Bionic robot head and neck structure and bionic robot

Abstract

A bionic robot head and neck structure and a bionic robot. The bionic robot head and neck structure comprises a head structure, and a neck structure movably connected to the head structure. The head structure comprises a robot head shell (7), a robot bionic mask (5), a bionic brow and eye mechanism (1) and a bionic mouth mechanism (4). The robot bionic mask (5) is sleeved on the outer surface of the robot head shell (7). The bionic brow and eye mechanism (1) and the bionic mouth mechanism (4) are mounted inside the robot head shell (7). The neck structure is connected to the bionic mouth mechanism (4), and the neck structure is used for driving the head structure to achieve front-back leaning, left-right swinging and circumferential turning movements. The bionic brow and eye mechanism (1) and the bionic mouth mechanism (4) are connected to the robot bionic mask (5). The facial expression of the bionic robot is displayed under the action of the bionic brow and eye mechanism (1) and the bionic mouth mechanism (4). Thus, the richness of facial expressions of the bionic robot and the flexibility and correlation of other actions of the head are improved, and user needs are well met.

Description

Bionic robot head and neck structure and bionic robot

[0001] This application is based on the Chinese patent application with application number 202311241300.4 and application date September 25, 2023, and claims its priority. The entire content of the application is hereby introduced into this application as a whole. Technical Field

[0002] The present application relates to the field of robotics, and more specifically to a bionic robot head and neck structure and a bionic robot. Background Art

[0003] The robot head and neck structure is an important component of the bionic robot. It includes a head structure and a neck structure. The neck structure is connected to the head structure and the bionic body trunk structure respectively. The movement of the head structure depends on the design of the neck structure, while the realization of the facial expression of the head structure depends on the design of the head structure itself.

[0004] With the development of the times, users have more and more demands for bionic robots, and as a result, the requirements for bionic robots are getting higher and higher. Specifically, higher requirements are put forward for the facial expressions of the bionic robot's head structure. However, the facial expressions and other movements that can be achieved by the existing bionic robot head structure design can no longer meet the needs of users.

[0005] Application Contents

[0006] The purpose of this application is to overcome the deficiencies of the prior art and provide a bionic robot head and neck structure and a bionic robot, aiming to enhance the richness of the bionic robot's facial expressions and the flexibility and relevance of other head movements.

[0007] To achieve the above objectives, this application adopts the following technical solutions:

[0008] On the one hand, the present application provides a bionic robot head and neck structure, including a head structure and a neck structure movably connected to the head structure, the head structure including a robot head shell, a robot bionic mask, a bionic eyebrow and eye mechanism and a bionic mouth mechanism, the robot bionic mask is mounted on the outer surface of the robot head shell, the bionic eyebrow and eye mechanism and the bionic mouth mechanism are installed inside the robot head shell, the neck structure is connected to the bionic mouth mechanism, the neck structure is used to drive the head structure to achieve forward and backward pitching, left and right swinging and circumferential turning movements, the bionic eyebrow and eye mechanism and the bionic mouth mechanism are connected to the robot bionic mask, and the robot bionic mask performs bionic robot facial expression movements under the action of the bionic eyebrow and eye mechanism and the bionic mouth mechanism.

[0009] Its further technical solution is: the bionic eyebrow mechanism includes an eye unit and an eyebrow unit, the eye unit includes an eye bracket, a left eyeball, a right eyeball, a left upper eyelid, a left lower eyelid, a right upper eyelid, a right lower eyelid, a left eyelid up and down rotation driving component, a right eyelid up and down rotation driving component, an eyeball left and right rotation linkage driving component and an eyeball up and down rotation linkage driving component, the left upper eyelid and the left lower eyelid are hinged on the eye bracket, the left eyelid up and down rotation driving component is used to drive the left upper eyelid and the left lower eyelid to open and close relative to each other, and the right upper eyelid and the right lower eyelid are hinged on the eye bracket, the left eyelid up and down rotation driving component is used to drive the left upper eyelid and the left lower eyelid to open and close relative to each other, and the right upper eyelid and the right lower eyelid are hinged on the eye bracket, The eyelid is hinged on the eye bracket, the right eyelid up and down rotation driving component is used to drive the right upper eyelid and the right lower eyelid to open and close relative to each other, the eyeball left and right rotation linkage driving component is used to drive the left eyeball and the right eyeball to rotate left and right in linkage, and the eyeball up and down rotation linkage driving component is used to drive the left eyeball and the right eyeball to rotate up and down in linkage; the eyebrow unit includes an eyebrow bracket, and a plurality of eyebrow motion control components installed on the eyebrow bracket, and the plurality of eyebrow motion control components act on different parts of the eyebrows respectively to realize the movement of different parts of the eyebrows.

[0010] Its further technical solution is: the eye bracket is provided with two left eyelid arms arranged opposite to each other, the left upper eyelid and the left lower eyelid are hinged between the two left eyelid arms, the left eyelid up and down rotation drive assembly includes a left eyelid up and down rotation drive motor, a left eyelid rocker, a left eyelid straight connecting rod, a left upper eyelid arc connecting rod and a left lower eyelid arc connecting rod, one end of the left upper eyelid arc connecting rod is hinged to the left upper eyelid, the other end of the left upper eyelid arc connecting rod is hinged to one end of the left eyelid straight connecting rod, one end of the left lower eyelid arc connecting rod is hinged to the left upper eyelid, the other end of the left lower eyelid arc connecting rod is hinged to one end of the left eyelid straight connecting rod, the other end of the left eyelid straight connecting rod is connected to the left eyelid rocker, the left eyelid rocker is connected to the output shaft of the left eyelid up and down rotation drive motor, and the left eyelid up and down rotation drive motor is installed on the eye bracket. On the bracket; the eye bracket is also provided with two right eyelid arms arranged opposite to each other, the right upper eyelid and the right lower eyelid are hinged between the two right eyelid arms, the right eyelid up and down rotation drive assembly includes a right eyelid up and down rotation drive motor, a right eyelid rocker, a right eyelid straight connecting rod, a right upper eyelid arc connecting rod and a right lower eyelid arc connecting rod, one end of the right upper eyelid arc connecting rod is hinged to the right upper eyelid, the other end of the right upper eyelid arc connecting rod is hinged to one end of the right eyelid straight connecting rod, one end of the right lower eyelid arc connecting rod is hinged to the right upper eyelid, the other end of the right lower eyelid arc connecting rod is hinged to one end of the right eyelid straight connecting rod, the other end of the right eyelid straight connecting rod is connected to the right eyelid rocker, the right eyelid rocker is connected to the output shaft of the right eyelid up and down rotation drive motor, and the right eyelid up and down rotation drive motor is installed on the eye bracket.

[0011] Its further technical solution is: the eyeball up and down rotation linkage drive component includes an eyeball up and down rotation linkage drive motor, an eyeball up and down rotation linkage rocker, an eyeball up and down rotation linkage arc connecting rod and an eyeball up and down rotation linkage plate, the eyeball up and down rotation linkage plate is hinged on the eye bracket, the left eyeball and the right eyeball are rotatably connected to the eyeball up and down rotation linkage plate, one end of the eyeball up and down rotation linkage arc connecting rod is connected to the eyeball up and down rotation linkage plate, the other end of the eyeball up and down rotation linkage arc connecting rod is connected to the eyeball up and down rotation linkage rocker, the eyeball up and down rotation linkage rocker is connected to the output shaft of the eyeball up and down rotation linkage drive motor, and the eyeball up and down rotation linkage drive motor is installed on the eye bracket.

[0012] Its further technical solution is: the eyeball up and down rotation linkage plate includes a middle plate, and a left connecting arm and a right connecting arm arranged on both sides of the middle plate, the end of the left connecting arm is connected to the left eyeball rotation, the end of the right connecting arm is connected to the right eyeball rotation, the left and right sides of the middle plate are hinged to the eye bracket, and one end of the eyeball left and right rotation linkage arc connecting rod is hinged to the front side of the middle plate.

[0013] Its further technical solution is: the eyeball left and right rotation linkage drive component includes an eyeball left and right rotation linkage drive motor, an eyeball left and right rotation linkage rocker and an eyeball left and right rotation linkage rod, the left and right ends of the eyeball left and right rotation linkage rod are respectively connected to the left eyeball and the right eyeball for rotation, the middle part of the eyeball left and right rotation linkage rod is movably connected to the eyeball left and right rotation linkage rocker, the eyeball left and right rotation linkage rocker is connected to the output shaft of the eyeball left and right rotation linkage drive motor, and the eyeball left and right rotation linkage drive motor is installed on the middle plate.

[0014] Its further technical solution is: the multiple eyebrow motion control components include a left eyebrow first part motion control component, a left eyebrow second part motion control component, a right eyebrow first part motion control component and a right eyebrow second part motion control component, the left eyebrow first part motion control component acts on the center position above the left eyebrow, the left eyebrow second part motion control component acts on the corner of the left eyebrow on the side close to the center of the eyebrow, the right eyebrow first part motion control component acts on the center position above the right eyebrow, and the right eyebrow second part motion control component acts on the corner of the right eyebrow on the side close to the center of the eyebrow.

[0015] Its further technical solution is: the bionic oral mechanism includes a mandibular motion component, an oral motion component and a bionic tongue component, the mandibular motion component includes a mandibular plate, and a mandibular plate motion drive motor connected to the mandibular plate in transmission, the oral motion component includes an upper jaw plate, a left active motion block, a left driven motion block, a left front-and-rear motion drive module, a right active motion block, a right driven motion block, a right front-and-rear motion drive module and an internal and external linkage motion drive module, the left driven motion block is fixedly connected to the left active motion block, the upper jaw plate and the lower jaw plate are arranged relatively up and down, the left active motion block and the left driven motion block are located between the upper jaw plate and the left side of the mandibular plate, the right active motion block and the right driven motion block are located between the upper jaw plate and the right side of the mandibular plate, the left front-and-rear motion drive module is connected to the left active motion block in transmission, and when the left front-and-rear motion drive module is working, it drives the left active motion block to move back and forth, the right driven motion block is fixedly connected to the right active motion block, and the right The front and rear motion drive module is transmission-connected with the right active motion block. When the right front and rear motion drive module is working, it drives the right active motion block to move forward and backward. The inside-outside linkage motion drive module is transmission-connected with the left front and rear motion drive module and the right front and rear motion drive module. When the inside-outside linkage motion drive module is working, it drives the left active motion block and the right active motion block to move synchronously inward or outward. The bionic tongue assembly includes a tongue body, a tongue mounting plate, a tongue left and right swinging drive module and a tongue front and back telescopic drive module. The tongue body is arranged between the upper jaw plate and the lower jaw plate. The tongue mounting plate is provided with a telescopic guide groove along the telescopic direction of the tongue body. The tongue body is clamped in the telescopic guide groove. The tongue front and back telescopic drive module is connected to the tongue body to drive the tongue body to perform front and back telescopic motion along the telescopic guide groove. The tongue left and right swinging drive module is connected to the tongue mounting plate to drive the tongue mounting plate and the tongue body to swing synchronously left and right.

[0016] Its further technical solution is: the bionic mouth mechanism also includes an upper corner of the mouth motion drive component, the upper corner of the mouth motion drive component includes a left upper corner of the mouth skin contact block, a left upper corner of the mouth motion guide column, a left upper corner of the mouth motion drive module, a right upper corner of the mouth skin contact block, a right upper corner of the mouth motion guide column and a right upper corner of the mouth motion drive module, the left upper corner of the mouth motion drive module includes a left upper corner of the mouth motion swing arm and a left upper corner of the mouth motion drive motor, the left upper corner of the mouth motion guide column is fixed to the upper surface of the upper jaw plate, the left upper corner of the mouth skin contact block is movably mounted on the left upper corner of the mouth motion guide column, one end of the left upper corner of the mouth motion swing arm is connected to the left The output shaft of the upper corner of the mouth movement drive motor is connected, one end of the upper left corner of the mouth movement swing arm is connected to the upper left corner of the mouth skin contact block, the upper right corner of the mouth movement drive module includes the upper right corner of the mouth movement swing arm and the upper right corner of the mouth movement drive motor, the upper right corner of the mouth movement guide column is fixed to the upper surface of the upper jaw plate, the upper right corner of the mouth skin contact block is movably sleeved on the upper right corner of the mouth movement guide column, one end of the upper right corner of the mouth movement swing arm is connected to the output shaft of the upper right corner of the mouth movement drive motor, and one end of the upper right corner of the mouth movement swing arm is connected to the upper right corner of the mouth skin contact block; the bionic mouth mechanism also includes a lower corner of the mouth movement drive component, The lower corner of the mouth motion drive assembly includes a left lower corner of the mouth transmission rod, a left lower corner of the mouth motion drive module, a right lower corner of the mouth transmission rod and a right lower corner of the mouth transmission drive module. The left lower corner of the mouth motion drive module includes a left lower corner of the mouth motion first swing arm, a left lower corner of the mouth motion second swing arm and a left lower corner of the mouth motion drive motor. The middle part of the left lower corner of the mouth transmission rod is hinged to the lower jaw plate, the front end of the left lower corner of the mouth transmission rod constitutes the left lower corner skin contact part, the rear end of the left lower corner of the mouth transmission rod is hinged to one end of the left lower corner of the mouth motion first swing arm, the other end of the left lower corner of the mouth motion first swing arm is hinged to one end of the left lower corner of the mouth motion second swing arm, and the left lower corner of the mouth The other end of the second motion swing arm is connected to the left lower corner of the mouth motion drive motor, and the right lower corner of the mouth motion drive module includes the right lower corner of the mouth first motion swing arm, the right lower corner of the mouth second motion swing arm and the right lower corner of the mouth motion drive motor. The middle part of the right lower corner of the mouth transmission rod is hinged to the lower jaw plate, and the front end of the right lower corner of the mouth transmission rod constitutes the right lower corner skin contact part, and the rear end of the right lower corner of the mouth transmission rod is hinged to one end of the right lower corner of the mouth first motion swing arm, and the other end of the right lower corner of the mouth first motion swing arm is hinged to one end of the right lower corner of the mouth second motion swing arm, and the other end of the right lower corner of the mouth second motion swing arm is connected to the right lower corner of the mouth motion drive motor.

[0017] Its further technical solution is: the lower jaw plate is provided with a lower jaw motion connecting arm, the lower jaw motion connecting arm is connected to the output shaft of the lower jaw plate motion driving motor, and when the lower jaw plate motion driving motor is working, it drives the lower jaw plate to rotate up and down.

[0018] Its further technical solution is: the left front-to-back motion drive module includes a left front-to-back motion swing arm and a left front-to-back motion drive motor, one end of the left front-to-back motion swing arm is connected to the left front-to-back motion drive motor, the other end of the left front-to-back motion swing arm is hinged to the rear side of the left active motion block, the upper side of the left active motion block is movably connected to the upper jaw plate, and the front side of the left active motion block is fixedly connected to the left driven motion block; the right front-to-back motion drive module includes a right front-to-back motion swing arm and a right front-to-back motion drive motor, one end of the right front-to-back motion swing arm is connected to the right front-to-back motion drive motor, the other end of the right front-to-back motion swing arm is hinged to the rear side of the right active motion block, the upper side of the right active motion block is movably connected to the upper jaw plate, and the front side of the right active motion block is fixedly connected to the right driven motion block.

[0019] Its further technical solution is as follows: the upper side of the left active motion block is provided with a left L-shaped forward and backward moving plate, the upper jaw plate is provided with a left forward and backward moving guide notch, and the left L-shaped forward and backward moving plate is placed in the left forward and backward moving guide notch; the upper side of the right active motion block is provided with a right L-shaped forward and backward moving plate, the upper jaw plate is provided with a right forward and backward moving guide notch, and the right L-shaped forward and backward moving plate is placed in the right forward and backward moving guide notch; the inner side of the left driven motion block is provided with a left arc slide, the bottom surface of the upper jaw plate is downwardly extended with a left fixed support arm, the lower end of the left fixed support arm is provided with a left arm hook-shaped portion which is clamped in the left arc slide, and the outer side of the left driven motion block is provided with a right outer skin cheek connecting portion.

