CN208713983U - A kind of robot face structure and robot - Google Patents

Abstract

A kind of robot face structure disclosed by the utility model and robot, including support frame and mouth emulate mechanism, and support frame as described above includes bottom plate and rear support frame, and bottom plate is fixedly connected with rear support frame；Mouth emulation mechanism includes maxilla portion, lower jaw portion, mouth driving steering engine and mouth linking arm, maxilla portion is fixed on the bottom plate, oscillating deck is fixedly installed on the inside of the lower jaw portion, horizontal slotting axis is provided at the top of oscillating deck, skewed slot is provided on the bottom plate, the horizontal slotting axis is movably arranged in the skewed slot, the mouth driving steering engine is fixed on rear support frame, one end of the mouth linking arm and the middle part of oscillating deck are hinged, and the other end of mouth linking arm and the steering engine swing rod of mouth driving steering engine are hinged.The mouth emulation mechanism of the utility model can accurately simulate the movement of people opened one's mouth and shut up, and simulated effect is high, can satisfy higher requirement, and total principle is simple, is easily achieved, and failure rate greatly reduces.

Description

A kind of robot face structure and robot

Technical field

The utility model relates to robotic technology field more particularly to bio-robot technical fields, and in particular to a kind of Robot face structure and robot.

Background technique

Bio-robot be can mimic biology, be engaged in biological characteristic work robot, bio-robot can be people Class provides many convenient services, and therefore, bio-robot increasingly obtains the attention of people, has good development prospect.

In order to make the feature of bio-robot simulation biology more true to nature, bio-robot is usually provided with head knot Structure can facilitate the blink of simulation biology in this way, open one's mouth, rotary head, the movement such as bow, and existing bio-robot is opened one's mouth Movement is mostly simple on-off action, and the mouth for realizing movement of opening one's mouth emulates mechanism, generally comprises maxilla portion and lower jaw Portion is connected by shaft between the upper jaw and the lower jaw portion, promotes the upper jaw and the lower jaw portion to complete the movement of opening and closing mouth by driving mechanism, however for For the mouth structure of the mankind, due to the structural particularity of mouth bone, lower jaw portion relative to maxilla portion when opening, and It is not the simple movement rotated around fixed shaft, thus, for the robot more demanding for bionical degree, this The simple structure of kind just can not accurately simulate the movement of people opened one's mouth and shut up, and simulated effect is to be improved.

Utility model content

The purpose of this utility model is that in place of avoiding the deficiencies in the prior art, a kind of robot face structure and machine are provided Device people, to effectively solve the shortcomings of the prior art.

To achieve the above object, the technical solution that the utility model is taken are as follows: a kind of robot face structure, including support Frame and mouth emulate mechanism, and support frame as described above includes bottom plate and rear support frame, and bottom plate is fixedly connected with rear support frame；

The mouth emulation mechanism includes maxilla portion, lower jaw portion, mouth driving steering engine and mouth linking arm, the maxilla portion It is fixed on the bottom plate, oscillating deck is fixedly installed on the inside of the lower jaw portion, is provided with level at the top of oscillating deck Axis is inserted, skewed slot is provided on the bottom plate, the horizontal slotting axis is movably arranged in the skewed slot, and the mouth driving steering engine is solid Fixed to be arranged on rear support frame, one end of the mouth linking arm and the middle part of oscillating deck are hinged, the other end of mouth linking arm It is hinged with the steering engine swing rod of mouth driving steering engine；

Return unit is provided between the horizontal slotting axis and bottom plate or rear support frame；

Supporter is additionally provided on the bottom plate, supporter is arranged far from the one of the lower jaw portion relative to oscillating deck Side, when the lower jaw portion is located at upper dead center position, the slotting axle position of level in the top in skewed slot, and oscillating deck and supporter it Between be provided with gap, during open one's mouth movement, oscillating deck initially surrounds horizontal slotting axis and is rotated, and is centainly rotating After angle, oscillating deck is contacted with supporter, and then horizontal slotting axis is promoted to slide in skewed slot, completes the change track fortune of lower jaw portion It is dynamic.

Further, the robot face structure further includes tongue emulation mechanism, and tongue emulation mechanism includes tongue Telescoping mechanism, tongue drive steering engine, tongue connection arm assembly；

The tongue connection arm assembly includes tongue linking arm and tongue trigger arm, the middle part of the tongue trigger arm and institute State that rear support frame is hinged, the steering engine swing rod of one end of the tongue linking arm and tongue driving steering engine is hinged, tongue linking arm One end far from the tongue telescoping mechanism of the other end and tongue trigger arm is hinged, and tongue trigger arm is stretched close to the tongue One end of contracting mechanism is triggering end；

The tongue telescoping mechanism is arranged in the lower jaw portion or oscillating deck, the tongue driving steering engine fixed setting On the rear support frame, tongue driving steering engine is connect by steering engine swing rod with tongue connection arm assembly, is stretched to trigger tongue The expanding-contracting action of contracting mechanism.

Further, the tongue telescoping mechanism includes tongue support sleeve and the stretching structure that is arranged in tongue support sleeve, The tongue support sleeve is fixed on the lower jaw portion or oscillating deck, and the stretching structure is rhombus expansion brackets, diamond shape The middle part of expansion bracket is connect by the first vertical pivot with tongue support sleeve, and rhombus expansion brackets are arranged in one end far from the lower jaw portion There is the second vertical pivot, the other end of rhombus expansion brackets is provided with flexible connection block, can by third vertical pivot on the tongue support sleeve What is horizontally rotated is provided with driving lever, and the second vertical pivot described in the one end fits of driving lever is provided with long slot hole, the other end of driving lever be with Close the struck side of the triggering end setting；

The front end of the tongue support sleeve, which has been pivotally connected, sticks up tongue, and the front end for being flexibly connected block is provided with for driving The dynamic shovel portion for sticking up tongue rotation.

Further, the tongue telescoping mechanism includes tongue support sleeve and the stretching structure that is arranged in tongue support sleeve, The tongue support sleeve is fixed on the lower jaw portion or oscillating deck, and the stretching structure is rhombus expansion brackets, diamond shape The middle part of expansion bracket is connect by the first vertical pivot with tongue support sleeve, and rhombus expansion brackets are arranged in one end far from the lower jaw portion There is the second vertical pivot, the other end of rhombus expansion brackets is provided with flexible connection block, can by third vertical pivot on the tongue support sleeve What is horizontally rotated is provided with driving lever, and the second vertical pivot described in the one end fits of driving lever is provided with long slot hole, the other end of driving lever be with Close the struck side of the triggering end setting；

The front end for being flexibly connected block, which is hinged with, sticks up tongue, and described stick up is provided with contact portion on tongue, the tongue branch The contact portion is cooperated to be provided with shovel portion on support set.

