CN103149969A - Facial expression control device - Google Patents
Facial expression control device Download PDFInfo
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- CN103149969A CN103149969A CN2011104043553A CN201110404355A CN103149969A CN 103149969 A CN103149969 A CN 103149969A CN 2011104043553 A CN2011104043553 A CN 2011104043553A CN 201110404355 A CN201110404355 A CN 201110404355A CN 103149969 A CN103149969 A CN 103149969A
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Abstract
The invention discloses a facial expression control device which comprises multiple columns of facial expression control structures and a linkage rod, wherein the linkage rod and linkage components are mutually matched; and the linkage rod can drive the linkage components to affect a face skin by means of selecting different columns of facial expression control structures, so that the face skin can present facial expression changes. Furthermore, on the premise that a facial expression type number and verisimilitude are not lowered, the effect that facial expression changes with the least amount of actuators is achieved.
Description
Technical field
The present invention relates to a kind of control device, and particularly relate to a kind of countenance control device.
Background technology
technology with emulation machinery head of true man's external form and sense of touch, that Hara and Kobayashi by Tokyo university of science proposed the earliest, they control the artificial face that is made with silicon rubber with gas pressure type actuator, this face possesses pliability and elasticity, and can be by pulling 19 reference mark at face rear, change that six kinds of basic facial expressions (surprised, in terror, sad, angry, happiness and detest), the wherein selection at reference mark, it is the expression action coded system that proposes according to Ekman, and choice for use 14 expression control modules that are enough to form 6 kinds of basic facial expressions, and according to definition, the expression of people's face can be comprised of 44 groups of expression control modules altogether, the quantity that is to say the expression control module will determine the transformable number of expressing one's feelings.Many researchists all based on this since then, delivered successively the relevant technology of many and mechanical head, its grade comprises modes such as using memorial alloy, motor and EVA (electroactive polymers) and controls the technology that face changes, wherein be still and drive face with motor and do the mode of expression shape change and the most often be used, its main cause is that motor has faster reaction velocity and uses simultaneously electric power as power, and does not need to use other auxiliary engine (for example air compressor).
Known have the company of development emulation machinery head correlated product to comprise the KOKORO of Japan, the Hanson robotic of the U.S. and the companies such as Xi'an superman of WowWee and China, the mechanical head that each company develops is different according to purposes, the degree of freedom that has (degree of variation of expression) is also different, but the revealable expression shape change degree of head, depend primarily on the number that actuator uses.The patent relevant with the machine head includes No. 7113848, U.S. Patent bulletin and Japanese patent gazette No. 200235440 in addition.In the former disclosed technology, disclose and to have by what a plurality of exocuticles that are arranged at the actuator in shell, the connecting rod that is connected with actuator and are connected with connecting rod consisted of a people's face that represents the expression function.The latter discloses to utilize in the epidermis inboard has flexible clasp in the ad-hoc location setting, this clasp via special coupling agent and epidermis interconnective have to express one's feelings represent people's face of function.
Look back known patent, document and product at present, can find to have the mechanical head of expression display function, which kind of side to reach the variation of face with no matter be, if allow face can show a plurality of expressions, often need to use many (as 12-20) motor, pneumatic actuator, electric memorial alloy etc. device that drives, different functions of expressing one's feelings are created to reach in the reference mark that changes on face.a plurality of a large amount of actuator (motors of this that uses on existing machine head, pneumatic actuator, electricity drives memorial alloy), each mode with the position (single degree of freedom) that can change a reference mark operates, therefore in order to allow mechanical head that enough expression types (happiness, anger, grief and joy etc.) can be arranged, must affect respectively different reference mark with the motor more than at least 12, result not only allows the manufacturing cost of head can not be in any more, the difficulty of mechanism design and maintenance increases, the prior fiduciary level of commodity that allows reduces, these factors are that the machine head of tool expression function does not also become the major obstacle of a general product till now.
Summary of the invention
From at present known patent, document and product, the mechanical hook-up that can find to have the expression display function often needs to use many actuators and drives face to reach the function of expression shape change.And in order to allow mechanical head can have more expression to represent, tend to reach target with more actuator, so that the manufacturing cost of single unit system becomes quite high and complicated.In view of this, the inventor proposes a simplification device, and it can not reduce expression kind number and intend reaching the effect of the conversion of expressing one's feelings with minimum actuator under the prerequisite of true property.
