Bionic mouth mechanism

Abstract

Disclosed in the present application are a bionic mouth mechanism, comprising a lower jaw motion assembly, an oral cavity motion assembly, and a bionic tongue assembly; the lower jaw motion assembly comprises a lower jaw plate and a lower jaw plate motion driving motor in transmission connection with the lower jaw plate; the oral cavity motion assembly comprises an upper jaw plate, a left driving motion block, a left driven motion block, a left front-back motion drive module, a right driving motion block, a right driven motion block, a right front-back motion drive module, and an internal-external linkage motion drive module; and the bionic tongue assembly comprises a tongue main body, a tongue mounting plate, a tongue left-right swing drive module, and a tongue front-back telescopic drive module. Up-down rotation of the lower jaw plate is achieved by means of the lower jaw motion assembly; by means of the oral cavity motion assembly, front-back motion of the inner wall of the left side and the inner wall of the right side of the oral cavity is achieved, and the actions of the inner walls of the left side and right side of the oral cavity squeezing inward or puffing up outward are also achieved; and the bionic tongue assembly increases the richness of motion of the tongue main body.

Description

Bionic mouth mechanism

[0001] This application is based on the Chinese patent application with application number 202311246273.X and application date September 25, 2023, and claims its priority. The entire content of the application is hereby introduced as a whole into this application. Technical Field

[0002] The present application relates to the field of bionic robotics technology, and more specifically to a bionic mouth mechanism. Background Art

[0003] As an important component of the bionic robot head, the existing robot mouth can only perform relatively few movements, resulting in a low degree of rich facial expressions of the bionic robot. For example, it can only realize the extension and retraction of the tongue, the rotation of the lower jaw, and the opening and closing of the lips. Application Contents

[0004] The purpose of this application is to overcome the shortcomings of the existing technology and provide a bionic mouth mechanism, aiming to improve the ability of the mouth's movement movements, thereby increasing the richness of the facial expressions of the bionic robot.

[0005] To achieve the above objectives, this application adopts the following technical solutions:

[0006] The present application provides a bionic oral mechanism, including a mandibular motion component, an oral motion component and a bionic tongue component, the mandibular motion component including a mandibular plate and a mandibular plate motion drive motor connected to the mandibular plate in transmission, the oral motion component including 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 front-and-rear motion The motion drive module is transmission-connected with the right active motion block. When the right front-to-back 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-to-back motion drive module and the right front-to-back 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-right swinging drive module and a tongue front-to-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-to-back telescopic drive 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 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.

[0007] Its further technical solution is: it 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, the left upper corner of the mouth motion swing arm One end of the upper left corner of the mouth is connected to the output shaft of the upper left corner of the mouth motion drive motor, 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 on the upper surface of the upper jaw plate, the upper right corner of the mouth skin contact block is movably mounted 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.

[0008] Its further technical solution is: it also includes a lower corner of the mouth motion drive component, the lower corner of the mouth motion drive component 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 the left lower corner of the mouth motion second swing arm One end of the lower left corner of the mouth is hinged, the other end of the second swing arm for moving the lower left corner of the mouth is connected to the lower left corner of the mouth movement drive motor, the lower right corner of the mouth movement drive module includes the first swing arm for moving the lower right corner of the mouth, the second swing arm for moving the lower right corner of the mouth and the lower right corner of the mouth movement drive 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 right lower 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 for moving the lower right corner of the mouth, the other end of the first swing arm for moving the lower right corner of the mouth is hinged to one end of the second swing arm for moving the lower right corner of the mouth, and the other end of the second swing arm for moving the lower right corner of the mouth is connected to the lower right corner of the mouth movement drive motor.

[0009] 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.

[0010] 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.

[0011] Its further technical solution is: a left L-shaped forward and backward moving plate is provided on the upper side of the left active motion block, 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; a right L-shaped forward and backward moving plate is provided on the upper side of the right active motion block, 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.

[0012] Its further technical solution is: a left arc-shaped slide is provided on the inner side of the left driven motion block, a left fixed arm is extended downward from the bottom surface of the upper jaw plate, a left arm hook is provided at the lower end of the left fixed arm and is clamped in the left arc-shaped slide, 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 is provided on the inner side of the right driven motion block, a right fixed arm is extended downward from the bottom surface of the upper jaw plate, a right arm hook is provided at the lower end of the right fixed arm and is clamped in the right arc-shaped slide, and a right outer skin cheek connecting portion is provided on the outer side of the right driven motion block.

[0013] 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.

[0014] 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.

[0015] 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.

