1293571 » * 九、發明說明： 【發明所屬之技術領域】 【先前技術】 隨者科技的發展與進步，人形雷子奘罟似 見各式各樣的臉部表情’如微笑、皺·。 /、 數種用以模仿臉部表情之機構設計被提出，如美二 ：0?249510 叶，以達到模仿ί述之先剛技藝皆係利用複雜之機構設 ri，情之目的’ _造喊時，不僅較耗費時 θ而且成本亦較兩。此外，關於美國專利公告第6352 464啼 號，錢.和 以解Ξί述=明之主要射在於提供—種臉部表情驅動裝置， 【發明内容】 本發明之一範疇在於提供一種臉部表情驅動裝置，該臉部 Μ區動裝置僅藉由至少—彈性構件以及至少—致動器，即可於一 臉上呈現各式各樣的臉部表情。不僅機構設計簡單，且亦可降低 成本。 一 根據一較佳具體實施例，本發明之臉部表情(Facial expressic)n) 驅動裝置包含至少一彈性構件(Resilient版她句以及至少一致動 器（Actuator)。彈性構件係作為一臉上之一臉部部位(Fadai 1293571 传且具有一第一端以及一第二端。彈性構件之 ΐ祕=轉動樞接於致動器’且彈性構件之第二端係 或下嘴唇 致動器用以致動彈性構狀第-端轉動，致使3 邱位ϋ ;臉上呈現各式各樣的臉部表情。於此實施例中，臉π ί!__Ιί眉毛物此贿）、上眼驗(Eyelid)、下眼臉、上嘴唇“ 二端=可之臉部表情驅動裝置，由於彈性構件之第 '!·主’ίίίί會產生f曲，進而於臉上呈現各式各樣的臉部ί 个月。不僅機構設計簡單，且亦可降低成本。 ㈣表 圖 4-曰^本發明之優點與精神可以藉由以下的發明詳述及所附 式侍到進一步的瞭解。 ，ηί 【實施方式】 本發明之臉部表情(Facial expression)驅動裝置係用以致動一 =之臉部部位(Facial feature)(如眉毛、眼睛、嘴巴等），以 式各，的臉部表情。請參閱圖一，圖一係繪示一人形臉 ui^an ike face)l之示意圖。如圖一所示，人形臉i上具有眉毛 % r〇W)1〇a、10b、眼睛(Eye)20a、20b、嘴巴(Mouth)30 以及表 皮40為達到上述有關本發明之範脅，所採用之技術手段 及其餘功效，兹舉數個較佳具體實施例加以說明如下·· 第一較佳具體實施例： 第一較佳具體實施例係說明本發明之臉部表情驅動裝置用 於致動人形臉1上之眉毛10a、勘之作用原理。由於致動眉毛 10a以及10b之作用原理相同，以下乃以致動眉毛i〇a為例說明 之0 7 1293571 四’圖二鱗示根據本發明第—較佳具體實 置、12a之示意圖。圖三係繪示圖二中臉部 二二祕丨μ /之外觀視圖。圖四係緣示圖一中眉毛收、1〇b 驅動^置12a包含^^意圖。於此實施例中，臉部表情 ^ 3 弟一弹性構件(Resilient member)120、一第一 J A^uator)122 ^^-^~^^#(Resilient enclosure) 124 〇 第-弹性套124係用以包覆第一彈性構件12()，以呈現人形臉工 ^之-第-臉部部位，亦即眉毛1Ga。第―彈性構件12()具有— 苐-端々120a以及-第二端遍。如圖三所示，第一彈性構件 120之第-端120a係可轉動地樞接於第一致動器122。第一彈性 構件>120之第二端120b係被可轉動地固定於人形臉丨之表皮4〇 内。第一致動器122係用以致動第一彈性構件12〇之第一端12〇& 轉動，致使第一臉部部位(眉毛10a)可於人形臉丨上呈現各式各樣 的^部表情。舉例而言，如圖二所示，若第一致動器122致動第 彈性構件120之第一端n〇a往箭頭al的方向轉動，則眉毛 l〇a會於人形臉1上呈現如圖四所示之臉部表情(拱形）。同理，眉 毛l〇b亦可於人形臉1上呈現如圖四所示之臉部表情(拱形）。 於上述之第一實施例中，第一彈性構件12〇可為一彈簧 (Spring)或其他類似元件，且第一致動器122包含一馬達(M〇t^ (未顯示），以致動第一彈性構件120之第一端i2〇a。 於上述之第一實施例中，人形臉1之表皮40可為一彈性表 皮(Resilient skin)，且第一彈性構件120與彈性表皮4〇相連接， 藉此，彈性表皮40會與第一彈性構件120 —起被第一致動器12’2 致動，進而呈現更活潑生動之臉部表情。 ^ 於另一較佳具體實施例中，第一彈性構件120亦可直接連梦 在表皮40之背面，而不須第一彈性套124，即可呈現如圖四所示 之臉部表情。 12935711293571 » * IX. Description of the invention: [Technical field to which the invention belongs] [Prior Art] With the development and progress of the technology, the humanoid Leizi looks like a variety of facial expressions such as smiles and wrinkles. /, Several kinds of institutional designs to imitate facial expressions are proposed, such as the United States 2: 0? 249,510 leaves, in order to achieve the imitation of the first few techniques are using complex institutions to set up ri, the purpose of love ' _ shout In time, it is not only time consuming but also costly. In addition, with regard to U.S. Patent Publication No. 6352 464, the main object of the present invention is to provide a facial expression driving device, and an aspect of the present invention provides a facial expression driving device. The facial motion device can present a variety of facial expressions on one face only by at least an elastic member and at least an actuator. Not only is the design of the mechanism simple, but