The present invention proposes a kind of countenance control device, and it comprises a framework, a rotating element, a plurality of catch bar, an actuator and a linked component.actuator can drive rotating element and rotate, and by relatively moving between rotating element and catch bar, and make the identical catch bar correspondence of length against a plurality of expression control structures of rotating element, wherein each expression control structure can be with respect to rotating element depression in the surface or projection, and the top of expression control structure is also incomplete same with respect to the distance on surface, when so catch bar is supported the expression control structure, the length on surface that protrudes from rotating element is also incomplete same, and then the control lever that drives linked component rotates, thereby with the reference mark of the face of control lever interlock, can be affected and make face that the variation of expression arranged.
Based on above-mentioned explanation, countenance control device of the present invention is to utilize in its expression to select on the rotating element of assembly, the expression control structure that set multiple row height or the degree of depth are different, and in the situation that coordinate expression control structure and catch bar, further the countenance control device is passed or is retracted in the collocation motion of passing assembly, and then reaches the actuator that uses lesser amt and allow and use the mechanical head of this countenance control device can present multiple expression shape change.
For above-mentioned feature and advantage of the present invention can be become apparent, embodiment cited below particularly, and coordinate appended accompanying drawing to be described in detail below.
Description of drawings
Fig. 1 is the schematic diagram that the face of mechanical head takes off on skull;
Fig. 2 is the schematic diagram that is arranged at the countenance control device in skull;
Fig. 3 is the decomposing schematic representation of the countenance control device of Fig. 2;
Fig. 4 A～Fig. 4 C is the possible embodiment schematic diagram of expression control structure;
Fig. 5 is the schematic diagram at another visual angle of the countenance control device of Fig. 2;
The schematic diagram of Fig. 6 for linked component and countenance control device are fitted together;
Fig. 7 passes the schematic diagram of countenance control device for passing assembly;
Fig. 8 is the rotating element of Fig. 7 and the schematic diagram of linked component;
Fig. 9 is the schematic diagram of the rotating element of first embodiment of the invention;
Figure 10 and Figure 11 are the expression control structure of corresponding different lines, and have different control levers to be pulled and the schematic diagram that rotates;
Figure 12 is the schematic diagram of framework, rotating element and the actuator of second embodiment of the invention;
Figure 13 is the schematic diagram of third embodiment of the invention;
Figure 14 is the catch bar of fourth embodiment of the invention and the schematic diagram of control lever connected mode;
Figure 15 is the catch bar of fifth embodiment of the invention and the schematic diagram of control lever connected mode;
Figure 16 is the catch bar of sixth embodiment of the invention and the schematic diagram of control lever connected mode.
The main element symbol description
110: skull
130: the countenance control device
132: main body base
132a: the first side wall
132b: the second sidewall
132c: assembling grove
132d: chute
1342: framework
1342a: the 3rd sidewall
1342b: the 4th sidewall
1342c: perforate
1344,1344 ', 2344: rotating element
1344a: surface
1344a ', 1344a ": the limit
1344b, 1344b ', 2344b: expression control structure
1344c: rotating shaft
1344d: sleeve
1344e: first collar
1344f: second collar
1344g: protuberance
1346,2346,3346: catch bar
1346a: the second fastening structure
2346a: connecting rod
1348: actuator
136: pass assembly
136a: actuator
136b: connection rod set
136c: first connecting rod
136d: second connecting rod
138: linked component
138a, 338a, 438a: control lever
138b: spacing ring
138c: spring
138d: the first assembled plate
138e: turning axle
138f: the first bracing wire
138g: the second bracing wire
138h: the second assembled plate
140: clasp
150: limiting plate
338b: through wires hole
338c: the first fastening structure
438c: gear
3346a: tooth bar
A1, A2: axially
Embodiment
Content by prior art can know, with existing technology, if will allow robot have abundant expression, certainly will need to set a lot of reference mark on face, just thereby the usage quantity of the actuator at corresponding driving reference mark can't effectively reduce.Be subject to existing technology, just can't effectively reduce costs, cause the robot that can present at present various expression and can't be used at large.Relatively, if reduce the usage quantity of actuator, although the reference mark that can reduce face also, the expression shape change of robot will be less and show slightly stiff.
In view of this, the invention provides a kind of countenance control device.On the rotating element of this countenance device, the different expression control structure of multiple row height or the degree of depth is set, and the start of collocation catch bar, just can only drive a plurality of reference mark of face with a rotating element, and then present various expression.In other words, the present invention controls a plurality of reference mark with the actuator of lesser amt, and then allows mechanical head have abundant and intend really can changing expression.Below will illustrate countenance control device of the present invention structure and can applicable mode.
