CN110125947A - Robot face expression control mechanism and robot with it - Google Patents
Robot face expression control mechanism and robot with it Download PDFInfo
- Publication number
- CN110125947A CN110125947A CN201910371523.XA CN201910371523A CN110125947A CN 110125947 A CN110125947 A CN 110125947A CN 201910371523 A CN201910371523 A CN 201910371523A CN 110125947 A CN110125947 A CN 110125947A
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- lip
- supercilium
- extension rod
- slot section
- control mechanism
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- 230000007246 mechanism Effects 0.000 title claims abstract description 82
- 230000008921 facial expression Effects 0.000 title claims abstract description 38
- 210000004709 eyebrow Anatomy 0.000 claims abstract description 65
- 230000033001 locomotion Effects 0.000 claims abstract description 62
- VYPSYNLAJGMNEJ-UHFFFAOYSA-N Silicium dioxide Chemical compound O=[Si]=O VYPSYNLAJGMNEJ-UHFFFAOYSA-N 0.000 claims abstract description 45
- 239000000741 silica gel Substances 0.000 claims abstract description 45
- 229910002027 silica gel Inorganic materials 0.000 claims abstract description 45
- 238000009434 installation Methods 0.000 claims abstract description 40
- 230000005540 biological transmission Effects 0.000 claims abstract description 39
- 210000003625 skull Anatomy 0.000 claims abstract description 24
- 239000000758 substrate Substances 0.000 claims 1
- 230000014509 gene expression Effects 0.000 abstract description 9
- 238000013461 design Methods 0.000 description 6
- 230000002996 emotional effect Effects 0.000 description 6
- 238000010586 diagram Methods 0.000 description 3
- 238000000034 method Methods 0.000 description 3
- 238000010146 3D printing Methods 0.000 description 2
- XUIMIQQOPSSXEZ-UHFFFAOYSA-N Silicon Chemical compound [Si] XUIMIQQOPSSXEZ-UHFFFAOYSA-N 0.000 description 2
- 206010044565 Tremor Diseases 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 239000003292 glue Substances 0.000 description 2
- 238000012827 research and development Methods 0.000 description 2
- 229910052710 silicon Inorganic materials 0.000 description 2
- 239000010703 silicon Substances 0.000 description 2
- 229920001651 Cyanoacrylate Polymers 0.000 description 1
- 239000004830 Super Glue Substances 0.000 description 1
- 230000009471 action Effects 0.000 description 1
- 230000005167 amoeboid movement Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000005194 fractionation Methods 0.000 description 1
- 210000004209 hair Anatomy 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 238000011160 research Methods 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/0005—Manipulators having means for high-level communication with users, e.g. speech generator, face recognition means
- B25J11/0015—Face robots, animated artificial faces for imitating human expressions
Abstract
The present invention provides a kind of robot face expression control mechanism and with its robot.Robot face expression control mechanism includes: apery skull shell, apery silica gel musculus cutaneus, lip motion control mechanism and at least one eyebrow movement control mechanism, eyebrow movement control mechanism includes the first installation base plate, the first power output component and the first transmission component, the movement of first the first transmission component of power output Component driver, the first transmission component pass through eyebrow track groove and connect with the eyebrow position of apery silica gel musculus cutaneus；Lip motion control mechanism includes the second installation base plate, the second power output component and the second transmission component, and second the second transmission component of power output Component driver moves, and the second transmission component passes through lip track groove and connect with the lip position of apery silica gel musculus cutaneus.Using technical solution of the present invention can solve robot expression control mechanism in the prior art it is bulky and the problem of have compressed the other function of robot.
Description
Technical field
The invention belongs to human-computer interaction robot application design field more particularly to a kind of robot face expression controls
Mechanism processed and robot with it.
Background technique
The research of robot with humanoid facial expression just has begun in last century the nineties, from the 1990s
WR Series machine people of the Kismet robot to Japanese Waseda University's research and development, the SAYA robot of Tokyo Polytechnics exploitation,
Expression robot achieves rapid development in the past more than ten years.Imitating the mankind and making some basic facial expressions is expression machine
One big target of people's research and development.But due to human face expression complexity, realize that the mode of expression is to control expression moving cell one by one at present,
Therefore this generally requires complicated structure design and control mode and has compressed machine so that entire expression control mechanism is bulky
The other function of device people, while also increasing the production cost of robot.
Summary of the invention
Technical problem to be solved by the present invention lies in provide a kind of robot face expression control mechanism and with its
Robot, it is intended to it is bulky and have compressed the other function of robot to solve robot expression control mechanism in the prior art
Problem.
