CN109015598B - Facial expression bionic mechanism based on SMA - Google Patents
Facial expression bionic mechanism based on SMA Download PDFInfo
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- CN109015598B CN109015598B CN201810784986.4A CN201810784986A CN109015598B CN 109015598 B CN109015598 B CN 109015598B CN 201810784986 A CN201810784986 A CN 201810784986A CN 109015598 B CN109015598 B CN 109015598B
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- spring
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0009—Constructional details, e.g. manipulator supports, bases
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V40/00—Recognition of biometric, human-related or animal-related patterns in image or video data
- G06V40/10—Human or animal bodies, e.g. vehicle occupants or pedestrians; Body parts, e.g. hands
- G06V40/16—Human faces, e.g. facial parts, sketches or expressions
- G06V40/174—Facial expression recognition
Abstract
The invention relates to the field of bionic robots, in particular to a facial expression bionic mechanism based on SMA. The bionic mechanism comprises an eye mechanism, an eyebrow mechanism, an eyelid mechanism, a mouth mechanism and a cheek side mechanism. The mouth mechanism is fixedly connected with the lower surface of the lower connecting plate through a mouth supporting plate of the mouth mechanism, and the lower connecting plate is fixedly connected with the lower surface of the upper connecting plate. The eye mechanism is connected with the upper surface of the upper connecting plate through an eye bearing support of the eye mechanism, and the eye mechanism realizes the left-right movement of eyes on a horizontal plane and the up-down movement on a vertical plane. Compared with the traditional motor driving mode, the invention adopts the shape memory alloy spring as the driving element, so that the whole structure is simpler and the mass is smaller; a plurality of mechanisms are adopted to perform combined movement to complete basic facial expressions, so that each mechanism can be independently designed, the overall structure is quick and simple to realize, and the installation is convenient.
Description
Technical Field
The invention relates to the field of bionic robots, in particular to a facial expression bionic mechanism based on SMA.
Background
The human-simulated robot face is an important component of the human-simulated robot. On the one hand, the face is the most intuitive part of the humanoid elements; on the other hand, the head has senses such as vision and hearing, and is an important external perception system for the robot.
Research on a robot mechanism with facial expression has been conducted for a long time. The representative example is Kismet, a robot for American Massachusetts. The robot with facial expression has 15 degrees of freedom for controlling facial expression, and can express 9 expressions. Wuwei national teaching of the university of Harbin industry and the team thereof in China successfully developed the expression robot F & H robot-I in 2004, and 8 basic facial expressions can also be expressed.
However, most of the existing expression robots adopt a series mechanism, the robots adopting the series structure are weak in bearing capacity, and most of the expression robots are driven by motors. The driving mode enables the robot to have heavy weight and large volume, the provided load bearing capacity is small, the structure is complex, the rigidity of the robot body is large, the robot body does not have reverse driving capacity, the flexibility is lacked, and the robot can possibly cause harm to human beings.
Disclosure of Invention
In order to overcome the defects of the prior art, the invention provides a bionic mechanism for facial expression based on SMA, wherein the bionic mechanism uses shape memory alloy as a driver, so that the volume and the mass of the structure are reduced, and meanwhile, the bionic mechanism has certain flexibility.
In order to achieve the purpose, the technical scheme adopted by the invention is as follows:
a facial expression bionic mechanism based on SMA comprises an eye mechanism, an eyebrow mechanism, an eyelid mechanism, a mouth mechanism and a cheek aid mechanism.
The head shell is divided into a left part and a right part which are symmetrical and fixed on a fan supporting plate, and a fan is fixed on the fan supporting plate and used for heat dissipation. The fan supporting plate is fixed on the flange base. The mouth mechanism is fixedly connected with the lower surface of the lower connecting plate through a mouth supporting plate of the mouth mechanism, and the lower connecting plate is fixedly connected with the lower surface of the upper connecting plate. The eye mechanism is connected with the upper surface of the upper connecting plate through an eye bearing support of the eye mechanism, and the eye mechanism realizes the left-right movement of eyes on a horizontal plane and the up-down movement on a vertical plane. The whole eye mechanism is lower than the eyebrow mechanism, the eyebrow mechanism is fixed on the eyelid supporting plate through the eyebrow supporting plate, and the eyelid mechanism is fixed on the upper surface of the upper connecting plate through the eyelid supporting plate. The cheek side mechanism is fixed on the upper surface of the upper connecting plate through a cheek side supporting plate and is positioned below the eye mechanism; the head supporting plate is positioned behind the mouth mechanism, the upper surface of the head supporting plate is connected with the lower surface of the upper connecting plate, the lower surface of the head supporting plate is connected with the upper surface of the flange plate, and the flange plate is fixed on the flange base. Each mechanism in the facial expression bionic mechanism independently moves, and the expression of basic facial expression is completed through the combined movement of each mechanism.
