CN103341859A

CN103341859A - Robot mouth five-rod moving mechanism

Info

Publication number: CN103341859A
Application number: CN201310273899XA
Authority: CN
Inventors: 柯显信; 尚宇峰; 卢孔笔
Original assignee: University of Shanghai for Science and Technology
Current assignee: University of Shanghai for Science and Technology
Priority date: 2013-07-02
Filing date: 2013-07-02
Publication date: 2013-10-09
Anticipated expiration: 2033-07-02
Also published as: CN103341859B

Abstract

The invention discloses a robot mouth five-rod moving mechanism which comprises a machine frame. Two motors are arranged on the machine frame, output shafts of the motors are connected with a mouth module which is a five-rod moving mechanism body. The mouth module is composed of an upper lip fixing flake, an upper lip left moving flake, an upper lip right moving flake, a lower lip left moving flake and a lower lip left moving flake. The upper lip fixing flake is supported on the output shafts of the two motors through bearings. The output shafts of the two motors are in key connection with the upper lip left moving flake and the upper lip right moving flake respectively. The whole mouth mechanism can move through output of the motors. The lower lip left moving flake and the lower lip right moving flake are hinged to the upper lip left moving flake and the upper lip right moving flake respectively. The five-rod moving mechanism is simple in structure, can well achieve opening and closing motions of the mouth of a robot, and accordingly various mouth shape motions are achieved.

Description

Robot mouth five bar motions

Technical field

The present invention relates to a kind of anthropomorphic robot motion, belong to the Robotics field, specifically a kind of robot mouth five bar motions.

Technical background

The motion of robot mouth has inseparable relation with the emotional expression of robot, explore the most reasonable, remain the important topic in Robotics field near the design of human body mouth architectural feature.At present a lot of anthropomorphic robot mouth motion of mechanism only limit to the opening and closing of two boards up and down, though this scheme is easy to control, degree true to nature is relatively poor.

Summary of the invention

The objective of the invention is to overcome the move shortcoming of anthropomorphic fidelity difference of existing robot mouth, provide a kind of robot mouth five bar motions, the human mouth of imitation that can be true to nature is realized the motion of mouth opening and closing.

For reaching above-mentioned purpose, design of the present invention is: the mouth structure forms five-rod by 5 lip thin slices by hinge-coupled, the output shaft of motor drives upper lip motion thin slice, and upper lip motion thin slice drives lower lip motion thin slice, thereby makes whole mouth mechanism kinematic.

Described motor is fixed on the frame by screw.

The output shaft of described motor is connecting the mouth module, the mouth module is made up of 5 lip thin slices, connect by hinge between them, the output shaft of motor drives upper lip motion thin slice, upper lip motion thin slice drives lower lip motion thin slice by hinge, thereby makes whole mouth mechanism kinematic.

According to the foregoing invention design, the present invention adopts following technical proposals: a kind of robot mouth five bar motions, comprise a frame, and it is characterized in that: two motors are installed on the described frame; The output shaft of motor is connecting the mouth module; The mouth module is five bar motions: the mouth module is by the fixing thin slice of upper lip, upper lip left movement thin slice and upper lip right motion thin slice, and lower lip left movement thin slice and lower lip right motion thin slice are formed; Upper lip fixedly thin slice two ends is rotationally connected by the output shaft of two bearings and two motors respectively, the output shaft of two motors key respectively connects upper lip left movement thin slice and upper lip right motion thin slice, be hinged mutually between lower lip left movement thin slice and the lower lip right motion thin slice, and be hinged mutually by hinge and upper lip left movement thin slice and upper lip right motion thin slice respectively, the rotation by two motors makes whole five bar motions motion.By the motion of five bar motions, can realize the opening and closing campaign of mouth preferably, thereby realize multiple basic shape of the mouth as one speaks action.