In order to solve the above technical problems, the invention is realized in this way, a kind of robot face expression control mechanism, packet
Include: apery skull shell, apery skull shell have hollow installation space, correspond on apery skull shell and set at the position of eyebrow
There is eyebrow track groove, is corresponded on apery skull shell and be equipped with lip track groove at the position of mouth；Apery silica gel musculus cutaneus, apery silicon
Glue surface skin is covered on apery skull shell；At least one eyebrow movement control mechanism, during eyebrow movement control mechanism is mounted on
In empty installation space, eyebrow movement control mechanism includes the first installation base plate, the first power output component and the first transmission component,
First power output component and the first transmission component are both connected on the first installation base plate, the first power output Component driver first
Transmission component movement, the first transmission component pass through eyebrow track groove and connect with the eyebrow position of apery silica gel musculus cutaneus；Lip motion
Control mechanism, lip motion control mechanism are mounted in hollow installation space, and lip motion control mechanism includes the second installation base
Plate, the second power output component and the second transmission component, the second power output component and the second transmission component are both connected to second
On installation base plate, second the second transmission component of power output Component driver movement, the second transmission component pass through lip track groove with
The lip position of apery silica gel musculus cutaneus connects.
Further, which includes the identical eyebrow movement control mechanism of two structures,
Two eyebrow movement control mechanisms correspond respectively to two eyebrow positions of apery silica gel musculus cutaneus.
Further, eyebrow track groove includes the first supercilium slot section, the second supercilium slot section and third supercilium slot section, the first eyebrow
The extending direction of portion's slot section and the extending direction of third supercilium slot section copy eyebrow extending direction, and the second supercilium slot section is located at the
Between one supercilium slot section and third supercilium slot section, and the second supercilium slot section extends along the vertical direction；First installation base plate is equipped with
First supercilium sliding groove, the second supercilium sliding groove and third supercilium sliding groove, the first supercilium sliding groove and the first supercilium slot section are right
It answers and extending direction is identical, the second supercilium sliding groove is corresponding with the second supercilium slot section and extending direction is identical, the sliding of third supercilium
Slot is corresponding with third supercilium slot section and extending direction is identical；First power output component includes that the first steering engine and the first driving connect
Bar, the first steering engine are mounted on the first installation base plate, and the power output end of the first end of the first drive link and the first steering engine connects
It connects；First transmission component includes extension rod among supercilium, the first supercilium side extension rod, the second supercilium side extension rod and two
The first end of first kinematic link, supercilium centre extension rod is connect with the second end of the first drive link, extension rod among supercilium
It being moved along the second supercilium sliding groove, the first end of two the first kinematic links is all connected to the first end of extension rod among supercilium,
The second end of extension rod passes through the second supercilium slot section and connect with apery silica gel musculus cutaneus among supercilium, and the of two the first kinematic links
Two ends are connect with the first end of the first end of the first supercilium side extension rod, the second supercilium side extension rod respectively, the first supercilium
The first end of side extension rod is moved along the first supercilium sliding groove, and the second end of the first supercilium side extension rod passes through the first supercilium
Slot section is connect with apery silica gel musculus cutaneus, and the first end of the second supercilium side extension rod is moved along third supercilium sliding groove, the second eyebrow
The second end of portion side extension rod passes through third supercilium slot section and connect with apery silica gel musculus cutaneus.
Further, the first power output component further includes two the first link blocks and two first rotation steering engines, and two
First link block is respectively correspondingly mounted in the first supercilium sliding groove and third supercilium sliding groove, two first rotation steering engines point
It is not mounted on accordingly on two the first link blocks, the first end of the first supercilium side extension rod and the second supercilium side extension rod
First end be respectively correspondingly connected to two first rotation steering engine power output end on.
Further, the first power output component further includes the second link block and the second rotation steering engine, the second link block peace
In the second supercilium sliding groove, the second rotation steering engine is mounted on the second link block, and the first end of extension rod connects among supercilium
It is connected on the power output end of the second rotation steering engine.
