A lip movement driving structure for a bionic robot

Abstract

The utility model discloses a lip movement driving structure for bionic robot, include: head front casing, back brain casing, bionic face, lip movement driving unit, support assembly, be provided with bionic face at the surface fixed setting of head front casing, be provided with lip support subassembly in bionic face, and lip support subassembly includes upper lip support block, lower lip support block, be provided with support assembly in the internal space formed by head front casing and back brain casing fixedly, be provided with lip movement driving unit on support assembly, and the output of lip movement driving rudder is connected with drive connecting component, and drive connecting component is connected with dental arch assembly, and dental arch assembly is connected with lip support subassembly, and lip movement driving rudder passes through drive connecting component to drive and is connected with dental arch assembly lip support subassembly, the utility model discloses the rotation output of single rudder is converted to the symmetrical reverse movement of upper and lower lips, greatly simplifies the system structure, and the manufacturing cost and internal space demand are reduced.

Description

Technical Field

[0001] This utility model relates to the field of robotics technology, and more specifically to a lip-driven structure for a biomimetic robot. Background Technology

[0002] Currently, service robots, especially companion robots for the elderly and children, are receiving increasing attention. Users demand more than just the ability to perform various actions; they also expect robots to possess human-like expressions. Facial expression simulation, particularly the realistic reproduction of lip movements, is key to improving the anthropomorphism of bionic robots. Lip movements involve not only simple opening and closing but also the coordination of complex movements of the upper and lower lips, corners of the mouth, and tongue to achieve multiple functions such as speaking and changing facial expressions.

[0003] Currently, the design of lip drive structures for bionic robots faces several challenges: First, traditional drive methods often employ rigid structures and two motors to directly drive the upper and lower lips, resulting in complex structures and large volumes, making it difficult to arrange them within the limited space of the head shell; second, most designs suffer from unnatural movements and stiff expressions, making it difficult to simulate the delicate and flexible movements of human lips.

[0004] Several solutions for robot lip actuation exist in the prior art. For example, utility model patent CN216099030U proposes a mouth movement mechanism for a humanoid facial expression robot. This solution uses a horizontally positioned top plate, with a dual-axis servo motor and a jaw plate at the bottom of the top plate. The jaw plate is driven by the dual-axis servo motor, and then a diamond-shaped mouth linkage mechanism ultimately drives the lips to open and close. This mechanism achieves the opening and closing of the mouth to a certain extent. Although this solution can achieve basic movements, it still has the following limitations: the transmission link is too long, the structural layers are too many, resulting in accumulated energy loss and sluggish motion response, and it occupies a large head space, which is not conducive to overall layout optimization. Utility Model Content

[0005] The purpose of this invention is to overcome the shortcomings of the existing technology and provide a lip movement drive structure that is structurally reasonable, has realistic motion, and is easy to control, which can highly simulate the coordinated movements of the lips and tongue when a real person is speaking.

[0006] The technical solution adopted by this utility model to solve its technical problem is: A lip-motion drive structure for a bionic robot, characterized in that it comprises: a front shell, a back shell, a bionic face, a lip-motion drive 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. A lip support assembly is fixedly disposed inside the bionic face. The lip support assembly includes an upper lip support block and a lower lip support block. The bracket assembly is fixedly disposed in the internal space formed by the front shell and the back shell. The lip movement drive unit is disposed on the bracket assembly. The lip-movement drive unit includes a lip-movement drive servo, a drive connection assembly, and a jaw assembly. The output end of the lip-movement drive servo is connected to the drive connection assembly, the drive connection assembly is connected to the jaw assembly, and the jaw assembly is connected to the lip support assembly. The lip-movement drive servo transmits power through the drive connection assembly, thereby driving the lip support assembly connected to the jaw assembly, which in turn moves the upper and lower lips of the bionic face to open and close.

[0007] Furthermore, the dental assembly includes a superior dental cover and a inferior dental cover, which are fixedly connected to the upper lip support block and the lower lip support block, respectively.

