CN103056880A - Simulated monkey robot head structure - Google Patents
Simulated monkey robot head structure Download PDFInfo
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- CN103056880A CN103056880A CN2012105902027A CN201210590202A CN103056880A CN 103056880 A CN103056880 A CN 103056880A CN 2012105902027 A CN2012105902027 A CN 2012105902027A CN 201210590202 A CN201210590202 A CN 201210590202A CN 103056880 A CN103056880 A CN 103056880A
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- lip
- opening
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- eyelid
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- 241000282693 Cercopithecidae Species 0.000 title claims abstract description 45
- 210000003128 head Anatomy 0.000 claims abstract description 51
- 210000001508 eye Anatomy 0.000 claims abstract description 46
- 210000000744 eyelid Anatomy 0.000 claims abstract description 43
- 230000014509 gene expression Effects 0.000 claims abstract description 37
- 210000002050 maxilla Anatomy 0.000 claims description 23
- 206010061991 Grimacing Diseases 0.000 claims description 6
- 238000004088 simulation Methods 0.000 abstract description 2
- 230000007246 mechanism Effects 0.000 description 15
- 230000000694 effects Effects 0.000 description 8
- 238000010586 diagram Methods 0.000 description 4
- 210000005252 bulbus oculi Anatomy 0.000 description 2
- 230000001413 cellular effect Effects 0.000 description 2
- 238000010276 construction Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000004418 eye rotation Effects 0.000 description 1
- 238000009434 installation Methods 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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- Engineering & Computer Science (AREA)
- Health & Medical Sciences (AREA)
- Audiology, Speech & Language Pathology (AREA)
- General Health & Medical Sciences (AREA)
- Human Computer Interaction (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Toys (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a simulated monkey robot head structure. The simulated monkey robot head structure comprises a lower jaw unit, eye and eyelid units and an upper jaw and lip unit, and in the lower jaw unit, mouth opening expressions are completed by opening and closing movements of a lower jaw plate; in the eye and eyelid units, sidelong glance expressions are completed by leftward and rightward rotations of eyes, and eye opening and closing expressions are completed by opening and closing of eyelid; and in the upper jaw and lip unit, grinning expressions are completed by opening and closing of upper and lower lips and grinning of left and right lips. The simulated monkey robot head structure has the advantages that the simulation degree is high, various expressions of a monkey can be simulated, and tourists can experience lovely and naughty features of the monkey.
Description
Technical field
The present invention relates to a kind of amusement robot, relate in particular to a kind of monkey robot head structure of emulation.
Background technology
Tourism has experienced three epoch: the first generation with natural resources as support; The second generation is take the city amusement as feature; The third generation is the theme park of various simulations, micro type.
Entered for the 4th generation at present, because its floor space is maximum, scientific and technological content is the highest, technology is most advanced, image is the most true to nature, the sight spot maximum, content is the abundantest.In current popular the 4th generation theme park, adopted a large amount of amusement robots to build various atmosphere, bring the visitor novelty, stimulate, unforgettable experiences of travelling, quality and the popularity of raising theme park are travelled to attract more visitor to make a visit to.
Summary of the invention
The monkey robot head structure that the purpose of this invention is to provide the high emulation of a kind of fidelity.
The objective of the invention is to be achieved through the following technical solutions:
The monkey robot head structure of emulation of the present invention comprises lower jaw unit, eyes and eyelid unit, maxilla and lip unit;
In the described lower jaw unit, the expression of opening one's mouth is finished in the opening and closing campaign of maxillary plate;
In described eyes and the eyelid unit, the eyes left-right rotation is finished the stravismus expression, and the eyelid opening and closing are finished and opened the expression of closing one's eyes;
In described maxilla and the lip unit, the expression of grinning of grimacing is finished in two actions of splitting of upper and lower lip opening and closing and left and right lip.
As seen from the above technical solution provided by the invention, the monkey robot head structure of the emulation that the embodiment of the invention provides is owing to comprise lower jaw unit, eyes and eyelid unit, maxilla and lip unit; In the lower jaw unit, the expression of opening one's mouth is finished in the opening and closing campaign of maxillary plate; In eyes and the eyelid unit, the eyes left-right rotation is finished the stravismus expression, and the eyelid opening and closing are finished and opened the expression of closing one's eyes; In maxilla and the lip unit, the expression of grinning of grimacing is finished in two actions of splitting of upper and lower lip opening and closing and left and right lip.Fidelity is high, can construct the multiple expression of monkey, makes tourist experience arrive the lovely and naughty of monkey.
