CN110103234B - Humanoid facial expression robot - Google Patents
Humanoid facial expression robot Download PDFInfo
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- CN110103234B CN110103234B CN201910363539.6A CN201910363539A CN110103234B CN 110103234 B CN110103234 B CN 110103234B CN 201910363539 A CN201910363539 A CN 201910363539A CN 110103234 B CN110103234 B CN 110103234B
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- 230000008921 facial expression Effects 0.000 title claims abstract description 20
- 230000007246 mechanism Effects 0.000 claims abstract description 240
- 210000005252 bulbus oculi Anatomy 0.000 claims abstract description 141
- 210000004709 eyebrow Anatomy 0.000 claims abstract description 119
- 210000000744 eyelid Anatomy 0.000 claims abstract description 66
- 210000001508 eye Anatomy 0.000 claims abstract description 46
- 230000004397 blinking Effects 0.000 claims abstract description 7
- 210000004556 brain Anatomy 0.000 claims description 15
- 210000001202 rhombencephalon Anatomy 0.000 claims description 5
- 210000003128 head Anatomy 0.000 description 14
- 230000014509 gene expression Effects 0.000 description 9
- 230000002441 reversible effect Effects 0.000 description 4
- 230000000750 progressive effect Effects 0.000 description 3
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000002950 deficient Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000004399 eye closure Effects 0.000 description 1
- 230000001815 facial effect Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 210000004373 mandible Anatomy 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 239000011664 nicotinic acid Substances 0.000 description 1
- 235000001968 nicotinic acid Nutrition 0.000 description 1
- 210000003254 palate Anatomy 0.000 description 1
- 230000003068 static effect Effects 0.000 description 1
Classifications
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- 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
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- 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)
- Toys (AREA)
Abstract
The invention relates to a robot imitating human facial expression. The device comprises a supporting bottom plate, a neck mechanism, a mouth mechanism, an eye mechanism, an eyelid mechanism and an eyebrow mechanism, wherein the bottom of the neck mechanism is fixed on the supporting bottom plate, the mouth mechanism comprises an upper jaw supporting plate, an upper lip mechanism, a mouth angle mechanism, a lower lip mechanism, a lower jaw mechanism and lips, and the upper lip mechanism, the mouth angle mechanism, the lower lip mechanism and the lower jaw mechanism are arranged on the upper jaw supporting plate; the lip driving point is respectively connected with an upper lip driving point, a mouth corner driving point and a lower lip driving point of the lips; the mouth mechanism is fixed at the top of the neck mechanism through the upper jaw supporting plate, and the eye mechanism is arranged on the upper jaw supporting plate and is used for realizing the rotation of eyeballs; the eyelid mechanism is arranged on the eye mechanism and is used for realizing blinking and eye closing actions; the eyebrow tattooing mechanism is arranged on the eye mechanism and is used for realizing eyebrow tattooing and eyebrow picking actions of the eyebrows. The invention can realize various humanoid facial expressions.
Description
Technical Field
The invention relates to the field of bionic robots, in particular to a robot imitating human facial expression.
Background
Currently, the "robot face" study has the following prominent problems:
1) The research on the theory and method of robot facial expression implementation is deficient, and most of humanoid robots do not have a face with rich expression;
2) Very few robots have a face, but facial expressions or stiffness or thrilling, and the problems of unrealistic static expressions, unnatural dynamic changes and the like generally exist.
Currently, facial expression robots, such as a head mechanism scheme design of a facial expression robot of a humanoid facial expression robot disclosed in university of Shanghai university (natural science edition), 2016,22 (04) 432-439, are already on the market. A22-degree-of-freedom robot is manufactured by using a plurality of steering engines, but the structure is complex, and the expression and the action are stiff and not lifelike.
Disclosure of Invention
The invention aims to overcome at least one defect in the prior art, and provides a robot with a humanoid facial expression, which can realize various humanoid expressions.
In order to solve the technical problems, the invention adopts the following technical scheme: the robot comprises a supporting bottom plate, a neck mechanism, a mouth mechanism, an eye mechanism, an eyelid mechanism and an eye brow mechanism, wherein the bottom of the neck mechanism is fixed on the supporting bottom plate, and the neck mechanism can horizontally rotate, swing left and right and pitch back and forth relative to the supporting bottom plate; the base is fixed in the neck mechanism, the fixed plate is connected with the base through a supporting cylinder, a rotary steering engine is arranged in the supporting cylinder, three swinging steering engines and a fixed platform are arranged on the fixed plate, the fixed platform is connected with the swinging steering engine through a lower connecting rod, a movable platform is connected with an upper connecting rod, the upper connecting rod is connected with a lower connecting rod through a ball pair mechanism, the movable platform is connected with a connecting piece, the connecting piece is connected with a head mechanism, a universal shaft is arranged between the connecting piece and the rotary steering engine, the rotation of the head can be realized through the torque transmitted by the universal shaft, and the nodding and the side swinging of the head can be realized through the coordinated driving of the three swinging steering engines. The mouth mechanism comprises an upper jaw supporting plate, an upper lip mechanism, a mouth angle mechanism, a lower lip mechanism, a chin mechanism and lips, wherein the upper lip mechanism and the mouth angle mechanism are arranged at the top of the upper jaw supporting plate, and the lower lip mechanism and the chin mechanism are arranged at the bottom of the upper jaw supporting plate; the upper lip mechanism is connected with an upper lip driving point of the lips and is used for driving the upper lips of the lips to move; the mouth corner mechanism is provided with two groups which are respectively connected with a left mouth corner driving point and a right mouth corner driving point of the lips and used for driving the movement of the mouth corners of the lips; the chin mechanism can rotate relative to the upper jaw support plate; the lower lip mechanism is connected with a lower lip driving point of the lips and is used for driving the lower lips of the lips to move; the mouth mechanism is fixed at the top of the neck mechanism through the upper jaw supporting plate, the eye mechanism is arranged on the upper jaw supporting plate, and the rotation of eyeballs can be realized through the eye mechanism; the eyelid mechanism is arranged on the eye mechanism and is used for realizing the opening and closing actions of the eyelid; the eyebrow tattooing mechanism is arranged on the eye mechanism and is used for achieving eyebrow tattooing and eyebrow picking actions of the eyebrows.
In the invention, the supporting bottom plate is used for fixing and supporting the head of the robot, and the progressive mechanism can horizontally rotate, swing left and right and pitch back and forth relative to the supporting bottom plate, so as to realize the actions of head shaking, nodding and the like of the head of the robot; the mouth mechanism mainly comprises an upper lip mechanism, a mouth corner mechanism, a lower lip mechanism and a chin mechanism, and the opening and closing movement of lips can be realized through the cooperation of the mechanisms, so that the mouth-shaped movement of the robot during speaking is realized; the rotation of eyeballs is realized through an eye mechanism, and the rotation of eyes of a person is simulated; the eyelid mechanism is used for realizing the opening and closing movement of the eyelid, and imitating actions such as blinking, eye closing and the like; the eyebrow tattooing, the eyebrow picking and the like of the eyebrows are realized through the eyebrow tattooing mechanism; the eye mechanism, the eyelid mechanism and the eyebrow mechanism can be matched to realize various expression actions of the robot eye. Through the cooperative movement of the mechanisms, various humanoid expressions are presented.