it also reduces costs. According to a preferred embodiment, the Facial Expressic n) driving device of the present invention comprises at least one elastic member (Resilient version and at least an actuator). The elastic member is used as a face. A face portion (Fadai 1293571 transmits and has a first end and a second end. The secret of the elastic member = pivotally pivoted to the actuator ' and the second end of the elastic member or the lower lip actuator is used to actuate the bullet The first end of the sexual configuration turns, resulting in 3 邱 ϋ; the face presents a variety of facial expressions. In this embodiment, the face π ί! __ Ι 眉 eyebrows this bribe), Eyelid (Eyelid), Lower eye face, upper lip "Two end = can face facial expression drive device, because the elastic member of the first!! The main ' ̄ ̄ ̄ ̄ ̄ ̄ ̄ ̄ ̄ ̄ ̄ ̄ ̄ ̄ ̄ ̄ ̄ ̄ ̄ ̄ ̄ ̄ ̄ ̄ ̄ ̄ ̄ ̄ ̄ ̄ ̄ ̄ ̄ ̄ ̄ ̄ Not only the mechanism design is simple, but also the cost can be reduced. (4) Table 4 - The advantages and spirit of the present invention can be further understood by the following detailed description of the invention and the accompanying formula. ηί [Embodiment] The present invention Facial expression drive system It is used to activate a Facial feature (such as eyebrows, eyes, mouth, etc.), and various facial expressions. Please refer to Figure 1. Figure 1 shows a human face ui^an ike face Figure 1. As shown in Figure 1, the human face i has eyebrows % r〇W)1〇a, 10b, eyes (Eye) 20a, 20b, mouth (Mouth) 30 and skin 40 to achieve the above related invention The technical means and other functions used are described in the following preferred embodiments. First preferred embodiment: The first preferred embodiment illustrates the facial expression of the present invention. The driving device is used to actuate the eyebrows 10a on the human face 1 and the principle of action of the eyebrows. Since the action principle of the actuating eyebrows 10a and 10b is the same, the following is an example of actuating the eyebrows i〇a as an example. 0 7 1293571 4' Figure 2 The scale shows a schematic view of the first preferred embodiment according to the present invention, and 12a. Figure 3 is a view showing the appearance of the face 22 in the second part of Fig. 2. The figure 4 shows the eyebrows in the first figure. b drive ^ 12a contains ^ ^ intention. In this embodiment, facial expression ^ 3 brother - elastic structure Resilient member 120, a first JA ^ uator) 122 ^ ^ - ^ ~ ^ ^ ^ (Resilient enclosure) 124 〇 first - elastic sleeve 124 is used to cover the first elastic member 12 () to present human form The face-of-face portion, that is, the eyebrows 1Ga. The first elastic member 12() has a 苐-end 々 120a and a second end. As shown in FIG. 3, the first elastic member 120 is - The end 120a is rotatably pivotally coupled to the first actuator 122. The