CN210025312U

CN210025312U - Humanoid facial expression robot

Info

Publication number: CN210025312U
Application number: CN201920625582.0U
Authority: CN
Inventors: 朱海飞; 许崇铭; 邱榆; 向彬彬; 康小盼; 管贻生
Original assignee: Guangdong University of Technology
Current assignee: Guangdong University of Technology
Priority date: 2019-04-30
Filing date: 2019-04-30
Publication date: 2020-02-07
Anticipated expiration: 2029-04-30

Abstract

The utility model relates to an imitative people's facial expression robot. The mouth mechanism comprises an upper lip mechanism, a mouth angle mechanism, a lower lip mechanism, a chin mechanism and lips, and the upper lip mechanism, the mouth angle mechanism, the lower lip mechanism and the lower jaw mechanism are arranged on the upper jaw supporting plate; respectively connected with the upper lip driving point, the mouth angle driving point and the lower lip driving point of the lips; the mouth mechanism is fixed at the top of the neck mechanism through the upper jaw supporting plate, and the eye mechanism is arranged on the upper jaw supporting plate and used for realizing the rotation of eyeballs; the eyelid mechanism is arranged on the eye mechanism and used for realizing eye blinking and eye closing actions; the eyebrow mechanism is arranged on the eye mechanism and used for realizing the actions of wrinkling eyebrows and picking eyebrows. The utility model discloses can realize multiple imitative people's facial expression.

Description

Humanoid facial expression robot

Technical Field

The utility model relates to a bionic robot field, more specifically relates to an imitative people's facial expression robot.

Background

Currently, the research of the 'robot face' has the following outstanding problems:

1) the research on the theory and the method for realizing the facial expression of the robot is deficient, and most humanoid robots do not have 'faces' with rich expressions;

2) very few robots have a face, but facial expressions or stiffness or thriller, and the problems of unrealistic static expressions, unnatural dynamic changes and the like generally exist.

Some robots with facial expressions are available in the market at present, such as a design of head mechanism of robots with facial expressions imitating human expressions disclosed in shanghai university bulletin (nature science edition), 2016,22(04) 432-. A22-degree-of-freedom robot is manufactured by utilizing a plurality of steering engines, but the structure is complex, and the expression action is stiff and not vivid enough.

SUMMERY OF THE UTILITY MODEL

The utility model discloses an overcome above-mentioned prior art at least one kind defect, provide an imitative people facial expression robot, can realize multiple imitative people's expression.

In order to solve the technical problem, the utility model discloses a technical scheme is: a robot with human-simulated facial expressions comprises a supporting bottom plate, a neck mechanism, a mouth mechanism, an eye mechanism, an eyelid mechanism and an eyebrow mechanism, wherein the bottom of the neck mechanism is fixed on the supporting bottom plate, and the neck mechanism can horizontally rotate, swing left and right and pitch back and forth relative to the supporting bottom plate; the neck mechanism is characterized in that a base is fixed, a fixed plate is connected with the base through a supporting cylinder, a rotary steering engine is arranged in the supporting cylinder, three swing steering engines and a fixed platform are arranged on the fixed plate, the fixed platform is connected with the swing steering engines through a lower connecting rod, the movable platform is connected with an upper connecting rod, the upper connecting rod is connected with the lower connecting rod through a ball pair mechanism, the movable platform is connected with a connecting piece, the connecting piece is connected with a head mechanism, universal shafts are arranged between the connecting piece and the rotary steering engines, the rotation of the head can be achieved through the transmission of torque through the universal shafts, and the nodding and the side swinging of the head can be. The mouth mechanism comprises an upper jaw supporting plate, an upper lip mechanism, a mouth angle mechanism, a lower lip mechanism, a chin mechanism and lips, the upper lip mechanism and the mouth angle mechanism are arranged at the top of the upper jaw supporting plate, and the lower lip mechanism and the chin mechanism are arranged at the bottom of the upper jaw supporting plate; the upper lip mechanism is connected with an upper lip driving point of the lips and is used for driving the upper lip of the lips to move; the two groups of mouth angle mechanisms are respectively connected with the left mouth angle driving point and the right mouth angle driving point of the lips and are used for driving the movement of the mouth angles of the lips; the chin mechanism can rotate relative to the upper jaw supporting plate; the lower lip mechanism is connected with a lower lip driving point of the lips and is used for driving the lower lip of the lips to move; the mouth mechanism is fixed at the top of the neck mechanism through the upper jaw supporting plate, the eye mechanism is arranged on the upper jaw supporting plate, and the rotation of eyeballs can be realized through the eye mechanism; the eyelid mechanism is arranged on the eye mechanism and used for realizing the opening and closing actions of the eyelid; the eyebrow mechanism is arranged on the eye mechanism and used for realizing the actions of wrinkling eyebrows and picking eyebrows.

In the utility model, the supporting bottom plate is used for fixing and supporting the head of the robot, and the progressive mechanism can horizontally rotate, swing left and right and pitch back and forth relative to the supporting bottom plate, so as to realize the actions of shaking and nodding the head of the robot; the mouth mechanism mainly comprises an upper lip mechanism, a mouth corner mechanism, a lower lip mechanism and a chin mechanism, and the opening and closing movement of the lips can be realized through the matching of the mechanisms, so that the mouth type movement of the robot during speaking is realized; the rotation of eyeballs is realized through an eye mechanism, and the rotation of human eyes is simulated; the opening and closing movement of the eyelids is realized through the eyelid mechanism, and the actions of blinking, eye closing and the like are simulated; the eyebrow wrinkling and raising actions of the eyebrows are realized through the eyebrow mechanism; the eye mechanism, the eyelid mechanism and the eyebrow mechanism are matched, so that various expression actions of the eyes of the robot can be realized. Through the matching movement of the mechanisms, various human-simulated expressions can be presented.

Further, the upper lip mechanism comprises an upper lip steering engine, an upper lip winch, an upper lip flexible cable, an upper lip pulley block, an upper lip steering wheel, an upper lip chute and an upper lip connecting rod; the upper lip steering engine, the upper lip pulley block and the upper lip sliding groove are all fixed at the top of the upper jaw supporting plate, the upper lip sliding groove is vertically arranged, the upper lip steering wheel is fixed on the upper lip sliding groove and can rotate relative to the upper lip sliding groove, one end of the upper lip connecting rod is connected with the upper lip sliding groove in a sliding mode, and the other end of the upper lip connecting rod is connected with an upper lip driving point of a lip; the upper lip winch is connected with the upper lip steering engine and is used for outputting the upper lip steering engine; one end of the upper lip flexible cable is wound on the upper lip winch, the other end of the upper lip flexible cable is connected with the upper lip connecting rod on the upper lip sliding groove after sequentially bypassing the upper lip pulley block and the upper lip steering wheel, and the upper lip winch pulls the upper lip flexible cable to enable the upper lip connecting rod to slide back and forth on the upper lip sliding groove under the driving of the upper lip steering engine. The upper lip winch is driven to rotate by controlling the forward and reverse rotation of the upper lip steering engine, and the upper lip winch rotates to enable the upper lip flexible cable to pull the upper lip connecting rod to slide on the upper lip sliding groove up and down, so that the opening or closing action of the upper lip is driven.