Further, the upper lip mechanism comprises an upper lip steering engine, an upper lip winch, an upper lip flexible rope, an upper lip pulley block, an upper lip steering wheel, an upper lip sliding groove and an upper lip connecting rod; the upper lip steering engine, the upper lip pulley block and the upper lip sliding groove are all fixed on the top of the upper jaw supporting plate, the upper lip sliding groove is vertically arranged, the upper lip steering wheel is fixed on the upper lip sliding groove and can relatively rotate relative to the upper lip sliding groove, one end of the upper lip connecting rod is in sliding connection with the upper lip sliding groove, and the other end of the upper lip connecting rod is connected with an upper lip driving point of the lip; the upper lip winch is connected with the upper lip steering engine and is used for outputting the upper lip steering engine; one end of the upper lip flexible cable is wound on the upper lip winch, the other end of the upper lip flexible cable sequentially bypasses the upper lip pulley block and the upper lip steering wheel and then is connected with an upper lip connecting rod on the upper lip sliding groove, and the upper lip winch pulls the upper lip flexible cable to enable the upper lip connecting rod to slide back and forth on the upper lip sliding groove through driving of the upper lip steering engine. The upper lip winch is driven to rotate by controlling forward and backward rotation of the upper lip steering engine, and the upper lip winch rotates to enable the upper lip flexible rope to pull the upper lip connecting rod to slide up and down on the upper lip sliding groove, so that opening or closing actions of the upper lip are driven.
Further, two groups of mouth angle mechanisms are symmetrically arranged, and each group of mouth angle mechanisms comprises a mouth angle steering engine, a mouth angle winch, a mouth angle flexible rope, a mouth angle pulley block, a mouth angle steering wheel, a mouth angle chute, a mouth angle connecting rod and a mouth angle chute fixing plate; the lip is provided with a left mouth angle driving point and a right mouth angle driving point; one end of a mouth angle connecting rod of one group of mouth angle mechanisms is connected with a left mouth angle driving point, and one end of the mouth angle connecting rod of the other group of mouth angle mechanisms is connected with a right mouth angle driving point; the mouth angle steering engine, the mouth angle pulley block and the mouth angle chute fixing plate are arranged on the upper jaw supporting plate; the two groups of mouth corner sliding grooves are symmetrically arranged on two sides of the lips and close to the mouth corners of the lips; the nozzle angle winch is connected with the nozzle angle steering engine to output the nozzle angle steering engine, the nozzle angle sliding groove is fixed on the nozzle angle sliding groove fixing plate, and the nozzle angle steering wheel is fixed on the nozzle angle sliding groove and can rotate relatively to the nozzle angle sliding groove; the other end of the mouth corner connecting rod is in sliding connection with the mouth corner sliding groove; one end of the mouth angle flexible cable is wound on the mouth angle winch, the other end of the mouth angle flexible cable sequentially bypasses the mouth angle pulley block and the mouth angle steering wheel and then is connected with the mouth angle connecting rod, and the mouth angle flexible cable is pulled by the mouth angle winch to enable the mouth angle connecting rod to slide back and forth on the mouth angle sliding chute through driving of the mouth angle steering engine.
Preferably, the corner sliding groove is provided with a certain inclination, one end of the corner sliding groove is close to the corner, and the other end of the corner sliding groove is inclined towards the rear and the upper side of the brain, so that when the corner connecting rod slides on the corner sliding groove, the corner connecting rod pulls the corner to realize the corner inclined upward movement.
The two groups of mouth corner mechanisms are symmetrically arranged, and one group of mouth corner mechanisms is used for being connected with a left mouth corner driving point of the lips to drive the left mouth corner to move; the other group is used for being connected with a right mouth corner driving point of the lips to drive the right mouth corner to move; the driving principle of the mouth angle mechanism is similar to that of the upper lip mechanism, and the mouth angle mechanism is driven by a flexible rope; the mouth angle pulley block plays a role of guiding a mouth angle flexible rope; by controlling forward and backward movement of the mouth angle steering engine, forward and backward rotation of the mouth angle winch is realized, the mouth angle flexible rope is pulled, and when the mouth angle flexible rope is pulled by the mouth angle winch, the mouth angle flexible rope pulls the mouth angle connecting rod to slide back and forth on the mouth angle sliding chute, so that various actions simulating the mouth angle of a person are realized.
Further, the chin mechanism comprises a chin, a chin fixing plate, a chin steering engine rotating frame and a chin steering engine fixing frame; the chin steering engine rotating frame is fixed at the bottom of the upper jaw supporting plate, one end of the chin steering engine is fixed on the chin fixing plate through the chin steering engine fixing frame, and the other end of the chin steering engine rotating frame is rotationally connected with the chin steering engine rotating frame; the chin bottom is fixed on the chin fixed plate. The chin steering engine rotating frame is fixed at the bottom of the upper jaw supporting plate and is at one side far away from the lips, namely one side close to a robot rear brain spoon, the output end of the chin steering engine is rotationally connected with the chin steering engine rotating frame, the other end of the chin steering engine is fixed on the chin fixing plate through the chin steering engine fixing frame, the chin is arranged on the chin fixing plate, and the chin is connected with the lips and has a structure similar to that of the lips and the chin of a person; the chin steering engine rotates, and the chin steering engine drives the chin fixed plate to rotate relative to the chin steering engine rotating frame together, so that the opening and closing movement of the human chin is simulated.
Further, the lower lip mechanism comprises a lower lip steering engine, a lower lip winch, a lower lip flexible rope, a lower lip pulley block, a lower lip steering wheel, a lower lip sliding groove and a lower lip connecting rod; the lower lip steering engine and the lower lip pulley block are both fixed on a chin fixing plate, the lower lip sliding chute is vertically fixed on the chin, the lower lip steering wheel is fixed on the lower lip sliding chute and can rotate relative to the lower lip sliding chute, one end of the lower lip connecting rod is in sliding connection with the lower lip sliding chute, and the other end of the lower lip connecting rod is connected with a lower lip driving point on the lip; the lower lip winch is connected with the lower lip steering engine and is used for outputting the lower lip steering engine; one end of the lower lip flexible cable is wound on the lower lip winch, the other end of the lower lip flexible cable sequentially bypasses the lower lip pulley block and the lower lip steering wheel and then is connected with the lower lip connecting rod, and the lower lip winch pulls the lower lip flexible cable to enable the lower lip connecting rod to slide back and forth on the lower lip sliding groove through driving of the lower lip steering engine. The lower lip mechanism is similar to the upper lip mechanism in structure and is used for driving the action of the lower lip part of the lips; the lower lip winch is driven to rotate by controlling forward and reverse rotation of the lower lip steering engine, and the lower lip winch rotates to enable the lower lip flexible rope to pull the lower lip connecting rod to slide up and down on the lower lip sliding groove, so that opening or closing actions of the lower lip are driven.
Further, two groups of eye mechanisms are symmetrically arranged, each group of eye mechanism comprises an eyeball, an eyeball X-axis movement steering engine, an eyeball Y-axis movement steering engine, an X-axis eyeball winch, a Y-axis eyeball winch, a roller mounting frame, a first X-axis guiding roller, a second X-axis guiding roller, an X-axis guiding roller group, a first Y-axis guiding roller, a second Y-axis guiding roller, a Y-axis guiding roller group, a first X-axis movement flexible cable, a second X-axis movement flexible cable, a first Y-axis movement flexible cable and a second Y-axis movement flexible cable; the upper jaw support plate is provided with an eyeball part mounting frame and a steering engine mounting frame, the eyeball part mounting frame is provided with two symmetrical eyeball mounting brackets, the eyeball is arranged on the eyeball mounting brackets through a ball pair, and the eyeball can swing up and down and left and right relative to the center point of the eyeball; the roller mounting frame is fixed on the eyeball part mounting frame and positioned at the back of the eyeball; the X-axis eyeball winch is connected with the X-axis eyeball movement steering engine, and the Y-axis eyeball winch is connected with the Y-axis eyeball steering engine; the first X-axis guide roller and the second X-axis guide roller are vertically and symmetrically arranged on the roller mounting frame, and the X-axis guide roller is arranged on the eyeball part mounting frame and/or the steering engine mounting frame; one end of the first X-axis movement flexible cable is fixed on a mounting hole on the back of the eyeball, and the other end of the first X-axis movement flexible cable bypasses the first X-axis guiding roller and is connected with the X-axis eyeball winch; one end of the second X-axis movement flexible cable is fixed on a mounting hole on the back of the eyeball, and the other end of the second X-axis movement flexible cable sequentially bypasses the second X-axis guiding roller and the X-axis guiding roller group and then is connected with the X-axis eyeball winch; the first Y-axis guide roller and the second Y-axis guide roller are transversely and symmetrically arranged on the roller mounting frame, and the Y-axis guide roller is arranged on the eyeball part mounting frame and/or the steering engine mounting frame; one end of the first Y-axis movement flexible cable is fixed on a mounting hole on the back of the eyeball, and the other end of the first Y-axis movement flexible cable bypasses the first Y-axis guiding roller and is connected with the Y-axis eyeball winch; one end of the second Y-axis guiding roller is fixed on the mounting hole on the back of the eyeball, and the other end of the second Y-axis guiding roller sequentially bypasses the second Y-axis guiding roller and the Y-axis guiding roller group and then is connected with the Y-axis eyeball winch.
