CN117124343B - Head and neck structure of bionic robot and bionic robot - Google Patents

Abstract

The invention discloses a head and neck structure of a bionic robot and the bionic robot, wherein the head and neck structure of the bionic robot comprises a head structure and a neck structure movably connected with the head structure, the head structure comprises a robot head shell, a robot bionic mask, a bionic eye and eye mechanism and a bionic mouth mechanism, the robot bionic mask is sleeved on the outer surface of the robot head shell, the bionic eye and eye mechanism and the bionic mouth mechanism are arranged in the robot head shell, the neck structure is connected with the bionic mouth mechanism, the neck structure is used for driving the head structure to realize pitching, swaying and circumferential steering movements, the bionic eye and eye mechanism is connected with the robot bionic mask, and the robot bionic mask displays the facial expression of the bionic robot under the action of the bionic eye and eye mechanism. The invention improves the richness of the facial expression of the bionic robot and the flexibility and relevance of other actions of the head, and greatly meets the requirements of users.

Description

Head and neck structure of bionic robot and bionic robot

Technical Field

The invention relates to the technical field of robots, in particular to a head and neck structure of a bionic robot and the bionic robot.

Background

The head and neck structure of the robot is used as an important component of the bionic robot, the head and neck structure of the robot comprises a head structure and a neck structure, wherein the neck structure is respectively connected with the head structure and the bionic body trunk structure, the movement of the head structure depends on the design of the neck structure, and the realization of the facial expression of the head structure depends on the design of the head structure.

Along with the development of the times, the demands of users on the bionic robot are increasing, and along with the increasing demands on the bionic robot, the requirements on the facial expression of the head structure of the bionic robot are particularly put forward, and the facial expression and other actions which can be realized by the head structure design of the existing bionic robot can not meet the demands of the users.

Disclosure of Invention

The invention aims to overcome the defects of the prior art, provides a head and neck structure of a bionic robot and the bionic robot, and aims to improve the richness of facial expressions of the bionic robot and the flexibility and relevance of other actions of the head.

In order to achieve the above purpose, the present invention adopts the following technical scheme:

in one aspect, the invention provides a head and neck structure of a bionic robot, which comprises a head structure and a neck structure movably connected with the head structure, wherein the head structure comprises a robot head shell, a robot bionic mask, a bionic eye and eye mechanism and a bionic mouth mechanism, the robot bionic mask is sleeved on the outer surface of the robot head shell, the bionic eye and eye mechanism and the bionic mouth mechanism are arranged in the robot head shell, the neck structure is connected with the bionic mouth mechanism, the neck structure is used for driving the head structure to realize pitching, swaying left and right and circumferential steering movements, the bionic eye and mouth mechanism is connected with the robot bionic mask, and the robot bionic mask displays facial expression of the bionic robot under the action of the bionic eye and mouth mechanism.

The further technical scheme is as follows: the bionic eyebrow eye mechanism comprises an eye unit and a eyebrow unit, wherein the eye unit comprises an eye support, 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-down rotation driving assembly, a right eyelid up-down rotation driving assembly, an eyeball left-right rotation linkage driving assembly and an eyeball up-down rotation linkage driving assembly, the left upper eyelid and the left lower eyelid are hinged on the eye support, the left eyelid up-down rotation driving assembly is used for driving 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 eye support, the right upper eyelid up-down rotation driving assembly is used for driving the right upper eyelid and the right lower eyelid to open and close relatively, the eyeball left-right rotation driving assembly is used for driving the left eyeball and the right left-right rotation linkage driving assembly, and the upper-lower rotation driving assembly is used for driving the left eyeball and the right linkage; the eyebrow unit comprises a eyebrow support and a plurality of eyebrow movement control assemblies arranged on the eyebrow support, wherein the eyebrow movement control assemblies respectively act on different parts of the eyebrow to realize movement of different parts of the eyebrow.

The further technical scheme is as follows: the eye support is provided with two left eyelid support arms which are oppositely arranged, the left upper eyelid and the left lower eyelid are hinged between the two left eyelid support 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 with the left upper eyelid, the other end of the left upper eyelid arc connecting rod is hinged with one end of the left eyelid straight connecting rod, one end of the left lower eyelid arc connecting rod is hinged with one end of the left upper eyelid, the other end of the left lower eyelid arc connecting rod is hinged with one end of the left eyelid straight connecting rod, the other end of the left eyelid straight connecting rod is connected with the left eyelid rocker, the left eyelid rocker is connected with an output shaft of the left eyelid up-and-down rotation driving motor, and the left eyelid up-and-down rotation driving motor is arranged on the eye support; the eye support is further provided with two right eyelid support arms which are oppositely arranged, the right upper eyelid and the right lower eyelid are hinged between the two right eyelid support arms, the right eyelid up-down rotation driving assembly comprises a right eyelid up-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 with the right upper eyelid, the other end of the right upper eyelid arc connecting rod is hinged with one end of the right eyelid straight connecting rod, one end of the right lower eyelid arc connecting rod is hinged with the right upper eyelid, the other end of the right lower eyelid arc connecting rod is hinged with one end of the right eyelid straight connecting rod, the other end of the right eyelid straight connecting rod is connected with the right eyelid rocker, the right eyelid rocker is connected with an output shaft of the right eyelid up-down rotation driving motor, and the right eyelid up-down rotation driving motor is arranged on the eye support.

The further technical scheme is as follows: the eyeball up-down rotation linkage driving assembly comprises an eyeball up-down rotation linkage driving motor, an eyeball up-down rotation linkage rocker, an eyeball up-down rotation linkage arc connecting rod and an eyeball up-down rotation linkage plate, wherein the eyeball up-down rotation linkage plate is hinged to the eye support, the left eyeball and the right eyeball are connected with the eyeball up-down rotation linkage plate in a rotating mode, one end of the eyeball up-down rotation linkage arc connecting rod is connected with the eyeball up-down rotation linkage plate, the other end of the eyeball up-down rotation linkage arc connecting rod is connected with the eyeball up-down rotation linkage rocker, the eyeball up-down rotation linkage rocker is connected with an output shaft of the eyeball up-down rotation linkage driving motor, and the eyeball up-down rotation linkage driving motor is arranged on the eye support.

The further technical scheme is as follows: the eyeball up-down rotation linkage plate comprises a middle plate block, a left connecting support arm and a right connecting support arm which are arranged on two sides of the middle plate block, the tail end of the left connecting support arm is connected with the left eyeball in a rotating mode, the tail end of the right connecting support arm is connected with the right eyeball in a rotating mode, the left side and the right side of the middle plate block are hinged to the eye support, and one end of the eyeball left-right rotation linkage arc-shaped connecting rod is hinged to the front side of the middle plate block.

The further technical scheme is as follows: the eyeball left-right rotation linkage driving assembly comprises an eyeball left-right rotation linkage driving motor, an eyeball left-right rotation linkage rocker and an eyeball left-right rotation linkage rod, wherein the left end and the right end of the eyeball left-right rotation linkage rod are respectively connected with the left eyeball and the right eyeball in a rotating mode, the middle of the eyeball left-right rotation linkage rod is movably connected with the eyeball left-right rotation linkage rocker, the eyeball left-right rotation linkage rocker is connected with an output shaft of the eyeball left-right rotation linkage driving motor, and the eyeball left-right rotation linkage driving motor is arranged on the middle plate.

The further technical scheme is as follows: the eyebrow portion motion control components comprise a left eyebrow first portion motion control component, a left eyebrow second portion motion control component, a right eyebrow first portion motion control component and a right eyebrow second portion motion control component, wherein the left eyebrow first portion motion control component acts on the center position of the upper portion of the left eyebrow, the left eyebrow second portion motion control component acts on the eye corner position of one side of the left eyebrow, which is close to the eyebrow, the right eyebrow first portion motion control component acts on the center position of the upper portion of the right eyebrow, and the right eyebrow second portion motion control component acts on the eye corner position of one side of the right eyebrow, which is close to the eyebrow.

The further technical scheme is as follows: the bionic mouth mechanism comprises a lower jaw moving assembly, an oral cavity moving assembly and a bionic tongue assembly, the lower jaw moving assembly comprises a lower jaw plate and a lower jaw plate moving driving motor in transmission connection with the lower jaw plate, the oral cavity moving assembly comprises an upper jaw plate, a left driving moving block, a left driven moving block, a left front-back moving driving module, a right driving moving block, a right driven moving block, a right front-back moving driving module and an inner-outer linkage moving driving module, the left driven moving block is fixedly connected with the left driving moving block, the upper jaw plate and the lower jaw plate are oppositely arranged up and down, the left driving moving block and the left driven moving block are positioned between the upper jaw plate and the left side of the lower jaw plate, the right driving moving block and the right driven moving block are positioned between the upper jaw plate and the right side of the lower jaw plate, the left back-and-forth motion driving module is in transmission connection with the left active motion block, when the left back-and-forth motion driving module works, the left active motion block is driven to move back and forth, the right driven motion block is fixedly connected with the right active motion block, the right back-and-forth motion driving module is in transmission connection with the right active motion block, when the right back-and-forth motion driving module works, the right active motion block is driven to move back and forth, the inner and outer linkage motion driving module is in transmission connection with the left back-and-forth motion driving module and the right back-and-forth motion driving module, when the inner and outer linkage motion driving module works, the left active motion block and the right active motion block are driven to synchronously move inward or outward, the tongue assembly comprises a tongue main body, a tongue mounting plate, a tongue left and right swing driving module and a tongue front and back extension driving module, the tongue main 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 main body, the tongue main body is clamped in the telescopic guide groove, the tongue front-back telescopic driving module is connected with the tongue main body so as to drive the tongue main body to do front-back telescopic movement along the telescopic guide groove, and the tongue left-right swinging driving module is connected with the tongue mounting plate so as to drive the tongue mounting plate and the tongue main body to swing left and right synchronously.

The further technical scheme is as follows: the bionic mouth part mechanism further comprises an upper mouth corner motion driving assembly, the upper mouth corner motion driving assembly comprises a left upper mouth corner skin contact block, a left upper mouth corner motion guide upright post, a left upper mouth corner motion driving module, a right upper mouth corner skin contact block, a right upper mouth corner motion guide upright post and a right upper mouth corner motion driving module, the left upper mouth corner motion driving module comprises a left upper mouth corner motion swing arm and a left upper mouth corner motion driving motor, the left upper mouth corner motion guide upright post is fixed on the upper surface of the upper jaw plate, the left upper mouth corner skin contact block is movably sleeved on the left upper mouth corner motion guide upright post, one end of the left upper mouth corner motion swing arm is connected with an output shaft of the left upper mouth corner motion driving motor, one end of the left upper mouth corner motion swing arm is connected with the left upper mouth corner skin contact block, the right upper mouth corner motion driving module comprises a right upper mouth corner motion swing arm and a right upper mouth corner motion driving motor, the right upper mouth corner motion guide upright post is fixed on the upper surface of the upper jaw plate, the left upper mouth corner motion guide upright post is movably sleeved on the upper mouth corner guide post, and the right mouth corner guide sleeve is connected with the right upper mouth corner motion guide post; the bionic mouth part mechanism further comprises a lower mouth corner motion driving assembly, the lower mouth corner motion driving assembly comprises a left lower mouth corner transmission rod, a left lower mouth corner motion driving module, a right lower mouth corner transmission rod and a right lower mouth corner transmission driving module, the left lower mouth corner motion driving module comprises a left lower mouth corner motion first swing arm, a left lower mouth corner motion second swing arm and a left lower mouth corner motion driving motor, the middle part of the left lower mouth corner transmission rod is hinged with a lower jaw plate, the front end of the left lower mouth corner transmission rod forms a left lower corner skin contact part, the rear end of the left lower mouth corner transmission rod is hinged with one end of the left lower mouth corner motion first swing arm, the other end of the left lower mouth corner motion first swing arm is hinged with one end of the left lower mouth corner motion second swing arm, the other end of the left lower mouth corner motion second swing arm is connected with the left lower mouth corner motion driving motor, the right lower mouth corner motion driving module comprises a right lower mouth corner motion first swing arm, a right lower mouth corner motion second swing arm and a right lower mouth corner motion second swing arm, the right lower mouth corner motion second swing arm is hinged with one end of the right lower mouth corner transmission rod, and the right lower mouth corner transmission rod is hinged with the right lower mouth corner swing arm.

The further technical scheme is as follows: the lower jaw plate is provided with a lower jaw movement connecting arm which is connected with an output shaft of the lower jaw plate movement driving motor, and the lower jaw plate is driven to rotate up and down when the lower jaw plate movement driving motor works.

The further technical scheme is as follows: the left front-back motion driving module comprises a left front-back motion swing arm and a left front-back motion driving motor, one end of the left front-back motion swing arm is connected with the left front-back motion driving motor, the other end of the left front-back motion swing arm is hinged with the rear side of the left driving motion block, the upper side of the left driving motion block is movably connected with the upper jaw plate, and the front side of the left driving motion block is fixedly connected with the left driven motion block; the right back-and-forth motion driving module comprises a right back-and-forth motion swing arm and a right back-and-forth motion driving motor, one end of the right back-and-forth motion swing arm is connected with the right back-and-forth motion driving motor, the other end of the right back-and-forth motion swing arm is hinged with the rear side of the right driving motion block, the upper side of the right driving motion block is movably connected with the upper jaw plate, and the front side of the right driving motion block is fixedly connected with the right driven motion block.

The further technical scheme is as follows: the upper side of the left active movement block is provided with a left L-shaped front-rear movement plate, the upper jaw plate is provided with a left front-rear movement guide notch, and the left L-shaped front-rear movement plate is arranged in the left front-rear movement guide notch; the upper side of the right driving movement block is provided with a right L-shaped front-rear movement plate, the upper jaw plate is provided with a right front-rear movement guide notch, and the right L-shaped front-rear movement plate is arranged in the right front-rear movement guide notch; the inner side of the left driven motion block is provided with a left arc chute, the bottom surface of the upper jaw plate is provided with a left fixed support arm in a downward extending mode, the lower end of the left fixed support arm is provided with a left arm hook part clamped in the left arc chute, and the outer side of the left driven motion block is provided with a left skin cheek connecting part; the inner side of the right driven motion block is provided with a right arc-shaped chute, the bottom surface of the upper jaw plate is provided with a right fixed support arm in a downward extending mode, the lower end of the right fixed support arm is provided with a right arm hook-shaped part which is clamped in the right arc-shaped chute, and the outer side of the right driven motion block is provided with a right outer skin cheek connecting part.