[the first embodiment]
Fig. 1 is the schematic diagram that the face of mechanical head takes off on skull, and Fig. 2 is the schematic diagram that is arranged at the countenance control device in skull.please also refer to Fig. 1 and Fig. 2, the machinery head comprises a skull 110, one face (not illustrating), one countenance control device 130, one main body base 132 and one is passed assembly 136, wherein skull 110 has to place a cranial cavity (not indicating) of countenance control device 130, and main body base 132 is arranged in cranial cavity and face (not illustrating) is covered in outside skull 110, and countenance control device 130 is assembled in main body base 132 and be connected with face (not illustrating), and pass the relative rear that assembly 136 is positioned at skull 110, can promote countenance control device 130 to involve the expression reference mark of face (not illustrating) and pass assembly 136, and allow mechanical head make expression.
Fig. 3 is the decomposing schematic representation of the countenance control device of Fig. 2.Please also refer to Fig. 2 and Fig. 3, the main body base 132 of the present embodiment comprises a pair of the first side wall 132a and one second sidewall 132b, these a plurality of the first side wall 132a are roughly parallel to each other, the second sidewall 132b is connected between these a plurality of the first side wall 132a, and above-mentioned countenance control device 130 is assembled on main body base 132, and passing assembly 136 is assembled on the second sidewall 132b.In addition, all have an assembling grove 132c on each the first side wall 132a, and the position of two assembling grove 132c in correspondence with each other, and make countenance control device 130 be assembled in movably in assembling grove 132c.
Rotating element 1344 has at least one surperficial 1344a and multiple row expression control structure 1344b, wherein multiple row expression control structure 1344b is arranged on above-mentioned surperficial 1344a, and the top of each expression control structure 1344b is also incomplete same to the distance of surperficial 1344a.In detail, rotating element 1344 comprises a rotating shaft 1344c, a sleeve 1344d, one first collar 1344e and a pair of the second collar 1344f, its middle sleeve 1344d is sheathed on rotating shaft 1344c, and sleeve 1344d can be right cylinder or polygonal cylinder with actual demand.With the present embodiment, sleeve 1344d is right cylinder, and surperficial 1344a and expression control structure 1344b all are arranged on sleeve 1344d.In the embodiment that other do not illustrate, sleeve 1344d can be polygonal cylinder, so rotating element 1344 just can have a plurality of surfaces that are connected together, and each surface is upper can be provided with expression control structure 1344b more than row according to demand.In addition, expression control structure 1344b in Fig. 2 and Fig. 3, for example for be depressed in the pothole (showing as Fig. 4 A) in surperficial 1344a towards the direction of rotating shaft 1344c, and this area tool knows that usually the knowledgeable also can be according to actual demand, to expression control structure 1344b be designed to towards relatively protrude from the projection (showing as Fig. 4 B) of surperficial 1344a away from the direction of rotating shaft 1344c, or the hybrid combining of pothole and projection (showing as Fig. 4 C), above-mentioned mode all can reach purpose and the effect that expression control structure 1344b is set.
From the above, the first collar 1344e is sheathed on rotating shaft 1344c and goes up and be positioned at by sleeve 1344d, wherein the first collar 1344e contacts with actuator 1348 on being fixed in framework 1342, with when actuator 1348 start, make the first collar 1344e be subjected to actuator 1348 drive and allow rotating shaft 1344c rotate.The second collar 1344f is sheathed on the both sides that rotating shaft 1344c went up and be positioned at sleeve 1344d.Main body base 132 has more a pair of chute 132d, and the partially overlapping of chute 132d and assembling grove 132c, and each second collar 1344f has a protuberance 1344g, and protuberance 1344g correspondence is arranged in chute 132d.This chute 132d is formed on assembled plate 150, and assembled plate 150 is corresponding to the position of assembling grove 132c, and is assembled on the first side wall 132a of main body base 132.