[0008] Further, the drive connection assembly includes an arm connector I, an arm connector II, a lower jaw connecting tooth I, a lower jaw connecting tooth II, and a head connector. The output shaft of the lip-driven servo is connected to one end of the head connector, and the other end of the head connector is movably connected to the arm connector II. The arm connector II is fixedly connected to the lower jaw connecting tooth II, and the lower jaw connecting tooth II meshes with the lower jaw connecting tooth I. The lower jaw connecting tooth I is fixedly connected to the arm connector I, and the arm connector I and arm connector II are respectively fixedly connected to the upper jaw cover and the lower jaw cover. The lip-driven servo motor drives the head connector to move, which in turn drives the arm connector II to move; through the meshing transmission of the lower jaw connecting teeth II and I, the arm connector I and arm connector II move synchronously in opposite directions, thereby driving the upper jaw cover and lower jaw cover to complete the opening and closing action.

[0009] Furthermore, the arm connector I includes a connecting shaft I, with connecting rods I symmetrically arranged at both ends of the connecting shaft I. A gear interface I is provided on the outer side of one of the connecting rods I, at a position extending axially from the connecting shaft I. The gear interface I is used to fixably connect the lower jaw connecting tooth I. An upper jaw interface is provided at the end of each connecting rod I away from the connecting shaft I. The upper jaw interface is used to fixably connect the upper jaw cover.

[0010] Furthermore, the arm connector II includes a connecting shaft II, with connecting rods II symmetrically arranged at both ends of the connecting shaft II. A gear interface II is provided on the outer side of one of the connecting rods II, at a position extending axially from the connecting shaft II. The gear interface II is used to fix the lower jaw connecting tooth II. A lower jaw interface is provided at the end of each connecting rod II away from the connecting shaft II. The lower jaw interface is used to fix the lower jaw cover. A connecting rod III is also provided on the connecting shaft II. The connecting rod III is located between the symmetrical connecting rods II and the angle between the connecting rods II and the connecting rods II is an obtuse angle. A transmission connecting shaft I is provided at the end of the connecting rod III away from the connecting shaft II. The transmission connecting shaft I is arranged parallel to the connecting shaft II and is movably connected to the head connector.

[0011] Furthermore, a tongue is also provided inside the bionic face, and the drive connection assembly also includes a tongue connector. The two ends of the tongue connector are respectively connected to the tongue and the head connector. The middle part of the tongue connector is rotatably connected to the support assembly through a rotating shaft. The head connector is driven to move by the lip-driven servo, and then the tongue is driven to move by the movement of the tongue connector.

[0012] Furthermore, the tongue connector is a curved linkage rod. One end of the tongue connector is provided with a tongue connection hole, and the other end is provided with a transmission connection shaft II. A fixed connection hole is provided near the transmission connection shaft II. The tongue connection hole is connected to the tongue, and the transmission connection shaft II is movably connected to the head connector. The fixed connection hole is rotatably connected to the support assembly through a rotating shaft. A torsion spring is sleeved on the rotating shaft. The two torsion arms of the torsion spring abut against the support assembly and the tongue connector, respectively, to provide an elastic force for the tongue to automatically reset.

[0013] Furthermore, the head connector is movably mounted on the bracket assembly, one end of the head connector is provided with a drive connection groove, the other end is provided with a transmission connection groove I, and a transmission connection groove II is provided below the transmission connection groove. The drive connection slot is a rectangular groove used to engage the output end of the lip-driven servo motor; The transmission connection groove I is a U-shaped groove used to accommodate the transmission connection end of the arm connector II; The transmission connection groove II is a rectangular groove used to accommodate the transmission connection shaft II.

[0014] Furthermore, the support assembly includes a lower head dental box fixation component and a lower head dental box auxiliary fixation component, which are fixedly connected, and the lower head dental box fixation component is fixedly connected to the front shell of the head. The lip-driven servo is fixedly mounted on the head jaw box auxiliary fixing component. The head connector is slidably mounted on the head jaw box auxiliary fixing component. The lip-driven servo and the head connector are located between the head jaw box fixing component and the head jaw box auxiliary fixing component. The fixed connection hole is rotatably connected to the head jaw box auxiliary fixing component through a rotating shaft. The lower part of the head jaw box auxiliary fixing component is provided with a receiving hole. The arm connector I, arm connector II, and tongue connector pass through the receiving hole so that the upper jaw cover, lower jaw cover, and tongue are located on the outside of the head jaw box auxiliary fixing component.

[0015] Furthermore, the bionic face is made of soft silicone, and the upper lip support block and lower lip support block are fixedly connected to the bionic face through an insert injection molding process.

[0016] Compared with the prior art, the beneficial effects of this application are: This invention achieves synchronous control of the combined movements of the upper and lower lips and tongue using only a single drive servo motor through a sophisticated transmission mechanism. Traditional solutions typically require two or more servos to drive the upper lip, lower lip, and tongue separately, resulting in complex structures, large space requirements, high costs, and cumbersome control algorithms. This invention utilizes the mechanical linkage of gear meshing (lower jaw connecting teeth I and II) and linkage combinations (arm connectors I and II and head connectors) to convert the rotational output of a single servo motor into symmetrical, counter-rotating movements of the upper and lower lips. This significantly simplifies the system structure, reduces manufacturing costs and internal space requirements, and leaves more layout space for the robot's brain (such as processing units and sensors).

[0017] The transmission design of this utility model is not a simple linear motion, but a precise transmission through the lever action of each connecting part and the gear pair. The gear meshing ensures the absolute synchronization and symmetry of the upper lip lifting and the lower lip lowering, avoiding the timing error and asymmetry problems that may occur due to separate driving. This makes the lip opening and closing movements very natural and closer to the mouth shape changes when a real person speaks or makes facial expressions. The core components of the entire drive unit are mounted on a robust support assembly (under the head jaw box fixation piece and auxiliary fixation pieces), forming a stable "endoskeletal" system. This design ensures that when all moving parts are subjected to force, the force transmission path is clear, and the force does not directly act on the fragile outer shell and bionic face, thus improving the rigidity and durability of the overall structure. Attached Figure Description

[0018] 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.

[0019] Figure 1 This is a three-dimensional structural diagram of the overall appearance of this utility model.

[0020] Figure 2 This is a side view of the overall appearance of this utility model.

[0021] Figure 3 This is a three-dimensional structural diagram of the bionic human face of this utility model.

[0022] Figure 4 This is a three-dimensional structural diagram of the lip-driven unit and support assembly of this utility model.

[0023] Figure 5 This is a three-dimensional structural diagram of the lip-movement drive unit of this utility model.

[0024] Figure 6 This is a structural schematic diagram of the arm connector I of this utility model.

[0025] Figure 7 This is a structural schematic diagram of the arm connector II of this utility model.

[0026] Figure 8 This is a schematic diagram of the structure of the tongue and its related drive connection components according to this utility model.

[0027] Figure 9 This is a schematic diagram of the tongue connector of this utility model.

[0028] Figure 10 This is a schematic diagram of the head connector of this utility model.

[0029] Figure 11 This is a three-dimensional structural diagram of the lip-movement drive unit and the head dental box auxiliary fixing component of this utility model.

[0030] Figure 12 This is a three-dimensional structural diagram of the auxiliary fixing component for the head dental box of this utility model.

[0031] Figure 13 This is a schematic diagram of the assembly of the lip-driven unit and the support assembly of this utility model.

[0032] 100: Front shell of the head; 200: Back shell of the head; 300: Bionic face; 310: Lip support assembly; 311: Upper lip support block; 312: Lower lip support block; 320: Tongue; 400: Lip movement drive unit; 410: Lip movement drive servo; 420: Drive connection assembly; 421: Arm connector I; 4211: Connecting shaft I; 4212: Connecting rod I; 4213: Gear interface I; 4214: Upper jaw interface; 422: Arm connector II; 4221: Connecting shaft II; 4222: Connecting rod II; 4223: Gear interface II; 4224: Lower jaw interface; 422 5: Connecting rod III; 4226: Transmission connecting shaft I; 423: Lower jaw connecting tooth I; 424: Lower jaw connecting tooth II; 425: Head connector; 4251: Drive connecting groove; 4252: Transmission connecting groove I; 4253: Transmission connecting groove II; 426: Tongue connector; 4261: Tongue connecting hole; 4262: Fixing connecting hole; 4263: Transmission connecting shaft II; 427: Torsion spring; 430: Tooth assembly; 431: Upper tooth cover; 432: Lower tooth cover; 500: Support assembly; 510: Lower head dental box fixing component; 520: Auxiliary head dental box fixing component; 521: Receiving hole. Detailed Implementation

[0033] 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.

[0034] 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.

[0035] In addition, if the embodiments of this utility model involve descriptions such as "first", "second", "I", "II", "III", etc., such descriptions are for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly indicating the number of technical features indicated.

[0036] See Figure 1-4A lip-motion drive structure for a biomimetic robot is characterized by comprising: a front head shell 100, a back head shell 200, a biomimetic face 300, a lip-motion drive unit 400, and a support assembly 500.