The eye mechanism comprises a right eye, a left-right movement connecting rod D, a right sliding block, an eye shaft, an eye bearing support, a left-right movement connecting rod C, a left-right movement connecting rod B, an up-down driving spring, an up-down movement biasing spring, an up-down movement supporting plate, an up-down movement connecting rod A, an up-down movement connecting rod B, an up-down movement connecting rod C, a left-right movement connecting rod A, a left-right driving spring, a left-right movement biasing spring, a left-right movement supporting plate, a left-right movement connecting rod E, a left eye and a left sliding.
The left and right movement support plate is connected with the eye shaft and rotates around the eye shaft. One end of the left and right movement connecting rod A is connected with the left and right movement supporting plate, the other end of the left and right movement connecting rod A is connected with the left and right movement connecting rod C through the left and right movement connecting rod B, the two ends of the left and right movement connecting rod C are respectively connected with the left and right movement connecting rod D and the left and right movement connecting rod E, and the tail ends of the left and right movement connecting rod D and the left and right movement connecting rod E are respectively connected with the right eye and the; the left and right movement connecting rod D and the left and right movement connecting rod E are respectively connected with the eye shaft through a right sliding block and a left sliding block, and the eye shaft is fixed on the eye bearing support to realize left and right sliding on the eye shaft.
One end of a left-right driving spring and one end of a left-right movement biasing spring are fixed on the left-right movement connecting rod A, the other end of an up-down movement connecting rod C of the left-right driving spring and the left-right movement biasing spring is respectively connected with two ends of the left-right movement supporting plate, and the left-right driving spring and the left-right movement biasing spring are symmetrically distributed by taking the left-right movement connecting rod A as a central axis. The left and right driving springs contract to drive the eyes to move left and right, and the left and right movement biasing springs generate restoring force to restore the eyes to the original positions.
One end of an up-and-down movement connecting rod C is sleeved outside the eye shaft, and the other end of the up-and-down movement connecting rod C is sequentially connected with an up-and-down movement connecting rod B and an up-and-down movement connecting rod A; the other end of the up-and-down movement connecting rod A is fixed on an up-and-down movement supporting plate which is fixed on the upper surface of the upper connecting plate; one end of the up-and-down driving spring and one end of the up-and-down movement biasing spring are fixed on the up-and-down movement supporting plate, and the other end of the up-and-down driving spring and the other end of the up-and-down movement biasing spring are fixed on the up-and-down movement connecting rod A; the up-and-down driving spring contracts to drive the eyes to move up and down, and the up-and-down movement biasing spring provides restoring force to restore the eyes to the original positions. The up-and-down movement connecting rod C drives the eye shaft to rotate, so as to drive the left sliding block and the right sliding block to move, and the up-and-down movement of the eyes is realized;
the eyebrow mechanism is symmetrical left and right along the axis in the whole face, and the left side of the eyebrow mechanism comprises eyebrows, an eyebrow driving spring, an eyebrow connecting rod A, an eyebrow biasing spring, an eyebrow connecting rod B, an eyebrow connecting rod C and an eyebrow supporting plate;
the eyebrow supporting plate is fixed on the eyelid supporting plate; one ends of an eyebrow driving spring and an eyebrow biasing spring are fixed on the eyebrow supporting plate, the other ends of the eyebrow driving spring and the eyebrow biasing spring are fixed on an eyebrow connecting rod A, and the eyebrow driving spring and the eyebrow biasing spring are symmetrically distributed by taking the eyebrow connecting rod A as a central axis; the eyebrow connecting rod A is connected with an eyebrow connecting rod B through a pin penetrating through the eyebrow supporting plate, and the eyebrow connecting rod B, the eyebrow connecting rod C and the eyebrow are sequentially connected; the eyebrow driving spring contracts to realize the up-and-down movement of the eyebrows through the transmission of the eyebrow connecting rod A, the eyebrow connecting rod B and the eyebrow connecting rod C, and the eyebrow biasing spring provides restoring force to restore the eyebrows to the original positions.
The eyelid mechanism is symmetrical left and right with respect to an axis in the entire face, and the right side of the eyelid mechanism includes an eyelid driving spring, an eyelid supporting plate, an eyelid biasing spring, an eyelid connecting rod, and an eyelid. One end of the eyelid is connected with the eyelid supporting plate, and the other end is connected with the eye bearing support through the eyelid connecting rod. One end of each eyelid driving spring and one end of each eyelid bias spring are respectively fixed on the eyelid supporting plate, the other end of each eyelid driving spring and the other end of each eyelid bias spring are respectively connected to the eyelid, and the eyelid driving springs and the eyelid bias springs are symmetrically distributed on the eyelid supporting plates. The eyelid driving spring contracts to drive the eyelid to open, and the eyelid biasing spring provides restoring force to close the eyelid.