second end 120b of the first elastic member > 120 is rotatably fixed in the skin 4 of the human face. The first actuator 122 is configured to actuate the first end 12 〇 & rotation of the first elastic member 12 so that the first facial portion (the eyebrow 10a) can present a variety of parts on the human face expression. For example, as shown in FIG. 2, if the first actuator 122 actuates the first end n〇a of the first elastic member 120 to rotate in the direction of the arrow al, the eyebrows l〇a will appear on the human face 1 as The facial expression (arched) shown in Figure 4. In the same way, the eyebrows l〇b can also present the facial expression (arched) as shown in Figure 4 on the human face 1. In the first embodiment described above, the first elastic member 12A may be a spring or the like, and the first actuator 122 includes a motor (not shown) to actuate the first The first end i2〇a of the elastic member 120. In the first embodiment described above, the skin 40 of the human face 1 may be a Resilient skin, and the first elastic member 120 is connected to the elastic skin 4 Thereby, the elastic skin 40 is actuated by the first actuator 12'2 together with the first elastic member 120, thereby presenting a more lively and vivid facial expression. ^ In another preferred embodiment, An elastic member 120 can also directly dream on the back of the skin 40 without the first elastic sleeve 124, and can present a facial expression as shown in FIG.
t I 第二較佳具體實施例： 除邮ii閱圖五係緣示根據本發明第二較佳具體實施例之 =表=驅動裝置12a’之示意圖。臉部表情驅動裝置l2a，與臉部 ϋ動裝置ua主料同之處在於臉部表無絲置i2a，另包 二，器126.°第—彈性構件120之第二端_係可轉動 樞接於第一致動器126。第二致動器126係配合第一致 致動第一彈性構件120之第二端120b轉動’致使第一臉^ =部表情驅，裝置12a，之作用原理與圖三中之臉部表情驅動J | 置12a相同，在此不再贅述。 於上狀第二實施例中，第二致動器、126包含一馬達(未顯 不），以致動第一彈性構件120之第二端12%。 . 第三較佳具體實施例·· 第二較佳具體實施例係說明本發明之臉部表 1 20a.20b i it之作用原理相同，以下乃以_目«撕二3 > 212 ，眼睛施包含一上眼驗以及一下眼瞼 请參酬-、圖六以及圖七，圖六彳轉示根據本發明第三 之ίΓ表情驅動裝置22a之示意圖。圖七係綠^ 二中眼目月20a、施於人形臉丨上呈現臉部表情之示意圖。 實施例中，臉部表情驅動裝置22a包含一第一彈性構件 、— f 一致動器222、-第-彈性套224、-第二彈性構件226、 三致動器228以及一第二彈性套230。第一彈性 f 覆第-彈性構件220，以呈現人形臉丨上之 即眼睛20a之上眼驗200，並且第二彈性套23〇係用以^第亦 彈性構件226，以呈現人形臉！上之一第二臉部部位，亦即目^ 9 1293571 〒〇a之上眼驗202。第-彈性構件220具有一第一端論以及一 ^-端220b，並且第二彈性構件226具有一第篇以及一 弟四端226b。 μ位如ΐ六所不’第一彈性構件220之第一端220a係可轉動地 一致動器222，且第一彈性構件220之第二端雇係被 了，動地固定於人形臉1之表皮4〇内。第二彈性構件226之第 二端226a係可轉動地樞接於第三致動器228，且第二彈性構件 =26之第四端226b係被可轉動地固定於人形臉丨之表皮4〇内。 f 一致動器222係用以致動第-彈性構件22〇之第一端2施轉 動，並且第三致動器228係用以致動第二彈性構件226之第三端 226a轉動，致使第一臉部部位(眼睛2〇a之上眼瞼2〇〇)以及第二 臉部部位(眼睛施之下眼臉2〇2)可於人形臉1 i呈現各式各樣的 臉部表情。舉例而言，如圖六所示，若第一致動$ 222致動第一 生構件220之第一端220a往箭頭a2的方向轉動，且第三致動 f 228致動第二彈性構件226之第三端226a往箭頭^的方向轉 動，則眼睛?0a之上眼瞼200以及下眼瞼202會於人形臉、上呈 現如圖七所示之臉部表情(眼睛20a張開）。同理，眼睛2〇b亦可 於人形臉1上呈現如圖七所示之臉部表情(眼睛施張開）。 於上述之第三實施例中，第一彈性構件22〇以及第二彈性構 ，226可分別為一彈簧或其他類似元件，且第一致動器222以及 第二致動器228分別包含一馬達(未顯示），以致動第一彈性構件 220之第一端22〇a以及第二彈性構件226之第三端226a。 於上述之第三實施例中，人形臉丨之表皮4〇可為一彈性表 皮，且第一彈性構件220以及第二彈性構件226分別與彈性表皮 相連接，藉此，彈性表皮40會與第一彈性構件220以及第二 彈性構件226 —起被第一致動器222以及第三致動器228致動， 進而呈現更活潑生動之臉部表情。 