Further, the robot face structure further includes eyeball emulation mechanism, and eyeball emulation mechanism includes eyeball Portion, the first eyeball or so articulating arm, the second eyeball or so articulating arm, third eyeball or so articulating arm, eyeball Left and right activity-driven steering engine and mounting plate；

Support frame as described above includes top plate, middle plate, middle connecting rod and lateral connector bar, and the middle plate is fixed at rear support The top of frame, top plate are fixedly connected by middle connecting rod and lateral connector bar with the middle plate, and the lateral connector bar is symmetrical arranged There are two；

The mounting plate is arranged in middle connecting rod and lateral connector bar, the fixed setting of described eyeball or so activity-driven steering engine On a mounting board, there are two the eyeball portion is symmetrical arranged, eyeball portion is rotatablely connected by vertical axes and mounting plate, and vertical axes are worn The centre of sphere in eyeball portion is crossed, eyeball portion is fixedly connected with first eyeball or so articulating arm, first eyeball of two sides or so Articulating arm is hinged with the both ends of second eyeball or so articulating arm respectively, and described third eyeball or so is flexibly connected The steering engine swing rod of one end of arm and the eyeball or so activity-driven steering engine is hinged, third eyeball or so articulating arm it is another It holds hinged with the middle part of second eyeball or so articulating arm.

Further, eyeball emulation mechanism further includes up and down for realizing the up and down eyeball in the eyeball portion Driving mechanism, the up and down driving mechanism of eyeball include the up and down driving steering engine of eyeball, the up and down company of the first eyeball Arm, the up and down linking arm of the second eyeball are connect, the up and down steering engine of eyeball is fixed on the top plate, and described first The top of the up and down linking arm of eyeball and the steering engine swing rod of the up and down driving steering engine of the eyeball are hinged, above and below the first eyeball The bottom end of articulating arm and the top of the up and down linking arm of the second eyeball are hinged, the up and down linking arm of the second eyeball The side far from the eyeball portion of bottom end and the mounting plate be fixedly connected；

It is coaxially arranged with first level shaft and the second horizontal rotating shaft respectively on the middle connecting rod and lateral connector bar, it is described Mounting plate is respectively cooperating with the first level shaft in the side close to the eyeball portion and the second horizontal rotating shaft is provided with first Socket part and the second rotation socket part are rotated, the first level shaft, the second horizontal rotating shaft pass through the centre of sphere in the eyeball portion.

Further, the robot face structure further includes eyelid emulation mechanism, and eyelid emulation mechanism includes that upper eyelid is imitative Prototype structure and lower eyelid emulate mechanism；

Upper eyelid emulation mechanism includes upper eyelid portion, the first upper eyelid linking arm, the second upper eyelid linking arm, third Upper eyelid linking arm and upper eyelid drive steering engine, and the upper eyelid portion cladding is arranged in the top in the eyeball portion, two sides it is upper Eyelid portion is fixedly connected by upper eyelid synchronizing bar, and the two sides in the upper eyelid portion are provided with upper eyelid suit portion, two sides it is upper Eyelid suit portion is rotatably socketed in respectively on the first level shaft and the second horizontal rotating shaft；

The upper eyelid driving steering engine is fixed on the top plate, and the middle part of the second upper eyelid linking arm is hinged On the top plate, one end of the first upper eyelid linking arm and the steering engine swing rod of upper eyelid driving steering engine are hinged, on first The other end of eyelid linking arm and one end of the second upper eyelid linking arm are hinged, the other end of the second upper eyelid linking arm with The top of third upper eyelid linking arm is hinged, is fixedly installed upper eyelid in the upper eyelid synchronizing bar or upper eyelid suit portion Driving lever, the bottom end of the third upper eyelid linking arm and upper eyelid driving lever are hinged；

The lower eyelid emulation mechanism includes lower eyelid portion, lower eyelid linking arm and lower eyelid driving steering engine, the lower eye Skin zone coats the lower part that the eyeball portion is arranged in, and the lower eyelid portion of two sides is fixedly connected by lower eyelid synchronizing bar, under described The two sides in eyelid portion are provided with lower eyelid suit portion, and the lower eyelid suit portion of two sides is rotatably socketed in first water respectively On flat turn axis and the second horizontal rotating shaft；

The lower eyelid driving steering engine is fixed on the middle plate, the lower eyelid synchronizing bar or lower eyelid suit Lower eyelid driving lever is fixedly installed in portion, one end of the lower eyelid linking arm and the lower eyelid driving lever are hinged, and lower eyelid connects The steering engine swing rod for connecing the other end and lower eyelid driving steering engine of arm is hinged.

Further, the robot face structure further includes eyebrow emulation mechanism, eyebrow emulation mechanism include supercilium, First eyebrow linking arm, the second eyebrow linking arm, third eyebrow linking arm and eyebrow drive steering engine；

The supercilium driving lever extended inwardly, the end of supercilium driving lever and the middle connecting rod are provided in the supercilium Hingedly；

The eyebrow driving steering engine is fixed on the top plate, is hinged on institute in the middle part of the second eyebrow linking arm It states on top plate, one end of the first eyebrow linking arm and the steering engine swing rod of eyebrow driving steering engine are hinged, the first eyebrow linking arm The other end and the second eyebrow linking arm one end it is hinged, the other end of the second eyebrow linking arm and third eyebrow linking arm Top it is hinged, the bottom end of the third eyebrow linking arm and the middle part of the supercilium driving lever are hinged.

Further, the robot face structure further includes head movement mechanism, head movement mechanism be used to realize new line, Bow and rotary head movement, head movement mechanism include shoulder support frame, come back bow drive steering engine, new line bow rotating block, Rotary head drives steering engine and rotary head linking arm, wherein new line is bowed, rotating block is rotatably arranged on shoulder support frame by horizontal rotating shaft On, new line bows steering engine is driven to be fixed on shoulder support frame, and new line, which is bowed, to be provided with new line on rotating block and bow driving Gear, new line, which is bowed, drives gear to bow the steering engine output gear on steering engine is driven to engage with coming back, and passes through new line and bows driving Servo driving new line rotating block of bowing is rotated；Installation frame plate is fixedly installed on the middle plate, rotary head driving steering engine passes through Installation frame plate is fixed, and the bottom end of rotary head linking arm is fixedly connected with the rotating block of bowing of coming back, the top of rotary head linking arm End sequentially passes through rear support frame, middle plate, and the top of rotary head linking arm is provided with rotary head driving gear, rotary head linking arm and rear support Frame, middle plate are the connection type that can be relatively rotated, and the steering engine gear of rotary head driving steering engine is nibbled with rotational driving gear It closes, drives steering engine to realize rotation of the rotary head linking arm relative to rear support frame, middle plate by rotary head.

