CN110026995B - Head structure of simulation robot - Google Patents
Head structure of simulation robot Download PDFInfo
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- CN110026995B CN110026995B CN201910322843.6A CN201910322843A CN110026995B CN 110026995 B CN110026995 B CN 110026995B CN 201910322843 A CN201910322843 A CN 201910322843A CN 110026995 B CN110026995 B CN 110026995B
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- 238000004088 simulation Methods 0.000 title claims abstract description 20
- 210000000744 eyelid Anatomy 0.000 claims abstract description 122
- 230000009471 action Effects 0.000 claims abstract description 110
- 230000007246 mechanism Effects 0.000 claims abstract description 90
- 210000004709 eyebrow Anatomy 0.000 claims abstract description 86
- 210000005252 bulbus oculi Anatomy 0.000 claims abstract description 83
- 210000003128 head Anatomy 0.000 claims abstract description 62
- 210000001508 eye Anatomy 0.000 claims description 97
- 230000001815 facial effect Effects 0.000 claims description 6
- 230000008878 coupling Effects 0.000 claims description 3
- 238000010168 coupling process Methods 0.000 claims description 3
- 238000005859 coupling reaction Methods 0.000 claims description 3
- 230000036541 health Effects 0.000 claims description 2
- 230000008921 facial expression Effects 0.000 abstract description 4
- 210000005069 ears Anatomy 0.000 description 6
- 210000001847 jaw Anatomy 0.000 description 5
- 230000014509 gene expression Effects 0.000 description 4
- VYPSYNLAJGMNEJ-UHFFFAOYSA-N Silicium dioxide Chemical compound O=[Si]=O VYPSYNLAJGMNEJ-UHFFFAOYSA-N 0.000 description 2
- 230000008859 change Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 238000012423 maintenance Methods 0.000 description 2
- 210000004373 mandible Anatomy 0.000 description 2
- 239000000741 silica gel Substances 0.000 description 2
- 229910002027 silica gel Inorganic materials 0.000 description 2
- 230000008602 contraction Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 230000002452 interceptive effect Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000001360 synchronised effect Effects 0.000 description 1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/0005—Manipulators having means for high-level communication with users, e.g. speech generator, face recognition means
- B25J11/0015—Face robots, animated artificial faces for imitating human expressions
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
- B25J17/02—Wrist joints
- B25J17/0258—Two-dimensional joints
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Health & Medical Sciences (AREA)
- Audiology, Speech & Language Pathology (AREA)
- General Health & Medical Sciences (AREA)
- Human Computer Interaction (AREA)
- Manipulator (AREA)
- Toys (AREA)
Abstract
The invention discloses a head structure of a simulation robot, belongs to the technical field of simulation robots, and aims to solve the problems that the simulation degree of the head structure of a traditional simulation robot is low, and the human facial expression cannot be highly restored. Comprises a head frame, and a head shaking mechanism, a lip mechanism, an eyelid mechanism, an eyebrow mechanism, an eyeball mechanism and a lower jaw mechanism which are arranged inside the head frame. The head structure of the simulation robot provided by the invention is flexible in action, high in simulation degree, pneumatic in driving mode, economical and practical, and the action is not as rigid as the action of the traditional model.
Description
Technical Field
The invention relates to a robot, in particular to a head structure of a simulation robot, and belongs to the technical field of simulation robots.
Background
The head structure of the high-simulation humanoid robot can highly restore the human expression, has higher degree of freedom, and can realize the interactive action of fine and subtle expression change and coordination flexibility. The characters can be vividly expressed in the heart world through the change of the expressions. The head structure of the existing robot mostly adopts a motor or a steering engine, the size is difficult to control, and the cost is high; the installation space is narrow and small, and the structure of mechanism is too compact, brings very big difficulty for maintenance and maintenance, and too complicated structure still can bring very big and unknown problem for control to traditional robot facial action is few, and the simulation degree is not high.
Disclosure of Invention
The invention aims to provide a head structure of a simulation robot, and solves the problems that the simulation degree of the head structure of the conventional simulation robot is low, and the human facial expression cannot be highly restored.
A head structure of a simulation robot comprises a head frame, and a head shaking mechanism, a lip mechanism, an eyelid mechanism, an eyebrow mechanism, an eyeball mechanism and a lower jaw mechanism which are arranged inside the head frame.