1293571 I j 第四較佳具體實施例·· 清參閱圖八’圖八係繪示根據本發明第四較佳具體實施例之 臉=表情驅動裝置22a，之示意圖。臉部表情驅動裝置22a，與臉部 • 表^驅動裝置22a主要不同之處在於臉部表情驅動裝置22a，係利 • 用，動态232取代第三致動器228與第一致動器222，以同時 =動弟彈性構件220以及第二彈性構件226。圖八中之臉部表 U驅動裝置22a’之作用原理與圖六中之臉部表情驅動裝置22a相 同’在此不再贊述。 弟五較佳具體實施例： 請參閱圖九，圖九係繪示根據本發明第五較佳具體實施例之 臉1表情驅動裝置22a”之示意圖。臉部表情驅動裝置22a，，與臉部 土情，動裝置22a主要不同之處在於臉部表情驅動裝置22a，，另包 含了第二致動器234以及一第四致動器236。第一彈性構件220 之第二端f20b係可轉動地樞接於第二致動器234，且第二彈性構 件^26之第四端22你係可轉動地樞接於第四致動器236。第二致 ，器234係配合第一致動器222以致動第一彈性構件22〇之第二 端22〇\轉動，並且第四致動器236係配合第三致動器228以致 ❿ f第二彈性構件226之第四端226b轉動，致使第-臉部部位(眼 目月20a之上眼瞼2〇〇)以及第二臉部部位(眼睛施之下眼瞼2〇2)可 =人形巧，1上主現各式各樣的臉部表情。圖九中之臉部表情驅動 裝置22a”之作用原理與圖六中之臉部表情驅動裝置22&相同， 此不再贅述。 於上述之第五實施例十，第二致動器234以及第四致動器 236分別包含一馬達(未顯示），以致動第一彈性構件22〇之第二端 220b以及第二彈性構件226之第四端226b。 於上述之第五實施例中，第四致動器236與第二致動器234 亦可設計為同一致動器，視實際應用而定。 11 1293571t I Second Preferred Embodiment: A schematic diagram of a display device 12a' according to a second preferred embodiment of the present invention is shown. The facial expression driving device l2a is the same as the facial swaying device ua, and the facial table is not provided with the wire i2a, and the second device 126.° the second end of the elastic member 120 is a pivotable pivot Connected to the first actuator 126. The second actuator 126 is coupled to the second end 120b of the first actuating first elastic member 120 to rotate 'to cause the first face ^= part of the expression drive, the device 12a, the principle of action and the facial expression drive in FIG. J | is the same as 12a, and will not be described here. In the upper second embodiment, the second actuator, 126 includes a motor (not shown) to actuate the second end 12% of the first resilient member 120. Third Preferred Embodiment The second preferred embodiment describes the principle of the face table 1 20a.20b i it of the present invention. The following is the same as _目«撕二3 > 212 , eyes The application includes an upper eye test and a blink of an eye, please refer to -, Figure 6 and Figure 7, and Figure 6 shows a schematic diagram of the third expression driving device 22a according to the present invention. Figure 7 is a schematic diagram of the face expression on the human eye face 20a. In an embodiment, the facial expression driving device 22a includes a first elastic member, an f-actuator 222, a first-elastic sleeve 224, a second elastic member 226, a three-actuator 228, and a second elastic sleeve 230. . The first elasticity f covers the first-elastic member 220 to present the eye 200 on the human face, that is, the eye 20a, and the second elastic sleeve 23 is used to form the human face! On the second part of the upper part, that is, the eye examination 202 on the head of 9 1293571 〒〇a. The first elastic member 220 has a first end theory and a ^-end 220b, and the second elastic member 226 has a first piece and a fourth end 226b. The first end 220a of the first elastic