In addition, several catch bars 1346 form a line, and the corresponding a plurality of perforate 1342c that pass the 4th sidewall 1342b of framework 1342, and then the wherein list feelings control structure 1344b on the corresponding surperficial 1344a that is resisted against rotating element 1344.Subsidiary one carries, and the quantity of the expression control structure 1344b of each above-mentioned row can be for identical or different, and wherein the present embodiment is that to make the quantity of the expression control structure 1344b of each row be identical; And the quantity of catch bar 1346 can be less than or equal in response to demand the quantity of the expression control structure 1344b of each row.In other words, the sleeve 1344d of rotating element 1344 can be modularization making, so the quantity of the expression control structure 1344b of each row can just set when design.In response in the expression quantity demand of every a mechanical head, can change the quantity of catch bar 1346.For example, if need expression comparatively during the mechanical head of rich and variedization, the quantity that can make catch bar 1346 is at most the quantity that equals the expression control structure 1344b of each row; If the expression shape change that mechanical head will present is relatively few, that is need to affect the reference mark of face (not illustrating) less, just can make the quantity of catch bar 1346 less than the quantity of the expression control structure 1344b of each row.
Again, no matter expression control structure 1344b is the projection that is depressed in the pothole of surperficial 1344a or protrudes from surperficial 1344a, the top of wantonly two adjacent expression control structure 1344b is to the distance of surperficial 1344a and incomplete same, so that the expression that face (not illustrating) can present rich and variedization more.Specifically, be namely that wantonly two adjacent expression control structure 1344b can be all projection (or pothole), and the top of two adjacent projections (or pothole) to the distance of surperficial 1344a can be identical or different.In addition, wantonly two adjacent expression control structure 1344b also can be a projection and a pothole, and the top of projection to the top of the distance of surperficial 1344a and pothole to the distance of surperficial 1344a also can be identical or different.
Fig. 5 is the schematic diagram at another visual angle of the countenance control device of Fig. 2.Please also refer to Fig. 2, Fig. 3 and Fig. 5, passing assembly 136 is disposed on the second sidewall 132b of main body base 132, and be positioned at the relative rear side of skull 110 (showing as Fig. 1), and passing assembly 136 is connected with countenance control device 130, by coordinating between countenance control device 130 and chute 132d, passing assembly 136 can promote countenance control device 130 and move relative to main body base 132 simultaneously.in detail, pass assembly 136 and comprise an actuator 136a and a connection rod set 136b, wherein actuator 136a is a motor, and be arranged on the second sidewall 132b, and connection rod set 136b comprises a first connecting rod 136c and a second connecting rod 136d, first connecting rod 136c is hubbed between the 3rd sidewall 1342a of countenance control device 130, the end of second connecting rod 136d is connected in actuator 136a, another end of second connecting rod 136d is connected in first connecting rod 136c, and when actuator 136a start, second connecting rod 136d can promote or retract first connecting rod 136c, so that countenance control device 130 coordinating via protuberance 1344g and chute 132d, and main body base 132 moves around relatively, wherein the second connecting rod 136d of the present embodiment is connected and is consisted of by two rod members, and in the embodiment that other do not illustrate, second connecting rod 136d also can only be made of a rod member.
Please continue with reference to figure 2 and Fig. 3, linked component 138 is disposed on main body base 132, and be positioned at the relative front side of skull 110 (showing as Fig. 1), and countenance control device 130 is being passed between assembly 136 and linked component 138, wherein linked component 138 comprises a plurality of control lever 138a, and the axial A1 of control lever 138a and the axial A2 of catch bar 1346 are orthogonal, and control lever 138a can drive the interlock between catch bar 1346 and face (not illustrating), so the mobile face (not illustrating) that can drive of control lever 138a is to present expression.In the present embodiment, be the clasp 140 (referring to Fig. 1) that is connected with control lever 138a to be set drive face in face (not illustrating).
The schematic diagram of Fig. 6 for linked component and countenance control device are fitted together.Please also refer to Fig. 3 and Fig. 6, specifically, linked component 138 comprises above-mentioned a plurality of control lever 138a, a plurality of spacing ring 138b, a plurality of spring 138c, one first assembled plate 138d, a turning axle 138e, many first bracing wire 138f, many second bracing wire 138g and one second assembled plate 138h.Spacing ring 138b correspondence is sheathed on catch bar 1346, with the degree of depth of restriction catch bar 1346 with respect to the 4th sidewall 1342b, and spring 138c correspondence is sheathed on the relative end away from rotating element 1344 of catch bar 1346, and is resisted against between the first assembled plate 138d and spacing ring 138b that is assembled in framework 1342.Turning axle 138e is hubbed between two the 3rd sidewall 1342a of framework 1342, and control lever 138a is arranged on turning axle 138e, and control lever 138a can turning axle 138e be that rotate in the axle center toward the end that direction A1 extends.The second assembled plate 138h is between framework 1342 and the first assembled plate 138d, and catch bar 1346 passes this second assembled plate 138h.The end correspondence of each the first bracing wire 138f is fixed therein on a control lever 138a, then passes the second assembled plate 138h and its another end is fixed on spacing ring 138b.So, it can protrude from according to catch bar 1346 length of the surperficial 1344a of rotating element 1344, and make the first bracing wire 138f be pulled corresponding control lever 138a to make its rotation.The end correspondence of each the second bracing wire 138g is fixed therein on a control lever 138a, and another end can be provided with clasp 140 (referring to Fig. 1), and clasp 140 further is fastened on the inner clasp (not illustrating) of face (not illustrating), and then the angle that the second bracing wire 138g can be rotated according to control lever 138a, and pull reference mark on face (not illustrating).
