion as an example, the fourth connector 62 may be located on the right side of the right nasal alar portion.

[0100] In some embodiments, the two fourth drive components 60 can move independently, for example, one fourth drive component 60 drives one of the nasal wing portions to move while the other fourth drive component 60 remains stationary so that the other nasal wing portion remains stationary.

[0101] In some embodiments, the two fourth drive components 60 can move simultaneously so that the two nostrils move at the same time, and the movements of the two corners of the mouth can be the same or different.

[0102] In some embodiments, two fourth driving components 60 are used to drive the two nostrils to move away from each other in the left-right direction X; and to drive the two nostrils to move closer to each other in the left-right direction X.

[0103] The technical solution of this application embodiment drives the nose to move by setting a fourth driving member 61 and a fourth connecting member 62, thereby enriching the facial movements through the movement of the nose, so that the bionic robot has more facial expressions.

[0104] Please refer to Figure 1 and refer to Figure 7 , Figure 7 This is a schematic diagram illustrating the connection between a fifth driving component and a lower jaw portion according to some embodiments of this application. In some embodiments, the bionic face 1 further includes an upper jaw portion, a lower jaw portion 70, and a fifth driving component 80, with at least one of the upper jaw portion and the lower jaw portion 70 movably mounted on the body 10. The fifth driving component 80 includes a fifth driving member 81 and a fifth connecting member 82, the fifth connecting member 82 connecting the fifth driving member 81 and the upper jaw portion to drive the upper jaw portion to move up and down relative to the body 10; and / or, the fifth driving component 80 includes a fifth driving member 81 and a fifth connecting member 82, the fifth connecting member 82 connecting the fifth driving member 81 and the lower jaw portion 70 to drive the lower jaw portion 70 to move up and down relative to the body 10.

[0105] In some embodiments, the fifth driving component 81 may be a cylinder, a motor, a servo motor, etc.

[0106] In some embodiments, the fifth connector 82 may be a link.

[0107] In some embodiments, the fifth connector 82 may be composed of multiple hinged links.

[0108] In some embodiments, the number of fifth drive components 80 can be two, with one fifth drive component 80 connected to the upper forehead and the other fifth drive component 80 connected to the lower jaw 70.

[0109] To facilitate the demonstration of other structures of the bionic face 1, the upper forehead is not shown in the figure.

[0110] In some embodiments, the fifth drive member 81 is connected to the lower jaw 70 via the fifth connector 82. The fifth drive member 80 drives the upper forehead to move upward in the vertical direction Z to achieve the "closed mouth" expression of the bionic face 1; and drives the upper forehead to move downward in the vertical direction Z to achieve the "open mouth" expression of the bionic face 1.

[0111] The technical solution of this application embodiment drives the upper jaw to move by setting a fifth driving member 81 and a fifth connecting member 82, thereby enriching the facial movements through the movement of the upper jaw and enabling the bionic robot to have more facial expressions. And / or, drives the lower jaw 70 to move by setting a fifth driving member 81 and a fifth connecting member 82, thereby enriching the facial movements through the movement of the lower jaw 70 and enabling the bionic robot to have more facial expressions.

[0112] Please refer to Figures 1 to 7 In some embodiments, the bionic face 1 also includes silicone skin covering the outer surface of the body 10, and the first drive assembly 20 is connected to the side of the silicone skin facing the body 10.

[0113] In some embodiments, the silicone skin can be made of silicone, or other flexible materials such as plastic, rubber, etc.

[0114] In some embodiments, the silicone skin can be adhered to the outer surface of the body 10 by means of adhesive.

[0115] In some embodiments, the first connector 22 of the first drive component 20 may be connected to the portion of the silicone skin corresponding to the corner of the mouth.

[0116] In some embodiments, the silicone skin can cover the upper and lower lips. When the second drive member 31 moves the upper lip via the second connector 32, the silicone skin corresponding to the upper lip undergoes a corresponding deformation. When the third drive member 41 moves the lower lip via the third connector 42, the silicone skin corresponding to the lower lip undergoes a corresponding deformation.

[0117] In some embodiments, the silicone skin can cover the nose 50, and when the fourth drive member 61 drives the nasal wing to move through the fourth connector 62, the silicone skin corresponding to the nasal wing undergoes a corresponding deformation.

[0118] The technical solution of this application embodiment improves the aesthetics of the bionic face 1 by providing silicone skin. Simultaneously, by connecting a first driving component 20 to the side of the silicone skin facing the main body 10, the first driving component 20 can move the silicone skin, thus facilitating the display of facial expressions on the bionic face 1.