The first X-axis guide roller, the second X-axis guide roller and the X-axis guide roller group play a role in guiding the first X-axis movement flexible rope and the second X-axis movement flexible rope, and the first Y-axis guide roller, the second Y-axis guide roller and the Y-axis guide roller group play a role in guiding the first Y-axis movement flexible rope and the second Y-axis movement flexible rope. When the Y-axis movement steering engine of the eyeball rotates to drive the Y-axis eyeball winch to rotate, the Y-axis eyeball winch pulls the first Y-axis movement flexible rope and the second Y-axis movement flexible rope to move, so that the eyeball rotates around the center point of the eyeball, and the upward looking, downward looking and other humanoid eyeball actions of the eyeball are realized; when the eyeball X-axis movement steering engine rotates, the X-axis eyeball winch is driven to rotate, and the X-axis eyeball winch pulls the first X-axis movement flexible cable and the second X-axis movement flexible cable to move, so that the eyeball slides left and right, and the humanoid eyeball movements such as left-looking, right-looking and the like of the eyeball are realized.
Furthermore, two groups of eyelid mechanisms are symmetrically arranged, and each group of eyelid mechanisms comprises an eyelid, an eyelid driving steering engine, a steering engine arm and a bulb buckle; the eyelid is rotationally arranged on the eyeball mounting bracket and is positioned above the eyeball; the eyelid driving steering engine is fixed on the upper jaw supporting plate through a fixing piece, one end of the steering engine arm is connected with the output end of the eyelid driving steering engine, the other end of the steering engine arm is connected with the ball button through a connecting piece, and the other end of the ball button is connected with the eyelid. The eyelid mechanism is provided with two groups of eyeballs corresponding to the two groups of eye mechanisms respectively, the eyelid is arranged on the eyeball mounting bracket and is positioned above the eyeballs, and when the eyelid rotates relative to the eyeball mounting bracket, the eyelid can rotate to the front of the eyeballs so as to realize the actions of closing the eyes or blinking; in the invention, one end of the rudder horn is connected with the eyelid driving steering engine, and is the output end of the eyelid driving steering engine, the other end of the rudder horn is rotationally connected with the bulb button, the other end of the bulb button is connected with the eyelid, the eyelid driving steering engine moves, the steering engine arm is driven to rotate, the forward and reverse rotation of the rudder horn is realized, and the bulb button is driven to pull the eyelid to rotate relative to the eyeball mounting bracket, so that the actions of eye closing, blinking and the like are realized.
Furthermore, two groups of eyebrow mechanisms are symmetrically arranged, and each group of eyebrow mechanism comprises an eyebrow, an eyebrow picking driving steering engine, an eyebrow creasing driving steering engine, a double-arm rudder disc, a crank, a guide rail, a sliding block, an eyebrow picking driving flexible cable, a guide rail mounting frame and an eyebrow capstan; the output end of the frowning driving steering engine is connected with one side of the double-arm rudder disc, the other side of the double-arm rudder disc is connected with one end of the crank, and the other end of the crank is connected with the sliding block; the guide rail is transversely fixed on the guide rail mounting frame, and the sliding block is arranged on the guide rail in a sliding manner; the eyebrow lifting device is characterized in that a vertical sliding rail is arranged on the sliding block, the eyebrow is connected with the sliding rail in a sliding manner through a connecting piece, the eyebrow lifting driving steering engine is fixed on a steering engine mounting frame, the eyebrow lifting winch is connected with the output end of the eyebrow lifting driving steering engine, one end of the eyebrow lifting driving flexible rope is connected with the eyebrow lifting winch, the other end of the lifting driving flexible rope penetrates through a small hole in the sliding block and then is connected with the eyebrow, and the eyebrow is located above an eyelid. The eye brow mechanism is provided with two groups of eyeballs corresponding to the two groups of eye mechanisms, and each group of eye brow is respectively arranged above the two eyelids and is similar to the facial structure of a person; when the brow-tattooing driving steering engine rotates, the double-arm steering wheel is driven to rotate, so that the crank is driven to rotate, the sliding block is driven to slide on the guide rail through the rotation of the crank, and the sliding block is connected with the brow, and the guide rail is transversely arranged, so that when the sliding block slides left and right on the guide rail, the brow is driven to move left and right, and the brow-tattooing action is realized; the eyebrow capstan winch is connected with the output of choosing the eyebrow drive steering engine, chooses the one end of eyebrow drive flexible cable to fix on the eyebrow capstan winch, and the other end is connected with the eyebrow, is equipped with the slide rail on the slider vertically, when choosing the rotation of eyebrow drive steering engine, drives the eyebrow capstan winch and rotates, and the eyebrow capstan winch pulls the eyebrow drive flexible cable and makes the eyebrow slide from top to bottom on the slide rail to realize preventing people's expression and choosing the action of eyebrow.
Further, a mask thin shell and a hindbrain spoon thin shell are also arranged; the bottom edge of the mask thin shell is correspondingly connected with the chin to form a face-imitating structure; the edge of the back brain spoon thin shell is correspondingly connected with the edge of the mask thin shell to form a human brain imitation structure. The thin mask shell is of a human-like face structure, the thin back brain spoon shell is similar to the human back brain spoon structure, and the whole head appearance of the robot is similar to the head appearance of a human through the arrangement of the thin mask shell and the thin back brain spoon shell.
Compared with the prior art, the beneficial effects are that:
1. According to the robot for preventing facial expression, provided by the invention, various facial expressions can be realized through the mutual coordination of the mouth mechanism, the eye mechanism, the eyelid mechanism and the eyebrow mechanism;
2. The invention utilizes the innovative design of combining the mechanism from the bionics perspective, has simple structure and the motion principle of each mechanism is more similar to the motion mode of the human part;
3. The invention divides the mouth shape action into four motion control areas of the upper lip, the lower lip, the mouth angle and the chin, and can realize the complicated speaking mouth shape action.
Drawings
Fig. 1 is a schematic diagram of the overall structure of the present invention.
Fig. 2 is a schematic view of the internal structure of the present invention.
FIG. 3 is a schematic view of the mouth mechanism of the present invention.
FIG. 4 is a schematic view of the upper lip mechanism of the present invention.
Fig. 5 is an exploded view of the upper lip mechanism of the present invention.
FIG. 6 is a schematic view of the corner of mouth mechanism of the present invention.
FIG. 7 is an exploded view of the corner of mouth mechanism of the present invention.
Fig. 8 is a schematic view of the lower lip mechanism of the present invention.
Fig. 9 is an exploded view of the lower lip mechanism of the present invention.
Fig. 10 is a schematic view of the chin mechanism of the present invention.
Fig. 11 is a schematic view of the lip structure of the present invention.
Fig. 12 is a schematic view of the eye mechanism of the present invention.
Fig. 13 is an exploded view of the structure of the ocular mechanism of the present invention.
Fig. 14 is a schematic view of an eyelid mechanism installation of the present invention.
Fig. 15 is a schematic view of the eyelid mechanism structure of the present invention.
Fig. 16 is a schematic view of an eyebrow mechanism according to the invention.
Fig. 17 is an exploded view of the eyebrow tattooing portion of the eyebrow tattooing mechanism according to the invention.
Fig. 18 is an exploded view of the eyebrow picking part of the eyebrow picking mechanism of the invention.