Below will how start illustrates in detail with the expression that affects face (not illustrating) for this countenance control device 130.
Please also refer to Fig. 3, Fig. 5 and Fig. 6, when passing assembly 136 not during start, the second sidewall 132b of the relatively close main body base 132 of first connecting rod 136c, and the relative end away from linked component 138 of catch bar 1346 of countenance control device 130, and with rotating element 1344 segment distance of being separated by, this moment, the control lever 138a of linked component 138 was not driven, so the axial A1 of all control lever 138a is orthogonal with the axial A2 of catch bar 1346.Subsidiary one carry be, also can make the part of the surperficial 1344a of rotating element 1344, be not provided with this expression control structure 1344b, and catch bar 1346 is resisted against surperficial 1344a.In addition, at mechanical head not during espressiove, the axial A1 of above-mentioned mentioned control lever 138a is orthogonal with the axial A2 of catch bar 1346, only be a kind of embodiment wherein, in other embodiment, the reference position of control lever 138a and catch bar 1346 can be that axial A1 is with axially A2 is not orthogonal.
Fig. 7 passes the schematic diagram of countenance control device for passing assembly, and Fig. 8 is the rotating element of Fig. 7 and the schematic diagram of linked component, and Fig. 7 and Fig. 8 are different visual angles.Please also refer to Fig. 3, Fig. 6, Fig. 7 and Fig. 8, when 130 start of countenance control device, rotating element 1344 can be subject to actuator 1348 and drives the first collar 1344e and rotate.Afterwards, wherein a list feelings control structure 1344b is corresponding with catch bar 1346, this moment can be because passing the actuator 136a start of assembly 136, and make first connecting rod 136c drive second connecting rod 136d to pass countenance control device 130 forward, and the protuberance 1344g of the second collar 1344f can be slided in assembling grove 132c accordingly, and catch bar 1346 correspondences are resisted against on the expression control structure 1344b of rotating element 1344.because the top of the expression control structure 1344b of same row is also incomplete same to the distance of surperficial 1344a, therefore to protrude from the length of surperficial 1344a of rotating element 1344 not identical yet for catch bar 1346, and catch bar 1346 more protrudes from outside the first assembled plate 138d, and at the same time, the first bracing wire 138f can be subject to pulling of catch bar 1346, and then drive control lever 138a rotates as the axle center take turning axle 138e, wherein the top of the rotational angle of control lever 138a and expression control structure 1344b is to the distance dependent of surperficial 1344a, and the rotation impact of the second controlled bar 138a of bracing wire 138g meeting, and then the clasp 140 of making way for the second bracing wire 138g end affects corresponding reference mark on face (not illustrating), and make face (not illustrating) be pulled to present expression.
Be returned to the original position when passing assembly 136 with countenance control device 130 after, change distance between spacing ring 138b and the first assembled plate 138d because of the movement of catch bar 1346 and compressed spring 138c, to promote by the elastic restoring force of itself spacing ring 138b, and make simultaneously catch bar 1346 return back to position originally.
Fig. 9 is the schematic diagram of the rotating element of the present embodiment, and Figure 10 and Figure 11 are the expression control structure corresponding to different lines, and has different control levers to be pulled and the schematic diagram that rotates.Please refer to Fig. 9, the expression control structure 1344b of different lines can make face (not illustrating) have different expressions to present, the catch bar in above-mentioned Fig. 7 and Fig. 8 1346 corresponding the insertion in Fig. 9 for example for example is labeled as in that list feelings control structure 1344b of a1 to present a kind of expression.Yet, when catch bar 1346 correspondences are inserted in other list feelings control structures 1344b that marks a2 or a3, the situation that control lever 138a is pulled such as Figure 10 or shown in Figure 11 to present another kind of expression.
