Patent ID: 8280553

Claim:
A lip moving device for use in robots, comprising: first and second lip members comprising a flexible material; a first driving part applying a torque to one end of the first lip member; a second driving part applying a torque to another end of the first lip member; a third driving part applying a torque to one end of the second lip member; a fourth driving part applying a torque to another end of the second lip member; a frame member including: a first frame mounting the first and third driving parts, a second frame mounting the second and fourth driving parts, and a supporting part, the first and second frames being pivotally coupled to the supporting part; an adjusting part configured to pivot the first and second frames relative to the supporting part so as to adjust a distance between the first and third driving parts, adjust a distance between the second and fourth driving parts, and adjust a distance between both ends of the first and second lip members; and a control part configured to control the torques of the first, second, third and fourth driving parts and further configured to drive the adjusting part.