The further technical scheme is as follows: the inner and outer linkage motion driving module comprises a left front-back motion driving motor first connecting rod, a left front-back motion driving motor second connecting rod, a right front-back motion driving motor first connecting rod, a right front-back motion driving motor second connecting rod, a first linkage rod, a second linkage rod and an inner and outer movement driving motor, one end of the left front-back motion driving motor first connecting rod and one end of the left front-back motion driving motor second connecting rod are hinged to the same side of the left front-back motion driving motor, one end of the right front-back motion driving motor first connecting rod and one end of the right front-back motion driving motor second connecting rod are hinged to the same side of the right front-back motion driving motor, the other end of the left front-back motion driving motor first connecting rod 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 right front-back motion driving motor second connecting rod, the other end of the left front-back motion driving motor second connecting rod is hinged to one end of the second linkage rod, and the other end of the right front-back driving motor and the left front-back driving motor or the inner and outer driving motor and the outer driving motor, and the inner and outer driving motor and the outer driving motor move synchronously.

The further technical scheme is as follows: the tongue front-back telescopic driving module comprises a tongue front-back telescopic fish eye connecting rod, a tongue front-back telescopic motor and a tongue front-back telescopic eccentric wheel, one end of the tongue front-back telescopic fish eye connecting rod is connected with the tongue main body, the other end of the tongue front-back telescopic fish eye connecting rod is connected with the tongue front-back telescopic eccentric wheel, and an output shaft of the tongue front-back telescopic motor is connected with the tongue front-back telescopic eccentric wheel; the tongue left-right swinging driving module comprises a tongue left-right swinging connecting piece and a tongue left-right swinging motor, one side of the tongue left-right swinging connecting piece is connected with the tongue mounting plate, and the other side of the tongue left-right swinging connecting piece is connected with an output shaft of the tongue left-right swinging motor.

The further technical scheme is as follows: one side of the tongue left-right swinging connector is provided with a swinging connecting shaft, the tongue mounting plate is provided with a tongue mounting plate bayonet for clamping the swinging connecting shaft, and the other side of the tongue left-right swinging connector is provided with a swinging connector sleeve hole matched with an output shaft sleeve of the tongue left-right swinging motor; the tongue main body comprises a tongue vertical plate, a tongue transverse plate and a tongue connecting plate, wherein the tongue transverse plate is transversely arranged on the upper side of the tongue vertical plate, the tongue connecting plate is fixed on the rear side of the tongue vertical plate, and one end of the tongue front-rear telescopic fisheye connecting rod is connected with the tongue connecting plate.

The further technical scheme is as follows: the bionic mask for the robot comprises a mask body, wherein the mask body is made of flexible materials, a mask sleeve cavity is formed in the mask body, a sleeve opening communicated with the mask sleeve cavity is formed in the bottom of the mask body, an opening and closing seam is further formed in the mask body, and one end of the opening and closing seam extends to the sleeve opening.

The further technical scheme is as follows: the inner wall of the mask sleeve cavity is provided with a plurality of connecting structures.

The further technical scheme is as follows: the mask body is also provided with a multifunctional interface window and a cover plate which is arranged on the multifunctional interface window in an opening and closing manner.

The further technical scheme is as follows: the neck structure comprises a bionic neck mechanism, the bionic neck mechanism comprises a head end base, a head end connecting seat, a body end base, a body end connecting seat, a neck fixing connecting rod, a swinging driving module, a pitching driving module and a steering driving module, wherein the head end connecting seat is detachably connected to the upper portion of the head end base, the body end connecting seat is detachably connected to the lower portion of the body end base, the lower end of the neck fixing connecting rod is fixedly connected with the body end base, the upper end of the neck fixing connecting rod is movably connected with the bottom of the head end base, the swinging driving module is connected with the head end base so as to drive the head end base to swing left and right in synchronization with the head end connecting seat, the pitching driving module is connected with the head end base so as to drive the head end base to swing back and forth in synchronization with the head end base, and the steering driving module is connected with the head end base so as to drive the head end connecting seat to swing relative to the head end base in circumferential direction.

The further technical scheme is as follows: the center of the top of the head end base is provided with a connecting shaft, and the center of the bottom of the head end connecting seat is provided with a shaft sleeve which is nested and matched with the connecting shaft; the bottom of the body end base is provided with an inserting block, and the body end connecting seat is provided with a slot which is in inserting fit with the inserting block.

The further technical scheme is as follows: the swing driving module comprises a left vertical connecting rod, a right vertical connecting rod, a left-right swinging gear set and a left-right swinging driving motor, wherein the upper end of the left vertical connecting rod is hinged with the left side of the head end base, the lower end of the left vertical connecting rod is hinged with the left end of the left-right swinging connecting rod, the right end of the left-right swinging connecting rod is hinged with the lower end of the right vertical connecting rod, the upper end of the right vertical connecting rod is hinged with the right side of the head end base, the middle part of the left-right swinging connecting rod is hinged with the neck fixing connecting rod, and the left-right swinging gear set is in transmission connection between the left-right swinging connecting rod and the output shaft of the left-right swinging driving motor; the left-right swinging gear set comprises a first gear and a second gear which is perpendicular to the first gear, the first gear is fixed on the left-right swinging connecting rod, the second gear is fixed on an output shaft of the left-right swinging driving motor, and the first gear is meshed with the second gear.

The further technical scheme is as follows: the pitching driving module comprises a front vertical connecting rod, a rear vertical connecting rod, a front pitching connecting rod, a rear pitching connecting rod, a front pitching gear set, a rear pitching driving motor and a front pitching driving motor, wherein the upper end of the front vertical connecting rod is hinged with the front side of the head end base, the lower end of the front vertical connecting rod is hinged with the front end of the front pitching connecting rod and the rear pitching connecting rod, the rear end of the front pitching connecting rod is hinged with the lower end of the rear vertical connecting rod, the upper end of the rear vertical connecting rod is hinged with the rear side of the head end base, the middle parts of the front pitching connecting rod and the rear pitching connecting rod are hinged with the neck fixing connecting rod, and the front pitching gear set is in transmission connection between the front pitching connecting rod and the front pitching driving motor and the rear pitching driving motor; the front pitching gear set comprises an upper gear, an intermediate gear and a lower gear which are sequentially arranged side by side from top to bottom, the upper gear is fixed on the front pitching connecting rod and the rear pitching connecting rod, the lower gear is fixed on an output shaft of the front pitching driving motor and the rear pitching driving motor, and the intermediate gear is rotationally connected to the body end base and meshed with the upper gear and the lower gear.

The further technical scheme is as follows: the steering driving module comprises a steering driving motor and a steering gear set, an arc gear part is arranged at the top of the head end base, and the steering gear set is in transmission connection between the arc gear part and an output shaft of the steering driving motor; the steering gear group comprises a first top gear, a second top gear, a gear rod, a bottom gear and a steering driving motor, wherein a rod hole is formed in the head end connecting seat, the gear rod penetrates through the rod hole, a bearing sleeved on the gear rod is arranged in the rod hole, the lower end of the gear rod is fixedly connected with the bottom gear below the head end connecting seat, the upper end of the gear rod is fixedly connected with the second top gear above the head end connecting seat, the first top gear is fixed on an output shaft of the steering driving motor, the second top gear is meshed with the first top gear, and the bottom gear is meshed with the arc gear.

The further technical scheme is as follows: the neck fixing connecting rod is arranged below the head end base and is provided with a spring and a spring limiting seat, the spring limiting seat is fixedly connected with the fixing connecting rod, the upper end face of the spring is abutted to the head end base, and the lower end face of the spring is abutted to the spring limiting seat.

On the other hand, the invention also provides a bionic robot which comprises a bionic body trunk structure and the bionic robot head and neck structure, wherein the neck structure is connected with the bionic body trunk structure.

Compared with the prior art, the invention has the beneficial effects that: the bionic robot head and neck structure comprises a head structure and a neck structure movably connected with the head structure, the head structure comprises a robot head shell, a robot bionic mask, a bionic eye mechanism and a bionic mouth mechanism, the robot bionic mask is sleeved on the outer surface of the robot head shell, the bionic eye mechanism and the bionic mouth mechanism are mounted in the robot head shell, the neck structure is connected with the bionic mouth mechanism and is used for driving the head structure to realize pitching, side-to-side and circumferential steering movement, the bionic eye mechanism and the bionic mouth mechanism are connected with the robot bionic mask, and the robot bionic mask displays the actions of the facial expressions of the bionic robot under the actions of the bionic eye mechanism and the bionic mouth mechanism. The bionic eyebrow mechanism improves the action richness of eyeballs and eyelid actions and the action richness of eyebrow areas of the robot bionic mask, and the eyeballs and eyelid actions and the action richness of eyebrow areas of the robot bionic mask can be matched, and different matched expressions, such as matching of eyebrow picking and eye closing, are displayed. The bionic mouth mechanism arranged realizes the control of the inner wall of the oral cavity, such as the inward extrusion or outward bulge of the inner wall of the oral cavity, and the like, simultaneously, the movement of the tongue part for making an angle is realized, the action richness of the mouth position of the bionic robot is improved, and the head structure of the robot shows various facial expressions through the bionic mask of the robot under the actions of the bionic eye mechanism and the bionic mouth mechanism, so that the richness of the facial expressions is improved, and meanwhile, the movement of the inside of the oral cavity is also realized. In addition, the arranged neck structure can drive the head structure to move in multiple directions, such as nodding, head lifting, head turning, head swinging and the like, so that the flexibility of the head structure is improved. For the whole head and neck structure of the bionic robot, all mechanisms can be matched with each other and can be controlled independently, so that not only can the expression actions made by a real person be simulated, but also the expression actions which cannot be made by the real person can be made, and the requirements of users are greatly met.

The foregoing description is only an overview of the present invention, and is intended to be implemented in accordance with the present invention so that the same may be more clearly understood, as well as to provide a better understanding of the present invention with reference to the following detailed description of the preferred embodiments.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for the description of the embodiments will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.

Fig. 1 is a schematic structural view of a head and neck structure of a bionic robot according to an embodiment of the present invention (a state where a head shell and a mask are not assembled); fig. 2 is a schematic view of a head and neck structure of a bionic robot according to an embodiment of the present invention; fig. 3 is a schematic view of a head and neck structure of a bionic robot according to an embodiment of the present invention (a state of not assembling a head shell mask); fig. 4 is a schematic structural view of a bionic eyebrow mechanism according to an embodiment of the present invention; fig. 5 is a schematic structural view of an eye unit in the bionic eyebrow mechanism according to an embodiment of the present invention; fig. 6 is a schematic diagram of a part of an eye unit in a bionic eyebrow mechanism according to an embodiment of the present invention; fig. 7 is a schematic diagram of a part of an eye unit in a bionic eyebrow mechanism according to a second embodiment of the present invention; fig. 8 is a schematic structural view of an eyeball up-down rotation linkage plate in the bionic eyebrow mechanism according to an embodiment of the present invention; fig. 9 is a schematic structural diagram of a left eyeball in the bionic eyebrow mechanism according to an embodiment of the present invention; fig. 10 is a schematic structural view of an eye support in a bionic eyebrow mechanism according to an embodiment of the present invention; FIG. 11 is a schematic view of a eyebrow unit in a bionic eyebrow mechanism according to an embodiment of the present invention; FIG. 12 is a schematic view of a eyebrow movement control assembly in a bionic eyebrow mechanism according to an embodiment of the present invention; fig. 13 is a schematic structural view of a bionic oral mechanism according to an embodiment of the present invention; fig. 14 is an assembly view of an oral motion assembly provided in accordance with an embodiment of the present invention; fig. 15 is a schematic view of a portion of an oral motion assembly according to an embodiment of the present invention; fig. 16 is a schematic structural view of a separated state of a left driving motion block and a left driven motion block in an oral motion assembly according to an embodiment of the present invention; fig. 17 is a schematic diagram of a portion of an oral motion assembly according to a second embodiment of the present invention; FIG. 18 is a schematic diagram of a bionic tongue component according to an embodiment of the present invention; FIG. 19 is a schematic view of a portion of a bionic tongue component according to an embodiment of the invention; FIG. 20 is an exploded view of a portion of the structure of a bionic tongue component according to an embodiment of the invention; FIG. 21 is a schematic view of a part of a bionic oral mechanism according to an embodiment of the present invention; fig. 22 is a schematic structural view of a robotic biomimetic mask provided by an embodiment of the present invention; FIG. 23 is a schematic view of a robotic biomimetic mask according to another view angle of the present disclosure; FIG. 24 is a schematic view of a bionic neck mechanism according to an embodiment of the present invention; FIG. 25 is an exploded view of a bionic neck mechanism according to an embodiment of the invention; FIG. 26 is a schematic view of a part of a bionic neck mechanism according to an embodiment of the present invention; fig. 27 is an exploded view of a part of the structure of a bionic neck mechanism according to an embodiment of the present invention.