The mouth mechanism comprises a mouth movement supporting plate, a mouth connecting rod B, a mouth connecting rod A, a mouth biasing spring, a mouth driving spring, a mouth supporting plate, a lower lip and an upper lip.
The mouth movement supporting plate and the mouth supporting plate are both fixedly connected to the lower surface of the lower connecting plate; the lower lip and the upper lip are fixedly connected to the mouth supporting plate; the lower lip is connected with a mouth connecting rod B and a mouth connecting rod A in sequence, and the other end of the mouth connecting rod A is fixed on a mouth movement supporting plate; the mouth movement support plate is of a T-shaped structure, one end of a mouth driving spring and one end of a mouth biasing spring are respectively fixed with the two T-shaped ends of the mouth movement support plate, the other ends of the mouth driving spring and the mouth biasing spring are fixed on a mouth connecting rod A, and the mouth driving spring and the mouth biasing spring are symmetrically distributed by taking the mouth connecting rod A as a central axis; the mouth driving spring contracts to drive the lower lip to open, and the mouth biasing spring provides restoring force to close the lower lip.
The cheek side mechanism is symmetrical left and right with respect to an axis in the whole face part, and the left side of the cheek side mechanism comprises a cheek side driving rod, a cheek side driving spring, a sleeve, a cheek side biasing spring and a cheek side supporting plate.
The sleeve is sleeved on the cheek side driving rod, and a cheek side driving spring and a cheek side biasing spring are respectively and fixedly connected to the two sides of the sleeve; the other ends of the cheek side driving spring and the cheek side biasing spring are respectively connected with the cheek side supporting plate; the cheek side driving rod passes through the upper end of the cheek side supporting plate; the upper connecting plate is fixed on the upper surface of the upper connecting plate; the contraction of the cheek driving spring realizes the forward or backward movement of the cheek driving rod, and the cheek biasing spring provides restoring force to restore the cheek driving rod to the original position.
The invention has the beneficial effects that: compared with the traditional motor driving mode, the invention adopts the shape memory alloy spring as the driving element, so that the whole structure is simpler and the mass is smaller; a plurality of mechanisms are adopted to perform combined movement to complete basic facial expressions, so that each mechanism can be independently designed, the overall structure is quick and simple to realize, and the installation is convenient.
Drawings
Fig. 1 is an appearance schematic diagram of a facial expression robot mechanism based on SMA.
Fig. 2 is a schematic diagram of the overall internal structure of the facial expression robot mechanism.
Fig. 3 is an eye mechanism diagram.
Fig. 4 is an eyebrow mechanism and eyelid mechanism diagram.
Fig. 5 is a mouth mechanism diagram.
Fig. 6 is a chin assist mechanism diagram.
In the figure: 1, a shell; 2 a fan supporting plate; 3, a fan; 4, connecting the upper connecting plate; 5, a lower connecting plate; 6, a flange plate; 7 a head support plate; 8, a flange base; 9 right eye; 10 left and right movement connecting rods D; 11 a right slider; 12 an eye axis; 13 eye bearing support; 14 left and right movement connecting rods C; 15 left and right movement connecting rods B; 16 up and down drive springs; 17 up and down movement biasing spring; 18 up and down moving the supporting plate; 19 a connecting rod A moving up and down; 20 a connecting rod B moving up and down; 21 a connecting rod C moving up and down; 22 left and right movement connecting rods A; 23 left and right driving springs; 24 left and right movement biasing springs; 25 moving the supporting plate left and right; 26 left and right movement connecting rods E; 27 left eye; 28 left slider; 29 eyebrows; 30 eyebrow drive springs; 31 an eyebrow link A; 32 eyebrow biasing springs; 33 an eyebrow link B; 34 an eyebrow link C; 35 eyebrow support plates; 36 eyelid drive springs; 37 eyelid support plates; 38 eyelid biasing springs; 39 eyelid tie rods; 40 eyelid; 41 mouth motion support plate; 42 mouth link B; 43 mouth link A; 44 mouth biasing springs; 45 mouth drive springs; 46 mouth support plate; 47 lower lip; 48 upper lip; 49 cheek driving rods; 50 cheek drive springs; 51 a sleeve; a 52-cheek bias spring; 53 cheek support plate.
The specific implementation mode is as follows:
the present invention will be described in further detail with reference to fig. 1 to 6 and specific examples.
A facial expression bionic mechanism based on SMA comprises an eye mechanism, an eyebrow mechanism, an eyelid mechanism, a mouth mechanism and a cheek aid mechanism.