Furthermore, two sets of mouth angle mechanisms are symmetrically arranged, and each set of mouth angle mechanism comprises a mouth angle steering engine, a mouth angle winch, a mouth angle flexible cable, a mouth angle pulley block, a mouth angle steering wheel, a mouth angle sliding chute, a mouth angle connecting rod and a mouth angle sliding chute fixing plate; a left mouth angle driving point and a right mouth angle driving point are arranged on the lips; one end of a nozzle angle connecting rod of one group of nozzle angle mechanisms is connected with the left nozzle angle driving point, and one end of the other group of nozzle angle connecting rod is connected with the right nozzle angle driving point; the mouth angle steering engine, the mouth angle pulley block and the mouth angle sliding chute fixing plate are arranged on the upper jaw supporting plate; the two groups of mouth corner sliding chutes are symmetrically arranged on two sides of the lips and are close to the mouth corner of the lips; the mouth angle winch is connected with the mouth angle steering engine and outputs the mouth angle steering engine, the mouth angle sliding groove is fixed on the mouth angle sliding groove fixing plate, and the mouth angle steering wheel is fixed on the mouth angle sliding groove and can rotate relative to the mouth angle sliding groove; the other end of the nozzle angle connecting rod is connected with the nozzle angle sliding chute in a sliding way; one end of the mouth angle flexible cable is wound on the mouth angle winch, the other end of the mouth angle flexible cable sequentially bypasses the mouth angle pulley block and the mouth angle steering wheel and then is connected with the mouth angle connecting rod, and the mouth angle winch pulls the mouth angle flexible cable to enable the mouth angle connecting rod to slide back and forth on the mouth angle sliding groove under the driving of the mouth angle steering engine.

Preferably, the mouth angle sliding groove is provided with a certain inclination, one end of the mouth angle sliding groove is close to the mouth angle, and the other end of the mouth angle sliding groove inclines towards the rear and the upper part of the brain, so that when the mouth angle connecting rod slides on the mouth angle sliding groove, the mouth angle connecting rod pulls the mouth angle to realize that the mouth angle inclines upwards.

The mouth angle mechanisms are arranged in two groups, the two groups of mouth angle mechanisms are symmetrically arranged, and one group of mouth angle mechanisms is used for being connected with a left mouth angle driving point of the lips and driving the left mouth angle to move; the other group is used for being connected with the right mouth corner driving point of the lips and driving the motion of the right mouth corner; the driving principle of the mouth angle mechanism is similar to that of the upper lip mechanism, and the mouth angle mechanism is driven by a flexible cable; the nozzle angle pulley block plays a role in guiding the nozzle angle flexible cable; the mouth angle steering engine is controlled to rotate forwards and backwards, the mouth angle winch rotates forwards and backwards, the mouth angle flexible cable is pulled, and when the mouth angle flexible cable is pulled by the mouth angle winch, the mouth angle flexible cable pulls the mouth angle connecting rod to slide back and forth on the mouth angle sliding groove, so that various actions of simulating the mouth angle of a person are realized.

Further, the chin mechanism comprises a chin, a chin fixing plate, a chin steering engine rotating frame and a chin steering engine fixing frame; the jaw steering engine rotating frame is fixed at the bottom of the upper jaw supporting plate, one end of the jaw steering engine is fixed on the jaw fixing plate through the jaw steering engine fixing frame, and the other end of the jaw steering engine is rotatably connected with the jaw steering engine rotating frame; the bottom of the chin is fixed on the chin fixing plate. The chin steering engine rotating frame is fixed at the bottom of the upper jaw supporting plate and is one side far away from the lips, namely one side close to the back head of the robot, the output end of the chin steering engine is rotatably connected with the chin steering engine rotating frame, the other end of the chin steering engine is fixed on a chin fixing plate through a chin steering engine fixing frame, the chin is arranged on the chin fixing plate, and the chin is connected with the lips and is similar to the lips and the chin of a person in structure; when the chin steering engine rotates, the chin steering engine drives the chin fixing plate to rotate relative to the chin steering engine rotating frame together, so that the opening and closing movement of the lower jaw of a human body is simulated.

Further, the lower lip mechanism comprises a lower lip steering engine, a lower lip winch, a lower lip flexible cable, a lower lip pulley block, a lower lip steering wheel, a lower lip chute and a lower lip connecting rod; the lower lip steering engine and the lower lip pulley block are fixed on a chin fixing plate, the lower lip sliding groove is vertically fixed on a chin, the lower lip steering wheel is fixed on the lower lip sliding groove and can rotate relative to the lower lip sliding groove, one end of the lower lip connecting rod is connected with the lower lip sliding groove in a sliding mode, and the other end of the lower lip connecting rod is connected with a lower lip driving point on a lip; the lower lip winch is connected with the lower lip steering engine and is used for outputting the lower lip steering engine; one end of the lower lip flexible cable is wound on the lower lip winch, the other end of the lower lip flexible cable is connected with the lower lip connecting rod after sequentially bypassing the lower lip pulley block and the lower lip steering wheel, and the lower lip winch pulls the lower lip flexible cable to enable the lower lip connecting rod to slide back and forth on the lower lip sliding groove under the driving of the lower lip steering engine. The lower lip mechanism is similar to the upper lip mechanism in structure and is used for driving the lower lip part of the lips to move; the lower lip winch is driven to rotate by controlling the forward and reverse rotation of the lower lip steering engine, and the lower lip winch rotates to enable the lower lip flexible cable to pull the lower lip connecting rod to slide up and down on the lower lip sliding groove, so that the opening or closing action of the lower lip is driven.

Furthermore, the eye mechanisms are symmetrically provided with two groups, each group of eye mechanisms comprises an eyeball, an eyeball X-axis motion steering engine, an eyeball Y-axis motion steering engine, an X-axis eyeball winch, a Y-axis eyeball winch, a roller mounting frame, a first X-axis guide roller, a second X-axis guide roller, an X-axis guide roller group, a first Y-axis guide roller, a second Y-axis guide roller, a Y-axis guide roller group, a first X-axis motion flexible cable, a second X-axis motion flexible cable, a first Y-axis motion flexible cable and a second Y-axis motion flexible cable; the upper jaw supporting plate is provided with an eyeball part mounting frame and a steering engine mounting frame, the eyeball part mounting frame is provided with two symmetrical eyeball mounting brackets, the eyeballs are mounted on the eyeball mounting brackets through ball pairs, and the eyeballs can rotate relative to the center points of the eyeballs to swing up and down and left and right; the roller mounting frame is fixed on the eyeball part mounting frame and is positioned on the back of the eyeball; the eyeball X-axis motion steering engine and the eyeball Y-axis motion steering engine are fixed on a steering engine mounting frame, the X-axis eyeball winch is connected with the eyeball X-axis motion steering engine, and the Y-axis eyeball winch is connected with the eyeball Y-axis motion steering engine; the first X-axis guide roller and the second X-axis guide roller are vertically and symmetrically arranged on the roller mounting frame, and the X-axis guide rollers are assembled on the eyeball part mounting frame and/or the steering engine mounting frame; one end of the first X-axis movement flexible cable is fixed on a mounting hole on the back of the eyeball, and the other end of the first X-axis movement flexible cable is connected with the X-axis eyeball winch after bypassing the first X-axis guide roller; one end of the second X-axis motion flexible cable is fixed on the mounting hole at the back of the eyeball, and the other end of the second X-axis motion flexible cable sequentially rounds the second X-axis guide roller and the X-axis guide roller group and then is connected with the X-axis eyeball capstan; the first Y-axis guide roller and the second Y-axis guide roller are transversely and symmetrically arranged on the roller mounting frame, and the Y-axis guide rollers are assembled on the eyeball part mounting frame and/or the steering engine mounting frame; one end of the first Y-axis movement flexible cable is fixed on a mounting hole on the back of the eyeball, and the other end of the first Y-axis movement flexible cable is connected with the Y-axis eyeball winch after bypassing the first Y-axis guide roller; one end of the second Y-axis guide roller is fixed on the mounting hole on the back of the eyeball, and the other end of the second Y-axis guide roller sequentially rounds the second Y-axis guide roller and the Y-axis guide roller group and then is connected with the Y-axis eyeball capstan.