Reference numerals

1. A bionic eyebrow-eye mechanism; 11. an eye unit; 111. an eye support; 1111. a left eyelid support arm; 1112. a right eyelid support arm; 112. a left eyeball; 1121. left upper eyelid; 1122. left lower eyelid; 1123. a left spherical shell; 1124. a left spherical shell mounting plate; 11241. a left mounting plate mounting port; 11242. a left mounting plate extension arm; 113. a right eyeball; 1131. upper right eyelid; 1132. lower right eyelid; 114. the left eyelid rotates up and down to drive the assembly; 1141. a left eyelid up-and-down rotation driving motor; 1142. left eyelid rocker; 1143. left eyelid straight link; 1144. an arc-shaped connecting rod of left upper eyelid; 1145. left lower eyelid arc link; 115. a right eyelid up and down rotation driving assembly; 1151. a right eyelid up and down rotation driving motor; 1152. a right eyelid rocker; 1153. right eyelid straight link; 1154. an arc connecting rod of the right upper eyelid; 1155. an arc connecting rod of the right lower eyelid; 116. the eyeball left-right rotates the linkage driving component; 1161. the eyeball rotates left and right to link the driving motor; 1162. the eyeball rotates the linkage rocker left and right; 1163. the eyeball rotates the linkage rod left and right; 117. the eyeball rotates up and down to link the driving component; 1171. the eyeball rotates up and down to link the driving motor; 1172. the eyeball rotates the linkage rocker up and down; 1173. the eyeball rotates up and down to link the arc-shaped connecting rod; 1174. the eyeball rotates the linkage plate up and down; 11741. a middle plate; 11742. a left connecting support arm; 11743. the right connecting support arm; 12. a brow unit; 121. a brow support; 1211. installing a bin; 122. a brow motion control assembly; 1221. a brow portion movement driving motor; 1222. eyebrow eccentric wheel; 1223. a brow portion crank; 1224. a motion guide mounting seat; 1225. an eyebrow contact moving member; 2. a bionic tongue component; 21. a tongue body; 211. a tongue diaphragm; 212. tongue riser; 213. a tongue connecting plate; 22. a tongue mounting plate; 221. a mounting plate cross plate portion; 2211. a telescopic guide groove; 2212. a rotation center portion; 222. a downward bending part of the mounting plate; 2221. a tongue mounting plate bayonet; 23. a tongue left-right swing driving module; 231. a tongue left-right swinging connecting piece; 2311. a swing connecting shaft; 2312. a swinging connecting piece trepanning; 232. a tongue left-right swinging motor; 24. a tongue front-back telescopic driving module; 241. a fish eye connecting rod stretches back and forth of the tongue; 242. the tongue stretches out and draws back the eccentric wheel; 243. a motor for stretching the tongue forwards and backwards; 25. a tongue sleeve; 3. an oral motion assembly; 31. an upper jaw plate; 311. a left fixed support arm; 312. a right fixed support arm; 32. a left driven motion block; 321. a left crust cheek connection; 322. a left positioning column; 323. a left arc chute; 33. a left active motion block; 331. a left L-shaped front and rear moving plate; 332. a left connecting ear; 3321. a left connecting ear hole; 34. a right driven motion block; 341. a right crust cheek connection; 35. a right active motion block; 36. a left front-back movement driving module; 361. the swing arm moves back and forth; 362. a left-and-back movement driving motor; 37. a right front-rear movement driving module; 371. the swing arm moves back and forth; 372. a right back-and-forth movement driving motor; 38. an internal and external linkage movement driving module; 381. an internal and external movement driving motor; 382. a first connecting rod of a left front-back motion driving motor; 383. a left front-back movement driving motor second connecting rod; 384. a right front-rear movement driving motor first connecting rod; 385. a right back-and-forth movement driving motor second connecting rod; 386. a first linkage rod; 387. a second linkage rod; 4. a bionic mouth mechanism; 41. a chin motion assembly; 411. a lower jaw plate; 4111. a mandible movement connecting arm; 412. a lower jaw plate movement driving motor; 42. an upper mouth angular motion driving assembly; 421. the upper left mouth corner moves the driving motor; 422. the upper left mouth angle moves the swing arm; 423. an upper left mouth corner skin contact block; 424. the left upper mouth angle moves to the guide upright post; 425. the right upper mouth corner moves the driving motor; 426. the right upper mouth angle moves the swing arm; 427. the right upper mouth corner skin contact block; 428. the right upper mouth corner moves to the guide upright post; 43. a lower nozzle angular motion driving assembly; 431. a left lower mouth corner transmission rod; 432. the left lower mouth angle moves the first swing arm; 433. the left lower mouth angle moves the second swing arm; 434. a left lower mouth angle movement driving motor; 435. a right lower mouth corner transmission rod; 436. the right lower mouth angle moves the first swing arm; 437. the right lower mouth angle moves the second swing arm; 438. a right lower mouth corner motion driving motor; 5. a robotic biomimetic mask; 51. a mask body; 511. eyebrow area; 512. an eyelet area; 513. a nasal region; 514. lip area; 515. ear area; 516. opening and closing the seam; 517. sleeving the mouth; 518. a cover plate; 6. a bionic neck mechanism; 61. a head end base; 611. a connecting shaft; 612. an arc gear portion; 62. a head end connecting seat; 621. a shaft sleeve; 622. a head connecting protrusion; 623. a head connecting column; 63. a body end base; 631. a plug block; 632. a pitch motor mounting groove; 633. a swing motor mounting groove; 64. a neck fixing connecting rod; 641. a ball shaft lever; 65. a swing driving module; 651. a left vertical link; 652. a right vertical link; 653. a left-right swinging connecting rod; 654. a first gear; 655. a second gear; 656. a left-right swing driving motor; 66. a pitch drive module; 661. a front vertical link; 662. a rear vertical link; 663. front and rear pitch links; 664. a top gear; 665. an intermediate gear; 666. a lower gear; 667. a front-rear pitch drive motor; 67. a steering drive module; 671. a steering drive motor; 672. a first top gear; 673. a second top gear; 674. a bottom gear; 675. a gear lever; 68. a spring; 69. a spring limit seat; 7. and a robot head shell.

Detailed Description

The technical solutions of the present invention will be clearly and completely described below in conjunction with specific embodiments of the present invention, and it is apparent that the described embodiments are some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.

It is to be understood that the terminology used in the description of the invention is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used in this specification and the appended claims, the singular forms "a," "an," and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise.

It should also be understood that the term "and/or" as used in the present specification and the appended claims refers to any and all possible combinations of one or more of the associated listed items, and includes such combinations.

As shown in fig. 1-3, the embodiment of the invention provides a bionic robot head-neck structure, which comprises a head structure and a neck structure movably connected with the head structure, wherein the head structure comprises a robot head shell 7, a robot bionic mask 5, a bionic 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 eye mechanism 1 and the bionic mouth mechanism 4 are arranged in the robot head shell 7, the neck structure is connected with the bionic mouth mechanism 4, the neck structure is used for driving the head structure to realize front-back pitching, left-right swinging and circumferential steering movements, the bionic eye mechanism 1 and the bionic mouth mechanism 4 are connected with the robot bionic mask 5, and the robot bionic mask 5 displays the facial motion of the robot under the action of the bionic eye mechanism 1 and the bionic mouth mechanism 4.

As shown in fig. 22, the robotic biomimetic mask 5 includes a mask body 51, and the mask body 51 is divided into an eyebrow area 511 (divided into left and right eyebrows), an eye aperture area 512 (divided into left and right eye apertures), 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), and is arranged in accordance with the distribution position of human organs. The mask body 51 is made of flexible materials, the mask body 51 is provided with a mask sleeve cavity, a sleeve opening 517 communicated with the mask sleeve cavity is formed in the bottom of the mask body 51, the mask body 51 is further provided with an opening and closing slit 516, and one end of the opening and closing slit 516 extends to the sleeve opening 517. When the mask body 51 is nested to the outer surface of the robot head shell 7 from the sleeve opening 517, the caliber of the sleeve opening 517 can be enlarged due to the opening and closing seam 516, so that the mask body 51 is more beneficial to being nested to the robot head shell 7, the convenience of assembly is improved, and after assembly, the opening and closing seam 516 automatically returns to an initial state due to the fact that the mask body 51 is made of flexible materials, and the reliability after assembly is improved.

Preferably, the mask body 51 is made of silicone material. The silica gel material is soft, elasticity is good, can laminate robot head case 7 better, and the silica gel material has very high wearability and durability moreover, can stand long-time use and frequent cleanness and be difficult to damage, in addition, the silica gel material has good plasticity, is favorable to highly lifelike facial feature and expression, makes the mask more true and vivid.

Further, the inner wall of the mask sleeve cavity is provided with a plurality of connection structures, and the connection structures are used for being conveniently connected with the robot head shell 7 and being connected with the execution ends of the bionic eyebrow mechanism 2 and the bionic mouth mechanism 4, for example, the eyebrow area 511 is connected with the execution ends of the execution units for controlling the eyebrow to move through the connection structures, so that the movement of the eyebrow area 511 is realized. The reliability after assembly is improved through the connection structure, and the control of the executing tail end of the executing unit on the face tool body 51 is facilitated, so that the facial expression simulation action is more accurate.

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, the inner wall of the mask sleeve cavity is provided with a buckle and a slot, wherein the buckle is in a protruding shape, the protrusion of the inner wall of the mask sleeve cavity is connected with the slot on the head shell of the robot head, and the slot of the inner wall of the mask sleeve cavity is connected with the protrusion of the execution end of the execution unit. Of course, in some embodiments, the connection structure is a magnetic attraction, and the connection is achieved using magnetic principles.

As shown in fig. 2, the mask body 51 is further provided with a multifunctional interface window, and a cover plate 518 disposed to be opened and closed to the multifunctional interface window. The multifunctional interface window corresponds to a data interface, a charging interface, a switch and the like on the head shell of the robot head, so that the operation of a user is facilitated. To satisfy the concealment of the multi-function interface window and the integrity of the mask body 51, a cover plate 518 is provided, the cover plate 518 being capable of covering the multi-function interface window. Of course, in order for the mask 518 to be obtrusive in the mask body 51, the shape of the outer surface of the mask 518 should be adapted to the shape of the area of the mask body 51 around which it is mounted, so that a smooth transition is possible.

Preferably, the cover 518 is hingedly disposed at one side of the multi-function interface window for ease of opening and closing.

Preferably, for aesthetic appearance of the mask body 51 and layout rationality, the multi-functional interface window is disposed on the rear side of the mask body 51, the open-close slit 516 is disposed on the rear side of the mask body 51, and the open-close slit 516 is located below the multi-functional interface window. The multifunctional interface window and the opening and closing slit 516 are arranged on the mask body 51, so that the expression of facial expressions of the eyebrow area 511, the lip area 514 and other parts of the mask body 51 can not be influenced, and the mask is not easy to observe and has a certain concealment.

As shown in fig. 4 to 6, the bionic eyebrow eye mechanism 1 includes an eye unit 11 and a eyebrow unit 12, the eye unit 11 includes an eye support 111, a left eye 112, a right eye 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-down rotation driving assembly 114, a right eyelid up-down rotation driving assembly 115, an eyeball left-right rotation linkage driving assembly 116 and an eyeball up-down rotation linkage driving assembly 117, the left upper eyelid 1121 and the left lower eyelid 1122 are hinged on the eye support 111 and cover on the left eye 112, the left eyelid up-down rotation driving assembly 114 is used for driving the left upper eyelid 1121 and the left lower eyelid 1122 to open and close relatively, the right upper eyelid 1131 and the right lower eyelid 1132 are hinged on the eye support 111 and cover on the right eye 113, the right eyelid up-down rotation driving assembly 115 is used for driving the right upper eyelid 1 and the right lower eyelid 1132 to open and close relatively, the left rotation driving assembly 116 is used for driving the left upper eyeball 112 and the right upper eyeball 113 and the right lower eyeball 113 to rotate relatively; the eyebrow unit 12 includes a eyebrow support 121, and a plurality of eyebrow movement control assemblies 122 mounted on the eyebrow support 121, wherein the plurality of eyebrow movement control assemblies 122 respectively act on different parts of the eyebrow to realize movement of the different parts of the eyebrow.

The left eyelid up-down rotation driving assembly 114 and the right eyelid up-down rotation driving assembly 115 can independently realize 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, and the left eyelid and the right eyelid are independently controlled, so that the right eye piece can be semi-closed or fully closed under the condition of opening the left eyelid, thereby improving the richness of eyelid actions. The left eyeball 112 and the right eyeball 113 can be linked in a left-right rotation mode through the eyeball left-right rotation linkage driving component 116, the left eyeball 112 and the right eyeball 113 can be linked in a up-down rotation mode through the eyeball up-down rotation linkage driving component 117, and the left eyeball 113 can not interfere with the up-down rotation of the left eyeball 113 while the left eyeball 113 rotates in a left-right mode, so that synchronous operation can be achieved, and the richness of eyeball actions is improved. Because the control of the left and right eyelid (in this application, the left upper eyelid 1121, the left lower eyelid 1122, the right upper eyelid 1131 and the right lower eyelid 1132, the subsequent content continues to be used) and the left and right eyeball 113 (in this application, the left eyeball 112 and the right eyeball 113 are indicated, the subsequent content continues to be used) are independent, the left and right eyelid can be mutually matched, more eye movements are realized, and thus the richness of eye movements is improved.

As shown in fig. 5, 6 and 10, the eye support 111 is provided with two left eyelid arms 1111 arranged oppositely, the left upper eyelid 1121 and the left lower eyelid 1122 are hinged between the two left eyelid arms 1111, the left eyelid up-down rotation driving assembly 114 comprises a left eyelid up-down rotation driving motor 1141, a left eyelid rocker 1142, a left eyelid straight link 1143, a left upper eyelid arc link 1144 and a left lower eyelid arc link 1145, one end of the left upper eyelid arc link 1144 is hinged with the left upper eyelid 1121, the other end of the left upper eyelid arc link 1144 is hinged with one end of the left eyelid straight link 1143, one end of the left lower eyelid arc link 1145 is hinged with the left upper eyelid 1121, the other end of the left lower eyelid arc link 1145 is hinged with one end of the left eyelid straight link 1143, the other end of the left eyelid straight link 1143 is connected with the left eyelid rocker 1142, the left eyelid rocker 1142 is connected with the output shaft of the left eyelid up-down rotation driving motor 1, and the left upper eyelid arc link 1144 is hinged with one end of the left lower eyelid link 1143. The eye support 111 is further provided with two right eyelid support arms 1112 which are oppositely arranged, the right upper eyelid 1131 and the right lower eyelid 1132 are hinged between the two right eyelid support arms 1112, the right eyelid up-down rotation driving assembly 115 comprises a right eyelid up-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 with the right upper eyelid 1131, the other end of the right upper eyelid arc connecting rod 115 is hinged with one end of the right eyelid straight connecting rod 1153, one end of the right lower eyelid arc connecting rod 1155 is hinged with the right upper eyelid 1131, the other end of the right lower eyelid arc connecting rod 1155 is hinged with one end of the right eyelid straight connecting rod 1153, the other end of the right eyelid straight connecting rod 1153 is connected with the right eyelid rocker 1152, the right eyelid rocker 1152 is connected with an output shaft of the right eyelid up-down rotation driving motor 1151, the right upper eyelid arc driving motor 1151 is fixedly mounted on the eye support 111 through a screw connecting member or the like.

When the upper left eyelid 1121 and the lower left eyelid 1122 are required to be relatively closed, the output shaft of the driving motor for controlling the upper and lower rotation of the eyelid drives the left eyelid rocker 1142 to rotate backwards, the left eyelid rocker 1142 rotates backwards and simultaneously pulls the left eyelid straight connecting rod 1143 backwards, and when the left eyelid straight connecting rod 1143 is pulled, the upper left eyelid arc connecting rod 1144 and the lower left eyelid arc connecting rod 1145 are mutually closed, so that the upper left eyelid 1121 and the lower left eyelid 1122 are mutually closed until the upper left eyelid and the lower left eyelid are completely closed. When the left upper eyelid 1121 and the left lower eyelid 1122 are required to be opened relatively, the output shaft of the driving motor for controlling the upper eyelid to rotate up and down drives the left eyelid rocker 1142 to rotate forward, the left eyelid rocker 1142 drives the left eyelid straight connecting rod 1143 forward while rotating forward, and when the left eyelid straight connecting rod 1143 is pushed, the left upper eyelid arc connecting rod 1144 and the left lower eyelid arc connecting rod 1145 are separated from each other, so that the left upper eyelid 1121 and the left lower eyelid 1122 are separated from each other until being fully opened. Of course, flexible control is possible from fully open to fully closed or from fully closed to fully open, thereby enabling a variety of ocular expressions, such as blinking, squinting, and glaring. Similarly, since the right eyelid up-down rotation driving unit 115 has the same structure as the left eyelid up-down rotation driving unit 114, the opening and closing operation of the right upper eyelid 1131 and the right lower eyelid 1132 is the same as the opening and closing operation of the left upper eyelid 1121 and the left lower eyelid 1122, and specific operation is not repeated here.