Further, lip track groove includes the first lip slot section, the second lip slot section and third lip slot section, the first lip
Portion's slot section and third lip slot section are located at the two sides labial angle position of apery skull shell, the extending direction of the first lip slot section
Lip extending direction is copied with the extending direction of third lip slot section, the second lip slot section is located in the people of apery skull shell
Position, and the second lip slot section extends along the vertical direction；It is sliding that second installation base plate is equipped with the first lip sliding groove, the second lip
Dynamic slot and third lip sliding groove, the first lip sliding groove is corresponding with the first lip slot section and extending direction is identical, the second lip
Sliding groove is corresponding with the second lip slot section and extending direction is identical, and third lip sliding groove is corresponding with third lip slot section and extends
Direction is identical；Second power output component includes the second steering engine and the second drive link, and the second steering engine is mounted on the second installation base
On plate, the first end of the second drive link is connect with the power output end of the second steering engine；Second transmission component includes among lip
Extension rod, the first lip side extension rod, the second lip side extension rod and two the second kinematic links, lip centre extension rod
First end connect with the second end of the second drive link, extension rod is moved along the second lip sliding groove among lip, two the
The first end of two kinematic links is all connected to the first end of extension rod among lip, and the second end of extension rod passes through the among lip
Two lip slot sections are connect with apery silica gel musculus cutaneus, the second end of two the second kinematic links respectively with the first lip side extension rod
First end, the first end of the second lip side extension rod connection, the first end of the first lip side extension rod is along the first lip
Sliding groove is mobile, and the second end of the first lip side extension rod passes through the first lip slot section and connect with apery silica gel musculus cutaneus, and second
The first end of lip side extension rod is moved along third lip sliding groove, and the second end of the second lip side extension rod passes through third
Lip slot section is connect with apery silica gel musculus cutaneus.
Further, the second power output component further includes two third link blocks and two thirds rotation steering engines, and two
Third link block is respectively correspondingly mounted in the first lip sliding groove and third lip sliding groove, two third rotation steering engines point
It is not mounted on accordingly on two third link blocks, the first end of the first lip side extension rod and the second lip side extension rod
First end be respectively correspondingly connected on the power output shaft of two thirds rotation steering engine.
Further, the second power output component further includes the 4th link block and the 4th rotation steering engine, the 4th link block peace
In the second lip sliding groove, the 4th rotation steering engine is mounted on the 4th link block, and the first end of extension rod connects among lip
It is connected on the power output end of the 4th rotation steering engine.
Further, which further includes controller, eyebrow movement control mechanism and lip
Motion control mechanism carries out intelligent control by controller.
According to another aspect of the present invention, a kind of robot is provided.The robot includes robot face table above-mentioned
Feelings control mechanism.
Compared with prior art, the present invention beneficial effect is:
Robot face expression control mechanism designed by the invention, enables robot face to show realizing
While emotional state abundant, also achieve the simple purpose of design of structure, compared with the existing technology in have identical control
For the control mechanism of function processed, robot face expression control mechanism of the invention has the characteristics that compact, Neng Gouwei
The assembly of the other function component of robot saves more installation spaces, and space utilization is more reasonable.
Detailed description of the invention
Fig. 1 is apery skull shell in the robot face expression control mechanism of the embodiment of the present invention, eyebrow movement control
The fractionation schematic diagram of mechanism and lip motion control mechanism；
Fig. 2 is the structural representation of eyebrow motion control mechanism in the robot face expression control mechanism of the embodiment of the present invention
Figure；
Fig. 3 is the structural representation of lip motion control mechanism in the robot face expression control mechanism of the embodiment of the present invention
Figure.
In the accompanying drawings, each appended drawing reference indicates:
10, apery skull shell；11, eyebrow track groove；111, the first supercilium slot section；112, the second supercilium slot section；113,
Third supercilium slot section；12, lip track groove；121, the first lip slot section；122, the second lip slot section；123, third lip slot
Section；30, eyebrow movement control mechanism；31, the first installation base plate；311, the first supercilium sliding groove；312, the second supercilium sliding groove；
313, third supercilium sliding groove；32, the first power output component；321, the first steering engine；322, the first drive link；323, first
Link block；324, the second link block；33, the first transmission component；331, extension rod among supercilium；332, the first supercilium side extends
Bar；333, the second supercilium side extension rod；334, the first kinematic link；40, lip motion control mechanism；41, the second installation base
Plate；411, the first lip sliding groove；412, the second lip sliding groove；413, third lip sliding groove；42, the second power output group
Part；421, the second steering engine；422, the second drive link；423, third link block；424, the 4th link block；43, the second transmission group
Part；431, extension rod among lip；432, the first lip side extension rod；433, the second lip side extension rod；434, second
Kinematic link.
Specific embodiment
In order to make the objectives, technical solutions, and advantages of the present invention clearer, with reference to the accompanying drawings and embodiments, right
The present invention is further elaborated.It should be appreciated that the specific embodiments described herein are merely illustrative of the present invention, and
It is not used in the restriction present invention.
It should be noted that it can be directly another when element is referred to as " being fixed on " or " being set to " another element
On one element or indirectly on another element.When an element is known as " being connected to " another element, it can
To be directly to another element or be indirectly connected on another element.
It is to be appreciated that term " length ", " width ", "upper", "lower", "front", "rear", "left", "right", "vertical",
The orientation or positional relationship of the instructions such as "horizontal", "top", "bottom", "inner", "outside" is that orientation based on the figure or position are closed
System is merely for convenience of description the application and simplifies description, rather than the device or element of indication or suggestion meaning must have
Specific orientation is constructed and operated in a specific orientation, therefore should not be understood as the limitation to the application.
In addition, term " first ", " second " are used for descriptive purposes only and cannot be understood as indicating or suggesting relative importance
Or implicitly indicate the quantity of indicated technical characteristic.Define " first " as a result, the feature of " second " can be expressed or
Implicitly include one or more of the features.In the description of the present application, the meaning of " plurality " is two or more,
Unless otherwise specifically defined.
As shown in Figure 1 to Figure 3, robot face expression control mechanism of the invention includes apery skull shell 10, apery
Silica gel musculus cutaneus (not shown), lip motion control mechanism 40 and at least one eyebrow movement control mechanism 30, apery skull shell
10 have hollow installation space, correspond on apery skull shell 10 and are equipped with eyebrow track groove 11, apery skull at the position of eyebrow
It being corresponded on shell 10 and is equipped with lip track groove 12 at the position of mouth, apery silica gel musculus cutaneus is covered on apery skull shell 10,
Eyebrow movement control mechanism 30 is mounted in hollow installation space, eyebrow movement control mechanism 30 include the first installation base plate 31,
First power output component 32 and the first transmission component 33, the first power output component 32 and the first transmission component 33 are both connected to
On first installation base plate 31, the first power output component 32 drives the movement of the first transmission component 33, and the first transmission component 33 passes through
Eyebrow track groove 11 is connect with the eyebrow position of apery silica gel musculus cutaneus, and lip motion control mechanism 40 is mounted on hollow installation space
In, lip motion control mechanism 40 includes the second installation base plate 41, the second power output component 42 and the second transmission component 43, the
Two power output components 42 and the second transmission component 43 are both connected on the second installation base plate 41, and the second power output component 42 drives
Dynamic second transmission component 43 movement, the second transmission component 43 passes through lip track groove 12 and the lip position of apery silica gel musculus cutaneus connects
It connects.
After robot face expression control mechanism of the invention is assembled in robot, machine is controlled by eyebrow movement
The cooperation of the first power output component 32 and the first transmission component 33 of structure 30, to drive the eyebrow position of apery silica gel musculus cutaneus
Acted so that the eyebrow position of apery silica gel musculus cutaneus show different shape movement, including eyebrow of flipping, downwards choose eyebrow with
And the movement such as open and flat eyebrow；Meanwhile passing through the second power output component 42 of lip motion control mechanism 40 and the second transmission group
The cooperation of part 43, to drive the lip position of apery silica gel musculus cutaneus to be acted, so that the lip position of apery silica gel musculus cutaneus
Different shape movement is showed, including magnifies mouth, smiles of grinning, close lip etc. and acting.In this way, working as the eyebrow of apery silica gel musculus cutaneus
When hair position and lip position show movement of different shapes simultaneously, so that cooperation shows different facial expressions and acts, such as
Make the facial expressions and acts such as tranquil, happy, sadness.
Robot face expression control mechanism designed by the invention, enables robot face to show realizing
While emotional state abundant, also achieve the simple purpose of design of structure, compared with the existing technology in have identical control
For the control mechanism of function processed, robot face expression control mechanism of the invention has the characteristics that compact, Neng Gouwei
The assembly of the other function component of robot saves more installation spaces, and space utilization is more reasonable.
In an embodiment of the present invention, apery silica gel musculus cutaneus is manufactured using 3D printing method.
In anthropomorphic robot, the complete design of eyes can be all copied, therefore, the robot face expression control mechanism packet
The identical eyebrow movement control mechanism 30 of two structures is included, two eyebrow movement control mechanisms 30 correspond respectively to apery silica gel face
Two eyebrow positions of skin, also, the first installation base plate 31 of two eyebrow movement control mechanisms 30 is made of one piece, and
It is manufactured using 3D printing method.