A kind of robot, including above-mentioned robot face structure.

The above-mentioned technical proposal of the utility model has the advantages that the mouth emulation mechanism of the utility model can The movement of accurate simulation people opened one's mouth and shut up, simulated effect is high, can satisfy higher requirement, and total is former Reason is simple, is easily achieved, and failure rate greatly reduces.

Detailed description of the invention

Fig. 1 is the utility model embodiment schematic perspective view one；

Fig. 2 is the utility model embodiment schematic perspective view two；

Fig. 3 is the utility model embodiment schematic perspective view three；

Fig. 4 is the utility model embodiment support frame schematic perspective view one；

Fig. 5 is the partial enlarged view in Fig. 4 at A；

Fig. 6 is the utility model embodiment support frame schematic perspective view two；

Fig. 7 is that the utility model embodiment mouth emulates mechanism, the schematic perspective view of bottom plate and rear support frame；

Fig. 8 is the plan view of Fig. 7；

Fig. 9 is the schematic perspective view at the other side visual angle of Fig. 7；

Figure 10 (does not show for the schematic perspective view that the utility model embodiment mouth emulates mechanism and tongue emulation mechanism Show maxilla portion, local oscillating deck section view)；

Figure 11 is the schematic perspective view that the utility model embodiment tongue emulates mechanism；

Figure 12 is the schematic perspective view of the utility model embodiment tongue telescoping mechanism；

Figure 13 is the schematic perspective view that the utility model tongue emulates second of embodiment of mechanism；

Figure 14 is the cross-sectional view for sticking up tongue in Figure 13；

Figure 15 is the schematic perspective view that the utility model embodiment eyeball emulates mechanism and support frame；

Figure 16 is the partial enlarged view in Figure 15 at B；

Figure 17 is the schematic perspective view at another visual angle of Figure 15；

Figure 18 is the schematic perspective view that the utility model embodiment eyeball emulates mechanism；

Figure 19 is another view stereo structural schematic diagram of Figure 18；

Figure 20 is that the utility model embodiment eyeball emulates mechanism, eyelid emulates mechanism schematic perspective view；

Figure 21 is that the utility model embodiment eyelid emulates mechanism schematic perspective view；

Figure 22 is the partial enlarged view in Figure 21 at C；

Figure 23 is the schematic perspective view at another visual angle Figure 21；

Figure 24 is the schematic perspective view that the utility model embodiment eyebrow emulates mechanism and support frame；

Figure 25 is the schematic perspective view that the utility model embodiment eyebrow emulates mechanism；

Figure 26 is the schematic perspective view one of the utility model embodiment head movement mechanism；

Figure 27 is the schematic perspective view two of the utility model embodiment head movement mechanism；

Figure 28 is (the not display portion shoulder branch of schematic perspective view three of the utility model embodiment head movement mechanism Support).

Specific embodiment

The embodiments of the present invention is described in further detail with reference to the accompanying drawings and examples.Following embodiment For illustrating the utility model, but cannot be used to limit the scope of the utility model.

In the description of the present invention, unless otherwise indicated, the meaning of " plurality " is two or more；Term The orientation of the instructions such as "upper", "lower", "left", "right", "inner", "outside", " front end ", " rear end ", " head ", " tail portion " or position are closed System is to be based on the orientation or positional relationship shown in the drawings, and is merely for convenience of describing the present invention and simplifying the description, rather than The device or element of indication or suggestion meaning must have a particular orientation, be constructed and operated in a specific orientation, therefore cannot It is construed as a limitation of the present invention.In the description of the present invention, it should be noted that unless otherwise specific regulation And restriction, term " connected ", " connection " shall be understood in a broad sense, for example, it may be being fixedly connected, may be a detachable connection, Or it is integrally connected；It can be mechanical connection, be also possible to be electrically connected；It can be directly connected, intermediary can also be passed through It is indirectly connected.For the ordinary skill in the art, above-mentioned term can be understood in the present invention with concrete condition Concrete meaning.

As shown in figures 1-28, a kind of robot face structure, including support frame 100 and mouth emulate mechanism 200, support frame 100 include bottom plate 101 and rear support frame 102, and bottom plate 101 is fixedly connected with rear support frame 102, and bottom plate 101 is fixed by screw In the forward upper of rear support frame 102, support frame 100 further includes top plate 103, middle plate 104, middle connecting rod 105 and side connection Bar 106, middle plate 104 are fixed at the top of rear support frame 102, and top plate 103 passes through middle connecting rod 105 and lateral connector bar 106 are fixedly connected with middle plate 104, lateral connector bar 106 be symmetrical arranged there are two.

As is seen in figs 7-10, mouth emulation mechanism 200 include maxilla portion 201, lower jaw portion 202, mouth driving steering engine 203 with Mouth linking arm 204, maxilla portion 201 are fixed on bottom plate 101, and the inside of lower jaw portion 202 is fixedly installed oscillating deck 205, the top of oscillating deck 205 is provided with horizontal slotting axis 2051, it is preferred that oscillating deck 205 is provided at two, oscillating deck at two 205 are symmetrical arranged about lower jaw portion 202, and the top of the oscillating deck 205 of two sides is attached by above-mentioned horizontal slotting axis 2051, bottom plate Skewed slot 1011 is provided on 101, acclivitous state, water is presented on the direction far from above-mentioned maxilla portion 201 in skewed slot 1011 Plug flat axis 2051 is movably arranged in skewed slot 1011, and the slotting axis 2051 of level can be slided and be rotated in skewed slot 1011, so as to In completing bionical opening and closing mouth movement, mouth driving steering engine 203 is fixed on rear support frame 102, mouth linking arm 204 One end and the middle part of oscillating deck 205 are hinged, and the steering engine swing rod of the other end and mouth the driving steering engine 203 of mouth linking arm 204 is cut with scissors It connects；It is provided with return unit between the slotting axis 2051 of level and bottom plate 101 or rear support frame 102, in the present embodiment, return unit is Tension spring (not shown) is provided with tension spring fixing end 1021 on rear support frame 102, and one end of tension spring is connect with fixing end 1021, draws The other end of spring is connect with the slotting axis 2051 of level；Supporter 206, in the present embodiment, supporter are additionally provided on bottom plate 101 206 be screw element, and matching thread part is provided with threaded hole, the setting direction of screw element and above-mentioned horizontal slotting axis on bottom plate 101 2051 is perpendicular, by adjusting the relative position of supporter 206 and oscillating deck 205, to adjust the swinging track of oscillating deck 205, And then adjust the motion profile of lower jaw portion 202, matching with true skeleton motion state as far as possible, supporter 206 relative to Oscillating deck 205 is arranged far from the side of lower jaw portion 202, when lower jaw portion 202 is located at upper dead center position (in shape of shutting up State), the slotting axis 2051 of level is located at the top in skewed slot 1011, and the lower part in skewed slot 1011 is additionally provided with for the slotting axis 2051 of level Movable space is carried out, and is provided with gap between oscillating deck 205 and supporter 206, during open one's mouth movement, Oscillating deck 205 is rotated around horizontal slotting axis 2051, and after certain rotational angle, oscillating deck 205 connects with supporter 206 Touching, and then horizontal slotting axis 2051 is promoted to slide in skewed slot 1011, complete the variable track motion of lower jaw portion 202.