Compared with prior art, the present invention has following apparent outstanding substantive distinguishing features and remarkable advantage: the present invention adopts five bar motions of two driven by motor, and apish mouth that can be true to nature is realized multiple shape of the mouth as one speaks action.Strengthen the anthropomorphic effect of mouth of anthropomorphic robot, simple and compact for structure, good manufacturability is easy to control.

Description of drawings:

Fig. 1 is the master-plan schematic diagram of this mechanism.

Fig. 2 is frame and motor schematic diagram.

Fig. 3 is the mouth module diagram.

Fig. 4 is that this mechanism realizes surprised shape of the mouth as one speaks schematic diagram.

Fig. 5 is that this mechanism realizes glad shape of the mouth as one speaks schematic diagram.

Fig. 6 is the special shape of the mouth as one speaks schematic diagram that the realization of this mechanism is curled one's lip.

The specific embodiment

The present invention is further detailed explanation below in conjunction with accompanying drawing and preferred embodiment.

As shown in Figure 1, this robot mouth five bar motions comprise a frame 1, it is characterized in that: two motors 2 are installed on the described frame; The output shaft of motor 2 is connecting the mouth module; The mouth module is five bar motions: the mouth module is by the fixing thin slice 3 of upper lip, upper lip left movement thin slice 4 and upper lip right motion thin slice 5, and lower lip left movement thin slice 6 and lower lip right motion thin slice 7 are formed; Upper lip fixedly thin slice 3 two ends is rotationally connected by the output shaft of two bearings and two motors (2) respectively, the output shaft of two motors 2 key respectively connects upper lip left movement thin slice 4 and upper lip right motion thin slice 5, be hinged mutually between lower lip left movement thin slice 6 and the lower lip right motion thin slice 7, and be hinged mutually by hinge and upper lip left movement thin slice 4 and upper lip right motion thin slice 5 respectively, the rotation by two motors 2 makes whole five bar motions motion.By the motion of five bar motions, can realize the opening and closing campaign of mouth preferably, thereby realize multiple basic shape of the mouth as one speaks action.

As shown in Figure 2, motor 2 is fixed on the frame 1 by screw 8.

As shown in Figure 3, the output shaft of motor 2 is connecting the mouth module, the mouth module is five bar motions: the mouth module is made up of 5 lip thin slices, connect by hinge between them, the output shaft of motor 2 drives upper lip left movement thin slice 4 and upper lip right motion thin slice 5, upper lip left movement thin slice 4 and upper lip right motion thin slice 5 drive lower lip left movement thin slice 6 and lower lip right motion thin slice 7 by hinge, thereby make whole mouth mechanism kinematic.

As Fig. 4, Fig. 5 and shown in Figure 6, if in conjunction with having face's module 9 of features such as eye, nose, that this mechanism can be used to realize is surprised, happiness and basic facial expression such as curl one's lip.

Claims

1. robot mouth five bar motions comprise a frame (1), it is characterized in that: two motors (2) are installed on the described frame; The output shaft of motor (2) is connecting the mouth module; The mouth module is five bar motions: the mouth module is by the fixing thin slice (3) of upper lip, upper lip left movement thin slice (4) and upper lip right motion thin slice (5), and lower lip left movement thin slice (6) and lower lip right motion thin slice (7) are formed; Upper lip fixedly thin slice (3) two ends is rotationally connected by the output shaft of two bearings and two motors (2) respectively, the output shaft of two motors (2) key respectively connects upper lip left movement thin slice (4) and upper lip right motion thin slice (5), be hinged mutually between lower lip left movement thin slice (6) and the lower lip right motion thin slice (7), and be hinged mutually by hinge and upper lip left movement thin slice (4) and upper lip right motion thin slice (5) respectively, the rotation by two motors (2) makes whole five bar motions motion.By the motion of five bar motions, can realize the opening and closing campaign of mouth preferably, thereby realize multiple basic shape of the mouth as one speaks action.

2. mouth five bar motions according to claim 1, it is characterized in that: described two motors (2) are fixed on the frame (1) by screw (8).