Preferably: the head shaking mechanism comprises a neck support, a head shaking rotating shaft, a universal joint coupler, a lower double-lug cylinder seat, a head shaking cylinder, a head nodding cylinder, a neck short shaft and an upper double-lug cylinder seat;
neck support fixed mounting is on one side inner wall of head frame, the top of the pivot of shaking head is connected with the bottom of neck minor axis through the universal joint shaft coupling, the top of neck minor axis is connected with the neck support, the bottom of the pivot of shaking head is connected with health mechanism, it installs down ears cylinder block and last ears cylinder block on pivot of shaking head and the neck minor axis respectively, the both ends of shaking the head cylinder are articulated with the first otic placode of lower ears cylinder block and the first otic placode of last ears cylinder block respectively, the both ends of nodding the head cylinder are articulated with the second otic placode of lower ears cylinder block and the second otic placode of last ears cylinder block respectively.
Preferably: the lip mechanism comprises a mouth connecting plate, a mouth rotating shaft, a mouth cylinder connecting seat, a lower jaw action plate, a mouth cylinder, a lip supporting seat and a lip action connecting rod;
mouth connecting plate symmetry is installed on the bottom inner wall of head frame, the both ends of mouth pivot are rotated with two mouth connecting plates respectively and are connected, fixed mounting has mouth cylinder connecting seat and chin connecting seat in the mouth pivot, mouth cylinder connecting seat is located the middle department of mouth pivot, the chin connecting seat is located the one end of mouth pivot, fixed mounting has chin action plate on the chin connecting seat, the one end of mouth cylinder is articulated with mouth cylinder otic placode on the mouth cylinder connecting seat, the other end of mouth cylinder is articulated with the one end of lip action connecting rod, the middle part of lip action connecting rod is articulated with chin action plate through the lip supporting seat, lip action plate is installed to the end of lip action connecting rod.
Preferably: the lower jaw mechanism comprises a lower jaw cylinder fixing plate, a lower jaw cylinder connecting seat, a lower jaw cylinder and a lower jaw action connecting rod;
one end of a lower jaw air cylinder fixing plate is connected with the neck support, a lower jaw air cylinder connecting seat is fixedly mounted at the other end of the lower jaw air cylinder fixing plate, one end of a lower jaw air cylinder is hinged to the lower jaw air cylinder connecting seat, the other end of the lower jaw air cylinder is hinged to one end of a lower jaw action connecting rod, and the other end of the lower jaw action connecting rod is fixedly connected with the mouth rotating shaft.
Preferably: the eyebrow mechanism comprises an eye lifting rod support, a cross rod support, a face lifting cross rod, an eyebrow action lifting frame, an eyebrow rotating shaft sleeve, an eyebrow rotating shaft, an eyebrow action connecting rod, an eyebrow cylinder, an eyebrow action connecting sheet, an eyebrow fixing seat and an eyebrow connecting rod;
eye hoist and mount pole support symmetry sets up on head frame's inner wall, fixed mounting has the horizontal pole support on the eye hoist and mount pole support, install facial hoist and mount horizontal pole between two horizontal pole supports, eye eyebrow action hoist and mount frame fixed mounting is at head frame top, and be located facial hoist and mount horizontal pole the place ahead, the eye eyebrow pivot is installed in eye eyebrow action hoist and mount frame bottom through eye eyebrow pivot cover, the one end of eye eyebrow action connecting rod is connected with facial hoist and mount horizontal pole, the other end of eye eyebrow action connecting rod is articulated with the one end of eye eyebrow cylinder, the other end of eye eyebrow cylinder is articulated with the one end of eye eyebrow action connection piece, the other end of eye eyebrow action connection piece is connected with the eye eyebrow pivot, the symmetry is provided with the eye eyebrow fixing base in the eye eyebrow pivot, install the eye eyebrow connecting rod on the eye eyebrow fixing base.