Mouth emulation mechanism open one's mouth movement principle are as follows:

First stage: mouth drives steering engine 203 to pass through the swing of steering engine swing rod, and driving mouth linking arm 204, which drives, to be swung Plate 205 is rotated around the slotting axis 2051 of level, is carried out so that lower jaw portion 202 inserts axis around level relative to maxilla portion 201 2051 are rotated, and mouth starts to open, and in this stage, the slotting axis 2051 of level only carries out turning for original position in skewed slot 1011 It is dynamic, without sliding；

Second stage: oscillating deck 205 continues to rotate, and subsequent oscillating deck 205 is contacted with supporter 206, in supporter 206 Under limitation, oscillating deck 205 makes opposite rotation using its contact point with supporter 206 as supporting point, so that horizontal insert Axis 2051 slides in skewed slot 1011, in this stage, the slotting axis 2051 of level carried out simultaneously in skewed slot 1011 rotation with slide it is dynamic Make and (is from top to bottom slided in skewed slot 1011), and this stage, lower jaw portion 202 are also no longer simple relative to maxilla portion 201 The movement of arc-shaped rotation is carried out around dead axle, but becomes variable track motion.

In the movement entirely opened one's mouth, tension spring is in tensional state.

Opposite movement is carried out when shutting up, and is resetted under the mating reaction of return unit.

So the mouth emulation mechanism in the present embodiment can accurately simulate the movement of people opened one's mouth and shut up, imitate True effect is high, can satisfy higher requirement, and total principle is simple, is easily achieved, and failure rate greatly reduces.

As shown in figures 10-14, robot face structure further includes tongue emulation mechanism 300, and tongue emulation mechanism 300 includes Tongue telescoping mechanism, tongue driving steering engine 301, tongue connection arm assembly and returning device, returning device is to stretch tongue Contracting mechanism carries out return；

Tongue telescoping mechanism is arranged in lower jaw portion 202 or oscillating deck 205, and tongue driving steering engine 301 is fixed at On rear support frame 102, tongue driving steering engine 301 is connect by steering engine swing rod with tongue connection arm assembly, is stretched to trigger tongue The expanding-contracting action of contracting mechanism.

Tongue connection arm assembly includes tongue linking arm 305 and tongue trigger arm 306, the middle part of tongue trigger arm 306 with Rear support frame 102 is hinged, and one end of tongue linking arm 305 and the steering engine swing rod of tongue driving steering engine 301 are hinged, tongue linking arm One end of 305 other end and the separate tongue telescoping mechanism of tongue trigger arm 306 is hinged, the close tongue of tongue trigger arm 306 One end of head telescoping mechanism is triggering end 3061.

Tongue telescoping mechanism includes tongue support sleeve 302 and the stretching structure that is arranged in tongue support sleeve 302, tongue branch Support set 302 is fixed on lower jaw portion 202 or oscillating deck 205, and stretching structure is rhombus expansion brackets 303, rhombus expansion brackets 303 be common stretching structure, is made of several connection sheets and several shafts continuously arranged in X-shaped, rhombus expansion brackets 303 middle part is connect by the first vertical pivot 3031 with tongue support sleeve 302, and rhombus expansion brackets 303 are in one far from lower jaw portion 202 End is provided with the second vertical pivot 3032, and the other end of rhombus expansion brackets 303, which is provided with, is flexibly connected block 3033, is flexibly connected block 3033 Be slidably arranged in tongue support sleeve 302, on tongue support sleeve 302 by third vertical pivot 3034 can horizontally rotate be provided with dial Bar 304, the second vertical pivot of one end fits 3032 of driving lever 304 are provided with long slot hole 3041, and the other end of driving lever 304 is cooperation triggering The struck side 3042 of 3061 setting of end.

It further includes sticking up tongue 307 that tongue, which emulates mechanism 300, and about the set-up mode of tongue 307 is stuck up, there are two types of embodiments:

As shown in figs. 10-12, in the first embodiment, the front end of tongue support sleeve 302, which has been pivotally connected, sticks up tongue 307, the front end for being flexibly connected block 3033 is provided with for driving the shovel portion 3034 for sticking up the rotation of tongue 307.

As illustrated in figs. 13-14, in second of embodiment, the front end for being flexibly connected block 3033 is hinged with by trunnion axis sticks up Tongue 307, sticking up tongue 307 can slide in tongue support sleeve 302, stick up and be provided with contact portion 3071 on tongue 307, tongue branch The contact portion is cooperated to be provided with shovel portion 3021 on support set 302.

In the first embodiment, tongue emulates the working principle of mechanism 300 are as follows: the steering engine of steering engine 301 is driven by tongue Swing rod drives tongue linking arm 305 to move, and then tongue trigger arm 306 is driven to be rotated, the triggering end of tongue trigger arm 306 3061 contact with the struck side 3042 of driving lever 304, and driving lever 304 is pushed to be rotated, and pass through the second vertical pivot 3032 and elongated slot The cooperation in hole 3041 is flexibly connected block 3033 towards outside movement, in reality so that rhombus expansion brackets 303 are in the state of elongation Border use when, tongue support sleeve 302, be flexibly connected block 3033 and stick up tongue 307 outside coat be provided with it is soft In this case silica gel material, is flexibly connected being displaced outwardly just to realize and sticking out one's tongue for block 3033 to simulate the authentic material of tongue Movement, in addition, be flexibly connected block 3033 be displaced outwardly while, shovel portion 3034 push sticks up tongue 307 so that sticking up tongue 307 are presented a movement being swung up, and realize the movement of lift tongue.

