CN215471165U

CN215471165U - Head structure of expression robot

Info

Publication number: CN215471165U
Application number: CN202121427422.9U
Authority: CN
Inventors: 毕健; 何苗; 胡方超; 金辉; 陈晨; 夏雷; 冉井攀
Original assignee: Chongqing University of Technology
Current assignee: Chongqing University of Technology
Priority date: 2021-06-25
Filing date: 2021-06-25
Publication date: 2022-01-11
Anticipated expiration: 2031-06-25

Abstract

The utility model discloses a head structure of an expression robot, which comprises a head skeleton and a neck skeleton, wherein the head skeleton is provided with an eye mechanism and a mouth mechanism; the eye mechanism comprises an eyebrow assembly, an upper eyelid assembly, a lower eyelid assembly and an eyeball assembly, wherein the eyebrow assembly comprises eyebrows, a first eyebrow driving unit and a second eyebrow driving unit; the upper eyelid assembly and the lower eyelid assembly comprise a left eyelid, a left eyelid driving unit, a right eyelid and a right eyelid driving unit; the eyeball assembly comprises a left eyeball, a right eyeball, an eyeball left-right driving unit and an eyeball up-down driving unit; the mouth mechanism includes a chin and chin assembly including a chin and a chin drive unit, and a lip assembly including a lip unit, a lip drive unit, and a mouth angle drive unit, and the neck mechanism includes a neck and a neck drive unit. According to the scheme, each part of the head can be accurately controlled, so that more complex human expressions can be simulated.

Description

Head structure of expression robot

Technical Field

The utility model relates to the technical field of robots, in particular to a head structure of an expression robot.

Background

The expression robot is an intelligent robot capable of simulating human facial expressions and emotional actions, has an important role in realizing human-computer interaction, particularly emotional interaction as a service robot, has a very wide application prospect in the research of the expression robot due to the characteristics of humanization and emotional feeling of the expression robot, and in recent years, more and more research institutions and organizations develop the research of the human-face-expression-simulated robot.

The research and development work of the domestic humanoid expression robot appears after the 21 st century, and the expression robot research is rapidly developed in the last decade, taking the Harbin industry university as a representative. The humanoid expression robot has the capabilities of face detection, voice emotion recognition and synthesis, emotion behavior decision and the like on the basis of being capable of making basic expressions, and can effectively interact emotionally with a human through modes of machine vision, voice interaction, emotion expression and the like.

Psychological studies have shown that more than 60% of human emotional expression and information exchange is achieved by non-languages, such as expression, eye spirit, head movements, etc., wherein head movements and facial expressions account for a large part of the proportion. Therefore, in the research of the robot with human-like expression, the realization of the head structure and the facial expression is an important basis for personification, and because the space of the head structure is limited and the actions of each part (such as eyebrows, eyelids, eyeballs, mouth and the like) of the head structure are coordinated, how to more accurately control each part of the head structure, and thus, the simulation of more complicated human expression also becomes a technical problem which needs to be solved urgently.

SUMMERY OF THE UTILITY MODEL

Aiming at the defects in the prior art, the technical problems to be solved by the utility model are as follows: how to provide a head structure of an expression robot which can accurately control each part of the head so as to simulate more complicated human expression.

In order to solve the technical problems, the utility model adopts the following technical scheme:

a head structure of an expression robot comprises a head skeleton and a neck skeleton, wherein an eye mechanism and a mouth mechanism are arranged on the head skeleton, and a neck mechanism is arranged on the neck skeleton;

the eye mechanism comprises an eyebrow assembly, an upper eyelid assembly, a lower eyelid assembly and an eyeball assembly, the eyebrow assembly comprises eyebrows, a first eyebrow driving unit and a second eyebrow driving unit, the eyebrows of the eyebrows are connected with the first eyebrow driving unit, so that the first eyebrow driving unit can drive the eyebrows to rotate around the eyebrow tips of the eyebrows, and the second eyebrow driving unit is connected with the first eyebrow driving unit, so that the second eyebrow driving unit can drive the eyebrows of the eyebrows to vertically move through the first eyebrow driving unit;

the upper eyelid assembly and the lower eyelid assembly comprise a left eyelid, a left eyelid driving unit, a right eyelid and a right eyelid driving unit, the left eyelid is connected with the left eyelid driving unit so that the left eyelid driving unit can drive the left eyelid to close and open, and the right eyelid is connected with the right eyelid driving unit so that the right eyelid driving unit can drive the right eyelid to close and open;

the eyeball assembly comprises a left eyeball, a right eyeball, an eyeball left-right driving unit and an eyeball up-down driving unit, wherein the eyeball left-right driving unit is simultaneously connected with the left eyeball and the right eyeball so as to be used for driving the left eyeball and the right eyeball to synchronously move leftwards or rightwards;

the mouth mechanism comprises a jaw assembly and a lip assembly, the jaw assembly comprises a lower jaw and a lower jaw driving unit, and the lower jaw driving unit is connected with the lower jaw and is used for driving the lower jaw to realize opening and closing movement; the lip assembly comprises a lip unit, a lip driving unit and a mouth corner driving unit, the lip unit comprises a mouth lip part and a mouth corner part, the lip driving unit is connected with the lip part and used for driving the lip part to move up and down, and the mouth corner driving unit is connected with the mouth corner part and used for driving the mouth corner part to move up and down;

the neck mechanism comprises a neck and a neck driving unit, wherein the neck driving unit is connected with the neck and is used for driving the neck to rotate.

The working principle of the utility model is as follows: the head structure of this scheme expression robot is when using, when the motion of eyebrow is controlled to needs, first eyebrow drive unit can control the eyebrow and rotate around eyebrow tip department, thereby the human eyebrow of simulation department contracts (frown) and the state of lax, second eyebrow drive unit drives the eyebrow vertical migration of eyebrow through first eyebrow drive unit, thereby the realization is chosen the control with the flagging state on the eyebrow, therefore, through the common control of first eyebrow drive unit and second eyebrow drive unit, can simulate out the eyebrow state of human body under multiple mood state.

When the opening and closing states of the left eyelid and the right eyelid need to be controlled, the left eyelid driving unit controls the left eyelid to be closed or opened, and the right eyelid driving unit controls the right eyelid to be closed or opened, so that the closing or opening states of the left eyelid and the right eyelid can be controlled independently, and complex actions such as single eye blinking and the like can be further realized.

When the left eyeball and the right eyeball need to be controlled to move up and down or left and right, the eyeball left and right driving unit is used for synchronously driving the left eyeball and the right eyeball to move left or right simultaneously, and the eyeball up and down driving unit is used for synchronously driving the left eyeball and the right eyeball to move up or down simultaneously.

When the jaw movement needs to be controlled, the jaw driving unit is used for controlling the opening and closing movement of the jaw, meanwhile, the lip driving unit and the mouth corner driving unit are respectively sampled by the mouth lip part and the mouth corner part of the lip unit for driving, the lip driving unit is used for driving the lip part to move up and down, and the mouth corner driving unit is used for driving the mouth corner part to move up and down, so that the mouth lip part and the mouth corner part can be controlled more accurately;

when the neck movement needs to be controlled, the neck driving unit drives the neck to rotate so as to realize the rotation action of the human neck.

In conclusion, the head structure of the expression robot can simulate more complicated human expression states such as anger, surprise, fear, joy, disgust and sadness through controlling the eyebrows, the upper eyelid, the lower eyelid, the left eyeball, the right eyeball, the lower jaw, the lip part of the mouth, the corner part of the mouth and the neck, and meanwhile, the control on each part of the head structure is more accurate, so that the simulated human expression states are more vivid.

Preferably, the eyebrow assembly further comprises an eyebrow mounting base, the eyebrow mounting base is fixedly connected to the head framework, the eyebrow tips of the eyebrows are rotatably connected to the eyebrow mounting base so that the eyebrows can rotate around the eyebrow tip positions, the first eyebrow driving unit comprises a first eyebrow driving steering engine and an eyebrow rotating connecting rod which are longitudinally arranged, one end, close to the first eyebrow driving steering engine, of the eyebrow rotating connecting rod is fixedly connected with a rotating shaft of the first eyebrow driving steering engine, and one end, far away from the first eyebrow driving steering engine, of the eyebrow rotating connecting rod is connected with the eyebrow tip positions of the eyebrows so that the eyebrows of the eyebrows can be driven to rotate around the eyebrow tips through the eyebrow rotating connecting rod when the first eyebrow driving steering engine rotates;

the second eyebrow drive unit comprises a second eyebrow drive steering engine arranged along the axial direction, the second eyebrow drive steering engine is fixedly connected to the head framework through a steering engine fixing piece, a steering engine jacket is arranged on the first eyebrow drive steering engine jacket, first connecting sleeves and second connecting sleeves are arranged on the steering engine jacket along the two sides of the axial direction respectively, the first connecting sleeves are connected with rotating shafts of the second eyebrow drive steering engine, first supporting frames are further arranged on the head framework and correspond to the second connecting sleeves, and the second connecting sleeves are rotatably connected with the first supporting frames to enable the second eyebrow drive steering engine to pass through the steering engine jacket to drive the first eyebrow drive steering engine to rotate.

Like this, when needs control eyebrow around the eyebrow tip when rotating, first eyebrow drive steering wheel rotates, and first eyebrow drive steering wheel drives the rotatory connecting rod of eyebrow and rotates, and the rotatory connecting rod of eyebrow drives the eyebrow position of eyebrow again and rotates around its eyebrow tip position, and through the control to first eyebrow drive steering wheel, just can realize the control of the contraction (fold eyebrow) and the state of laxing of eyebrow from this.