[0037] The front shell 100 and the back shell 200 are connected. A bionic face 300 is fixedly disposed on the surface of the front shell 100. A lip support component 310 is fixedly disposed inside the bionic face 300. The lip support component 310 includes an upper lip support block 311 and a lower lip support block 312. A support component 500 is fixedly disposed in the internal space formed by the front shell 100 and the back shell 200. A lip movement drive unit 400 is disposed on the support component 500.

[0038] 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.

[0039] The lip-movement drive unit 400 includes a lip-movement drive servo 410, a drive connection assembly 420, and a jaw assembly 430. The output end of the lip-movement drive servo 410 is connected to the drive connection assembly 420, the drive connection assembly 420 is connected to the jaw assembly 430, and the jaw assembly 430 is connected to the lip support assembly 310. The lip-movement drive servo 410 transmits power through the drive connection assembly 420, thereby driving the lip support assembly 310 connected to the jaw assembly 430, which in turn moves the upper and lower lips of the bionic face to open and close.

[0040] In this embodiment, a lip-driven servo motor 410 drives the jaw assembly 430 through the drive connection component 420 to achieve synchronous opening and closing of the upper and lower lips, with good consistency of action, and simplifies control and structure.

[0041] To enable movement in the lip area of ​​the bionic face 300, a lip support component 310 is fixedly installed within the bionic face 300, such as... Figure 3 As shown, the lip support assembly 310 includes an upper lip support block 311 and a lower lip support block 312. In order to realize the movement of the lip support block 311 and the lower lip support block 312, the jaw assembly 430 in this embodiment includes a jaw upper cover 431 and a jaw lower cover 432. The jaw upper cover 431 and the jaw lower cover 432 are fixedly connected to the upper lip support block 311 and the lower lip support block 312, respectively. The drive connection component 420 is the core of the power transmission. In this embodiment, as shown... Figure 4 , Figure 5As shown, the drive connection assembly 420 includes an arm connector I 421, an arm connector II 422, a lower jaw connecting tooth I 423, a lower jaw connecting tooth II 424, and a head connector 425. The output shaft of the lip-driven servo motor 410 is connected to one end of the head connector 425, and the other end of the head connector 425 is movably connected to the arm connector II 422. The arm connector II 422 is fixedly connected to the lower jaw connecting tooth II 424, the lower jaw connecting tooth II 424 meshes with the lower jaw connecting tooth I 423, the lower jaw connecting tooth I 423 is fixedly connected to the arm connector I 421, and the arm connector I 421 and the arm connector II 422 are respectively fixedly connected to the upper jaw cover 431 and the lower jaw cover 432. The lip-driven servo motor 410 drives the head connector 425 to move, which in turn drives the arm connector II 422 to move. Through the meshing transmission of the lower jaw connecting teeth II 424 and I 423, the arm connector I 421 and arm connector II 422 move synchronously in opposite directions, thereby driving the upper jaw cover 431 and the lower jaw cover 432 to complete the opening and closing action.

[0042] In this embodiment, the drive connection assembly 420 converts the rotational output of a single servo motor into symmetrical reverse motion of the upper and lower lips through the mechanical linkage of gear meshing (lower jaw connecting teeth I and II) and linkage combination (arm connectors I, II and head connector), which greatly simplifies the system structure, reduces manufacturing costs and internal space requirements, and leaves more layout space for the robot brain (such as processing unit, sensors, etc.).

[0043] The structure of the arm connector I421 is as follows Figure 6 As shown, the arm connector I421 includes a connecting shaft I4211. Connecting rods I4212 are symmetrically arranged at both ends of the connecting shaft I4211. A gear interface I4213 is provided on the outer side of one of the connecting rods I4212, at a position extending axially from the connecting shaft I4211. The gear interface I4213 is used to fix the lower jaw connecting tooth I423. An upper jaw interface 4214 is provided at the end of the connecting rod I4212 away from the connecting shaft I4211. The upper jaw interface 4214 is used to fix the upper jaw cover 431.