[0020] Its further technical solution is: the internal and external linkage motion drive module includes a first connecting rod of a left front and rear motion drive motor, a second connecting rod of a left front and rear motion drive motor, a first connecting rod of a right front and rear motion drive motor, a second connecting rod of a right front and rear motion drive motor, a first linkage rod, a second linkage rod and an internal and external movement drive motor, one end of the first connecting rod of the left front and rear motion drive motor and one end of the second connecting rod of the left front and rear motion drive motor are hinged to the same side of the left front and rear motion drive motor, one end of the first connecting rod of the right front and rear motion drive motor and one end of the second connecting rod of the right front and rear motion drive motor are hinged to the same side of the right front and rear motion drive motor, and the other end of the first connecting rod of the left front and rear motion drive motor is hinged to the The first end is hinged to one end of the first linkage rod, the other end of the first linkage rod is hinged to the other end of the second linkage rod of the right front-rear motion drive motor, the other end of the second linkage rod of the left front-rear motion drive motor is hinged to one end of the second linkage rod, and the other end of the second linkage rod is hinged to the other end of the first linkage rod of the right front-rear motion drive motor. The output shaft of the inner-outer movement drive motor is connected to the middle part of the first linkage rod and the second linkage rod. When the inner-outer movement drive motor is working, it drives the left front-rear motion drive motor and the right front-rear motion drive motor to move inward or outward synchronously, so that the left active motion block and the right active motion block move inward or outward synchronously.

[0021] Its further technical solution is: the tongue forward and backward telescopic driving module includes a tongue forward and backward telescopic fisheye connecting rod, a tongue forward and backward telescopic motor and a tongue forward and backward telescopic eccentric wheel, one end of the tongue forward and backward telescopic fisheye connecting rod is connected to the tongue main body, the other end of the tongue forward and backward telescopic fisheye connecting rod is connected to the tongue forward and backward telescopic eccentric wheel, and the output shaft of the tongue forward and backward telescopic motor is connected to the tongue forward and backward telescopic eccentric wheel; the tongue left and right swing driving module includes a tongue left and right swing connecting piece and a tongue left and right swing motor, one side of the tongue left and right swing connecting piece is connected to the tongue mounting plate, and the other side of the tongue left and right swing connecting piece is connected to the output shaft of the tongue left and right swing motor.

[0022] Its further technical solution is: a swing connecting shaft is provided on one side of the tongue left-right swing connecting piece, the tongue mounting plate is provided with a tongue mounting plate bayonet for clamping the swing connecting shaft, and the other side of the tongue left-right swing connecting piece is provided with a swing connecting piece sleeve hole that cooperates with the output shaft sleeve of the tongue left-right swing motor; the tongue main body includes a tongue vertical plate, a tongue horizontal plate and a tongue connecting plate, the tongue horizontal plate is horizontally arranged on the upper side of the tongue vertical plate, the tongue connecting plate is fixed to the rear side of the tongue vertical plate, and one end of the tongue forward and backward telescopic fisheye connecting rod is connected to the tongue connecting plate.

[0023] Its further technical solution is: the robot bionic mask includes a mask body, the mask body is made of flexible material, the mask body is provided with a mask sleeve cavity, the bottom of the mask body is provided with a sleeve opening communicating with the mask sleeve cavity, the mask body is also provided with an opening and closing seam, one end of the opening and closing seam extends to the sleeve opening.

[0024] A further technical solution is as follows: the inner wall of the mask cavity is provided with a plurality of connecting structures.

[0025] A further technical solution is as follows: the mask body is further provided with a multifunctional interface window, and a cover plate which is opened and closed on the multifunctional interface window.

[0026] Its further technical solution is: the neck structure includes a bionic neck mechanism, and the bionic neck mechanism includes a head end base, a head end connecting seat, a body end base, a body end connecting seat, a neck fixed link, a swing drive module, a pitch drive module and a steering drive module, the head end connecting seat is detachably connected to the top of the head end base, the body end connecting seat is detachably connected to the bottom of the body end base, the lower end of the neck fixed link is fixedly connected to the body end base, the upper end of the neck fixed link is movably connected to the bottom of the head end base, the swing drive module is connected to the head end base to drive the head end base and the head end connecting seat to swing left and right synchronously, the pitch drive module is connected to the head end base to drive the head end base and the head end connecting seat to pitch back and forth synchronously, and the steering drive module is connected to the head end base and the head end connecting seat to drive the head end connecting seat to turn circumferentially relative to the head end base.

[0027] Its further technical solution is: a connecting shaft is provided at the top center of the head end base, and a sleeve is provided at the bottom center of the head end connecting seat that is nested with the connecting shaft; a plug-in block is provided at the bottom of the body end base, and the body end connecting seat is provided with a slot that is plugged with the plug-in block.

[0028] Its further technical solution is: the swing drive module includes a left vertical connecting rod, a right vertical connecting rod, a left and right swing connecting rod, a left and right swing gear set and a left and right swing driving motor, the upper end of the left vertical connecting rod is hinged to the left side of the head end base, the lower end of the left vertical connecting rod is hinged to the left end of the left and right swing connecting rod, the right end of the left and right swing connecting rod is hinged to the lower end of the right vertical connecting rod, the upper end of the right vertical connecting rod is hinged to the right side of the head end base, the middle part of the left and right swing connecting rod is hinged to the neck fixed connecting rod, the left and right swing gear set is transmission-connected between the left and right swing connecting rod and the output shaft of the left and right swing driving motor; the left and right swing gear set includes a first gear and a second gear arranged perpendicular to the first gear, the first gear is fixed to the left and right swing connecting rod, the second gear is fixed to the output shaft of the left and right swing driving motor, and the first gear and the second gear are meshed.

[0029] Its further technical solution is: the pitch drive module includes a front vertical link, a rear vertical link, a front and rear pitch link, a front and rear pitch gear set and a front and rear pitch drive motor, the upper end of the front vertical link is hinged to the front side of the head end base, the lower end of the front vertical link is hinged to the front end of the front and rear pitch link, the rear end of the front and rear pitch link is hinged to the lower end of the rear vertical link, the upper end of the rear vertical link is hinged to the rear side of the head end base, the middle part of the front and rear pitch link is hinged to the neck fixed link, the front and rear pitch gear set is transmission-connected between the front and rear pitch link and the front and rear pitch drive motor; the front and rear pitch gear set includes an upper gear, an intermediate gear and a lower gear arranged side by side in sequence up and down, the upper gear is fixed to the front and rear pitch link, the lower gear is fixed to the output shaft of the front and rear pitch drive motor, and the intermediate gear is rotationally connected to the body end base and meshes with the upper gear and the lower gear.

[0030] Its further technical solution is: the steering drive module includes a steering drive motor and a steering gear set, the top of the head end base is provided with an arc gear part, and the steering gear set is transmission-connected between the arc gear part and the output shaft of the steering drive motor; the steering gear set includes a first top gear, a second top gear, a gear rod, a bottom gear and a steering drive motor, the head end connecting seat is provided with a rod hole, the gear rod is passed through the rod hole, and a bearing sleeved on the gear rod is provided in the rod hole, the lower end of the gear rod is fixedly connected to the bottom gear located below the head end connecting seat, the upper end of the gear rod is fixedly connected to the second top gear located above the head end connecting seat, the first top gear is fixed to the output shaft of the steering drive motor, the second top gear is meshed with the first top gear, and the bottom gear is meshed with the arc gear part.

[0031] Its further technical solution is: the neck fixing link is provided with a spring and a spring limit seat below the head end base, the spring limit seat is fixedly connected to the fixing link, the upper end surface of the spring abuts against the head end base, and the lower end surface of the spring abuts against the spring limit seat.

[0032] On the other hand, the present application also provides a bionic robot, including a bionic body trunk structure and the above-mentioned bionic robot head and neck structure, wherein the neck structure is connected to the bionic body trunk structure.

[0033] The beneficial effects of the present application compared with the prior art are as follows: the bionic robot head and neck structure includes a head structure and a neck structure movably connected to the head structure, the head structure includes a robot head shell, a robot bionic mask, a bionic eyebrow mechanism and a bionic mouth mechanism, the robot bionic mask is mounted on the outer surface of the robot head shell, the bionic eyebrow mechanism and the bionic mouth mechanism are installed inside the robot head shell, the neck structure is connected to the bionic mouth mechanism, the neck structure is used to drive the head structure to achieve forward and backward pitching, left and right swinging and circumferential turning movement, the bionic eyebrow mechanism and the bionic mouth mechanism are connected to the robot bionic mask, and the robot bionic mask performs bionic robot facial expression movements under the action of the bionic eyebrow mechanism and the bionic mouth mechanism. The bionic eyebrow mechanism provided enhances the richness of the movements of the eyeballs, eyelids and the eyebrow area of ​​the robot bionic mask, and the two can cooperate to show different coordinated expressions, such as raising eyebrows and closing eyes. The bionic mouth mechanism that is set up can realize the control of the inner wall of the oral cavity, such as the movement of the inner wall of the oral cavity squeezing inward or bulging outward, etc. At the same time, it can also realize the angular movement of the tongue, which improves the richness of the movement of the mouth position of the bionic robot. As for the robot head structure, under the action of the bionic eyebrow mechanism and the bionic mouth mechanism, various facial expressions are displayed on the robot bionic mask, which improves the richness of facial expressions and also realizes the movement inside the oral cavity. In addition, the neck structure that is set up can drive the head structure to move in multiple directions, such as nodding, raising the head, turning the head and shaking the head, which improves the flexibility of the head structure. As for the bionic robot head and neck structure as a whole, each mechanism can cooperate with each other and can be controlled independently. It can not only simulate the facial expressions and movements that real people can make, but also make facial expressions and movements that real people cannot make, which greatly meets the needs of users.

[0034] The above description is only an overview of the technical solution of the present application. In order to more clearly understand the technical means of the present application, it can be implemented in accordance with the contents of the specification. In order to make the above and other purposes, features and advantages of the present application more obvious and easy to understand, the following preferred embodiments are specifically cited and described in detail as follows. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the following is a brief introduction to the drawings required for use in the description of the embodiments. Obviously, the drawings described below are some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0036] FIG1 is a schematic diagram of the structure of the head and neck structure of a bionic robot provided in a specific embodiment of the present application (without the head shell and mask);

[0037] FIG2 is a schematic diagram of the head and neck structure of a bionic robot provided in a specific embodiment of the present application;

[0038] FIG3 is a schematic diagram of the head and neck structure of a bionic robot provided in a specific embodiment of the present application (without a head shell mask);

[0039] FIG4 is a schematic structural diagram of a bionic eyebrow mechanism provided in a specific embodiment of the present application;

[0040] FIG5 is a schematic structural diagram of the eye unit in the bionic eyebrow mechanism provided in a specific embodiment of the present application;

[0041] FIG6 is a schematic diagram of a partial structure of the eye unit in the bionic eyebrow mechanism provided in a specific embodiment of the present application;

[0042] FIG7 is a second schematic diagram of a partial structure of the eye unit in the bionic eyebrow mechanism provided in a specific embodiment of the present application;

[0043] FIG8 is a schematic diagram of the structure of the eyeball up and down rotation linkage plate in the bionic eyebrow mechanism provided in a specific embodiment of the present application;

[0044] FIG9 is a schematic structural diagram of the left eyeball in the bionic eyebrow mechanism provided in a specific embodiment of the present application;

[0045] FIG10 is a schematic diagram of the structure of the eye support in the bionic eyebrow mechanism provided in a specific embodiment of the present application;

[0046] FIG11 is a schematic structural diagram of an eyebrow unit in a bionic eyebrow mechanism according to a specific embodiment of the present application;

[0047] FIG12 is a schematic diagram of the structure of the eyebrow motion control component in the bionic eyebrow mechanism provided in a specific embodiment of the present application;

[0048] FIG13 is a schematic structural diagram of a bionic mouth mechanism provided in a specific embodiment of the present application;

[0049] FIG14 is an assembly diagram of an oral motion assembly according to a specific embodiment of the present application;

[0050] FIG15 is a schematic diagram of a partial structure of an oral movement assembly according to a specific embodiment of the present application;

[0051] FIG16 is a schematic structural diagram of a left active motion block and a left driven motion block in a separated state in an oral motor assembly provided by a specific embodiment of the present application;

[0052] FIG17 is a second schematic diagram of a partial structure of an oral movement assembly provided in a specific embodiment of the present application;

[0053] FIG18 is a schematic structural diagram of a bionic tongue assembly provided in a specific embodiment of the present application;

[0054] FIG19 is a schematic diagram of a partial structure of a bionic tongue assembly provided in a specific embodiment of the present application;

[0055] FIG20 is an exploded view of a portion of the structure of a bionic tongue assembly provided in a specific embodiment of the present application;

[0056] FIG21 is a schematic diagram of a partial structure of a bionic mouth mechanism provided in a specific embodiment of the present application;

[0057] FIG22 is a schematic structural diagram of a robot bionic mask provided in a specific embodiment of the present application;

[0058] FIG23 is a schematic structural diagram of a robot bionic mask provided in a specific embodiment of the present application from another perspective;

[0059] FIG24 is a schematic structural diagram of a bionic neck mechanism provided in a specific embodiment of the present application;

[0060] FIG25 is an exploded view of a bionic neck mechanism provided in a specific embodiment of the present application;

[0061] FIG26 is a schematic diagram of a partial structure of a bionic neck mechanism provided in a specific embodiment of the present application;

[0062] FIG27 is a exploded view of a partial structure of the bionic neck mechanism provided in a specific embodiment of the present application.