When what need control the eyebrow chooses or flagging the motion on, second eyebrow drive steering wheel rotates, the pivot of second eyebrow drive steering wheel drives the vertical rotation of steering wheel overcoat through first connecting sleeve, first eyebrow drive steering wheel is installed and is sheathe in the steering wheel overcoat, so first eyebrow drive steering wheel will follow the rotation of steering wheel overcoat, thereby first eyebrow drive steering wheel rethread eyebrow rotary connecting rod drives the eyebrow position vertical removal of eyebrow, thereby realize choosing or flagging control on the eyebrow, from this through the control to second eyebrow drive steering wheel, just can realize choosing or the control of flagging the state on the eyebrow.

To sum up, through the common control to first eyebrow drive steering wheel and second eyebrow drive steering wheel, just can make the eyebrow simulate out human expression under the multiple state, the eyebrow position of eyebrow can the downstream when the human body is angry, the eyebrow position of eyebrow can the upstream when sad etc..

Preferably, the upper and lower eyelid assembly further includes a left eyelid fixing frame fixedly connected to the head frame on the left eyelid side, a right eyelid fixing frame fixedly connected to the head frame on the right eyelid side, and an eyelid fixing post fixedly connected to the head frame between the left eyelid and the right eyelid, the left eyelid includes a left upper eyelid and a left lower eyelid, the right eyelid includes a right upper eyelid and a right lower eyelid, one side of the left upper eyelid close to the left eyelid fixing frame is rotatably connected to the left eyelid fixing member through a left upper eyelid connecting member, one side of the left lower eyelid close to the left eyelid fixing frame is rotatably connected to the left eyelid fixing member through a left lower eyelid connecting member, one side of the right upper eyelid close to the right eyelid fixing frame is rotatably connected to the right eyelid fixing member through a right upper eyelid connecting member, one side of the right lower eyelid, which is close to the right eyelid fixing frame, is rotatably connected with the right eyelid fixing member through a right lower eyelid connecting member, one sides of the left upper eyelid and the right upper eyelid, which are close to the eyelid fixing column, are simultaneously rotatably connected with the eyelid fixing column through the middle upper eyelid connecting member, and one sides of the left lower eyelid and the right lower eyelid, which are close to the eyelid fixing column, are simultaneously rotatably connected with the eyelid fixing column through the middle lower eyelid connecting member.

Thus, the left eyelid fixing frame, the right eyelid fixing frame and the eyelid fixing upright post are used for realizing the rotary support of the left eyelid and the right eyelid, wherein two ends of the left upper eyelid are respectively and rotatably connected to the left eyelid fixing frame and the eyelid fixing upright post through the left upper eyelid connecting piece and the middle upper eyelid connecting piece, and two ends of the left lower eyelid are respectively and rotatably connected to the left eyelid fixing frame and the eyelid fixing upright post through the left lower eyelid connecting piece and the middle lower eyelid connecting piece; two ends of the right upper eyelid are respectively and rotatably connected with the right eyelid fixing frame and the eyelid fixing upright post through the right upper eyelid connecting piece and the middle upper eyelid connecting piece, and two ends of the right lower eyelid are respectively and rotatably connected with the right eyelid fixing frame and the eyelid fixing upright post through the right lower eyelid connecting piece and the middle lower eyelid connecting piece.

Preferably, the left eyelid driving unit comprises an upper left eyelid driving steering engine and a lower left eyelid driving steering engine which are fixedly connected to the head framework, a rotating shaft of the upper left eyelid driving steering engine is connected with an upper left eyelid rudder arm, the upper left eyelid driving arm is connected with an upper left eyelid driving connecting rod, and one end of the upper left eyelid driving connecting rod, which is far away from the upper left eyelid driving connecting rod and connected with the upper left eyelid driving arm, is connected with the upper left eyelid, so that the upper left eyelid driving connecting rod can drive the upper left eyelid to close or open when the upper left eyelid driving arm rotates; a rotating shaft of the left lower eyelid driving steering engine is connected with a left lower eyelid driving connecting rod, one end, far away from the left lower eyelid driving connecting rod, of the left lower eyelid driving connecting rod, which is connected with the left lower eyelid driving arm is connected with the left lower eyelid, so that the left lower eyelid can be driven to be closed or opened through the left lower eyelid driving connecting rod when the left lower eyelid driving connecting rod rotates;

the right eyelid driving unit comprises an upper right eyelid driving steering engine and a lower right eyelid driving steering engine which are fixedly connected to the head framework, a rotating shaft of the upper right eyelid driving steering engine is connected with an upper right eyelid rudder arm, the upper right eyelid driving arm is connected with an upper right eyelid driving connecting rod, one end, far away from the upper right eyelid driving connecting rod, of the upper right eyelid driving connecting rod is connected with the upper right eyelid, so that the upper right eyelid can be driven to close or open through the upper right eyelid driving connecting rod when the upper right eyelid rudder arm rotates; the rotating shaft of the right lower eyelid driving steering engine is connected with a right lower eyelid driving connecting rod, one end, far away from the right lower eyelid driving connecting rod, of the right lower eyelid driving connecting rod, which is connected with the right lower eyelid driving connecting rod is connected with the right lower eyelid, so that the right lower eyelid can be driven to be closed or opened through the right lower eyelid driving connecting rod when the right lower eyelid driving connecting rod rotates.

Therefore, when the closing or opening of the upper left eyelid is controlled, the upper left eyelid drives the steering engine to rotate, the rotation of the upper left eyelid driving steering engine is transmitted to the upper left eyelid driving connecting rod through the upper left eyelid steering engine arm, and the upper left eyelid driving connecting rod drives the upper left eyelid to move, so that the closing and opening of the upper left eyelid can be controlled by controlling the forward or reverse rotation of the upper left eyelid driving steering engine;

similarly, when the closing or opening of the lower left eyelid is controlled, the lower left eyelid drives the steering engine to rotate, the rotation of the lower left eyelid driving steering engine is transmitted to the lower left eyelid driving connecting rod through the lower left eyelid steering engine arm, and the lower left eyelid driving connecting rod drives the lower left eyelid to move, so that the closing and opening of the lower left eyelid can be controlled by controlling the forward or reverse rotation of the lower left eyelid driving steering engine;

when the closing or opening of the upper right eyelid is controlled, the upper right eyelid drives the steering engine to rotate, the rotation of the upper right eyelid driving steering engine is transmitted to the upper right eyelid driving connecting rod through the upper right eyelid rudder arm, and the upper right eyelid driving connecting rod drives the upper right eyelid to move, so that the closing and opening of the upper right eyelid can be controlled by controlling the forward or reverse rotation of the upper right eyelid driving steering engine;

similarly, when the closing or opening of the right lower eyelid is controlled, the right lower eyelid drives the steering engine to rotate, the rotation of the right lower eyelid driving steering engine is transmitted to the right lower eyelid driving connecting rod through the right lower eyelid steering engine arm, and then the right lower eyelid driving connecting rod drives the right lower eyelid to move, so that the closing and opening of the right lower eyelid can be controlled by controlling the forward or reverse rotation of the right lower eyelid driving steering engine.

Preferably, a left eyeball carrier plate is fixedly connected to the left eyeball, left eyeball connecting parts are symmetrically arranged on two axial sides of the left eyeball carrier plate, a left eyeball supporting column is connected between the two left eyeball connecting parts, a left eyeball rotating part is also connected on the left eyeball supporting column, one end of the left eyeball rotating piece far away from the left eyeball supporting column is connected with a left eyeball head piece, the left ball head piece comprises a left thread part and a left ball head part, the left thread part of the left ball head piece is in threaded connection with the left ball rotating piece, and a left spherical joint is rotatably connected at the left spherical head part of the left spherical head part, a left spherical groove used for being rotatably connected with the left spherical head part is arranged at one end of the left spherical joint close to the left spherical head part, one end of the left spherical joint, which is far away from the left spherical head, is fixedly connected to the head framework;

a right eyeball carrier plate is also fixedly connected on the right eyeball, right eyeball connecting parts are symmetrically arranged on two axial sides of the right eyeball carrier plate, a right eyeball supporting column is connected between the two right eyeball connecting parts, a right eyeball rotating part is also connected on the right eyeball supporting column, one end of the right eyeball rotating part far away from the right eyeball supporting column is connected with a right ball head part, the right ball head piece comprises a right thread part and a right ball head part, the right thread part of the right ball head piece is in threaded connection with the right eyeball rotating part, and a right spherical joint is rotatably connected at the right spherical head part of the right spherical head part, a right spherical groove used for being rotatably connected with the right spherical head part is arranged at one end of the right spherical joint close to the right spherical head part, and one end of the right spherical joint, which is far away from the right spherical head, is fixedly connected to the head skeleton.

Therefore, when the left eyeball rotates leftwards and rightwards, the left eyeball synchronously drives the left eyeball support plate, the left eyeball support column, the left eyeball rotating piece and the left eyeball head piece to rotate leftwards and rightwards, the left bulb part of the left eyeball head piece rotates in the left spherical groove of the left spherical joint at the moment, the left spherical joint is fixedly connected to the head framework, and therefore the rotating support installation of the left eyeball on the head framework is achieved.

Similarly, when the right eyeball rotates left and right, the right eyeball synchronously drives the right eyeball support plate, the right eyeball support column, the right eyeball rotating part and the right spherical head part to rotate left and right, the right spherical head part of the right spherical head part rotates in the right spherical groove of the right spherical joint at the moment, the right spherical joint is fixedly connected to the head skeleton, and therefore the rotation support installation of the right eyeball on the head skeleton is realized.