[0044] The structure of arm connector II422 is as follows Figure 7As shown, the arm connector II422 includes a connecting shaft II4221. Connecting rods II4222 are symmetrically arranged at both ends of the connecting shaft II4221. A gear interface II4223 is provided on the outer side of one of the connecting rods II4222, located at a position extending axially from the connecting shaft II4221. The gear interface II4223 is used to fix the lower jaw connecting tooth II424. A lower jaw interface 4224 is provided at the end of the connecting rod II4222 away from the connecting shaft II4221. The lower jaw interface 4224 is used to fix the lower jaw cover 432. A connecting rod III4225 is also provided on the connecting shaft II4221. The connecting rod III4225 is located between the symmetrical connecting rods II4222, and the angle between the connecting rod III4222 and the connecting rod II4222 is an obtuse angle. A transmission connecting shaft I4226 is provided at the end of the connecting rod III4225 away from the connecting shaft II4221. The transmission connecting shaft I4226 is arranged parallel to the connecting shaft II4221 and is movably connected to the head connector 425.

[0045] In this embodiment, the lower jaw connecting teeth I423 and II424 are mutually meshing sector teeth, which can ensure that the arm connectors I421 and II422 can open and close to a certain extent.

[0046] Arm connectors I and II are core transmission components. Their lever design transforms the linear or small-range oscillations of the servo motor into large-range, curvilinear movements that conform to physiological structures. Specifically, the working principle of the upper and lower lip actuators is as follows: When the lip-driven servo motor 410 receives a control signal and rotates, it drives its output shaft to swing, causing the head connector 425 connected to it to move up and down in a linear motion.

[0047] Lip-driven mechanism: When the head connector 425 moves downward, it pushes the transmission connecting shaft I 4226 of the arm connector II 422 through its transmission connecting groove I 4252, causing the arm connector II 422 to rotate around its connecting shaft II 4221 by an angle. This rotation, on the one hand, pulls the jaw cover 432 (and lower lip) downward through the connecting rod II 4222 and the lower jaw interface 4224; on the other hand, the lower jaw connecting tooth II 424 fixed on the arm connector II 422 rotates accordingly, driving the lower jaw connecting tooth I 423 that meshes with it to rotate in the opposite direction, thereby causing the arm connector I 421 to rotate in the opposite direction around its connecting shaft I 4211, and pushing the upper jaw cover 431 (and upper lip) upward through the upper jaw interface 4214, thus realizing the mouth opening action. When the servo moves in the opposite direction, the process is reversed, realizing the mouth closing action.

[0048] The transmission design in this embodiment is not a simple linear motion, but rather a precise transmission through the lever action of each connecting part and the gear pair. The gear meshing ensures the absolute synchronicity and symmetry of the upper lip lifting and lower lip lowering, avoiding the timing errors and asymmetry problems that may occur due to separate driving. This makes the lip opening and closing movements very natural, closer to the mouth shape changes when a real person speaks or makes facial expressions.

[0049] To make the lip movements more realistic, this embodiment incorporates tongue movement by adding a tongue movement module, such as... Figure 8 As shown, a tongue 320 is also provided in the bionic face 300. The drive connection assembly 420 also includes a tongue connector 426. The two ends of the tongue connector 426 are connected to the tongue 320 and the head connector 425 respectively. The middle part of the tongue connector 426 is rotatably connected to the support assembly 500 through a rotating shaft. The head connector 425 is driven to move by the lip drive servo 410, and then the tongue 320 is driven to move by the movement of the tongue connector 426.

[0050] This embodiment, based on the basic lip movement function, utilizes the same power source to drive the servo motor 410 via lip movement. Through the movement of the head connector 425, it additionally drives the tongue connector, achieving coordinated tongue movement. This "one-drive-multiple" design concept significantly enriches the output dimensions of facial expressions without adding additional driving components, enabling the robot to perform more complex oral actions, such as simulating swallowing, licking, and clearer consonant pronunciation, greatly improving the integration of functions.

[0051] The tongue connector 426, as the core tongue movement transmission component, has the following structure in this embodiment: Figure 9 As shown, the tongue connector 426 is a curved linkage rod. One end of the tongue connector 426 has a tongue connection hole 4261, and the other end has a transmission connection shaft II 4263. A fixed connection hole 4262 is provided near the transmission connection shaft II 4263. The tongue connection hole 4261 is connected to the tongue 320, and the transmission connection shaft II 4263 is movably connected to the head connector 425. The fixed connection hole 4262 is rotatably connected to the support assembly 500 through a rotating shaft. A torsion spring is sleeved on the rotating shaft. The two torsion arms of the torsion spring abut against the support assembly 500 and the tongue connector 426 respectively, which is used to provide elastic force for the tongue 320 to automatically reset.

[0052] In this embodiment, the working principle of tongue movement is as follows: When the lip-driven servo motor 410 drives the head connector 425 downward and presses against the tongue connector 426 via the transmission connecting shaft II 4263, the tongue connector 426 rotates around the shaft, overcoming the resistance of the torsion spring and causing its second torsion arm to be pressed down. The torsion spring deforms and stores elastic potential energy. This movement ultimately manifests as the tongue 320 extending forward. When the reverse driving force of the lip-driven servo motor 410 decreases or is removed, the elastic potential energy stored in the torsion spring is released, and its restoring deformation force drives the tongue connector 426 to rotate in the opposite direction, automatically and reliably retracting the tongue 320 back to its initial position.

[0053] During tongue movement, the tongue's retraction needs to be considered. This embodiment achieves automatic retraction of the tongue movement by adding a torsion spring, which simulates the elastic characteristics of real tongue muscles, enhances the naturalness and reliability of the movement, and ensures that the tongue can be in a safe retracted state when the servo stops driving or the power is cut off, avoiding long-term deformation due to force.

[0054] The head connector 425 drives the arm connector II 422 and the tongue connector 426, as follows: Figure 10 As shown, in this embodiment, the head connector 425 is movably mounted on the bracket assembly 500. One end of the head connector 425 is provided with a drive connection groove 4251, and the other end is provided with a transmission connection groove I 4252. A transmission connection groove II 4253 is provided below the transmission connection groove.

[0055] The drive connection groove 4251 is a rectangular groove used to engage the output end of the lip-driven drive servo 410; the transmission connection groove I 4252 is a U-shaped groove used to accommodate the transmission connection end of the arm connector II 422; the transmission connection groove II 4253 is a rectangular groove used to accommodate the transmission connection shaft II 4263.

[0056] The frame assembly 500 serves as the core load-bearing structure, securing the lip-driven unit 400, such as... Figure 11 , 12 As shown, the bracket assembly 500 includes a lower head dental box fixation member 510 and a head dental box auxiliary fixation member 520, which are fixedly connected. The lower head dental box fixation member 510 is fixedly connected to the front head housing 100.

[0057] The lip-driven servo motor 410 is fixedly mounted on the head jaw box auxiliary fixing part 520. The head connector 425 is slidably mounted on the head jaw box auxiliary fixing part 520. The lip-driven servo motor 410 and the head connector 425 are located between the lower part 510 of the head jaw box fixing part and the head jaw box auxiliary fixing part 520. The fixed connection hole 4262 is rotatably connected to the head jaw box auxiliary fixing part 520 through a rotating shaft. The lower part of the head jaw box auxiliary fixing part 520 is provided with a receiving hole 521. The arm connector I 421, the arm connector II 422, and the tongue connector 426 pass through the receiving hole 521 so that the upper jaw cover 431, the lower jaw cover 432, and the tongue 320 are located on the outside of the head jaw box auxiliary fixing part 520.

[0058] In this embodiment, the fixing connection hole 4262 on the tongue connector 426 is rotatably connected to the head dental box auxiliary fixing member 520 via a rotating shaft, and the center part of the torsion spring is sleeved on the rotating shaft. One torsion arm is fixed in a fixing post or slot on the head dental box auxiliary fixing member 520. The other torsion arm abuts against a specific part of the tongue connector 426, for example, against the side of the curved rod or a specially designed protrusion.

[0059] Figure 13 This is a schematic diagram of the assembly of the lip drive unit 400 on the support assembly 500. The arrows in the diagram indicate the assembly direction. In box A, the arm connector I 421 is fixedly connected to the upper jaw cover 431 and the lower jaw connecting tooth I 423 is installed. In box B, the arm connector II 422 is connected to the lower jaw cover 432 and the lower jaw connecting tooth II 424 is installed. In box C, the tongue 320 is connected to the tongue connector 426, and the rotating shaft with the torsion spring 427 is passed through the fixing connection hole 4262 on the tongue connector 426. After the components in boxes A, B, and C are assembled, the head dental box auxiliary fixation component 520 is installed.

[0060] The lip-driven servo motor 410 is fixedly mounted on the head gearbox auxiliary fixing part 520. The head connector 425 is slidably mounted on the head gearbox auxiliary fixing part 520. The output end of the lip-driven servo motor 410 is connected to one end of the head connector 425. The other end of the head connector 425 is simultaneously movably connected to the transmission connecting shaft I4226 and the transmission connecting shaft II4263 of the arm connector II422. Then, the lower part of the head gearbox fixing part 510 and the head gearbox auxiliary fixing part 520 are fixedly connected.

[0061] The core components of the entire lip movement drive unit 400 are all mounted on a robust support assembly 500 (head dental box fixation component 510 and auxiliary fixation component 520), forming a stable "endoskeletal" system. This design ensures that when all moving parts are subjected to force, the force transmission path is clear and will not directly act on the fragile outer shell and bionic face, thus improving the rigidity and durability of the overall structure.

[0062] 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 lip support component 310 is fixedly connected to the bionic face 300 through an insert injection molding process.

[0063] 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 are the upper lip support block 311 and the lower lip support block 312. Then, silicone is injected to cover or bond the inserts together. The soft silicone bionic face 300 and the internal support are firmly bonded together through the insert injection molding process, ensuring efficient power transmission and enabling the expression of delicate and vivid eye expressions.

[0064] 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.

[0065] It will be apparent to those skilled in the art that this invention is not limited to the details of the exemplary embodiments described above, and that it can be implemented in other specific forms without departing from the spirit or essential characteristics of this invention. Therefore, the embodiments should be considered illustrative and non-limiting in all respects, and the scope of this invention is defined by the appended claims rather than the foregoing description. Thus, it is intended that all variations falling within the meaning and scope of equivalents of the claims be included within this invention. No reference numerals in the claims should be construed as limiting the scope of the claims.

Claims

1. A lip-driven structure for a biomimetic robot, characterized in that, include: Front shell (100), back shell (200), bionic face (300), lip movement actuation 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). A lip support assembly (310) is fixedly disposed inside the bionic face (300). The lip support assembly (310) includes an upper lip support block (311) and a lower lip support block (312). The support assembly (500) is fixedly disposed in the internal space formed by the front shell (100) and the back shell (200). The lip movement drive unit (400) is disposed on the support assembly (500). The lip-movement drive unit (400) includes a lip-movement drive servo (410), a drive connection assembly (420), and a jaw assembly (430). The output end of the lip-movement drive servo (410) is connected to the drive connection assembly (420), the drive connection assembly (420) is connected to the jaw assembly (430), and the jaw assembly (430) is connected to the lip support assembly (310). The lip-movement drive servo (410) transmits power through the drive connection assembly (420), thereby driving the lip support assembly (310) connected to the jaw assembly (430) to move the upper and lower lips of the bionic face to open and close.

2. The lip-movement drive structure for a biomimetic robot according to claim 1, characterized in that, The dental assembly (430) includes a maxillary cover (431) and a mandibular cover (432), which are fixedly connected to the upper lip support block (311) and the lower lip support block (312), respectively.

3. The lip-movement drive structure for a biomimetic robot according to claim 2, characterized in that, The drive connection assembly (420) includes arm connector I (421), arm connector II (422), jaw connecting tooth I (423), jaw connecting tooth II (424), and head connector (425). The output shaft of the lip-driven servo motor (410) is connected to one end of the head connector (425), and the other end of the head connector (425) is movably connected to the arm connector II (422). The arm connector II (422) is fixedly connected to the jaw connecting tooth II (424), the jaw connecting tooth II (424) meshes with the jaw connecting tooth I (423), the jaw connecting tooth I (423) is fixedly connected to the arm connector I (421), and the arm connector I (421) and arm connector II (422) are respectively fixedly connected to the upper jaw cover (431) and the lower jaw cover (432). The lip-driven servo motor (410) drives the head connector (425) to move, thereby driving the arm connector II (422) to move; through the meshing transmission of the lower jaw connecting teeth II (424) and lower jaw connecting teeth I (423), the arm connector I (421) and arm connector II (422) move synchronously in opposite directions, thereby driving the upper jaw cover (431) and lower jaw cover (432) to complete the opening and closing action.

4. The lip-movement drive structure for a biomimetic robot according to claim 3, characterized in that, The arm connector I (421) includes a connecting shaft I (4211). Connecting rods I (4212) are symmetrically arranged at both ends of the connecting shaft I (4211). A gear interface I (4213) is provided on the outer side of one of the connecting rods I (4212) at a position extending axially from the connecting shaft I (4211). The gear interface I (4213) is used to fix the lower jaw connecting tooth I (423). An upper jaw interface (4214) is provided at the end of each connecting rod I (4212) away from the connecting shaft I (4211). The upper jaw interface (4214) is used to fix the upper jaw cover (431).

5. A lip-driven structure for a biomimetic robot according to claim 4, characterized in that, The arm connector II (422) includes a connecting shaft II (4221). Connecting rods II (4222) are symmetrically arranged at both ends of the connecting shaft II (4221). A gear interface II (4223) is provided on the outer side of one of the connecting rods II (4222) at a position extending axially from the connecting shaft II (4221). The gear interface II (4223) is used to fix the lower jaw connecting tooth II (424). A lower jaw interface (4224) is provided at the end of the connecting rod II (4222) away from the connecting shaft II (4221). The lower jaw interface (4224) is used to fix the lower jaw cover (432). A connecting rod III (4225) is also provided on the connecting shaft II (4221). The connecting rod III (4225) is located between the symmetrical connecting rods II (4222) and the included angle between the connecting rods II (4222) is an obtuse angle. A transmission connecting shaft I (4226) is provided at the end of the connecting rod III (4225) away from the connecting shaft II (4221). The transmission connecting shaft I (4226) is arranged parallel to the connecting shaft II (4221) and is movably connected to the head connector (425).

6. The lip-movement drive structure for a biomimetic robot according to claim 3, characterized in that, The bionic face (300) is also provided with a tongue (320). The drive connection assembly (420) also includes a tongue connector (426). The two ends of the tongue connector (426) are connected to the tongue (320) and the head connector (425) respectively. The middle part of the tongue connector (426) is rotatably connected to the support assembly (500) through a rotating shaft. The head connector (425) is driven to move by the lip drive servo (410), and then the tongue (320) is driven to move by the action of the tongue connector (426).

7. A lip-driven structure for a biomimetic robot according to claim 6, characterized in that, The tongue connector (426) is a curved linkage rod. A tongue connection hole (4261) is provided at one end of the tongue connector (426), and a transmission connection shaft II (4263) is provided at the other end. A fixed connection hole (4262) is provided near the transmission connection shaft II (4263). The tongue connection hole (4261) is connected to the tongue (320). The transmission connection shaft II (4263) is movably connected to the head connector (425). The fixed connection hole (4262) is rotatably connected to the support assembly (500) through a rotating shaft. A torsion spring (427) is sleeved on the rotating shaft. The two torsion arms of the torsion spring (427) abut against the support assembly (500) and the tongue connector (426) respectively, and are used to provide elastic force for automatic reset of the tongue (320).

8. A lip-driven structure for a biomimetic robot according to claim 7, characterized in that, The head connector (425) is movably mounted on the bracket assembly (500). One end of the head connector (425) is provided with a drive connection groove (4251), and the other end is provided with a transmission connection groove I (4252). A transmission connection groove II (4253) is provided below the transmission connection groove. The drive connection slot (4251) is a rectangular groove used to engage the output end of the lip-driven servo motor (410); The transmission connection groove I (4252) is a U-shaped groove used to accommodate the transmission connection end of the arm connector II (422); The transmission connection groove II (4253) is a rectangular groove used to accommodate the transmission connection shaft II (4263).

9. A lip-driven structure for a biomimetic robot according to claim 7, characterized in that, The bracket assembly (500) includes a lower head dental box fixation member (510) and a head dental box auxiliary fixation member (520), which are fixedly connected. The lower head dental box fixation member (510) is fixedly connected to the front shell (100). The lip-driven servo (410) is fixedly mounted on the head jaw box auxiliary fixing part (520). The head connector (425) is slidably mounted on the head jaw box auxiliary fixing part (520). The lip-driven servo (410) and the head connector (425) are located between the head jaw box fixing part (510) and the head jaw box auxiliary fixing part (520). The fixed connection hole (4262) is rotatably connected to the head jaw box auxiliary fixing part (520) through a rotating shaft. The head jaw box auxiliary fixing part (520) has a receiving hole (521) at the lower part. The arm connector I (421), arm connector II (422), and tongue connector (426) pass through the receiving hole (521) so that the upper jaw cover (431), lower jaw cover (432), and tongue (320) are located on the outside of the head jaw box auxiliary fixing part (520).

10. A lip-driven structure for a biomimetic robot according to any one of claims 1-9, characterized in that, The bionic face (300) is made of soft silicone material, and the upper lip support block (311) and lower lip support block (312) are fixedly connected to the bionic face (300) through an insert injection molding process.

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