CN103149969B - Facial expression control device - Google Patents
Facial expression control device Download PDFInfo
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- CN103149969B CN103149969B CN201110404355.3A CN201110404355A CN103149969B CN 103149969 B CN103149969 B CN 103149969B CN 201110404355 A CN201110404355 A CN 201110404355A CN 103149969 B CN103149969 B CN 103149969B
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Abstract
The present invention discloses a kind of facial expression control device.Facial expression control device of the present invention provides expression control structure and the trace of multiple row, and trace and linked component are worked in coordination, via the expression control structure selecting different lines, trace can drive linked component to affect face, face is allowed to present expression shape change, and then can not reduce expression kind number and intend true property prerequisite under, reach and carry out the conversion of expressing one's feelings with minimum actuator.
Description
Technical field
The present invention relates to a kind of control device, and particularly relate to a kind of facial expression control device.
Background technology
There is the technology of the emulation machinery head of true man's external form and sense of touch, proposed by Hara and the Kobayashi of Tokyo university of science the earliest, they use gas pressure type actuator to control the artificial face be made with silicon rubber, this face possesses pliability and elasticity, and 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 then the expression action coded system proposed according to Ekman, and choice for use 14 is enough to the expression control module of composition 6 kinds of basic facial expressions, and according to definition, the expression of face can be made up of 44 groups of expression control modules altogether, that is the quantity of control module of expressing one's feelings will determine transformable number of expressing one's feelings.Researchists many since then all based on this, many technology relevant with mechanical head are delivered successively, its etc. comprise the technology using the mode such as memorial alloy, motor and EVA (electroactive polymers) to change to control face, wherein be still and the most often used in the mode driving face and do expression shape change with motor, its main cause is that motor has reaction velocity faster and uses electric power as power simultaneously, and does not need the auxiliary engine (such as air compressor) using other.
The company that there will be a known the mechanical head correlated product of development emulation comprises the companies such as Japanese KOKORO, Hanson robotic and the WowWee of the U.S. and the Xi'an superman of China, the mechanical head that each company develops is different according to purposes, the degree of freedom (degree of variation of expression) had is also different, the but revealable expression shape change degree of head, depends primarily on the number that actuator uses.Patent relevant with machine head in addition includes No. 7113848, U.S. Patent bulletin and No. 200235440th, Japanese patent gazette.In technology disclosed by the former, disclose be made up of multiple actuator be arranged in shell, the connecting rod be connected with actuator and the exocuticle that is connected with connecting rod there is the face representing expression function.The latter then disclose utilize inside epidermis in ad-hoc location arrange there is flexible clasp, this clasp via special coupling agent and epidermis interconnective have to express one's feelings represent the face of function.
Look back known at present patent, document and product, the mechanical head with expression display function can be found, no matter be use which kind of side to reach the change of face, if allow face can show multiple expression, often need to use many (as 12-20) motor, pneumatic actuator, electric drive memorial alloy etc. device, different function of expressing one's feelings is created to reach in the reference mark changed on face.The plurality of a large amount of actuator (motors that existing machine head uses, pneumatic actuator, electric drive memorial alloy), each operates in the mode of the position (single degree of freedom) that can change a reference mark, therefore in order to allow mechanical head can have enough expression types (happiness, anger, grief and joy etc.), the motor of more than at least 12 must be used to affect different reference mark respectively, 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 major obstacles that the machine head of tool expression function does not also become a general product till now.
Summary of the invention
From patent known at present, document and product, can find that the mechanical hook-up with expression display function often needs to use many actuators to drive face to reach the function of expression shape change.And in order to allow mechanical head that more expression can be had to represent, often use more actuator to reach target, so that the manufacturing cost of single unit system becomes quite height and complicated.In view of this, inventor proposes a simplification device, and it not reducing under the prerequisite of expressing one's feelings kind number and intend true property, can reach the effect of carrying out the conversion of expressing one's feelings with minimum actuator.