As shown in Fig. 2, eyebrow track groove 11 includes the first supercilium slot section in the robot face expression control mechanism
111, the second supercilium slot section 112 and third supercilium slot section 113, the first installation base plate 31 are equipped with the first supercilium sliding groove 311, the
Two supercilium sliding grooves 312 and third supercilium sliding groove 313, the first power output component 32 include that the first steering engine 321 and first drives
Dynamic connecting rod 322, the first transmission component 33 include extension rod 331, the first supercilium side extension rod 332, the second supercilium among supercilium
Side extension rod 333 and two the first kinematic links 334.The extending direction and third supercilium slot section 113 of first supercilium slot section 111
Extending direction copy eyebrow extending direction, in actual design, the extension shape of eyebrow is around the arc-shaped shape in eye socket center
Shape, and the arcuate directions that both the first supercilium slot section 111 and third supercilium slot section 113 are formed then with the arcuate shape phase of eyebrow
Instead, the second supercilium slot section 112 is between the first supercilium slot section 111 and third supercilium slot section 113, and the second supercilium slot section 112
Extend along the vertical direction.First supercilium sliding groove 311 is corresponding with the first supercilium slot section 111 and extending direction is identical, the second supercilium
Sliding groove 312 is corresponding with the second supercilium slot section 112 and extending direction is identical, third supercilium sliding groove 313 and third supercilium slot section
113 is corresponding and extending direction is identical.First steering engine 321 is mounted on the first installation base plate 31, and the first of the first drive link 322
End is connect with the power output end of the first steering engine 321, the first end and the first drive link 322 of extension rod 331 among supercilium
Second end connection, supercilium centre extension rod 331 are moved along the second supercilium sliding groove 312, and the first of two the first kinematic links 334
End is all connected to the first end of extension rod 331 among supercilium, and the second end of extension rod 331 passes through the second supercilium slot section among supercilium
112 connect with apery silica gel musculus cutaneus, the second end of two the first kinematic links 334 respectively with the first supercilium side extension rod 332
First end, the connection of the first end of the second supercilium side extension rod 333, the first end of the first supercilium side extension rod 332 is along the
One supercilium sliding groove 311 is mobile, and the second end of the first supercilium side extension rod 332 passes through the first supercilium slot section 111 and apery silicon
The connection of glue surface skin, the first end of the second supercilium side extension rod 333 are moved along third supercilium sliding groove 313, the second supercilium side
The second end of extension rod 333 passes through third supercilium slot section 113 and connect with apery silica gel musculus cutaneus.
In the first 321 output power of steering engine, the movement of the first drive link 322 is driven, then drives extension rod among supercilium
331 move along the second supercilium sliding groove 312, at the same among supercilium extension rod 331 drive the movement of two the first kinematic links 334 and
The first supercilium side extension rod 332 is driven to move along the first supercilium sliding groove 311, the second supercilium side extension rod 333 is along third
Supercilium sliding groove 313 is mobile, has thus driven the eyebrow position of corresponding apery silica gel musculus cutaneus to generate corresponding sports, thus shape
It is acted at different superciliums, shows different supercilium emotional states.
Specifically, the first power output component 32 further include two the first link blocks 323 and two first rotation steering engines (not
Diagram), two the first link blocks 323 are respectively correspondingly mounted on the first supercilium sliding groove 311 and third supercilium sliding groove 313
In, two first rotation steering engines are respectively correspondingly mounted on two the first link blocks 323, the first supercilium side extension rod 332
First end and the second supercilium side extension rod 333 first end be respectively correspondingly connected to two first rotation steering engine power
On output end.
First power output component 32 further includes the second link block 324 and the second rotation steering engine (not shown), the second connection
Block 324 is mounted in the second supercilium sliding groove 312, and the second rotation steering engine is mounted on the second link block 324, is extended among supercilium
The first end of bar 331 is connected on the power output end of the second rotation steering engine.
It is corresponding in the mobile drive of corresponding sliding groove by the second link block 324 and two the first link blocks 323
Supercilium extension rod is mobile, and corresponding by the supercilium extension rod progress corresponding with the second rotation steering engine drive of the first rotation steering engine
Rotational action, so just make apery silica gel musculus cutaneus eyebrow position generate distortion amoeboid movement, when torsional deformation move
When amplitude is small and frequency is very fast, the eyebrow position expression showed in this way is then presented as eyebrow in pico- earth tremor, into one
Step enriches the emotional state at eyebrow position.
In addition, even if equally connecting using first in the case where no the first rotation steering engine of assembly and the second rotation steering engine
It connects block 323 and the second link block 324 is assemblied in corresponding supercilium sliding groove, corresponding supercilium extension rod is then connected to phase
On the sliding shoe answered, to complete to assemble.