In second of embodiment, tongue emulates the working principle of mechanism 300 are as follows: the steering engine of steering engine 301 is driven by tongue Swing rod drives tongue linking arm 305 to move, and then tongue trigger arm 306 is driven to be rotated, the triggering end of tongue trigger arm 306 3061 contact with the struck side 3042 of driving lever 304, and driving lever 304 is pushed to be rotated, and pass through the second vertical pivot 3032 and elongated slot The cooperation in hole 3041 is flexibly connected block 3033 towards outside movement, in reality so that rhombus expansion brackets 303 are in the state of elongation Border use when, tongue support sleeve 302, be flexibly connected block 3033 and stick up tongue 307 outside coat be provided with it is soft In this case silica gel material, is flexibly connected block 3033 and just pushes and stick up tongue 307 and be displaced outwardly to simulate the authentic material of tongue, The movement to stick out one's tongue is realized, before contact portion 3071 is contacted with shovel portion 3021, tongue 307 is stuck up and is in and supported along tongue Set 302 moves in a straight line, that is, the movement to stick out one's tongue, after sticking up tongue 307 and continuing to move to, meanwhile, contact portion 3071 with Shovel portion 3021 cooperates, and shovel portion 3021 is domatic, under the cooperation of the two, must stick up tongue 307 and a movement being swung up is presented, Realize the movement of lift tongue, the flexible tongue of the realization that such mode can link up and the movement for sticking up tongue, it is highly reliable.

In the above two embodiments, returning device can enable rhombus expansion brackets 303 to return to the state of contraction, return Position device can be torsion spring 308, make it under the action of no tongue trigger arm 306, carry out automatic return.

As shown in figs. 15 to 20, robot face structure further includes eyeball emulation mechanism 400, and it includes eye that eyeball, which emulates mechanism, Bulb 401, the first eyeball or so articulating arm 402, the second eyeball or so articulating arm 403, third eyeball or so activity Linking arm 404, eyeball or so activity-driven steering engine 405 and mounting plate 406；

Mounting plate 406 is arranged in middle connecting rod 105 and lateral connector bar 106, and eyeball or so activity-driven steering engine 405 is fixed It is arranged on mounting plate 406, there are two eyeball portion 401 is symmetrical arranged, eyeball portion 401 passes through vertical axes 407 and 406 turns of mounting plate Dynamic connection, vertical axes 407 pass through the centre of sphere in eyeball portion 401, and eyeball portion 401 and the first eyeball or so articulating arm 402 is fixed Connection, in the present embodiment, eyeball portion 401 are hemisphere comprising the hemisphere face positioned at outside and the flush end positioned inside Face, first eyeball or so articulating arm 402 is vertical with the planar end surface in eyeball portion 401 to be fixedly connected, and the first eyeball of two sides is left Right articulating arm 402 is hinged with the both ends of the second eyeball or so articulating arm 403 respectively, and third eyeball or so is flexibly connected The steering engine swing rod of one end of arm 404 and eyeball or so activity-driven steering engine 405 is hinged, third eyeball or so articulating arm 404 The other end and the second eyeball or so articulating arm 403 middle part it is hinged.

Eyeball emulates mechanism 400 and realizes the movable principle in eyeball portion 401 or so are as follows: eyeball or so activity-driven steering engine 405 Steering engine swing rod driving third eyeball or so articulating arm 404 move left and right, third eyeball or so articulating arm 404 drives Second eyeball or so articulating arm 403 moves left and right, and second eyeball or so articulating arm 403 is living by first eyeball or so The rotation that the eyeball portion 401 of the synchronous driving two sides of dynamic linking arm 402 is controlled around respective vertical axes 407, that is, realize The left and right activity of eyeball.

Eyeball emulation mechanism 400 further include for realizing the up and down driving mechanism of the up and down eyeball in eyeball portion 401, The up and down driving mechanism of eyeball includes the up and down driving steering engine 408 of eyeball, the up and down linking arm 409 of the first eyeball, The up and down linking arm 410 of two eyeballs, the up and down steering engine 408 of eyeball are fixed on top plate 103, and the first eyeball is living up and down The top of dynamic linking arm 409 and the steering engine swing rod of the up and down driving steering engine 408 of eyeball are hinged, the up and down connection of the first eyeball The bottom end of arm 409 and the top of the up and down linking arm 410 of the second eyeball are hinged, the up and down linking arm 410 of the second eyeball Bottom end is fixedly connected with the side in the separate eyeball portion 401 of mounting plate 406；It is same respectively in middle connecting rod 105 and lateral connector bar 106 Axis is provided with first level shaft 1051 and the second horizontal rotating shaft 1061, and mounting plate 406 is distinguished in the side close to eyeball portion 401 Cooperation first level shaft 1051 and the second horizontal rotating shaft 1061 are provided with the first rotation socket part 411 and the second rotation socket part 412, first level shaft 1051, the second horizontal rotating shaft 1061 pass through the centre of sphere in eyeball portion 401.

Eyeball emulates mechanism 400 and realizes the up and down principle in eyeball portion 401 are as follows: the up and down driving steering engine 408 of eyeball Steering engine swing rod pass through the up and down linking arm 409 of the first eyeball and up and down 410 drive installation plate of linking arm of the second eyeball 406 carry out upper and lower rotation around a horizontal rotating shaft 1051 and the second horizontal rotating shaft 1061, due to first level shaft 1051, the Two horizontal rotating shafts 1061 are the centre ofs sphere across eyeball portion 401, so during mounting plate 406 rotates upwardly and downwardly, eyeball portion 401 can be realized upper and lower activity, and the sphere center position in position eyeball portion 401 will not become, and be maintained at stable state, due to It is mounted on mounting plate 406 for realizing the movable associated components in eyeball portion 401 or so, so the left and right in eyeball portion 401 It is movable with it is up and down be it is non-interference, can be realized simultaneously.