Preferably, the eyeball left-right driving unit comprises an eyeball left-right driving steering engine, an eyeball left-right steering engine arm is connected to a rotating shaft of the eyeball left-right driving steering engine, an eyeball left-right driving connecting rod is further arranged at one end, far away from the eyeball left-right steering engine arm, connected with the eyeball left-right driving steering engine, one end, close to the left eyeball, of the eyeball left-right driving connecting rod is further connected with a left eyeball left-right connecting rod, one end, far away from the eyeball left-right driving connecting rod, of the left eyeball left-right connecting rod is connected with the left eyeball carrier plate, so that the eyeball left-right driving steering engine can drive the left eyeball to move left and right through the left eyeball left-right connecting rod when rotating, one end, far away from the right eyeball left-right connecting rod, of the eyeball left-right driving connecting rod is connected with the right eyeball carrier plate, when the eyeball left-right driving steering engine rotates, the right eyeball left-right connecting rod can drive the right eyeball to move left and right;

the eyeball up-down driving unit comprises an eyeball up-down driving steering engine, an eyeball up-down steering engine arm is connected to a rotating shaft of the eyeball up-down driving steering engine, an eyeball up-down driving connecting rod is further arranged at one end, far away from the end connected with the eyeball up-down driving steering engine, of the eyeball up-down driving connecting rod, one end, close to the left eyeball, of the eyeball up-down driving connecting rod is further connected with a left eyeball up-down connecting rod, one end, far away from the end connected with the eyeball up-down driving connecting rod, of the left eyeball up-down connecting rod is connected with the lower end of the left eyeball carrier plate, so that the eyeball up-down driving steering engine can drive the left eyeball to move up and down through the left eyeball up-down connecting rod when rotating, one end, close to the right eyeball, of the eyeball up-down driving connecting rod is further connected with a right eyeball up-down connecting rod, one end, far away from the right eyeball up-down driving connecting rod, of the right eyeball up-down driving connecting rod is connected with the lower end of the right eyeball carrier plate, so that the eyeball can be driven by the right eyeball up-down connecting rod to move up and down when the eyeball up-down driving steering engine rotates.

Therefore, when the left and right movements of the left and right eyeballs are to be controlled, the left and right eyeball driving steering gears are started, the left and right eyeball driving steering gears are driven to rotate left and right, the left and right eyeball steering gears further drive the left and right eyeball driving connecting rods to rotate left and right, the left and right eyeball driving connecting rods further transmit the movement to the left and right eyeball connecting rods and the right and left eyeball connecting rods, the left and right eyeball connecting rods drive the left eyeballs to move left and right through the left eyeball carrier plate, the right and left eyeball connecting rods drive the right eyeballs to move left and right through the right eyeball carrier plate, and therefore, the synchronous control of the left and right eyeball driving steering gears is realized through the control of the eyeball left and right eyeball driving steering gears.

Similarly, when the up-and-down movement of the left eyeball and the right eyeball is to be controlled, the eyeball up-and-down driving steering engine is started, the eyeball up-and-down driving steering engine drives the eyeball up-and-down steering engine arm to rotate up and down, the eyeball up-and-down steering engine arm further drives the eyeball up-and-down driving connecting rod to rotate up and down, the eyeball up-and-down driving connecting rod further transmits the movement to the left eyeball up-and-down connecting rod and the right eyeball up-and-down driving connecting rod, the left eyeball up-and-down connecting rod drives the left eyeball to move up and down through the left eyeball support plate, and the right eyeball up-and-down connecting rod drives the right eyeball to move up and down through the right eyeball support plate, so that the synchronous control of the up-and-down driving steering engine of the left eyeball and the right eyeball is realized.

Preferably, the lip part includes an upper lip and a lower lip;

the lip driving unit comprises a left upper lip driving steering engine, a right upper lip driving steering engine, a left lower lip driving steering engine and a right lower lip driving steering engine, a left upper lip steering engine arm is connected to a rotating shaft of the left upper lip driving steering engine, one end, far away from the left upper lip driving steering engine, of the left upper lip driving steering engine is connected with the left side of the upper lip, so that the left upper lip driving steering engine can drive the left position of the upper lip to move upwards or downwards through the left upper lip steering engine arm when rotating, a right upper lip steering engine arm is connected to a rotating shaft of the right upper lip driving steering engine, one end, far away from the right upper lip driving steering engine, of the right upper lip driving steering engine is connected with the right side of the upper lip, so that the right position of the upper lip can be driven to move upwards or downwards through the right upper lip steering engine arm when the right upper lip driving steering engine rotates, connect left lower lip rudder horn in the pivot of left lower lip drive steering wheel, left lower lip rudder horn keeps away from its connection the one end of left lower lip drive steering wheel with the left side of lower lip is connected, so that can pass through when left lower lip drive steering wheel rotates left lower lip steering wheel arm drives the left side position of lower lip makes progress or downstream, connect right lower lip rudder horn in the pivot of right lower lip drive steering wheel, right lower lip rudder horn keeps away from its connection the one end of right lower lip drive steering wheel with the right side of lower lip is connected, so that can pass through when right lower lip drive steering wheel rotates right lower lip steering wheel drives the right side position of lower lip makes progress or downstream.

Therefore, when the left side of the upper lip of the lip part of the mouth is controlled, the left upper lip steering engine is started, the left upper lip steering engine transmits the motion to the left upper lip steering engine arm, the left upper lip steering engine arm drives the left side position of the upper lip to move, and the control of the upward or downward motion of the left side position of the upper lip can be realized by controlling the rotation direction of the left upper lip steering engine;

similarly, when the right side of the upper lip needs to be controlled, the upper right lip steering engine is started, the upper right lip steering engine transmits the motion to the upper right lip rudder horn, the upper right lip rudder horn drives the right side position of the upper lip to move, and the control of the upward or downward motion of the right side position of the upper lip can be realized by controlling the rotation direction of the upper right lip steering engine.

When the left side of the lower lip of the lip part is controlled, the left lower lip steering engine is started, the left lower lip steering engine transmits the motion to the left lower lip steering engine arm, the left lower lip steering engine arm drives the left side position of the lower lip to move, and the control of the upward or downward motion of the left side position of the lower lip can be realized by controlling the rotation direction of the left lower lip steering engine;

similarly, when the right side of the lower lip needs to be controlled, the right lower lip steering engine is started, the right lower lip steering engine transmits the motion to the right lower lip rudder horn, the right lower lip rudder horn drives the right position of the lower lip to move, and the control of the upward or downward motion of the right position of the lower lip can be realized by controlling the rotation direction of the right lower lip steering engine.

Preferably, the mouth angle part comprises a left mouth angle and a right mouth angle, the mouth angle driving unit comprises a left upper mouth angle driving steering engine, a left lower mouth angle driving steering engine, a right upper mouth angle driving steering engine and a right lower mouth angle driving steering engine, a left upper mouth angle steering engine arm is connected to a rotating shaft of the left upper mouth angle driving steering engine, a left upper mouth angle driving connecting rod is further connected to one end, far away from the left upper mouth angle driving steering engine, of the left upper mouth angle steering engine, a left lower mouth angle steering engine arm is connected to a rotating shaft of the left lower mouth angle driving steering engine, one end, far away from the left upper mouth angle driving connecting rod, of the left lower mouth angle steering engine arm is further connected to a left lower mouth angle driving connecting rod, one end, far away from the left upper mouth angle driving connecting rod, of the left lower mouth angle driving arm, of the left lower mouth angle driving connecting rod, of the left lower mouth angle driving arm, of the left lower mouth angle driving arm, of the left mouth angle driving arm, of the left upper mouth angle driving arm, of the left lower mouth angle driving arm, of the left mouth, the upper right mouth angle steering engine is connected with an upper right mouth angle steering engine arm in a rotating shaft of the upper right mouth angle driving steering engine, the upper right mouth angle steering engine arm is far away from connection of the upper right mouth angle steering engine, one end of the upper right mouth angle driving steering engine is further connected with an upper right mouth angle driving connecting rod, the lower right mouth angle steering engine arm is connected with a lower right mouth angle steering engine arm in a rotating shaft of the lower right mouth angle driving steering engine, the lower right mouth angle steering engine arm is far away from connection of the lower right mouth angle driving connecting rod, the upper right mouth angle driving connecting rod is far away from connection of the upper right mouth angle steering engine arm, one end of the lower right mouth angle driving connecting rod is far away from connection of the lower right mouth angle driving connecting rod, and the lower right mouth angle steering engine arm is connected with the right mouth angle after being rotated and connected.

Therefore, when the left mouth corner of the mouth corner part is controlled, the rotation of the left upper mouth corner driving steering engine can be transmitted to the left upper mouth corner driving connecting rod through the left upper mouth corner steering engine arm, the rotation of the left lower mouth corner driving steering engine can be transmitted to the left lower mouth corner driving connecting rod through the left lower mouth corner steering engine arm, meanwhile, the left upper mouth corner driving connecting rod and the left lower mouth corner driving connecting rod are connected with the left mouth corner after being connected in a rotating mode, and therefore the left upper mouth corner driving steering engine and the left lower mouth corner driving steering engine can achieve common control over the motion of the left mouth corner.

Similarly, when the right mouth angle of the mouth angle part is controlled, the rotation of the right upper mouth angle driving steering engine can be transmitted to the right upper mouth angle driving connecting rod through the right upper mouth angle rudder arm, the rotation of the right lower mouth angle driving steering engine can be transmitted to the right lower mouth angle driving connecting rod through the right lower mouth angle rudder arm, meanwhile, the right upper mouth angle driving connecting rod and the right lower mouth angle driving connecting rod are connected with the right mouth angle after being connected in a rotating mode, and therefore the common control of the right mouth angle motion is realized through the right upper mouth angle driving steering engine and the right lower mouth angle driving steering engine.