As shown in figure 3, lip track groove 12 includes the first lip slot section in the robot face expression control mechanism
121, the second lip slot section 122 and third lip slot section 123, the second installation base plate 41 are equipped with the first lip sliding groove 411, the
Two lip sliding grooves 412 and third lip sliding groove 413, the second power output component 42 include that the second steering engine 421 and second drives
Dynamic connecting rod 422, the second transmission component 43 include extension rod 431, the first lip side extension rod 432, the second lip among lip
Side extension rod 433 and two the second kinematic links 434.First lip slot section 121 and third lip slot section 123 are located at imitative
The two sides labial angle position of human skull's shell 10, the extending direction of the first lip slot section 121 and the extension side of third lip slot section 123
To lip extending direction is copied, the second lip slot section 122 is located at position in the people of apery skull shell 10, and the second lip slot
Section 122 extends along the vertical direction, and the first lip sliding groove 411 is corresponding with the first lip slot section 121 and extending direction is identical, and second
Lip sliding groove 412 is corresponding with the second lip slot section 122 and extending direction is identical, third lip sliding groove 413 and third lip
Slot section 123 is corresponding and extending direction is identical, and the second steering engine 421 is mounted on the second installation base plate 41, the second drive link 422
First end is connect with the power output end of the second steering engine 421, the first end and the second drive link of extension rod 431 among lip
422 second end connection, lip centre extension rod 431 are moved along the second lip sliding groove 412, two the second kinematic links 434
First end be all connected to the first end of extension rod 431 among lip, the second end of extension rod 431 passes through the second lip among lip
Portion's slot section 122 is connect with apery silica gel musculus cutaneus, and the second end of two the second kinematic links 434 extends with the first lip side respectively
The first end of bar 432, the connection of the first end of the second lip side extension rod 433, the first end of the first lip side extension rod 432
It is moved along the first lip sliding groove 411, the second end of the first lip side extension rod 432 passes through the first lip slot section 121 and imitates
The connection of people's silica gel musculus cutaneus, the first end of the second lip side extension rod 433 are moved along third lip sliding groove 413, the second lip
The second end of side extension rod 433 passes through third lip slot section 123 and connect with apery silica gel musculus cutaneus.
In the second 421 output power of steering engine, the movement of the second drive link 422 is driven, then drives extension rod among lip
431 move along the second lip sliding groove 412, at the same among lip extension rod 431 drive the movement of two the second kinematic links 434 and
The first lip side extension rod 432 is driven to move along the first lip sliding groove 411, the second lip side extension rod 433 is along third
Lip sliding groove 413 is mobile, has thus driven the lip position of corresponding apery silica gel musculus cutaneus to generate corresponding sports, thus shape
At different lip motions, different lip emotional states is showed.
Specifically, the second power output component 42 further includes that two third link blocks 423 and two thirds rotate steering engines (not
Diagram), two third link blocks 423 are respectively correspondingly mounted on the first lip sliding groove 411 and third lip sliding groove 413
In, two third rotation steering engines are respectively correspondingly mounted on two third link blocks 423, the first lip side extension rod 432
First end and the first end of the second lip side extension rod 433 be respectively correspondingly connected to the power of two thirds rotation steering engine
On output shaft.
Second power output component 42 further includes the 4th link block 424 and the 4th rotation steering engine (not shown), the 4th connection
Block 424 is mounted in the second lip sliding groove 412, and the 4th rotation steering engine is mounted on the 4th link block 424, is extended among lip
The first end of bar 431 is connected on the power output end of the 4th rotation steering engine.
Corresponding lip is driven in corresponding sliding groove movement by the 4th link block 424 and two third link blocks 423
Portion's extension rod is mobile, and drives corresponding lip extension rod progress corresponding by third rotation steering engine and the 4th rotation steering engine
Rotation so just makes the lip position of apery silica gel musculus cutaneus generate torsional deformation movement, when torsional deformation motion amplitude is small
And frequency it is very fast when, the lip position expression showed in this way is then presented as that lip in pico- earth tremor, further enriches
The emotional state at lip position.
In addition, even if equally being connected using third in the case where no assembly third rotates steering engine and the 4th rotation steering engine
It connects block 423 and the 4th link block 424 is assemblied in corresponding lip sliding groove, corresponding lip extension rod is then connected to phase
On the sliding shoe answered, to complete to assemble.
Specifically, 331 second end of extension rod, second end, the second supercilium of the first supercilium side extension rod 332 among supercilium
Second end, second end, the second end of the first lip side extension rod 432 of lip centre extension rod 431 of side extension rod 333
It is respectively connected with ellipse slice in the second end of the second lip side extension rod 433, passes through the ellipse slice and apery silica gel face
It is adhesively fixed between skin by super glue.
The robot face expression control mechanism further includes controller (not shown), eyebrow movement control mechanism 30 and lip
Motion control mechanism 40 carries out intelligent control by controller, it may be assumed that the first rotation of steering engine 321, two first steering engine, the second rotation
Steering engine, 421, two third rotation steering engines of the second steering engine and the 4th excellent controller of rotation steering engine carry out intelligent control.In fact,
Controller used by robot face expression control mechanism is the central processing unit of the robot.
According to another aspect of the present invention, a kind of robot is provided, which includes robot face table above-mentioned
Feelings control mechanism.
The foregoing is merely illustrative of the preferred embodiments of the present invention, is not intended to limit the invention, all in essence of the invention
Made any modifications, equivalent replacements, and improvements etc., should all be included in the protection scope of the present invention within mind and principle.
Claims (10)
1. a kind of robot face expression control mechanism characterized by comprising
Apery skull shell (10), the apery skull shell (10) have hollow installation space, the apery skull shell
(10) it is corresponded on and is equipped with eyebrow track groove (11) at the position of eyebrow, the position of mouth is corresponded on the apery skull shell (10)
Place is equipped with lip track groove (12)；
Apery silica gel musculus cutaneus, the apery silica gel musculus cutaneus are covered on the apery skull shell (10)；
At least one eyebrow movement control mechanism (30), the eyebrow movement control mechanism (30) are mounted on hollow installation space
In, the eyebrow movement control mechanism (30) includes the first installation base plate (31), the first power output component (32) and the first biography
Dynamic component (33), the first power output component (32) and first transmission component (33) are both connected to first installation
On substrate (31), the first power output component (32) drives the first transmission component (33) movement, first transmission
Component (33) passes through the eyebrow track groove (11) and connect with the eyebrow position of the apery silica gel musculus cutaneus；
Lip motion control mechanism (40), the lip motion control mechanism (40) are mounted in the hollow installation space, institute
Stating lip motion control mechanism (40) includes the second installation base plate (41), the second power output component (42) and the second transmission component
(43), the second power output component (42) and second transmission component (43) are both connected to second installation base plate
(41) on, the second power output component (42) drives the second transmission component (43) movement, second transmission component
(43) the lip track groove (12) is passed through to connect with the lip position of the apery silica gel musculus cutaneus.
2. robot face expression control mechanism as described in claim 1, which is characterized in that robot face expression control
Mechanism includes the identical eyebrow movement control mechanism (30) of two structures, two eyebrow movement control mechanisms (30) point
Not Dui Yingyu the apery silica gel musculus cutaneus two eyebrow positions.
3. robot face expression control mechanism as claimed in claim 2, which is characterized in that
Eyebrow track groove (11) includes the first supercilium slot section (111), the second supercilium slot section (112) and third supercilium slot section (113),
The extending direction of the first supercilium slot section (111) and the extending direction of the third supercilium slot section (113) copy eyebrow to prolong
Direction is stretched, the second supercilium slot section (112) is located at the first supercilium slot section (111) and the third supercilium slot section (113)
Between, and the second supercilium slot section (112) extends along the vertical direction；
First installation base plate (31) is equipped with the first supercilium sliding groove (311), the second supercilium sliding groove (312) and third eyebrow
Portion's sliding groove (313), the first supercilium sliding groove (311) is corresponding with the first supercilium slot section (111) and extending direction phase
Together, the second supercilium sliding groove (312) is corresponding with the second supercilium slot section (112) and extending direction is identical, the third
Supercilium sliding groove (313) is corresponding with the third supercilium slot section (113) and extending direction is identical；
First power output component (32) includes the first steering engine (321) and the first drive link (322), first steering engine
(321) it is mounted on first installation base plate (31), the first end of first drive link (322) and first steering engine
(321) power output end connection；
First transmission component (33) includes extension rod (331), the first supercilium side extension rod (332), the second supercilium among supercilium
Side extension rod (333) and two the first kinematic links (334), among the supercilium first end of extension rod (331) with it is described
The second end of first drive link (322) connects, and extension rod (331) is along the second supercilium sliding groove among the supercilium
(312) mobile, the first end of two first kinematic links (334) is all connected to extension rod (331) among the supercilium
The second end of first end, the supercilium centre extension rod (331) passes through the second supercilium slot section (112) and the apery silica gel
Musculus cutaneus connection, the second end of two first kinematic links (334) respectively with first supercilium side extension rod (332)
First end, the connection of the first end of second supercilium side extension rod (333), first supercilium side extension rod (332)
First end is mobile along the first supercilium sliding groove (311), and the second end of first supercilium side extension rod (332) passes through institute
It states the first supercilium slot section (111) to connect with the apery silica gel musculus cutaneus, the first end of second supercilium side extension rod (333)
Mobile along the third supercilium sliding groove (313), the second end of second supercilium side extension rod (333) passes through the third
Supercilium slot section (113) is connect with the apery silica gel musculus cutaneus.
4. robot face expression control mechanism as claimed in claim 3, which is characterized in that the first power output component
It (32) further include two the first link blocks (323) and two first rotation steering engines, two first link blocks (323) are right respectively
It is mounted on answering in the first supercilium sliding groove (311) and the third supercilium sliding groove (313), two first rotations
Steering engine is respectively correspondingly mounted on two first link blocks (323), and the of first supercilium side extension rod (332)
The first end of one end and second supercilium side extension rod (333) is respectively correspondingly connected to two the first rotation steering engines
Power output end on.