FIG. 19 is a schematic view of a neck machine mechanism
In the figure, 1-a supporting base plate; 2-neck mechanism; 3-mouth type mechanism; 4-eye mechanism 5-eyelid mechanism; 6-an eyebrow mechanism; 7-mask shells; 8-a thin shell of a hindbrain scoop; 202-a support cylinder; 203-setting a platform; 204-lower link; 205-cardan shaft; 206-upper connecting rod; 207-connecting piece; 208-moving platform; 209-ball pair mechanism; 210-swinging steering engine; 211-a fixed plate; 212-rotating a steering engine; 31-an upper lip mechanism; 32-mouth corner mechanism; 33-a lower lip mechanism; 34-chin mechanism; 301-a palate support plate; 302-lips; 310-upper lip steering engine; 311-upper lip winch; 312-upper lip cord; 313-upper lip pulley block; 314-upper lip steering wheel; 315-upper lip runner; 316-upper lip link; 320-mouth angle steering engine; 321-mouth angle winch; 322-mouth angle flexible rope; 323-mouth angle pulley block; 324-mouth angle steering wheel; 325-mouth corner chute; 326-mouth angle link; 327-mouth corner chute fixing plate; 328-plugging a screw; 329-a screw; 330-lower lip steering engine; 331-lower lip winch; 332-lower lip cord; 333-lower lip pulley block; 334-lower lip steering wheel; 335-lower lip runner; 336-lower lip link; 337-lower lip pre-tightening wheel; 340-chin steering engine; 341-a chin steering engine rotating frame; 342-chin steering engine fixing frame; 343-chin; 344-chin fixation plate; 302A-upper lip drive point; 302B-lower lip drive point; 302C-left mouth angle drive point; 302D-right mouth angle drive point; 401-eyeball; 402-eyeball X-axis motion steering engine; 403-eyeball Y-axis motion steering engine; 404-X axis eyeball winch; 405-Y axis eye winch; 406-a roller mount; 407-first X-axis guide roller; 408-a second X-axis guide roller; 409-X axis guide roller set; 410-a first Y-axis guide roller; 411-second Y-axis guide roller; 412-a first X-axis motion flex; 413-a second X-axis motion flex; 414-a first Y-axis motion flex; 415-a second Y-axis motion flex; 416-eyeball part mounting; 417-steering engine mounting rack; 418-eyeball mounting support; 501-eyelid; 502-eyelid driving steering engine; 503-rudder arms; 504-ball button; 505-a fixing member; 601-selecting eyebrow drive steering engine; 602-a frowning driving steering engine; 603-a double arm rudder disk; 604-crank; 605-a guide rail; 606-a slider; 607-eyebrows; 608—bolt set; 609-picking eyebrow to drive the flexible rope; 610-a rail mount; 611-eyebrow winch.
Detailed Description
The drawings are for illustrative purposes only and are not to be construed as limiting the invention; for the purpose of better illustrating the embodiments, certain elements of the drawings may be omitted, enlarged or reduced and do not represent the actual product dimensions; it will be appreciated by those skilled in the art that certain well-known structures in the drawings and descriptions thereof may be omitted. The positional relationship described in the drawings are for illustrative purposes only and are not to be construed as limiting the invention.
As shown in fig. 1 and 2, a humanoid facial expression robot comprises a supporting base plate 1, a neck mechanism 2, a mouth mechanism 3, an eye mechanism 4, an eyelid mechanism 5 and an eye brow mechanism 6, wherein the bottom of the neck mechanism 2 is fixed on the supporting base plate 1, and the neck mechanism 2 can horizontally rotate, swing left and right and pitch back and forth relative to the supporting base plate 1; the mouth mechanism 3 comprises an upper jaw supporting plate 301, an upper lip mechanism 31, a mouth angle mechanism 32, a lower lip mechanism 33, a chin mechanism 34 and lips 302, wherein the upper lip mechanism 31 and the mouth angle mechanism 32 are arranged at the top of the upper jaw supporting plate 301, and the lower lip mechanism 33 and the chin mechanism 34 are arranged at the bottom of the upper jaw supporting plate 301; the upper lip mechanism 31 is connected to an upper lip driving point 302A of the lips 302 for driving the movement of the upper lip of the lips 302; the mouth corner mechanism 32 is provided with two groups, which are respectively connected with a left mouth corner driving point 302C and a right mouth corner driving point 302D of the lips 302 and used for driving the mouth corners of the lips 302 to move; the lower lip mechanism 33 is connected to a lower lip driving point 302B of the lips 302 for driving the movement of the lower lips of the lips 302; the mouth mechanism 3 is fixed on the top of the neck mechanism 2 through the upper jaw supporting plate 301, the eye mechanism 4 is arranged on the upper jaw supporting plate 301, and the rotation of the eyeball 401 can be realized through the eye mechanism 4; the eyelid mechanism 5 is arranged on the eye mechanism 4 and is used for realizing the opening and closing actions of the eyelid 501; the eyebrow tattooing mechanism is arranged on the eye mechanism 4 and is used for realizing the eyebrow tattooing and picking actions of the eyebrows 607.
In the invention, the supporting bottom plate 1 is used for fixing and supporting the head of the robot, and the progressive mechanism can horizontally rotate, swing left and right and pitch back and forth relative to the supporting bottom plate 1, so as to realize the actions of head shaking, nodding and the like of the head of the robot; the mouth mechanism 3 mainly comprises an upper lip mechanism 31, a mouth corner mechanism 32, a lower lip mechanism 33 and a chin mechanism 34, and the opening and closing movement of the lips 302 can be realized through the cooperation of the mechanisms, so that the mouth movement of the robot during speaking is realized; the rotation of the eyeball 401 is realized through the eye mechanism 4, and the rotation of the eyes of a person is simulated; the eyelid mechanism 5 realizes the opening and closing movement of the eyelid 501 and imitates the actions of blinking, eye closure and the like; the eyebrow tattooing, the eyebrow picking and the like of the eyebrow 607 are realized through the eyebrow tattooing mechanism 6; the eye mechanism 4, the eyelid mechanism 5 and the eyebrow mechanism 6 can be matched to realize various expression actions of the robot eyes. Through the cooperative movement of the mechanisms, various humanoid expressions are presented.
As shown in fig. 11, the lips 302 include an upper lip driving point 302A, a lower lip driving point 302B, a left mouth angle driving point 302C, a right mouth angle driving point 302D; the upper lip drive point 302A meets the upper lip link 316, the lower lip drive point 302B meets the lower lip link 336, the left hand mouth angle drive point 302C meets one of the sets of mouth angle links 326, and the right hand mouth angle drive point 302D meets the other set of mouth angle links 326. The lips 302 are used to simulate real lips 302, facilitating the observation of the actual motion effects of the mechanism.
As shown in fig. 2,3, 4, 5, 11, the upper lip mechanism 31 includes an upper lip steering engine 310, an upper lip winch 311, an upper lip flexible cable 312, an upper lip pulley block 313, an upper lip steering wheel 314, an upper lip runner 315, and an upper lip link 316; the upper lip steering engine 310, the upper lip pulley block 313 and the upper lip sliding groove 315 are all fixed on the top of the upper jaw supporting plate 301, the upper lip sliding groove 315 is vertically arranged, the upper lip steering wheel 314 is fixed on the upper lip sliding groove 315 and can relatively rotate relative to the upper lip sliding groove 315, one end of the upper lip connecting rod 316 is in sliding connection with the upper lip sliding groove 315, and the other end is connected with an upper lip driving point 302A of the lip 302; the upper lip winch 311 is connected with the upper lip steering engine 310 and is used for outputting the upper lip steering engine 310; one end of the upper lip flexible cable 312 is wound on the upper lip winch 311, the other end of the upper lip flexible cable is connected with the upper lip connecting rod 316 on the upper lip sliding chute 315 after bypassing the upper lip pulley block 313 and the upper lip steering wheel 314 in sequence, and the upper lip winch 311 pulls the upper lip flexible cable 312 to enable the upper lip connecting rod 316 to slide back and forth on the upper lip sliding chute 315 through the driving of the upper lip steering engine 310. By controlling the forward and reverse rotation of the upper lip steering engine 310, the upper lip winch 311 is driven to rotate, and the upper lip winch 311 rotates to enable the upper lip flexible cable 312 to pull the upper lip connecting rod 316 to slide up and down on the upper lip sliding groove 315, so that the upper lip 302 is driven to open or close.