member 220 is a rotatable actuator 222, and the second end of the first elastic member 220 is erected and fixed to the human face 1 The epidermis is within 4 inches. The second end 226a of the second elastic member 226 is rotatably pivotally connected to the third actuator 228, and the fourth end 226b of the second elastic member=26 is rotatably fixed to the skin of the human face. Inside. f. The actuator 222 is configured to actuate the first end 2 of the first elastic member 22 to rotate, and the third actuator 228 is configured to actuate the third end 226a of the second elastic member 226 to rotate, causing the first face The part (the eyelid 2睑 above the eye 2〇a) and the second face part (the eye face 2〇2 under the eye) can present a variety of facial expressions on the human face 1 i. For example, as shown in FIG. 6, if the first actuation $222 actuates the first end 220a of the first living member 220 to rotate in the direction of the arrow a2, and the third actuation f228 acts to actuate the second elastic member 226 When the third end 226a is rotated in the direction of the arrow ^, the eyelid 200 and the lower eyelid 202 above the eye ?0a will present a facial expression (the eyes 20a are open) as shown in Fig. 7 on the human face. Similarly, the eye 2〇b can also present the facial expression shown in Figure 7 on the human face 1 (eye opening). In the third embodiment described above, the first elastic member 22 and the second elastic structure 226 may each be a spring or the like, and the first actuator 222 and the second actuator 228 respectively include a motor. (not shown) to actuate the first end 22A of the first resilient member 220 and the third end 226a of the second resilient member 226. In the third embodiment, the skin of the human face can be an elastic skin, and the first elastic member 220 and the second elastic member 226 are respectively connected to the elastic skin, whereby the elastic skin 40 is combined with the first An elastic member 220 and the second elastic member 226 are actuated together by the first actuator 222 and the third actuator 228 to present a more lively and vivid facial expression. 1293571 Ij Fourth Preferred Embodiment FIG. 8 is a schematic view showing a face=expression driving device 22a according to a fourth preferred embodiment of the present invention. The facial expression driving device 22a is mainly different from the facial surface driving device 22a in that the facial expression driving device 22a is used in place of the third actuator 228 and the first actuator 222. To simultaneously control the elastic member 220 and the second elastic member 226. The face of the face table U driver 22a' operates in the same manner as the face expression driver 22a of Fig. 6 and will not be described here. 5 is a preferred embodiment of the present invention: Referring to