The present invention proposes a kind of facial expression control device, and it comprises a framework, a rotating element, multiple catch bar, an actuator and a linked component.Actuator can drive rotating element to rotate, and by the relative movement between rotating element and catch bar, and the corresponding multiple expression control structures against rotating element of the catch bar making length identical, wherein each expression control structure can be relative to rotating element depression in the surface or projection, and the top of expression control structure is also incomplete same relative to the distance on surface, so when expression control structure supported by catch bar, the length protruding from the surface of rotating element is also incomplete same, and then drive the control lever of linked component to rotate, thus with the reference mark of the face of control lever interlock, can be affected and face is had expression change.
Based on above-mentioned explanation, facial expression control device of the present invention utilizes to select on the rotating element of assembly in its expression, set multiple row height or the different expression control structure of the degree of depth, and when coordinating expression control structure and catch bar, the motion that assembly is passed in further collocation is passed or retracts facial expression control device, and then reaches the actuator of use lesser amt and allow the mechanical head of this facial expression control device of use can present multiple expression shape change.
For above-mentioned feature and advantage of the present invention can be become apparent, special embodiment below, and coordinate appended accompanying drawing to be described in detail below.
Accompanying drawing explanation
Fig. 1 is the schematic diagram that the face of mechanical head takes off on skull;
Fig. 2 is the schematic diagram of the facial expression control device be arranged in skull;
Fig. 3 is the decomposing schematic representation of the facial expression 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 facial expression control device of Fig. 2;
Fig. 6 is schematic diagram linked component and facial expression control device fitted together;
Fig. 7 passes the schematic diagram that facial expression control device passed by 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 is the expression control structure of corresponding different lines, and the schematic diagram having different control levers to be pulled and rotate;
Figure 12 is the schematic diagram of the framework of second embodiment of the invention, rotating element and actuator;
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.
Main element symbol description
110: skull
130: facial expression control device
132: main body base
132a: the first side wall
132b: the second sidewall
132c: assembling grove
132d: chute
1342: framework
1342a: the three sidewall
1342b: the four sidewall
1342c: perforate
1344,1344 ', 2344: rotating element
1344a: surface
1344a ', 1344a ": limit
1344b, 1344b ', 2344b: expression control structure
1344c: rotating shaft
1344d: sleeve
1344e: the first collar
1344f: the 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
Can be known by the content of prior art, with existing technology, to allow robot have abundant expression, then certainly will need to set a lot of reference mark on face, thus the usage quantity of the actuator of corresponding drived control point just cannot effectively reduce.Be limited to existing technology, just cannot effectively reduce costs, cause the robot that can present various expression at present also cannot be used at large.Relatively, if reduce the usage quantity of actuator, although the reference mark can reducing 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 facial expression control device.On the rotating element of this countenance device, multiple row height or the different expression control structure of the degree of depth are set, and the start of catch bar of arranging in pairs or groups, a rotating element just only can be used to drive multiple reference mark of face, and then present various expression.In other words, namely the present invention is with the actuator of lesser amt to control multiple reference mark, and then allows mechanical head have abundant and to intend genuine alterable expression.Below by illustrate facial expression 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 of the facial expression control device be arranged in skull.Please also refer to Fig. 1 and Fig. 2, machinery head comprises a skull 110, one face (not illustrating), one facial expression control device 130, one main body base 132 and passes assembly 136, wherein skull 110 has the cranial cavity (sign) placing facial expression control device 130, and main body base 132 is arranged in cranial cavity and face (not illustrating) is covered in outside skull 110, and facial expression 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, and pass assembly 136 and can promote facial expression control device 130 to involve the expression reference mark of face (not illustrating), and allow mechanical head make expression.
Fig. 3 is the decomposing schematic representation of the facial expression 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 the first side wall 132a and one second sidewall 132b, the plurality of the first side wall 132a is roughly parallel to each other, second sidewall 132b is connected between the plurality of the first side wall 132a, and above-mentioned facial expression control device 130 is assembled on main body base 132, and passing assembly 136 is assembled on the second sidewall 132b.In addition, each the first side wall 132a all has an assembling grove 132c, and the position of two assembling grove 132c in correspondence with each other, and facial expression control device 130 is assembled in assembling grove 132c movably.