[0063] Reference numerals

[0064] 1. Bionic eyebrow mechanism; 11. Eye unit; 111. Eye bracket; 1111. Left eyelid support arm; 1112. Right eyelid support arm; 112. Left eyeball; 1121. Left upper eyelid; 1122. Left lower eyelid; 1123. Left spherical shell; 1124. Left spherical shell mounting plate; 11241. Left mounting plate mounting port; 11242. Left mounting plate extension arm; 113. Right eyeball; 1131. Right upper eyelid; 1132. Right lower eyelid; 114. Left eyelid up and down rotation drive assembly; 1141. Left eyelid up and down rotation drive motor; 1142. Left eyelid rocker; 1143. Left eyelid straight connecting rod; 1144. Left upper eyelid arc connecting rod; 1145. Left lower eyelid arc connecting rod; 115, right eyelid up and down rotation drive assembly; 1151, right eyelid up and down rotation drive motor; 1152, right eyelid rocker; 1153, right eyelid straight connecting rod; 1154, right upper eyelid arc connecting rod; 1155, right lower eyelid arc connecting rod; 116, eyeball left and right rotation linkage drive assembly; 1161, eyeball left and right rotation linkage drive motor; 1162, eyeball left and right rotation linkage rocker; 1163, eyeball left and right rotation linkage rod; 117, eyeball up and down rotation linkage drive assembly; 1171, eyeball up and down rotation linkage drive Motor; 1172, eyeball up and down rotation linkage rocker; 1173, eyeball up and down rotation linkage arc connecting rod; 1174, eyeball up and down rotation linkage plate; 11741, middle plate; 11742, left connecting arm; 11743, right connecting arm; 12, eyebrow unit; 121, eyebrow bracket; 1211, installation position; 122, eyebrow motion control assembly; 1221, eyebrow motion drive motor; 1222, eyebrow eccentric wheel; 1223, eyebrow crank; 1224, motion guide mounting seat; 1225, eyebrow contact moving part; 2, imitation Raw tongue assembly; 21. Tongue body; 211. Tongue horizontal plate; 212. Tongue vertical plate; 213. Tongue connecting plate; 22. Tongue mounting plate; 221. Mounting plate horizontal plate portion; 2211. Telescopic guide groove; 2212. Rotation center portion; 222. Mounting plate downwardly bent portion; 2221. Tongue mounting plate bayonet; 23. Tongue left and right swing drive module; 231. Tongue left and right swing connector; 2311. Swing connection shaft; 2312. Swing connector sleeve hole; 232. Tongue left and right swing motor; 24. Tongue forward and backward telescopic drive module; 24 1. Tongue extension fisheye connecting rod; 242. Tongue extension eccentric; 243. Tongue extension motor; 25. Tongue sleeve; 3. Oral movement assembly; 31. Upper palate; 311. Left fixed arm; 312. Right fixed arm; 32. Left driven motion block; 321. Left cheek connection; 322. Left positioning column; 323. Left arc-shaped slide; 33. Left active motion block; 331. Left L-shaped forward and backward moving plate; 332. Left ear connection; 3321. Left ear connection; 34. Right driven motion block; 341. Right cheek connection;35. Right active motion block; 36. Left front-to-back motion drive module; 361. Left front-to-back motion swing arm; 362. Left front-to-back motion drive motor; 37. Right front-to-back motion drive module; 371. Right front-to-back motion swing arm; 372. Right front-to-back motion drive motor; 38. Internal and external linkage motion drive module; 381. Internal and external movement drive motor; 382. First connecting rod of left front-to-back motion drive motor; 383. Second connecting rod of left front-to-back motion drive motor; 384. First connecting rod of right front-to-back motion drive motor; 385. Second connecting rod of right front-to-back motion drive motor; 386. First linkage rod; 387. Second linkage rod; 4. Bionic mouth mechanism; 41. Mandibular motion assembly; 411. Mandibular plate; 4111. Lower jaw Jaw motion connecting arm; 412, lower jaw motion drive motor; 42, upper mouth corner motion drive assembly; 421, upper left mouth corner motion drive motor; 422, upper left mouth corner motion swing arm; 423, upper left mouth corner skin contact block; 424, upper left mouth corner motion guide column; 425, upper right mouth corner motion drive motor; 426, upper right mouth corner motion swing arm; 427, upper right mouth corner skin contact block; 428, upper right mouth corner motion guide column; 43, lower mouth corner motion drive assembly; 431, lower left mouth corner transmission rod; 432, lower left mouth corner motion first swing arm; 433, lower left mouth corner motion second swing arm; 434, lower left mouth corner motion drive motor; 435, lower right mouth corner transmission rod; 436, lower right mouth corner motion second swing arm 1. Swing arm; 437. Second swing arm for the movement of the lower right corner of the mouth; 438. Driving motor for the movement of the lower right corner of the mouth; 5. Robot bionic mask; 51. Mask body; 511. Eyebrow area; 512. Eye socket area; 513. Nose area; 514. Lip area; 515. Ear area; 516. Opening and closing seam; 517. Sleeve; 518. Cover plate; 6. Bionic neck mechanism; 61. Head end base; 611. Connecting shaft; 612. Arc gear part; 62. Head end connecting seat; 621. Bushing; 622. Head connecting protrusion; 623. Head connecting column; 63. Body end base; 631. Plug block; 632. Pitch motor mounting slot; 633. Swing motor mounting slot; 64. Neck fixing link; 6 41. Ball shaft; 65. Swing drive module; 651. Left vertical link; 652. Right vertical link; 653. Left and right swing links; 654. First gear; 655. Second gear; 656. Left and right swing drive motor; 66. Pitch drive module; 661. Front vertical link; 662. Rear vertical link; 663. Front and rear pitch links; 664. Upper gear; 665. Intermediate gear; 666. Lower gear; 667. Front and rear pitch drive motor; 67. Steering drive module; 671. Steering drive motor; 672. First top gear; 673. Second top gear; 674. Bottom gear; 675. Gear rod; 68. Spring; 69. Spring stop; 7. Robot head shell. DETAILED DESCRIPTION

[0065] The following will be combined with the specific embodiments of this application to clearly and completely describe the technical solutions of this application. Obviously, the embodiments described are part of the embodiments of this application, not all of them. Based on the embodiments of this application, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of this application.

[0066] It should be understood that the terms used in this specification are only for the purpose of describing specific embodiments and are not intended to limit this application. As used in this specification and the appended claims, the singular forms "a", "an", and "the" are intended to include the plural forms unless the context clearly indicates otherwise.

[0067] It will also be understood that the term "and / or" used in this specification and the appended claims refers to and includes any and all possible combinations of one or more of the associated listed items.

[0068] As shown in Figures 1 to 3, an embodiment of the present application provides a bionic robot head and neck structure, including a head structure and a neck structure movably connected to the head structure. The head structure includes a robot head shell 7, a robot bionic mask 5, a bionic eyebrow and eye mechanism 1, and a bionic mouth mechanism 4. The robot bionic mask 5 is mounted on the outer surface of the robot head shell 7, the bionic eyebrow and eye mechanism 1 and the bionic mouth mechanism 4 are installed inside the robot head shell 7, the neck structure is connected to the bionic mouth mechanism 4, and the neck structure is used to drive the head structure to achieve forward and backward pitching, left and right swinging, and circumferential turning movements. The bionic eyebrow and eye mechanism 1 and the bionic mouth mechanism 4 are connected to the robot bionic mask 5. The robot bionic mask 5 performs bionic robot facial expression movements under the action of the bionic eyebrow and eye mechanism 1 and the bionic mouth mechanism 4.

[0069] As shown in FIG22 , the robot bionic mask 5 includes a mask body 51. The mask body 51 is divided into an eyebrow area 511 (divided into left and right eyebrows), an eyehole area 512 (divided into left and right eyeholes), a nose area 513, a lip area 514 (divided into upper and lower lips), and an ear area 515 (divided into left and right ears), arranged according to the distribution of human organs. The mask body 51 is made of a flexible material and has a mask housing. A housing opening 517 is defined at the bottom of the mask body 51, communicating with the housing opening. The mask body 51 also has an opening and closing slit 516, one end of which extends to the housing opening 517. During use, the mask body 51 is nested into the outer surface of the robot head shell 7 through the sleeve 517. Since the opening and closing seam 516 is provided, the diameter of the sleeve 517 can be expanded, which is more conducive to nesting the mask body 51 into the robot head shell 7 and improves the convenience of assembly. After assembly, since the mask body 51 is made of flexible material, the opening and closing seam 516 will automatically return to its initial state, thereby improving the reliability after assembly.

[0070] Preferably, the mask body 51 is made of silicone. Silicone is soft and elastic, and can better fit the robot head shell 7. Silicone is also highly wear-resistant and durable, and can withstand long-term use and frequent cleaning without being easily damaged. In addition, silicone has good plasticity, which is conducive to the expression of highly realistic facial features and expressions, making the mask more realistic and vivid.

[0071] Furthermore, the inner wall of the mask housing is provided with several connecting structures, which facilitate connection with the robot head shell 7 and with the actuator terminals of the bionic eyebrow mechanism 2 and the bionic mouth mechanism 4. For example, the eyebrow region 511 is connected to the actuator terminal of the actuator unit that controls eyebrow movement through the connecting structures, thereby enabling movement of the eyebrow region 511. The connecting structures improve the reliability of the assembly and facilitate the actuator terminal of the actuator unit to control the mask body 51, thereby making the simulation of facial expressions more precise.

[0072] In some embodiments, the connection structure is a buckle and / or a slot. In this embodiment, the connection structure is a buckle and a slot, that is, a buckle and a slot are provided on the inner wall of the mask sleeve. The buckle is a protrusion, and the protrusion on the inner wall of the mask sleeve is used to connect and cooperate with the slot on the head shell of the robot head, and the slot on the inner wall of the mask sleeve is used to connect and cooperate with the protrusion on the execution end of the execution unit. Of course, in some embodiments, the connection structure is a magnetic attraction member, and the connection is achieved using magnetic principles.

[0073] As shown in Figure 2, the mask body 51 also features a multifunctional interface window and a cover plate 518 that opens and closes over the multifunctional interface window. The multifunctional interface window corresponds to the data port, charging port, and switch on the robot's head shell, facilitating user operation. To ensure the concealment of the multifunctional interface window and the integrity of the mask body 51, a cover plate 518 is provided to cover the multifunctional interface window. To minimize the obtrusiveness of the cover plate 518 on the mask body 51, the outer surface of the cover plate 518 should be shaped to match the shape of the area of ​​the mask body 51 surrounding it, ensuring a smooth transition.

[0074] Preferably, in order to facilitate opening and closing, the cover plate 518 is hingedly arranged on one side of the multi-function interface window.

[0075] Preferably, to enhance the aesthetics of the mask body 51 and ensure a reasonable layout, the multifunctional interface window is located on the rear side of the mask body 51, and the opening and closing slit 516 is located on the rear side of the mask body 51, below the multifunctional interface window. Placing the multifunctional interface window and opening and closing slit 516 on the mask body 51 does not affect the expression of facial expressions in areas such as the eyebrow area 511 and lip area 514 of the mask body 51, and is difficult to observe, providing a certain degree of concealment.

[0076] As shown in Figures 4 to 6, the bionic eyebrow mechanism 1 includes an eye unit 11 and an eyebrow unit 12. The eye unit 11 includes an eye bracket 111, a left eyeball 112, a right eyeball 113, a left upper eyelid 1121, a left lower eyelid 1122, a right upper eyelid 1131, a right lower eyelid 1132, a left eyelid up and down rotation driving component 114, a right eyelid up and down rotation driving component 115, an eyeball left and right rotation linkage driving component 116, and an eyeball up and down rotation linkage driving component 117. The left upper eyelid 1121 and the left lower eyelid 1122 are hinged on the eye bracket 111 and cover the left eyeball 112. The left eyelid up and down rotation driving component 114 is used to drive the left upper eyelid 1121 and the left lower eyelid 1122 to open and close relative to each other. The right upper eyelid 1131 and the right lower eyelid 1132 are hinged on the eye support 111 and cover the right eyeball 113. The right eyelid up and down rotation drive component 115 is used to drive the right upper eyelid 1131 and the right lower eyelid 1132 to open and close relative to each other. The eyeball left and right rotation linkage drive component 116 is used to drive the left eyeball 112 and the right eyeball 113 to rotate left and right in linkage. The eyeball up and down rotation linkage drive component 117 is used to drive the left eyeball 112 and the right eyeball 113 to rotate up and down in linkage; the eyebrow unit 12 includes an eyebrow support 121, and multiple eyebrow motion control components 122 installed on the eyebrow support 121. The multiple eyebrow motion control components 122 act on different parts of the eyebrows respectively to realize the movement of different parts of the eyebrows.

[0077] By means of the left eyelid up and down rotation drive assembly 114 and the right eyelid up and down rotation drive assembly 115, the opening and closing of the left upper eyelid 1121 and the left lower eyelid 1122, as well as the opening and closing of the right upper eyelid 1131 and the right lower eyelid 1132 can be independently realized. Since the left eyelid and the right eyelid are independently controlled, it is possible to realize that when the left eyelid is open, the right eyelid is half-closed or completely closed, thereby improving the richness of the eyelid movement. By means of the eyeball left and right rotation linkage drive assembly 116, the left and right rotation of the left eyeball 112 and the right eyeball 113 can be linked, and by means of the eyeball up and down rotation linkage drive assembly 117, the left and right eyeballs 112 and the right eyeball 113 can be linked, and when the left and right eyeballs 113 rotate left and right, the up and down rotation of the left and right eyeballs 113 will not be interfered with, and can be performed synchronously, thereby improving the richness of the eyeball movement. Since the control of the left and right eyelids (in this application, the left upper eyelid 1121, the left lower eyelid 1122, the right upper eyelid 1131 and the right lower eyelid 1132, and the subsequent content will continue to use it) and the left and right eyeballs 113 (in this application, the left eyeball 112 and the right eyeball 113, and the subsequent content will continue to use it) are independent, the two can cooperate with each other to achieve more eye movements, thereby improving the richness of eye movements. In addition, multiple eyebrow motion control components 122 act on different parts of the eyebrows respectively to achieve movements of different parts of the eyebrows, thereby improving the richness of movements of the eyebrow parts. At the same time, the eye unit 11 and the eyebrow unit 12 can cooperate with each other due to independent control, thereby improving the degree of cooperation and coordination between the eyebrows and eyes. In terms of the overall movement of the eyebrows and eyes, the facial expressions of the bionic robot are richer and more conducive to the expression of emotions.

[0078] As shown in Figures 5, 6 and 10, the eye bracket 111 is provided with two left eyelid arms 1111 arranged opposite to each other, the left upper eyelid 1121 and the left lower eyelid 1122 are hinged between the two left eyelid arms 1111, and the left eyelid up and down rotation driving assembly 114 includes a left eyelid up and down rotation driving motor 1141, a left eyelid rocker 1142, a left eyelid straight connecting rod 1143, a left upper eyelid arc connecting rod 1144 and a left lower eyelid arc connecting rod 1145. One end of the left upper eyelid arc connecting rod 1144 is hinged to the left upper eyelid 1121. The other end of the left upper eyelid arc connecting rod 1144 is hinged to one end of the left eyelid straight connecting rod 1143, one end of the left lower eyelid arc connecting rod 1145 is hinged to the left upper eyelid 1121, the other end of the left lower eyelid arc connecting rod 1145 is hinged to one end of the left eyelid straight connecting rod 1143, the other end of the left eyelid straight connecting rod 1143 is connected to the left eyelid rocker 1142, the left eyelid rocker 1142 is connected to the output shaft of the left eyelid up and down rotation driving motor 1141, and the left eyelid up and down rotation driving motor 1141 is installed on the eye bracket 111. The eye support 111 is further provided with two right eyelid arms 1112 arranged opposite to each other, the right upper eyelid 1131 and the right lower eyelid 1132 are hinged between the two right eyelid arms 1112, the right eyelid up and down rotation driving assembly 115 comprises a right eyelid up and down rotation driving motor 1151, a right eyelid rocker 1152, a right eyelid straight connecting rod 1153, a right upper eyelid arc connecting rod 1154 and a right lower eyelid arc connecting rod 1155, one end of the right upper eyelid arc connecting rod 1154 is hinged to the right upper eyelid 1131, and the right upper eyelid arc connecting rod 1155 is hinged to the right upper eyelid 1131. 5 is hinged to one end of the right eyelid straight connecting rod 1153, one end of the right lower eyelid arc connecting rod 1155 is hinged to the right upper eyelid 1131, the other end of the right lower eyelid arc connecting rod 1155 is hinged to one end of the right eyelid straight connecting rod 1153, the other end of the right eyelid straight connecting rod 1153 is connected to the right eyelid rocker 1152, the right eyelid rocker 1152 is connected to the output shaft of the right eyelid up and down rotation driving motor 1151, and the right eyelid up and down rotation driving motor 1151 is fixedly installed on the eye bracket 111 by screws and other connecting parts.

[0079] When the left upper eyelid 1121 and the left lower eyelid 1122 need to be relatively closed, the output shaft of the driving motor that controls the eyelids to rotate up and down drives the left eyelid rocker 1142 to rotate backward. When the left eyelid rocker 1142 rotates backward, it pulls the left eyelid straight connecting rod 1143 backward. When the left eyelid straight connecting rod 1143 is pulled, the left upper eyelid arc connecting rod 1144 and the left lower eyelid arc connecting rod 1145 will move closer to each other, thereby making the left upper eyelid 1121 and the left lower eyelid 1122 move closer to each other until they are completely closed. When the left upper eyelid 1121 and the left lower eyelid 1122 need to be relatively opened, the output shaft of the eyelid rotation drive motor drives the left eyelid rocker 1142 to rotate forward. The left eyelid rocker 1142 rotates forward and pushes the left eyelid straight link 1143 forward. When the left eyelid straight link 1143 is pushed, the left upper eyelid arc link 1144 and the left lower eyelid arc link 1145 move away from each other, thereby moving the left upper eyelid 1121 and the left lower eyelid 1122 away from each other until they are fully opened. Of course, the eyelid can be flexibly controlled from fully open to fully closed or from fully closed to fully open, thereby realizing a variety of eye expressions, such as blinking, squinting, and staring. Similarly, since the right eyelid up and down rotation drive component 115 has the same structure as the left eyelid up and down rotation drive component 114, the opening and closing action process of the right upper eyelid 1131 and the right lower eyelid 1132 is the same as the opening and closing action process of the left upper eyelid 1121 and the left lower eyelid 1122, and the specific action process will not be repeated here.