[0119] Please refer to Figure 1 This application provides a bionic robot, which includes a bionic face 1 as described in any of the above embodiments.

[0120] The technical solution of this application embodiment drives the corner of the mouth to move by setting a first driving member 21 and a first connecting member 22, thereby enriching the facial movements through the movement of the corner of the mouth, so that the bionic robot has more facial expressions.

[0121] Although this application has been described with reference to preferred embodiments, various modifications can be made thereto and components can be replaced with equivalents without departing from the scope of this application. In particular, the technical features mentioned in the various embodiments can be combined in any manner, provided there is no structural conflict. This application is not limited to the specific embodiments disclosed herein, but includes all technical solutions falling within the scope of the claims.

Claims

1. A bionic face, characterized in that, The bionic face includes a main body, a mouth, and two first drive components; The mouth part is movably mounted on the main body, and the mouth part includes an upper lip, a lower lip, and two corners of the mouth connecting the upper lip and the lower lip; Each of the first driving components is connected to one of the corners of the mouth; The first driving component includes a first driving member and a first connecting member. The first connecting member connects the first driving member and the corner of the mouth to drive the corner of the mouth to move left and right relative to the body; and / or to drive the corner of the mouth to move up and down relative to the body.

2. The bionic face according to claim 1, characterized in that, The number of first driving components and the number of first connecting components in each group of first driving components are both two, and each first connecting component is connected to one first driving component. The first connector includes a first end connected to the first drive member and a second end connected to the corner of the mouth. The two first connectors include a first first connector and a second first connector. The first first connector extends away from the other corner of the mouth in the left-right direction and is inclined upward. The second first connector extends away from the other corner of the mouth in the left-right direction and is inclined downward.

3. The bionic face according to claim 2, characterized in that, The two first driving elements include a first first driving element and a second first driving element, wherein the first first driving element is located above the second first driving element; The output shaft of the first driving member extends in the left-right direction and is connected to the first connecting member. The output shaft of the second first drive unit extends in the left-right direction and is inclined downwards, and the output shaft of the second first drive unit is connected to the second first connector.

4. The bionic face according to claim 1, characterized in that, The bionic face also includes a second driving component and a third driving component, the second driving component being connected to the upper lip and the third driving component being connected to the lower lip; The second driving component includes a second driving member and a second connecting member, the second connecting member connecting the second driving member and the upper lip to drive the upper lip to move up and down relative to the body; The third driving component includes a third driving member and a third connecting member. The third connecting member connects the third driving member and the lower lip to drive the lower lip to move up and down relative to the body.

5. The bionic face according to claim 4, characterized in that, The main body is provided with a first limiting groove and a second limiting groove extending vertically, the second connecting member is movably disposed in the first limiting groove, and the third connecting member is movably disposed in the second limiting groove.

6. The bionic face according to claim 4, characterized in that, The number of the second drive components is multiple, and the second connectors of each second drive component are spaced apart in the left-right direction; The number of the third drive components is multiple, and the third connectors of each third drive component are spaced apart in the left-right direction.

7. The bionic face according to claim 1, characterized in that, The bionic face also includes a nose and two fourth drive components. The nose is movably mounted on the main body and has two nasal wings in the left-right direction. Each of the fourth drive components is connected to one of the nasal wings. The fourth drive assembly includes a fourth drive member and a fourth connector. The fourth connector connects the fourth drive member and the nasal wing portion to drive the nasal wing portion to move left and right relative to the main body.

8. The bionic face according to claim 1, characterized in that, The bionic face also includes an upper jaw, a lower jaw, and a fifth drive assembly, at least one of the upper jaw and the lower jaw being movably mounted on the main body; The fifth driving component includes a fifth driving member and a fifth connecting member, the fifth connecting member connecting the fifth driving member and the upper jaw to drive the upper jaw to move up and down relative to the main body; and / or, The fifth driving component includes a fifth driving member and a fifth connecting member. The fifth connecting member connects the fifth driving member and the lower jaw to drive the lower jaw to move up and down relative to the main body.

9. The bionic face according to claim 1, characterized in that, The bionic face also includes silicone skin that covers the outer surface of the main body, and the first drive component is connected to the side of the silicone skin facing the main body.

10. A biomimetic robot, characterized in that, Includes the bionic face as described in any one of claims 1-9.

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