To sum up, the left mouth angle and the right mouth angle are controlled by 4 steering engines, so that more complex expressions can be simulated, and the simulated expressions can be more close to real expressions of human beings.

Preferably, the upper lips comprise a first upper lip, a second upper lip and a third upper lip, the lower lips comprise a first lower lip, a second lower lip and a third lower lip, the second upper lip is axially arranged, the two ends of the second upper lip are respectively connected with the left upper lip steering engine arm and the right upper lip steering engine arm, one end of the second upper lip close to the first upper lip is connected to the left upper lip steering engine arm, one end of the second upper lip close to the third upper lip is connected to the right upper lip steering engine arm, the second lower lip is parallel to the second upper lip, the two ends of the second lower lip are respectively connected with the left lower lip steering engine arm and the right lower lip steering engine arm, one end of the second lower lip close to the second lower lip is connected to the left lower lip steering engine arm, one end of the third lower lip close to the second lower lip is connected to the right lower lip rudder horn, one end of the first upper lip, which is far away from the second upper lip, is obliquely and downwards arranged towards the outer side, one end of the first lower lip, which is far away from the end, connected with the second lower lip, is obliquely and upwards arranged towards the outer side, and one end of the first upper lip far away from the second upper lip and one end of the first lower lip far away from the second lower lip are mutually connected to form a left mouth corner, one end of the third upper lip far away from the second upper lip is obliquely and downwards arranged towards the outer side, one end of the third lower lip far away from the end connected with the second lower lip is obliquely and upwards arranged towards the outer side, and one end of the third upper lip, which is far away from the second upper lip, and one end of the third lower lip, which is far away from the second lower lip, are connected with each other to form a right mouth corner.

Thus, by providing the upper lips as the first upper lip, the second upper lip and the third upper lip and the lower lips as the first lower lip, the second lower lip and the third lower lip, it is possible to make the control of the lip portion and the lip portion more accurate.

Preferably, the lower jaw driving unit comprises a left lower jaw driving steering engine and a right lower jaw driving steering engine, a rotating shaft of the left lower jaw driving steering engine is connected with the left side of the lower jaw, and a rotating shaft of the right lower jaw driving steering engine is connected with the right side of the lower jaw;

the neck driving unit comprises a first neck driving steering engine, a second neck driving steering engine and a third neck driving steering engine, the first neck driving steering engine is used for driving the neck to axially rotate, the second neck driving steering engine is used for driving the neck to vertically rotate, and the third neck driving steering engine is used for being connected with the head skeleton to drive the head skeleton to wind the neck to axially rotate.

Therefore, when the lower jaw is controlled, the rotating shaft of the left lower jaw driving steering engine directly controls the left side of the lower jaw to move, and the rotating shaft of the lower jaw driving steering engine directly controls the right side of the lower jaw to move.

When controlling the neck, first neck drive steering wheel, second neck drive steering wheel and third neck drive steering wheel are used for realizing the rotation effect of neck in the equidirectional respectively, and then realize the rotation effect of imitative people's neck.

Drawings

Fig. 1 is a schematic front side structural view of a head structure of an expression robot according to the present invention;

fig. 2 is a schematic diagram showing the rear side structure of the head structure of the expression robot of the utility model (with the lower jaw and neck removed);

fig. 3 is a schematic structural diagram of another perspective of the back side of the head structure of the expression robot (with the lower jaw and the neck removed);

fig. 4 is a schematic diagram of a front side structure of an expression robot at an eye mechanism position in a head structure of the expression robot;

fig. 5 is a schematic diagram of a rear side structure of an eye mechanism position in a head structure of an expression robot according to the present invention;

fig. 6 is a schematic structural diagram of one of the upper and lower eyelid components and eyeball component positions in the head structure of the expression robot of the utility model;

fig. 7 is a schematic structural diagram of another view angle at the positions of an upper eyelid assembly, a lower eyelid assembly and an eyeball assembly in the head structure of the expression robot;

FIG. 8 is a schematic diagram of the structure of an eyeball component in the head structure of the expression robot;

fig. 9 is a schematic structural diagram of the head structure of the expression robot in the neck mechanism.

Description of reference numerals: the eyebrow-shaping machine comprises a head framework 1, eyebrows 2, a lower jaw 3, a first upper lip 4, a second upper lip 5, a third upper lip 6, a first lower lip 7, a second lower lip 8, a third lower lip 9, a left upper lip driving steering engine 10, a left upper lip steering engine arm 11, a right upper lip driving steering engine 12, a right upper lip steering engine arm 13, a left lower lip driving steering engine 14, a left lower lip steering engine arm 15, a right lower lip driving steering engine 16, a right lower lip steering engine arm 17, a left upper lip angle driving steering engine 18, a left upper lip angle driving connecting rod 19, a left lower lip angle driving steering engine 20, a left lower lip angle driving connecting rod 21, a left lower lip driving engine 22, a right lower lip steering engine driving engine 23, a right upper lip angle driving steering engine 24, a right upper lip angle driving connecting rod 25, a right lower lip angle driving steering engine 26, a right lower lip angle driving connecting rod 27, an eyebrow mounting seat 28, a first eyebrow driving steering engine 29, a first supporting frame 30, a left upper eyelid 31, a left eyelid driving steering engine 31, A left lower eyelid 32, a left eyeball 33, a right upper eyelid 34, a right lower eyelid 35, a right eyeball 36, a left eyelid fixing frame 37, a right eyelid fixing frame 38, an eyelid fixing column 39, a second eyebrow driving steering gear 40, a steering gear jacket 41, a left upper eyelid driving steering gear 42, a left upper eyelid rudder arm 43, a left upper eyelid driving link 44, a left lower eyelid driving steering gear 45, a left lower eyelid rudder arm 46, a left lower eyelid driving link 47, a right upper eyelid driving steering gear 48, a right upper eyelid rudder arm 49, a right upper eyelid driving link 50, a right lower eyelid driving steering gear 51, a right lower eyelid rudder arm 52, a right lower eyelid driving link 53, an eyeball left and right driving steering gear 54, an eyeball left and right rudder arm 55, a left and right left eye link 56, a right and left eye link 57, an eyeball up and down driving steering gear 58, an eyeball upper and lower eye rudder arm 59, an eyeball up and down driving link 60, a left and down link 61, a left and right eye down driving link 61, a left and right eye down rudder arm 55, a left and right eye rudder arm, a right eye rudder arm 56, a right eye rudder arm, a right eye driving rod, a left and a right eye driving rod, a right eye driving rod 50, a right eye driving rod, a driving rod driving a driving rod driving a driving rod driving a driving rod driving a driving rod driving a driving rod driving a driving rod driving a driving rod driving, A right eyeball up-down connecting rod 62, a left eyeball supporting column 63, a left eyeball rotating piece 64, a left head piece 65, a left spherical joint 66, a right eyeball supporting column 67, a right eyeball rotating piece 68, a right head piece 69, a left eyeball supporting plate 70, a right eyeball supporting plate 71, a neck framework 72, a first neck driving steering engine 73, a second neck driving steering engine 74 and a third neck driving steering engine 75.

Detailed Description

The utility model will be further explained with reference to the drawings and the embodiments.

As shown in fig. 1 to 9, a head structure of an expression robot comprises a head skeleton 1 and a neck skeleton 72, wherein an eye mechanism and a mouth mechanism are arranged on the head skeleton 1, and a neck mechanism is arranged on the neck skeleton 72;

the eye mechanism comprises an eyebrow assembly, an upper eyelid assembly, a lower eyelid assembly and an eyeball assembly, the eyebrow assembly comprises an eyebrow 2, a first eyebrow driving unit and a second eyebrow driving unit, the eyebrow of the eyebrow 2 is connected with the first eyebrow driving unit, so that the first eyebrow driving unit can drive the eyebrow 2 to rotate around the eyebrow tip of the eyebrow, and the second eyebrow driving unit is connected with the first eyebrow driving unit, so that the second eyebrow driving unit can drive the eyebrow of the eyebrow 2 to vertically move through the first eyebrow driving unit; wherein, the eyebrow 2 is made of soft material.

the eyeball assembly comprises a left eyeball 33, a right eyeball 36, a left and right eyeball driving unit and an up and down eyeball driving unit, wherein the left and right eyeball driving unit is simultaneously connected with the left eyeball 33 and the right eyeball 36 so as to drive the left eyeball 33 and the right eyeball 36 to synchronously move leftwards or rightwards, and the up and down eyeball driving unit is simultaneously connected with the left eyeball 33 and the right eyeball 36 so as to drive the left eyeball 33 and the right eyeball 36 to synchronously move upwards or downwards;

the mouth mechanism comprises a jaw assembly and a lip assembly, the jaw assembly comprises a jaw 3 and a jaw driving unit, and the jaw driving unit is connected with the jaw 3 and is used for driving the jaw 3 to realize opening and closing motions; the lip assembly comprises a lip unit, a lip driving unit and a mouth corner driving unit, the lip unit comprises a mouth lip part and a mouth corner part, the lip driving unit is connected with the lip part and used for driving the mouth lip part to move up and down, and the mouth corner driving unit is connected with the mouth corner part and used for driving the mouth corner part to move up and down;

the neck mechanism comprises a neck and a neck driving unit, and the neck driving unit is connected with the neck and used for driving the neck to rotate.

