Eyebrow driving structure for a bionic robot

Abstract

The utility model discloses a brow driving structure for bionic robot, include: head front casing, after brain casing, bionic face, eyebrow driving unit, support subassembly, be provided with bionic face at the surface fixed setting of head front casing, be provided with eyebrow support subassembly fixedly in bionic face, be provided with support subassembly fixedly in its inside, support subassembly includes head tooth box fixed piece middle, head tooth box fixed piece lower and head tooth box auxiliary fixed part, eyebrow driving steering wheel fixed setting between head tooth box fixed piece lower and head tooth box fixed piece middle, main transmission spare, slave transmission spare swing connection in head tooth box fixed piece lower, the output of eyebrow driving steering wheel is linked with main transmission spare, main transmission spare is fixedly connected with slave transmission spare, main transmission spare, slave transmission spare and eyebrow support subassembly fixed connection. Adopted one steering wheel through "one drags many" linkage rod system structure, controls the coordinated movement of forehead and double eyebrow three areas simultaneously.

Description

Technical Field

[0001] This utility model relates to the field of robotics technology, and more specifically to an eyebrow drive structure for a biomimetic 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 structures refer to the mechanical transmission system, drive unit, biomimetic materials, and control system integrated into the robot's head to simulate biological (mainly human) facial expressions. Their core objective is to overcome the stiffness of traditional robot faces, endowing robots with richer, more natural, and emotionally expressive facial expressions through physical deformation and movement, thereby enhancing the intimacy and empathy of human-computer interaction. How to make these devices display natural and delicate facial expressions, especially micro-movements in the eyebrow area (such as frowning), has become a key technical challenge in improving their expressiveness and anthropomorphism.

[0004] For example, the utility model patent with publication number CN222972174U discloses a humanoid bionic robot facial and eyebrow expression structure based on stepper motor drive. It includes: four stepper motors, two eyebrow drive blocks, and two face drive blocks. The two eyebrow drive blocks are fixedly installed on the output ends of the two stepper motors, and the two face drive blocks are fixedly installed on the output ends of the other two stepper motors. The two eyebrow drive blocks are in fixed contact with silicone skin, which directly drives the silicone skin in the block contact area to move, thereby simulating muscles. Compared with the mechanical form with only push rods, it can better match the muscle movement of a person when making expressions. However, it can only achieve a single and fixed movement trajectory through the movement of the eyebrow area, with low degree of freedom. It cannot adapt to the adjustment requirements of subtle parameters such as the curvature of the eyebrows and the degree of convergence of the eyebrows in different expression modes, and its expressiveness is limited. Utility Model Content

[0005] To address the issues of limited facial expressions and complex structures in traditional robots, this invention proposes an eyebrow driving structure for bionic robots, enabling high-precision eyebrow expression simulation.

[0006] The technical solution adopted by this utility model to solve its technical problem is: An eyebrow-driven structure for a bionic robot, characterized in that it comprises: a front head shell, a back head shell, a bionic face, an eyebrow-driven unit, and a support assembly; The front shell and the back shell are connected. The bionic face is fixedly disposed on the surface of the front shell. An eyebrow support component is fixedly disposed inside the bionic face. The support component is fixedly disposed in the internal space formed by the front shell and the back shell. The support component includes a middle head dental box fixation component, a lower head dental box fixation component, and an auxiliary head dental box fixation component. The middle head dental box fixation component, the lower head dental box fixation component, and the auxiliary head dental box fixation component are fixedly connected in sequence. The lower head dental box fixation component is fixedly connected to the front shell. The eyebrow drive unit includes an eyebrow drive servo, a main drive component, and a driven drive component. The eyebrow drive servo is fixedly disposed between the lower part of the head gear box fixture and the middle part of the head gear box fixture. The main drive component and the driven drive component are movably connected to the lower part of the head gear box fixture. The output end of the eyebrow drive servo is connected to the main drive component. The main drive component and the driven drive component are fixedly connected. The driven drive component is driven by the main drive component and moves in conjunction with it. The main drive component and the driven drive component are fixedly connected to the eyebrow support assembly.

