CN107696039A - A kind of robot face expression control structure - Google Patents
A kind of robot face expression control structure Download PDFInfo
- Publication number
- CN107696039A CN107696039A CN201710801208.7A CN201710801208A CN107696039A CN 107696039 A CN107696039 A CN 107696039A CN 201710801208 A CN201710801208 A CN 201710801208A CN 107696039 A CN107696039 A CN 107696039A
- Authority
- CN
- China
- Prior art keywords
- facial
- epidermis
- connector
- link
- robot
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 230000008921 facial expression Effects 0.000 title claims abstract description 30
- 230000001815 facial effect Effects 0.000 claims abstract description 76
- 210000002615 epidermis Anatomy 0.000 claims abstract description 47
- 241000272194 Ciconiiformes Species 0.000 claims description 3
- 210000000988 bone and bone Anatomy 0.000 claims description 3
- 230000014509 gene expression Effects 0.000 abstract description 6
- 230000007547 defect Effects 0.000 abstract description 4
- 238000005516 engineering process Methods 0.000 abstract description 4
- VYPSYNLAJGMNEJ-UHFFFAOYSA-N Silicium dioxide Chemical compound O=[Si]=O VYPSYNLAJGMNEJ-UHFFFAOYSA-N 0.000 description 9
- 239000000741 silica gel Substances 0.000 description 9
- 229910002027 silica gel Inorganic materials 0.000 description 9
- 239000007788 liquid Substances 0.000 description 3
- 239000000463 material Substances 0.000 description 2
- 210000003205 muscle Anatomy 0.000 description 2
- 210000003491 skin Anatomy 0.000 description 2
- 239000000853 adhesive Substances 0.000 description 1
- 230000001070 adhesive effect Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 230000015572 biosynthetic process Effects 0.000 description 1
- 238000001816 cooling Methods 0.000 description 1
- 210000000744 eyelid Anatomy 0.000 description 1
- 239000004744 fabric Substances 0.000 description 1
- 210000001097 facial muscle Anatomy 0.000 description 1
- 239000000499 gel Substances 0.000 description 1
- 239000003292 glue Substances 0.000 description 1
- 238000001746 injection moulding Methods 0.000 description 1
- 238000003780 insertion Methods 0.000 description 1
- 230000037431 insertion Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 229920003023 plastic Polymers 0.000 description 1
- 239000004033 plastic Substances 0.000 description 1
- 229920001296 polysiloxane Polymers 0.000 description 1
- 238000003672 processing method Methods 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/0005—Manipulators having means for high-level communication with users, e.g. speech generator, face recognition means
- B25J11/0015—Face robots, animated artificial faces for imitating human expressions
Landscapes
- Engineering & Computer Science (AREA)
- Health & Medical Sciences (AREA)
- Audiology, Speech & Language Pathology (AREA)
- General Health & Medical Sciences (AREA)
- Human Computer Interaction (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of robot face expression control structure, including robot face, wrap the facial epidermis of robot face and several be arranged in connector on the inside of facial epidermis.Connector includes drive connection frame and the facial link positioned at drive connection frame one end, and the other end of the drive connection frame is connected with control unit, and the connector is connected by facial link with the facial epidermis.The present invention is in the facial multiple connectors of epidermis disposed inboard, each connector designs the facial link with perforate, facial epidermis can be embedded in facial link so as to be closely connected with connector by perforate, control the motion of connector to realize the accurate control to robot face expression shape change by control unit.The defects of easily coming off, have little expression even without facial expression instant invention overcomes the facial epidermis of robot and connector, can be widely applied to robot face expression control technology field.
Description
Technical field
The present invention relates to robot face expression control technology field, more particularly to a kind of robot face expression control knot
Structure.
Background technology
Domestic robot face expression processing at present is relatively simple.The face of most of humanoid robots is plastics shape of face
Shell, without expression shape change；The processing method of small part company is to set a small screen in face, to play expression animation
Mode expresses the expression of robot；It is last a kind of and for the few humanoid robot producer of number using silica gel material as face
Epidermis, eyelid pasted with robot transmission part by glue together with easily come off, lead to not control blink action.These productions
The defects of having little expression even without facial expression all be present in product.
The content of the invention
The technical problems to be solved by the invention are to provide a kind of robot face expression control structure, realize and machine
Human facial structure firmly connects the functions such as the accurate control with robot face expression shape change, overcomes robot face expression deadlock
Firmly even without facial expression the defects of.
Technical scheme used by solve above-mentioned technical problem：
A kind of robot face expression control structure, including robot face, wrap facial epidermis in robot face
And several are arranged in the connector on the inside of facial epidermis, connector includes drive connection frame and positioned at drive connection frame one end
Facial link, the other end of the drive connection frame is connected with control unit, the connector by facial link with
The facial epidermis connection.
Further, at least one perforate for being available for the facial epidermis insertion is disposed with the facial link.
Further, the end face that the facial link is connected with facial epidermis is cambered surface, and the cambered surface concaves towards the driving
Side where link.
Further, the lower end of the drive connection frame is disposed with two external parts, is formed between two external parts empty
Gap, drive connection part are connected by the external part with the facial link.
Further, the left face of facial epidermis and the right side are respectively symmetrically disposed with connector on the face, and the connector distinguishes cloth
Put between brows, stork bone, lip and the wing of nose, below lip and the corners of the mouth.
Beneficial effect：The present invention is by the multiple connectors of facial epidermis disposed inboard of robot and the face of robot
Epidermis closely connects, and connector includes drive connection frame and the facial link positioned at drive connection frame one end, each face connection
Frame is designed with perforate, and facial epidermis is embedded in facial link so as to be closely connected with connector by perforate, single by controlling
The accurate control to robot face expression shape change is realized in the motion of member control connector.Instant invention overcomes robot face table
The defects of skin easily comes off, had little expression even without facial expression with connector, can be widely applied to robot face
Expression control technology field.
Brief description of the drawings
Fig. 1 is the axonometric drawing of the embodiment of the present invention；
Fig. 2 is the front view of the embodiment of the present invention；
Fig. 3 is the facial front view of robot.
Reference：1st, drive connection frame；2nd, facial link；3rd, facial epidermis.
Embodiment
With reference to Fig. 1 to Fig. 3, the present invention is described further.
A kind of robot face expression control structure, including robot face and wrap the facial epidermis in robot face
3, the facial disposed inboard of epidermis 3 has several connectors, and the quantity of connector is 10 in the present embodiment.The connector
Facial link 2 including drive connection frame 1 and positioned at the one end of drive connection frame 1, the other end of the drive connection frame 1 and control
Unit connection processed, the connector are connected by facial link 2 with the facial epidermis 3.
Further, at least one perforate, a part for the facial inner side of epidermis 3 are disposed with the facial link 2
Stretching into the perforate makes facial epidermis 3 be closely connected with facial link 2.The quantity of perforate described in the present embodiment is one,
And be U-shaped through hole, the lower end of the drive connection frame 1 is placed in the U-shaped through hole.The lower end of the drive connection frame 1 is
Middle part hollow out forms the external part of both sides, and the external part is stretched into the U-shaped through hole and is connected with facial link 2.
Further, the end face that the facial link 2 is connected with facial epidermis 3 is cambered surface, and the cambered surface concaves towards the drive
Side where dynamic link 1, the cambered surface can the perfect facial lines for being bonded robot.Other end faces of facial link 2
Also cambered surface is made, the contact area of facial epidermis 3 and facial link 2 can be increased, increases the adhesive force of facial epidermis 3.
In the present embodiment, wrapped using soft and great elastic silica gel material in robot face as facial epidermis 3,
The inner side of facial epidermis 3 is connected with each connector, controls connector that facial epidermis 3 can be pulled to simulate by control unit
Human facial expressions, play a part of facial muscles.The connector uses when silica gel is molded part silicone gel stretching into perforate
In make connector and facial epidermis 3 mutually embedded, so as to realize the firm connection of the two.
The upper end of the drive connection part 1 is exposed for being connected with control unit, the remainder of drive connection part 1 and face
Portion's connector 2 is then wrapped in facial epidermis 3.The facial epidermis 3 and connector melt as an entirety, can avoid controlling
Face epidermis 3 departs from connector because of pulling during robot face expression.Using silica gel and the mutually embedded company of connector
Method is connect, optimizes the connected mode of connector and silica gel, reduces the control difficulty of robot face expression.
Further, multiple connectors are arranged in the inner side of facial epidermis 3 according to the distribution of human face's muscle, pass through control unit
Control moving to realize that the facial expression of robot is imitated for each connector.In the present embodiment, the left face of facial epidermis 3 and
The right side is respectively symmetrically disposed with connector on the face.The left face of the facial epidermis 3 is between brows, stork bone, lip and the wing of nose, lip
Connector is respectively disposed with lower section and the corners of the mouth, right face is also respectively disposed with connector in relevant position.By in above-mentioned face
Ten connectors of portion's epidermis arrangement, robot can simulate muscle and affect skin of face to make series of human facial expression,
Improve the degree true to nature of robot face expression.
Further, in the present invention, the facial epidermis 3 is molded by way of liquid silica gel ejection formation.It is each described
The connection of connector and facial epidermis 3 is that facial epidermis 3 has just been completed in facial mould during injection molding, and its step is：
S-1, arrange each connector in advance in the facial mould；
S-2, liquid silica gel is injected in facial mould, the liquid silica gel submerges respectively opening on the facial link 2
Hole；
Facial epidermis 3 is stripped after S-3, the cooling of carrying liqs silica gel.
Further, in the step S-3, the inner side of the facial epidermis 3 is embedded in the facial link by each perforate
2。
Embodiments of the present invention are explained in detail above in association with accompanying drawing, but the invention is not restricted to above-mentioned embodiment party
Formula, can also be before present inventive concept not be departed from the technical field those of ordinary skill possessed knowledge
Put that various changes can be made.
Claims (5)
1. a kind of robot face expression control structure, including robot face and wrap the facial epidermis in robot face
(3), it is characterised in that：Also include several connectors being arranged on the inside of facial epidermis (3), connector includes drive connection frame
(1) and the facial link (2) positioned at drive connection frame (1) one end, the other end and control unit of the drive connection frame (1)
Connection, the connector are connected by facial link (2) with the facial epidermis (3).
A kind of 2. robot face expression control structure according to claim 1, it is characterised in that：The facial link
(2) at least one perforate for being available for the facial epidermis (3) embedded is disposed with.
A kind of 3. robot face expression control structure according to claim 2, it is characterised in that：The facial link
(2) end face being connected with facial epidermis (3) is cambered surface, and the cambered surface concaves towards the side where the drive connection frame (1).
A kind of 4. robot face expression control structure according to claim 3, it is characterised in that：The drive connection frame
(1) lower end is disposed with two external parts, and space is formed between two external parts, and drive connection part (1) is stretched by described
Go out end to be connected with the facial link (2).
A kind of 5. robot face expression control structure according to claim 4, it is characterised in that：The facial epidermis
(3) left face and the right side are respectively symmetrically disposed with connector on the face, and the connector is arranged in brows, stork bone, lip and the wing of nose
Between, below lip and the corners of the mouth.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710801208.7A CN107696039A (en) | 2017-09-07 | 2017-09-07 | A kind of robot face expression control structure |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710801208.7A CN107696039A (en) | 2017-09-07 | 2017-09-07 | A kind of robot face expression control structure |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107696039A true CN107696039A (en) | 2018-02-16 |
Family
ID=61172214
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710801208.7A Pending CN107696039A (en) | 2017-09-07 | 2017-09-07 | A kind of robot face expression control structure |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107696039A (en) |
Cited By (3)
| 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 |
| CN110539333A (en) * | 2019-08-13 | 2019-12-06 | 广东工业大学 | Soft dough cover and connecting method of robot head shell and soft dough cover |
| CN115946150A (en) * | 2022-12-13 | 2023-04-11 | 深圳无芯科技有限公司 | Head structure with facial expression and robot with head structure |
Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2006141564A (en) * | 2004-11-17 | 2006-06-08 | Tokyo Univ Of Science | Artificial skin for robot |
| KR20160092833A (en) * | 2015-01-28 | 2016-08-05 | 호남대학교 산학협력단 | advertisement robot |
-
2017
- 2017-09-07 CN CN201710801208.7A patent/CN107696039A/en active Pending
Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2006141564A (en) * | 2004-11-17 | 2006-06-08 | Tokyo Univ Of Science | Artificial skin for robot |
| KR20160092833A (en) * | 2015-01-28 | 2016-08-05 | 호남대학교 산학협력단 | advertisement robot |
Non-Patent Citations (1)
| Title |
|---|
| 严岱年等: "《塑料成形技术》", 31 October 2001, 东南大学出版社, pages: 87 * |
Cited By (6)
| 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 |
| CN110539333A (en) * | 2019-08-13 | 2019-12-06 | 广东工业大学 | Soft dough cover and connecting method of robot head shell and soft dough cover |
| CN110539333B (en) * | 2019-08-13 | 2022-06-14 | 广东工业大学 | Soft dough cover and connecting method of robot head shell and soft dough cover |
| CN115946150A (en) * | 2022-12-13 | 2023-04-11 | 深圳无芯科技有限公司 | Head structure with facial expression and robot with head structure |
| CN115946150B (en) * | 2022-12-13 | 2023-11-14 | 深圳无芯科技有限公司 | Head structure with facial expression and robot with same |
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