[0016] Compared with the prior art, the present application has the following advantages: the mandibular motion assembly is provided to achieve up and down rotation of the mandibular plate. By providing 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 front-to-back motion drive module drives the left active motion block to move back and forth, thereby achieving back-to-back motion of the left inner wall of the oral cavity, and the right front-to-back motion drive module drives the right active motion block to move back and forth, thereby achieving back-to-back motion of the right inner wall of the oral cavity. At the same time, since the back-to-back motion of the left inner wall of the oral cavity and the back-to-back motion of the right inner wall of the cavity are relatively independent, they can be independently controlled, thereby improving the richness of oral movement. In addition, the internal-external linkage motion drive module drives the left active motion block and the right active motion block to move synchronously inward or outward, thereby achieving the action of squeezing the left and right inner walls of the oral cavity inward or bulging outward, further improving the richness of oral movement and thereby improving the richness of facial expression. By utilizing the tongue's forward and backward extension drive module to achieve forward and backward extension and contraction of the tongue body, and by utilizing the tongue's left and right swing drive module to achieve left and right swing movement of the tongue body, the richness of the tongue body's movement is enhanced. In addition, by providing the upper and lower corners of the mouth motion drive components, the upper left and lower left corners of the mouth, as well as the upper right and lower right corners of the mouth, are able to independently move, and at the same time, they can cooperate with each other to enhance the richness of the movements of the corners of the mouth. Overall, the mandibular motion component, oral motion component, bionic tongue component, upper corner of the mouth motion drive component, and lower corner of the mouth motion drive component cooperate with each other to achieve a variety of facial expressions, enhancing the richness of surface expressions.

[0017] 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

[0018] 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.

[0019] FIG1 is a schematic structural diagram of a bionic mouth mechanism provided in a specific embodiment of the present application;

[0020] FIG2 is an assembly diagram of an oral motion assembly according to a specific embodiment of the present application;

[0021] FIG3 is a schematic diagram of a partial structure of an oral movement assembly according to a specific embodiment of the present application;

[0022] FIG4 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;

[0023] FIG5 is a second schematic diagram of a partial structure of an oral movement assembly provided in a specific embodiment of the present application;

[0024] FIG6 is a schematic structural diagram of a bionic tongue assembly provided in a specific embodiment of the present application;

[0025] FIG7 is a schematic diagram of a partial structure of a bionic tongue assembly provided in a specific embodiment of the present application;

[0026] FIG8 is an exploded view of a portion of the structure of a bionic tongue assembly provided in a specific embodiment of the present application;

[0027] FIG9 is a schematic diagram of a partial structure of a bionic mouth mechanism provided in a specific embodiment of the present application. Attached photos

[0028] 2. Bionic 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 downward bending 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 connection hole; 232. Tongue left and right swing motor; 24. Tongue forward and backward telescopic drive module; 241. Tongue forward and backward telescopic fisheye connecting rod; 242. Tongue forward and backward telescopic eccentric wheel; 243. Tongue extension motor; 25. Tongue cover; 3. Oral movement assembly; 31. Upper palate; 311. Left fixed arm; 312. Right fixed arm; 32. Left slave 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 hole connection; 34. Right slave motion block; 341. Right cheek connection; 35. Right active motion block; 36. Left forward and backward motion drive module; 361. Left forward and backward motion swing arm; 362. Left forward and backward motion drive motor; 37. Right forward and backward 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, mandibular motion connecting arm; 412, mandibular plate motion drive motor; 42, upper mouth corner motion drive assembly; 421, left upper mouth corner motion drive motor; 4 22. Upper left corner of mouth motion swing arm; 423. Upper left corner of mouth skin contact block; 424. Upper left corner of mouth motion guide column; 425. Upper right corner of mouth motion drive motor; 426. Upper right corner of mouth motion swing arm; 427. Upper right corner of mouth skin contact block; 428. Upper right corner of mouth motion guide column; 43. Lower corner of mouth motion drive assembly; 431. Lower left corner of mouth transmission rod; 432. Lower left corner of mouth motion first swing arm; 433. Lower left corner of mouth motion second swing arm; 434. Lower left corner of mouth motion drive motor; 435. Lower right corner of mouth transmission rod; 436. Lower right corner of mouth motion first swing arm; 437. Lower right corner of mouth motion second swing arm; 438. Lower right corner of mouth motion drive motor. Implementation Method

[0029] 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.

[0030] It should be understood that when used in this specification and claims, the terms "include" and "comprising" indicate the presence of described features, integers, steps, operations, elements and / or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components and / or groups thereof.

[0031] It should also be understood that the terms used in this specification are only for the purpose of describing specific embodiments and are not intended to limit the present 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.

[0032] It should be further 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.

[0033] As shown in Figures 1 and 2, an embodiment of the present application provides a bionic oral mechanism 4, including 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.

[0034] 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. By utilizing the tongue forward and backward extension drive module 24 to realize the forward and backward extension movement of the tongue body 21, and by utilizing the tongue left and right swing drive module 23 to realize the left and right swing movement of the tongue body 21, the movement richness of the tongue body 21 is improved.

[0035] As shown in FIG1 , the bionic mouth mechanism 4 also 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 on the mask of the anthropomorphic robot 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.

[0036] 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 on the mask of the anthropomorphic robot 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.

[0037] As shown in Figures 1 and 9, 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 movement drive motor 434 drives the left lower corner of the mouth movement second swing arm 433 to move, the left lower corner of the mouth movement second swing arm 433 drives the left lower corner of the mouth movement first swing arm 432 to move, and the left lower corner of the mouth movement first swing arm 432 drives the left lower corner of the mouth 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 left lower corner of the mouth on the mask of the hook-shaped bionic robot is used to achieve the downward movement of the left lower 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 movement drive module, the movement of the left lower corner of the mouth is achieved in a limited space, and the movement of other components will not interfere with each other, and the structural design is ingenious.

[0038] 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 driving 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 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 is hook-shaped, and the right lower corner of the mouth on the mask of the hook-shaped bionic robot is used to achieve the downward movement of the right lower corner of the mouth or the inward rotation of 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 driving module, the movement of the right lower corner of the mouth is achieved in a limited space, and the movement of other components will not interfere with each other, and the structural design is ingenious.

[0039] As shown in FIG1 , 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.

[0040] 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.

[0041] As shown in Figures 2 to 4, 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.

[0042] As shown in Figures 2 to 4, 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.

[0043] As shown in FIG4 , 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.

[0044] 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.

[0045] As shown in FIG4 , 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 driven 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 driven motion block 34, and the right connecting ear hole is movably mounted on the right positioning post.

[0046] As shown in Figure 4 , the left follower motion block 32 is provided with a left arcuate slot 323 on its inner side. 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 arcuate slot 323. The left arm hook cooperates with the left arcuate 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.

[0047] 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.

[0048] As shown in Figure 4 , the left slave motion block 32 is provided with a left cheek connection portion 321 on its outer side, and the right slave motion block 34 is provided with a right cheek connection portion 341 on its outer side. The left and right cheek connections 321 and 341 are fixedly connected to the inside of the bionic robot's mask. This allows the left and right slave motion blocks 32 and 34 to move back and forth or in and out, thereby driving movement of the inner wall of the oral cavity (from the outside of the bionic robot's mask, this drives movement of the cheek area).

[0049] As shown in Figures 2-3 and 5, the internal and external linkage motion drive module 38 includes a first connecting rod 382 of a left front-and-back motion drive motor, a second connecting rod 383 of a left front-and-back motion drive motor, a first connecting rod 384 of a right front-and-back motion drive motor, a second connecting rod 385 of a right front-and-back 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 connecting rod 382 of the left front-and-back motion drive motor and one end of the second connecting rod of the left front-and-back motion drive motor 362 are hinged to the same side of the left front-and-back motion drive motor 362, one end of the first connecting rod 384 of the right front-and-back motion drive motor and one end of the second connecting rod 385 of the right front-and-back motion drive motor are hinged to the same side of the right front-and-back motion drive motor 372, and the left front-and-back motion drive motor 36 The other end of the first connecting rod 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-to-back motion drive motor, the other end of the second connecting rod 383 of the left front-to-back 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-to-back motion drive motor, the output shaft of the inner-outer movement drive motor 381 is connected to the middle parts of the first linkage rod 386 and the second linkage rod 387, when the inner-outer movement drive motor 381 is in operation, it drives the left front-to-back motion drive motor 362 and the right front-to-back motion drive motor 372 to move inward or outward synchronously, thereby causing the left active motion block 33 and the right active motion block 35 to move inward or outward synchronously.

[0050] 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.

[0051] 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.

[0052] As shown in Figures 6-8, 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.

[0053] 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.

[0054] As shown in Figures 7-8, 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.

[0055] 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.

[0056] As shown in Figures 7 and 8, 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.

[0057] 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.

[0058] Optionally, as shown in Figure 6 , 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 .

[0059] As shown in Figures 7 and 8, 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.

[0060] 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.

[0061] 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.

[0062] As shown in Figure 7, 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.

[0063] 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.

[0064] The above description is merely a specific embodiment of the present application, but the scope of protection of the present application is not limited thereto. Any person skilled in the art can easily conceive of various equivalent modifications or substitutions within the technical scope disclosed in the present application, and such modifications or substitutions should be included in the scope of protection of the present application. Therefore, the scope of protection of the present application should be based on the scope of protection of the claims.

Claims

1. Bionic mouth mechanism, characterized in that: The invention comprises a lower jaw movement component, an oral movement component and a bionic tongue component, wherein the lower jaw movement component comprises a lower jaw plate, and a lower jaw plate movement driving motor connected to the lower jaw plate in transmission, the oral movement component comprises an upper jaw plate, a left active movement block, a left driven movement block, a left front-to-back movement driving module, a right active movement block, a right driven movement block, a right front-to-back movement driving module and an internal-external linkage movement driving module, wherein the left driven movement block is fixedly connected to the left active movement block, the upper jaw plate and the lower jaw plate are arranged relatively up and down, the left active movement block and the left driven movement block are located between the upper jaw plate and the left side of the lower jaw plate, the right active movement block and the right driven movement block are located between the upper jaw plate and the right side of the lower jaw plate, the left front-to-back movement driving module is connected to the left active movement block in transmission, and when the left front-to-back movement driving module is working, it drives the left active movement block to move forward and backward, the right driven movement block is fixedly connected to the right active movement block, and the right front-to-back movement driving module is connected to the right active movement block. The right active motion block is transmission connected, and when the right front-to-back 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-to-back motion drive module and the right front-to-back 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 inward or outward synchronously. The bionic tongue assembly includes a tongue body, a tongue mounting plate, a tongue left-right swinging drive module and a tongue front-to-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-to-back telescopic drive 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 drive module is connected to the tongue mounting plate to drive the tongue mounting plate and the tongue body to swing left-to-right synchronously.

2. The bionic mouth mechanism according to claim 1, characterized in that: The upper corner of the mouth 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 upper jaw plate, and the upper jaw plate is provided with a plurality of movable sleeves on the upper jaw plate. The output shaft of the upper left corner of the mouth motion driving motor 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 driving module includes the upper right corner of the mouth motion swing arm and the upper right corner of the mouth motion driving 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 mounted 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 driving 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.

3. The bionic mouth mechanism according to claim 1, characterized in that: The invention also includes a lower corner of mouth motion drive component, which includes a lower left corner of mouth transmission rod, a lower left corner of mouth motion drive module, a lower right corner of mouth transmission rod and a lower right corner of mouth transmission drive module, the lower left corner of mouth motion drive module includes a lower left corner of mouth first swing arm, a lower left corner of mouth second swing arm and a lower left corner of mouth motion drive motor, the middle part of the lower left corner of mouth transmission rod is hinged to the lower jaw plate, the front end of the lower left corner of mouth transmission rod constitutes the lower left corner skin contact part, the rear end of the lower left corner of mouth transmission rod is hinged to one end of the lower left corner of mouth first swing arm, the other end of the lower left corner of mouth first swing arm is hinged to one end of the lower left corner of mouth second swing arm The other end of the second swing arm for moving the left lower corner of the mouth is connected to the lower left corner of the mouth movement driving motor, the lower right corner of the mouth movement driving module includes the first swing arm for moving the right lower corner of the mouth, the second swing arm for moving the right lower corner of the mouth and the lower right corner of the mouth movement 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 right lower 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 for moving the right lower corner of the mouth, the other end of the first swing arm for moving the right lower corner of the mouth is hinged to one end of the second swing arm for moving the right lower corner of the mouth, and the other end of the second swing arm for moving the right lower corner of the mouth is connected to the lower right corner of the mouth movement driving motor.

4. The bionic mouth mechanism according to claim 1, 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.

5. The bionic mouth mechanism according to claim 1, 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.

6. The bionic mouth mechanism according to claim 5, 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 a right forward and backward moving guide notch is provided on the upper jaw plate, and the right L-shaped forward and backward moving plate is placed in the right forward and backward moving guide notch.

7. The bionic mouth mechanism according to claim 5, characterized in that: A left arc-shaped slide groove is provided on the inner side of the left driven motion block, a left fixed arm is extended downwardly from the bottom surface of the upper jaw plate, a left arm hook is provided at the lower end of the left fixed arm and 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, a right fixed arm is extended downwardly from the bottom surface of the upper jaw plate, a right arm hook is provided at the lower end of the right fixed arm and 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.

8. The bionic mouth mechanism according to claim 5, 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.

9. The bionic mouth mechanism according to claim 1, 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.

10. The bionic mouth mechanism according to claim 9, 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.

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