The head shell is divided into a left part and a right part which are symmetrical and fixed on the fan supporting plate 2, and the fan 3 is fixed on the fan supporting plate 2 and used for heat dissipation. The fan supporting plate 2 is fixed on the flange base 8. The mouth mechanism is fixedly connected with the lower surface of the lower connecting plate 5 through a mouth supporting plate 46 of the mouth mechanism, and the lower connecting plate 5 is fixedly connected with the lower surface of the upper connecting plate 4. The eye mechanism is connected with the upper surface of the upper connecting plate 4 through an eye bearing support 13 of the eye mechanism, and the eye mechanism realizes the left-right movement of eyes on a horizontal plane and the up-down movement on a vertical plane. The eyebrow mechanism is fixed to an eyelid holding plate 37 via an eyebrow holding plate 35, and the eyelid mechanism is fixed to the upper surface of the upper connecting plate 4 via an eyelid holding plate 37. The chin-upper mechanism is fixed to the upper surface of the upper connecting plate 4 by a chin-upper supporting plate 53. The upper surface of the head supporting plate 7 is connected with the lower surface of the upper connecting plate 4, the lower surface of the head supporting plate 7 is connected with the upper surface of the flange plate 6, and the flange plate 6 is fixed on the flange base 8. Each mechanism in the facial expression bionic mechanism independently moves, and the expression of basic facial expression is completed through the combined movement of each mechanism.
The eye mechanism comprises a right eye 9, a left and right movement connecting rod D10, a right slider 11, an eye shaft 12, an eye bearing support 13, a left and right movement connecting rod C14, a left and right movement connecting rod B15, an up and down driving spring 16, an up and down movement biasing spring 17, an up and down movement supporting plate 18, an up and down movement connecting rod A19, an up and down movement connecting rod B20, an up and down movement connecting rod C21, a left and right movement connecting rod A22, a left and right driving spring 23, a left and right movement biasing spring 24, a left and right movement supporting plate 25, a left and right movement connecting rod E26, a left eye 27 and a left slider 28.
The left-right movement support plate 25 is connected to the eye axis 12 to rotate around the eye axis 12. One end of a left and right movement connecting rod A22 is connected with the left and right movement supporting plate 25, the other end is connected with a left and right movement connecting rod C14 through a left and right movement connecting rod B15, the two ends of the left and right movement connecting rod C14 are respectively connected with a left and right movement connecting rod D10 and a left and right movement connecting rod E26, and the tail ends of the left and right movement connecting rod D10 and the left and right movement connecting rod E26 are respectively connected with a right eye 9 and a left eye 27; the left and right movement connecting rod D10 and the left and right movement connecting rod E26 are respectively connected with the eye shaft 12 through the right slider 11 and the left slider 28, the eye shaft 12 is fixed on the eye bearing support 13, and the left and right sliding on the eye shaft 12 is realized.
One end of the left-right driving spring 23 and one end of the left-right movement biasing spring 24 are fixed on the left-right movement connecting rod a22, the other ends are respectively connected with two ends of the left-right movement supporting plate 25, and the left-right driving spring 23 and the left-right movement biasing spring 24 are symmetrically distributed by taking the left-right movement connecting rod a22 as a central axis. The left and right driving springs 23 contract to drive the eyes to move left and right, and the left and right movement biasing springs 24 generate restoring force to restore the eyes to the original positions.
The up-and-down moving support plate 18 is fixed to the upper surface of the upper connection plate 4. The up-down driving spring 16 and the up-down movement biasing spring 17 have one end connected to the up-down movement support plate 18 and the other end fixed to the up-down movement link a 19. One end of the up-down movement connecting rod A19 is fixed on the up-down movement supporting plate 18, the other end is connected with the up-down movement connecting rod B20, and the up-down movement connecting rods C21 are sequentially connected end to end. The tail end of the up-and-down movement connecting rod C21 is sleeved on the eye shaft 12, and the up-and-down movement connecting rod C21 drives the eye shaft 12 to rotate, so that the left slide block 28 and the right slide block 11 are driven to move, and up-and-down movement of eyes is realized. The up-down driving spring 16 contracts to drive the eye to move up and down, and the up-down movement biasing spring 17 provides restoring force to restore the eye to the original position.
The eyebrow mechanism is axisymmetric in the entire face, and the left side of the eyebrow mechanism includes an eyebrow 29, an eyebrow drive spring 30, an eyebrow link A31, an eyebrow bias spring 32, an eyebrow link B33, an eyebrow link C34, and an eyebrow support plate 35.
