CN103770121B - A kind of combined type facial expression simulator - Google Patents
A kind of combined type facial expression simulator Download PDFInfo
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- CN103770121B CN103770121B CN201410057178.XA CN201410057178A CN103770121B CN 103770121 B CN103770121 B CN 103770121B CN 201410057178 A CN201410057178 A CN 201410057178A CN 103770121 B CN103770121 B CN 103770121B
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Abstract
The invention discloses a kind of combined type facial expression simulator, adopt the classical mechanical drive mode based on cam mechanism, by single channel input multiple-channel output structure, operating personnel only need turning handle input power, main shaft and countershaft driven gear, cam, link assembly move, and then drive cam set motion, and fork is thereupon dynamic, pull steel wire rope to drive the motion of each expression executing agency, namely form the facial expression of complete set; Adopt flexible pipe guiding steel wire rope, flexible pipe can bend arbitrarily and can not have influence on steel wire rope and slide wherein, and make whole system transmission more stable, structure is simple.If conversion expression, is stirred by corresponding shift fork, respective cams group is driven to move left and right on axle to preposition, and by shift fork button in square groove, turning handle input power again, expression simulator then forms another set of new facial expression, convenient operation and control.Expression assembly all adopts modularized design, is convenient to batch production.
Description
Technical field
The present invention relates to a kind of simulator of mechanical manipulation, specifically, relate to a kind of combined type facial expression simulator.
Background technology
Domestic existing robot simulation technology is main mainly with experimental study and software emulation, still can not realize the emulation of facial expression completely.External existing emulated robot technology is main mainly with program and Electric Machine Control, realizes the emulation of facial expression; The such as GeminoidF emulated robot of the black great development of Osaka, Japan university Robot Design dendrite; " Ze Nuo " Series machine people of the U.S..But existing facial expression emulated robot majority depends on power electronics and controls, and utilizes program to complete set expression action; So not only its internal mechanism is complicated, and greatly, operation controls difficulty to power consumption, and internal framework also determines its expression dullness.More distinct issues are cost intensive, are not suitable for extensively promoting the use of.
Summary of the invention
In order to avoid the deficiency that prior art exists, overcome its expression emulated robot mechanism complexity, manipulation is difficult, expression is dull, the problem of cost intensive, the present invention proposes a kind of combined type facial expression simulator.The facial expression of complexity is decomposed into 13 simply with the mechanical movement of mechanical manipulation by this simulator, i.e. left eyebrow, the moving up and down of right eyebrow, the swing campaign of left eyebrow, right eyebrow, moving up and down of left eye skin, right eye skin, moving up and down of left eye eyeball, right eye eyeball, the side-to-side movement of left eye eyeball, right eye eyeball, the swing campaign of left beard, right beard, moving up and down of face; The swing bar disk cam mechanism that each self-movement is made up of each self-corresponding cam pack and fork drives, then by these independently motion random combinations, namely forms complete facial expression.
The technical solution adopted for the present invention to solve the technical problems is: comprise head mechanism, intermediate connecting bracket, control box, be characterized in, described head mechanism is by the-head plate, right side of head plate, head lower panel, left side of head plate, back head plate, first fixed support, second fixed support, 3rd fixed support, 4th fixed support, first bearing pin, second bearing pin, eyebrow assembly, eyelid assembly, eyeball assembly, beard assembly, face assembly and flexible pipe, steel wire rope, spring forms, five pieces of panels glued joint formation head framework, eyebrow assembly is separately fixed on the-head plate by bolt, first fixed support and second fixed support one end are connected by screw, eyebrow assembly and the second fixed support other end are connected by screw, flexible pipe is fixed on first fixed support one end, steel wire penetrating flexible pipe is connected with eyebrow assembly one end, the eyebrow assembly other end is connected by spring with the first support bracket fastened other end, eyeball assembly is connected with the 4th fixed support, steel wire penetrating flexible pipe, eyeball assembly and the 4th fixed support two ends are connected to spring, eyelid assembly is fixed on the 4th fixed support by steel wire rope and flexible pipe, and the 4th fixed support other end is bolted on back head plate, beard assembly and face assembly are connected on the 3rd fixed support respectively by the first bearing pin and the second bearing pin, flexible pipe is fixed on the 3rd fixed support one end, steel wire penetrating flexible pipe, be connected on beard assembly and face assembly with spring, the 3rd fixed support other end is bolted on head lower panel,
Described control box comprises control box top panel, control panel, control box left plate, control box back side panel, control box right plate, forward spindle, rear main shaft, front springs fixed bar, rear end spring fixed bar, the first fixed head, the second fixed head, countershaft, handle, the first gear, the second gear, the 3rd gear, bearing, shift fork, fork, cam set, and control panel and four blocks of side plates are bolted formation casing; The two ends of forward spindle and rear main shaft respectively with bearing interference fit, bearing is embedded on control box left side plate; Cam set is connected by key with main shaft, each cam set is connected with shift fork, is used for stirring corresponding cam set relative main slippage, to having fork above cam set, fork connects with corresponding steel wire rope, and steel wire penetrating flexible pipe is separately fixed on the first fixed head and the second fixed head; First fixed head, the second fixed head are connected by bolt with control box left side plate respectively, and spring is connected with front springs fixed bar and rear end spring fixed bar respectively, and two spring fixed bars are fixed on control box left side plate; Fork has the steel wire rope of flexible pipe to drive head mechanism motion by driving cover; First gear and the 3rd gear are connected with one end of forward spindle and rear main shaft respectively, and the second gear and countershaft one end are connected, and with the first gear and the 3rd meshed transmission gear, handle and the countershaft other end are connected; Control box control panel is provided with ten trizonal shift fork standing grooves;
Described intermediate connecting bracket is hollow cuboid, respectively there are two through holes at two ends, intermediate connecting bracket is positioned at below head mechanism, and cover has the steel wire rope of flexible pipe from centre through being connected with each assembly of head mechanism, and intermediate connecting bracket and head mechanism, control box are connected by bolt.
Beneficial effect
A kind of combined type facial expression simulator that the present invention proposes, adopt the classical mechanical drive mode based on cam mechanism, by single channel input multiple-channel output structure, operating personnel only need turning handle input power, main shaft and countershaft driven gear, cam, connecting rod and other train motion, and then drive cam set motion, fork is thereupon dynamic, pull steel wire rope to drive the motion of each expression executing agency, namely form the facial expression of complete set; Adopt flexible pipe guiding steel wire rope, flexible pipe can bend arbitrarily and can not have influence on steel wire rope and slide wherein, and make whole system transmission more stable, structure is simple.If conversion expression, is stirred by corresponding shift fork, respective cams group is driven to move left and right on axle to preposition, and by square groove on shift fork button to control panel, turning handle input power again, expression simulator then forms another set of new facial expression, convenient operation and control.
Combined type facial expression simulator of the present invention, abandon the kind of drive that expression robot in the past utilizes program and electronically controlled motor, each several part facial expression assembly all adopts modularized design, and cost price is cheap, be convenient to batch production, and the environmental suitability of whole product is got a promotion.
Accompanying drawing explanation
Below in conjunction with drawings and embodiments, a kind of combined type facial expression of the present invention simulator is described in further detail.
Fig. 1 is combined type facial expression simulator schematic diagram of the present invention.
Fig. 2 is the head construction schematic diagram removing left plate.
Fig. 3 is eyeball assembly plan view during removal eyelid.
Fig. 4 is head mechanism each assembly connecting portion schematic diagram.
Fig. 5 is head mechanism each assembly connecting portion A-A sectional view.
Fig. 6 is intermediate connecting bracket axonometric drawing.
Fig. 7 is control box structural representation.
Fig. 8 is cam work schematic diagram.
In figure:
1. spring fixed bar 18. head lower panel 19. first bearing pin 20. left side of head plate 21. second fixed support 22. the 3rd fixed support 23. second bearing pin 24. the 4th fixed support 25. back head plate 26. first gear 27. rear main shaft 28. second gear 29. the 3rd gear 30. forward spindle 31. first fixed head 32. second fixed head 33. control box left plate 34. control box back side panel 35. control box right plate 36. bearing 37. shift fork 38. fork 39. cam set in fork fixed axis 17. rear end after the-head plate 2. right side of head plate 3. first fixed support 4. eyebrow assembly 5. eyelid assembly 6. eyeball assembly 7. beard assembly 8. face assembly 9. middle link 10. control box top panel 11. countershaft 12. handle 13. control panel 14. front roll bar fixed axis 15. front springs fixed bar 16.
Detailed description of the invention
The present embodiment is a kind of combined type facial expression simulator.
Embodiment one
Consult Fig. 1-Fig. 8, the present embodiment combined type facial expression simulator, comprises head mechanism, intermediate connecting bracket, control box; Head mechanism is made up of the-head plate 1, right side of head plate 2, head lower panel 18, left side of head plate 20, back head plate 25, first fixed support 3, second fixed support 21, the 3rd fixed support 22, the 4th fixed support 24, first bearing pin 19, second bearing pin 23, eyebrow assembly 4, eyelid assembly 5, eyeball assembly 6, beard assembly 7, face assembly 8 and flexible pipe, steel wire rope, spring, and the-head plate 1, right side of head plate 2, head lower panel 18, left side of head plate 20, back head plate 25 5 pieces of panels glued joint formation headers box body structure; Eyebrow assembly 4 is separately fixed on the-head plate 1 by bolt, first fixed support 3 and second fixed support 21 one end are connected by screw, eyebrow assembly 4 and second fixed support 21 other end are connected by screw, flexible pipe is fixed on first fixed support 3 one end, steel wire penetrating flexible pipe is connected with eyebrow assembly 4 one end, and eyebrow assembly 4 other end is connected by spring with the other end of the first fixed support 3.