The first X-axis guide roller, the second X-axis guide roller and the X-axis guide roller group play a role in guiding the first X-axis movement flexible cable and the second X-axis movement flexible cable, and the first Y-axis guide roller, the second Y-axis guide roller and the Y-axis guide roller group play a role in guiding the first Y-axis movement flexible cable and the second Y-axis movement flexible cable. When the eyeball Y-axis motion steering engine rotates to drive the Y-axis eyeball winch to rotate, the Y-axis eyeball winch pulls the first Y-axis motion flexible cable and the second Y-axis motion flexible cable to move, so that the eyeball rotates around the eyeball central point, and the eyeball motion imitating the action of looking upwards, looking downwards and the like is realized; when the eyeball X-axis motion steering engine rotates, the X-axis eyeball winch is driven to rotate, and the X-axis eyeball winch draws the first X-axis motion flexible cable and the second X-axis motion flexible cable to move, so that the eyeball slides left and right, and the human eyeball imitation actions such as the eyeball looks left and right are realized.

Furthermore, the eyelid mechanisms are symmetrically provided with two groups, and each group of eyelid mechanisms comprises an eyelid, an eyelid driving steering engine, a steering engine arm and a bulb buckle; the eyelid is rotatably arranged on the eyeball mounting bracket and is positioned above the eyeball; the eyelid driving steering engine is fixed on the upper jaw supporting plate through a fixing piece, one end of the steering engine arm is connected with the output end of the eyelid driving steering engine, the other end of the steering engine arm is connected with the bulb buckle through a connecting piece, and the other end of the bulb buckle is connected with the eyelid. The eyelid mechanisms are provided with two groups, which respectively correspond to two eyeballs of the two eye mechanisms, the eyelid is arranged on the eyeball mounting support and positioned above the eyeballs, and when the eyelid rotates relative to the eyeball mounting support, the eyelid can rotate to the front of the eyeballs, so that the action of closing eyes or blinking is realized; the utility model discloses in, the one end and the eyelid drive steering wheel of rudder horn are connected, and for the output of eyelid drive steering wheel, the other end and the bulb knot of rudder horn are rotated and are connected, and the other end that the bulb was detained is connected with the eyelid, and eyelid drive steering wheel motion drives the rudder horn and rotates, realizes the positive and negative rotation of rudder horn to drive the bulb and detain and pull the eyelid and rotate for eyeball installing support, thereby realize closing the eye or action such as blink.

Furthermore, two groups of eyebrow mechanisms are symmetrically arranged, and each group of eyebrow mechanisms comprises eyebrows, an eyebrow picking driving steering engine, an eyebrow wrinkling driving steering engine, a double-arm steering wheel, a crank, a guide rail, a sliding block, an eyebrow picking driving flexible cable, a guide rail mounting frame and an eyebrow winch; the eyebrow wrinkling driving steering engine and the guide rail mounting rack are both fixed on an eyeball part mounting part, the output end of the eyebrow wrinkling driving steering engine is connected with one side of a double-arm steering wheel, the other side of the double-arm steering wheel is connected with one end of a crank, and the other end of the crank is connected with a sliding block; the guide rail is transversely fixed on the guide rail mounting frame, and the sliding block is arranged on the guide rail in a sliding manner; the slider on be equipped with vertical slide rail, the eyebrow pass through connecting piece and slide rail sliding connection, choose on the eyebrow drive steering wheel is fixed in steering wheel mounting bracket, the eyebrow capstan winch with choose the output of eyebrow drive steering wheel and be connected, the one end of choosing the eyebrow drive flexible rope be connected with the eyebrow capstan winch, the other end passes behind the aperture on the slider and is connected with the eyebrow, the eyebrow be located the top of eyelid. The two groups of eyebrow mechanisms correspond to eyeballs of the two groups of eye mechanisms, and each group of eyebrow mechanisms are respectively arranged above the two eyelids and are similar to the face structure of a person; when the frown is driven to rotate by the steering engine, the double-arm steering wheel is driven to rotate, so that the crank is driven to rotate, the slider is driven to slide on the guide rail through the rotation of the crank, and is connected with the eyebrow, and the guide rail is transversely arranged, so that the eyebrow is driven to move left and right when the slider slides left and right on the guide rail, and the action of the frown is realized; the eyebrow capstan winch is connected with the output of choosing the eyebrow drive steering wheel, chooses the one end of eyebrow drive flexible cable to fix on the eyebrow capstan winch, and the other end is connected with the eyebrow, and the vertical slide rail that is equipped with on the slider, when choosing the rotation of eyebrow drive steering wheel, drive eyebrow capstan winch when rotating, eyebrow capstan winch tractive eye eyebrow drive flexible cable makes the eyebrow slide from top to bottom on the slide rail to realize preventing the action that people's expression chooseed the eyebrow.

Furthermore, a mask thin shell and a back skull thin shell are also arranged; the edge of the bottom of the thin shell of the mask is correspondingly connected with the chin to form a human face simulating structure; the edge of the thin shell of the posterior cerebral scoop is correspondingly connected with the edge of the thin shell of the mask to form a human brain-imitating structure. The mask shell is a human-simulated face structure, the structure of the back skull thin shell is similar to that of the back skull of a human, and the whole head shape of the robot is similar to that of the head of the human by arranging the mask shell and the back skull thin shell.

Compared with the prior art, the beneficial effects are:

1. the utility model provides an anti-human facial expression robot, which can realize various facial expressions through the mutual cooperation of a mouth mechanism, an eye mechanism, an eyelid mechanism and an eyebrow mechanism;

2. the utility model has the advantages that the structure is simple and the motion principle of each mechanism is more similar to the position motion mode of human beings by starting from the perspective of bionics and combining with the innovative design of the mechanism;

3. the utility model discloses with four big motion control areas of mouth shape action split one-tenth upper lip, lower lip, mouth angle and chin, can realize complicated speech mouth shape action.

Drawings

Fig. 1 is a schematic view of the overall structure of the present invention.

Fig. 2 is a schematic view of the internal structure of the present invention.

Fig. 3 is a schematic structural diagram of the mouthpiece mechanism of the present invention.

Fig. 4 is a schematic structural view of the upper lip mechanism of the present invention.

Fig. 5 is an explosion diagram of the upper lip mechanism structure of the present invention.

Fig. 6 is a schematic structural view of the mouth angle mechanism of the present invention.

Fig. 7 is an exploded view of the nozzle angle mechanism of the present invention.

Fig. 8 is a schematic structural view of the lower lip mechanism of the present invention.

Fig. 9 is an exploded view of the lower lip mechanism of the present invention.

Fig. 10 is a schematic view of the chin mechanism of the present invention.

Fig. 11 is a schematic view of the lip structure of the present invention.

Fig. 12 is a schematic view of the eye mechanism of the present invention.

Fig. 13 is an exploded view of the eye mechanism of the present invention.

Fig. 14 is a schematic view of the eyelid mechanism installation of the present invention.

Fig. 15 is a schematic view of the eyelid mechanism of the present invention.

Fig. 16 is a schematic view of the eyebrow mechanism of the present invention.

Fig. 17 is an explosion diagram of the frown part of the eyebrow-wrinkling mechanism of the present invention.

Fig. 18 is an explosion diagram of the structure of the eyebrow picking part of the eyebrow picking mechanism of the present invention.