The working principle of the utility model is as follows: the head structure of this scheme expression robot is when using, when the motion of needs control eyebrow 2, first eyebrow drive unit can control eyebrow 2 and rotate around the eyebrow tip department, thereby human eyebrow 2 of simulation department contracts (frown) and the state of lax, second eyebrow drive unit drives the eyebrow vertical migration of eyebrow 2 through first eyebrow drive unit, thereby realize choosing on eyebrow 2 and the control of flagging the state, therefore, through the common control of first eyebrow drive unit and second eyebrow drive unit, can simulate out human eyebrow 2 state under multiple mood state.

When the left eyeball 36 and the right eyeball 36 need to be controlled to move up and down or left and right, the eyeball left-right driving unit is used for synchronously driving the left eyeball 36 and the right eyeball 36 to move left or right simultaneously, and the eyeball up-down driving unit is used for synchronously driving the left eyeball 36 and the right eyeball 36 to move up or down simultaneously.

When the motion of the lower jaw 3 needs to be controlled, the lower jaw driving unit is used for controlling the opening and closing motion of the lower jaw 3, meanwhile, the lip part and the mouth corner part of the lip unit are respectively sampled and driven by the lip driving unit and the mouth corner driving unit, the lip driving unit is used for driving the lip part to move up and down, and the mouth corner driving unit is used for driving the mouth corner part to move up and down, so that the lip part and the mouth corner part can be controlled more accurately.

In conclusion, the head structure of the expression robot can simulate more complicated human expression states such as various expression states of anger, surprise, fear, joy, disgust, sadness, smile, fear and the like by controlling the eyebrows 2, the upper eyelid, the lower eyelid, the left eyeball 33, the right eyeball 36, the lower jaw 3, the mouth lip part, the mouth corner part and the neck part, and simultaneously, the control on each part of the head structure is more accurate, so that the simulated human expression states are more vivid.

In this embodiment, the eyebrow 2 assembly further includes an eyebrow mount 28, the eyebrow mount 28 is fixedly connected to the head frame 1, and an eyebrow tip of the eyebrow 2 is rotatably connected to the eyebrow mount 28, so that the eyebrow 2 can rotate around the eyebrow tip, the first eyebrow driving unit includes a first eyebrow driving steering engine 29 and an eyebrow rotating link which are longitudinally arranged, one end of the eyebrow rotating link close to the first eyebrow driving steering engine 29 is fixedly connected to a rotating shaft of the first eyebrow driving steering engine 29, and one end of the eyebrow rotating link far away from the first eyebrow driving steering engine 29 is connected to the eyebrow tip of the eyebrow 2, so that when the first eyebrow driving steering engine 29 rotates, the eyebrow tip of the eyebrow 2 can be driven to rotate around the eyebrow tip by the eyebrow rotating link;

second eyebrow drive unit includes along the second eyebrow drive steering wheel 40 of axial setting, second eyebrow drive steering wheel 40 passes through steering wheel mounting fixed connection on head skeleton 1, be equipped with steering wheel overcoat 41 in first eyebrow drive steering wheel 29 overcoat, the both sides along the axial direction are equipped with first connecting sleeve and second connecting sleeve respectively on steering wheel overcoat 41, first connecting sleeve is connected with second eyebrow drive steering wheel 40's pivot, the position that corresponds with second connecting sleeve still is equipped with first support frame 30 on head skeleton 1, the second connecting sleeve rotates with first support frame 30 and is connected, so that second eyebrow drive steering wheel 40 can drive first eyebrow drive steering wheel 29 through steering wheel overcoat 41 and rotate.

Therefore, when the eyebrows 2 need to be controlled to rotate around the eyebrow tips, the first eyebrow driving steering engine 29 rotates, the first eyebrow driving steering engine 29 drives the eyebrow rotating connecting rod to rotate, the eyebrow rotating connecting rod drives the eyebrow positions of the eyebrows 2 to rotate around the eyebrow tips of the eyebrows, and therefore the contraction (cockled eyebrows) and relaxation states of the eyebrows 2 can be controlled by controlling the first eyebrow driving steering engine 29.

When the upper part of the eyebrow 2 needs to be controlled to be lifted or drooped, the second eyebrow driving steering engine 40 rotates, a rotating shaft of the second eyebrow driving steering engine 40 drives the steering engine outer sleeve 41 to vertically rotate through the first connecting sleeve, the first eyebrow driving steering engine 29 is installed on the steering engine outer sleeve 41, so the first eyebrow driving steering engine 29 can rotate along with the steering engine outer sleeve 41, the first eyebrow driving steering engine 29 further drives the eyebrow part of the eyebrow 2 to vertically move through the rotary connecting rod of the eyebrow 2, the upper part of the eyebrow 2 is lifted or drooped, and therefore the upper part of the eyebrow 2 can be controlled or the eyebrow can be controlled to be in a drooped state through the control of the second eyebrow driving steering engine 40.

To sum up, through the common control to first eyebrow drive steering wheel 29 and second eyebrow drive steering wheel 40, just can make eyebrow 2 simulate human expression under the multiple state, if the human body can move down at the glabellum position of eyebrow 2 when anger, the glabellum position of eyebrow 2 can move up when sad etc..

In this embodiment, the upper and lower eyelid assembly further includes a left eyelid fixing frame 37, a right eyelid fixing frame 38 and an eyelid fixing column 39, the left eyelid fixing frame 37 is fixedly connected to the head frame 1 on the left eyelid side, the right eyelid fixing frame 38 is fixedly connected to the head frame 1 on the right eyelid side, the eyelid fixing column 39 is fixedly connected to the head frame 1 between the left eyelid and the right eyelid, the left eyelid includes a left upper eyelid 31 and a left lower eyelid 32, the right eyelid includes a right upper eyelid 34 and a right lower eyelid 35, one side of the left upper eyelid 31 close to the left eyelid fixing frame 37 is rotatably connected to the left eyelid fixing member through the left upper eyelid 31 connecting member, one side of the left lower eyelid 32 close to the left eyelid fixing frame 37 is rotatably connected to the left eyelid fixing member through the left lower eyelid 32 connecting member, one side of the right upper eyelid 34 close to the right eyelid fixing frame 38 is rotatably connected to the right eyelid fixing member through the right upper eyelid 34 connecting member, the side of the right lower eyelid 35 close to the right eyelid fixing frame 38 is rotationally connected with the right eyelid fixing member through a right lower eyelid 35 connecting member, the sides of the left upper eyelid 31 and the right upper eyelid 34 close to the eyelid fixing column 39 are rotationally connected with the eyelid fixing column 39 through a middle upper eyelid connecting member, and the sides of the left lower eyelid 32 and the right lower eyelid 35 close to the eyelid fixing column 39 are rotationally connected with the eyelid fixing column 39 through a middle lower eyelid connecting member.

Thus, the left eyelid fixing frame 37, the right eyelid fixing frame 38 and the eyelid fixing column 39 are used for realizing the rotary support of the left eyelid and the right eyelid, wherein two ends of the left upper eyelid 31 are respectively and rotatably connected to the left eyelid fixing frame 37 and the eyelid fixing column 39 through the left upper eyelid 31 connecting piece and the middle upper eyelid connecting piece, and two ends of the left lower eyelid 32 are respectively and rotatably connected to the left eyelid fixing frame 37 and the eyelid fixing column 39 through the left lower eyelid 32 connecting piece and the middle lower eyelid connecting piece; the two ends of the right upper eyelid 34 are respectively and rotatably connected with the right eyelid fixing frame 38 and the eyelid fixing upright post 39 through the right upper eyelid 34 connecting piece and the middle upper eyelid connecting piece, and the two ends of the right lower eyelid 35 are respectively and rotatably connected with the right eyelid fixing frame 38 and the eyelid fixing upright post 39 through the right lower eyelid 35 connecting piece and the middle lower eyelid connecting piece.

In this embodiment, the left eyelid driving unit includes an upper left eyelid driving steering engine 42 and a lower left eyelid driving steering engine 45 fixedly connected to the head frame 1, a rotating shaft of the upper left eyelid driving steering engine 42 is connected with an upper left eyelid rudder arm 43, the upper left eyelid driving link rod 44 is connected to the upper left eyelid rudder arm 43, one end of the upper left eyelid driving link rod 44, which is far away from the upper left eyelid rudder arm 43, is connected with the upper left eyelid 31, so that the upper left eyelid driving link rod 44 can drive the upper left eyelid 31 to close or open when the upper left eyelid driving link rod 43 rotates; a rotating shaft of the left lower eyelid driving steering engine 45 is connected with a left lower eyelid rudder arm 46, the left lower eyelid driving link 47 is connected with the left lower eyelid driving link 46, and one end, far away from the left lower eyelid driving link 47, of the left lower eyelid driving link 47, which is connected with the left lower eyelid rudder arm 46, is connected with the left lower eyelid 32, so that the left lower eyelid driving link 47 can drive the left lower eyelid 32 to close or open when the left lower eyelid driving link 46 rotates;

the right eyelid driving unit comprises an upper right eyelid driving steering engine 48 and a lower right eyelid driving steering engine 51 which are fixedly connected to the head skeleton 1, a rotating shaft of the upper right eyelid driving steering engine 48 is connected with an upper right eyelid rudder arm 49, the upper right eyelid driving arm 49 is connected with an upper right eyelid driving connecting rod 50, one end, far away from the upper right eyelid driving connecting rod 50, of the upper right eyelid driving connecting rod 49 is connected with the upper right eyelid 34, so that the upper right eyelid driving connecting rod 50 can drive the upper right eyelid 34 to close or open when the upper right eyelid driving arm 49 rotates; a right lower eyelid driving arm 52 is connected to a rotating shaft of the right lower eyelid driving steering engine 51, a right lower eyelid driving connecting rod 53 is connected to the right lower eyelid driving arm 52, and one end, far away from the right lower eyelid driving connecting rod 53, of the right lower eyelid driving connecting rod 52 is connected with the right lower eyelid 35, so that the right lower eyelid 35 can be driven to be closed or opened through the right lower eyelid driving connecting rod 53 when the right lower eyelid driving connecting rod 52 rotates.