FIG. 9, FIG. 9 is a schematic diagram showing a face 1 expression driving device 22a" according to a fifth preferred embodiment of the present invention. The facial expression driving device 22a, and the face The earth moving device 22a mainly differs in the facial expression driving device 22a, and further includes a second actuator 234 and a fourth actuator 236. The second end f20b of the first elastic member 220 is rotatable. The second end of the second elastic member 26 is pivotally connected to the fourth actuator 236. The second actuator 234 is coupled to the first actuator 236. The second end 22 〇 \ of the first elastic member 22 is actuated to rotate, and the fourth actuator 236 is engaged with the third actuator 228 such that the fourth end 226b of the second elastic member 226 is rotated, thereby causing The first-face part (eyelid 2睑 above the eye 20a) and the second face part (eyes 2睑2 under the eye) can be a humanoid shape, and a variety of facial expressions are displayed on the main body. The function of the facial expression driving device 22a" in Fig. 9 is the same as that of the facial expression driving device 22& No longer. In the fifth embodiment tenth described above, the second actuator 234 and the fourth actuator 236 respectively include a motor (not shown) for actuating the second end 220b of the first elastic member 22 and the second elastic member 226. The fourth end 226b. In the fifth embodiment described above, the fourth actuator 236 and the second actuator 234 may also be designed as the same actuator, depending on the actual application. 11 1293571
» I 第六較佳具體實施例： 請參閱圖十，圖十係繪示圖一 ， 臉部表情之示意圖。如圖—所示 於人形臉1上呈現 . 及一下嘴唇302。於此實施例中，包含一上嘴唇300以 於致動人形臉1上之嘴巴30之你田气月之臉部表情驅動裝置用 •㈤’在林再魏。如圖切示上述之第三實施例相 開，進而呈現各式各樣的臉2ί。302轉動時，嘴巴％會被打 φ 第七較佳具體實施例： 請參閱圖六、圖十、圖十—以乃 _卞一係繪不圖十中嘴巴3〇於人形 丨〜口 =臉部表情驅動裝置32與臉部表情驅動裝 部表情驅動裝置32進-步包含一第五致動器320,第 二ΪΪΪ 3以及一第二連桿組324。第一連桿組您包含-Ϊ 含以ίΓ第一短連桿3挪’並且第二連桿組324包 麄第一 第二短連桿32仙。如圖十一所示， ❿ # J連杯、现係错由樞紐地與第二長連桿324a樞接在- 長連桿322a係藉由樞紐340b與第一短連桿322b樞接 在一起，並且第二長連桿324a係藉由搞紐340(^干第 接在—起。第—短連桿322b以及第二短連桿现分別ί 接於第五致動器320上之一轉盤3200。 如圖十一所示，第五致動器320係藉由第一連桿組322與第 一致動严222以及第三致動器228相連接，並且藉由第二連^旱組 324與第二致動器234以及第四致動器236相連接，藉此，當第 五致動器320致動轉盤32〇〇轉動時，第一短連桿322b9以及g二 短連才干324b可分別帶動第一長連桿322a以及第二長連桿324a產 12 1293571 閉合之動作，進而調整第-彈性構件22〇以及 f _嘴唇3_合，膽人形臉〗上 十—中之臉部表雜動裝置32之仙原理與圖 八中之臉^卩表丨月驅動裝置22a相同，在此不再贅述。 -於上述之第七實施例中，第五致動$ 32〇 示）’以致動第-連桿、组322以及第二連桿組324。馬達(未-頁 於上述之第七實施例中’第三致動器228與第—致 ΐίΐ為t致動器，第四致動器236與第二致動器234 ^可設 汁為同一致動器，視實際應用而定。 口 紐根據本發日狀料表情鶴裝置，當致動 器致動彈性構件之苐-端轉動時，彈性構 rif飾為臉眉毛、眼睛、嘴巴等，並可進—步盘彈性矣 3 潑生動之臉部表情。本發明之臉 動裝置不僅機構汉汁簡早，且亦可降低成本。 藉由以上較佳具體實樹列之詳述，係清 ΐΙΤ^Τ"5 及限制。相反地’其目的是希望能涵蓋各種改變 明所欲申請之專利範圍的範嘴内。因 *本發麟中μ之專利祀圍的範脅應該根據上 一解釋’以致使其涵蓋所有可能的改變以及具相等性的安^寬 13 J29357l t 【圖式簡單說明】 阖一係繪示一人形臉之示意圖。 裝置示根據本發日謂—較佳频實_之臉部表情驅動 圖三係綠示圖二愤部表情鶴裝置之外觀視圖。 圖四鱗示圖一中眉毛於人形臉上呈現臉部表情之示意圖。 |置ίίίί示根據本發明第二較佳具體實施例之臉部表情驅動 襄置根據本發明第三較佳具體實施例之臉部表情驅動 圖七鱗示圖-令眼睛於人形臉上呈現臉部表情之示意圖。 