Facial expression control device 130 comprises framework 1342, rotating element 1344, multiple catch bar 1346 and an actuator 1348.Framework 1342 comprises a pair the 3rd sidewall 1342a and the 4th sidewall 1342b, wherein the plurality of 3rd sidewall 1342a is roughly parallel to each other, and the 4th sidewall 1342b is relative to the second sidewall 132b, and be connected between the plurality of 3rd sidewall 1342a, and the 4th sidewall 1342b has multiple perforate 1342c.Rotating element 1344 is articulated in the 3rd sidewall 1342a of framework 1342, and is positioned at the space that the 3rd sidewall 1342a, the 4th sidewall 1342b and the second sidewall 132b surround jointly.This facial expression control device 130 can be passed by passing assembly 136 and move relative to main body base 132.
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 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 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 is all arranged on sleeve 1344d.In the embodiment that other do not illustrate, sleeve 1344d can be polygonal cylinder, and therefore rotating element 1344 just can have multiple surface be connected together, and each can be provided with the expression control structure 1344b of more than row on the surface according to demand.In addition, expression control structure 1344b in Fig. 2 and Fig. 3, such as being depressed in the pothole (as Fig. 4 A shows) in surperficial 1344a towards the direction of rotating shaft 1344c, and those skilled in the art also can according to actual demand, the projection (as Fig. 4 B shows) protruding from surperficial 1344a towards the relative direction away from rotating shaft 1344c is designed to by making expression control structure 1344b, or the hybrid combining of pothole and projection (as Fig. 4 C shows), above-mentioned mode all can reach the object and effect that arrange expression control structure 1344b.
From the above, first collar 1344e to be sheathed on rotating shaft 1344c and to be positioned at by sleeve 1344d, wherein the first collar 1344e contacts with the actuator 1348 be fixed on framework 1342, with when actuator 1348 start, the first collar 1344e is made to drive by actuator 1348 and allow rotating shaft 1344c rotate.Second collar 1344f to be sheathed on rotating shaft 1344c and to be positioned at the both sides of sleeve 1344d.Main body base 132 has more a pair chute 132d, and the partially overlapping of chute 132d and assembling grove 132c, each second collar 1344f has a protuberance 1344g, and protuberance 1344g correspondence is arranged in chute 132d.This chute 132d is formed in assembled plate 150, and assembled plate 150 corresponds 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 bar 1346 forms a line, and multiple perforate 1342c of corresponding the 4th sidewall 1342b through framework 1342, and then correspondence is resisted against the wherein list feelings control structure 1344b on the surperficial 1344a of rotating element 1344.Subsidiary one carries, and the quantity of the expression control structure 1344b of each above-mentioned row can be identical or different, and wherein the present embodiment is the quantity of the expression control structure 1344b making each arrange is identical; And the quantity of catch bar 1346 can be less than or equal to the quantity of the expression control structure 1344b of each row in response to demand.In other words, the sleeve 1344d of rotating element 1344 can be modularization making, and therefore the quantity of the expression control structure 1344b of each row just can set when designing.In response to the expression quantity demand in every a mechanical head, the quantity of catch bar 1346 can be changed.For example, during the mechanical head of comparatively rich and variedization of if desired expressing one's feelings, the quantity of catch bar 1346 can be made to be at most the quantity of the expression control structure 1344b equaling 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, the quantity of catch bar 1346 just can be made to be less than the quantity of the expression control structure 1344b of each row.
Again, no matter expression control structure 1344b is depressed in the pothole of surperficial 1344a or protrudes from the projection of surperficial 1344a, the top of wantonly two adjacent expression control structure 1344b is incomplete same to the distance of surperficial 1344a, expression more rich and variedization that can present to make face (not illustrating).Specifically, be namely that wantonly two adjacent expression control structure 1344b can be all projection (or pothole), and the top of the projection that two is adjacent (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 distance of the top extremely surperficial 1344a of distance and the pothole of surperficial 1344a also can be identical or different.