Because 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 may not interfere with each other, and may cooperate with each other to achieve different eye movements.

Because the left eyelid up and down rotation driving assembly 114 utilizes the cooperation between the left eyelid up and down rotation driving motor 1141, the left eyelid rocker 1142, the left eyelid straight link 1143, the left upper eyelid arc link 1144 and the left lower eyelid arc link 1145, and the right eyelid up and down rotation driving assembly 115 utilizes the cooperation between the right eyelid up and down rotation driving motor 1151, the right eyelid rocker 1152, the right eyelid straight link 1153, the right upper eyelid arc link 1154 and the right lower eyelid arc link 1155, the unfolding angle between the upper eyelid and the lower eyelid is improved, and meanwhile, the complete closure can be realized, thereby improving the richness of the eye motion.

As shown in fig. 5 to 6, the eyeball up-down rotation linkage driving component 117 includes an eyeball up-down rotation linkage driving motor 1171, an eyeball up-down rotation linkage rocker 1172, an eyeball up-down rotation linkage arc-shaped connecting rod 1173, and an eyeball up-down rotation linkage plate 1174, the eyeball up-down rotation linkage plate 1174 is hinged on the eye support 111, the left eyeball 112 and the right eyeball 113 are rotationally connected with the eyeball up-down rotation linkage plate 1174, one end of the eyeball up-down rotation linkage arc-shaped connecting rod 1173 is connected with the eyeball up-down rotation linkage plate 1174, the other end of the eyeball up-down rotation linkage arc-shaped connecting rod 1173 is connected with an output shaft of the eyeball up-down rotation linkage driving motor 1171, and the eyeball up-down rotation linkage driving motor 1171 is fixedly mounted on the eye support 111 through a connecting piece such as a screw.

When the eyeball up-down rotation linkage driving motor 1171 is controlled to drive the eyeball up-down rotation linkage rocker 1172 to rotate backwards, the eyeball up-down rotation linkage rocker 1172 pulls the eyeball up-down rotation linkage arc-shaped connecting rod 1173 backwards, the eyeball up-down rotation linkage arc-shaped connecting rod 1173 drives the eyeball up-down rotation linkage plate 1174 to rotate backwards around the hinge part, and the eyeball up-down rotation linkage plate 1174 rotates backwards to enable the left eyeball 112 and the right eyeball 113 to synchronously rotate upwards, so that the linkage of the upward rotation of the left eyeball 112 and the right eyeball 113 is realized. When the eyeball up-down rotation linkage driving motor 1171 is controlled to drive the eyeball up-down rotation linkage rocker 1172 to rotate forward, the eyeball up-down rotation linkage rocker 1172 can push the eyeball up-down rotation linkage arc-shaped connecting rod 1173 forward, the eyeball up-down rotation linkage arc-shaped connecting rod 1173 can drive the eyeball up-down rotation linkage plate 1174 to rotate forward around the hinge portion, and the eyeball up-down rotation linkage plate 1174 rotates forward so that the left eyeball 112 and the right eyeball 113 synchronously rotate downwards, so that linkage of the downward rotation of the left eyeball 112 and the right eyeball 113 is realized.

Through the cooperative coordination of the eyeball up-and-down rotation linkage driving motor 1171, the eyeball up-and-down rotation linkage rocker 1172, the eyeball up-and-down rotation linkage arc-shaped connecting rod 1173 and the eyeball up-and-down rotation linkage plate 1174, the up-and-down rotation amplitude of the left eyeball 113 and the right eyeball is improved, so that the device is beneficial to making richer eye expressions with the cooperation of left eyelid and the right eyelid.

As shown in fig. 6 and 8, the eye up-down rotation linkage plate 1174 includes an integrally formed middle plate 11741, and left connecting arms 11742 and right connecting arms 11743 disposed on two sides of the middle plate 11741, wherein the end of the left connecting arm 11742 is rotatably connected with the left eye 112 by using a pin shaft isometric piece, the end of the right connecting arm 11743 is rotatably connected with the right eye 113 by using a pin shaft isometric piece, the left and right sides of the middle plate 11741 are hinged with the eye support 111, and one end of the eye left and right rotation linkage arc-shaped connecting rod is hinged with the front side of the middle plate 11741.

In this embodiment, the left connecting arm 11742 and the right connecting arm 11743 are L-shaped, 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 rectangular, a mounting opening is formed in the middle of the middle plate 11741, a hinge position of an arc connecting rod in left-right rotation linkage with the eyeball is formed in a position, close to the front edge, of the upper surface of the middle plate 11741, and the arc connecting rod in left-right rotation linkage with the eyeball is hinged through a pin shaft equiaxed part. The middle plate 11741 is provided with hinge positions on the left and right sides of the left eyelid support arm 1111 and the right eyelid support arm 1112, and the middle plate 11741 is hinged with the left eyelid support arm 1111 and the right eyelid support arm 1112 through pin shafts and the like. Of course, in other embodiments, the left and right connecting arms 11742, 11743 can be other shapes, such as T-shapes, and the like.

The above-mentioned middle plate 11741, left connection support arm 11742 and right connection support arm 11743's construction method has guaranteed that the structure is succinct under the circumstances, is favorable to the realization of the upper and lower rotation linkage function of left and right eyeballs 113, and structural design is ingenious, has reduced occupation space, and simultaneously, middle plate 11741 installing port can be as the eyeball left and right rotation linkage drive assembly 116 in the bearing structure of power component for overall structure is compacter, has reduced the occupation of space.

As shown in fig. 5 to 7, the eyeball left-right rotation linkage driving component 116 includes an eyeball left-right rotation linkage driving motor 1161, an eyeball left-right rotation linkage rocker 1162 and an eyeball left-right rotation linkage rod 1163, the left and right ends of the eyeball left-right rotation linkage rod 1163 are respectively connected with the left eyeball 112 and the right eyeball 113 in a rotation way, the middle part of the eyeball left-right rotation linkage rod 1163 is movably connected with the eyeball left-right rotation linkage rocker 1162, the eyeball left-right rotation linkage rocker 1162 is connected with the output shaft of the eyeball left-right rotation linkage driving motor 1161, and the eyeball left-right rotation linkage driving motor 1161 is fixedly arranged on the middle plate 11741 through connecting pieces such as screws. Through the cooperative coordination of the eyeball left-right rotation linkage driving motor 1161, the eyeball left-right rotation linkage rocker 1162 and the eyeball left-right rotation linkage rod 1163, the left-right rotation amplitude of the left eyeball 113 is improved, and therefore richer eye expression can be conveniently made through cooperation with left and right eyelid.

In this embodiment, the eyeball left-right rotation linkage drive motor 1161 is installed in the installation opening of the middle plate 11741, so that the occupation space of the eyeball left-right rotation linkage drive motor 1161 is reduced, and the structure is more compact.

Because the middle plate 11741 is hinged on the eye support 111, when the middle plate 11741 rotates up and down, the eyeball left and right rotation linkage driving component 116 rotates up and down along with the whole, meanwhile, the eyeball left and right rotation linkage driving component 116 can drive the left and right eyeballs 113 to rotate left and right, the work of the eyeball left and right rotation linkage driving component 117 can not influence the work of the eyeball left and right rotation linkage driving component 116, so that the left and right eyeballs 113 rotate left and right, and simultaneously, the left and right eyeballs 113 can not interfere the up and down rotation of the left and right eyeballs 113, but can cooperate with each other, the eyeball up and down rotation and the left and right rotation can be synchronously performed, the richness of eyeball actions is improved, and the richness of eye actions is further improved by cooperation with the left and right eyeballs.

As shown in fig. 6-9, 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 left spherical shell 1123 and fixedly connected with the left spherical shell 1123 through a connecting piece such as a screw, when the left spherical shell mounting plate 1124 rotates, the left spherical shell 1123 rotates synchronously, a left mounting plate mounting opening 11241 is formed in the middle of the left spherical shell mounting plate 1124, the tail end of a left connecting arm 11742 is arranged in the left mounting plate mounting opening 11241 and is rotationally connected with the left spherical shell mounting plate 1124 through a pin shaft equiaxed piece, the left spherical shell mounting plate 1124 is transversely extended to be provided with a left mounting plate extension arm 11242 near the upper side edge of the left mounting plate mounting opening 11241, and the tail end of the left mounting plate extension arm 11242 is rotationally connected with the left end of the eyeball left-right rotation linkage rod 1163 through a pin shaft equiaxed piece; the right eyeball 113 comprises a right spherical shell and a right spherical shell mounting plate, wherein the right spherical shell mounting plate is embedded in the right spherical shell and fixedly connected with the right spherical shell through connecting pieces such as screws, when the right spherical shell mounting plate rotates, the right spherical shell synchronously rotates, a right mounting plate mounting opening is formed in the middle of the right spherical shell mounting plate, the tail end of a right connecting support arm 11743 is arranged in the right mounting plate mounting opening and is rotationally connected with the right spherical shell mounting plate through a pin shaft equiaxed piece, a right mounting plate extension arm transversely extends from the upper side edge of the right spherical shell mounting plate, which is close to the right mounting plate mounting opening, and the tail end of the right mounting plate extension arm is rotationally connected with the right end of the eyeball left-right rotation linkage rod 1163 through a pin shaft equiaxed piece.

The left spherical shell 1123 and the right spherical shell are configured to enhance the realism of the eye. Because the left spherical shell 1123 and the right spherical shell are not directly connected with other transmission components and are indirectly driven to move, the left spherical shell mounting plate 1124 and the right spherical shell mounting plate are respectively embedded in the left spherical shell 1123 and the right spherical shell, so that the ocular realism is further improved, the integrity of the outer surfaces of the left spherical shell 1123 and the right spherical shell is ensured, and the visual impact is improved.

As shown in fig. 4 and 11, the plurality of eyebrow movement control modules 122 include a left eyebrow first portion movement control module, a left eyebrow second portion movement control module, a right eyebrow first portion movement control module, and a right eyebrow second portion movement control module, wherein the left eyebrow first portion movement control module acts on a center position of an upper portion of the left eyebrow, the left eyebrow second portion movement control module acts on an eye angle position of a side of the left eyebrow adjacent to the eyebrow, the right eyebrow first portion movement control module acts on a center position of an upper portion of the right eyebrow, and the right eyebrow second portion movement control module acts on an eye angle position of a side of the right eyebrow adjacent to the eyebrow.

Specifically, the eyebrow movement control assemblies 122 are used to move the left and right eyebrows of the mask body 51 to improve the richness of the eyebrow movement. For example, the actions of locking the eyebrows, stretching the eyebrows on two sides, and the like are realized.

It should be noted that, in order to ensure the richness of the actions of the eyebrow parts, at least two eyebrow movement control assemblies 122 of different parts are respectively provided for the left eyebrow and the right eyebrow, however, in some embodiments, more eyebrow movement control assemblies 122 may be provided, for example, three eyebrow movement control assemblies 122 are respectively provided for the left eyebrow and the right eyebrow, one eyebrow movement control assembly 122 acts on the center position above the eyebrow, one eyebrow movement control assembly 122 acts on the eye angle position on one side of the eyebrow close to the eyebrow, and one eyebrow movement control assembly 122 acts on the eye angle position on one side of the eyebrow far from the eyebrow.

The eyebrow movement control components 122 respectively act on different positions of the eyebrow to realize movement of different positions of the eyebrow, so that the action richness of the eyebrow position is improved, meanwhile, the eye unit 11 and the eyebrow unit 12 can be mutually matched due to independent control, so that the matching degree and the coordination degree of the eyebrow and the eye are improved, and the facial expression of the bionic robot is richer and more favorable for emotion expression.

As shown in fig. 11 and 12, the brow motion control assembly 122 includes a brow motion driving motor 1221, a brow eccentric wheel 1222, a brow crank 1223, a brow contact motion member 1225, and a motion guide mounting seat 1224, wherein the brow motion driving motor 1221 is fixedly mounted on the brow support 121 through a connecting member such as a screw, one side of the brow eccentric wheel 1222 is connected with an output shaft of the brow motion driving motor 1221, one end of the brow crank 1223 is connected with the other side of the brow eccentric wheel 1222, the other end of the brow crank 1223 is connected with the brow contact motion member 1225, the brow contact motion member 1225 is slidably mounted on the motion guide mounting seat 1224, and the brow contact motion member 1225 moves up and down relative to the motion guide mounting seat 1224 under the power of the brow motion driving motor 1221.

When the brow motion control assembly 122 works, the output shaft of the brow motion driving motor 1221 drives the brow eccentric wheel 1222 to rotate, the brow eccentric wheel 1222 drives the brow crank 1223 to rotate, and the brow crank 1223 rotates to enable the brow contact moving member 1225 to move up and down along the motion guide mounting seat 1224, so that the brow contact moving member 1225 contacts with the brow portion, and the corresponding portion of the brow moves up and down, for example, the brow picking action is realized. The matching mode of the eyebrow movement driving motor 1221, the eyebrow eccentric wheel 1222, the eyebrow crank 1223, the eyebrow contact movement piece 1225 and the movement guiding installation seat 1224 is adopted, so that the control is convenient, the occupied space is small, and the compactness of the structure is improved.

In this embodiment, the eyebrow contact movement member 1225 includes a U-shaped portion and a cylindrical boss portion, the cylindrical boss portion is located at a bottom plate portion of the U-shaped portion, and a distal end of the cylindrical boss is in contact with an eyebrow portion of the mask body 51, and the eyebrow contact movement member 1225 moves up and down while the eyebrow portion of the mask body 51 moves. The motion guide mount 1224 is provided with two vertical sliding grooves, and two side plate parts of the U-shaped part are at least partially clamped into the two vertical sliding grooves.

As shown in fig. 6 to 7, the brow support 121 is fixed above the eye support 111 by a connector such as a screw, and the brow support 121 is also fixedly connected to the robot head case 7 by a connector such as a screw. The brow bracket 121 is provided with a plurality of mounting bins 1211 in which the brow movement drive motor 1221 is disposed, the plurality of mounting bins 1211 being arranged side by side left and right.

In this embodiment, four mounting bins 1211 are provided for mounting four brow movement drive motors 1221 for fixing the four control components, a left brow first position movement control component, a left brow second position movement control component, a right brow first position movement control component, and a right brow second position movement control component, respectively.