Thus, when the closing or opening of the upper left eyelid 31 is controlled, the upper left eyelid driving steering engine 42 rotates, the rotation of the upper left eyelid driving steering engine 42 is transmitted to the upper left eyelid driving connecting rod 44 through the upper left eyelid steering engine arm 43, and the upper left eyelid 31 is driven by the upper left eyelid driving connecting rod 44 to move, so that the closing and opening of the upper left eyelid 31 can be controlled by controlling the forward or reverse rotation of the upper left eyelid driving steering engine 42;

similarly, when the closing or opening of the left lower eyelid 32 is controlled, the left lower eyelid driving steering engine 45 rotates, the rotation of the left lower eyelid driving steering engine 45 is transmitted to the left lower eyelid driving connecting rod 47 through the left lower eyelid steering engine arm 46, and the left lower eyelid driving connecting rod 47 drives the left lower eyelid 32 to move, so that the closing and opening of the left lower eyelid 32 can be controlled by controlling the forward or reverse rotation of the left lower eyelid driving steering engine 45;

when the closing or opening of the upper right eyelid 34 is controlled, the upper right eyelid drives the steering engine 48 to rotate, the rotation of the upper right eyelid drives the steering engine 48 is transmitted to the upper right eyelid driving connecting rod 50 through the upper right eyelid rudder arm 49, and then the upper right eyelid driving connecting rod 50 drives the upper right eyelid 34 to move, so that the closing and opening of the upper right eyelid 34 can be controlled by controlling the forward or reverse rotation of the upper right eyelid driving steering engine 48;

similarly, when the closing or opening of the right lower eyelid 35 is controlled, the right lower eyelid driving steering engine 51 rotates, the rotation of the right lower eyelid driving steering engine 51 is transmitted to the right lower eyelid driving connecting rod 53 through the right lower eyelid rudder arm 52, and the right lower eyelid driving connecting rod 53 drives the right lower eyelid 35 to move, so that the closing and opening of the right lower eyelid 35 can be controlled by controlling the forward or reverse rotation of the right lower eyelid driving steering engine 51.

In this embodiment, a left eyeball carrier plate 70 is further fixedly connected to the left eyeball 33, left eyeball connecting portions are symmetrically formed on two axial sides of the left eyeball carrier plate 70, a left eyeball support post 63 is connected between the two left eyeball connecting portions, a left eyeball rotator 64 is further connected to the left eyeball support post 63, a left head part 65 is connected to one end, far away from the left eyeball support post 63, of the left eyeball rotator 64, the left head part 65 comprises a left thread portion and a left head portion, the left thread portion of the left head part 65 is in threaded connection with the left eyeball rotator 64, a left spherical joint 66 is rotatably connected to the left head portion of the left head part 65, a left spherical groove for rotatably connecting with the left head portion is formed in one end, close to the left head portion, of the left spherical joint 66, and one end, far away from the left head portion, of the left spherical joint 66 is fixedly connected to the head skeleton 1;

still fixedly connected with right eyeball support plate 71 on right eyeball 36, right eyeball connecting portion have been seted up to the axial bilateral symmetry of right eyeball support plate 71, be connected with right eyeball support post 67 between two right eyeball connecting portion, still be connected with right eyeball rotation piece 68 on right eyeball support post 67, the one end of keeping away from it and connecting right eyeball support post 67 at right eyeball rotation piece 68 is connected with right bulb 69, right bulb 69 includes right screw thread portion and right bulb portion, the right screw thread portion and the right eyeball rotation piece 68 threaded connection of right bulb 69, and rotate in the right bulb portion department of right bulb 69 and be connected with right spherical joint, the one end that right spherical joint is close to right bulb portion is seted up and is used for rotating the right spherical groove of being connected with right bulb portion, and the one end fixed connection on head skeleton 1 that right spherical joint kept away from right bulb portion.

Thus, when the left eyeball 33 rotates left and right, the left eyeball 33 will synchronously drive the left eyeball carrier plate 70, the left eyeball support column 63, the left eyeball rolling member 64 and the left eyeball head member 65 to rotate left and right, at this time, the left ball head part of the left eyeball head member 65 will rotate in the left ball groove of the left ball joint 66, and the left ball joint 66 is fixedly connected to the head framework 1, thereby realizing the rotating support and installation of the left eyeball 33 on the head framework 1.

Similarly, when the right eyeball 36 rotates left and right, the right eyeball 36 will synchronously drive the right eyeball carrier plate 71, the right eyeball support column 67, the right eyeball rolling member 68 and the right ball head member 69 to rotate left and right, at this time, the right ball head of the right ball head member 69 will rotate in the right spherical groove of the right spherical joint, and the right spherical joint is fixedly connected to the head framework 1, so that the rotation support and installation of the right eyeball 36 on the head framework 1 is realized.

In this embodiment, the left and right eyeball driving unit includes a left and right eyeball driving steering engine 54, a left and right eyeball steering engine arm 55 is connected to a rotating shaft of the left and right eyeball driving steering engine 54, a left and right eyeball driving link is further provided at an end of the left and right eyeball steering engine arm 55 remote from the end connected to the left and right eyeball driving steering engine 54, a left and right eyeball connecting rod 56 is further connected to an end of the left and right eyeball driving link close to the left eyeball, an end of the left and right eyeball connecting rod 56 remote from the end connected to the left and right eyeball driving link is connected to the left eyeball support plate 70, so that the left and right eyeball driving steering engine 54 can drive the left eyeball to move left and right through the left and right eyeball connecting rod 56 when rotating, a left and right eyeball connecting rod 57 is further connected to the left and right eyeball connecting rod 57, an end of the right and left eyeball connecting rod 57 remote from the end connected to the left and right eyeball driving link is connected to the right eyeball support plate 71, so that the right and left eyeball driving steering engine 54 can drive the right eyeball 36 and left eyeball driving engine to rotate through the right eyeball connecting rod 57 Moving to the right;

the eyeball up-down driving unit comprises an eyeball up-down driving steering gear 58, an eyeball up-down steering gear arm 59 is connected on the rotating shaft of the eyeball up-down driving steering gear 58, one end of the eyeball up-down steering gear arm 59 far away from the eyeball up-down driving steering gear 58 is also provided with an eyeball up-down driving connecting rod 60, one end of the eyeball up-down driving connecting rod 60 close to the left eyeball 33 is also connected with a left eyeball up-down connecting rod 61, one end of the left eyeball up-down connecting rod 61 far away from the eyeball up-down driving connecting rod 60 is connected with the lower end of the left eyeball supporting plate 70, so that the left eyeball up-down driving steering gear 58 can drive the left eyeball to move up and down through the left eyeball up-down connecting rod 61 when rotating, one end of the eyeball up-down driving connecting rod 60 close to the right eyeball 36 is also connected with a right eyeball up-down connecting rod 62, one end of the right eyeball up-down connecting rod 62 far away from the eyeball up-down driving connecting rod 60 is connected with the lower end of the right eyeball 71, so that the eyeball up-down driving steering engine 58 can drive the right eyeball to move up and down through the right eyeball up-down connecting rod 62 when rotating.

Thus, when the left and right movements of the left and right eyeballs 36 are to be controlled, the left and right eyeball driving steering engine 54 is started, the left and right eyeball steering engine 54 rotates to drive the left and right eyeball steering engine arms 55 to rotate left and right, the left and right eyeball steering engine arms 55 further drive the left and right eyeball driving connecting rods to rotate left and right, the left and right eyeball driving connecting rods further transmit the movements to the left and right eyeball connecting rods 56 and the right and left eyeball connecting rods 57, wherein the left and right eyeball connecting rods 56 drive the left eyeballs 33 to move left and right through the left eyeball carrier plate 70, and the right and left eyeball connecting rods 57 drive the right eyeballs 36 to move left and right through the right eyeball carrier plate 71, thereby realizing the synchronous control of the left and right eyeball driving steering engine 54 to the left and right eyeballs 36 to move left and right.

Similarly, when the up-and-down movement of the left and right eyeballs 36 is to be controlled, the eyeball up-and-down driving steering engine 58 is started, the eyeball up-and-down driving steering engine 58 rotates to drive the eyeball up-and-down rudder arm 59 to rotate up and down, the eyeball up-and-down driving link 60 further drives the eyeball up-and-down driving link 60 to rotate up and down, the eyeball up-and-down driving link 60 further transmits the movement to the left eyeball up-and-down connecting rod 61 and the right eyeball up-and-down driving link, wherein the left eyeball up-and-down connecting rod 61 drives the left eyeball 33 to move up and down through the left eyeball support plate 70, and the right eyeball up-and-down connecting rod 62 drives the right eyeball 36 to move up and down through the right eyeball support plate 71, thereby the synchronous control of the up-and-down driving steering engine 58 is realized.