Fig. 5 is the schematic diagram at another visual angle of the facial expression control device of Fig. 2.Please also refer to Fig. 2, Fig. 3 and Fig. 5, passing assembly 136 is configured on the second sidewall 132b of main body base 132, and be positioned at the opposite posterior of skull 110 (as Fig. 1 shows), and passing assembly 136 is connected with facial expression control device 130, simultaneously by coordinating between facial expression control device 130 with chute 132d, passing assembly 136 can promote facial expression control device 130 opposing body seat 132 and move.In detail, pass assembly 136 and comprise an an actuator 136a and connection rod set 136b, wherein actuator 136a is a motor, and be arranged on the second sidewall 132b, and connection rod set 136b comprises an a first connecting rod 136c and second connecting rod 136d, first connecting rod 136c is hubbed between the 3rd sidewall 1342a of facial expression control device 130, one end of second connecting rod 136d is then connected to actuator 136a, another end of second connecting rod 136d is connected to first connecting rod 136c, and when actuator 136a start, second connecting rod 136d can promote or retract first connecting rod 136c, to make facial expression control device 130 coordinating via protuberance 1344g and chute 132d, and can move around by opposing body seat 132, wherein the second connecting rod 136d of the present embodiment is connected by two rod members and forms, and in other embodiments do not illustrated, second connecting rod 136d also can be only made up of a rod member.
Please continue to refer to Fig. 2 and Fig. 3, linked component 138 is configured on main body base 132, and be positioned at the relative front side of skull 110 (as Fig. 1 shows), and facial expression control device 130 is between passing assembly 136 and linked component 138, wherein linked component 138 comprises multiple control lever 138a, and the axial A2 of the axial A1 of control lever 138a and catch bar 1346 is orthogonal, and control lever 138a can drive the interlock between catch bar 1346 and face (not illustrating), so the movement of control lever 138a can drive face (not illustrating) to present expression.In the present embodiment, be in face (not illustrating), arrange the clasp 140 (see Fig. 1) be connected with control lever 138a drive face.
Fig. 6 is schematic diagram linked component and facial expression control device fitted together.Please also refer to Fig. 3 and Fig. 6, specifically, linked component 138 comprises above-mentioned multiple control lever 138a, multiple spacing ring 138b, multiple 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, to limit the degree of depth of catch bar 1346 relative to the 4th sidewall 1342b, and spring 138c correspondence is sheathed on catch bar 1346 one end relatively away from rotating element 1344, and be resisted against be assembled in framework 1342 between the first assembled plate 138d and spacing ring 138b.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 the end that control lever 138a extends toward direction A1, can turning axle 138e be that axle center is rotated.Second assembled plate 138h is between framework 1342 and the first assembled plate 138d, and catch bar 1346 is through this second assembled plate 138h.The one end correspondence of each the first bracing wire 138f is fixed therein on a control lever 138a, then through the second assembled plate 138h, its another end is fixed on spacing ring 138b.So, it can protrude from the length of the surperficial 1344a of rotating element 1344 according to catch bar 1346, and will make the first bracing wire 138f be pulled corresponding control lever 138a to make it rotate.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 (see Fig. 1), and clasp 140 is fastened on the inner clasp (not illustrating) of face (not illustrating) further, and then the angle that the second bracing wire 138g can be rotated according to control lever 138a, and pull the reference mark on face (not illustrating).
Below by for this facial expression control device 130, how start illustrates in detail to affect the expression of face (not illustrating).
