CN107696040A - A kind of connector available for control machine human face's expression - Google Patents
A kind of connector available for control machine human face's expression Download PDFInfo
- Publication number
- CN107696040A CN107696040A CN201710801685.3A CN201710801685A CN107696040A CN 107696040 A CN107696040 A CN 107696040A CN 201710801685 A CN201710801685 A CN 201710801685A CN 107696040 A CN107696040 A CN 107696040A
- Authority
- CN
- China
- Prior art keywords
- facial
- connector
- expression
- face
- drive connection
- 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 22
- 230000001815 facial effect Effects 0.000 claims abstract description 59
- 230000037431 insertion Effects 0.000 claims 1
- 238000003780 insertion Methods 0.000 claims 1
- 238000005516 engineering process Methods 0.000 abstract description 4
- 210000002615 epidermis Anatomy 0.000 description 23
- 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
- 230000014509 gene expression Effects 0.000 description 6
- 230000007547 defect Effects 0.000 description 3
- 239000007788 liquid Substances 0.000 description 3
- 210000000988 bone and bone Anatomy 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 210000003205 muscle Anatomy 0.000 description 2
- 210000003491 skin Anatomy 0.000 description 2
- 241000272194 Ciconiiformes Species 0.000 description 1
- 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
- 238000010276 construction Methods 0.000 description 1
- 238000001816 cooling Methods 0.000 description 1
- 210000000744 eyelid Anatomy 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
- 238000004519 manufacturing process 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Health & Medical Sciences (AREA)
- Audiology, Speech & Language Pathology (AREA)
- General Health & Medical Sciences (AREA)
- Human Computer Interaction (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of connector available for control machine human face's expression, the facial link being connected including drive connection frame and with robot face structure, the facial link is located at one end of drive connection frame, and the other end of the drive connection frame is connected with driver element.The present invention devises the facial link with perforate, robot face structure can be embedded in facial link so as to realize the close connection with connector by perforate, overcome robot face structure and the caducous problem of connector, control the motion of connector to realize the accurate control to robot face expression shape change by driver element, can be widely applied to robot face expression control technology field.
Description
Technical field
It is more particularly to a kind of to can be used for control machine human face the present invention relates to robot face expression control technology field
The connector of expression.
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 connector available for control machine human face's expression, real
Show and be connected with robot face sound construction, overcome robot face structure and the caducous defect of connector.
Technical scheme used by solve above-mentioned technical problem：
A kind of connector available for control machine human face's expression, including drive connection frame and with robot face structure
The facial link of connection, the facial link are located at one end of drive connection frame, the other end of the drive connection frame with
Driver element connects.
Further, at least one perforate for being available for robot face structure to be embedded in is disposed with the facial link.
Further, the end face that the facial link is connected with robot face structure is cambered surface, and the cambered surface concaves towards institute
State the side where drive connection frame.
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.
Beneficial effect：Present invention design includes the connector of drive connection frame and facial link, and connector passes through face
Link is connected with robot face close structure；The facial link with perforate is devised on facial link, makes connection
Part is embedded in robot face structure by facial link, so as to which connector is closely connected with face structure, passes through driving
The accurate control to robot face expression shape change is realized in the motion of unit control connector.Instant invention overcomes robot face
The defects of structure easily comes off 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 connector available for control machine human face's expression, including drive connection frame 1 and with robot face knot
The facial link 2 of structure connection, the facial link 2 are located at one end of drive connection frame 1, the drive connection frame 1 it is another
One end is connected with driver element.The face structure of the robot includes facial skeleton and wraps the facial table on facial skeleton
Skin 3, the facial link 2 are connected with the inner side of 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
The perforate is stretched into be connected with facial link 2.The quantity of perforate described in the present embodiment is one, and is a 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 that middle part hollow out is formed
The external part of both sides, the external part are stretched into the U-shaped through hole and are 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 bone as robot
The facial epidermis 3 of people, the facial inner side of epidermis 3 are connected with the connector, control connector to pull face by driver element
Epidermis 3 simulates human facial expressions, plays a part of facial muscles.Connector uses special process when silica gel is molded, and passes through
Part silicone gel, which is stretched into the perforate, makes 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 driver element, the remainder of drive connection part 1 and face
Portion's connector 2 is then wrapped in facial epidermis 3.Facial epidermis 3 and connector melt as an entirety, can avoid in control machine
Face epidermis 3 departs from connector because of pulling during human face's expression.Using silica gel and the mutually embedded connection side of connector
Method, the connected mode of connector and silica gel is optimized, reduce the control difficulty of robot face expression.
The inner side of facial epidermis 3 can be distributed according to human face's muscle arranges multiple connectors, by driver element and
Each connector of control system control is moved to realize that the facial expression of robot is imitated.In the present embodiment, facial epidermis 3
Left face and right be respectively symmetrically disposed with connector on the face.The left face of the facial epidermis 3 is in brows, stork bone, lip and the wing of nose
Between, be respectively disposed with connector below lip and at the corners of the mouth, right face is also respectively disposed with connector in relevant position.Pass through
In ten connectors of above-mentioned facial epidermis arrangement, robot can simulate muscle and affect skin of face to make series of human face
Portion's 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 (4)
- A kind of 1. connector available for control machine human face's expression, it is characterised in that：Including drive connection frame (1) and and machine The facial link (2) of device human facial structure connection, the facial link (2) is located at one end of drive connection frame (1), described The other end of drive connection frame (1) is connected with driver element.