In the present embodiment, the lip part includes an upper lip and a lower lip;

the lip driving unit comprises a left upper lip driving steering engine 10, a right upper lip driving steering engine 12, a left lower lip driving steering engine 14 and a right lower lip driving steering engine 16, a left upper lip rudder horn 11 is connected to a rotating shaft of the left upper lip driving steering engine 10, one end of the left upper lip rudder horn 11, which is far away from the left upper lip driving steering engine 10, is connected to the left side of an upper lip, so that the left upper lip driving steering engine 10 can drive the left side position of the upper lip to move upwards or downwards through the left upper lip rudder horn 11 when rotating, a right upper lip rudder horn 13 is connected to a rotating shaft of the right upper lip driving steering engine 12, one end of the right upper lip rudder horn 13, which is far away from the right upper lip driving steering engine 12, is connected to the right side of the upper lip driving steering engine 12, so that the right upper lip driving steering engine 12 can drive the right side position of the upper lip to move upwards or downwards through the right upper lip rudder horn 13 when rotating, and a left lower lip driving steering engine 15 is connected to a rotating shaft of the left lower lip driving steering engine 14, left lower lip rudder horn 15 is kept away from its one end of connecting left lower lip drive steering wheel 14 and is connected with the left side of lower lip, so that left lower lip drive steering wheel 14 can drive the left side position of lower lip upwards or downstream through left lower lip rudder horn 15 when rotating, connect right lower lip rudder horn 17 in the pivot of right lower lip drive steering wheel 16, right lower lip rudder horn 17 is kept away from its one end of connecting right lower lip drive steering wheel 16 and is connected with the right side of lower lip, so that right lower lip drive steering wheel 16 can drive the right side position of lower lip upwards or downstream through right lower lip rudder horn 17 when rotating.

Therefore, when the left side of the upper lip of the lip part of the mouth is controlled, the left upper lip steering engine is started, the left upper lip steering engine transmits the motion to the left upper lip steering engine arm 11, the left upper lip steering engine arm 11 drives the left side position of the upper lip to move, and the control of the upward or downward motion of the left side position of the upper lip can be realized by controlling the rotation direction of the left upper lip steering engine;

similarly, when the right side of the upper lip needs to be controlled, the upper right lip steering engine is started, the upper right lip steering engine transmits the motion to the upper right lip rudder horn 13, the upper right lip rudder horn 13 drives the right side position of the upper lip to move, and the control of the upward or downward motion of the right side position of the upper lip can be realized by controlling the rotation direction of the upper right lip steering engine.

When the left side of the lower lip of the lip part is controlled, the left lower lip steering engine is started, the left lower lip steering engine transmits the motion to the left lower lip steering engine arm 15, the left lower lip steering engine arm 15 drives the left side position of the lower lip to move, and the control of the upward or downward movement of the left side position of the lower lip can be realized by controlling the rotation direction of the left lower lip steering engine;

similarly, when the right side of the lower lip needs to be controlled, the right lower lip steering engine is started, the right lower lip steering engine transmits the motion to the right lower lip rudder horn 17, the right lower lip rudder horn 17 drives the right position of the lower lip to move, and the control of the upward or downward motion of the right position of the lower lip can be realized by controlling the rotation direction of the right lower lip steering engine.

In this embodiment, the mouth corner portion includes a left mouth corner and a right mouth corner, the mouth corner driving unit includes a left upper mouth corner driving steering engine 18, a left lower mouth corner driving steering engine 20, a right upper mouth corner driving steering engine 24 and a right lower mouth corner driving steering engine 26, a left upper mouth corner rudder arm is connected to a rotating shaft of the left upper mouth corner driving steering engine 18, a left upper mouth corner driving connecting rod 19 is further connected to one end of the left upper mouth corner rudder arm, which is far away from the end connected to the left upper mouth corner driving steering engine 18, a left lower mouth corner rudder arm is connected to a rotating shaft of the left lower mouth corner driving steering engine 20, a left lower mouth corner driving connecting rod 21 is further connected to one end of the left lower mouth corner driving connecting rod 19, which is far away from the end connected to the left upper mouth corner rudder arm, and one end of the left lower mouth corner driving connecting rod 21, which is far away from the end connected to the left lower mouth corner driving steering engine arm, are connected to the left lower mouth corner driving connecting rod 21, and then connected to the left upper mouth corner driving arm is connected to the rotating shaft of the right upper mouth corner driving steering engine 24, the one end that the right upper mouth angle rudder horn arm kept away from it and connect right upper mouth angle drive steering wheel 24 still is connected with right upper mouth angle drive connecting rod 25, be connected with right lower mouth angle rudder horn arm in the pivot of right lower mouth angle drive steering wheel 26, the one end that the right lower mouth angle rudder horn arm kept away from it and connect right lower mouth angle drive steering wheel 26 still is connected with right lower mouth angle drive connecting rod 27, the one end that its one end of connecting right upper mouth angle rudder horn arm is kept away from to right upper mouth angle drive connecting rod 25 and the one end that right lower mouth angle drive connecting rod 27 kept away from it and connect right lower mouth angle rudder horn arm rotate to be connected back and be connected with right mouth angle again.

Therefore, when the left mouth corner of the mouth corner part is controlled, the rotation of the left upper mouth corner driving steering engine 18 can be transmitted to the left upper mouth corner driving connecting rod 19 through the left upper mouth corner steering engine arm, the rotation of the left lower mouth corner driving steering engine 20 can be transmitted to the left lower mouth corner driving connecting rod 21 through the left lower mouth corner steering engine arm, meanwhile, the left upper mouth corner driving connecting rod 19 and the left lower mouth corner driving connecting rod 21 are connected with the left mouth corner after being connected in a rotating mode, and therefore the left upper mouth corner driving steering engine 18 and the left lower mouth corner driving steering engine 20 achieve common control over the movement of the left mouth corner.

Similarly, when the right mouth angle of the mouth angle part is controlled, the rotation of the right upper mouth angle driving steering engine 24 can be transmitted to the right upper mouth angle driving connecting rod 25 through the right upper mouth angle rudder arm, the rotation of the right lower mouth angle driving steering engine 26 can be transmitted to the right lower mouth angle driving connecting rod 27 through the right lower mouth angle rudder arm, meanwhile, the right upper mouth angle driving connecting rod 25 and the right lower mouth angle driving connecting rod 27 are connected with the right mouth angle after being connected in a rotating mode, and therefore the right upper mouth angle driving steering engine 24 and the right lower mouth angle driving steering engine 26 achieve common control over the movement of the right mouth angle.

In this embodiment, the upper lips include a first upper lip 4, a second upper lip 5 and a third upper lip 6, the lower lips include a first lower lip 7, a second lower lip 8 and a third lower lip 9, the second upper lip 5 is axially disposed and both axial ends of the second upper lip 5 are respectively connected to the left upper lip rudder horn 11 and the right upper lip rudder horn 13, one end of the first upper lip 4 near the second upper lip 5 is connected to the left upper lip rudder horn 11, one end of the third upper lip 6 near the second upper lip 5 is connected to the right upper lip rudder horn 13, the second lower lip 8 is parallel to the second upper lip 5, both axial ends of the second lower lip 8 are respectively connected to the left lower lip rudder horn 15 and the right lower lip rudder horn 17, one end of the first lower lip 7 near the second lower lip 8 is connected to the left lower lip rudder horn 15, one end of the third lower lip 9 near the second lower lip 8 is connected to the right lower lip rudder horn 17, the one end that second upper lip 5 was kept away from to first upper lip 4 inclines downwards to the outside, first lower lip 7 is kept away from its one end of connecting second lower lip 8 and is outwards inclined upwards setting, and first upper lip 4 is kept away from the one end of second upper lip 5 and is formed left mouth angle with first lower lip 7 one end interconnect of keeping away from second lower lip 8, the one end that second upper lip 5 was kept away from to third upper lip 6 inclines downwards to the outside, third lower lip 9 is kept away from its one end of connecting second lower lip 8 and outwards inclines upwards setting, and the one end that second upper lip 5 was kept away from to third upper lip 6 and the one end interconnect of second lower lip 8 is kept away from to third lower lip 9 form right mouth angle.

Thus, by providing the upper lips as the first upper lip 4, the second upper lip 5 and the third upper lip 6 and the lower lips as the first lower lip 7, the second lower lip 8 and the third lower lip 9, it is possible to make the control of the corners of the mouth and the lips of the mouth more accurate.

In this embodiment, the lower jaw driving unit includes a left lower jaw driving steering gear 22 and a right lower jaw driving steering gear 23, a rotating shaft of the left lower jaw driving steering gear 22 is connected to the left side of the lower jaw 3, and a rotating shaft of the right lower jaw driving steering gear 23 is connected to the right side of the lower jaw 3.

Thus, when the lower jaw 3 is controlled, the rotating shaft of the left lower jaw driving steering engine 22 directly controls the left side movement of the lower jaw 3, and the rotating shaft of the lower jaw driving steering engine directly controls the right side movement of the lower jaw 3.

In this embodiment, the neck driving unit includes a first neck driving steering engine 73, a second neck driving steering engine 74 and a third neck driving steering engine 75, the first neck driving steering engine 73 is used for driving the neck to rotate axially, the second neck driving steering engine 74 is used for driving the neck to rotate vertically, and the third neck driving steering engine 75 is used for being connected with the head skeleton 1 to drive the head skeleton 1 to rotate around the neck axially.

When controlling the neck, first neck drive steering wheel 73, second neck drive steering wheel 74 and third neck drive steering wheel 75 are used for realizing the rotation effect of neck in different directions respectively, and then realize the rotation effect of imitative people's neck.

Finally, it should be noted that the above embodiments are only used for illustrating the technical solutions of the present invention and not for limiting the technical solutions, and those skilled in the art should understand that modifications or equivalent substitutions can be made on the technical solutions of the present invention without departing from the spirit and scope of the technical solutions, and all that should be covered by the claims of the present invention.