[0007] Preferably, the eyebrow support component includes: a left eyebrow support block, a right eyebrow support block, and a forehead support block; The main drive component is located in the middle of the head gearbox fixing component, and the driven component includes a left linkage component and a right linkage component, which are located on both sides of the main drive component respectively. The left eyebrow support block is connected to the left linkage member, the right eyebrow support block is connected to the right linkage member, and the forehead support block is connected to the main transmission member.

[0008] Preferably, the output end of the eyebrow drive servo is fixedly connected to a drive gear, the drive gear meshes with an eccentric gear, a fixed shaft is provided on the side of the eccentric gear, and the fixed shaft is offset from the center of the eccentric gear; the main transmission component is connected to the fixed shaft.

[0009] Preferably, the main transmission component is a curved linkage rod, a main transmission fixing hole is provided in the middle of the main transmission component, a drive connection groove is provided at the end of the main transmission component, a forehead support block fixing part is provided at the end away from the drive connection groove, and a linkage mounting part is provided near the forehead support block fixing part. The main drive component is movably mounted on the lower part of the head gearbox fixing component by passing the rotating shaft through the main drive fixing hole; the fixing shaft is slidably accommodated in the drive connection groove; the forehead support block is fixedly mounted on the forehead support block fixing part; the left linkage component and the right linkage component are fixedly connected to the linkage mounting part.

[0010] Preferably, the left linkage is a curved linkage rod, with a left connecting part at the end of the left linkage, a left eyebrow support block fixing part at the end away from the left connecting part, and a left linkage mounting part at the end close to the left eyebrow support block fixing part. The left connecting part is rotatably connected to the lower part of the head dental box fixing part, the left eyebrow support block is fixedly installed on the left eyebrow support block fixing part, and the left linkage mounting part is fixedly connected to the linkage mounting part; The right linkage component is structurally symmetrical to the left linkage component, and it is provided with a right connecting part, a right eyebrow support block fixing part, and a right linkage mounting part; The right connecting part is rotatably connected to the lower part of the head dental box fixing part, the right eyebrow support block is fixedly installed on the right eyebrow support block fixing part, and the right linkage mounting part is fixedly connected to the linkage mounting part.

[0011] Preferably, the linkage mounting part is a pin hole, and the left linkage mounting part and the right linkage mounting part are pin shaft structures, which are fixedly inserted into the pin holes of the linkage mounting part; The left and right connecting parts are pivot structures, and the head gear box fixing component is provided with corresponding bearing seats on the lower and upper parts. The left and right connecting parts are rotatably inserted into the bearing seats. The left eyebrow support block fixing part, the right eyebrow support block fixing part, and the forehead support block fixing part are slot structures, and the ends of the left eyebrow support block, the right eyebrow support block, and the forehead support block are formed with a snap-fit ​​structure that is adapted to the slot.

[0012] Preferably, the bionic face is made of soft silicone, and the eyebrow support component is fixedly connected to the bionic face through an insert injection molding process.

[0013] Preferably, the bionic face is glued to the surface of the front shell of the head.

[0014] Preferably, the main drive component and the driven drive component are linkage components made of engineering plastics.

[0015] Compared with the prior art, the beneficial effects of this application are: This invention creatively employs a single drive source (servo motor) to simultaneously control the coordinated movement of three areas—the forehead and eyebrows—through a "one-to-many" linkage structure (the main drive component drives the left and right driven components). This design integrates multiple degrees of freedom of motion into a compact mechanical module, greatly simplifying the mechanism, reducing the space occupied inside the head, and solving the problem of arranging complex facial expression mechanisms in a limited space. It is particularly suitable for small humanoid robots or high-precision dolls with stringent requirements for head space.

[0016] The layered core support system adopts a multi-layered support structure consisting of the middle and lower head jaw box fixing parts and the head jaw box auxiliary fixing parts. It perfectly fits the limited dome-shaped space inside the robot's head shell. The complex multiple transmission connectors and eyebrow drive servos are stacked in three-dimensional space along the Z-axis and partitioned in the XY plane, rather than being 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.