- A kind of 2. connector available for control machine human face's expression according to claim 1, it is characterised in that：It is described At least one perforate for being available for the robot face structure insertion is disposed with facial link (2).
- A kind of 3. connector available for control machine human face's expression according to claim 1 or 2, it is characterised in that： The end face that the facial link (2) is connected with robot face structure is cambered surface, and the cambered surface concaves towards the drive connection frame (1) side where.
- A kind of 4. connector available for control machine human face's expression according to claim 3, it is characterised in that：It is described The lower end of drive connection frame (1) is disposed with two external parts, and space, drive connection part (1) are formed between two external parts It is connected by the external part with the facial link (2).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710801685.3A CN107696040A (en) | 2017-09-07 | 2017-09-07 | A kind of connector available for control machine human face's expression |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710801685.3A CN107696040A (en) | 2017-09-07 | 2017-09-07 | A kind of connector available for control machine human face's expression |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107696040A true CN107696040A (en) | 2018-02-16 |
Family
ID=61172229
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710801685.3A Pending CN107696040A (en) | 2017-09-07 | 2017-09-07 | A kind of connector available for control machine human face's expression |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107696040A (en) |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH08107983A (en) * | 1994-10-12 | 1996-04-30 | Toshiba Corp | Facial expression changing device |
| CN2917987Y (en) * | 2006-04-29 | 2007-07-04 | 杨建良 | Robot mask with simulation effect |
| CN201445795U (en) * | 2009-09-04 | 2010-05-05 | 西安超人机器人科技有限公司 | Facial expression control system of high-emulation robot |
| KR20100006989U (en) * | 2008-12-30 | 2010-07-08 | 한국생산기술연구원 | Glueing structure of muscle-form for making face expression of android robot |
| KR20160092833A (en) * | 2015-01-28 | 2016-08-05 | 호남대학교 산학협력단 | advertisement robot |
| CN206462525U (en) * | 2016-07-08 | 2017-09-05 | 广东美的制冷设备有限公司 | Watchband and intelligent bracelet |
| CN207509229U (en) * | 2017-09-07 | 2018-06-19 | 广东富利盛仿生机器人股份有限公司 | A kind of connector that can be used for control robot face expression |
-
2017
- 2017-09-07 CN CN201710801685.3A patent/CN107696040A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH08107983A (en) * | 1994-10-12 | 1996-04-30 | Toshiba Corp | Facial expression changing device |
| CN2917987Y (en) * | 2006-04-29 | 2007-07-04 | 杨建良 | Robot mask with simulation effect |
| KR20100006989U (en) * | 2008-12-30 | 2010-07-08 | 한국생산기술연구원 | Glueing structure of muscle-form for making face expression of android robot |
| CN201445795U (en) * | 2009-09-04 | 2010-05-05 | 西安超人机器人科技有限公司 | Facial expression control system of high-emulation robot |
| KR20160092833A (en) * | 2015-01-28 | 2016-08-05 | 호남대학교 산학협력단 | advertisement robot |
| CN206462525U (en) * | 2016-07-08 | 2017-09-05 | 广东美的制冷设备有限公司 | Watchband and intelligent bracelet |
| CN207509229U (en) * | 2017-09-07 | 2018-06-19 | 广东富利盛仿生机器人股份有限公司 | A kind of connector that can be used for control robot face expression |
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 * |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN107696039A (en) | A kind of robot face expression control structure | |
| US8568642B2 (en) | Method of fabricating a robotics skin system having integral actuation points | |
| CN109416892A (en) | Medical simulator | |
| CN104537925A (en) | Language barrier child language training auxiliary system and method | |
| CN104706499A (en) | Upper limb cranial nerve rehabilitation training system and training method | |
| CN204706208U (en) | Intelligence children education robot | |
| CN105589816B (en) | Compiling formula scene interactive animation makes and playback method | |
| CN104780889A (en) | Massager, and production method and production device for same | |
| CN203812410U (en) | A touch screen display all-in-one machine intelligence development experience device | |
| CN111968202A (en) | Real-time dance action generation method and system based on music rhythm | |
| CN207509229U (en) | A kind of connector that can be used for control robot face expression | |
| CN107696040A (en) | A kind of connector available for control machine human face's expression | |
| Guttmann | Animating functional anatomy for the web | |
| JP7162879B2 (en) | Robot head device and robot | |
| CN207495512U (en) | A kind of robot face expression control structure | |
| CN106775546A (en) | A kind of multichannel virtual real content synchronous method and its system | |
| CN207104966U (en) | A kind of bionical head of service robot | |
| CN104941220A (en) | Mask for head-mask dance capable of changing expressions | |
| CN107469358A (en) | Toy and toy signal processing method | |
| CN103272292A (en) | Breast pump capable of promoting lactation by natural baby information | |
| CN103207745B (en) | Avatar interactive system and method | |
| CN103777824A (en) | Intelligent interactive dance shoes | |
| CN201551834U (en) | Growing sound identification emotional doll | |
| CN102861439B (en) | Facial expression stimulator | |
| CN203264259U (en) | Interesting combined deformation robot toy |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |