CN103358310A - Mouth movement mechanism of humanoid robot - Google Patents
Mouth movement mechanism of humanoid robot Download PDFInfo
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- CN103358310A CN103358310A CN2013102787977A CN201310278797A CN103358310A CN 103358310 A CN103358310 A CN 103358310A CN 2013102787977 A CN2013102787977 A CN 2013102787977A CN 201310278797 A CN201310278797 A CN 201310278797A CN 103358310 A CN103358310 A CN 103358310A
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- guide rail
- elasticity
- steel wire
- labial lamina
- reel
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Abstract
The invention discloses a mouth movement mechanism of a humanoid robot, which comprises a movement module, a driver module and a fixing module, wherein a motor is fixed on a baseplate; a motor shaft drives a winding drum to rotate and twines a steel wire, so that the steel wire fixed on perforated screws pulls an upper surface and a lower surface of an elastic labrum respectively to enable the upper surface and the lower surface to be in a patulous state from the initial closed state. As an elastic body is provided, the left surface and the right surface of the elastic labrum shrink to the center in a guide rail direction, so that the elastic labrum obtains expected deformation. The mouth movement mechanism of the humanoid robot has a simple structure, and the annular elastic body simulates a person's mouth, so that more vivid mouth deformation can be realized.
Description
Technical field
The present invention relates to a kind of anthropomorphic robot local motion mechanism, particularly a kind of anthropomorphic robot mouth motion belongs to the Robotics field.
Background technology
Present anthropomorphic robot mouth motion uses lower jaw directly to drive mostly, although can make the apish mouth action of robot, is difficult to realize lively lip deformation.
Summary of the invention
The object of the invention is to overcome the factitious shortcoming of shape of the mouth as one speaks deformation of existing anthropomorphic robot mouth motion, provide a kind of anthropomorphic robot mouth motion, with the motion of elastomer simulating human lip.
For reaching above-mentioned purpose, design of the present invention is: people's mouth region mainly is comprised of muscle around the mouth and two muscle groups of masseter, thereby opening of the deformation of the control shape of the mouth as one speaks and lower jaw closed.Therefore people's lip similarly is an elastomer, under the traction of muscle deformation occurs.So just can simulate with elastomer people's lip, with the traction of steel wire pulling simulate muscular.
According to above-mentioned design, the present invention adopts following technical scheme:
A kind of anthropomorphic robot mouth motion, these two ends, mechanism left and right sides are symmetrical, comprise motion module, driver module and stuck-module; It is characterized in that: described motion module comprises an elasticity labial lamina, two translation bars and two guide rail slide blocks; Described elasticity labial lamina is annular elastomeric, two sides, the left and right sides respectively with the bonding connection of two translation bars, the stiff end of two translation bars is connected with holding screw with two guide rail slide blocks respectively; Described driver module divides up and down two parts, and two parts respectively comprise a motor, a reel and a steel wire up and down; Be connected by interference fit between the output shaft of described motor and the reel, steel wire one end is fixed on the reel, along with the rotation of motor is wrapped on the reel; Steel wire passes respectively two perforation screws up and down, and is fixed on the inboard of elasticity labial lamina top and bottom; Described stuck-module comprises support and guide rail; Described guide rail is connected with support by two holding screws; Two motors are fixed on the upper and lower end parts of support up and down, and guide rail and guide rail slide block cunning are joined the formation sliding pair; The elasticity labial lamina is in the situation that not to be subjected to steel wire traction be original closure state, when electric machine rotation, steel wire is respectively around reel up and down and be with the dynamic elasticity labial lamina to open up and down, therefore two ends, the elasticity labial lamina left and right sides will be shunk toward middle along the guide rail direction, just can realize thus the deformation of elasticity labial lamina by the rotating of control motor, be that top and bottom opening and closing and left and right sides reduction of area are opened, obtain the mouth type of expection.
The present invention has following apparent outstanding substantive distinguishing features and significantly technological progress compared with prior art: the present invention can realize comparatively lively lip distortion with cyclic spring n-body simulation n people's lip.The present invention is simple in structure, and is rationally compact, easy to operate, safe and reliable.
Description of drawings
Fig. 1 is the axonometric drawing of this mechanism.
Fig. 2 is the front view of this mechanism.
Fig. 3 is the left view of this mechanism.
Fig. 4 is the comparison diagram that this mechanism realizes different mouth types.
The specific embodiment
The present invention is further detailed explanation below in conjunction with accompanying drawing and preferred embodiment.
As shown in Figure 1-Figure 3, this anthropomorphic robot mouth motion, these two ends, mechanism left and right sides are symmetrical, comprise motion module, driver module and stuck-module; Described motion module comprises an elasticity labial lamina 1, two translation bars 2 and two guide rail slide blocks 3; Described elasticity labial lamina 1 is annular elastomeric, two sides, the left and right sides respectively with two translation bar 2 bonding connections, the stiff end of two translation bars 2 is connected with two guide rail slide blocks, 3 usefulness holding screws 9 respectively; Described driver module divides up and down two parts, respectively comprises a motor 4, a reel 5 and a steel wire 6; Be connected by interference fit between described motor 4 output shafts and the reel 5, steel wire 6 one ends are fixed on the reel 5, along with the rotation of motor 4 is wrapped on the reel 5; Steel wire 6 passes respectively two perforation screws 10 up and down, and it is inboard to be fixed on elasticity labial lamina 1 top and bottom; Described stuck-module comprises support 7 and guide rail 8; Described guide rail 8 is connected with support 7 by two holding screws 9; Two motors 4 are separately fixed on support 7 upper and lower end parts, guide rail 8 and the guide rail slide block 3 sliding formation sliding pairs of joining; Elasticity labial lamina 1 is not in the situation that be subjected to steel wire 6 tractions to be closure state, when motor 4 rotates, steel wire 6 is respectively around reel 5 up and down and be with dynamic elasticity labial lamina 1 to open up and down, therefore two ends, elasticity labial lamina 1 left and right sides will be shunk toward middle along guide rail 8 directions, just can realize thus the deformation of elasticity labial lamina 1 by the rotating of control motor 4, be that top and bottom opening and closing and left and right sides reduction of area are opened, obtain the mouth type of expection as shown in Figure 4.
Claims (1)
1. anthropomorphic robot mouth motion, these two ends, mechanism left and right sides are symmetrical, comprise motion module, driver module and stuck-module, it is characterized in that: described motion module comprises an elasticity labial lamina (1), two translation bars (2) and two guide rail slide blocks (3); Described elasticity labial lamina (1) is annular elastomeric, two sides, the left and right sides respectively with two translation bars (2) bonding connection, the stiff end of two translation bars (2) is connected with holding screw (9) with two guide rail slide blocks (3) respectively; Described driver module divides up and down two parts, and two parts respectively comprise a motor (4), a reel (5) and a steel wire (6) up and down; Be connected by interference fit between described motor (4) output shaft and the reel (5), steel wire (6) one ends are fixed on the reel (5), along with the rotation of motor (4) is wrapped on the reel (5); Steel wire (6) passes respectively two perforation screws (10) up and down, and is fixed on the inboard of elasticity labial lamina (1) top and bottom; Described stuck-module comprises support (7) and guide rail (8); Described guide rail (8) is connected with support (7) by two holding screws (9); Two motors (4) are separately fixed on the upper and lower end parts of support (7) up and down, guide rail (8) and the sliding formation sliding pair of joining of guide rail slide block (3); Elasticity labial lamina (1) is not in the situation that be subjected to steel wire (6) traction to be original closure state, when motor (4) rotates, steel wire (6) is respectively around reel (5) up and down and be with dynamic elasticity labial lamina (1) to open up and down, therefore elasticity labial lamina (1) two ends, the left and right sides will be shunk toward middle, drive translation bar (2) and guide rail slide block (3) mobile inside along guide rail (8) direction, rotating by control motor (4) just can realize the deformation of elasticity labial lamina (1) thus, obtains the mouth type of expection.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310278797.7A CN103358310B (en) | 2013-07-04 | 2013-07-04 | Mouth movement mechanism of humanoid robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310278797.7A CN103358310B (en) | 2013-07-04 | 2013-07-04 | Mouth movement mechanism of humanoid robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN103358310A true CN103358310A (en) | 2013-10-23 |
| CN103358310B CN103358310B (en) | 2015-05-27 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
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| CN201310278797.7A Expired - Fee Related CN103358310B (en) | 2013-07-04 | 2013-07-04 | Mouth movement mechanism of humanoid robot |
Country Status (1)
| Country | Link |
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| CN (1) | CN103358310B (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108818556A (en) * | 2018-07-06 | 2018-11-16 | 宣城南巡智能科技有限公司 | A kind of mouth shape control structure of emulated robot |
| CN109366526A (en) * | 2018-12-20 | 2019-02-22 | 盘锦伊艾克斯机器人有限公司 | A kind of mouth structure of bio-robot |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2004098253A (en) * | 2002-09-11 | 2004-04-02 | Ntt Docomo Inc | Lip shape expression mechanism and lip shape expression method |
| JP2004098252A (en) * | 2002-09-11 | 2004-04-02 | Ntt Docomo Inc | Communication terminal, control method of lip robot, and control device of lip robot |
| JP2005091947A (en) * | 2003-09-18 | 2005-04-07 | Univ Waseda | Lips structure and lung structure of robot |
| KR20090022875A (en) * | 2007-08-31 | 2009-03-04 | 연세대학교 산학협력단 | Face robot for giving expression |
| CN101618280A (en) * | 2009-06-30 | 2010-01-06 | 哈尔滨工业大学 | Humanoid-head robot device with human-computer interaction function and behavior control method thereof |
| KR101095928B1 (en) * | 2009-05-11 | 2011-12-19 | 한국과학기술연구원 | Lip driving device for robot |
| CN102416622A (en) * | 2011-09-13 | 2012-04-18 | 上海交通大学 | Bionic snake mouth mechanism |
-
2013
- 2013-07-04 CN CN201310278797.7A patent/CN103358310B/en not_active Expired - Fee Related
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2004098253A (en) * | 2002-09-11 | 2004-04-02 | Ntt Docomo Inc | Lip shape expression mechanism and lip shape expression method |
| JP2004098252A (en) * | 2002-09-11 | 2004-04-02 | Ntt Docomo Inc | Communication terminal, control method of lip robot, and control device of lip robot |
| JP2005091947A (en) * | 2003-09-18 | 2005-04-07 | Univ Waseda | Lips structure and lung structure of robot |
| KR20090022875A (en) * | 2007-08-31 | 2009-03-04 | 연세대학교 산학협력단 | Face robot for giving expression |
| KR101095928B1 (en) * | 2009-05-11 | 2011-12-19 | 한국과학기술연구원 | Lip driving device for robot |
| CN101618280A (en) * | 2009-06-30 | 2010-01-06 | 哈尔滨工业大学 | Humanoid-head robot device with human-computer interaction function and behavior control method thereof |
| CN102416622A (en) * | 2011-09-13 | 2012-04-18 | 上海交通大学 | Bionic snake mouth mechanism |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108818556A (en) * | 2018-07-06 | 2018-11-16 | 宣城南巡智能科技有限公司 | A kind of mouth shape control structure of emulated robot |
| CN109366526A (en) * | 2018-12-20 | 2019-02-22 | 盘锦伊艾克斯机器人有限公司 | A kind of mouth structure of bio-robot |
Also Published As
| Publication number | Publication date |
|---|---|
| CN103358310B (en) | 2015-05-27 |
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Granted publication date: 20150527 Termination date: 20180704 |