[0080] Since the opening and closing of the left upper eyelid 1121 and the left lower eyelid 1122 and the opening and closing of the right upper eyelid 1131 and the right lower eyelid 1132 are independent, the movements of the two do not interfere with each other and can cooperate with each other to achieve different eye movements.

[0081] Since the left eyelid up and down rotation driving component 114 utilizes the cooperation among the left eyelid up and down rotation driving motor 1141, the left eyelid rocker 1142, the left eyelid straight connecting rod 1143, the left upper eyelid arc connecting rod 1144 and the left lower eyelid arc connecting rod 1145, and the right eyelid up and down rotation driving component 115 utilizes the cooperation among the right eyelid up and down rotation driving motor 1151, the right eyelid rocker 1152, the right eyelid straight connecting rod 1153, the right upper eyelid arc connecting rod 1154 and the right lower eyelid arc connecting rod 1155, the opening angle between the upper and lower eyelids is improved, and complete closure can be achieved at the same time, thereby improving the richness of eye movements.

[0082] As shown in Figures 5 and 6, the eyeball up and down rotation linkage drive component 117 includes an eyeball up and down rotation linkage drive motor 1171, an eyeball up and down rotation linkage rocker 1172, an eyeball up and down rotation linkage arc link 1173 and an eyeball up and down rotation linkage plate 1174. The eyeball up and down rotation linkage plate 1174 is hinged on the eye bracket 111, and the left eyeball 112 and the right eyeball 113 are rotatably connected to the eyeball up and down rotation linkage plate 1174. One end of the eyeball up and down rotation linkage arc link 1173 is connected to the eyeball up and down rotation linkage plate 1174, and the other end of the eyeball up and down rotation linkage arc link 1173 is connected to the eyeball up and down rotation linkage rocker 1172. The eyeball up and down rotation linkage rocker 1172 is connected to the output shaft of the eyeball up and down rotation linkage drive motor 1171, and the eyeball up and down rotation linkage drive motor 1171 is fixedly mounted on the eye bracket 111 by screws and other connecting parts.

[0083] When the eyeball rotation linkage drive motor 1171 controls the eyeball rotation up and down and drives the eyeball rotation linkage rocker 1172 to rotate backward, the eyeball rotation up and down linkage rocker 1172 will pull the eyeball rotation up and down linkage arc link 1173 backward, and the eyeball rotation up and down linkage arc link 1173 will drive the eyeball rotation up and down linkage plate 1174 to rotate backward around the hinge part. The backward rotation of the eyeball rotation up and down linkage plate 1174 will cause the left eyeball 112 and the right eyeball 113 to rotate upward synchronously, thereby realizing the linkage of the left eyeball 112 and the right eyeball 113 to rotate upward. When the eyeball rotation linkage drive motor 1171 controls the eyeball rotation up and down and drives the eyeball rotation linkage rocker 1172 to rotate forward, the eyeball rotation up and down linkage rocker 1172 will push the eyeball rotation up and down linkage arc connecting rod 1173 forward, and the eyeball rotation up and down linkage arc connecting rod 1173 will drive the eyeball rotation up and down linkage plate 1174 to rotate forward around the hinge part. The forward rotation of the eyeball rotation up and down linkage plate 1174 will cause the left eyeball 112 and the right eyeball 113 to rotate downward synchronously, thereby realizing the linkage of the left eyeball 112 and the right eyeball 113 to rotate downward.

[0084] Through the coordinated cooperation of the eyeball up and down rotation linkage drive motor 1171, the eyeball up and down rotation linkage rocker 1172, the eyeball up and down rotation linkage arc connecting rod 1173 and the eyeball up and down rotation linkage plate 1174, the up and down rotation amplitude of the left and right eyeballs 113 is improved, which is conducive to coordinating with the left and right eyelids to make richer eye expressions.

[0085] As shown in Figures 6 and 8, the eyeball up and down rotation linkage plate 1174 includes an integrally formed middle plate 11741, and a left connecting arm 11742 and a right connecting arm 11743 arranged on both sides of the middle plate 11741. The end of the left connecting arm 11742 is rotatably connected to the left eyeball 112 by using axial parts such as pins, and the end of the right connecting arm 11743 is rotatably connected to the right eyeball 113 by using axial parts such as pins. The left and right sides of the middle plate 11741 are hinged to the eye bracket 111, and one end of the eyeball left and right rotation linkage arc connecting rod is hinged to the front side of the middle plate 11741.

[0086] In this embodiment, the left connecting arm 11742 and the right connecting arm 11743 are L-shaped, and the left connecting arm 11742 and the right connecting arm 11743 are symmetrically arranged along the center of the middle plate 11741. The middle plate 11741 is in the shape of a rectangular parallelepiped, and a mounting opening is opened in the middle thereof. The upper surface of the middle plate 11741 is provided with a hinge position for the arc-shaped connecting rod for the left and right rotation of the eyeball near the front edge. The middle plate 11741 and the arc-shaped connecting rod for the left and right rotation of the eyeball are hinged by an axial member such as a pin. The middle plate 11741 is provided with a hinge position for the left eyelid supporting arm 1111 and the right eyelid supporting arm 1112 on the left and right sides. The middle plate 11741 and the left eyelid supporting arm 1111 and the right eyelid supporting arm 1112 are hinged by an axial member such as a pin. Of course, in other embodiments, the left connecting arm 11742 and the right connecting arm 11743 can be other shapes, such as T-shape, etc.

[0087] The construction method of the above-mentioned middle plate 11741, left connecting arm 11742 and right connecting arm 11743 is conducive to the realization of the up and down rotation linkage function of the left and right eyeballs 113 while ensuring the simplicity of the structure. The structural design is ingenious and reduces the occupied space. At the same time, the mounting port of the middle plate 11741 can serve as a supporting structure for the power component in the left and right rotation linkage drive assembly 116 of the eyeball, making the overall structure more compact and reducing the space occupied.

[0088] As shown in Figures 5-7, the eyeball rotation linkage drive assembly 116 includes an eyeball rotation linkage drive motor 1161, an eyeball rotation linkage rocker 1162, and an eyeball rotation linkage rod 1163. The left and right ends of the eyeball rotation linkage rod 1163 are respectively rotatably connected to the left eyeball 112 and the right eyeball 113. The middle portion of the eyeball rotation linkage rod 1163 is movably connected to the eyeball rotation linkage rocker 1162. The eyeball rotation linkage rocker 1162 is connected to the output shaft of the eyeball rotation linkage drive motor 1161. The eyeball rotation linkage drive motor 1161 is fixed to the central plate 11741 via screws and other connectors. The coordinated cooperation of the eyeball rotation linkage drive motor 1161, the eyeball rotation linkage rocker 1162, and the eyeball rotation linkage rod 1163 increases the amplitude of the left and right eyeballs 113 to rotate, thereby facilitating the production of richer eye expressions in coordination with the left and right eyelids.

[0089] In this embodiment, the eyeball left and right rotation linkage drive motor 1161 is installed in the installation opening of the middle plate 11741, thereby reducing the space occupied by the eyeball left and right rotation linkage drive motor 1161 and making the structure more compact.

[0090] Since the middle plate 11741 is hinged to the eye bracket 111, when the middle plate 11741 rotates up and down, the eyeball left and right rotation linkage drive component 116 will rotate up and down as a whole. At the same time, the eyeball left and right rotation linkage drive component 116 can drive the left and right eyeballs 113 to rotate left and right. The operation of the eyeball up and down rotation linkage drive component 117 will not affect the operation of the eyeball left and right rotation linkage drive component 116. Therefore, when the left and right eyeballs 113 rotate left and right, it will not interfere with the up and down rotation of the left and right eyeballs 113. On the contrary, they can cooperate with each other. The up and down rotation of the eyeballs and the left and right rotation can be carried out synchronously, which improves the richness of the eyeball movements. In addition, the cooperation with the left and right eyelids further improves the richness of the eye movements.

[0091] As shown in Figures 6 to 9, the left eyeball 112 includes a left spherical shell 1123 and a left spherical shell mounting plate 1124. The left spherical shell mounting plate 1124 is embedded in the interior of the left spherical shell 1123 and is fixedly connected thereto by screws and other connecting parts. When the left spherical shell mounting plate 1124 rotates, the left spherical shell 1123 rotates synchronously. A left mounting plate mounting opening 11241 is provided in the middle of the left spherical shell mounting plate 1124. The end of the left connecting arm 11742 is placed in the left mounting plate mounting opening 11241 and is rotatably connected to the left spherical shell mounting plate 1124 by axial parts such as pins. A left mounting plate extension arm 11242 is laterally extended from the upper side edge of the left spherical shell mounting plate 1124 near the left mounting plate mounting opening 11241. The left mounting plate extension arm 11242 is further extended laterally from the upper side edge of the left spherical shell mounting plate 1124 near the left mounting plate mounting opening 11241. The end of 42 is rotatably connected to the left end of the eyeball left-right rotation linkage rod 1163 through an axial part such as a pin; the right eyeball 113 includes a right spherical shell and a right spherical shell mounting plate. The right spherical shell mounting plate is embedded in the interior of the right spherical shell and is fixedly connected to it through connecting parts such as screws. When the right spherical shell mounting plate rotates, the right spherical shell rotates synchronously. A right mounting plate mounting opening is provided in the middle of the right spherical shell mounting plate. The end of the right connecting arm 11743 is placed in the right mounting plate mounting opening and is rotatably connected to the right spherical shell mounting plate through an axial part such as a pin. A right mounting plate extension arm is horizontally extended near the upper side edge of the right mounting plate mounting opening of the right spherical shell mounting plate. The end of the right mounting plate extension arm is rotatably connected to the right end of the eyeball left-right rotation linkage rod 1163 through an axial part such as a pin.

[0092] The configuration of the left and right spherical shells 1123 and 1124 enhances the sense of realism. Because the left and right spherical shells 1123 and 1124 are not directly connected to other transmission components but are indirectly driven, the left and right spherical shell mounting plates 1124 and 1124 are embedded in the left and right spherical shells, respectively. This further enhances the sense of realism while maintaining the integrity of the outer surfaces of the left and right spherical shells 1123 and 1124, thereby enhancing the visual impact.

[0093] As shown in Figures 4 and 11, the multiple eyebrow motion control components 122 include a left eyebrow first part motion control component, a left eyebrow second part motion control component, a right eyebrow first part motion control component and a right eyebrow second part motion control component. The left eyebrow first part motion control component acts on the center position above the left eyebrow, the left eyebrow second part motion control component acts on the corner of the left eyebrow close to the center of the eyebrow, the right eyebrow first part motion control component acts on the center position above the right eyebrow, and the right eyebrow second part motion control component acts on the corner of the right eyebrow close to the center of the eyebrow.

[0094] Specifically, through the action of multiple eyebrow motion control components 122, multiple parts of the left and right eyebrows on the mask body 51 are used to move, so as to enhance the richness of the eyebrow movements, such as locking the eyebrows, pulling the eyebrows to the sides, etc.

[0095] It should be noted that, in order to ensure the richness of movements in the eyebrow area, at least two eyebrow motion control components 122 are set for the left eyebrow and the right eyebrow respectively. Of course, in some embodiments, more eyebrow motion control components 122 can be set. For example, three eyebrow motion control components 122 are set for the left eyebrow and the right eyebrow respectively, one eyebrow motion control component 122 acts on the center position above the eyebrow, one eyebrow motion control component 122 acts on the corner of the eyebrow on the side close to the center of the eyebrow, and one eyebrow motion control component 122 acts on the corner of the eyebrow on the side away from the center of the eyebrow.

[0096] Multiple eyebrow motion control components 122 act on different parts of the eyebrows respectively to realize the movement of different parts of the eyebrows, thereby improving the richness of the movements of the eyebrow parts. At the same time, the eye unit 11 and the eyebrow unit 12 can cooperate with each other due to independent control, thereby improving the degree of cooperation and coordination between the eyebrows and eyes. In terms of the overall movement of the eyebrows and eyes, the facial expressions of the bionic robot are richer and more conducive to the expression of emotions.

[0097] As shown in Figures 11 and 12, the eyebrow motion control component 122 includes an eyebrow motion drive motor 1221, an eyebrow eccentric wheel 1222, an eyebrow crank 1223, an eyebrow contact moving part 1225 and a motion guide mounting seat 1224. The eyebrow motion drive motor 1221 is fixedly mounted on the eyebrow bracket 121 by screws and other connecting parts. One side of the eyebrow eccentric wheel 1222 is connected to the output shaft of the eyebrow motion drive motor 1221, one end of the eyebrow crank 1223 is connected to the other side of the eyebrow eccentric wheel 1222, and the other end of the eyebrow crank 1223 is connected to the eyebrow contact moving part 1225. The eyebrow contact moving part 1225 is slidably mounted on the motion guide mounting seat 1224. Under the power of the eyebrow motion drive motor 1221, the eyebrow contact moving part 1225 moves up and down relative to the motion guide mounting seat 1224.

[0098] When the eyebrow motion control assembly 122 is in operation, the output shaft of the eyebrow motion drive motor 1221 drives the eyebrow eccentric 1222 to rotate, which in turn drives the eyebrow crank 1223 to rotate. The rotation of the eyebrow crank 1223 causes the eyebrow contact moving member 1225 to move up and down along the motion guide mounting seat 1224. The eyebrow contact moving member 1225 contacts the eyebrow part, thereby causing the corresponding part of the hair to move up and down, for example, to achieve the action of raising the eyebrows. The coordinated arrangement of the eyebrow motion drive motor 1221, the eyebrow eccentric 1222, the eyebrow crank 1223, the eyebrow contact moving member 1225, and the motion guide mounting seat 1224 not only facilitates control but also takes up little space, thereby improving the compactness of the structure.

[0099] In this embodiment, the eyebrow contacting member 1225 comprises a U-shaped portion and a cylindrical protrusion. The cylindrical protrusion is located at the bottom of the U-shaped portion, and the distal end of the cylindrical protrusion contacts the eyebrow portion of the mask body 51. When the eyebrow contacting member 1225 moves up and down, the eyebrow portion of the mask body 51 also moves. The motion guide mounting base 1224 is provided with two vertical slots, into which the two side panels of the U-shaped portion at least partially engage.

[0100] As shown in Figures 6 and 7, the brow support 121 is mounted above the eye support 111 using screws and other fasteners. The brow support 121 is also fixed to the robot head shell 7 using screws and other fasteners. The brow support 121 has multiple mounting locations 1211 for accommodating brow movement drive motors 1221. The multiple mounting locations 1211 are arranged side by side.

[0101] In this embodiment, four installation positions 1211 are provided, which are used to install and fix four eyebrow motion drive motors 1221 of the four control components, namely, the left eyebrow first part motion control component, the left eyebrow second part motion control component, the right eyebrow first part motion control component and the right eyebrow second part motion control component.