As depicted in figs. 20-23, robot face structure further includes eyelid emulation mechanism, and it includes upper eyelid that eyelid, which emulates mechanism, It emulates mechanism 600 and lower eyelid emulates mechanism 700；

It includes upper eyelid portion 601, the first upper eyelid linking arm 602, the second upper eyelid linking arm that upper eyelid, which emulates mechanism 600, 603, third upper eyelid linking arm 604 and upper eyelid drive steering engine 605, and the upper of eyeball portion 401 is arranged in the cladding of upper eyelid portion 601 The upper eyelid portion 601 in portion, two sides is fixedly connected by upper eyelid synchronizing bar 6011, and the two sides in upper eyelid portion 601 are provided with eye The upper eyelid suit portion 6012 in leather sheath dress portion 6012, two sides is rotatably socketed in first level shaft 1051 and the second water respectively On flat turn axis 1061；

Upper eyelid driving steering engine 605 is fixed on top plate 103, and the middle part of the second upper eyelid linking arm 603 is hinged on On top plate 103, one end of the first upper eyelid linking arm 602 and the steering engine swing rod of upper eyelid driving steering engine 605 are hinged, eye on first The other end of skin linking arm 602 and one end of the second upper eyelid linking arm 603 are hinged, the second upper eyelid linking arm 603 it is another End is hinged with the top of third upper eyelid linking arm 604, fixed on upper eyelid synchronizing bar 6011 or upper eyelid suit portion 6012 It is provided with upper eyelid driving lever 6013, the bottom end of third upper eyelid linking arm 604 and upper eyelid driving lever 6013 are hinged, in the present embodiment In, the second eyelid linking arm 603 be L shape, the first upper eyelid linking arm 602 in the state entirely to work always with top plate 103 Parallel (being parallel to the horizontal plane), and third upper eyelid linking arm 604 is arranged in up and down direction, so set, improving space Utilization rate.

The working principle of upper eyelid emulation mechanism 600 are as follows: the steering engine swing rod of steering engine 605 is driven by upper eyelid, successively The first upper eyelid linking arm 602, the second upper eyelid linking arm 603, the first upper eyelid linking arm 604 are driven, finally by upper eye Skin driving lever 6013 drives the upper eyelid portion 601 of two sides to be turned in first level shaft 1051 and the second horizontal rotating shaft 1061 It is dynamic, complete the up and down process in upper eyelid portion 601.

It includes that lower eyelid portion 701, lower eyelid linking arm 702 and lower eyelid drive steering engine 703 that lower eyelid, which emulates mechanism 700, Lower eyelid portion 701 coats the lower part that eyeball portion 401 is arranged in, and the lower eyelid portion 701 of two sides is solid by lower eyelid synchronizing bar 7011 Fixed connection, the two sides in lower eyelid portion 701 are provided with lower eyelid suit portion 7012, and the lower eyelid suit portion 7012 of two sides can turn respectively Dynamic is socketed in first level shaft 1051 and the second horizontal rotating shaft 1061；

Lower eyelid driving steering engine 703 is fixed on middle plate 104, lower eyelid synchronizing bar 7011 or lower eyelid suit portion Lower eyelid driving lever 7013 is fixedly installed on 7012, one end of lower eyelid linking arm 702 and lower eyelid driving lever 7013 are hinged, lower eye The other end of skin linking arm 702 and the steering engine swing rod of lower eyelid driving steering engine 703 are hinged.

The working principle of lower eyelid emulation mechanism 700 are as follows: drive steering engine 703 to drive lower eyelid linking arm by lower eyelid 702 activity, and then by driving lower eyelid driving lever 7013 drive two sides lower eyelid portion 701 around first level shaft 1051 with It is rotated on second horizontal rotating shaft 1061, completes the up and down process in upper eyelid portion 701.

Mechanism 600 is emulated by upper eyelid and lower eyelid emulates the coordinative role of mechanism 700, can complete to open eyes and close The movement of eye.

As shown in figures 24-25, robot face structure further includes eyebrow emulation mechanism 800, and eyebrow emulation mechanism 800 includes Supercilium 801, the first eyebrow linking arm 802, the second eyebrow linking arm 803, third eyebrow linking arm 804 and eyebrow drive steering engine 805；The supercilium driving lever 8011 extended inwardly, the end of supercilium driving lever 8011 and middle connecting rod are provided in supercilium 801 105 is hinged；Eyebrow driving steering engine 805 is fixed on top plate 103, and the middle part of the second eyebrow linking arm 803 is hinged on top plate On 103, one end of the first eyebrow linking arm 802 and the steering engine swing rod of eyebrow driving steering engine 805 are hinged, the first eyebrow linking arm One end of 802 other end and the second eyebrow linking arm 803 is hinged, the other end and third eyebrow of the second eyebrow linking arm 803 The top of linking arm 804 is hinged, and the bottom end of third eyebrow linking arm 804 and the middle part of supercilium driving lever 8011 are hinged, in this implementation In example, the first eyebrow linking arm 802 in the process of work always (being parallel to the horizontal plane) parallel with top plate 103, the second eyebrow Linking arm 803 is L shape, and third eyebrow linking arm 804 is arranged along the vertical direction, so set, improving the utilization rate in space.

The working principle of eyebrow emulation mechanism 800 are as follows: the steering engine swing rod of steering engine 805, driving successively are driven by eyebrow First eyebrow linking arm 802, the second eyebrow linking arm 803, third eyebrow linking arm 804, last third eyebrow linking arm 804 drive Dynamic supercilium driving lever 8011 drives supercilium 801 to carry out upper and lower movement, is provided with several mounting holes in supercilium 801, sets in mounting hole It is equipped with connector 8012, in the actual use process, supercilium 801 is connected by connector 8012 and is covered on supercilium 801 Facial silica gel, and then drive facial silica gel mobile, for simulating the movement such as frown, the connector of different location can be passed through 8012 applications connected to realize facial silica gel part pretightning force, so that there is certain draping effect in part, it is more lively Simulate the state at eyebrow.

As shown in figures 26-28, robot face structure also head movement mechanism 900, head movement mechanism are used to realize lift Head is bowed and rotary head movement, and in the present embodiment, head movement mechanism 900 includes shoulder support frame 901, comes back and bow drive Dynamic steering engine 902, come back rotating block 903, rotary head driving steering engine 904 and the rotary head linking arm 905 of bowing, wherein the rotation of bowing that comes back Block 903 is rotatably arranged on shoulder support frame 901 by horizontal rotating shaft, and new line, which is bowed, drives steering engine 902 to be fixed at shoulder On support frame 901, new line, which bows to be provided with new line on rotating block 903 and bow, drives gear 9031, and new line, which is bowed, drives gear 9031 bow with new line drives the steering engine output gear on steering engine 902 to engage, and drives the driving of steering engine 902 to come back by coming back to bow Rotating block 903 of bowing is rotated；Installation frame plate 107 is fixedly installed on plate 104 among the above, rotary head driving steering engine 904 passes through Installation frame plate 107 is fixed, and the bottom end of rotary head linking arm 905 and above-mentioned new line rotating block 903 of bowing are fixedly connected, rotary head company The top for connecing arm 905 sequentially passes through rear support frame 102, middle plate 104, and the top of rotary head linking arm 905 is provided with rotary head sliding tooth Wheel 9051, rotary head linking arm 905 and rear support frame 102, middle plate 104 are the connection type that can be relatively rotated, rotary head driving The steering engine gear of steering engine 904 is engaged with rotational driving gear 9051, drives steering engine 904 to realize rotary head linking arm by rotary head 905 rotation relative to rear support frame 102, middle plate 104.