As shown in fig. 13-14, the bionic mouth mechanism 4 includes a jaw moving assembly 41, an oral cavity moving assembly 3 and a bionic tongue assembly 2, the jaw moving assembly 41 includes a jaw 411, and a jaw moving driving motor 412 in transmission connection with the jaw 411, and when the jaw moving driving motor 412 works, the jaw 411 is driven to rotate up and down. The oral cavity movement assembly 3 comprises an upper jaw plate 31, a left driving movement block 33, a left driven movement block 32, a left front-back movement driving module 36, a right driving movement block 35, a right driven movement block 34, a right front-back movement driving module 37 and an inner-outer linkage movement driving module 38, wherein the left driven movement block 32 is fixedly connected with the left driving movement block 33, the upper jaw plate 31 and the lower jaw plate 411 are oppositely arranged up and down, the left driving movement block 33 and the left driven movement block 32 are positioned between the upper jaw plate 31 and the left side of the lower jaw plate 411, the right driving movement block 35 and the right driven movement block 34 are positioned between the upper jaw plate 31 and the right side of the lower jaw plate 411, the left front-back movement driving module 36 is in transmission connection with the left driving movement block 33, the left front-back movement driving module 36 is driven to move front and back when working, the right driven movement block 34 is fixedly connected with the right driving movement block 35, the right back-and-forth movement driving module 37 is in transmission connection with the right active movement block 35, when the right back-and-forth movement driving module 37 works, the right active movement block 35 is driven to move back and forth, the inside and outside linkage movement driving module 38 is in transmission connection with the left back-and-forth movement driving module 36 and the right back-and-forth movement driving module 37, when the inside and outside linkage movement driving module 38 works, the left active movement block 33 and the right active movement block 35 are driven to synchronously move inwards or outwards, the bionic tongue component 2 comprises a tongue main body 21, a tongue mounting plate 22, a tongue left-and-right swing driving module 23 and a tongue back-and-forth telescopic driving module 24, the tongue main 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 main body 21, the tongue main body 21 is clamped in the telescopic guide groove, the tongue back-and-forth telescopic driving module 24 is connected with the tongue main body 21, the tongue body 21 is driven to do back and forth telescopic movement along the telescopic guide groove, and the tongue left and right swinging driving module 23 is connected with the tongue mounting plate 22 to drive the tongue mounting plate 22 and the tongue body 21 to synchronously swing left and right.

By providing the jaw movement assembly 41, the up-and-down rotation of the jaw 411 is achieved. Through the left initiative motion block 33, left driven motion block 32, left back-and-forth motion driving module 36, right initiative motion block 35, right driven motion block 34, right back-and-forth motion driving module 37 and inside and outside linkage motion driving module 38 that set up, drive left initiative motion block 33 back-and-forth motion by left back-and-forth motion driving module 36, the fore-and-forth motion of the left inner wall of oral cavity has been realized, drive right initiative motion block 35 back-and-forth motion by right back-and-forth motion driving module 37, the fore-and-forth motion of the right inner wall of oral cavity has been realized, simultaneously because the fore-and-aft motion of the left inner wall of oral cavity and the fore-and-aft motion on the right side of inner wall of cavity are relatively independent, can independent control the motion, thereby promoted the richness of oral cavity motion, in addition, drive left initiative motion block 33 and right initiative motion block 35 inwards or outwards move in step by inside and outside linkage motion driving module 38, the inwards extrudeed or outwards bulge of the left inner wall of oral cavity has been realized, the richness of oral cavity motion has been further promoted, and the richness of facial expression has been promoted. By utilizing the tongue back and forth telescopic driving module to realize the back and forth telescopic movement of the tongue main body 21 and by utilizing the tongue left and right swinging driving module 23 to realize the left and right swinging movement of the tongue main body 21, the movement richness of the tongue main body 21 is improved.

As shown in fig. 13, the bionic mouth mechanism 4 further includes an upper mouth-angle movement driving assembly 42, and the upper mouth-angle movement driving assembly 42 includes an upper left mouth-angle skin contact block 423, an upper left mouth-angle movement guide post 424, an upper left mouth-angle movement driving module, an upper right mouth-angle skin contact block 427, an upper right mouth-angle movement guide post 428, and an upper right mouth-angle movement driving module. The upper left mouth corner motion driving module comprises an upper left mouth corner motion swinging arm 422 and an upper left mouth corner motion driving motor 421, an upper left mouth corner motion guiding upright column 424 is fixed on the upper surface of the upper jaw plate 31, an upper left mouth corner skin contact block 423 is movably sleeved on the upper left mouth corner motion guiding upright column 424, one end of the upper left mouth corner motion swinging arm 422 is connected with an output shaft of the upper left mouth corner motion driving motor 421, and one end of the upper left mouth corner motion swinging arm 422 is connected with the upper left mouth corner skin contact block 423. When the mask is in operation, the upper left mouth corner movement driving motor 421 drives the upper left mouth corner movement swing arm 422 to rotate, and the upper mouth corner movement swing arm drives the upper left mouth corner skin contact block 423 to move up and down along the upper left mouth corner movement guide upright post 424, and the upper left mouth corner skin contact block 423 contacts with the upper left mouth corner position of the mask body 51 and drives the upper left mouth corner contact block to move up and down, so that the upper left mouth corner is moved up and down. In the present embodiment, an upper left mouth corner movement driving motor 421 is mounted to the upper surface of the upper jaw plate 31. Through the cooperation between upper left mouth angle crust contact block 423, upper left mouth angle motion guide post 424 and the upper left mouth angle motion drive module, the upper left mouth angle motion has been realized in limited space, and structural design is compact.

The upper right mouth corner motion driving module comprises an upper right mouth corner motion swing arm 426 and an upper right mouth corner motion driving motor 425, an upper right mouth corner motion guide upright post 428 is fixed on the upper surface of the upper jaw plate 31, an upper right mouth corner skin contact block 427 is movably sleeved on the upper right mouth corner motion guide upright post 428, one end of the upper right mouth corner motion swing arm 426 is connected with an output shaft of the upper right mouth corner motion driving motor 425, and one end of the upper right mouth corner motion swing arm 426 is connected with the upper right mouth corner skin contact block 427. When the mask is in operation, the upper right mouth corner motion driving motor 425 drives the upper right mouth corner motion swing arm 426 to rotate, and the upper mouth corner motion swing arm drives the upper right mouth corner skin contact block 427 to move up and down along the upper right mouth corner motion guide upright post 428, and the upper right mouth corner skin contact block 427 contacts with the upper right mouth corner position on the mask body 51 and drives the upper right mouth corner contact block to move up and down, so that the upper right mouth corner is moved up and down. In this embodiment, an upper right mouth angular movement driving motor 425 is mounted to the upper surface of the upper jaw plate 31. Through the cooperation between upper right mouth corner crust contact block 427, upper right mouth corner motion guide post 428 and upper right mouth corner motion drive module, upper right mouth corner motion has been realized in limited space, structural design is compact.

As shown in fig. 13 and 21, the bionic mouth mechanism 4 further includes a lower mouth angle motion driving assembly 43, and the lower mouth angle motion driving assembly 43 includes a lower left mouth angle transmission rod 431, a lower left mouth angle motion driving module, a lower right mouth angle transmission rod 435, and a lower right mouth angle transmission driving module. The lower left mouth corner motion driving module comprises a lower left mouth corner motion first swing arm 432, a lower left mouth corner motion second swing arm 433 and a lower left mouth corner motion driving motor 434, the middle part of a lower left mouth corner transmission rod 431 is hinged with a lower jaw plate 411, the front end of the lower left mouth corner transmission rod 431 forms a lower left corner skin contact part, the rear end of the lower left mouth corner transmission rod 431 is hinged with one end of the lower left mouth corner motion first swing arm 432, the other end of the lower left mouth corner motion first swing arm 432 is hinged with one end of the lower left mouth corner motion second swing arm 433, and the other end of the lower left mouth corner motion second swing arm 433 is connected with the lower left mouth corner motion driving motor 434. When the lower left mouth corner motion driving motor 434 drives the lower left mouth corner motion second swing arm 433 to move, the lower left mouth corner motion second swing arm 433 drives the lower left mouth corner motion first swing arm 432 to move, and the lower left mouth corner motion first swing arm 432 drives the lower left mouth corner transmission rod 431 to rotate around the hinge position of the lower jaw 411, so that the lower left mouth corner motion is driven. In this embodiment, the lower left corner skin contact portion is hooked to hook the lower left mouth corner on the mask body 51, thereby allowing the lower left mouth corner to move downward or to invert at an angle. Through the cooperation mode of left lower mouth angle transfer lever 431 and left lower mouth angle motion drive module, realized the motion of left lower mouth angle in limited space to can not mutual interference with the motion of other parts, structural design is ingenious.

The lower right mouth corner motion driving module comprises a lower right mouth corner motion first swing arm 436, a lower right mouth corner motion second swing arm 437 and a lower right mouth corner motion driving motor 438, wherein the middle part of the lower right mouth corner transmission rod 435 is hinged with the lower jaw 411, the front end of the lower right mouth corner transmission rod 435 forms a lower right corner skin contact part, the rear end of the lower right mouth corner transmission rod 435 is hinged with one end of the lower right mouth corner motion first swing arm 436, the other end of the lower right mouth corner motion first swing arm 436 is hinged with one end of the lower right mouth corner motion second swing arm 437, and the other end of the lower right mouth corner motion second swing arm 437 is connected with the lower right mouth corner motion driving motor 438. When the lower right mouth corner motion driving motor 438 drives the lower right mouth corner motion second swing arm 437 to move, the lower right mouth corner motion second swing arm 437 drives the lower right mouth corner motion first swing arm 436 to move, and the lower right mouth corner motion first swing arm 436 drives the lower right mouth corner transmission rod 435 to rotate around the hinge position of the lower jaw 411, so that the lower right mouth corner is driven to move. In this embodiment, the lower right corner skin contact is hooked to hook the lower right mouth corner on the mask body 51, thereby effecting downward movement or angular inversion of the lower right mouth corner. Through the cooperation mode of lower right mouth angle transfer line 435 and lower right mouth angle motion drive module, realized the motion of lower right mouth angle in limited space to can not mutual interference with the motion of other parts, structural design is ingenious.

As shown in fig. 13, the lower jaw 411 is provided with a jaw movement connecting arm 4111, and the jaw movement connecting arm 4111 is connected to an output shaft of the lower jaw movement driving motor 412, and when the lower jaw movement driving motor 412 is operated, the lower jaw 411 is driven to rotate up and down. In the present embodiment, the lower jaw 411 is provided with two jaw moving connecting arms 4111, the two jaw moving connecting arms 4111 are respectively fixed on the left and right sides of the lower jaw 411 near the rear side, when the lower jaw moving driving motor 412 works, the output shaft of the lower jaw moving driving motor 412 can directly drive the jaw moving connecting arms 4111 to move, no additional transmission component is needed for transition, and the cost of parts is saved.

In this embodiment, a joint plate is disposed between the two lower jaw moving connecting arms 4111, and the left lower mouth angle moving driving motor 434 and the right lower mouth angle moving driving motor 438 are mounted on the rear side of the joint plate, so that when the lower jaw moving connecting arms 4111 drive the lower jaw 411 to move, the left lower mouth angle moving driving motor 434 and the right lower mouth angle moving driving motor 438 can be driven to move synchronously, and meanwhile, the left lower mouth angle driving rod 431 and the right lower mouth angle driving rod 435 can also move with respect to the lower jaw 411, so that the movement of the lower jaw 411 does not interfere with the movement of the left lower mouth angle driving rod 431 and the right lower mouth angle driving rod 435.

As shown in fig. 14 to 16, the left back-and-forth movement driving module 36 includes a left back-and-forth movement swing arm 361 and a left back-and-forth movement driving motor 362, one end of the left back-and-forth movement swing arm 361 is connected to an output shaft of the left back-and-forth movement driving motor 362, the other end of the left back-and-forth movement swing arm 361 is hinged to the rear side of the left driving movement block 33, the upper side of the left driving movement block 33 is movably connected to the upper jaw plate 31, and the front side of the left driving movement block 33 is fixedly connected to the left driven movement block 32. When the output shaft of the left back-and-forth movement driving motor 362 rotates, the left back-and-forth movement swing arm 361 is driven to rotate, so that the left driving movement block 33 is driven to move forward or backward, and the left driven movement block 32 also moves forward or backward along with the left driving movement block 33. The left driving movement block 33 moves back and forth by the cooperation of the left back and forth movement swing arm 361 and the left back and forth movement driving motor 362, and has a simple structure and a compact structure.

As shown in fig. 12-16, the right back-and-forth movement driving module 37 includes a right back-and-forth movement swing arm 371 and a right back-and-forth movement driving motor 372, one end of the right back-and-forth movement swing arm 371 is connected with an output shaft of the right back-and-forth movement driving motor 372, the other end of the right back-and-forth movement swing arm 371 is hinged with the rear side of the right driving movement block 35, the upper side of the right driving movement block 35 is movably connected with the upper jaw plate 31, and the front side of the right driving movement block 35 is fixedly connected with the right driven movement block 34. When the output shaft of the right back-and-forth movement driving motor 372 rotates, the right back-and-forth movement swing arm 371 is driven to rotate, so that the right driving movement block 35 is driven to move forward or backward, and the right driven movement block 34 also moves forward or backward along with the right driving movement block 35. The front-back movement of the right driving movement block 35 is realized by utilizing the cooperation of the right front-back movement swing arm 371 and the right front-back movement driving motor 372, and the structure is simple and compact.

As shown in fig. 16, the upper side of the left active moving block 33 is provided with a left L-shaped front-rear moving plate 331, the upper jaw 31 is provided with a left front-rear moving guide notch, and the left L-shaped front-rear moving plate 331 is placed in the left front-rear moving guide notch. When the left front-rear movement swing arm 361 drives the left active movement block 33 to move, the left L-shaped front-rear movement plate 331 moves along the arrangement direction of the left front-rear movement guide notch, so that the left front-rear movement guide notch has the function of guiding the left active movement block 33, and the left L-shaped front-rear movement plate 331 is at least partially hung on the edge of one side of the left front-rear movement guide notch, so that the edge of the left front-rear movement guide notch provides a certain supporting force for the left active movement block 33.

The upper side of the right driving movement block 35 is provided with a right L-shaped front and back movement plate, the upper jaw plate 31 is provided with a right front and back movement guide notch, and the right L-shaped front and back movement plate is arranged in the right front and back movement guide notch. When the right front-rear movement swing arm 371 drives the right active movement block 35 to move, the right L-shaped front-rear movement plate moves along the arrangement direction of the right front-rear movement guide notch, so that the right front-rear movement guide notch has the function of guiding the right active movement block 35, and at least part of the right L-shaped front-rear movement plate is hung on the edge of one side of the right front-rear movement guide notch, so that the edge of the left front-rear movement guide notch provides a certain supporting force for the left active movement block 33.

As shown in fig. 16, a left connecting ear 332 is disposed at the bottom of the front side of the left driving moving block 33, a left connecting ear hole 3321 is formed in the left connecting ear 332, a left positioning column 322 is disposed on the inner side of the left driven moving block 32, and the left connecting ear hole 3321 is fixedly sleeved on the left positioning column 322. The bottom of the front side of right initiative motion block 35 is equipped with right connection ear, and right connection ear has seted up right connection earhole, and the inboard of right driven motion block 34 is equipped with right reference column, and right connection earhole activity cover is located on the right reference column.