Description of drawings
The overall structure schematic diagram of the monkey robot head structure of the emulation that Fig. 1 provides for the embodiment of the invention;
Fig. 2 is the structural representation of lower jaw unit in the embodiment of the invention;
Fig. 3 a is the structural representation one of eyes and eyelid unit in the embodiment of the invention;
Fig. 3 b is the structural representation two of eyes and eyelid unit in the embodiment of the invention;
Fig. 4 a is the structural representation one of maxilla and lip unit in the embodiment of the invention;
Fig. 4 b is the structural representation two of maxilla and lip unit in the embodiment of the invention.
The specific embodiment
The below will be described in further detail the embodiment of the invention.
The monkey robot head structure of emulation of the present invention, its better specific embodiment is:
Comprise lower jaw unit, eyes and eyelid unit, maxilla and lip unit;
In the described lower jaw unit, the expression of opening one's mouth is finished in the opening and closing campaign of maxillary plate;
In described eyes and the eyelid unit, the eyes left-right rotation is finished the stravismus expression, and the eyelid opening and closing are finished and opened the expression of closing one's eyes;
In described maxilla and the lip unit, the expression of grinning of grimacing is finished in two actions of splitting of upper and lower lip opening and closing and left and right lip.
Described lower jaw unit comprises chin opening and closing driver element, and the lever arm of described chin opening and closing driver element drives the opening and closing campaign of described maxillary plate by connecting rod.
Described eyes and eyelid unit comprise eyes wobble drive unit, eyelid driver element, the lever arm of described eyes wobble drive unit drives the left-right rotation of described eyes by connecting rod, and the lever arm of described eyelid driver element drives the opening and closing of described eyelid by connecting rod.
Described maxilla and lip unit comprise upper lip fixed head, lower lip fixed head and lip opening and closing driver element, the lever arm of described lip opening and closing driver element drives the opening and closing of described upper lip fixed head by connecting rod, and described upper lip fixed head drives described lower lip fixed head interlock opening and closing by connecting rod.
Described maxilla and lip unit also comprise grin connecting rod and lip left and right sides driver element, and the lever arm of described lip left and right sides driver element drives swinging of the described connecting rod of grinning by connecting rod.
The present invention according to existing the 4th generation the theme park the scene needs, the monkey robot head structure of height emulation is provided, the multiple expression of structure monkey makes tourist experience arrive the lovely and naughty of monkey.
In the described emulation monkey of preferred embodiment of the present invention robot head structure, described maxilla unit is the fixed installation modeling structure.
In the described emulation monkey of preferred embodiment of the present invention robot head structure, described lower jaw unit comprises lower jaw driver element and movable connecting rod mechanism.Described lower jaw moves up and down by movable connecting rod mechanism under the effect of lower jaw driver element.When rudder arm in position the time, lower jaw is the normality mouth, is closed position.When lifting on the rudder arm, lower jaw opens and is the posture of opening one's mouth.
In the described emulation monkey of preferred embodiment of the present invention robot head structure, described eyes unit comprises eyes wobble drive unit and movable connecting rod mechanism.Described eyes swing by the movable connecting rod link gear under the effect of eyes wobble drive unit.When eyes lever arm in position the time, eyes are the direct-view state.When lever arm swings to the left and right, stravismus state about eyes are.
In the described emulation monkey of preferred embodiment of the present invention robot head structure, described eyelid unit comprises eyelid driver element and movable connecting rod mechanism.Described eyelid moves up and down by movable connecting rod mechanism under the effect of eyelid driver element.When eyelid lever arm in position the time, the upper eyelid is closure state.When lifting on the lever arm, the upper eyelid is opened and is the posture of opening eyes.
In the described emulation monkey of preferred embodiment of the present invention robot head structure, described lip unit comprises lip opening and closing driver element, lip left and right sides driver element and movable connecting rod mechanism.
In the described emulation monkey of preferred embodiment of the present invention robot head structure, described lip moves up and down by the movable connecting rod link gear under the effect of lip opening and closing driver element.When lip opening and closing lever arm was original position, upper lower lip was closed position.When lifting on the lever arm, upper lower lip in opened condition.
In the described emulation monkey of preferred embodiment of the present invention robot head structure, described lip passes through the side-to-side movement of movable connecting rod link gear under the effect of lip left and right sides driver element.When lip left and right sides driver element was original position, the upperlip junction was normality.When lever arm deflection, the upperlip junction outwards struts, and is the posture of grinning.
In the described emulation monkey of preferred embodiment of the present invention robot head structure, described lip unit is under the effect of lip opening and closing driver element and lip left and right sides driver element, and the expression that upper lower lip opening and closing expression and left and right sides lip are grinned out is combined into exclusive the grimacing of monkey and splits the mouth expression.
In the described emulation monkey of preferred embodiment of the present invention robot head structure, described emulation monkey robot head structure also comprises the control module for each described driver element of control.
Implement emulation monkey robot head structure of the present invention, have following beneficial effect: the invention provides a kind of amusement emulation monkey robot head structure.The lower jaw unit of emulation monkey robot head structure, eyes unit, unit, upper eyelid, mouth unit can drive movable connecting rod mechanism by driver element and finish easily: eyeball left rotation and right rotation, upper eyelid opening and closing, face opening and closing and monkey grimace and split the expression of mouth, make tourist experience arrive the naughty lovely image true to nature of monkey.
Specific embodiment:
See also Fig. 1, be the overall structure schematic diagram of emulation monkey robot head structure in the preferred embodiment of the present invention.As shown in Figure 1, the emulation monkey head that provides of this embodiment comprises lower jaw unit 100; Eyes and eyelid unit 200; Maxilla and lip unit 300.The expression of opening one's mouth is finished in the 100 opening and closing campaigns of lower jaw unit; The eyes left-right rotation is finished the stravismus expression; The eyelid opening and closing are finished and are opened the expression of closing one's eyes; Maxilla and lip motion are finished to grimace and are split the mouth expression.
See also Fig. 2, be the lower jaw cellular construction schematic diagram of emulation monkey robot head structure in the preferred embodiment of the present invention.As shown in Figure 2, chin opening and closing driver element installing plate 6 is fixed on driver element 11 in the stand 1.Drive maxillary plate 12 by lever arm 8, chin open/close mechanism connecting rod 9, chin open/close mechanism rotating shaft 7 on the driver element 11 and carry out swing rotary as the center of circle take lower jaw rotating shaft 4.Thereby build the expression of face opening and closing.
See also Fig. 3 a, Fig. 3 b, be eyes and the eyelid cellular construction schematic diagram of emulation monkey robot head structure in the preferred embodiment of the present invention.Shown in Fig. 3 a, Fig. 3 b, eyes wobble drive unit 40 is installed on the eyes installing plate 30.Eyes wobble drive unit 40 makes eye eyeball 23 left rotation and right rotation by lever arm 31, the connecting rod 33 that goggles, connecting rod 35 under the effect of flange bearing 38.Thereby build the expression of eye rotation.
Eyelid driver element 39 is installed on the eyelid electric machine support 29.Eyelid driver element 39 makes eyelid 24 swing under the effect of eyelid holder 36 by lever arm 28, eyelid open/close mechanism connecting rod 27, connecting rod 26.Thereby build expression nictation.
See also Fig. 4 a, Fig. 4 b, be maxilla and the lip structural representation of emulation monkey robot head structure in the preferred embodiment of the present invention.Shown in Fig. 4 a, Fig. 4 b, upperlip driver element installing plate 62 is installed in lip opening and closing driver element 80 on the maxilla upper lip fixed head 63.Lip opening and closing driver element 80 swings up and down as the center of circle take the maxilla axle 65 that is fixed on the maxilla upper lip fixed head 63 by lever arm 61, connecting rod 59, upperlip mechanism shaft 58, upper lip fixed head 57.Upper lip fixed head 57 swings up and down as the center of circle take the lower lip mechanism shaft 53 that is fixed on lower lip fixed head contiguous block 51 by maxilla universal driving shaft 66, upperlip mechanism rod 68, lower lip axle 55, lower lip fixed head 54.Because all mechanisms are the series connection motion, so 80 operations of lip opening and closing driver element can be finished the expression of lower lip opening and closing.
Lip left and right sides driver element 81 is installed on the driver element installing plate 69.Lip left and right sides driver element 81 drives the connecting rod 73 of grinning and swings as the center of circle take the movable rotation-shaft 74 that is fixed on the maxilla fixed head 56 by lever arm 70, connecting rod 72.Connecting rod 73 other ends of grinning drive the outside connecting rod 79 of grinning via movable rod 78 and swing.Because all mechanisms are the series connection motion, so driver element 81 operations in the lip left and right sides can be finished the expression that left and right sides lip is grinned out.
Upper lower lip opening and closing and left and right sides lip split two to move and form the monkey expression of grinning of grimacing.
The above; only for the better specific embodiment of the present invention, but protection scope of the present invention is not limited to this, anyly is familiar with those skilled in the art in the technical scope that the present invention discloses; the variation that can expect easily or replacement all should be encompassed within protection scope of the present invention.Therefore, protection scope of the present invention should be as the criterion with the protection domain of claims.
Claims (5)
1. the monkey robot head structure of an emulation is characterized in that, comprises lower jaw unit, eyes and eyelid unit, maxilla and lip unit;
In the described lower jaw unit, the expression of opening one's mouth is finished in the opening and closing campaign of maxillary plate;
In described eyes and the eyelid unit, the eyes left-right rotation is finished the stravismus expression, and the eyelid opening and closing are finished and opened the expression of closing one's eyes;
In described maxilla and the lip unit, the expression of grinning of grimacing is finished in two actions of splitting of upper and lower lip opening and closing and left and right lip.
2. the monkey robot head structure of emulation according to claim 1 is characterized in that, described lower jaw unit comprises chin opening and closing driver element, and the lever arm of described chin opening and closing driver element drives the opening and closing campaign of described maxillary plate by connecting rod.
3. the monkey robot head structure of emulation according to claim 1, it is characterized in that, described eyes and eyelid unit comprise eyes wobble drive unit, eyelid driver element, the lever arm of described eyes wobble drive unit drives the left-right rotation of described eyes by connecting rod, and the lever arm of described eyelid driver element drives the opening and closing of described eyelid by connecting rod.
4. the monkey robot head structure of emulation according to claim 1, it is characterized in that, described maxilla and lip unit comprise upper lip fixed head, lower lip fixed head and lip opening and closing driver element, the lever arm of described lip opening and closing driver element drives the opening and closing of described upper lip fixed head by connecting rod, and described upper lip fixed head drives described lower lip fixed head interlock opening and closing by connecting rod.
5. the monkey robot head structure of emulation according to claim 4, it is characterized in that, described maxilla and lip unit also comprise grin connecting rod and lip left and right sides driver element, and the lever arm of described lip left and right sides driver element drives swinging of the described connecting rod of grinning by connecting rod.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210590202.7A CN103056880B (en) | 2012-12-31 | 2012-12-31 | Simulated monkey robot head structure |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210590202.7A CN103056880B (en) | 2012-12-31 | 2012-12-31 | Simulated monkey robot head structure |
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| Publication Number | Publication Date |
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| CN103056880A true CN103056880A (en) | 2013-04-24 |
| CN103056880B CN103056880B (en) | 2015-03-25 |
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| CN201210590202.7A Active CN103056880B (en) | 2012-12-31 | 2012-12-31 | Simulated monkey robot head structure |