[0102] As shown in Figures 13-14, the bionic oral mechanism 4 includes a mandibular motion component 41, an oral motion component 3 and a bionic tongue component 2. The mandibular motion component 41 includes a mandibular plate 411 and a mandibular plate motion drive motor 412 that is transmission-connected to the mandibular plate 411. When the mandibular plate motion drive motor 412 is working, it drives the mandibular plate 411 to rotate up and down. The oral movement component 3 includes an upper jaw plate 31, a left active motion block 33, a left driven motion block 32, a left front-to-back motion drive module 36, a right active motion block 35, a right driven motion block 34, a right front-to-back motion drive module 37 and an internal and external linkage motion drive module 38. The left driven motion block 32 is fixedly connected to the left active motion block 33. The upper jaw plate 31 and the lower jaw plate 411 are arranged relative to each other up and down. The left active motion block 33 and the left driven motion block 32 are located between the left side of the upper jaw plate 31 and the lower jaw plate 411. The right active motion block 35 and the right driven motion block 34 are located between the right side of the upper jaw plate 31 and the lower jaw plate 411. The left front-to-back motion drive module 36 is transmission-connected to the left active motion block 33. When the left front-to-back motion drive module 36 is working, it drives the left active motion block 33 to move back and forth. The right driven motion block 34 is fixedly connected to the right active motion block 35. The right front-to-back motion drive module 37 is transmission-connected to the right active motion block 35. The right front-to-back motion drive module When 37 is working, it drives the right active motion block 35 to move forward and backward, and the internal and external linkage motion drive module 38 is transmission-connected with the left front and rear motion drive module 36 and the right front and rear motion drive module 37. When the internal and external linkage motion drive module 38 is working, it drives the left active motion block 33 and the right active motion block 35 to move inward or outward synchronously. The bionic tongue assembly 2 includes a tongue body 21, a tongue mounting plate 22, a tongue left and right swinging drive module 23 and a tongue front and back telescopic drive module 24. The tongue body 21 is arranged between the upper jaw plate 31 and the lower jaw plate 411. The tongue mounting plate 22 is provided with a telescopic guide groove along the telescopic direction of the tongue body 21. The tongue body 21 is clamped in the telescopic guide groove. The tongue front and back telescopic drive module 24 is connected to the tongue body 21 to drive the tongue body 21 to perform telescopic movement forward and backward along the telescopic guide groove. The tongue left and right swinging drive module 23 is connected to the tongue mounting plate 22 to drive the tongue mounting plate 22 and the tongue body 21 to swing synchronously left and right.

[0103] The mandibular motion assembly 41 enables the up-and-down rotation of the mandibular plate 411. The left active motion block 33, the left driven motion block 32, the left front-to-back motion drive module 36, the right active motion block 35, the right driven motion block 34, the right front-to-back motion drive module 37, and the internal-external linkage motion drive module 38 are provided. The left front-to-back motion drive module 36 drives the left active motion block 33 to move back and forth, achieving back-and-forth motion of the left inner wall of the oral cavity. The right front-to-back motion drive module 37 drives the right active motion block 35 to move back and forth, achieving back-and-forth motion of the right inner wall of the oral cavity. Furthermore, because the back-and-forth motion of the left inner wall of the oral cavity and the back-and-forth motion of the right inner wall of the cavity are relatively independent, their movements can be independently controlled, thereby enhancing the richness of oral movement. Furthermore, the internal-external linkage motion drive module 38 drives the left active motion block 33 and the right active motion block 35 to move synchronously inward or outward, achieving inward squeezing or outward bulging of the left and right inner walls of the oral cavity, further enhancing the richness of oral movement and, in turn, the richness of facial expression. The tongue main body 21 is moved forward and backward by using the tongue extension and retraction drive module, and the tongue main body 21 is moved left and right by using the tongue swing drive module 23, thereby improving the movement richness of the tongue main body 21.

[0104] As shown in FIG13 , the bionic mouth mechanism 4 further includes an upper corner of the mouth motion drive assembly 42, which includes a left upper corner of the mouth skin contact block 423, a left upper corner of the mouth motion guide column 424, a left upper corner of the mouth motion drive module, a right upper corner of the mouth skin contact block 427, a right upper corner of the mouth motion guide column 428, and a right upper corner of the mouth motion drive module. The left upper corner of the mouth motion drive module includes a left upper corner of the mouth motion swing arm 422 and a left upper corner of the mouth motion drive motor 421. The left upper corner of the mouth motion guide column 424 is fixed to the upper surface of the upper jaw plate 31. The left upper corner of the mouth skin contact block 423 is movably mounted on the left upper corner of the mouth motion guide column 424. One end of the left upper corner of the mouth motion swing arm 422 is connected to the output shaft of the left upper corner of the mouth motion drive motor 421, and one end of the left upper corner of the mouth motion swing arm 422 is connected to the left upper corner of the mouth skin contact block 423. During operation, the upper left corner of the mouth motion drive motor 421 drives the upper left corner of the mouth motion swing arm 422 to rotate, and the upper left corner of the mouth motion swing arm drives the upper left corner of the mouth skin contact block 423 to move up and down along the upper left corner of the mouth motion guide column 424. The upper left corner of the mouth skin contact block 423 contacts the upper left corner of the mouth of the mask body 51 and drives it to move up and down, thereby achieving the up and down movement of the upper left corner of the mouth. In this embodiment, the upper left corner of the mouth motion drive motor 421 is mounted on the upper surface of the upper jaw plate 31. Through the cooperation between the upper left corner of the mouth skin contact block 423, the upper left corner of the mouth motion guide column 424, and the upper left corner of the mouth motion drive module, the movement of the upper left corner of the mouth is achieved within a limited space, and the structural design is compact.

[0105] The right upper corner of the mouth motion drive module includes a right upper corner of the mouth motion swing arm 426 and a right upper corner of the mouth motion drive motor 425. The right upper corner of the mouth motion guide column 428 is fixed to the upper surface of the upper jaw plate 31. The right upper corner of the mouth skin contact block 427 is movably mounted on the right upper corner of the mouth motion guide column 428. One end of the right upper corner of the mouth motion swing arm 426 is connected to the output shaft of the right upper corner of the mouth motion drive motor 425, and one end of the right upper corner of the mouth motion swing arm 426 is connected to the right upper corner of the mouth skin contact block 427. During operation, the right upper corner of the mouth motion drive motor 425 drives the right upper corner of the mouth motion swing arm 426 to rotate, and the upper corner of the mouth motion swing arm drives the right upper corner of the mouth skin contact block 427 to move up and down along the right upper corner of the mouth motion guide column 428. The right upper corner of the mouth skin contact block 427 contacts the right upper corner of the mouth position on the mask body 51 and drives it to move up and down, thereby realizing the up and down movement of the right upper corner of the mouth. In this embodiment, the upper right corner of the mouth motion drive motor 425 is mounted on the upper surface of the upper jaw plate 31. The coordination between the upper right corner of the mouth skin contact block 427, the upper right corner of the mouth motion guide column 428, and the upper right corner of the mouth motion drive module enables the movement of the upper right corner of the mouth within a limited space, resulting in a compact structural design.

[0106] As shown in Figures 13 and 21, the bionic mouth mechanism 4 also includes a lower lip corner motion drive assembly 43, which includes a left lower lip corner drive rod 431, a left lower lip corner motion drive module, a right lower lip corner drive rod 435, and a right lower lip corner motion drive module. The left lower lip corner motion drive module includes a left lower lip corner motion first swing arm 432, a left lower lip corner motion second swing arm 433, and a left lower lip corner motion drive motor 434. The middle portion of the left lower lip corner drive rod 431 is hinged to the lower jaw plate 411, the front end of the left lower lip corner drive rod 431 forms the left lower lip corner skin contact portion, the rear end of the left lower lip corner drive rod 431 is hinged to one end of the left lower lip corner motion first swing arm 432, the other end of the left lower lip corner motion first swing arm 432 is hinged to one end of the left lower lip corner motion second swing arm 433, and the other end of the left lower lip corner motion second swing arm 433 is connected to the left lower lip corner motion drive motor 434. During operation, the left lower corner of the mouth motion drive motor 434 drives the left lower corner of the mouth motion second swing arm 433 to move, the left lower corner of the mouth motion second swing arm 433 drives the left lower corner of the mouth motion first swing arm 432 to move, and the left lower corner of the mouth motion first swing arm 432 drives the left lower corner of the mouth motion transmission rod 431 to rotate around the hinge position of the lower jaw plate 411, thereby driving the left lower corner of the mouth to move. In this embodiment, the outer skin contact portion of the lower left corner is hook-shaped, and the hook-shaped lower left corner of the mouth on the mask body 51 is imitated to achieve the downward movement of the lower left corner of the mouth or the inward rotation of a certain angle. Through the cooperation of the left lower corner of the mouth transmission rod 431 and the left lower corner of the mouth motion drive module, the movement of the lower left corner of the mouth is achieved within a limited space, and the movement of other components will not interfere with each other, and the structural design is ingenious.

[0107] The right lower corner of the mouth motion drive module includes a first right lower corner of the mouth motion swing arm 436, a second right lower corner of the mouth motion swing arm 437 and a right lower corner of the mouth motion drive motor 438. The middle part of the right lower corner of the mouth transmission rod 435 is hinged to the lower jaw plate 411, and the front end of the right lower corner of the mouth transmission rod 435 constitutes the right lower corner skin contact part. The rear end of the right lower corner of the mouth transmission rod 435 is hinged to one end of the first right lower corner of the mouth motion swing arm 436, and the other end of the first right lower corner of the mouth motion swing arm 436 is hinged to one end of the second right lower corner of the mouth motion swing arm 437, and the other end of the second right lower corner of the mouth motion swing arm 437 is connected to the right lower corner of the mouth motion drive motor 438. During operation, the right lower corner of the mouth motion drive motor 438 drives the right lower corner of the mouth motion second swing arm 437 to move, the right lower corner of the mouth motion second swing arm 437 drives the right lower corner of the mouth motion first swing arm 436 to move, and the right lower corner of the mouth motion first swing arm 436 drives the right lower corner of the mouth motion transmission rod 435 to rotate around the hinge position of the lower jaw plate 411, thereby driving the right lower corner of the mouth to move. In this embodiment, the outer skin contact portion of the right lower corner of the mouth is hook-shaped, and the right lower corner of the mouth on the hook-shaped mask body 51 is used to achieve downward movement of the right lower corner of the mouth or inward rotation at a certain angle. Through the cooperation of the right lower corner of the mouth transmission rod 435 and the right lower corner of the mouth motion drive module, the movement of the right lower corner of the mouth is achieved within a limited space, and the movement of other components will not interfere with each other, and the structural design is ingenious.

[0108] As shown in FIG13 , the lower jaw plate 411 is provided with a lower jaw motion connecting arm 4111, which is connected to the output shaft of the lower jaw plate motion drive motor 412. When the lower jaw plate motion drive motor 412 is in operation, it drives the lower jaw plate 411 to rotate up and down. In this embodiment, the lower jaw plate 411 is provided with two lower jaw motion connecting arms 4111, which are respectively fixed to the left and right sides of the lower jaw plate 411 near the rear side. When the lower jaw plate motion drive motor 412 is in operation, the output shaft of the lower jaw plate motion drive motor 412 can directly drive the lower jaw motion connecting arm 4111 to move, without the need for a separate transmission component for transition, thus saving component costs.

[0109] In this embodiment, there is a connecting plate between the two mandibular motion connecting arms 4111, and the left lower corner of the mouth motion drive motor 434 and the right lower corner of the mouth motion drive motor 438 are installed on the rear side of the connecting plate. When the mandibular motion connecting arm 4111 drives the mandibular plate 411 to move, it can drive the left lower corner of the mouth motion drive motor 434 and the right lower corner of the mouth motion drive motor 438 to move synchronously. At the same time, the left lower corner of the mouth transmission rod 431 and the right lower corner of the mouth transmission rod 435 will also move the mandibular plate 411. Therefore, the movement of the mandibular plate 411 will not interfere with the left lower corner of the mouth transmission rod 431 and the right lower corner of the mouth transmission rod 435.

[0110] As shown in Figures 14 to 16, the left front-to-back motion drive module 36 includes a left front-to-back motion swing arm 361 and a left front-to-back motion drive motor 362. One end of the left front-to-back motion swing arm 361 is connected to the output shaft of the left front-to-back motion drive motor 362, and the other end of the left front-to-back motion swing arm 361 is hinged to the rear side of the left active motion block 33. The upper side of the left active motion block 33 is movably connected to the upper jaw 31, and the front side of the left active motion block 33 is fixedly connected to the left driven motion block 32. When the output shaft of the left front-to-back motion drive motor 362 rotates, it drives the left front-to-back motion swing arm 361 to rotate, thereby driving the left active motion block 33 to move forward or backward, and the left driven motion block 32 also moves forward or backward following the left active motion block 33. The left front-to-back motion of the left active motion block 33 is achieved by the cooperation of the left front-to-back motion swing arm 361 and the left front-to-back motion drive motor 362, and the structure is simple and compact.

[0111] As shown in Figures 12 to 16, the right front-to-back motion drive module 37 includes a right front-to-back motion swing arm 371 and a right front-to-back motion drive motor 372. One end of the right front-to-back motion swing arm 371 is connected to the output shaft of the right front-to-back motion drive motor 372, and the other end of the right front-to-back motion swing arm 371 is hinged to the rear side of the right active motion block 35. The upper side of the right active motion block 35 is movably connected to the upper jaw 31, and the front side of the right active motion block 35 is fixedly connected to the right driven motion block 34. When the output shaft of the right front-to-back motion drive motor 372 rotates, it drives the right front-to-back motion swing arm 371 to rotate, thereby driving the right active motion block 35 to move forward or backward, and the right driven motion block 34 also moves forward or backward following the right active motion block 35. The front-to-back motion of the right active motion block 35 is achieved by the cooperation of the right front-to-back motion swing arm 371 and the right front-to-back motion drive motor 372, and the structure is simple and compact.

[0112] As shown in FIG16 , a left L-shaped forward-backward movable plate 331 is provided on the upper side of the left active motion block 33, and a left forward-backward movable guide notch is provided on the upper jaw plate 31. The left L-shaped forward-backward movable plate 331 is placed in the left forward-backward movable guide notch. When the left forward-backward movable swing arm 361 drives the left active motion block 33 to move, the left L-shaped forward-backward movable plate 331 moves along the arrangement direction of the left forward-backward movable guide notch. Therefore, the left forward-backward movable guide notch serves to guide the movement of the left active motion block 33. Furthermore, the left L-shaped forward-backward movable plate 331 is at least partially hooked onto the edge of one side of the left forward-backward movable guide notch. Therefore, the edge of the left forward-backward movable guide notch provides a certain amount of support for the left active motion block 33.

[0113] A right L-shaped forward and backward movement plate is provided on the upper side of the right active motion block 35. A right forward and backward movement guide notch is provided in the upper jaw plate 31, and the right L-shaped forward and backward movement plate is positioned within the right forward and backward movement guide notch. When the right forward and backward movement swing arm 371 drives the right active motion block 35 to move, the right L-shaped forward and backward movement plate moves along the arrangement direction of the right forward and backward movement guide notch. Therefore, the right forward and backward movement guide notch serves to guide the movement of the right active motion block 35. Furthermore, the right L-shaped forward and backward movement plate is at least partially attached to the edge of one side of the right forward and backward movement guide notch. Therefore, the edge of the left forward and backward movement guide notch provides a certain amount of support for the left active motion block 33.

[0114] As shown in FIG16 , the left active motion block 33 has a left connecting ear 332 at the bottom front side, and a left connecting ear hole 3321 is defined in the left connecting ear 332. A left positioning post 322 is defined on the inner side of the left passive motion block 32, and the left connecting ear hole 3321 is fixedly mounted on the left positioning post 322. A right active motion block 35 has a right connecting ear at the bottom front side, and a right connecting ear hole is defined in the right connecting ear. A right positioning post is defined on the inner side of the right passive motion block 34, and the right connecting ear hole is movably mounted on the right positioning post.

[0115] As shown in Figure 16 , a left curved slot 323 is provided on the inner side of the left follower motion block 32. A left fixed arm 311 extends downward from the bottom surface of the upper jaw plate 31. The lower end of the left fixed arm 311 is provided with a left arm hook that engages with the left curved slot 323. The left arm hook cooperates with the left curved slot 323 to guide the forward and backward movement of the left follower motion block 32. The left fixed arm 311 not only guides the movement of the left follower motion block 32 but also provides support for it. It should be noted that since the left driven motion block 32 needs to follow the left active motion block 33 to move inward or outward, and the left fixed arm 311 is located on the inner side of the left driven motion block 32, in order to avoid the left fixed arm 311 interfering with the left driven motion block 32 when it moves inward, the depth of the left arc-shaped slide groove 323 needs to be greater than the height of the hook-shaped portion of the left arm. This design allows the left driven motion block 32 to have a certain position space relative to the left fixed arm 311 in the inward and outward directions to meet the requirements of inward and outward movement.