As shown in fig. 2,3, 6, 7 and 11, two groups of corner mechanisms 32 are symmetrically arranged, and each group of corner mechanisms 32 comprises a corner steering engine 320, a corner winch 321, a corner flexible cable 322, a corner pulley block 323, a corner steering wheel 324, a corner chute 325, a corner connecting rod 326 and a corner chute fixing plate 327; a left-hand mouth angle drive point 302C and a right-hand mouth angle drive point 302D are provided on the lips 302; one end of the mouth angle connecting rod 326 of one group of mouth angle mechanisms 32 is connected with the left mouth angle driving point 302C, and one end of the mouth angle connecting rod 326 of the other group is connected with the right mouth angle driving point 302D; the mouth angle steering engine 320, the mouth angle pulley block 323 and the mouth angle chute fixing plate 327 are arranged on the upper jaw supporting plate 301; the two sets of mouth corner sliding grooves 325 are transversely arranged and symmetrically arranged at two sides of the lips 302 and near the mouth corners of the lips 302; the mouth angle winch 321 is connected with the mouth angle steering engine 320, and is used for outputting the mouth angle steering engine 320, the mouth angle chute 325 is fixed on the mouth angle chute fixing plate 327, and the mouth angle steering wheel is fixed on the mouth angle chute 325 and can rotate relatively to the mouth angle chute 325; the other end of the mouth angle connecting rod 326 is slidably connected to a mouth angle chute 325; one end of the mouth angle flexible cable 322 is wound on the mouth angle winch 321, the other end sequentially bypasses the mouth angle pulley block 323 and the mouth angle steering wheel and then is connected with the mouth angle connecting rod 326, and the mouth angle winch 321 pulls the mouth angle flexible cable 322 to enable the mouth angle connecting rod 326 to slide back and forth on the mouth angle sliding groove 325 through driving of the mouth angle steering engine 320.
In this embodiment, the corner of mouth chute 325 is provided with a certain inclination, one end of the corner of mouth chute 325 is close to the corner of mouth, and the other end is inclined to the rear and upper side of the brain, so that when the corner of mouth link 326 slides on the corner of mouth chute 325, the corner of mouth link 326 pulls the corner of mouth to realize the corner of mouth to move obliquely upward.
The two groups of mouth corner mechanisms 32 are arranged symmetrically, and one group of mouth corner mechanisms 32 is used for being connected with a left mouth corner driving point 302C of the lips 302 to drive the left mouth corner to move; the other set is used for connecting with a right-hand mouth corner driving point 302D of the lips 302 to drive the movement of the right-hand mouth corner; the driving principle of the mouth angle mechanism 32 is similar to that of the upper lip mechanism 31, and is driven by a flexible rope; the mouth angle pulley block 323 plays a role in guiding the mouth angle flexible rope 322; by controlling the forward and backward movement of the mouth angle steering engine 320, the forward and backward rotation of the mouth angle winch 321 is realized, the mouth angle flexible cable 322 is pulled, and when the mouth angle flexible cable 322 is pulled by the mouth angle winch 321, the mouth angle flexible cable 322 pulls the mouth angle connecting rod 326 to slide back and forth on the mouth angle sliding chute 325, so that various actions simulating the mouth angle of a person are realized.
As shown in fig. 2,3 and 10, the chin mechanism 34 includes a chin 343, a chin fixation plate 344, a chin steering 340, a chin steering turret 341, and a chin steering fixation frame 342; the chin steering engine rotating frame 341 is fixed at the bottom of the upper jaw supporting plate 301, one end of the chin steering engine 340 is fixed on the chin fixing plate 344 through the chin steering engine fixing frame 342, and the other end is connected with the chin steering engine rotating frame 341 in a rotating way; the bottom of the chin 343 is fixed to the chin underlying plate 344. The chin steering engine rotating frame 341 is fixed at the bottom of the upper jaw supporting plate 301 and is at one side far away from the lips 302, namely, one side close to a robot hindbrain spoon, the output end of the chin steering engine 340 is rotationally connected with the chin steering engine rotating frame 341, the other end of the chin steering engine 340 is fixed on the chin fixing plate 344 through the chin steering engine fixing frame 342, the chin 343 is arranged on the chin fixing plate 344, and the chin 343 is connected with the lips 302 and is similar to the lips 302 and the chin 343 of a person in structure; the chin steering engine 340 rotates, and the chin steering engine 340 drives the chin fixing plate 344 to move together relative to the chin steering engine rotating frame 341, so as to simulate the opening and closing movement of the human mandible.
As shown in fig. 2, 3, 8, 9, 11, the lower lip mechanism 33 includes a lower lip steering gear 330, a lower lip winch 331, a lower lip flexible cable 332, a lower lip pulley block 333, a lower lip steering wheel 334, a lower lip sliding groove 335, and a lower lip link 336; the lower lip steering engine 330 and the lower lip pulley block 333 are both fixed on a chin fixing plate 344, a lower lip sliding groove 335 is vertically fixed on a chin 343, a lower lip steering wheel 334 is fixed on the lower lip sliding groove 335 and can rotate relative to the lower lip sliding groove 335, one end of a lower lip connecting rod 336 is in sliding connection with the lower lip sliding groove 335, and the other end is connected with a lower lip driving point 302B on the lip 302; the lower lip winch 331 is connected with the lower lip steering engine 330 and is used for outputting the lower lip steering engine 330; one end of the lower lip flexible cable 332 is wound on the lower lip winch 331, the other end of the lower lip flexible cable is connected with the lower lip connecting rod 336 after bypassing the lower lip pulley block 333 and the lower lip steering wheel 334 in sequence, and the lower lip winch 331 pulls the lower lip flexible cable 332 to enable the lower lip connecting rod 336 to slide back and forth on the lower lip sliding groove 335 through driving of the lower lip steering engine 330. The lower lip mechanism 33 is similar in structure to the upper lip mechanism 31, and the lower lip mechanism 33 is used for driving the action of the lower lip portion of the lips 302; by controlling the forward and backward rotation of the lower lip steering engine 330, the lower lip winch 331 is driven to rotate, and the lower lip winch 331 rotates to enable the lower lip flexible cable 332 to pull the lower lip connecting rod 336 to slide up and down in the lower lip sliding groove 335, so that the opening or closing action of the lower lip 302 is driven.
As shown in fig. 2, 12 and 13, two groups of eye mechanisms 4 are symmetrically arranged, and each group of eye mechanisms 4 comprises an eyeball 401, an eyeball X-axis movement steering engine 402, an eyeball Y-axis movement steering engine 403, an X-axis eyeball winch 404, a Y-axis eyeball winch 405, a roller mounting frame 406, a first X-axis guiding roller 407, a second X-axis guiding roller 408, an X-axis guiding roller group 409, a first Y-axis guiding roller 410, a second Y-axis guiding roller 411, a Y-axis guiding roller group, a first X-axis movement flexible cable 412, a second X-axis movement flexible cable 413, a first Y-axis movement flexible cable 414 and a second Y-axis movement flexible cable 415; the upper jaw supporting plate 301 is provided with an eyeball part mounting frame 416 and a steering engine mounting frame 417, the eyeball part mounting frame 416 is provided with two symmetrical eyeball mounting frames 418, the eyeball 401 and the eyeball mounting frames 418 are connected in a ball pair mode, and the eyeball 401 can swing up and down and left and right relative to the center point of the eyeball; the roller mounting frame 406 is fixed on the eyeball part mounting frame 416 and is positioned on the back of the eyeball 401; an eyeball X-axis movement steering engine 402 and an eyeball Y-axis movement steering engine 403 are fixed on a steering engine mounting frame (417), an X-axis eyeball winch 404 is connected with the eyeball X-axis movement steering engine 402, and a Y-axis eyeball winch 405 is connected with the eyeball 401Y-axis steering engine; the first X-axis guide roller 407 and the second X-axis guide roller are vertically and symmetrically arranged on the roller mounting frame 406, and the X-axis guide roller group 409 is arranged on the eyeball part mounting frame 416 and/or the steering engine mounting frame (417); one end of the first X-axis movement flexible cable 412 is fixed on a mounting hole on the back of the eyeball 401, and the other end of the first X-axis movement flexible cable bypasses the first X-axis guide roller 407 and is connected with the X-axis eyeball winch 404; one end of the second X-axis movement flexible cable 413 is fixed on a mounting hole on the back of the eyeball 401, and the other end sequentially bypasses the second X-axis guide roller 408 and the X-axis guide roller group 409 and then is connected with the X-axis eyeball winch 404; the first Y-axis guide roller 410 and the second Y-axis guide roller 411 are transversely and symmetrically arranged on the roller mounting frame 406, and the Y-axis guide roller is arranged on the eyeball part mounting frame 416 and/or the steering engine mounting frame (417); one end of the first Y-axis movement flexible cable 414 is fixed on a mounting hole on the back of the eyeball 401, and the other end of the first Y-axis movement flexible cable bypasses the first Y-axis guide roller 410 and is connected with the Y-axis eyeball winch 405; one end of the second Y-axis guiding roller 411 is fixed on a mounting hole on the back of the eyeball 401, and the other end sequentially bypasses the second Y-axis guiding roller 411 and the Y-axis guiding roller group and then is connected with the Y-axis eyeball winch 405.
The first X-axis guide roller 407, the second X-axis guide roller 408, and the X-axis guide roller group 409 serve to guide the first X-axis movement cable 412 and the second X-axis movement cable 413, and the first Y-axis guide roller 410, the second Y-axis guide roller 411, and the Y-axis guide roller group serve to guide the first Y-axis movement cable 414 and the second Y-axis movement cable 415. When the eyeball Y-axis movement steering engine 403 rotates to drive the Y-axis eyeball winch 405 to rotate, the Y-axis eyeball winch 405 pulls the first Y-axis movement flexible rope 414 and the second Y-axis movement flexible rope 415 to move, so that the eyeball 401 rotates around the center point of the eyeball, and the actions of the humanoid eyeball 401 such as upward looking, downward looking and the like of the eyeball 401 are realized; when the eyeball X-axis movement steering engine 402 rotates to drive the X-axis eyeball winch 404 to rotate, the X-axis eyeball winch 404 pulls the first X-axis movement flexible cable 412 and the second X-axis movement flexible cable 413 to move, so that the eyeball 401 slides left and right around the center point of the eyeball, and the actions of the humanoid sphere 401 such as left-looking, right-looking and the like of the eyeball 401 are realized.
As shown in fig. 2, 14 and 15, two groups of eyelid mechanisms 5 are symmetrically arranged, and each group of eyelid mechanisms 5 comprises an eyelid 501, an eyelid driving steering engine 502, a rudder arm 503 and a bulb button 504; eyelid 501 is rotatably disposed on eyeball mounting support 418 above eyeball 401; the eyelid driving steering engine 502 is fixed on the upper jaw supporting plate 301 through a fixing piece 505, one end of a steering engine arm 503 is connected with the output end of the eyelid driving steering engine 502, the other end of the steering engine arm is connected with a ball button 504 through a connecting piece, and the other end of the ball button 504 is connected with the eyelid 501. The eyelid mechanism 5 is provided with two groups of eyeballs 401 corresponding to the two groups of eye mechanisms 4 respectively, the eyelid 501 is arranged on the eyeball mounting bracket 418 and is positioned above the eyeballs 401, and when the eyelid 501 rotates relative to the eyeball mounting bracket 418, the eyelid 501 can rotate to the front of the eyeballs 401 to realize the actions of closing eyes or blinking; in the invention, one end of a steering arm 503 is connected with an eyelid driving steering engine 502, and is the output end of the eyelid driving steering engine 502, the other end of the steering arm 503 is rotationally connected with a ball button 504, the other end of the ball button 504 is connected with an eyelid 501, the eyelid driving steering engine 502 moves, the steering arm 503 is driven to rotate, the forward and reverse movement of the steering arm 503 is realized, and the ball button 504 is driven to pull the eyelid 501 to rotate relative to an eyeball mounting bracket 418, thereby realizing actions such as eye closing or blink.
As shown in fig. 2, 16, 17 and 18, two groups of eyebrow mechanisms 6 are symmetrically arranged, and each group of eyebrow mechanisms 6 comprises an eyebrow 607, an eyebrow picking driving steering engine 601, an eyebrow creasing driving steering engine 602, a double-arm steering wheel 603, a crank 604, a guide rail 605, a slide block 606, an eyebrow picking driving flexible cable 609, a guide rail mounting frame 610 and an eyebrow capstan 610; the eyebrow tattooing driving steering engine 602 and the guide rail mounting frame 610 are both fixed on the part mounting piece of the eyeball 401, the output end of the eyebrow tattooing driving steering engine 602 is connected with one side of the double-arm steering wheel 603, the other side of the double-arm steering wheel 603 is connected with one end of the crank 604, and the other end of the crank 604 is connected with the sliding block 606; the guide rail 605 is transversely fixed on the guide rail mounting frame 610, and the sliding block 606 is arranged on the guide rail 605 in a sliding manner; the slide block 606 is provided with a vertical slide rail, the eyebrow 607 is in sliding connection with the slide rail through a connecting piece, the eyebrow picking driving steering engine 601 is fixed on a steering engine mounting frame (417), the eyebrow winch 610 is connected with the output end of the eyebrow picking driving steering engine 601, one end of the eyebrow picking driving flexible cable 609 is connected with the eyebrow winch 610, the other end of the eyebrow picking driving flexible cable penetrates through a small hole in the slide block 606 and then is connected with the eyebrow 607, and the eyebrow 607 is positioned above the eyelid 501. The eyebrow mechanism 6 is provided with two groups, the two groups of eyebrow mechanisms 6 correspond to eyeballs 401 of the two groups of eye mechanisms 4, and each group of eyebrows 607 are respectively arranged above the two eyelids 501 and are similar to the face structure of a person; when the brow-tattooing driving steering engine 602 rotates, the double-arm steering wheel 603 is driven to rotate, the crank 604 is driven to rotate, the sliding block 606 is driven to slide on the guide rail 605 through the rotation of the crank 604, and the sliding block 606 is connected with the brow 607, and the guide rail 605 is transversely arranged, so that when the sliding block 606 slides left and right on the guide rail 605, the brow 607 is driven to move left and right, and the brow-tattooing action is realized; the eyebrow capstan 610 is connected with the output end of the eyebrow picking driving steering engine 601, one end of the eyebrow picking driving flexible cable 609 is fixed on the eyebrow capstan 610, the other end of the eyebrow picking driving flexible cable 609 is connected with the eyebrow 607, a sliding rail is vertically arranged on the sliding block 606, when the eyebrow picking driving steering engine 601 rotates and the eyebrow capstan 610 is driven to rotate, the eyebrow capstan 610 pulls the eyebrow 607 to drive the flexible cable so that the eyebrow 607 slides up and down on the sliding rail, and therefore the action of preventing people from expressing eyebrow picking is achieved.
As shown in fig. 1, a mask thin shell 7 and a hindbrain spoon thin shell 8 are also arranged; the bottom edge of the mask thin shell 7 is correspondingly connected with the chin 343 to form a face-like structure; the edge of the back brain spoon thin shell 8 is correspondingly connected with the edge of the mask thin shell 7 to form a human brain imitation structure. The mask thin shell 7 is of a human-like face structure, the rear brain spoon thin shell 8 is similar to the human rear brain spoon structure, and the whole head appearance of the robot is similar to the head appearance of a human through the arrangement of the mask thin shell 7 and the rear brain spoon thin shell 8.
As shown in fig. 19, the neck mechanism 2 includes a support cylinder 202, a fixed platform 203, a movable platform 208, a lower link 204, an upper link 206, a ball pair mechanism 209, a cardan shaft 205, a swing steering 210, a rotation steering 212, and a connecting member 207; the bottom of the supporting sleeve 202 is fixed on the supporting bottom plate 1, the fixed platform 203 is arranged at the top of the supporting sleeve 202, the rotary steering engine 212 is arranged in the supporting sleeve 202, and a rotating shaft of the rotary steering engine 212 is connected with the bottom of the fixed platform 203 and can drive the fixed platform 203 to rotate; one end of the universal shaft 205 is connected with the fixed platform 203, the other end is connected with the movable platform 208, and the movable platform 208 is right above the fixed platform 203; the swing steering engine 210, the upper connecting rod 206, the lower connecting rod 204 and the ball auxiliary mechanism 209 form a swing mechanism, the swing mechanism is at least provided with three groups, the swing steering engine 210 is fixed on the fixed platform 203, one end of the connecting rod is connected with the output end of the swing steering engine 210, the other end of the connecting rod is connected with the upper connecting rod 206 through the ball auxiliary mechanism 209, and the other end of the upper connecting rod 206 is rotationally connected with the movable platform 208; the three groups of swinging mechanisms are arranged in a central symmetry manner; a connector 207 is provided on top of the movable platform 208 for connection with the chin support plate 301. When in use, the fixed platform 203 is driven to rotate by the rotation of the rotary steering engine 212, so that the horizontal rotation action of the whole progressive mechanism is realized; by the mutual cooperation of the three groups of swinging mechanisms, the left-right swinging and the front-back pitching actions of the neck mechanism 2 are realized.
It is to be understood that the above examples of the present invention are provided by way of illustration only and not by way of limitation of the embodiments of the present invention. Other variations or modifications of the above teachings will be apparent to those of ordinary skill in the art. It is not necessary here nor is it exhaustive of all embodiments. Any modification, equivalent replacement, improvement, etc. which come within the spirit and principles of the invention are desired to be protected by the following claims.
Claims (6)
1. The robot with the humanoid facial expression comprises a supporting bottom plate (1), a neck mechanism (2), a mouth mechanism (3), an eye mechanism (4), an eyelid mechanism (5) and an eye brow mechanism (6), wherein the bottom of the neck mechanism (2) is fixed on the supporting bottom plate (1), and the neck mechanism (2) can horizontally rotate, swing left and right and pitch back and forth relative to the supporting bottom plate (1); the mouth mechanism (3) comprises an upper jaw supporting plate (301), an upper lip mechanism (31), a mouth corner mechanism (32), a lower lip mechanism (33), a chin mechanism (34) and lips (302), wherein the upper lip mechanism (31) and the mouth corner mechanism (32) are arranged at the top of the upper jaw supporting plate (301), and the lower lip mechanism (33) and the chin mechanism (34) are arranged at the bottom of the upper jaw supporting plate (301); the upper lip mechanism (31) is connected with an upper lip driving point (302A) of the lips (302) and is used for driving the upper lips of the lips (302) to move; the mouth corner mechanism (32) is provided with two groups which are respectively connected with a left mouth corner driving point (302C) and a right mouth corner driving point (302D) of the lips (302) and used for driving the mouth corners of the lips (302) to move; the chin mechanism (34) can rotate relative to the upper jaw support plate (301); the lower lip mechanism (33) is connected with a lower lip driving point (302B) of the lips (302) and is used for driving the lower lips of the lips (302) to move; the mouth mechanism (3) is fixed on the top of the neck mechanism (2) through the upper jaw supporting plate (301), and the eye mechanism (4) is arranged on the upper jaw supporting plate (301) and used for realizing the rotation of eyeballs (401); the eyelid mechanism (5) is arranged on the eye mechanism (4) and is used for realizing blinking and eye closing actions; the eyebrow tattooing mechanism (6) is arranged on the eye mechanism (4) and is used for realizing eyebrow tattooing and eyebrow picking actions of the eyebrows (607);
Two groups of mouth angle mechanisms (32) are symmetrically arranged, each group of mouth angle mechanism (32) comprises a mouth angle steering engine (320), a mouth angle winch (321), a mouth angle flexible rope (322), a mouth angle pulley block (323), a mouth angle steering wheel (324), a mouth angle chute (325), a mouth angle connecting rod (326) and a mouth angle chute fixing plate (327); one end of a mouth angle connecting rod (326) of one group of mouth angle mechanisms (32) is connected with a left mouth angle driving point (302C), and one end of a mouth angle connecting rod (326) of the other group of mouth angle mechanisms (32) is connected with a right mouth angle driving point (302D); the mouth angle steering engine (320), the mouth angle pulley block (323) and the mouth angle chute fixing plate (327) are arranged on the upper jaw supporting plate (301); the two groups of mouth corner sliding grooves (325) are symmetrically arranged at two sides of the lips (302) and close to mouth corners of the lips (302); the mouth angle winch (321) is connected with the mouth angle steering engine (320) and is used for outputting the mouth angle steering engine (320), the mouth angle chute (325) is fixed on the mouth angle chute fixing plate (327), and the mouth angle steering wheel is fixed on the mouth angle chute (325) and can rotate relatively to the mouth angle chute (325); the other end of the mouth corner connecting rod (326) is connected with the mouth corner chute (325) in a sliding way; one end of the mouth angle flexible rope (322) is wound on the mouth angle winch (321), the other end of the mouth angle flexible rope sequentially bypasses the mouth angle pulley block (323) and the mouth angle steering wheel and then is connected with the mouth angle connecting rod (326), and the mouth angle winch (321) pulls the mouth angle flexible rope (322) to enable the mouth angle connecting rod (326) to slide back and forth on the mouth angle sliding groove (325) through driving of the mouth angle steering engine (320);
The chin mechanism (34) comprises a chin (343), a chin fixing plate (344), a chin steering engine (340), a chin steering engine rotating frame (341) and a chin steering engine fixing frame (342); the chin steering engine rotating frame (341) is fixed at the bottom of the upper jaw supporting plate (301), one end of the chin steering engine (340) is fixed on the chin fixing plate (344) through the chin steering engine fixing frame (342), and the other end of the chin steering engine rotating frame is rotationally connected with the chin steering engine rotating frame (341); the bottom of the chin (343) is fixed on the chin fixing plate (344);
Two groups of eyebrow mechanisms (6) are symmetrically arranged, each group of eyebrow mechanisms (6) comprises an eyebrow (607), an eyebrow picking driving steering engine (601), an eyebrow creasing driving steering engine (602), a double-arm rudder disc (603), a crank (604), a guide rail (605), a sliding block (606), an eyebrow picking driving flexible rope (609), a guide rail mounting frame (610) and an eyebrow winch (611); the eyebrow tattooing driving steering engine (602) and the guide rail mounting frame (610) are both fixed on the part mounting piece of the eyeball (401), the output end of the eyebrow tattooing driving steering engine (602) is connected with one side of the double-arm steering wheel (603), the other side of the double-arm steering wheel (603) is connected with one end of the crank (604), and the other end of the crank (604) is connected with the sliding block (606); the guide rail (605) is transversely fixed on the guide rail mounting frame (610), and the sliding block (606) is arranged on the guide rail (605) in a sliding manner; the eyebrow lifting device is characterized in that a vertical sliding rail is arranged on the sliding block (606), the eyebrow (607) is connected with the sliding rail in a sliding manner through a connecting piece, the eyebrow lifting driving steering engine (601) is fixed on the steering engine mounting frame (417), the eyebrow lifting winch (611) is connected with the output end of the eyebrow lifting driving steering engine (601), one end of the eyebrow lifting driving flexible rope (609) is connected with the eyebrow lifting winch (611), the other end of the eyebrow lifting flexible rope penetrates through a small hole in the sliding block (606) and then is connected with the eyebrow (607), and the eyebrow (607) is located above the eyelid (501).
2. The humanoid facial expression robot of claim 1, wherein the upper lip mechanism (31) includes an upper lip steering engine (310), an upper lip winch (311), an upper lip flexible rope (312), an upper lip pulley block (313), an upper lip steering wheel (314), an upper lip chute (315) and an upper lip connecting rod (316); the upper lip steering engine (310), the upper lip pulley block (313) and the upper lip sliding groove (315) are all fixed on the top of the upper jaw supporting plate (301), the upper lip sliding groove (315) is vertically arranged, the upper lip steering wheel (314) is fixed on the upper lip sliding groove (315) and can rotate relatively to the upper lip sliding groove (315), one end of the upper lip connecting rod (316) is in sliding connection with the upper lip sliding groove (315), and the other end of the upper lip connecting rod is connected with an upper lip driving point (302A) of the lip (302); the upper lip winch (311) is connected with the upper lip steering engine (310) and is used for outputting the upper lip steering engine (310); one end of the upper lip flexible cable (312) is wound on the upper lip winch (311), the other end of the upper lip flexible cable sequentially winds around the upper lip pulley block (313) and the upper lip steering wheel (314) and then is connected with the upper lip connecting rod (316) on the upper lip sliding chute (315), and the upper lip winch (311) pulls the upper lip flexible cable (312) to enable the upper lip connecting rod (316) to slide back and forth on the upper lip sliding chute (315) through driving of the upper lip steering engine (310).
3. The humanoid facial expression robot of claim 1, wherein the lower lip mechanism (33) includes a lower lip steering engine (330), a lower lip winch (331), a lower lip flexible rope (332), a lower lip pulley block (333), a lower lip steering wheel (334), a lower lip sliding groove (335) and a lower lip connecting rod (336); the lower lip steering engine (330) and the lower lip pulley block (333) are both fixed on a chin fixing plate (344), the lower lip sliding groove (335) is vertically fixed on a chin (343), the lower lip steering wheel (334) is fixed on the lower lip sliding groove (335) and can rotate relative to the lower lip sliding groove (335), one end of the lower lip connecting rod (336) is in sliding connection with the lower lip sliding groove (335), and the other end is connected with a lower lip driving point (302B) on the lip (302); the lower lip winch (331) is connected with the lower lip steering engine (330) and is used for outputting the lower lip steering engine (330); one end of the lower lip flexible rope (332) is wound on the lower lip winch (331), the other end of the lower lip flexible rope sequentially bypasses the lower lip pulley block (333) and the lower lip steering wheel (334) and then is connected with the lower lip connecting rod (336), and the lower lip winch (331) pulls the lower lip flexible rope (332) to enable the lower lip connecting rod (336) to slide back and forth on the lower lip sliding groove (335) through driving of the lower lip steering engine (330).
4. A humanoid facial expression robot according to any one of claims 1 to 3, wherein the eye mechanisms (4) are symmetrically provided with two groups, each group of eye mechanisms (4) comprises an eyeball (401), an eyeball X-axis motion steering engine (402), an eyeball Y-axis motion steering engine (403), an X-axis eyeball winch (404), a Y-axis eyeball winch (405), a roller mounting frame (406), a first X-axis guiding roller (407), a second X-axis guiding roller (408), an X-axis guiding roller group (409), a first Y-axis guiding roller (410), a second Y-axis guiding roller (411), a third Y-axis guiding roller (411), The Y-axis guiding roller group, a first X-axis movement flexible rope (412), a second X-axis movement flexible rope (413), a first Y-axis movement flexible rope (414) and a second Y-axis movement flexible rope (415); the upper jaw supporting plate (301) is provided with an eyeball part mounting frame (416) and a steering engine mounting frame (417), the eyeball part mounting frame (416) is provided with two symmetrical eyeball mounting brackets (418), the eyeball (401) is connected with the eyeball mounting brackets (418) in a ball pair mode, and the eyeball (401) can rotate up and down and swing left and right relative to the center point of the eyeball; the roller mounting frame (406) is fixed on the eyeball part mounting frame (416) and is positioned at the back of the eyeball (401); the X-axis eyeball winch (404) is connected with the X-axis eyeball movement steering gear (402), and the Y-axis eyeball winch (405) is connected with the Y-axis eyeball (401); the first X-axis guide roller (407) and the second X-axis guide roller are vertically and symmetrically arranged on the roller mounting frame (406), and the X-axis guide roller group (409) is arranged on the eyeball part mounting frame (416) and/or the steering engine mounting frame (417); one end of the first X-axis movement flexible rope (412) is fixed on a mounting hole on the back of the eyeball (401), and the other end of the first X-axis movement flexible rope bypasses the first X-axis guide roller (407) and is connected with the X-axis eyeball winch (404); one end of the second X-axis movement flexible cable (413) is fixed on a mounting hole on the back of the eyeball (401), and the other end of the second X-axis movement flexible cable sequentially bypasses the second X-axis guide roller (408) and the X-axis guide roller group (409) and then is connected with the X-axis eyeball winch (404); the first Y-axis guide roller (410) and the second Y-axis guide roller (411) are transversely and symmetrically arranged on the roller mounting frame (406), and the Y-axis guide roller group is arranged on the eyeball part mounting frame (416) and/or the steering engine mounting frame (417); one end of the first Y-axis movement flexible rope (414) is fixed on a mounting hole on the back of the eyeball (401), and the other end of the first Y-axis movement flexible rope bypasses the first Y-axis guide roller (410) and is connected with the Y-axis eyeball winch (405); one end of the second Y-axis guide roller (411) is fixed on a mounting hole on the back of the eyeball (401), and the other end of the second Y-axis guide roller sequentially bypasses the second Y-axis guide roller (411) and the Y-axis guide roller group and then is connected with the Y-axis eyeball winch (405).
5. The humanoid facial expression robot according to claim 4, wherein the eyelid mechanisms (5) are symmetrically provided with two groups, and each group of eyelid mechanisms (5) comprises an eyelid (501), an eyelid driving steering engine (502), a steering engine arm (503) and a ball button (504); the eyelid (501) is rotationally arranged on the eyeball mounting bracket (418) and is positioned above the eyeball (401); the eyelid driving steering engine (502) is fixed on the upper jaw supporting plate (301) through a fixing piece (505), one end of the steering engine arm (503) is connected with the output end of the eyelid driving steering engine (502), the other end of the steering engine arm is connected with the ball button (504) through a connecting piece, and the other end of the ball button (504) is connected with the eyelid (501).
6. The humanoid facial expression robot of claim 4, further provided with a mask shell (7) and a hindbrain scoop shell (8); the bottom edge of the mask thin shell (7) is correspondingly connected with a chin (343) to form a face-like structure; the edge of the back brain spoon thin shell (8) is correspondingly connected with the edge of the mask thin shell (7) to form a human brain imitation structure.
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| CN111300449A (en) * | 2020-03-12 | 2020-06-19 | 河海大学常州校区 | Facial organ mechanism of humanoid expression robot |
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| CN113319869B (en) * | 2021-06-25 | 2023-04-07 | 重庆理工大学 | Welcome robot system with emotion interaction function |
| CN113400290B (en) * | 2021-06-28 | 2023-04-07 | 浙江工业大学 | Expression robot |
| CN113352341B (en) * | 2021-08-09 | 2021-11-16 | 北京木甲天枢文化科技有限公司 | Multi-degree-of-freedom expression robot |
| CN114833846B (en) * | 2022-05-23 | 2023-08-11 | 重庆理工大学 | Mouth mechanism of humanoid expression robot |
| CN115122350B (en) * | 2022-07-05 | 2024-04-09 | 广东工业大学 | Bionic expression robot head device |
| CN115502991A (en) * | 2022-09-21 | 2022-12-23 | 南京溧航仿生产业研究院有限公司 | Driving mechanism of bionic human head and mouth face unit |
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