As shown in fig. 16, the inner side of the left driven moving block 32 is provided with a left arc chute 323, the bottom surface of the upper jaw plate 31 is provided with a left fixed support arm 311 in a downward extending manner, and the lower end of the left fixed support arm 311 is provided with a left arm hook part clamped in the left arc chute 323. The left arm hook is matched with the left arc chute 323 to guide the left driven moving block 32 to move back and forth. The left fixed arm 311 provided not only plays a role in guiding the movement of the left driven moving block 32 but also plays a role in supporting the left driven moving block 32. It should be noted that, since the left driven moving block 32 needs to move inwards or outwards along with the left driving moving block 33, and the left fixed arm 311 is located at the inner side of the left driven moving block 32, in order to avoid interference caused by the left fixed arm 311 moving inwards on the left driven moving block 32, the depth of the left arc chute 323 needs to be greater than the height of the hook portion of the left arm, so that the left driven moving block 32 has a certain position space in the inner and outer directions relative to the left fixed arm 311, so as to meet the requirement of inner and outer movement.

The inner side of the right driven moving block 34 is provided with a right arc chute, the bottom surface of the upper jaw plate 31 is provided with a right fixed support arm 312 in a downward extending manner, and the lower end of the right fixed support arm 312 is provided with a right arm hook part clamped in the right arc chute. The right arm hook is matched with the right arc chute to guide the right driven moving block 34 to move back and forth. The right fixed arm 312 is provided to not only guide the movement of the right driven moving block 34 but also support the right driven moving block 34. It should be noted that, since the right driven moving block 34 needs to move inward or outward along with the right driving moving block 35, and the right fixed arm 312 is located at the inner side of the right driven moving block 34, in order to avoid the interference caused by the right fixed arm 312 moving inward on the right driven moving block 34, the depth of the right arc chute needs to be greater than the height of the hook portion of the left arm, so that the right driven moving block 34 has a certain position space in the inner and outer directions relative to the right fixed arm 312, so as to meet the requirement of inner and outer movement.

As shown in fig. 16, a left outer skin cheek connecting portion 321 is provided on the outer side of the left driven movement block 32, and a right outer skin cheek connecting portion 341 is provided on the outer side of the right driven movement block 34. The left and right outer skin cheek connection portions 321 and 341 are fixedly connected to the inner side of the mask body 51, so that the inner wall of the mouth is driven to move (the cheek portion of the mask body 51 is driven to move when the left and right driven movement blocks 32 and 34 move back and forth or move in and out) when the left and right driven movement blocks and 34 move in and out.

As shown in fig. 14 to 15, 17, the inside and outside linkage movement driving module 38 includes a left front-rear movement driving motor first link 382, a left front-rear movement driving motor second link 383, a right front-rear movement driving motor first link 384, a right front-rear movement driving motor second link 385, a first link 386, a second link 387, and an inside and outside movement driving motor 381, one end of the left front-rear movement driving motor first link 382 and one end of the left front-rear movement driving motor 362 second link are hinged to the same side of the left front-rear movement driving motor 362, one end of the right front-rear movement driving motor first link 384 and one end of the right front-rear movement driving motor second link 385 are hinged to the same side of the right front-rear movement driving motor 372, the other end of the first link of the left front-rear movement driving motor 362 is hinged to one end of the first link 386, the other end of the first link 386 is hinged to the other end of the right front-rear movement driving motor second link 385, the other end of the left front-rear movement driving motor second link 383 is hinged to one end of the second link 387, the other end of the second link 387 is hinged to the other end of the right front-rear movement driving motor first link 384, an output shaft of the inside-outside movement driving motor 381 is connected to the middle portions of the first link 386 and the second link 387, and the inside-outside movement driving motor 381 operates to drive the left front-rear movement driving motor 362 and the right front-rear movement driving motor 372 to move synchronously inward or outward, thereby causing the left active movement block 33 and the right active movement block 35 to move synchronously inward or outward.

The left front-rear motion driving motor 362 and the right front-rear motion driving motor 372 synchronously move inwards or outwards through the cooperation of the left front-rear motion driving motor first connecting rod 382, the left front-rear motion driving motor second connecting rod 383, the right front-rear motion driving motor first connecting rod 384, the right front-rear motion driving motor second connecting rod 385, the first connecting rod 386, the second connecting rod 387 and the inner-outer motion driving motor 381, so that the left front-rear motion driving motor 362 drives the left active motion block 33 to move inwards or outwards and the front-rear motion driving motor drives the right active motion block 35 to move inwards or outwards.

In this embodiment, the left and right front-rear movement driving motors 362 and 372 are movably mounted on the upper surface of the upper jaw plate 31, and in order to facilitate movement of the left and right front-rear movement driving motors 362 and 372 in the inner and outer directions, the upper surface of the upper jaw plate 31 is provided with a guide frame in which the left and right front-rear movement driving motors 362 and 372 are movably mounted.

As shown in fig. 18 to 20, the tongue longitudinal telescopic driving module 24 includes a tongue longitudinal telescopic fisheye link 241, a tongue longitudinal telescopic motor 243, and a tongue longitudinal telescopic eccentric 242, one end of the tongue longitudinal telescopic fisheye link 241 is connected to the tongue main body 21, the other end of the tongue longitudinal telescopic fisheye link 241 is connected to the tongue longitudinal telescopic eccentric 242, and an output shaft of the tongue longitudinal telescopic motor 243 is connected to the tongue longitudinal telescopic eccentric 242. When in operation, the output shaft of the tongue front-back telescopic motor 243 drives the tongue front-back telescopic fisheye connecting rod 241 to rotate with the end connected with the tongue front-back telescopic fisheye connecting rod 241, the end connected with the tongue main body 21 pushes and pulls the tongue main body 21, and the tongue main body 21 moves back and forth along the telescopic guide groove 2211 of the tongue mounting plate 22 under the action of pushing and pulling force, so as to realize the telescopic movement function.

The tongue main body 21 realizes the front-back telescopic movement through the cooperation of the tongue front-back telescopic fisheye connecting rod 241, the tongue front-back telescopic motor 243 and the tongue front-back telescopic eccentric wheel 242, and has simple and compact structure and reduced occupied space.

As shown in fig. 19 to 20, the tongue-and-tongue-swinging drive module 23 includes a tongue-and-tongue swinging connector 231 and a tongue-and-tongue swinging motor 232, one side of the tongue-and-tongue swinging connector 231 is connected to the tongue mounting plate 22, and the other side of the tongue-and-tongue swinging connector 231 is connected to an output shaft of the tongue-and-tongue swinging motor 232. One side of the tongue swing link 231 is provided with a swing link shaft 2311, the tongue mounting plate 22 is provided with a tongue mounting plate bayonet 2221 for clamping the swing link shaft 2311, and the other side of the tongue swing link 231 is provided with a swing link sleeve hole 2312 which is in shaft sleeve fit with the output shaft of the tongue swing motor 232. In operation, the output shaft of the tongue swaying motor 232 rotates to drive the tongue mounting plate 22 to sway left and right around the rotation center 2212 thereof, thereby realizing the swaying function of the tongue main body 21.

The tongue main body 21 swings left and right through the cooperation of the tongue left and right swinging connector 231 and the tongue left and right swinging motor 232, so that the structure is simple and compact, and the occupied space is reduced.

As shown in fig. 19 to 20, the tongue main body 21 includes a tongue riser 212, a tongue diaphragm 211, and a tongue connecting plate 213, the tongue diaphragm 211 is laterally disposed on the upper side of the tongue riser 212, the tongue connecting plate 213 is fixed to the rear side of the tongue riser 212, and one end of a tongue fore-and-aft telescopic fisheye connecting rod 241 is connected to the tongue connecting plate 213.

The tongue riser 212, tongue diaphragm 211, and tongue connecting plate 213 may be of a unitary molded structure, which is a unitary molded structure of the tongue riser 212, tongue diaphragm 211, and tongue connecting plate 213 for structural rigidity. The tongue connecting plate 213 is disposed at the rear side of the tongue riser 212, so as to be beneficial to being connected and matched with the tongue front-back telescopic fisheye connecting rod 241, so as to reduce the design length of the tongue front-back telescopic fisheye connecting rod 241.

Alternatively, as shown in fig. 18, the tongue main body 21 is sleeved with the tongue sleeve 25, and the shape of the tongue sleeve 25 can be designed according to actual requirements. Preferably, the tongue sheath 25 is made of a silicone material or a plastic material with a softer texture. In this embodiment, the tongue sheath 25 is further connected with a profiling tooth, and the profiling tooth may be a split structure with the tongue sheath 25 or an integral structure, and is made of the same material as the tongue sheath 24.

As shown in fig. 19 to 20, the tongue mounting plate 22 includes a mounting plate cross plate portion 221, and a mounting plate downward bending portion 222 provided on the front side of the mounting plate cross plate portion 221, wherein the mounting plate cross plate portion 221 is provided with a telescopic guide groove 2211, the lower side of the tongue upright plate 212 is clamped in the telescopic guide groove 2211, the mounting plate downward bending portion 222 is provided with a tongue mounting plate bayonet 2221, the bottom of the mounting plate cross plate portion 221 is provided with a rotation center portion 2212, the rotation center portion 2212 is located at the bottom center of the mounting plate cross plate portion 221, and when the tongue mounting plate 22 is driven by the tongue left-right swinging motor 232, the tongue mounting plate 22 swings around the rotation center portion 2212.

Through setting up flexible guide way 2211 at mounting panel diaphragm portion 221, made things convenient for the installation of tongue main part 21, the mounting panel diaphragm can be direct as the supporting part of tongue main part 21 moreover, need not to set up other parts again and support tongue main part 21, has retrenched the structure, has promoted the rationality and the compactedness of structure, and in addition, the mounting panel diaphragm not only can be as the supporting part of tongue main part 21, can also drive tongue main part 21 and swing about to structural design's ingenious has been embodied.

It should be noted that, in order to prevent the tongue body 21 from being unstable or laterally deflected after being mounted in the telescopic guide groove 2211, the depth of the telescopic guide groove 2211 should be designed reasonably, so as to at least ensure that the tongue body 21 does not have the problem of being unstable or laterally deflected after being mounted in the telescopic guide groove 2211.

As shown in fig. 19, the tongue anteroposterior telescopic motor 243 is disposed below the mounting plate diaphragm 221 to serve as a supporting member of the tongue mounting plate 22, the tongue anteroposterior telescopic fisheye link 241 is disposed on the left or right side of the tongue mounting plate 22, and the tongue left-right swing motor 232 is disposed in front of the tongue mounting plate 22. By arranging the tongue front-back telescopic fisheye connecting rod 241 on the side surface of the tongue mounting plate 22 and arranging the tongue front-back telescopic motor 243 below the mounting plate diaphragm 221, the overall structure of the bionic tongue assembly 2 is more compact, the structural design is concise, and the manufacturing cost is reduced.

Since the tongue-back telescopic fisheye link 241 is disposed on the side of the tongue mounting plate 22 for structural compactness, when the tongue mounting plate 22 swings left and right, the tongue-back telescopic fisheye link 241 swings accordingly, and the tongue-back telescopic motor 243 is fixed, in order to avoid damage to the output shaft of the tongue-back telescopic motor 243 and the tongue main body 21, the tongue-back telescopic fisheye link 241 is selected for connection, and since fisheye bearings are disposed at both ends of the tongue-back telescopic fisheye link 241, the fisheye bearings can bear large radial and axial loads, thereby avoiding damage to the connection portion of the tongue-back telescopic fisheye link 241 and the tongue main body 21 of the output shaft of the tongue-back telescopic motor 243.

As shown in fig. 1 and 13, the upper jaw 31 is fixedly connected to the eye support 111 by a screw or the like, and the upper jaw 31 is located below the eye support 111.

In some embodiments, the head structure further includes a nose movement driving assembly, the nose movement driving assembly includes a nose movement driving motor and a nose movement swing arm, one end of the nose movement swing arm is connected with an output shaft of the nose movement driving motor, the other end of the nose movement swing arm is in contact with the nose region 513 of the mask body 51, and when the nose movement driving motor works, the nose movement swing arm is driven to move, so that the nose region 513 of the mask body 51 is enabled to bulge or reset, and further movement control of the nose region 513 of the mask body 51 is achieved, and the richness of facial expression of the head structure is further increased.

As shown in fig. 24 to 27, the neck structure includes a bionic neck mechanism 6, the bionic neck mechanism 6 includes a head end base 61, a head end connecting base 62, a body end base 63, a body end connecting base (not shown), a neck fixing link 64, a swing driving module 65, a pitch driving module 66 and a steering driving module 67, the head end connecting base 62 is detachably connected above the head end base 61, the body end connecting base is detachably connected below the body end base 63, the lower end of the neck fixing link 64 is fixedly connected with the body end base 63, the upper end of the neck fixing link 64 is movably connected with the bottom of the head end base 61, the swing driving module 65 is connected with the head end base 61 to drive the head end base 61 to swing horizontally in synchronization with the head end connecting base 62, the pitch driving module 66 is connected with the head end base 61 to drive the head end base 61 to pitch back and forth in synchronization with the head end connecting base 62, and the steering driving the head end connecting base 62 to turn circumferentially relative to the head end base 61.

Through the top design at head end base 61 has head end connecting seat 62 to and the below design at body end base 63 has the health end connecting seat, head end base 61 can with head end connecting seat 62 quick detach assembly, body end base 63 can with the assembly of health end connecting seat quick detach, when whole assembly, through head structure and head end connecting seat 62 fixed connection, thereby realized the quick assembly disassembly of head structure and neck, through body structure and health end connecting seat fixed connection, thereby realized the quick assembly disassembly of body structure and neck, need not to use the screw to fix, and then make neck and head and health position dismouting more convenient.

As shown in fig. 24-25, in an embodiment, for example, in the present embodiment, the top center of the head end base 61 is provided with a connection shaft 611, and the bottom center of the head end connection seat 62 is provided with a shaft sleeve 621 that is in nesting fit with the connection shaft 611. The fitting of the head end base 61 and the head end connection seat 62 is achieved by an interference fit by embedding the connection shaft 611 into the boss 621. Of course, in other embodiments, in order to further improve the stability after assembly, the connecting shaft 611 is provided with an elastic limit protrusion, the side wall of the shaft sleeve 621 is penetrated and provided with a protrusion matching hole matched with the elastic limit protrusion, after the head end base 61 and the head end connecting seat 62 are assembled, the elastic limit protrusion is clamped into the protrusion matching hole, so that the stability after assembly is improved in a limit locking manner, when the elastic limit protrusion needs to be removed, only inward pressure needs to be applied to the elastic limit protrusion, so that the elastic limit protrusion can be withdrawn from the protrusion matching hole, the limit locking can be released, and the head end connecting seat 62 and the head end base 61 can be separated by force, so that the assembly and the disassembly are convenient.

As shown in fig. 24-25, in an embodiment, for example, in the present embodiment, the bottom of the body end base 63 is provided with a plug 631, and the body end connector is provided with a slot for plugging and matching with the plug 631. By inserting the plug 631 into the socket, the fitting of the body end base 63 with the body end connector is achieved by means of an interference fit. It should be noted that the number of the plugging blocks 631 is at least one, and the number may be increased appropriately according to practical situations, for example, two or three are designed. Of course, in other embodiments, in order to further improve the stability after assembly, an elastic limit protrusion is provided on the plug 631, a protrusion matching hole matching with the elastic limit 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 limit protrusion will be clamped into the protrusion matching hole, so that the stability after assembly is improved in a limit locking manner, when the elastic limit protrusion needs to be removed, only inward pressure needs to be applied to the elastic limit protrusion, so that the elastic limit protrusion can be withdrawn from the protrusion matching hole, the limit locking can be released, and the body end base 63 and the body end connecting seat can be separated with force, so that the disassembly and the assembly are convenient.

As shown in fig. 27, in order to facilitate the movement of the head end base 61, the upper end of the neck fixing link 64 is provided with a ball shaft 641, the lower surface of the head end base 61 is provided with a ball cavity, the spherical surface of the ball shaft 641 is disposed in the ball cavity and can move in the ball cavity, and by such a connection mode, the head end base 61 and the neck fixing link 64 are ensured to be stably connected, and meanwhile, the movement requirement of the head end base 61 can be satisfied. In the present embodiment, the ball shaft 641 and the neck fixing link 64 are in a split structure, and the ball shaft 641 is fixedly connected to the upper end of the neck fixing link 64 by the threaded connection of the shaft portion, however, in other embodiments, the ball shaft 641 and the neck fixing link 64 are designed as an integral structure.

As shown in fig. 24 and 26, the swing driving module 65 includes a left vertical link 651, a right vertical link 652, a left-right swing link 653, a left-right swing gear set, and a left-right swing driving 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-right swing link 653, the right end of the left-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 of the left-right swing link 653 is hinged to the neck fixing link 64, and the left-right swing gear set is connected between the left-right swing link 653 and the output shaft of the left-right swing driving motor 656. During operation, the left-right swing driving motor 656 rotates to drive the left-right swing gear set to rotate, the left-right swing gear set drives the left-right swing connecting rod 653 to move, and the movement of the left-right swing connecting rod 653 drives the left vertical connecting rod 651 and the right vertical connecting rod 652 to synchronously and co-directionally move, so that the left-right swing action of the head end base 61 is realized, and 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, so that the left-right swing of the head end base 61 indirectly drives the left-right swing of the head structure, namely the head swing action.

As shown in fig. 26, the side-to-side gear train includes a first gear 654 and a second gear 655 arranged perpendicular to the first gear 654, the first gear 654 is fixed to a side-to-side link 653, the second gear 655 is fixed to an output shaft of a side-to-side drive motor 656, and the first gear 654 and the second gear 655 are meshed. In operation, the output shaft of the yaw drive motor 656 drives the second gear 655 to rotate, the second gear 655 drives the first gear 654 to rotate, and the first gear 654 drives the yaw link 653 to move.

Through the mutual cooperation of the left vertical connecting rod 651, the right vertical connecting rod 652, the left-right swinging connecting rod 653, the left-right swinging gear set and the left-right swinging driving motor 656, the left vertical connecting rod 651 and the right vertical connecting rod 652 are oppositely arranged, the left-right swinging connecting rod 653 connects the left vertical connecting rod 651 and the right vertical connecting rod 652 and drives the left vertical connecting rod 651 and the right vertical connecting rod 652 to synchronously move, in addition, only the two gears of the first gear 654 and the second gear 655 are used as the transmission between the motor and the connecting rod, and fewer used parts are used, so that the structure is compact. Through the design, the maximum amplitude of the left and right swinging heads can reach 40 degrees.

As shown in fig. 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 of the front and rear pitch link 663 is hinged to the neck fixing link 64, and the front and rear pitch gear set is connected between the front and rear pitch link 663 and the front and rear pitch drive motor 667. When the head end base 61 works, the front and back pitching driving motor 667 rotates to drive the front and back pitching gear sets to rotate, the front and back pitching gear sets drive the front and back pitching connecting rods 663 to move, and the front and back pitching connecting rods 661 and the back vertical connecting rods 662 are driven to synchronously and co-directionally move by the movement of the front and back pitching connecting rods 663, so that the front and back pitching action of the head end base 61 is realized.

As shown in fig. 26, the front-rear pitch gear set includes an upper gear 664, an intermediate gear 665, and a lower gear 666 arranged side by side in this order, the upper gear 664 is fixed to the front-rear pitch link 663, the lower gear 666 is fixed to the output shaft of the front-rear pitch drive motor 667, and 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. In operation, the front and back 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 drives the front and back pitch link 663 to move.

Through the mutual cooperation of the front vertical connecting rod 661, the rear vertical connecting rod 662, the front pitching connecting rod 663, the front pitching gear set, the rear pitching gear set and the front pitching driving motor 667, the front vertical connecting rod 661 and the rear vertical connecting rod 662 are oppositely arranged, the front pitching connecting rod 663 connects the front vertical connecting rod 661 and the rear vertical connecting rod 662 and drives the front vertical connecting rod 661 and the rear vertical connecting rod 662 to synchronously move, in addition, only the upper gear 664, the middle gear 665 and the lower gear 666 are used as the transmission between the motor and the connecting rod, and fewer parts are used, so that the structure is compact. Through the design, the maximum amplitude of nodding and head lifting can reach 40 degrees.

As shown in fig. 24 to 26, the steering drive module 67 includes a steering drive motor 671 and a steering gear set, the top of the head end base 61 is provided with an arc gear portion 612, and the steering gear set is in transmission connection between the arc gear portion 612 and an output shaft of the steering drive motor 671. In operation, the steering drive motor 671 rotates to drive the steering gear set to rotate, the steering gear set drives the head end connecting seat 62 to horizontally rotate relative to the head end base 61, and the head structure is connected to the head end connecting seat 62, so that the rotation of the head end connecting seat 62 indirectly drives the head structure to horizontally rotate, namely, the head rotating action.

As shown in fig. 25, the steering gear set includes a first top gear 672, a second top gear 673, a gear rod 675, a bottom gear 674 and a steering driving motor 671, the head end connecting seat 62 is provided with a rod hole, the gear rod 675 is arranged in the rod hole in a penetrating manner, a bearing sleeved on the gear rod 675 is arranged in the rod hole, the lower end of the gear rod 675 is fixedly connected with the bottom gear 674 below the head end connecting seat 62, the upper end of the gear rod 675 is fixedly connected with the second top gear 673 above the head end connecting seat 62, the first top gear 672 is fixed on an output shaft of the steering driving 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. In 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 via the gear rod 675, and the bottom gear 674 in turn drives the head end connector 62 to rotate.

By reasonably utilizing the space position between the head end connecting seat 62 and the head end base 61 as the transmission matching space of the bottom gear 674 and the arc gear 612, the space occupation is greatly reduced, and the structure is more compact. Through the design, the maximum amplitude of the swivel can reach 140 degrees.

In this embodiment, in order to reasonably utilize the space, the steering driving motor 671 is mounted on the upper jaw 31 of the head structure, meanwhile, the top of the head end connecting seat 62 is provided with a head connecting post 623 for connecting the upper jaw 31 and a head connecting protrusion 622 connected with other parts of the head structure, the head connecting protrusion 622 is assembled and connected with a boss fixedly mounted below the lower jaw motion driving motor 412 of the head structure in a limiting manner, and the head connecting post 623 is connected with the upper jaw in a plugging manner. It should be noted that, in other embodiments, the steering driving motor 671 is directly mounted on the head end connecting seat 62, the gear rod 675 is directly omitted, and the second top gear 673 and the bottom gear 674 at two ends of the gear rod 675 are directly meshed with the arc gear portion 612 by the first top gear 672, so that the steering action can be achieved.

As shown in fig. 27, the neck fixing link 64 is provided with a spring 68 and a spring stopper 69 below the head end base 61, the spring stopper 69 is fixedly connected to the fixing link, the upper end surface of the spring 68 abuts against the head end base 61, and the lower end surface of the spring 68 abuts against the spring stopper 69. By the spring 68, the neck can be kept in an upright state when the front and rear pitching driving motor 667 and the left and right swinging driving motor 656 stop working, that is, the problem that the neck falls down or inclines when the two motors stop is avoided.

As shown in fig. 25, in order to further improve the compactness of the structure and the rationality of the design, a pitch motor mounting groove 632 and a yaw motor mounting groove 633 are provided at the body end base 63, wherein the pitch motor mounting groove 632 is used for mounting the front-rear pitch drive motor 667, and the yaw motor mounting groove 633 is used for mounting the yaw drive motor 656.

In sum, to bionical robot head neck structure is whole, but each mechanism mutually support, but independent control again, not only can simulate out the expression action that the true man can make, can also make the unable expression action of accomplishing of true man, satisfied user's demand greatly.

The embodiment of the invention also provides a bionic robot, which comprises a bionic body trunk structure, and the bionic robot head and neck structure, wherein the neck structure is connected with the bionic body trunk structure, the other structures except the bionic robot head and neck structure can be the same as the common bionic robot structure in the prior art, and the structures are well known to those skilled in the art and are not repeated here.

While the invention has been described with reference to certain preferred embodiments, it will be understood by those skilled in the art that various changes and substitutions of equivalents may be made and equivalents will be apparent to those skilled in the art without departing from the scope of the invention. Therefore, the protection scope of the invention is subject to the protection scope of the claims.

Claims (17)

1. The bionic robot head and neck structure is characterized by comprising a head structure and a neck structure movably connected with the head structure, wherein the head structure comprises a robot head shell, a robot bionic mask, a bionic eye mechanism and a bionic mouth mechanism, the robot bionic mask is sleeved on the outer surface of the robot head shell, the bionic eye mechanism and the bionic mouth mechanism are arranged in the robot head shell, the neck structure is connected with the bionic mouth mechanism, the neck structure is used for driving the head structure to realize front-back pitching, left-right swaying and circumferential steering movements, the bionic eye mechanism and the bionic mouth mechanism are connected with the robot bionic mask, and the robot bionic mask displays the actions of the facial expressions of the bionic robot under the actions of the bionic eye mechanism and the bionic mouth mechanism; the bionic mouth mechanism comprises a lower jaw moving assembly, an oral cavity moving assembly and a bionic tongue assembly, the lower jaw moving assembly comprises a lower jaw plate and a lower jaw plate moving driving motor in transmission connection with the lower jaw plate, the oral cavity moving assembly comprises an upper jaw plate, a left driving moving block, a left driven moving block, a left front-back moving driving module, a right driving moving block, a right driven moving block, a right front-back moving driving module and an inner-outer linkage moving driving module, the left driven moving block is fixedly connected with the left driving moving block, the upper jaw plate and the lower jaw plate are oppositely arranged up and down, the left driving moving block and the left driven moving block are positioned between the upper jaw plate and the left side of the lower jaw plate, the right driving moving block and the right driven moving block are positioned between the upper jaw plate and the right side of the lower jaw plate, the left back-and-forth motion driving module is in transmission connection with the left active motion block, when the left back-and-forth motion driving module works, the left active motion block is driven to move back and forth, the right driven motion block is fixedly connected with the right active motion block, the right back-and-forth motion driving module is in transmission connection with the right active motion block, when the right back-and-forth motion driving module works, the right active motion block is driven to move back and forth, the inner and outer linkage motion driving module is in transmission connection with the left back-and-forth motion driving module and the right back-and-forth motion driving module, when the inner and outer linkage motion driving module works, the left active motion block and the right active motion block are driven to synchronously move inward or outward, the tongue assembly comprises a tongue main body, a tongue mounting plate, a tongue left and right swing driving module and a tongue front and back extension driving module, the tongue main 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 main body, the tongue main body is clamped in the telescopic guide groove, the tongue front-back telescopic driving module is connected with the tongue main body so as to drive the tongue main body to do front-back telescopic movement along the telescopic guide groove, and the tongue left-right swinging driving module is connected with the tongue mounting plate so as to drive the tongue mounting plate and the tongue main body to swing left and right synchronously; the bionic mouth part mechanism further comprises an upper mouth corner motion driving assembly, the upper mouth corner motion driving assembly comprises a left upper mouth corner skin contact block, a left upper mouth corner motion guide upright post, a left upper mouth corner motion driving module, a right upper mouth corner skin contact block, a right upper mouth corner motion guide upright post and a right upper mouth corner motion driving module, the left upper mouth corner motion driving module comprises a left upper mouth corner motion swing arm and a left upper mouth corner motion driving motor, the left upper mouth corner motion guide upright post is fixed on the upper surface of the upper jaw plate, the left upper mouth corner skin contact block is movably sleeved on the left upper mouth corner motion guide upright post, one end of the left upper mouth corner motion swing arm is connected with an output shaft of the left upper mouth corner motion driving motor, one end of the left upper mouth corner motion swing arm is connected with the left upper mouth corner skin contact block, the right upper mouth corner motion driving module comprises a right upper mouth corner motion swing arm and a right upper mouth corner motion driving motor, the right upper mouth corner motion guide upright post is fixed on the upper surface of the upper jaw plate, the left upper mouth corner motion guide upright post is movably sleeved on the upper mouth corner guide post, and the right mouth corner guide sleeve is connected with the right upper mouth corner motion guide post; the bionic mouth part mechanism further comprises a lower mouth corner motion driving assembly, the lower mouth corner motion driving assembly comprises a left lower mouth corner transmission rod, a left lower mouth corner motion driving module, a right lower mouth corner transmission rod and a right lower mouth corner transmission driving module, the left lower mouth corner motion driving module comprises a left lower mouth corner motion first swing arm, a left lower mouth corner motion second swing arm and a left lower mouth corner motion driving motor, the middle part of the left lower mouth corner transmission rod is hinged with the lower jaw plate, the front end of the left lower mouth corner transmission rod forms a left lower mouth corner skin contact part, the rear end of the left lower mouth corner transmission rod is hinged with one end of the left lower mouth corner motion first swing arm, the other end of the left lower mouth corner motion first swing arm is hinged with one end of the left lower mouth corner motion second swing arm, the other end of the left lower mouth corner motion second swing arm is connected with the left lower mouth corner motion driving motor, the right lower mouth corner motion driving module comprises a right lower mouth corner motion first swing arm, a right lower mouth corner motion second swing arm and a right lower mouth corner motion second swing arm, the right lower mouth corner motion second swing arm is hinged with the right lower mouth corner motor, the right lower mouth corner transmission rod is hinged with the other end of the right lower mouth corner swing arm, and the right lower mouth corner transmission rod is hinged with the right lower mouth corner swing arm, and the right mouth corner transmission rod is hinged with the right lower mouth corner swing arm; the lower jaw plate is provided with a lower jaw movement connecting arm which is connected with an output shaft of the lower jaw plate movement driving motor, and the lower jaw plate movement driving motor drives the lower jaw plate to rotate up and down when working; the left front-back motion driving module comprises a left front-back motion swing arm and a left front-back motion driving motor, one end of the left front-back motion swing arm is connected with the left front-back motion driving motor, the other end of the left front-back motion swing arm is hinged with the rear side of the left driving motion block, the upper side of the left driving motion block is movably connected with the upper jaw plate, and the front side of the left driving motion block is fixedly connected with the left driven motion block; the right front-back movement driving module comprises a right front-back movement swinging arm and a right front-back movement driving motor, one end of the right front-back movement swinging arm is connected with the right front-back movement driving motor, the other end of the right front-back movement swinging arm is hinged with the rear side of the right driving movement block, the upper side of the right driving movement block is movably connected with the upper jaw plate, and the front side of the right driving movement block is fixedly connected with the right driven movement block; the upper side of the left active movement block is provided with a left L-shaped front-rear movement plate, the upper jaw plate is provided with a left front-rear movement guide notch, and the left L-shaped front-rear movement plate is arranged in the left front-rear movement guide notch; the upper side of the right driving movement block is provided with a right L-shaped front-rear movement plate, the upper jaw plate is provided with a right front-rear movement guide notch, and the right L-shaped front-rear movement plate is arranged in the right front-rear movement guide notch; the inner side of the left driven motion block is provided with a left arc chute, the bottom surface of the upper jaw plate is provided with a left fixed support arm in a downward extending mode, the lower end of the left fixed support arm is provided with a left arm hook part clamped in the left arc chute, and the outer side of the left driven motion block is provided with a left skin cheek connecting part; the inner side of the right driven motion block is provided with a right arc chute, the bottom surface of the upper jaw plate is provided with a right fixed support arm in a downward extending mode, the lower end of the right fixed support arm is provided with a right arm hook part clamped in the right arc chute, and the outer side of the right driven motion block is provided with a right outer skin cheek connecting part; the inner and outer linkage motion driving module comprises a left front-back motion driving motor first connecting rod, a left front-back motion driving motor second connecting rod, a right front-back motion driving motor first connecting rod, a right front-back motion driving motor second connecting rod, a first linkage rod, a second linkage rod and an inner and outer movement driving motor, wherein one end of the left front-back motion driving motor first connecting rod and one end of the left front-back motion driving motor second connecting rod are hinged to the same side of the left front-back motion driving motor, one end of the right front-back motion driving motor first connecting rod and one end of the right front-back motion driving motor second connecting rod are hinged to the same side of the right front-back motion driving motor, the other end of the left front-back motion driving motor first connecting rod is hinged to one end of the first linkage rod, the other end of the first linkage rod is hinged with the other end of the second connecting rod of the right front-back motion driving motor, the other end of the second connecting rod of the left front-back motion driving motor is hinged with one end of the second linkage rod, the other end of the second linkage rod is hinged with the other end of the first connecting rod of the right front-back motion driving motor, an output shaft of the inside-outside motion driving motor is connected with the middle parts of the first linkage rod and the second linkage rod, and when the inside-outside motion driving motor works, the left front-back motion driving motor and the right front-back motion driving motor are driven to synchronously move inwards or outwards, so that the left driving motion block and the right driving motion block synchronously move inwards or outwards; the tongue front-back telescopic driving module comprises a tongue front-back telescopic fish eye connecting rod, a tongue front-back telescopic motor and a tongue front-back telescopic eccentric wheel, one end of the tongue front-back telescopic fish eye connecting rod is connected with the tongue main body, the other end of the tongue front-back telescopic fish eye connecting rod is connected with the tongue front-back telescopic eccentric wheel, and an output shaft of the tongue front-back telescopic motor is connected with the tongue front-back telescopic eccentric wheel; the tongue left-right swinging driving module comprises a tongue left-right swinging connecting piece and a tongue left-right swinging motor, one side of the tongue left-right swinging connecting piece is connected with the tongue mounting plate, and the other side of the tongue left-right swinging connecting piece is connected with an output shaft of the tongue left-right swinging motor; one side of the tongue left-right swinging connector is provided with a swinging connecting shaft, the tongue mounting plate is provided with a tongue mounting plate bayonet for clamping the swinging connecting shaft, and the other side of the tongue left-right swinging connector is provided with a swinging connector sleeve hole matched with an output shaft sleeve of the tongue left-right swinging motor; the tongue main body comprises a tongue vertical plate, a tongue transverse plate and a tongue connecting plate, wherein the tongue transverse plate is transversely arranged on the upper side of the tongue vertical plate, the tongue connecting plate is fixed on the rear side of the tongue vertical plate, and one end of the tongue front-rear telescopic fisheye connecting rod is connected with the tongue connecting plate.