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Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103341859A (en) * | 2013-07-02 | 2013-10-09 | 上海大学 | Robot mouth five-rod moving mechanism |
| CN103770121A (en) * | 2014-02-20 | 2014-05-07 | 西北工业大学 | Combined facial expression simulation device |
| CN104786224A (en) * | 2015-04-07 | 2015-07-22 | 上海大学 | Human-simulated robot lower jaw chewing movement mechanism |
| CN105563497A (en) * | 2016-03-07 | 2016-05-11 | 东南大学 | Body and head mechanism of humanoid robot |
| CN106041963A (en) * | 2016-08-12 | 2016-10-26 | 欢乐飞（上海）机器人有限责任公司 | Intelligent robot head system and operation method thereof |
| WO2017166992A1 (en) * | 2016-03-31 | 2017-10-05 | 深圳光启合众科技有限公司 | Robot having mouth opening function |
| CN108145697A (en) * | 2018-01-22 | 2018-06-12 | 深圳市赛洛诗健康科技有限公司 | A kind of robot head |
| CN108237537A (en) * | 2016-12-23 | 2018-07-03 | 深圳光启合众科技有限公司 | The eye structure and robot of robot |
| CN108818556A (en) * | 2018-07-06 | 2018-11-16 | 宣城南巡智能科技有限公司 | A kind of mouth shape control structure of emulated robot |
| CN109102751A (en) * | 2017-06-20 | 2018-12-28 | 中粮营养健康研究院有限公司 | A kind of emulation oral cavity machining robot and its control method |
| WO2019001036A1 (en) * | 2017-06-30 | 2019-01-03 | 深圳光启合众科技有限公司 | Head structure of biomimetic robot, and biomimetic robot |
| CN109822591A (en) * | 2019-03-19 | 2019-05-31 | 华南理工大学 | A kind of robot mouth expression imitates device and control method |
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Cited By (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103341859B (en) * | 2013-07-02 | 2015-02-25 | 上海大学 | Robot mouth five-rod moving mechanism |
| CN103341859A (en) * | 2013-07-02 | 2013-10-09 | 上海大学 | Robot mouth five-rod moving mechanism |
| CN103770121A (en) * | 2014-02-20 | 2014-05-07 | 西北工业大学 | Combined facial expression simulation device |
| CN103770121B (en) * | 2014-02-20 | 2016-02-24 | 西北工业大学 | A kind of combined type facial expression simulator |
| CN104786224A (en) * | 2015-04-07 | 2015-07-22 | 上海大学 | Human-simulated robot lower jaw chewing movement mechanism |
| CN105563497A (en) * | 2016-03-07 | 2016-05-11 | 东南大学 | Body and head mechanism of humanoid robot |
| WO2017166992A1 (en) * | 2016-03-31 | 2017-10-05 | 深圳光启合众科技有限公司 | Robot having mouth opening function |
| CN106041963A (en) * | 2016-08-12 | 2016-10-26 | 欢乐飞（上海）机器人有限责任公司 | Intelligent robot head system and operation method thereof |
| CN108237537A (en) * | 2016-12-23 | 2018-07-03 | 深圳光启合众科技有限公司 | The eye structure and robot of robot |
| CN109102751A (en) * | 2017-06-20 | 2018-12-28 | 中粮营养健康研究院有限公司 | A kind of emulation oral cavity machining robot and its control method |
| WO2019001036A1 (en) * | 2017-06-30 | 2019-01-03 | 深圳光启合众科技有限公司 | Head structure of biomimetic robot, and biomimetic robot |
| CN108145697A (en) * | 2018-01-22 | 2018-06-12 | 深圳市赛洛诗健康科技有限公司 | A kind of robot head |
| CN108818556A (en) * | 2018-07-06 | 2018-11-16 | 宣城南巡智能科技有限公司 | A kind of mouth shape control structure of emulated robot |
| CN109822591A (en) * | 2019-03-19 | 2019-05-31 | 华南理工大学 | A kind of robot mouth expression imitates device and control method |
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| CN103056880B (en) | 2015-03-25 |
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Address after: 518057 Nanshan District science and technology in Guangdong, Xihua, one of the top high-tech development building,, 1501-1506 Patentee after: Shenzhen Huaqiang infante culture technology group Limited by Share Ltd Address before: 518057 Nanshan District science and technology in Guangdong, Xihua, one of the top high-tech development building,, 1501-1506 Patentee before: Shenzhen Huangqiang Culture Technology Group Co., Ltd. |
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Address after: 518057 Guangdong Nanshan District Shenzhen science and technology middle road Xihua strong high tech development building 1501-1506 Patentee after: Huaqiang infante culture technology group Limited by Share Ltd Address before: 518057 Guangdong Nanshan District Shenzhen science and technology middle road Xihua strong high tech development building 1501-1506 Patentee before: Shenzhen Huaqiang infante culture technology group Limited by Share Ltd |