裳置發明第四較佳具體實施例之臉部表情驅動 裝置树料五較佳具體實施例之臉部表情驅動 圖十騎示圖-中嘴巴於人形臉上呈現臉部表情之示意圖。 動裝示根據本發明第七較佳具體實施例之臉部表情驅 圖。圖十二係繪示圖十中嘴巴於人形臉上呈現臉部表情之示意 【主要元件符號說明】 14 1293571 I Ϊ 1 :人形臉 10a、10b ·眉毛 12a、12a’、22a、22a’、22a”、32 :臉部表情驅動裝置 120、220 ··第一彈性構件 120a、220a ··第一端 120b、220b ··第二端 122、222 :第一致動器 124、224 :第一彈性套 126、234 ··第二致動器 20a、20b ··眼睛 200 :上眼瞼 > 202 :下眼瞼 226 :第二彈性構件 226a ··第三端 226b ··第四端 228 ··第三致動器 230 :第二彈性套 232 :致動器 236 :第四致動器 30 :嘴巴 300 :上嘴唇 302 :下嘴唇 320 ··第五致動器 > 3200 :轉盤 322 :第一連桿組 324 :第二連桿組 322a :第一長連桿 322b :第一短連桿 324a :第二長連桿 324b :第二短連桿 340a、340b、340c :樞紐 40 :表皮 al、a2、a3 :指示方向之箭頭 15» I Sixth preferred embodiment: Please refer to FIG. 10, and FIG. 10 is a schematic diagram of FIG. 1 and facial expression. As shown in the figure, it is presented on the human face 1 and the lips 302. In this embodiment, an upper lip 300 is included to actuate the facial expression driving device of the mouth 30 of the human face 1 (5) in Lin Weiwei. As shown in the figure, the third embodiment described above is shown, and a variety of faces are presented. When the 302 rotates, the mouth will be hit by φ. Seventh preferred embodiment: Please refer to Figure 6, Figure 10, Figure 10 - to the _ 卞 卞 绘 绘 十 十 十 十 十 十 十 十 十 十 十 〇 〇 〇 〇 脸 脸 脸 脸 脸 脸 脸 脸The facial expression driving device 32 and the facial expression driving facial expression driving device 32 further include a fifth actuator 320, a second jaw 3 and a second link group 324. The first link set includes - Ϊ Γ the first short link 3 move ' and the second link set 324 includes the first second short link 32 仙. As shown in FIG. 11 , the J #J连杯, now the wrong link is pivotally connected to the second long link 324a by the pivotal link - the long link 322a is pivotally connected to the first short link 322b by the hinge 340b. And the second long link 324a is connected to the fifth actuator 320 by the button 340. The first short link 322b and the second short link are respectively connected to the fifth actuator 320. 3200. As shown in FIG. 11, the fifth actuator 320 is connected to the first actuation 222 and the third actuator 228 by the first linkage 322, and by the second linkage group 324 is coupled to the second actuator 234 and the fourth actuator 236, whereby the first short link 322b9 and the g-short connection 324b when the fifth actuator 320 actuates the turntable 32〇〇 to rotate The first long link 322a and the second long link 324a can respectively drive the closing action of 12 1293571, thereby adjusting the first elastic member 22〇 and the f_lip 3_ combined, the daring face 〗 The principle of the squirrel device 32 is the same as that of the 驱动 驱动 驱动 驱动 驱动 驱动 驱动 22 22 图 图 。 。 。 。 。 。 。 。 。 。 。 。 。 。 。 。 。 。 。 。 。 。 。 。 。 。 