[0116] A right curved chute is located inside the right follower motion block 34. A right fixed arm 312 extends downward from the bottom surface of the upper jaw plate 31. The lower end of the right fixed arm 312 is provided with a right arm hook that engages the right curved chute. The right arm hook cooperates with the right curved chute to guide the forward and backward movement of the right follower motion block 34. The right fixed arm 312 not only guides the movement of the right follower motion block 34 but also provides support for it. It should be noted that since the right driven motion block 34 needs to follow the right active motion block 35 to move inward or outward, and the right fixed arm 312 is located on the inner side of the right driven motion block 34, in order to avoid the right fixed arm 312 interfering with the inward movement of the right driven motion block 34, the depth of the right arc-shaped slide groove needs to be greater than the height of the left arm hook portion. This design allows the right driven motion block 34 to have a certain position space in the inward and outward directions relative to the right fixed arm 312 to meet the requirements of inward and outward movement.

[0117] As shown in FIG16 , a left outer cheek connection portion 321 is provided on the outside of the left follower motion block 32, and a right outer cheek connection portion 341 is provided on the outside of the right follower motion block 34. The left outer cheek connection portion 321 and the right outer cheek connection portion 341 are fixedly connected to the inside of the mask body 51. This allows the left and right follower motion blocks 32 and 34 to move forward and backward or in and out, thereby driving the inner wall of the oral cavity to move (when viewed from the outside of the mask body 51, this drives the cheek portion of the mask body 51 to move).

[0118] As shown in Figures 14-15 and 17, the internal and external linkage motion drive module 38 includes a first link 382 of the left front and rear motion drive motor, a second link 383 of the left front and rear motion drive motor, a first link 384 of the right front and rear motion drive motor, a second link 385 of the right front and rear motion drive motor, a first linkage rod 386, a second linkage rod 387 and an internal and external movement drive motor 381, one end of the first link 382 of the left front and rear motion drive motor and one end of the second link of the left front and rear motion drive motor 362 are hinged to the same side of the left front and rear motion drive motor 362, one end of the first link 384 of the right front and rear motion drive motor and one end of the second link 385 of the right front and rear motion drive motor are hinged to the same side of the right front and rear motion drive motor 372, and the left front and rear motion drive motor The other end of the first connecting rod 362 is hinged to one end of the first linkage rod 386, the other end of the first linkage rod 386 is hinged to the other end of the second connecting rod 385 of the right front and rear motion drive motor, the other end of the second connecting rod 383 of the left front and rear motion drive motor is hinged to one end of the second linkage rod 387, the other end of the second linkage rod 387 is hinged to the other end of the first connecting rod 384 of the right front and rear motion drive motor, the output shaft of the inside and outside movement drive motor 381 is connected to the middle part of the first linkage rod 386 and the second linkage rod 387, when the inside and outside movement drive motor 381 is working, it drives the left front and rear motion drive motor 362 and the right front and rear motion drive motor 372 to move inward or outward synchronously, so that the left active motion block 33 and the right active motion block 35 move inward or outward synchronously.

[0119] Through the cooperation of the first connecting rod 382 of the left front-to-back motion drive motor, the second connecting rod 383 of the left front-to-back motion drive motor, the first connecting rod 384 of the right front-to-back motion drive motor, the second connecting rod 385 of the right front-to-back motion drive motor, the first linkage rod 386, the second linkage rod 387 and the inner and outer movement drive motor 381, the left front-to-back motion drive motor 362 and the right front-to-back motion drive motor 372 can move inward or outward synchronously, and the left front-to-back motion drive motor 362 can drive the left active motion block 33 to move inward or outward, and the front-to-back motion drive motor can drive the right active motion block 35 to move inward or outward. The structural design is ingenious, compact and takes up little space.

[0120] In this embodiment, the left front-to-back motion drive motor 362 and the right front-to-back motion drive motor 372 are movably mounted on the upper surface of the upper jaw plate 31. In order to facilitate the movement of the left front-to-back motion drive motor 362 and the right front-to-back motion drive motor 372 in the inward and outward directions, a guide frame is provided on the upper surface of the upper jaw plate 31, and the left front-to-back motion drive motor 362 and the right front-to-back motion drive motor 372 are movably mounted in the guide frame.

[0121] As shown in Figures 18-20, the tongue telescopic drive module 24 includes a tongue telescopic fisheye connecting rod 241, a tongue telescopic motor 243, and a tongue telescopic eccentric wheel 242. One end of the tongue telescopic fisheye connecting rod 241 is connected to the tongue body 21, and the other end of the tongue telescopic fisheye connecting rod 241 is connected to the tongue telescopic eccentric wheel 242. The output shaft of the tongue telescopic motor 243 is connected to the tongue telescopic eccentric wheel 242. During operation, the output shaft of the tongue telescopic motor 243 drives the end of the tongue telescopic fisheye connecting rod 241 connected to it to rotate. The end of the tongue telescopic fisheye connecting rod 241 connected to the tongue body 21 pushes and pulls the tongue body 21. Under the action of the push and pull force, the tongue body 21 moves back and forth along the telescopic guide slot 2211 of the tongue mounting plate 22 to achieve the telescopic motion function.

[0122] The tongue body 21 realizes forward and backward telescopic movement through the cooperation of the tongue forward and backward telescopic fisheye connecting rod 241, the tongue forward and backward telescopic motor 243 and the tongue forward and backward telescopic eccentric wheel 242. The structure is simple and compact, which reduces the space occupied.

[0123] As shown in Figures 19-20, the tongue swing drive module 23 includes a tongue swing connector 231 and a tongue swing motor 232. One side of the tongue swing connector 231 is connected to the tongue mounting plate 22, and the other side is connected to the output shaft of the tongue swing motor 232. A swing shaft 2311 is provided on one side of the tongue swing connector 231. The tongue mounting plate 22 has a tongue mounting plate retaining hole 2221 that engages with the swing shaft 2311. The other side of the tongue swing connector 231 has a swing connector sleeve hole 2312 that mates with the output shaft sleeve of the tongue swing motor 232. During operation, the output shaft of the tongue swing motor 232 rotates, driving the tongue mounting plate 22 to swing left and right about its rotation center 2212, thereby achieving the left and right swing function of the tongue body 21.

[0124] The tongue body 21 is swung left and right by the cooperation of the tongue left and right swing connection piece 231 and the tongue left and right swing motor 232. The structure is simple and compact, which reduces the space occupied.

[0125] As shown in Figures 19 and 20, the tongue body 21 includes a tongue vertical plate 212, a tongue horizontal plate 211 and a tongue connecting plate 213. The tongue horizontal plate 211 is horizontally arranged on the upper side of the tongue vertical plate 212, and the tongue connecting plate 213 is fixed to the rear side of the tongue vertical plate 212. One end of the tongue forward and backward telescopic fisheye connecting rod 241 is connected to the tongue connecting plate 213.

[0126] The tongue uprights 212, tongue cross plate 211, and tongue connecting plate 213 can be either integrally formed or separated. For structural robustness, the tongue uprights 212, tongue cross plate 211, and tongue connecting plate 213 are integrally formed. Positioning the tongue connecting plate 213 behind the tongue uprights 212 facilitates connection with the tongue's telescopic fisheye connecting rod 241, thereby reducing its design length.

[0127] Optionally, as shown in Figure 18 , the tongue body 21 is fitted with a tongue cover 25 . The shape of the tongue cover 25 can be designed based on actual needs. Preferably, the tongue cover 25 is made of silicone or a soft plastic material. In this embodiment, the tongue cover 25 is also connected to a contoured tooth. The contoured tooth can be separate from the tongue cover 25 or integral with it, and is made of the same material as the tongue cover 24 .

[0128] As shown in Figures 19-20, the tongue mounting plate 22 includes a mounting plate transverse plate portion 221, and a downwardly bent portion 222 of the mounting plate provided on the front side of the mounting plate transverse plate portion 221. The mounting plate transverse plate portion 221 is provided with a telescopic guide groove 2211, and the lower side of the tongue vertical plate 212 is clamped in the telescopic guide groove 2211. The downwardly bent portion 222 of the mounting plate is provided with a tongue mounting plate clamping groove 2221. The bottom of the mounting plate transverse plate portion 221 is provided with a rotation center portion 2212, and the rotation center portion 2212 is located at the bottom center of the mounting plate transverse plate portion 221. When the tongue mounting plate 22 is driven by the tongue left and right swing motor 232, it swings around the rotation center portion 2212.

[0129] By providing a telescopic guide groove 2211 on the horizontal plate portion 221 of the mounting plate, the installation of the tongue body 21 is facilitated, and the horizontal plate of the mounting plate can directly serve as a supporting component of the tongue body 21, without the need to provide other components to support the tongue body 21, thereby streamlining the structure and improving the rationality and compactness of the structure. In addition, the horizontal plate of the mounting plate can not only serve as a supporting component of the tongue body 21, but also drive the tongue body 21 to swing left and right, thereby reflecting the ingenuity of the structural design.

[0130] It should be noted that in order to prevent the tongue body 21 from becoming unstable or deviating to the side after being installed in the telescopic guide groove 2211, the depth of the telescopic guide groove 2211 needs to be designed reasonably, at least to ensure that the tongue body 21 will not become unstable or deviate to the side after being installed in the telescopic guide groove 2211.

[0131] As shown in Figure 19, the tongue extension motor 243 is located below the mounting plate's horizontal portion 221, serving as a support component for the tongue mounting plate 22. The tongue extension fisheye connecting rod 241 is located on the left or right side of the tongue mounting plate 22, and the tongue swing motor 232 is located in front of the tongue mounting plate 22. By arranging the tongue extension fisheye connecting rod 241 on the side of the tongue mounting plate 22 and the tongue extension motor 243 below the mounting plate's horizontal portion 221, the overall structure of the bionic tongue assembly 2 becomes more compact and simpler, reducing manufacturing costs.

[0132] In order to ensure the compactness of the structure, the tongue forward and backward telescopic fisheye connecting rod 241 is arranged on the side of the tongue mounting plate 22. When the tongue mounting plate 22 swings left and right, the tongue forward and backward telescopic fisheye connecting rod 241 will also swing accordingly, while the tongue forward and backward telescopic motor 243 is fixed. In order to avoid damage to the output shaft of the tongue forward and backward telescopic motor 243 and the tongue body 21, the tongue forward and backward telescopic fisheye connecting rod 241 is selected for connection. Because fisheye bearings are arranged at both ends of the tongue forward and backward telescopic fisheye connecting rod 241, the fisheye bearings can withstand larger radial and axial loads, thereby avoiding damage to the connection between the tongue forward and backward telescopic fisheye connecting rod 241 and the tongue body 21 of the output shaft of the tongue forward and backward telescopic motor 243.

[0133] As shown in FIG1 and FIG13 , the upper jaw plate 31 is fixedly connected to the eye bracket 111 by screws or the like, and the upper jaw plate 31 is located below the eye bracket 111 .

[0134] In some embodiments, the head structure also includes a nose motion drive component, which includes a nose motion drive motor and a nose motion swing arm. One end of the nose motion swing arm is connected to the output shaft of the nose motion drive motor, and the other end is in contact with the nose area 513 of the mask body 51. When the nose motion drive motor is working, it will drive the nose motion swing arm to move, thereby causing the nose area 513 of the mask body 51 to bulge or reset, thereby realizing the motion control of the nose area 513 of the mask body 51, further increasing the richness of the facial expressions of the head structure.

[0135] As shown in Figures 24 to 27, the neck structure includes a bionic neck mechanism 6, which includes a head end base 61, a head end connecting seat 62, a body end base 63, a body end connecting seat (not shown in the figure), a neck fixed link 64, a swing drive module 65, a pitch drive module 66 and a steering drive module 67. The head end connecting seat 62 is detachably connected to the top of the head end base 61, the body end connecting seat is detachably connected to the bottom of the body end base 63, and the lower end of the neck fixed link 64 is fixed to the body end base 63. The upper end of the neck fixed link 64 is movably connected to the bottom of the head end base 61, the swing drive module 65 is connected to the head end base 61 to drive the head end base 61 and the head end connecting seat 62 to swing left and right synchronously, the pitch drive module 66 is connected to the head end base 61 to drive the head end base 61 and the head end connecting seat 62 to pitch forward and backward synchronously, and the steering drive module 67 is connected to the head end base 61 and the head end connecting seat 62 to drive the head end connecting seat 62 to circumferentially turn relative to the head end base 61.

[0136] By designing a head-end connecting seat 62 above the head-end base 61 and a body-end connecting seat below the body-end base 63, the head-end base 61 can be quickly assembled with the head-end connecting seat 62, and the body-end base 63 can be quickly assembled with the body-end connecting seat. During the overall assembly, the head structure is fixedly connected to the head-end connecting seat 62, thereby realizing rapid disassembly and assembly of the head structure and the neck, and the body structure is fixedly connected to the body-end connecting seat, thereby realizing rapid disassembly and assembly of the body structure and the neck, without the need for screws for fixing, thereby making it more convenient to disassemble and assemble the neck, head, and body parts.

[0137] As shown in Figures 24 and 25, in one embodiment, such as the present embodiment, a connecting shaft 611 is provided at the top center of the head end base 61, and a sleeve 621 is provided at the bottom center of the head end connecting seat 62, which is nested with the connecting shaft 611. By embedding the connecting shaft 611 into the sleeve 621, the head end base 61 and the head end connecting seat 62 are assembled by an interference fit. Of course, in some other embodiments, in order to further improve the stability after assembly, an elastic limiting protrusion is provided on the connecting shaft 611, and a protrusion matching hole that matches the elastic limiting protrusion is provided through the side wall of the sleeve 621. After the head end base 61 and the head end connecting seat 62 are assembled, the elastic limiting protrusion will be snapped into the protrusion matching hole, thereby improving the stability after assembly by limiting locking. When disassembly is required, it is only necessary to apply inward pressure to the elastic limiting protrusion to make it withdraw from the protrusion matching hole to release the limiting lock, so that the head end connecting seat 62 and the head end base 61 can be separated by force, which is convenient for disassembly and assembly.

[0138] As shown in Figures 24 and 25, in one embodiment, such as the present embodiment, a plug-in block 631 is provided at the bottom of the body-side base 63, and the body-side connector is provided with a slot that plugs into and mates with the plug-in block 631. By inserting the plug-in block 631 into the slot, the body-side base 63 and the body-side connector are assembled by an interference fit. It should be noted that the number of plug-in blocks 631 is at least one, and the number can be appropriately increased according to actual circumstances, for example, two or three. Of course, in some other embodiments, in order to further improve the stability after assembly, an elastic limiting protrusion is provided on the plug-in block 631, and a protrusion matching hole that matches the elastic limiting protrusion is provided on the side wall of the slot. After the body end base 63 and the body end connecting seat are assembled, the elastic limiting protrusion will be snapped into the protrusion matching hole, thereby improving the stability after assembly by limiting locking. When disassembly is required, it is only necessary to apply inward pressure to the elastic limiting protrusion to make it withdraw from the protrusion matching hole to release the limiting lock, so that the body end base 63 and the body end connecting seat can be separated by force, which is convenient for disassembly and assembly.

[0139] As shown in FIG27 , to facilitate the movement of the head-end base 61, a ball shaft 641 is provided at the upper end of the neck-fixing link 64. A ball cavity is provided on the lower surface of the head-end base 61. The spherical portion of the ball shaft 641 is positioned within the ball cavity and is movable within the cavity. This connection ensures a stable connection between the head-end base 61 and the neck-fixing link 64 while also meeting the movement requirements of the head-end base 61. In this embodiment, the ball shaft 641 and the neck-fixing link 64 are separate structures, with the ball shaft 641 being fixedly connected to the upper end of the neck-fixing link 64 via its rod portion by a threaded connection. Of course, in other embodiments, the ball shaft 641 and the neck-fixing link 64 are designed as an integrated structure.