2. The biomimetic robotic head and neck structure of claim 1, wherein the biomimetic eyebrow mechanism comprises an eye unit and a eyebrow unit, the eye unit comprises an eye support, 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-down rotation driving assembly, a right eyelid up-down rotation driving assembly, an eyeball left-right rotation linkage driving assembly and an eyeball up-down rotation linkage driving assembly, the left upper eyelid and the left lower eyelid are hinged on the eye support, the left eyelid up-down rotation driving assembly is used for driving 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 eye support, the eyeball up-down rotation driving assembly is used for driving the right upper eyelid and the right lower eyelid to open and close relatively, the eyeball left-right rotation linkage driving assembly is used for driving the eyeball left and the eyeball left-right rotation linkage driving assembly and the eyeball up-down linkage driving assembly is used for driving the eyeball up-down rotation; the eyebrow unit comprises a eyebrow support and a plurality of eyebrow movement control assemblies arranged on the eyebrow support, wherein the eyebrow movement control assemblies respectively act on different parts of the eyebrow to realize movement of different parts of the eyebrow.

3. The head and neck structure of the bionic robot according to claim 2, wherein the eye support is provided with two left eyelid arms which are arranged oppositely, 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 component 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 with the left upper eyelid, the other end of the left upper eyelid arc connecting rod is hinged with one end of the left eyelid straight connecting rod, one end of the left lower eyelid arc connecting rod is hinged with the left upper eyelid, the other end of the left lower eyelid arc connecting rod is hinged with one end of the left eyelid straight connecting rod, the other end of the left eyelid straight connecting rod is connected with the left eyelid rocker, the left eyelid rocker is connected with an output shaft of the left eyelid up-and-down rotation driving motor, and the left upper eyelid arc connecting rod is hinged with one end of the left eyelid straight connecting rod, and the left upper eyelid arc connecting rod is mounted on the eye support; the eye support is further provided with two right eyelid support arms which are oppositely arranged, the right upper eyelid and the right lower eyelid are hinged between the two right eyelid support arms, the right eyelid up-down rotation driving assembly comprises a right eyelid up-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 with the right upper eyelid, the other end of the right upper eyelid arc connecting rod is hinged with one end of the right eyelid straight connecting rod, one end of the right lower eyelid arc connecting rod is hinged with the right upper eyelid, the other end of the right lower eyelid arc connecting rod is hinged with one end of the right eyelid straight connecting rod, the other end of the right eyelid straight connecting rod is connected with the right eyelid rocker, the right eyelid rocker is connected with an output shaft of the right eyelid up-down rotation driving motor, and the right eyelid up-down rotation driving motor is arranged on the eye support.

4. The head and neck structure of a bionic robot according to claim 2, wherein the eyeball up-down rotation linkage driving component comprises an eyeball up-down rotation linkage driving motor, an eyeball up-down rotation linkage rocker, an eyeball up-down rotation linkage arc-shaped connecting rod and an eyeball up-down rotation linkage plate, the eyeball up-down rotation linkage plate is hinged on the eye support, the left eyeball and the right eyeball are rotationally connected with the eyeball up-down rotation linkage plate, one end of the eyeball up-down rotation linkage arc-shaped connecting rod is connected with the eyeball up-down rotation linkage plate, the other end of the eyeball up-down rotation linkage arc-shaped connecting rod is connected with the eyeball up-down rotation linkage rocker, the eyeball up-down rotation linkage rocker is connected with an output shaft of the eyeball up-down rotation linkage driving motor, and the eyeball up-down rotation linkage driving motor is mounted on the eye support.

5. The head and neck structure of a bionic robot according to claim 4, wherein the eye up-down rotation linkage plate comprises a middle plate, a left connecting arm and a right connecting arm which are arranged on two sides of the middle plate, the tail end of the left connecting arm is rotationally connected with the left eye, the tail end of the right connecting arm is rotationally connected with the right eye, the left side and the right side of the middle plate are hinged with the eye support, and one end of the eye left-right rotation linkage arc-shaped connecting rod is hinged with the front side of the middle plate.

6. The head and neck structure of a bionic robot according to claim 5, wherein the eyeball left-right rotation linkage driving component comprises an eyeball left-right rotation linkage driving motor, an eyeball left-right rotation linkage rocker and an eyeball left-right rotation linkage rod, the left end and the right end of the eyeball left-right rotation linkage rod are respectively connected with the left eyeball and the right eyeball in a rotating way, the middle part of the eyeball left-right rotation linkage rod is movably connected with the eyeball left-right rotation linkage rocker, the eyeball left-right rotation linkage rocker is connected with an output shaft of the eyeball left-right rotation linkage driving motor, and the eyeball left-right rotation linkage driving motor is mounted on the middle plate.

7. The biomimetic robotic head and neck structure of claim 2, wherein the plurality of brow portion motion control assemblies includes a left brow first portion motion control assembly that acts on a center position of a side of the left brow proximate to the brow center, a left brow second portion motion control assembly that acts on a center position of a side of the left brow proximate to the brow center, a right brow first portion motion control assembly that acts on a center position of a side of the right brow proximate to the brow center, and a right brow second portion motion control assembly that acts on a center position of a side of the right brow proximate to the brow center.

8. The biomimetic robotic head and neck structure of claim 1, wherein the robotic biomimetic mask comprises a mask body, the mask body is made of a flexible material, the mask body is provided with a mask sleeve cavity, a sleeve opening communicated with the mask sleeve cavity is formed in the bottom of the mask body, an opening and closing seam is further formed in the mask body, and one end of the opening and closing seam extends to the sleeve opening.

9. The biomimetic robotic head and neck structure of claim 8, wherein the mask sleeve cavity inner wall is provided with a plurality of connection structures.

10. The biomimetic robotic head and neck structure of claim 8, wherein the mask body is further provided with a multi-functional interface window, and a cover plate arranged to open and close the multi-functional interface window.

11. The biomimetic robotic neck structure of claim 1, wherein the neck structure comprises a biomimetic neck mechanism comprising a head end base, a head end connecting seat, a body end base, a body end connecting seat, a neck fixing link, a swing driving module, a pitch driving module and a steering driving module, wherein the head end connecting seat is detachably connected above the head end base, the body end connecting seat is detachably connected below the body end base, the lower end of the neck fixing link is fixedly connected with the body end base, the upper end of the neck fixing link is movably connected with the bottom of the head end base, the swing driving module is connected with the head end base to drive the head end base to swing horizontally in synchronization with the head end connecting seat, the pitch driving module is connected with the head end base to drive the head end base to pitch back in synchronization with the head end connecting seat, and the steering driving module is connected with the head end base to drive the head end base to move circumferentially relative to the steering end base.

12. The head and neck structure of the bionic robot according to claim 11, wherein the top center of the head end base is provided with a connecting shaft, and the bottom center of the head end connecting seat is provided with a shaft sleeve nested and matched with the connecting shaft; the bottom of the body end base is provided with an inserting block, and the body end connecting seat is provided with a slot which is in inserting fit with the inserting block.

13. The biomimetic robotic head and neck structure of claim 11, wherein the swing drive module comprises a left vertical link, a right vertical link, a left-right swing gear set and a left-right swing drive motor, wherein the upper end of the left vertical link is hinged to the left side of the head end base, the lower end of the left vertical link is hinged to the left end of the left-right swing link, the right end of the left-right swing link is hinged to the lower end of the right vertical link, the upper end of the right vertical link is hinged to the right side of the head end base, the middle of the left-right swing link is hinged to the neck fixed link, and the left-right swing gear set is in driving connection between the left-right swing link and the output shaft of the left-right swing drive motor; the left-right swinging gear set comprises a first gear and a second gear which is perpendicular to the first gear, the first gear is fixed on the left-right swinging connecting rod, the second gear is fixed on an output shaft of the left-right swinging driving motor, and the first gear is meshed with the second gear.

14. The biomimetic robotic neck structure of claim 11, wherein the pitch drive module comprises a front vertical link, a rear vertical link, a front and rear pitch gear set, and a front and rear pitch drive motor, the upper end of the front vertical link being hinged to the front side of the head end base, the lower end of the front vertical link being hinged to the front end of the front and rear pitch link, the rear end of the front and rear pitch link being hinged to the lower end of the rear vertical link, the upper end of the rear vertical link being hinged to the rear side of the head end base, the middle of the front and rear pitch link being hinged to the neck fixed link, the front and rear pitch gear set being drivingly connected between the front and rear pitch link and the front and rear pitch drive motor; the front pitching gear set comprises an upper gear, an intermediate gear and a lower gear which are sequentially arranged side by side from top to bottom, the upper gear is fixed on the front pitching connecting rod and the rear pitching connecting rod, the lower gear is fixed on an output shaft of the front pitching driving motor and the rear pitching driving motor, and the intermediate gear is rotationally connected to the body end base and meshed with the upper gear and the lower gear.

15. The biomimetic robotic head and neck structure of claim 11, wherein the steering driving module comprises a steering driving motor and a steering gear set, wherein the top of the head end base is provided with an arc gear part, and the steering gear set is in transmission connection between the arc gear part and an output shaft of the steering driving motor; the steering gear group comprises a first top gear, a second top gear, a gear rod, a bottom gear and a steering driving motor, wherein a rod hole is formed in the head end connecting seat, the gear rod penetrates through the rod hole, a bearing sleeved on the gear rod is arranged in the rod hole, the lower end of the gear rod is fixedly connected with the bottom gear below the head end connecting seat, the upper end of the gear rod is fixedly connected with the second top gear above the head end connecting seat, the first top gear is fixed on an output shaft of the steering driving motor, the second top gear is meshed with the first top gear, and the bottom gear is meshed with the arc gear.

16. The biomimetic robotic head and neck structure of claim 11, wherein the neck fixed link is provided with a spring and a spring limiting seat below the head end base, the spring limiting seat is fixedly connected with the fixed link, the upper end surface of the spring is abutted with the head end base, and the lower end surface of the spring is abutted with the spring limiting seat.

17. A biomimetic robot comprising a biomimetic body torso structure, and a biomimetic robot head neck structure according to any one of claims 1-16, the neck structure being connected to the biomimetic body torso structure.