Please also refer to Fig. 3, Fig. 5 and Fig. 6, when pass assembly 136 not start time, first connecting rod 136c is relatively near the second sidewall 132b of main body base 132, and the catch bar 1346 of facial expression control device 130 is relatively away from one end of linked component 138, and to be separated by a segment distance with rotating element 1344, now the control lever 138a of linked component 138 is not driven, and the axial A1 of therefore all control lever 138a is orthogonal with the axial A2 of catch bar 1346.Subsidiary one carries, and also can make a 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, mechanical head not espressiove time, the axial A1 of above-mentioned mentioned control lever 138a is orthogonal with the axial A2 of catch bar 1346, be only wherein a kind of embodiment, in other examples, the reference position of control lever 138a and catch bar 1346 can be that axial A1 and axial A2 are not orthogonal.
Fig. 7 passes the schematic diagram that facial expression control device passed by assembly, and Fig. 8 is the rotating element of Fig. 7 and the schematic diagram of linked component, and Fig. 7 and Fig. 8 is different visual angles.Please also refer to Fig. 3, Fig. 6, Fig. 7 and Fig. 8, when facial expression control device 130 start, 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, now can because passing the actuator 136a start of assembly 136, and make first connecting rod 136c drive second connecting rod 136d to pass facial expression control device 130 forward, and the protuberance 1344g of the second collar 1344f can be slided accordingly in assembling grove 132c, and catch bar 1346 correspondence is 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 incomplete same to the distance of surperficial 1344a, therefore to protrude from the length of the 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, first bracing wire 138f can be subject to pulling of catch bar 1346, and then drive control lever 138a with turning axle 138e for axle center and rotating, wherein the rotational angle of control lever 138a and the top of expression control structure 1344b are to the distance dependent of surperficial 1344a, and the second bracing wire 138g can controlled bar 138a rotation impact, and then the clasp 140 making way for the second bracing wire 138g end affects the upper corresponding reference mark of face (not illustrating), and make face (not illustrating) be pulled to present expression.
When passing assembly 136 is by after being returned to original position during facial expression control device 130, distance between spacing ring 138b and the first assembled plate 138d is changed and by the spring 138c compressed because of the movement of catch bar 1346, elastic restoring force by itself is promoted spacing ring 138b, make catch bar 1346 return back to position originally simultaneously.
Fig. 9 is the schematic diagram of the rotating element of the present embodiment, and Figure 10 and Figure 11 is the expression control structure corresponding to different lines, and the schematic diagram having different control levers to be pulled and rotate.Please refer to Fig. 9, the expression control structure 1344b of different lines can make face (not illustrating) have different expressions to present, catch bar 1346 such as in above-mentioned Fig. 7 and Fig. 8 is such as corresponding to be inserted in Fig. 9, and those list feelings control structure 1344b being labeled as a1 is interior to present a kind of expression.But when catch bar 1346 correspondence is inserted in other list feelings control structure 1344b of mark a2 or a3, the situation that control lever 138a is pulled is expressed one's feelings to present another kind as shown in Figure 10 or Figure 11.
As shown in the above, in the facial expression control device 130 of the present embodiment, only need an actuator 1348 that rotating element 1344 just can be made to rotate, and then make catch bar 1346 in response to against expression control structure 1344b, collocation is passed assembly 136 and is passed facial expression control device 130 again, face (not illustrating) is affected to present expression shape change to drive linked component 138, the wherein quantity at the reference mark of expression shape change decides according to the quantity of the expression control structure 1344b in the quantity of catch bar 1346 and rotating element 1344.In addition, the quantity of expression control structure 1344b of each row can change according to demand, so can increase the quantity of expression control structure 1344b, and makes face (not illustrating) present more horn of plenty easily and variation and the expression that personalizes.
The actuator that the face being compared to existing mechanical head needs usage quantity more is to control multiple reference mark of face, therefore existing mechanical head needs cost costly, and the quantity of less actuator in the mechanical head of the present embodiment, can be used, just multiple reference mark of face can be controlled, therefore it not only has the diversity of expression shape change combination and makes the expression of mechanical head more intend very in application, effectively can also reduce cost of manufacture.