As shown in the above, in the countenance control device 130 of the present embodiment, only need an actuator 1348 that rotating element 1344 is rotated, and then make catch bar 1346 in response to against expression control structure 1344b, collocation is passed assembly 136 and is passed countenance control device 130 again, affect face (not illustrating) to present expression shape change to drive linked component 138, the quantity at the reference mark of expression shape change wherein is that the quantity according to the quantity of catch bar 1346 and the expression control structure 1344b on rotating element 1344 decides.In addition, the quantity of the expression control structure 1344b of each row can change according to demand, thus can increase the quantity of expression control structure 1344b, and make face (not illustrating) present easily horn of plenty more and variation and the expression that personalizes.
The face that is compared to existing mechanical head needs the more actuator of usage quantity to control a plurality of reference mark of face, therefore existing mechanical head needs more expensive cost, and can use the quantity of less actuator in the mechanical head of the present embodiment, just can control a plurality of reference mark of face, therefore it not only has the diversity of expression shape change combination and makes the expression of mechanical head more intend very on using, and can also effectively reduce cost of manufacture.
[the second embodiment]
Figure 12 is the schematic diagram of framework, rotating element and the actuator of second embodiment of the invention.Please also refer to Fig. 3 and Figure 12, although above-described embodiment is directly to control a rotating element 1344 with an actuator 1348, and in order to increase the expression variation of mechanical head, more rotating element 2344 is divided into two in the present embodiment, and utilize other mechanical system, the for example combination of connecting rod, gear or connecting rod and gear, and make an actuator 1348 can drive simultaneously this two rotating elements 2344, and the rotation direction of these two rotating elements 2344 can be for identical or opposite, and also rotary angle is identical or different simultaneously.Thus, the expression control structure 2344b of rotating element 2344 just can have more kinds of array modes, and makes the expression of mechanical head can be more diversified.
[the 3rd embodiment]
In addition, although above-mentioned the first embodiment illustrated with a row catch bar and a list feelings control structure, those skilled in the art can be according to this teaching content border changes in demand according to the facts, multiple row catch bar 1346 and multiple row expression control structure for example are set.Figure 13 is the schematic diagram of third embodiment of the invention.Please refer to Figure 13, rotating element 1344 ' be polygonal cylinder, and in Figure 13, cross section wantonly two adjacent limit 1344a ', 1344a of this polygonal cylinder " folded angle is identical, and each limit 1344a ' (or 1344a ") can arrange the expression control structure 1344b ' of two row.And 2 row catch bars 1346 corresponding insert rotating elements 1344 ' two list feelings control structure 1344b ' in.Accordingly, make linked component 138 (being shown in Fig. 3) setting corresponding to catch bar 1346, wherein the set-up mode of two groups of linked components 138 is upper and lower symmetrical but protrusion direction control lever 138a (being shown in Fig. 3) is opposite.Thus, can be only the quantity at reference mark of face (not illustrating) by using a rotating element 1344 ' just allow phase interlock increase.
Under this kind set-up mode, the expression shape change number of combinations of mechanical head increases, and really expresses one's feelings so mechanical head just can present the more changeable and plan of horn of plenty.
Subsidiary one carries, the connected structure that makes catch bar and control lever interlock in above-mentioned first, second and third embodiment is take bracing wire as the example explanation, but those skilled in the art are not violating under the spirit that makes catch bar and control lever interlock, also can change with other embodiments and reach.Below will be separately for wherein three embodiment explanations.
[the 4th embodiment]
Figure 14 is the catch bar of fourth embodiment of the invention and the schematic diagram of control lever connected mode.Please refer to Figure 14, in the present embodiment, control lever 338a has a plurality of through wires hole 338b, and the user can allow the second bracing wire 138g (showing as Fig. 6) according to demand, passes one of them the through wires hole 338b on one of them control lever 338a.The position of the through wires hole 338b that the second bracing wire 138g passes can affect the degree that the reference mark of face (not illustrating) is affected, and the expression that makes face (not illustrating) present is had trickleer variation in response to affecting degree.In addition, the connected structure of the present embodiment is that the mode that fastens is reached and made control lever and catch bar interlock.Specifically, control lever 338a has the first fastening structure 338c near an end of catch bar 1346 relatively, and catch bar 1346 has the second fastening structure 1346a near the end of control lever 338a relatively, wherein the first fastening structure 338c is draw-in groove, and the second fastening structure 1346a is axis, so that the first fastening structure 338c and the second fastening structure 1346a are snapped together.