FIG. 19 is a schematic view of a neck machine mechanism

In the drawings, 1-a support floor; 2-a neck mechanism; 3-a mouth-shaped mechanism; 4-ocular mechanism 5-eyelid mechanism; 6-eyebrow mechanism; 7-mask thin shell; 8-thin posterior cerebral ladle shell; 202-a support cylinder; 203-fixed platform; 204-lower link; 205-cardan shaft; 206-an upper link; 207-connecting piece; 208-moving the platform; 209-ball pair mechanism; 210-a swing steering engine; 211-a fixed plate; 212-a rotary steering engine; 31-a lip-raising mechanism; 32-a mouth corner mechanism; 33-a lower lip mechanism; 34-a chin mechanism; 301-a maxilla support plate; 302-lips; 310-upper lip steering engine; 311-upper lip capstan; 312-upper lip cord; 313-upper lip pulley block; 314-upper lip steering wheel; 315-upper lip chute; 316-upper lip link; 320-mouth angle steering engine; 321-mouth angle capstan; 322-mouth angle cord; 323-nozzle angle pulley block; 324-mouth angle steering wheel; 325-nozzle corner chute; 326-mouth corner linkage; 327-spout corner chute fixing plate; 328-plugging screws; 329-screw; 330-lower lip steering gear; 331-lower lip capstan; 332-lower lip cord; 333-lower lip pulley block; 334-lower lip steering wheel; 335-lower lip chute; 336-lower lip link; 337-lower lip pre-tightening wheel; 340-chin steering gear; 341-chin steering engine rotating rack; 342-chin steering engine fixing frame; 343-chin; 344-chin fixing plate; 302A-upper lip drive point; 302B-lower lip drive point; 302C-left mouth angle drive point; 302D-right mouth angle drive point; 401-eyeball; 402-eyeball X-axis motion steering engine; 403-eyeball Y-axis motion steering engine; 404-X axis eye capstan; 405-Y axis eye capstan; 406-a drum mount; 407-a first X-axis guide roller; 408-a second X-axis guide roller; 409-X axis guide roller group; 410-a first Y-axis guide roller; 411-second Y-axis guide roller; 412-first X-axis motion flex; 413-a second X-axis motion flex; 414-first Y-axis motion flex; 415-second Y-axis motion flex; 416-eyeball part mounting bracket; 417-steering engine mounting bracket; 418-eyeball mounting bracket; 501-eyelid; 502-eyelid drive steering gear; 503-rudder horn; 504-ball button; 505-a fixture; 601-choose eyebrow to drive the steering engine; 602-frown driving steering engine; 603-two-arm rudder disk; 604-a crank; 605-a guide rail; 606-a slider; 607-eyebrow; 608-bolt group; 609-picking eyebrows to drive flexible cables; 610-a rail mount; 611-eyebrow capstan.

Detailed Description

The drawings are for illustrative purposes only and are not to be construed as limiting the invention; for the purpose of better illustrating the embodiments, certain features of the drawings may be omitted, enlarged or reduced, and do not represent the size of an actual product; it will be understood by those skilled in the art that certain well-known structures in the drawings and descriptions thereof may be omitted. The positional relationships depicted in the drawings are for illustrative purposes only and are not to be construed as limiting the invention.

As shown in fig. 1 and 2, a robot with humanoid facial expression comprises a supporting base plate 1, a neck mechanism 2, a mouth mechanism 3, an eye mechanism 4, an eyelid mechanism 5 and an eyebrow mechanism 6, wherein the bottom of the neck mechanism 2 is fixed on the supporting base plate 1, and the neck mechanism 2 can horizontally rotate, swing left and right and pitch back and forth relative to the supporting base plate 1; the mouth mechanism 3 comprises an upper jaw supporting plate 301, an upper lip mechanism 31, a mouth angle mechanism 32, a lower lip mechanism 33, a chin mechanism 34 and lips 302, wherein the upper lip mechanism 31 and the mouth angle mechanism 32 are arranged at the top of the upper jaw supporting plate 301, and the lower lip mechanism 33 and the chin mechanism 34 are arranged at the bottom of the upper jaw supporting plate 301; the upper lip mechanism 31 is connected to an upper lip driving point 302A of the lips 302, for driving the movement of the upper lips of the lips 302; the two groups of mouth angle mechanisms 32 are respectively connected with the left mouth angle driving point 302C and the right mouth angle driving point 302D of the lips 302 and are used for driving the movement of the mouth angles of the lips 302; the lower lip mechanism 33 is connected to a lower lip driving point 302B of the lips 302, for driving the movement of the lower lip of the lips 302; the mouth mechanism 3 is fixed on the top of the neck mechanism 2 through a palate supporting plate 301, the eye mechanism 4 is arranged on the palate supporting plate 301, and the rotation of the eyeball 401 can be realized through the eye mechanism 4; the eyelid mechanism 5 is arranged on the eye mechanism 4 and is used for realizing the opening and closing action of the eyelid 501; the eyebrow mechanism is arranged on the eye mechanism 4 and is used for realizing the actions of wrinkling and picking up eyebrows of the eyebrows 607.

In the utility model, the supporting bottom plate 1 is used for fixing and supporting the head of the robot, and the progressive mechanism can horizontally rotate, swing left and right and pitch back and forth relative to the supporting bottom plate 1, so as to realize the actions of shaking and nodding the head of the robot; the mouth mechanism 3 mainly comprises an upper lip mechanism 31, a mouth corner mechanism 32, a lower lip mechanism 33 and a chin mechanism 34, and the opening and closing movement of the lips 302 can be realized through the matching of the mechanisms, so that the mouth shape movement of the robot during speaking is realized; the rotation of the eyeball 401 is realized through the eye mechanism 4, and the rotation of the eyes of a person is simulated; the opening and closing movement of the eyelid 501 is realized through the eyelid mechanism 5, and the actions of blinking, eye closing and the like are simulated; the eyebrow curling and raising actions of the eyebrows 607 are realized by the eyebrow curling mechanism 6; the eye mechanism 4, the eyelid mechanism 5 and the eyebrow mechanism 6 are matched to realize various expressions and actions of the eyes of the robot. Through the matching movement of the mechanisms, various human-simulated expressions can be presented.

As shown in fig. 11, the lips 302 include an upper lip drive point 302A, a lower lip drive point 302B, a left mouth angle drive point 302C, a right mouth angle drive point 302D; the upper lip drive point 302A is connected to the upper lip link 316, the lower lip drive point 302B is connected to the lower lip link 336, the left mouth angle drive point 302C is connected to one of the mouth angle links 326, and the right mouth angle drive point 302D is connected to the other mouth angle link 326. The lips 302 are used to simulate real lips 302 to facilitate viewing the actual motion effect of the mechanism.

As shown in fig. 2, 3, 4, 5 and 11, the upper lip mechanism 31 includes an upper lip steering engine 310, an upper lip winch 311, an upper lip cable 312, an upper lip pulley block 313, an upper lip steering wheel 314, an upper lip chute 315 and an upper lip link 316; the upper lip steering engine 310, the upper lip pulley block 313 and the upper lip sliding groove 315 are all fixed at the top of the upper jaw supporting plate 301, the upper lip sliding groove 315 is vertically arranged, the upper lip steering wheel 314 is fixed on the upper lip sliding groove 315 and can rotate relative to the upper lip sliding groove 315, one end of the upper lip connecting rod 316 is connected with the upper lip sliding groove 315 in a sliding manner, and the other end of the upper lip connecting rod is connected with an upper lip driving point 302A of the lips 302; the upper lip winch 311 is connected with the upper lip steering engine 310 and is used for outputting the upper lip steering engine 310; one end of the upper lip flexible cable 312 is wound on the upper lip winch 311, the other end of the upper lip flexible cable 312 sequentially bypasses the upper lip pulley block 313 and the upper lip steering wheel 314 and then is connected with the upper lip connecting rod 316 on the upper lip sliding groove 315, and the upper lip winch 311 pulls the upper lip flexible cable 312 to enable the upper lip connecting rod 316 to slide back and forth on the upper lip sliding groove 315 under the driving of the upper lip steering engine 310. The upper lip winch 311 is driven to rotate by controlling the forward and reverse rotation of the upper lip steering engine 310, and the upper lip winch 311 rotates to enable the upper lip flexible rope 312 to pull the upper lip connecting rod 316 to slide up and down on the upper lip sliding groove 315, so that the opening or closing action of the upper lip 302 is driven.