The new line of head movement mechanism 900, principle of bowing are as follows: drive the steering engine gear of steering engine 902 to drive by coming back to bow The dynamic rotation of rotating block 903 of bowing that comes back, carries out the rotation for driving rotary head linking arm 905, at this time rotary head linking arm 905 and rear support The not opposite movement of frame 102, middle plate 104 so rear support frame 102, middle plate 104 are also rotated, and then drives entirely Complete the movement for coming back, bowing in head.

The rotary head principle of head movement mechanism 900 are as follows: drive the steering engine gear of steering engine 904 to drive rotary head connection by rotary head Arm 905 is relative to rear support frame 102, middle plate 104, since the bottom end of rotary head linking arm 905 and new line rotating block 903 of bowing are fixed Connection, it is possible to realize the horizontally rotating relative to shoulder support frame 901 of support frame 100, that is, the rotary head for realizing head is dynamic Make.

A kind of robot, including above-mentioned robot face structure, which is also provided with body part with group The bionical robot people completed at one, raise one's arm movement, movement etc. of bending over may be implemented in body part, dynamic about raising one's arm Make, the specific structure for movement of bending over, by record, belongs to the prior art, details are not described herein in associated documents.

The embodiments of the present invention are given for the purpose of illustration and description, and are not exhaustively or to incite somebody to action The utility model is limited to disclosed form.Many modifications and variations are aobvious and easy for the ordinary skill in the art See.Embodiment was chosen and described in order to better illustrate the principle and practical application of the utility model, and makes this field Those of ordinary skill it will be appreciated that the utility model to designing various embodiments suitable for specific applications with various modifications.

Claims (10)

1. a kind of robot face structure, it is characterised in that: emulate mechanism including support frame and mouth, support frame as described above includes bottom Plate and rear support frame, bottom plate are fixedly connected with rear support frame；

The mouth emulation mechanism includes maxilla portion, lower jaw portion, mouth driving steering engine and mouth linking arm, and the maxilla portion is fixed It is arranged on the bottom plate, oscillating deck is fixedly installed on the inside of the lower jaw portion, horizontal slotting axis is provided at the top of oscillating deck, Skewed slot is provided on the bottom plate, the horizontal slotting axis is movably arranged in the skewed slot, and the mouth driving steering engine fixation is set It sets on rear support frame, one end of the mouth linking arm and the middle part of oscillating deck are hinged, the other end of mouth linking arm and institute The steering engine swing rod for stating mouth driving steering engine is hinged；

Return unit is provided between the horizontal slotting axis and bottom plate or rear support frame；

Supporter is additionally provided on the bottom plate, supporter is arranged far from the side of the lower jaw portion relative to oscillating deck, When the lower jaw portion is located at upper dead center position, the slotting axle position of level is set in the top in skewed slot, and between oscillating deck and supporter It is equipped with gap.

2. a kind of robot face structure according to claim 1, it is characterised in that: the robot face structure is also wrapped Include tongue emulation mechanism, tongue emulation mechanism include tongue telescoping mechanism, tongue driving steering engine, tongue connection arm assembly with And returning device；

The tongue connection arm assembly includes tongue linking arm and tongue trigger arm, the middle part of the tongue trigger arm and it is described after Support frame is hinged, and the steering engine swing rod of one end of the tongue linking arm and tongue driving steering engine is hinged, tongue linking arm it is another Hold, the close tongue telescopic machine of tongue trigger arm hinged with one end far from the tongue telescoping mechanism of tongue trigger arm One end of structure is triggering end；

The tongue telescoping mechanism is arranged in the lower jaw portion or oscillating deck, and the tongue driving steering engine is fixed at institute It states on rear support frame, tongue driving steering engine is connect by steering engine swing rod with tongue connection arm assembly, to trigger tongue telescopic machine The expanding-contracting action of structure.

3. a kind of robot face structure according to claim 2, it is characterised in that: the tongue telescoping mechanism includes tongue Head support sleeve and the stretching structure that is arranged in tongue support sleeve, the tongue support sleeve be fixed at the lower jaw portion or On oscillating deck, the stretching structure is rhombus expansion brackets, and the middle part of rhombus expansion brackets is connected by the first vertical pivot and tongue support sleeve It connects, rhombus expansion brackets are provided with the second vertical pivot in one end far from the lower jaw portion, and the other end of rhombus expansion brackets is provided with work Dynamic link block is provided with driving lever, the one end fits institute of driving lever by what third vertical pivot can horizontally rotate on the tongue support sleeve It states the second vertical pivot and is provided with long slot hole, the other end of driving lever is the struck side of the cooperation triggering end setting；

The front end of the tongue support sleeve, which has been pivotally connected, sticks up tongue, and the front end for being flexibly connected block is provided with for driving State the shovel portion for sticking up tongue rotation.

4. a kind of robot face structure according to claim 2, it is characterised in that: the tongue telescoping mechanism includes tongue Head support sleeve and the stretching structure that is arranged in tongue support sleeve, the tongue support sleeve be fixed at the lower jaw portion or On oscillating deck, the stretching structure is rhombus expansion brackets, and the middle part of rhombus expansion brackets is connected by the first vertical pivot and tongue support sleeve It connects, rhombus expansion brackets are provided with the second vertical pivot in one end far from the lower jaw portion, and the other end of rhombus expansion brackets is provided with work Dynamic link block is provided with driving lever, the one end fits institute of driving lever by what third vertical pivot can horizontally rotate on the tongue support sleeve It states the second vertical pivot and is provided with long slot hole, the other end of driving lever is the struck side of the cooperation triggering end setting；

The front end for being flexibly connected block, which is hinged with, sticks up tongue, and described stick up is provided with contact portion on tongue, the tongue support sleeve The upper cooperation contact portion is provided with shovel portion.