Preferably: the eyelid mechanism comprises an eyelid hoisting rod, a first eyelid hoisting block, an eyelid action connecting rod, a second eyelid hoisting block, a face action transverse plate, an eyelid rotating shaft support, an eyelid rotating shaft seat, an eyelid support, a right eye mounting seat, a right eye supporting rod, an eyelid cylinder support, an eyelid cylinder mounting seat, an eyelid cylinder, an eyelid action sheet, a left eye mounting seat and a left eye supporting rod;
the top end of the eyelid hoisting rod is connected with the face hoisting cross rod, the bottom end of the eyelid hoisting rod is connected with the first eyelid hoisting block, one end of the eyelid action connecting rod is fixedly arranged on the first eyelid hoisting block, the other end of the eyelid action connecting rod is connected with the eyelid rotating shaft support, the eyelid rotating shaft seat is fixedly arranged on the eyelid rotating shaft support, the second eyelid hoisting block is fixedly arranged on the eyelid action connecting rod, the bottom end of the second eyelid hoisting block is provided with a face action transverse plate, the face action transverse plate is symmetrically provided with a right eye mounting seat and a left eye mounting seat, the right eye mounting seat and the left eye mounting seat are respectively provided with a right eye supporting rod and a left eye supporting rod, the tail end of the right eye supporting rod is fixedly provided with an eyelid cylinder support, the eyelid cylinder mounting seat is arranged on the eyelid cylinder support, one end of the eyelid cylinder is hinged with the eyelid cylinder mounting seat, and the other end of the eyelid cylinder is hinged with the top end of the eyelid support, the bottom of the eyelid support is hinged with the eyelid rotating shaft seat, and eyelid action pieces are arranged on the side walls of the two sides of the eyelid support.
Preferably: the eyeball mechanism comprises an eyeball cylinder seat, an eyeball support, a right eyeball seat, a left eyeball seat, an eyeball action connecting rod, an eyeball cylinder and an eyeball connecting block;
the eyeball cylinder seat is fixedly installed on the right eye supporting rod, the right eye ball seat and the left eye ball seat are respectively installed on the right eye supporting rod and the left eye supporting rod through the eyeball support in a rotating mode, two ends of the eyeball action connecting rod are respectively hinged with the right eye ball seat and the left eye ball seat, the front ends of the right eye ball seat and the left eye ball seat are respectively provided with an eyeball connecting block, one end of the eyeball cylinder is hinged with the eyeball cylinder seat, and the other end of the eyeball cylinder is hinged with the right eyeball seat.
Compared with the existing product, the invention has the following effects:
1. the structure is simple, the control is convenient, the degree of freedom of the mechanism is sufficient, and the simulation index is higher;
2. the design of each mechanism in the head structure can better realize facial expression and vivid image; the head shaking mechanism, the eyelid action mechanism, the eyebrow mechanism, the eyeball mechanism, the mouth opening mechanism and the lip action mechanism can realize rich facial expressions;
3. the whole structure is not closed, and the unsaturated structure provides more abundant space for appearance connection, so that the appearance of the silica gel cannot be torn by the amplitude of mechanical movement in combination with the appearance, and the silica gel is more convenient to mount, maintain, overhaul and the like;
4. the driving mode adopts pneumatics, and the action is no longer general harsh to the action of the former machine die, and is economical and practical.
Drawings
FIG. 1 is a schematic structural diagram of a head structure of a simulation robot;
FIG. 2 is a side view of FIG. 1;
FIG. 3 is a schematic structural diagram of the oscillating mechanism;
FIG. 4 is a side view of FIG. 3;
FIG. 5 is a schematic view of the lip mechanism;
FIG. 6 is a side view of the lip mechanism;
FIG. 7 is a schematic view of the structure of the mandible mechanism;
FIG. 8 is a side view of the mandible mechanism;
FIG. 9 is a schematic structural view of the eyebrow mechanism;
FIG. 10 is a front view of the eyebrow mechanism;
FIG. 11 is a side view of FIG. 10;
FIG. 12 is a schematic view of the eyelid mechanism;
FIG. 13 is a front view of the eyelid mechanism;
FIG. 14 is a sectional view A-A of FIG. 13;
FIG. 15 is a schematic view of the eye mechanism;
fig. 16 is a side view of the eye mechanism.
In the figure: 5-pan mechanism, 501-neck support, 502-pan pivot, 503-universal joint coupler, 504-lower binaural cylinder base, 505-pan cylinder, 506-nod cylinder, 507-neck minor axis, 508-upper binaural cylinder base, 6-lip mechanism, 601-mouth connecting plate, 602-mouth pivot, 603-mouth cylinder connecting base, 604-chin connecting base, 605-chin action plate, 606-mouth cylinder ear plate, 607-mouth cylinder, 608-lip supporting base, 609-lip action link, 7-eyelid mechanism, 701-eyelid hoisting rod, 702-first eyelid hoisting block, 704-eyelid action link, 704-second eyelid hoisting block, 705-facial action, diaphragm 706-eyelid pivot support, 707-eyelid rotating shaft seat, 708-eyelid support, 709-right eye mounting seat, 710-right eye supporting rod, 711-eyelid cylinder support, 712-eyelid cylinder mounting seat, 713-eyelid cylinder, 714-eyelid action piece, 715-left eye mounting seat, 716-left eye supporting rod, 8-eyebrow mechanism, 801-eye lifting rod support, 802-cross rod support, 803-face lifting cross rod, 804-eyebrow action lifting frame, 805-eyebrow rotating shaft sleeve, 806-eyebrow rotating shaft, 807-eyebrow action connecting rod, 808-eyebrow cylinder, 809-eyebrow action connecting piece, 810-eyebrow fixing seat, 811-eyebrow connecting rod, 9-eyeball mechanism, 901-eyeball cylinder seat, 902-eyeball support, 903-right eye ball seat, 904-left eye ball seat, 905-eyeball action connecting rod, 906-eyeball cylinder, 907-eyeball connecting block, 10-lower jaw mechanism, 1001-lower jaw cylinder fixing plate, 1002-lower jaw cylinder connecting seat, 1003-lower jaw cylinder, 1004-lower jaw action connecting rod and 14-head frame.
Detailed Description
Preferred embodiments of the present invention are explained in detail below with reference to the accompanying drawings.
Embodiment 1, as shown in fig. 1 and 2, the head structure of the simulation robot according to the present invention comprises a head frame 14, and a head shaking mechanism 5, a lip mechanism 6, an eyelid mechanism 7, an eyebrow mechanism 8, an eyeball mechanism 9, and a chin mechanism 10 which are mounted inside the head frame 14.
The facial action is completed by the synchronous or independent movement of the oscillating mechanism 5, the lip mechanism 6, the eyelid mechanism 7, the eyebrow mechanism 8, the eyeball mechanism 9 and the lower jaw mechanism 10.
Embodiment 2, as shown in fig. 3 and 4, the pan mechanism 5 includes a neck support 501, a pan spindle 502, a universal joint coupling 503, a lower binaural cylinder block 504, a pan cylinder 505, a nodding cylinder 506, a neck stub shaft 507, and an upper binaural cylinder block 508;
The oscillating mechanism mainly comprises two groups of double-stroke double-acting cylinders and is fixedly connected to the main support rod through the hinge joint of the fixing ring. The whole head structure can move back and forth and left and right through control, and one group of cylinders can move and the other group of cylinders can play a role in limitation under the condition that the other group of cylinders does not move, so that the movement is not completely single, and the movement is combined.
Embodiment 3, as shown in fig. 5 to 8, the lip mechanism 6 includes a mouth connecting plate 601, a mouth rotating shaft 602, a mouth cylinder connecting base 603, a chin connecting base 604, a chin operating plate 605, a mouth cylinder 607, a lip supporting base 608, and a lip operating link 609;
the lower jaw mechanism 10 comprises a lower jaw cylinder fixing plate 1001, a lower jaw cylinder connecting seat 1002, a lower jaw cylinder 1003 and a lower jaw action connecting rod 1004;
the mouth connecting plates 601 are symmetrically arranged on the inner wall of the bottom end of the head frame 14, two ends of the mouth rotating shaft 602 are respectively rotatably connected with the two mouth connecting plates 601, a mouth cylinder connecting seat 603 and a lower jaw connecting seat 604 are fixedly arranged on the mouth rotating shaft 602, the mouth cylinder connecting seat 603 is positioned in the middle of the mouth rotating shaft 602, the lower jaw connecting seat 604 is positioned at one end of the mouth rotating shaft 602, a lower jaw action plate 605 is fixedly arranged on the lower jaw connecting seat 604, one end of the mouth cylinder 607 is hinged with a mouth cylinder lug plate 606 on the mouth cylinder connecting seat 603, the other end of the mouth cylinder 607 is hinged with one end of a lip action connecting rod 609, the middle part of the lip action connecting rod 609 is hinged with the lower jaw action plate 605 through a lip supporting seat 608, and the lip action plate is arranged at the tail end of the lip action connecting rod 609;
one end of a lower jaw cylinder fixing plate 1001 is connected with the neck support 501, the other end of the lower jaw cylinder fixing plate 1001 is fixedly provided with a lower jaw cylinder connecting seat 1002, one end of a lower jaw cylinder 1003 is hinged with the lower jaw cylinder connecting seat 1002, the other end of the lower jaw cylinder 1003 is hinged with one end of a lower jaw action connecting rod 1004, and the other end of the lower jaw action connecting rod 1004 is fixedly connected with the mouth rotating shaft 602.