[0140] As shown in Figures 24 and 26, the swing drive module 65 includes a left vertical link 651, a right vertical link 652, a left and right swing link 653, a left and right swing gear set and a left and right swing drive motor 656. The upper end of the left vertical link 651 is hinged to the left side of the head end base 61, the lower end of the left vertical link 651 is hinged to the left end of the left and right swing link 653, the right end of the left and right swing link 653 is hinged to the lower end of the right vertical link 652, the upper end of the right vertical link 652 is hinged to the right side of the head end base 61, the middle part of the left and right swing link 653 is hinged to the neck fixed link 64, and the left and right swing gear set is transmission-connected between the left and right swing link 653 and the output shaft of the left and right swing drive motor 656. During operation, the left and right swing drive motor 656 rotates, driving the left and right swing gear set to rotate, and the left and right swing gear set then drives the left and right swing link 653 to move, and the movement of the left and right swing link 653 then drives the left vertical link 651 and the right vertical link 652 to move synchronously and in the same direction, thereby realizing the left and right swinging action of the head end base 61. Since the head end connecting seat 62 is connected to the head end connecting seat 62, and the head structure is connected to the head end connecting seat 62, the left and right swinging of the head end base 61 will indirectly drive the left and right swinging of the head structure, that is, the "head swinging" action.

[0141] As shown in Figure 26, the left-right swing gear set includes a first gear 654 and a second gear 655 arranged perpendicular to the first gear 654. The first gear 654 is fixed to the left-right swing link 653, and the second gear 655 is fixed to the output shaft of the left-right swing drive motor 656. The first gear 654 and the second gear 655 are meshed. During operation, the output shaft of the left-right swing drive motor 656 drives the second gear 655 to rotate, which in turn drives the first gear 654 to rotate, and the first gear 654 drives the left-right swing link 653 to move.

[0142] Through the mutual cooperation of the left vertical connecting rod 651, the right vertical connecting rod 652, the left-right swing connecting rod 653, the left-right swing gear set, and the left-right swing drive motor 656, the left vertical connecting rod 651 and the right vertical connecting rod 652 are arranged relative to each other. The left-right swing connecting rod 653 connects the left vertical connecting rod 651 and the right vertical connecting rod 652 and drives them to move synchronously. In addition, only the first gear 654 and the second gear 655 are used as the transmission between the motor and the connecting rods, which uses fewer parts and makes the structure compact. With this design, the maximum amplitude of the left and right swing can reach 40 degrees.

[0143] As shown in Figures 24 and 26, the pitch drive module 66 includes a front vertical link 661, a rear vertical link 662, a front and rear pitch link 663, a front and rear pitch gear set and a front and rear pitch drive motor 667. The upper end of the front vertical link 661 is hinged to the front side of the head end base 61, the lower end of the front vertical link 661 is hinged to the front end of the front and rear pitch link 663, the rear end of the front and rear pitch link 663 is hinged to the lower end of the rear vertical link 662, the upper end of the rear vertical link 662 is hinged to the rear side of the head end base 61, the middle part of the front and rear pitch link 663 is hinged to the neck fixed link 64, and the front and rear pitch gear set is transmission-connected between the front and rear pitch link 663 and the front and rear pitch drive motor 667. During operation, the front and rear pitch drive motor 667 rotates, driving the front and rear pitch gear set to rotate, and the front and rear pitch gear set then drives the front and rear pitch link 663 to move, and the movement of the front and rear pitch link 663 then drives the front vertical link 661 and the rear vertical link 662 to move synchronously and in the same direction, thereby realizing the front and rear pitch movement of the head end base 61. Since the head end connecting seat 62 is connected to the head end connecting seat 62, and the head structure is connected to the head end connecting seat 62, the front and rear pitch of the head end base 61 will indirectly drive the front and rear pitch of the head structure, which is the "nodding and raising the head" movement.

[0144] As shown in FIG26 , the pitch gear assembly includes an upper gear 664, an intermediate gear 665, and a lower gear 666, which are arranged side by side in the upper and lower order. The upper gear 664 is fixed to the pitch link 663, and the lower gear 666 is fixed to the output shaft of the pitch drive motor 667. The intermediate gear 665 is rotatably connected to the body end base 63 and meshes with the upper gear 664 and the lower gear 666. During operation, the pitch drive motor 667 drives the lower gear 666 to rotate, the lower gear 666 drives the intermediate gear 665 to rotate, the intermediate gear 665 drives the upper gear 664 to rotate, and the upper gear 664 then drives the pitch link 663 to move.

[0145] Through the mutual coordination of the front vertical link 661, the rear vertical link 662, the front and rear pitch link 663, the front and rear pitch gear set, and the front and rear pitch drive motor 667, the front vertical link 661 and the rear vertical link 662 are arranged relative to each other. The front and rear pitch link 663 connects the front and rear vertical links 661 and 662 and drives them to move synchronously. In addition, only the upper gear 664, the intermediate gear 665, and the lower gear 666 are used as the transmission between the motor and the connecting rods, using fewer components and making the structure compact. With this design, the maximum amplitude of nodding and raising the head can reach 40 degrees.

[0146] As shown in Figures 24-26, the steering drive module 67 includes a steering drive motor 671 and a steering gear set. A curved gear portion 612 is provided at the top of the head end base 61. The steering gear set is drivingly connected between the curved gear portion 612 and the output shaft of the steering drive motor 671. During operation, the steering drive motor 671 rotates, driving the steering gear set, which in turn drives the head end connecting base 62 to rotate horizontally relative to the head end base 61. Since the head structure is connected to the head end connecting base 62, the rotation of the head end connecting base 62 indirectly drives the head structure to rotate horizontally, which is also known as the "head turning" action.

[0147] As shown in Figure 25, the steering gear group includes a first top gear 672, a second top gear 673, a gear rod 675, a bottom gear 674 and a steering drive motor 671. The head end connecting seat 62 is provided with a rod hole, and the gear rod 675 is passed through the rod hole. A bearing is provided in the rod hole and is sleeved on the gear rod 675. The lower end of the gear rod 675 is fixedly connected to the bottom gear 674 located below the head end connecting seat 62, and the upper end of the gear rod 675 is fixedly connected to the second top gear 673 located above the head end connecting seat 62. The first top gear 672 is fixed to the output shaft of the steering drive motor 671, the second top gear 673 is meshed with the first top gear 672, and the bottom gear 674 is meshed with the arc gear portion 612. During operation, the steering drive motor 671 drives the first top gear 672 to rotate, the first top gear 672 drives the second top gear 673 to rotate, the second top gear 673 drives the bottom gear 674 to rotate through the gear rod 675, and the bottom gear 674 drives the head end connecting base 62 to rotate.

[0148] By rationally utilizing the space between the head end connecting base 62 and the head end base 61 as the transmission matching space for the bottom gear 674 and the arc gear portion 612, the space occupied is greatly reduced, making the structure more compact. With the above design, the maximum range of the head rotation can reach 140 degrees.

[0149] In this embodiment, in order to reasonably utilize space, the steering drive motor 671 is mounted on the upper jaw plate 31 of the head structure. At the same time, the top of the head end connecting seat 62 is provided with a head connecting column 623 for connecting to the upper jaw plate 31, as well as a head connecting protrusion 622 connected to other parts of the head structure. The head connecting protrusion 622 is assembled and connected to the boss fixedly installed below the lower jaw plate motion drive motor 412 of the head structure by a limiting method, and the head connecting column 623 is connected to the upper jaw plate by plugging. It should be noted that in some other embodiments, the steering drive motor 671 is directly mounted on the head end connecting seat 62, and the gear rod 675 and the second top gear 673 and bottom gear 674 at both ends of the gear rod 675 are directly discarded. Instead, the first top gear 672 is directly engaged with the arc-shaped gear portion 612, and the steering action can also be achieved.

[0150] As shown in Figure 27, a spring 68 and a spring stopper 69 are provided on the neck fixing link 64 below the head end base 61. The spring stopper 69 is fixedly connected to the fixing link, with the upper end surface of the spring 68 abutting the head end base 61, and the lower end surface of the spring 68 abutting the spring stopper 69. The provision of the spring 68 ensures that the neck can remain upright when the pitch drive motor 667 and the yaw drive motor 656 are deactivated, thus preventing the neck from falling or tilting when the two motors are deactivated.

[0151] As shown in Figure 25, in order to further improve the compactness of the structure and the rationality of the design, a pitch motor mounting slot 632 and a swing motor mounting slot 633 are provided on the body end base 63, wherein the pitch motor mounting slot 632 is used to accommodate the front and rear pitch drive motor 667, and the swing motor mounting slot 633 is used to accommodate the left and right swing drive motor 656.

[0152] In summary, for the overall head and neck structure of the bionic robot, each mechanism can cooperate with each other and can be controlled independently. It can not only simulate the facial expressions and movements that real people can make, but also make facial expressions and movements that real people cannot do, greatly meeting the needs of users.

[0153] An embodiment of the present application also provides a bionic robot, including a bionic body trunk structure and the above-mentioned bionic robot head and neck structure, wherein the neck structure is connected to the bionic body trunk structure. Except for the above-mentioned bionic robot head and neck structure, the remaining structures of the bionic robot are the same as the common bionic robot structures in the prior art. The structure is well known to those skilled in the art and will not be repeated here.

[0154] The above is only a specific embodiment of the present application, but the protection scope of the present application is not limited thereto. Any person skilled in the art can easily think of various equivalent modifications or replacements within the technical scope disclosed in the present application, and these modifications or replacements should be included in the scope of protection of the present application.

Claims

1. A bionic robot head and neck structure, characterized in that: The robot comprises a head structure and a neck structure movably connected to the head structure, wherein the head structure comprises a robot head shell, a robot bionic mask, a bionic eyebrow and eye mechanism and a bionic mouth mechanism, wherein the robot bionic mask is sleeved on the outer surface of the robot head shell, the bionic eyebrow and eye mechanism and the bionic mouth mechanism are installed inside the robot head shell, the neck structure is connected to the bionic mouth mechanism, and the neck structure is used to drive the head structure to achieve forward and backward pitching, left and right swinging and circumferential turning movements, the bionic eyebrow and eye mechanism and the bionic mouth mechanism are connected to the robot bionic mask, and the robot bionic mask performs bionic robot facial expression movements under the action of the bionic eyebrow and eye mechanism and the bionic mouth mechanism.

2. The bionic robot head and neck structure according to claim 1, characterized in that: The bionic eyebrow mechanism includes an eye unit and an eyebrow unit, the eye unit includes an eye bracket, a left eyeball, a right eyeball, a left upper eyelid, a left lower eyelid, a right upper eyelid, a right lower eyelid, a left eyelid up and down rotation driving component, a right eyelid up and down rotation driving component, an eyeball left and right rotation linkage driving component and an eyeball up and down rotation linkage driving component, the left upper eyelid and the left lower eyelid are hinged on the eye bracket, the left eyelid up and down rotation driving component is used to drive the left upper eyelid and the left lower eyelid to open and close relatively, the right upper eyelid and the right lower eyelid are hinged on the On the eye bracket, the right eyelid up and down rotation driving component is used to drive the right upper eyelid and the right lower eyelid to open and close relative to each other, the eyeball left and right rotation linkage driving component is used to drive the left eyeball and the right eyeball to rotate left and right in linkage, and the eyeball up and down rotation linkage driving component is used to drive the left eyeball and the right eyeball to rotate up and down in linkage; the eyebrow unit includes an eyebrow bracket, and a plurality of eyebrow motion control components installed on the eyebrow bracket, and the plurality of eyebrow motion control components act on different parts of the eyebrows respectively to realize the movement of different parts of the eyebrows.

3. The bionic robot head and neck structure according to claim 2, characterized in that: The eye bracket is provided with two left eyelid arms arranged opposite to each other, the left upper eyelid and the left lower eyelid are hinged between the two left eyelid arms, the left eyelid up and down rotation driving assembly comprises a left eyelid up and down rotation driving motor, a left eyelid rocker, a left eyelid straight connecting rod, a left upper eyelid arc connecting rod and a left lower eyelid arc connecting rod, one end of the left upper eyelid arc connecting rod is hinged to the left upper eyelid, the other end of the left upper eyelid arc connecting rod is hinged to one end of the left eyelid straight connecting rod, one end of the left lower eyelid arc connecting rod is hinged to the left upper eyelid, the other end of the left lower eyelid arc connecting rod is hinged to one end of the left eyelid straight connecting rod, the other end of the left eyelid straight connecting rod is connected to the left eyelid rocker, the left eyelid rocker is connected to the output shaft of the left eyelid up and down rotation driving motor, and the left eyelid up and down rotation driving motor is installed on the eye bracket; The eye bracket is also provided with two right eyelid arms arranged opposite to each other, the right upper eyelid and the right lower eyelid are hinged between the two right eyelid arms, the right eyelid up and down rotation driving assembly comprises a right eyelid up and down rotation driving motor, a right eyelid rocker, a right eyelid straight connecting rod, a right upper eyelid arc connecting rod and a right lower eyelid arc connecting rod, one end of the right upper eyelid arc connecting rod is hinged to the right upper eyelid, the other end of the right upper eyelid arc connecting rod is hinged to one end of the right eyelid straight connecting rod, one end of the right lower eyelid arc connecting rod is hinged to the right upper eyelid, the other end of the right lower eyelid arc connecting rod is hinged to one end of the right eyelid straight connecting rod, the other end of the right eyelid straight connecting rod is connected to the right eyelid rocker, the right eyelid rocker is connected to the output shaft of the right eyelid up and down rotation driving motor, and the right eyelid up and down rotation driving motor is installed on the eye bracket.

4. The bionic robot head and neck structure according to claim 2, characterized in that: The eyeball up and down rotation linkage drive component includes an eyeball up and down rotation linkage drive motor, an eyeball up and down rotation linkage rocker, an eyeball up and down rotation linkage arc connecting rod and an eyeball up and down rotation linkage plate, the eyeball up and down rotation linkage plate is hinged on the eye bracket, the left eyeball and the right eyeball are rotatably connected with the eyeball up and down rotation linkage plate, one end of the eyeball up and down rotation linkage arc connecting rod is connected to the eyeball up and down rotation linkage plate, the other end of the eyeball up and down rotation linkage arc connecting rod is connected to the eyeball up and down rotation linkage rocker, the eyeball up and down rotation linkage rocker is connected to the output shaft of the eyeball up and down rotation linkage drive motor, and the eyeball up and down rotation linkage drive motor is installed on the eye bracket.

5. The bionic robot head and neck structure according to claim 4, characterized in that: The eyeball up and down rotation linkage plate includes a middle plate, and a left connecting arm and a right connecting arm arranged on both sides of the middle plate, the end of the left connecting arm is rotationally connected to the left eyeball, and the end of the right connecting arm is rotationally connected to the right eyeball, the left and right sides of the middle plate are hinged to the eye bracket, and one end of the eyeball left and right rotation linkage arc connecting rod is hinged to the front side of the middle plate.

6. The bionic robot head and neck structure according to claim 5, characterized in that: The eyeball left and right rotation linkage drive component includes an eyeball left and right rotation linkage drive motor, an eyeball left and right rotation linkage rocker and an eyeball left and right rotation linkage rod. The left and right ends of the eyeball left and right rotation linkage rod are respectively rotationally connected to the left eyeball and the right eyeball. The middle part of the eyeball left and right rotation linkage rod is movably connected to the eyeball left and right rotation linkage rocker. The eyeball left and right rotation linkage rocker is connected to the output shaft of the eyeball left and right rotation linkage drive motor. The eyeball left and right rotation linkage drive motor is installed on the middle plate.

7. The bionic robot head and neck structure according to claim 2, characterized in that: The multiple eyebrow motion control components include a left eyebrow first part motion control component, a left eyebrow second part motion control component, a right eyebrow first part motion control component and a right eyebrow second part motion control component. The left eyebrow first part motion control component acts on the center position above the left eyebrow, the left eyebrow second part motion control component acts on the corner of the left eyebrow on the side close to the center of the eyebrow, the right eyebrow first part motion control component acts on the center position above the right eyebrow, and the right eyebrow second part motion control component acts on the corner of the right eyebrow on the side close to the center of the eyebrow.

8. The bionic robot head and neck structure according to claim 1, characterized in that: The bionic oral mechanism includes a lower jaw motion component, an oral motion component and a bionic tongue component. The lower jaw motion component includes a lower jaw plate and a lower jaw plate motion drive motor connected to the lower jaw plate in transmission. The oral motion component includes an upper jaw plate, a left active motion block, a left driven motion block, a left front-to-back motion drive module, a right active motion block, a right driven motion block, a right front-to-back motion drive module and an internal-external linkage motion drive module. The left driven motion block is fixedly connected to the left active motion block. The upper jaw plate and the lower jaw plate are arranged relatively up and down. The left active motion block and the left driven motion block are located between the upper jaw plate and the left side of the lower jaw plate. The right active motion block and the right driven motion block are located between the upper jaw plate and the right side of the lower jaw plate. The left front-to-back motion drive module is connected to the left active motion block in transmission. When the left front-to-back motion drive module is working, it drives the left active motion block to move back and forth. The right driven motion block is fixedly connected to the right active motion block. The right front-to-back motion drive The moving module is transmission-connected with the right active motion block. When the right front-to-back motion driving module is working, the right active motion block is driven to move forward and backward. The inside-outside linkage motion driving module is transmission-connected with the left front-to-back motion driving module and the right front-to-back motion driving module. When the inside-outside linkage motion driving module is working, the left active motion block and the right active motion block are driven to move synchronously inward or outward. The bionic tongue assembly includes a tongue body, a tongue mounting plate, a tongue left-right swinging driving module and a tongue front-to-back telescopic driving module. The tongue body is arranged between the upper jaw plate and the lower jaw plate. The tongue mounting plate is provided with a telescopic guide groove along the telescopic direction of the tongue body. The tongue body is clamped in the telescopic guide groove. The tongue front-to-back telescopic driving module is connected to the tongue body to drive the tongue body to perform front-to-back telescopic motion along the telescopic guide groove. The tongue left-to-right swinging driving module is connected to the tongue mounting plate to drive the tongue mounting plate and the tongue body to swing synchronously left-to-right.

9. The bionic robot head and neck structure according to claim 8, characterized in that: The bionic mouth mechanism also includes an upper corner of the mouth motion drive component, which includes a left upper corner of the mouth skin contact block, a left upper corner of the mouth motion guide column, a left upper corner of the mouth motion drive module, a right upper corner of the mouth skin contact block, a right upper corner of the mouth motion guide column and a right upper corner of the mouth motion drive module, the left upper corner of the mouth motion drive module includes a left upper corner of the mouth motion swing arm and a left upper corner of the mouth motion drive motor, the left upper corner of the mouth motion guide column is fixed to the upper surface of the upper jaw plate, the left upper corner of the mouth skin contact block is movably sleeved on the left upper corner of the mouth motion guide column, one end of the left upper corner of the mouth motion swing arm is connected to the left upper corner of the mouth motion drive motor The output shaft of the machine is connected, one end of the upper left corner of the mouth motion swing arm is connected to the upper left corner of the mouth skin contact block, the upper right corner of the mouth motion drive module includes the upper right corner of the mouth motion swing arm and the upper right corner of the mouth motion drive motor, the upper right corner of the mouth motion guide column is fixed to the upper surface of the upper jaw plate, the upper right corner of the mouth skin contact block is movably sleeved on the upper right corner of the mouth motion guide column, one end of the upper right corner of the mouth motion swing arm is connected to the output shaft of the upper right corner of the mouth motion drive motor, and one end of the upper right corner of the mouth motion swing arm is connected to the upper right corner of the mouth skin contact block; the bionic mouth mechanism also includes a lower corner of the mouth motion drive component, the lower corner of the mouth motion drive component The motion drive assembly comprises a lower left corner of the mouth transmission rod, a lower left corner of the mouth motion drive module, a lower right corner of the mouth transmission rod and a lower right corner of the mouth transmission drive module, the lower left corner of the mouth motion drive module comprises a lower left corner of the mouth first swing arm, a lower left corner of the mouth second swing arm and a lower left corner of the mouth motion drive motor, the middle part of the lower left corner of the mouth transmission rod is hinged to the lower jaw plate, the front end of the lower left corner of the mouth transmission rod constitutes the lower left corner skin contact part, the rear end of the lower left corner of the mouth transmission rod is hinged to one end of the lower left corner of the mouth first swing arm, the other end of the lower left corner of the mouth first swing arm is hinged to one end of the lower left corner of the mouth second swing arm, the lower left corner of the mouth motion second swing arm is hinged to one end of the lower left corner of the mouth The other end of the second swing arm is connected to the lower left corner of the mouth motion driving motor, the lower right corner of the mouth motion driving module includes a first lower right corner of the mouth motion swing arm, a second lower right corner of the mouth motion swing arm and a lower right corner of the mouth motion driving motor, the middle part of the lower right corner of the mouth transmission rod is hinged to the lower jaw plate, the front end of the lower right corner of the mouth transmission rod constitutes the lower right corner skin contact part, the rear end of the lower right corner of the mouth transmission rod is hinged to one end of the first swing arm of the lower right corner of the mouth, the other end of the first swing arm of the lower right corner of the mouth motion is hinged to one end of the second swing arm of the lower right corner of the mouth motion, and the other end of the second swing arm of the lower right corner of the mouth motion is connected to the lower right corner of the mouth motion driving motor.

10. The bionic robot head and neck structure according to claim 8, characterized in that: The lower jaw plate is provided with a lower jaw movement connecting arm, and the lower jaw movement connecting arm is connected to the output shaft of the lower jaw plate movement driving motor. When the lower jaw plate movement driving motor is working, it drives the lower jaw plate to rotate up and down.

11. The bionic robot head and neck structure according to claim 8, characterized in that: The left front-to-back motion driving module includes a left front-to-back motion swing arm and a left front-to-back motion driving motor, one end of the left front-to-back motion swing arm is connected to the left front-to-back motion driving motor, the other end of the left front-to-back motion swing arm is hinged to the rear side of the left active motion block, the upper side of the left active motion block is movably connected to the upper jaw plate, and the front side of the left active motion block is fixedly connected to the left driven motion block; the right front-to-back motion driving module includes a right front-to-back motion swing arm and a right front-to-back motion driving motor, one end of the right front-to-back motion swing arm is connected to the right front-to-back motion driving motor, the other end of the right front-to-back motion swing arm is hinged to the rear side of the right active motion block, the upper side of the right active motion block is movably connected to the upper jaw plate, and the front side of the right active motion block is fixedly connected to the right driven motion block.

12. The bionic robot head and neck structure according to claim 11, characterized in that: A left L-shaped forward and backward moving plate is provided on the upper side of the left active motion block, and a left forward and backward moving guide notch is provided on the upper jaw plate, and the left L-shaped forward and backward moving plate is placed in the left forward and backward moving guide notch; a right L-shaped forward and backward moving plate is provided on the upper side of the right active motion block, and the upper jaw plate is provided with a right forward and backward moving guide notch, and the right L-shaped forward and backward moving plate is placed in the right forward and backward moving guide notch; a left arc-shaped slide groove is provided on the inner side of the left driven motion block, and a left fixed support arm is extended downward from the bottom surface of the upper jaw plate, and a left arm hook-shaped portion is provided at the lower end of the left fixed support arm which is clamped in the left arc-shaped slide groove, and a left outer skin cheek connecting portion is provided on the outer side of the left driven motion block; a right arc-shaped slide groove is provided on the inner side of the right driven motion block, and a right fixed support arm is extended downward from the bottom surface of the upper jaw plate, and a right arm hook-shaped portion is provided at the lower end of the right fixed support arm which is clamped in the right arc-shaped slide groove, and a right outer skin cheek connecting portion is provided on the outer side of the right driven motion block.

13. The bionic robot head and neck structure according to claim 11, characterized in that: The internal and external linkage motion drive module includes a first connecting rod of a left front-to-back motion drive motor, a second connecting rod of a left front-to-back motion drive motor, a first connecting rod of a right front-to-back motion drive motor, a second connecting rod of a right front-to-back motion drive motor, a first connecting rod, a second connecting rod and an internal and external movement drive motor, one end of the first connecting rod of the left front-to-back motion drive motor and one end of the second connecting rod of the left front-to-back motion drive motor are hinged to the same side of the left front-to-back motion drive motor, one end of the first connecting rod of the right front-to-back motion drive motor and one end of the second connecting rod of the right front-to-back motion drive motor are hinged to the same side of the right front-to-back motion drive motor, and the other end of the first connecting rod of the left front-to-back motion drive motor is hinged to the second connecting rod of the left front-to-back motion drive motor. One end of a linkage rod is hinged, the other end of the first linkage rod is hinged to the other end of the second link of the right front-and-rear motion drive motor, the other end of the second link of the left front-and-rear motion drive motor is hinged to one end of the second linkage rod, the other end of the second linkage rod is hinged to the other end of the first link of the right front-and-rear motion drive motor, the output shaft of the inside-out movement drive motor is connected to the middle part of the first linkage rod and the second linkage rod, and when the inside-out movement drive motor is working, it drives the left front-and-rear motion drive motor and the right front-and-rear motion drive motor to move inward or outward synchronously, so that the left active motion block and the right active motion block move inward or outward synchronously.

14. The bionic robot head and neck structure according to claim 8, characterized in that: The tongue forward and backward telescopic driving module includes a tongue forward and backward telescopic fisheye connecting rod, a tongue forward and backward telescopic motor and a tongue forward and backward telescopic eccentric wheel, one end of the tongue forward and backward telescopic fisheye connecting rod is connected to the tongue body, the other end of the tongue forward and backward telescopic fisheye connecting rod is connected to the tongue forward and backward telescopic eccentric wheel, and the output shaft of the tongue forward and backward telescopic motor is connected to the tongue forward and backward telescopic eccentric wheel; the tongue left and right swing driving module includes a tongue left and right swing connecting piece and a tongue left and right swing motor, one side of the tongue left and right swing connecting piece is connected to the tongue mounting plate, and the other side of the tongue left and right swing connecting piece is connected to the output shaft of the tongue left and right swing motor.

15. The bionic robot head and neck structure according to claim 14, characterized in that: A swing connecting shaft is provided on one side of the tongue left-right swing connecting piece, and a tongue mounting plate is provided with a tongue mounting plate snap-in for clamping the swing connecting shaft, and a swing connecting piece sleeve hole is provided on the other side of the tongue left-right swing connecting piece for cooperating with the output shaft sleeve of the tongue left-right swing motor; the tongue main body includes a tongue vertical plate, a tongue horizontal plate and a tongue connecting plate, the tongue horizontal plate is horizontally arranged on the upper side of the tongue vertical plate, the tongue connecting plate is fixed to the rear side of the tongue vertical plate, and one end of the tongue forward and backward telescopic fisheye connecting rod is connected to the tongue connecting plate.

16. The bionic robot head and neck structure according to claim 1, characterized in that: The robot bionic mask includes a mask body, which is made of flexible material. The mask body is provided with a mask sleeve cavity, and the bottom of the mask body is provided with a sleeve opening which is communicated with the mask sleeve cavity. The mask body is also provided with an opening and closing seam, and one end of the opening and closing seam extends to the sleeve opening.

17. The bionic robot head and neck structure according to claim 16, characterized in that: The inner wall of the mask sleeve cavity is provided with a plurality of connection structures.

18. The bionic robot head and neck structure according to claim 16, characterized in that: The mask body is also provided with a multifunctional interface window and a cover plate which is opened and closed on the multifunctional interface window.

19. The bionic robot head and neck structure according to claim 1, characterized in that: The neck structure includes a bionic neck mechanism, which includes a head end base, a head end connecting seat, a body end base, a body end connecting seat, a neck fixed connecting rod, a swing drive module, a pitch drive module and a steering drive module. The head end connecting seat is detachably connected to the top of the head end base, and the body end connecting seat is detachably connected to the bottom of the body end base. The lower end of the neck fixed connecting rod is fixedly connected to the body end base, and the upper end of the neck fixed connecting rod is movably connected to the bottom of the head end base. The swing drive module is connected to the head end base to drive the head end base and the head end connecting seat to swing left and right synchronously. The pitch drive module is connected to the head end base to drive the head end base and the head end connecting seat to pitch forward and backward synchronously. The steering drive module is connected to the head end base and the head end connecting seat to drive the head end connecting seat to turn circumferentially relative to the head end base.

20. The bionic robot head and neck structure according to claim 19, characterized in that: A connecting shaft is provided at the top center of the head end base, and a sleeve which is nested and matched with the connecting shaft is provided at the bottom center of the head end connecting seat; a plug-in block is provided at the bottom of the body end base, and a slot which is plug-in and matched with the plug-in block is provided at the body end connecting seat.

21. The bionic robot head and neck structure according to claim 19, characterized in that: The swing drive module includes a left vertical connecting rod, a right vertical connecting rod, a left-right swing connecting rod, a left-right swing gear set and a left-right swing driving motor, the upper end of the left vertical connecting rod is hinged to the left side of the head end base, the lower end of the left vertical connecting rod is hinged to the left end of the left-right swing connecting rod, the right end of the left-right swing connecting rod is hinged to the lower end of the right vertical connecting rod, the upper end of the right vertical connecting rod is hinged to the right side of the head end base, the middle part of the left-right swing connecting rod is hinged to the neck fixed connecting rod, and the left-right swing gear set is transmission-connected between the left-right swing connecting rod and the output shaft of the left-right swing driving motor; the left-right swing gear set includes a first gear and a second gear arranged perpendicular to the first gear, the first gear is fixed to the left-right swing connecting rod, the second gear is fixed to the output shaft of the left-right swing driving motor, and the first gear and the second gear are meshed.

22. The bionic robot head and neck structure according to claim 19, characterized in that: The pitch drive module includes a front vertical link, a rear vertical link, a front and rear pitch link, a front and rear pitch gear set and a front and rear pitch drive motor, the upper end of the front vertical link is hinged to the front side of the head end base, the lower end of the front vertical link is hinged to the front end of the front and rear pitch link, the rear end of the front and rear pitch link is hinged to the lower end of the rear vertical link, the upper end of the rear vertical link is hinged to the rear side of the head end base, the middle part of the front and rear pitch link is hinged to the neck fixed link, and the front and rear pitch gear set is transmission-connected between the front and rear pitch link and the front and rear pitch drive motor; the front and rear pitch gear set includes an upper gear, an intermediate gear and a lower gear arranged side by side in sequence from top to bottom, the upper gear is fixed to the front and rear pitch link, the lower gear is fixed to the output shaft of the front and rear pitch drive motor, and the intermediate gear is rotationally connected to the body end base and meshes with the upper gear and the lower gear.

23. The bionic robot head and neck structure according to claim 19, characterized in that: The steering drive module includes a steering drive motor and a steering gear set. An arc gear portion is provided at the top of the head end base, and the steering gear set is transmission-connected between the arc gear portion and the output shaft of the steering drive motor; the steering gear set includes a first top gear, a second top gear, a gear rod, a bottom gear and a steering drive motor. The head end connecting seat is provided with a rod hole, and the gear rod is passed through the rod hole. A bearing sleeved on the gear rod is provided in the rod hole. The lower end of the gear rod is fixedly connected to the bottom gear located below the head end connecting seat, and the upper end of the gear rod is fixedly connected to the second top gear located above the head end connecting seat. The first top gear is fixed to the output shaft of the steering drive motor, the second top gear is meshed with the first top gear, and the bottom gear is meshed with the arc gear portion.

24. The bionic robot head and neck structure according to claim 19, characterized in that: The neck fixing connecting rod is provided with a spring and a spring limiting seat below the head end base, the spring limiting seat is fixedly connected to the fixing connecting rod, the upper end surface of the spring abuts against the head end base, and the lower end surface of the spring abuts against the spring limiting seat.

25. A bionic robot, characterized in that: It comprises a bionic body trunk structure and a bionic robot head and neck structure as described in any one of claims 1 to 24, wherein the neck structure is connected to the bionic body trunk structure.

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