Shown' to actuate the first link, the set 322, and the second link set 324. The motor (not in the seventh embodiment described above) the third actuator 228 and the first actuator are t actuators, and the fourth actuator 236 and the second actuator 234 can be set to be the same The actuator is determined according to the actual application. According to the hair-type expression crane device of the present invention, when the actuator is actuated to rotate the 苐-end of the elastic member, the elastic rif is decorated as a face, eye, mouth, and the like. It can be advanced - the step elastic 矣 3 splashes the vivid facial expression. The facial motion device of the present invention not only has a simple Chinese juice, but also reduces the cost. With the details of the above specific concrete tree, the system clears ΐΙΤ^Τ"5 and restrictions. On the contrary, the purpose is to cover all kinds of patents that are intended to cover the scope of the patent application. Because the scope of the patent of the patent is based on the previous explanation. 'Let it cover all possible changes and equality of the width of the 13 J29357l t [Simple diagram of the diagram] 阖 系 绘 绘 绘 绘 示意图 示意图 。 。 。 。 。 。 。 。 。 。 。 。 。 。 。 。 。 。 。 。 。 。 。 。 Facial expression driving diagram three series green diagram two anger facial expression crane device appearance Figure 4 is a schematic view showing the facial expression of the eyebrow on the human face. The facial expression driving device according to the second preferred embodiment of the present invention is according to a third preferred embodiment of the present invention. The facial expression driving diagram of the embodiment is a seven-scale diagram - a schematic diagram for presenting a facial expression on the human face. The preferred embodiment of the facial expression driving device of the fourth preferred embodiment of the present invention The facial expression driving diagram 10 riding diagram - the middle mouth is a schematic diagram showing the facial expression on the human face. The moving body shows the facial expression driving diagram according to the seventh preferred embodiment of the present invention. Figure 10 shows the expression of the facial expression on the human face. [Main component symbol description] 14 1293571 I Ϊ 1 : Human face 10a, 10b · Eyebrows 12a, 12a', 22a, 22a', 22a", 32: Face Expression driving device 120, 220 · · First elastic member 120a, 220a · First end 120b, 220b · Second end 122, 222: First actuator 124, 224: First elastic sleeve 126, 234 · · Second actuator 20a, 20b · eye 200: upper睑> 202: lower eyelid 226: second elastic member 226a · third end 226b · fourth end 228 · third actuator 230: second elastic sleeve 232: actuator 236: fourth actuation 30: mouth 300: upper lip 302: lower lip 320 · fifth actuator> 3200: turntable 322: first link set 324: second link set 322a: first long link 322b: first Short link 324a: second long link 324b: second short link 340a, 340b, 340c: hub 40: skins a1, a2, a3: arrow 15 indicating direction