Thus, when catch bar 1346 when the second assembled plate 138h moves, via working in coordination of the first fastening structure 338c and the second fastening structure 1346a, control lever 338a is rotated take turning axle 138e as rotation center, and then drive face (not illustrating) present expression shape change.
[the 5th embodiment]
Figure 15 is the catch bar of fifth embodiment of the invention and the schematic diagram of control lever connected mode.Please refer to Figure 16, the present embodiment and the 4th embodiment difference are: the connected structure of the present embodiment is to reach in the mode of connecting rod to make control lever and catch bar interlock.Specifically, catch bar 2346 is connecting rod 2346a near the end of control lever 338a relatively.Relatively close towards control lever 338a along axial A2 when catch bar 2346, the connecting rod 2346a that is connected with control lever 338a can drive control lever 338a and rotate take turning axle 138e as rotation center.
[the 6th embodiment]
Figure 16 is the catch bar of sixth embodiment of the invention and the schematic diagram of control lever connected mode.The present embodiment is with fourth, fifth embodiment difference: the connected structure of the present embodiment is to reach in the mode that coordinates of wheel and rack to make control lever and catch bar interlock.Specifically, control lever 438a is gear 438c near an end of catch bar 3346 relatively, and catch bar 3346 is tooth bar 3346a near the end of control lever 438a relatively, and gear 438c and tooth bar 3346a intermesh.When catch bar 3346 moves relative to control lever 438a towards axial A2, tooth bar 3346a rotates take turning axle 138e as rotation center with can make coordinating of gear 438c with control lever 438a.Utilize tooth bar 3346a and gear 438c this setup, can control accurately the rotational angle of control lever 438a.
In sum, countenance control device of the present invention is applied in mechanical head, only need an actuator that rotating element is rotated, and mutually the catch bar of collocation can in response to against height or the degree of depth of expression control structure, and collocation passing assembly passing countenance control device affects face to drive linked component, and then makes mechanical head present expression shape change.Compared to existing mechanical head, due to the actuator negligible amounts that uses in the present invention, just can reach the variation that affects a plurality of expressions reference mark on face and present expression, therefore can reduce the usage quantity of actuator, and effectively reduce the cost of manufacture of mechanical head, and then mechanical head can be produced with modular mode, to allow the integral manufacturing cost of robot descend, more be conducive to the universalness of robot.
In addition, the quantity of the expression control structure of each row can change according to demand, and expression control structure and the set-up mode of catch bar and the interlock mode between catch bar and control lever, all to change in response to demand, so the present invention can be under the prerequisite of the overall usage quantity that does not change actuator, reach design flexibility and make face can present again more the multiple advantages such as horn of plenty, lively and diversified expression.
Although disclosed the present invention in conjunction with above embodiment; yet it is not to limit the present invention; be familiar with this operator in technical field under any; without departing from the spirit and scope of the present invention; can do a little change and retouching, thus protection scope of the present invention should with enclose claim was defined is as the criterion.
Claims (11)
1. countenance control device comprises:
Framework;
Rotating element, it is hubbed in this framework, it has at least one surface and multiple row expression control structure, and this multiple row expression control structure is arranged on this at least one surface, and a top of each expression control structure is also incomplete same with respect to the distance on this surface;
A plurality of catch bars, its grade forms a line at least, and this at least one row catch bar is suitable on one of them person that correspondence is resisted against these a plurality of multiple rows expression control structures;
Actuator, it is connected to drive this rotating element rotation with this rotating element; And
Linked component, it is disposed on the bearing of trend of those catch bars, and those catch bars are between this rotating element and this linked component, will these a plurality of catch bar correspondences to be resisted against the start result on these a plurality of multiple rows expression control structures, interlock to one countenance reference mark, and then produce the countenance of a correspondence.
2. countenance control device as claimed in claim 1, wherein this rotating element comprises:
Rotating shaft;
Sleeve, it is sheathed in this rotating shaft, wherein should the surface and this multiple row expression control structure be arranged on this sleeve; And
The collar, it is sheathed in this rotating shaft and is positioned at by this sleeve, and wherein this collar contacts with this actuator, so that when this actuator start, this collar can be driven by this actuator and this rotating shaft is rotated.
3. countenance control device as claimed in claim 1, wherein the quantity of the expression control structure of each row is identical, and the quantity of those catch bars is less than or equal to the quantity of the expression control structure of each row.