Claims

1. The head structure of the expression robot is characterized by comprising a head skeleton and a neck skeleton, wherein the head skeleton is provided with an eye mechanism and a mouth mechanism, and the neck skeleton is provided with a neck mechanism;

2. The expressive robot head structure of claim 1, wherein the eyebrow assembly further comprises an eyebrow mount, the eyebrow mounting base is fixedly connected to the head framework, the eyebrow tip of the eyebrow is rotatably connected to the eyebrow mounting base, so that the eyebrows can rotate around the eyebrow tip, the first eyebrow driving unit comprises a first eyebrow driving steering engine and an eyebrow rotating connecting rod which are longitudinally arranged, one end of the eyebrow rotating connecting rod close to the first eyebrow driving steering gear is fixedly connected with a rotating shaft of the first eyebrow driving steering gear, and one end of the eyebrow rotating connecting rod, which is far away from the first eyebrow driving steering engine, is connected with the eyebrow position of the eyebrow, when the first eyebrow driving steering engine rotates, the eyebrows of the eyebrows can be driven to rotate around the eyebrow tips through the eyebrow rotating connecting rod;

3. The head structure of the expression robot according to claim 1, wherein the upper and lower eyelid assembly further comprises a left eyelid holder fixedly attached to the head skeleton on the left eyelid side, a right eyelid holder fixedly attached to the head skeleton on the right eyelid side, and eyelid fixing posts fixedly attached to the head skeleton between the left eyelid and the right eyelid, wherein the left eyelid comprises an upper left eyelid and a lower left eyelid, wherein the right eyelid comprises an upper right eyelid and a lower right eyelid, wherein a side of the upper left eyelid near the left eyelid holder is rotatably connected to the left eyelid fixing member by an upper left eyelid connecting member, and a side of the lower left eyelid near the left eyelid holder is rotatably connected to the left eyelid fixing member by a lower left eyelid connecting member, one side of the upper right eyelid, which is close to the right eyelid fixing frame, is rotatably connected with the right eyelid fixing member through an upper right eyelid connecting member, one side of the lower right eyelid, which is close to the right eyelid fixing frame, is rotatably connected with the right eyelid fixing member through a lower right eyelid connecting member, one sides of the upper left eyelid and the upper right eyelid, which are close to the eyelid fixing upright posts, are simultaneously rotatably connected with the eyelid fixing upright posts through the middle upper eyelid connecting member, and one sides of the lower left eyelid and the lower right eyelid, which are close to the eyelid fixing upright posts, are simultaneously rotatably connected with the eyelid fixing upright posts through the middle lower eyelid connecting member.

4. The head structure of the expression robot as claimed in claim 3, wherein the left eyelid driving unit comprises an upper left eyelid driving steering engine and a lower left eyelid driving steering engine which are fixedly connected to the head skeleton, an upper left eyelid rudder arm is connected to a rotating shaft of the upper left eyelid driving steering engine, an upper left eyelid driving connecting rod is connected to the upper left eyelid driving arm, and one end of the upper left eyelid driving connecting rod, which is far away from the upper left eyelid driving connecting rod, which is connected to the upper left eyelid driving arm is connected to the upper left eyelid, so that the upper left eyelid driving connecting rod can drive the upper left eyelid to close or open when the upper left eyelid driving connecting rod rotates; a rotating shaft of the left lower eyelid driving steering engine is connected with a left lower eyelid driving connecting rod, one end, far away from the left lower eyelid driving connecting rod, of the left lower eyelid driving connecting rod, which is connected with the left lower eyelid driving arm is connected with the left lower eyelid, so that the left lower eyelid can be driven to be closed or opened through the left lower eyelid driving connecting rod when the left lower eyelid driving connecting rod rotates;

5. The head structure of the expression robot as claimed in claim 1, wherein a left eyeball carrier plate is further fixedly connected to the left eyeball, left eye ball connecting parts are symmetrically arranged on two axial sides of the left eye ball carrier plate, a left eye ball supporting column is connected between the two left eye ball connecting parts, the left eyeball rotating piece is connected on the left eyeball supporting column, one end of the left eyeball rotating piece, which is far away from the left eyeball supporting column, is connected with a left eyeball head piece, the left ball head piece comprises a left thread part and a left ball head part, the left thread part of the left ball head piece is in threaded connection with the left ball rotating piece, and a left spherical joint is rotatably connected at the left spherical head part of the left spherical head part, a left spherical groove used for being rotatably connected with the left spherical head part is arranged at one end of the left spherical joint close to the left spherical head part, one end of the left spherical joint, which is far away from the left spherical head, is fixedly connected to the head framework;

6. The head structure of an expression robot according to claim 5, wherein the left and right eyeball driving unit comprises a left and right eyeball driving steering gear, a left and right eyeball steering gear arm is connected to a rotating shaft of the left and right eyeball driving steering gear, a left and right eyeball driving connecting rod is further arranged at one end of the left and right eyeball steering gear arm, which is far away from the end connected with the left and right eyeball driving steering gear, a left and right eyeball connecting rod is further connected to one end of the left and right eyeball driving connecting rod, which is far away from the end connected with the left and right eyeball driving connecting rod, and is connected with the left eyeball carrier plate, so that the left and right eyeball driving steering gear can drive the left eyeball to move left and right through the left and right eyeball connecting rod when rotating, and a right and left eyeball connecting rod is further connected to one end of the left and right eyeball driving connecting rod, which is near the right eyeball, one end, far away from the end connected with the left and right eyeball driving connecting rod, of the left and right eyeball connecting rod is connected with the right eyeball carrier plate, so that the left and right eyeball driving steering engine can drive the right eyeball to move left and right through the left and right eyeball connecting rod when rotating;

7. The head structure of an emoji robot according to claim 1, wherein the mouth lip portion includes an upper lip and a lower lip;

8. The head structure of the expression robot as claimed in claim 7, wherein the mouth corner part comprises a left mouth corner and a right mouth corner, the mouth corner driving unit comprises a left upper mouth corner driving steering engine, a left lower mouth corner driving steering engine, a right upper mouth corner driving steering engine and a right lower mouth corner driving steering engine, a left upper mouth corner steering engine arm is connected to a rotating shaft of the left upper mouth corner driving steering engine, the left upper mouth corner steering engine arm is far away from the left upper mouth corner driving steering engine, one end of the left upper mouth corner driving steering engine is further connected with a left upper mouth corner driving connecting rod, a left lower mouth corner steering engine arm is connected to a rotating shaft of the left lower mouth corner driving steering engine, one end of the left lower mouth corner steering engine arm, which is far away from the left upper mouth corner driving connecting rod, is connected with the left upper mouth corner steering engine arm, and one end of the left lower mouth corner driving connecting rod, which is far away from the left upper mouth corner driving connecting rod, is connected with the left lower mouth corner driving connecting rod The upper right mouth angle steering engine is connected with an upper right mouth angle steering engine arm in a rotating shaft, the upper right mouth angle steering engine arm is far away from connection of the upper right mouth angle steering engine, one end of the upper right mouth angle steering engine is further connected with an upper right mouth angle driving connecting rod, the lower right mouth angle steering engine arm is connected with a lower right mouth angle steering engine arm in a rotating shaft, the lower right mouth angle steering engine arm is far away from connection of the lower right mouth angle steering engine, one end of the lower right mouth angle driving steering engine is further connected with a lower right mouth angle driving connecting rod, the upper right mouth angle driving connecting rod is far away from connection of the upper right mouth angle steering engine arm, one end of the lower right mouth angle driving connecting rod is far away from connection of the lower right mouth angle steering engine arm, and the one end of the lower right mouth angle steering engine arm is rotated and connected with the right mouth angle.

9. The head structure of the expression robot of claim 8, wherein the upper lips include a first upper lip, a second upper lip and a third upper lip, the lower lips include a first lower lip, a second lower lip and a third lower lip, the second upper lip is axially disposed and both axial ends of the second upper lip are respectively connected to the left upper lip rudder horn and the right upper lip rudder horn, one end of the first upper lip, which is close to the second upper lip, is connected to the left upper lip rudder horn, one end of the third upper lip, which is close to the second upper lip, is connected to the right upper lip rudder horn, the second lower lip is parallel to the second upper lip, and both axial ends of the second lower lip are respectively connected to the left lower lip rudder horn and the right lower lip rudder horn, one end of the first lower lip, which is close to the second lower lip, is connected to the left lower rudder horn, one end of the third lower lip close to the second lower lip is connected to the right lower lip rudder horn, one end of the first upper lip, which is far away from the second upper lip, is obliquely and downwards arranged towards the outer side, one end of the first lower lip, which is far away from the end, connected with the second lower lip, is obliquely and upwards arranged towards the outer side, and one end of the first upper lip far away from the second upper lip and one end of the first lower lip far away from the second lower lip are mutually connected to form a left mouth corner, one end of the third upper lip far away from the second upper lip is obliquely and downwards arranged towards the outer side, one end of the third lower lip far away from the end connected with the second lower lip is obliquely and upwards arranged towards the outer side, and one end of the third upper lip, which is far away from the second upper lip, and one end of the third lower lip, which is far away from the second lower lip, are connected with each other to form a right mouth corner.

10. The head structure of the expression robot of claim 1, wherein the lower jaw driving unit comprises a left lower jaw driving steering engine and a right lower jaw driving steering engine, a rotating shaft of the left lower jaw driving steering engine is connected with the left side of the lower jaw, and a rotating shaft of the right lower jaw driving steering engine is connected with the right side of the lower jaw;