5. a kind of robot face structure according to claim 1, it is characterised in that: the robot face structure is also wrapped Eyeball emulation mechanism is included, eyeball emulation mechanism includes eyeball portion, the first eyeball or so articulating arm, the second eyeball or so Articulating arm, third eyeball or so articulating arm, eyeball or so activity-driven steering engine and mounting plate；

Support frame as described above includes top plate, middle plate, middle connecting rod and lateral connector bar, and the middle plate is fixed at rear support frame Top, top plate are fixedly connected by middle connecting rod and lateral connector bar with the middle plate, and the lateral connector bar is symmetrically arranged with two It is a；

The mounting plate is arranged in middle connecting rod and lateral connector bar, and described eyeball or so activity-driven steering engine is fixed at peace In loading board, there are two the eyeball portion is symmetrical arranged, eyeball portion is rotatablely connected by vertical axes and mounting plate, and vertical axes pass through eye The centre of sphere in bulb, eyeball portion are fixedly connected with first eyeball or so articulating arm, first eyeball of two sides or so activity Linking arm is hinged with the both ends of second eyeball or so articulating arm respectively, described third eyeball or so articulating arm The steering engine swing rod of one end and the eyeball or so activity-driven steering engine is hinged, the other end of third eyeball or so articulating arm with The middle part of second eyeball or so articulating arm is hinged.

6. a kind of robot face structure according to claim 5, it is characterised in that: the eyeball emulates mechanism and further includes For realizing the up and down driving mechanism of eyeball that the eyeball portion is up and down, the up and down driving mechanism of eyeball includes The up and down driving steering engine of eyeball, the up and down linking arm of the first eyeball, the up and down linking arm of the second eyeball, on the eyeball Lower activity steering engine is fixed on the top plate, above and below the top of the up and down linking arm of the first eyeball and the eyeball The steering engine swing rod of activity-driven steering engine is hinged, and the bottom end of the up and down linking arm of the first eyeball and second eyeball are up and down The top of linking arm is hinged, the bottom end of the up and down linking arm of the second eyeball and one far from the eyeball portion of the mounting plate Side is fixedly connected；

It is coaxially arranged with first level shaft and the second horizontal rotating shaft, the installation respectively on the middle connecting rod and lateral connector bar Plate is respectively cooperating with the first level shaft in the side close to the eyeball portion and the second horizontal rotating shaft is provided with the first rotation Socket part passes through the centre of sphere in the eyeball portion with the second rotation socket part, the first level shaft, the second horizontal rotating shaft.

7. a kind of robot face structure according to claim 6, it is characterised in that: the robot face structure is also wrapped Eyelid emulation mechanism is included, eyelid emulation mechanism includes that upper eyelid emulation mechanism and lower eyelid emulate mechanism；

Upper eyelid emulation mechanism includes upper eyelid portion, the first upper eyelid linking arm, the second upper eyelid linking arm, eye in third Skin linking arm and upper eyelid drive steering engine, and the top in the eyeball portion, the upper eyelid of two sides is arranged in the upper eyelid portion cladding Portion is fixedly connected by upper eyelid synchronizing bar, and the two sides in the upper eyelid portion are provided with upper eyelid suit portion, the upper eyelid of two sides Suit portion is rotatably socketed in respectively on the first level shaft and the second horizontal rotating shaft；

The upper eyelid driving steering engine is fixed on the top plate, is hinged on institute in the middle part of the second upper eyelid linking arm It states on top plate, one end of the first upper eyelid linking arm and the steering engine swing rod of upper eyelid driving steering engine are hinged, the first upper eyelid The other end of linking arm and one end of the second upper eyelid linking arm are hinged, the other end and third of the second upper eyelid linking arm The top of upper eyelid linking arm is hinged, and upper eyelid is fixedly installed on the upper eyelid synchronizing bar or upper eyelid suit portion and is dialled Bar, the bottom end of the third upper eyelid linking arm and upper eyelid driving lever are hinged；

The lower eyelid emulation mechanism includes lower eyelid portion, lower eyelid linking arm and lower eyelid driving steering engine, the lower eyelid portion The lower part in the eyeball portion is arranged in cladding, and the lower eyelid portion of two sides is fixedly connected by lower eyelid synchronizing bar, the lower eyelid The two sides in portion are provided with lower eyelid suit portion, and the lower eyelid suit portion of two sides is rotatably socketed in the first level respectively and turns On axis and the second horizontal rotating shaft；

The lower eyelid driving steering engine is fixed on the middle plate, on the lower eyelid synchronizing bar or lower eyelid suit portion It is fixedly installed lower eyelid driving lever, one end of the lower eyelid linking arm and the lower eyelid driving lever are hinged, lower eyelid linking arm The other end and the lower eyelid driving steering engine steering engine swing rod it is hinged.

8. a kind of robot face structure according to claim 6, it is characterised in that: the robot face structure is also wrapped Eyebrow emulation mechanism is included, eyebrow emulation mechanism includes supercilium, the first eyebrow linking arm, the second eyebrow linking arm, third eye Eyebrow linking arm and eyebrow drive steering engine；

The supercilium driving lever extended inwardly is provided in the supercilium, the end of supercilium driving lever and the middle connecting rod are cut with scissors It connects；

The eyebrow driving steering engine is fixed on the top plate, is hinged on the top in the middle part of the second eyebrow linking arm On plate, the steering engine swing rod of one end of the first eyebrow linking arm and eyebrow driving steering engine is hinged, the first eyebrow linking arm it is another One end and one end of the second eyebrow linking arm are hinged, the other end of the second eyebrow linking arm and the top of third eyebrow linking arm End is hinged, and the bottom end of the third eyebrow linking arm and the middle part of the supercilium driving lever are hinged.

9. a kind of robot face structure according to claim 1, it is characterised in that: the robot face structure is also wrapped Include head movement mechanism, head movement mechanism is used to realize news line, bow and rotary head acts, and head movement mechanism includes shoulder Support frame, new line bow and drive steering engine, come back rotating block, rotary head driving steering engine and the rotary head linking arm of bowing, wherein it is low to come back Head rotating block is rotatably arranged on shoulder support frame by horizontal rotating shaft, and new line, which is bowed, drives steering engine to be fixed at shoulder support On frame, new line, which bows to be provided with new line on rotating block and bow, drives gear, and new line, which is bowed, to be driven gear and new line to bow to drive rudder Steering engine output gear engagement on machine drives servo driving new line rotating block of bowing to be rotated by coming back to bow；In described Installation frame plate is fixedly installed on plate, rotary head drives steering engine to be fixed by installing frame plate, the bottom end of rotary head linking arm and institute It states new line rotating block of bowing to be fixedly connected, the top of rotary head linking arm sequentially passes through rear support frame, middle plate, the top of rotary head linking arm End is provided with rotary head driving gear, and rotary head linking arm and rear support frame, middle plate are the connection type that can be relatively rotated, rotary head Driving steering engine steering engine gear be engaged with rotational driving gear, by rotary head drive steering engine realization rotary head linking arm relative to The rotation of rear support frame, middle plate.

10. a kind of robot, it is characterised in that: including robot face structure described in any one of claim 1-9.