The eyebrow support plate 35 is fixed to the eyelid support plate 37. One end of the eyebrow driving spring 30 and one end of the eyebrow biasing spring 32 are fixed on the eyebrow connecting rod A31, the other end are respectively connected with the eyebrow supporting plate 35, and the eyebrow driving spring 30 and the eyebrow biasing spring 32 are symmetrically distributed by taking the eyebrow connecting rod A31 as a central axis. The eyebrow link A31 is connected to the eyebrow link B33 via a pin passing through the eyebrow support plate 35, and the eyebrow link B33, the eyebrow link C34 and the eyebrow 29 are connected in this order. The eyebrow driving spring 30 retracts to realize the up-and-down movement of the eyebrows 29 through the transmission of the eyebrow link A31, the eyebrow link B33 and the eyebrow link C34, and the eyebrow biasing spring 32 provides restoring force to restore the eyebrows 29 to the original position.
The eyelid mechanism is axisymmetric in the entire face, and the right side of the eyelid mechanism includes an eyelid driving spring 36, an eyelid supporting plate 37, an eyelid biasing spring 38, an eyelid link 39, and an eyelid 40. The eyelid 40 is connected at one end to the eyelid support plate 37 and at the other end to the eye bearing support 13 by an eyelid linkage 39. The eyelid driving spring 36 and the eyelid biasing spring 38 have one end fixed to the eyelid supporting plate 37 and the other end connected to the eyelid 40, respectively, and the eyelid driving spring 36 and the eyelid biasing spring 38 are symmetrically distributed around the eyelid supporting plate 37. Eyelid drive spring 36 contracts to drive eyelid 40 open, and eyelid bias spring 38 provides a restoring force to close eyelid 40.
The mouth mechanism includes a mouth movement support plate 41, a mouth link B42, a mouth link A43, a mouth biasing spring 44, a mouth drive spring 45, a mouth support plate 46, a lower lip 47, and an upper lip 48.
The mouth movement support plate 41 and the mouth support plate 46 are both fixedly connected to the lower surface of the lower connecting plate 5. The lower lip 47 and the upper lip 48 are fixedly attached to the mouth support plate 46. One end of the mouth driving spring 45 and one end of the mouth biasing spring 44 are respectively fixed on the mouth connecting rod A43, the other end of the mouth driving spring 45 and the other end of the mouth biasing spring 44 are respectively connected with the mouth movement supporting plate 41, and the mouth driving spring 45 and the mouth biasing spring 44 are symmetrically distributed by taking the mouth connecting rod A43 as a central axis. One end of the mouth connecting rod A43 is fixed on the mouth movement supporting plate 41, and the other end is connected with the mouth connecting rod B42 and the lower lip 47 end to end in sequence. The mouth drive spring 45 contracts to drive the lower lip 47 to open, and the mouth biasing spring 44 provides a restoring force to close the lower lip 47.
The cheek assistance mechanism is symmetrical left and right about an axis in the entire face, and the left side of the cheek assistance mechanism includes a cheek assistance driving rod 49, a cheek assistance driving spring 50, a sleeve 51, a cheek assistance biasing spring 52, and a cheek assistance supporting plate 53.
A sleeve 51 is sleeved on the cheek side driving rod 49, and a cheek side driving spring 50 and a cheek side biasing spring 52 are respectively arranged at two sides of the sleeve 51 and connected with the sleeve 51; the other ends of the chin-assist driving spring 50 and the chin-assist biasing spring 52 are connected to a chin-assist support plate 53, respectively. The chin upper driving lever 49 is fixed to the upper surface of the upper connecting plate 4 through a chin upper supporting plate 53. The chin-side driving spring 50 contracts to move the chin-side driving lever 49 forward or backward, and the chin-side biasing spring 52 provides restoring force to restore the chin-side driving lever 49 to its original position.
The brow is raised and the mouth is enlarged indicating a surprising expression, which requires a combined movement of the brow and the mouth. The method specifically comprises the following steps: the mouth drive spring 45 in fig. 5 is contracted by heat, drives the mouth link a43 to move, and is transmitted by the movement of the mouth link B42, so that the lower lip 47 moves and the mouth opens. The eyebrow drive spring 30 of fig. 4 is contracted by heat, drives the eyebrow link A31 to move, and is transmitted by the movement of the eyebrow link B33, so that the eyebrows 35 connected to the eyebrow link C34 are raised. The expression of surprising expressions is realized by the combined movement of the eyebrow eyelid mechanism and the mouth mechanism.
Eye strabismus represents an expression that is kept away from sight and can be accomplished only by eye mechanics. The method specifically comprises the following steps: the up-down driving spring 16 in fig. 3 is contracted by heat to drive the movement of the up-down link a19 and the movement of the up-down link C21 is driven by the movement transmission of the up-down link B20, thereby driving the movement of the eye shaft 12 connected to the up-down link C21 and further driving the upward movement of the eye. The left and right driving spring 23 is heated to contract, drives the left and right movement connecting rod A22 to move, drives the left and right movement connecting rod C14 through the movement transmission of the left and right movement connecting rod B15, further drives the left and right movement connecting rod D10 and the left and right movement connecting rod E26 to slide leftwards along the eye axis 12 through the right slider 11 and the left slider 28, and accordingly the left movement of the eyes is realized. By the combination of the up-and-down movement and the left-and-right movement of the eye mechanism, the final effect is that the left eye 27 and the right eye 9 move simultaneously to the left and upward, expressing expressions which keep away from sight.