As shown in fig. 2, 3, 6, 7 and 11, two sets of mouth angle mechanisms 32 are symmetrically arranged, each set of mouth angle mechanism 32 includes a mouth angle steering engine 320, a mouth angle winch 321, a mouth angle flexible cable 322, a mouth angle pulley block 323, a mouth angle steering wheel 324, a mouth angle chute 325, a mouth angle connecting rod 326 and a mouth angle chute fixing plate 327; a left mouth angle driving point 302C and a right mouth angle driving point 302D are provided on the lips 302; one end of the mouth angle link 326 of one group of mouth angle mechanisms 32 is connected to the left mouth angle driving point 302C, and one end of the mouth angle link 326 of the other group is connected to the right mouth angle driving point 302D; the mouth angle steering engine 320, the mouth angle pulley block 323 and the mouth angle sliding groove fixing plate 327 are arranged on the upper jaw supporting plate 301; the two groups of lip angle sliding grooves 325 are transversely arranged and symmetrically arranged at two sides of the lips 302 and close to the lip 302 lip angle; the mouth angle winch 321 is connected with the mouth angle steering engine 320 and is used for outputting the mouth angle steering engine 320, the mouth angle sliding groove 325 is fixed on the mouth angle sliding groove fixing plate 327, and the mouth angle steering wheel is fixed on the mouth angle sliding groove 325 and can rotate relative to the mouth angle sliding groove 325; the other end of the mouth corner connecting rod 326 is connected with the mouth corner sliding groove 325 in a sliding way; one end of the mouth angle flexible cable 322 is wound on the mouth angle winch 321, the other end of the mouth angle flexible cable passes through the mouth angle pulley block 323 and the mouth angle steering wheel in sequence and then is connected with the mouth angle connecting rod 326, and the mouth angle winch 321 pulls the mouth angle flexible cable 322 to enable the mouth angle connecting rod 326 to slide back and forth on the mouth angle sliding groove 325 under the driving of the mouth angle steering engine 320.

In this embodiment, the mouth corner sliding groove 325 has a certain inclination, one end of the mouth corner sliding groove 325 is close to the mouth corner, and the other end is inclined towards the back and the upper part of the brain, so that when the mouth corner connecting rod 326 slides on the mouth corner sliding groove 325, the mouth corner connecting rod 326 pulls the mouth corner to realize that the mouth corner inclines upwards.

The mouth angle mechanisms 32 are provided with two groups, the two groups of mouth angle mechanisms 32 are symmetrically arranged, and one group is used for being connected with a left mouth angle driving point 302C of the lips 302 and driving the left mouth angle to move; the other group is used for connecting with the right mouth corner driving point 302D of the lips 302 to drive the movement of the right mouth corner; the driving principle of the mouth angle mechanism 32 is similar to that of the upper lip mechanism 31, and the mouth angle mechanism is driven by a flexible cable; the nozzle angle pulley block 323 plays a role of guiding the nozzle angle flexible cable 322; the mouth angle winch 321 rotates in a forward and reverse rotation mode by controlling the forward and reverse rotation of the mouth angle steering engine 320, the mouth angle flexible cable 322 is pulled, when the mouth angle flexible cable 322 is pulled by the mouth angle winch 321, the mouth angle flexible cable 322 pulls the mouth angle connecting rod 326 to slide back and forth on the mouth angle sliding groove 325, and various actions of simulating the mouth angle of a person are achieved.

As shown in fig. 2, 3 and 10, the chin mechanism 34 includes a chin 343, a chin fixing plate 344, a chin steering gear 340, a chin steering gear rotating frame 341 and a chin steering gear fixing frame 342; the chin steering engine rotating frame 341 is fixed at the bottom of the upper jaw supporting plate 301, one end of the chin steering engine 340 is fixed on the chin fixing plate 344 through the chin steering engine fixing frame 342, and the other end of the chin steering engine 340 is rotatably connected with the chin steering engine rotating frame 341; the bottom of the chin 343 is fixed to the chin fixing plate 344. The chin steering engine rotating frame 341 is fixed at the bottom of the upper jaw supporting plate 301, and is one side far away from the lips 302, namely one side close to the back head of the robot, the output end of the chin steering engine 340 is rotatably connected with the chin steering engine rotating frame 341, the other end of the chin steering engine 340 is fixed on a chin fixing plate 344 through a chin steering engine fixing frame 342, the chin 343 is arranged on the chin fixing plate 344, and the chin 343 is connected with the lips 302 and has a structure similar to the lips 302 and the chin 343 of a person; when the chin steering gear 340 rotates, the chin steering gear 340 drives the chin fixing plate 344 to rotate relative to the chin steering gear rotating frame 341, so that the opening and closing movement of the lower jaw of the human body is simulated.

As shown in fig. 2, 3, 8, 9 and 11, the lower lip mechanism 33 includes a lower lip steering engine 330, a lower lip winch 331, a lower lip cable 332, a lower lip pulley block 333, a lower lip steering wheel 334, a lower lip chute 335 and a lower lip link 336; the lower lip steering engine 330 and the lower lip pulley block 333 are fixed on a chin fixing plate 344, a lower lip sliding groove 335 is vertically fixed on a chin 343, a lower lip steering wheel 334 is fixed on the lower lip sliding groove 335 and can rotate relative to the lower lip sliding groove 335, one end of a lower lip connecting rod 336 is connected with the lower lip sliding groove 335 in a sliding manner, and the other end of the lower lip connecting rod 336 is connected with a lower lip driving point 302B on the lips 302; the lower lip winch 331 is connected with the lower lip steering engine 330 and is used for outputting the lower lip steering engine 330; one end of the lower lip flexible cable 332 is wound on the lower lip winch 331, the other end of the lower lip flexible cable is connected with the lower lip connecting rod 336 after sequentially bypassing the lower lip pulley block 333 and the lower lip steering wheel 334, and the lower lip winch 331 pulls the lower lip flexible cable 332 to enable the lower lip connecting rod 336 to slide back and forth on the lower lip sliding groove 335 under the driving of the lower lip steering engine 330. The lower lip mechanism 33 is similar to the upper lip mechanism 31 in structure, and the lower lip mechanism 33 is used for driving the action of the lower lip part of the lips 302; the lower lip winch 331 is driven to rotate by controlling the forward and reverse rotation of the lower lip steering engine 330, and the lower lip winch 331 rotates to enable the lower lip flexible cable 332 to pull the lower lip connecting rod 336 to slide up and down on the lower lip sliding groove 335, so that the opening or closing action of the lower lip 302 is driven.

As shown in fig. 2, 12 and 13, two sets of eye mechanisms 4 are symmetrically arranged, each set of eye mechanisms 4 includes an eyeball 401, an eyeball X-axis motion steering engine 402, an eyeball Y-axis motion steering engine 403, an X-axis eyeball winch 404, a Y-axis eyeball winch 405, a roller mounting bracket 406, a first X-axis guide roller 407, a second X-axis guide roller 408, an X-axis guide roller set 409, a first Y-axis guide roller 410, a second Y-axis guide roller 411, a Y-axis guide roller set, a first X-axis motion flexible cable 412, a second X-axis motion flexible cable 413, a first Y-axis motion flexible cable 414 and a second Y-axis motion flexible cable 415; an eyeball part mounting frame 416 and a steering engine mounting frame 417 are arranged on the upper jaw supporting plate 301, two symmetrical eyeball mounting brackets 418 are arranged on the eyeball part mounting frame 416, the eyeball 401 is connected with the eyeball mounting brackets 418 in a spherical pair mode, and the eyeball 401 can rotate relative to an eyeball central point to swing up and down, left and right; the roller mount 406 is fixed to the eyeball part mount 416 and is positioned on the back of the eyeball 401; an eyeball X-axis motion steering engine 402 and an eyeball Y-axis motion steering engine 403 are fixed on a steering engine mounting frame (417), an X-axis eyeball winch 404 is connected with the eyeball X-axis motion steering engine 402, and a Y-axis eyeball winch 405 is connected with the eyeball 401Y-axis steering engine; the first X-axis guide roller 407 and the second X-axis guide roller are vertically and symmetrically arranged on the roller mounting frame 406, and the X-axis guide roller group 409 is arranged on the eyeball part mounting frame 416 and/or the steering engine mounting frame (417); one end of the first X-axis motion flexible cable 412 is fixed on the mounting hole on the back of the eyeball 401, and the other end of the first X-axis motion flexible cable is connected with the X-axis eyeball winch 404 after passing around the first X-axis guide roller 407; one end of a second X-axis motion flexible cable 413 is fixed on a mounting hole on the back of the eyeball 401, and the other end of the second X-axis motion flexible cable sequentially rounds a second X-axis guide roller 408 and an X-axis guide roller group 409 and then is connected with an X-axis eyeball winch 404; the first Y-axis guide roller 410 and the second Y-axis guide roller 411 are transversely and symmetrically arranged on the roller mounting frame 406, and the Y-axis guide rollers are assembled on the eyeball part mounting frame 416 and/or the steering engine mounting frame (417); one end of a first Y-axis motion flexible cable 414 is fixed on a mounting hole on the back of the eyeball 401, and the other end of the first Y-axis motion flexible cable is connected with a Y-axis eyeball winch 405 after bypassing the first Y-axis guide roller 410; one end of the second Y-axis guide roller 411 is fixed to the mounting hole on the back of the eyeball 401, and the other end of the second Y-axis guide roller 411 sequentially bypasses the Y-axis guide roller group and then is connected with the Y-axis eyeball capstan 405.

The first X-axis guide roller 407, the second X-axis guide roller 408, and the X-axis guide roller group 409 function to guide the first X-axis moving wire 412 and the second X-axis moving wire 413, and the first Y-axis guide roller 410, the second Y-axis guide roller 411, and the Y-axis guide roller group function to guide the first Y-axis moving wire 414 and the second Y-axis moving wire 415. When the eyeball Y-axis motion steering engine 403 rotates to drive the Y-axis eyeball winch 405 to rotate, the Y-axis eyeball winch 405 pulls the first Y-axis motion flexible cable 414 and the second Y-axis motion flexible cable 415 to move, so that the eyeball 401 rotates around the eyeball central point, and the actions of imitating the human eyeball 401 such as upward looking and downward looking of the eyeball 401 are realized; when the eyeball X-axis motion steering engine 402 rotates to drive the X-axis eyeball winch 404 to rotate, the X-axis eyeball winch 404 pulls the first X-axis motion flexible cable 412 and the second X-axis motion flexible cable 413 to move, so that the eyeball 401 slides left and right around the eyeball center point, and the movement of the eyeball 401 such as left-looking movement and right-looking movement of the eyeball 401 is realized.

As shown in fig. 2, 14 and 15, the eyelid mechanisms 5 are symmetrically provided with two groups, and each group of eyelid mechanism 5 includes an eyelid 501, an eyelid driving steering engine 502, a steering engine arm 503 and a ball button 504; the eyelid 501 is rotatably arranged on the eyeball mounting bracket 418 and is positioned above the eyeball 401; an eyelid driving steering engine 502 is fixed on the upper jaw supporting plate 301 through a fixing piece 505, one end of a steering engine arm 503 is connected with the output end of the eyelid driving steering engine 502, the other end of the steering engine arm is connected with a ball buckle 504 through a connecting piece, and the other end of the ball buckle 504 is connected with an eyelid 501. The eyelid mechanism 5 is provided with two groups, which respectively correspond to the two eyeballs 401 of the two eye mechanisms 4, the eyelid 501 is arranged on the eyeball installing support 418 and is positioned above the eyeball 401, when the eyelid 501 rotates relative to the eyeball installing support 418, the eyelid 501 can rotate to the front of the eyeball 401, and the action of closing or blinking is realized; the utility model discloses in, steering wheel arm 503's one end is connected with eyelid drive steering wheel 502, for eyelid drive steering wheel 502's output, steering wheel arm 503's the other end is detained 504 with the bulb and is rotated and be connected, the bulb is detained 504 the other end and is connected with eyelid 501, eyelid drive steering wheel 502 moves, drive steering wheel arm 503 rotates, realize steering wheel arm 503's positive and negative rotary motion, thereby it pulls eyelid 501 to rotate for eyeball installing support 418 to drive the bulb to detain 504, thereby realize closing eyes or action such as blink.

As shown in fig. 2, 16, 17 and 18, two groups of eyebrow mechanisms 6 are symmetrically arranged, each group of eyebrow mechanisms 6 comprises eyebrows 607, eyebrow raising driving steering engines 601, eyebrow crumpling driving steering engines 602, double-arm steering wheels 603, cranks 604, guide rails 605, sliding blocks 606, eyebrow raising driving flexible cables 609, guide rail mounting frames 610 and eyebrow winches 610; the frown driving steering engine 602 and the guide rail mounting rack 610 are both fixed on the eyeball 401 part mounting component, the output end of the frown driving steering engine 602 is connected with one side of the double-arm steering wheel 603, the other side of the double-arm steering wheel 603 is connected with one end of a crank 604, and the other end of the crank 604 is connected with a sliding block 606; the guide rail 605 is transversely fixed on the guide rail mounting rack 610, and the sliding block 606 is arranged on the guide rail 605 in a sliding manner; be equipped with vertical slide rail on the slider 606, eyebrow 607 passes through connecting piece and slide rail sliding connection, chooses on eyebrow drive steering wheel 601 is fixed in steering wheel mounting bracket (417), eyebrow capstan winch 610 is connected with choosing eyebrow drive steering wheel 601's output, chooses eyebrow drive flexible cable 609's one end and eyebrow capstan winch 610 to be connected, the other end passes behind the aperture on slider 606 and is connected with eyebrow 607, eyebrow 607 is located eyelid 501's top. The eyebrow mechanism 6 is provided with two groups, two groups of eyebrow mechanisms 6 correspond to the eyeballs 401 of the two groups of eye mechanisms 4, and each group of eyebrows 607 are respectively arranged above the two eyelids 501 and are similar to the face structure of a person; when the frown driving steering engine 602 rotates, the double-arm steering wheel 603 is driven to rotate, so that the crank 604 is driven to rotate, the slider 606 is driven to slide on the guide rail 605 by the rotation of the crank 604, the slider 606 is connected with the eyebrow guide 607, and the guide rail 605 is transversely arranged, so that the eyebrow guide 607 is driven to move left and right when the slider 606 slides left and right on the guide rail 605, and the action of the frown is realized; eyebrow capstan 610 is connected with the output of choosing eyebrow drive steering wheel 601, chooses eyebrow drive flexible cable 609's one end to fix on eyebrow capstan 610, and the other end is connected with eyebrow 607, and the vertical slide rail that is equipped with on slider 606, when choosing eyebrow drive steering wheel 601 to rotate, when drive eyebrow capstan 610 rotates, eyebrow capstan 610 tractive eyebrow 607 drive flexible cable makes eyebrow 607 slide from top to bottom on the slide rail to realize preventing the action that people's expression choked the eyebrow.

As shown in fig. 1, a mask shell 7 and a back skull shell 8 are also arranged; the edge of the bottom of the mask thin shell 7 is correspondingly connected with the chin 343 to form a face-like structure; the edge of the thin shell 8 of the hindbrain scoop is correspondingly connected with the edge of the thin shell 7 of the mask to form a human brain-imitating structure. The mask shell 7 is a human-simulated face structure, the back skull shell 8 is similar to the back skull structure of a human, and the whole head shape of the robot is similar to the head shape of the human by arranging the mask shell 7 and the back skull shell 8.

As shown in fig. 19, the neck mechanism 2 includes a support cylinder 202, a fixed platform 203, a movable platform 208, a lower link 204, an upper link 206, a ball pair mechanism 209, a universal shaft 205, a swing steering gear 210, a rotary steering gear 212, and a connecting member 207; the bottom of the supporting sleeve 202 is fixed on the supporting bottom plate 1, the fixed platform 203 is arranged at the top of the supporting sleeve 202, the rotary steering engine 212 is positioned in the supporting sleeve 202, and a rotating shaft of the rotary steering engine 212 is connected with the bottom of the fixed platform 203 and can drive the fixed platform 203 to rotate; one end of the universal shaft 205 is connected with the fixed platform 203, the other end is connected with the movable platform 208, and the movable platform 208 is right above the fixed platform 203; the swing steering engine 210, the upper connecting rod 206, the lower connecting rod 204 and the ball pair mechanism 209 form a swing mechanism, at least three groups of swing mechanisms are arranged, the swing steering engine 210 is fixed on the fixed platform 203, one end of the connecting rod is connected with the output end of the swing steering engine 210, the other end of the connecting rod is connected with the upper connecting rod 206 through the ball pair mechanism 209, and the other end of the upper connecting rod 206 is rotatably connected with the movable platform 208; the three groups of swing mechanisms are arranged in central symmetry; a connecting member 207 is provided on the top of the movable platform 208 for connection with the maxilla support plate 301. When the fixed platform 203 is used, the fixed platform is driven to rotate by the rotation of the rotary steering engine 212, so that the horizontal rotation action of the whole progressive mechanism is realized; the left-right swing and the front-back pitching motion of the neck mechanism 2 are realized through the mutual matching of the three groups of swing mechanisms.

It is obvious that the above embodiments of the present invention are only examples for clearly illustrating the present invention, and are not limitations to the embodiments of the present invention. Other variations and modifications will be apparent to persons skilled in the art in light of the above description. And are neither required nor exhaustive of all embodiments. Any modification, equivalent replacement, and improvement made within the spirit and principle of the present invention should be included in the protection scope of the claims of the present invention.

Claims

1. A robot with human-simulated facial expressions comprises a supporting base plate (1), a neck mechanism (2), a mouth mechanism (3), an eye mechanism (4), an eyelid (501) mechanism (5) and an eyebrow mechanism (6), wherein the bottom of the neck mechanism (2) is fixed on the supporting base plate (1), and the neck mechanism (2) can horizontally rotate, swing left and right and pitch back and forth relative to the supporting base plate (1); the mouth mechanism (3) is characterized by comprising an upper jaw supporting plate (301), an upper lip mechanism (31), a mouth angle mechanism (32), a lower lip mechanism (33), a chin mechanism (34) and lips (302), wherein the upper lip mechanism (31) and the mouth angle mechanism (32) are arranged at the top of the upper jaw supporting plate (301), and the lower lip mechanism (33) and the chin mechanism (34) are arranged at the bottom of the upper jaw supporting plate (301); the upper lip mechanism (31) is connected with an upper lip driving point (302A) of the lips (302) and is used for driving the upper lip of the lips (302) to move; the two groups of mouth angle mechanisms (32) are respectively connected with a left mouth angle driving point (302C) and a right mouth angle driving point (302D) of the lips (302) and are used for driving the mouth angles of the lips (302) to move; the chin mechanism (34) can rotate relative to the upper jaw supporting plate (301); the lower lip mechanism (33) is connected with a lower lip driving point (302B) of the lips (302) and is used for driving the lower lip of the lips (302) to move; the mouth mechanism (3) is fixed at the top of the neck mechanism (2) through a palate support plate (301), and the eye mechanism (4) is arranged on the palate support plate (301) and used for realizing the rotation of eyeballs (401); the eyelid (501) mechanism (5) is arranged on the eye mechanism (4) and is used for realizing blinking and eye closing actions; the eyebrow mechanism (6) is arranged on the eye mechanism (4) and is used for realizing the actions of wrinkling and picking up eyebrows of the eyebrows (607).

2. The robot with the humanoid facial expression as claimed in claim 1, wherein the upper lip mechanism (31) comprises an upper lip steering engine (310), an upper lip winch (311), an upper lip flexible cable (312), an upper lip pulley block (313), an upper lip steering wheel (314), an upper lip chute (315) and an upper lip connecting rod (316); the upper lip steering engine (310), the upper lip pulley block (313) and the upper lip sliding groove (315) are all fixed at the top of the upper jaw supporting plate (301), the upper lip sliding groove (315) is vertically arranged, the upper lip steering wheel (314) is fixed on the upper lip sliding groove (315) and can rotate relative to the upper lip sliding groove (315), one end of the upper lip connecting rod (316) is connected with the upper lip sliding groove (315) in a sliding mode, and the other end of the upper lip connecting rod is connected with an upper lip driving point (302A) of the lips (302); the upper lip winch (311) is connected with the upper lip steering engine (310) and is used for outputting the upper lip steering engine (310); one end of the upper lip flexible cable (312) is wound on the upper lip winch (311), the other end of the upper lip flexible cable is connected with an upper lip connecting rod (316) on the upper lip sliding groove (315) after sequentially bypassing the upper lip pulley block (313) and the upper lip steering wheel (314), and the upper lip winch (311) pulls the upper lip flexible cable (312) to enable the upper lip connecting rod (316) to slide back and forth on the upper lip sliding groove (315) under the driving of the upper lip steering engine (310).

3. The robot with the humanoid facial expression as claimed in claim 1, wherein the mouth angle mechanisms (32) are symmetrically provided in two groups, each group of mouth angle mechanisms (32) comprises a mouth angle steering engine (320), a mouth angle winch (321), a mouth angle flexible cable (322), a mouth angle pulley block (323), a mouth angle steering wheel (324), a mouth angle chute (325), a mouth angle connecting rod (326) and a mouth angle chute fixing plate (327); one end of a mouth corner connecting rod (326) of one group of mouth corner mechanisms (32) is connected with the left mouth corner driving point (302C), and one end of a mouth corner connecting rod (326) of the other group of mouth corner mechanisms (32) is connected with the right mouth corner driving point (302D); the mouth angle steering engine (320), the mouth angle pulley block (323) and the mouth angle sliding groove fixing plate (327) are arranged on the upper jaw supporting plate (301); the two groups of lip angle sliding grooves (325) are symmetrically arranged at two sides of the lips (302) and are close to the lip angles of the lips (302); the mouth angle winch (321) is connected with the mouth angle steering engine (320) and is used for outputting the mouth angle steering engine (320), the mouth angle sliding groove (325) is fixed on the mouth angle sliding groove fixing plate (327), and the mouth angle steering wheel is fixed on the mouth angle sliding groove (325) and can rotate relative to the mouth angle sliding groove (325); the other end of the nozzle angle connecting rod (326) is connected with the nozzle angle sliding groove (325) in a sliding way; one end of the mouth angle flexible cable (322) is wound on the mouth angle winch (321), the other end of the mouth angle flexible cable sequentially bypasses the mouth angle pulley block (323) and the mouth angle steering wheel and then is connected with the mouth angle connecting rod (326), and the mouth angle winch (321) pulls the mouth angle flexible cable (322) to enable the mouth angle connecting rod (326) to slide back and forth on the mouth angle sliding groove (325) under the driving of the mouth angle steering engine (320).

4. The robot with the humanoid facial expression as claimed in claim 1, wherein the chin mechanism (34) comprises a chin (343), a chin fixing plate (344), a chin steering engine (340), a chin steering engine rotating frame (341) and a chin steering engine fixing frame (342); the jaw steering engine rotating frame (341) is fixed at the bottom of the upper jaw supporting plate (301), one end of the jaw steering engine (340) is fixed on the jaw fixing plate (344) through a jaw steering engine fixing frame (342), and the other end of the jaw steering engine rotating frame is rotatably connected with the jaw steering engine rotating frame (341); the bottom of the chin (343) is fixed on the chin fixing plate (344).

5. The robot with the humanoid facial expression as claimed in claim 4, wherein the lower lip mechanism (33) comprises a lower lip steering engine (330), a lower lip winch (331), a lower lip flexible cable (332), a lower lip pulley block (333), a lower lip steering wheel (334), a lower lip chute (335) and a lower lip connecting rod (336); the lower lip steering engine (330) and the lower lip pulley block (333) are fixed on a chin fixing plate (344), a lower lip sliding groove (335) is vertically fixed on a chin (343), a lower lip steering wheel (334) is fixed on the lower lip sliding groove (335) and can rotate relative to the lower lip sliding groove (335), one end of a lower lip connecting rod (336) is connected with the lower lip sliding groove (335) in a sliding manner, and the other end of the lower lip connecting rod is connected with a lower lip driving point (302B) on the lips (302); the lower lip winch (331) is connected with the lower lip steering engine (330) and is used for outputting the lower lip steering engine (330); one end of the lower lip flexible cable (332) is wound on the lower lip winch (331), the other end of the lower lip flexible cable is connected with the lower lip connecting rod (336) after sequentially bypassing the lower lip pulley block (333) and the lower lip steering wheel (334), and the lower lip winch (331) pulls the lower lip flexible cable (332) to enable the lower lip connecting rod (336) to slide back and forth on the lower lip sliding groove (335) under the driving of the lower lip steering wheel (330).

6. The robot with human-face-like expression according to any one of claims 1 to 5, wherein the eye mechanisms (4) are symmetrically provided with two groups, each group of eye mechanisms (4) comprises an eyeball (401), an eyeball X-axis motion steering engine (402), an eyeball Y-axis motion steering engine (403), an X-axis eyeball winch (404), a Y-axis eyeball winch (405), a roller mounting frame (406), a first X-axis guide roller (407), a second X-axis guide roller (408), an X-axis guide roller group (409), a first Y-axis guide roller (410), a second Y-axis guide roller (411), a Y-axis guide roller group, a first X-axis motion flexible cable (412), a second X-axis motion flexible cable (413), a first Y-axis motion flexible cable (414) and a second Y-axis motion flexible cable (415); an eyeball part mounting frame (416) and a steering engine mounting frame (417) are arranged on the upper jaw supporting plate (301), two symmetrical eyeball mounting brackets (418) are arranged on the eyeball part mounting frame (416), the eyeball (401) is connected with the eyeball mounting brackets (418) in a spherical pair mode, and the eyeball (401) can rotate relative to an eyeball central point to swing up and down and left and right; the roller mounting frame (406) is fixed on the eyeball part mounting frame (416) and is positioned at the back of the eyeball (401); the eyeball X-axis motion steering engine (402) and the eyeball Y-axis motion steering engine (403) are fixed on a steering engine mounting frame (417), the X-axis eyeball winch (404) is connected with the eyeball X-axis motion steering engine (402), and the Y-axis eyeball winch (405) is connected with the eyeball (401) Y-axis steering engine; the first X-axis guide roller (407) and the second X-axis guide roller are vertically and symmetrically arranged on the roller mounting frame (406), and the X-axis guide roller group (409) is arranged on the eyeball part mounting frame (416) and/or the steering engine mounting frame (417); one end of the first X-axis motion flexible cable (412) is fixed on a mounting hole on the back of the eyeball (401), and the other end of the first X-axis motion flexible cable is connected with the X-axis eyeball capstan (404) after bypassing the first X-axis guide roller (407); one end of the second X-axis motion flexible cable (413) is fixed on a mounting hole on the back of the eyeball (401), and the other end of the second X-axis motion flexible cable sequentially rounds a second X-axis guide roller (408) and an X-axis guide roller group (409) and then is connected with an X-axis eyeball winch (404); the first Y-axis guide roller (410) and the second Y-axis guide roller (411) are transversely and symmetrically arranged on the roller mounting frame (406), and the Y-axis guide rollers are assembled on the eyeball part mounting frame (416) and/or the steering engine mounting frame (417); one end of the first Y-axis motion flexible cable (414) is fixed on a mounting hole on the back of the eyeball (401), and the other end of the first Y-axis motion flexible cable is connected with the Y-axis eyeball capstan (405) after bypassing the first Y-axis guide roller (410); one end of the second Y-axis guide roller (411) is fixed on a mounting hole at the back of the eyeball (401), and the other end of the second Y-axis guide roller sequentially bypasses the second Y-axis guide roller (411) and the Y-axis guide roller group and then is connected with the Y-axis eyeball capstan (405).

7. The robot with the humanoid facial expression as claimed in claim 6, wherein the eyelid (501) mechanisms (5) are symmetrically provided with two groups, and each group of eyelid (501) mechanisms (5) comprises an eyelid (501), an eyelid driving steering engine (502), a steering engine arm (503) and a ball button (504); the eyelid (501) is rotatably arranged on the eyeball mounting bracket (418) and is positioned above the eyeball (401); the eyelid driving steering engine (502) is fixed on the upper jaw supporting plate (301) through a fixing piece (505), one end of a steering engine arm (503) is connected with the output end of the eyelid driving steering engine (502), the other end of the steering engine arm is connected with a ball head buckle (504) through a connecting piece, and the other end of the ball head buckle (504) is connected with an eyelid (501).

8. The robot with the humanoid facial expression as claimed in claim 7, wherein the eyebrow shaping mechanisms (6) are symmetrically provided with two groups, and each group of eyebrow shaping mechanisms (6) comprises an eyebrow shaping mechanism (607), an eyebrow raising driving steering engine (601), an eyebrow crumpling driving steering engine (602), a double-arm steering wheel (603), a crank (604), a guide rail (605), a sliding block (606), an eyebrow raising driving flexible cable (609), a guide rail mounting rack (610) and an eyebrow shaping winch (611); the frown driving steering engine (602) and the guide rail mounting rack (610) are fixed on an eyeball (401) part mounting piece, the output end of the frown driving steering engine (602) is connected with one side of a double-arm steering wheel (603), the other side of the double-arm steering wheel (603) is connected with one end of a crank (604), and the other end of the crank (604) is connected with a sliding block (606); the guide rail (605) is transversely fixed on the guide rail mounting rack (610), and the sliding block (606) is arranged on the guide rail (605) in a sliding manner; slider (606) on be equipped with vertical slide rail, eyebrow (607) pass through connecting piece and slide rail sliding connection, choose eyebrow drive steering wheel (601) and be fixed in steering wheel mounting bracket (417) on, eyebrow capstan winch (611) and the output of choosing eyebrow drive steering wheel (601) be connected, the one end of choosing eyebrow drive flexible cable (609) be connected with eyebrow capstan winch (611), the other end is connected with eyebrow (607) after passing the aperture on slider (606), eyebrow (607) be located the top of eyelid (501).

9. A robot with humanoid facial expression as claimed in claim 4, characterized by further comprising a mask shell (7) and a back-head shell (8); the edge of the bottom of the mask thin shell (7) is correspondingly connected with the chin (343) to form a human face simulating structure; the edge of the posterior cerebral scoop thin shell (8) is correspondingly connected with the edge of the mask thin shell (7) to form a human brain-imitating structure.