[0017] The entire transmission mechanism primarily utilizes engineering plastic parts. This material possesses self-lubricating, high wear resistance, high rigidity, and fatigue resistance properties, eliminating the need for additional lubricating oil and avoiding the risk of oil contamination of internal electronic components or the external silicone skin. Simultaneously, the mechanical linkage structure avoids the wear, elongation, and breakage problems commonly found in soft rope pull-wire solutions, and also eliminates the air leakage risk associated with pneumatic mechanisms, significantly improving the overall durability and long-term reliability of the mechanism.

[0018] It has high reliability. The key transmission parts are fixed to the face by inlay process, which is firm and achieves seamless integration of multiple parts. It is not easy to fall off during the movement, has a long service life, and reduces subsequent assembly processes. Attached Figure Description

[0019] 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.

[0020] Figure 1 This is a three-dimensional structural diagram of the overall appearance of this utility model.

[0021] Figure 2 This is a side view of the overall appearance of this utility model.

[0022] Figure 3 This is a three-dimensional structural diagram of the bionic human face of this utility model.

[0023] Figure 4 This is one of the three-dimensional structural diagrams of the eyebrow driving unit and support assembly of this utility model.

[0024] Figure 5 This is the second three-dimensional structural diagram of the eyebrow driving unit and support assembly of this utility model.

[0025] Figure 6 This is a schematic diagram of the eyebrow drive unit and bracket assembly of this utility model.

[0026] Figure 7This is a schematic diagram of the main transmission component of this utility model.

[0027] Figure 8 This is a schematic diagram of the structure of the left linkage component of this utility model.

[0028] Figure 9 This is a schematic diagram of the right linkage component of this utility model.

[0029] Figure 10 This is a schematic diagram of the eyebrow driving unit structure of this utility model.

[0030] 100 - Front shell of the head; 200 - Back shell of the head; 300 - Bionic face; 310 - Eyebrow support assembly; 311 - Left eyebrow support block; 312 - Right eyebrow support block; 313 - Forehead support block; 400 - Eyebrow drive unit; 410 - Eyebrow drive servo; 411 - Drive gear; 412 - Eccentric gear; 4121 - Fixed shaft; 420 - Main transmission component; 421 - Main transmission fixing hole; 422 - Drive connection groove; 423 - Forehead support block fixing part. 424-Linkage mounting part, 430-Driven transmission part, 431-Left linkage part, 4311-Left connecting part, 4312-Left eyebrow support block fixing part, 4313-Left linkage mounting part, 432-Right linkage part, 4321-Right connecting part, 4322-Right eyebrow support block fixing part, 4323-Right linkage mounting part, 500-Bracket assembly, 510-Head gearbox fixing part (middle), 520-Head gearbox fixing part (lower), 530-Head gearbox auxiliary fixing part. Detailed Implementation

[0031] 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.

[0032] 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.

[0033] See Figures 1 to 5A brow drive structure for a bionic robot includes: a front shell 100, a back shell 200, a bionic face 300, a brow drive unit 400, and a support assembly 500. The front shell 100 and the back shell 200 are connected. The bionic face 300 is fixedly disposed on the surface of the front shell 100. A brow 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 shell 100 and the back shell 200. The support assembly 500 includes a head jaw box fixing component 510, a lower head jaw box fixing component 520, and a head jaw box auxiliary fixing component 530. The head jaw box fixing component 510, the lower head jaw box fixing component 520, and the auxiliary head jaw box fixing component 530 are sequentially fixedly connected. The lower head jaw box fixing component 520 is fixedly connected to the front shell 100.

[0034] The front shell 100 and the back shell 200 are connected by screws or clips to form the main frame of the robot's head. The support assembly 500, as the core load-bearing structure, is fixed to the inside of the front shell 100 by screws. It includes the head gear box fixing component 510, the lower head gear box fixing component 520, and the head gear box auxiliary fixing component 530, which are sequentially fixed together by screws to form a stable multi-layer support frame.

[0035] The eyebrow drive unit 400 includes an eyebrow drive servo 410, a main drive component 420, and a driven component 430. The eyebrow drive servo 410 is fixedly disposed between the lower part 520 and the middle part 510 of the head gear box fixing component. The main drive component 420 and the driven component 430 are movably connected to the lower part 520 of the head gear box fixing component. The output end of the eyebrow drive servo 410 is connected to the main drive component 420. The main drive component 420 and the driven component 430 are fixedly connected. The driven component 430 is driven by the main drive component 420 and moves in conjunction with it. The main drive component 420 and the driven component 430 are fixedly connected to the eyebrow support assembly 310.

[0036] The layered core support system adopts a multi-layered support structure consisting of the middle and lower head jaw box fixing parts and the head jaw box auxiliary fixing parts. It perfectly fits the limited dome-shaped space inside the robot's head shell. The complex multiple transmission connectors and eyebrow drive servos are stacked in three-dimensional space along the Z-axis and partitioned in the XY plane, rather than being 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.

[0037] Human eyebrow expressions are the result of the coordinated action of a group of muscles, primarily the frontalis muscle, which naturally pulls on the underlying depressor supercilii and orbicularis oculi muscles, causing the eyebrows to move or converge inward and downward (towards the center of the forehead). Based on this physiological process, this embodiment simulates eyebrow expressions by controlling the movement of the forehead area to drive the movement of the eyebrow area. Specifically, as shown... Figures 3 to 5 As shown, the eyebrow support assembly 310 includes: a left eyebrow support block 311, a right eyebrow support block 312, and a forehead support block 313; the main transmission component 420 is located in the middle of the lower part 520 of the head gearbox fixing component, and the driven component 430 includes a left linkage component 431 and a right linkage component 432, which are located on both sides of the main transmission component 420 respectively; the left eyebrow support block 311 is connected to the left linkage component 431, the right eyebrow support block 312 is connected to the right linkage component 432, and the forehead support block 313 is connected to the main transmission component 420.

[0038] This embodiment accurately reproduces this physiological process: the main transmission component 420 drives the forehead support block 313 to simulate the contraction of the frontalis muscle, thereby pressing down on the forehead; the movement of pressing down on the forehead is transmitted to the eyebrows through the left and right linkage components (431, 432), naturally pulling the eyebrows to move.

[0039] In this embodiment, a single drive source (servo motor) is used to drive multiple linkages via a "one-to-many" linkage structure (the main drive component 420 drives the left and right linkage components 431 and 432). Simultaneously, the coordinated movement of the forehead and eyebrows is controlled by the left eyebrow support block 311, right eyebrow support block 312, and forehead support block 313. This design integrates multiple degrees of freedom into a compact mechanical module, greatly simplifying the mechanism, reducing the space occupied inside the head, and solving the problem of arranging complex facial expression mechanisms in a limited space. It is particularly suitable for small humanoid robots or high-precision puppets with stringent requirements for head space.

[0040] To achieve a highly efficient, reliable, and low-cost solution for converting the rotational motion of the eyebrow-driven servo motor 410 into oscillation, in this embodiment, a drive gear 411 is fixedly connected to the output end of the eyebrow-driven servo motor 410. The drive gear 411 meshes with an eccentric gear 412. A fixed shaft 4121 is provided on the side of the eccentric gear 412, and the fixed shaft 4121 is offset from the center of the eccentric gear 412. The main transmission component 420 is connected to the fixed shaft 4121. This embodiment uses a two-stage gear (especially an eccentric gear) to replace the traditional servo arm + connecting rod. Through the reliability of gear meshing and the controllability of the motion curve brought by the high eccentricity of the gear, more precise micro-motion control is achieved.

[0041] like Figure 6The diagram shows the assembly of the eyebrow drive unit 400 on the bracket assembly 500. The arrows in the diagram indicate the assembly direction. During installation, the eyebrow drive servo 410, drive gear 411, and eccentric gear 412 are installed sequentially. Then, the eyebrow drive servo 410 is fixedly mounted on the lower part 520 of the head gearbox fixing component. At the same time, the main drive component 420, left linkage component 431, and right linkage component 432 are mounted on the lower part 520 of the head gearbox fixing component. The eyebrow drive servo 410 is connected to the main drive component 420, and the main drive component 420 is connected to the left linkage component 431 and the right linkage component 432. Then, the two sides of the lower part 520 of the head gearbox fixing component are fixedly connected to the middle part 510 of the head gearbox fixing component and the auxiliary part 530 of the head gearbox fixing component, respectively. The lower part 520 of the head gearbox fixing component is fixedly connected to the middle part 510 of the head gearbox fixing component and the auxiliary part 530 of the head gearbox fixing component using screws.

[0042] The eyebrow drive servo 410 serves as the core drive component, providing power. When the eyebrow drive servo 410 is working, it drives the drive gear 411 to rotate, which in turn drives the eccentric gear 412. The eccentric gear 412 drives the main transmission component 420, which in turn drives the left linkage component 431 and the right linkage component 432.

[0043] Power is transmitted through the main drive component 420, which in turn drives the driven component 430. To achieve efficient linkage, in this example, the structure of the main drive component 420 is as follows: Figure 7 As shown, the main transmission component 420 is a curved linkage rod. A main transmission fixing hole 421 is provided in the middle of the main transmission component 420. A drive connection groove 422 is provided at the end of the main transmission component 420. A forehead support block fixing part 423 is provided at the end away from the drive connection groove 422. A linkage mounting part 424 is provided near the forehead support block fixing part 423.

[0044] The main drive component 420 is movably mounted on the lower 520 of the head gearbox fixing component by passing the rotating shaft through the main drive fixing hole 421; the fixing shaft 4121 is slidably accommodated in the drive connection groove 422; the forehead support block 313 is fixedly mounted on the forehead support block fixing part 423; the left linkage component 431 and the right linkage component 432 are fixedly connected to the linkage mounting part 424.

[0045] In this example, the structure of the left linkage 431 is as follows: Figure 8As shown, the left linkage 431 is a curved linkage rod. A left connecting part 4311 is provided at the end of the left linkage 431. A left eyebrow support block fixing part 4312 is provided at the end away from the left connecting part 4311, and a left linkage mounting part 4313 is provided near the left eyebrow support block fixing part 4312. The left connecting part 4311 is rotatably connected to the lower 520 of the head gear box fixing part. The left eyebrow support block 311 is fixedly installed on the left eyebrow support block fixing part 4312. The left linkage mounting part 4313 is fixedly connected to the linkage mounting part 424.

[0046] In this example, the structure of the right linkage 432 is as follows: Figure 9 As shown, the right linkage 432 is structurally symmetrical to the left linkage 431, and is provided with a right connecting part 4321, a right eyebrow support block fixing part 4322, and a right linkage mounting part 4323. The right connecting part 4321 is rotatably connected to the lower 520 of the head gear box fixing part, the right eyebrow support block 312 is fixedly installed on the right eyebrow support block fixing part 4322, and the right linkage mounting part 4323 is fixedly connected to the linkage mounting part 424.

[0047] Figure 10 This is a schematic diagram of the eyebrow drive unit structure, specifically a three-dimensional structural diagram of the eyebrow drive servo 410, main drive component 420, driven component 430, and eyebrow support assembly 310. The linkage mounting part 424 is a pin hole, and the left linkage mounting part 4313 and the right linkage mounting part 4323 are pin shaft structures, which are fixedly inserted into the pin holes of the linkage mounting part 424. The left connecting part 4311 and the right connecting part 4321 are rotating shaft structures, and the lower 520 of the head gear box fixing part is provided with a corresponding bearing seat. The left connecting part 4311 and the right connecting part 4321 are rotatably inserted into the bearing seat. The left eyebrow support block fixing part 4312, the right eyebrow support block fixing part 4322, and the forehead support block fixing part 423 are slot structures, and the ends of the left eyebrow support block 311, the right eyebrow support block 312, and the forehead support block 313 are formed with a snap-fit ​​structure that matches the slot.

[0048] 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 expression simulation, in this embodiment, the bionic face 300 is made of soft silicone material, and the eyebrow support component 310 is fixedly connected to the bionic face 300 through an insert injection molding process.

[0049] In this embodiment, the insert injection molding process involves pre-placing the parts (referred to as "inserts" or "workpieces to be inserted") that need to be fixedly connected to the bionic face 300 into the mold. In this embodiment, the inserts include a left eyebrow support block 311, a right eyebrow support block 312, and a forehead support block 313. Then, silicone is injected to cover or bond the inserts together. The soft silicone bionic face 300 and the internal support components are firmly bonded through the insert injection molding process, ensuring efficient power transmission and enabling the expression of delicate and vivid eye expressions.

[0050] 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.

[0051] To improve transmission efficiency, the main transmission component 420 and the driven transmission component 430 are linkage members made of engineering plastics. In this embodiment, the entire transmission mechanism mainly uses engineering plastic parts. This material has the characteristics of self-lubrication, high wear resistance, high rigidity, and fatigue resistance, eliminating the need for additional lubricating oil and avoiding the risk of oil contamination of internal electronic components or external silicone skin. At the same time, the mechanical linkage structure avoids the wear, elongation, and breakage problems common in soft rope pull-wire schemes, and also avoids the air leakage risk of pneumatic mechanisms, significantly improving the durability and long-term reliability of the entire mechanism.

[0052] Working Principle: When the eyebrow drive servo 410 receives a control signal and rotates, it drives the eccentric gear 412 to rotate via the drive gear 411. The rotational motion of the eccentric gear 412 is converted into the oscillation of the main transmission component 420 by its fixed shaft 4121, forcing the main transmission component 420 to oscillate up and down on its shaft at the main transmission fixed hole 421. The oscillation of the main transmission component 420 directly drives the forehead support block 313 to move, realizing the up and down movement of the forehead. At the same time, the main transmission component 420 pushes and pulls the linkage mounting parts 4313 and 4323 of the left and right linkage components 431 and 432 through its linkage mounting part 424, forcing the left and right linkage components to move around their respective connecting parts 4311 and 4321 as fulcrums, thereby driving the left and right eyebrow support blocks 311 and 312 to move. Finally, all these mechanical movements are transmitted to the soft silicone bionic face 300 through the eyebrow support assembly 310, making its surface present a very natural and harmonious eyebrow expression.

[0053] 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. An eyebrow-driving structure for a biomimetic robot, characterized in that, include: Front head shell (100), back head shell (200), bionic face (300), eyebrow drive unit (400), support assembly (500). The front shell (100) and the back shell (200) are connected. The bionic face (300) is fixedly disposed on the surface of the front shell (100). An eyebrow support component (310) is fixedly disposed inside the bionic face (300). The support component (500) is fixedly disposed in the internal space formed by the front shell (100) and the back shell (200). The support component (500) includes a head dental box fixing component (510), a head dental box fixing component (520), and a head dental box auxiliary fixing component (530). The head dental box fixing component (510), the head dental box fixing component (520), and the head dental box auxiliary fixing component (530) are fixedly connected in sequence. The head dental box fixing component (520) is fixedly connected to the front shell (100). The eyebrow drive unit (400) includes an eyebrow drive servo (410), a main drive component (420), and a driven component (430). The eyebrow drive servo (410) is fixedly disposed between the lower part (520) and the middle part (510) of the head gear box fixing component. The main drive component (420) and the driven component (430) are movably connected to the lower part (520) of the head gear box fixing component. The output end of the eyebrow drive servo (410) is connected to the main drive component (420). The main drive component (420) is fixedly connected to the driven component (430). The driven component (430) is driven by the main drive component (420) and moves in conjunction. The main drive component (420) and the driven component (430) are fixedly connected to the eyebrow support assembly (310).

2. The eyebrow driving structure for a bionic robot according to claim 1, characterized in that, The eyebrow support component (310) includes: a left eyebrow support block (311), a right eyebrow support block (312), and a forehead support block (313). The main drive component (420) is located in the middle of the head gear box fixing component (520), and the driven component (430) includes a left linkage component (431) and a right linkage component (432), which are located on both sides of the main drive component (420). The left eyebrow support block (311) is connected to the left linkage (431), the right eyebrow support block (312) is connected to the right linkage (432), and the forehead support block (313) is connected to the main transmission component (420).

3. The eyebrow driving structure for a bionic robot according to claim 2, characterized in that, The output end of the eyebrow drive servo (410) is fixedly connected to a drive gear (411), the drive gear (411) meshes with an eccentric gear (412), a fixed shaft (4121) is provided on the side of the eccentric gear (412), and the fixed shaft (4121) is offset from the center of the eccentric gear (412); the main transmission component (420) is connected to the fixed shaft (4121).

4. The eyebrow driving structure for a bionic robot according to claim 3, characterized in that, The main transmission component (420) is a curved linkage rod. A main transmission fixing hole (421) is provided in the middle of the main transmission component (420). A drive connection groove (422) is provided at the end of the main transmission component (420). A forehead support block fixing part (423) is provided at the end away from the drive connection groove (422). A linkage mounting part (424) is provided near the forehead support block fixing part (423). The main drive component (420) is movably mounted on the lower part (520) of the head gear box fixing component by passing the rotating shaft through the main drive fixing hole (421); the fixing shaft (4121) is slidably accommodated in the drive connection groove (422); the forehead support block (313) is fixedly mounted on the forehead support block fixing part (423); the left linkage component (431) and the right linkage component (432) are fixedly connected to the linkage mounting part (424).

5. The eyebrow driving structure for a bionic robot according to claim 4, characterized in that, The left linkage (431) is a curved linkage rod. A left connecting part (4311) is provided at the end of the left linkage (431). A left eyebrow support block fixing part (4312) is provided at the end away from the left connecting part (4311), and a left linkage mounting part (4313) is provided near the left eyebrow support block fixing part (4312). The left connecting part (4311) is rotatably connected to the lower part (520) of the head tooth box fixing part, the left eyebrow support block (311) is fixedly installed on the left eyebrow support block fixing part (4312), and the left linkage mounting part (4313) is fixedly connected to the linkage mounting part (424). The right linkage (432) is structurally symmetrical to the left linkage (431), and is provided with a right connecting part (4321), a right eyebrow support block fixing part (4322), and a right linkage mounting part (4323). The right connecting part (4321) is rotatably connected to the lower part (520) of the head tooth box fixing part, the right eyebrow support block (312) is fixedly installed on the right eyebrow support block fixing part (4322), and the right linkage mounting part (4323) is fixedly connected to the linkage mounting part (424).

6. The eyebrow driving structure for a bionic robot according to claim 5, characterized in that, The linkage mounting part (424) is a pin hole, and the left linkage mounting part (4313) and the right linkage mounting part (4323) are pin shaft structures, which are fixedly inserted into the pin hole of the linkage mounting part (424); The left connecting part (4311) and the right connecting part (4321) are pivot structures. The head gear box fixing part (520) is provided with a corresponding bearing seat. The left connecting part (4311) and the right connecting part (4321) are rotatably inserted into the bearing seat. The left eyebrow support block fixing part (4312), the right eyebrow support block fixing part (4322), and the forehead support block fixing part (423) are slot structures, and the ends of the left eyebrow support block (311), the right eyebrow support block (312), and the forehead support block (313) are formed with a snap-fit ​​structure that is adapted to the slot.

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

8. The eyebrow 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).

9. An eyebrow-driving structure for a biomimetic robot according to any one of claims 1-8, characterized in that, The main drive component (420) and the driven component (430) are linkage components made of engineering plastics.

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