Claims (8)
1. A facial expression bionic mechanism based on SMA is characterized by comprising an eye mechanism, an eyebrow mechanism, an eyelid mechanism, a mouth mechanism and a cheek mechanism;
the mouth mechanism is fixedly connected with the lower surface of the lower connecting plate (5) through a mouth supporting plate (46) of the mouth mechanism, and the lower connecting plate (5) is fixedly connected with the lower surface of the upper connecting plate (4); the upper surface of the upper connecting plate (4) is fixed with the eye mechanism through an eye bearing support (13) of the eye mechanism, and the eye mechanism realizes the left-right movement of eyes on a horizontal plane and the up-down movement on a vertical plane; the whole eye mechanism is lower than the eyebrow mechanism, the eyebrow mechanism is fixed on an eyelid supporting plate (37) through an eyebrow supporting plate (35), and the eyelid mechanism is fixed on the upper surface of the upper connecting plate (4) through the eyelid supporting plate (37); the cheek side mechanism is fixed on the upper surface of the upper connecting plate (4) through a cheek side supporting plate (53) and is positioned below the eye mechanism; the head supporting plate (7) is positioned behind the mouth mechanism, the upper surface of the head supporting plate (7) is connected with the lower surface of the upper connecting plate (4), the lower surface of the head supporting plate (7) is connected with the upper surface of the flange plate (6), and the flange plate (6) is fixed on the flange base (8);
the eye mechanism comprises a right eye (9), a left-right movement connecting rod D (10), a right sliding block (11), an eye shaft (12), an eye bearing support (13), a left-right movement connecting rod C (14), a left-right movement connecting rod B (15), an up-down driving spring (16), an up-down movement biasing spring (17), an up-down movement supporting plate (18), an up-down movement connecting rod A (19), an up-down movement connecting rod B (20), an up-down movement connecting rod C (21), a left-right movement connecting rod A (22), a left-right driving spring (23), a left-right movement biasing spring (24), a left-right movement supporting plate (25), a left-right movement connecting rod E (26), a left eye (27) and a left sliding block (;
the left and right movement support plates (25) are connected with the eye axis (12) and rotate around the eye axis (12); the left and right movement supporting plate (25) is connected with one end of a left and right movement connecting rod A (22), the other end of the left and right movement connecting rod A (22) is connected with a left and right movement connecting rod C (14) through a left and right movement connecting rod B (15), two ends of the left and right movement connecting rod C (14) are respectively connected with a left and right movement connecting rod D (10) and a left and right movement connecting rod E (26), and the tail ends of the left and right movement connecting rod D (10) and the left and right movement connecting rod E (26) are respectively connected with a right eye (9) and a left eye (27); the left-right movement connecting rod D (10) and the left-right movement connecting rod E (26) are respectively connected with an eye shaft (12) through a right slider (11) and a left slider (28), and the eye shaft (12) is fixed on an eye bearing support (13) to realize left-right sliding on the eye shaft (12); one end of a left-right driving spring (23) and one end of a left-right movement biasing spring (24) are fixed on the left-right movement connecting rod A (22), the other ends of the left-right driving spring (23) and the left-right movement biasing spring (24) are respectively connected with two ends of a left-right movement supporting plate (25), and the left-right driving spring (23) and the left-right movement biasing spring (24) are symmetrically distributed by taking the left-right movement connecting rod A (22) as a central axis; the left and right driving springs (23) contract to drive the eyes to move left and right, and the left and right movement biasing springs (24) generate restoring force to restore the eyes to the original positions;
one end of a vertical movement connecting rod C (21) is sleeved outside the eye shaft (12), and the other end of the vertical movement connecting rod C (21) is sequentially connected with a vertical movement connecting rod B (20) and a vertical movement connecting rod A (19); the other end of the up-and-down motion connecting rod A (19) is fixed on an up-and-down motion supporting plate (18), and the up-and-down motion supporting plate (18) is fixed on the upper surface of the upper connecting plate (4); one ends of an up-and-down driving spring (16) and an up-and-down movement biasing spring (17) are fixed on the up-and-down movement supporting plate (18), and the other ends of the up-and-down driving spring (16) and the up-and-down movement biasing spring (17) are fixed with an up-and-down movement connecting rod A (19); the up-and-down driving spring (16) contracts to drive the eyes to move up and down, and the up-and-down movement biasing spring (17) provides restoring force to restore the eyes to the original positions; the up-and-down movement connecting rod C (21) drives the eye shaft (12) to rotate, so as to drive the left sliding block (28) and the right sliding block (11) to move, and the up-and-down movement of the eyes is realized.
2. The SMA-based facial expression bionic mechanism according to claim 1, wherein the eyebrow mechanism is axisymmetric in whole face, and the left side of the eyebrow mechanism comprises eyebrows (29), an eyebrow driving spring (30), an eyebrow link a (31), an eyebrow bias spring (32), an eyebrow link B (33), an eyebrow link C (34), and an eyebrow supporting plate (35);
the eyebrow support plate (35) is fixed on the eyelid support plate (37); one ends of an eyebrow driving spring (30) and an eyebrow biasing spring (32) are fixed on the eyebrow supporting plate (35), the other ends of the eyebrow driving spring (30) and the eyebrow biasing spring (32) are fixed on an eyebrow connecting rod A (31), and the eyebrow driving spring (30) and the eyebrow biasing spring (32) are symmetrically distributed by taking the eyebrow connecting rod A (31) as a central axis; the eyebrow connecting rod A (31) is connected with the eyebrow connecting rod B (33) through a pin penetrating through the eyebrow supporting plate (35), and the eyebrow connecting rod B (33), the eyebrow connecting rod C (34) and the eyebrow (29) are sequentially connected; the eyebrow driving spring (30) contracts to realize the up-and-down movement of the eyebrows (29) through the transmission of the eyebrow connecting rod A (31), the eyebrow connecting rod B (33) and the eyebrow connecting rod C (34), and the eyebrow biasing spring (32) provides restoring force to restore the eyebrows (29) to the original position.
3. The SMA-based facial expression bionic mechanism according to claim 1 or 2, wherein the eyelid mechanism is axisymmetric in the entire facial area, and the right side of the eyelid mechanism comprises an eyelid driving spring (36), an eyelid supporting plate (37), an eyelid biasing spring (38), an eyelid connecting rod (39), and an eyelid (40); one end of an eyelid (40) is connected to the eyelid supporting plate (37), and the other end is connected with the eye bearing support (13) through an eyelid connecting rod (39); one end of each eyelid driving spring (36) and one end of each eyelid bias spring (38) are respectively fixed on the eyelid supporting plate (37), the other end of each eyelid driving spring is respectively connected to the eyelid (40), and the eyelid driving springs (36) and the eyelid bias springs (38) are symmetrically distributed on the eyelid supporting plate (37); the eyelid drive spring (36) contracts to drive the eyelid (40) open, and the eyelid bias spring (38) provides a restoring force to close the eyelid (40).
4. The SMA-based facial expression bionic mechanism according to claim 1 or 2, wherein the mouth mechanism comprises a mouth movement support plate (41), a mouth link B (42), a mouth link a (43), a mouth biasing spring (44), a mouth driving spring (45), a mouth support plate (46), a lower lip (47) and an upper lip (48);
the mouth movement supporting plate (41) and the mouth supporting plate (46) are fixedly connected to the lower surface of the lower connecting plate (5); the lower lip (47) and the upper lip (48) are fixedly connected on the mouth supporting plate (46); the lower lip (47) is connected with a mouth connecting rod B (42) and a mouth connecting rod A (43) in sequence, and the other end of the mouth connecting rod A (43) is fixed on a mouth movement supporting plate (41); the mouth movement support plate (41) is of a T-shaped structure, one end of a mouth driving spring (45) and one end of a mouth biasing spring (44) are respectively fixed with the two T-shaped ends of the mouth movement support plate (41), the other ends of the mouth driving spring (45) and the mouth biasing spring (44) are fixed on a mouth connecting rod A (43), and the mouth driving spring (45) and the mouth biasing spring (44) are symmetrically distributed by taking the mouth connecting rod A (43) as a central axis; the mouth driving spring (45) contracts to drive the lower lip (47) to open, and the mouth biasing spring (44) provides restoring force to close the lower lip (47).
5. The SMA-based facial expression bionic mechanism according to claim 3, wherein the mouth mechanism comprises a mouth movement support plate (41), a mouth link B (42), a mouth link a (43), a mouth biasing spring (44), a mouth driving spring (45), a mouth support plate (46), a lower lip (47) and an upper lip (48);
the mouth movement supporting plate (41) and the mouth supporting plate (46) are fixedly connected to the lower surface of the lower connecting plate (5); the lower lip (47) and the upper lip (48) are fixedly connected on the mouth supporting plate (46); the lower lip (47) is connected with a mouth connecting rod B (42) and a mouth connecting rod A (43) in sequence, and the other end of the mouth connecting rod A (43) is fixed on a mouth movement supporting plate (41); the mouth movement support plate (41) is of a T-shaped structure, one end of a mouth driving spring (45) and one end of a mouth biasing spring (44) are respectively fixed with the two T-shaped ends of the mouth movement support plate (41), the other ends of the mouth driving spring (45) and the mouth biasing spring (44) are fixed on a mouth connecting rod A (43), and the mouth driving spring (45) and the mouth biasing spring (44) are symmetrically distributed by taking the mouth connecting rod A (43) as a central axis; the mouth driving spring (45) contracts to drive the lower lip (47) to open, and the mouth biasing spring (44) provides restoring force to close the lower lip (47).