Eyeball assembly 6 and the 4th fixed support 24 are connected through the hinge, steel wire penetrating flexible pipe, steel wire rope and spring are connected to eyeball assembly 6 and the 4th fixed support 24 two ends, eyelid assembly 5 is fixed on the 4th fixed support 24 by steel wire rope and flexible pipe, and the 4th fixed support 24 other end is separately fixed on back head plate 25 by bolt.
Beard assembly 7 and face assembly 8 are connected on the 3rd fixed support 22 respectively by the first bearing pin 19 and the second bearing pin 23, flexible pipe is connected in the 3rd fixed support 22 one end, steel wire penetrating flexible pipe, steel wire rope and spring are connected on beard assembly 7, face assembly 8, and the 3rd fixed support 22 other end is bolted on head lower panel 18.
Control box comprises control box top panel 10, control panel 13, control box left plate 33, control box back side panel 34, control box right plate 35, forward spindle 30, rear main shaft 27, front roll bar fixed axis 14, front springs fixed bar 15, rear fork fixed axis 16, rear end spring fixed bar 17, first fixed head 31, second fixed head 32, countershaft 11, handle 12, first gear 26, second gear 28, the 3rd gear 29, bearing 36, shift fork 37, fork 38, cam set 39; Control panel 13 is bolted formation body structure with control box top panel 10, control box left plate 33, control box right plate 35 and control box back side panel 34 respectively.The two ends of forward spindle 30 and rear main shaft 27 respectively with bearing 36 interference fit, bearing 36 is embedded on control box left plate 33 and control box right plate 35 respectively; Cam set 39 is connected by key with forward spindle 30, rear main shaft 27, each cam set 39 connects a shift fork 37, be used for stirring corresponding cam set relative main slippage, to there being fork 38 above cam set 39, fork 38 is fixedly connected with corresponding steel wire rope, and steel wire penetrating flexible pipe is separately fixed on the first fixed head 31 and the second fixed head 32; First fixed head 31, second fixed head 32 is connected by bolt with control box left plate 33, control box right plate 35, spring is connected with front springs fixed bar 15 and rear end spring fixed bar 17 respectively, and two spring fixed bar two ends are fixed on control box left plate 33 and control box right plate 35 by nut.Fork 38 has the steel wire rope of flexible pipe to move by driving cover, thus drives head mechanism motion; First gear 26 and the 3rd gear 29 are fixedly connected with forward spindle 30 one end with rear main shaft 27 respectively, and the second gear 28 is fixedly connected with countershaft 11 one end, and engage to transmit with the first gear 26 and the 3rd gear 29 and move; Handle 12 is fixedly connected with countershaft 11 other end; The control panel 13 that control box front end tilts is provided with expression assembly ten trizonal shift fork 37 standing groove.
Intermediate connecting bracket 9 is hollow cuboid, respectively there are two through holes at two ends, intermediate connecting bracket 9 is positioned at below head mechanism, and cover has the steel wire rope of flexible pipe from centre through being connected with each assembly of head mechanism, and intermediate connecting bracket 9 two ends are connected by bolt with head mechanism, control box respectively.
Manipulation personnel swinging handle 12 input power, countershaft 11 is driven to rotate, by the second gear 28 and the first gear 26, the 3rd gear 29 engaged transmission, forward spindle 30 and rear main shaft 27 is driven to rotate, and then drive cam set 39 to move, fork 38 is thereupon dynamic, pulls steel wire rope to drive the motion of each expression assembly, namely forms the facial expression of complete set.
Embodiment two
Front roll bar fixed axis 14, rear fork fixed axis 16 lift by manipulation personnel, find corresponding shift fork 37, upwards lift shift fork 37, more left and right movement is allocated to preposition, drives corresponding cam set 39 to move on axle, and shift fork 37 is detained the shift fork standing groove arranged to control panel 13, then, front roll bar fixed axis 14, rear fork fixed axis 16 are put down and fix with nut, swinging handle 12 input power, each component movement of expressing one's feelings, namely forms another set of complete facial expression.Set in each cam set and have ai cam, wherein, i=1,2,3......13; 13 cam set are combined into ∏ ai kind expression, wherein, and i=1,2,3......13; Namely abundant facial expression is formed.
Claims (1)
1. a combined type facial expression simulator, comprise head mechanism, intermediate connecting bracket, control box, it is characterized in that: described head mechanism is by the-head plate, right side of head panel, head lower panel, left side of head panel, back head panel, first fixed support, second fixed support, 3rd fixed support, 4th fixed support, first bearing pin, second bearing pin, eyebrow assembly, eyelid assembly, eyeball assembly, beard assembly, face assembly and flexible pipe, steel wire rope, spring forms, five pieces of panels glued joint formation head framework, eyebrow assembly is separately fixed on the-head plate by bolt, first fixed support and second fixed support one end are connected by screw, eyebrow assembly and the second fixed support other end are connected by screw, flexible pipe is fixed on first fixed support one end, steel wire penetrating flexible pipe is connected with eyebrow assembly one end, the eyebrow assembly other end is connected by spring with the first support bracket fastened other end, eyeball assembly is connected with the 4th fixed support one end, steel wire penetrating flexible pipe, eyeball assembly and the 4th fixed support two ends are connected to spring, eyelid assembly is fixed on the 4th fixed support by steel wire rope and flexible pipe, and the 4th fixed support other end is bolted on back head plate, beard assembly and face assembly are connected on the 3rd fixed support respectively by the first bearing pin and the second bearing pin, flexible pipe is fixed on the 3rd fixed support one end, steel wire penetrating flexible pipe, be connected on beard assembly and face assembly with spring, the 3rd fixed support other end is bolted on head lower panel,
Described control box comprises control box top panel, control panel, control box left plate, control box back side panel, control box right plate, forward spindle, rear main shaft, front springs fixed bar, rear end spring fixed bar, the first fixed head, the second fixed head, countershaft, handle, the first gear, the second gear, the 3rd gear, bearing, shift fork, fork, cam set, and control panel and four blocks of side plates are bolted formation casing; The two ends of forward spindle and rear main shaft respectively with bearing interference fit, bearing is embedded on control box left side plate; Cam set is connected by key with main shaft, each cam set is connected with shift fork, is used for stirring corresponding cam set relative main slippage, to having fork above cam set, fork connects with corresponding steel wire rope, and steel wire penetrating flexible pipe is separately fixed on the first fixed head and the second fixed head; First fixed head, the second fixed head are connected by bolt with control box left side plate respectively, and spring is connected with front springs fixed bar and rear end spring fixed bar respectively, and two spring fixed bars are fixed on control box left side plate; Fork has the steel wire rope of flexible pipe to drive head mechanism motion by driving cover; First gear and the 3rd gear are connected with one end of forward spindle and rear main shaft respectively, and the second gear and countershaft one end are connected, and with the first gear and the 3rd meshed transmission gear, handle and the countershaft other end are connected; Control box control panel is provided with ten trizonal shift fork standing grooves;
Described intermediate connecting bracket is hollow cuboid, respectively there are two through holes at two ends, intermediate connecting bracket is positioned at below head mechanism, and cover has the steel wire rope of flexible pipe from centre through being connected with each assembly of head mechanism, and intermediate connecting bracket and head mechanism, control box are connected by bolt.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410057178.XA CN103770121B (en) | 2014-02-20 | 2014-02-20 | A kind of combined type facial expression simulator |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201410057178.XA CN103770121B (en) | 2014-02-20 | 2014-02-20 | A kind of combined type facial expression simulator |
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| CN103770121A CN103770121A (en) | 2014-05-07 |
| CN103770121B true CN103770121B (en) | 2016-02-24 |
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| CN201410057178.XA Expired - Fee Related CN103770121B (en) | 2014-02-20 | 2014-02-20 | A kind of combined type facial expression simulator |
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Families Citing this family (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105094160A (en) * | 2014-11-18 | 2015-11-25 | 芜湖蓝宙电子科技有限公司 | Vertical balanced robot |
| CN105082140A (en) * | 2014-11-18 | 2015-11-25 | 芜湖蓝宙电子科技有限公司 | Upright robot capable of changing expressions and actions according to environments |
| CN104827478A (en) * | 2015-06-01 | 2015-08-12 | 合肥扬帆通信元器件有限公司 | Vertical robot changing expression acts according to environments |
| CN105437247B (en) * | 2016-01-27 | 2017-06-20 | 龙卷风机电科技（昆山）有限公司 | A kind of expression robot |
| CN106393127A (en) * | 2016-08-29 | 2017-02-15 | 昆山塔米机器人有限公司 | Robot capable of simulating human facial expressions |
| CN108656151A (en) * | 2017-03-30 | 2018-10-16 | 深圳光启合众科技有限公司 | The eye structure of robot, the head construction of robot and robot |
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