5. robot face expression control mechanism as claimed in claim 4, which is characterized in that the first power output component
It (32) further include the second link block (324) and the second rotation steering engine, second link block (324) is mounted on second supercilium
In sliding groove (312), the second rotation steering engine is mounted on second link block (324), extension rod among the supercilium
(331) first end is connected on the power output end of the second rotation steering engine.
6. the robot face expression control mechanism as described in any one of claims 1 to 5, which is characterized in that
Lip track groove (12) includes the first lip slot section (121), the second lip slot section (122) and third lip slot section (123),
The first lip slot section (121) and the third lip slot section (123) are located at the two of the apery skull shell (10)
The extending direction of lateral lip Angle Position, the extending direction of the first lip slot section (121) and the third lip slot section (123) is equal
Lip extending direction is copied, the second lip slot section (122) is located at position in the people of the apery skull shell (10), and institute
The second lip slot section (122) is stated to extend along the vertical direction；
Second installation base plate (41) is equipped with the first lip sliding groove (411), the second lip sliding groove (412) and third lip
Portion's sliding groove (413), the first lip sliding groove (411) is corresponding with the first lip slot section (121) and extending direction phase
Together, the second lip sliding groove (412) is corresponding with the second lip slot section (122) and extending direction is identical, the third
Lip sliding groove (413) is corresponding with the third lip slot section (123) and extending direction is identical；
Second power output component (42) includes the second steering engine (421) and the second drive link (422), second steering engine
(421) it is mounted on second installation base plate (41), the first end of second drive link (422) and second steering engine
(421) power output end connection；
Second transmission component (43) includes extension rod (431), the first lip side extension rod (432), the second lip among lip
Side extension rod (433) and two the second kinematic links (434), among the lip first end of extension rod (431) with it is described
The second end of second drive link (422) connects, and extension rod (431) is along the second lip sliding groove among the lip
(412) mobile, the first end of two second kinematic links (434) is all connected to extension rod (431) among the lip
The second end of first end, the lip centre extension rod (431) passes through the second lip slot section (122) and the apery silica gel
Musculus cutaneus connection, the second end of two second kinematic links (434) respectively with first lip side extension rod (432)
First end, the connection of the first end of second lip side extension rod (433), first lip side extension rod (432)
First end is mobile along the first lip sliding groove (411), and the second end of first lip side extension rod (432) passes through institute
It states the first lip slot section (121) to connect with the apery silica gel musculus cutaneus, the first end of second lip side extension rod (433)
Mobile along the third lip sliding groove (413), the second end of second lip side extension rod (433) passes through the third
Lip slot section (123) is connect with the apery silica gel musculus cutaneus.
7. robot face expression control mechanism as claimed in claim 6, which is characterized in that the second power output component
It (42) further include two third link blocks (423) and two thirds rotation steering engines, two third link blocks (423) are respectively correspondingly
It is mounted in the first lip sliding groove (411) and the third lip sliding groove (413), two thirds rotate steering engine
It is respectively correspondingly mounted on two third link blocks (423), the first end of first lip side extension rod (432)
The dynamic of two third rotation steering engines is respectively correspondingly connected to the first end of second lip side extension rod (433)
On power output shaft.
8. robot face expression control mechanism as claimed in claim 7, which is characterized in that the second power output component
It (42) further include the 4th link block (424) and the 4th rotation steering engine, the 4th link block (424) is mounted on second lip
In sliding groove (412), the 4th rotation steering engine is mounted on the 4th link block (424), extension rod among the lip
(431) first end is connected on the power output end of the 4th rotation steering engine.
9. robot face expression control mechanism as described in claim 1, which is characterized in that robot face expression control
Mechanism further includes controller, and the eyebrow movement control mechanism (30) and the lip motion control mechanism (40) are by the control
Device processed carries out intelligent control.
10. a kind of robot, which is characterized in that including robot face expression control as claimed in any one of claims 1-9 wherein
Mechanism processed.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910371523.XA CN110125947A (en) | 2019-05-06 | 2019-05-06 | Robot face expression control mechanism and robot with it |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910371523.XA CN110125947A (en) | 2019-05-06 | 2019-05-06 | Robot face expression control mechanism and robot with it |
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| CN110125947A true CN110125947A (en) | 2019-08-16 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201910371523.XA Pending CN110125947A (en) | 2019-05-06 | 2019-05-06 | Robot face expression control mechanism and robot with it |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111531553A (en) * | 2020-04-01 | 2020-08-14 | 哈尔滨工业大学 | Humanoid robot head based on connecting rod smooth expression control mechanism |
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