6. The SMA-based facial expression bionic mechanism according to claim 1, 2 or 5, wherein the cheek-side mechanism is axisymmetric in the whole facial part, and the left side of the cheek-side mechanism comprises a cheek-side driving rod (49), a cheek-side driving spring (50), a sleeve (51), a cheek-side biasing spring (52) and a cheek-side supporting plate (53);
a sleeve (51) is sleeved on the cheek side driving rod (49), and two sides of the sleeve (51) are respectively and fixedly connected with a cheek side driving spring (50) and a cheek side biasing spring (52); the other ends of the chin side driving spring (50) and the chin side biasing spring (52) are respectively connected with a chin side supporting plate (53); a chin side driving rod (49) passes through the upper end of the chin side supporting plate (53); a cheek support plate (53) is fixed on the upper surface of the upper connecting plate (4); the contraction of the chin driving spring (50) realizes the forward or backward movement of the chin driving rod (49), and the chin biasing spring (52) provides restoring force to restore the chin driving rod (49) to the original position.
7. The SMA-based facial expression bionic mechanism according to claim 3, wherein the cheek-side mechanism is axisymmetric in the whole face, and the left side of the cheek-side mechanism comprises a cheek-side driving rod (49), a cheek-side driving spring (50), a sleeve (51), a cheek-side biasing spring (52) and a cheek-side supporting plate (53);
a sleeve (51) is sleeved on the cheek side driving rod (49), and two sides of the sleeve (51) are respectively and fixedly connected with a cheek side driving spring (50) and a cheek side biasing spring (52); the other ends of the chin side driving spring (50) and the chin side biasing spring (52) are respectively connected with a chin side supporting plate (53); a chin side driving rod (49) passes through the upper end of the chin side supporting plate (53); a cheek support plate (53) is fixed on the upper surface of the upper connecting plate (4); the contraction of the chin driving spring (50) realizes the forward or backward movement of the chin driving rod (49), and the chin biasing spring (52) provides restoring force to restore the chin driving rod (49) to the original position.
8. The SMA-based facial expression bionic mechanism according to claim 4, wherein the cheek-side mechanism is axisymmetric in the whole face, and the left side of the cheek-side mechanism comprises a cheek-side driving rod (49), a cheek-side driving spring (50), a sleeve (51), a cheek-side biasing spring (52) and a cheek-side supporting plate (53);
a sleeve (51) is sleeved on the cheek side driving rod (49), and two sides of the sleeve (51) are respectively and fixedly connected with a cheek side driving spring (50) and a cheek side biasing spring (52); the other ends of the chin side driving spring (50) and the chin side biasing spring (52) are respectively connected with a chin side supporting plate (53); a chin side driving rod (49) passes through the upper end of the chin side supporting plate (53); a cheek support plate (53) is fixed on the upper surface of the upper connecting plate (4); the contraction of the chin driving spring (50) realizes the forward or backward movement of the chin driving rod (49), and the chin biasing spring (52) provides restoring force to restore the chin driving rod (49) to the original position.
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| CN201810784986.4A CN109015598B (en) | 2018-07-17 | 2018-07-17 | Facial expression bionic mechanism based on SMA |
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| CN201810784986.4A CN109015598B (en) | 2018-07-17 | 2018-07-17 | Facial expression bionic mechanism based on SMA |
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Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH08107983A (en) * | 1994-10-12 | 1996-04-30 | Toshiba Corp | Facial expression changing device |
| CN203344065U (en) * | 2013-07-24 | 2013-12-18 | 蔡继文 | Human-simulated robot head |
| CN206982691U (en) * | 2017-06-30 | 2018-02-09 | 深圳光启合众科技有限公司 | The head construction and bio-robot of bio-robot |
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2018
- 2018-07-17 CN CN201810784986.4A patent/CN109015598B/en active Active
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH08107983A (en) * | 1994-10-12 | 1996-04-30 | Toshiba Corp | Facial expression changing device |
| CN203344065U (en) * | 2013-07-24 | 2013-12-18 | 蔡继文 | Human-simulated robot head |
| CN206982691U (en) * | 2017-06-30 | 2018-02-09 | 深圳光启合众科技有限公司 | The head construction and bio-robot of bio-robot |
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