4. countenance control device as claimed in claim 1, wherein distance or the projected direction on those tops to this surface of wantonly two adjacent those expression control structures are all incomplete same.
5. countenance control device as claimed in claim 1, wherein this linked component comprises:
The first assembled plate, it is assembled in this framework, and wherein those catch bars are arranged in this first assembled plate;
Turning axle, it is positioned at above those catch bars; And
A plurality of control levers, its grade is sheathed on this turning axle, and is driven in those catch bars, it is one axial that those control levers all have, and those control levers axially all with axial clamp one angle of those catch bars, and be suitable for the rotation take this turning axle as rotation center;
Wherein when those catch bars are resisted against this corresponding list feelings control structure, the rotational angle of those control levers can in response to those catch bar correspondences against these a plurality of tops of this list feelings control structure, with respect to the difference of the distance on this surface, and make the rotational angle of these a plurality of control levers different.
6. countenance control device as claimed in claim 5, wherein this linked component also comprises:
A plurality of spacing rings, its correspondence such as grade is sheathed on those catch bars; And
A plurality of springs, its correspondence such as grade is sheathed on those catch bars, and each spring be positioned at corresponding sheathed this catch bar relatively away from an end place of this rotating element.
7. countenance control device as claimed in claim 5, also comprise a plurality of connected structures, and those control levers by those connected structures with those catch bar interlocks.
8. countenance control device as claimed in claim 7, wherein those connected structures are the one in guy structure, bar linkage structure, fastening structure or wheel and rack structure.
9. countenance control device as claimed in claim 5, wherein this linked component also comprises the second assembled plate, it is assembled on this framework, and between this framework and this first assembled plate, and those catch bars wear this second assembled plate, and this turning axle is between this first assembled plate and this second assembled plate.
10. countenance control device as claimed in claim 1, it further comprises main body base, so that this countenance control device is assembled in to present on the mechanical head of this countenance.
11. countenance control device as claimed in claim 10, it also comprises the passing assembly, it is disposed on this main body base, and should pass assembly is connected with this countenance control device, with along the bearing of trend of those catch bars and promote this countenance control device, it is moved relative to this main body base.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201110404355.3A CN103149969B (en) | 2011-12-07 | 2011-12-07 | Facial expression control device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201110404355.3A CN103149969B (en) | 2011-12-07 | 2011-12-07 | Facial expression control device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN103149969A true CN103149969A (en) | 2013-06-12 |
| CN103149969B CN103149969B (en) | 2015-08-05 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201110404355.3A Expired - Fee Related CN103149969B (en) | 2011-12-07 | 2011-12-07 | Facial expression control device |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108568807A (en) * | 2018-06-14 | 2018-09-25 | 深圳埃米电子科技有限公司 | A kind of device of control robot face expression |
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|---|---|---|---|---|
| JPS5711279A (en) * | 1980-06-16 | 1982-01-20 | Tokyo Printing Ink Mfg Co Ltd | Production of carpet tile |
| GB2134303A (en) * | 1983-01-22 | 1984-08-08 | Thomas J Greer | Facially animated manikin |
| US20020019193A1 (en) * | 2000-02-28 | 2002-02-14 | Maggiore Albert P. | Expression-varying device |
| US20040249510A1 (en) * | 2003-06-09 | 2004-12-09 | Hanson David F. | Human emulation robot system |
| CN101940843A (en) * | 2009-07-07 | 2011-01-12 | 廖天福 | Expression showing device |
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Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS5711279A (en) * | 1980-06-16 | 1982-01-20 | Tokyo Printing Ink Mfg Co Ltd | Production of carpet tile |
| GB2134303A (en) * | 1983-01-22 | 1984-08-08 | Thomas J Greer | Facially animated manikin |
| US20020019193A1 (en) * | 2000-02-28 | 2002-02-14 | Maggiore Albert P. | Expression-varying device |
| US20040249510A1 (en) * | 2003-06-09 | 2004-12-09 | Hanson David F. | Human emulation robot system |
| CN101940843A (en) * | 2009-07-07 | 2011-01-12 | 廖天福 | Expression showing device |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108568807A (en) * | 2018-06-14 | 2018-09-25 | 深圳埃米电子科技有限公司 | A kind of device of control robot face expression |
| CN108568807B (en) * | 2018-06-14 | 2024-02-13 | 深圳埃米电子科技有限公司 | Device for controlling facial expression of robot |
Also Published As
| Publication number | Publication date |
|---|---|
| CN103149969B (en) | 2015-08-05 |
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