[the second embodiment]
Figure 12 is the schematic diagram of the framework of second embodiment of the invention, rotating element and actuator.Please also refer to Fig. 3 and Figure 12, although above-described embodiment directly controls a rotating element 1344 with an actuator 1348, and the expression variation in order to increase mechanical head, in the present embodiment, more rotating element 2344 is divided into two, and utilize other mechanical system, the such as combination of connecting rod, gear or connecting rod and gear, and make an actuator 1348 can drive this two rotating elements 2344 simultaneously, and the rotation direction of these two rotating elements 2344 can be identical or contrary, 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 first embodiment is illustrated with a row catch bar and a list feelings control structure, those skilled in the art can according to this teachings according to the facts border changes in demand, multiple row catch bar 1346 and multiple row are such as set and express one's feelings control structure.Figure 13 is the schematic diagram of third embodiment of the invention.Please refer to Figure 13, rotating element 1344 ' is polygonal cylinder, and in fig. 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 bar 1346 correspondences are inserted in two list feelings control structure 1344b ' of rotating element 1344 '.Accordingly, make that linked component 138 (being shown in Fig. 3) is corresponding with catch bar 1346 to be arranged, wherein the set-up mode of two groups of linked components 138 is upper and lower symmetrical but protrusion direction that is control lever 138a (being shown in Fig. 3) is contrary.Thus, the quantity at the reference mark of the face of phase interlock (not illustrating) just can be allowed to increase only by use rotating element 1344 '.
Under this kind of 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 changeable and plan of more horn of plenty.
Subsidiary one carries, the connected structure of catch bar and control lever interlock is made to be illustrate for bracing wire in above-mentioned first, second and third embodiment, but those skilled in the art are not violating under the spirit making catch bar and control lever interlock, also can change and reach with other embodiments.Below will 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 multiple through wires hole 338b, and user can allow the second bracing wire 138g (as Fig. 6 shows) according to demand, through one of them 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, the degree that the reference mark that can affect face (not illustrating) is affected, and the expression that face (not illustrating) is presented has trickleer change in response to by 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 one end of catch bar 1346 relatively, and catch bar 1346 has the second fastening structure 1346a relatively near one end of control lever 338a, 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 is snapped together.
Thus, when catch bar 1346 moves relative to the second assembled plate 138h, via working in coordination of the first fastening structure 338c and the second fastening structure 1346a, control lever 338a will be made with turning axle 138e for rotation center rotates, and then drive face (not illustrating) to 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 reaches in the mode of connecting rod to make control lever and catch bar interlock.Specifically, catch bar 2346 is connecting rod 2346a near one end of control lever 338a relatively.When catch bar 2346, axially A2 is relatively close towards control lever 338a, the connecting rod 2346a be connected with control lever 338a, can drive control lever 338a with turning axle 138e for rotation center rotates.
[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 reaches in the mode coordinated of wheel and rack to make control lever and catch bar interlock.Specifically, control lever 438a is gear 438c near one end of catch bar 3346 relatively, and catch bar 3346 is tooth bar 3346a near one end of control lever 438a relatively, and gear 438c and tooth bar 3346a intermeshes.When catch bar 3346 moves towards axial A2 opposing levers 438a, to make the coordinating of tooth bar 3346a and gear 438c with control lever 438a with turning axle 138e as rotation center rotates.Utilize tooth bar 3346a and gear 438c this setup, the rotational angle of control lever 438a can be controlled accurately.
In sum, facial expression control device of the present invention is applied in mechanical head, only need an actuator that rotating element is rotated, and the catch bar of arranging in pairs or groups mutually can in response to against the height of expression control structure or the degree of depth, and collocation passing assembly passing facial expression control device affects face to drive linked component, and then mechanical head is made to present expression shape change.Compared to existing mechanical head, due to actuator negligible amounts used in the present invention, just can reach and affect the multiple expression reference mark on face and the variation presenting expression, therefore the usage quantity of actuator can be reduced, and effectively reduce the cost of manufacture of mechanical head, and then mechanical head can be produced by modular mode, to allow the integral manufacturing cost of robot decline, be more 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 can change in response to demand, so the present invention can under the prerequisite of overall usage quantity not changing actuator, reach design flexibility and make face can present again more horn of plenty, lively and multiple advantages such as diversified expression.