A lower jaw mechanism: connect a set of single pole double-stroke cylinder back to back in neck department, its one end is articulated with chin cylinder connecting seat and is fixed on the head support body, realizes opening and closing of two degrees of chin action board through the flexible of cylinder, is applicable to the abundant occasion of expression.
A lip operating mechanism: the single-rod double-stroke cylinder is fastened on the mouth rotating shaft through a mouth cylinder connecting seat, and the telescopic action of the cylinder enables the hinged lip action connecting rod to realize the up-and-down movement of the throat node and simultaneously complete the lip action.
Embodiment 4, as shown in fig. 9 to 16, the eyebrow mechanism 8 includes an eye lifting rod support 801, a cross rod support 802, a face lifting cross rod 803, an eyebrow lifting frame 804, an eyebrow rotating shaft sleeve 805, an eyebrow rotating shaft 806, an eyebrow moving connecting rod 807, an eyebrow cylinder 808, an eyebrow moving connecting piece 809, an eyebrow fixing seat 810, and an eyebrow connecting rod 811;
eye lifting rod supports 801 are symmetrically arranged on the inner wall of a head frame 14, cross rod supports 802 are fixedly arranged on the eye lifting rod supports 801, a face lifting cross rod 803 is arranged between the two cross rod supports 802, an eye eyebrow action lifting frame 804 is fixedly arranged on the top of the head frame 14 and is positioned in front of the face lifting cross rod 803, an eye eyebrow rotating shaft 806 is arranged at the bottom end of the eye eyebrow action lifting frame 804 through an eye eyebrow rotating shaft sleeve 805, one end of an eye eyebrow action connecting rod 807 is connected with the face lifting cross rod 803, the other end of the eye eyebrow action connecting rod 807 is hinged with one end of an eye eyebrow cylinder 808, the other end of the eye eyebrow cylinder 808 is hinged with one end of an eye eyebrow action connecting sheet 809, the other end of the eye eyebrow action connecting sheet 809 is connected with the eye eyebrow rotating shaft 806, eye eyebrow fixing seats 810 are symmetrically arranged on the eye eyebrow rotating shaft 806, and eye eyebrow connecting rods 811 are arranged on the eye eyebrow fixing seats 810;
the eyelid mechanism 7 comprises an eyelid hoisting rod 701, a first eyelid hoisting block 702, an eyelid action connecting rod 703, a second eyelid hoisting block 704, a face action transverse plate 705, an eyelid rotating shaft support 706, an eyelid rotating shaft seat 707, an eyelid support 708, a right eye mounting seat 709, a right eye supporting rod 710, an eyelid cylinder support 711, an eyelid cylinder mounting seat 712, an eyelid cylinder 713, an eyelid action sheet 714, a left eye mounting seat 715 and a left eye supporting rod 716;
the top end of the eyelid hoisting rod 701 is connected with the face hoisting cross bar 803, the bottom end of the eyelid hoisting rod 701 is connected with the first eyelid hoisting block 702, one end of the eyelid action connecting rod 703 is fixedly arranged on the first eyelid hoisting block 702, the other end of the eyelid action connecting rod 703 is connected with the eyelid rotating shaft support 706, the eyelid rotating shaft support 707 is fixedly arranged on the eyelid rotating shaft support 706, the second eyelid hoisting block 704 is fixedly arranged on the eyelid action connecting rod 703, the bottom end of the second eyelid hoisting block 704 is provided with the face action transverse plate 705, the face action transverse plate 705 is symmetrically provided with a right eye mounting seat 709 and a left eye mounting seat 715, the right eye mounting seat 709 and the left eye mounting seat 715 are respectively provided with a right eye supporting rod 710 and a left eye supporting rod 716, the tail end of the right eye supporting rod 710 is fixedly provided with an eyelid cylinder support 711, the eyelid cylinder support 711 is provided with an eyelid cylinder mounting seat 712, one end of the eyelid cylinder 713 is hinged with the eyelid cylinder mounting seat 712, the other end of the eyelid cylinder 713 is hinged with the top end of the eyelid support 708, the bottom end of the eyelid support 708 is hinged with the eyelid rotating shaft seat 707, and eyelid action pieces 714 are arranged on the side walls of the two sides of the eyelid support 708;
the eyeball mechanism 9 comprises an eyeball cylinder seat 901, an eyeball support 902, a right eyeball seat 903, a left eyeball seat 904, an eyeball action connecting rod 905, an eyeball cylinder 906 and an eyeball connecting block 907;
an eyeball cylinder seat 901 is fixedly arranged on a right eyeball support rod 710, a right eyeball seat 903 and a left eyeball seat 904 are respectively and rotatably arranged on the right eyeball support rod 710 and a left eyeball support rod 716 through an eyeball support 902, two ends of an eyeball action connecting rod 905 are respectively hinged with the right eyeball seat 903 and the left eyeball seat 904, eyeball connecting blocks 907 are respectively arranged at the front ends of the right eyeball seat 903 and the left eyeball seat 904, one end of an eyeball cylinder 906 is hinged with the eyeball cylinder seat 901, and the other end of the eyeball cylinder 906 is hinged with the right eyeball seat 903.
The eyebrow mechanism is driven by a group of single-rod double-stroke cylinders, one end of the eyebrow mechanism is hinged with the fixing ring through the connecting seat, so that the eyebrow mechanism is fixed on the eye general hoisting cross rod support to realize positioning, the other end of the eyebrow mechanism is hinged with the fisheye joint for the eyebrow connecting piece, and the eyebrow mechanism is opened and closed through the expansion and contraction of the cylinders.
The eyelid mechanism is driven by a group of single-rod double-stroke cylinders, one end of the eyelid mechanism is hinged with the eyelid action cylinder support through a fisheye joint, so that the eyelid mechanism is fixed on the right eye support rod to achieve positioning, the other end of the eyelid mechanism is hinged with the eyelid connecting piece through the fisheye joint, and the eyelid mechanism is opened and closed through the stretching of the cylinders, wherein the lengthened piston rod is selected due to space limitation.
The eyeball driving unit is connected by a group of single-rod double-stroke cylinders which are arranged back to back, wherein one end of the eyeball driving unit is hinged with the eyeball action cylinder bracket through a fisheye joint to provide positioning, and the other end of the eyeball driving unit is connected with the eyeball part to realize the rotation of the left position, the middle position and the right position of the eyeball.
This embodiment is only illustrative of the patent and does not limit the scope of protection thereof, and those skilled in the art can make modifications to its part without departing from the spirit of the patent.
Claims (4)
1. A head structure of a simulation robot is characterized in that: comprises a head frame (14), and a head shaking mechanism (5), a lip mechanism (6), an eyelid mechanism (7), an eyebrow mechanism (8), an eyeball mechanism (9) and a lower jaw mechanism (10) which are arranged inside the head frame (14);
the eyeball mechanism (9) comprises an eyeball cylinder seat (901), an eyeball support (902), a right eyeball seat (903), a left eyeball seat (904), an eyeball action connecting rod (905), an eyeball cylinder (906) and an eyeball connecting block (907);
the eye brow mechanism (8) comprises an eye lifting rod support (801), a cross rod support (802), a face lifting cross rod (803), an eye brow action lifting frame (804), an eye brow rotating shaft sleeve (805), an eye brow rotating shaft (806), an eye brow action connecting rod (807), an eye brow cylinder (808), an eye brow action connecting sheet (809), an eye brow fixing seat (810) and an eye brow connecting rod (811);
eye hoisting rod supports (801) are symmetrically arranged on the inner wall of a head frame (14), a cross rod support (802) is fixedly arranged on the eye hoisting rod support (801), a face hoisting cross rod (803) is arranged between the two cross rod supports (802), an eye eyebrow action hoisting frame (804) is fixedly arranged at the top of the head frame (14) and is positioned in front of the face hoisting cross rod (803), an eye eyebrow rotating shaft (806) is arranged at the bottom end of the eye eyebrow action hoisting frame (804) through an eye eyebrow rotating shaft sleeve (805), one end of an eye eyebrow action connecting rod (807) is connected with the face hoisting cross rod (803), the other end of the eye eyebrow action connecting rod (807) is hinged with one end of an eye eyebrow cylinder (808), the other end of the eye eyebrow cylinder (808) is hinged with one end of an eye eyebrow action (809), the other end of the eye eyebrow action connecting rod (809) is connected with the eye eyebrow rotating shaft (806), the eyebrow rotating shaft (806) is symmetrically provided with eyebrow fixing seats (810), and eyebrow connecting rods (811) are arranged on the eyebrow fixing seats (810);
the eyelid mechanism (7) comprises an eyelid hoisting rod (701), a first eyelid hoisting block (702), an eyelid action connecting rod (703), a second eyelid hoisting block (704), a facial action transverse plate (705), an eyelid rotating shaft support (706), an eyelid rotating shaft seat (707), an eyelid support (708), a right eye mounting seat (709), a right eye supporting rod (710), an eyelid cylinder support (711), an eyelid cylinder mounting seat (712), an eyelid cylinder (713), an eyelid action sheet (714), a left eye mounting seat (715) and a left eye supporting rod (716);
the top end of the eyelid hoisting rod (701) is connected with a face hoisting cross rod (803), the bottom end of the eyelid hoisting rod (701) is connected with a first eyelid hoisting block (702), one end of an eyelid action connecting rod (703) is fixedly arranged on the first eyelid hoisting block (702), the other end of the eyelid action connecting rod (703) is connected with an eyelid rotating shaft support (706), an eyelid rotating shaft seat (707) is fixedly arranged on the eyelid rotating shaft support (706), a second eyelid hoisting block (704) is fixedly arranged on the eyelid action connecting rod (703), a face action transverse plate (705) is arranged at the bottom end of the second eyelid hoisting block (704), a right eye mounting seat (709) and a left eye mounting seat (715) are symmetrically arranged on the face action transverse plate (705), a right eye supporting rod (710) and a left eye supporting rod (716) are respectively arranged on the right eye mounting seat (709) and the left eye mounting seat (715), an eyelid cylinder support (711) is fixedly arranged at the tail end of the right eye supporting rod (710), an eyelid cylinder mounting seat (712) is mounted on the eyelid cylinder support (711), one end of the eyelid cylinder (713) is hinged to the eyelid cylinder mounting seat (712), the other end of the eyelid cylinder (713) is hinged to the top end of the eyelid support (708), the bottom end of the eyelid support (708) is hinged to the eyelid rotating shaft seat (707), and eyelid action pieces (714) are mounted on the side walls of the two sides of the eyelid support (708);
the eyeball cylinder seat (901) is fixedly installed on the right eye supporting rod (710), the right eye ball seat (903) and the left eye ball seat (904) are respectively installed on the right eye supporting rod (710) and the left eye supporting rod (716) in a rotating mode through the eyeball support (902), two ends of the eyeball action connecting rod (905) are respectively hinged with the right eye ball seat (903) and the left eye ball seat (904), eyeball connecting blocks (907) are installed at the front ends of the right eye ball seat (903) and the left eye ball seat (904), one end of the eyeball cylinder (906) is hinged with the eyeball cylinder seat (901), and the other end of the eyeball cylinder (906) is hinged with the right eye ball seat (903).
2. A head structure of a dummy robot according to claim 1, wherein: the head shaking mechanism (5) comprises a neck support (501), a head shaking rotating shaft (502), a universal joint coupler (503), a lower double-lug cylinder seat (504), a head shaking cylinder (505), a head nodding cylinder (506), a neck short shaft (507) and an upper double-lug cylinder seat (508);
neck support (501) fixed mounting is on the one side inner wall of head frame (14), the top of pivot of shaking the head (502) is connected with the bottom of neck minor axis (507) through universal joint shaft coupling (503), the top of neck minor axis (507) is connected with neck support (501), the bottom of pivot of shaking the head (502) is connected with health mechanism (3), it is articulated with the first otic placode of lower binaural cylinder seat (504) and last binaural cylinder seat (508) to install respectively on pivot of shaking the head (502) and neck minor axis (507), the both ends of shaking the head cylinder (505) are articulated with the first otic placode of lower binaural cylinder seat (504) and the first otic placode of last binaural cylinder seat (508), the both ends of nodding cylinder (506) are articulated with the second otic placode of lower binaural cylinder seat (504) and the second otic placode of last binaural cylinder seat (508) respectively.
3. A head structure of a dummy robot according to claim 1, wherein: the lip mechanism (6) comprises a mouth connecting plate (601), a mouth rotating shaft (602), a mouth air cylinder connecting seat (603), a lower jaw connecting seat (604), a lower jaw action plate (605), a mouth air cylinder (607), a lip supporting seat (608) and a lip action connecting rod (609);
the mouth connecting plates (601) are symmetrically arranged on the inner wall of the bottom end of the head frame (14), two ends of a mouth rotating shaft (602) are respectively rotatably connected with the two mouth connecting plates (601), a mouth cylinder connecting seat (603) and a lower jaw connecting seat (604) are fixedly arranged on the mouth rotating shaft (602), the mouth cylinder connecting seat (603) is positioned in the middle of the mouth rotating shaft (602), the lower jaw connecting seat (604) is positioned at one end of the mouth rotating shaft (602), the lower jaw connecting seat (604) is fixedly arranged on a lower jaw action plate (605), one end of a mouth cylinder (607) is hinged with a mouth cylinder ear plate (606) on the mouth cylinder connecting seat (603), the other end of the mouth cylinder (607) is hinged with one end of a lip action connecting rod (609), the middle of the lip action connecting rod (609) is hinged with the lower jaw action plate (605) through a supporting seat (608), and the tail end of the lip action plate is arranged at the end of the lip action connecting rod (609).
4. A head structure of a dummy robot according to claim 3, wherein: the lower jaw mechanism (10) comprises a lower jaw cylinder fixing plate (1001), a lower jaw cylinder connecting seat (1002), a lower jaw cylinder (1003) and a lower jaw action connecting rod (1004);
one end of the lower jaw air cylinder fixing plate (1001) is connected with the neck support (501), the other end of the lower jaw air cylinder fixing plate (1001) is fixedly provided with a lower jaw air cylinder connecting seat (1002), one end of the lower jaw air cylinder (1003) is hinged to the lower jaw air cylinder connecting seat (1002), the other end of the lower jaw air cylinder (1003) is hinged to one end of a lower jaw action connecting rod (1004), and the other end of the lower jaw action connecting rod (1004) is fixedly connected with the mouth rotating shaft (602).
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| CN201910322843.6A CN110026995B (en) | 2019-04-22 | 2019-04-22 | Head structure of simulation robot |
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| CN108081245A (en) * | 2017-12-26 | 2018-05-29 | 欢乐飞（上海）机器人有限责任公司 | A kind of robot head structure of tongue strip expression |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP3963162B2 (en) * | 2003-08-28 | 2007-08-22 | ソニー株式会社 | Robot apparatus and control method of robot apparatus |
| US7740953B2 (en) * | 2008-02-12 | 2010-06-22 | Disney Enterprises, Inc. | Skin system with elastic components having differing hardnesses for use with robotics |
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Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101820399A (en) * | 2010-01-22 | 2010-09-01 | 曾超宁 | Touch communication doll capable of vividly expressing emotional information |
| CN102133483A (en) * | 2010-01-26 | 2011-07-27 | 深圳华强智能技术有限公司 | Simulation shrimp |
| CN107053210A (en) * | 2017-06-06 | 2017-08-18 | 江苏金刚文化科技集团股份有限公司 | A kind of robot head device and robot |
| CN107618044A (en) * | 2017-09-26 | 2018-01-23 | 上海大学 | A kind of head eye coordination telecontrol equipment for anthropomorphic robot |
| CN108081245A (en) * | 2017-12-26 | 2018-05-29 | 欢乐飞（上海）机器人有限责任公司 | A kind of robot head structure of tongue strip expression |
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