Although disclose the present invention in conjunction with above embodiment; but itself and be not used to limit the present invention; this operator is familiar with in any art; without departing from the spirit and scope of the present invention; a little change and retouching can be done, therefore being as the criterion of should defining with the claim of enclosing of protection scope of the present invention.
Claims (11)
1. a facial expression control device, comprising:
Framework;
Rotating element, it is hubbed in this framework, it has at least one surface and multiple row expression control structure, this multiple row expression control structure is arranged on this at least one surface, and a top of each expression control structure is incomplete same relative to the distance on this surface;
Multiple catch bar, its grade at least forms a line, and this at least one row catch bar be suitable for correspondence be resisted against this multiple row expression control structure one of them person on;
Actuator, it is connected with this rotating element to drive this rotating element to rotate; And
Linked component, it is configured on the bearing of trend of those catch bars, and those catch bars are between this rotating element and this linked component, the plurality of catch bar correspondence to be resisted against the start result in this multiple row expression control structure, interlock to one countenance reference mark, and then the countenance producing a correspondence.
2. facial expression control device as claimed in claim 1, wherein this rotating element comprises:
Rotating shaft;
Sleeve, it is sheathed in this rotating shaft, and wherein this surface and this multiple row expression control structure are arranged on this sleeve; And
The collar, it to be sheathed in this rotating shaft and to be positioned at by this sleeve, wherein this collar and this actuator contact, and to make when this actuator start, this collar can make this axis of rotation by this actuator drives.
3. facial expression 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. facial expression control device as claimed in claim 1, wherein the distance on those tops to this surface of wantonly two adjacent those expression control structures or projected direction all incomplete same.
5. facial expression control device as claimed in claim 1, wherein this linked component comprises:
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
Multiple control lever, its etc. be sheathed on this turning axle, and be driven in those catch bars, those control levers all have one axially, and those control levers axially all with axial clamp one angle of those catch bars, and to be suitable for this turning axle for rotation center rotates;
Wherein when those catch bars are resisted against this corresponding list feelings control structure, the rotational angle of those control levers can because of corresponding to those catch bars against the plurality of top of this list feelings control structure, relative to the difference of the distance on this surface, and make the rotational angle of those control levers different.
6. facial expression control device as claimed in claim 5, wherein this linked component also comprises:
Multiple spacing ring, its correspondence such as grade is sheathed on those catch bars; And
Multiple spring, its correspondence such as grade is sheathed on those catch bars, and each spring is positioned at relative one end place away from this rotating element of this corresponding sheathed catch bar.
7. facial expression control device as claimed in claim 5, also comprises multiple connected structure, and those control levers by those connected structures with those catch bar interlocks.
8. facial expression 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. facial expression 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. facial expression control device as claimed in claim 1, it comprises main body base further, to be assembled in this facial expression control device for presenting on the mechanical head of this countenance.
11. facial expression control device as claimed in claim 10, it also comprises passing assembly, it is configured on this main body base, and this passing assembly is connected with this facial expression control device, promote this facial expression control device with the bearing of trend along those catch bars, make it move 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 CN103149969A (en) | 2013-06-12 |
| CN103149969B true CN103149969B (en) | 2015-08-05 |
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Family Applications (1)
| 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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| Country | Link |
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| CN (1) | CN103149969B (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
Family Cites Families (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 |
| GB2134303B (en) * | 1983-01-22 | 1986-05-21 | Thomas J Greer | Facially animated manikin |
| JP4332276B2 (en) * | 2000-02-28 | 2009-09-16 | 株式会社センテクリエイションズ | Facial expression change device |
| US7113848B2 (en) * | 2003-06-09 | 2006-09-26 | 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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2011
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| CN103149969A (en) | 2013-06-12 |
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